For social robots like Astro which interact with and adapt to the daily movements of users within the home, realistic simulation of human activity is needed for feature development and testing. This paper presents a framework for simulating daily human activity patterns in home environments at scale, supporting manual configurability of different personas or activity patterns, variation of activity timings, and testing on multiple home layouts. We introduce a method for specifying day-to-day variation in schedules and present a bidirectional constraint propagation algorithm for generating schedules from templates. We validate the expressive power of our framework through a use case scenario analysis and demonstrate that our method can be used to generate data closely resembling human behavior from three public datasets and a self-collected dataset. Our contribution supports systematic testing of social robot behaviors at scale, enables procedural generation of synthetic datasets of human movement in different households, and can help minimize bias in training data, leading to more robust and effective robots for home environments.
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Modern robots are stepping away from monolithic entities built using ad-hoc sensors and actuators, due to new technologies and communication paradigms, such as the Internet of Things (IoT) and the Robotic Operating System (ROS). Using such paradigms, robots can be built by acquiring heterogeneous standard devices and putting them in communication with each other. This approach brings high degrees of modularity, but it also yields uncertainty of providing cybersecurity assurances, and guarantees on the integrity of the embodiment. In this paper, we first illustrate how cyberattacks on different devices can have radically different consequences on the robot's ability to complete its tasks and preserve its embodiment. We also claim that modern robots should have self-awareness for what it concerns such aspects, and formulate the different characteristics that robots should integrate for doing so. Then, we show that achieving these propositions requires that robots possess at least three properties that conceptually link devices and tasks. Last, we reflect on how these three properties could be achieved in a larger conceptual framework.
Product states, unentangled tensor products of single qubits, are a ubiquitous ansatz in quantum computation, including for state-of-the-art Hamiltonian approximation algorithms. A natural question is whether we should expect to efficiently solve product state problems on any interesting families of Hamiltonians. We completely classify the complexity of finding minimum-energy product states for Hamiltonians defined by any fixed set of allowed 2-qubit interactions. Our results follow a line of work classifying the complexity of solving Hamiltonian problems and classical constraint satisfaction problems based on the allowed constraints. We prove that estimating the minimum energy of a product state is in P if and only if all allowed interactions are 1-local, and NP-complete otherwise. Equivalently, any family of non-trivial two-body interactions generates Hamiltonians with NP-complete product-state problems. Our hardness constructions only require coupling strengths of constant magnitude. A crucial component of our proofs is a collection of hardness results for a new variant of the Vector Max-Cut problem, which should be of independent interest. Our definition involves sums of distances rather than squared distances and allows linear stretches. A corollary of our classification is a new proof that optimizing product states in the Quantum Max-Cut model (the quantum Heisenberg model) is NP-complete.
Personalization in machine learning (ML) tailors models' decisions to the individual characteristics of users. While this approach has seen success in areas like recommender systems, its expansion into high-stakes fields such as healthcare and autonomous driving is hindered by the extensive regulatory approval processes involved. To address this challenge, we propose a novel framework termed represented Markov Decision Processes (r-MDPs) that is designed to balance the need for personalization with the regulatory constraints. In an r-MDP, we cater to a diverse user population, each with unique preferences, through interaction with a small set of representative policies. Our objective is twofold: efficiently match each user to an appropriate representative policy and simultaneously optimize these policies to maximize overall social welfare. We develop two deep reinforcement learning algorithms that efficiently solve r-MDPs. These algorithms draw inspiration from the principles of classic K-means clustering and are underpinned by robust theoretical foundations. Our empirical investigations, conducted across a variety of simulated environments, showcase the algorithms' ability to facilitate meaningful personalization even under constrained policy budgets. Furthermore, they demonstrate scalability, efficiently adapting to larger policy budgets.
The effectiveness of recommendation systems is pivotal to user engagement and satisfaction in online platforms. As these recommendation systems increasingly influence user choices, their evaluation transcends mere technical performance and becomes central to business success. This paper addresses the multifaceted nature of recommendations system evaluation by introducing a comprehensive suite of metrics, each tailored to capture a distinct aspect of system performance. We discuss * Similarity Metrics: to quantify the precision of content-based filtering mechanisms and assess the accuracy of collaborative filtering techniques. * Candidate Generation Metrics: to evaluate how effectively the system identifies a broad yet relevant range of items. * Predictive Metrics: to assess the accuracy of forecasted user preferences. * Ranking Metrics: to evaluate the effectiveness of the order in which recommendations are presented. * Business Metrics: to align the performance of the recommendation system with economic objectives. Our approach emphasizes the contextual application of these metrics and their interdependencies. In this paper, we identify the strengths and limitations of current evaluation practices and highlight the nuanced trade-offs that emerge when optimizing recommendation systems across different metrics. The paper concludes by proposing a framework for selecting and interpreting these metrics to not only improve system performance but also to advance business goals. This work is to aid researchers and practitioners in critically assessing recommendation systems and fosters the development of more nuanced, effective, and economically viable personalization strategies. Our code is available at GitHub - //github.com/aryan-jadon/Evaluation-Metrics-for-Recommendation-Systems.
College students with ADHD respond positively to simple socially assistive robots (SARs) that monitor attention and provide non-verbal feedback, but studies have been done only in brief in-lab sessions. We present an initial design and evaluation of an in-dorm SAR study companion for college students with ADHD. This work represents the introductory stages of an ongoing user-centered, participatory design process. In a three-week within-subjects user study, university students (N=11) with self-reported symptoms of adult ADHD had a SAR study companion in their dorm room for two weeks and a computer-based system for one week. Toward developing SARs for long-term, in-dorm use, we focus on 1) evaluating the usability and desire for SAR study companions by college students with ADHD and 2) collecting participant feedback about the SAR design and functionality. Participants responded positively to the robot; after one week of regular use, 91% (10 of 11) chose to continue using the robot voluntarily in the second week.
Intelligent transportation systems play a crucial role in modern traffic management and optimization, greatly improving traffic efficiency and safety. With the rapid development of generative artificial intelligence (Generative AI) technologies in the fields of image generation and natural language processing, generative AI has also played a crucial role in addressing key issues in intelligent transportation systems, such as data sparsity, difficulty in observing abnormal scenarios, and in modeling data uncertainty. In this review, we systematically investigate the relevant literature on generative AI techniques in addressing key issues in different types of tasks in intelligent transportation systems. First, we introduce the principles of different generative AI techniques, and their potential applications. Then, we classify tasks in intelligent transportation systems into four types: traffic perception, traffic prediction, traffic simulation, and traffic decision-making. We systematically illustrate how generative AI techniques addresses key issues in these four different types of tasks. Finally, we summarize the challenges faced in applying generative AI to intelligent transportation systems, and discuss future research directions based on different application scenarios.
As artificial intelligence (AI) models continue to scale up, they are becoming more capable and integrated into various forms of decision-making systems. For models involved in moral decision-making, also known as artificial moral agents (AMA), interpretability provides a way to trust and understand the agent's internal reasoning mechanisms for effective use and error correction. In this paper, we provide an overview of this rapidly-evolving sub-field of AI interpretability, introduce the concept of the Minimum Level of Interpretability (MLI) and recommend an MLI for various types of agents, to aid their safe deployment in real-world settings.
Deep neural networks have revolutionized many machine learning tasks in power systems, ranging from pattern recognition to signal processing. The data in these tasks is typically represented in Euclidean domains. Nevertheless, there is an increasing number of applications in power systems, where data are collected from non-Euclidean domains and represented as the graph-structured data with high dimensional features and interdependency among nodes. The complexity of graph-structured data has brought significant challenges to the existing deep neural networks defined in Euclidean domains. Recently, many studies on extending deep neural networks for graph-structured data in power systems have emerged. In this paper, a comprehensive overview of graph neural networks (GNNs) in power systems is proposed. Specifically, several classical paradigms of GNNs structures (e.g., graph convolutional networks, graph recurrent neural networks, graph attention networks, graph generative networks, spatial-temporal graph convolutional networks, and hybrid forms of GNNs) are summarized, and key applications in power systems such as fault diagnosis, power prediction, power flow calculation, and data generation are reviewed in detail. Furthermore, main issues and some research trends about the applications of GNNs in power systems are discussed.
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.
Neural machine translation (NMT) is a deep learning based approach for machine translation, which yields the state-of-the-art translation performance in scenarios where large-scale parallel corpora are available. Although the high-quality and domain-specific translation is crucial in the real world, domain-specific corpora are usually scarce or nonexistent, and thus vanilla NMT performs poorly in such scenarios. Domain adaptation that leverages both out-of-domain parallel corpora as well as monolingual corpora for in-domain translation, is very important for domain-specific translation. In this paper, we give a comprehensive survey of the state-of-the-art domain adaptation techniques for NMT.
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