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The robot development process is divided into several stages, which create barriers to the exchange of information between these different stages. We advocate for an interactive lifecycle representation, extending from robot morphology design to learning, and introduce the role of robot description formats in facilitating information transfer throughout this pipeline. We analyzed the relationship between design and simulation, enabling us to employ robot process automation methods for transferring information from the design phase to the learning phase in simulation. As part of this effort, we have developed an open-source plugin called ACDC4Robot for Fusion 360, which automates this process and transforms Fusion 360 into a user-friendly graphical interface for creating and editing robot description formats. Additionally, we offer an out-of-the-box robot model library to streamline and reduce repetitive tasks. All codes are hosted open-source. (\url{//github.com/bionicdl-sustech/ACDC4Robot})

Data augmentation via back-translation is common when pretraining Vision-and-Language Navigation (VLN) models, even though the generated instructions are noisy. But: does that noise matter? We find that nonsensical or irrelevant language instructions during pretraining can have little effect on downstream performance for both HAMT and VLN-BERT on R2R, and is still better than only using clean, human data. To underscore these results, we concoct an efficient augmentation method, Unigram + Object, which generates nonsensical instructions that nonetheless improve downstream performance. Our findings suggest that what matters for VLN R2R pretraining is the quantity of visual trajectories, not the quality of instructions.

When deploying mission-critical systems in the cloud, where deviations may have severe consequences, the assurance of critical decisions becomes essential. Typical cloud systems are operated by third parties and are built on complex software stacks consisting of e.g., Kubernetes, Istio, or Kafka, which due to their size are difficult to be verified. Nevertheless, one needs to make sure that mission-critical choices are made correctly. We propose a flexible runtime monitoring approach that is independent of the implementation of the observed system that allows to monitor safety and data-related properties. Our approach is based on combining distributed Datalog-based programs with tamper-proof storage based on Trillian to verify the premises of safety-critical actions. The approach can be seen as a generalization of the Certificate Transparency project. We apply our approach to an industrial use case that uses a cloud infrastructure for orchestrating unmanned air vehicles.

While operating communication networks adaptively may improve utilization and performance, frequent adjustments also introduce an algorithmic challenge: the re-optimization of traffic engineering solutions is time-consuming and may limit the granularity at which a network can be adjusted. This paper is motivated by question whether the reactivity of a network can be improved by re-optimizing solutions dynamically rather than from scratch, especially if inputs such as link weights do not change significantly. This paper explores to what extent dynamic algorithms can be used to speed up fundamental tasks in network operations. We specifically investigate optimizations related to traffic engineering (namely shortest paths and maximum flow computations), but also consider spanning tree and matching applications. While prior work on dynamic graph algorithms focuses on link insertions and deletions, we are interested in the practical problem of link weight changes. We revisit existing upper bounds in the weight-dynamic model, and present several novel lower bounds on the amortized runtime for recomputing solutions. In general, we find that the potential performance gains depend on the application, and there are also strict limitations on what can be achieved, even if link weights change only slightly.

We conduct the first large-scale user study examining how users interact with an AI Code assistant to solve a variety of security related tasks across different programming languages. Overall, we find that participants who had access to an AI assistant based on OpenAI's codex-davinci-002 model wrote significantly less secure code than those without access. Additionally, participants with access to an AI assistant were more likely to believe they wrote secure code than those without access to the AI assistant. Furthermore, we find that participants who trusted the AI less and engaged more with the language and format of their prompts (e.g. re-phrasing, adjusting temperature) provided code with fewer security vulnerabilities. Finally, in order to better inform the design of future AI-based Code assistants, we provide an in-depth analysis of participants' language and interaction behavior, as well as release our user interface as an instrument to conduct similar studies in the future.

Transformer models have shown great success in natural language processing; however, their potential remains mostly unexplored for dynamical systems. In this work, we investigate the optimal output estimation problem using transformers, which generate output predictions using all the past ones. Particularly, we train the transformer using various distinct systems and then evaluate the performance on unseen systems with unknown dynamics. Empirically, the trained transformer adapts exceedingly well to different unseen systems and even matches the optimal performance given by the Kalman filter for linear systems. In more complex settings with non-i.i.d. noise, time-varying dynamics, and nonlinear dynamics like a quadrotor system with unknown parameters, transformers also demonstrate promising results. To support our experimental findings, we provide statistical guarantees that quantify the amount of training data required for the transformer to achieve a desired excess risk. Finally, we point out some limitations by identifying two classes of problems that lead to degraded performance, highlighting the need for caution when using transformers for control and estimation.

Exploratory visual analysis (EVA) is an essential stage of the data science pipeline, where users often lack clear analysis goals at the start and iteratively refine them as they learn more about their data. Accurate models of users' exploration behavior are becoming increasingly vital to developing responsive and personalized tools for exploratory visual analysis. Yet we observe a discrepancy between the static view of human exploration behavior adopted by many computational models versus the dynamic nature of EVA. In this paper, we explore potential parallels between the evolution of users' interactions with visualization tools during data exploration and assumptions made in popular online learning techniques. Through a series of empirical analyses, we seek to answer the question: how might users' exploration behavior evolve in response to what they have learned from the data during EVA? We present our findings and discuss their implications for the future of user modeling for system design.

In pace with developments in the research field of artificial intelligence, knowledge graphs (KGs) have attracted a surge of interest from both academia and industry. As a representation of semantic relations between entities, KGs have proven to be particularly relevant for natural language processing (NLP), experiencing a rapid spread and wide adoption within recent years. Given the increasing amount of research work in this area, several KG-related approaches have been surveyed in the NLP research community. However, a comprehensive study that categorizes established topics and reviews the maturity of individual research streams remains absent to this day. Contributing to closing this gap, we systematically analyzed 507 papers from the literature on KGs in NLP. Our survey encompasses a multifaceted review of tasks, research types, and contributions. As a result, we present a structured overview of the research landscape, provide a taxonomy of tasks, summarize our findings, and highlight directions for future work.

Non-convex optimization is ubiquitous in modern machine learning. Researchers devise non-convex objective functions and optimize them using off-the-shelf optimizers such as stochastic gradient descent and its variants, which leverage the local geometry and update iteratively. Even though solving non-convex functions is NP-hard in the worst case, the optimization quality in practice is often not an issue -- optimizers are largely believed to find approximate global minima. Researchers hypothesize a unified explanation for this intriguing phenomenon: most of the local minima of the practically-used objectives are approximately global minima. We rigorously formalize it for concrete instances of machine learning problems.

The LSTM network was proposed to overcome the difficulty in learning long-term dependence, and has made significant advancements in applications. With its success and drawbacks in mind, this paper raises the question - do RNN and LSTM have long memory? We answer it partially by proving that RNN and LSTM do not have long memory from a statistical perspective. A new definition for long memory networks is further introduced, and it requires the model weights to decay at a polynomial rate. To verify our theory, we convert RNN and LSTM into long memory networks by making a minimal modification, and their superiority is illustrated in modeling long-term dependence of various datasets.