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As machine learning models are increasingly deployed in dynamic environments, it becomes paramount to assess and quantify uncertainties associated with distribution shifts. A distribution shift occurs when the underlying data-generating process changes, leading to a deviation in the model's performance. The prediction interval, which captures the range of likely outcomes for a given prediction, serves as a crucial tool for characterizing uncertainties induced by their underlying distribution. In this paper, we propose methodologies for aggregating prediction intervals to obtain one with minimal width and adequate coverage on the target domain under unsupervised domain shift, under which we have labeled samples from a related source domain and unlabeled covariates from the target domain. Our analysis encompasses scenarios where the source and the target domain are related via i) a bounded density ratio, and ii) a measure-preserving transformation. Our proposed methodologies are computationally efficient and easy to implement. Beyond illustrating the performance of our method through real-world datasets, we also delve into the theoretical details. This includes establishing rigorous theoretical guarantees, coupled with finite sample bounds, regarding the coverage and width of our prediction intervals. Our approach excels in practical applications and is underpinned by a solid theoretical framework, ensuring its reliability and effectiveness across diverse contexts.

The anticipation of human behavior is a crucial capability for robots to interact with humans safely and efficiently. We employ a smart edge sensor network to provide global observations along with future predictions and goal information to integrate anticipatory behavior for the control of a mobile manipulation robot. We present approaches to anticipate human behavior in the context of safe navigation and a collaborative mobile manipulation task. First, we anticipate human motion by employing projections of human trajectories from smart edge sensor network observations into the planning map of a mobile robot. Second, we anticipate human intentions in a collaborative furniture-carrying task to achieve a given goal. Our experiments indicate that anticipating human behavior allows for safer navigation and more efficient collaboration. Finally, we showcase an integrated system that anticipates human behavior and collaborates with a human to achieve a target room layout, including the placement of tables and chairs.

The ability to think abstractly and reason by analogy is a prerequisite to rapidly adapt to new conditions, tackle newly encountered problems by decomposing them, and synthesize knowledge to solve problems comprehensively. We present TransCoder, a method for solving abstract problems based on neural program synthesis, and conduct a comprehensive analysis of decisions made by the generative module of the proposed architecture. At the core of TransCoder is a typed domain-specific language, designed to facilitate feature engineering and abstract reasoning. In training, we use the programs that failed to solve tasks to generate new tasks and gather them in a synthetic dataset. As each synthetic task created in this way has a known associated program (solution), the model is trained on them in supervised mode. Solutions are represented in a transparent programmatic form, which can be inspected and verified. We demonstrate TransCoder's performance using the Abstract Reasoning Corpus dataset, for which our framework generates tens of thousands of synthetic problems with corresponding solutions and facilitates systematic progress in learning.

Randomized experiments are a powerful methodology for data-driven evaluation of decisions or interventions. Yet, their validity may be undermined by network interference. This occurs when the treatment of one unit impacts not only its outcome but also that of connected units, biasing traditional treatment effect estimations. Our study introduces a new framework to accommodate complex and unknown network interference, moving beyond specialized models in the existing literature. Our framework, termed causal message-passing, is grounded in high-dimensional approximate message passing methodology. It is tailored for multi-period experiments and is particularly effective in settings with many units and prevalent network interference. The framework models causal effects as a dynamic process where a treated unit's impact propagates through the network via neighboring units until equilibrium is reached. This approach allows us to approximate the dynamics of potential outcomes over time, enabling the extraction of valuable information before treatment effects reach equilibrium. Utilizing causal message-passing, we introduce a practical algorithm to estimate the total treatment effect, defined as the impact observed when all units are treated compared to the scenario where no unit receives treatment. We demonstrate the effectiveness of this approach across five numerical scenarios, each characterized by a distinct interference structure.

This work introduces TrajDiffuser, a compositional diffusion-based flexible and concurrent trajectory generator for 6 degrees of freedom powered descent guidance. TrajDiffuser is a statistical model that learns the multi-modal distributions of a dataset of simulated optimal trajectories, each subject to only one or few constraints that may vary for different trajectories. During inference, the trajectory is generated simultaneously over time, providing stable long-horizon planning, and constraints can be composed together, increasing the model's generalizability and decreasing the training data required. The generated trajectory is then used to initialize an optimizer, increasing its robustness and speed.

Language models will inevitably err in situations with which they are unfamiliar. However, by effectively communicating uncertainties, they can still guide humans toward making sound decisions in those contexts. We demonstrate this idea by developing HEAR, a system that can successfully guide humans in simulated residential environments despite generating potentially inaccurate instructions. Diverging from systems that provide users with only the instructions they generate, HEAR warns users of potential errors in its instructions and suggests corrections. This rich uncertainty information effectively prevents misguidance and reduces the search space for users. Evaluation with 80 users shows that HEAR achieves a 13% increase in success rate and a 29% reduction in final location error distance compared to only presenting instructions to users. Interestingly, we find that offering users possibilities to explore, HEAR motivates them to make more attempts at the task, ultimately leading to a higher success rate. To our best knowledge, this work is the first to show the practical benefits of uncertainty communication in a long-horizon sequential decision-making problem.

In the face of rapidly advancing technologies, evidence of harms they can exacerbate, and insufficient policy to ensure accountability from tech companies, what are HCI opportunities for advancing policymaking of technology? In this paper, we explore challenges and opportunities for tech policymaking through a case study of app-based rideshare driving. We begin with background on rideshare platforms and how they operate. Next, we review literature on algorithmic management about how rideshare drivers actually experience platform features -- often to the detriment of their well-being -- and ways they respond. In light of this, researchers and advocates have called for increased worker protections, thus we turn to rideshare policy and regulation efforts in the U.S. Here, we differentiate the political strategies of platforms with those of drivers to illustrate the conflicting narratives policymakers face when trying to oversee gig work platforms. We reflect that past methods surfacing drivers' experiences may be insufficient for policymaker needs when developing oversight. To address this gap and our original inquiry -- what are HCI opportunities for advancing tech policymaking -- we briefly explore two paths forward for holding tech companies accountable in the rideshare context: (1) data transparency initiatives to enable collective auditing by workers and (2) legal frameworks for holding platforms accountable.

The success of AI models relies on the availability of large, diverse, and high-quality datasets, which can be challenging to obtain due to data scarcity, privacy concerns, and high costs. Synthetic data has emerged as a promising solution by generating artificial data that mimics real-world patterns. This paper provides an overview of synthetic data research, discussing its applications, challenges, and future directions. We present empirical evidence from prior art to demonstrate its effectiveness and highlight the importance of ensuring its factuality, fidelity, and unbiasedness. We emphasize the need for responsible use of synthetic data to build more powerful, inclusive, and trustworthy language models.

As soon as abstract mathematical computations were adapted to computation on digital computers, the problem of efficient representation, manipulation, and communication of the numerical values in those computations arose. Strongly related to the problem of numerical representation is the problem of quantization: in what manner should a set of continuous real-valued numbers be distributed over a fixed discrete set of numbers to minimize the number of bits required and also to maximize the accuracy of the attendant computations? This perennial problem of quantization is particularly relevant whenever memory and/or computational resources are severely restricted, and it has come to the forefront in recent years due to the remarkable performance of Neural Network models in computer vision, natural language processing, and related areas. Moving from floating-point representations to low-precision fixed integer values represented in four bits or less holds the potential to reduce the memory footprint and latency by a factor of 16x; and, in fact, reductions of 4x to 8x are often realized in practice in these applications. Thus, it is not surprising that quantization has emerged recently as an important and very active sub-area of research in the efficient implementation of computations associated with Neural Networks. In this article, we survey approaches to the problem of quantizing the numerical values in deep Neural Network computations, covering the advantages/disadvantages of current methods. With this survey and its organization, we hope to have presented a useful snapshot of the current research in quantization for Neural Networks and to have given an intelligent organization to ease the evaluation of future research in this area.

Object detection typically assumes that training and test data are drawn from an identical distribution, which, however, does not always hold in practice. Such a distribution mismatch will lead to a significant performance drop. In this work, we aim to improve the cross-domain robustness of object detection. We tackle the domain shift on two levels: 1) the image-level shift, such as image style, illumination, etc, and 2) the instance-level shift, such as object appearance, size, etc. We build our approach based on the recent state-of-the-art Faster R-CNN model, and design two domain adaptation components, on image level and instance level, to reduce the domain discrepancy. The two domain adaptation components are based on H-divergence theory, and are implemented by learning a domain classifier in adversarial training manner. The domain classifiers on different levels are further reinforced with a consistency regularization to learn a domain-invariant region proposal network (RPN) in the Faster R-CNN model. We evaluate our newly proposed approach using multiple datasets including Cityscapes, KITTI, SIM10K, etc. The results demonstrate the effectiveness of our proposed approach for robust object detection in various domain shift scenarios.