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We introduce RotateIt, a system that enables fingertip-based object rotation along multiple axes by leveraging multimodal sensory inputs. Our system is trained in simulation, where it has access to ground-truth object shapes and physical properties. Then we distill it to operate on realistic yet noisy simulated visuotactile and proprioceptive sensory inputs. These multimodal inputs are fused via a visuotactile transformer, enabling online inference of object shapes and physical properties during deployment. We show significant performance improvements over prior methods and the importance of visual and tactile sensing.

We present task-oriented Koopman-based control that utilizes end-to-end reinforcement learning and contrastive encoder to simultaneously learn the Koopman latent embedding, operator and associated linear controller within an iterative loop. By prioritizing the task cost as main objective for controller learning, we reduce the reliance of controller design on a well-identified model, which extends Koopman control beyond low-dimensional systems to high-dimensional, complex nonlinear systems, including pixel-based scenarios.

An emerging direction of quantum computing is to establish meaningful quantum applications in various fields of artificial intelligence, including natural language processing (NLP). Although some efforts based on syntactic analysis have opened the door to research in Quantum NLP (QNLP), limitations such as heavy syntactic preprocessing and syntax-dependent network architecture make them impracticable on larger and real-world data sets. In this paper, we propose a new simple network architecture, called the quantum self-attention neural network (QSANN), which can compensate for these limitations. Specifically, we introduce the self-attention mechanism into quantum neural networks and then utilize a Gaussian projected quantum self-attention serving as a sensible quantum version of self-attention. As a result, QSANN is effective and scalable on larger data sets and has the desirable property of being implementable on near-term quantum devices. In particular, our QSANN outperforms the best existing QNLP model based on syntactic analysis as well as a simple classical self-attention neural network in numerical experiments of text classification tasks on public data sets. We further show that our method exhibits robustness to low-level quantum noises and showcases resilience to quantum neural network architectures.

Different notions of the consistency of obligations collapse in standard deontic logic. In justification logics, which feature explicit reasons for obligations, the situation is different. Their strength depends on a constant specification and on the available set of operations for combining different reasons. We present different consistency principles in justification logic and compare their logical strength. We propose a novel semantics for which justification logics with the explicit version of axiom D, jd, are complete for arbitrary constant specifications. Consistency is sometimes formulated in terms of permission. We therefore study permission in the context of justification logic, introducing a notion of free-choice permission for the first time. We then discuss the philosophical implications with regard to some deontic paradoxes.

We consider the problem of learning from data corrupted by underrepresentation bias, where positive examples are filtered from the data at different, unknown rates for a fixed number of sensitive groups. We show that with a small amount of unbiased data, we can efficiently estimate the group-wise drop-out parameters, even in settings where intersectional group membership makes learning each intersectional rate computationally infeasible. Using this estimate for the group-wise drop-out rate, we construct a re-weighting scheme that allows us to approximate the loss of any hypothesis on the true distribution, even if we only observe the empirical error on a biased sample. Finally, we present an algorithm encapsulating this learning and re-weighting process, and we provide strong PAC-style guarantees that, with high probability, our estimate of the risk of the hypothesis over the true distribution will be arbitrarily close to the true risk.

We present a generalized linear structural causal model, coupled with a novel data-adaptive linear regularization, to recover causal directed acyclic graphs (DAGs) from time series. By leveraging a recently developed stochastic monotone Variational Inequality (VI) formulation, we cast the causal discovery problem as a general convex optimization. Furthermore, we develop a non-asymptotic recovery guarantee and quantifiable uncertainty by solving a linear program to establish confidence intervals for a wide range of non-linear monotone link functions. We validate our theoretical results and show the competitive performance of our method via extensive numerical experiments. Most importantly, we demonstrate the effectiveness of our approach in recovering highly interpretable causal DAGs over Sepsis Associated Derangements (SADs) while achieving comparable prediction performance to powerful ``black-box'' models such as XGBoost. Thus, the future adoption of our proposed method to conduct continuous surveillance of high-risk patients by clinicians is much more likely.

Existing recommender systems extract the user preference based on learning the correlation in data, such as behavioral correlation in collaborative filtering, feature-feature, or feature-behavior correlation in click-through rate prediction. However, regretfully, the real world is driven by causality rather than correlation, and correlation does not imply causation. For example, the recommender systems can recommend a battery charger to a user after buying a phone, in which the latter can serve as the cause of the former, and such a causal relation cannot be reversed. Recently, to address it, researchers in recommender systems have begun to utilize causal inference to extract causality, enhancing the recommender system. In this survey, we comprehensively review the literature on causal inference-based recommendation. At first, we present the fundamental concepts of both recommendation and causal inference as the basis of later content. We raise the typical issues that the non-causality recommendation is faced. Afterward, we comprehensively review the existing work of causal inference-based recommendation, based on a taxonomy of what kind of problem causal inference addresses. Last, we discuss the open problems in this important research area, along with interesting future works.

Due to the significance and value in human-computer interaction and natural language processing, task-oriented dialog systems are attracting more and more attention in both academic and industrial communities. In this paper, we survey recent advances and challenges in an issue-specific manner. We discuss three critical topics for task-oriented dialog systems: (1) improving data efficiency to facilitate dialog system modeling in low-resource settings, (2) modeling multi-turn dynamics for dialog policy learning to achieve better task-completion performance, and (3) integrating domain ontology knowledge into the dialog model in both pipeline and end-to-end models. We also review the recent progresses in dialog evaluation and some widely-used corpora. We believe that this survey can shed a light on future research in task-oriented dialog systems.

Learning latent representations of nodes in graphs is an important and ubiquitous task with widespread applications such as link prediction, node classification, and graph visualization. Previous methods on graph representation learning mainly focus on static graphs, however, many real-world graphs are dynamic and evolve over time. In this paper, we present Dynamic Self-Attention Network (DySAT), a novel neural architecture that operates on dynamic graphs and learns node representations that capture both structural properties and temporal evolutionary patterns. Specifically, DySAT computes node representations by jointly employing self-attention layers along two dimensions: structural neighborhood and temporal dynamics. We conduct link prediction experiments on two classes of graphs: communication networks and bipartite rating networks. Our experimental results show that DySAT has a significant performance gain over several different state-of-the-art graph embedding baselines.

Dynamic programming (DP) solves a variety of structured combinatorial problems by iteratively breaking them down into smaller subproblems. In spite of their versatility, DP algorithms are usually non-differentiable, which hampers their use as a layer in neural networks trained by backpropagation. To address this issue, we propose to smooth the max operator in the dynamic programming recursion, using a strongly convex regularizer. This allows to relax both the optimal value and solution of the original combinatorial problem, and turns a broad class of DP algorithms into differentiable operators. Theoretically, we provide a new probabilistic perspective on backpropagating through these DP operators, and relate them to inference in graphical models. We derive two particular instantiations of our framework, a smoothed Viterbi algorithm for sequence prediction and a smoothed DTW algorithm for time-series alignment. We showcase these instantiations on two structured prediction tasks and on structured and sparse attention for neural machine translation.