Machine unlearning aims to eliminate the influence of a subset of training samples (i.e., unlearning samples) from a trained model. Effectively and efficiently removing the unlearning samples without negatively impacting the overall model performance is challenging. Existing works mainly exploit input and output space and classification loss, which can result in ineffective unlearning or performance loss. In addition, they utilize unlearning or remaining samples ineffectively, sacrificing either unlearning efficacy or efficiency. Our main insight is that the direct optimization on the representation space utilizing both unlearning and remaining samples can effectively remove influence of unlearning samples while maintaining representations learned from remaining samples. We propose a contrastive unlearning framework, leveraging the concept of representation learning for more effective unlearning. It removes the influence of unlearning samples by contrasting their embeddings against the remaining samples' embeddings so that their embeddings are closer to the embeddings of unseen samples. Experiments on a variety of datasets and models on both class unlearning and sample unlearning showed that contrastive unlearning achieves the best unlearning effects and efficiency with the lowest performance loss compared with the state-of-the-art algorithms. In addition, it is generalizable to different contrastive frameworks and other models such as vision-language models. Our main code is available on github.com/Emory-AIMS/Contrastive-Unlearning

Graph Neural Networks (GNNs) have achieved great success in learning with graph-structured data. Privacy concerns have also been raised for the trained models which could expose the sensitive information of graphs including both node features and the structure information. In this paper, we aim to achieve node-level differential privacy (DP) for training GNNs so that a node and its edges are protected. Node DP is inherently difficult for GNNs because all direct and multi-hop neighbors participate in the calculation of gradients for each node via layer-wise message passing and there is no bound on how many direct and multi-hop neighbors a node can have, so existing DP methods will result in high privacy cost or poor utility due to high node sensitivity. We propose a D ecoupled GNN with Differentially P rivate A pproximate Personalized PageR ank (DPAR) for training GNNs with an enhanced privacy-utility tradeoff. The key idea is to decouple the feature projection and message passing via a DP PageRank algorithm which learns the structure information and uses the top-K neighbors determined by the PageRank for feature aggregation. By capturing the most important neighbors for each node and avoiding the layer-wise message passing, it bounds the node sensitivity and achieves improved privacy-utility tradeoff compared to layer-wise perturbation based methods. We theoretically analyze the node DP guarantee for the two processes combined together and empirically demonstrate better utilities of DPAR with the same level of node DP compared with state-of-the-art methods.

The control of a nonlinear system is a challenging problem particularly when the system has some uncertainty or there are imperfections in the model dynamics. One approach that has gained some success employs a fuzzy structure in concert with a neural network (ANFIS); the fuzzy component compensates for the uncertainty while the neural network component models the underlying system dynamics. This paper presents a system architecture for a mobile robotic system that employs an ANFIS controller for path tracking, a virtual field strategy for obstacle avoidance and path planning, and multiple sensors (an ultrasonic array, a thermal sensor, and a video streaming system) to obtain information about the environment. Simulation results and preliminary evaluation show that the proposed architecture is a feasible one for autonomous mobile robotic systems.