Robotic avatar systems can enable immersive telepresence with locomotion, manipulation, and communication capabilities. We present such an avatar system, based on the key components of immersive 3D visualization and transparent force-feedback telemanipulation. Our avatar robot features an anthropomorphic upper body with dexterous hands. The remote human operator drives the arms and fingers through an exoskeleton-based operator station, which provides force feedback both at the wrist and for each finger. The robot torso is mounted on a holonomic base, providing omnidirectional locomotion on flat floors, controlled using a 3D rudder device. Finally, the robot features a 6D movable head with stereo cameras, which stream images to a VR display worn by the operator. Movement latency is hidden using spherical rendering. The head also carries a telepresence screen displaying an animated image of the operator's face, enabling direct interaction with remote persons. Our system won the \$10M ANA Avatar XPRIZE competition, which challenged teams to develop intuitive and immersive avatar systems that could be operated by briefly trained judges. We analyze our successful participation in the semifinals and finals and provide insight into our operator training and lessons learned. In addition, we evaluate our system in a user study that demonstrates its intuitive and easy usability.

Recent years have witnessed the widespread use of artificial intelligence (AI) algorithms and machine learning (ML) models. Despite their tremendous success, a number of vital problems like ML model brittleness, their fairness, and the lack of interpretability warrant the need for the active developments in explainable artificial intelligence (XAI) and formal ML model verification. The two major lines of work in XAI include feature selection methods, e.g. Anchors, and feature attribution techniques, e.g. LIME and SHAP. Despite their promise, most of the existing feature selection and attribution approaches are susceptible to a range of critical issues, including explanation unsoundness and out-of-distribution sampling. A recent formal approach to XAI (FXAI) although serving as an alternative to the above and free of these issues suffers from a few other limitations. For instance and besides the scalability limitation, the formal approach is unable to tackle the feature attribution problem. Additionally, a formal explanation despite being formally sound is typically quite large, which hampers its applicability in practical settings. Motivated by the above, this paper proposes a way to apply the apparatus of formal XAI to the case of feature attribution based on formal explanation enumeration. Formal feature attribution (FFA) is argued to be advantageous over the existing methods, both formal and non-formal. Given the practical complexity of the problem, the paper then proposes an efficient technique for approximating exact FFA. Finally, it offers experimental evidence of the effectiveness of the proposed approximate FFA in comparison to the existing feature attribution algorithms not only in terms of feature importance and but also in terms of their relative order.

Deep reinforcement learning (DRL) has seen remarkable success in the control of single robots. However, applying DRL to robot swarms presents significant challenges. A critical challenge is non-stationarity, which occurs when two or more robots update individual or shared policies concurrently, thereby engaging in an interdependent training process with no guarantees of convergence. Circumventing non-stationarity typically involves training the robots with global information about other agents' states and/or actions. In contrast, in this paper we explore how to remove the need for global information. We pose our problem as a Partially Observable Markov Decision Process, due to the absence of global knowledge on other agents. Using collective transport as a testbed scenario, we study two approaches to multi-agent training. In the first, the robots exchange no messages, and are trained to rely on implicit communication through push-and-pull on the object to transport. In the second approach, we introduce Global State Prediction (GSP), a network trained to forma a belief over the swarm as a whole and predict its future states. We provide a comprehensive study over four well-known deep reinforcement learning algorithms in environments with obstacles, measuring performance as the successful transport of the object to the goal within a desired time-frame. Through an ablation study, we show that including GSP boosts performance and increases robustness when compared with methods that use global knowledge.

Machine learning (ML) is increasingly being used in critical decision-making software, but incidents have raised questions about the fairness of ML predictions. To address this issue, new tools and methods are needed to mitigate bias in ML-based software. Previous studies have proposed bias mitigation algorithms that only work in specific situations and often result in a loss of accuracy. Our proposed solution is a novel approach that utilizes automated machine learning (AutoML) techniques to mitigate bias. Our approach includes two key innovations: a novel optimization function and a fairness-aware search space. By improving the default optimization function of AutoML and incorporating fairness objectives, we are able to mitigate bias with little to no loss of accuracy. Additionally, we propose a fairness-aware search space pruning method for AutoML to reduce computational cost and repair time. Our approach, built on the state-of-the-art Auto-Sklearn tool, is designed to reduce bias in real-world scenarios. In order to demonstrate the effectiveness of our approach, we evaluated our approach on four fairness problems and 16 different ML models, and our results show a significant improvement over the baseline and existing bias mitigation techniques. Our approach, Fair-AutoML, successfully repaired 60 out of 64 buggy cases, while existing bias mitigation techniques only repaired up to 44 out of 64 cases.

Biological cells have multi-level organization, and depend on a further cascade of biophysical intracellular complexity [79-83]. For instance, consider the Krebs cycle that underlies cellular respiration, a key process in maintaining cellular homeostasis [84]. Cellular respiration is a crucial biological process that enables cells to convert the energy stored in organic molecules into a form of energy that can be utilized by the cell, however this process is not compressible into software as processes like cellular respiration need to happen with real physical molecules. Note that our aim is not to suggest that consciousness requires the Krebs cycle, but rather to highlight that perhaps consciousness is similar: it cannot be abstracted away from the underlying machinery [68-69,85]. Importantly, we are not claiming that consciousness cannot be captured within software at all [68-69,85-87]. Rather, we emphasize that we have to at least entertain the possibility that consciousness is linked to the complex biological organization underlying life [74-81], and thus any computational description of consciousness will be much more complex than our present-day theories suggest (Figure 1).

In developed nations assassinations are rare and thus the impact of such acts on the electoral and political landscape is understudied. In this paper, we focus on Twitter data to examine the effects of Japan's former Primer Minister Abe's assassination on the Japanese House of Councillors elections in 2022. We utilize sentiment analysis and emotion detection together with topic modeling on over 2 million tweets and compare them against tweets during previous election cycles. Our findings indicate that Twitter sentiments were negatively impacted by the event in the short term and that social media attention span has shortened. We also discuss how "necropolitics" affected the outcome of the elections in favor of the deceased's party meaning that there seems to have been an effect of Abe's death on the election outcome though the findings warrant further investigation for conclusive results.. Keywords Japanese House of Councillors Elections; Abe assassination; sentiment analysis ...

High-risk pregnancy (HRP) is a pregnancy complicated by factors that can adversely affect outcomes of the mother or the infant. Health insurers use algorithms to identify members who would benefit from additional clinical support. We aimed to build machine learning algorithms to identify pregnant patients and triage them by risk of complication to assist care management. In this retrospective study, we trained a hybrid Lasso regularized classifier to predict whether a patient is currently pregnant using claims data from 36735 insured members of Independence Blue Cross (IBC), a health insurer in Philadelphia. We then train a linear classifier on a subset of 12,243 members to predict whether a patient will develop gestational diabetes or gestational hypertension. These algorithms were developed in cooperation with the care management team at IBC and integrated into the dashboard. In small user studies with the nurses, we evaluated the impact of integrating our algorithms into their workflow. We find that the proposed model predicts an earlier pregnancy start date for 3.54% (95% CI 3.05-4.00) for patients with complications compared to only using a set of pre-defined codes that indicate the start of pregnancy and never later at the expense of a 5.58% (95% CI 4.05-6.40) false positive rate. The classifier for predicting complications has an AUC of 0.754 (95% CI 0.764-0.788) using data up to the patient's first trimester. Nurses from the care management program expressed a preference for the proposed models over existing approaches. The proposed model outperformed commonly used claim codes for the identification of pregnant patients at the expense of a manageable false positive rate. Our risk complication classifier shows that we can accurately triage patients by risk of complication.

Wireless fingerprinting refers to a device identification method leveraging hardware imperfections and wireless channel variations as signatures. Beyond physical layer characteristics, recent studies demonstrated that user behaviors could be identified through network traffic, e.g., packet length, without decryption of the payload. Inspired by these results, we propose a multi-layer fingerprinting framework that jointly considers the multi-layer signatures for improved identification performance. In contrast to previous works, by leveraging the recent multi-view machine learning paradigm, i.e., data with multiple forms, our method can cluster the device information shared among the multi-layer features without supervision. Our information-theoretic approach can be extended to supervised and semi-supervised settings with straightforward derivations. In solving the formulated problem, we obtain a tight surrogate bound using variational inference for efficient optimization. In extracting the shared device information, we develop an algorithm based on the Wyner common information method, enjoying reduced computation complexity as compared to existing approaches. The algorithm can be applied to data distributions belonging to the exponential family class. Empirically, we evaluate the algorithm in a synthetic dataset with real-world video traffic and simulated physical layer characteristics. Our empirical results show that the proposed method outperforms the state-of-the-art baselines in both supervised and unsupervised settings.

Unsupervised Domain Adaptive Object Detection (UDA-OD) uses unlabelled data to improve the reliability of robotic vision systems in open-world environments. Previous approaches to UDA-OD based on self-training have been effective in overcoming changes in the general appearance of images. However, shifts in a robot's deployment environment can also impact the likelihood that different objects will occur, termed class distribution shift. Motivated by this, we propose a framework for explicitly addressing class distribution shift to improve pseudo-label reliability in self-training. Our approach uses the domain invariance and contextual understanding of a pre-trained joint vision and language model to predict the class distribution of unlabelled data. By aligning the class distribution of pseudo-labels with this prediction, we provide weak supervision of pseudo-label accuracy. To further account for low quality pseudo-labels early in self-training, we propose an approach to dynamically adjust the number of pseudo-labels per image based on model confidence. Our method outperforms state-of-the-art approaches on several benchmarks, including a 4.7 mAP improvement when facing challenging class distribution shift.

The growing number of exoplanet discoveries and advances in machine learning techniques have opened new avenues for exploring and understanding the characteristics of worlds beyond our Solar System. In this study, we employ efficient machine learning approaches to analyze a dataset comprising 762 confirmed exoplanets and eight Solar System planets, aiming to characterize their fundamental quantities. By applying different unsupervised clustering algorithms, we classify the data into two main classes: 'small' and 'giant' planets, with cut-off values at $R_{p}=8.13R_{\oplus}$ and $M_{p}=52.48M_{\oplus}$. This classification reveals an intriguing distinction: giant planets have lower densities, suggesting higher H-He mass fractions, while small planets are denser, composed mainly of heavier elements. We apply various regression models to uncover correlations between physical parameters and their predictive power for exoplanet radius. Our analysis highlights that planetary mass, orbital period, and stellar mass play crucial roles in predicting exoplanet radius. Among the models evaluated, the Support Vector Regression consistently outperforms others, demonstrating its promise for obtaining accurate planetary radius estimates. Furthermore, we derive parametric equations using the M5P and Markov Chain Monte Carlo methods. Notably, our study reveals a noteworthy result: small planets exhibit a positive linear mass-radius relation, aligning with previous findings. Conversely, for giant planets, we observe a strong correlation between planetary radius and the mass of their host stars, which might provide intriguing insights into the relationship between giant planet formation and stellar characteristics.