We survey the current state of millimeterwave (mmWave) radar applications in robotics with a focus on unique capabilities, and discuss future opportunities based on the state of the art. Frequency Modulated Continuous Wave (FMCW) mmWave radars operating in the 76--81GHz range are an appealing alternative to lidars, cameras and other sensors operating in the near visual spectrum. Radar has been made more widely available in new packaging classes, more convenient for robotics and its longer wavelengths have the ability to bypass visual clutter such as fog, dust, and smoke. We begin by covering radar principles as they relate to robotics. We then review the relevant new research across a broad spectrum of robotics applications beginning with motion estimation, localization, and mapping. We then cover object detection and classification, and then close with an analysis of current datasets and calibration techniques that provide entry points into radar research.

For more details, please read our full paper, Crowdsourced Clustering via Active Querying: Practical Algorithm with Theoretical Guarantees, from HCOMP 2023.

This chapter is a preprint from our book by , focusing on leveraging machine learning (ML) in chemical and polyolefin manufacturing optimization. It's crafted for both novices and seasoned professionals keen on the latest ML applications in chemical processes. We trace the evolution of AI and ML in chemical industries, delineate core ML components, and provide resources for ML beginners. A detailed discussion on various ML methods is presented, covering regression, classification, and unsupervised learning techniques, with performance metrics and examples. Ensemble methods, deep learning networks, including MLP, DNNs, RNNs, CNNs, and transformers, are explored for their growing role in chemical applications. Practical workshops guide readers through predictive modeling using advanced ML algorithms. The chapter culminates with insights into science-guided ML, advocating for a hybrid approach that enhances model accuracy. The extensive bibliography offers resources for further research and practical implementation. This chapter aims to be a thorough primer on ML's practical application in chemical engineering, particularly for polyolefin production, and sets the stage for continued learning in subsequent chapters. Please cite the original work [169,170] when referencing.

Possible unfavourable scenarios span from excess water inflow or a damaging of the Tunnel Boring Machine (TBM) to a total collapse of the tunnel [1]. To avoid potential risks, the imaging of voids, faults, fluid areas, erratic boulders or other changes in material is essential. Exploratory drillings only provide an image of the geological parameters in the near-field of the borehole and lack in showing the detailed geological structure. Thus, acoustic analysis is a better choice as it offers the opportunity to obtain a detailed image of the soil with the help of seismic waves. Propagating through the ground, seismic waves are reflected, refracted, scattered and converted; resulting in a detailed fingerprint of the actual structure. Most of the techniques used nowadays for the detection of anomalies rely on travel time measurements and migration techniques, considering only compressional waves.

The pharmaceutical Research and development (R&D) process is lengthy and costly, taking nearly a decade to bring a new drug to the market. However, advancements in biotechnology, computational methods, and machine learning algorithms have the potential to revolutionize drug discovery, speeding up the process and improving patient outcomes. The COVID-19 pandemic has further accelerated and deepened the recognition of the potential of these techniques, especially in the areas of drug repurposing and efficacy predictions. Meanwhile, non-small molecule therapeutic modalities such as cell therapies, monoclonal antibodies, and RNA interference (RNAi) technology have gained importance due to their ability to target specific disease pathways and/or patient populations. In the field of RNAi, many experiments have been carried out to design and select highly efficient siRNAs. However, the established patterns for efficient siRNAs are sometimes contradictory and unable to consistently determine the most potent siRNA molecules against a target mRNA. Thus, this paper focuses on developing machine learning models based on the cheminformatics representation of the nucleotide composition (i.e. AUTGC) of siRNA to predict their potency and aid the selection of the most efficient siRNAs for further development. The PLS (Partial Least Square) and SVR (Support Vector Regression) machine learning models built in this work outperformed previously published models. These models can help in predicting siRNA potency and aid in selecting the best siRNA molecules for experimental validation and further clinical development. The study has demonstrated the potential of AI/machine learning models to help expedite siRNA-based drug discovery including the discovery of potent siRNAs against SARS-CoV-2.

State-of-the-art vehicle dynamics estimation techniques usually share one common drawback: each variable to estimate is computed with an independent, simplified filtering module. These modules run in parallel and need to be calibrated separately. To solve this issue, a unified Twin-in-the-Loop (TiL) Observer architecture has recently been proposed: the classical simplified control-oriented vehicle model in the estimators is replaced by a full-fledged vehicle simulator, or digital twin (DT). The states of the DT are corrected in real time with a linear time invariant output error law. Since the simulator is a black-box, no explicit analytical formulation is available, hence classical filter tuning techniques cannot be used. Due to this reason, Bayesian Optimization will be used to solve a data-driven optimization problem to tune the filter. Due to the complexity of the DT, the optimization problem is high-dimensional. This paper aims to find a procedure to tune the high-complexity observer by lowering its dimensionality. In particular, in this work we will analyze both a supervised and an unsupervised learning approach. The strategies have been validated for speed and yaw-rate estimation on real-world data.

Online model selection involves selecting a model from a set of candidate models 'on the fly' to perform prediction on a stream of data. The choice of candidate models henceforth has a crucial impact on the performance. Although employing a larger set of candidate models naturally leads to more flexibility in model selection, this may be infeasible in cases where prediction tasks are performed on edge devices with limited memory. Faced with this challenge, the present paper proposes an online federated model selection framework where a group of learners (clients) interacts with a server with sufficient memory such that the server stores all candidate models. However, each client only chooses to store a subset of models that can be fit into its memory and performs its own prediction task using one of the stored models. Furthermore, employing the proposed algorithm, clients and the server collaborate to fine-tune models to adapt them to a non-stationary environment. Theoretical analysis proves that the proposed algorithm enjoys sub-linear regret with respect to the best model in hindsight. Experiments on real datasets demonstrate the effectiveness of the proposed algorithm.

Representations learned via self-supervised learning (SSL) can be susceptible to dimensional collapse, where the learned representation subspace is of extremely low dimensionality and thus fails to represent the full data distribution and modalities. Dimensional collapse --- also known as the "underfilling" phenomenon --- is one of the major causes of degraded performance on downstream tasks. Previous work has investigated the dimensional collapse problem of SSL at a global level. In this paper, we demonstrate that representations can span over high dimensional space globally, but collapse locally. To address this, we propose a method called local dimensionality regularization (LDReg). Our formulation is based on the derivation of the Fisher-Rao metric to compare and optimize local distance distributions at an asymptotically small radius for each data point. By increasing the local intrinsic dimensionality, we demonstrate through a range of experiments that LDReg improves the representation quality of SSL. The results also show that LDReg can regularize dimensionality at both local and global levels. SSL focuses on the construction of effective representations without reliance on labels. Quality measures for such representations are crucial to assess and regularize the learning process. A key aspect of representation quality is to avoid dimensional collapse and its more severe form, mode collapse, where the representation converges to a trivial vector (Jing et al., 2022). Dimensional collapse refers to the phenomenon whereby many of the features are highly correlated and thus span only a lower-dimensional subspace. Existing works have connected dimensional collapse with low quality of learned representations (He & Ozay, 2022; Li et al., 2022; Garrido et al., 2023a; Dubois et al., 2022). Both contrastive and non-contrastive learning can be susceptible to dimensional collapse (Tian et al., 2021; Jing et al., 2022; Zhang et al., 2022), which can be mitigated by regularizing dimensionality as a global property, such as learning decorrelated features (Hua et al., 2021) or minimizing the off-diagonal terms of the covariance matrix (Zbontar et al., 2021; Bardes et al., 2022).

Machine unlearning aims to eliminate the influence of a subset of training samples (i.e., unlearning samples) from a trained model. Effectively and efficiently removing the unlearning samples without negatively impacting the overall model performance is still challenging. In this paper, we propose a contrastive unlearning framework, leveraging the concept of representation learning for more effective unlearning. It removes the influence of unlearning samples by contrasting their embeddings against the remaining samples so that they are pushed away from their original classes and pulled toward other classes. By directly optimizing the representation space, it effectively removes the influence of unlearning samples while maintaining the representations learned from the remaining samples. Experiments on a variety of datasets and models on both class unlearning and sample unlearning showed that contrastive unlearning achieves the best unlearning effects and efficiency with the lowest performance loss compared with the state-of-the-art algorithms.

Despite their popularity in non-English NLP, multilingual language models often underperform monolingual ones due to inter-language competition for model parameters. We propose Cross-lingual Expert Language Models (X-ELM), which mitigate this competition by independently training language models on subsets of the multilingual corpus. This process specializes X-ELMs to different languages while remaining effective as a multilingual ensemble. Our experiments show that when given the same compute budget, X-ELM outperforms jointly trained multilingual models across all considered languages and that these gains transfer to downstream tasks. X-ELM provides additional benefits over performance improvements: new experts can be iteratively added, adapting X-ELM to new languages without catastrophic forgetting. Furthermore, training is asynchronous, reducing the hardware requirements for multilingual training and democratizing multilingual modeling.