The task of named entity recognition (NER) is normally divided into nested NER and flat NER depending on whether named entities are nested or not. Models are usually separately developed for the two tasks, since sequence labeling models, the most widely used backbone for flat NER, are only able to assign a single label to a particular token, which is unsuitable for nested NER where a token may be assigned several labels. In this paper, we propose a unified framework that is capable of handling both flat and nested NER tasks. Instead of treating the task of NER as a sequence labeling problem, we propose to formulate it as a machine reading comprehension (MRC) task. For example, extracting entities with the \textsc{per} label is formalized as extracting answer spans to the question "{\it which person is mentioned in the text?}". This formulation naturally tackles the entity overlapping issue in nested NER: the extraction of two overlapping entities for different categories requires answering two independent questions. Additionally, since the query encodes informative prior knowledge, this strategy facilitates the process of entity extraction, leading to better performances for not only nested NER, but flat NER. We conduct experiments on both {\em nested} and {\em flat} NER datasets. Experimental results demonstrate the effectiveness of the proposed formulation. We are able to achieve vast amount of performance boost over current SOTA models on nested NER datasets, i.e., +1.28, +2.55, +5.44, +6.37, respectively on ACE04, ACE05, GENIA and KBP17, along with SOTA results on flat NER datasets, i.e.,+0.24, +1.95, +0.21, +1.49 respectively on English CoNLL 2003, English OntoNotes 5.0, Chinese MSRA, Chinese OntoNotes 4.0.

Big streams of Earth images from satellites or other platforms (e.g., drones and mobile phones) are becoming increasingly available at low or no cost and with enhanced spatial and temporal resolution. This thesis recognizes the unprecedented opportunities offered by the high quality and open access Earth observation data of our times and introduces novel machine learning and big data methods to properly exploit them towards developing applications for sustainable and resilient agriculture. The thesis addresses three distinct thematic areas, i.e., the monitoring of the Common Agricultural Policy (CAP), the monitoring of food security and applications for smart and resilient agriculture. The methodological innovations of the developments related to the three thematic areas address the following issues: i) the processing of big Earth Observation (EO) data, ii) the scarcity of annotated data for machine learning model training and iii) the gap between machine learning outputs and actionable advice. This thesis demonstrated how big data technologies such as data cubes, distributed learning, linked open data and semantic enrichment can be used to exploit the data deluge and extract knowledge to address real user needs. Furthermore, this thesis argues for the importance of semi-supervised and unsupervised machine learning models that circumvent the ever-present challenge of scarce annotations and thus allow for model generalization in space and time. Specifically, it is shown how merely few ground truth data are needed to generate high quality crop type maps and crop phenology estimations. Finally, this thesis argues there is considerable distance in value between model inferences and decision making in real-world scenarios and thereby showcases the power of causal and interpretable machine learning in bridging this gap.

Researchers at Carnegie Mellon University's School of Computer Science and the University of California have designed a system that enables a small, low-cost robot to climb and descend stairs, traverse uneven and varied terrain, walk across gaps, and even operate in the dark. The research could be a step toward solving existing challenges facing legged robots and bringing them into people's homes, say researchers. A paper supporting the research - Legged Locomotion in Challenging Terrains Using Egocentric Vision - will be presented at the upcoming Conference on Robot Learning in Auckland, New Zealand. "Empowering small robots to climb stairs and handle a variety of environments is crucial to developing robots that will be useful in people's homes as well as search-and-rescue operations," says Deepak Pathak, an Assistant Professor at Carnegie Mellon's Robotics Institute. "This system creates a robust and adaptable robot that could perform many everyday tasks."

The paper covers the design and analysis of experiments to discriminate between two Gaussian process models, such as those widely used in computer experiments, kriging, sensor location and machine learning. Two frameworks are considered. First, we study sequential constructions, where successive design (observation) points are selected, either as additional points to an existing design or from the beginning of observation. The selection relies on the maximisation of the difference between the symmetric Kullback Leibler divergences for the two models, which depends on the observations, or on the mean squared error of both models, which does not. Then, we consider static criteria, such as the familiar log-likelihood ratios and the Fr\'echet distance between the covariance functions of the two models. Other distance-based criteria, simpler to compute than previous ones, are also introduced, for which, considering the framework of approximate design, a necessary condition for the optimality of a design measure is provided. The paper includes a study of the mathematical links between different criteria and numerical illustrations are provided.

Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance of continuum manipulators. To achieve this goal, we present the novel design of a compact, lightweight, and modular cable-driven continuum manipulator for aerial drones. We then derive a complete modeling framework for its kinematics, statics, and stiffness (compliance). The modeling framework can guide the control and design problems to integrate the manipulator to aerial drones. In addition, thanks to the derived stiffness (compliance) matrix, and using a low-cost IMU sensor to capture deformation angles, we present a simple method to estimate manipulation force at the tip of the manipulator. We report preliminary experimental validations of the hardware prototype, providing insights on its manipulation feasibility. We also report preliminary results of the IMU-based force estimation method.

Conventional text-to-SQL studies are limited to a single task with a fixed-size training and test set. When confronted with a stream of tasks common in real-world applications, existing methods struggle with the problems of insufficient supervised data and high retraining costs. The former tends to cause overfitting on unseen databases for the new task, while the latter makes a full review of instances from past tasks impractical for the model, resulting in forgetting of learned SQL structures and database schemas. To address the problems, this paper proposes integrating semi-supervised learning (SSL) and continual learning (CL) in a stream of text-to-SQL tasks and offers two promising solutions in turn. The first solution Vanilla is to perform self-training, augmenting the supervised training data with predicted pseudo-labeled instances of the current task, while replacing the full volume retraining with episodic memory replay to balance the training efficiency with the performance of previous tasks. The improved solution SFNet takes advantage of the intrinsic connection between CL and SSL. It uses in-memory past information to help current SSL, while adding high-quality pseudo instances in memory to improve future replay. The experiments on two datasets shows that SFNet outperforms the widely-used SSL-only and CL-only baselines on multiple metrics.

While large pre-trained language models are powerful, their predictions often lack logical consistency across test inputs. For example, a state-of-the-art Macaw question-answering (QA) model answers 'Yes' to 'Is a sparrow a bird?' and 'Does a bird have feet?' but answers 'No' to 'Does a sparrow have feet?'. To address this failure mode, we propose a framework, Consistency Correction through Relation Detection, or ConCoRD, for boosting the consistency and accuracy of pre-trained NLP models using pre-trained natural language inference (NLI) models without fine-tuning or re-training. Given a batch of test inputs, ConCoRD samples several candidate outputs for each input and instantiates a factor graph that accounts for both the model's belief about the likelihood of each answer choice in isolation and the NLI model's beliefs about pair-wise answer choice compatibility. We show that a weighted MaxSAT solver can efficiently compute high-quality answer choices under this factor graph, improving over the raw model's predictions. Our experiments demonstrate that ConCoRD consistently boosts accuracy and consistency of off-the-shelf closed-book QA and VQA models using off-the-shelf NLI models, notably increasing accuracy of LXMERT on ConVQA by 5% absolute. See https://ericmitchell.ai/emnlp-2022-concord/ for code and data.

Modern software systems are able to record vast amounts of user actions, stored for later analysis. One of the main types of such user interaction data is click data: the digital trace of the actions of a user through the graphical elements of an application, website or software. While readily available, click data is often missing a case notion: an attribute linking events from user interactions to a specific process instance in the software. In this paper, we propose a neural network-based technique to determine a case notion for click data, thus enabling process mining and other process analysis techniques on user interaction data. We describe our method, show its scalability to datasets of large dimensions, and we validate its efficacy through a user study based on the segmented event log resulting from interaction data of a mobility sharing company. Interviews with domain experts in the company demonstrate that the case notion obtained by our method can lead to actionable process insights.

Multimodal sentiment analysis (MSA) and emotion recognition in conversation (ERC) are key research topics for computers to understand human behaviors. From a psychological perspective, emotions are the expression of affect or feelings during a short period, while sentiments are formed and held for a longer period. However, most existing works study sentiment and emotion separately and do not fully exploit the complementary knowledge behind the two. In this paper, we propose a multimodal sentiment knowledge-sharing framework (UniMSE) that unifies MSA and ERC tasks from features, labels, and models. We perform modality fusion at the syntactic and semantic levels and introduce contrastive learning between modalities and samples to better capture the difference and consistency between sentiments and emotions. Experiments on four public benchmark datasets, MOSI, MOSEI, MELD, and IEMOCAP, demonstrate the effectiveness of the proposed method and achieve consistent improvements compared with state-of-the-art methods.

Modern natural language generation paradigms require a good decoding strategy to obtain quality sequences out of the model. Beam search yields high-quality but low diversity outputs; stochastic approaches suffer from high variance and sometimes low quality, but the outputs tend to be more natural and creative. In this work, we propose a deterministic search algorithm balancing both quality and diversity. We first investigate the vanilla best-first search (BFS) algorithm and then propose the Best-$k$ Search algorithm. Inspired by BFS, we greedily expand the top $k$ nodes, instead of only the first node, to boost efficiency and diversity. Upweighting recently discovered nodes accompanied by heap pruning ensures the completeness of the search procedure. Experiments on four NLG tasks, including question generation, commonsense generation, text summarization, and translation, show that best-$k$ search yields more diverse and natural outputs compared to strong baselines, while our approach maintains high text quality. The proposed algorithm is parameter-free, lightweight, efficient, and easy to use.