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Measuring Efficiency in neural network system development is an open research problem. This paper presents an experimental framework to measure the training efficiency of a neural architecture. To demonstrate our approach, we analyze the training efficiency of Convolutional Neural Networks and Bayesian equivalents on the MNIST and CIFAR-10 tasks. Our results show that training efficiency decays as training progresses and varies across different stopping criteria for a given neural model and learning task. We also find a non-linear relationship between training stopping criteria, training Efficiency, model size, and training Efficiency. Furthermore, we illustrate the potential confounding effects of overtraining on measuring the training efficiency of a neural architecture. Regarding relative training efficiency across different architectures, our results indicate that CNNs are more efficient than BCNNs on both datasets. More generally, as a learning task becomes more complex, the relative difference in training efficiency between different architectures becomes more pronounced.

This study presents a novel methodology incorporating safety constraints into a robotic simulation during the training of deep reinforcement learning (DRL). The framework integrates specific parts of the safety requirements, such as velocity constraints, as specified by ISO 10218, directly within the DRL model that becomes a part of the robot's learning algorithm. The study then evaluated the efficiency of these safety constraints by subjecting the DRL model to various scenarios, including grasping tasks with and without obstacle avoidance. The validation process involved comprehensive simulation-based testing of the DRL model's responses to potential hazards and its compliance. Also, the performance of the system is carried out by the functional safety standards IEC 61508 to determine the safety integrity level. The study indicated a significant improvement in the safety performance of the robotic system. The proposed DRL model anticipates and mitigates hazards while maintaining operational efficiency. This study was validated in a testbed with a collaborative robotic arm with safety sensors and assessed with metrics such as the average number of safety violations, obstacle avoidance, and the number of successful grasps. The proposed approach outperforms the conventional method by a 16.5% average success rate on the tested scenarios in the simulations and 2.5% in the testbed without safety violations. The project repository is available at https://github.com/ammar-n-abbas/sim2real-ur-gym-gazebo., Comment: This paper has been accepted for publication in the proceedings of the IEEE/IFAC International Conference on Control, Decision, and Information Technologies (CoDIT), 2024

Stroke is one of the leading causes of death and disability worldwide but it is believed to be highly preventable. The majority of stroke prevention focuses on targeting high-risk individuals but its is important to understand how the targeting of high-risk individuals might impact the overall societal burden of stroke. We propose using an agent-based model that follows agents through their pre-stroke and stroke journey to assess the impacts of different interventions at the population level. We present a case study looking at the impacts of agents being informed of their stroke risk at certain ages and those agents taking measure to reduce their risk. The results of our study show that if agents are aware of their risk and act accordingly we see a significant reduction in strokes and population DALYs. The case study highlights the importance of individuals understanding their own stroke risk for stroke prevention and the usefulness of agent-based models in assessing the impact of stroke interventions., Comment: 18th Social Simulation Conference

Mass customization and shorter manufacturing cycles are becoming more important among small and medium-sized companies. However, classical industrial robots struggle to cope with product variation and dynamic environments. In this paper, we present CoBT, a collaborative programming by demonstration framework for generating reactive and modular behavior trees. CoBT relies on a single demonstration and a combination of data-driven machine learning methods with logic-based declarative learning to learn a task, thus eliminating the need for programming expertise or long development times. The proposed framework is experimentally validated on 7 manipulation tasks and we show that CoBT achieves approx. 93% success rate overall with an average of 7.5s programming time. We conduct a pilot study with non-expert users to provide feedback regarding the usability of CoBT., Comment: Accepted for presentation at IEEE ICRA 2024

Transformer-based Neural Language Models achieve state-of-the-art performance on various natural language processing tasks. However, an open question is the extent to which these models rely on word-order/syntactic or word co-occurrence/topic-based information when processing natural language. This work contributes to this debate by addressing the question of whether these models primarily use topic as a signal, by exploring the relationship between Transformer-based models' (BERT and RoBERTa's) performance on a range of probing tasks in English, from simple lexical tasks such as sentence length prediction to complex semantic tasks such as idiom token identification, and the sensitivity of these tasks to the topic information. To this end, we propose a novel probing method which we call topic-aware probing. Our initial results indicate that Transformer-based models encode both topic and non-topic information in their intermediate layers, but also that the facility of these models to distinguish idiomatic usage is primarily based on their ability to identify and encode topic. Furthermore, our analysis of these models' performance on other standard probing tasks suggests that tasks that are relatively insensitive to the topic information are also tasks that are relatively difficult for these models.

In complex industrial and chemical process control rooms, effective decision-making is crucial for safety and efficiency. The experiments in this paper evaluate the impact and applications of an AI-based decision support system integrated into an improved human-machine interface, using dynamic influence diagrams, a hidden Markov model, and deep reinforcement learning. The enhanced support system aims to reduce operator workload, improve situational awareness, and provide different intervention strategies to the operator adapted to the current state of both the system and human performance. Such a system can be particularly useful in cases of information overload when many alarms and inputs are presented all within the same time window, or for junior operators during training. A comprehensive cross-data analysis was conducted, involving 47 participants and a diverse range of data sources such as smartwatch metrics, eye-tracking data, process logs, and responses from questionnaires. The results indicate interesting insights regarding the effectiveness of the approach in aiding decision-making, decreasing perceived workload, and increasing situational awareness for the scenarios considered. Additionally, the results provide valuable insights to compare differences between styles of information gathering when using the system by individual participants. These findings are particularly relevant when predicting the overall performance of the individual participant and their capacity to successfully handle a plant upset and the alarms connected to it using process and human-machine interaction logs in real-time. These predictions enable the development of more effective intervention strategies.

In this paper we introduce TWIG (Topologically-Weighted Intelligence Generation), a novel, embedding-free paradigm for simulating the output of KGEs that uses a tiny fraction of the parameters. TWIG learns weights from inputs that consist of topological features of the graph data, with no coding for latent representations of entities or edges. Our experiments on the UMLS dataset show that a single TWIG neural network can predict the results of state-of-the-art ComplEx-N3 KGE model nearly exactly on across all hyperparameter configurations. To do this it uses a total of 2590 learnable parameters, but accurately predicts the results of 1215 different hyperparameter combinations with a combined cost of 29,322,000 parameters. Based on these results, we make two claims: 1) that KGEs do not learn latent semantics, but only latent representations of structural patterns; 2) that hyperparameter choice in KGEs is a deterministic function of the KGE model and graph structure. We further hypothesise that, as TWIG can simulate KGEs without embeddings, that node and edge embeddings are not needed to learn to accurately predict new facts in KGs. Finally, we formulate all of our findings under the umbrella of the ``Structural Generalisation Hypothesis", which suggests that ``twiggy" embedding-free / data-structure-based learning methods can allow a single neural network to simulate KGE performance, and perhaps solve the Link Prediction task, across many KGs from diverse domains and with different semantics., Comment: This article was accepted for publication at IEEE ICSC 2024