This paper considers the problem of safely coordinating a team of sensor-equipped robots to reduce uncertainty about a dynamical process, where the objective trades off information gain and energy cost. Optimizing this trade-off is desirable, but leads to a non-monotone objective function in the set of robot trajectories. Therefore, common multi-robot planners based on coordinate descent lose their performance guarantees. Furthermore, methods that handle non-monotonicity lose their performance guarantees when subject to inter-robot collision avoidance constraints. As it is desirable to retain both the performance guarantee and safety guarantee, this work proposes a hierarchical approach with a distributed planner that uses local search with a worst-case performance guarantees and a decentralized controller based on control barrier functions that ensures safety and encourages timely arrival at sensing locations. Via extensive simulations, hardware-in-the-loop tests and hardware experiments, we demonstrate that the proposed approach achieves a better trade-off between sensing and energy cost than coordinate-descent-based algorithms.

As a common situation in practice, the forecaster could access some additional resources which we call it side information, We study the effectiveness of stochastic side information in deterministic that may provide some useful knowledge on the online learning scenarios. We propose a forecaster sequence of interest. Cover and Ordentlich [10] first studied to predict a deterministic sequence where its performance is a portfolio investment problem where the sequence of interest evaluated against an expert class. We assume that certain is the stock vectors that may depend on some finite-valued stochastic side information is available to the forecaster but states (as side information), and their proposed forecaster can not the experts. We define the minimax expected regret for achieve the same wealth as the best side information dependent evaluating the forecaster's performance, for which we obtain investment strategy. Xie and Barron [11] studied the case when both upper and lower bounds. Consequently, our results characterize the sequence of interest is generated according to a pair-wise the improvement in the regret due to the stochastic parametric distribution conditioning on the side information, side information. Compared with the classical online learning and derived an logarithmic upper bound of the minimax regret.

Semantic parsing is a technique aimed at constructing a structured representation of the meaning of a natural-language question. Recent advancements in few-shot language models trained on code have demonstrated superior performance in generating these representations compared to traditional unimodal language models, which are trained on downstream tasks. Despite these advancements, existing fine-tuned neural semantic parsers are susceptible to adversarial attacks on natural-language inputs. While it has been established that the robustness of smaller semantic parsers can be enhanced through adversarial training, this approach is not feasible for large language models in real-world scenarios, as it requires both substantial computational resources and expensive human annotation on in-domain semantic parsing data. This paper presents the first empirical study on the adversarial robustness of a large prompt-based language model of code, \codex. Our results demonstrate that the state-of-the-art (SOTA) code-language models are vulnerable to carefully crafted adversarial examples. To address this challenge, we propose methods for improving robustness without the need for significant amounts of labeled data or heavy computational resources.

Socially Assistive Robots navigate highly sensible environments, which place high demands on safety and communication with users. The reasoning behind an SAR's actions must be transparent at any time to earn users' trust and acceptance. Although different communication modalities have been extensively studied, there is a lack of long-term studies investigating changes in users' communication needs over time. Considering two decades of research in Human-Robot Communication, we formulate the need to design dynamic robot personalities to unveil the full potential of SARs.

Playing an important role in Model-Based Reinforcement Learning (MBRL), environment models aim to predict future states based on the past. Existing works usually ignore instantaneous dependence in the state, that is, assuming that the future state variables are conditionally independent given the past states. However, instantaneous dependence is prevalent in many RL environments. For instance, in the stock market, instantaneous dependence can exist between two stocks because the fluctuation of one stock can quickly affect the other and the resolution of price change is lower than that of the effect. In this paper, we prove that with few exceptions, ignoring instantaneous dependence can result in suboptimal policy learning in MBRL. To address the suboptimality problem, we propose a simple plug-and-play method to enable existing MBRL algorithms to take instantaneous dependence into account. Through experiments on two benchmarks, we (1) confirm the existence of instantaneous dependence with visualization; (2) validate our theoretical findings that ignoring instantaneous dependence leads to suboptimal policy; (3) verify that our method effectively enables reinforcement learning with instantaneous dependence and improves policy performance.

Crowdsourcing wireless energy is a novel and convenient solution to charge nearby IoT devices. Several applications have been proposed to enable peer-to-peer wireless energy charging. However, none of them considered the energy efficiency of the wireless transfer of energy. In this paper, we propose an energy estimation framework that predicts the actual received energy. Our framework uses two machine learning algorithms, namely XGBoost and Neural Network, to estimate the received energy. The result shows that the Neural Network model is better than XGBoost at predicting the received energy. We train and evaluate our models by collecting a real wireless energy dataset.

Adapting a trained Automatic Speech Recognition (ASR) model to new tasks results in catastrophic forgetting of old tasks, limiting the model's ability to learn continually and to be extended to new speakers, dialects, languages, etc. Focusing on End-to-End ASR, in this paper, we propose a simple yet effective method to overcome catastrophic forgetting: weight averaging. By simply taking the average of the previous and the adapted model, our method achieves high performance on both the old and new tasks. It can be further improved by introducing a knowledge distillation loss during the adaptation. We illustrate the effectiveness of our method on both monolingual and multilingual ASR. In both cases, our method strongly outperforms all baselines, even in its simplest form.

This study investigates the effectiveness of Explainable Artificial Intelligence (XAI) techniques in predicting suicide risks and identifying the dominant causes for such behaviours. Data augmentation techniques and ML models are utilized to predict the associated risk. Furthermore, SHapley Additive exPlanations (SHAP) and correlation analysis are used to rank the importance of variables in predictions. Experimental results indicate that Decision Tree (DT), Random Forest (RF) and eXtreme Gradient Boosting (XGBoost) models achieve the best results while DT has the best performance with an accuracy of 95.23% and an Area Under Curve (AUC) of 0.95. As per SHAP results, anger problems, depression, and social isolation are the leading variables in predicting the risk of suicide, and patients with good incomes, respected occupations, and university education have the least risk. Results demonstrate the effectiveness of machine learning and XAI framework for suicide risk prediction, and they can assist psychiatrists in understanding complex human behaviours and can also assist in reliable clinical decision-making.

Advanced large language models like ChatGPT have gained considerable attention recently, including among students. However, while the debate on ChatGPT in academia is making waves, more understanding is needed among lecturers and teachers on how students use and perceive ChatGPT. To address this gap, we analyzed the content on ChatGPT available on TikTok in February 2023. TikTok is a rapidly growing social media platform popular among individuals under 30. Specifically, we analyzed the content of the 100 most popular videos in English tagged with #chatgpt, which collectively garnered over 250 million views. Most of the videos we studied promoted the use of ChatGPT for tasks like writing essays or code. In addition, many videos discussed AI detectors, with a focus on how other tools can help to transform ChatGPT output to fool these detectors. This also mirrors the discussion among educators on how to treat ChatGPT as lecturers and teachers in teaching and grading. What is, however, missing from the analyzed clips on TikTok are videos that discuss ChatGPT producing content that is nonsensical or unfaithful to the training data.

Deep Learning (DL) and Deep Neural Networks (DNNs) are widely used in various domains. However, adversarial attacks can easily mislead a neural network and lead to wrong decisions. Defense mechanisms are highly preferred in safety-critical applications. In this paper, firstly, we use the gradient class activation map (GradCAM) to analyze the behavior deviation of the VGG-16 network when its inputs are mixed with adversarial perturbation or Gaussian noise. In particular, our method can locate vulnerable layers that are sensitive to adversarial perturbation and Gaussian noise. We also show that the behavior deviation of vulnerable layers can be used to detect adversarial examples. Secondly, we propose a novel NoiseCAM algorithm that integrates information from globally and pixel-level weighted class activation maps. Our algorithm is susceptible to adversarial perturbations and will not respond to Gaussian random noise mixed in the inputs. Third, we compare detecting adversarial examples using both behavior deviation and NoiseCAM, and we show that NoiseCAM outperforms behavior deviation modeling in its overall performance. Our work could provide a useful tool to defend against certain adversarial attacks on deep neural networks.