Implicit communication plays such a crucial role during social exchanges that it must be considered for a good experience in human-robot interaction. This work addresses implicit communication associated with the detection of physical properties, transport, and manipulation of objects. We propose an ecological approach to infer object characteristics from subtle modulations of the natural kinematics occurring during human object manipulation. Similarly, we take inspiration from human strategies to shape robot movements to be communicative of the object properties while pursuing the action goals. In a realistic HRI scenario, participants handed over cups - filled with water or empty - to a robotic manipulator that sorted them. We implemented an online classifier to differentiate careful/not careful human movements, associated with the cups' content. We compared our proposed "expressive" controller, which modulates the movements according to the cup filling, against a neutral motion controller. Results show that human kinematics is adjusted during the task, as a function of the cup content, even in reach-to-grasp motion. Moreover, the carefulness during the handover of full cups can be reliably inferred online, well before action completion. Finally, although questionnaires did not reveal explicit preferences from participants, the expressive robot condition improved task efficiency.

Large Language Models (LLMs) have achieved remarkable success, demonstrating powerful instruction-following capabilities across diverse tasks. Instruction fine-tuning is critical in enabling LLMs to align with user intentions and effectively follow instructions. In this work, we investigate how instruction fine-tuning modifies pre-trained models, focusing on two perspectives: instruction recognition and knowledge evolution. To study the behavior shift of LLMs, we employ a suite of local and global explanation methods, including a gradient-based approach for input-output attribution and techniques for interpreting patterns and concepts in self-attention and feed-forward layers. Our findings reveal three significant impacts of instruction fine-tuning: 1) It empowers LLMs to better recognize the instruction parts from user prompts, thereby facilitating high-quality response generation and addressing the ``lost-in-the-middle'' issue observed in pre-trained models; 2) It aligns the knowledge stored in feed-forward layers with user-oriented tasks, exhibiting minimal shifts across linguistic levels. 3) It facilitates the learning of word-word relations with instruction verbs through the self-attention mechanism, particularly in the lower and middle layers, indicating enhanced recognition of instruction words. These insights contribute to a deeper understanding of the behavior shifts in LLMs after instruction fine-tuning and lay the groundwork for future research aimed at interpreting and optimizing LLMs for various applications. We will release our code and data soon.

Generative data augmentation (GDA) has emerged as a promising technique to alleviate data scarcity in machine learning applications. This thesis presents a comprehensive survey and unified framework of the GDA landscape. We first provide an overview of GDA, discussing its motivation, taxonomy, and key distinctions from synthetic data generation. We then systematically analyze the critical aspects of GDA - selection of generative models, techniques to utilize them, data selection methodologies, validation approaches, and diverse applications. Our proposed unified framework categorizes the extensive GDA literature, revealing gaps such as the lack of universal benchmarks. The thesis summarises promising research directions, including , effective data selection, theoretical development for large-scale models' application in GDA and establishing a benchmark for GDA. By laying a structured foundation, this thesis aims to nurture more cohesive development and accelerate progress in the vital arena of generative data augmentation.

In role-playing games a Game Master (GM) is the player in charge of the game, who must design the challenges the players face and narrate the outcomes of their actions. In this work we discuss some challenges to model GMs from an Interactive Storytelling and Natural Language Processing perspective. Following those challenges we propose three test categories to evaluate such dialogue systems, and we use them to test ChatGPT, Bard and OpenAssistant as out-of-the-box GMs.

While VideoQA Transformer models demonstrate competitive performance on standard benchmarks, the reasons behind their success are not fully understood. Do these models jointly capture and leverage the rich multimodal structures and dynamics from video and text? Or are they merely exploiting shortcuts to achieve high scores? Hence, we design QUAG (QUadrant AveraGe), a lightweight and non-parametric probe, to critically analyze multimodal representations. QUAG facilitates combined dataset-model study by systematic ablation of model's coupled multimodal understanding during inference. Surprisingly, it demonstrates that the models manage to maintain high performance even under multimodal impairment. We extend QUAG to design "QUAG-attention", a simplistic and lessexpressive replacement of self-attention. We find that the models with QUAGattention achieve similar performance with significantly less mulops without any finetuning. These findings indicate that the current VideoQA benchmarks and metrics do not penalize models that find shortcuts and discount joint multimodal understanding. Motivated by this, we propose the CLAVI (Counterfactual in LAnguage and VIdeo), a diagnostic dataset for coupled multimodal understanding in VideoQA. CLAVI consists of temporal questions and videos that are augmented to curate balanced counterfactuals in language and video domains. We evaluate models on CLAVI and find that all models achieve high performance on multimodal shortcut instances, but most of them have very poor performance on the counterfactual instances that necessitate joint multimodal understanding. Overall, with the multimodal representation analysis using QUAG and diagnostic analysis using CLAVI, we show that many VideoQA models are incapable of learning multimodal representations and that their success on standard datasets is an illusion of joint multimodal understanding. Multimodal learning with videos and language is challenging, despite the shared sequential nature of these modalities, due to their distinct underlying structures. That is, videos exhibit spatio-temporal dynamics in the pixel space, whereas language representation is composed of the syntax and semantics of word sequences. Hence, tasks like Video Question Answering (VideoQA) (Zhong et al., 2022) are difficult as they necessitate the model to acquire accurate representations of both the modalities and establish meaningful connections between them. Transformers have demonstrated exceptional performance on VideoQA benchmarks (Zhong et al., 2022).

Concerned with user data privacy, this paper presents a new federated learning (FL) method that trains machine learning models on edge devices without accessing sensitive data. Traditional FL methods, although privacy-protective, fail to manage model heterogeneity and incur high communication costs due to their reliance on aggregation methods. To address this limitation, we propose a resource-aware FL method that aggregates local knowledge from edge models and distills it into robust global knowledge through knowledge distillation. This method allows efficient multi-model knowledge fusion and the deployment of resource-aware models while preserving model heterogeneity. Our method improves communication cost and performance in heterogeneous data and models compared to existing FL algorithms. Notably, it reduces the communication cost of ResNet-32 by up to 50\% and VGG-11 by up to 10$\times$ while delivering superior performance.

We study the problem of estimating survival causal effects, where the aim is to characterize the impact of an intervention on survival times, i.e., how long it takes for an event to occur. Applications include determining if a drug reduces the time to ICU discharge or if an advertising campaign increases customer dwell time. Historically, the most popular estimates have been based on parametric or semiparametric (e.g. proportional hazards) models; however, these methods suffer from problematic levels of bias. Recently debiased machine learning approaches are becoming increasingly popular, especially in applications to large datasets. However, despite their appealing theoretical properties, these estimators tend to be unstable because the debiasing step involves the use of the inverses of small estimated probabilities -- small errors in the estimated probabilities can result in huge changes in their inverses and therefore the resulting estimator. This problem is exacerbated in survival settings where probabilities are a product of treatment assignment and censoring probabilities. We propose a covariate balancing approach to estimating these inverses directly, sidestepping this problem. The result is an estimator that is stable in practice and enjoys many of the same theoretical properties. In particular, under overlap and asymptotic equicontinuity conditions, our estimator is asymptotically normal with negligible bias and optimal variance. Our experiments on synthetic and semi-synthetic data demonstrate that our method has competitive bias and smaller variance than debiased machine learning approaches.

Generative Flow Networks (GFlowNets) have been introduced as a method to sample a diverse set of candidates with probabilities proportional to a given reward. However, GFlowNets can only be used with a predefined scalar reward, which can be either computationally expensive or not directly accessible, in the case of multi-objective optimization (MOO) tasks for example. Moreover, to prioritize identifying high-reward candidates, the conventional practice is to raise the reward to a higher exponent, the optimal choice of which may vary across different environments. To address these issues, we propose Order-Preserving GFlowNets (OP-GFNs), which sample with probabilities in proportion to a learned reward function that is consistent with a provided (partial) order on the candidates, thus eliminating the need for an explicit formulation of the reward function. We theoretically prove that the training process of OP-GFNs gradually sparsifies the learned reward landscape in single-objective maximization tasks. The sparsification concentrates on candidates of a higher hierarchy in the ordering, ensuring exploration at the beginning and exploitation towards the end of the training. We demonstrate OP-GFN's state-of-the-art performance in single-objective maximization (totally ordered) and multi-objective Pareto front approximation (partially ordered) tasks, including synthetic datasets, molecule generation, and neural architecture search.

Previous statistical approaches to hierarchical clustering for social network analysis all construct an "ultrametric" hierarchy. While the assumption of ultrametricity has been discussed and studied in the phylogenetics literature, it has not yet been acknowledged in the social network literature. We show that "non-ultrametric structure" in the network introduces significant instabilities in the existing top-down recovery algorithms. To address this issue, we introduce an instability diagnostic plot and use it to examine a collection of empirical networks. These networks appear to violate the "ultrametric" assumption. We propose a deceptively simple and yet general class of probabilistic models called $\mathbb{T}$-Stochastic Graphs which impose no topological restrictions on the latent hierarchy. To illustrate this model, we propose six alternative forms of hierarchical network models and then show that all six are equivalent to the $\mathbb{T}$-Stochastic Graph model. These alternative models motivate a novel approach to hierarchical clustering that combines spectral techniques with the well-known Neighbor-Joining algorithm from phylogenetic reconstruction. We prove this spectral approach is statistically consistent.

We introduce the asynchronous graph generator (AGG), a novel graph neural network architecture for multi-channel time series which models observations as nodes on a dynamic graph and can thus perform data imputation by transductive node generation. Completely free from recurrent components or assumptions about temporal regularity, AGG represents measurements, timestamps and metadata directly in the nodes via learnable embeddings, to then leverage attention to learn expressive relationships across the variables of interest. This way, the proposed architecture implicitly learns a causal graph representation of sensor measurements which can be conditioned on unseen timestamps and metadata to predict new measurements by an expansion of the learnt graph. The proposed AGG is compared both conceptually and empirically to previous work, and the impact of data augmentation on the performance of AGG is also briefly discussed. Our experiments reveal that AGG achieved state-of-the-art results in time series data imputation, classification and prediction for the benchmark datasets Beijing Air Quality, PhysioNet Challenge 2012 and UCI localisation. Incomplete time series data are ubiquitous in a number of applications (Miao et al., 2019), including medical logs, meteorology records, traffic monitoring, financial transactions and IoT sensing. Missing records may be due to various reasons which include failures either in the acquisition or transmission systems, privacy protocols, or simply because the data are collected asynchronously in time.