Artificial Intelligence and Robotics Commons^™

Leveraging Distributed Semantics From Deep Learning Architectures For Literature-Based Discovery, Clint A. Cuffy

Theses and Dissertations

Literature-based discovery (LBD) is a scientific process that introduces methods to automatically identify novel insights between non-interacting sets of literature. To date, numerous statistical and machine learning-based methods have been applied in the biomedical domain to find treatments for diseases such as Raynaud's disease, Parkinson's disease, and Multiple Sclerosis. However, the lack of standardized practices and creation of bespoke methodologies produces a scenario where the adoption of LBD remains challenging in real-world systems. Our work addresses these concerns through the improvement of five critical areas: 1) error propagation within LBD's a priori dependent tasks, 2) exploring the integration of modern …

Editorial: Ai's Impact On Higher Education: Transforming Research, Teaching, And Learning, Alyse Jordan, Ashley L. Dockens, Natalia Anastasia Pierson, Xinyue Ren

STEMPS Faculty Publications

[Introduction] This Research Topic provides a comprehensive examination of how artificial intelligence (AI) is transforming higher education. The collected studies reveal several interconnected themes that illuminate both the opportunities and challenges of AI integration in academic settings. This editorial summarizes these themes and articulates their significance for the future of higher education.

Cognitive Map Generation For Vision And Language Navigation, Alexander Sandoval Mesa

Dissertations and Theses

Visual-Language Navigation (VLN) presents significant challenges for autonomous agents, such as robots and virtual assistants, particularly in complex, dynamic environments where the seamless integration of visual perception and natural language understanding is critical. Traditional VLN systems often struggle with effectively aligning language instructions and visual scene understanding, limiting their adaptability and navigation efficiency.

This thesis proposes a novel Cognitive Map-based framework that addresses these challenges by transforming natural language navigation instructions into structured graph representations. The Cognitive Map consists of nodes representing waypoints, landmarks, decision points, and edges encoding spatial relationships and navigational actions. These maps are generated using Large …

Using Quanser Platform To Introduce Engineering Technology Students To Autonomous Vehicles, Otilia Popescu, Logan Beaver, Murat Kuzlu, Krishnanand Kaipa

Engineering Technology Faculty Publications

The area of autonomous vehicles is not new, but the latest advances in various technologies gave it a new boost in the last decade and it keeps growing in interest. However, undergraduate curricula rarely include courses specific to this area, which is considered mostly an interdisciplinary graduate field. While various programs introduce students to the background needed to understand and approach the field, specific work on autonomous vehicle projects is left for extra curriculum activities or student clubs, and eventually for senior (capstone) projects. This paper presents the work of a team of electrical engineering technology students on an autonomous …

Large Scale Machine Learning Over Knowledge Graphs, Bedirhan Gergin

Electronic Theses & Dissertations (2024 - present)

Knowledge graphs (KGs) have become popular across various fields, providing convenient access to web-based knowledge while storing and formalizing domain-specific information. By analyzing KGs, patterns, connections, and dependencies can be identified across different data sources, enabling the inference of new knowledge from given facts. As the use of KGs expands, the size of modern KGs has grown significantly, making them impossible to process within the main memory of a single computer. Distributed computing offers a viable solution to this challenge by leveraging the combined capabilities of multiple servers within a cluster. This thesis explores how distributed computing can be effectively …

Copyright And Artificial Intelligence, Part 2: Copyrightability

Copyright, Fair Use, Scholarly Communication, etc.

This report by the United States Copyright Office addresses the legal and policy issues related to artificial intelligence (AI) and copyright as outlined in the Office’s August 2023 Notice of Inquiry (NOI).

The report will be published in several parts each one addressing a different topic. This part addresses the copyrightability of works created using generative AI. The first part, published in 2024, addresses the topic of digital replicas—the use of digital technology to realistically replicate an individual’s voice or appearance. A subsequent part will turn to the training of AI models on copyrighted works, licensing considerations, and allocation of …

Machine Learning Models Leveraging Patient-Similarity And Clinical Temporality For Disease Prognoses, Ahmad F. Al Musawi

Theses and Dissertations

Electronic Health Records (EHRs) constitute a comprehensive and high-dimensional repository of clinical data, encompassing a wide array of patient-level information such as diagnoses, procedures, medications, laboratory results, and unstructured clinical narratives. These data hold immense potential for advancing predictive modeling in healthcare, including tasks such as disease progression modeling, hospital readmission prediction, and length of stay (LoS) estimation. However, the intrinsic complexity of EHR data—manifested in its heterogeneity, sparsity, and temporal dynamics—poses significant analytical challenges that limit the generalizability and interpretability of conventional machine learning models. Recent methodological advancements in deep learning and graph-based learning, particularly Graph Neural Networks (GNNs), …

Learning From Non-Stationary Data Streams, Gabriel Jonas Aguiar

Theses and Dissertations

The rapid growth of data from sources such as mobile applications, sensors, and network monitoring has increased the need for machine learning algorithms capable of handling non-stationary data streams. However, learning from such streams presents significant challenges due to their evolving nature and the presence of concept drift. One of the most complex issues is learning from imbalanced data streams, where shifting data distributions, combined with feature space drifts, complicate continuous adaptation. These challenges become even more pronounced in multi-class scenarios, which are common in real-world applications. Detecting concept drift in such contexts is particularly demanding, as it requires tracking …

Insects, Ai Systems, And The Future Of Legal Personhood, Jeff Sebo

Animal Law Review

This Article makes a case for insect and AI legal personhood. Humans share the world not only with large animals like chimpanzees and elephants but also with small animals like ants and bees. In the future, we might also share the world with sentient or otherwise morally significant AI systems. These realities raise questions about what kind of legal status insects, AI systems, and other nonhumans should have in the future. At present, debates about legal personhood mostly exclude these kinds of individuals. However, I argue that our current framework for assessing legal personhood, coupled with our current framework for …

Toward Embodied Navigation Through Vision And Language, Muraleekrishna Gopinathan

Theses: Doctorates and Masters

Embodied AI is a challenging but exciting field in which a robot learns to interact with human-living spaces to perform various tasks. This thesis studies the embodied navigation problem in which a robotic agent navigates in a previously unseen indoor environment based on a challenging task. In particular, the Vision-and-Language Navigation (VLN) task requires a robot to navigate based on a descriptive human-language instruction. This thesis aims to improve VLN agents on four key aspects - their understanding of the environment, training via additional data, correcting navigational errors, and predicting the layout of the environment for better planning.

First, we …

Embodied Ai For Challenging Rearrangement Tasks In The Context Of Service And Assistive Robots, Mariia Khan

Theses: Doctorates and Masters

Embodied AI explores intelligent agents that learn through interaction with their environment, aiming to replicate human-like learning processes. Achieving this requires agents capable of understanding a scene via various sensors, reasoning about their actions, and reacting accordingly. These abilities are necessary for service domestic robots to assist humans in their day-to-day activities. Embodied AI tasks can include but are not limited to: visual exploration, visual navigation, instruction following and embodied question answering, which typically consider static (unchanging) environments, where objects do not move over time. This thesis addresses one of the most challenging Embodied AI tasks – visual room rearrangement, …

Topology-Guided Adaptive Social Navigation For A Robot In Environments With Dynamic Obstacles, S.M. Faiaz Mursalin

Graduate Theses/Dissertations

Robotic navigation in dynamic environments presents significant challenges, particularly in managing interactions with moving obstacles while ensuring efficient path planning. Incorporating social navigation principles is crucial as robots share the same workspaces with humans frequently in daily life. This becomes essential for safe, efficient, and socially acceptable movements. In this thesis, I introduce a novel integration of social navigation strategies with topological path planning that leverages Discrete Morse Theory, a homotopical framework to enhance adaptability. My method dynamically assesses path feasibility and optimizes trajectory selection through three key strategies: waiting, deflection, and diverse path selection. Based on how close the …

The Importance Of Atomic Charges For Predicting Site-Selective Ir-, Ru-, And Rh-Catalyzed C-H Borylations, Shannon M. Stephens, Kyle M. Lambert

Chemistry & Biochemistry Faculty Publications

A supervised machine learning model has been developed that allows for the prediction of site selectivity in late-stage C-H borylations. Model development was accomplished using literature data for the site-selective (≥95%) C-H borylation of 189 unique arene, heteroarene, and aliphatic substrates that feature a total of 971 possible sp² or sp³ C-H borylation sites. The reported experimental data was supplemented with additional chemoinformatic descriptors, computed atomic charges at the C-H borylation sites, and data from parameterization of catalytically active tris-boryl complexes resulting from the combination of seven different Ir-, Ru-, and Rh-based precatalysts with eight different ligands. Of the over …

Novel Digital Twin Deployment Approaches: Local And Distributed Digital Twin, Shahid Rauf, Fazal Muhammad, Akhtar Badshah, Hisham Alasmary, Muhammad Waqas, Sheng Chen

Research outputs 2022 to 2026

The Digital Twin (DT) technology is considered as a backbone in the Industrial 4.0 revolution as it is playing a vital role in the digitization of various industries. A DT is a virtual representation of a physical entity, thus having the ability to simulate real data generated at physical space to optimize, estimate, control, monitor and forecast states/configurations. Despite enormous benefits, DT technology has several implementation challenges. Although deploying DT on edge or cloud platforms yields a plethora of services, its implementation in both spaces faces certain limitations. These limitations include latency, data communication overload, transmission energy consumption, privacy concerns, …

Panoscu: A Simulation-Based Dataset For Panoramic Indoor Scene Understanding, Mariia Khan, Yue Qiu, Yuren Cong, Jumana Abu-Khalaf, David Suter, Bodo Rosenhahn

Research outputs 2022 to 2026

Panoramic images offer a comprehensive spatial view that is crucial for indoor robotics tasks such as visual room rearrangement, where an agent must restore objects to their original positions or states. Unlike existing 2D scene change understanding datasets, which rely on single-view images, panoramic views capture richer spatial context, object relationships, and occlusions—making them better suited for embodied artificial intelligence (AI) applications. To address this, we introduce Panoramic Scene Change Understanding (PanoSCU), a dataset specifically designed to enhance the visual object rearrangement task. Our dataset comprises 5,300 panoramas generated in an embodied simulator, encompassing 48 common indoor object classes. PanoSCU …

Genai’S Impact On Global It Management: A Multi-Expert Perspective And Research Agenda, Yogesh K. Dwivedi, Laurie Hughes, Mohammad S. Al-Ahmadi, Vincent Dutot, Syed Q. Ahmed, Shahriar Akter, Rahul De’, Keyao Li, Nitish Singh, Paul Walton

Research outputs 2022 to 2026

Generative AI (GenAI) is disrupting global IT management and challenging established practice. The increasing use of GenAI technology is redefining localization, transforming existing workforce roles, outsourcing strategy, and team dynamics. Simultaneously, GenAI’s security complexities have prompted the rethinking of existing risk frameworks to meet a new set of challenges from GenAI enhanced cyber threats. This article explores these complex and converging factors, providing a roadmap to address GenAI’s significant impact on global IT management. We advocate the responsible adoption of GenAI and importance of building resilient, value-driven, globally consistent IT ecosystems able to adapt to the significant challenges and opportunities …

Pfedrag: A Personalized Federated Retrieval-Augmented Generation System With Depth-Adaptive Tiered Embedding Tuning, Hangyu He, Xin Yuan, Kai Wu, Ren Ping Liu, Wei Ni

Research outputs 2022 to 2026

Large Language Models (LLMs) can undergo hallucinations in specialized domains, and standard Retrieval-Augmented Generation (RAG) often falters due to general-purpose embeddings ill-suited for domain-specific terminology. Though domain-specific fine-tuning enhances retrieval, centralizing data introduces privacy risks. The use of federated learning (FL) can alleviate this to some extent, but faces challenges of data heterogeneity, poor personalization, and expensive training data generation. We propose pFedRAG, a novel Personalized Federated RAG framework, which enables efficient collaborative fine-tuning of embedding models to address these challenges. The key contribution is a new Depth-Adaptive Tiered Embedding (DATE) architecture, which comprises a Global Shared Layer, combined using …

Towards Robust Multimodal Land Use Classification: A Convolutional Embedded Transformer, Muhammad Zia Ur Rehman, Syed Mohammed Shamsul Islam, Anwaar Ulhaq, David Blake, Naeem Janjua

Research outputs 2022 to 2026

Multisource remote sensing data has gained significant attention in land use classification. However, effectively extracting both local and global features from various modalities and fusing them to leverage their complementary information remains a substantial challenge. In this paper, we address this by exploring the use of transformers for simultaneous local and global feature extraction while enabling cross-modality learning to improve the integration of complementary information from HSI and LiDAR data modalities. We propose a spatial feature enhancer module (SFEM) that efficiently captures features across spectral bands while preserving spatial integrity for downstream learning tasks. Building on this, we introduce a …

Governing Intelligence: Singapore’S Evolving Ai Governance Framework, Jason G. Allen, Jane Loo, Jose Luna

Research Collection Yong Pung How School Of Law

This paper provides an outline analysis of the evolving governance framework for Artificial Intelligence (AI) in Singapore. Across the Singapore government, AI solutions are being adopted in line with Singapore’s “Smart Nation Initiative” to leverage technology to make impactful changes to the nation and the economy. In tandem, Singaporean authorities have been assiduous to release a growing number of governance documents, which we analyse together to chart the city-state’s approach to AI governance in international comparison. Characteristics of Singapore’s AI governance approach include an emphasis on consensusbuilding between stakeholders (particularly government and industry but also citizens) andvoluntary or “quasi” regulation, …

Ai Characterisations And Their Legal Implications, Jerrold Tsin Howe Soh

Research Collection Yong Pung How School Of Law

This chapter examines the difficult legal characterisation problems that artificially intelligent systems raise and explores how different characterisations of artificial intelligence (AI) shape practical legal outcomes. Three reasons are offered for the legal difficulty with characterising AI. First, answers to characterisation problems are inherently subjective and perspective-driven, particularly when the subject is an intangible technological system. Second, AI technology is especially difficult to define since the field typically proceeds on inexact anthropomorphic metaphors. Third, AI characterisation problems raise difficult sub-problems, particularly in determining how autonomous an AI system is. The chapter thus argues that a range of plausible AI characterisations …