In today's interconnected globe, moving abroad is more and more prevalent, whether it's for employment, refugee resettlement, or other causes. Language difficulties between natives and immigrants present a common issue on a daily basis, especially in medical domain. This can make it difficult for patients and doctors to communicate during anamnesis or in the emergency room, which compromises patient care. The goal of the HYKIST Project is to develop a speech translation system to support patient-doctor communication with ASR and MT. ASR systems have recently displayed astounding performance on particular tasks for which enough quantities of training data are available, such as LibriSpeech. Building a good model is still difficult due to a variety of speaking styles, acoustic and recording settings, and a lack of in-domain training data. In this thesis, we describe our efforts to construct ASR systems for a conversational telephone speech recognition task in the medical domain for Vietnamese language to assist emergency room contact between doctors and patients across linguistic barriers. In order to enhance the system's performance, we investigate various training schedules and data combining strategies. We also examine how best to make use of the little data that is available. The use of publicly accessible models like XLSR-53 is compared to the use of customized pre-trained models, and both supervised and unsupervised approaches are utilized using wav2vec 2.0 as architecture.

Existing approaches to estimating politicians' latent positions along specific dimensions often fail when relevant data is limited. We leverage the embedded knowledge in generative large language models (LLMs) to address this challenge and measure lawmakers' positions along specific political or policy dimensions. We prompt an instruction/dialogue-tuned LLM to pairwise compare lawmakers and then scale the resulting graph using the Bradley-Terry model. We estimate novel measures of U.S. senators' positions on liberal-conservative ideology, gun control, and abortion. Our liberal-conservative scale, used to validate LLM-driven scaling, strongly correlates with existing measures and offsets interpretive gaps, suggesting LLMs synthesize relevant data from internet and digitized media rather than memorizing existing measures. Our gun control and abortion measures -- the first of their kind -- differ from the liberal-conservative scale in face-valid ways and predict interest group ratings and legislator votes better than ideology alone. Our findings suggest LLMs hold promise for solving complex social science measurement problems.

This paper considers the problem of developing suitable behavior models of human evacuees during a robot-guided emergency evacuation. We describe our recent research developing behavior models of evacuees and potential future uses of these models. This paper considers how behavior models can contribute to the development and design of emergency evacuation simulations in order to improve social navigation during an evacuation.

Recent years have witnessed remarkable progress made in large language models (LLMs). Such advancements, while garnering significant attention, have concurrently elicited various concerns. The potential of these models is undeniably vast; however, they may yield texts that are imprecise, misleading, or even detrimental. Consequently, it becomes paramount to employ alignment techniques to ensure these models to exhibit behaviors consistent with human values. This survey endeavors to furnish an extensive exploration of alignment methodologies designed for LLMs, in conjunction with the extant capability research in this domain. Adopting the lens of AI alignment, we categorize the prevailing methods and emergent proposals for the alignment of LLMs into outer and inner alignment. We also probe into salient issues including the models' interpretability, and potential vulnerabilities to adversarial attacks. To assess LLM alignment, we present a wide variety of benchmarks and evaluation methodologies. After discussing the state of alignment research for LLMs, we finally cast a vision toward the future, contemplating the promising avenues of research that lie ahead. Our aspiration for this survey extends beyond merely spurring research interests in this realm. We also envision bridging the gap between the AI alignment research community and the researchers engrossed in the capability exploration of LLMs for both capable and safe LLMs.

Although current deep models for face tasks surpass human performance on some benchmarks, we do not understand how they work. Thus, we cannot predict how it will react to novel inputs, resulting in catastrophic failures and unwanted biases in the algorithms. Explainable AI helps bridge the gap, but currently, there are very few visualization algorithms designed for faces. This work undertakes a first-of-its-kind meta-analysis of explainability algorithms in the face domain. We explore the nuances and caveats of adapting general-purpose visualization algorithms to the face domain, illustrated by computing visualizations on popular face models. We review existing face explainability works and reveal valuable insights into the structure and hierarchy of face networks. We also determine the design considerations for practical face visualizations accessible to AI practitioners by conducting a user study on the utility of various explainability algorithms.

Cross-silo federated learning offers a promising solution to collaboratively train robust and generalized AI models without compromising the privacy of local datasets, e.g., healthcare, financial, as well as scientific projects that lack a centralized data facility. Nonetheless, because of the disparity of computing resources among different clients (i.e., device heterogeneity), synchronous federated learning algorithms suffer from degraded efficiency when waiting for straggler clients. Similarly, asynchronous federated learning algorithms experience degradation in the convergence rate and final model accuracy on non-identically and independently distributed (non-IID) heterogeneous datasets due to stale local models and client drift. To address these limitations in cross-silo federated learning with heterogeneous clients and data, we propose FedCompass, an innovative semiasynchronous federated learning algorithm with a computing power aware scheduler on the server side, which adaptively assigns varying amounts of training tasks to different clients using the knowledge of the computing power of individual clients. FedCompass ensures that multiple locally trained models from clients are received almost simultaneously as a group for aggregation, effectively reducing the staleness of local models. At the same time, the overall training process remains asynchronous, eliminating prolonged waiting periods from straggler clients. Using diverse non-IID heterogeneous distributed datasets, we demonstrate that FedCompass achieves faster convergence and higher accuracy than other asynchronous algorithms while remaining more efficient than synchronous algorithms when performing federated learning on heterogeneous clients. Federated learning (FL) is a collaborative model training approach where multiple clients train a global model under the orchestration of a central server (Konečnỳ et al., 2016; McMahan et al., 2017; Yang et al., 2019; Kairouz et al., 2021). FL typically runs two steps iteratively: (i) the server distributes the global model to clients to train it using their local data; (ii) the server collects the locally trained models and updates the global model by aggregating them. Federated Averaging (FedAvg) (McMahan et al., 2017) is the most popular FL algorithm where each client trains a model using local data for Q local steps in each training round, after which the orchestration server aggregates all local models by performing a weighted averaging and sends the updated global model back to all clients for the next round of training. By leveraging the training data from multiple clients without explicitly sharing, FL empowers the training of more robust and generalized models while preserving the privacy of client data.

When researching robot swarms, many studies observe complex group behavior emerging from the individual agents' simple local actions. However, the task of learning an individual policy to produce a desired emergent behavior remains a challenging and largely unsolved problem. We present a method of training distributed robotic swarm algorithms to produce emergent behavior. Inspired by the biological evolution of emergent behavior in animals, we use an evolutionary algorithm to train a 'population' of individual behaviors to approximate a desired group behavior. We perform experiments using simulations of the Georgia Tech Miniature Autonomous Blimps (GT-MABs) aerial robotics platforms conducted in the CoppeliaSim simulator. Additionally, we test on simulations of Anki Vector robots to display our algorithm's effectiveness on various modes of actuation. We evaluate our algorithm on various tasks where a somewhat complex group behavior is required for success. These tasks include an Area Coverage task, a Surround Target task, and a Wall Climb task. We compare behaviors evolved using our algorithm against 'designed policies', which we create in order to exhibit the emergent behaviors we desire.

Real-time detection of moving objects is an essential capability for robots acting autonomously in dynamic environments. We thus propose Dynablox, a novel online mapping-based approach for robust moving object detection in complex environments. The central idea of our approach is to incrementally estimate high confidence free-space areas by modeling and accounting for sensing, state estimation, and mapping limitations during online robot operation. The spatio-temporally conservative free space estimate enables robust detection of moving objects without making any assumptions on the appearance of objects or environments. This allows deployment in complex scenes such as multi-storied buildings or staircases, and for diverse moving objects such as people carrying various items, doors swinging or even balls rolling around. We thoroughly evaluate our approach on real-world data sets, achieving 86% IoU at 17 FPS in typical robotic settings. The method outperforms a recent appearance-based classifier and approaches the performance of offline methods. We demonstrate its generality on a novel data set with rare moving objects in complex environments. We make our efficient implementation and the novel data set available as open-source.

Recently, theoretical analyses of deep neural networks have broadly focused on two directions: 1) Providing insight into neural network training by SGD in the limit of infinite hidden-layer width and infinitesimally small learning rate (also known as gradient flow) via the Neural Tangent Kernel (NTK), and 2) Globally optimizing the regularized training objective via cone-constrained convex reformulations of ReLU networks. The latter research direction also yielded an alternative formulation of the ReLU network, called a gated ReLU network, that is globally optimizable via efficient unconstrained convex programs. In this work, we interpret the convex program for this gated ReLU network as a Multiple Kernel Learning (MKL) model with a weighted data masking feature map and establish a connection to the NTK. Specifically, we show that for a particular choice of mask weights that do not depend on the learning targets, this kernel is equivalent to the NTK of the gated ReLU network on the training data. A consequence of this lack of dependence on the targets is that the NTK cannot perform better than the optimal MKL kernel on the training set. By using iterative reweighting, we improve the weights induced by the NTK to obtain the optimal MKL kernel which is equivalent to the solution of the exact convex reformulation of the gated ReLU network. We also provide several numerical simulations corroborating our theory. Additionally, we provide an analysis of the prediction error of the resulting optimal kernel via consistency results for the group lasso.

The US Federal Bureau of Investigation (FBI) has done tens of thousands of face recognition searches using software from outside providers in recent years. Yet only 5 percent of the 200 agents with access to the technology have taken the bureau's three-day training course on how to use it, a report from the Government Accountability Office (GAO) this month reveals. The bureau has no policy for face recognition use in place to protect privacy, civil rights, or civil liberties. Lawmakers and others concerned about face recognition have said that adequate training on the technology and how to interpret its output is needed to reduce improper use or errors, although some experts say training can lull law enforcement and the public into thinking face recognition is low risk. Since the false arrest of Robert Williams near Detroit in 2020, multiple instances have surfaced in the US of arrests after a face recognition model wrongly identified a person.