From its inception, AI has had a rather ambivalent relationship with humans -- swinging between their augmentation and replacement. Now, as AI technologies enter our everyday lives at an ever increasing pace, there is a greater need for AI systems to work synergistically with humans. One critical requirement for such synergistic human-AI interaction is that the AI systems be explainable to the humans in the loop. To do this effectively, AI agents need to go beyond planning with their own models of the world, and take into account the mental model of the human in the loop. Drawing from several years of research in our lab, we will discuss how the AI agent can use these mental models to either conform to human expectations, or change those expectations through explanatory communication. While the main focus of the book is on cooperative scenarios, we will point out how the same mental models can be used for obfuscation and deception. Although the book is primarily driven by our own research in these areas, in every chapter, we will provide ample connections to relevant research from other groups.

Given a memory with infinite capacity, can we solve the learning problem? Apparently, nature has solved this problem as evidenced by the evolution of mammalian brains. Inspired by the organizational principles underlying hippocampal-neocortical systems, we present a navigation-based approach to manifold learning using memory and context. The key insight is to navigate on the manifold and memorize the positions of each route as inductive/design bias of direct-fit-to-nature. We name it navigation-based because our approach can be interpreted as navigating in the latent space of sensorimotor learning via memory (local maps) and context (global indexing). The indexing to the library of local maps within global coordinates is collected by an associative memory serving as the librarian, which mimics the coupling between the hippocampus and the neocortex. In addition to breaking from the notorious bias-variance dilemma and the curse of dimensionality, we discuss the biological implementation of our navigation-based learning by episodic and semantic memories in neural systems. The energy efficiency of navigation-based learning makes it suitable for hardware implementation on non-von Neumann architectures, such as the emerging in-memory computing paradigm, including spiking neural networks and memristor neural networks.

Drought is a complex environmental phenomenon that affects millions of people and communities all over the globe and is too elusive to be accurately predicted. This is mostly due to the scalability and variability of the web of environmental parameters that directly/indirectly causes the onset of different categories of drought. Since the dawn of man, efforts have been made to uniquely understand the natural indicators that provide signs of likely environmental events. These indicators/signs in the form of indigenous knowledge system have been used for generations. The intricate complexity of drought has, however, always been a major stumbling block for accurate drought prediction and forecasting systems. Recently, scientists in the field of agriculture and environmental monitoring have been discussing the integration of indigenous knowledge and scientific knowledge for a more accurate environmental forecasting system in order to incorporate diverse environmental information for a reliable drought forecast. Hence, in this research, the core objective is the development of a semantics-based data integration middleware that encompasses and integrates heterogeneous data models of local indigenous knowledge and sensor data towards an accurate drought forecasting system for the study areas. The local indigenous knowledge on drought gathered from the domain experts is transformed into rules to be used for performing deductive inference in conjunction with sensors data for determining the onset of drought through an automated inference generation module of the middleware. The semantic middleware incorporates, inter alia, a distributed architecture that consists of a streaming data processing engine based on Apache Kafka for real-time stream processing; a rule-based reasoning module; an ontology module for semantic representation of the knowledge bases.

The evolution of artificial intelligence (AI) has profoundly impacted human society, driving significant advancements in multiple sectors. Yet, the escalating demands on AI have highlighted the limitations of AI's current offerings, catalyzing a movement towards Artificial General Intelligence (AGI). AGI, distinguished by its ability to execute diverse real-world tasks with efficiency and effectiveness comparable to human intelligence, reflects a paramount milestone in AI evolution. While existing works have summarized specific recent advancements of AI, they lack a comprehensive discussion of AGI's definitions, goals, and developmental trajectories. Different from existing survey papers, this paper delves into the pivotal questions of our proximity to AGI and the strategies necessary for its realization through extensive surveys, discussions, and original perspectives. We start by articulating the requisite capability frameworks for AGI, integrating the internal, interface, and system dimensions. As the realization of AGI requires more advanced capabilities and adherence to stringent constraints, we further discuss necessary AGI alignment technologies to harmonize these factors. Notably, we emphasize the importance of approaching AGI responsibly by first defining the key levels of AGI progression, followed by the evaluation framework that situates the status-quo, and finally giving our roadmap of how to reach the pinnacle of AGI. Moreover, to give tangible insights into the ubiquitous impact of the integration of AI, we outline existing challenges and potential pathways toward AGI in multiple domains. In sum, serving as a pioneering exploration into the current state and future trajectory of AGI, this paper aims to foster a collective comprehension and catalyze broader public discussions among researchers and practitioners on AGI.

Learning commonsense reasoning from visual contexts and scenes in real-world is a crucial step toward advanced artificial intelligence. However, existing video reasoning benchmarks are still inadequate since they were mainly designed for factual or situated reasoning and rarely involve broader knowledge in the real world. Our work aims to delve deeper into reasoning evaluations, specifically within dynamic, open-world, and structured context knowledge. We propose a new benchmark (SOK-Bench), consisting of 44K questions and 10K situations with instance-level annotations depicted in the videos. The reasoning process is required to understand and apply situated knowledge and general knowledge for problem-solving. To create such a dataset, we propose an automatic and scalable generation method to generate question-answer pairs, knowledge graphs, and rationales by instructing the combinations of LLMs and MLLMs. Concretely, we first extract observable situated entities, relations, and processes from videos for situated knowledge and then extend to open-world knowledge beyond the visible content. The task generation is facilitated through multiple dialogues as iterations and subsequently corrected and refined by our designed self-promptings and demonstrations. With a corpus of both explicit situated facts and implicit commonsense, we generate associated question-answer pairs and reasoning processes, finally followed by manual reviews for quality assurance. We evaluated recent mainstream large vision-language models on the benchmark and found several insightful conclusions. For more information, please refer to our benchmark at www.bobbywu.com/SOKBench.

The $K$-medoids problem is a challenging combinatorial clustering task, widely used in data analysis applications. While numerous algorithms have been proposed to solve this problem, none of these are able to obtain an exact (globally optimal) solution for the problem in polynomial time. In this paper, we present EKM: a novel algorithm for solving this problem exactly with worst-case $O\left(N^{K+1}\right)$ time complexity. EKM is developed according to recent advances in transformational programming and combinatorial generation, using formal program derivation steps. The derived algorithm is provably correct by construction. We demonstrate the effectiveness of our algorithm by comparing it against various approximate methods on numerous real-world datasets. We show that the wall-clock run time of our algorithm matches the worst-case time complexity analysis on synthetic datasets, clearly outperforming the exponential time complexity of benchmark branch-and-bound based MIP solvers. To our knowledge, this is the first, rigorously-proven polynomial time, practical algorithm for this ubiquitous problem.

Reasoning in the real world is not divorced from situations. How to capture the present knowledge from surrounding situations and perform reasoning accordingly is crucial and challenging for machine intelligence. This paper introduces a new benchmark that evaluates the situated reasoning ability via situation abstraction and logic-grounded question answering for real-world videos, called Situated Reasoning in Real-World Videos (STAR Benchmark). This benchmark is built upon the real-world videos associated with human actions or interactions, which are naturally dynamic, compositional, and logical. The dataset includes four types of questions, including interaction, sequence, prediction, and feasibility. We represent the situations in real-world videos by hyper-graphs connecting extracted atomic entities and relations (e.g., actions, persons, objects, and relationships). Besides visual perception, situated reasoning also requires structured situation comprehension and logical reasoning. Questions and answers are procedurally generated. The answering logic of each question is represented by a functional program based on a situation hyper-graph. We compare various existing video reasoning models and find that they all struggle on this challenging situated reasoning task. We further propose a diagnostic neuro-symbolic model that can disentangle visual perception, situation abstraction, language understanding, and functional reasoning to understand the challenges of this benchmark.

Recent advances in artificial intelligence for education leverage generative large language models, including using them to predict open-ended student responses rather than their correctness only. However, the black-box nature of these models limits the interpretability of the learned student knowledge representations. In this paper, we conduct a first exploration into interpreting latent student knowledge representations by presenting InfoOIRT, an Information regularized Open-ended Item Response Theory model, which encourages the latent student knowledge states to be interpretable while being able to generate student-written code for open-ended programming questions. InfoOIRT maximizes the mutual information between a fixed subset of latent knowledge states enforced with simple prior distributions and generated student code, which encourages the model to learn disentangled representations of salient syntactic and semantic code features including syntactic styles, mastery of programming skills, and code structures. Through experiments on a real-world programming education dataset, we show that InfoOIRT can both accurately generate student code and lead to interpretable student knowledge representations.

General policies represent reactive strategies for solving large families of planning problems like the infinite collection of solvable instances from a given domain. Methods for learning such policies from a collection of small training instances have been developed successfully for classical domains. In this work, we extend the formulations and the resulting combinatorial methods for learning general policies over fully observable, non-deterministic (FOND) domains. We also evaluate the resulting approach experimentally over a number of benchmark domains in FOND planning, present the general policies that result in some of these domains, and prove their correctness. The method for learning general policies for FOND planning can actually be seen as an alternative FOND planning method that searches for solutions, not in the given state space but in an abstract space defined by features that must be learned as well.

Autonomous systems often employ multiple LiDARs to leverage the integrated advantages, enhancing perception and robustness. The most critical prerequisite under this setting is the estimating the extrinsic between each LiDAR, i.e., calibration. Despite the exciting progress in multi-LiDAR calibration efforts, a universal, sensor-agnostic calibration method remains elusive. According to the coarse-to-fine framework, we first design a spherical descriptor TERRA for 3-DoF rotation initialization with no prior knowledge. To further optimize, we present JEEP for the joint estimation of extrinsic and pose, integrating geometric and motion information to overcome factors affecting the point cloud registration. Finally, the LiDAR poses optimized by the hierarchical optimization module are input to time synchronization module to produce the ultimate calibration results, including the time offset. To verify the effectiveness, we conduct extensive experiments on eight datasets, where 16 diverse types of LiDARs in total and dozens of calibration tasks are tested. In the challenging tasks, the calibration errors can still be controlled within 5cm and 1{\deg} with a high success rate.