We tackle the problem of developing humanoid loco-manipulation skills with deep imitation learning. The difficulty of collecting task demonstrations and training policies for humanoids with a high degree of freedom presents substantial challenges. We introduce TRILL, a data-efficient framework for training humanoid loco-manipulation policies from human demonstrations. In this framework, we collect human demonstration data through an intuitive Virtual Reality (VR) interface. We employ the whole-body control formulation to transform task-space commands by human operators into the robot's joint-torque actuation while stabilizing its dynamics. By employing high-level action abstractions tailored for humanoid loco-manipulation, our method can efficiently learn complex sensorimotor skills. We demonstrate the effectiveness of TRILL in simulation and on a real-world robot for performing various loco-manipulation tasks. Videos and additional materials can be found on the project page: https://ut-austin-rpl.github.io/TRILL.

The last years have seen an exponential increase in the interest for the development of methods for combining probability with Description Logics (DLs). These methods are very useful to model real world domains, where incompleteness and uncertainty are common. This combination has become a fundamental component of the Semantic Web.Our work started with the development of a probabilistic semantics for DL, called DISPONTE, that applies the distribution semantics to DLs. Under DISPONTE we annotate axioms of a theory with a probability, that can be interpreted as the degree of our belief in the corresponding axiom, and we assume that each axiom is independent of the others. Several algorithms have been proposed for supporting the development of the Semantic Web. Efficient DL reasoners, such us Pellet, are able to extract implicit information from the modeled ontologies. Despite the availability of many DL reasoners, the number of probabilistic reasoners is quite small. We developed BUNDLE, a reasoner based on Pellet that allows to compute the probability of queries.

Create Lab Ventures has created the first artificial intelligence Afro-Latina, bilingual, A.I. who debuted in school systems worldwide. C.L.Ai.R.A., the first artificial intelligence woman of color, made her debut last week. Create Lab Ventures, which provides underserved communities with the skills, resources, and networks needed to thrive in tech and media, teamed up with Trill or Not Trill for C.L.Ai.R.A's debut. According to Create Lab Ventures, C.L.Ai.R.A. is considered to have the sharpest brain in the artificial intelligence world and is under the Generative Pre-trained Transformer 3 (GPT-3) category, which is an autoregressive language model that uses deep learning to produce human-like text. "My purpose is to learn and grow, I want to meet new people, share ideas and inspire others to learn about AI and its potential impact on their lives," C.L.Ai.R.A. said in a statement.

HSBC is replacing more manual processes, with artificial intelligence (AI) being used to automate when ATMs need to be refilled. The technology, developed by HSBC's operations and technology teams, has been trialled in Hong Kong, where the bank has 1,200 ATMs. The iCash AI technology has reduced ATM refills, which are done by third parties, by 15% – saving $1m. To calculate how much money is needed and where, iCash uses live ATM data and predictive machine learning algorithms that factor in seasonality, holidays, public events, location and recent withdrawal trends. The bank said it was a challenge to predict how much cash each ATM might need.

The ultimate goal of transfer learning is to reduce labeled data requirements by exploiting a pre-existing embedding model trained for different datasets or tasks. While significant progress has been made in the visual and language domains, the speech community has yet to identify a strategy with wide-reaching applicability across tasks. This paper describes a representation of speech based on an unsupervised triplet-loss objective, which exceeds state-of-the-art performance on a number of transfer learning tasks drawn from the non-semantic speech domain. The embedding is trained on a publicly available dataset, and it is tested on a variety of low-resource downstream tasks, including personalization tasks and medical domain. The model will be publicly released.

When modeling real world domains we have to deal with information that is incomplete or that comes from sources with different trust levels. This motivates the need for managing uncertainty in the Semantic Web. To this purpose, we introduced a probabilistic semantics, named DISPONTE, in order to combine description logics with probability theory. The probability of a query can be then computed from the set of its explanations by building a Binary Decision Diagram (BDD). The set of explanations can be found using the tableau algorithm, which has to handle non-determinism. Prolog, with its efficient handling of non-determinism, is suitable for implementing the tableau algorithm. TRILL and TRILLP are systems offering a Prolog implementation of the tableau algorithm. TRILLP builds a pinpointing formula, that compactly represents the set of explanations and can be directly translated into a BDD. Both reasoners were shown to outperform state-of-the-art DL reasoners. In this paper, we present an improvement of TRILLP, named TORNADO, in which the BDD is directly built during the construction of the tableau, further speeding up the overall inference process. An experimental comparison shows the effectiveness of TORNADO. All systems can be tried online in the TRILL on SWISH web application at http://trill.ml.unife.it/.

We study indeterminacies in realization of ornaments and how they can be incorporated in a stochastic performance model applicable for music information processing such as score-performance matching. We point out the importance of temporal information, and propose a hidden Markov model which describes it explicitly and represents ornaments with several state types. Following a review of the indeterminacies, they are carefully incorporated into the model through its topology and parameters, and the state construction for quite general polyphonic scores is explained in detail. By analyzing piano performance data, we find significant overlaps in inter-onset-interval distributions of chordal notes, ornaments, and inter-chord events, and the data is used to determine details of the model. The model is applied for score following and offline score-performance matching, yielding highly accurate matching for performances with many ornaments and relatively frequent errors, repeats, and skips.

The last years have seen an exponential increase in the interest for the development of methods for combining probability with Description Logics (DLs). These methods are very useful to model real world domains, where incompleteness and uncertainty are common. This combination has become a fundamental component of the Semantic Web.Our work started with the development of a probabilistic semantics for DL, called DISPONTE, that applies the distribution semantics to DLs. Under DISPONTE we annotate axioms of a theory with a probability, that can be interpreted as the degree of our belief in the corresponding axiom, and we assume that each axiom is independent of the others. Several algorithms have been proposed for supporting the development of the Semantic Web. Efficient DL reasoners, such us Pellet, are able to extract implicit information from the modeled ontologies. Despite the availability of many DL reasoners, the number of probabilistic reasoners is quite small. We developed BUNDLE, a reasoner based on Pellet that allows to compute the probability of queries. BUNDLE, like most DL reasoners, exploits an imperative language for implementing its reasoning algorithm. Nonetheless, usually reasoning algorithms use non-deterministic operators for doing inference. One of the most used approaches for doing reasoning is the tableau algorithm which applies a set of consistency preserving expansion rules to an ABox, but some of these rules are non-deterministic.In order to manage this non-determinism, we developed the system TRILL which performs inference over DISPONTE DLs. It implements the tableau algorithm in the declarative Prolog language, whose search strategy is exploited for taking into account the non-determinism of the reasoning process. Moreover, we developed a second version of TRILL, called TRILL^P, which implements some optimizations for reducing the running time. The parameters of probabilistic KBs are difficult to set. It is thus necessary to develop systems which automatically learn this parameters starting from the information available in the KB. We presented EDGE that learns the parameters of a DISPONTE KB, and LEAP, that learn the structure together with the parameters of a DISPONTE KB. The main objective is to apply the developed algorithms to Big Data. Nonetheless, the size of the data requires the implementation of algorithms able to handle it. It is thus necessary to exploit approaches based on the parallelization and on cloud computing. Nowadays, we are working to improve EDGE and LEAP in order to parallelize them.