Robots need to manipulate objects in constrained environments like shelves and cabinets when assisting humans in everyday settings like homes and offices. These constraints make manipulation difficult by reducing grasp accessibility, so robots need to use non-prehensile strategies that leverage object-environment contacts to perform manipulation tasks. To tackle the challenge of planning and controlling contact-rich behaviors in such settings, this work uses Hybrid Force-Velocity Controllers (HFVCs) as the skill representation and plans skill sequences with learned preconditions. While HFVCs naturally enable robust and compliant contact-rich behaviors, solvers that synthesize them have traditionally relied on precise object models and closed-loop feedback on object pose, which are difficult to obtain in constrained environments due to occlusions. We first relax HFVCs' need for precise models and feedback with our HFVC synthesis framework, then learn a point-cloud-based precondition function to classify where HFVC executions will still be successful despite modeling inaccuracies. Finally, we use the learned precondition in a search-based task planner to complete contact-rich manipulation tasks in a shelf domain. Our method achieves a task success rate of $73.2\%$, outperforming the $51.5\%$ achieved by a baseline without the learned precondition. While the precondition function is trained in simulation, it can also transfer to a real-world setup without further fine-tuning. See supplementary materials and videos at https://sites.google.com/view/constrained-manipulation/

We present Stanceosaurus, a new corpus of 28,033 tweets in English, Hindi, and Arabic annotated with stance towards 251 misinformation claims. As far as we are aware, it is the largest corpus annotated with stance towards misinformation claims. The claims in Stanceosaurus originate from 15 fact-checking sources that cover diverse geographical regions and cultures. Unlike existing stance datasets, we introduce a more fine-grained 5-class labeling strategy with additional subcategories to distinguish implicit stance. Pre-trained transformer-based stance classifiers that are fine-tuned on our corpus show good generalization on unseen claims and regional claims from countries outside the training data. Cross-lingual experiments demonstrate Stanceosaurus' capability of training multi-lingual models, achieving 53.1 F1 on Hindi and 50.4 F1 on Arabic without any target-language fine-tuning. Finally, we show how a domain adaptation method can be used to improve performance on Stanceosaurus using additional RumourEval-2019 data. We make Stanceosaurus publicly available to the research community and hope it will encourage further work on misinformation identification across languages and cultures.

In this paper, we propose a Joint Semantic Transfer Network (JSTN) towards effective intrusion detection for large-scale scarcely labelled IoT domain. As a multi-source heterogeneous domain adaptation (MS-HDA) method, the JSTN integrates a knowledge rich network intrusion (NI) domain and another small-scale IoT intrusion (II) domain as source domains, and preserves intrinsic semantic properties to assist target II domain intrusion detection. The JSTN jointly transfers the following three semantics to learn a domain-invariant and discriminative feature representation. The scenario semantic endows source NI and II domain with characteristics from each other to ease the knowledge transfer process via a confused domain discriminator and categorical distribution knowledge preservation. It also reduces the source-target discrepancy to make the shared feature space domain-invariant. Meanwhile, the weighted implicit semantic transfer boosts discriminability via a fine-grained knowledge preservation, which transfers the source categorical distribution to the target domain. The source-target divergence guides the importance weighting during knowledge preservation to reflect the degree of knowledge learning. Additionally, the hierarchical explicit semantic alignment performs centroid-level and representative-level alignment with the help of a geometric similarity-aware pseudo-label refiner, which exploits the value of unlabelled target II domain and explicitly aligns feature representations from a global and local perspective in a concentrated manner. Comprehensive experiments on various tasks verify the superiority of the JSTN against state-of-the-art comparing methods, on average a 10.3% of accuracy boost is achieved. The statistical soundness of each constituting component and the computational efficiency are also verified.

We propose a novel framework for swarm-based drone delivery services with in-flight energy recharging. The framework aims to enhance the delivery time of multiple packages by reducing the number of stops and recharging times at intermediate stations. The proposed framework considers various intrinsic and extrinsic delivery constraints. We propose to use support drones whose sole purpose is to recharge other drones in the swarm during their flight. In this respect, we compute the optimal set of optimal support drones to minimize the probability of delivery services and recharging time at the next stations. We also use two settings to position the support drones in a flight formation for comparative purposes. Two novel energy sharing methods are proposed, namely, Priority-based and Fairness-based methods. A re-ordering method of the delivery drones is presented to facilitate the in-flight energy composition process. An enhanced A* algorithm is implemented to compose the optimal services in terms of delivery time. Experimental results prove the efficiency of our proposed approach.

Multi-task learning, in which several tasks are jointly learned by a single model, allows NLP models to share information from multiple annotations and may facilitate better predictions when the tasks are inter-related. This technique, however, requires annotating the same text with multiple annotation schemes which may be costly and laborious. Active learning (AL) has been demonstrated to optimize annotation processes by iteratively selecting unlabeled examples whose annotation is most valuable for the NLP model. Yet, multi-task active learning (MT-AL) has not been applied to state-of-the-art pre-trained Transformer-based NLP models. This paper aims to close this gap. We explore various multi-task selection criteria in three realistic multi-task scenarios, reflecting different relations between the participating tasks, and demonstrate the effectiveness of multi-task compared to single-task selection. Our results suggest that MT-AL can be effectively used in order to minimize annotation efforts for multi-task NLP models.

Recently, the relationship between automated and human evaluation of topic models has been called into question. Method developers have staked the efficacy of new topic model variants on automated measures, and their failure to approximate human preferences places these models on uncertain ground. Moreover, existing evaluation paradigms are often divorced from real-world use. Motivated by content analysis as a dominant real-world use case for topic modeling, we analyze two related aspects of topic models that affect their effectiveness and trustworthiness in practice for that purpose: the stability of their estimates and the extent to which the model's discovered categories align with human-determined categories in the data. We find that neural topic models fare worse in both respects compared to an established classical method. We take a step toward addressing both issues in tandem by demonstrating that a straightforward ensembling method can reliably outperform the members of the ensemble.

Chinese Grammatical Error Correction (CGEC) aims to automatically detect and correct grammatical errors contained in Chinese text. In the long term, researchers regard CGEC as a task with a certain degree of uncertainty, that is, an ungrammatical sentence may often have multiple references. However, we argue that even though this is a very reasonable hypothesis, it is too harsh for the intelligence of the mainstream models in this era. In this paper, we first discover that multiple references do not actually bring positive gains to model training. On the contrary, it is beneficial to the CGEC model if the model can pay attention to small but essential data during the training process. Furthermore, we propose a simple yet effective training strategy called OneTarget to improve the focus ability of the CGEC models and thus improve the CGEC performance. Extensive experiments and detailed analyses demonstrate the correctness of our discovery and the effectiveness of our proposed method.

In September 2021, the "One Hundred Year Study on Artificial Intelligence" project (AI100) issued the second report of its planned long-term periodic assessment of artificial intelligence (AI) and its impact on society. It was written by a panel of 17 study authors, each of whom is deeply rooted in AI research, chaired by Michael Littman of Brown University. The report, entitled "Gathering Strength, Gathering Storms," answers a set of 14 questions probing critical areas of AI development addressing the major risks and dangers of AI, its effects on society, its public perception and the future of the field. The report concludes that AI has made a major leap from the lab to people's lives in recent years, which increases the urgency to understand its potential negative effects. The questions were developed by the AI100 Standing Committee, chaired by Peter Stone of the University of Texas at Austin, consisting of a group of AI leaders with expertise in computer science, sociology, ethics, economics, and other disciplines.

We define deriving semantic class targets as a novel multi-modal task. By doing so, we aim to improve classification schemes in the physical sciences which can be severely abstracted and obfuscating. We address this task for upcoming radio astronomy surveys and present the derived semantic radio galaxy morphology class targets.

Although supervised deep learning has revolutionized speech and audio processing, it has necessitated the building of specialist models for individual tasks and application scenarios. It is likewise difficult to apply this to dialects and languages for which only limited labeled data is available. Self-supervised representation learning methods promise a single universal model that would benefit a wide variety of tasks and domains. Such methods have shown success in natural language processing and computer vision domains, achieving new levels of performance while reducing the number of labels required for many downstream scenarios. Speech representation learning is experiencing similar progress in three main categories: generative, contrastive, and predictive methods. Other approaches rely on multi-modal data for pre-training, mixing text or visual data streams with speech. Although self-supervised speech representation is still a nascent research area, it is closely related to acoustic word embedding and learning with zero lexical resources, both of which have seen active research for many years. This review presents approaches for self-supervised speech representation learning and their connection to other research areas. Since many current methods focus solely on automatic speech recognition as a downstream task, we review recent efforts on benchmarking learned representations to extend the application beyond speech recognition.