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In many consumer virtual reality (VR) applications, users embody predefined characters that offer minimal customization options, frequently emphasizing storytelling over user choice. We explore whether matching a user's physical characteristics, specifically ethnicity and gender, with their virtual self-avatar affects their sense of embodiment in VR. We conducted a 2 x 2 within-subjects experiment (n=32) with a diverse user population to explore the impact of matching or not matching a user's self-avatar to their ethnicity and gender on their sense of embodiment. Our results indicate that matching the ethnicity of the user and their self-avatar significantly enhances sense of embodiment regardless of gender, extending across various aspects, including appearance, response, and ownership. We also found that matching gender significantly enhanced ownership, suggesting that this aspect is influenced by matching both ethnicity and gender. Interestingly, we found that matching ethnicity specifically affects self-location while matching gender specifically affects one's body ownership.

Training general robotic policies from heterogeneous data for different tasks is a significant challenge. Existing robotic datasets vary in different modalities such as color, depth, tactile, and proprioceptive information, and collected in different domains such as simulation, real robots, and human videos. Current methods usually collect and pool all data from one domain to train a single policy to handle such heterogeneity in tasks and domains, which is prohibitively expensive and difficult. In this work, we present a flexible approach, dubbed Policy Composition, to combine information across such diverse modalities and domains for learning scene-level and task-level generalized manipulation skills, by composing different data distributions represented with diffusion models. Our method can use task-level composition for multi-task manipulation and be composed with analytic cost functions to adapt policy behaviors at inference time. We train our method on simulation, human, and real robot data and evaluate in tool-use tasks. The composed policy achieves robust and dexterous performance under varying scenes and tasks and outperforms baselines from a single data source in both simulation and real-world experiments. See //liruiw.github.io/policycomp for more details .

We introduce DrawTalking, a prototype system enabling an approach that empowers users to build interactive worlds by sketching and speaking. The approach emphasizes user control and flexibility, and gives programming-like capability without requiring code. An early open-ended study shows the mechanics resonate and are applicable to many creative-exploratory use cases, with the potential to inspire and inform research in future natural interfaces for creative exploration and authoring.

Next location prediction is a discipline that involves predicting a users next location. Its applications include resource allocation, quality of service, energy efficiency, and traffic management. This paper proposes an energy-efficient, small, and low parameter machine learning (ML) architecture for accurate next location prediction, deployable on modest base stations and edge devices. To accomplish this we ran a hundred hyperparameter experiments on the full human mobility patterns of an entire city, to determine an exact ML architecture that reached a plateau of accuracy with the least amount of model parameters. We successfully achieved a reduction in the number of model parameters within published ML architectures from 202 million down to 2 million. This reduced the total size of the model parameters from 791 MB down to 8 MB. Additionally, this decreased the training time by a factor of four, the amount of graphics processing unit (GPU) memory needed for training by a factor of twenty, and the overall accuracy was increased from 80.16% to 82.54%. This improvement allows for modest base stations and edge devices which do not have a large amount of memory or storage, to deploy and utilize the proposed ML architecture for next location prediction.

The advancement of large language models (LLMs) has significantly propelled the field of code generation. Previous work integrated reinforcement learning (RL) with compiler feedback for exploring the output space of LLMs to enhance code generation quality. However, the lengthy code generated by LLMs in response to complex human requirements makes RL exploration a challenge. Also, since the unit tests may not cover the complicated code, optimizing LLMs by using these unexecuted code snippets is ineffective. To tackle these challenges, we introduce StepCoder, a novel RL framework for code generation, consisting of two main components: CCCS addresses the exploration challenge by breaking the long sequences code generation task into a Curriculum of Code Completion Subtasks, while FGO only optimizes the model by masking the unexecuted code segments to provide Fine-Grained Optimization. In addition, we furthermore construct the APPS+ dataset for RL training, which is manually verified to ensure the correctness of unit tests. Experimental results show that our method improves the ability to explore the output space and outperforms state-of-the-art approaches in corresponding benchmarks.

We develop a family of distributed clustering algorithms that work over networks of users. In the proposed scenario, users contain a local dataset and communicate only with their immediate neighbours, with the aim of finding a clustering of the full, joint data. The proposed family, termed Distributed Gradient Clustering (DGC-$\mathcal{F}_\rho$), is parametrized by $\rho \geq 1$, controling the proximity of users' center estimates, with $\mathcal{F}$ determining the clustering loss. Specialized to popular clustering losses like $K$-means and Huber loss, DGC-$\mathcal{F}_\rho$ gives rise to novel distributed clustering algorithms DGC-KM$_\rho$ and DGC-HL$_\rho$, while a novel clustering loss based on the logistic function leads to DGC-LL$_\rho$. We provide a unified analysis and establish several strong results, under mild assumptions. First, the sequence of centers generated by the methods converges to a well-defined notion of fixed point, under any center initialization and value of $\rho$. Second, as $\rho$ increases, the family of fixed points produced by DGC-$\mathcal{F}_\rho$ converges to a notion of consensus fixed points. We show that consensus fixed points of DGC-$\mathcal{F}_{\rho}$ are equivalent to fixed points of gradient clustering over the full data, guaranteeing a clustering of the full data is produced. For the special case of Bregman losses, we show that our fixed points converge to the set of Lloyd points. Numerical experiments on real data confirm our theoretical findings and demonstrate strong performance of the methods.

Commit messages are explanations of changes made to a codebase that are stored in version control systems. They help developers understand the codebase as it evolves. However, writing commit messages can be tedious and inconsistent among developers. To address this issue, researchers have tried using different methods to automatically generate commit messages, including rule-based, retrieval-based, and learning-based approaches. Advances in large language models offer new possibilities for generating commit messages. In this study, we evaluate the performance of OpenAI's ChatGPT for generating commit messages based on code changes. We compare the results obtained with ChatGPT to previous automatic commit message generation methods that have been trained specifically on commit data. Our goal is to assess the extent to which large pre-trained language models can generate commit messages that are both quantitatively and qualitatively acceptable. We found that ChatGPT was able to outperform previous Automatic Commit Message Generation (ACMG) methods by orders of magnitude, and that, generally, the messages it generates are both accurate and of high-quality. We also provide insights, and a categorization, for the cases where it fails.

We introduce a novel framework for incorporating human expertise into algorithmic predictions. Our approach focuses on the use of human judgment to distinguish inputs which `look the same' to any feasible predictive algorithm. We argue that this framing clarifies the problem of human/AI collaboration in prediction tasks, as experts often have access to information -- particularly subjective information -- which is not encoded in the algorithm's training data. We use this insight to develop a set of principled algorithms for selectively incorporating human feedback only when it improves the performance of any feasible predictor. We find empirically that although algorithms often outperform their human counterparts on average, human judgment can significantly improve algorithmic predictions on specific instances (which can be identified ex-ante). In an X-ray classification task, we find that this subset constitutes nearly 30% of the patient population. Our approach provides a natural way of uncovering this heterogeneity and thus enabling effective human-AI collaboration.

Recent years have seen a surge in applications and technologies aimed at motivating users to achieve personal goals and improve their wellbeing. However, these often fail to promote long-term behaviour change, and sometimes even backfire. We consider how self-determination theory (SDT), a metatheory of human motivation and wellbeing, can help explain why such technologies fail, and how they may better help users internalise the motivation behind their goals and make enduring changes in their behaviour. In this work, we systematically reviewed 15 papers in the ACM Digital Library that apply SDT to the design of behaviour change technologies (BCTs). We identified 50 suggestions for design features in BCTs, grounded in SDT, that researchers have applied to enhance user motivation. However, we find that SDT is often leveraged to optimise engagement with the technology itself rather than with the targeted behaviour change per se. When interpreted through the lens of SDT, the implication is that BCTs may fail to cultivate sustained changes in behaviour, as users' motivation depends on their enjoyment of the intervention, which may wane over time. An underexplored opportunity remains for designers to leverage SDT to support users to internalise the ultimate goals and value of certain behaviour changes, enhancing their motivation to sustain these changes in the long term.

Graph convolutional network (GCN) has been successfully applied to many graph-based applications; however, training a large-scale GCN remains challenging. Current SGD-based algorithms suffer from either a high computational cost that exponentially grows with number of GCN layers, or a large space requirement for keeping the entire graph and the embedding of each node in memory. In this paper, we propose Cluster-GCN, a novel GCN algorithm that is suitable for SGD-based training by exploiting the graph clustering structure. Cluster-GCN works as the following: at each step, it samples a block of nodes that associate with a dense subgraph identified by a graph clustering algorithm, and restricts the neighborhood search within this subgraph. This simple but effective strategy leads to significantly improved memory and computational efficiency while being able to achieve comparable test accuracy with previous algorithms. To test the scalability of our algorithm, we create a new Amazon2M data with 2 million nodes and 61 million edges which is more than 5 times larger than the previous largest publicly available dataset (Reddit). For training a 3-layer GCN on this data, Cluster-GCN is faster than the previous state-of-the-art VR-GCN (1523 seconds vs 1961 seconds) and using much less memory (2.2GB vs 11.2GB). Furthermore, for training 4 layer GCN on this data, our algorithm can finish in around 36 minutes while all the existing GCN training algorithms fail to train due to the out-of-memory issue. Furthermore, Cluster-GCN allows us to train much deeper GCN without much time and memory overhead, which leads to improved prediction accuracy---using a 5-layer Cluster-GCN, we achieve state-of-the-art test F1 score 99.36 on the PPI dataset, while the previous best result was 98.71 by [16]. Our codes are publicly available at //github.com/google-research/google-research/tree/master/cluster_gcn.