Simulation based learning often provides a cost-efficient recourse to reinforcement learning applications in robotics. However, simulators are generally incapable of accurately replicating real-world dynamics, and thus bridging the sim2real gap is an important problem in simulation based learning. Current solutions to bridge the sim2real gap involve hybrid simulators that are augmented with neural residual models. Unfortunately, they require a separate residual model for each individual environment configuration (i.e., a fixed setting of environment variables such as mass, friction etc.), and thus are not transferable to new environments quickly. To address this issue, we propose a Reverse Action Transformation (RAT) policy which learns to imitate simulated policies in the real-world. Once learnt from a single environment, RAT can then be deployed on top of a Universal Policy Network to achieve zero-shot adaptation to new environments. We empirically evaluate our approach in a set of continuous control tasks and observe its advantage as a few-shot and zero-shot learner over competing baselines.

Open knowledge graph (KG) consists of (subject, relation, object) triples extracted from millions of raw text. The subject and object noun phrases and the relation in open KG have severe redundancy and ambiguity and need to be canonicalized. Existing datasets for open KG canonicalization only provide gold entity-level canonicalization for noun phrases. In this paper, we present COMBO, a Complete Benchmark for Open KG canonicalization. Compared with existing datasets, we additionally provide gold canonicalization for relation phrases, gold ontology-level canonicalization for noun phrases, as well as source sentences from which triples are extracted. We also propose metrics for evaluating each type of canonicalization. On the COMBO dataset, we empirically compare previously proposed canonicalization methods as well as a few simple baseline methods based on pretrained language models. We find that properly encoding the phrases in a triple using pretrained language models results in better relation canonicalization and ontology-level canonicalization of the noun phrase. We release our dataset, baselines, and evaluation scripts at https://github.com/jeffchy/COMBO/tree/main.

Learning from demonstration (LfD) has the potential to greatly increase the applicability of robotic manipulators in modern industrial applications. Recent progress in LfD methods have put more emphasis in learning robustness than in guiding the demonstration itself in order to improve robustness. The latter is particularly important to consider when the target system reproducing the motion is structurally different to the demonstration system, as some demonstrated motions may not be reproducible. In light of this, this paper introduces a new guided learning from demonstration paradigm where an interactive graphical user interface (GUI) guides the user during demonstration, preventing them from demonstrating non-reproducible motions. The key aspect of our approach is determining the space of reproducible motions based on a motion planning framework which finds regions in the task space where trajectories are guaranteed to be of bounded length. We evaluate our method on two different setups with a six-degree-of-freedom (DOF) UR5 as the target system. First our method is validated using a seven-DOF Sawyer as the demonstration system. Then an extensive user study is carried out where several participants are asked to demonstrate, with and without guidance, a mock weld task using a hand held tool tracked by a VICON system. With guidance users were able to always carry out the task successfully in comparison to only 44% of the time without guidance.

Recent Transformer-based summarization models have provided a promising approach to abstractive summarization. They go beyond sentence selection and extractive strategies to deal with more complicated tasks such as novel word generation and sentence paraphrasing. Nonetheless, these models have two shortcomings: (1) they often perform poorly in content selection, and (2) their training strategy is not quite efficient, which restricts model performance. In this paper, we explore two orthogonal ways to compensate for these pitfalls. First, we augment the Transformer network with a sentence cross-attention module in the decoder, encouraging more abstraction of salient content. Second, we include a curriculum learning approach to reweight the training samples, bringing about an efficient learning procedure. Our second approach to enhance the training strategy of Transformers networks makes stronger gains as compared to the first approach. We apply our model on extreme summarization dataset of Reddit TIFU posts. We further look into three cross-domain summarization datasets (Webis-TLDR-17, CNN/DM, and XSum), measuring the efficacy of curriculum learning when applied in summarization. Moreover, a human evaluation is conducted to show the efficacy of the proposed method in terms of qualitative criteria, namely, fluency, informativeness, and overall quality.

A gradual semantics takes a weighted argumentation framework as input and outputs a final acceptability degree for each argument, with different semantics performing the computation in different manners. In this work, we consider the problem of attack inference. That is, given a gradual semantics, a set of arguments with associated initial weights, and the final desirable acceptability degrees associated with each argument, we seek to determine whether there is a set of attacks on those arguments such that we can obtain these acceptability degrees. The main contribution of our work is to demonstrate that the associated decision problem, i.e., whether a set of attacks can exist which allows the final acceptability degrees to occur for given initial weights, is NP-complete for the weighted h-categoriser and cardinality-based semantics, and is polynomial for the weighted max-based semantics, even for the complete version of the problem (where all initial weights and final acceptability degrees are known). We then briefly discuss how this decision problem can be modified to find the attacks themselves and conclude by examining the partial problem where not all initial weights or final acceptability degrees may be known.

The documentation practice for machine-learned (ML) models often falls short of established practices for traditional software, which impedes model accountability and inadvertently abets inappropriate or misuse of models. Recently, model cards, a proposal for model documentation, have attracted notable attention, but their impact on the actual practice is unclear. In this work, we systematically study the model documentation in the field and investigate how to encourage more responsible and accountable documentation practice. Our analysis of publicly available model cards reveals a substantial gap between the proposal and the practice. We then design a tool named DocML aiming to (1) nudge the data scientists to comply with the model cards proposal during the model development, especially the sections related to ethics, and (2) assess and manage the documentation quality. A lab study reveals the benefit of our tool towards long-term documentation quality and accountability.

With the advent of 5G commercialization, the need for more reliable, faster, and intelligent telecommunication systems are envisaged for the next generation beyond 5G (B5G) radio access technologies. Artificial Intelligence (AI) and Machine Learning (ML) are not just immensely popular in the service layer applications but also have been proposed as essential enablers in many aspects of B5G networks, from IoT devices and edge computing to cloud-based infrastructures. However, existing B5G ML-security surveys tend to place more emphasis on AI/ML model performance and accuracy than on the models' accountability and trustworthiness. In contrast, this paper explores the potential of Explainable AI (XAI) methods, which would allow B5G stakeholders to inspect intelligent black-box systems used to secure B5G networks. The goal of using XAI in the security domain of B5G is to allow the decision-making processes of the ML-based security systems to be transparent and comprehensible to B5G stakeholders making the systems accountable for automated actions. In every facet of the forthcoming B5G era, including B5G technologies such as RAN, zero-touch network management, E2E slicing, this survey emphasizes the role of XAI in them and the use cases that the general users would ultimately enjoy. Furthermore, we presented the lessons learned from recent efforts and future research directions on top of the currently conducted projects involving XAI.

Words play a central role in how we express ourselves. Lexicons of word-emotion associations are widely used in research and real-world applications for sentiment analysis, tracking emotions associated with products and policies, studying health disorders, tracking emotional arcs of stories, and so on. However, inappropriate and incorrect use of these lexicons can lead to not just sub-optimal results, but also inferences that are directly harmful to people. This paper brings together ideas from Affective Computing and AI Ethics to present, some of the practical and ethical considerations involved in the creation and use of emotion lexicons -- best practices. The goal is to provide a comprehensive set of relevant considerations, so that readers (especially those new to work with emotions) can find relevant information in one place. We hope this work will facilitate more thoughtfulness when one is deciding on what emotions to work on, how to create an emotion lexicon, how to use an emotion lexicon, how to draw meaningful inferences, and how to judge success.

Deep neural models (e.g. Transformer) naturally learn spurious features, which create a ``shortcut'' between the labels and inputs, thus impairing the generalization and robustness. This paper advances the self-attention mechanism to its robust variant for Transformer-based pre-trained language models (e.g. BERT). We propose \textit{Adversarial Self-Attention} mechanism (ASA), which adversarially biases the attentions to effectively suppress the model reliance on features (e.g. specific keywords) and encourage its exploration of broader semantics. We conduct a comprehensive evaluation across a wide range of tasks for both pre-training and fine-tuning stages. For pre-training, ASA unfolds remarkable performance gains compared to naive training for longer steps. For fine-tuning, ASA-empowered models outweigh naive models by a large margin considering both generalization and robustness.

Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animals developed multi-segment legs, mechanical coupling between joints, and multi-segmented feet. They run agile over all terrains, arguably with simpler locomotion control. Here we focus on developing foot mechanisms that resist slipping and sinking also in natural terrain. We present first results of multi-segment feet mounted to a bird-inspired robot leg with multi-joint mechanical tendon coupling. Our one- and two-segment, mechanically adaptive feet show increased viable horizontal forces on multiple soft and hard substrates before starting to slip. We also observe that segmented feet reduce sinking on soft substrates compared to ball-feet and cylinder-feet. We report how multi-segmented feet provide a large range of viable centre of pressure points well suited for bipedal robots, but also for quadruped robots on slopes and natural terrain. Our results also offer a functional understanding of segmented feet in animals like ratite birds.