As a solution concept in cooperative game theory, Shapley value is highly recognized in model interpretability studies and widely adopted by the leading Machine Learning as a Service (MLaaS) providers, such as Google, Microsoft, and IBM. However, as the Shapley value-based model interpretability methods have been thoroughly studied, few researchers consider the privacy risks incurred by Shapley values, despite that interpretability and privacy are two foundations of machine learning (ML) models. In this paper, we investigate the privacy risks of Shapley value-based model interpretability methods using feature inference attacks: reconstructing the private model inputs based on their Shapley value explanations. Specifically, we present two adversaries. The first adversary can reconstruct the private inputs by training an attack model based on an auxiliary dataset and black-box access to the model interpretability services. The second adversary, even without any background knowledge, can successfully reconstruct most of the private features by exploiting the local linear correlations between the model inputs and outputs. We perform the proposed attacks on the leading MLaaS platforms, i.e., Google Cloud, Microsoft Azure, and IBM aix360. The experimental results demonstrate the vulnerability of the state-of-the-art Shapley value-based model interpretability methods used in the leading MLaaS platforms and highlight the significance and necessity of designing privacy-preserving model interpretability methods in future studies. To our best knowledge, this is also the first work that investigates the privacy risks of Shapley values.

A language is made up of an infinite/finite number of sentences, which in turn is composed of a number of words. The Electrocardiogram (ECG) is the most popular noninvasive medical tool for studying heart function and diagnosing various irregular cardiac rhythms. Intuitive inspection of the ECG reveals a marked similarity between ECG signals and the spoken language. As a result, the ECG signal may be thought of as a series of heartbeats (similar to sentences in a spoken language), with each heartbeat consisting of a collection of waves (similar to words in a sentence) with varying morphologies. Just as natural language processing (NLP) is used to help computers comprehend and interpret human natural language, it is conceivable to create NLP-inspired algorithms to help computers comprehend the electrocardiogram data more efficiently. In this study, we propose a novel ECG analysis technique, based on embedding and self attention, to capture the spatial as well as the temporal dependencies of the ECG data. To generate the embedding, an encoder-decoder network was proposed to capture the temporal dependencies of the ECG signal and perform data compression. The compressed and encoded data was fed to the embedding layer as its weights. Finally, the proposed CNN-LSTM-Self Attention classifier works on the embedding layer and classifies the signal as normal or anomalous. The approach was tested using the PTB-xl dataset, which is severely imbalanced. Our emphasis was to appropriately recognise the disease classes present in minority numbers, in order to limit the detection of False Negative cases. An accuracy of 91% was achieved with a good F1-score for all the disease classes. Additionally, the the size of the model was reduced by 34% due to compression, making it suitable for deployment in real time applications

While deep neural network (DNN)-based perception models are useful for many applications, these models are black boxes and their outputs are not yet well understood. To confidently enable a real-world, decision-making system to utilize such a perception model without human intervention, we must enable the system to reason about the perception model's level of competency and respond appropriately when the model is incompetent. In order for the system to make an intelligent decision about the appropriate action when the model is incompetent, it would be useful for the system to understand why the model is incompetent. We explore five novel methods for identifying regions in the input image contributing to low model competency, which we refer to as image cropping, segment masking, pixel perturbation, competency gradients, and reconstruction loss. We assess the ability of these five methods to identify unfamiliar objects, recognize regions associated with unseen classes, and identify unexplored areas in an environment. We find that the competency gradients and reconstruction loss methods show great promise in identifying regions associated with low model competency, particularly when aspects of the image that are unfamiliar to the perception model are causing this reduction in competency. Both of these methods boast low computation times and high levels of accuracy in detecting image regions that are unfamiliar to the model, allowing them to provide potential utility in decision-making pipelines. The code for reproducing our methods and results is available on GitHub: https://github.com/sarapohland/explainable-competency.

Large Language Models (LLMs) have emerged as a new paradigm for embodied reasoning and control, most recently by generating robot policy code that utilizes a custom library of vision and control primitive skills. However, prior arts fix their skills library and steer the LLM with carefully hand-crafted prompt engineering, limiting the agent to a stationary range of addressable tasks. In this work, we introduce LRLL, an LLM-based lifelong learning agent that continuously grows the robot skill library to tackle manipulation tasks of ever-growing complexity. LRLL achieves this with four novel contributions: 1) a soft memory module that allows dynamic storage and retrieval of past experiences to serve as context, 2) a self-guided exploration policy that proposes new tasks in simulation, 3) a skill abstractor that distills recent experiences into new library skills, and 4) a lifelong learning algorithm for enabling human users to bootstrap new skills with minimal online interaction. LRLL continuously transfers knowledge from the memory to the library, building composable, general and interpretable policies, while bypassing gradient-based optimization, thus relieving the learner from catastrophic forgetting. Empirical evaluation in a simulated tabletop environment shows that LRLL outperforms end-to-end and vanilla LLM approaches in the lifelong setup while learning skills that are transferable to the real world. Project material will become available at the webpage https://gtziafas.github.io/LRLL_project.

This study proposes a unified theory and statistical learning approach for traffic conflict detection, addressing the long-existing call for a consistent and comprehensive methodology to evaluate the collision risk emerged in road user interactions. The proposed theory assumes a context-dependent probabilistic collision risk and frames conflict detection as estimating the risk by statistical learning from observed proximities and contextual variables. Three primary tasks are integrated: representing interaction context from selected observables, inferring proximity distributions in different contexts, and applying extreme value theory to relate conflict intensity with conflict probability. As a result, this methodology is adaptable to various road users and interaction scenarios, enhancing its applicability without the need for pre-labelled conflict data. Demonstration experiments are executed using real-world trajectory data, with the unified metric trained on lane-changing interactions on German highways and applied to near-crash events from the 100-Car Naturalistic Driving Study in the U.S. The experiments demonstrate the methodology's ability to provide effective collision warnings, generalise across different datasets and traffic environments, cover a broad range of conflicts, and deliver a long-tailed distribution of conflict intensity. This study contributes to traffic safety by offering a consistent and explainable methodology for conflict detection applicable across various scenarios. Its societal implications include enhanced safety evaluations of traffic infrastructures, more effective collision warning systems for autonomous and driving assistance systems, and a deeper understanding of road user behaviour in different traffic conditions, contributing to a potential reduction in accident rates and improving overall traffic safety.

The ability to properly benchmark model performance in the face of spurious correlations is important to both build better predictors and increase confidence that models are operating as intended. We demonstrate that characterizing (as opposed to simply quantifying) model mistakes across subgroups is pivotal to properly reflect model biases, which are ignored by standard metrics such as worst-group accuracy or accuracy gap. Inspired by the hypothesis testing framework, we introduce SkewSize, a principled and flexible metric that captures bias from mistakes in a model's predictions. It can be used in multi-class settings or generalised to the open vocabulary setting of generative models. SkewSize is an aggregation of the effect size of the interaction between two categorical variables: the spurious variable representing the bias attribute and the model's prediction. We demonstrate the utility of SkewSize in multiple settings including: standard vision models trained on synthetic data, vision models trained on ImageNet, and large scale vision-and-language models from the BLIP-2 family. In each case, the proposed SkewSize is able to highlight biases not captured by other metrics, while also providing insights on the impact of recently proposed techniques, such as instruction tuning.

The use of AI technologies is percolating into the secure development of software-based systems, with an increasing trend of composing AI-based subsystems (with uncertain levels of performance) into automated pipelines. This presents a fundamental research challenge and poses a serious threat to safety-critical domains (e.g., aviation). Despite the existing knowledge about uncertainty in risk analysis, no previous work has estimated the uncertainty of AI-augmented systems given the propagation of errors in the pipeline. We provide the formal underpinnings for capturing uncertainty propagation, develop a simulator to quantify uncertainty, and evaluate the simulation of propagating errors with two case studies. We discuss the generalizability of our approach and present policy implications and recommendations for aviation. Future work includes extending the approach and investigating the required metrics for validation in the aviation domain.

Published research highlights the presence of demographic bias in automated facial attribute classification. The proposed bias mitigation techniques are mostly based on supervised learning, which requires a large amount of labeled training data for generalizability and scalability. However, labeled data is limited, requires laborious annotation, poses privacy risks, and can perpetuate human bias. In contrast, self-supervised learning (SSL) capitalizes on freely available unlabeled data, rendering trained models more scalable and generalizable. However, these label-free SSL models may also introduce biases by sampling false negative pairs, especially at low-data regimes 200K images) under low compute settings. Further, SSL-based models may suffer from performance degradation due to a lack of quality assurance of the unlabeled data sourced from the web. This paper proposes a fully self-supervised pipeline for demographically fair facial attribute classifiers. Leveraging completely unlabeled data pseudolabeled via pre-trained encoders, diverse data curation techniques, and meta-learning-based weighted contrastive learning, our method significantly outperforms existing SSL approaches proposed for downstream image classification tasks. Extensive evaluations on the FairFace and CelebA datasets demonstrate the efficacy of our pipeline in obtaining fair performance over existing baselines. Thus, setting a new benchmark for SSL in the fairness of facial attribute classification.

Contemporary robots have become exceptionally skilled at achieving specific tasks in structured environments. However, they often fail when faced with the limitless permutations of real-world unstructured environments. This motivates robotics methods which learn from experience, rather than follow a pre-defined set of rules. In this thesis, we present a range of learning-based methods aimed at enabling robots, operating in dynamic and unstructured environments, to better understand their surroundings, anticipate the actions of others, and take informed actions accordingly. In the first part of the thesis, we investigate methods which leverage learning to represent the structure and motion in a robot's operating environment, in a continuous manner.

This study proposes an effective method to predict technology development from an evolutionary perspective. Product evolution is the result of technological evolution and market selection. A phylogenetic network is the main method to study product evolution. The formation of the dominant design determines the trajectory of technology development. How to predict future dominant design has become a key issue in technology forecasting and new product development. We define the dominant product and use machine learning methods, combined with product evolutionary theory, to construct a Fully Connected Phylogenetic Network dataset to effectively predict the future dominant design.