Du e to rapid population growth and the need to use artificial intelligence to make quick decisions, developing a machine learning-based disease detection model and abnormality identification system has greatly improved the level of medical diagnosis Since COVID-19 has become one of the most severe diseases in the world, developing an automatic COVID-19 detection framework helps medical doctors in the diagnostic process of disease and provides correct and fast results. In this paper, we propose a machine lear ning based framework for the detection of Covid 19. The proposed model employs a Tsukamoto Neuro Fuzzy Inference network to identify and distinguish Covid 19 disease from normal and pneumonia cases. While the traditional training methods tune the parameters of the neuro-fuzzy model by gradient-based algorithms and recursive least square method, we use an evolutionary-based optimization, the Cat swarm algorithm to update the parameters. In addition, six texture features extracted from chest X-ray images are give n as input to the model. Finally, the proposed model is conducted on the chest X-ray dataset to detect Covid 19. The simulation results indicate that the proposed model achieves an accuracy of 98.51%, sensitivity of 98.35%, specificity of 98.08%, and F1 score of 98.17%.

Estimating the 3DoF rotation from a single RGB image is an important yet challenging problem. As a popular approach, probabilistic rotation modeling additionally carries prediction uncertainty information, compared to single-prediction rotation regression. For modeling probabilistic distribution over SO(3), it is natural to use Gaussian-like Bingham distribution and matrix Fisher, however they are shown to be sensitive to outlier predictions, e.g. $180^\circ$ error and thus are unlikely to converge with optimal performance. In this paper, we draw inspiration from multivariate Laplace distribution and propose a novel rotation Laplace distribution on SO(3). Our rotation Laplace distribution is robust to the disturbance of outliers and enforces much gradient to the low-error region that it can improve. In addition, we show that our method also exhibits robustness to small noises and thus tolerates imperfect annotations. With this benefit, we demonstrate its advantages in semi-supervised rotation regression, where the pseudo labels are noisy. To further capture the multi-modal rotation solution space for symmetric objects, we extend our distribution to rotation Laplace mixture model and demonstrate its effectiveness. Our extensive experiments show that our proposed distribution and the mixture model achieve state-of-the-art performance in all the rotation regression experiments over both probabilistic and non-probabilistic baselines.

Bayesian networks (BN) are directed acyclic graphical (DAG) models that have been adopted into many fields for their strengths in transparency, interpretability, probabilistic reasoning, and causal modeling. Given a set of data, one hurdle towards using BNs is in building the network graph from the data that properly handles dependencies, whether correlated or causal. In this paper, we propose an initial methodology for discovering network structures using Tsetlin Machines.

In this work, we propose a novel framework for large-scale Gaussian process (GP) modeling. Contrary to the global, and local approximations proposed in the literature to address the computational bottleneck with exact GP modeling, we employ a combined global-local approach in building the approximation. Our framework uses a subset-of-data approach where the subset is a union of a set of global points designed to capture the global trend in the data, and a set of local points specific to a given testing location to capture the local trend around the testing location. The correlation function is also modeled as a combination of a global, and a local kernel. The performance of our framework, which we refer to as TwinGP, is on par or better than the state-of-the-art GP modeling methods at a fraction of their computational cost.

Accessibility is one of the most important features in the design of robots and their interfaces. This thesis proposes methods that improve the accessibility of robots for three different target audiences: consumers, researchers, and learners. In order for humans and robots to work together effectively, they both must be able to communicate with each other. We tackle the problem of generating route instructions that are readily understandable by novice humans for the navigation of a priori unknown indoor environments. We then move on to the related problem of enabling robots to understand natural language utterances in the context of learning to operate articulated objects (e.g., fridges, drawers) by leveraging kinematic models. Next, we turn our focus to the development of accessible and reproducible robotic platforms for scientific research. We propose a new concept for reproducible robotics research that integrates development and benchmarking, so that reproducibility is obtained "by design" from the beginning of the research and development process. We then propose a framework called SHARC (SHared Autonomy for Remote Collaboration), to improve accessibility for underwater robotic intervention operations. SHARC allows multiple remote scientists to efficiently plan and execute high-level sampling procedures using an underwater manipulator while deferring low-level control to the robot. Lastly, we developed the first hardware-based MOOC in AI and robotics. This course allows learners to study autonomy hands-on by making real robots make their own decisions and accomplish broadly defined tasks. We design a new robotic platform from the ground up to support this new learning experience. A fully browser-based interface, based on leading tools and technologies for code development, testing, validation, and deployment serves to maximize the accessibility of these educational resources.

We are currently unable to specify human goals and societal values in a way that reliably directs AI behavior. Law-making and legal interpretation form a computational engine that converts opaque human values into legible directives. "Law Informs Code" is the research agenda embedding legal knowledge and reasoning in AI. Similar to how parties to a legal contract cannot foresee every potential contingency of their future relationship, and legislators cannot predict all the circumstances under which their proposed bills will be applied, we cannot ex ante specify rules that provably direct good AI behavior. Legal theory and practice have developed arrays of tools to address these specification problems. For instance, legal standards allow humans to develop shared understandings and adapt them to novel situations. In contrast to more prosaic uses of the law (e.g., as a deterrent of bad behavior through the threat of sanction), leveraged as an expression of how humans communicate their goals, and what society values, Law Informs Code. We describe how data generated by legal processes (methods of law-making, statutory interpretation, contract drafting, applications of legal standards, legal reasoning, etc.) can facilitate the robust specification of inherently vague human goals. This increases human-AI alignment and the local usefulness of AI. Toward society-AI alignment, we present a framework for understanding law as the applied philosophy of multi-agent alignment. Although law is partly a reflection of historically contingent political power - and thus not a perfect aggregation of citizen preferences - if properly parsed, its distillation offers the most legitimate computational comprehension of societal values available. If law eventually informs powerful AI, engaging in the deliberative political process to improve law takes on even more meaning.

Reinforcement learning (RL) is experiencing a resurgence in research interest, where Learning Classifier Systems (LCSs) have been applied for many years. However, traditional Michigan approaches tend to evolve large rule bases that are difficult to interpret or scale to domains beyond standard mazes. A Pittsburgh Genetic Fuzzy System (dubbed Fuzzy MoCoCo) is proposed that utilises both multiobjective and cooperative coevolutionary mechanisms to evolve fuzzy rule-based policies for RL environments. Multiobjectivity in the system is concerned with policy performance vs. complexity. The continuous state RL environment Mountain Car is used as a testing bed for the proposed system. Results show the system is able to effectively explore the trade-off between policy performance and complexity, and learn interpretable, high-performing policies that use as few rules as possible.

Estimating the distribution over failures is a key step in validating autonomous systems. Existing approaches focus on finding failures for a small range of initial conditions or make restrictive assumptions about the properties of the system under test. We frame estimating the distribution over failure trajectories for sequential systems as Bayesian inference. Our model-based approach represents the distribution over failure trajectories using rollouts of system dynamics and computes trajectory gradients using automatic differentiation. Our approach is demonstrated in an inverted pendulum control system, an autonomous vehicle driving scenario, and a partially observable lunar lander. Sampling is performed using an off-the-shelf implementation of Hamiltonian Monte Carlo with multiple chains to capture multimodality and gradient smoothing for safe trajectories. In all experiments, we observed improvements in sample efficiency and parameter space coverage compared to black-box baseline approaches. This work is open sourced.

Understanding the causal relationships among the variables of a system is paramount to explain and control its behaviour. Inferring the causal graph from observational data without interventions, however, requires a lot of strong assumptions that are not always realistic. Even for domain experts it can be challenging to express the causal graph. Therefore, metrics that quantitatively assess the goodness of a causal graph provide helpful checks before using it in downstream tasks. Existing metrics provide an absolute number of inconsistencies between the graph and the observed data, and without a baseline, practitioners are left to answer the hard question of how many such inconsistencies are acceptable or expected. Here, we propose a novel consistency metric by constructing a surrogate baseline through node permutations. By comparing the number of inconsistencies with those on the surrogate baseline, we derive an interpretable metric that captures whether the DAG fits significantly better than random. Evaluating on both simulated and real data sets from various domains, including biology and cloud monitoring, we demonstrate that the true DAG is not falsified by our metric, whereas the wrong graphs given by a hypothetical user are likely to be falsified.

In this paper, we propose a series of fuzzy temporal protoforms in the framework of the automatic generation of quantitative and qualitative natural language descriptions of processes. The model includes temporal and causal information from processes and attributes, quantifies attributes in time during the process life-span and recalls causal relations and temporal distances between events, among other features. Through integrating process mining techniques and fuzzy sets within the usual Data-to-Text architecture, our framework is able to extract relevant quantitative temporal as well as structural information from a process and describe it in natural language involving uncertain terms. A real use-case in the cardiology domain is presented, showing the potential of our model for providing natural language explanations addressed to domain experts.