Human-like planning skills and dexterous manipulation have long posed challenges in the fields of robotics and artificial intelligence (AI). The task of reinterpreting calligraphy presents a formidable challenge, as it involves the decomposition of strokes and dexterous utensil control. Previous efforts have primarily focused on supervised learning of a single instrument, limiting the performance of robots in the realm of cross-domain text replication. To address these challenges, we propose CalliRewrite: a coarse-to-fine approach for robot arms to discover and recover plausible writing orders from diverse calligraphy images without requiring labeled demonstrations. Our model achieves fine-grained control of various writing utensils. Specifically, an unsupervised image-to-sequence model decomposes a given calligraphy glyph to obtain a coarse stroke sequence. Using an RL algorithm, a simulated brush is fine-tuned to generate stylized trajectories for robotic arm control. Evaluation in simulation and physical robot scenarios reveals that our method successfully replicates unseen fonts and styles while achieving integrity in unknown characters.

The rise in the use of AI/ML applications across industries has sparked more discussions about the fairness of AI/ML in recent times. While prior research on the fairness of AI/ML exists, there is a lack of empirical studies focused on understanding the views and experiences of AI practitioners in developing a fair AI/ML. Understanding AI practitioners' views and experiences on the fairness of AI/ML is important because they are directly involved in its development and deployment and their insights can offer valuable real-world perspectives on the challenges associated with ensuring fairness in AI/ML. We conducted semi-structured interviews with 22 AI practitioners to investigate their understanding of what a 'fair AI/ML' is, the challenges they face in developing a fair AI/ML, the consequences of developing an unfair AI/ML, and the strategies they employ to ensure AI/ML fairness. We developed a framework showcasing the relationship between AI practitioners' understanding of 'fair AI/ML' and (i) their challenges in its development, (ii) the consequences of developing an unfair AI/ML, and (iii) strategies used to ensure AI/ML fairness. Additionally, we also identify areas for further investigation and offer recommendations to aid AI practitioners and AI companies in navigating fairness.

The advancement of Large Language Models (LLMs) has significantly transformed the field of natural language processing, although the focus on English-centric models has created a noticeable research gap for specific languages, including Vietnamese. To address this issue, this paper presents vi-mistral-x, an innovative Large Language Model designed expressly for the Vietnamese language. It utilizes a unique method of continual pre-training, based on the Mistral architecture, which incorporates grouped-query attention and sliding window attention techniques. This model, vi-Mistral-X, marks a significant step forward in improving the understanding and generation of the Vietnamese language. It introduces an additional phase of continual pre-training, specifically adapted for Vietnamese, enhancing the model's capability in understanding complex language nuances and generating accurate, context-aware Vietnamese text. Through comprehensive testing on various benchmarks, vi-mistral-x has shown to outperform existing Vietnamese LLMs in several key areas, including text classification, question answering, and text generation. Particularly, in the Vietnamese Multitask Language Understanding (VMLU) benchmark, vi-mistral-x sets a new standard, outperforming other available models significantly. This paper highlights the critical role of continual pre-training in advancing language-specific LLMs and opens new avenues for the development of multilingual models. We aim for vi-mistral-x to not just be an important asset for processing the Vietnamese language but also to encourage more advancements in creating large language models for languages that are less represented.

Many researchers offer graduate-level versions of the course, which may focus more on the specific researcher's focus area of HRI or be a seminar-style class with reading weekly scientific articles but often feature little to no lecturing on fundamental topics. At the end of an introductory human-robot interaction course, I believe every student should have the tools to: Read, understand, and discuss recent literature Have a comprehensive overview of the entire field of HRI (not just a subset) Design a user study with human participants Develop a hands-on interaction with a real robot Analyze and evaluate experimental data Communicate their findings This manuscript describes the importance of an introductory course containing theoretical and experimental components in Section 2, while Section 3 advocates for adopting or creating a universal robotic platform that all introductory students will gain experience with through a semester-long project, regardless of university funding or size. I also see significant value in some teaching technical papers at the undergraduate level, and I recommend a comprehensive way to do this in Section 4. Section 5 more explicitly outlines the proposed course content for such an introductory course based on my experience designing and teaching such a course in Fall 2023.

Large Language Models (LLMs) have demonstrated impressive zero-shot capabilities and versatility in NLP tasks, however they sometimes fail to maintain crucial invariances for specific tasks. One example is permutation sensitivity, where LLMs' outputs may significantly vary depending on the order of the input options. While debiasing techniques can mitigate these issues, and yield better performance and reliability, they often come with a high computational cost at inference. This paper addresses this inefficiency at inference time. The aim is to distill the capabilities of a computationally intensive, debiased, teacher model into a more compact student model. We explore two variants of student models: one based on pure distillation, and the other on an error-correction approach for more complex tasks, where the student corrects a single biased decision from the teacher to achieve a debiased output. Our approach is general and can be applied to both black-box and white-box LLMs. Furthermore, we demonstrate that our compact, encoder-only student models can outperform their larger, biased teacher counterparts, achieving better results with significantly fewer parameters.

We develop Polaris, the first safety-focused LLM constellation for real-time patient-AI healthcare conversations. Unlike prior LLM works in healthcare focusing on tasks like question answering, our work specifically focuses on long multi-turn voice conversations. Our one-trillion parameter constellation system is composed of several multibillion parameter LLMs as co-operative agents: a stateful primary agent that focuses on driving an engaging conversation and several specialist support agents focused on healthcare tasks performed by nurses to increase safety and reduce hallucinations. We develop a sophisticated training protocol for iterative co-training of the agents that optimize for diverse objectives. We train our models on proprietary data, clinical care plans, healthcare regulatory documents, medical manuals, and other medical reasoning documents. We align our models to speak like medical professionals, using organic healthcare conversations and simulated ones between patient actors and experienced nurses. This allows our system to express unique capabilities such as rapport building, trust building, empathy and bedside manner. Finally, we present the first comprehensive clinician evaluation of an LLM system for healthcare. We recruited over 1100 U.S. licensed nurses and over 130 U.S. licensed physicians to perform end-to-end conversational evaluations of our system by posing as patients and rating the system on several measures. We demonstrate Polaris performs on par with human nurses on aggregate across dimensions such as medical safety, clinical readiness, conversational quality, and bedside manner. Additionally, we conduct a challenging task-based evaluation of the individual specialist support agents, where we demonstrate our LLM agents significantly outperform a much larger general-purpose LLM (GPT-4) as well as from its own medium-size class (LLaMA-2 70B).

Tools for fighting cyber-criminal activities using new technologies are promoted and deployed every day. However, too often, they are unnecessarily complex and hard to use, requiring deep domain and technical knowledge. These characteristics often limit the engagement of law enforcement and end-users in these technologies that, despite their potential, remain misunderstood. For this reason, in this study, we describe our experience in combining learning and training methods and the potential benefits of gamification to enhance technology transfer and increase adult learning. In fact, in this case, participants are experienced practitioners in professions/industries that are exposed to terrorism financing (such as Law Enforcement Officers, Financial Investigation Officers, private investigators, etc.) We define training activities on different levels for increasing the exchange of information about new trends and criminal modus operandi among and within law enforcement agencies, intensifying cross-border cooperation and supporting efforts to combat and prevent terrorism funding activities. On the other hand, a game (hackathon) is designed to address realistic challenges related to the dark net, crypto assets, new payment systems and dark web marketplaces that could be used for terrorist activities. The entire methodology was evaluated using quizzes, contest results, and engagement metrics. In particular, training events show about 60% of participants complete the 11-week training course, while the Hackathon results, gathered in two pilot studies (Madrid and The Hague), show increasing expertise among the participants (progression in the achieved points on average). At the same time, more than 70% of participants positively evaluate the use of the gamification approach, and more than 85% of them consider the implemented Use Cases suitable for their investigations.

Video Action Counting (VAC) is crucial in analyzing sports, fitness, and everyday activities by quantifying repetitive actions in videos. However, traditional VAC methods have overlooked the complexity of action repetitions, such as interruptions and the variability in cycle duration. Our research addresses the shortfall by introducing a novel approach to VAC, called Irregular Video Action Counting (IVAC). IVAC prioritizes modeling irregular repetition patterns in videos, which we define through two primary aspects: Inter-cycle Consistency and Cycle-interval Inconsistency. Inter-cycle Consistency ensures homogeneity in the spatial-temporal representations of cycle segments, signifying action uniformity within cycles. Cycle-interval inconsistency highlights the importance of distinguishing between cycle segments and intervals based on their inherent content differences. To encapsulate these principles, we propose a new methodology that includes consistency and inconsistency modules, supported by a unique pull-push loss (P2L) mechanism. The IVAC-P2L model applies a pull loss to promote coherence among cycle segment features and a push loss to clearly distinguish features of cycle segments from interval segments. Empirical evaluations conducted on the RepCount dataset demonstrate that the IVAC-P2L model sets a new benchmark in VAC task performance. Furthermore, the model demonstrates exceptional adaptability and generalization across various video contents, outperforming existing models on two additional datasets, UCFRep and Countix, without the need for dataset-specific optimization. These results confirm the efficacy of our approach in addressing irregular repetitions in videos and pave the way for further advancements in video analysis and understanding.

Robotic manipulation in everyday scenarios, especially in unstructured environments, requires skills in pose-aware object manipulation (POM), which adapts robots' grasping and handling according to an object's 6D pose. Recognizing an object's position and orientation is crucial for effective manipulation. For example, if a mug is lying on its side, it's more effective to grasp it by the rim rather than the handle. Despite its importance, research in POM skills remains limited, because learning manipulation skills requires pose-varying simulation environments and datasets. This paper introduces ManiPose, a pioneering benchmark designed to advance the study of pose-varying manipulation tasks. ManiPose encompasses: 1) Simulation environments for POM feature tasks ranging from 6D pose-specific pick-and-place of single objects to cluttered scenes, further including interactions with articulated objects. 2) A comprehensive dataset featuring geometrically consistent and manipulation-oriented 6D pose labels for 2936 real-world scanned rigid objects and 100 articulated objects across 59 categories. 3) A baseline for POM, leveraging the inferencing abilities of LLM (e.g., ChatGPT) to analyze the relationship between 6D pose and task-specific requirements, offers enhanced pose-aware grasp prediction and motion planning capabilities. Our benchmark demonstrates notable advancements in pose estimation, pose-aware manipulation, and real-robot skill transfer, setting new standards for POM research. We will open-source the ManiPose benchmark with the final version paper, inviting the community to engage with our resources, available at our website:https://sites.google.com/view/manipose.

The current winning recipe for automatic summarization is using proprietary large-scale language models (LLMs) such as ChatGPT as is, or imitation learning from them as teacher models. While increasingly ubiquitous dependence on such large-scale language models is convenient, there remains an important question of whether small-scale models could have achieved competitive results, if we were to seek an alternative learning method -- that allows for a more cost-efficient, controllable, yet powerful summarizer. We present InfoSumm, a novel framework to distill a powerful summarizer based on the information-theoretic objective for summarization, without relying on either the LLM's capability or human-written references. To achieve this, we first propose a novel formulation of the desiderata of summarization (saliency, faithfulness and brevity) through the lens of mutual information between the original document and the summary. Based on this formulation, we start off from Pythia-2.8B as the teacher model, which is not yet capable of summarization, then self-train the model to optimize for the information-centric measures of ideal summaries. Distilling from the improved teacher, we arrive at a compact but powerful summarizer with only 568M parameters that performs competitively against ChatGPT, without ever relying on ChatGPT's capabilities. Extensive analysis demonstrates that our approach outperforms in-domain supervised models in human evaluation, let alone state-of-the-art unsupervised methods, and wins over ChatGPT in controllable summarization.