In this work, we present AfriHuBERT, an extension of mHuBERT-147, a state-of-the-art (SOTA) and compact self-supervised learning (SSL) model, originally pretrained on 147 languages. While mHuBERT-147 was pretrained on 16 African languages, we expand this to cover 39 African languages through continued pretraining on 6,500+ hours of speech data aggregated from diverse sources, including 23 newly added languages. We evaluate AfriHuBERT on two key speech tasks: Language Identification (LID) and Automatic Speech Recognition (ASR) using FLEURS dataset. Our results show a +4% F1 score improvement on average for LID and a -1.2% average Word Error Rate (WER) reduction for ASR. Further analysis shows that ASR models trained on AfriHuBERT exhibit improved cross-corpus generalization. Additionally, the analysis indicates that the FLEURS have data quality limitations that may affect their suitability for evaluating low-resource African languages, suggesting the need for better evaluation benchmarks for these languages.

Explainable Artificial Intelligence (XAI) techniques are used to provide transparency to complex, opaque predictive models. However, these techniques are often designed for image and text data, and it is unclear how fit-for-purpose they are when applied to tabular data. As XAI techniques are rarely evaluated in settings with tabular data, the applicability of existing evaluation criteria and methods are also unclear and needs (re-)examination. For example, some works suggest that evaluation methods may unduly influence the evaluation results when using tabular data. This lack of clarity on evaluation procedures can lead to reduced transparency and ineffective use of XAI techniques in real world settings. In this study, we examine literature on XAI evaluation to derive guidelines on functionally-grounded assessment of local, post hoc XAI techniques. We identify 20 evaluation criteria and associated evaluation methods, and derive guidelines on when and how each criterion should be evaluated. We also identify key research gaps to be addressed by future work. Our study contributes to the body of knowledge on XAI evaluation through in-depth examination of functionally-grounded XAI evaluation protocols, and has laid the groundwork for future research on XAI evaluation.

Specialist language models (LMs) focus on a specific task or domain on which they often outperform generalist LMs of the same size. However, the specialist data needed to pretrain these models is only available in limited amount for most tasks. In this work, we build specialist models from large generalist training sets instead. We adjust the training distribution of the generalist data with guidance from the limited domain-specific data. We explore several approaches, with clustered importance sampling standing out. This method clusters the generalist dataset and samples from these clusters based on their frequencies in the smaller specialist dataset. It is scalable, suitable for pretraining and continued pretraining, it works well in multi-task settings. Our findings demonstrate improvements across different domains in terms of language modeling perplexity and accuracy on multiple-choice question tasks. We also present ablation studies that examine the impact of dataset sizes, clustering configurations, and model sizes. Generalist language models (LMs) can address a wide variety of tasks, but this generality comes at a cost (Brown et al., 2020). It necessitates a large training set representative of all prospective tasks, as well as a large model to fit such a comprehensive dataset.

This paper presents DynORecon, a Dynamic Object Reconstruction system that leverages the information provided by Dynamic SLAM to simultaneously generate a volumetric map of observed moving entities while estimating free space to support navigation. By capitalising on the motion estimations provided by Dynamic SLAM, DynORecon continuously refines the representation of dynamic objects to eliminate residual artefacts from past observations and incrementally reconstructs each object, seamlessly integrating new observations to capture previously unseen structures. Our system is highly efficient (~20 FPS) and produces accurate (~10 cm) reconstructions of dynamic objects using simulated and real-world outdoor datasets.

Autonomous racing demands safe control of vehicles at their physical limits for extended periods of time, providing insights into advanced vehicle safety systems which increasingly rely on intervention provided by vehicle autonomy. Participation in this field carries with it a high barrier to entry. Physical platforms and their associated sensor suites require large capital outlays before any demonstrable progress can be made. Simulators allow researches to develop soft autonomous systems without purchasing a platform. However, currently available simulators lack visual and dynamic fidelity, can still be expensive to buy, lack customisation, and are difficult to use. AARK provides three packages, ACI, ACDG, and ACMPC. These packages enable research into autonomous control systems in the demanding environment of racing to bring more people into the field and improve reproducibility: ACI provides researchers with a computer vision-friendly interface to Assetto Corsa for convenient comparison and evaluation of autonomous control solutions; ACDG enables generation of depth, normal and semantic segmentation data for training computer vision models to use in perception systems; and ACMPC gives newcomers to the field a modular full-stack autonomous control solution, capable of controlling vehicles to build from. AARK aims to unify and democratise research into a field critical to providing safer roads and trusted autonomous systems.

Cross-lingual cross-modal retrieval (CCR) aims to retrieve visually relevant content based on non-English queries, without relying on human-labeled cross-modal data pairs during training. One popular approach involves utilizing machine translation (MT) to create pseudo-parallel data pairs, establishing correspondence between visual and non-English textual data. However, aligning their representations poses challenges due to the significant semantic gap between vision and text, as well as the lower quality of non-English representations caused by pre-trained encoders and data noise. To overcome these challenges, we propose LECCR, a novel solution that incorporates the multi-modal large language model (MLLM) to improve the alignment between visual and non-English representations. Specifically, we first employ MLLM to generate detailed visual content descriptions and aggregate them into multi-view semantic slots that encapsulate different semantics. Then, we take these semantic slots as internal features and leverage them to interact with the visual features. By doing so, we enhance the semantic information within the visual features, narrowing the semantic gap between modalities and generating local visual semantics for subsequent multi-level matching. Additionally, to further enhance the alignment between visual and non-English features, we introduce softened matching under English guidance. This approach provides more comprehensive and reliable inter-modal correspondences between visual and non-English features. Extensive experiments on four CCR benchmarks, \ie Multi30K, MSCOCO, VATEX, and MSR-VTT-CN, demonstrate the effectiveness of our proposed method. Code: \url{https://github.com/LiJiaBei-7/leccr}.

Intersecting manifold segmentation has been a focus of research, where individual manifolds, that intersect with other manifolds, are separated to discover their distinct properties. The proposed method is based on the intuition that when a manifold in $D$ dimensional space with an intrinsic dimension of $d$ intersects with another manifold, the data variance grows in more than $d$ directions. The proposed method measures local data variances and determines their vector directions. It counts the number of vectors with non-zero variance, which determines the manifold's intrinsic dimension. For detection of the intersection region, the method adapts to the changes in the angular gaps between the corresponding direction vectors of the child and parent using exponential moving averages using a tree structure construction. Accordingly, it includes those data points in the same manifold whose neighborhood is within the adaptive angular difference and eventually identifies the data points in the intersection area of manifolds. Data points whose inclusion in the neighborhood-identified data points increases their intrinsic dimensionality are removed based on data variance and distance. The proposed method performs better than 18 SOTA manifold segmentation methods in ARI and NMI scores over 14 real-world datasets with lesser time complexity and better stability.

This paper offers a roadmap for the development of scalable aligned artificial intelligence (AI) from first principle descriptions of natural intelligence. In brief, a possible path toward scalable aligned AI rests upon enabling artificial agents to learn a good model of the world that includes a good model of our preferences. For this, the main objective is creating agents that learn to represent the world and other agents' world models; a problem that falls under structure learning (a.k.a. causal representation learning). We expose the structure learning and alignment problems with this goal in mind, as well as principles to guide us forward, synthesizing various ideas across mathematics, statistics, and cognitive science. 1) We discuss the essential role of core knowledge, information geometry and model reduction in structure learning, and suggest core structural modules to learn a wide range of naturalistic worlds. 2) We outline a way toward aligned agents through structure learning and theory of mind. As an illustrative example, we mathematically sketch Asimov's Laws of Robotics, which prescribe agents to act cautiously to minimize the ill-being of other agents. We supplement this example by proposing refined approaches to alignment. These observations may guide the development of artificial intelligence in helping to scale existing -- or design new -- aligned structure learning systems.

AI-based systems such as language models can replicate and amplify social biases reflected in their training data. Among other questionable behavior, this can lead to LM-generated text--and text suggestions--that contain normatively inappropriate stereotypical associations. In this paper, we consider the question of how "debiasing" a language model impacts stories that people write using that language model in a predictive text scenario. We find that (n=414), in certain scenarios, language model suggestions that align with common social stereotypes are more likely to be accepted by human authors. Conversely, although anti-stereotypical language model suggestions sometimes lead to an increased rate of anti-stereotypical stories, this influence is far from sufficient to lead to "fully debiased" stories.

Common narratives about automation often pit new technologies against workers. The introduction of advanced machine tools, industrial robots, and AI have all been met with concern that technological progress will mean fewer jobs. However, workers themselves offer a more optimistic, nuanced perspective. Drawing on a far-reaching 2024 survey of more than 9,000 workers across nine countries, this paper finds that more workers report potential benefits from new technologies like robots and AI for their safety and comfort at work, their pay, and their autonomy on the job than report potential costs. Workers with jobs that ask them to solve complex problems, workers who feel valued by their employers, and workers who are motivated to move up in their careers are all more likely to see new technologies as beneficial. In contrast to assumptions in previous research, more formal education is in some cases associated with more negative attitudes toward automation and its impact on work. In an experimental setting, the prospect of financial incentives for workers improve their perceptions of automation technologies, whereas the prospect of increased input about how new technologies are used does not have a significant effect on workers' attitudes toward automation.