Effective communication between humans and collaborative robots is essential for seamless Human-Robot Collaboration (HRC). In noisy industrial settings, nonverbal communication, such as gestures, plays a key role in conveying commands and information to robots efficiently. While existing literature has thoroughly examined gesture recognition and robots' responses to these gestures, there is a notable gap in exploring the design of these gestures. The criteria for creating efficient HRC gestures are scattered across numerous studies. This paper surveys the design principles of HRC gestures, as contained in the literature, aiming to consolidate a set of criteria for HRC gesture design. It also examines the methods used for designing and evaluating HRC gestures to highlight research gaps and present directions for future research in this area.

February 16th started like any typical Friday night. My husband and I decided to stay home, grill chicken and make a salad for dinner. At about 6:45 p.m., we heard some loud rumbling overhead. We walked onto the back patio, and two police helicopters were overhead -- shining lights all over our property, and a recording echoed, "Police. As I looked across the fence, a swarm of armed members of the Phoenix SWAT Team with a few dogs were circling our property. One of the guys said, "Yeah, there's a jammer right here." I leaned over the patio and asked, "What's going on?" A SWAT member said, "Ma'am, A South American gang is targeting homes to steal from.

We introduce AutoVER, an Autoregressive model for Visual Entity Recognition. Our model extends an autoregressive Multi-modal Large Language Model by employing retrieval augmented constrained generation. It mitigates low performance on out-of-domain entities while excelling in queries that require visually-situated reasoning. Our method learns to distinguish similar entities within a vast label space by contrastively training on hard negative pairs in parallel with a sequence-to-sequence objective without an external retriever. During inference, a list of retrieved candidate answers explicitly guides language generation by removing invalid decoding paths. The proposed method achieves significant improvements across different dataset splits in the recently proposed Oven-Wiki benchmark. Accuracy on the Entity seen split rises from 32.7% to 61.5%. It also demonstrates superior performance on the unseen and query splits by a substantial double-digit margin.

For synergistic interactions between humans and artificial intelligence (AI) systems, AI outputs often need to be explainable to people. Explainable AI (XAI) systems are commonly tested in human user studies. However, whether XAI researchers consider potential cultural differences in human explanatory needs remains unexplored. We highlight psychological research that found significant differences in human explanations between many people from Western, commonly individualist countries and people from non-Western, often collectivist countries. We argue that XAI research currently overlooks these variations and that many popular XAI designs implicitly and problematically assume that Western explanatory needs are shared cross-culturally. Additionally, we systematically reviewed over 200 XAI user studies and found that most studies did not consider relevant cultural variations, sampled only Western populations, but drew conclusions about human-XAI interactions more generally. We also analyzed over 30 literature reviews of XAI studies. Most reviews did not mention cultural differences in explanatory needs or flag overly broad cross-cultural extrapolations of XAI user study results. Combined, our analyses provide evidence of a cultural bias toward Western populations in XAI research, highlighting an important knowledge gap regarding how culturally diverse users may respond to widely used XAI systems that future work can and should address.

Tokenization is a foundational step in Natural Language Processing (NLP) tasks, bridging raw text and language models. Existing tokenization approaches like Byte-Pair Encoding (BPE) originate from the field of data compression, and it has been suggested that the effectiveness of BPE stems from its ability to condense text into a relatively small number of tokens. We test the hypothesis that fewer tokens lead to better downstream performance by introducing PathPiece, a new tokenizer that segments a document's text into the minimum number of tokens for a given vocabulary. Through extensive experimentation we find this hypothesis not to be the case, casting doubt on the understanding of the reasons for effective tokenization. To examine which other factors play a role, we evaluate design decisions across all three phases of tokenization: pre-tokenization, vocabulary construction, and segmentation, offering new insights into the design of effective tokenizers. Specifically, we illustrate the importance of pre-tokenization and the benefits of using BPE to initialize vocabulary construction. We train 64 language models with varying tokenization, ranging in size from 350M to 2.4B parameters, all of which are made publicly available.

Text presented in augmented reality provides in-situ, real-time information for users. However, this content can be challenging to apprehend quickly when engaging in cognitively demanding AR tasks, especially when it is presented on a head-mounted display. We propose ARTiST, an automatic text simplification system that uses a few-shot prompt and GPT-3 models to specifically optimize the text length and semantic content for augmented reality. Developed out of a formative study that included seven users and three experts, our system combines a customized error calibration model with a few-shot prompt to integrate the syntactic, lexical, elaborative, and content simplification techniques, and generate simplified AR text for head-worn displays. Results from a 16-user empirical study showed that ARTiST lightens the cognitive load and improves performance significantly over both unmodified text and text modified via traditional methods. Our work constitutes a step towards automating the optimization of batch text data for readability and performance in augmented reality.

The superior performance of large foundation models relies on the use of massive amounts of high-quality data, which often contain sensitive, private and copyrighted material that requires formal protection. While differential privacy (DP) is a prominent method to gauge the degree of security provided to the models, its application is commonly limited to the model fine-tuning stage, due to the performance degradation when applying DP during the pre-training stage. Consequently, DP is yet not capable of protecting a substantial portion of the data used during the initial pre-training process. In this work, we first provide a theoretical understanding of the efficacy of DP training by analyzing the per-iteration loss improvement. We make a key observation that DP optimizers' performance degradation can be significantly mitigated by the use of limited public data, which leads to a novel DP continual pre-training strategy. Empirically, using only 10\% of public data, our strategy can achieve DP accuracy of 41.5\% on ImageNet-21k (with $\epsilon=8$), as well as non-DP accuracy of 55.7\% and and 60.0\% on downstream tasks Places365 and iNaturalist-2021, respectively, on par with state-of-the-art standard pre-training and substantially outperforming existing DP pre-trained models.

Recent work has shown that attention-based language models excel at recall, the ability to ground generations in tokens previously seen in context. However, the efficiency of attention-based models is bottle-necked during inference by the KV-cache's aggressive memory consumption. In this work, we explore whether we can improve language model efficiency (e.g. by reducing memory consumption) without compromising on recall. By applying experiments and theory to a broad set of architectures, we identify a key tradeoff between a model's state size and recall ability. We show that efficient alternatives to attention (e.g. H3, Mamba, RWKV) maintain a fixed-size recurrent state, but struggle at recall. We propose BASED a simple architecture combining linear and sliding window attention. By varying BASED window size and linear attention feature dimension, we can dial the state size and traverse the pareto frontier of the recall-memory tradeoff curve, recovering the full quality of attention on one end and the small state size of attention-alternatives on the other. We train language models up to 1.3b parameters and show that BASED matches the strongest sub-quadratic models (e.g. Mamba) in perplexity and outperforms them on real-world recall-intensive tasks by 6.22 accuracy points. Implementations of linear attention are often less efficient than optimized standard attention implementations. To make BASED competitive, we develop IO-aware algorithms that enable 24x higher throughput on language generation than FlashAttention-2, when generating 1024 tokens using 1.3b parameter models. Code for this work is provided at: https://github.com/HazyResearch/based.

Text generation with beam search has proven successful in a wide range of applications. We point out that, though largely overlooked in the literature, the commonly-used implementation of beam decoding (e.g., Hugging Face Transformers and fairseq) uses a first come, first served heuristic: it keeps a set of already completed sequences over time steps and stops when the size of this set reaches the beam size. Based on this finding, we introduce a patience factor, a simple modification to this beam decoding implementation, that generalizes the stopping criterion and provides flexibility to the depth of search. Empirical results demonstrate that adjusting this patience factor improves decoding performance of strong pretrained models on news text summarization and machine translation over diverse language pairs, with a negligible inference slowdown. Our approach only modifies one line of code and can be thus readily incorporated in any implementation. Further, we find that different versions of beam decoding result in large performance differences in summarization, demonstrating the need for clarity in specifying the beam search implementation in research work. Our code will be available upon publication.

Due to the rapidly changing climate, the frequency and severity of extreme weather is expected to increase over the coming decades. As fully-resolved climate simulations remain computationally intractable, policy makers must rely on coarse-models to quantify risk for extremes. However, coarse models suffer from inherent bias due to the ignored "sub-grid" scales. We propose a framework to non-intrusively debias coarse-resolution climate predictions using neural-network (NN) correction operators. Previous efforts have attempted to train such operators using loss functions that match statistics. However, this approach falls short with events that have longer return period than that of the training data, since the reference statistics have not converged. Here, the scope is to formulate a learning method that allows for correction of dynamics and quantification of extreme events with longer return period than the training data. The key obstacle is the chaotic nature of the underlying dynamics. To overcome this challenge, we introduce a dynamical systems approach where the correction operator is trained using reference data and a coarse model simulation nudged towards that reference. The method is demonstrated on debiasing an under-resolved quasi-geostrophic model and the Energy Exascale Earth System Model (E3SM). For the former, our method enables the quantification of events that have return period two orders longer than the training data. For the latter, when trained on 8 years of ERA5 data, our approach is able to correct the coarse E3SM output to closely reflect the 36-year ERA5 statistics for all prognostic variables and significantly reduce their spatial biases.