A Collaborative Model-driven Network for MRI Reconstruction

Magnetic resonance imaging (MRI) is a vital medical imaging modality, but its development has been limited by prolonged scanning time. Deep learning (DL)-based methods, which build neural networks to reconstruct MR images from undersampled raw data, can reliably address this problem. Among these methods, model-driven DL methods incorporate different prior knowledge into deep networks, thereby narrowing the solution space and achieving better results. However, the complementarity among different prior knowledge has not been thoroughly explored. Most of the existing model-driven networks simply stack unrolled cascades to mimic iterative solution steps, which are inefficient and their performances are suboptimal. To optimize the conventional network structure, we propose a collaborative model-driven network. In the network, each unrolled cascade comprised three parts: model-driven subnetworks, attention modules, and correction modules. The attention modules can learn to enhance the areas of expertise for each subnetwork, and the correction modules can compensate for new errors caused by the attention modules. The optimized intermediate results are fed into the next cascade for better convergence. Experimental results on multiple sequences showed significant improvements in the final results without additional computational complexity. Moreover, the proposed model-driven network design strategy can be easily applied to other model-driven methods to improve their performances.

Review on Fault Diagnosis and Fault-Tolerant Control Scheme for Robotic Manipulators: Recent Advances in AI, Machine Learning, and Digital Twin

This comprehensive review article delves into the intricate realm of fault-tolerant control (FTC) schemes tailored for robotic manipulators. Our exploration spans the historical evolution of FTC, tracing its development over time, and meticulously examines the recent breakthroughs fueled by the synergistic integration of cutting-edge technologies such as artificial intelligence (AI), machine learning (ML), and digital twin technologies (DTT). The article places a particular emphasis on the transformative influence these contemporary trends exert on the landscape of robotic manipulator control and fault tolerance. By delving into the historical context, our aim is to provide a comprehensive understanding of the evolution of FTC schemes. This journey encompasses the transition from model-based and signal-based schemes to the role of sensors, setting the stage for an exploration of the present-day paradigm shift enabled by AI, ML, and DTT. The narrative unfolds as we dissect the intricate interplay between these advanced technologies and their applications in enhancing fault tolerance within the domain of robotic manipulators. Our review critically evaluates the impact of these advancements, shedding light on the novel methodologies, techniques, and applications that have emerged in recent times. The overarching goal of this article is to present a comprehensive perspective on the current state of fault diagnosis and fault-tolerant control within the context of robotic manipulators, positioning our exploration within the broader framework of AI, ML, and DTT advancements. Through a meticulous examination of both historical foundations and contemporary innovations, this review significantly contributes to the existing body of knowledge, offering valuable insights for researchers, practitioners, and enthusiasts navigating the dynamic landscape of robotic manipulator control.

Longitudinal Control Volumes: A Novel Centralized Estimation and Control Framework for Distributed Multi-Agent Sorting Systems

Centralized control of a multi-agent system improves upon distributed control especially when multiple agents share a common task e.g., sorting different materials in a recycling facility. Traditionally, each agent in a sorting facility is tuned individually which leads to suboptimal performance if one agent is less efficient than the others. Centralized control overcomes this bottleneck by leveraging global system state information, but it can be computationally expensive. In this work, we propose a novel framework called Longitudinal Control Volumes (LCV) to model the flow of material in a recycling facility. We then employ a Kalman Filter that incorporates local measurements of materials into a global estimation of the material flow in the system. We utilize a model predictive control algorithm that optimizes the rate of material flow using the global state estimate in real-time. We show that our proposed framework outperforms distributed control methods by 40-100% in simulation and physical experiments.

Wavelet-Decoupling Contrastive Enhancement Network for Fine-Grained Skeleton-Based Action Recognition

Skeleton-based action recognition has attracted much attention, benefiting from its succinctness and robustness. However, the minimal inter-class variation in similar action sequences often leads to confusion. The inherent spatiotemporal coupling characteristics make it challenging to mine the subtle differences in joint motion trajectories, which is critical for distinguishing confusing fine-grained actions. To alleviate this problem, we propose a Wavelet-Attention Decoupling (WAD) module that utilizes discrete wavelet transform to effectively disentangle salient and subtle motion features in the time-frequency domain. Then, the decoupling attention adaptively recalibrates their temporal responses. To further amplify the discrepancies in these subtle motion features, we propose a Fine-grained Contrastive Enhancement (FCE) module to enhance attention towards trajectory features by contrastive learning. Extensive experiments are conducted on the coarse-grained dataset NTU RGB+D and the fine-grained dataset FineGYM. Our methods perform competitively compared to state-of-the-art methods and can discriminate confusing fine-grained actions well.

Risk-Sensitive Diffusion: Learning the Underlying Distribution from Noisy Samples

While achieving remarkable performances, we show that diffusion models are fragile to the presence of noisy samples, limiting their potential in the vast amount of settings where, unlike image synthesis, we are not blessed with clean data. Motivated by our finding that such fragility originates from the distribution gaps between noisy and clean samples along the diffusion process, we introduce risk-sensitive SDE, a stochastic differential equation that is parameterized by the risk (i.e., data "dirtiness") to adjust the distributions of noisy samples, reducing misguidance while benefiting from their contained information. The optimal expression for risk-sensitive SDE depends on the specific noise distribution, and we derive its parameterizations that minimize the misguidance of noisy samples for both Gaussian and general non-Gaussian perturbations. We conduct extensive experiments on both synthetic and real-world datasets (e.g., medical time series), showing that our model effectively recovers the clean data distribution from noisy samples, significantly outperforming conditional generation baselines.

TRLS: A Time Series Representation Learning Framework via Spectrogram for Medical Signal Processing

Representation learning frameworks in unlabeled time series have been proposed for medical signal processing. Despite the numerous excellent progresses have been made in previous works, we observe the representation extracted for the time series still does not generalize well. In this paper, we present a Time series (medical signal) Representation Learning framework via Spectrogram (TRLS) to get more informative representations. We transform the input time-domain medical signals into spectrograms and design a time-frequency encoder named Time Frequency RNN (TFRNN) to capture more robust multi-scale representations from the augmented spectrograms. Our TRLS takes spectrogram as input with two types of different data augmentations and maximizes the similarity between positive ones, which effectively circumvents the problem of designing negative samples. Our evaluation of four real-world medical signal datasets focusing on medical signal classification shows that TRLS is superior to the existing frameworks.

Balancing the AI Strength of Roles in Self-Play Training with Regret Matching+

When training artificial intelligence for games encompassing multiple roles, the development of a generalized model capable of controlling any character within the game presents a viable option. This strategy not only conserves computational resources and time during the training phase but also reduces resource requirements during deployment. training such a generalized model often encounters challenges related to uneven capabilities when controlling different roles. A simple method is introduced based on Regret Matching+, which facilitates a more balanced performance of strength by the model when controlling various roles.

Fairness in Algorithmic Recourse Through the Lens of Substantive Equality of Opportunity

Algorithmic recourse -- providing recommendations to those affected negatively by the outcome of an algorithmic system on how they can take action and change that outcome -- has gained attention as a means of giving persons agency in their interactions with artificial intelligence (AI) systems. Recent work has shown that even if an AI decision-making classifier is ``fair'' (according to some reasonable criteria), recourse itself may be unfair due to differences in the initial circumstances of individuals, compounding disparities for marginalized populations and requiring them to exert more effort than others. There is a need to define more methods and metrics for evaluating fairness in recourse that span a range of normative views of the world, and specifically those that take into account time. Time is a critical element in recourse because the longer it takes an individual to act, the more the setting may change due to model or data drift. This paper seeks to close this research gap by proposing two notions of fairness in recourse that are in normative alignment with substantive equality of opportunity, and that consider time. The first considers the (often repeated) effort individuals exert per successful recourse event, and the second considers time per successful recourse event. Building upon an agent-based framework for simulating recourse, this paper demonstrates how much effort is needed to overcome disparities in initial circumstances. We then proposes an intervention to improve the fairness of recourse by rewarding effort, and compare it to existing strategies.

Sparse Portfolio Selection via Topological Data Analysis based Clustering

This paper uses topological data analysis (TDA) tools and introduces a data-driven clustering-based stock selection strategy tailored for sparse portfolio construction. Our asset selection strategy exploits the topological features of stock price movements to select a subset of topologically similar (different) assets for a sparse index tracking (Markowitz) portfolio. We introduce new distance measures, which serve as an input to the clustering algorithm, on the space of persistence diagrams and landscapes that consider the time component of a time series. We conduct an empirical analysis on the S\&P index from 2009 to 2020, including a study on the COVID-19 data to validate the robustness of our methodology. Our strategy to integrate TDA with the clustering algorithm significantly enhanced the performance of sparse portfolios across various performance measures in diverse market scenarios.

An Intra-BRNN and GB-RVQ Based END-TO-END Neural Audio Codec

Recently, neural networks have proven to be effective in performing speech coding task at low bitrates. However, under-utilization of intra-frame correlations and the error of quantizer specifically degrade the reconstructed audio quality. To improve the coding quality, we present an end-to-end neural speech codec, namely CBRC (Convolutional and Bidirectional Recurrent neural Codec). An interleaved structure using 1D-CNN and Intra-BRNN is designed to exploit the intra-frame correlations more efficiently. Furthermore, Group-wise and Beam-search Residual Vector Quantizer (GB-RVQ) is used to reduce the quantization noise. CBRC encodes audio every 20ms with no additional latency, which is suitable for real-time communication. Experimental results demonstrate the superiority of the proposed codec when comparing CBRC at 3kbps with Opus at 12kbps.