Visual Question Answering (VQA) is a multi-disciplinary artificial intelligence research problem that has attracted the attention of researchers from computer vision, natural language processing, knowledge representation, and other machine learning communities. To solve that question, VQA is a task of generating natural language answers when a question in natural language is asked related to an image. In recent years, visual question answering as a result of the flourish in this field, datasets, metrics, and models have been proposed, and the scope of research has been expanded. Although artificial intelligence has solved several different problems, such as image classification and natural language processing (NLP), it is hard to model a problem which needs different types of data. For instance, mixing computer vision with NLP to retrieve some information about an image from a question has tricked researchers for several years.

Quantifying motion in 3D is important for studying the behavior of humans and other animals, but manual pose annotations are expensive and time-consuming to obtain. Self-supervised keypoint discovery is a promising strategy for estimating 3D poses without annotations. However, current keypoint discovery approaches commonly process single 2D views and do not operate in the 3D space. We propose a new method to perform self-supervised keypoint discovery in 3D from multi-view videos of behaving agents, without any keypoint or bounding box supervision in 2D or 3D. Our method, BKinD-3D, uses an encoder-decoder architecture with a 3D volumetric heatmap, trained to reconstruct spatiotemporal differences across multiple views, in addition to joint length constraints on a learned 3D skeleton of the subject. In this way, we discover keypoints without requiring manual supervision in videos of humans and rats, demonstrating the potential of 3D keypoint discovery for studying behavior.

Modern deep neural networks achieved remarkable progress in medical image segmentation tasks. However, it has recently been observed that they tend to produce overconfident estimates, even in situations of high uncertainty, leading to poorly calibrated and unreliable models. In this work we introduce Maximum Entropy on Erroneous Predictions (MEEP), a training strategy for segmentation networks which selectively penalizes overconfident predictions, focusing only on misclassified pixels. Our method is agnostic to the neural architecture, does not increase model complexity and can be coupled with multiple segmentation loss functions. We benchmark the proposed strategy in two challenging segmentation tasks: white matter hyperintensity lesions in magnetic resonance images (MRI) of the brain, and atrial segmentation in cardiac MRI. The experimental results demonstrate that coupling MEEP with standard segmentation losses leads to improvements not only in terms of model calibration, but also in segmentation quality.

Deep equilibrium (DEQ) models replace the multiple-layer stacking of conventional deep networks with a fixed-point iteration of a single-layer transformation. Having been demonstrated to be competitive in a variety of real-world scenarios, the adversarial robustness of general DEQs becomes increasingly crucial for their reliable deployment. Existing works improve the robustness of general DEQ models with the widely-used adversarial training (AT) framework, but they fail to exploit the structural uniquenesses of DEQ models. To this end, we interpret DEQs through the lens of neural dynamics and find that AT under-regulates intermediate states. Besides, the intermediate states typically provide predictions with a high prediction entropy. Informed by the correlation between the entropy of dynamical systems and their stability properties, we propose reducing prediction entropy by progressively updating inputs along the neural dynamics. During AT, we also utilize random intermediate states to compute the loss function. Our methods regulate the neural dynamics of DEQ models in this manner. Extensive experiments demonstrate that our methods substantially increase the robustness of DEQ models and even outperform the strong deep network baselines.

Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing. Differential dynamic programming (DDP) has emerged as a promising tool for achieving highly dynamic tasks. But most of the literature deals with applying DDP to articulated soft robots by using numerical differentiation, in addition to using pure feed-forward control to perform explosive tasks. Further, underactuated compliant robots are known to be difficult to control and the use of DDP-based algorithms to control them is not yet addressed. We propose an efficient DDP-based algorithm for trajectory optimization of articulated soft robots that can optimize the state trajectory, input torques, and stiffness profile. We provide an efficient method to compute the forward dynamics and the analytical derivatives of series elastic actuators (SEA)/variable stiffness actuators (VSA) and underactuated compliant robots. We present a state-feedback controller that uses locally optimal feedback policies obtained from DDP. We show through simulations and experiments that the use of feedback is crucial in improving the performance and stabilization properties of various tasks. We also show that the proposed method can be used to plan and control underactuated compliant robots, with varying degrees of underactuation effectively.

Growing interest in autonomous driving (AD) and intelligent vehicles (IVs) is fueled by their promise for enhanced safety, efficiency, and economic benefits. While previous surveys have captured progress in this field, a comprehensive and forward-looking summary is needed. Our work fills this gap through three distinct articles. The first part, a "Survey of Surveys" (SoS), outlines the history, surveys, ethics, and future directions of AD and IV technologies. The second part, "Milestones in Autonomous Driving and Intelligent Vehicles Part I: Control, Computing System Design, Communication, HD Map, Testing, and Human Behaviors" delves into the development of control, computing system, communication, HD map, testing, and human behaviors in IVs. This part, the third part, reviews perception and planning in the context of IVs. Aiming to provide a comprehensive overview of the latest advancements in AD and IVs, this work caters to both newcomers and seasoned researchers. By integrating the SoS and Part I, we offer unique insights and strive to serve as a bridge between past achievements and future possibilities in this dynamic field.

Large language models (LLMs) trained on a substantial corpus of human knowledge and literature productively work with a large array of facts from that corpus. Surprisingly, they are also able to re-create the behaviors of personae that are captured within the corpus. By forming teams of simulated personae, supplying contexts that set the stage, and providing gentle prompts, one can move through scenarios that elicit expert behavior to perform meaningful cognitive work. The power of this strategy is demonstrated with two examples, one attacking factuality of LLM responses and the other reproducing a very recently published result in quantum optics.

This paper investigates the capabilities of ChatGPT as an automated assistant in diverse domains, including scientific writing, mathematics, education, programming, and healthcare. We explore the potential of ChatGPT to enhance productivity, streamline problem-solving processes, and improve writing style. Furthermore, we highlight the potential risks associated with excessive reliance on ChatGPT in these fields. These limitations encompass factors like incorrect and fictitious responses, inaccuracies in code, limited logical reasoning abilities, overconfidence, and critical ethical concerns of copyrights and privacy violation. We outline areas and objectives where ChatGPT proves beneficial, applications where it should be used judiciously, and scenarios where its reliability may be limited. In light of observed limitations, and given that the tool's fundamental errors may pose a special challenge for non-experts, ChatGPT should be used with a strategic methodology. By drawing from comprehensive experimental studies, we offer methods and flow charts for effectively using ChatGPT. Our recommendations emphasize iterative interaction with ChatGPT and independent verification of its outputs. Considering the importance of utilizing ChatGPT judiciously and with expertise, we recommend its usage for experts who are well-versed in the respective domains.

Design biases in NLP systems, such as performance differences for different populations, often stem from their creator's positionality, i.e., views and lived experiences shaped by identity and background. Despite the prevalence and risks of design biases, they are hard to quantify because researcher, system, and dataset positionality is often unobserved. We introduce NLPositionality, a framework for characterizing design biases and quantifying the positionality of NLP datasets and models. Our framework continuously collects annotations from a diverse pool of volunteer participants on LabintheWild, and statistically quantifies alignment with dataset labels and model predictions. We apply NLPositionality to existing datasets and models for two tasks -- social acceptability and hate speech detection. To date, we have collected 16,299 annotations in over a year for 600 instances from 1,096 annotators across 87 countries. We find that datasets and models align predominantly with Western, White, college-educated, and younger populations. Additionally, certain groups, such as non-binary people and non-native English speakers, are further marginalized by datasets and models as they rank least in alignment across all tasks. Finally, we draw from prior literature to discuss how researchers can examine their own positionality and that of their datasets and models, opening the door for more inclusive NLP systems.

Timeseries analytics is of great importance in many real-world applications. Recently, the Transformer model, popular in natural language processing, has been leveraged to learn high quality feature embeddings from timeseries, core to the performance of various timeseries analytics tasks. However, the quadratic time and space complexities limit Transformers' scalability, especially for long timeseries. To address these issues, we develop a timeseries analytics tool, RITA, which uses a novel attention mechanism, named group attention, to address this scalability issue. Group attention dynamically clusters the objects based on their similarity into a small number of groups and approximately computes the attention at the coarse group granularity. It thus significantly reduces the time and space complexity, yet provides a theoretical guarantee on the quality of the computed attention. The dynamic scheduler of RITA continuously adapts the number of groups and the batch size in the training process, ensuring group attention always uses the fewest groups needed to meet the approximation quality requirement. Extensive experiments on various timeseries datasets and analytics tasks demonstrate that RITA outperforms the state-of-the-art in accuracy and is significantly faster -- with speedups of up to 63X.