Simultaneous Localization and Mapping (SLAM) techniques play a key role towards long-term autonomy of mobile robots due to the ability to correct localization errors and produce consistent maps of an environment over time. Contrarily to urban or man-made environments, where the presence of unique objects and structures offer unique cues for localization, the appearance of unstructured natural environments is often ambiguous and self-similar, hindering the performances of loop closure detection. In this paper, we present an approach to improve the robustness of place recognition in the context of a submap-based stereo SLAM based on Gaussian Process Gradient Maps (GPGMaps). GPGMaps embed a continuous representation of the gradients of the local terrain elevation by means of Gaussian Process regression and Structured Kernel Interpolation, given solely noisy elevation measurements. We leverage the image-like structure of GPGMaps to detect loop closures using traditional visual features and Bag of Words. GPGMap matching is performed as an SE(2) alignment to establish loop closure constraints within a pose graph. We evaluate the proposed pipeline on a variety of datasets recorded on Mt. Etna, Sicily and in the Morocco desert, respectively Moon- and Mars-like environments, and we compare the localization performances with state-of-the-art approaches for visual SLAM and visual loop closure detection.

Real-world information networks are increasingly occurring across various disciplines including online social networks and citation networks. These network data are generally characterized by sparseness, nonlinearity and heterogeneity bringing different challenges to the network analytics task to capture inherent properties from network data. Artificial intelligence and machine learning have been recently leveraged as powerful systems to learn insights from network data and deal with presented challenges. As part of machine learning techniques, graph embedding approaches are originally conceived for graphs constructed from feature represented datasets, like image dataset, in which links between nodes are explicitly defined. These traditional approaches cannot cope with network data challenges. As a new learning paradigm, network representation learning has been proposed to map a real-world information network into a low-dimensional space while preserving inherent properties of the network. In this paper, we present a systematic comprehensive survey of network representation learning, known also as network embedding, from birth to the current development state. Through the undertaken survey, we provide a comprehensive view of reasons behind the emergence of network embedding and, types of settings and models used in the network embedding pipeline. Thus, we introduce a brief history of representation learning and word representation learning ancestor of network embedding. We provide also formal definitions of basic concepts required to understand network representation learning followed by a description of network embedding pipeline. Most commonly used downstream tasks to evaluate embeddings, their evaluation metrics and popular datasets are highlighted. Finally, we present the open-source libraries for network embedding.

Driving in a complex urban environment is a difficult task that requires a complex decision policy. In order to make informed decisions, one needs to gain an understanding of the long-range context and the importance of other vehicles. In this work, we propose to use Vision Transformer (ViT) to learn a driving policy in urban settings with birds-eye-view (BEV) input images. The ViT network learns the global context of the scene more effectively than with earlier proposed Convolutional Neural Networks (ConvNets). Furthermore, ViT's attention mechanism helps to learn an attention map for the scene which allows the ego car to determine which surrounding cars are important to its next decision. We demonstrate that a DQN agent with a ViT backbone outperforms baseline algorithms with ConvNet backbones pre-trained in various ways. In particular, the proposed method helps reinforcement learning algorithms to learn faster, with increased performance and less data than baselines.

Non-autoregressive neural machine translation (NART) models suffer from the multi-modality problem which causes translation inconsistency such as token repetition. Most recent approaches have attempted to solve this problem by implicitly modeling dependencies between outputs. In this paper, we introduce AligNART, which leverages full alignment information to explicitly reduce the modality of the target distribution. AligNART divides the machine translation task into $(i)$ alignment estimation and $(ii)$ translation with aligned decoder inputs, guiding the decoder to focus on simplified one-to-one translation. To alleviate the alignment estimation problem, we further propose a novel alignment decomposition method. Our experiments show that AligNART outperforms previous non-iterative NART models that focus on explicit modality reduction on WMT14 En$\leftrightarrow$De and WMT16 Ro$\rightarrow$En. Furthermore, AligNART achieves BLEU scores comparable to those of the state-of-the-art connectionist temporal classification based models on WMT14 En$\leftrightarrow$De. We also observe that AligNART effectively addresses the token repetition problem even without sequence-level knowledge distillation.

Table-based fact verification task aims to verify whether the given statement is supported by the given semi-structured table. Symbolic reasoning with logical operations plays a crucial role in this task. Existing methods leverage programs that contain rich logical information to enhance the verification process. However, due to the lack of fully supervised signals in the program generation process, spurious programs can be derived and employed, which leads to the inability of the model to catch helpful logical operations. To address the aforementioned problems, in this work, we formulate the table-based fact verification task as an evidence retrieval and reasoning framework, proposing the Logic-level Evidence Retrieval and Graph-based Verification network (LERGV). Specifically, we first retrieve logic-level program-like evidence from the given table and statement as supplementary evidence for the table. After that, we construct a logic-level graph to capture the logical relations between entities and functions in the retrieved evidence, and design a graph-based verification network to perform logic-level graph-based reasoning based on the constructed graph to classify the final entailment relation. Experimental results on the large-scale benchmark TABFACT show the effectiveness of the proposed approach.

BERT and other large-scale language models (LMs) contain gender and racial bias. They also exhibit other dimensions of social bias, most of which have not been studied in depth, and some of which vary depending on the language. In this paper, we study ethnic bias and how it varies across languages by analyzing and mitigating ethnic bias in monolingual BERT for English, German, Spanish, Korean, Turkish, and Chinese. To observe and quantify ethnic bias, we develop a novel metric called Categorical Bias score. Then we propose two methods for mitigation; first using a multilingual model, and second using contextual word alignment of two monolingual models. We compare our proposed methods with monolingual BERT and show that these methods effectively alleviate the ethnic bias. Which of the two methods works better depends on the amount of NLP resources available for that language. We additionally experiment with Arabic and Greek to verify that our proposed methods work for a wider variety of languages.

Cross-lingual entity alignment (EA) aims to find the equivalent entities between crosslingual KGs, which is a crucial step for integrating KGs. Recently, many GNN-based EA methods are proposed and show decent performance improvements on several public datasets. Meanwhile, existing GNN-based EA methods inevitably inherit poor interpretability and low efficiency from neural networks. Motivated by the isomorphic assumption of GNNbased methods, we successfully transform the cross-lingual EA problem into the assignment problem. Based on this finding, we propose a frustratingly Simple but Effective Unsupervised entity alignment method (SEU) without neural networks. Extensive experiments show that our proposed unsupervised method even beats advanced supervised methods across all public datasets and has high efficiency, interpretability, and stability.

Artificial intelligence could one day organize the world. As if in anticipation of this, a maritime platform developer called Orca AI has just begun a research trial of new safety systems for autonomous ships, equipping a vessel with artificial intelligence that recognizes other ships to safely guide it through busy sea traffic, according to a recent press release from the company. Orca AI was founded in 2018 by a pair of naval tech experts, and designs software platforms with extreme specificity for maritime vessels. The firm blends existing safety systems with sensors to enhance the navigation and safety of vessels making their way through crowded (and sometimes dangerous) waterways. Orca AI is headquartered in Israel, and aims to link sea-bound vessels with 24/7 land-based AI insights.

An Israeli defense contractor on Monday unveiled a remote-controlled armed robot it says can patrol battle zones, track infiltrators and open fire. The unmanned vehicle is the latest addition to the world of drone technology, which is rapidly reshaping the modern battlefield. Proponents say such semi-autonomous machines allow armies to protect their soldiers, while critics fear this marks another dangerous step toward robots making life-or-death decisions. The four-wheel-drive robot presented Monday was developed by the state-owned Israel Aerospace Industries' "REX MKII." It is operated by an electronic tablet and can be equipped with two machine guns, cameras and sensors, said Rani Avni, deputy head of the company's autonomous systems division.

"In a world more and more driven by AI models, Data Scientists cannot effectively ascertain on their own the costs associated with the unintended consequences of False Positives and False Negatives. Mitigating unintended consequences requires the collaboration across a diverse set of stakeholders in order to identify the metrics against which the AI Utility Function will seek to optimize." I've been fortunate enough to have had some interesting conversations since publishing that blog, especially with an organization who is championing data ethics and "Responsible AI" (love that term). As was so well covered in Cathy O'Neil's book "Weapons of Math Destruction", the biases built into many of the AI models that are being used to approve loans and mortgages, hire job applicants, and accept university admissions are yielding unintended consequences that severely impact both individuals and society. AI models only optimize against the metrics against which it has been programmed to optimize.