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Collision detection is one of the most time-consuming operations during motion planning. Thus, there is an increasing interest in exploring machine learning techniques to speed up collision detection and sampling-based motion planning. A recent line of research focuses on utilizing neural signed distance functions of either the robot geometry or the swept volume of the robot motion. Building on this, we present a novel neural implicit swept volume model that is the first to continuously represent arbitrary motions parameterized by their start and goal configurations. This allows to quickly compute signed distances for any point in the task space to the robot motion. Further, we present an algorithm combining the speed of the deep learning-based signed distance computations with the strong accuracy guarantees of geometric collision checkers. We validate our approach in simulated and real-world robotic experiments, and demonstrate that it is able to speed up a commercial bin picking application.

We consider the fundamental problem of allocating a set of indivisible goods among strategic agents with additive valuation functions. It is well known that, in the absence of monetary transfers, Pareto efficient and truthful rules are dictatorial, while there is no deterministic truthful mechanism that allocates all items and achieves envy-freeness up to one item (EF1), even for the case of two agents. In this paper, we investigate the interplay of fairness and efficiency under a relaxation of truthfulness called non-obvious manipulability (NOM), recently proposed by Troyan and Morrill. We show that this relaxation allows us to bypass the aforementioned negative results in a very strong sense. Specifically, we prove that there are deterministic and EF1 algorithms that are not obviously manipulable, and the algorithm that maximizes utilitarian social welfare (the sum of agents' utilities), which is Pareto efficient but not dictatorial, is not obviously manipulable for $n \geq 3$ agents (but obviously manipulable for $n=2$ agents). At the same time, maximizing the egalitarian social welfare (the minimum of agents' utilities) or the Nash social welfare (the product of agents' utilities) is obviously manipulable for any number of agents and items. Our main result is an approximation preserving black-box reduction from the problem of designing EF1 and NOM mechanisms to the problem of designing EF1 algorithms. En route, we prove an interesting structural result about EF1 allocations, as well as new "best-of-both-worlds" results (for the problem without incentives), that might be of independent interest.

We propose a noble, comprehensive and robust agile requirements change management (ARCM) model that addresses the limitations of existing models and is tailored for agile software development in the global software development paradigm. To achieve this goal, we conducted an exhaustive literature review and an empirical study with RCM industry experts. Our study evaluated the effectiveness of the proposed RCM model in a real-world setting and identifies any limitations or areas for improvement. The results of our study provide valuable insights into how the proposed RCM model can be applied in agile global software development environments to improve software development practices and optimize project success rates.

Reliable methods for the neurodevelopmental assessment of infants are essential for early detection of medical issues that may need prompt interventions. Spontaneous motor activity, or `kinetics', is shown to provide a powerful surrogate measure of upcoming neurodevelopment. However, its assessment is by and large qualitative and subjective, focusing on visually identified, age-specific gestures. Here, we follow an alternative approach, predicting infants' neurodevelopmental maturation based on data-driven evaluation of individual motor patterns. We utilize 3D video recordings of infants processed with pose-estimation to extract spatio-temporal series of anatomical landmarks, and apply adaptive graph convolutional networks to predict the actual age. We show that our data-driven approach achieves improvement over traditional machine learning baselines based on manually engineered features.

Large language models (LLMs) are pivotal in advancing natural language processing (NLP) tasks, yet their efficacy is hampered by inaccuracies and outdated knowledge. Model editing emerges as a promising solution to address these challenges. However, existing editing methods struggle to track and incorporate changes in knowledge associated with edits, which limits the generalization ability of postedit LLMs in processing edited knowledge. To tackle these problems, we propose a novel model editing method that leverages knowledge graphs for enhancing LLM editing, namely GLAME. Specifically, we first utilize a knowledge graph augmentation module to uncover associated knowledge that has changed due to editing, obtaining its internal representations within LLMs. This approach allows knowledge alterations within LLMs to be reflected through an external graph structure. Subsequently, we design a graph-based knowledge edit module to integrate structured knowledge into the model editing. This ensures that the updated parameters reflect not only the modifications of the edited knowledge but also the changes in other associated knowledge resulting from the editing process. Comprehensive experiments conducted on GPT-J and GPT-2 XL demonstrate that GLAME significantly improves the generalization capabilities of post-edit LLMs in employing edited knowledge.

Decision-making algorithms are being used in important decisions, such as who should be enrolled in health care programs and be hired. Even though these systems are currently deployed in high-stakes scenarios, many of them cannot explain their decisions. This limitation has prompted the Explainable Artificial Intelligence (XAI) initiative, which aims to make algorithms explainable to comply with legal requirements, promote trust, and maintain accountability. This paper questions whether and to what extent explainability can help solve the responsibility issues posed by autonomous AI systems. We suggest that XAI systems that provide post-hoc explanations could be seen as blameworthy agents, obscuring the responsibility of developers in the decision-making process. Furthermore, we argue that XAI could result in incorrect attributions of responsibility to vulnerable stakeholders, such as those who are subjected to algorithmic decisions (i.e., patients), due to a misguided perception that they have control over explainable algorithms. This conflict between explainability and accountability can be exacerbated if designers choose to use algorithms and patients as moral and legal scapegoats. We conclude with a set of recommendations for how to approach this tension in the socio-technical process of algorithmic decision-making and a defense of hard regulation to prevent designers from escaping responsibility.

We consider the problem of explaining the predictions of graph neural networks (GNNs), which otherwise are considered as black boxes. Existing methods invariably focus on explaining the importance of graph nodes or edges but ignore the substructures of graphs, which are more intuitive and human-intelligible. In this work, we propose a novel method, known as SubgraphX, to explain GNNs by identifying important subgraphs. Given a trained GNN model and an input graph, our SubgraphX explains its predictions by efficiently exploring different subgraphs with Monte Carlo tree search. To make the tree search more effective, we propose to use Shapley values as a measure of subgraph importance, which can also capture the interactions among different subgraphs. To expedite computations, we propose efficient approximation schemes to compute Shapley values for graph data. Our work represents the first attempt to explain GNNs via identifying subgraphs explicitly and directly. Experimental results show that our SubgraphX achieves significantly improved explanations, while keeping computations at a reasonable level.

Recently, a considerable literature has grown up around the theme of Graph Convolutional Network (GCN). How to effectively leverage the rich structural information in complex graphs, such as knowledge graphs with heterogeneous types of entities and relations, is a primary open challenge in the field. Most GCN methods are either restricted to graphs with a homogeneous type of edges (e.g., citation links only), or focusing on representation learning for nodes only instead of jointly propagating and updating the embeddings of both nodes and edges for target-driven objectives. This paper addresses these limitations by proposing a novel framework, namely the Knowledge Embedding based Graph Convolutional Network (KE-GCN), which combines the power of GCNs in graph-based belief propagation and the strengths of advanced knowledge embedding (a.k.a. knowledge graph embedding) methods, and goes beyond. Our theoretical analysis shows that KE-GCN offers an elegant unification of several well-known GCN methods as specific cases, with a new perspective of graph convolution. Experimental results on benchmark datasets show the advantageous performance of KE-GCN over strong baseline methods in the tasks of knowledge graph alignment and entity classification.

The Bayesian paradigm has the potential to solve core issues of deep neural networks such as poor calibration and data inefficiency. Alas, scaling Bayesian inference to large weight spaces often requires restrictive approximations. In this work, we show that it suffices to perform inference over a small subset of model weights in order to obtain accurate predictive posteriors. The other weights are kept as point estimates. This subnetwork inference framework enables us to use expressive, otherwise intractable, posterior approximations over such subsets. In particular, we implement subnetwork linearized Laplace: We first obtain a MAP estimate of all weights and then infer a full-covariance Gaussian posterior over a subnetwork. We propose a subnetwork selection strategy that aims to maximally preserve the model's predictive uncertainty. Empirically, our approach is effective compared to ensembles and less expressive posterior approximations over full networks.