In this paper we propose a novel algorithm, Wi-Closure, to improve computational efficiency and robustness of loop closure detection in multi-robot SLAM. Our approach decreases the computational overhead of classical approaches by pruning the search space of potential loop closures, prior to evaluation by a typical multi-robot SLAM pipeline. Wi-Closure achieves this by identifying candidates that are spatially close to each other by using sensing over the wireless communication signal between robots, even when they are operating in non-line-of-sight or in remote areas of the environment from one another. We demonstrate the validity of our approach in simulation and hardware experiments. Our results show that using Wi-closure greatly reduces computation time, by 54% in simulation and by 77% in hardware compared, with a multi-robot SLAM baseline. Importantly, this is achieved without sacrificing accuracy. Using Wi-Closure reduces absolute trajectory estimation error by 99% in simulation and 89.2% in hardware experiments. This improvement is due in part to Wi-Closure's ability to avoid catastrophic optimization failure that typically occurs with classical approaches in challenging repetitive environments.

Socratic questioning is an educational method that allows students to discover answers to complex problems by asking them a series of thoughtful questions. Generation of didactically sound questions is challenging, requiring understanding of the reasoning process involved in the problem. We hypothesize that such questioning strategy can not only enhance the human performance, but also assist the math word problem (MWP) solvers. In this work, we explore the ability of large language models (LMs) in generating sequential questions for guiding math word problem-solving. We propose various guided question generation schemes based on input conditioning and reinforcement learning. On both automatic and human quality evaluations, we find that LMs constrained with desirable question properties generate superior questions and improve the overall performance of a math word problem solver. We conduct a preliminary user study to examine the potential value of such question generation models in the education domain. Results suggest that the difficulty level of problems plays an important role in determining whether questioning improves or hinders human performance. We discuss the future of using such questioning strategies in education.

Computing is a critical driving force in the development of human civilization. In recent years, we have witnessed the emergence of intelligent computing, a new computing paradigm that is reshaping traditional computing and promoting digital revolution in the era of big data, artificial intelligence and internet-of-things with new computing theories, architectures, methods, systems, and applications. Intelligent computing has greatly broadened the scope of computing, extending it from traditional computing on data to increasingly diverse computing paradigms such as perceptual intelligence, cognitive intelligence, autonomous intelligence, and human-computer fusion intelligence. Intelligence and computing have undergone paths of different evolution and development for a long time but have become increasingly intertwined in recent years: intelligent computing is not only intelligence-oriented but also intelligence-driven. Such cross-fertilization has prompted the emergence and rapid advancement of intelligent computing. Intelligent computing is still in its infancy and an abundance of innovations in the theories, systems, and applications of intelligent computing are expected to occur soon. We present the first comprehensive survey of literature on intelligent computing, covering its theory fundamentals, the technological fusion of intelligence and computing, important applications, challenges, and future perspectives. We believe that this survey is highly timely and will provide a comprehensive reference and cast valuable insights into intelligent computing for academic and industrial researchers and practitioners.

This paper presents a Prolog-based reasoning module to generate counterfactual explanations given the predictions computed by a black-box classifier. The proposed symbolic reasoning module can also resolve what-if queries using the ground-truth labels instead of the predicted ones. Overall, our approach comprises four well-defined stages that can be applied to any structured pattern classification problem. Firstly, we pre-process the given dataset by imputing missing values and normalizing the numerical features. Secondly, we transform numerical features into symbolic ones using fuzzy clustering such that extracted fuzzy clusters are mapped to an ordered set of predefined symbols. Thirdly, we encode instances as a Prolog rule using the nominal values, the predefined symbols, the decision classes, and the confidence values. Fourthly, we compute the overall confidence of each Prolog rule using fuzzy-rough set theory to handle the uncertainty caused by transforming numerical quantities into symbols. This step comes with an additional theoretical contribution to a new similarity function to compare the previously defined Prolog rules involving confidence values. Finally, we implement a chatbot as a proxy between human beings and the Prolog-based reasoning module to resolve natural language queries and generate counterfactual explanations. During the numerical simulations using synthetic datasets, we study the performance of our system when using different fuzzy operators and similarity functions. Towards the end, we illustrate how our reasoning module works using different use cases.

Recent hype surrounding the increasing sophistication of language processing models has renewed optimism regarding machines achieving a human-like command of natural language. Research in the area of natural language understanding (NLU) in artificial intelligence claims to have been making great strides in this area, however, the lack of conceptual clarity/consistency in how 'understanding' is used in this and other disciplines makes it difficult to discern how close we actually are. In this interdisciplinary research thesis, I integrate insights from cognitive science/psychology, philosophy of mind, and cognitive linguistics, and evaluate it against a critical review of current approaches in NLU to explore the basic requirements--and remaining challenges--for developing artificially intelligent systems with human-like capacities for language use and comprehension.

What is Causal AI and Why You Should Care? Causal AI means both improving machine learning with causal reasoning, and automating causal reasoning with machine learning. Today's learning machines have superhuman prediction ability but aren't particularly good at causal reasoning, even when we train them on obscenely large amounts of data. But now, a convergence of statistical and computational advances has shifted the focus from discourse to algorithms that we can train on data and deploy to software. It is a real path to true, real AI, causal intelligence, or ontological machines, to be run by its machine ontology, the world model engine for general intelligence, learning and knowing, inference and interactions with the world. Its ontological/causal reasoning mechanism is a crucial element to how humans or machines understand, explain, and make decisions and interact with the world.

Answering open-domain questions requires world knowledge about in-context entities. As pre-trained Language Models (LMs) lack the power to store all required knowledge, external knowledge sources, such as knowledge graphs, are often used to augment LMs. In this work, we propose knOwledge REasOning empowered Language Model (OREO-LM), which consists of a novel Knowledge Interaction Layer that can be flexibly plugged into existing Transformer-based LMs to interact with a differentiable Knowledge Graph Reasoning module collaboratively. In this way, LM guides KG to walk towards the desired answer, while the retrieved knowledge improves LM. By adopting OREO-LM to RoBERTa and T5, we show significant performance gain, achieving state-of-art results in the Closed-Book setting. The performance enhancement is mainly from the KG reasoning's capacity to infer missing relational facts. In addition, OREO-LM provides reasoning paths as rationales to interpret the model's decision.

Multi-hop Question Generation is the task of generating questions which require the reader to reason over and combine information spread across multiple passages using several reasoning steps. Chain-of-thought rationale generation has been shown to improve performance on multi-step reasoning tasks and make model predictions more interpretable. However, few-shot performance gains from including rationales have been largely observed only in +100B language models, and otherwise require large scale manual rationale annotation. In this work, we introduce a new framework for applying chain-of-thought inspired structured rationale generation to multi-hop question generation under a very low supervision regime (8- to 128-shot). We propose to annotate a small number of examples following our proposed multi-step rationale schema, treating each reasoning step as a separate task to be performed by a generative language model. We show that our framework leads to improved control over the difficulty of the generated questions and better performance compared to baselines trained without rationales, both on automatic evaluation metrics and in human evaluation. Importantly, we show that this is achievable with a modest model size.

Abstract: The key to Black-Box Optimization is to efficiently search through input regions with potentially widely-varying numerical properties, to achieve low-regret descent and fast progress toward the optima. Monte Carlo Tree Search (MCTS) methods have recently been introduced to improve Bayesian optimization by computing better partitioning of the search space that balances exploration and exploitation. Extending this promising framework, we study how to further integrate sample-based descent for faster optimization. We design novel ways of expanding Monte Carlo search trees, with new descent methods at vertices that incorporate stochastic search and Gaussian Processes. We propose the corresponding rules for balancing progress and uncertainty, branch selection, tree expansion, and backpropagation.

Pretrained language models (PLMs) have been shown to accumulate factual knowledge during pretrainingng (Petroni et al., 2019). Recent works probe PLMs for the extent of this knowledge through prompts either in discrete or continuous forms. However, these methods do not consider symmetry of the task: object prediction and subject prediction. In this work, we propose Symmetrical Prompt Enhancement (SPE), a continuous prompt-based method for factual probing in PLMs that leverages the symmetry of the task by constructing symmetrical prompts for subject and object prediction. Our results on a popular factual probing dataset, LAMA, show significant improvement of SPE over previous probing methods.