Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile state-estimation and dynamics prediction for deformable objects. Our approach, VIRDO++, builds on recent progress in multimodal neural implicit representations for deformable object state-estimation [1] via a new formulation for deformation dynamics and a complementary state-estimation algorithm that (i) maintains a belief over deformations, and (ii) enables practical real-world application by removing the need for privileged contact information. In the context of two real-world robotic tasks, we show:(i) high-fidelity cross-modal state-estimation and prediction of deformable objects from partial visuo-tactile feedback, and (ii) generalization to unseen objects and contact formations.

The appearance of strong CDCL-based propositional (SAT) solvers has greatly advanced several areas of automated reasoning (AR). One of the directions in AR is thus to apply SAT solvers to expressive formalisms such as first-order logic, for which large corpora of general mathematical problems exist today. This is possible due to Herbrand's theorem, which allows reduction of first-order problems to propositional problems by instantiation. The core challenge is choosing the right instances from the typically infinite Herbrand universe. In this work, we develop the first machine learning system targeting this task, addressing its combinatorial and invariance properties. In particular, we develop a GNN2RNN architecture based on an invariant graph neural network (GNN) that learns from problems and their solutions independently of symbol names (addressing the abundance of skolems), combined with a recurrent neural network (RNN) that proposes for each clause its instantiations. The architecture is then trained on a corpus of mathematical problems and their instantiation-based proofs, and its performance is evaluated in several ways. We show that the trained system achieves high accuracy in predicting the right instances, and that it is capable of solving many problems by educated guessing when combined with a ground solver. To our knowledge, this is the first convincing use of machine learning in synthesizing relevant elements from arbitrary Herbrand universes.

Several prior works have shown that language models (LMs) can generate text containing harmful social biases and stereotypes. While decoding algorithms play a central role in determining properties of LM generated text, their impact on the fairness of the generations has not been studied. We present a systematic analysis of the impact of decoding algorithms on LM fairness, and analyze the trade-off between fairness, diversity and quality. Our experiments with top-$p$, top-$k$ and temperature decoding algorithms, in open-ended language generation, show that fairness across demographic groups changes significantly with change in decoding algorithm's hyper-parameters. Notably, decoding algorithms that output more diverse text also output more texts with negative sentiment and regard. We present several findings and provide recommendations on standardized reporting of decoding details in fairness evaluations and optimization of decoding algorithms for fairness alongside quality and diversity.

Conversational Recommender System (CRS), which aims to recommend high-quality items to users through interactive conversations, has gained great research interest recently. A CRS is usually composed of a recommendation module and a generation module. In the previous work, these two modules are loosely connected in the model training and are shallowly integrated during inference, where a simple switching or copy mechanism is adopted to incorporate recommended items into generated responses. Moreover, the current end-to-end neural models trained on small crowd-sourcing datasets (e.g., 10K dialogs in the ReDial dataset) tend to overfit and have poor chit-chat ability. In this work, we propose a novel unified framework that integrates recommendation into the dialog (RecInDial) generation by introducing a vocabulary pointer. To tackle the low-resource issue in CRS, we finetune the large-scale pretrained language models to generate fluent and diverse responses, and introduce a knowledge-aware bias learned from an entity-oriented knowledge graph to enhance the recommendation performance. Furthermore, we propose to evaluate the CRS models in an end-to-end manner, which can reflect the overall performance of the entire system rather than the performance of individual modules, compared to the separate evaluations of the two modules used in previous work. Experiments on the benchmark dataset ReDial show our RecInDial model significantly surpasses the state-of-the-art methods. More extensive analyses show the effectiveness of our model.

Offline reinforcement learning enables learning from a fixed dataset, without further interactions with the environment. The lack of environmental interactions makes the policy training vulnerable to state-action pairs far from the training dataset and prone to missing rewarding actions. For training more effective agents, we propose a framework that supports learning a flexible yet well-regularized fully-implicit policy. We further propose a simple modification to the classical policy-matching methods for regularizing with respect to the dual form of the Jensen--Shannon divergence and the integral probability metrics. We theoretically show the correctness of the policy-matching approach, and the correctness and a good finite-sample property of our modification. An effective instantiation of our framework through the GAN structure is provided, together with techniques to explicitly smooth the state-action mapping for robust generalization beyond the static dataset. Extensive experiments and ablation study on the D4RL benchmark validate our framework and the effectiveness of our algorithmic designs.

Previous research has shown that the fairness and the legitimacy of a moral decision-maker are important for people's acceptance of and compliance with the decision-maker. As technology rapidly advances, there have been increasing hopes and concerns about building artificially intelligent entities that are designed to intervene against norm violations. However, it is unclear how people would perceive artificial moral regulators that impose punishment on human wrongdoers. Grounded in theories of psychology and law, we predict that the perceived fairness of punishment imposed by a robot would increase the legitimacy of the robot functioning as a moral regulator, which would in turn, increase people's willingness to accept and comply with the robot's decisions. We close with a conceptual framework for building a robot moral regulator that successfully can regulate norm violations.

The most prominent tasks in emotion analysis are to assign emotions to texts and to understand how emotions manifest in language. An observation for NLP is that emotions can be communicated implicitly by referring to events, appealing to an empathetic, intersubjective understanding of events, even without explicitly mentioning an emotion name. In psychology, the class of emotion theories known as appraisal theories aims at explaining the link between events and emotions. Appraisals can be formalized as variables that measure a cognitive evaluation by people living through an event that they consider relevant. They include the assessment if an event is novel, if the person considers themselves to be responsible, if it is in line with the own goals, and many others. Such appraisals explain which emotions are developed based on an event, e.g., that a novel situation can induce surprise or one with uncertain consequences could evoke fear. We analyze the suitability of appraisal theories for emotion analysis in text with the goal of understanding if appraisal concepts can reliably be reconstructed by annotators, if they can be predicted by text classifiers, and if appraisal concepts help to identify emotion categories. To achieve that, we compile a corpus by asking people to textually describe events that triggered particular emotions and to disclose their appraisals. Then, we ask readers to reconstruct emotions and appraisals from the text. This setup allows us to measure if emotions and appraisals can be recovered purely from text and provides a human baseline. Our comparison of text classification methods to human annotators shows that both can reliably detect emotions and appraisals with similar performance. Therefore, appraisals constitute an alternative computational emotion analysis paradigm and further improve the categorization of emotions in text with joint models.

An MQ-28 Ghost Bat drone flies in tests for the Royal Australian Air Force. WASHINGTON -- The US Air Force is set to begin flight experiments with Boeing's MQ-28 Ghost Bat, a combat drone developed for the Australian air force that may help its American counterpart learn how to operate unmanned aircraft alongside fighter jets. Lt. Gen. Clint Hinote, who leads Air Force Futures, told Breaking Defense in a September 20 interview that the service is "getting ready to take delivery" of a drone prototype through the Pentagon's research and engineering office, also known as OSD (R&E). "It might look a lot like an Australian thing," he joked, referring to the Ghost Bat, which first flew in 2021 at Royal Australian Air Force Base Woomera. Pentagon spokesman Lt. Cdr. Tim Gorman confirmed that the research and engineering office is involved in development and experimentation efforts involving Ghost Bat, saying that "OSD (R&E) continually works with the services to validate technologies that are key to advancing and fielding next generation capabilities."

Robotics company Boston Dynamics is pledging not to support the weaponization of its products and calling for its competitors to do the same. In a new letter, the firm said recent efforts to weaponize their robots - such as a Russian inventor who strapped a submachine gun to a Unitree robot and filmed it shooting targets - had added to the urgency of their declaration. 'We pledge that we will not weaponize our advanced-mobility general-purpose robots or the software we develop that enables advanced robotics and we will not support others to do so,' the letter, which was signed by six other companies, including Unitree, states. The Massachusetts-based tech company has frequently seen videos of its robot dogs Spot or its humanoid robot Atlas go viral for performing various stunts or athletic tasks in public. Anyone who has watched the Black Mirror episode'Metalhead' that features a robotic dog or seen the film Angel Has Fallen, which features an attempted assassination of the president by autonomous, AI-powered drones, is aware of the potential risks these new technologies pose.

CURT NICKISCH: Welcome to the HBR IdeaCast from Harvard Business Review. A shiny new piece of technology is not good enough on its own. It needs to be implemented at the right time, used in the right context, and accepted in the right culture, applied in the right way. In short, it needs to be part of the right system. AI can help individuals and teams make better predictions, combine that with judgment and you get better decisions. But those decisions have ripple effects on other parts of the system, ripple effects that can undermine the very prediction that was made. Our guest today says, "If organizations want to take artificial intelligence to the next level, they need to get better at coordinating optimal decisions over a wider network."