Human-in-the-loop approaches are of great importance for robot applications. In the presented study, we implemented a multimodal human-robot interaction (HRI) scenario, in which a simulated robot communicates with its human partner through speech and gestures. The robot announces its intention verbally and selects the appropriate action using pointing gestures. The human partner, in turn, evaluates whether the robot's verbal announcement (intention) matches the action (pointing gesture) chosen by the robot. For cases where the verbal announcement of the robot does not match the corresponding action choice of the robot, we expect error-related potentials (ErrPs) in the human electroencephalogram (EEG). These intrinsic evaluations of robot actions by humans, evident in the EEG, were recorded in real time, continuously segmented online and classified asynchronously. For feature selection, we propose an approach that allows the combinations of forward and backward sliding windows to train a classifier. We achieved an average classification performance of 91% across 9 subjects. As expected, we also observed a relatively high variability between the subjects. In the future, the proposed feature selection approach will be extended to allow for customization of feature selection. To this end, the best combinations of forward and backward sliding windows will be automatically selected to account for inter-subject variability in classification performance. In addition, we plan to use the intrinsic human error evaluation evident in the error case by the ErrP in interactive reinforcement learning to improve multimodal human-robot interaction.

Federated learning (FL) is a promising distributed framework for collaborative artificial intelligence model training while protecting user privacy. A bootstrapping component that has attracted significant research attention is the design of incentive mechanism to stimulate user collaboration in FL. The majority of works adopt a broker-centric approach to help the central operator to attract participants and further obtain a well-trained model. Few works consider forging participant-centric collaboration among participants to pursue an FL model for their common interests, which induces dramatic differences in incentive mechanism design from the broker-centric FL. To coordinate the selfish and heterogeneous participants, we propose a novel analytic framework for incentivizing effective and efficient collaborations for participant-centric FL. Specifically, we respectively propose two novel game models for contribution-oblivious FL (COFL) and contribution-aware FL (CAFL), where the latter one implements a minimum contribution threshold mechanism. We further analyze the uniqueness and existence for Nash equilibrium of both COFL and CAFL games and design efficient algorithms to achieve equilibrium solutions. Extensive performance evaluations show that there exists free-riding phenomenon in COFL, which can be greatly alleviated through the adoption of CAFL model with the optimized minimum threshold.

In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment to complete the task. Robots can perform more and more manipulation tasks that are still done by humans, and there is a growing number of publications on the topics of 1) performing tasks that always require contact and 2) mitigating uncertainty by leveraging the environment in tasks that, under perfect information, could be performed without contact. The recent trends have seen robots perform tasks earlier left for humans, such as massage, and in the classical tasks, such as peg-in-hole, there is a more efficient generalization to other similar tasks, better error tolerance, and faster planning or learning of the tasks. Thus, in this survey we cover the current stage of robots performing such tasks, starting from surveying all the different in-contact tasks robots can perform, observing how these tasks are controlled and represented, and finally presenting the learning and planning of the skills required to complete these tasks.

How can artificial agents learn non-reinforced preferences to continuously adapt their behaviour to a changing environment? We decompose this question into two challenges: ($i$) encoding diverse memories and ($ii$) selectively attending to these for preference formation. Our proposed \emph{no}n-\emph{re}inforced preference learning mechanism using selective attention, \textsc{Nore}, addresses both by leveraging the agent's world model to collect a diverse set of experiences which are interleaved with imagined roll-outs to encode memories. These memories are selectively attended to, using attention and gating blocks, to update agent's preferences. We validate \textsc{Nore} in a modified OpenAI Gym FrozenLake environment (without any external signal) with and without volatility under a fixed model of the environment -- and compare its behaviour to \textsc{Pepper}, a Hebbian preference learning mechanism. We demonstrate that \textsc{Nore} provides a straightforward framework to induce exploratory preferences in the absence of external signals.

Manifold learning (ML) aims to seek low-dimensional embedding from high-dimensional data. The problem is challenging on real-world datasets, especially with under-sampling data, and we find that previous methods perform poorly in this case. Generally, ML methods first transform input data into a low-dimensional embedding space to maintain the data's geometric structure and subsequently perform downstream tasks therein. The poor local connectivity of under-sampling data in the former step and inappropriate optimization objectives in the latter step leads to two problems: structural distortion and underconstrained embedding. This paper proposes a novel ML framework named Deep Local-flatness Manifold Embedding (DLME) to solve these problems. The proposed DLME constructs semantic manifolds by data augmentation and overcomes the structural distortion problem using a smoothness constrained based on a local flatness assumption about the manifold. To overcome the underconstrained embedding problem, we design a loss and theoretically demonstrate that it leads to a more suitable embedding based on the local flatness. Experiments on three types of datasets (toy, biological, and image) for various downstream tasks (classification, clustering, and visualization) show that our proposed DLME outperforms state-of-the-art ML and contrastive learning methods.

Bundle recommender systems recommend sets of items (e.g., pants, shirt, and shoes) to users, but they often suffer from two issues: significant interaction sparsity and a large output space. In this work, we extend multi-round conversational recommendation (MCR) to alleviate these issues. MCR, which uses a conversational paradigm to elicit user interests by asking user preferences on tags (e.g., categories or attributes) and handling user feedback across multiple rounds, is an emerging recommendation setting to acquire user feedback and narrow down the output space, but has not been explored in the context of bundle recommendation. In this work, we propose a novel recommendation task named Bundle MCR. We first propose a new framework to formulate Bundle MCR as Markov Decision Processes (MDPs) with multiple agents, for user modeling, consultation and feedback handling in bundle contexts. Under this framework, we propose a model architecture, called Bundle Bert (Bunt) to (1) recommend items, (2) post questions and (3) manage conversations based on bundle-aware conversation states. Moreover, to train Bunt effectively, we propose a two-stage training strategy. In an offline pre-training stage, Bunt is trained using multiple cloze tasks to mimic bundle interactions in conversations. Then in an online fine-tuning stage, Bunt agents are enhanced by user interactions. Our experiments on multiple offline datasets as well as the human evaluation show the value of extending MCR frameworks to bundle settings and the effectiveness of our Bunt design.

Many modern technologies address the issues involved in developing such systematic automated information support solutions, but AI has been rarely applied for enhancing practices in employment management (Vrontis et al., 2022). Capabilities of AI are viewed in existing cases of studies for the construction of interventions in employment prospective, but various disruptive innovations to enhance the current frameworks of talent systems are not holistically studied in the past recent years. The advancement of general-purpose AI technology is of paramount task to revolutionizing workforce management (Agrawal et al., 2018). While creating new AI oriented applications for employment management, a number of obstacles such as dehumanization, biased algorithms and fairness in requirement have identified, so it is imperative to conduct precise design research (Tambe et al., 2019). A recent industry survey identified at least 300 HR technology start-ups developing AI tools for people management, with roughly 60 of these companies achieving traction in terms of clients and venture investment (Bailie & Butler, 2018). Furthermore, an AI-powered talent intelligence platform that aids in attracting, developing, and retaining outstanding employees, has just raised $220 million and is now valued at over $2 billion (Charlwood & Guenole, 2022).Many organizations have started with their massive investment in AI for workforce management.

During the last decade, Neural Networks (NNs) have proved to be extremely effective tools in many fields of engineering, including autonomous vehicles, medical diagnosis and search engines, and even in art creation. Indeed, NNs often decisively outperform traditional algorithms. One area that is only recently attracting significant interest is using NNs for designing numerical solvers, particularly for discretized partial differential equations. Several recent papers have considered employing NNs for developing multigrid methods, which are a leading computational tool for solving discretized partial differential equations and other sparse-matrix problems. We extend these new ideas, focusing on so-called relaxation operators (also called smoothers), which are an important component of the multigrid algorithm that has not yet received much attention in this context. We explore an approach for using NNs to learn relaxation parameters for an ensemble of diffusion operators with random coefficients, for Jacobi type smoothers and for 4Color GaussSeidel smoothers. The latter yield exceptionally efficient and easy to parallelize Successive Over Relaxation (SOR) smoothers. Moreover, this work demonstrates that learning relaxation parameters on relatively small grids using a two-grid method and Gelfand's formula as a loss function can be implemented easily. These methods efficiently produce nearly-optimal parameters, thereby significantly improving the convergence rate of multigrid algorithms on large grids.

Context: Differential testing is a useful approach that uses different implementations of the same algorithms and compares the results for software testing. In recent years, this approach was successfully used for test campaigns of deep learning frameworks. Objective: There is little knowledge on the application of differential testing beyond deep learning. Within this article, we want to close this gap for classification algorithms. Method: We conduct a case study using Scikit-learn, Weka, Spark MLlib, and Caret in which we identify the potential of differential testing by considering which algorithms are available in multiple frameworks, the feasibility by identifying pairs of algorithms that should exhibit the same behavior, and the effectiveness by executing tests for the identified pairs and analyzing the deviations. Results: While we found a large potential for popular algorithms, the feasibility seems limited because often it is not possible to determine configurations that are the same in other frameworks. The execution of the feasible tests revealed that there is a large amount of deviations for the scores and classes. Only a lenient approach based on statistical significance of classes does not lead to a huge amount of test failures. Conclusions: The potential of differential testing beyond deep learning seems limited for research into the quality of machine learning libraries. Practitioners may still use the approach if they have deep knowledge about implementations, especially if a coarse oracle that only considers significant differences of classes is sufficient.

Given the rapidly changing machine learning environments and expensive data labeling, semi-supervised domain adaptation (SSDA) is imperative when the labeled data from the source domain is statistically different from the partially labeled data from the target domain. Most prior SSDA research is centrally performed, requiring access to both source and target data. However, data in many fields nowadays is generated by distributed end devices. Due to privacy concerns, the data might be locally stored and cannot be shared, resulting in the ineffectiveness of existing SSDA research. This paper proposes an innovative approach to achieve SSDA over multiple distributed and confidential datasets, named by Federated Semi-Supervised Domain Adaptation (FSSDA). FSSDA integrates SSDA with federated learning based on strategically designed knowledge distillation techniques, whose efficiency is improved by performing source and target training in parallel. Moreover, FSSDA controls the amount of knowledge transferred across domains by properly selecting a key parameter, i.e., the imitation parameter. Further, the proposed FSSDA can be effectively generalized to multi-source domain adaptation scenarios. Extensive experiments are conducted to demonstrate the effectiveness and efficiency of FSSDA design.