One of the biggest challenges that complicates applied supervised machine learning is the need for huge amounts of labeled data. Active Learning (AL) is a well-known standard method for efficiently obtaining labeled data by first labeling the samples that contain the most information based on a query strategy. Although many methods for query strategies have been proposed in the past, no clear superior method that works well in general for all domains has been found yet. Additionally, many strategies are computationally expensive which further hinders the widespread use of AL for large-scale annotation projects. We, therefore, propose ImitAL, a novel query strategy, which encodes AL as a learning-to-rank problem. For training the underlying neural network we chose Imitation Learning. The required demonstrative expert experience for training is generated from purely synthetic data. To show the general and superior applicability of \ImitAL{}, we perform an extensive evaluation comparing our strategy on 15 different datasets, from a wide range of domains, with 10 different state-of-the-art query strategies. We also show that our approach is more runtime performant than most other strategies, especially on very large datasets.

Seamless Human-Robot Interaction is the ultimate goal of developing service robotic systems. For this, the robotic agents have to understand their surroundings to better complete a given task. Semantic scene understanding allows a robotic agent to extract semantic knowledge about the objects in the environment. In this work, we present a semantic scene understanding pipeline that fuses 2D and 3D detection branches to generate a semantic map of the environment. The 2D mask proposals from state-of-the-art 2D detectors are inverse-projected to the 3D space and combined with 3D detections from point segmentation networks. Unlike previous works that were evaluated on collected datasets, we test our pipeline on an active photo-realistic robotic environment - BenchBot. Our novelty includes rectification of 3D proposals using projected 2D detections and modality fusion based on object size. This work is done as part of the Robotic Vision Scene Understanding Challenge (RVSU). The performance evaluation demonstrates that our pipeline has improved on baseline methods without significant computational bottleneck.

With the increasing trend in the topic of migration in Europe, the public is now more engaged in expressing their opinions through various platforms such as Twitter. Understanding the online discourses is therefore essential to capture the public opinion. The goal of this study is the analysis of social media platform to quantify public attitudes towards migrations and the identification of different factors causing these attitudes. The tweets spanning from 2013 to Jul-2021 in the European countries which are hosts to immigrants are collected, pre-processed, and filtered using advanced topic modeling technique. BERT-based entity linking and sentiment analysis, and attention-based hate speech detection are performed to annotate the curated tweets. Moreover, the external databases are used to identify the potential social and economic factors causing negative attitudes of the people about migration. To further promote research in the interdisciplinary fields of social science and computer science, the outcomes are integrated into a Knowledge Base (KB), i.e., MigrationsKB which significantly extends the existing models to take into account the public attitudes towards migrations and the economic indicators. This KB is made public using FAIR principles, which can be queried through SPARQL endpoint. Data dumps are made available on Zenodo.

Several real-world scenarios, such as remote control and sensing, are comprised of action and observation delays. The presence of delays degrades the performance of reinforcement learning (RL) algorithms, often to such an extent that algorithms fail to learn anything substantial. This paper formally describes the notion of Markov Decision Processes (MDPs) with stochastic delays and shows that delayed MDPs can be transformed into equivalent standard MDPs (without delays) with significantly simplified cost structure. We employ this equivalence to derive a model-free Delay-Resolved RL framework and show that even a simple RL algorithm built upon this framework achieves near-optimal rewards in environments with stochastic delays in actions and observations. The delay-resolved deep Q-network (DRDQN) algorithm is bench-marked on a variety of environments comprising of multi-step and stochastic delays and results in better performance, both in terms of achieving near-optimal rewards and minimizing the computational overhead thereof, with respect to the currently established algorithms.

Fine-grained population distribution data is of great importance for many applications, e.g., urban planning, traffic scheduling, epidemic modeling, and risk control. However, due to the limitations of data collection, including infrastructure density, user privacy, and business security, such fine-grained data is hard to collect and usually, only coarse-grained data is available. Thus, obtaining fine-grained population distribution from coarse-grained distribution becomes an important problem. To tackle this problem, existing methods mainly rely on sufficient fine-grained ground truth for training, which is not often available for the majority of cities. That limits the applications of these methods and brings the necessity to transfer knowledge between data-sufficient source cities to data-scarce target cities. In knowledge transfer scenario, we employ single reference fine-grained ground truth in target city, which is easy to obtain via remote sensing or questionnaire, as the ground truth to inform the large-scale urban structure and support the knowledge transfer in target city. By this approach, we transform the fine-grained population mapping problem into a one-shot transfer learning problem. In this paper, we propose a novel one-shot transfer learning framework PSRNet to transfer spatial-temporal knowledge across cities from the view of network structure, the view of data, and the view of optimization. Experiments on real-life datasets of 4 cities demonstrate that PSRNet has significant advantages over 8 state-of-the-art baselines by reducing RMSE and MAE by more than 25%. Our code and datasets are released in Github (https://github.com/erzhuoshao/PSRNet-CIKM).

By exploring the various facets of gendering at play in the design of VPAs, specifically Alexa, I argue that gendering Alexa as female poses societal harm insofar as she reproduces normative assumptions about the role of women as submissive, inferior, and secondary to men. The prevalence of AI-driven virtual personal assistants (VPAs) is proliferating, with Amazon Echo being one of the most highly sought-after smart speakers globally. However, not until recently has there been much research or attention focused on the gender bias noticeably programmed into this technology, specifically Alexa, intentionally designed, coded, and programmed by men and gendered to be distinctly female. Big Tech's decision to gender VPAs is seen most evident through their assigned female names and their female voices that users find more pleasant to give orders to than a male voice, as seen through witty flirtatious programmed responses. Through these interactions, Alexa performs gender as a feminized and sexualized entity imposed upon her by her Silicon Valley creators, that has the potential to unravel decades of social and political progress, as well as reinstate the gender bias of the past that women strived to eradicate. In the not-so-distant future, TechCrunch forecasts that the use of voice assistants is set to triple over the next few years and estimates there will be ten billion digital voice assistants by 2023, up from the 2.5 billion assistants in use at the end of 2018. This growth is attributed to Amazon Echo being one of the most highly sought-after smart speakers in the world.

The task of searching for and tracking of multiple targets is a challenging one. However, most works in this area do not consider evasive targets that move faster than the agents comprising the multi-robot system. This is due to the assumption that the movement patterns of such targets, combined with their excessive speed, would make the task nearly impossible to accomplish. In this work, we show that this is not the case and we propose a decentralized search and tracking strategy in which the level of exploration and exploitation carried out by the swarm is adjustable. By tuning a swarm's exploration and exploitation dynamics, we demonstrate that there exists an optimal balance between the level of exploration and exploitation performed. This optimum maximizes its tracking performance and changes depending on the number of targets and the targets' movement profiles. We also show that the use of agent-based memory is critical in enabling the tracking of an evasive target. The obtained simulation results are validated through experimental tests with a decentralized swarm of six robots tracking a virtual fast-moving target.

In contrast to image/text data whose order can be used to perform non-local feature aggregation in a straightforward way using the pooling layers, graphs lack the tensor representation and mostly the element-wise max/mean function is utilized to aggregate the locally extracted feature vectors. In this paper, we present a novel approach for global feature aggregation in Graph Neural Networks (GNNs) which utilizes a Latent Fixed Data Structure (LFDS) to aggregate the extracted feature vectors. The locally extracted feature vectors are sorted/distributed on the LFDS and a latent neural network (CNN/GNN) is utilized to perform feature aggregation on the LFDS. The proposed approach is used to design several novel global feature aggregation methods based on the choice of the LFDS. We introduce multiple LFDSs including loop, 3D tensor (image), sequence, data driven graphs and an algorithm which sorts/distributes the extracted local feature vectors on the LFDS. While the computational complexity of the proposed methods are linear with the order of input graphs, they achieve competitive or better results.

Relation linking is essential to enable question answering over knowledge bases. Although there are various efforts to improve relation linking performance, the current state-of-the-art methods do not achieve optimal results, therefore, negatively impacting the overall end-to-end question answering performance. In this work, we propose a novel approach for relation linking framing it as a generative problem facilitating the use of pre-trained sequence-to-sequence models. We extend such sequence-to-sequence models with the idea of infusing structured data from the target knowledge base, primarily to enable these models to handle the nuances of the knowledge base. Moreover, we train the model with the aim to generate a structured output consisting of a list of argument-relation pairs, enabling a knowledge validation step. We compared our method against the existing relation linking systems on four different datasets derived from DBpedia and Wikidata. Our method reports large improvements over the state-of-the-art while using a much simpler model that can be easily adapted to different knowledge bases.

Spoken Language Understanding (SLU), a core component of the task-oriented dialogue system, expects a shorter inference latency due to the impatience of humans. Non-autoregressive SLU models clearly increase the inference speed but suffer uncoordinated-slot problems caused by the lack of sequential dependency information among each slot chunk. To gap this shortcoming, in this paper, we propose a novel non-autoregressive SLU model named Layered-Refine Transformer, which contains a Slot Label Generation (SLG) task and a Layered Refine Mechanism (LRM). SLG is defined as generating the next slot label with the token sequence and generated slot labels. With SLG, the non-autoregressive model can efficiently obtain dependency information during training and spend no extra time in inference. LRM predicts the preliminary SLU results from Transformer's middle states and utilizes them to guide the final prediction. Experiments on two public datasets indicate that our model significantly improves SLU performance (1.5\% on Overall accuracy) while substantially speed up (more than 10 times) the inference process over the state-of-the-art baseline.