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When humans conceive how to perform a particular task, they do so hierarchically: splitting higher-level tasks into smaller sub-tasks. However, in the literature on natural language (NL) command of situated agents, most works have treated the procedures to be executed as flat sequences of simple actions, or any hierarchies of procedures have been shallow at best. In this paper, we propose a formalism of procedures as programs, a powerful yet intuitive method of representing hierarchical procedural knowledge for agent command and control. We further propose a modeling paradigm of hierarchical modular networks, which consist of a planner and reactors that convert NL intents to predictions of executable programs and probe the environment for information necessary to complete the program execution. We instantiate this framework on the IQA and ALFRED datasets for NL instruction following. Our model outperforms reactive baselines by a large margin on both datasets. We also demonstrate that our framework is more data-efficient, and that it allows for fast iterative development.

Thematic analysis is a cornerstone of qualitative research, yet it is often marked by labor-intensive procedures. Recent advances in artificial intelligence (AI), especially with large-scale language models (LLMs) such as ChatGPT, present potential avenues to enhance qualitative data analysis. This research delves into the effectiveness of ChatGPT in refining the thematic analysis process. We conducted semi-structured interviews with 17 participants, inclusive of a 4-participant pilot study, to identify the challenges and reservations concerning the incorporation of ChatGPT in qualitative analysis. In partnership with 13 qualitative analysts, we crafted cueing frameworks to bolster ChatGPT's contribution to thematic analysis. The results indicate that these frameworks not only amplify the quality of thematic analysis but also bridge a significant connection between AI and qualitative research. These insights carry pivotal implications for academics and professionals keen on harnessing AI for qualitative data exploration.

Knowledge is considered an essential resource for organizations. For organizations to benefit from their possessed knowledge, knowledge needs to be managed effectively. Despite knowledge sharing and management being viewed as important by practitioners, organizations fail to benefit from their knowledge, leading to issues in cooperation and the loss of valuable knowledge with departing employees. This study aims to identify hindering factors that prevent individuals from effectively sharing and managing knowledge and understand how to eliminate these factors. Empirical data were collected through semi-structured group interviews from 50 individuals working in an international large IT organization. This study confirms the existence of a gap between the perceived importance of knowledge management and how little this importance is reflected in practice. Several hindering factors were identified, grouped into personal social topics, organizational social topics, technical topics, environmental topics, and interrelated social and technical topics. The presented recommendations for mitigating these hindering factors are focused on improving employees' actions, such as offering training and guidelines to follow. The findings of this study have implications for organizations in knowledge-intensive fields, as they can use this knowledge to create knowledge sharing and management strategies to improve their overall performance.

The Butterfly Effect, a concept originating from chaos theory, underscores how small changes can have significant and unpredictable impacts on complex systems. In the context of AI fairness and bias, the Butterfly Effect can stem from a variety of sources, such as small biases or skewed data inputs during algorithm development, saddle points in training, or distribution shifts in data between training and testing phases. These seemingly minor alterations can lead to unexpected and substantial unfair outcomes, disproportionately affecting underrepresented individuals or groups and perpetuating pre-existing inequalities. Moreover, the Butterfly Effect can amplify inherent biases within data or algorithms, exacerbate feedback loops, and create vulnerabilities for adversarial attacks. Given the intricate nature of AI systems and their societal implications, it is crucial to thoroughly examine any changes to algorithms or input data for potential unintended consequences. In this paper, we envision both algorithmic and empirical strategies to detect, quantify, and mitigate the Butterfly Effect in AI systems, emphasizing the importance of addressing these challenges to promote fairness and ensure responsible AI development.

Robotic surgical subtask automation has the potential to reduce the per-patient workload of human surgeons. There are a variety of surgical subtasks that require geometric information of subsurface anatomy, such as the location of tumors, which necessitates accurate and efficient surgical sensing. In this work, we propose an automated sensing method that maps 3D subsurface anatomy to provide such geometric knowledge. We model the anatomy via a Bayesian Hilbert map-based probabilistic 3D occupancy map. Using the 3D occupancy map, we plan sensing paths on the surface of the anatomy via a graph search algorithm, $A^*$ search, with a cost function that enables the trajectories generated to balance between exploration of unsensed regions and refining the existing probabilistic understanding. We demonstrate the performance of our proposed method by comparing it against 3 different methods in several anatomical environments including a real-life CT scan dataset. The experimental results show that our method efficiently detects relevant subsurface anatomy with shorter trajectories than the comparison methods, and the resulting occupancy map achieves high accuracy.

In pace with developments in the research field of artificial intelligence, knowledge graphs (KGs) have attracted a surge of interest from both academia and industry. As a representation of semantic relations between entities, KGs have proven to be particularly relevant for natural language processing (NLP), experiencing a rapid spread and wide adoption within recent years. Given the increasing amount of research work in this area, several KG-related approaches have been surveyed in the NLP research community. However, a comprehensive study that categorizes established topics and reviews the maturity of individual research streams remains absent to this day. Contributing to closing this gap, we systematically analyzed 507 papers from the literature on KGs in NLP. Our survey encompasses a multifaceted review of tasks, research types, and contributions. As a result, we present a structured overview of the research landscape, provide a taxonomy of tasks, summarize our findings, and highlight directions for future work.

Graph Neural Networks (GNNs) have been studied from the lens of expressive power and generalization. However, their optimization properties are less well understood. We take the first step towards analyzing GNN training by studying the gradient dynamics of GNNs. First, we analyze linearized GNNs and prove that despite the non-convexity of training, convergence to a global minimum at a linear rate is guaranteed under mild assumptions that we validate on real-world graphs. Second, we study what may affect the GNNs' training speed. Our results show that the training of GNNs is implicitly accelerated by skip connections, more depth, and/or a good label distribution. Empirical results confirm that our theoretical results for linearized GNNs align with the training behavior of nonlinear GNNs. Our results provide the first theoretical support for the success of GNNs with skip connections in terms of optimization, and suggest that deep GNNs with skip connections would be promising in practice.

Deep neural networks (DNNs) are successful in many computer vision tasks. However, the most accurate DNNs require millions of parameters and operations, making them energy, computation and memory intensive. This impedes the deployment of large DNNs in low-power devices with limited compute resources. Recent research improves DNN models by reducing the memory requirement, energy consumption, and number of operations without significantly decreasing the accuracy. This paper surveys the progress of low-power deep learning and computer vision, specifically in regards to inference, and discusses the methods for compacting and accelerating DNN models. The techniques can be divided into four major categories: (1) parameter quantization and pruning, (2) compressed convolutional filters and matrix factorization, (3) network architecture search, and (4) knowledge distillation. We analyze the accuracy, advantages, disadvantages, and potential solutions to the problems with the techniques in each category. We also discuss new evaluation metrics as a guideline for future research.

Commonsense knowledge and commonsense reasoning are some of the main bottlenecks in machine intelligence. In the NLP community, many benchmark datasets and tasks have been created to address commonsense reasoning for language understanding. These tasks are designed to assess machines' ability to acquire and learn commonsense knowledge in order to reason and understand natural language text. As these tasks become instrumental and a driving force for commonsense research, this paper aims to provide an overview of existing tasks and benchmarks, knowledge resources, and learning and inference approaches toward commonsense reasoning for natural language understanding. Through this, our goal is to support a better understanding of the state of the art, its limitations, and future challenges.

The era of big data provides researchers with convenient access to copious data. However, people often have little knowledge about it. The increasing prevalence of big data is challenging the traditional methods of learning causality because they are developed for the cases with limited amount of data and solid prior causal knowledge. This survey aims to close the gap between big data and learning causality with a comprehensive and structured review of traditional and frontier methods and a discussion about some open problems of learning causality. We begin with preliminaries of learning causality. Then we categorize and revisit methods of learning causality for the typical problems and data types. After that, we discuss the connections between learning causality and machine learning. At the end, some open problems are presented to show the great potential of learning causality with data.