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Automatic Robotic Assembly Sequence Planning (RASP) can significantly improve productivity and resilience in modern manufacturing along with the growing need for greater product customization. One of the main challenges in realizing such automation resides in efficiently finding solutions from a growing number of potential sequences for increasingly complex assemblies. Besides, costly feasibility checks are always required for the robotic system. To address this, we propose a holistic graphical approach including a graph representation called Assembly Graph for product assemblies and a policy architecture, Graph Assembly Processing Network, dubbed GRACE for assembly sequence generation. With GRACE, we are able to extract meaningful information from the graph input and predict assembly sequences in a step-by-step manner. In experiments, we show that our approach can predict feasible assembly sequences across product variants of aluminum profiles based on data collected in simulation of a dual-armed robotic system. We further demonstrate that our method is capable of detecting infeasible assemblies, substantially alleviating the undesirable impacts from false predictions, and hence facilitating real-world deployment soon. Code and training data are available at //github.com/DLR-RM/GRACE.

Counterfactual examples have emerged as an effective approach to produce simple and understandable post-hoc explanations. In the context of graph classification, previous work has focused on generating counterfactual explanations by manipulating the most elementary units of a graph, i.e., removing an existing edge, or adding a non-existing one. In this paper, we claim that such language of explanation might be too fine-grained, and turn our attention to some of the main characterizing features of real-world complex networks, such as the tendency to close triangles, the existence of recurring motifs, and the organization into dense modules. We thus define a general density-based counterfactual search framework to generate instance-level counterfactual explanations for graph classifiers, which can be instantiated with different notions of dense substructures. In particular, we show two specific instantiations of this general framework: a method that searches for counterfactual graphs by opening or closing triangles, and a method driven by maximal cliques. We also discuss how the general method can be instantiated to exploit any other notion of dense substructures, including, for instance, a given taxonomy of nodes. We evaluate the effectiveness of our approaches in 7 brain network datasets and compare the counterfactual statements generated according to several widely-used metrics. Results confirm that adopting a semantic-relevant unit of change like density is essential to define versatile and interpretable counterfactual explanation methods.

Chat Generative Pre-trained Transformer (ChatGPT) has gained significant interest and attention since its launch in November 2022. It has shown impressive performance in various domains, including passing exams and creative writing. However, challenges and concerns related to biases and trust persist. In this work, we present a comprehensive review of over 100 Scopus-indexed publications on ChatGPT, aiming to provide a taxonomy of ChatGPT research and explore its applications. We critically analyze the existing literature, identifying common approaches employed in the studies. Additionally, we investigate diverse application areas where ChatGPT has found utility, such as healthcare, marketing and financial services, software engineering, academic and scientific writing, research and education, environmental science, and natural language processing. Through examining these applications, we gain valuable insights into the potential of ChatGPT in addressing real-world challenges. We also discuss crucial issues related to ChatGPT, including biases and trustworthiness, emphasizing the need for further research and development in these areas. Furthermore, we identify potential future directions for ChatGPT research, proposing solutions to current challenges and speculating on expected advancements. By fully leveraging the capabilities of ChatGPT, we can unlock its potential across various domains, leading to advancements in conversational AI and transformative impacts in society.

We introduce AudioLM, a framework for high-quality audio generation with long-term consistency. AudioLM maps the input audio to a sequence of discrete tokens and casts audio generation as a language modeling task in this representation space. We show how existing audio tokenizers provide different trade-offs between reconstruction quality and long-term structure, and we propose a hybrid tokenization scheme to achieve both objectives. Namely, we leverage the discretized activations of a masked language model pre-trained on audio to capture long-term structure and the discrete codes produced by a neural audio codec to achieve high-quality synthesis. By training on large corpora of raw audio waveforms, AudioLM learns to generate natural and coherent continuations given short prompts. When trained on speech, and without any transcript or annotation, AudioLM generates syntactically and semantically plausible speech continuations while also maintaining speaker identity and prosody for unseen speakers. Furthermore, we demonstrate how our approach extends beyond speech by generating coherent piano music continuations, despite being trained without any symbolic representation of music.

With the introduction of Cyber-Physical Systems (CPS) and Internet of Things (IoT) into industrial applications, industrial automation is undergoing tremendous change, especially with regard to improving efficiency and reducing the cost of products. Industrial automation applications are often required to transmit time- and safety-critical data to monitor and control industrial processes, especially for critical control systems. There are a number of solutions to meet these requirements (e.g., priority-based real-time schedules and closed-loop feedback control systems). However, due to their different processing capabilities (e.g., in the end devices and network switches), different vendors may come out with distinct solutions, and this makes the large-scale integration of devices from different vendors difficult or impossible. IEEE 802.1 Time-Sensitive Networking (TSN) is a standardization group formed to enhance and optimize the IEEE 802.1 network standards, especially for Ethernet-based networks. These solutions can be evolved and adapted into a cross-industry scenario, such as a large-scale distributed industrial plant, which requires multiple industrial entities working collaboratively. This paper provides a comprehensive review on the current advances in TSN standards for industrial automation. We present the state-of-the-art IEEE TSN standards and discuss the opportunities and challenges when integrating each protocol into the industry domains. Finally, we discuss some promising research about applying the TSN technology to industrial automation applications.

As Reinforcement Learning (RL) agents are increasingly employed in diverse decision-making problems using reward preferences, it becomes important to ensure that policies learned by these frameworks in mapping observations to a probability distribution of the possible actions are explainable. However, there is little to no work in the systematic understanding of these complex policies in a contrastive manner, i.e., what minimal changes to the policy would improve/worsen its performance to a desired level. In this work, we present COUNTERPOL, the first framework to analyze RL policies using counterfactual explanations in the form of minimal changes to the policy that lead to the desired outcome. We do so by incorporating counterfactuals in supervised learning in RL with the target outcome regulated using desired return. We establish a theoretical connection between Counterpol and widely used trust region-based policy optimization methods in RL. Extensive empirical analysis shows the efficacy of COUNTERPOL in generating explanations for (un)learning skills while keeping close to the original policy. Our results on five different RL environments with diverse state and action spaces demonstrate the utility of counterfactual explanations, paving the way for new frontiers in designing and developing counterfactual policies.

This paper presents a comprehensive and practical guide for practitioners and end-users working with Large Language Models (LLMs) in their downstream natural language processing (NLP) tasks. We provide discussions and insights into the usage of LLMs from the perspectives of models, data, and downstream tasks. Firstly, we offer an introduction and brief summary of current GPT- and BERT-style LLMs. Then, we discuss the influence of pre-training data, training data, and test data. Most importantly, we provide a detailed discussion about the use and non-use cases of large language models for various natural language processing tasks, such as knowledge-intensive tasks, traditional natural language understanding tasks, natural language generation tasks, emergent abilities, and considerations for specific tasks.We present various use cases and non-use cases to illustrate the practical applications and limitations of LLMs in real-world scenarios. We also try to understand the importance of data and the specific challenges associated with each NLP task. Furthermore, we explore the impact of spurious biases on LLMs and delve into other essential considerations, such as efficiency, cost, and latency, to ensure a comprehensive understanding of deploying LLMs in practice. This comprehensive guide aims to provide researchers and practitioners with valuable insights and best practices for working with LLMs, thereby enabling the successful implementation of these models in a wide range of NLP tasks. A curated list of practical guide resources of LLMs, regularly updated, can be found at \url{//github.com/Mooler0410/LLMsPracticalGuide}.

Autonomic computing investigates how systems can achieve (user) specified control outcomes on their own, without the intervention of a human operator. Autonomic computing fundamentals have been substantially influenced by those of control theory for closed and open-loop systems. In practice, complex systems may exhibit a number of concurrent and inter-dependent control loops. Despite research into autonomic models for managing computer resources, ranging from individual resources (e.g., web servers) to a resource ensemble (e.g., multiple resources within a data center), research into integrating Artificial Intelligence (AI) and Machine Learning (ML) to improve resource autonomy and performance at scale continues to be a fundamental challenge. The integration of AI/ML to achieve such autonomic and self-management of systems can be achieved at different levels of granularity, from full to human-in-the-loop automation. In this article, leading academics, researchers, practitioners, engineers, and scientists in the fields of cloud computing, AI/ML, and quantum computing join to discuss current research and potential future directions for these fields. Further, we discuss challenges and opportunities for leveraging AI and ML in next generation computing for emerging computing paradigms, including cloud, fog, edge, serverless and quantum computing environments.

Knowledge enhanced pre-trained language models (K-PLMs) are shown to be effective for many public tasks in the literature but few of them have been successfully applied in practice. To address this problem, we propose K-AID, a systematic approach that includes a low-cost knowledge acquisition process for acquiring domain knowledge, an effective knowledge infusion module for improving model performance, and a knowledge distillation component for reducing the model size and deploying K-PLMs on resource-restricted devices (e.g., CPU) for real-world application. Importantly, instead of capturing entity knowledge like the majority of existing K-PLMs, our approach captures relational knowledge, which contributes to better-improving sentence-level text classification and text matching tasks that play a key role in question answering (QA). We conducted a set of experiments on five text classification tasks and three text matching tasks from three domains, namely E-commerce, Government, and Film&TV, and performed online A/B tests in E-commerce. Experimental results show that our approach is able to achieve substantial improvement on sentence-level question answering tasks and bring beneficial business value in industrial settings.

Machine learning plays a role in many deployed decision systems, often in ways that are difficult or impossible to understand by human stakeholders. Explaining, in a human-understandable way, the relationship between the input and output of machine learning models is essential to the development of trustworthy machine-learning-based systems. A burgeoning body of research seeks to define the goals and methods of explainability in machine learning. In this paper, we seek to review and categorize research on counterfactual explanations, a specific class of explanation that provides a link between what could have happened had input to a model been changed in a particular way. Modern approaches to counterfactual explainability in machine learning draw connections to the established legal doctrine in many countries, making them appealing to fielded systems in high-impact areas such as finance and healthcare. Thus, we design a rubric with desirable properties of counterfactual explanation algorithms and comprehensively evaluate all currently-proposed algorithms against that rubric. Our rubric provides easy comparison and comprehension of the advantages and disadvantages of different approaches and serves as an introduction to major research themes in this field. We also identify gaps and discuss promising research directions in the space of counterfactual explainability.