This Letter presents a neural estimator for entropy production, or NEEP, that estimates entropy production (EP) from trajectories without any prior knowledge of the system. For steady state, we rigorously prove that the estimator, which can be built up from different choices of deep neural networks, provides stochastic EP by optimizing the objective function proposed here. We verify the NEEP with the stochastic processes of the bead-spring and discrete flashing ratchet models, and also demonstrate that our method is applicable to high-dimensional data and non-Markovian systems.

This work proposes improvements in the electroencephalogram (EEG) recording protocols for motor imagery through the introduction of actual motor movement and/or somatosensory cues. The results obtained demonstrate the advantage of requiring the subjects to perform motor actions following the trials of imagery. By introducing motor actions in the protocol, the subjects are able to perform actual motor planning, rather than just visualizing the motor movement, thus greatly improving the ease with which the motor movements can be imagined. This study also probes the added advantage of administering somatosensory cues in the subject, as opposed to the conventional auditory/visual cues. These changes in the protocol show promise in terms of the aptness of the spatial filters obtained on the data, on application of the well-known common spatial pattern (CSP) algorithms. The regions highlighted by the spatial filters are more localized and consistent across the subjects when the protocol is augmented with somatosensory stimuli. Hence, we suggest that this may prove to be a better EEG acquisition protocol for detecting brain activation in response to intended motor commands in (clinically) paralyzed/locked-in patients.

The European Parliament's proposal to create a new legal status for artificial intelligence (AI) and robots brought into focus the idea of electronic legal personhood. This discussion, however, is hugely controversial. While some scholars argue that the proposed status could contribute to the coherence of the legal system, others say that it is neither beneficial nor desirable. Notwithstanding this prospect, we conducted a survey (N=3315) to understand online users' perceptions of the legal personhood of AI and robots. We observed how the participants assigned responsibility, awareness, and punishment to AI, robots, humans, and various entities that could be held liable under existing doctrines. We also asked whether the participants thought that punishing electronic agents fulfills the same legal and social functions as human punishment. The results suggest that even though people do not assign any mental state to electronic agents and are not willing to grant AI and robots physical independence or assets, which are the prerequisites of criminal or civil liability, they do consider them responsible for their actions and worthy of punishment. The participants also did not think that punishment or liability of these entities would achieve the primary functions of punishment, leading to what we define as the punishment gap. Therefore, before we recognize electronic legal personhood, we must first discuss proper methods of satisfying the general population's demand for punishment.

Language recognition has been significantly advanced in recent years by means of modern machine learning methods such as deep learning and benchmarks with rich annotations. However, research is still limited in low-resource formal languages. This consists of a significant gap in describing the colloquial language especially for low-resourced ones such as Persian. In order to target this gap for low resource languages, we propose a "Large Scale Colloquial Persian Dataset" (LSCP). LSCP is hierarchically organized in a semantic taxonomy that focuses on multi-task informal Persian language understanding as a comprehensive problem. This encompasses the recognition of multiple semantic aspects in the human-level sentences, which naturally captures from the real-world sentences. We believe that further investigations and processing, as well as the application of novel algorithms and methods, can strengthen enriching computerized understanding and processing of low resource languages. The proposed corpus consists of 120M sentences resulted from 27M tweets annotated with parsing tree, part-of-speech tags, sentiment polarity and translation in five different languages.

Smart home environments equipped with distributed sensor networks are capable of helping people by providing services related to health, emergency detection or daily routine management. A backbone to these systems relies often on the system's ability to track and detect activities performed by the users in their home. Despite the continuous progress in the area of activity recognition in smart homes, many systems make a strong underlying assumption that the number of occupants in the home at any given moment of time is always known. Estimating the number of persons in a Smart Home at each time step remains a challenge nowadays. Indeed, unlike most (crowd) counting solution which are based on computer vision techniques, the sensors considered in a Smart Home are often very simple and do not offer individually a good overview of the situation. The data gathered needs therefore to be fused in order to infer useful information. This paper aims at addressing this challenge and presents a probabilistic approach able to estimate the number of persons in the environment at each time step. This approach works in two steps: first, an estimate of the number of persons present in the environment is done using a Constraint Satisfaction Problem solver, based on the topology of the sensor network and the sensor activation pattern at this time point. Then, a Hidden Markov Model refines this estimate by considering the uncertainty related to the sensors. Using both simulated and real data, our method has been tested and validated on two smart homes of different sizes and configuration and demonstrates the ability to accurately estimate the number of inhabitants.

AlphaZero has been very successful in many games. Unfortunately, it still consumes a huge amount of computing resources, the majority of which is spent in self-play. Hyperparameter tuning exacerbates the training cost since each hyperparameter configuration requires its own time to train one run, during which it will generate its own self-play records. As a result, multiple runs are usually needed for different hyperparameter configurations. This paper proposes using population based training (PBT) to help tune hyperparameters dynamically and improve strength during training time. Another significant advantage is that this method requires a single run only, while incurring a small additional time cost, since the time for generating self-play records remains unchanged though the time for optimization is increased following the AlphaZero training algorithm. In our experiments for 9x9 Go, the PBT method is able to achieve a higher win rate for 9x9 Go than the baselines, each with its own hyperparameter configuration and trained individually. For 19x19 Go, with PBT, we are able to obtain improvements in playing strength. Specifically, the PBT agent can obtain up to 74% win rate against ELF OpenGo, an open-source state-of-the-art AlphaZero program using a neural network of a comparable capacity. This is compared to a saturated non-PBT agent, which achieves a win rate of 47% against ELF OpenGo under the same circumstances.

A key capability required by service robots operating in real-world, dynamic environments is that of Visual Intelligence, i.e., the ability to use their vision system, reasoning components and background knowledge to make sense of their environment. In this paper, we analyze the epistemic requirements for Visual Intelligence, both in a top-down fashion, using existing frameworks for human-like Visual Intelligence in the literature, and from the bottom up, based on the errors emerging from object recognition trials in a real-world robotic scenario. Finally, we use these requirements to evaluate current knowledge bases for Service Robotics and to identify gaps in the support they provide for Visual Intelligence. These gaps provide the basis of a research agenda for developing more effective knowledge representations for Visual Intelligence.

Agile satellites with advanced attitude maneuvering capability are the new generation of Earth observation satellites (EOSs). The continuous improvement in satellite technology and decrease in launch cost have boosted the development of agile EOSs (AEOSs). To efficiently employ the increasing orbiting AEOSs, the AEOS scheduling problem (AEOSSP) aiming to maximize the entire observation profit while satisfying all complex operational constraints, has received much attention over the past 20 years. The objectives of this paper are thus to summarize current research on AEOSSP, identify main accomplishments and highlight potential future research directions. To this end, general definitions of AEOSSP with operational constraints are described initially, followed by its three typical variations including different definitions of observation profit, multi-objective function and autonomous model. A detailed literature review from 1997 up to 2019 is then presented in line with four different solution methods, i.e., exact method, heuristic, metaheuristic and machine learning. Finally, we discuss a number of topics worth pursuing in the future.

Learning-based approaches often outperform hand-coded algorithmic solutions for many problems in robotics. However, learning long-horizon tasks on real robot hardware can be intractable, and transferring a learned policy from simulation to reality is still extremely challenging. We present a novel approach to model-free reinforcement learning that can leverage existing sub-optimal solutions as an algorithmic prior during training and deployment. During training, our gated fusion approach enables the prior to guide the initial stages of exploration, increasing sample-efficiency and enabling learning from sparse long-horizon reward signals. Importantly, the policy can learn to improve beyond the performance of the sub-optimal prior since the prior's influence is annealed gradually. During deployment, the policy's uncertainty provides a reliable strategy for transferring a simulation-trained policy to the real world by falling back to the prior controller in uncertain states. We show the efficacy of our Multiplicative Controller Fusion approach on the task of robot navigation and demonstrate safe transfer from simulation to the real world without any fine tuning. The code for this project is made publicly available at https://sites.google.com/view/mcf-nav/home.

Characterizing hybrid ASP solving in a generic way is difficult since one needs to abstract from specific theories. Inspired by lazy SMT solving, this is usually addressed by treating theory atoms as opaque. Unlike this, we propose a slightly more transparent approach that includes an abstract notion of a term. Rather than imposing a syntax on terms, we keep them abstract by stipulating only some basic properties. With this, we further develop a semantic framework for hybrid ASP solving and provide aggregate functions for theory variables that adhere to different semantic principles, show that they generalize existing aggregate semantics in ASP and how we can rely on off-the-shelf hybrid solvers for implementation.