In the realm of Artificial Intelligence (AI), the rise of Large Language Models (LLMs) such as OpenAI's Generative Pretrained Transformer (GPT) series has introduced unprecedented capabilities in text summarization and classification (Min et al., 2021; Yoo et al., 2021). These AI juggernauts can dissect vast quantities of text, distill key points, and even classify documents with a level of speed and accuracy that leaves human ability far behind (Jiang et al., 2022). While we applaud these advancements, it's imperative to keep a clear perspective on their inner workings, particularly their training data and decision making procedures. The advent of LLMs has undoubtedly revolutionized text analytics, but it has also introduced novel challenges concerning sensitivity and potential biases (Albrecht et al., 2022; Liang et al., 2021). Inherent in the training of these models is their susceptibility to embed the biases present in the training data, a subtle yet pervasive issue that can later be extremely difficult to detect and rectify (Alvi et al., 2019; Zhang & Verma, 2021). It's crucial, therefore, to scrutinize not only the LLMs themselves but also the mechanisms that train them. The broad and diverse nature of subjects that these models deal with, ranging from mundane queries to sensitive matters, necessitates a systematic and rigorous training approach.

Modern robotic systems are required to operate in challenging environments, which demand reliable localization under challenging conditions. LiDAR-based localization methods, such as the Iterative Closest Point (ICP) algorithm, can suffer in geometrically uninformative environments that are known to deteriorate point cloud registration performance and push optimization toward divergence along weakly constrained directions. To overcome this issue, this work proposes i) a robust fine-grained localizability detection module, and ii) a localizability-aware constrained ICP optimization module, which couples with the localizability detection module in a unified manner. The proposed localizability detection is achieved by utilizing the correspondences between the scan and the map to analyze the alignment strength against the principal directions of the optimization as part of its fine-grained LiDAR localizability analysis. In the second part, this localizability analysis is then integrated into the scan-to-map point cloud registration to generate drift-free pose updates by enforcing controlled updates or leaving the degenerate directions of the optimization unchanged. The proposed method is thoroughly evaluated and compared to state-of-the-art methods in simulated and real-world experiments, demonstrating the performance and reliability improvement in LiDAR-challenging environments. In all experiments, the proposed framework demonstrates accurate and generalizable localizability detection and robust pose estimation without environment-specific parameter tuning.

As ChatGPT et al. conquer the world, the optimal liability framework for AI systems remains an unsolved problem across the globe. In a much-anticipated move, the European Commission advanced two proposals outlining the European approach to AI liability in September 2022: a novel AI Liability Directive and a revision of the Product Liability Directive. They constitute the final cornerstone of EU AI regulation. Crucially, the liability proposals and the EU AI Act are inherently intertwined: the latter does not contain any individual rights of affected persons, and the former lack specific, substantive rules on AI development and deployment. Taken together, these acts may well trigger a Brussels Effect in AI regulation, with significant consequences for the US and beyond. This paper makes three novel contributions. First, it examines in detail the Commission proposals and shows that, while making steps in the right direction, they ultimately represent a half-hearted approach: if enacted as foreseen, AI liability in the EU will primarily rest on disclosure of evidence mechanisms and a set of narrowly defined presumptions concerning fault, defectiveness and causality. Hence, second, the article suggests amendments, which are collected in an Annex at the end of the paper. Third, based on an analysis of the key risks AI poses, the final part of the paper maps out a road for the future of AI liability and regulation, in the EU and beyond. This includes: a comprehensive framework for AI liability; provisions to support innovation; an extension to non-discrimination/algorithmic fairness, as well as explainable AI; and sustainability. I propose to jump-start sustainable AI regulation via sustainability impact assessments in the AI Act and sustainable design defects in the liability regime. In this way, the law may help spur not only fair AI and XAI, but potentially also sustainable AI (SAI).

The use of police drones is "poised to explode" in the next year as law enforcement takes advantage of the technology's proliferation, leaving public regulation and transparency efforts in danger of being caught woefully behind, civil rights advocates warn. "A world where flying robotic police cameras constantly crisscross our skies is one we have never seen before," Jay Stanley, senior policy analyst with the American Civil Liberties Union, wrote in a report released Thursday. "Yet there are strong reasons to believe that such a world may be coming faster than most people realize." At least 1,400 police departments across the country are using drones in some fashion, but only 15 have obtained waivers from the Federal Aviation Administration to fly their drones beyond the visual line of sight, or BVLOS, of operators. That means the vast majority of departments are still limited in the types of calls they can respond to with drones.

In the shade of a coconut palm, Chandrika tilts her smartphone screen to avoid the sun's glare. It is early morning in Alahalli village in the southern Indian state of Karnataka, but the heat and humidity are rising fast. As Chandrika scrolls, she clicks on several audio clips in succession, demonstrating the simplicity of the app she recently started using. At each tap, the sound of her voice speaking her mother tongue emerges from the phone. Before she started using this app, 30-year-old Chandrika (who, like many South Indians, uses the first letter of her father's name, K., instead of a last name) had just 184 rupees ($2.25) in her bank account. But in return for around six hours of work spread over several days in late April, she received 2,570 rupees ($31.30). That's roughly the same amount she makes in a month of working as a teacher at a distant school, after the cost of the three buses it takes her to get there and back. Just by reading text aloud in her native language of Kannada, spoken by around 60 million people mostly in central and southern India, Chandrika has used this app to earn an hourly wage of about $5, nearly 20 times the Indian minimum. And in a few days, more money will arrive--a 50% bonus, awarded once the voice clips are validated as accurate. Chandrika's voice can fetch this sum because of the boom in artificial intelligence (AI). Right now, cutting edge AIs--for example, large language models like ChatGPT--work best in languages like English, where text and audio data is abundant online.

Non-linear model predictive control (nMPC) is a powerful approach to control complex robots (such as humanoids, quadrupeds, or unmanned aerial manipulators (UAMs)) as it brings important advantages over other existing techniques. The full-body dynamics, along with the prediction capability of the optimal control problem (OCP) solved at the core of the controller, allows to actuate the robot in line with its dynamics. This fact enhances the robot capabilities and allows, e.g., to perform intricate maneuvers at high dynamics while optimizing the amount of energy used. Despite the many similarities between humanoids or quadrupeds and UAMs, full-body torque-level nMPC has rarely been applied to UAMs. This paper provides a thorough description of how to use such techniques in the field of aerial manipulation. We give a detailed explanation of the different parts involved in the OCP, from the UAM dynamical model to the residuals in the cost function. We develop and compare three different nMPC controllers: Weighted MPC, Rail MPC, and Carrot MPC, which differ on the structure of their OCPs and on how these are updated at every time step. To validate the proposed framework, we present a wide variety of simulated case studies. First, we evaluate the trajectory generation problem, i.e., optimal control problems solved offline, involving different kinds of motions (e.g., aggressive maneuvers or contact locomotion) for different types of UAMs. Then, we assess the performance of the three nMPC controllers, i.e., closed-loop controllers solved online, through a variety of realistic simulations. For the benefit of the community, we have made available the source code related to this work.

Camera-based autonomous systems that emulate human perception are increasingly being integrated into safety-critical platforms. Consequently, an established body of literature has emerged that explores adversarial attacks targeting the underlying machine learning models. Adapting adversarial attacks to the physical world is desirable for the attacker, as this removes the need to compromise digital systems. However, the real world poses challenges related to the "survivability" of adversarial manipulations given environmental noise in perception pipelines and the dynamicity of autonomous systems. In this paper, we take a sensor-first approach. We present EvilEye, a man-in-the-middle perception attack that leverages transparent displays to generate dynamic physical adversarial examples. EvilEye exploits the camera's optics to induce misclassifications under a variety of illumination conditions. To generate dynamic perturbations, we formalize the projection of a digital attack into the physical domain by modeling the transformation function of the captured image through the optical pipeline. Our extensive experiments show that EvilEye's generated adversarial perturbations are much more robust across varying environmental light conditions relative to existing physical perturbation frameworks, achieving a high attack success rate (ASR) while bypassing state-of-the-art physical adversarial detection frameworks. We demonstrate that the dynamic nature of EvilEye enables attackers to adapt adversarial examples across a variety of objects with a significantly higher ASR compared to state-of-the-art physical world attack frameworks. Finally, we discuss mitigation strategies against the EvilEye attack.

Conformal prediction is an assumption-lean approach to generating distribution-free prediction intervals or sets, for nearly arbitrary predictive models, with guaranteed finite-sample coverage. Conformal methods are an active research topic in statistics and machine learning, but only recently have they been extended to non-exchangeable data. In this paper, we invite survey methodologists to begin using and contributing to conformal methods. We introduce how conformal prediction can be applied to data from several common complex sample survey designs, under a framework of design-based inference for a finite population, and we point out gaps where survey methodologists could fruitfully apply their expertise. Our simulations empirically bear out the theoretical guarantees of finite-sample coverage, and our real-data example demonstrates how conformal prediction can be applied to complex sample survey data in practice.

In this paper we investigate the effect of the unpredictability of surrounding cars on an ego-car performing a driving maneuver. We use Maximum Entropy Inverse Reinforcement Learning to model reward functions for an ego-car conducting a lane change in a highway setting. We define a new feature based on the unpredictability of surrounding cars and use it in the reward function. We learn two reward functions from human data: a baseline and one that incorporates our defined unpredictability feature, then compare their performance with a quantitative and qualitative evaluation. Our evaluation demonstrates that incorporating the unpredictability feature leads to a better fit of human-generated test data. These results encourage further investigation of the effect of unpredictability on driving behavior.

The increasing frequency of catastrophic natural events, such as wildfires, calls for the development of rapid and automated wildfire detection systems. In this paper, we propose a wildfire identification solution to improve the accuracy of automated satellite-based hotspot detection systems by leveraging multiple information sources. We cross-reference the thermal anomalies detected by the Moderate-resolution Imaging Spectroradiometer (MODIS) and the Visible Infrared Imaging Radiometer Suite (VIIRS) hotspot services with the European Forest Fire Information System (EFFIS) database to construct a large-scale hotspot dataset for wildfire-related studies in Europe. Then, we propose a novel multimodal supervised machine learning approach to disambiguate hotspot detections, distinguishing between wildfires and other events. Our methodology includes the use of multimodal data sources, such as the ERSI annual Land Use Land Cover (LULC) and the Copernicus Sentinel-3 data. Experimental results demonstrate the effectiveness of our approach in the task of wildfire identification.