Robots that work close to humans need to understand and use social cues to act in a socially acceptable manner. Social cues are a form of communication (i.e., information flow) between people. In this paper, a framework is introduced to detect and analyse a class of perceptible social cues that are nonverbal and episodic, and the related information transfer using an information-theoretic measure, namely, transfer entropy. We use a group-joining setting to demonstrate the practicality of transfer entropy for analysing communications between humans. Then we demonstrate the framework in two settings involving social interactions between humans: object-handover and person-following. Our results show that transfer entropy can identify information flows between agents and when and where they occur. Potential applications of the framework include information flow or social cue analysis for interactive robot design and socially-aware robot planning.

In this paper we describe the Portuguese-language podcast dataset we have released for academic research purposes. We give an overview of how the data was sampled, descriptive statistics over the collection, as well as information about the distribution over Brazilian and Portuguese dialects. We give results from experiments on multi-lingual summarization, showing that summarizing podcast transcripts can be performed well by a system supporting both English and Portuguese. We also show experiments on Portuguese podcast genre classification using text metadata. Combining this collection with previously released English-language collection opens up the potential for multi-modal, multi-lingual and multi-dialect podcast information access research.

Several recent works use positional encodings to extend the receptive fields of graph neural network (GNN) layers equipped with attention mechanisms. These techniques, however, extend receptive fields to the complete graph, at substantial computational cost and risking a change in the inductive biases of conventional GNNs, or require complex architecture adjustments. As a conservative alternative, we use positional encodings to expand receptive fields to $r$-hop neighborhoods. More specifically, our method augments the input graph with additional nodes/edges and uses positional encodings as node and/or edge features. We thus modify graphs before inputting them to a downstream GNN model, instead of modifying the model itself. This makes our method model-agnostic, i.e., compatible with any of the existing GNN architectures. We also provide examples of positional encodings that are lossless with a one-to-one map between the original and the modified graphs. We demonstrate that extending receptive fields via positional encodings and a virtual fully-connected node significantly improves GNN performance and alleviates over-squashing using small $r$. We obtain improvements on a variety of models and datasets and reach competitive performance using traditional GNNs or graph Transformers.

Judges in England and Wales will be able to use the AI chatbot to help write their legal rulings, the Telegraph reports. This is despite ChatGPT being prone to making up bogus cases, and the tool even admitting that it'can make mistakes' on its landing page. ChatGPT, already described by one British judge as'jolly useful', is increasingly infiltrating the legal industry, leading to concern among some experts. The Judicial Office's new official guidance, issued to thousands of judges, points out that AI can be used for summarising large amounts of text or in administrative tasks. These qualify as basic work tasks, but more salient parts of the process – such as conducting legal research or undertaking legal analysis – must not be offloaded to chatbots, the guidance claims.

Hypernetworks are meta neural networks that generate weights for a main neural network in an end-to-end differentiable manner. Despite extensive applications ranging from multi-task learning to Bayesian deep learning, the problem of optimizing hypernetworks has not been studied to date. We observe that classical weight initialization methods like Glorot & Bengio (2010) and He et al. (2015), when applied directly on a hypernet, fail to produce weights for the mainnet in the correct scale. We develop principled techniques for weight initialization in hypernets, and show that they lead to more stable mainnet weights, lower training loss, and faster convergence. Meta-learning describes a broad family of techniques in machine learning that deals with the problem of learning to learn. An emerging branch of meta-learning involves the use of hypernetworks, which are meta neural networks that generate the weights of a main neural network to solve a given task in an end-to-end differentiable manner. Hypernetworks were originally introduced by Ha et al. (2016) as a way to induce weight-sharing and achieve model compression by training the same meta network to learn the weights belonging to different layers in the main network.

Synchronous dynamic systems are well-established models that have been used to capture a range of phenomena in networks, including opinion diffusion, spread of disease and product adoption. We study the three most notable problems in synchronous dynamic systems: whether the system will transition to a target configuration from a starting configuration, whether the system will reach convergence from a starting configuration, and whether the system is guaranteed to converge from every possible starting configuration. While all three problems were known to be intractable in the classical sense, we initiate the study of their exact boundaries of tractability from the perspective of structural parameters of the network by making use of the more fine-grained parameterized complexity paradigm. As our first result, we consider treewidth - as the most prominent and ubiquitous structural parameter - and show that all three problems remain intractable even on instances of constant treewidth. We complement this negative finding with fixed-parameter algorithms for the former two problems parameterized by treedepth, a well-studied restriction of treewidth. While it is possible to rule out a similar algorithm for convergence guarantee under treedepth, we conclude with a fixed-parameter algorithm for this last problem when parameterized by treedepth and the maximum in-degree.

Large Language Models (LLMs) such as GPT and Llama2 are increasingly adopted in many safety-critical applications. Their security is thus essential. Even with considerable efforts spent on reinforcement learning from human feedback (RLHF), recent studies have shown that LLMs are still subject to attacks such as adversarial perturbation and Trojan attacks. Further research is thus needed to evaluate their security and/or understand the lack of it. In this work, we propose a framework for conducting light-weight causality-analysis of LLMs at the token, layer, and neuron level. We applied our framework to open-source LLMs such as Llama2 and Vicuna and had multiple interesting discoveries. Based on a layer-level causality analysis, we show that RLHF has the effect of overfitting a model to harmful prompts. It implies that such security can be easily overcome by `unusual' harmful prompts. As evidence, we propose an adversarial perturbation method that achieves 100\% attack success rate on the red-teaming tasks of the Trojan Detection Competition 2023. Furthermore, we show the existence of one mysterious neuron in both Llama2 and Vicuna that has an unreasonably high causal effect on the output. While we are uncertain on why such a neuron exists, we show that it is possible to conduct a ``Trojan'' attack targeting that particular neuron to completely cripple the LLM, i.e., we can generate transferable suffixes to prompts that frequently make the LLM produce meaningless responses.

We survey applications of pretrained foundation models in robotics. Traditional deep learning models in robotics are trained on small datasets tailored for specific tasks, which limits their adaptability across diverse applications. In contrast, foundation models pretrained on internet-scale data appear to have superior generalization capabilities, and in some instances display an emergent ability to find zero-shot solutions to problems that are not present in the training data. Foundation models may hold the potential to enhance various components of the robot autonomy stack, from perception to decision-making and control. For example, large language models can generate code or provide common sense reasoning, while vision-language models enable open-vocabulary visual recognition. However, significant open research challenges remain, particularly around the scarcity of robot-relevant training data, safety guarantees and uncertainty quantification, and real-time execution. In this survey, we study recent papers that have used or built foundation models to solve robotics problems. We explore how foundation models contribute to improving robot capabilities in the domains of perception, decision-making, and control. We discuss the challenges hindering the adoption of foundation models in robot autonomy and provide opportunities and potential pathways for future advancements. The GitHub project corresponding to this paper (Preliminary release. We are committed to further enhancing and updating this work to ensure its quality and relevance) can be found here: https://github.com/robotics-survey/Awesome-Robotics-Foundation-Models

Text-to-image (TTI) generative models can be used to generate photorealistic images from a given text-string input. These models offer great potential to mitigate challenges to the uptake of machine learning in the earth sciences. However, the rapid increase in their use has raised questions about fairness and biases, with most research to-date focusing on social and cultural areas rather than domain-specific considerations. We conducted a case study for the earth sciences, focusing on the field of fluvial geomorphology, where we evaluated subject-area specific biases in the training data and downstream model performance of Stable Diffusion (v1.5). In addition to perpetuating Western biases, we found that the training data over-represented scenic locations, such as famous rivers and waterfalls, and showed serious under- and over-representation of many morphological and environmental terms. Despite biased training data, we found that with careful prompting, the Stable Diffusion model was able to generate photorealistic synthetic river images reproducing many important environmental and morphological characteristics. Furthermore, conditional control techniques, such as the use of condition maps with ControlNet were effective for providing additional constraints on output images. Despite great potential for the use of TTI models in the earth sciences field, we advocate for caution in sensitive applications, and advocate for domain-specific reviews of training data and image generation biases to mitigate perpetuation of existing biases.

We present the first experiments on Native Language Identification (NLI) using LLMs such as GPT-4. NLI is the task of predicting a writer's first language by analyzing their writings in a second language, and is used in second language acquisition and forensic linguistics. Our results show that GPT models are proficient at NLI classification, with GPT-4 setting a new performance record of 91.7% on the benchmark TOEFL11 test set in a zero-shot setting. We also show that unlike previous fully-supervised settings, LLMs can perform NLI without being limited to a set of known classes, which has practical implications for real-world applications. Finally, we also show that LLMs can provide justification for their choices, providing reasoning based on spelling errors, syntactic patterns, and usage of directly translated linguistic patterns.