Despite its importance in both industrial and service robotics, mobile manipulation remains a significant challenge as it requires a seamless integration of end-effector trajectory generation with navigation skills as well as reasoning over long-horizons. Existing methods struggle to control the large configuration space, and to navigate dynamic and unknown environments. In previous work, we proposed to decompose mobile manipulation tasks into a simplified motion generator for the end-effector in task space and a trained reinforcement learning agent for the mobile base to account for kinematic feasibility of the motion. In this work, we introduce Neural Navigation for Mobile Manipulation (N$^2$M$^2$) which extends this decomposition to complex obstacle environments and enables it to tackle a broad range of tasks in real world settings. The resulting approach can perform unseen, long-horizon tasks in unexplored environments while instantly reacting to dynamic obstacles and environmental changes. At the same time, it provides a simple way to define new mobile manipulation tasks. We demonstrate the capabilities of our proposed approach in extensive simulation and real-world experiments on multiple kinematically diverse mobile manipulators. Code and videos are publicly available at http://mobile-rl.cs.uni-freiburg.de.

Voicebots have provided a new avenue for supporting the development of language skills, particularly within the context of second language learning. Voicebots, though, have largely been geared towards native adult speakers. We sought to assess the performance of two state-of-the-art ASR systems, Wav2Vec2.0 and Whisper AI, with a view to developing a voicebot that can support children acquiring a foreign language. We evaluated their performance on read and extemporaneous speech of native and non-native Dutch children. We also investigated the utility of using ASR technology to provide insight into the children's pronunciation and fluency. The results show that recent, pre-trained ASR transformer-based models achieve acceptable performance from which detailed feedback on phoneme pronunciation quality can be extracted, despite the challenging nature of child and non-native speech.

Solving control tasks in complex environments automatically through learning offers great potential. While contemporary techniques from deep reinforcement learning (DRL) provide effective solutions, their decision-making is not transparent. We aim to provide insights into the decisions faced by the agent by learning an automaton model of environmental behavior under the control of an agent. However, for most control problems, automata learning is not scalable enough to learn a useful model. In this work, we raise the capabilities of automata learning such that it is possible to learn models for environments that have complex and continuous dynamics. The core of the scalability of our method lies in the computation of an abstract state-space representation, by applying dimensionality reduction and clustering on the observed environmental state space. The stochastic transitions are learned via passive automata learning from observed interactions of the agent and the environment. In an iterative model-based RL process, we sample additional trajectories to learn an accurate environment model in the form of a discrete-state Markov decision process (MDP). We apply our automata learning framework on popular RL benchmarking environments in the OpenAI Gym, including LunarLander, CartPole, Mountain Car, and Acrobot. Our results show that the learned models are so precise that they enable the computation of policies solving the respective control tasks. Yet the models are more concise and more general than neural-network-based policies and by using MDPs we benefit from a wealth of tools available for analyzing them. When solving the task of LunarLander, the learned model even achieved similar or higher rewards than deep RL policies learned with stable-baselines3.

The AlphaGarden is an automated testbed for indoor polyculture farming which combines a first-order plant simulator, a gantry robot, a seed planting algorithm, plant phenotyping and tracking algorithms, irrigation sensors and algorithms, and custom pruning tools and algorithms. In this paper, we systematically compare the performance of the AlphaGarden to professional horticulturalists on the staff of the UC Berkeley Oxford Tract Greenhouse. The humans and the machine tend side-by-side polyculture gardens with the same seed arrangement. We compare performance in terms of canopy coverage, plant diversity, and water consumption. Results from two 60-day cycles suggest that the automated AlphaGarden performs comparably to professional horticulturalists in terms of coverage and diversity, and reduces water consumption by as much as 44%. Code, videos, and datasets are available at https://sites.google.com/berkeley.edu/systematiccomparison.

Recent work has observed an intriguing ''Neural Collapse'' phenomenon in well-trained neural networks, where the last-layer representations of training samples with the same label collapse into each other. This appears to suggest that the last-layer representations are completely determined by the labels, and do not depend on the intrinsic structure of input distribution. We provide evidence that this is not a complete description, and that the apparent collapse hides important fine-grained structure in the representations. Specifically, even when representations apparently collapse, the small amount of remaining variation can still faithfully and accurately captures the intrinsic structure of input distribution. As an example, if we train on CIFAR-10 using only 5 coarse-grained labels (by combining two classes into one super-class) until convergence, we can reconstruct the original 10-class labels from the learned representations via unsupervised clustering. The reconstructed labels achieve $93\%$ accuracy on the CIFAR-10 test set, nearly matching the normal CIFAR-10 accuracy for the same architecture. We also provide an initial theoretical result showing the fine-grained representation structure in a simplified synthetic setting. Our results show concretely how the structure of input data can play a significant role in determining the fine-grained structure of neural representations, going beyond what Neural Collapse predicts.

Continual learning (CL) is an approach to address catastrophic forgetting, which refers to forgetting previously learned knowledge by neural networks when trained on new tasks or data distributions. The adversarial robustness has decomposed features into robust and non-robust types and demonstrated that models trained on robust features significantly enhance adversarial robustness. However, no study has been conducted on the efficacy of robust features from the lens of the CL model in mitigating catastrophic forgetting in CL. In this paper, we introduce the CL robust dataset and train four baseline models on both the standard and CL robust datasets. Our results demonstrate that the CL models trained on the CL robust dataset experienced less catastrophic forgetting of the previously learned tasks than when trained on the standard dataset. Our observations highlight the significance of the features provided to the underlying CL models, showing that CL robust features can alleviate catastrophic forgetting.

The word creativity originally described a concept from human psychology, but in the realm of computational creativity (CC), it has become much more. The question of what creativity means when it is part of a computational system might be considered core to CC. Pinning down the meaning of creativity, and concepts like it, becomes salient when researchers port concepts from human psychology to computation, a widespread practice extending beyond CC into artificial intelligence (AI). Yet, the human processes shaping human-inspired computational systems have been little investigated. In this paper, we question which human literatures (social sciences, psychology, neuroscience) enter AI scholarship and how they are translated at the port of entry. This study is based on 22 in-depth, semi-structured interviews, primarily with human-inspired AI researchers, half of whom focus on creativity as a major research area. This paper focuses on findings most relevant to CC. We suggest that which human literature enters AI bears greater scrutiny because ideas may become disconnected from context in their home discipline. Accordingly, we recommend that CC researchers document the decisions and context of their practices, particularly those practices formalizing human concepts for machines. Publishing reflexive commentary on human elements in CC and AI would provide a useful record and permit greater dialogue with other disciplines.

We examine the assumption that the hidden-state vectors of recurrent neural networks (RNNs) tend to form clusters of semantically similar vectors, which we dub the clustering hypothesis. While this hypothesis has been assumed in the analysis of RNNs in recent years, its validity has not been studied thoroughly on modern neural network architectures. We examine the clustering hypothesis in the context of RNNs that were trained to recognize regular languages. This enables us to draw on perfect ground-truth automata in our evaluation, against which we can compare the RNN's accuracy and the distribution of the hidden-state vectors. We start with examining the (piecewise linear) separability of an RNN's hidden-state vectors into semantically different classes. We continue the analysis by computing clusters over the hidden-state vector space with multiple state-of-the-art unsupervised clustering approaches. We formally analyze the accuracy of computed clustering functions and the validity of the clustering hypothesis by determining whether clusters group semantically similar vectors to the same state in the ground-truth model. Our evaluation supports the validity of the clustering hypothesis in the majority of examined cases. We observed that the hidden-state vectors of well-trained RNNs are separable, and that the unsupervised clustering techniques succeed in finding clusters of similar state vectors.

The great learning ability of deep learning models facilitates us to comprehend the real physical world, making learning to simulate complicated particle systems a promising endeavour. However, the complex laws of the physical world pose significant challenges to the learning based simulations, such as the varying spatial dependencies between interacting particles and varying temporal dependencies between particle system states in different time stamps, which dominate particles' interacting behaviour and the physical systems' evolution patterns. Existing learning based simulation methods fail to fully account for the complexities, making them unable to yield satisfactory simulations. To better comprehend the complex physical laws, this paper proposes a novel learning based simulation model- Graph Networks with Spatial-Temporal neural Ordinary Equations (GNSTODE)- that characterizes the varying spatial and temporal dependencies in particle systems using a united end-to-end framework. Through training with real-world particle-particle interaction observations, GNSTODE is able to simulate any possible particle systems with high precisions. We empirically evaluate GNSTODE's simulation performance on two real-world particle systems, Gravity and Coulomb, with varying levels of spatial and temporal dependencies. The results show that the proposed GNSTODE yields significantly better simulations than state-of-the-art learning based simulation methods, which proves that GNSTODE can serve as an effective solution to particle simulations in real-world application.

During the continuous evolution of one organism's ancestry, its genes accumulate extensive experiences and knowledge, enabling newborn descendants to rapidly adapt to their specific environments. Motivated by this observation, we propose a novel machine learning paradigm Learngene to enable learning models to incorporate three key characteristics of genes. (i) Accumulating: the knowledge is accumulated during the continuous learning of an ancestry model. (ii) Condensing: the extensive accumulated knowledge is condensed into a much more compact information piece, i.e., learngene. (iii) Inheriting: the condensed learngene is inherited to make it easier for descendant models to adapt to new environments. Since accumulating has been studied in well-established paradigms like large-scale pre-training and lifelong learning, we focus on condensing and inheriting, which induces three key issues and we provide the preliminary solutions to these issues in this paper: (i) Learngene Form: the learngene is set to a few integral layers that can preserve significance. (ii) Learngene Condensing: we identify which layers among the ancestry model have the most similarity as one pseudo descendant model. (iii) Learngene Inheriting: to construct distinct descendant models for the specific downstream tasks, we stack some randomly initialized layers to the learngene layers. Extensive experiments across various settings, including using different network architectures like Vision Transformer (ViT) and Convolutional Neural Networks (CNNs) on different datasets, are carried out to confirm four advantages of Learngene: it makes the descendant models 1) converge more quickly, 2) exhibit less sensitivity to hyperparameters, 3) perform better, and 4) require fewer training samples to converge.