This article establishes the novel D$^*_+$, a risk-aware and platform-agnostic heterogeneous global path planner for robotic navigation in complex environments. The proposed planner addresses a fundamental bottleneck of occupancy-based path planners related to their dependency on accurate and dense maps. More specifically, their performance is highly affected by poorly reconstructed or sparse areas (e.g. holes in the walls or ceilings) leading to faulty generated paths outside the physical boundaries of the 3-dimensional space. As it will be presented, D$^*_+$ addresses this challenge with three novel contributions, integrated into one solution, namely: a) the proximity risk, b) the modeling of the unknown space, and c) the map updates. By adding a risk layer to spaces that are closer to the occupied ones, some holes are filled, and thus the problematic short-cutting through them to the final goal is prevented. The novel established D$^*_+$ also provides safety marginals to the walls and other obstacles, a property that results in paths that do not cut the corners that could potentially disrupt the platform operation. D$^*_+$ has also the capability to model the unknown space as risk-free areas that should keep the paths inside, e.g in a tunnel environment, and thus heavily reducing the risk of larger shortcuts through openings in the walls. D$^*_+$ is also introducing a dynamic map handling capability that continuously updates with the latest information acquired during the map building process, allowing the planner to use constant map growth and resolve cases of planning over outdated sparser map reconstructions...

This white paper lays out a vision of research and development in the field of artificial intelligence for the next decade (and beyond). Its denouement is a cyber-physical ecosystem of natural and synthetic sense-making, in which humans are integral participants$\unicode{x2014}$what we call ''shared intelligence''. This vision is premised on active inference, a formulation of adaptive behavior that can be read as a physics of intelligence, and which inherits from the physics of self-organization. In this context, we understand intelligence as the capacity to accumulate evidence for a generative model of one's sensed world$\unicode{x2014}$also known as self-evidencing. Formally, this corresponds to maximizing (Bayesian) model evidence, via belief updating over several scales: i.e., inference, learning, and model selection. Operationally, this self-evidencing can be realized via (variational) message passing or belief propagation on a factor graph. Crucially, active inference foregrounds an existential imperative of intelligent systems; namely, curiosity or the resolution of uncertainty. This same imperative underwrites belief sharing in ensembles of agents, in which certain aspects (i.e., factors) of each agent's generative world model provide a common ground or frame of reference. Active inference plays a foundational role in this ecology of belief sharing$\unicode{x2014}$leading to a formal account of collective intelligence that rests on shared narratives and goals. We also consider the kinds of communication protocols that must be developed to enable such an ecosystem of intelligences and motivate the development of a shared hyper-spatial modeling language and transaction protocol, as a first$\unicode{x2014}$and key$\unicode{x2014}$step towards such an ecology.

Previous work has shown that a neural network with the rectified linear unit (ReLU) activation function leads to a convex polyhedral decomposition of the input space. These decompositions can be represented by a dual graph with vertices corresponding to polyhedra and edges corresponding to polyhedra sharing a facet, which is a subgraph of a Hamming graph. This paper illustrates how one can utilize the dual graph to detect and analyze adversarial attacks in the context of digital images. When an image passes through a network containing ReLU nodes, the firing or non-firing at a node can be encoded as a bit ($1$ for ReLU activation, $0$ for ReLU non-activation). The sequence of all bit activations identifies the image with a bit vector, which identifies it with a polyhedron in the decomposition and, in turn, identifies it with a vertex in the dual graph. We identify ReLU bits that are discriminators between non-adversarial and adversarial images and examine how well collections of these discriminators can ensemble vote to build an adversarial image detector. Specifically, we examine the similarities and differences of ReLU bit vectors for adversarial images, and their non-adversarial counterparts, using a pre-trained ResNet-50 architecture. While this paper focuses on adversarial digital images, ResNet-50 architecture, and the ReLU activation function, our methods extend to other network architectures, activation functions, and types of datasets.

Iterative text revision improves text quality by fixing grammatical errors, rephrasing for better readability or contextual appropriateness, or reorganizing sentence structures throughout a document. Most recent research has focused on understanding and classifying different types of edits in the iterative revision process from human-written text instead of building accurate and robust systems for iterative text revision. In this work, we aim to build an end-to-end text revision system that can iteratively generate helpful edits by explicitly detecting editable spans (where-to-edit) with their corresponding edit intents and then instructing a revision model to revise the detected edit spans. Leveraging datasets from other related text editing NLP tasks, combined with the specification of editable spans, leads our system to more accurately model the process of iterative text refinement, as evidenced by empirical results and human evaluations. Our system significantly outperforms previous baselines on our text revision tasks and other standard text revision tasks, including grammatical error correction, text simplification, sentence fusion, and style transfer. Through extensive qualitative and quantitative analysis, we make vital connections between edit intentions and writing quality, and better computational modeling of iterative text revisions.

Open Information Extraction (OIE) methods extract a large number of OIE triples (noun phrase, relation phrase, noun phrase) from text, which compose large Open Knowledge Bases (OKBs). However, noun phrases (NPs) and relation phrases (RPs) in OKBs are not canonicalized and often appear in different paraphrased textual variants, which leads to redundant and ambiguous facts. To address this problem, there are two related tasks: OKB canonicalization (i.e., convert NPs and RPs to canonicalized form) and OKB linking (i.e., link NPs and RPs with their corresponding entities and relations in a curated Knowledge Base (e.g., DBPedia). These two tasks are tightly coupled, and one task can benefit significantly from the other. However, they have been studied in isolation so far. In this paper, we explore the task of joint OKB canonicalization and linking for the first time, and propose a novel framework JOCL based on factor graph model to make them reinforce each other. JOCL is flexible enough to combine different signals from both tasks, and able to extend to fit any new signals. A thorough experimental study over two large scale OIE triple data sets shows that our framework outperforms all the baseline methods for the task of OKB canonicalization (OKB linking) in terms of average F1 (accuracy).

Most research studying social determinants of health (SDoH) has focused on physician notes or structured elements of the electronic medical record (EMR). We hypothesize that clinical notes from social workers, whose role is to ameliorate social and economic factors, might provide a richer source of data on SDoH. We sought to perform topic modeling to identify robust topics of discussion within a large cohort of social work notes. We retrieved a diverse, deidentified corpus of 0.95 million clinical social work notes from 181,644 patients at the University of California, San Francisco. We used word frequency analysis and Latent Dirichlet Allocation (LDA) topic modeling analysis to characterize this corpus and identify potential topics of discussion. Word frequency analysis identified both medical and non-medical terms associated with specific ICD10 chapters. The LDA topic modeling analysis extracted 11 topics related to social determinants of health risk factors including financial status, abuse history, social support, risk of death, and mental health. In addition, the topic modeling approach captured the variation between different types of social work notes and across patients with different types of diseases or conditions. We demonstrated that social work notes contain rich, unique, and otherwise unobtainable information on an individual's SDoH.

This paper presents a computational framework for the Principal Geodesic Analysis of merge trees (MT-PGA), a novel adaptation of the celebrated Principal Component Analysis (PCA) framework [87] to the Wasserstein metric space of merge trees [92]. We formulate MT-PGA computation as a constrained optimization problem, aiming at adjusting a basis of orthogonal geodesic axes, while minimizing a fitting energy. We introduce an efficient, iterative algorithm which exploits shared-memory parallelism, as well as an analytic expression of the fitting energy gradient, to ensure fast iterations. Our approach also trivially extends to extremum persistence diagrams. Extensive experiments on public ensembles demonstrate the efficiency of our approach - with MT-PGA computations in the orders of minutes for the largest examples. We show the utility of our contributions by extending to merge trees two typical PCA applications. First, we apply MT-PGA to data reduction and reliably compress merge trees by concisely representing them by their first coordinates in the MT-PGA basis. Second, we present a dimensionality reduction framework exploiting the first two directions of the MT-PGA basis to generate two-dimensional layouts of the ensemble. We augment these layouts with persistence correlation views, enabling global and local visual inspections of the feature variability in the ensemble. In both applications, quantitative experiments assess the relevance of our framework. Finally, we provide a C++ implementation that can be used to reproduce our results.

The composition of the training dataset has key implications for machine learning models' behavior [Fel19; CLK+19; KL17; GZ19; IPE+22], especially as the training environments often deviate from deployment conditions [RGL19; KSM+20; HBM+20]. For example, a model might struggle on specific subpopulations in the data if that subpopulation was mislabeled [NAM21; SC18; BHK+20; VCG+22], underrepresented [SKH+20; STM21], or corrupted [HD19; HBM+20]. More broadly, the training dataset might contain spurious correlations, encouraging the model to depend on prediction rules that do not generalize to deployment [XEI+20; GJM+20; DJL21]. Moreover, identifying meaningful subpopulations within data allows for dataset refinement (such as filtering or relabeling) [YQF+19; SC18], and training more fair [KGZ19; DYZ+21] or accurate [JFK+20; SHL20] models. However, dominant approaches to such identification of biases and difficult subpopulations within datasets often require human intervention, which is typically labor intensive and thus not conducive to routine usage.

The phrase "mission creep" entered the popular discourse in the early to mid-1990s. The trick is to do this without inviting what a senior official called "mission creep" -- the expansion of the role to include, for example, raiding neighborhoods controlled by General Aidid and searching for weapons. Like countless military and sports terms before it, we now understand it in a broader context. It's one of those phrases that perfectly encapsulates a commonly understood experience -- projects whose size, scope and focus shift so gradually you hardly even notice. I bring this up in the context of an op-ed the Electronic Frontier Foundation published last year.

I recently participated in a regional workshop of government, education, business, and social leaders where we were trying to ascertain and assess 1) the certainty of national trends and 2) the impact of those trends on the region. We reviewed many trends, including the growth of green jobs, growth in the Hispanic community, the decline in water quality and availability, the increasingly older population, declining enrollment trends, remote medicine, Electric Vehicle (EV) infrastructure. I was particularly interested in the trend "Growing Artificial Intelligence (AI) Industry." "The AI industry is expanding rapidly, and two metro areas have become important federal research and contracting centers for AI research. However, according to a 2021 Brooking study, "these two metro areas exhibit below-average commercialization activities in terms of per capita AI companies, job postings, and job profiles," suggesting an opportunity to use this capability to help spark job growth."