The Shapley framework for explainability has strength in its general applicability combined with its precise, rigorous foundation: it provides a common, model-agnostic language for AI explainability and uniquely satisfies a set of intuitive mathematical axioms. However, Shapley values are too restrictive in one significant regard: they ignore all causal structure in the data.

To clarify the origins of ASVs, we will modify lines 146-7: "In the game theory literature, this axiom was first relaxed To clarify the notion of accuracy in the global Shapley sum rule, we will add: "The accuracy of randomly drawing from Sec 4.3) could occur at any point in the time series: Each time series We will add a sentence in the text to clarify this and hope this makes the application seem less odd. Regarding R1's concern about the inefficiency of ASVs for feature selection, we propose to reframe Sec 4.4 as Please also see lines 29-32 below in our response to R3. R3's largest concern is that our paper does not discuss the difference between our approach and [19], which appears We will make the following addition to the end of Sec 3.2: Note that this is quite distinct from other work [19], which considers the model's prediction process itself In contrast, ASVs incorporate causal structure present in the data itself." R3 finds ASVs' incorporation of causality to be mainly based on intuition. We will clarify this in our introduction to ASVs. R3 is correct that the ASVs of Sec 4.2 place gender and department choice out-of-causal ordering.

Modeling voice identity is challenging due to its multifaceted nature. In generative speech systems, identity is often assessed using automatic speaker verification (ASV) embeddings, designed for discrimination rather than characterizing identity. This paper investigates which aspects of a voice are captured in such representations. We find that widely used ASV embeddings focus mainly on static features like timbre and pitch range, while neglecting dynamic elements such as rhythm. We also identify confounding factors that compromise speaker similarity measurements and suggest mitigation strategies. To address these gaps, we propose U3D, a metric that evaluates speakers' dynamic rhythm patterns. This work contributes to the ongoing challenge of assessing speaker identity consistency in the context of ever-better voice cloning systems. We publicly release our code.

Online Signature Verification commonly relies on function-based features, such as time-sampled horizontal and vertical coordinates, as well as the pressure exerted by the writer, obtained through a digitizer. Although inferring additional information about the writers arm pose, kinematics, and dynamics based on digitizer data can be useful, it constitutes a challenge. In this paper, we tackle this challenge by proposing a new set of features based on the dynamics of online signatures. These new features are inferred through a Lagrangian formulation, obtaining the sequences of generalized coordinates and torques for 2D and 3D robotic arm models. By combining kinematic and dynamic robotic features, our results demonstrate their significant effectiveness for online automatic signature verification and achieving state-of-the-art results when integrated into deep learning models.

In this paper, we present the methodology and results for a real-time velocity trajectory optimization for a solar-powered autonomous surface vessel (ASV), where we combine indirect optimal control techniques with iterative learning. The ASV exhibits cyclic operation due to the nature of the solar profile, but weather patterns create inevitable disturbances in this profile. The nature of the problem results in a formulation where the satisfaction of pointwise-in-time state of charge constraints does not generally guarantee persistent feasibility, and the goal is to maximize information gathered over a very long (ultimately persistent) time duration. To address these challenges, we first use barrier functions to tighten pointwise-in-time state of charge constraints by the minimal amount necessary to achieve persistent feasibility. We then use indirect methods to derive a simple switching control law, where the optimal velocity is shown to be an undetermined constant value during each constraint-inactive time segment. To identify this optimal constant velocity (which can vary from one segment to the next), we employ an iterative learning approach. The result is a simple closed-form control law that does not require a solar forecast. We present simulation-based validation results, based on a model of the SeaTrac SP-48 ASV and solar data from the North Carolina coast. These simulation results show that the proposed methodology, which amounts to a closed-form controller and simple iterative learning update law, performs nearly as well as a model predictive control approach that requires an accurate future solar forecast and significantly greater computational capability.

The increasing use and implementation of Autonomous Surface Vessels (ASVs) for various activities in maritime environments is expected to drive a rise in developments and research on their control. Particularly, the coordination of multiple ASVs presents novel challenges and opportunities, requiring interdisciplinary research efforts at the intersection of robotics, control theory, communication systems, and marine sciences. The wide variety of missions or objectives for which these vessels can be collectively used allows for the application and combination of different control techniques. This includes the exploration of machine learning to consider aspects previously deemed infeasible. This review provides a comprehensive exploration of coordinated ASV control while addressing critical gaps left by previous reviews. Unlike previous works, we adopt a systematic approach to ensure integrity and minimize bias in article selection. We delve into the complex world of sub-actuated ASVs with a focus on customized control strategies and the integration of machine learning techniques for increased autonomy. By synthesizing recent advances and identifying emerging trends, we offer insights that drive this field forward, providing both a comprehensive overview of state-of-the-art techniques and guidance for future research efforts.

This study investigates the stylistic differences among various Bible translations using a Variational Autoencoder (VAE) model. By embedding textual data into high-dimensional vectors, the study aims to detect and analyze stylistic variations between translations, with a specific focus on distinguishing the American Standard Version (ASV) from other translations. The results demonstrate that each translation exhibits a unique stylistic distribution, which can be effectively identified using the VAE model. These findings suggest that the VAE model is proficient in capturing and differentiating textual styles, although it is primarily optimized for distinguishing a single style. The study highlights the model's potential for broader applications in AI-based text generation and stylistic analysis, while also acknowledging the need for further model refinement to address the complexity of multi-dimensional stylistic relationships. Future research could extend this methodology to other text domains, offering deeper insights into the stylistic features embedded within various types of textual data.

Autonomous surface vessels are a promising building block of the future's transport sector and are investigated by research groups worldwide. This paper presents a comprehensive and systematic overview of the autonomous research vessel Solgenia including the latest investigations and recently presented methods that contributed to the fields of autonomous systems, applied numerical optimization, nonlinear model predictive control, multi-extended-object-tracking, computer vision, and collision avoidance. These are considered to be the main components of autonomous water taxi applications. Autonomous water taxis have the potential to transform the traffic in cities close to the water into a more efficient, sustainable, and flexible future state. Regarding this transformation, the test platform Solgenia offers an opportunity to gain new insights by investigating novel methods in real-world experiments. An established test platform will strongly reduce the effort required for real-world experiments in the future.

This paper presents a model-free deep reinforcement learning framework for informative path planning with heterogeneous fleets of autonomous surface vehicles to locate and collect plastic waste. The system employs two teams of vehicles: scouts and cleaners. Coordination between these teams is achieved through a deep reinforcement approach, allowing agents to learn strategies to maximize cleaning efficiency. The primary objective is for the scout team to provide an up-to-date contamination model, while the cleaner team collects as much waste as possible following this model. This strategy leads to heterogeneous teams that optimize fleet efficiency through inter-team cooperation supported by a tailored reward function. Different trainings of the proposed algorithm are compared with other state-of-the-art heuristics in two distinct scenarios, one with high convexity and another with narrow corridors and challenging access. According to the obtained results, it is demonstrated that deep reinforcement learning based algorithms outperform other benchmark heuristics, exhibiting superior adaptability. In addition, training with greedy actions further enhances performance, particularly in scenarios with intricate layouts.