pwc-archive/papers-with-abstracts huggingface dataset:
A Backbone for Long-Horizon Robot Task Understanding
Authors: Xiaoshuai Chen, Wei Chen, Dongmyoung Lee, Yukun Ge, Nicolas Rojas, Petar Kormushev
Date: 2024-08-02 00:00:00
Tasks: Language Modelling, Large Language Model

End-to-end robot learning, particularly for long-horizon tasks, often results in unpredictable outcomes and poor generalization. To address these challenges, we propose a novel Therblig-Based Backbone Framework (TBBF) as a fundamental structure to enhance interpretability, data efficiency, and generalization in robotic systems. TBBF utilizes expert demonstrations to enable therblig-level task decomposition, facilitate efficient action-object mapping, and generate adaptive trajectories for new scenarios. The approach consists of two stages: offline training and online testing. During the offline training stage, we developed the Meta-RGate SynerFusion (MGSF) network for accurate therblig segmentation across various tasks. In the online testing stage, after a one-shot demonstration of a new task is collected, our MGSF network extracts high-level knowledge, which is then encoded into the image using Action Registration (ActionREG). Additionally, Large Language Model (LLM)-Alignment Policy for Visual Correction (LAP-VC) is employed to ensure precise action registration, facilitating trajectory transfer in novel robot scenarios. Experimental results validate these methods, achieving 94.37% recall in therblig segmentation and success rates of 94.4% and 80% in real-world online robot testing for simple and complex scenarios, respectively. Supplementary material is available at: https://sites.google.com/view/therbligsbasedbackbone/home
Play to the Score: Stage-Guided Dynamic Multi-Sensory Fusion for Robotic Manipulation
Authors: Ruoxuan Feng, Di Hu, Wenke Ma, Xuelong Li
Date: 2024-08-02 00:00:00
Tasks: Imitation Learning

Humans possess a remarkable talent for flexibly alternating to different senses when interacting with the environment. Picture a chef skillfully gauging the timing of ingredient additions and controlling the heat according to the colors, sounds, and aromas, seamlessly navigating through every stage of the complex cooking process. This ability is founded upon a thorough comprehension of task stages, as achieving the sub-goal within each stage can necessitate the utilization of different senses. In order to endow robots with similar ability, we incorporate the task stages divided by sub-goals into the imitation learning process to accordingly guide dynamic multi-sensory fusion. We propose MS-Bot, a stage-guided dynamic multi-sensory fusion method with coarse-to-fine stage understanding, which dynamically adjusts the priority of modalities based on the fine-grained state within the predicted current stage. We train a robot system equipped with visual, auditory, and tactile sensors to accomplish challenging robotic manipulation tasks: pouring and peg insertion with keyway. Experimental results indicate that our approach enables more effective and explainable dynamic fusion, aligning more closely with the human fusion process than existing methods.
Talk Less, Interact Better: Evaluating In-context Conversational Adaptation in Multimodal LLMs
Date: 2024-08-02 00:00:00

Humans spontaneously use increasingly efficient language as interactions progress, by adapting and forming ad-hoc conventions. This phenomenon has been studied extensively using reference games, showing properties of human language that go beyond relaying intents. It remains unexplored whether multimodal large language models (MLLMs) similarly increase communication efficiency during interactions, and what mechanisms they may adopt for this purpose. We introduce ICCA, an automated framework to evaluate such conversational adaptation as an in-context behavior in MLLMs. We evaluate several state-of-the-art MLLMs, and observe that while they may understand the increasingly efficient language of their interlocutor, they do not spontaneously make their own language more efficient over time. This latter ability can only be elicited in some models (e.g., GPT-4) with heavy-handed prompting. This shows that this property of linguistic interaction does not arise from current training regimes, even though it is a common hallmark of human language. ICCA is available at https://github.com/lil-lab/ICCA.
Y Social: an LLM-powered Social Media Digital Twin
Authors: Giulio Rossetti, Massimo Stella, Rémy Cazabet, Katherine Abramski, Erica Cau, Salvatore Citraro, Andrea Failla, Riccardo Improta, Virginia Morini, Valentina Pansanella
Date: 2024-08-01 00:00:00

In this paper we introduce Y, a new-generation digital twin designed to replicate an online social media platform. Digital twins are virtual replicas of physical systems that allow for advanced analyses and experimentation. In the case of social media, a digital twin such as Y provides a powerful tool for researchers to simulate and understand complex online interactions. {\tt Y} leverages state-of-the-art Large Language Models (LLMs) to replicate sophisticated agent behaviors, enabling accurate simulations of user interactions, content dissemination, and network dynamics. By integrating these aspects, Y offers valuable insights into user engagement, information spread, and the impact of platform policies. Moreover, the integration of LLMs allows Y to generate nuanced textual content and predict user responses, facilitating the study of emergent phenomena in online environments. To better characterize the proposed digital twin, in this paper we describe the rationale behind its implementation, provide examples of the analyses that can be performed on the data it enables to be generated, and discuss its relevance for multidisciplinary research.
UlRe-NeRF: 3D Ultrasound Imaging through Neural Rendering with Ultrasound Reflection Direction Parameterization
Authors: Ziwen Guo, Zi Fang, Zhuang Fu
Date: 2024-08-01 00:00:00
Tasks: 3D Reconstruction, Image Reconstruction, NeRF, Neural Rendering

Three-dimensional ultrasound imaging is a critical technology widely used in medical diagnostics. However, traditional 3D ultrasound imaging methods have limitations such as fixed resolution, low storage efficiency, and insufficient contextual connectivity, leading to poor performance in handling complex artifacts and reflection characteristics. Recently, techniques based on NeRF (Neural Radiance Fields) have made significant progress in view synthesis and 3D reconstruction, but there remains a research gap in high-quality ultrasound imaging. To address these issues, we propose a new model, UlRe-NeRF, which combines implicit neural networks and explicit ultrasound volume rendering into an ultrasound neural rendering architecture. This model incorporates reflection direction parameterization and harmonic encoding, using a directional MLP module to generate view-dependent high-frequency reflection intensity estimates, and a spatial MLP module to produce the medium's physical property parameters. These parameters are used in the volume rendering process to accurately reproduce the propagation and reflection behavior of ultrasound waves in the medium. Experimental results demonstrate that the UlRe-NeRF model significantly enhances the realism and accuracy of high-fidelity ultrasound image reconstruction, especially in handling complex medium structures.
Online Detection of Anomalies in Temporal Knowledge Graphs with Interpretability
Authors: Jiasheng Zhang, Rex Ying, Jie Shao
Date: 2024-08-01 00:00:00
Tasks: Anomaly Detection, Graph Anomaly Detection, Knowledge Graphs

Temporal knowledge graphs (TKGs) are valuable resources for capturing evolving relationships among entities, yet they are often plagued by noise, necessitating robust anomaly detection mechanisms. Existing dynamic graph anomaly detection approaches struggle to capture the rich semantics introduced by node and edge categories within TKGs, while TKG embedding methods lack interpretability, undermining the credibility of anomaly detection. Moreover, these methods falter in adapting to pattern changes and semantic drifts resulting from knowledge updates. To tackle these challenges, we introduce AnoT, an efficient TKG summarization method tailored for interpretable online anomaly detection in TKGs. AnoT begins by summarizing a TKG into a novel rule graph, enabling flexible inference of complex patterns in TKGs. When new knowledge emerges, AnoT maps it onto a node in the rule graph and traverses the rule graph recursively to derive the anomaly score of the knowledge. The traversal yields reachable nodes that furnish interpretable evidence for the validity or the anomalous of the new knowledge. Overall, AnoT embodies a detector-updater-monitor architecture, encompassing a detector for offline TKG summarization and online scoring, an updater for real-time rule graph updates based on emerging knowledge, and a monitor for estimating the approximation error of the rule graph. Experimental results on four real-world datasets demonstrate that AnoT surpasses existing methods significantly in terms of accuracy and interoperability. All of the raw datasets and the implementation of AnoT are provided in https://github.com/zjs123/ANoT.
Granting GPT-4 License and Opportunity: Enhancing Accuracy and Confidence Estimation for Few-Shot Event Detection
Authors: Steven Fincke, Adrien Bibal, Elizabeth Boschee
Date: 2024-08-01 00:00:00
Tasks: Event Detection, Few-Shot Learning

Large Language Models (LLMs) such as GPT-4 have shown enough promise in the few-shot learning context to suggest use in the generation of "silver" data and refinement of new ontologies through iterative application and review. Such workflows become more effective with reliable confidence estimation. Unfortunately, confidence estimation is a documented weakness of models such as GPT-4, and established methods to compensate require significant additional complexity and computation. The present effort explores methods for effective confidence estimation with GPT-4 with few-shot learning for event detection in the BETTER ontology as a vehicle. The key innovation is expanding the prompt and task presented to GPT-4 to provide License to speculate when unsure and Opportunity to quantify and explain its uncertainty (L&O). This approach improves accuracy and provides usable confidence measures (0.759 AUC) with no additional machinery.
Generalisation of Total Uncertainty in AI: A Theoretical Study
Authors: Keivan Shariatmadar
Date: 2024-08-01 00:00:00
Tasks: Decision Making

AI has been dealing with uncertainty to have highly accurate results. This becomes even worse with reasonably small data sets or a variation in the data sets. This has far-reaching effects on decision-making, forecasting and learning mechanisms. This study seeks to unpack the nature of uncertainty that exists within AI by drawing ideas from established works, the latest developments and practical applications and provide a novel total uncertainty definition in AI. From inception theories up to current methodologies, this paper provides an integrated view of dealing with better total uncertainty as well as complexities of uncertainty in AI that help us understand its meaning and value across different domains.
Integrating ESG and AI: A Comprehensive Responsible AI Assessment Framework
Authors: Sung Une Lee, Harsha Perera, Yue Liu, Boming Xia, Qinghua Lu, Liming Zhu, Jessica Cairns, Moana Nottage
Date: 2024-08-02 00:00:00

Artificial Intelligence (AI) is a widely developed and adopted technology across entire industry sectors. Integrating environmental, social, and governance (ESG) considerations with AI investments is crucial for ensuring ethical and sustainable technological advancement. Particularly from an investor perspective, this integration not only mitigates risks but also enhances long-term value creation by aligning AI initiatives with broader societal goals. Yet, this area has been less explored in both academia and industry. To bridge the gap, we introduce a novel ESG-AI framework, which is developed based on insights from engagements with 28 companies and comprises three key components. The framework provides a structured approach to this integration, developed in collaboration with industry practitioners. The ESG-AI framework provides an overview of the environmental and social impacts of AI applications, helping users such as investors assess the materiality of AI use. Moreover, it enables investors to evaluate a company's commitment to responsible AI through structured engagements and thorough assessment of specific risk areas. We have publicly released the framework and toolkit in April 2024, which has received significant attention and positive feedback from the investment community. This paper details each component of the framework, demonstrating its applicability in real-world contexts and its potential to guide ethical AI investments.
A SAT-based approach to rigorous verification of Bayesian networks
Authors: Ignacy Stępka, Nicholas Gisolfi, Artur Dubrawski
Date: 2024-08-02 00:00:00

Recent advancements in machine learning have accelerated its widespread adoption across various real-world applications. However, in safety-critical domains, the deployment of machine learning models is riddled with challenges due to their complexity, lack of interpretability, and absence of formal guarantees regarding their behavior. In this paper, we introduce a verification framework tailored for Bayesian networks, designed to address these drawbacks. Our framework comprises two key components: (1) a two-step compilation and encoding scheme that translates Bayesian networks into Boolean logic literals, and (2) formal verification queries that leverage these literals to verify various properties encoded as constraints. Specifically, we introduce two verification queries: if-then rules (ITR) and feature monotonicity (FMO). We benchmark the efficiency of our verification scheme and demonstrate its practical utility in real-world scenarios.
On the Resilience of LLM-Based Multi-Agent Collaboration with Faulty Agents
Authors: Jen-tse Huang, Jiaxu Zhou, Tailin Jin, Xuhui Zhou, Zixi Chen, Wenxuan Wang, Youliang Yuan, Michael R. Lyu, Maarten Sap
Date: 2024-08-02 00:00:00
Tasks: Code Generation, Large Language Model, Math

Large language model-based multi-agent systems have shown great abilities across various tasks due to the collaboration of expert agents, each focusing on a specific domain. However, the impact of clumsy or even malicious agents, i.e., those who frequently make errors in their tasks, on the overall performance of the system remains underexplored. This paper investigates: (1) What is the resilience of various system structures (e.g., A$\rightarrow$B$\rightarrow$C, A$\leftrightarrow$B$\leftrightarrow$C) under faulty agents, on different downstream tasks? (2) How can we increase system resilience to defend against these agents? To simulate faulty agents, we propose two approaches, AutoTransform and AutoInject, which introduce mistakes into the agents' responses. We select four downstream tasks, including code generation, math problems, translation, and text evaluation. Results suggest that the hierarchical structure, i.e., A$\rightarrow$(B$\leftrightarrow$C), exhibits superior resilience with the lowest performance drop of $9.2\%$, compared to $26.0\%$ and $31.2\%$ of other two structures. Additionally, we improve the system resilience with two methods, introducing a mechanism for each agent to challenge others' outputs, and an additional agent to review and correct messages. Our code and data are available at https://github.com/CUHK-ARISE/MAS-Resilience.
A Safe Exploration Strategy for Model-free Task Adaptation in Safety-constrained Grid Environments
Authors: Erfan Entezami, Mahsa Sahebdel, Dhawal Gupta
Date: 2024-08-02 00:00:00
Tasks: Binary Classification, Safe Exploration

Training a model-free reinforcement learning agent requires allowing the agent to sufficiently explore the environment to search for an optimal policy. In safety-constrained environments, utilizing unsupervised exploration or a non-optimal policy may lead the agent to undesirable states, resulting in outcomes that are potentially costly or hazardous for both the agent and the environment. In this paper, we introduce a new exploration framework for navigating the grid environments that enables model-free agents to interact with the environment while adhering to safety constraints. Our framework includes a pre-training phase, during which the agent learns to identify potentially unsafe states based on both observable features and specified safety constraints in the environment. Subsequently, a binary classification model is trained to predict those unsafe states in new environments that exhibit similar dynamics. This trained classifier empowers model-free agents to determine situations in which employing random exploration or a suboptimal policy may pose safety risks, in which case our framework prompts the agent to follow a predefined safe policy to mitigate the potential for hazardous consequences. We evaluated our framework on three randomly generated grid environments and demonstrated how model-free agents can safely adapt to new tasks and learn optimal policies for new environments. Our results indicate that by defining an appropriate safe policy and utilizing a well-trained model to detect unsafe states, our framework enables a model-free agent to adapt to new tasks and environments with significantly fewer safety violations.
Piculet: Specialized Models-Guided Hallucination Decrease for MultiModal Large Language Models
Authors: Kohou Wang, Xiang Liu, Zhaoxiang Liu, Kai Wang, Shiguo Lian
Date: 2024-08-02 00:00:00
Tasks: Hallucination

Multimodal Large Language Models (MLLMs) have made significant progress in bridging the gap between visual and language modalities. However, hallucinations in MLLMs, where the generated text does not align with image content, continue to be a major challenge. Existing methods for addressing hallucinations often rely on instruction-tuning, which requires retraining the model with specific data, which increases the cost of utilizing MLLMs further. In this paper, we introduce a novel training-free method, named Piculet, for enhancing the input representation of MLLMs. Piculet leverages multiple specialized models to extract descriptions of visual information from the input image and combine these descriptions with the original image and query as input to the MLLM. We evaluate our method both quantitively and qualitatively, and the results demonstrate that Piculet greatly decreases hallucinations of MLLMs. Our method can be easily extended to different MLLMs while being universal.
Semantic Skill Grounding for Embodied Instruction-Following in Cross-Domain Environments
Authors: Sangwoo Shin, SeungHyun Kim, Youngsoo Jang, Moontae Lee, Honguk Woo
Date: 2024-08-02 00:00:00
Tasks: Instruction Following

In embodied instruction-following (EIF), the integration of pretrained language models (LMs) as task planners emerges as a significant branch, where tasks are planned at the skill level by prompting LMs with pretrained skills and user instructions. However, grounding these pretrained skills in different domains remains challenging due to their intricate entanglement with the domain-specific knowledge. To address this challenge, we present a semantic skill grounding (SemGro) framework that leverages the hierarchical nature of semantic skills. SemGro recognizes the broad spectrum of these skills, ranging from short-horizon low-semantic skills that are universally applicable across domains to long-horizon rich-semantic skills that are highly specialized and tailored for particular domains. The framework employs an iterative skill decomposition approach, starting from the higher levels of semantic skill hierarchy and then moving downwards, so as to ground each planned skill to an executable level within the target domain. To do so, we use the reasoning capabilities of LMs for composing and decomposing semantic skills, as well as their multi-modal extension for assessing the skill feasibility in the target domain. Our experiments in the VirtualHome benchmark show the efficacy of SemGro in 300 cross-domain EIF scenarios.
From Stem to Stern: Contestability Along AI Value Chains
Authors: Agathe Balayn, Yulu Pi, David Gray Widder, Kars Alfrink, Mireia Yurrita, Sohini Upadhyay, Naveena Karusala, Henrietta Lyons, Cagatay Turkay, Christelle Tessono, Blair Attard-Frost, Ujwal Gadiraju
Date: 2024-08-02 00:00:00

This workshop will grow and consolidate a community of interdisciplinary CSCW researchers focusing on the topic of contestable AI. As an outcome of the workshop, we will synthesize the most pressing opportunities and challenges for contestability along AI value chains in the form of a research roadmap. This roadmap will help shape and inspire imminent work in this field. Considering the length and depth of AI value chains, it will especially spur discussions around the contestability of AI systems along various sites of such chains. The workshop will serve as a platform for dialogue and demonstrations of concrete, successful, and unsuccessful examples of AI systems that (could or should) have been contested, to identify requirements, obstacles, and opportunities for designing and deploying contestable AI in various contexts. This will be held primarily as an in-person workshop, with some hybrid accommodation. The day will consist of individual presentations and group activities to stimulate ideation and inspire broad reflections on the field of contestable AI. Our aim is to facilitate interdisciplinary dialogue by bringing together researchers, practitioners, and stakeholders to foster the design and deployment of contestable AI.
A Survey on Self-play Methods in Reinforcement Learning
Authors: Ruize Zhang, Zelai Xu, Chengdong Ma, Chao Yu, Wei-Wei Tu, Wenhao Tang, Shiyu Huang, Deheng Ye, Wenbo Ding, Yaodong Yang, Yu Wang
Date: 2024-08-02 00:00:00
Tasks: Multi-agent Reinforcement Learning, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL), Survey

Self-play, characterized by agents' interactions with copies or past versions of themselves, has recently gained prominence in reinforcement learning (RL). This paper first clarifies the preliminaries of self-play, including the multi-agent reinforcement learning framework and basic game theory concepts. Then, it provides a unified framework and classifies existing self-play algorithms within this framework. Moreover, the paper bridges the gap between the algorithms and their practical implications by illustrating the role of self-play in different scenarios. Finally, the survey highlights open challenges and future research directions in self-play. This paper is an essential guide map for understanding the multifaceted landscape of self-play in RL.
Being Accountable is Smart: Navigating the Technical and Regulatory Landscape of AI-based Services for Power Grid
Authors: Anna Volkova, Mahdieh Hatamian, Alina Anapyanova, Hermann de Meer
Date: 2024-08-02 00:00:00

The emergence of artificial intelligence and digitization of the power grid introduced numerous effective application scenarios for AI-based services for the smart grid. Nevertheless, adopting AI in critical infrastructures presents challenges due to unclear regulations and lacking risk quantification techniques. Regulated and accountable approaches for integrating AI-based services into the smart grid could accelerate the adoption of innovative methods in daily practices and address society's general safety concerns. This paper contributes to this objective by defining accountability and highlighting its importance for AI-based services in the energy sector. It underlines the current shortcomings of the AI Act and proposes an approach to address these issues in a potential delegated act. The proposed technical approach for developing and operating accountable AI-based smart grid services allows for assessing different service life cycle phases and identifying related accountability risks.