Deploying autonomous robots in safety-critical domains requires architectures that ensure operational effectiveness and safety compliance. In this paper, we contribute the Safe-ROS architecture for developing reliable and verifiable autonomous robots in such domains. It features two distinct subsystems: (1) an intelligent control system that is responsible for normal/routine operations, and (2) a Safety System consisting of Safety Instrumented Functions (SIFs) that provide formally verifiable independent oversight. We demonstrate Safe-ROS on an AgileX Scout Mini robot performing autonomous inspection in a nuclear environment. One safety requirement is selected and instantiated as a SIF. To support verification, we implement the SIF as a cognitive agent, programmed to stop the robot whenever it detects that it is too close to an obstacle. We verify that the agent meets the safety requirement and integrate it into the autonomous inspection. This integration is also verified, and the full deployment is validated in a Gazebo simulation, and lab testing. We evaluate this architecture in the context of the UK nuclear sector, where safety and regulation are crucial aspects of deployment. Success criteria include the development of a formal property from the safety requirement, implementation, and verification of the SIF, and the integration of the SIF into the operational robotic autonomous system. Our results demonstrate that the Safe-ROS architecture can provide safety verifiable oversight while deploying autonomous robots in safety-critical domains, offering a robust framework that can be extended to additional requirements and various applications.

This paper proposes JoSE, a method to train word embeddings. Their unsupervised approach is rooted in the principle that words with similar contexts should be similar, where they have some novelty in their generative model using both word-word and word-paragraph embeddings and the novelty largely lies in their constraint that all embeddings are on the unit sphere - where they derive an optimization procedure for this constrained problem using Riemannian optimization. They also utilize word, paragraph s The empirical results form this paper are strong - outperforming the GloVe, Poincare Glove, and Word2vec baselines considerably in some cases. FastText is also outperformed as well, though less so, but FastText does have the advantage of using character n-gram information which is not used in JoSE. They also evaluate on analogies and embedding documents from the 20 newsgroups dataset and clustering them, evaluating on the purity of the clusters.

We present a deep learning model to automatically generate computer models of the human heart from patient imaging data with an emphasis on its capability to generate thin-walled cardiac structures. Our method works by deforming a template mesh to fit the cardiac structures to the given image. Compared with prior deep learning methods that adopted this approach, our framework is designed to minimize mesh self-penetration, which typically arises when deforming surface meshes separated by small distances. We achieve this by using a two-stage diffeomorphic deformation process along with a novel loss function derived from the kinematics of motion that penalizes surface contact and interpenetration. Our model demonstrates comparable accuracy with state-of-the-art methods while additionally producing meshes free of self-intersections. The resultant meshes are readily usable in physics based simulation, minimizing the need for post-processing and cleanup.

Monitoring vegetation productivity at extremely fine resolutions is valuable for real-world agricultural applications, such as detecting crop stress and providing early warning of food insecurity. Solar-Induced Chlorophyll Fluorescence (SIF) provides a promising way to directly measure plant productivity from space. However, satellite SIF observations are only available at a coarse spatial resolution, making it impossible to monitor how individual crop types or farms are doing. This poses a challenging coarsely-supervised regression (or downscaling) task; at training time, we only have SIF labels at a coarse resolution (3km), but we want to predict SIF at much finer spatial resolutions (e.g. 30m, a 100x increase). We also have additional fine-resolution input features, but the relationship between these features and SIF is unknown. To address this, we propose Coarsely-Supervised Smooth U-Net (CS-SUNet), a novel method for this coarse supervision setting. CS-SUNet combines the expressive power of deep convolutional networks with novel regularization methods based on prior knowledge (such as a smoothness loss) that are crucial for preventing overfitting. Experiments show that CS-SUNet resolves fine-grained variations in SIF more accurately than existing methods.

Interaction function (IFC), which captures interactions among items and users, is of great importance in collaborative filtering (CF). The inner product is the most popular IFC due to its success in low-rank matrix factorization. However, interactions in real-world applications can be highly complex. Many other operations (such as plus and concatenation) have also been proposed, and can possibly offer better performance than the inner product. In this paper, motivated by the success of automated machine learning, we propose to search for proper interaction functions (SIF) for CF tasks. We first design an expressive search space for SIF by reviewing and generalizing existing CF approaches. We then propose to represent the search space as a structured multi-layer perceptron, and design a stochastic gradient descent algorithm which can simultaneously update both architectures and learning parameters. Experimental results demonstrate that the proposed method can be much more efficient than popular AutoML approaches, and also obtain much better prediction performance than state-of-the-art CF approaches.

We propose a unified framework for building unsupervised representations of individual objects or entities (and their compositions), by associating with each object both a distributional as well as a point estimate (vector embedding). This is made possible by the use of optimal transport, which allows us to build these associated estimates while harnessing the underlying geometry of the ground space. Our method gives a novel perspective for building rich and powerful feature representations that simultaneously capture uncertainty (via a distributional estimate) and interpretability (with the optimal transport map). As a guiding example, we formulate unsupervised representations for text, in particular for sentence representation and entailment detection. Empirical results show strong advantages gained through the proposed framework. This approach can be used for any unsupervised or supervised problem (on text or other modalities) with a co-occurrence structure, such as any sequence data. The key tools underlying the framework are Wasserstein distances and Wasserstein barycenters (and, hence the title!).

Sparse support vector machine (SVM) is a popular classification technique that can simultaneously learn a small set of the most interpretable features and identify the support vectors. It has achieved great successes in many real-world applications. However, for large-scale problems involving a huge number of samples and extremely high-dimensional features, solving sparse SVMs remains challenging. By noting that sparse SVMs induce sparsities in both feature and sample spaces, we propose a novel approach, which is based on accurate estimations of the primal and dual optima of sparse SVMs, to simultaneously identify the features and samples that are guaranteed to be irrelevant to the outputs. Thus, we can remove the identified inactive samples and features from the training phase, leading to substantial savings in both the memory usage and computational cost without sacrificing accuracy. To the best of our knowledge, the proposed method is the \emph{first} \emph{static} feature and sample reduction method for sparse SVM. Experiments on both synthetic and real datasets (e.g., the kddb dataset with about 20 million samples and 30 million features) demonstrate that our approach significantly outperforms state-of-the-art methods and the speedup gained by our approach can be orders of magnitude.