Medical texts, particularly electronic medical records (EMRs), are a cornerstone of modern healthcare, capturing critical information about patient care, diagnoses, and treatments. These texts hold immense potential for advancing clinical decision-making and healthcare analytics. However, their unstructured nature, domain-specific language, and variability across contexts make automated understanding an intricate challenge. Despite the advancements in natural language processing, existing methods often treat all data as equally challenging, ignoring the inherent differences in complexity across clinical records. This oversight limits the ability of models to effectively generalize and perform well on rare or complex cases. In this paper, we present TACL (Threshold-Adaptive Curriculum Learning), a novel framework designed to address these challenges by rethinking how models interact with medical texts during training. Inspired by the principle of progressive learning, TACL dynamically adjusts the training process based on the complexity of individual samples. By categorizing data into difficulty levels and prioritizing simpler cases early in training, the model builds a strong foundation before tackling more complex records. By applying TACL to multilingual medical data, including English and Chinese clinical records, we observe significant improvements across diverse clinical tasks, including automatic ICD coding, readmission prediction and TCM syndrome differentiation. TACL not only enhances the performance of automated systems but also demonstrates the potential to unify approaches across disparate medical domains, paving the way for more accurate, scalable, and globally applicable medical text understanding solutions.

We assess our method on both synthetic data and real collected point clouds.

Alzheimer's disease (AD) affects 50 million people worldwide and is projected to overwhelm 152 million by 2050. AD is characterized by cognitive decline due partly to disruptions in metabolic brain connectivity. Thus, early and accurate detection of metabolic brain network impairments is crucial for AD management. Chief to identifying such impairments is FDG-PET data. Despite advancements, most graph-based studies using FDG-PET data rely on group-level analysis or thresholding. Yet, group-level analysis can veil individual differences and thresholding may overlook weaker but biologically critical brain connections. Additionally, machine learning-based AD prediction largely focuses on univariate outcomes, such as disease status. Here, we introduce explainable graph-theoretical machine learning (XGML), a framework employing kernel density estimation and dynamic time warping to construct individual metabolic brain graphs that capture the distance between pair-wise brain regions and identify subgraphs most predictive of multivariate AD-related outcomes. Using FDG-PET data from the Alzheimer's Disease Neuroimaging Initiative, XGML builds metabolic brain graphs and uncovers subgraphs predictive of eight AD-related cognitive scores in new subjects. XGML shows robust performance, particularly for predicting scores measuring learning, memory, language, praxis, and orientation, such as CDRSB ($r = 0.74$), ADAS11 ($r = 0.73$), and ADAS13 ($r = 0.71$). Moreover, XGML unveils key edges jointly but differentially predictive of several AD-related outcomes; they may serve as potential network biomarkers for assessing overall cognitive decline. Together, we show the promise of graph-theoretical machine learning in biomarker discovery and disease prediction and its potential to improve our understanding of network neural mechanisms underlying AD.

A classic task in robotics is tracking a target in the external environment. There are several well-documented approaches to this problem. This paper presents a novel approach to this problem using infrared time of flight sensors. The use of infrared time of flight sensors is not common as a tracking approach, typically used for simple motion detectors. However, with the approach highlighted in this paper they can be used to accurately track the position of a moving subject. Traditional approaches to the tracking problem often include cameras, or ultrasonic sensors. These approaches can be expensive and overcompensating in some use cases. The method focused on in this paper can be superior in terms of cost and simplicity.

In the pursuit of supporting more languages around the world, tools that characterize properties of languages play a key role in expanding the existing multilingual NLP research. In this study, we focus on a widely used typological knowledge base, URIEL, which aggregates linguistic information into numeric vectors. Specifically, we delve into the soundness and reproducibility of the approach taken by URIEL in quantifying language similarity. Our analysis reveals URIEL's ambiguity in calculating language distances and in handling missing values. Moreover, we find that URIEL does not provide any information about typological features for 31\% of the languages it represents, undermining the reliabilility of the database, particularly on low-resource languages. Our literature review suggests URIEL and lang2vec are used in papers on diverse NLP tasks, which motivates us to rigorously verify the database as the effectiveness of these works depends on the reliability of the information the tool provides.

Implicit reconstruction of ESDF (Euclidean Signed Distance Field) involves training a neural network to regress the signed distance from any point to the nearest obstacle, which has the advantages of lightweight storage and continuous querying. However, existing algorithms usually rely on conflicting raw observations as training data, resulting in poor map performance. In this paper, we propose LGSDF, an ESDF continual Global learning algorithm aided by Local updating. At the front end, axis-aligned grids are dynamically updated by pre-processed sensor observations, where incremental fusion alleviates estimation error caused by limited viewing directions. At the back end, a randomly initialized implicit ESDF neural network performs continual self-supervised learning guided by these grids to generate smooth and continuous maps. The results on multiple scenes show that LGSDF can construct more accurate ESDF maps and meshes compared with SOTA (State Of The Art) explicit and implicit mapping algorithms. The source code of LGSDF is publicly available at https://github.com/BIT-DYN/LGSDF.

Accurate and dense mapping in large-scale environments is essential for various robot applications. Recently, implicit neural signed distance fields (SDFs) have shown promising advances in this task. However, most existing approaches employ projective distances from range data as SDF supervision, introducing approximation errors and thus degrading the mapping quality. To address this problem, we introduce N3-Mapping, an implicit neural mapping system featuring normal-guided neural non-projective signed distance fields. Specifically, we directly sample points along the surface normal, instead of the ray, to obtain more accurate non-projective distance values from range data. Then these distance values are used as supervision to train the implicit map. For large-scale mapping, we apply a voxel-oriented sliding window mechanism to alleviate the forgetting issue with a bounded memory footprint. Besides, considering the uneven distribution of measured point clouds, a hierarchical sampling strategy is designed to improve training efficiency. Experiments demonstrate that our method effectively mitigates SDF approximation errors and achieves state-of-the-art mapping quality compared to existing approaches.

We hereby present a solution to a semantic textual similarity (STS) problem in which it is necessary to match two sentences containing, as the only distinguishing factor, highly specific information (such as names, addresses, identification codes), and from which we need to derive a definition for when they are similar and when they are not. The solution revolves around the use of a neural network, based on the siamese architecture, to create the distributions of the distances between similar and dissimilar pairs of sentences. The goal of these distributions is to find a discriminating factor, that we call "threshold", which represents a well-defined quantity that can be used to distinguish vector distances of similar pairs from vector distances of dissimilar pairs in new predictions and later analyses. In addition, we developed a way to score the predictions by combining attributes from both the distributions' features and the way the distance function works. Finally, we generalize the results showing that they can be transferred to a wider range of domains by applying the system discussed to a well-known and widely used benchmark dataset for STS problems.

Conducting safety simulations in various simulators, such as the Gazebo simulator, became a very popular means of testing vehicles against potential safety risks (i.e. crashes). However, this was not the case with security testing. Performing security testing in a simulator is very difficult because security attacks are performed on a different abstraction level. In addition, the attacks themselves are becoming more sophisticated, which directly contributes to the difficulty of executing them in a simulator. In this paper, we attempt to tackle the aforementioned gap by investigating possible attacks that can be simulated, and then performing their simulations. The presented approach shows that attacks targeting the LiDAR and GPS components of unmanned aerial vehicles can be simulated. This is achieved by exploiting vulnerabilities of the ROS and MAVLink protocol and injecting malicious processes into an application. As a result, messages with arbitrary values can be spoofed to the corresponding topics, which allows attackers to update relevant parameters and cause a potential crash of a vehicle. This was tested in multiple scenarios, thereby proving that it is indeed possible to simulate certain attack types, such as spoofing and jamming.