The Texas Department of Public Safety say criminal organizations have increasingly turned to using drones to scout out areas for illegal immigration. I share a ton of tips to protect your privacy online. Do this quick 30-second check to keep your Google and Facebook accounts safe if you haven't yet. What about when you leave your home? Just about everywhere you go, you're being watched.

This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked second in the Virtual Track of the DARPA SubT Finals as part of the team CTU-CRAS-NORLAB. In contrast to the winning solution that was developed specifically for the Virtual Track, the proposed solution also proved to be a robust system for deployment onboard physical UAVs flying in the extremely harsh and confined environment of the real-world competition. The proposed approach enables fully autonomous and decentralized deployment of a UAV team with seamless simulation-to-world transfer, and proves its advantage over less mobile UGV teams in the flyable space of diverse environments. The main contributions of the paper are present in the mapping and navigation pipelines. The mapping approach employs novel map representations -- SphereMap for efficient risk-aware long-distance planning, FacetMap for surface coverage, and the compressed topological-volumetric LTVMap for allowing multi-robot cooperation under low-bandwidth communication. These representations are used in navigation together with novel methods for visibility-constrained informed search in a general 3D environment with no assumptions about the environment structure, while balancing deep exploration with sensor-coverage exploitation. The proposed solution also includes a visual-perception pipeline for on-board detection and localization of objects of interest in four RGB stream at 5 Hz each without a dedicated GPU. Apart from participation in the DARPA SubT, the performance of the UAV system is supported by extensive experimental verification in diverse environments with both qualitative and quantitative evaluation.

In many domains, there are many examples and far fewer labels for those examples; e.g. we may have access to millions of lines of source code, but access to only a handful of warnings about that code. In those domains, semi-supervised learners (SSL) can extrapolate labels from a small number of examples to the rest of the data. Standard SSL algorithms use ``weak'' knowledge (i.e. those not based on specific SE knowledge) such as (e.g.) co-train two learners and use good labels from one to train the other. Another approach of SSL in software analytics is potentially use ``strong'' knowledge that use SE knowledge. For example, an often-used heuristic in SE is that unusually large artifacts contain undesired properties (e.g. more bugs). This paper argues that such ``strong'' algorithms perform better than those standard, weaker, SSL algorithms. We show this by learning models from labels generated using weak SSL or our ``stronger'' FRUGAL algorithm. In four domains (distinguishing security-related bug reports; mitigating bias in decision-making; predicting issue close time; and (reducing false alarms in static code warnings), FRUGAL required only 2.5% of the data to be labeled yet out-performed standard semi-supervised learners that relied on (e.g.) some domain-independent graph theory concepts. Hence, for future work, we strongly recommend the use of strong heuristics for semi-supervised learning for SE applications. To better support other researchers, our scripts and data are on-line at https://github.com/HuyTu7/FRUGAL.

Optimal control seeks to find the best policy for an agent that optimizes a certain criterion. This general formulation allows optimal control theory to be applied in numerous areas such as robotics, finance, aeronautics, and many other fields. Inherently, optimal control optimizes the control of a single agent, but in recent years, extending optimal control problems to the realm of multi-agents has been a popular trend. Indeed, there are numerous cases where we want to model not just a single agent, but many, e.g. a fleet of drones. Here we introduce MASCOT: Multi-Agent Shape Control with Optimal Transport, a method to compute solutions to multi-agent optimal control problems that involve shape, formation, or density constraints among the agents. These constraints can be formulated in the running cost of the agents, or as a terminal cost, or even both. We first introduce the reader to optimal control and its multi-agent version. We then review the idea of optimal transport and Earth Mover's Distance. Finally, we demonstrate the method on some examples.

Optimization of human-AI teams hinges on the AI's ability to tailor its interaction to individual human teammates. A common hypothesis in adaptive AI research is that minor differences in people's predisposition to trust can significantly impact their likelihood of complying with recommendations from the AI. Predisposition to trust is often measured with self-report inventories that are administered before interactions. We benchmark a popular measure of this kind against behavioral predictors of compliance. We find that the inventory is a less effective predictor of compliance than the behavioral measures in datasets taken from three previous research projects. This suggests a general property that individual differences in initial behavior are more predictive than differences in self-reported trust attitudes. This result also shows a potential for easily accessible behavioral measures to provide an AI with more accurate models without the use of (often costly) survey instruments.

AI constructivism as inspired by Jean Piaget, described and surveyed by Frank Guerin, and representatively implemented by Gary Drescher seeks to create algorithms and knowledge structures that enable agents to acquire, maintain, and apply a deep understanding of the environment through sensorimotor interactions. This paper aims to increase awareness of constructivist AI implementations to encourage greater progress toward enabling lifelong learning by machines. It builds on Guerin's 2008 "Learning Like a Baby: A Survey of AI approaches." After briefly recapitulating that survey, it summarizes subsequent progress by the Guerin referents, numerous works not covered by Guerin (or found in other surveys), and relevant efforts in related areas. The focus is on knowledge representations and learning algorithms that have been used in practice viewed through lenses of Piaget's schemas, adaptation processes, and staged development. The paper concludes with a preview of a simple framework for constructive AI being developed by the author that parses concepts from sensory input and stores them in a semantic memory network linked to episodic data.

These automated decision frameworks have demonstrated various unwanted consequences as a result of biased data [11, 66-68, 84, 86, 109]. Oftentimes these systems are trained on samples (datasets) from a larger population. Biased results can arise if the sample does not accurately represent the target population, or if there is a lack of sufficient representation for subgroups within the data. While the literature of data bias in machine Learning and artificial intelligence (AI) systems is rich [99], there exists only limited work on the connections between data representativity and AI systems. Terms like representative sample are used ubiquitously in the literature, often without further specification on the details or effects of this representativity. This paper analyzes and surveys data representativity in scientific literature relating to machine learning and AI systems by investigating how different notions of representativity are used and what effects adhering to different notions of data representativity has in relation to appropriate inference. The term representative sample is an overloaded term and a generally accepted definition of what constitutes a representative sample (subset of observations) is hard to find in the literature. A few examples demonstrate that at least a couple of definitions of representative sample exist. The most general definition we found is from D'Excelle (2014) and states ""Representative sampling" is a type of statistical sampling that allows us to use data from a sample to make conclusions that are representative for the population from which the sample is taken."

When upgrading neural models to a newer version, new errors that were not encountered in the legacy version can be introduced, known as regression errors. This inconsistent behavior during model upgrade often outweighs the benefits of accuracy gain and hinders the adoption of new models. To mitigate regression errors from model upgrade, distillation and ensemble have proven to be viable solutions without significant compromise in performance. Despite the progress, these approaches attained an incremental reduction in regression which is still far from achieving backward-compatible model upgrade. In this work, we propose a novel method, Gated Fusion, that promotes backward compatibility via learning to mix predictions between old and new models. Empirical results on two distinct model upgrade scenarios show that our method reduces the number of regression errors by 62% on average, outperforming the strongest baseline by an average of 25%.

Data scarcity is a common problem in NLP, especially when the annotation pertains to nuanced socio-linguistic concepts that require specialized knowledge. As a result, few-shot identification of these concepts is desirable. Few-shot in-context learning using pre-trained Large Language Models (LLMs) has been recently applied successfully in many NLP tasks. In this paper, we study few-shot identification of a psycho-linguistic concept, Morality Frames (Roy et al., 2021), using LLMs. Morality frames are a representation framework that provides a holistic view of the moral sentiment expressed in text, identifying the relevant moral foundation (Haidt and Graham, 2007) and at a finer level of granularity, the moral sentiment expressed towards the entities mentioned in the text. Previous studies relied on human annotation to identify morality frames in text which is expensive. In this paper, we propose prompting-based approaches using pretrained Large Language Models for identification of morality frames, relying only on few-shot exemplars. We compare our models' performance with few-shot RoBERTa and found promising results.

In recent years, pretrained neural language models (PNLMs) have taken the field of natural language processing by storm, achieving new benchmarks and state-of-the-art performances. These models often rely heavily on annotated data, which may not always be available. Data scarcity are commonly found in specialized domains, such as medical, or in low-resource languages that are underexplored by AI research. In this dissertation, we focus on mitigating data scarcity using data augmentation and neural ensemble learning techniques for neural language models. In both research directions, we implement neural network algorithms and evaluate their impact on assisting neural language models in downstream NLP tasks. Specifically, for data augmentation, we explore two techniques: 1) creating positive training data by moving an answer span around its original context and 2) using text simplification techniques to introduce a variety of writing styles to the original training data. Our results indicate that these simple and effective solutions improve the performance of neural language models considerably in low-resource NLP domains and tasks. For neural ensemble learning, we use a multilabel neural classifier to select the best prediction outcome from a variety of individual pretrained neural language models trained for a low-resource medical text simplification task.