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Towards reproducible robotics research 朝着可复制机器人研究的方向
IF 23.9 1区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-09-23 DOI: 10.1038/s42256-025-01114-7
Fabio Bonsignorio, Angel P. del Pobil, Enrica Zereik
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引用次数: 0
A multi-joint soft exosuit improves shoulder and elbow motor functions in individuals with spinal cord injury 一种多关节软外套可以改善脊髓损伤患者的肩部和肘部运动功能
IF 23.9 1区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-09-22 DOI: 10.1038/s42256-025-01105-8
Roberto Ferroni, Gaetano D’Avola, Giorgia Sciarrone, Gabriele Righi, Claudia De Santis, Jacopo Carpaneto, Marta Gandolla, Giulio Del Popolo, Silvestro Micera, Tommaso Proietti
Spinal cord injury (SCI) disrupts neuromuscular control, severely affecting independence and quality of life. Although upper limb wearable robots hold considerable promise for functional restoration, most existing prototypes have been validated minimally in people with SCI and target almost exclusively hand opening and closing. We introduce a lightweight, modular assistive soft exosuit that simultaneously and automatically supports shoulder abduction and elbow flexion or extension movements using lightweight fabric-based pneumatic actuators, controlled through inertial sensors. The individual elbow modules were first validated in 11 healthy volunteers, and subsequently tested, together with the shoulder module, in 15 individuals with cervical SCI (C4–C7, AIS A–D). In the SCI participants, exosuits assistance resulted in increased static endurance time (by more than 250%), and lower activity of the primary muscles involved in dynamic tasks (by up to 50%). The two SCI participants retaining prehensile capability also improved their scores in the box and block test when assisted. Moreover, the soft actuation provided a safe, comfortable and easy-to-use solution that was positively appreciated by the participants. Collectively, these results provide encouraging evidence that exosuits can augment upper limb motor performance, and may ultimately translate into greater functional independence and quality of life for the SCI population. A lightweight, modular assistive soft exosuit is introduced, which supports shoulder and elbow movement in individuals with cervical spinal cord injury. The device enhances endurance and range of motion, reduces muscle effort and improves clinical test scores.
脊髓损伤(SCI)破坏神经肌肉控制,严重影响独立性和生活质量。尽管上肢可穿戴机器人在功能恢复方面具有相当大的前景,但大多数现有的原型已经在脊髓损伤患者中得到了最低限度的验证,并且几乎只针对手的打开和关闭。我们推出了一款轻量级的模块化辅助软性外骨骼服,该外骨骼服使用基于轻质织物的气动致动器,通过惯性传感器控制,同时自动支持肩部外展和肘关节弯曲或伸展运动。首先在11名健康志愿者中验证了单个肘关节模块,随后在15名颈椎脊髓损伤患者(C4-C7, AIS A-D)中测试了肩部模块。在脊髓损伤参与者中,外伤服的帮助增加了静态耐力时间(超过250%),并降低了参与动态任务的主要肌肉的活动(高达50%)。保留抓握能力的两名脊髓损伤参与者在辅助下也提高了他们在盒子和方块测试中的得分。此外,软驱动提供了一个安全、舒适和易于使用的解决方案,得到了参与者的积极赞赏。总的来说,这些结果提供了令人鼓舞的证据,表明外伤服可以增强上肢运动能力,并可能最终转化为脊髓损伤患者更大的功能独立性和生活质量。介绍了一种轻量级的模块化辅助软性外服,它支持颈脊髓损伤患者的肩部和肘部运动。该设备增强了耐力和活动范围,减少了肌肉消耗,提高了临床测试分数。
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引用次数: 0
Error-controlled non-additive interaction discovery in machine learning models 机器学习模型中误差控制的非加性交互发现
IF 23.9 1区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-09-22 DOI: 10.1038/s42256-025-01086-8
Winston Chen, Yifan Jiang, William Stafford Noble, Yang Young Lu
Machine learning (ML) models are powerful tools for detecting complex patterns, yet their ‘black-box’ nature limits their interpretability, hindering their use in critical domains like healthcare and finance. Interpretable ML methods aim to explain how features influence model predictions but often focus on univariate feature importance, overlooking complex feature interactions. Although recent efforts extend interpretability to feature interactions, existing approaches struggle with robustness and error control, especially under data perturbations. In this study, we introduce Diamond, a method for trustworthy feature interaction discovery. Diamond uniquely integrates the model-X knockoffs framework to control the false discovery rate, ensuring a low proportion of falsely detected interactions. Diamond includes a non-additivity distillation procedure that refines existing interaction importance measures to isolate non-additive interaction effects and preserve false discovery rate control. This approach addresses the limitations of off-the-shelf interaction measures, which, when used naively, can lead to inaccurate discoveries. Diamond’s applicability spans a broad class of ML models, including deep neural networks, transformers, tree-based models and factorization-based models. Empirical evaluations on both simulated and real datasets across various biomedical studies demonstrate its utility in enabling reliable data-driven scientific discoveries. Diamond represents a significant step forward in leveraging ML for scientific innovation and hypothesis generation. Diamond, a statistically rigorous method, is capable of finding meaningful feature interactions within machine learning models, making black-box models more interpretable for science and medicine.
机器学习(ML)模型是检测复杂模式的强大工具,但它们的“黑箱”性质限制了它们的可解释性,阻碍了它们在医疗保健和金融等关键领域的应用。可解释的机器学习方法旨在解释特征如何影响模型预测,但往往侧重于单变量特征的重要性,忽略了复杂的特征相互作用。虽然最近的努力将可解释性扩展到特征交互,但现有的方法在鲁棒性和误差控制方面存在困难,特别是在数据扰动下。在本研究中,我们引入了一种可信特征交互发现方法Diamond。Diamond独特地集成了model-X仿冒框架,以控制错误发现率,确保低比例的错误检测交互。Diamond包括一个非加性蒸馏程序,该程序改进了现有的相互作用重要性度量,以隔离非加性相互作用效应并保持错误发现率控制。这种方法解决了现成的交互度量的局限性,如果使用不当,可能会导致不准确的发现。Diamond的适用性涵盖了广泛的机器学习模型,包括深度神经网络、变压器、基于树的模型和基于分解的模型。对各种生物医学研究的模拟和真实数据集的经验评估表明,它在实现可靠的数据驱动的科学发现方面具有实用价值。戴蒙德代表了利用机器学习进行科学创新和假设生成的重要一步。Diamond是一种统计严谨的方法,能够在机器学习模型中找到有意义的特征交互,使黑盒模型更易于科学和医学解释。
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引用次数: 0
Modelling neural coding in the auditory midbrain with high resolution and accuracy 高分辨率、高准确度的中脑听觉神经编码建模
IF 23.9 1区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-09-18 DOI: 10.1038/s42256-025-01104-9
Fotios Drakopoulos, Lloyd Pellatt, Shievanie Sabesan, Yiqing Xia, Andreas Fragner, Nicholas A. Lesica
Computational models of auditory processing can be valuable tools for research and technology development. Models of the cochlea are highly accurate and widely used, but models of the auditory brain lag far behind in both performance and penetration. Here we present ICNet, a convolutional encoder–decoder model of neural coding in the inferior colliculus. We developed ICNet using large-scale intracranial recordings from anaesthetized gerbils, addressing three key modelling challenges that are common across all sensory systems: capturing the full statistical structure of neuronal response patterns; accounting for physiological and experimental non-stationarity; and extracting features of sensory processing that are shared across different brains. ICNet provides highly accurate simulation of multi-unit neural responses to a wide range of complex sounds, including near-perfect responses to speech. It also reproduces key neurophysiological phenomena such as forward masking and dynamic range adaptation. ICNet can be used to simulate activity from thousands of neural units or to provide a compact representation of early central auditory processing through its latent dynamics, facilitating a wide range of hearing and audio applications. It can also serve as a foundation core, providing a baseline neural representation for models of active listening or higher-level auditory processing. Drakopoulos et al. present a model that captures the transformation from sound waves to neural activity patterns underlying early auditory processing. The model reproduces neural responses to a range of complex sounds and key neurophysiological phenomena.
听觉处理的计算模型可以成为研究和技术开发的宝贵工具。耳蜗模型精度高,应用广泛,但听觉脑模型在性能和穿透性方面都远远落后。在这里,我们提出了ICNet,一个卷积编码器-解码器模型的神经编码在下丘。我们使用麻醉沙鼠的大规模颅内记录开发了ICNet,解决了所有感觉系统中常见的三个关键建模挑战:捕获神经元反应模式的完整统计结构;考虑生理和实验的非平稳性;提取不同大脑共有的感觉处理特征。ICNet提供了对各种复杂声音的多单元神经反应的高度精确模拟,包括对语音的近乎完美的反应。它还再现了关键的神经生理现象,如前向掩蔽和动态范围适应。ICNet可用于模拟来自数千个神经单元的活动,或通过其潜在动态提供早期中枢听觉处理的紧凑表示,促进广泛的听力和音频应用。它也可以作为基础核心,为主动倾听模型或更高层次的听觉处理提供基线神经表征。Drakopoulos等人提出了一个模型,该模型捕捉了从声波到早期听觉处理背后的神经活动模式的转换。该模型再现了对一系列复杂声音和关键神经生理现象的神经反应。
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引用次数: 0
Author Correction: Deep learning-based prediction of the selection factors for quantifying selection in immune receptor repertoires 作者更正:基于深度学习的选择因子预测,用于量化免疫受体库的选择
IF 23.9 1区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-09-17 DOI: 10.1038/s42256-025-01128-1
Yuepeng Jiang, Pingping Zhang, Miaozhe Huo, Shuai Cheng Li
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引用次数: 0
Aligning generalization between humans and machines 调整人类和机器之间的泛化
IF 23.9 1区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-09-15 DOI: 10.1038/s42256-025-01109-4
Filip Ilievski, Barbara Hammer, Frank van Harmelen, Benjamin Paassen, Sascha Saralajew, Ute Schmid, Michael Biehl, Marianna Bolognesi, Xin Luna Dong, Kiril Gashteovski, Pascal Hitzler, Giuseppe Marra, Pasquale Minervini, Martin Mundt, Axel-Cyrille Ngonga Ngomo, Alessandro Oltramari, Gabriella Pasi, Zeynep G. Saribatur, Luciano Serafini, John Shawe-Taylor, Vered Shwartz, Gabriella Skitalinskaya, Clemens Stachl, Gido M. van de Ven, Thomas Villmann
Recent advances in artificial intelligence (AI)—including generative approaches—have resulted in technology that can support humans in scientific discovery and forming decisions, but may also disrupt democracies and target individuals. The responsible use of AI and its participation in human–AI teams increasingly shows the need for AI alignment, that is, to make AI systems act according to our preferences. A crucial yet often overlooked aspect of these interactions is the different ways in which humans and machines generalize. In cognitive science, human generalization commonly involves abstraction and concept learning. By contrast, AI generalization encompasses out-of-domain generalization in machine learning, rule-based reasoning in symbolic AI, and abstraction in neurosymbolic AI. Here we combine insights from AI and cognitive science to identify key commonalities and differences across three dimensions: notions of, methods for, and evaluation of generalization. We map the different conceptualizations of generalization in AI and cognitive science along these three dimensions and consider their role for alignment in human–AI teaming. This results in interdisciplinary challenges across AI and cognitive science that must be tackled to support effective and cognitively supported alignment in human–AI teaming scenarios. Ilievski et al. examine differences and similarities in the various ways human and AI systems generalize. The insights are important for effectively supporting alignment in human–AI teams.
人工智能(AI)的最新进展-包括生成方法-已经产生了可以支持人类进行科学发现和形成决策的技术,但也可能破坏民主并针对个人。负责任地使用人工智能及其参与人类-人工智能团队越来越多地显示出人工智能一致性的必要性,也就是说,让人工智能系统根据我们的偏好行事。在这些互动中,一个重要但经常被忽视的方面是人类和机器进行泛化的不同方式。在认知科学中,人类的泛化通常涉及抽象和概念学习。相比之下,人工智能泛化包括机器学习中的域外泛化、符号人工智能中的基于规则的推理和神经符号人工智能中的抽象。在这里,我们结合了人工智能和认知科学的见解,以确定三个方面的关键共性和差异:泛化的概念、方法和评估。我们沿着这三个维度绘制了人工智能和认知科学中泛化的不同概念,并考虑了它们在人类-人工智能团队中的作用。这导致了人工智能和认知科学之间的跨学科挑战,必须解决这些挑战,以支持人类-人工智能团队场景中有效和认知支持的一致性。
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引用次数: 0
Target-specific de novo design of drug candidate molecules with graph-transformer-based generative adversarial networks 基于图转换器的生成对抗网络的候选药物分子靶向从头设计
IF 23.9 1区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-09-15 DOI: 10.1038/s42256-025-01082-y
Atabey Ünlü, Elif Çevrim, Melih Gökay Yiğit, Ahmet Sarıgün, Hayriye Çelikbilek, Osman Bayram, Deniz Cansen Kahraman, Abdurrahman Olğaç, Ahmet Sureyya Rifaioglu, Erden Banoğlu, Tunca Doğan
Discovering novel drug candidate molecules is a fundamental step in drug development. Generative deep learning models can sample new molecular structures from learned probability distributions; however, their practical use in drug discovery hinges on generating compounds tailored to a specific target molecule. Here we introduce DrugGEN, an end-to-end generative system for the de novo design of drug candidate molecules that interact with a selected protein. The proposed method represents molecules as graphs and processes them using a generative adversarial network that comprises graph transformer layers. Trained on large datasets of drug-like compounds and target-specific bioactive molecules, DrugGEN designed candidate inhibitors for AKT1, a kinase crucial in many cancers. Docking and molecular dynamics simulations suggest that the generated compounds effectively bind to AKT1, and attention maps provide insights into the model’s reasoning. Furthermore, selected de novo molecules were synthesized and shown to inhibit AKT1 at low micromolar concentrations in the context of in vitro enzymatic assays. These results demonstrate the potential of DrugGEN for designing target-specific molecules. Using the open-access DrugGEN codebase, researchers can retrain the model for other druggable proteins, provided a dataset of known bioactive molecules is available. Inhibiting AKT1 kinase can have potentially positive uses against many types of cancer. To find novel molecules targeting this protein, a graph adversarial network is trained as a generative model.
发现新的候选药物分子是药物开发的基本步骤。生成式深度学习模型可以从学习到的概率分布中采样新的分子结构;然而,它们在药物发现中的实际应用取决于生成针对特定目标分子的化合物。在这里,我们介绍DrugGEN,一个端到端生成系统,用于与选定蛋白质相互作用的候选药物分子的从头设计。该方法将分子表示为图形,并使用由图形转换层组成的生成对抗网络对其进行处理。通过对药物样化合物和靶向特异性生物活性分子的大量数据集的训练,DrugGEN设计了AKT1(一种对许多癌症至关重要的激酶)的候选抑制剂。对接和分子动力学模拟表明,生成的化合物有效地与AKT1结合,注意图为模型的推理提供了见解。此外,选择的新生分子被合成,并在体外酶分析的背景下显示出在低微摩尔浓度下抑制AKT1。这些结果证明了DrugGEN在设计靶向分子方面的潜力。使用开放获取的DrugGEN代码库,研究人员可以为其他可药物蛋白质重新训练模型,前提是提供已知生物活性分子的数据集。
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引用次数: 0
Sampling-enabled scalable manifold learning unveils the discriminative cluster structure of high-dimensional data 支持采样的可扩展流形学习揭示了高维数据的判别聚类结构
IF 23.9 1区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-09-10 DOI: 10.1038/s42256-025-01112-9
Dehua Peng, Zhipeng Gui, Wenzhang Wei, Fa Li, Jie Gui, Huayi Wu, Jianya Gong
As a pivotal branch of machine learning, manifold learning uncovers the intrinsic low-dimensional structure within complex non-linear manifolds in high-dimensional space for visualization, classification, clustering and gaining key insights. Although existing techniques have achieved remarkable successes, they suffer from extensive distortions of cluster structure, which hinders the understanding of underlying patterns. Scalability issues also limit their applicability for handling large-scale data. Here we propose a sampling-based scalable manifold learning technique that enables uniform and discriminative embedding (SUDE) for large-scale and high-dimensional data. It starts by seeking a set of landmarks to construct the low-dimensional skeleton of the entire data and then incorporates the non-landmarks into the learned space by constrained locally linear embedding. We empirically validated the effectiveness of SUDE on synthetic datasets and real-world benchmarks and applied it to analyse single-cell data and detect anomalies in electrocardiogram signals. SUDE exhibits a distinct advantage in scalability with respect to data size and embedding dimension and shows promising performance in cluster separation, integrity and global structure preservation. The experiments also demonstrate notable robustness in embedding quality as the sampling rate decreases. A sampling-based manifold learning method is proposed to study the cluster structure of high-dimensional data. Its applicability and scalability have been verified in single-cell data analysis and anomaly detection in electrocardiogram signals.
流形学习是机器学习的一个关键分支,它揭示了高维空间中复杂非线性流形内在的低维结构,用于可视化、分类、聚类和获得关键见解。虽然现有的技术已经取得了显著的成功,但它们受到团簇结构的广泛扭曲的影响,这阻碍了对潜在模式的理解。可伸缩性问题也限制了它们处理大规模数据的适用性。在这里,我们提出了一种基于采样的可扩展流形学习技术,该技术可以实现大规模和高维数据的均匀和判别嵌入(SUDE)。它首先寻找一组地标来构建整个数据的低维骨架,然后通过约束局部线性嵌入将非地标纳入学习空间。我们在合成数据集和现实世界基准上验证了SUDE的有效性,并将其应用于分析单细胞数据和检测心电图信号中的异常。SUDE在数据大小和嵌入维度方面具有明显的可伸缩性优势,并且在簇分离、完整性和全局结构保存方面表现出良好的性能。实验还表明,随着采样率的降低,嵌入质量具有显著的鲁棒性。
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引用次数: 0
Towards agentic science for advancing scientific discovery 走向代理科学,推进科学发现
IF 23.9 1区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-09-10 DOI: 10.1038/s42256-025-01110-x
Hongliang Xin, John R. Kitchin, Heather J. Kulik
Artificial intelligence is transforming scientific discovery through (semi-)autonomous agents capable of reasoning, planning, and interacting with digital and physical environments. This Comment explores the foundations and frontiers of agentic science, outlining its emerging directions, current limitations, and the pathways for responsible integration into scientific practice.
人工智能正在通过能够推理、规划以及与数字和物理环境交互的(半)自主代理改变科学发现。本评论探讨了自主科学的基础和前沿,概述了其新兴方向、当前的局限性以及将其负责任地纳入科学实践的途径。
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引用次数: 0
Real-world validation of a structure-aware pipeline for molecular design 分子设计的结构感知管道的实际验证
IF 23.9 1区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-09-08 DOI: 10.1038/s42256-025-01102-x
Ana Laura Dias, Tiago Rodrigues
The next major challenge for artificial intelligence in drug development lies in proving its value in real-world settings. A new technology not only supports the generation of novel chemical entities but also accelerates a range of real-world molecular design tasks.
人工智能在药物开发中的下一个主要挑战在于证明其在现实世界中的价值。一项新技术不仅支持新的化学实体的产生,而且还加速了一系列现实世界的分子设计任务。
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引用次数: 0
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Nature Machine Intelligence
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