Robots have been used in all sorts of automation, and yet the design of robots remains mainly a manual task. We seek to provide design tools to automate the design of robots themselves. An important challenge in robot design automation is the large and complex design search space which grows exponentially with the number of components, making optimization difficult and sample inefficient. In this work, we present Grammar-guided Latent Space Optimization (GLSO), a framework that transforms design automation into a low-dimensional continuous optimization problem by training a graph variational autoencoder (VAE) to learn a mapping between the graph-structured design space and a continuous latent space. This transformation allows optimization to be conducted in a continuous latent space, where sample efficiency can be significantly boosted by applying algorithms such as Bayesian Optimization. GLSO guides training of the VAE using graph grammar rules and robot world space features, such that the learned latent space focus on valid robots and is easier for the optimization algorithm to explore. Importantly, the trained VAE can be reused to search for designs specialized to multiple different tasks without retraining. We evaluate GLSO by designing robots for a set of locomotion tasks in simulation, and demonstrate that our method outperforms related state-of-the-art robot design automation methods.

In Simultaneous Localization and Mapping (SLAM), Loop Closure Detection (LCD) is essential to minimize drift when recognizing previously visited places. Visual Bag-of-Words (vBoW) has been an LCD algorithm of choice for many state-of-the-art SLAM systems. It uses a set of visual features to provide robust place recognition but fails to perceive the semantics or spatial relationship between feature points. Previous work has mainly focused on addressing these issues by combining vBoW with semantic and spatial information from objects in the scene. However, they are unable to exploit spatial information of local visual features and lack a structure that unifies semantic objects and visual features, therefore limiting the symbiosis between the two components. This paper proposes SymbioLCD2, which creates a unified graph structure to integrate semantic objects and visual features symbiotically. Our novel graph-based LCD system utilizes the unified graph structure by applying a Weisfeiler-Lehman graph kernel with temporal constraints to robustly predict loop closure candidates. Evaluation of the proposed system shows that having a unified graph structure incorporating semantic objects and visual features improves LCD prediction accuracy, illustrating that the proposed graph structure provides a strong symbiosis between these two complementary components. It also outperforms other Machine Learning algorithms - such as SVM, Decision Tree, Random Forest, Neural Network and GNN based Graph Matching Networks. Furthermore, it has shown good performance in detecting loop closure candidates earlier than state-of-the-art SLAM systems, demonstrating that extended semantic and spatial awareness from the unified graph structure significantly impacts LCD performance.

Automated question generation is an important approach to enable personalisation of English comprehension assessment. Recently, transformer-based pretrained language models have demonstrated the ability to produce appropriate questions from a context paragraph. Typically, these systems are evaluated against a reference set of manually generated questions using n-gram based metrics, or manual qualitative assessment. Here, we focus on a fully automated multiple-choice question generation (MCQG) system where both the question and possible answers must be generated from the context paragraph. Applying n-gram based approaches is challenging for this form of system as the reference set is unlikely to capture the full range of possible questions and answer options. Conversely manual assessment scales poorly and is expensive for MCQG system development. In this work, we propose a set of performance criteria that assess different aspects of the generated multiple-choice questions of interest. These qualities include: grammatical correctness, answerability, diversity and complexity. Initial systems for each of these metrics are described, and individually evaluated on standard multiple-choice reading comprehension corpora.

Due to the nonstationary nature, the distribution of real-world multivariate time series (MTS) changes over time, which is known as distribution drift. Most existing MTS forecasting models greatly suffer from distribution drift and degrade the forecasting performance over time. Existing methods address distribution drift via adapting to the latest arrived data or self-correcting per the meta knowledge derived from future data. Despite their great success in MTS forecasting, these methods hardly capture the intrinsic distribution changes, especially from a distributional perspective. Accordingly, we propose a novel framework temporal conditional variational autoencoder (TCVAE) to model the dynamic distributional dependencies over time between historical observations and future data in MTSs and infer the dependencies as a temporal conditional distribution to leverage latent variables. Specifically, a novel temporal Hawkes attention mechanism represents temporal factors subsequently fed into feed-forward networks to estimate the prior Gaussian distribution of latent variables. The representation of temporal factors further dynamically adjusts the structures of Transformer-based encoder and decoder to distribution changes by leveraging a gated attention mechanism. Moreover, we introduce conditional continuous normalization flow to transform the prior Gaussian to a complex and form-free distribution to facilitate flexible inference of the temporal conditional distribution. Extensive experiments conducted on six real-world MTS datasets demonstrate the TCVAE's superior robustness and effectiveness over the state-of-the-art MTS forecasting baselines. We further illustrate the TCVAE applicability through multifaceted case studies and visualization in real-world scenarios.

The use of meta-rules in logic, i.e., rules whose content includes other rules, has recently gained attention in the setting of non-monotonic reasoning: a first logical formalisation and efficient algorithms to compute the (meta)-extensions of such theories were proposed in Olivieri et al (2021) This work extends such a logical framework by considering the deontic aspect. The resulting logic will not just be able to model policies but also tackle well-known aspects that occur in numerous legal systems. The use of Defeasible Logic (DL) to model meta-rules in the application area we just alluded to has been investigated. Within this line of research, the study mentioned above was not focusing on the general computational properties of meta-rules. This study fills this gap with two major contributions. First, we introduce and formalise two variants of Defeasible Deontic Logic with Meta-Rules to represent (1) defeasible meta-theories with deontic modalities, and (2) two different types of conflicts among rules: Simple Conflict Defeasible Deontic Logic, and Cautious Conflict Defeasible Deontic Logic. Second, we advance efficient algorithms to compute the extensions for both variants.

Enabling the capability of assessing risk and making risk-aware decisions is essential to applying reinforcement learning to safety-critical robots like drones. In this paper, we investigate a specific case where a nano quadcopter robot learns to navigate an apriori-unknown cluttered environment under partial observability. We present a distributional reinforcement learning framework to generate adaptive risk-tendency policies. Specifically, we propose to use lower tail conditional variance of the learnt return distribution as intrinsic uncertainty estimation, and use exponentially weighted average forecasting (EWAF) to adapt the risk-tendency in accordance with the estimated uncertainty. In simulation and real-world empirical results, we show that (1) the most effective risk-tendency vary across states, (2) the agent with adaptive risk-tendency achieves superior performance compared to risk-neutral policy or risk-averse policy baselines.

As a teenager, Veronika Megler was intent on becoming a statistician. She signed up for a computer science course at Melbourne University, reasoning it would assist her chosen career. "I think there were four women in a class of about 220 people, and it was pretty misogynistic," she recalls. Megler had already built her own PC, buying the motherboard, chips, capacitors and diodes from an electronics shop in Melbourne. "In the store they'd say'tell your boyfriend we don't have these'," she recalls.

Attention mechanism has been used as an important component across Vision-and-Language(VL) tasks in order to bridge the semantic gap between visual and textual features. While attention has been widely used in VL tasks, it has not been examined the capability of different attention alignment calculation in bridging the semantic gap between visual and textual clues. In this research, we conduct a comprehensive analysis on understanding the role of attention alignment by looking into the attention score calculation methods and check how it actually represents the visual region's and textual token's significance for the global assessment. We also analyse the conditions which attention score calculation mechanism would be more (or less) interpretable, and which may impact the model performance on three different VL tasks, including visual question answering, text-to-image generation, text-and-image matching (both sentence and image retrieval). Our analysis is the first of its kind and provides useful insights of the importance of each attention alignment score calculation when applied at the training phase of VL tasks, commonly ignored in attention-based cross modal models, and/or pretrained models. Our code is available at: https://github.com/adlnlp/Attention_VL

Freezing of gait (FoG) is one of the most common symptoms of Parkinson's disease, which is a neurodegenerative disorder of the central nervous system impacting millions of people around the world. To address the pressing need to improve the quality of treatment for FoG, devising a computer-aided detection and quantification tool for FoG has been increasingly important. As a non-invasive technique for collecting motion patterns, the footstep pressure sequences obtained from pressure sensitive gait mats provide a great opportunity for evaluating FoG in the clinic and potentially in the home environment. In this study, FoG detection is formulated as a sequential modelling task and a novel deep learning architecture, namely Adversarial Spatio-temporal Network (ASTN), is proposed to learn FoG patterns across multiple levels. A novel adversarial training scheme is introduced with a multi-level subject discriminator to obtain subject-independent FoG representations, which helps to reduce the over-fitting risk due to the high inter-subject variance. As a result, robust FoG detection can be achieved for unseen subjects. The proposed scheme also sheds light on improving subject-level clinical studies from other scenarios as it can be integrated with many existing deep architectures. To the best of our knowledge, this is one of the first studies of footstep pressure-based FoG detection and the approach of utilizing ASTN is the first deep neural network architecture in pursuit of subject-independent representations. Experimental results on 393 trials collected from 21 subjects demonstrate encouraging performance of the proposed ASTN for FoG detection with an AUC 0.85.

This paper presents our contribution to the PolEval 2021 Task 2: Evaluation of translation quality assessment metrics. We describe experiments with pre-trained language models and state-of-the-art frameworks for translation quality assessment in both nonblind and blind versions of the task. Our solutions ranked second in the nonblind version and third in the blind version.