One of the main promises of technology development is for it to be adopted by people, organizations, societies, and governments -- incorporated into their life, work stream, or processes. Often, this is socially beneficial as it automates mundane tasks, frees up more time for other more important things, or otherwise improves the lives of those who use the technology. However, these beneficial results do not apply in every scenario and may not impact everyone in a system the same way. Sometimes a technology is developed which produces both benefits and inflicts some harm. These harms may come at a higher cost to some people than others, raising the question: {\it how are benefits and harms weighed when deciding if and how a socially consequential technology gets developed?} The most natural way to answer this question, and in fact how people first approach it, is to compare the new technology to what used to exist. As such, in this work, I make comparative analyses between humans and machines in three scenarios and seek to understand how sentiment about a technology, performance of that technology, and the impacts of that technology combine to influence how one decides to answer my main research question.

Multi-vector retrieval models improve over single-vector dual encoders on many information retrieval tasks. In this paper, we cast the multi-vector retrieval problem as sparse alignment between query and document tokens. We propose AligneR, a novel multi-vector retrieval model that learns sparsified pairwise alignments between query and document tokens (e.g. `dog' vs. `puppy') and per-token unary saliences reflecting their relative importance for retrieval. We show that controlling the sparsity of pairwise token alignments often brings significant performance gains. While most factoid questions focusing on a specific part of a document require a smaller number of alignments, others requiring a broader understanding of a document favor a larger number of alignments. Unary saliences, on the other hand, decide whether a token ever needs to be aligned with others for retrieval (e.g. `kind' from `kind of currency is used in new zealand}'). With sparsified unary saliences, we are able to prune a large number of query and document token vectors and improve the efficiency of multi-vector retrieval. We learn the sparse unary saliences with entropy-regularized linear programming, which outperforms other methods to achieve sparsity. In a zero-shot setting, AligneR scores 51.1 points nDCG@10, achieving a new retriever-only state-of-the-art on 13 tasks in the BEIR benchmark. In addition, adapting pairwise alignments with a few examples (<= 8) further improves the performance up to 15.7 points nDCG@10 for argument retrieval tasks. The unary saliences of AligneR helps us to keep only 20% of the document token representations with minimal performance loss. We further show that our model often produces interpretable alignments and significantly improves its performance when initialized from larger language models.

Event extraction (EE) is crucial to downstream tasks such as new aggregation and event knowledge graph construction. Most existing EE datasets manually define fixed event types and design specific schema for each of them, failing to cover diverse events emerging from the online text. Moreover, news titles, an important source of event mentions, have not gained enough attention in current EE research. In this paper, We present Title2Event, a large-scale sentence-level dataset benchmarking Open Event Extraction without restricting event types. Title2Event contains more than 42,000 news titles in 34 topics collected from Chinese web pages. To the best of our knowledge, it is currently the largest manually-annotated Chinese dataset for open event extraction. We further conduct experiments on Title2Event with different models and show that the characteristics of titles make it challenging for event extraction, addressing the significance of advanced study on this problem. The dataset and baseline codes are available at https://open-event-hub.github.io/title2event.

We present a methodology that explores how sentence structure is reflected in neural representations of machine translation systems. We demonstrate our model-agnostic approach with the Transformer English-German translation model. We analyze neuron-level correlation of activations between paraphrases while discussing the methodology challenges and the need for confound analysis to isolate the effects of shallow cues. We find that similarity between activation patterns can be mostly accounted for by similarity in word choice and sentence length. Following that, we manipulate neuron activations to control the syntactic form of the output. We show this intervention to be somewhat successful, indicating that deep models capture sentence-structure distinctions, despite finding no such indication at the neuron level. To conduct our experiments, we develop a semi-automatic method to generate meaning-preserving minimal pair paraphrases (active-passive voice and adverbial clause-noun phrase) and compile a corpus of such pairs.

A simple gripper can solve more complex manipulation tasks if it can utilize the external environment such as pushing the object against the table or a vertical wall, known as "Extrinsic Dexterity." Previous work in extrinsic dexterity usually has careful assumptions about contacts which impose restrictions on robot design, robot motions, and the variations of the physical parameters. In this work, we develop a system based on reinforcement learning (RL) to address these limitations. We study the task of "Occluded Grasping" which aims to grasp the object in configurations that are initially occluded; the robot needs to move the object into a configuration from which these grasps can be achieved. We present a system with model-free RL that successfully achieves this task using a simple gripper with extrinsic dexterity. The policy learns emergent behaviors of pushing the object against the wall to rotate and then grasp it without additional reward terms on extrinsic dexterity. We discuss important components of the system including the design of the RL problem, multi-grasp training and selection, and policy generalization with automatic curriculum. Most importantly, the policy trained in simulation is zero-shot transferred to a physical robot. It demonstrates dynamic and contact-rich motions with a simple gripper that generalizes across objects with various size, density, surface friction, and shape with a 78% success rate. Videos can be found at https://sites.google.com/view/grasp-ungraspable/.

Recently CKY-based models show great potential in unsupervised grammar induction thanks to their human-like encoding paradigm, which runs recursively and hierarchically, but requires $O(n^3)$ time-complexity. Recursive Transformer based on Differentiable Trees (R2D2) makes it possible to scale to large language model pre-training even with complex tree encoder by introducing a heuristic pruning method. However, the rule-based pruning approach suffers from local optimum and slow inference issues. In this paper, we fix those issues in a unified method. We propose to use a top-down parser as a model-based pruning method, which also enables parallel encoding during inference. Typically, our parser casts parsing as a split point scoring task, which first scores all split points for a given sentence, and then recursively splits a span into two by picking a split point with the highest score in the current span. The reverse order of the splits is considered as the order of pruning in R2D2 encoder. Beside the bi-directional language model loss, we also optimize the parser by minimizing the KL distance between tree probabilities from parser and R2D2. Our experiments show that our Fast-R2D2 improves performance significantly in grammar induction and achieves competitive results in downstream classification tasks.

The local geometrical randomness of metal foams brings complexities to the performance prediction of porous structures. Although the relative density is commonly deemed as the key factor, the stochasticity of internal cell sizes and shapes has an apparent effect on the porous structural behaviour but the corresponding measurement is challenging. To address this issue, we are aimed to develop an assessment strategy for efficiently examining the foam properties by combining multiscale modelling and deep learning. The multiscale modelling is based on the finite element (FE) simulation employing representative volume elements (RVEs) with random cellular morphologies, mimicking the typical features of closed-cell Aluminium foams. A deep learning database is constructed for training the designed convolutional neural networks (CNNs) to establish a direct link between the mesoscopic porosity characteristics and the effective Youngs modulus of foams. The error range of CNN models leads to an uncertain mechanical performance, which is further evaluated in a structural uncertainty analysis on the FG porous three-layer beam consisting of two thin high-density layers and a thick low-density one, where the imprecise CNN predicted moduli are represented as triangular fuzzy numbers in double parametric form. The uncertain beam bending deflections under a mid-span point load are calculated with the aid of Timoshenko beam theory and the Ritz method. Our findings suggest the success in training CNN models to estimate RVE modulus using images with an average error of 5.92%. The evaluation of FG porous structures can be significantly simplified with the proposed method and connects to the mesoscopic cellular morphologies without establishing the mechanics model for local foams.

In this paper, we explore a novel knowledge-transfer task, termed as Deep Model Reassembly (DeRy), for general-purpose model reuse. Given a collection of heterogeneous models pre-trained from distinct sources and with diverse architectures, the goal of DeRy, as its name implies, is to first dissect each model into distinctive building blocks, and then selectively reassemble the derived blocks to produce customized networks under both the hardware resource and performance constraints. Such ambitious nature of DeRy inevitably imposes significant challenges, including, in the first place, the feasibility of its solution. We strive to showcase that, through a dedicated paradigm proposed in this paper, DeRy can be made not only possibly but practically efficiently. Specifically, we conduct the partitions of all pre-trained networks jointly via a cover set optimization, and derive a number of equivalence set, within each of which the network blocks are treated as functionally equivalent and hence interchangeable. The equivalence sets learned in this way, in turn, enable picking and assembling blocks to customize networks subject to certain constraints, which is achieved via solving an integer program backed up with a training-free proxy to estimate the task performance. The reassembled models, give rise to gratifying performances with the user-specified constraints satisfied. We demonstrate that on ImageNet, the best reassemble model achieves 78.6% top-1 accuracy without fine-tuning, which could be further elevated to 83.2% with end-to-end training. Our code is available at https://github.com/Adamdad/DeRy

Estimating uncertainty of machine learning models is essential to assess the quality of the predictions that these models provide. However, there are several factors that influence the quality of uncertainty estimates, one of which is the amount of model misspecification. Model misspecification always exists as models are mere simplifications or approximations to reality. The question arises whether the estimated uncertainty under model misspecification is reliable or not. In this paper, we argue that model misspecification should receive more attention, by providing thought experiments and contextualizing these with relevant literature.

We present a novel approach for solving articulated inverse kinematic problems (e.g., character structures) by means of an iterative dual-quaternion and exponentialmapping approach. As dual-quaternions are a break from the norm and offer a straightforward and computationally efficient technique for representing kinematic transforms (i.e., position and translation). Dual-quaternions are capable of represent both translation and rotation in a unified state space variable with its own set of algebraic equations for concatenation and manipulation. Hence, an articulated structure can be represented by a set of dual-quaternion transforms, which we can manipulate using inverse kinematics (IK) to accomplish specific goals (e.g., moving end-effectors towards targets). We use the projected Gauss-Seidel iterative method to solve the IK problem with joint limits. Our approach is flexible and robust enough for use in interactive applications, such as games. We use numerical examples to demonstrate our approach, which performed successfully in all our test cases and produced pleasing visual results.