Cyber-physical production systems increasingly involve collaborative robotic missions, requiring more demand for robust and safe missions. Industries rely on risk assessments to identify potential failures and implement measures to mitigate their risks. Although it is recommended to conduct risk assessments early in the design of robotic missions, the state of practice in the industry is different. Safety experts often struggle to completely understand robotics missions at the early design stages of projects and to ensure that the output of risk assessments is adequately considered during implementation. This paper presents a design science study that conceived a model-based approach for early risk assessment in a development-centric way. Our approach supports risk assessment activities by using the behavior-tree model. We evaluated the approach together with five practitioners from four companies. Our findings highlight the potential of the behavior-tree model in supporting early identification, visualisation, and bridging the gap between code implementation and risk assessments' outputs. This approach is the first attempt to use the behavior-tree model to support risk assessment; thus, the findings highlight the need for further development.

Latent space optimization (LSO) is a powerful method for designing discrete, high-dimensional biological sequences that maximize expensive black-box functions, such as wet lab experiments. This is accomplished by learning a latent space from available data and using a surrogate model to guide optimization algorithms toward optimal outputs. However, existing methods struggle when labeled data is limited, as training the surrogate model with few labeled data points can lead to subpar outputs, offering no advantage over the training data itself. We address this challenge by introducing GROOT, a Graph-based Latent Smoothing for Biological Sequence Optimization. In particular, GROOT generates pseudo-labels for neighbors sampled around the training latent embeddings. These pseudo-labels are then refined and smoothed by Label Propagation. Additionally, we theoretically and empirically justify our approach, demonstrate GROOT's ability to extrapolate to regions beyond the training set while maintaining reliability within an upper bound of their expected distances from the training regions. We evaluate GROOT on various biological sequence design tasks, including protein optimization (GFP and AAV) and three tasks with exact oracles from Design-Bench. The results demonstrate that GROOT equalizes and surpasses existing methods without requiring access to black-box oracles or vast amounts of labeled data, highlighting its practicality and effectiveness. We release our code at https://anonymous.4open.science/r/GROOT-D554

Amid the burgeoning development of generative models like diffusion models, the task of differentiating synthesized audio from its natural counterpart grows more daunting. Deepfake detection offers a viable solution to combat this challenge. Yet, this defensive measure unintentionally fuels the continued refinement of generative models. Watermarking emerges as a proactive and sustainable tactic, preemptively regulating the creation and dissemination of synthesized content. Thus, this paper, as a pioneer, proposes the generative robust audio watermarking method (Groot), presenting a paradigm for proactively supervising the synthesized audio and its source diffusion models. In this paradigm, the processes of watermark generation and audio synthesis occur simultaneously, facilitated by parameter-fixed diffusion models equipped with a dedicated encoder. The watermark embedded within the audio can subsequently be retrieved by a lightweight decoder. The experimental results highlight Groot's outstanding performance, particularly in terms of robustness, surpassing that of the leading state-of-the-art methods. Beyond its impressive resilience against individual post-processing attacks, Groot exhibits exceptional robustness when facing compound attacks, maintaining an average watermark extraction accuracy of around 95%.

We study the problem of building a controller that can follow open-ended instructions in open-world environments. We propose to follow reference videos as instructions, which offer expressive goal specifications while eliminating the need for expensive text-gameplay annotations. A new learning framework is derived to allow learning such instruction-following controllers from gameplay videos while producing a video instruction encoder that induces a structured goal space. We implement our agent GROOT in a simple yet effective encoder-decoder architecture based on causal transformers. We evaluate GROOT against open-world counterparts and human players on a proposed Minecraft SkillForge benchmark. The Elo ratings clearly show that GROOT is closing the human-machine gap as well as exhibiting a 70% winning rate over the best generalist agent baseline. Qualitative analysis of the induced goal space further demonstrates some interesting emergent properties, including the goal composition and complex gameplay behavior synthesis. The project page is available at https://craftjarvis-groot.github.io.

The idea of a guaranteed income for all has been floating around for centuries, its popularity ebbing and flowing with the passing tide of current events. While it is still considered by many to be a radical concept, proponents of a universal basic income (UBI) no longer see it only as a solution to poverty but as the answer to some of the biggest threats faced by modern workers: wage inequality, job insecurity – and the looming possibility of AI-induced job losses. Elon Musk, at the recent Bletchley Park summit, said he believed "no job is needed" due to the development of AI, and that a job can be for "personal satisfaction". Economist and political theorist Karl Widerquist, professor of philosophy at Georgetown University-Qatar, sees it differently. "Even if AI takes your job away, you don't necessarily just become unemployed for the rest of your life," he says.

We introduce GROOT, an imitation learning method for learning robust policies with object-centric and 3D priors. GROOT builds policies that generalize beyond their initial training conditions for vision-based manipulation. It constructs object-centric 3D representations that are robust toward background changes and camera views and reason over these representations using a transformer-based policy. Furthermore, we introduce a segmentation correspondence model that allows policies to generalize to new objects at test time. Through comprehensive experiments, we validate the robustness of GROOT policies against perceptual variations in simulated and real-world environments. GROOT's performance excels in generalization over background changes, camera viewpoint shifts, and the presence of new object instances, whereas both state-of-the-art end-to-end learning methods and object proposal-based approaches fall short. We also extensively evaluate GROOT policies on real robots, where we demonstrate the efficacy under very wild changes in setup. More videos and model details can be found in the appendix and the project website: https://ut-austin-rpl.github.io/GROOT .

Sequential labeling is a fundamental NLP task, forming the backbone of many applications. Supervised learning of Seq2Seq models has shown great success on these problems. However, the training objectives are still significantly disconnected with the metrics and desiderata we care about in practice. For example, a practical sequence tagging application may want to optimize for a certain precision-recall trade-off (of the top-k predictions) which is quite different from the standard objective of maximizing the likelihood of the gold labeled sequence. Thus to bridge this gap, we propose GROOT -- a simple yet effective framework for Generative Reward Optimization Of Text sequences. GROOT works by training a generative sequential labeling model to match the decoder output distribution with that of the (black-box) reward function. Using an iterative training regime, we first generate prediction candidates, then correct errors in them, and finally contrast those candidates (based on their reward values). As demonstrated via extensive experiments on four public benchmarks, GROOT significantly improves all reward metrics. Furthermore, GROOT leads to improvements of the overall decoder distribution as evidenced by the quality gains of the top-$k$ candidates.

Decision trees are a popular choice of explainable model, but just like neural networks, they suffer from adversarial examples. Existing algorithms for fitting decision trees robust against adversarial examples are greedy heuristics and lack approximation guarantees. In this paper we propose ROCT, a collection of methods to train decision trees that are optimally robust against user-specified attack models. We show that the min-max optimization problem that arises in adversarial learning can be solved using a single minimization formulation for decision trees with 0-1 loss. We propose such formulations in Mixed-Integer Linear Programming and Maximum Satisfiability, which widely available solvers can optimize. We also present a method that determines the upper bound on adversarial accuracy for any model using bipartite matching. Our experimental results demonstrate that the existing heuristics achieve close to optimal scores while ROCT achieves state-of-the-art scores.

This article is about how to automatic explain every logics behind every predictions from the decision tree model created by Python's Scikit-Learn. In my case, end users not only want to have prediction results. They also want to know logics behind the prediction to decide next actions. The ability of Machine Learning to predict is very useful. In some cases we also need to know the reason behind that prediction.

E3 has returned, brought to you live via stream, offering free entry for all to make up for another year without the show's wild cosplay. If there was an overriding theme of this show, it was pandemic-related delay: A lot of the games we've been champing at the bit for are further away than expected, or made no appearance at all. If you didn't manage to catch all the conferences from the comfort of your desk chair, don't worry--sit back in relative comfort and peruse this summary of the best E3 had to offer. This story originally appeared on WIRED UK. Undoubtedly the moment of the show, Nintendo finally (finally) aired some gameplay footage from the sequel to its 2017 masterpiece.