Learning actions that are relevant to decision-making and can be executed effectively is a key problem in autonomous robotics. Current state-of-the-art action representations in robotics lack proper effect-driven learning of the robot's actions. Although successful in solving manipulation tasks, deep learning methods also lack this ability, in addition to their high cost in terms of memory or training data. In this paper, we propose an unsupervised algorithm to discretize a continuous motion space and generate "action prototypes", each producing different effects in the environment. After an exploration phase, the algorithm automatically builds a representation of the effects and groups motions into action prototypes, where motions more likely to produce an effect are represented more than those that lead to negligible changes. We evaluate our method on a simulated stair-climbing reinforcement learning task, and the preliminary results show that our effect driven discretization outperforms uniformly and randomly sampled discretizations in convergence speed and maximum reward.
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Fairness is a critical objective in policy design and algorithmic decision-making. Identifying the causal pathways of unfairness requires knowledge of the underlying structural causal model, which may be incomplete or unavailable. This limits the practicality of causal fairness analysis in complex or low-knowledge domains. To mitigate this practicality gap, we advocate for developing efficient causal discovery methods for fairness applications. To this end, we introduce local discovery for direct discrimination (LD3): a polynomial-time algorithm that recovers structural evidence of direct discrimination. LD3 performs a linear number of conditional independence tests with respect to variable set size. Moreover, we propose a graphical criterion for identifying the weighted controlled direct effect (CDE), a qualitative measure of direct discrimination. We prove that this criterion is satisfied by the knowledge returned by LD3, increasing the accessibility of the weighted CDE as a causal fairness measure. Taking liver transplant allocation as a case study, we highlight the potential impact of LD3 for modeling fairness in complex decision systems. Results on real-world data demonstrate more plausible causal relations than baselines, which took 197x to 5870x longer to execute.
Batch normalization has proven to be a very beneficial mechanism to accelerate the training and improve the accuracy of deep neural networks in centralized environments. Yet, the scheme faces significant challenges in federated learning, especially under high data heterogeneity. Essentially, the main challenges arise from external covariate shifts and inconsistent statistics across clients. We introduce in this paper Federated BatchNorm (FBN), a novel scheme that restores the benefits of batch normalization in federated learning. Essentially, FBN ensures that the batch normalization during training is consistent with what would be achieved in a centralized execution, hence preserving the distribution of the data, and providing running statistics that accurately approximate the global statistics. FBN thereby reduces the external covariate shift and matches the evaluation performance of the centralized setting. We also show that, with a slight increase in complexity, we can robustify FBN to mitigate erroneous statistics and potentially adversarial attacks.
LLM-based assistants, such as GitHub Copilot and ChatGPT, have the potential to generate code that fulfills a programming task described in a natural language description, referred to as a prompt. The widespread accessibility of these assistants enables users with diverse backgrounds to generate code and integrate it into software projects. However, studies show that code generated by LLMs is prone to bugs and may miss various corner cases in task specifications. Presenting such buggy code to users can impact their reliability and trust in LLM-based assistants. Moreover, significant efforts are required by the user to detect and repair any bug present in the code, especially if no test cases are available. In this study, we propose a self-refinement method aimed at improving the reliability of code generated by LLMs by minimizing the number of bugs before execution, without human intervention, and in the absence of test cases. Our approach is based on targeted Verification Questions (VQs) to identify potential bugs within the initial code. These VQs target various nodes within the Abstract Syntax Tree (AST) of the initial code, which have the potential to trigger specific types of bug patterns commonly found in LLM-generated code. Finally, our method attempts to repair these potential bugs by re-prompting the LLM with the targeted VQs and the initial code. Our evaluation, based on programming tasks in the CoderEval dataset, demonstrates that our proposed method outperforms state-of-the-art methods by decreasing the number of targeted errors in the code between 21% to 62% and improving the number of executable code instances to 13%.
Vibrations of rotating machinery primarily originate from two sources, both of which are distorted by the machine's transfer function on their way to the sensor: the dominant gear-related vibrations and a low-energy signal linked to bearing faults. The proposed method facilitates the blind separation of vibration sources, eliminating the need for any information about the monitored equipment or external measurements. This method estimates both sources in two stages: initially, the gear signal is isolated using a dilated CNN, followed by the estimation of the bearing fault signal using the squared log envelope of the residual. The effect of the transfer function is removed from both sources using a novel whitening-based deconvolution method (WBD). Both simulation and experimental results demonstrate the method's ability to detect bearing failures early when no additional information is available. This study considers both local and distributed bearing faults, assuming that the vibrations are recorded under stable operating conditions.
Counterfactual explanations provide a popular method for analyzing the predictions of black-box systems, and they can offer the opportunity for computational recourse by suggesting actionable changes on how to change the input to obtain a different (i.e.\ more favorable) system output. However, recent work highlighted their vulnerability to different types of manipulations. This work studies the vulnerability of counterfactual explanations to data poisoning. We formally introduce and investigate data poisoning in the context of counterfactual explanations for increasing the cost of recourse on three different levels: locally for a single instance, or a sub-group of instances, or globally for all instances. In this context, we characterize and prove the correctness of several different data poisonings. We also empirically demonstrate that state-of-the-art counterfactual generation methods and toolboxes are vulnerable to such data poisoning.
Reading comprehension tests are used in a variety of applications, reaching from education to assessing the comprehensibility of simplified texts. However, creating such tests manually and ensuring their quality is difficult and time-consuming. In this paper, we explore how large language models (LLMs) can be used to generate and evaluate multiple-choice reading comprehension items. To this end, we compiled a dataset of German reading comprehension items and developed a new protocol for human and automatic evaluation, including a metric we call text informativity, which is based on guessability and answerability. We then used this protocol and the dataset to evaluate the quality of items generated by Llama 2 and GPT-4. Our results suggest that both models are capable of generating items of acceptable quality in a zero-shot setting, but GPT-4 clearly outperforms Llama 2. We also show that LLMs can be used for automatic evaluation by eliciting item reponses from them. In this scenario, evaluation results with GPT-4 were the most similar to human annotators. Overall, zero-shot generation with LLMs is a promising approach for generating and evaluating reading comprehension test items, in particular for languages without large amounts of available data.
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.
The concept of causality plays an important role in human cognition . In the past few decades, causal inference has been well developed in many fields, such as computer science, medicine, economics, and education. With the advancement of deep learning techniques, it has been increasingly used in causal inference against counterfactual data. Typically, deep causal models map the characteristics of covariates to a representation space and then design various objective optimization functions to estimate counterfactual data unbiasedly based on the different optimization methods. This paper focuses on the survey of the deep causal models, and its core contributions are as follows: 1) we provide relevant metrics under multiple treatments and continuous-dose treatment; 2) we incorporate a comprehensive overview of deep causal models from both temporal development and method classification perspectives; 3) we assist a detailed and comprehensive classification and analysis of relevant datasets and source code.
Understanding causality helps to structure interventions to achieve specific goals and enables predictions under interventions. With the growing importance of learning causal relationships, causal discovery tasks have transitioned from using traditional methods to infer potential causal structures from observational data to the field of pattern recognition involved in deep learning. The rapid accumulation of massive data promotes the emergence of causal search methods with brilliant scalability. Existing summaries of causal discovery methods mainly focus on traditional methods based on constraints, scores and FCMs, there is a lack of perfect sorting and elaboration for deep learning-based methods, also lacking some considers and exploration of causal discovery methods from the perspective of variable paradigms. Therefore, we divide the possible causal discovery tasks into three types according to the variable paradigm and give the definitions of the three tasks respectively, define and instantiate the relevant datasets for each task and the final causal model constructed at the same time, then reviews the main existing causal discovery methods for different tasks. Finally, we propose some roadmaps from different perspectives for the current research gaps in the field of causal discovery and point out future research directions.
When is heterogeneity in the composition of an autonomous robotic team beneficial and when is it detrimental? We investigate and answer this question in the context of a minimally viable model that examines the role of heterogeneous speeds in perimeter defense problems, where defenders share a total allocated speed budget. We consider two distinct problem settings and develop strategies based on dynamic programming and on local interaction rules. We present a theoretical analysis of both approaches and our results are extensively validated using simulations. Interestingly, our results demonstrate that the viability of heterogeneous teams depends on the amount of information available to the defenders. Moreover, our results suggest a universality property: across a wide range of problem parameters the optimal ratio of the speeds of the defenders remains nearly constant.
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