In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture, to home assistance. The goal of this survey is to cover the recent progress toward these applications that has been driven by model-based optimization for the real-time generation and control of movement. The majority of the research community has converged on the idea of generating locomotion control laws by solving an optimal control problem (OCP) in either a model-based or data-driven manner. However, solving the most general of these problems online remains intractable due to complexities from intermittent unidirectional contacts with the environment, and from the many degrees of freedom of legged robots. This survey covers methods that have been pursued to make these OCPs computationally tractable, with specific focus on how environmental contacts are treated, how the model can be simplified, and how these choices affect the numerical solution methods employed. The survey focuses on model-based optimization, covering its recent use in a stand alone fashion, and suggesting avenues for combination with learning-based formulations to further accelerate progress in this growing field.

Computing is a critical driving force in the development of human civilization. In recent years, we have witnessed the emergence of intelligent computing, a new computing paradigm that is reshaping traditional computing and promoting digital revolution in the era of big data, artificial intelligence and internet-of-things with new computing theories, architectures, methods, systems, and applications. Intelligent computing has greatly broadened the scope of computing, extending it from traditional computing on data to increasingly diverse computing paradigms such as perceptual intelligence, cognitive intelligence, autonomous intelligence, and human-computer fusion intelligence. Intelligence and computing have undergone paths of different evolution and development for a long time but have become increasingly intertwined in recent years: intelligent computing is not only intelligence-oriented but also intelligence-driven. Such cross-fertilization has prompted the emergence and rapid advancement of intelligent computing. Intelligent computing is still in its infancy and an abundance of innovations in the theories, systems, and applications of intelligent computing are expected to occur soon. We present the first comprehensive survey of literature on intelligent computing, covering its theory fundamentals, the technological fusion of intelligence and computing, important applications, challenges, and future perspectives. We believe that this survey is highly timely and will provide a comprehensive reference and cast valuable insights into intelligent computing for academic and industrial researchers and practitioners.

Social media has become an important information source for crisis management and provides quick access to ongoing developments and critical information. However, classification models suffer from event-related biases and highly imbalanced label distributions which still poses a challenging task. To address these challenges, we propose a combination of entity-masked language modeling and hierarchical multi-label classification as a multi-task learning problem. We evaluate our method on tweets from the TREC-IS dataset and show an absolute performance gain w.r.t. F1-score of up to 10% for actionable information types. Moreover, we found that entity-masking reduces the effect of overfitting to in-domain events and enables improvements in cross-event generalization.

We present our work on collecting ArzEn-ST, a code-switched Egyptian Arabic - English Speech Translation Corpus. This corpus is an extension of the ArzEn speech corpus, which was collected through informal interviews with bilingual speakers. In this work, we collect translations in both directions, monolingual Egyptian Arabic and monolingual English, forming a three-way speech translation corpus. We make the translation guidelines and corpus publicly available. We also report results for baseline systems for machine translation and speech translation tasks. We believe this is a valuable resource that can motivate and facilitate further research studying the code-switching phenomenon from a linguistic perspective and can be used to train and evaluate NLP systems.

This survey includes systematic generalization and a history of how machine learning addresses it. We aim to summarize and organize the related information of both conventional and recent improvements. We first look at the definition of systematic generalization, then introduce Classicist and Connectionist. We then discuss different types of Connectionists and how they approach the generalization. Two crucial problems of variable binding and causality are discussed. We look into systematic generalization in language, vision, and VQA fields. Recent improvements from different aspects are discussed. Systematic generalization has a long history in artificial intelligence. We could cover only a small portion of many contributions. We hope this paper provides a background and is beneficial for discoveries in future work.

Deep learning is becoming increasingly popular in real-life applications, especially in natural language processing (NLP). Users often choose training outsourcing or adopt third-party data and models due to data and computation resources being limited. In such a situation, training data and models are exposed to the public. As a result, attackers can manipulate the training process to inject some triggers into the model, which is called backdoor attack. Backdoor attack is quite stealthy and difficult to be detected because it has little inferior influence on the model's performance for the clean samples. To get a precise grasp and understanding of this problem, in this paper, we conduct a comprehensive review of backdoor attacks and defenses in the field of NLP. Besides, we summarize benchmark datasets and point out the open issues to design credible systems to defend against backdoor attacks.

Graph prediction problems prevail in data analysis and machine learning. The inverse prediction problem, namely to infer input data from given output labels, is of emerging interest in various applications. In this work, we develop \textit{invertible graph neural network} (iGNN), a deep generative model to tackle the inverse prediction problem on graphs by casting it as a conditional generative task. The proposed model consists of an invertible sub-network that maps one-to-one from data to an intermediate encoded feature, which allows forward prediction by a linear classification sub-network as well as efficient generation from output labels via a parametric mixture model. The invertibility of the encoding sub-network is ensured by a Wasserstein-2 regularization which allows free-form layers in the residual blocks. The model is scalable to large graphs by a factorized parametric mixture model of the encoded feature and is computationally scalable by using GNN layers. The existence of invertible flow mapping is backed by theories of optimal transport and diffusion process, and we prove the expressiveness of graph convolution layers to approximate the theoretical flows of graph data. The proposed iGNN model is experimentally examined on synthetic data, including the example on large graphs, and the empirical advantage is also demonstrated on real-application datasets of solar ramping event data and traffic flow anomaly detection.

Graph neural networks, a powerful deep learning tool to model graph-structured data, have demonstrated remarkable performance on numerous graph learning tasks. To address the data noise and data scarcity issues in deep graph learning, the research on graph data augmentation has intensified lately. However, conventional data augmentation methods can hardly handle graph-structured data which is defined in non-Euclidean space with multi-modality. In this survey, we formally formulate the problem of graph data augmentation and further review the representative techniques and their applications in different deep graph learning problems. Specifically, we first propose a taxonomy for graph data augmentation techniques and then provide a structured review by categorizing the related work based on the augmented information modalities. Moreover, we summarize the applications of graph data augmentation in two representative problems in data-centric deep graph learning: (1) reliable graph learning which focuses on enhancing the utility of input graph as well as the model capacity via graph data augmentation; and (2) low-resource graph learning which targets on enlarging the labeled training data scale through graph data augmentation. For each problem, we also provide a hierarchical problem taxonomy and review the existing literature related to graph data augmentation. Finally, we point out promising research directions and the challenges in future research.

This paper reviews vision-based localization methods in GPS-denied environments and classifies the mainstream methods into Relative Vision Localization (RVL) and Absolute Vision Localization (AVL). For RVL, we discuss the broad application of optical flow in feature extraction-based Visual Odometry (VO) solutions and introduce advanced optical flow estimation methods. For AVL, we review recent advances in Visual Simultaneous Localization and Mapping (VSLAM) techniques, from optimization-based methods to Extended Kalman Filter (EKF) based methods. We also introduce the application of offline map registration and lane vision detection schemes to achieve Absolute Visual Localization. This paper compares the performance and applications of mainstream methods for visual localization and provides suggestions for future studies.

Scandinavian countries are perceived as role-models when it comes to gender equality. With the advent of pre-trained language models and their widespread usage, we investigate to what extent gender-based harmful and toxic content exist in selected Scandinavian language models. We examine nine models, covering Danish, Swedish, and Norwegian, by manually creating template-based sentences and probing the models for completion. We evaluate the completions using two methods for measuring harmful and toxic completions and provide a thorough analysis of the results. We show that Scandinavian pre-trained language models contain harmful and gender-based stereotypes with similar values across all languages. This finding goes against the general expectations related to gender equality in Scandinavian countries and shows the possible problematic outcomes of using such models in real-world settings.