Developing robotic intelligent systems that can adapt quickly to unseen wild situations is one of the critical challenges in pursuing autonomous robotics. Although some impressive progress has been made in walking stability and skill learning in the field of legged robots, their ability to fast adaptation is still inferior to that of animals in nature. Animals are born with massive skills needed to survive, and can quickly acquire new ones, by composing fundamental skills with limited experience. Inspired by this, we propose a novel framework, named Robot Skill Graph (RSG) for organizing massive fundamental skills of robots and dexterously reusing them for fast adaptation. Bearing a structure similar to the Knowledge Graph (KG), RSG is composed of massive dynamic behavioral skills instead of static knowledge in KG and enables discovering implicit relations that exist in between of learning context and acquired skills of robots, serving as a starting point for understanding subtle patterns existing in robots' skill learning. Extensive experimental results demonstrate that RSG can provide rational skill inference upon new tasks and environments, and enable quadruped robots to adapt to new scenarios and learn new skills rapidly.

Deep learning-based models are at the forefront of most driver observation benchmarks due to their remarkable accuracies but are also associated with high computational costs. This is challenging, as resources are often limited in real-world driving scenarios. This paper introduces a lightweight framework for resource-efficient driver activity recognition. The framework enhances 3D MobileNet, a neural architecture optimized for speed in video classification, by incorporating knowledge distillation and model quantization to balance model accuracy and computational efficiency. Knowledge distillation helps maintain accuracy while reducing the model size by leveraging soft labels from a larger teacher model (I3D), instead of relying solely on original ground truth data. Model quantization significantly lowers memory and computation demands by using lower precision integers for model weights and activations. Extensive testing on a public dataset for in-vehicle monitoring during autonomous driving demonstrates that this new framework achieves a threefold reduction in model size and a 1.4-fold improvement in inference time, compared to an already optimized architecture. The code for this study is available at https://github.com/calvintanama/qd-driver-activity-reco.

During the development of large language models (LLMs), the scale and quality of the pre-training data play a crucial role in shaping LLMs' capabilities. To accelerate the research of LLMs, several large-scale datasets, such as C4 [1], Pile [2], RefinedWeb [3] and WanJuan [4], have been released to the public. However, most of the released corpus focus mainly on English, and there is still lack of complete tool-chain for extracting clean texts from web data. Furthermore, fine-grained information of the corpus, e.g. the quality of each text, is missing. To address these challenges, we propose in this paper a new complete tool-chain EvalWeb to extract Chinese clean texts from noisy web data. First, similar to previous work, manually crafted rules are employed to discard explicit noisy texts from the raw crawled web contents. Second, a well-designed evaluation model is leveraged to assess the remaining relatively clean data, and each text is assigned a specific quality score. Finally, we can easily utilize an appropriate threshold to select the high-quality pre-training data for Chinese. Using our proposed approach, we release the largest and latest large-scale high-quality Chinese web text ChineseWebText, which consists of 1.42 TB and each text is associated with a quality score, facilitating the LLM researchers to choose the data according to the desired quality thresholds. We also release a much cleaner subset of 600 GB Chinese data with the quality exceeding 90%.

Classical federated learning (FL) enables training machine learning models without sharing data for privacy preservation, but heterogeneous data characteristic degrades the performance of the localized model. Personalized FL (PFL) addresses this by synthesizing personalized models from a global model via training on local data. Such a global model may overlook the specific information that the clients have been sampled. In this paper, we propose a novel scheme to inject personalized prior knowledge into the global model in each client, which attempts to mitigate the introduced incomplete information problem in PFL. At the heart of our proposed approach is a framework, the PFL with Bregman Divergence (pFedBreD), decoupling the personalized prior from the local objective function regularized by Bregman divergence for greater adaptability in personalized scenarios. We also relax the mirror descent (RMD) to extract the prior explicitly to provide optional strategies. Additionally, our pFedBreD is backed up by a convergence analysis. Sufficient experiments demonstrate that our method reaches the state-of-the-art performances on 5 datasets and outperforms other methods by up to 3.5% across 8 benchmarks. Extensive analyses verify the robustness and necessity of proposed designs.

For middle-school math students, interactive question-answering (QA) with tutors is an effective way to learn. The flexibility and emergent capabilities of generative large language models (LLMs) has led to a surge of interest in automating portions of the tutoring process - including interactive QA to support conceptual discussion of mathematical concepts. However, LLM responses to math questions can be incorrect or mismatched to the educational context - such as being misaligned with a school's curriculum. One potential solution is retrieval-augmented generation (RAG), which involves incorporating a vetted external knowledge source in the LLM prompt to increase response quality. In this paper, we designed prompts that retrieve and use content from a high-quality open-source math textbook to generate responses to real student questions. We evaluate the efficacy of this RAG system for middle-school algebra and geometry QA by administering a multi-condition survey, finding that humans prefer responses generated using RAG, but not when responses are too grounded in the textbook content. We argue that while RAG is able to improve response quality, designers of math QA systems must consider trade-offs between generating responses preferred by students and responses closely matched to specific educational resources.

Literacy, or the ability to read and write, is a crucial indicator of success in life and greater society. It is estimated that 85% of people in juvenile delinquent systems cannot adequately read or write, that more than half of those with substance abuse issues have complications in reading or writing and that two-thirds of those who do not complete high school lack proper literacy skills. Furthermore, young children who do not possess reading skills matching grade level by the fourth grade are approximately 80% likely to not catch up at all. Many may believe that in a developed country such as the United States, literacy fails to be an issue; however, this is a dangerous misunderstanding. Globally an estimated 1.19 trillion dollars are lost every year due to issues in literacy; in the USA, the loss is an estimated 300 billion. To put it in more shocking terms, one in five American adults still fail to comprehend basic sentences. Making matters worse, the only tools available now to correct a lack of reading and writing ability are found in expensive tutoring or other programs that oftentimes fail to be able to reach the required audience. In this paper, our team puts forward a new way of teaching English spelling and word recognitions to grade school students in the United States: Wordification. Wordification is a web application designed to teach English literacy using principles of linguistics applied to the orthographic and phonological properties of words in a manner not fully utilized previously in any computer-based teaching application.

As more non-AI experts use complex AI systems for daily tasks, there has been an increasing effort to develop methods that produce explanations of AI decision making that are understandable by non-AI experts. Towards this effort, leveraging higher-level concepts and producing concept-based explanations have become a popular method. Most concept-based explanations have been developed for classification techniques, and we posit that the few existing methods for sequential decision making are limited in scope. In this work, we first contribute a desiderata for defining "concepts" in sequential decision making settings. Additionally, inspired by the Protégé Effect which states explaining knowledge often reinforces one's self-learning, we explore how concept-based explanations of an RL agent's decision making can in turn improve the agent's learning rate, as well as improve end-user understanding of the agent's decision making. To this end, we contribute a unified framework, State2Explanation (S2E), that involves learning a joint embedding model between state-action pairs and concept-based explanations, and leveraging such learned model to both (1) inform reward shaping during an agent's training, and (2) provide explanations to end-users at deployment for improved task performance. Our experimental validations, in Connect 4 and Lunar Lander, demonstrate the success of S2E in providing a dual-benefit, successfully informing reward shaping and improving agent learning rate, as well as significantly improving end user task performance at deployment time.

Neural network models of language have long been used as a tool for developing hypotheses about conceptual representation in the mind and brain. For many years, such use involved extracting vector-space representations of words and using distances among these to predict or understand human behavior in various semantic tasks. Contemporary large language models (LLMs), however, make it possible to interrogate the latent structure of conceptual representations using experimental methods nearly identical to those commonly used with human participants. The current work utilizes three common techniques borrowed from cognitive psychology to estimate and compare the structure of concepts in humans and a suite of LLMs. In humans, we show that conceptual structure is robust to differences in culture, language, and method of estimation. Structures estimated from LLM behavior, while individually fairly consistent with those estimated from human behavior, vary much more depending upon the particular task used to generate responses--across tasks, estimates of conceptual structure from the very same model cohere less with one another than do human structure estimates. These results highlight an important difference between contemporary LLMs and human cognition, with implications for understanding some fundamental limitations of contemporary machine language.

Item response theory (IRT) is the study of how people make probabilistic decisions, with diverse applications in education testing, recommendation systems, among others. The Rasch model of binary response data, one of the most fundamental models in IRT, remains an active area of research with important practical significance. Recently, Nguyen and Zhang (2022) proposed a new spectral estimation algorithm that is efficient and accurate. In this work, we extend their results in two important ways. Firstly, we obtain a refined entrywise error bound for the spectral algorithm, complementing the `average error' $\ell_2$ bound in their work. Notably, under mild sampling conditions, the spectral algorithm achieves the minimax optimal error bound (modulo a log factor). Building on the refined analysis, we also show that the spectral algorithm enjoys optimal sample complexity for top-$K$ recovery (e.g., identifying the best $K$ items from approval/disapproval response data), explaining the empirical findings in the previous work. Our second contribution addresses an important but understudied topic in IRT: privacy. Despite the human-centric applications of IRT, there has not been any proposed privacy-preserving mechanism in the literature. We develop a private extension of the spectral algorithm, leveraging its unique Markov chain formulation and the discrete Gaussian mechanism (Canonne et al., 2020). Experiments show that our approach is significantly more accurate than the baselines in the low-to-moderate privacy regime.

Recommendation systems (RSs) are the principal ingredient of many online services and platforms like Youtube, Quora, Substack, and Medium. Algorithmicall y, those platforms treat the task of recommendation as a matching problem. RSs match a user's con text, i.e., their past interactions, demographics, etc., to an item from a predetermined list of i tems, e.g., news articles, which will hopefully satisfy that user. The quality of a user-content m atch is initially unclear, so many data-driven approaches have been proposed to determine a matchin g's quality; for instance, collaborate filtering [ 23 ], matrix completion [ 37 ], and online learning [ 7 ]. However, due to their rapid adoption in commercial applications, many RSs are now dynamic economic systems with multiple stakeholders, facing challenges beyond dissolving uncertainty in matchi ng. Fairness [ 6, 15, 18, 35 ], misinformation [ 17 ], user incentives [ 3, 24 ], and privacy [ 21 ] are only some of the challenges RSs face. A recent body of research addresses tradeoffs among stakehol ders [ 9, 10, 28 ]. Online platforms have three main stakeholders: The commercial company that r uns the platform, content consumers, and content providers. Content consumers, which we refer to as users for simplicity, enjoy the RSs' content.