The efficient computation of viewpoints under consideration of various system and process constraints is a common challenge that any robot vision system is confronted with when trying to execute a vision task. Although fundamental research has provided solid and sound solutions for tackling this problem, a holistic framework that poses its formal description, considers the heterogeneity of robot vision systems, and offers an integrated solution remains unaddressed. Hence, this publication outlines the generation of viewpoints as a geometrical problem and introduces a generalized theoretical framework based on Feature-Based Constrained Spaces ($\mathcal{C}$-spaces) as the backbone for solving it. A $\mathcal{C}$-space can be understood as the topological space that a viewpoint constraint spans, where the sensor can be positioned for acquiring a feature while fulfilling the regarded constraint. The present study demonstrates that many viewpoint constraints can be efficiently formulated as $\mathcal{C}$-spaces providing geometric, deterministic, and closed solutions. The introduced $\mathcal{C}$-spaces are characterized based on generic domain and viewpoint constraints models to ease the transferability of the present framework to different applications and robot vision systems. The effectiveness and efficiency of the concepts introduced are verified on a simulation-based scenario and validated on a real robot vision system comprising two different sensors.

Generative AI systems across modalities, ranging from text, image, audio, and video, have broad social impacts, but there exists no official standard for means of evaluating those impacts and which impacts should be evaluated. We move toward a standard approach in evaluating a generative AI system for any modality, in two overarching categories: what is able to be evaluated in a base system that has no predetermined application and what is able to be evaluated in society. We describe specific social impact categories and how to approach and conduct evaluations in the base technical system, then in people and society. Our framework for a base system defines seven categories of social impact: bias, stereotypes, and representational harms; cultural values and sensitive content; disparate performance; privacy and data protection; financial costs; environmental costs; and data and content moderation labor costs. Suggested methods for evaluation apply to all modalities and analyses of the limitations of existing evaluations serve as a starting point for necessary investment in future evaluations. We offer five overarching categories for what is able to be evaluated in society, each with their own subcategories: trustworthiness and autonomy; inequality, marginalization, and violence; concentration of authority; labor and creativity; and ecosystem and environment. Each subcategory includes recommendations for mitigating harm. We are concurrently crafting an evaluation repository for the AI research community to contribute existing evaluations along the given categories. This version will be updated following a CRAFT session at ACM FAccT 2023.

The objective of this paper is to investigate the finite-time analysis of a Q-learning algorithm applied to two-player zero-sum Markov games. Specifically, we establish a finite-time analysis of both the minimax Q-learning algorithm and the corresponding value iteration method. To enhance the analysis of both value iteration and Q-learning, we employ the switching system model of minimax Q-learning and the associated value iteration. This approach provides further insights into minimax Q-learning and facilitates a more straightforward and insightful convergence analysis. We anticipate that the introduction of these additional insights has the potential to uncover novel connections and foster collaboration between concepts in the fields of control theory and reinforcement learning communities.

Behavior trees represent a modular way to create an overall controller from a set of sub-controllers solving different sub-problems. These sub-controllers can be created in different ways, such as classical model based control or reinforcement learning (RL). If each sub-controller satisfies the preconditions of the next sub-controller, the overall controller will achieve the overall goal. However, even if all sub-controllers are locally optimal in achieving the preconditions of the next, with respect to some performance metric such as completion time, the overall controller might be far from optimal with respect to the same performance metric. In this paper we show how the performance of the overall controller can be improved if we use approximations of value functions to inform the design of a sub-controller of the needs of the next one. We also show how, under certain assumptions, this leads to a globally optimal controller when the process is executed on all sub-controllers. Finally, this result also holds when some of the sub-controllers are already given, i.e., if we are constrained to use some existing sub-controllers the overall controller will be globally optimal given this constraint.

Trustworthy Artificial Intelligence (AI) is based on seven technical requirements sustained over three main pillars that should be met throughout the system's entire life cycle: it should be (1) lawful, (2) ethical, and (3) robust, both from a technical and a social perspective. However, attaining truly trustworthy AI concerns a wider vision that comprises the trustworthiness of all processes and actors that are part of the system's life cycle, and considers previous aspects from different lenses. A more holistic vision contemplates four essential axes: the global principles for ethical use and development of AI-based systems, a philosophical take on AI ethics, a risk-based approach to AI regulation, and the mentioned pillars and requirements. The seven requirements (human agency and oversight; robustness and safety; privacy and data governance; transparency; diversity, non-discrimination and fairness; societal and environmental wellbeing; and accountability) are analyzed from a triple perspective: What each requirement for trustworthy AI is, Why it is needed, and How each requirement can be implemented in practice. On the other hand, a practical approach to implement trustworthy AI systems allows defining the concept of responsibility of AI-based systems facing the law, through a given auditing process. Therefore, a responsible AI system is the resulting notion we introduce in this work, and a concept of utmost necessity that can be realized through auditing processes, subject to the challenges posed by the use of regulatory sandboxes. Our multidisciplinary vision of trustworthy AI culminates in a debate on the diverging views published lately about the future of AI. Our reflections in this matter conclude that regulation is a key for reaching a consensus among these views, and that trustworthy and responsible AI systems will be crucial for the present and future of our society.

In recent years, considerable research has been dedicated to the application of neural models in the field of natural language generation (NLG). The primary objective is to generate text that is both linguistically natural and human-like, while also exerting control over the generation process. This paper offers a comprehensive and task-agnostic survey of the recent advancements in neural text generation. These advancements have been facilitated through a multitude of developments, which we categorize into four key areas: data construction, neural frameworks, training and inference strategies, and evaluation metrics. By examining these different aspects, we aim to provide a holistic overview of the progress made in the field. Furthermore, we explore the future directions for the advancement of neural text generation, which encompass the utilization of neural pipelines and the incorporation of background knowledge. These avenues present promising opportunities to further enhance the capabilities of NLG systems. Overall, this survey serves to consolidate the current state of the art in neural text generation and highlights potential avenues for future research and development in this dynamic field.

Transformer is a deep neural network that employs a self-attention mechanism to comprehend the contextual relationships within sequential data. Unlike conventional neural networks or updated versions of Recurrent Neural Networks (RNNs) such as Long Short-Term Memory (LSTM), transformer models excel in handling long dependencies between input sequence elements and enable parallel processing. As a result, transformer-based models have attracted substantial interest among researchers in the field of artificial intelligence. This can be attributed to their immense potential and remarkable achievements, not only in Natural Language Processing (NLP) tasks but also in a wide range of domains, including computer vision, audio and speech processing, healthcare, and the Internet of Things (IoT). Although several survey papers have been published highlighting the transformer's contributions in specific fields, architectural differences, or performance evaluations, there is still a significant absence of a comprehensive survey paper encompassing its major applications across various domains. Therefore, we undertook the task of filling this gap by conducting an extensive survey of proposed transformer models from 2017 to 2022. Our survey encompasses the identification of the top five application domains for transformer-based models, namely: NLP, Computer Vision, Multi-Modality, Audio and Speech Processing, and Signal Processing. We analyze the impact of highly influential transformer-based models in these domains and subsequently classify them based on their respective tasks using a proposed taxonomy. Our aim is to shed light on the existing potential and future possibilities of transformers for enthusiastic researchers, thus contributing to the broader understanding of this groundbreaking technology.

Neural models have drastically advanced state of the art for machine translation (MT) between high-resource languages. Traditionally, these models rely on large amounts of training data, but many language pairs lack these resources. However, an important part of the languages in the world do not have this amount of data. Most languages from the Americas are among them, having a limited amount of parallel and monolingual data, if any. Here, we present an introduction to the interested reader to the basic challenges, concepts, and techniques that involve the creation of MT systems for these languages. Finally, we discuss the recent advances and findings and open questions, product of an increased interest of the NLP community in these languages.

With the advent of emerging IoT applications such as autonomous driving, digital-twin and metaverse etc. featuring massive data sensing, analyzing and inference as well critical latency in beyond 5G (B5G) networks, edge artificial intelligence (AI) has been proposed to provide high-performance computation of a conventional cloud down to the network edge. However, most existing design frameworks separate these designs incurring unnecessary signaling overhead and waste of energy, and it is therefore of paramount importance to advance fully integrated sensing, computation and communication (ISCC) to achieve ultra-reliable and low-latency edge intelligence acquisition. In this article, we provide an overview of principles of enabling ISCC technologies followed by two concrete use cases of edge AI tasks demonstrating the advantage of task-oriented ISCC, and pointed out some practical challenges in edge AI design with advanced ISCC solutions. H. Xing and H. Wen are with the Internet of Things (IoT) Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China. H. Xing is also affiliated with the Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong (e-mails: hongxing@ust.hk, D. Liu is with the School of Computing Science, University of Glasgow, Glasgow G12 8RZ, United Kingdom (e-mail: dongzhu.liu@glasgow.ac.uk). K. Huang is with the Department of Electrical and Electronic Engineering (EEE), The University of Hong Kong, Hong Kong (e-mail: huangkb@eee.hku.hk).

The black-box nature of artificial intelligence (AI) models has been the source of many concerns in their use for critical applications. Explainable Artificial Intelligence (XAI) is a rapidly growing research field that aims to create machine learning models that can provide clear and interpretable explanations for their decisions and actions. In the field of network cybersecurity, XAI has the potential to revolutionize the way we approach network security by enabling us to better understand the behavior of cyber threats and to design more effective defenses. In this survey, we review the state of the art in XAI for cybersecurity in network systems and explore the various approaches that have been proposed to address this important problem. The review follows a systematic classification of network-driven cybersecurity threats and issues. We discuss the challenges and limitations of current XAI methods in the context of cybersecurity and outline promising directions for future research.