In today's manufacturing environments, upgrading a robot fleet often means starting from scratch - not only replacing hardware, but also reprogramming tasks. Even when two robots are built to perform similar jobs, different joint arrangements or movement limits mean that a task programmed for one robot often can't be used on another. Enabling skills to transfer directly between robots could make these systems more sustainable and cost-efficient. To meet this challenge, researchers in the Learning Algorithms and Systems Laboratory ( LASA) in EPFL's School of Engineering have developed a new robotic control framework called . The method takes a human-demonstrated task, mathematically converts it into a general movement strategy, and then adapts it so that different robots can perform it based on their physical design.

We introduce and study the problem of calibrating conditional risk, which involves estimating the expected loss of a prediction model conditional on input features. We analyze this problem in both classification and regression settings and show that it is fundamentally equivalent to a standard regression task. For classification settings, we further establish a connection between conditional risk calibration and individual/conditional probability calibration, and develop theoretical insights for the performance metric. This reveals that while conditional risk calibration is related to existing uncertainty quantification problems, it remains a distinct and standalone machine learning problem. Empirically, we validate our theoretical findings and demonstrate the practical implications of conditional risk calibration in the learning to defer (L2D) framework. Our systematic experiments provide both qualitative and quantitative assessments, offering guidance for future research in uncertainty-aware decision-making.

Machine learning models often inherit biases from historical data, raising critical concerns about fairness and accountability. Conventional fairness interventions typically require access to sensitive attributes like gender or race, but privacy and legal restrictions frequently limit their use. To address this challenge, we propose a framework that infers sensitive attributes from auxiliary features and integrates fairness constraints into model training. Our approach mitigates bias while preserving predictive accuracy, offering a practical solution for fairness-aware learning. Empirical evaluations validate its effectiveness, contributing to the advancement of more equitable algorithmic decision-making.

The present study aims to investigate a cluster cleaning algorithm that is both computationally simple and capable of solving the PU classification when the SCAR condition is unsatisfied. A secondary objective of this study is to determine the robustness of the LassoJoint method to perturbations of the SCAR condition. In the first step of our algorithm, we obtain cleaning labels from 2-means clustering. Subsequently, we perform logistic regression on the cleaned data, assigning positive labels from the cleaning algorithm with additional true positive observations. The remaining observations are assigned the negative label. The proposed algorithm is evaluated by comparing 11 real data sets from machine learning repositories and a synthetic set. The findings obtained from this study demonstrate the efficacy of the clustering algorithm in scenarios where the SCAR condition is violated and further underscore the moderate robustness of the LassoJoint algorithm in this context.

Data leakage remains a recurrent source of optimistic bias in biomedical machine learning studies. Standard row-wise cross-validation and globally estimated preprocessing steps are often inappropriate for data with repeated measurements, study-level heterogeneity, batch effects, or temporal dependencies. This paper describes bioLeak, an R package for constructing leakage-aware resampling workflows and for auditing fitted models for common leakage mechanisms. The package provides leakage-aware split construction, train-fold-only preprocessing, cross-validated model fitting, nested hyperparameter tuning, post hoc leakage audits, and HTML reporting. The implementation supports binary classification, multiclass classification, regression, and survival analysis, with task-specific metrics and S4 containers for splits, fits, audits, and inflation summaries. The simulation artifacts show how apparent performance changes under controlled leakage mechanisms, and the case study illustrates how guarded and leaky pipelines can yield materially different conclusions on multi-study transcriptomic data. The emphasis throughout is on software design, reproducible workflows, and interpretation of diagnostic output.

The Hierarchical Kernel Transformer (HKT) is a multi-scale attention mechanism that processes sequences at L resolution levels via trainable causal downsampling, combining level-specific score matrices through learned convex weights. The total computational cost is bounded by 4/3 times that of standard attention, reaching 1.3125x for L = 3. Four theoretical results are established. (i) The hierarchical score matrix defines a positive semidefinite kernel under a sufficient condition on the symmetrised bilinear form (Proposition 3.1). (ii) The asymmetric score matrix decomposes uniquely into a symmetric part controlling reciprocal attention and an antisymmetric part controlling directional attention; HKT provides L independent such pairs across scales, one per resolution level (Propositions 3.5-3.6). (iii) The approximation error decomposes into three interpretable components with an explicit non-Gaussian correction and a geometric decay bound in L (Theorem 4.3, Proposition 4.4). (iv) HKT strictly subsumes single-head standard attention and causal convolution (Proposition 3.4). Experiments over 3 random seeds show consistent gains over retrained standard attention baselines: +4.77pp on synthetic ListOps (55.10+-0.29% vs 50.33+-0.12%, T = 512), +1.44pp on sequential CIFAR-10 (35.45+-0.09% vs 34.01+-0.19%, T = 1,024), and +7.47pp on IMDB character-level sentiment (70.19+-0.57% vs 62.72+-0.40%, T = 1,024), all at 1.31x overhead.

Most methods for learning with noisy labels require privileged knowledge such as noise transition matrices, clean subsets or pretrained feature extractors, resources typically unavailable when robustness is most needed. We propose Conformal Margin Risk Minimization (CMRM), a plug-and-play envelope framework that improves any classification loss under label noise by adding a single quantile-calibrated regularization term, with no privileged knowledge or training pipeline modification. CMRM measures the confidence margin between the observed label and competing labels, and thresholds it with a conformal quantile estimated per batch to focus training on high-margin samples while suppressing likely mislabeled ones. We derive a learning bound for CMRM under arbitrary label noise requiring only mild regularity of the margin distribution. Across five base methods and six benchmarks with synthetic and real-world noise, CMRM consistently improves accuracy (up to +3.39%), reduces conformal prediction set size (up to -20.44%) and does not hurt under 0% noise, showing that CMRM captures a method-agnostic uncertainty signal that existing mechanisms did not exploit.

While both classical and neural network classifiers can achieve high accuracy, they fall short on offering uncertainty bounds on their predictions, making them unfit for safety-critical applications. Existing kernel-based classifiers that provide such bounds scale with $\mathcal O (n^{\sim3})$ in time, making them computationally intractable for large datasets. To address this, we propose a novel, computationally efficient classification algorithm based on the Nadaraya-Watson estimator, for whose estimates we derive frequentist uncertainty intervals. We evaluate our classifier on synthetically generated data and on electrocardiographic heartbeat signals from the MIT-BIH Arrhythmia database. We show that the method achieves competitive accuracy $>$\SI{96}{\percent} at $\mathcal O(n)$ and $\mathcal O(\log n)$ operations, while providing actionable uncertainty bounds. These bounds can, e.g., aid in flagging low-confidence predictions, making them suitable for real-time settings with resource constraints, such as diagnostic monitoring or implantable devices.

Machine learning (ML) models have achieved strikingly high accuracies in spectroscopic classification tasks, often without a clear proof that those models used chemically meaningful features. Existing studies have linked these results to data preprocessing choices, noise sensitivity, and model complexity, but no unifying explanation is available so far. In this work, we show that these phenomena arise naturally from the intrinsic high dimensionality of spectral data. Using a theoretical analysis grounded in the Feldman-Hajek theorem and the concentration of measure, we show that even infinitesimal distributional differences, caused by noise, normalisation, or instrumental artefacts, may become perfectly separable in high-dimensional spaces. Through a series of specific experiments on synthetic and real fluorescence spectra, we illustrate how models can achieve near-perfect accuracy even when chemical distinctions are absent, and why feature-importance maps may highlight spectrally irrelevant regions. We provide a rigorous theoretical framework, confirm the effect experimentally, and conclude with practical recommendations for building and interpreting ML models in spectroscopy.

In federated healthcare systems, Federated Class-Incremental Learning (FCIL) has emerged as a key paradigm, enabling continuous adaptive model learning among distributed clients while safeguarding data privacy. However, in practical applications, data across agent nodes within the distributed framework often exhibits non-independent and identically distributed (non-IID) characteristics, rendering traditional continual learning methods inapplicable. To address these challenges, this paper covers more comprehensive incremental task scenarios and proposes a dynamic memory allocation strategy for exemplar storage based on the data replay mechanism. This strategy fully taps into the inherent potential of data heterogeneity, while taking into account the performance fairness of all participating clients, thereby establishing a balanced and adaptive solution to mitigate catastrophic forgetting. Unlike the fixed allocation of client exemplar memory, the proposed scheme emphasizes the rational allocation of limited storage resources among clients to improve model performance. Furthermore, extensive experiments are conducted on three medical image datasets, and the results demonstrate significant performance improvements compared to existing baseline models.