The success of deep learning sparked interest in whether the brain learns by using similar techniques for assigning credit to each synaptic weight for its contribution to the network output. However, the majority of current attempts at biologically-plausible learning methods are either non-local in time, require highly specific connectivity motifs, or have no clear link to any known mathematical optimization method. Here, we introduce Deep Feedback Control (DFC), a new learning method that uses a feedback controller to drive a deep neural network to match a desired output target and whose control signal can be used for credit assignment. The resulting learning rule is fully local in space and time and approximates Gauss-Newton optimization for a wide range of feedback connectivity patterns. To further underline its biological plausibility, we relate DFC to a multi-compartment model of cortical pyramidal neurons with a local voltage-dependent synaptic plasticity rule, consistent with recent theories of dendritic processing. By combining dynamical system theory with mathematical optimization theory, we provide a strong theoretical foundation for DFC that we corroborate with detailed results on toy experiments and standard computer-vision benchmarks.

As robotics gains popularity, interaction control becomes crucial for ensuring force tracking in manipulator-based tasks. Typically, traditional interaction controllers either require extensive tuning, or demand expert knowledge of the environment, which is often impractical in real-world applications. This work proposes a novel control strategy leveraging Neural Networks (NNs) to enhance the force-tracking behavior of a Direct Force Controller (DFC). Unlike similar previous approaches, it accounts for the manipulator's tangential velocity, a critical factor in force exertion, especially during fast motions. The method employs an ensemble of feedforward NNs to predict contact forces, then exploits the prediction to solve an optimization problem and generate an optimal residual action, which is added to the DFC output and applied to an impedance controller. The proposed Velocity-augmented Artificial intelligence Interaction Controller for Ambiguous Models (VAICAM) is validated in the Gazebo simulator on a Franka Emika Panda robot. Against a vast set of trajectories, VAICAM achieves superior performance compared to two baseline controllers.

Neuro-developmental disorders are manifested as dysfunctions in cognition, communication, behaviour and adaptability, and deep learning-based computer-aided diagnosis (CAD) can alleviate the increasingly strained healthcare resources on neuroimaging. However, neuroimaging such as fMRI contains complex spatio-temporal features, which makes the corresponding representations susceptible to a variety of distractions, thus leading to less effective in CAD. For the first time, we present a Comorbidity-Informed Transfer Learning(CITL) framework for diagnosing neuro-developmental disorders using fMRI. In CITL, a new reinforced representation generation network is proposed, which first combines transfer learning with pseudo-labelling to remove interfering patterns from the temporal domain of fMRI and generates new representations using encoder-decoder architecture. The new representations are then trained in an architecturally simple classification network to obtain CAD model. In particular, the framework fully considers the comorbidity mechanisms of neuro-developmental disorders and effectively integrates them with semi-supervised learning and transfer learning, providing new perspectives on interdisciplinary. Experimental results demonstrate that CITL achieves competitive accuracies of 76.32% and 73.15% for detecting autism spectrum disorder and attention deficit hyperactivity disorder, respectively, which outperforms existing related transfer learning work for 7.2% and 0.5% respectively.

Motor skill acquisition in fields like surgery, robotics, and sports involves learning complex task sequences through extensive training. Traditional performance metrics, like execution time and error rates, offer limited insight as they fail to capture the neural mechanisms underlying skill learning and retention. This study introduces directed functional connectivity (dFC), derived from electroencephalography (EEG), as a novel brain-based biomarker for assessing motor skill learning and retention. For the first time, dFC is applied as a biomarker to map the stages of the Fitts and Posner motor learning model, offering new insights into the neural mechanisms underlying skill acquisition and retention. Unlike traditional measures, it captures both the strength and direction of neural information flow, providing a comprehensive understanding of neural adaptations across different learning stages. The analysis demonstrates that dFC can effectively identify and track the progression through various stages of the Fitts and Posner model. Furthermore, its stability over a six-week washout period highlights its utility in monitoring long-term retention. No significant changes in dFC were observed in a control group, confirming that the observed neural adaptations were specific to training and not due to external factors. By offering a granular view of the learning process at the group and individual levels, dFC facilitates the development of personalized, targeted training protocols aimed at enhancing outcomes in fields where precision and long-term retention are critical, such as surgical education. These findings underscore the value of dFC as a robust biomarker that complements traditional performance metrics, providing a deeper understanding of motor skill learning and retention.

The success of deep learning sparked interest in whether the brain learns by using similar techniques for assigning credit to each synaptic weight for its contribution to the network output. However, the majority of current attempts at biologically-plausible learning methods are either non-local in time, require highly specific connectivity motifs, or have no clear link to any known mathematical optimization method. Here, we introduce Deep Feedback Control (DFC), a new learning method that uses a feedback controller to drive a deep neural network to match a desired output target and whose control signal can be used for credit assignment. The resulting learning rule is fully local in space and time and approximates Gauss-Newton optimization for a wide range of feedback connectivity patterns. To further underline its biological plausibility, we relate DFC to a multi-compartment model of cortical pyramidal neurons with a local voltage-dependent synaptic plasticity rule, consistent with recent theories of dendritic processing. By combining dynamical system theory with mathematical optimization theory, we provide a strong theoretical foundation for DFC that we corroborate with detailed results on toy experiments and standard computer-vision benchmarks.

In recent years, there has been a significant amount of research focused on expanding the expressivity of Graph Neural Networks (GNNs) beyond the Weisfeiler-Lehman (1-WL) framework. While many of these studies have yielded advancements in expressivity, they have frequently come at the expense of decreased efficiency or have been restricted to specific types of graphs. In this study, we investigate the expressivity of GNNs from the perspective of graph search. Specifically, we propose a new vertex colouring scheme and demonstrate that classical search algorithms can efficiently compute graph representations that extend beyond the 1-WL. We show the colouring scheme inherits useful properties from graph search that can help solve problems like graph biconnectivity. Furthermore, we show that under certain conditions, the expressivity of GNNs increases hierarchically with the radius of the search neighbourhood. To further investigate the proposed scheme, we develop a new type of GNN based on two search strategies, breadth-first search and depth-first search, highlighting the graph properties they can capture on top of 1-WL. Our code is available at https://github.com/seanli3/lvc.

Early diagnosis of mild cognitive impairment (MCI) and subjective cognitive decline (SCD) utilizing multi-modal magnetic resonance imaging (MRI) is a pivotal area of research. While various regional and connectivity features from functional MRI (fMRI) and diffusion tensor imaging (DTI) have been employed to develop diagnosis models, most studies integrate these features without adequately addressing their alignment and interactions. This limits the potential to fully exploit the synergistic contributions of combined features and modalities. To solve this gap, our study introduces a novel Hierarchical Alignments and Hierarchical Interactions (HA-HI) method for MCI and SCD classification, leveraging the combined strengths of fMRI and DTI. HA-HI efficiently learns significant MCI- or SCD- related regional and connectivity features by aligning various feature types and hierarchically maximizing their interactions. Furthermore, to enhance the interpretability of our approach, we have developed the Synergistic Activation Map (SAM) technique, revealing the critical brain regions and connections that are indicative of MCI/SCD. Comprehensive evaluations on the ADNI dataset and our self-collected data demonstrate that HA-HI outperforms other existing methods in diagnosing MCI and SCD, making it a potentially vital and interpretable tool for early detection. The implementation of this method is publicly accessible at https://github.com/ICI-BCI/Dual-MRI-HA-HI.git.

Code contains security and functional bugs. The process of identifying and localizing them is difficult and relies on human labor. In this work, we present a novel approach (FLAG) to assist human debuggers. FLAG is based on the lexical capabilities of generative AI, specifically, Large Language Models (LLMs). Here, we input a code file then extract and regenerate each line within that file for self-comparison. By comparing the original code with an LLM-generated alternative, we can flag notable differences as anomalies for further inspection, with features such as distance from comments and LLM confidence also aiding this classification. This reduces the inspection search space for the designer. Unlike other automated approaches in this area, FLAG is language-agnostic, can work on incomplete (and even non-compiling) code and requires no creation of security properties, functional tests or definition of rules. In this work, we explore the features that help LLMs in this classification and evaluate the performance of FLAG on known bugs. We use 121 benchmarks across C, Python and Verilog; with each benchmark containing a known security or functional weakness. We conduct the experiments using two state of the art LLMs in OpenAI's code-davinci-002 and gpt-3.5-turbo, but our approach may be used by other models. FLAG can identify 101 of the defects and helps reduce the search space to 12-17% of source code.