The ability for robots to perform efficient and zero-shot grasping of object parts is crucial for practical applications and is becoming prevalent with recent advances in Vision-Language Models (VLMs). To bridge the 2D-to-3D gap for representations to support such a capability, existing methods rely on neural fields (NeRFs) via differentiable rendering or point-based projection methods. However, we demonstrate that NeRFs are inappropriate for scene changes due to their implicitness and point-based methods are inaccurate for part localization without rendering-based optimization. To amend these issues, we propose GraspSplats. Using depth supervision and a novel reference feature computation method, GraspSplats generates high-quality scene representations in under 60 seconds. We further validate the advantages of Gaussian-based representation by showing that the explicit and optimized geometry in GraspSplats is sufficient to natively support (1) real-time grasp sampling and (2) dynamic and articulated object manipulation with point trackers. With extensive experiments on a Franka robot, we demonstrate that GraspSplats significantly outperforms existing methods under diverse task settings. In particular, GraspSplats outperforms NeRF-based methods like F3RM and LERF-TOGO, and 2D detection methods.

In recent years, artificial intelligence (AI) has made significant progress in the field of music generation, driving innovation in music creation and applications. This paper provides a systematic review of the latest research advancements in AI music generation, covering key technologies, models, datasets, evaluation methods, and their practical applications across various fields. The main contributions of this review include: (1) presenting a comprehensive summary framework that systematically categorizes and compares different technological approaches, including symbolic generation, audio generation, and hybrid models, helping readers better understand the full spectrum of technologies in the field; (2) offering an extensive survey of current literature, covering emerging topics such as multimodal datasets and emotion expression evaluation, providing a broad reference for related research; (3) conducting a detailed analysis of the practical impact of AI music generation in various application domains, particularly in real-time interaction and interdisciplinary applications, offering new perspectives and insights; (4) summarizing the existing challenges and limitations of music quality evaluation methods and proposing potential future research directions, aiming to promote the standardization and broader adoption of evaluation techniques. Through these innovative summaries and analyses, this paper serves as a comprehensive reference tool for researchers and practitioners in AI music generation, while also outlining future directions for the field.

Biopharmaceutical products, particularly monoclonal antibodies (mAbs), have gained prominence in the pharmaceutical market due to their high specificity and efficacy. As these products are projected to constitute a substantial portion of global pharmaceutical sales, the application of machine learning models in mAb development and manufacturing is gaining momentum. This paper addresses the critical need for uncertainty quantification in machine learning predictions, particularly in scenarios with limited training data. Leveraging ensemble learning and Monte Carlo simulations, our proposed method generates additional input samples to enhance the robustness of the model in small training datasets. We evaluate the efficacy of our approach through two case studies: predicting antibody concentrations in advance and real-time monitoring of glucose concentrations during bioreactor runs using Raman spectra data. Our findings demonstrate the effectiveness of the proposed method in estimating the uncertainty levels associated with process performance predictions and facilitating real-time decision-making in biopharmaceutical manufacturing. This contribution not only introduces a novel approach for uncertainty quantification but also provides insights into overcoming challenges posed by small training datasets in bioprocess development. The evaluation demonstrates the effectiveness of our method in addressing key challenges related to uncertainty estimation within upstream cell cultivation, illustrating its potential impact on enhancing process control and product quality in the dynamic field of biopharmaceuticals.

What is the next step after the data/digital revolution? What do we need the most to reach this aim? How machines can memorize, learn or discover? What should they be able to do to be qualified as "intelligent"? These questions relate to the next generation "intelligent" machines. Probably, these machines should be able to handle knowledge discovery, decision-making and concepts. In this paper, we will take into account some historical contributions and discuss these different questions through an analogy to human intelligence. Also, a general framework for a concept oriented language will be proposed.

When language models (LMs) are trained to forget (or "unlearn'') a skill, how precisely does their behavior change? We study the behavior of transformer LMs in which tasks have been forgotten via fine-tuning on randomized labels. Such LMs learn to generate near-random predictions for individual examples in the "training'' set used for forgetting. Across tasks, however, LMs exhibit extreme variability in whether LM predictions change on examples outside the training set. In some tasks (like entailment classification), forgetting generalizes robustly, and causes models to produce uninformative predictions on new task instances; in other tasks (like physical commonsense reasoning and scientific question answering) forgetting affects only the training examples, and models continue to perform the "forgotten'' task accurately even for examples very similar to those that appeared in the training set. Dataset difficulty is not predictive of whether a behavior can be forgotten; instead, generalization in forgetting is (weakly) predicted by the confidence of LMs' initial task predictions and the variability of LM representations of training data, with low confidence and low variability both associated with greater generalization. Perhaps most surprisingly, random-label forgetting appears to be somewhat insensitive to the contents of the training set: for example, models trained on science questions with random labels continue to answer other science questions accurately, but begin to produce random labels on entailment classification tasks. Finally, we show that even generalizable forgetting is shallow: linear probes trained on LMs' representations can still perform tasks reliably after forgetting. Our results highlight the difficulty and unpredictability of performing targeted skill removal from models via fine-tuning.

Clustering is an unsupervised learning task that aims to partition data into a set of clusters. In many applications, these clusters correspond to real-world constructs (e.g., electoral districts, playlists, TV channels) whose benefit can only be attained by groups when they reach a minimum level of representation (e.g., 50\% to elect their desired candidate). In this paper, we study the k-means and k-medians clustering problems with the additional constraint that each group (e.g., demographic group) must have a minimum level of representation in at least a given number of clusters. We formulate the problem through a mixed-integer optimization framework and present an alternating minimization algorithm, called MiniReL, that directly incorporates the fairness constraints. While incorporating the fairness criteria leads to an NP-Hard assignment problem within the algorithm, we provide computational approaches that make the algorithm practical even for large datasets. Numerical results show that the approach is able to create fairer clusters with practically no increase in the clustering cost across standard benchmark datasets.

The case-control sampling design serves as a pivotal strategy in mitigating the imbalanced structure observed in binary data. We consider the estimation of a non-parametric logistic model with the case-control data supplemented by external summary information. The incorporation of external summary information ensures the identifiability of the model. We propose a two-step estimation procedure. In the first step, the external information is utilized to estimate the marginal case proportion. In the second step, the estimated proportion is used to construct a weighted objective function for parameter training. A deep neural network architecture is employed for functional approximation. We further derive the non-asymptotic error bound of the proposed estimator. Following this the convergence rate is obtained and is shown to reach the optimal speed of the non-parametric regression estimation. Simulation studies are conducted to evaluate the theoretical findings of the proposed method. A real data example is analyzed for illustration.

Query-based systems (QBSs) are one of the key approaches for sharing data. QBSs allow analysts to request aggregate information from a private protected dataset. Attacks are a crucial part of ensuring QBSs are truly privacy-preserving. The development and testing of attacks is however very labor-intensive and unable to cope with the increasing complexity of systems. Automated approaches have been shown to be promising but are currently extremely computationally intensive, limiting their applicability in practice. We here propose QueryCheetah, a fast and effective method for automated discovery of privacy attacks against QBSs. We instantiate QueryCheetah on attribute inference attacks and show it to discover stronger attacks than previous methods while being 18 times faster than the state-of-the-art automated approach. We then show how QueryCheetah allows system developers to thoroughly evaluate the privacy risk, including for various attacker strengths and target individuals. We finally show how QueryCheetah can be used out-of-the-box to find attacks in larger syntaxes and workarounds around ad-hoc defenses.

The study aims to investigate the similarities and differences in the brain damage caused by Hypoxia-Ischemia (HI), Hypoglycemia, and Epilepsy. Hypoglycemia poses a significant challenge in improving glycemic regulation for insulin-treated patients, while HI brain disease in neonates is associated with low oxygen levels. The study examines the possibility of using a combination of medical data and Electroencephalography (EEG) measurements to predict outcomes over a two-year period. The study employs a multilevel fusion of data features to enhance the accuracy of the predictions. Therefore this paper suggests a hybridized classification model for Hypoxia-Ischemia and Hypoglycemia, Epilepsy brain injury (HCM-BI). A Support Vector Machine is applied with clinical details to define the Hypoxia-Ischemia outcomes of each infant. The newborn babies are assessed every two years again to know the neural development results. A selection of four attributes is derived from the Electroencephalography records, and SVM does not get conclusions regarding the classification of diseases. The final feature extraction of the EEG signal is optimized by the Bayesian Neural Network (BNN) to get the clear health condition of Hypoglycemia and Epilepsy patients. Through monitoring and assessing physical effects resulting from Electroencephalography, The Bayesian Neural Network (BNN) is used to extract the test samples with the most log data and to report hypoglycemia and epilepsy Keywords- Hypoxia-Ischemia , Hypoglycemia , Epilepsy , Multilevel Fusion of Data Features , Bayesian Neural Network (BNN) , Support Vector Machine (SVM)

Insufficient amounts of available training data is a critical challenge for both development and deployment of artificial intelligence and machine learning (AI/ML) models. This paper proposes a unified approach to both synthetic data generation (SDG) and automated data labeling (ADL) with a unified SDG-ADL algorithm. SDG-ADL uses multidimensional (n-D) representations of data visualized losslessly with General Line Coordinates (GLCs), relying on reversible GLC properties to visualize n-D data in multiple GLCs. This paper demonstrates use of the new Circular Coordinates in Static and Dynamic forms, used with Parallel Coordinates and Shifted Paired Coordinates, since each GLC exemplifies unique data properties, such as interattribute n-D distributions and outlier detection. The approach is interactively implemented in computer software with the Dynamic Coordinates Visualization system (DCVis). Results with real data are demonstrated in case studies, evaluating impact on classifiers.