Social robots are required not only to understand human intentions but also to effectively communicate their intentions or own internal states to users. This study explores the use of sonification to provide explicit auditory feedback, enhancing mutual understanding in HRI. We introduce a novel sonification approach that conveys the robot's internal state, linked to its perception of nearby individuals and their interaction intentions. The approach is evaluated through a two-fold user study: an online video-based survey with 26 participants and live experiments with 10 participants. Results indicate that while sonification improves the robot's expressivity and communication effectiveness, the design of the auditory feedback needs refinement to enhance user experience. Participants found the auditory cues useful but described the sounds as uninteresting and unpleasant. These findings underscore the importance of carefully designed auditory feedback in developing more effective and engaging Human-Robot Interaction (HRI) systems.

Gboard Decoder produces suggestions by looking for paths that best match input touch points on the context aware search space, which is backed by the language Finite State Transducers (FST). The language FST is currently an N-gram language model (LM). However, N-gram LMs, limited in context length, are known to have sparsity problem under device model size constraint. In this paper, we propose \textbf{Neural Search Space} which substitutes the N-gram LM with a Neural Network LM (NN-LM) and dynamically constructs the search space during decoding. Specifically, we integrate the long range context awareness of NN-LM into the search space by converting its outputs given context, into the language FST at runtime. This involves language FST structure redesign, pruning strategy tuning, and data structure optimizations. Online experiments demonstrate improved quality results, reducing Words Modified Ratio by [0.26\%, 1.19\%] on various locales with acceptable latency increases. This work opens new avenues for further improving keyboard decoding quality by enhancing neural LM more directly.

Machine learning for time-series forecasting remains a key area of research. Despite successful application of many machine learning techniques, relating computational efficiency to forecast error remains an under-explored domain. This paper addresses this topic through a series of real-time experiments to quantify the relationship between computational cost and forecast error using meteorological nowcasting as an example use-case. We employ a variety of popular regression techniques (XGBoost, FC-MLP, Transformer, and LSTM) for multi-horizon, short-term forecasting of three variables (temperature, wind speed, and cloud cover) for multiple locations. During a 5-day live experiment, 4000 data sources were streamed for training and inferencing 144 models per hour. These models were parameterized to explore forecast error for two computational cost minimization methods: a novel auto-adaptive data reduction technique (Variance Horizon) and a performance-based concept drift-detection mechanism. Forecast error of all model variations were benchmarked in real-time against a state-of-the-art numerical weather prediction model. Performance was assessed using classical and novel evaluation metrics. Results indicate that using the Variance Horizon reduced computational usage by more than 50\%, while increasing between 0-15\% in error. Meanwhile, performance-based retraining reduced computational usage by up to 90\% while \emph{also} improving forecast error by up to 10\%. Finally, the combination of both the Variance Horizon and performance-based retraining outperformed other model configurations by up to 99.7\% when considering error normalized to computational usage.

This paper revisits Kimera-Multi, a distributed multi-robot Simultaneous Localization and Mapping (SLAM) system, towards the goal of deployment in the real world. In particular, this paper has three main contributions. First, we describe improvements to Kimera-Multi to make it resilient to large-scale real-world deployments, with particular emphasis on handling intermittent and unreliable communication. Second, we collect and release challenging multi-robot benchmarking datasets obtained during live experiments conducted on the MIT campus, with accurate reference trajectories and maps for evaluation. The datasets include up to 8 robots traversing long distances (up to 8 km) and feature many challenging elements such as severe visual ambiguities (e.g., in underground tunnels and hallways), mixed indoor and outdoor trajectories with different lighting conditions, and dynamic entities (e.g., pedestrians and cars). Lastly, we evaluate the resilience of Kimera-Multi under different communication scenarios, and provide a quantitative comparison with a centralized baseline system. Based on the results from both live experiments and subsequent analysis, we discuss the strengths and weaknesses of Kimera-Multi, and suggest future directions for both algorithm and system design. We release the source code of Kimera-Multi and all datasets to facilitate further research towards the reliable real-world deployment of multi-robot SLAM systems.

Many recent advances in neural information retrieval models, which predict top-K items given a query, learn directly from a large training set of (query, item) pairs. However, they are often insufficient when there are many previously unseen (query, item) combinations, often referred to as the cold start problem. Furthermore, the search system can be biased towards items that are frequently shown to a query previously, also known as the 'rich get richer' (a.k.a. feedback loop) problem. In light of these problems, we observed that most online content platforms have both a search and a recommender system that, while having heterogeneous input spaces, can be connected through their common output item space and a shared semantic representation. In this paper, we propose a new Zero-Shot Heterogeneous Transfer Learning framework that transfers learned knowledge from the recommender system component to improve the search component of a content platform. First, it learns representations of items and their natural-language features by predicting (item, item) correlation graphs derived from the recommender system as an auxiliary task. Then, the learned representations are transferred to solve the target search retrieval task, performing query-to-item prediction without having seen any (query, item) pairs in training. We conduct online and offline experiments on one of the world's largest search and recommender systems from Google, and present the results and lessons learned. We demonstrate that the proposed approach can achieve high performance on offline search retrieval tasks, and more importantly, achieved significant improvements on relevance and user interactions over the highly-optimized production system in online experiments.

Running a Python script for a few hours just to find out its results are useless – feels bad. Many software domains have long-running processes that need to be monitored, but machine learning's requirements are a bit different. Monitoring machine learning requires live netrics but also comparing metrics after the process died. Alongside that, users need to see the metrics visually in charts to identify trends. This post will expand on these differences and explore the most popular strategies for monitoring a model training session using Python.

Industrial recommender systems deal with extremely large action spaces -- many millions of items to recommend. Moreover, they need to serve billions of users, who are unique at any point in time, making a complex user state space. Luckily, huge quantities of logged implicit feedback (e.g., user clicks, dwell time) are available for learning. Learning from the logged feedback is however subject to biases caused by only observing feedback on recommendations selected by the previous versions of the recommender. In this work, we present a general recipe of addressing such biases in a production top-K recommender system at Youtube, built with a policy-gradient-based algorithm, i.e. REINFORCE. The contributions of the paper are: (1) scaling REINFORCE to a production recommender system with an action space on the orders of millions; (2) applying off-policy correction to address data biases in learning from logged feedback collected from multiple behavior policies; (3) proposing a novel top-K off-policy correction to account for our policy recommending multiple items at a time; (4) showcasing the value of exploration. We demonstrate the efficacy of our approaches through a series of simulations and multiple live experiments on Youtube.

There are currently few datasets appropriate for training and evaluating models for non-goal-oriented dialogue systems (chatbots); and equally problematic, there is currently no standard procedure for evaluating such models beyond the classic Turing test. The aim of our competition is therefore to establish a concrete scenario for testing chatbots that aim to engage humans, and become a standard evaluation tool in order to make such systems directly comparable. This is the second Conversational Intelligence (ConvAI) Challenge. The previous one was conducted under the scope of NIPS 2017 Competitions track. The winning entry will receive $20,000 in Mechanical Turk funding – in order to encourage further data collection for dialogue research.

On April 3, 2016 (3-4 PM EST) an online Q&A will occur that's unlike any ever done before. It will follow a typical "Ask Me Anything" (AMA) format where questions are asked to an individual, who provides responses in real-time. What makes this AMA so unique is that the individual answering will be a Swarm Intelligence comprised of dozens of online users thinking together in unison. Governed by swarming algorithms, these collective systems have been shown in prior research to make predictions that exceed the accuracy of individuals. Furthermore, recent research shows that swarming does not just amplify intelligence, it promotes moral decisions.

In an effort to better understand meaning from natural language texts, we explore methods aimed at organizing lexical objects into contexts. A number of these methods for organization fall into a family defined by word ordering. Unlike demographic or spatial partitions of data, these collocation models are of special importance for their universal applicability. While we are interested here in text and have framed our treatment appropriately, our work is potentially applicable to other areas of research (e.g., speech, genomics, and mobility patterns) where one has ordered categorical data, (e.g., sounds, genes, and locations). Our approach focuses on the phrase (whether word or larger) as the primary meaning-bearing lexical unit and object of study. To do so, we employ our previously developed framework for generating word-conserving phrase-frequency data. Upon training our model with the Wiktionary---an extensive, online, collaborative, and open-source dictionary that contains over 100,000 phrasal-definitions---we develop highly effective filters for the identification of meaningful, missing phrase-entries. With our predictions we then engage the editorial community of the Wiktionary and propose short lists of potential missing entries for definition, developing a breakthrough, lexical extraction technique, and expanding our knowledge of the defined English lexicon of phrases.