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End-effector based assistive robots face persistent challenges in generating smooth and robust trajectories when controlled by human's noisy and unreliable biosignals such as muscle activities and brainwaves. The produced endpoint trajectories are often jerky and imprecise to perform complex tasks such as stable robotic grasping. We propose STREAMS (Self-Training Robotic End-to-end Adaptive Multimodal Shared autonomy) as a novel framework leveraged deep reinforcement learning to tackle this challenge in biosignal based robotic control systems. STREAMS blends environmental information and synthetic user input into a Deep Q Learning Network (DQN) pipeline for an interactive end-to-end and self-training mechanism to produce smooth trajectories for the control of end-effector based robots. The proposed framework achieved a high-performance record of 98% in simulation with dynamic target estimation and acquisition without any pre-existing datasets. As a zero-shot sim-to-real user study with five participants controlling a physical robotic arm with noisy head movements, STREAMS (as an assistive mode) demonstrated significant improvements in trajectory stabilization, user satisfaction, and task performance reported as a success rate of 83% compared to manual mode which was 44% without any task support. STREAMS seeks to improve biosignal based assistive robotic controls by offering an interactive, end-to-end solution that stabilizes end-effector trajectories, enhancing task performance and accuracy.

Navigating complex environments requires Unmanned Aerial Vehicles (UAVs) and autonomous systems to perform trajectory tracking and obstacle avoidance in real-time. While many control strategies have effectively utilized linear approximations, addressing the non-linear dynamics of UAV, especially in obstacle-dense environments, remains a key challenge that requires further research. This paper introduces a Non-linear Model Predictive Control (NMPC) framework for the DJI Matrice 100, addressing these challenges by using a dynamic model and B-spline interpolation for smooth reference trajectories, ensuring minimal deviation while respecting safety constraints. The framework supports various trajectory types and employs a penalty-based cost function for control accuracy in tight maneuvers. The framework utilizes CasADi for efficient real-time optimization, enabling the UAV to maintain robust operation even under tight computational constraints. Simulation and real-world indoor and outdoor experiments demonstrated the NMPC ability to adapt to disturbances, resulting in smooth, collision-free navigation.

Safe and successful deployment of robots requires not only the ability to generate complex plans but also the capacity to frequently replan and correct execution errors. This paper addresses the challenge of long-horizon trajectory planning under temporally extended objectives in a receding horizon manner. To this end, we propose DOPPLER, a data-driven hierarchical framework that generates and updates plans based on instruction specified by linear temporal logic (LTL). Our method decomposes temporal tasks into chain of options with hierarchical reinforcement learning from offline non-expert datasets. It leverages diffusion models to generate options with low-level actions. We devise a determinantal-guided posterior sampling technique during batch generation, which improves the speed and diversity of diffusion generated options, leading to more efficient querying. Experiments on robot navigation and manipulation tasks demonstrate that DOPPLER can generate sequences of trajectories that progressively satisfy the specified formulae for obstacle avoidance and sequential visitation. Demonstration videos are available online at: //philiptheother.github.io/doppler/.

The increasing demand for transparent and reliable models, particularly in high-stakes decision-making areas such as medical image analysis, has led to the emergence of eXplainable Artificial Intelligence (XAI). Post-hoc XAI techniques, which aim to explain black-box models after training, have been controversial in recent works concerning their fidelity to the models' predictions. In contrast, Self-eXplainable AI (S-XAI) offers a compelling alternative by incorporating explainability directly into the training process of deep learning models. This approach allows models to generate inherent explanations that are closely aligned with their internal decision-making processes. Such enhanced transparency significantly supports the trustworthiness, robustness, and accountability of AI systems in real-world medical applications. To facilitate the development of S-XAI methods for medical image analysis, this survey presents an comprehensive review across various image modalities and clinical applications. It covers more than 200 papers from three key perspectives: 1) input explainability through the integration of explainable feature engineering and knowledge graph, 2) model explainability via attention-based learning, concept-based learning, and prototype-based learning, and 3) output explainability by providing counterfactual explanation and textual explanation. Additionally, this paper outlines the desired characteristics of explainability and existing evaluation methods for assessing explanation quality. Finally, it discusses the major challenges and future research directions in developing S-XAI for medical image analysis.

Large language models (LLMs) have shown great potential in automating significant aspects of coding by producing natural code from informal natural language (NL) intent. However, given NL is informal, it does not lend easily to checking that the generated code correctly satisfies the user intent. In this paper, we propose a novel interactive workflow TiCoder for guided intent clarification (i.e., partial formalization) through tests to support the generation of more accurate code suggestions. Through a mixed methods user study with 15 programmers, we present an empirical evaluation of the effectiveness of the workflow to improve code generation accuracy. We find that participants using the proposed workflow are significantly more likely to correctly evaluate AI generated code, and report significantly less task-induced cognitive load. Furthermore, we test the potential of the workflow at scale with four different state-of-the-art LLMs on two python datasets, using an idealized proxy for a user feedback. We observe an average absolute improvement of 45.97% in the pass@1 code generation accuracy for both datasets and across all LLMs within 5 user interactions, in addition to the automatic generation of accompanying unit tests.

We present BehAV, a novel approach for autonomous robot navigation in outdoor scenes guided by human instructions and leveraging Vision Language Models (VLMs). Our method interprets human commands using a Large Language Model (LLM) and categorizes the instructions into navigation and behavioral guidelines. Navigation guidelines consist of directional commands (e.g., "move forward until") and associated landmarks (e.g., "the building with blue windows"), while behavioral guidelines encompass regulatory actions (e.g., "stay on") and their corresponding objects (e.g., "pavements"). We use VLMs for their zero-shot scene understanding capabilities to estimate landmark locations from RGB images for robot navigation. Further, we introduce a novel scene representation that utilizes VLMs to ground behavioral rules into a behavioral cost map. This cost map encodes the presence of behavioral objects within the scene and assigns costs based on their regulatory actions. The behavioral cost map is integrated with a LiDAR-based occupancy map for navigation. To navigate outdoor scenes while adhering to the instructed behaviors, we present an unconstrained Model Predictive Control (MPC)-based planner that prioritizes both reaching landmarks and following behavioral guidelines. We evaluate the performance of BehAV on a quadruped robot across diverse real-world scenarios, demonstrating a 22.49% improvement in alignment with human-teleoperated actions, as measured by Frechet distance, and achieving a 40% higher navigation success rate compared to state-of-the-art methods.

Diffusion-based speech generators are ubiquitous. These methods can generate very high quality synthetic speech and several recent incidents report their malicious use. To counter such misuse, synthetic speech detectors have been developed. Many of these detectors are trained on datasets which do not include diffusion-based synthesizers. In this paper, we demonstrate that existing detectors trained on one such dataset, ASVspoof2019, do not perform well in detecting synthetic speech from recent diffusion-based synthesizers. We propose the Diffusion-Based Synthetic Speech Dataset (DiffSSD), a dataset consisting of about 200 hours of labeled speech, including synthetic speech generated by 8 diffusion-based open-source and 2 commercial generators. We also examine the performance of existing synthetic speech detectors on DiffSSD in both closed-set and open-set scenarios. The results highlight the importance of this dataset in detecting synthetic speech generated from recent open-source and commercial speech generators.

In recent years, the global adoption of electric vehicles (EVs) has surged, prompting a corresponding rise in the installation of charging stations. This proliferation has underscored the importance of expediting the deployment of charging infrastructure. Both academia and industry have thus devoted to addressing the charging station location problem (CSLP) to streamline this process. However, prevailing algorithms addressing CSLP are hampered by restrictive assumptions and computational overhead, leading to a dearth of comprehensive evaluations in the spatiotemporal dimensions. Consequently, their practical viability is restricted. Moreover, the placement of charging stations exerts a significant impact on both the road network and the power grid, which necessitates the evaluation of the potential post-deployment impacts on these interconnected networks holistically. In this study, we propose CSLens, a visual analytics system designed to inform charging station deployment decisions through the lens of coupled transportation and power networks. CSLens offers multiple visualizations and interactive features, empowering users to delve into the existing charging station layout, explore alternative deployment solutions, and assess the ensuring impact. To validate the efficacy of CSLens, we conducted two case studies and engaged in interviews with domain experts. Through these efforts, we substantiated the usability and practical utility of CSLens in enhancing the decision-making process surrounding charging station deployment. Our findings underscore CSLens's potential to serve as a valuable asset in navigating the complexities of charging infrastructure planning.

In challenging environments with significant noise and reverberation, traditional speech enhancement (SE) methods often lead to over-suppressed speech, creating artifacts during listening and harming downstream tasks performance. To overcome these limitations, we propose a novel approach called Restorative SE (RestSE), which combines a lightweight SE module with a generative codec module to progressively enhance and restore speech quality. The SE module initially reduces noise, while the codec module subsequently performs dereverberation and restores speech using generative capabilities. We systematically explore various quantization techniques within the codec module to optimize performance. Additionally, we introduce a weighted loss function and feature fusion that merges the SE output with the original mixture, particularly at segments where the SE output is heavily distorted. Experimental results demonstrate the effectiveness of our proposed method in enhancing speech quality under adverse conditions. Audio demos are available at: //sophie091524.github.io/RestorativeSE/.

The cross-domain recommendation technique is an effective way of alleviating the data sparsity in recommender systems by leveraging the knowledge from relevant domains. Transfer learning is a class of algorithms underlying these techniques. In this paper, we propose a novel transfer learning approach for cross-domain recommendation by using neural networks as the base model. We assume that hidden layers in two base networks are connected by cross mappings, leading to the collaborative cross networks (CoNet). CoNet enables dual knowledge transfer across domains by introducing cross connections from one base network to another and vice versa. CoNet is achieved in multi-layer feedforward networks by adding dual connections and joint loss functions, which can be trained efficiently by back-propagation. The proposed model is evaluated on two real-world datasets and it outperforms baseline models by relative improvements of 3.56\% in MRR and 8.94\% in NDCG, respectively.