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Autonomous systems, including generative AI, have been adopted faster than previous digital innovations. Their impact on society might as well be more profound, with a radical restructuring of the economy of knowledge and dramatic consequences for social and institutional balances. Different attitudes to control these systems have emerged rooted in the classical pillars of legal systems, proprietary rights, and social responsibility. We show how an illusion of control might be guiding governments and regulators, while autonomous systems might be driving us to inescapable delusion.

Controlled execution of dynamic motions in quadrupedal robots, especially those with articulated soft bodies, presents a unique set of challenges that traditional methods struggle to address efficiently. In this study, we tackle these issues by relying on a simple yet effective two-stage learning framework to generate dynamic motions for quadrupedal robots. First, a gradient-free evolution strategy is employed to discover simply represented control policies, eliminating the need for a predefined reference motion. Then, we refine these policies using deep reinforcement learning. Our approach enables the acquisition of complex motions like pronking and back-flipping, effectively from scratch. Additionally, our method simplifies the traditionally labour-intensive task of reward shaping, boosting the efficiency of the learning process. Importantly, our framework proves particularly effective for articulated soft quadrupeds, whose inherent compliance and adaptability make them ideal for dynamic tasks but also introduce unique control challenges.

Pneumatic actuation benefits soft robotics by facilitating compliance, enabling large volume change, and concentrating actuator weight away from the end-effector. However, portability is compromised when pneumatic actuators are tethered to cumbersome air and power supplies. While there are existing options for portable pneumatic systems, they are limited in dynamic capabilities, constraining their applicability to low pressure and/or small-volume soft robots. In this work, we propose a portable, high-flow pressure supply and regulator (phloSAR) for use in untethered, weight-constrained, dynamic soft robot applications. PhloSAR leverages high-flow proportional valves, an integrated pressure reservoir, and Venturi vacuum generation to achieve portability and dynamic performance. We present a set of models that describe the system dynamics, experimentally validate them on physical hardware, and discuss the influence of design parameters on system operation. Lastly, we integrate a proof-of-concept prototype with a soft robot arm mounted on an aerial vehicle to demonstrate the system's applicability to mobile robotics. Our system enables new opportunities in mobile soft robotics by making untethered pneumatic supply and regulation available to a wider range of soft robots.

Retrieval-augmented question-answering systems combine retrieval techniques with large language models to provide answers that are more accurate and informative. Many existing toolkits allow users to quickly build such systems using off-the-shelf models, but they fall short in supporting researchers and developers to customize the model training, testing, and deployment process. We propose LocalRQA, an open-source toolkit that features a wide selection of model training algorithms, evaluation methods, and deployment tools curated from the latest research. As a showcase, we build QA systems using online documentation obtained from Databricks and Faire's websites. We find 7B-models trained and deployed using LocalRQA reach a similar performance compared to using OpenAI's text-ada-002 and GPT-4-turbo.

In the landscape of generative artificial intelligence, diffusion-based models present challenges for socio-technical systems in data requirements and privacy. Traditional approaches like federated learning distribute the learning process but strain individual clients, especially with constrained resources (e.g., edge devices). In response to these challenges, we introduce CollaFuse, a novel framework inspired by split learning. Tailored for efficient and collaborative use of denoising diffusion probabilistic models, CollaFuse enables shared server training and inference, alleviating client computational burdens. This is achieved by retaining data and computationally inexpensive GPU processes locally at each client while outsourcing the computationally expensive processes to the shared server. Demonstrated in a healthcare context, CollaFuse enhances privacy by highly reducing the need for sensitive information sharing. These capabilities hold the potential to impact various application areas, such as the design of edge computing solutions, healthcare research, or autonomous driving. In essence, our work advances distributed machine learning, shaping the future of collaborative GenAI networks.

Similarity estimation is essential for many game AI applications, from the procedural generation of distinct assets to automated exploration with game-playing agents. While similarity metrics often substitute human evaluation, their alignment with our judgement is unclear. Consequently, the result of their application can fail human expectations, leading to e.g. unappreciated content or unbelievable agent behaviour. We alleviate this gap through a multi-factorial study of two tile-based games in two representations, where participants (N=456) judged the similarity of level triplets. Based on this data, we construct domain-specific perceptual spaces, encoding similarity-relevant attributes. We compare 12 metrics to these spaces and evaluate their approximation quality through several quantitative lenses. Moreover, we conduct a qualitative labelling study to identify the features underlying the human similarity judgement in this popular genre. Our findings inform the selection of existing metrics and highlight requirements for the design of new similarity metrics benefiting game development and research.

Both smart propagation engineering as well as integrated sensing and communication (ISAC) constitute promising candidates for next-generation (NG) mobile networks. We provide a synergistic view of these technologies, and explore their mutual benefits. First, moving beyond just intelligent surfaces, we provide a holistic view of the engineering aspects of smart propagation environments. By delving into the fundamental characteristics of intelligent surfaces, fluid antennas, and unmanned aerial vehicles, we reveal that more efficient control of the pathloss and fading can be achieved, thus facilitating intrinsic integration and mutual assistance between sensing and communication functionalities. In turn, with the exploitation of the sensing capabilities of ISAC to orchestrate the efficient configuration of radio environments, both the computational effort and signaling overheads can be reduced. We present indicative simulation results, which verify that cooperative smart propagation environment design significantly enhances the ISAC performance. Finally, some promising directions are outlined for combining ISAC with smart propagation engineering.

Face recognition technology has advanced significantly in recent years due largely to the availability of large and increasingly complex training datasets for use in deep learning models. These datasets, however, typically comprise images scraped from news sites or social media platforms and, therefore, have limited utility in more advanced security, forensics, and military applications. These applications require lower resolution, longer ranges, and elevated viewpoints. To meet these critical needs, we collected and curated the first and second subsets of a large multi-modal biometric dataset designed for use in the research and development (R&D) of biometric recognition technologies under extremely challenging conditions. Thus far, the dataset includes more than 350,000 still images and over 1,300 hours of video footage of approximately 1,000 subjects. To collect this data, we used Nikon DSLR cameras, a variety of commercial surveillance cameras, specialized long-rage R&D cameras, and Group 1 and Group 2 UAV platforms. The goal is to support the development of algorithms capable of accurately recognizing people at ranges up to 1,000 m and from high angles of elevation. These advances will include improvements to the state of the art in face recognition and will support new research in the area of whole-body recognition using methods based on gait and anthropometry. This paper describes methods used to collect and curate the dataset, and the dataset's characteristics at the current stage.

Multi-agent influence diagrams (MAIDs) are a popular form of graphical model that, for certain classes of games, have been shown to offer key complexity and explainability advantages over traditional extensive form game (EFG) representations. In this paper, we extend previous work on MAIDs by introducing the concept of a MAID subgame, as well as subgame perfect and trembling hand perfect equilibrium refinements. We then prove several equivalence results between MAIDs and EFGs. Finally, we describe an open source implementation for reasoning about MAIDs and computing their equilibria.

Graph neural networks provide a powerful toolkit for embedding real-world graphs into low-dimensional spaces according to specific tasks. Up to now, there have been several surveys on this topic. However, they usually lay emphasis on different angles so that the readers can not see a panorama of the graph neural networks. This survey aims to overcome this limitation, and provide a comprehensive review on the graph neural networks. First of all, we provide a novel taxonomy for the graph neural networks, and then refer to up to 400 relevant literatures to show the panorama of the graph neural networks. All of them are classified into the corresponding categories. In order to drive the graph neural networks into a new stage, we summarize four future research directions so as to overcome the facing challenges. It is expected that more and more scholars can understand and exploit the graph neural networks, and use them in their research community.