In the context of telehealth, robotic approaches have proven a valuable solution to in-person visits in remote areas, with decreased costs for patients and infection risks. In particular, in ultrasonography, robots have the potential to reproduce the skills required to acquire high-quality images while reducing the sonographer's physical efforts. In this paper, we address the control of the interaction of the probe with the patient's body, a critical aspect of ensuring safe and effective ultrasonography. We introduce a novel approach based on variable impedance control, allowing real-time optimisation of a compliant controller parameters during ultrasound procedures. This optimisation is formulated as a quadratic programming problem and incorporates physical constraints derived from viscoelastic parameter estimations. Safety and passivity constraints, including an energy tank, are also integrated to minimise potential risks during human-robot interaction. The proposed method's efficacy is demonstrated through experiments on a patient dummy torso, highlighting its potential for achieving safe behaviour and accurate force control during ultrasound procedures, even in cases of contact loss.

We present a locality-aware method for interpreting the latent space of wavelet-based Generative Adversarial Networks (GANs), that can well capture the large spatial and spectral variability that is characteristic to satellite imagery. By focusing on preserving locality, the proposed method is able to decompose the weight-space of pre-trained GANs and recover interpretable directions that correspond to high-level semantic concepts (such as urbanization, structure density, flora presence) - that can subsequently be used for guided synthesis of satellite imagery. In contrast to typically used approaches that focus on capturing the variability of the weight-space in a reduced dimensionality space (i.e., based on Principal Component Analysis, PCA), we show that preserving locality leads to vectors with different angles, that are more robust to artifacts and can better preserve class information. Via a set of quantitative and qualitative examples, we further show that the proposed approach can outperform both baseline geometric augmentations, as well as global, PCA-based approaches for data synthesis in the context of data augmentation for satellite scene classification.

The possibility of automatically classifying high frequency sub-bottom acoustic reflections collected from an Autonomous Underwater Robot is investigated in this paper. In field surveys of Cobalt-rich Manganese Crusts (Mn-crusts), existing methods relies on visual confirmation of seafloor from images and thickness measurements using the sub-bottom probe. Using these visual classification results as ground truth, an autoencoder is trained to extract latent features from bundled acoustic reflections. A Support Vector Machine classifier is then trained to classify the latent space to idetify seafloor classes. Results from data collected from seafloor at 1500m deep regions of Mn-crust showed an accuracy of about 70%.

Data exploration focuses on identifying informative patterns to discover new insight and knowledge about a collection of data. The often high-dimensional nature of such data renders the visual exploration process intractable for the human eye, and therefore specialized data manipulation of the original samples is essential in practice. Dimensionality reduction methods have been at the forefront of this challenge Bishop [2006] aiming to recover lower-dimensional embeddings of the original data that facilitate the identification of underlying data cohorts and help understand better the problem at hand. One of the most well known dimensionality reduction approaches perhaps is principal component analysis (PCA) Hotelling [1933], an efficient linear method aiming to maximizing the variance along the projection vectors, which in practice appears insufficient for meaningful separation of cohorts. A variety of non-linear methods have also been proposed that conversely focus on locally preserving the structure of the data such as Isomap Tenenbaum et al. [2000], LLE Roweis and Saul [2001], t-SNE van der Maaten and Hinton [2008], UMAP McInnes and Healy [2018], TriMap Amid and Warmuth [2019] and LargeVis Tang et al. [2016], etc. Projection pursuit (PP) Friedman and Tukey [1974], Caussinus and Ruiz-Gazen [2010] defines a family of dimensionality reduction methods that can enable various embedding effects depending on a suitably selected criterion. The kurtosis index Chiang et al. [2001] is one specific PP example that specializes in identifying "interesting" projections. Its minimization particularly penalizes the normality of the data distribution, promoting thus more meaningful separability when searching for clusters. The above approaches nevertheless share the same attribute of offering a single static projection that does not consider any prior knowledge a practitioner may have regarding the high-dimensional latent structure. Such projections can be uninformative as they tend to illustrate the most evident features which are often already known by the reader.

We propose a structured prediction approach for robot imitation learning from demonstrations. Among various tools for robot imitation learning, supervised learning has been observed to have a prominent role. Structured prediction is a form of supervised learning that enables learning models to operate on output spaces with complex structures. Through the lens of structured prediction, we show how robots can learn to imitate trajectories belonging to not only Euclidean spaces but also Riemannian manifolds. Exploiting ideas from information theory, we propose a class of loss functions based on the f-divergence to measure the information loss between the demonstrated and reproduced probabilistic trajectories. Different types of f-divergence will result in different policies, which we call imitation modes. Furthermore, our approach enables the incorporation of spatial and temporal trajectory modulation, which is necessary for robots to be adaptive to the change in working conditions. We benchmark our algorithm against state-of-the-art methods in terms of trajectory reproduction and adaptation. The quantitative evaluation shows that our approach outperforms other algorithms regarding both accuracy and efficiency. We also report real-world experimental results on learning manifold trajectories in a polishing task with a KUKA LWR robot arm, illustrating the effectiveness of our algorithmic framework.

Stochastic optimization methods such as mirror descent have wide applications due to low computational cost. Those methods have been well studied under assumption of the independent and identical distribution, and usually achieve sublinear rate of convergence. However, this assumption may be too strong and unpractical in real application scenarios. Recent researches investigate stochastic gradient descent when instances are sampled from a Markov chain. Unfortunately, few results are known for stochastic mirror descent. In the paper, we propose a new version of stochastic mirror descent termed by MarchOn in the scenario of the federated learning. Given a distributed network, the model iteratively travels from a node to one of its neighbours randomly. Furthermore, we propose a new framework to analyze MarchOn, which yields best rates of convergence for convex, strongly convex, and non-convex loss. Finally, we conduct empirical studies to evaluate the convergence of MarchOn, and validate theoretical results.

One of the typical purposes of using lower-limb exoskeleton robots is to provide assistance to the wearer by supporting their weight and augmenting their physical capabilities according to a given task and human motion intentions. The generalizability of robots across different wearers in multiple tasks is important to ensure that the robot can provide correct and effective assistance in actual implementation. However, most lower-limb exoskeleton robots exhibit only limited generalizability. Therefore, this paper proposes a human-in-the-loop learning and adaptation framework for exoskeleton robots to improve their performance in various tasks and for different wearers. To suit different wearers, an individualized walking trajectory is generated online using dynamic movement primitives and Bayes optimization. To accommodate various tasks, a task translator is constructed using a neural network to generalize a trajectory to more complex scenarios. These generalization techniques are integrated into a unified variable impedance model, which regulates the exoskeleton to provide assistance while ensuring safety. In addition, an anomaly detection network is developed to quantitatively evaluate the wearer's comfort, which is considered in the trajectory learning procedure and contributes to the relaxation of conflicts in impedance control. The proposed framework is easy to implement, because it requires proprioceptive sensors only to perform and deploy data-efficient learning schemes. This makes the exoskeleton practical for deployment in complex scenarios, accommodating different walking patterns, habits, tasks, and conflicts. Experiments and comparative studies on a lower-limb exoskeleton robot are performed to demonstrate the effectiveness of the proposed framework.

Dynamic Ensemble Selection (DES) is a Multiple Classifier Systems (MCS) approach that aims to select an ensemble for each query sample during the selection phase. Even with the proposal of several DES approaches, no particular DES technique is the best choice for different problems. Thus, we hypothesize that selecting the best DES approach per query instance can lead to better accuracy. To evaluate this idea, we introduce the Post-Selection Dynamic Ensemble Selection (PS-DES) approach, a post-selection scheme that evaluates ensembles selected by several DES techniques using different metrics. Experimental results show that using accuracy as a metric to select the ensembles, PS-DES performs better than individual DES techniques. PS-DES source code is available in a GitHub repository

Audiovisual data is everywhere in this digital age, which raises higher requirements for the deep learning models developed on them. To well handle the information of the multi-modal data is the key to a better audiovisual modal. We observe that these audiovisual data naturally have temporal attributes, such as the time information for each frame in the video. More concretely, such data is inherently multi-modal according to both audio and visual cues, which proceed in a strict chronological order. It indicates that temporal information is important in multi-modal acoustic event modeling for both intra- and inter-modal. However, existing methods deal with each modal feature independently and simply fuse them together, which neglects the mining of temporal relation and thus leads to sub-optimal performance. With this motivation, we propose a Temporal Multi-modal graph learning method for Acoustic event Classification, called TMac, by modeling such temporal information via graph learning techniques. In particular, we construct a temporal graph for each acoustic event, dividing its audio data and video data into multiple segments. Each segment can be considered as a node, and the temporal relationships between nodes can be considered as timestamps on their edges. In this case, we can smoothly capture the dynamic information in intra-modal and inter-modal. Several experiments are conducted to demonstrate TMac outperforms other SOTA models in performance. Our code is available at https://github.com/MGitHubL/TMac.

Federated learning is a distributed machine learning system that uses participants' data to train an improved global model. In federated learning, participants cooperatively train a global model, and they will receive the global model and payments. Rational participants try to maximize their individual utility, and they will not input their high-quality data truthfully unless they are provided with satisfactory payments based on their data quality. Furthermore, federated learning benefits from the cooperative contributions of participants. Accordingly, how to establish an incentive mechanism that both incentivizes inputting data truthfully and promotes stable cooperation has become an important issue to consider. In this paper, we introduce a data sharing game model for federated learning and employ game-theoretic approaches to design a core-selecting incentive mechanism by utilizing a popular concept in cooperative games, the core. In federated learning, the core can be empty, resulting in the core-selecting mechanism becoming infeasible. To address this, our core-selecting mechanism employs a relaxation method and simultaneously minimizes the benefits of inputting false data for all participants. However, this mechanism is computationally expensive because it requires aggregating exponential models for all possible coalitions, which is infeasible in federated learning. To address this, we propose an efficient core-selecting mechanism based on sampling approximation that only aggregates models on sampled coalitions to approximate the exact result. Extensive experiments verify that the efficient core-selecting mechanism can incentivize inputting high-quality data and stable cooperation, while it reduces computational overhead compared to the core-selecting mechanism.