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The Butterfly Effect, a concept originating from chaos theory, underscores how small changes can have significant and unpredictable impacts on complex systems. In the context of AI fairness and bias, the Butterfly Effect can stem from a variety of sources, such as small biases or skewed data inputs during algorithm development, saddle points in training, or distribution shifts in data between training and testing phases. These seemingly minor alterations can lead to unexpected and substantial unfair outcomes, disproportionately affecting underrepresented individuals or groups and perpetuating pre-existing inequalities. Moreover, the Butterfly Effect can amplify inherent biases within data or algorithms, exacerbate feedback loops, and create vulnerabilities for adversarial attacks. Given the intricate nature of AI systems and their societal implications, it is crucial to thoroughly examine any changes to algorithms or input data for potential unintended consequences. In this paper, we envision both algorithmic and empirical strategies to detect, quantify, and mitigate the Butterfly Effect in AI systems, emphasizing the importance of addressing these challenges to promote fairness and ensure responsible AI development.

Despite their remarkable effectiveness and broad application, the drivers of success underlying ensembles of trees are still not fully understood. In this paper, we highlight how interpreting tree ensembles as adaptive and self-regularizing smoothers can provide new intuition and deeper insight to this topic. We use this perspective to show that, when studied as smoothers, randomized tree ensembles not only make predictions that are quantifiably more smooth than the predictions of the individual trees they consist of, but also further regulate their smoothness at test-time based on the dissimilarity between testing and training inputs. First, we use this insight to revisit, refine and reconcile two recent explanations of forest success by providing a new way of quantifying the conjectured behaviors of tree ensembles objectively by measuring the effective degree of smoothing they imply. Then, we move beyond existing explanations for the mechanisms by which tree ensembles improve upon individual trees and challenge the popular wisdom that the superior performance of forests should be understood as a consequence of variance reduction alone. We argue that the current high-level dichotomy into bias- and variance-reduction prevalent in statistics is insufficient to understand tree ensembles -- because the prevailing definition of bias does not capture differences in the expressivity of the hypothesis classes formed by trees and forests. Instead, we show that forests can improve upon trees by three distinct mechanisms that are usually implicitly entangled. In particular, we demonstrate that the smoothing effect of ensembling can reduce variance in predictions due to noise in outcome generation, reduce variability in the quality of the learned function given fixed input data and reduce potential bias in learnable functions by enriching the available hypothesis space.

Speech contains rich information on the emotions of humans, and Speech Emotion Recognition (SER) has been an important topic in the area of human-computer interaction. The robustness of SER models is crucial, particularly in privacy-sensitive and reliability-demanding domains like private healthcare. Recently, the vulnerability of deep neural networks in the audio domain to adversarial attacks has become a popular area of research. However, prior works on adversarial attacks in the audio domain primarily rely on iterative gradient-based techniques, which are time-consuming and prone to overfitting the specific threat model. Furthermore, the exploration of sparse perturbations, which have the potential for better stealthiness, remains limited in the audio domain. To address these challenges, we propose a generator-based attack method to generate sparse and transferable adversarial examples to deceive SER models in an end-to-end and efficient manner. We evaluate our method on two widely-used SER datasets, Database of Elicited Mood in Speech (DEMoS) and Interactive Emotional dyadic MOtion CAPture (IEMOCAP), and demonstrate its ability to generate successful sparse adversarial examples in an efficient manner. Moreover, our generated adversarial examples exhibit model-agnostic transferability, enabling effective adversarial attacks on advanced victim models.

Accurate and robust navigation in unstructured environments requires fusing data from multiple sensors. Such fusion ensures that the robot is better aware of its surroundings, including areas of the environment that are not immediately visible, but were visible at a different time. To solve this problem, we propose a method for traversability prediction in challenging outdoor environments using a sequence of RGB and depth images fused with pose estimations. Our method, termed WayFASTER (Waypoints-Free Autonomous System for Traversability with Enhanced Robustness), uses experience data recorded from a receding horizon estimator to train a self-supervised neural network for traversability prediction, eliminating the need for heuristics. Our experiments demonstrate that our method excels at avoiding geometric obstacles, and correctly detects that traversable terrains, such as tall grass, can be navigable. By using a sequence of images, WayFASTER significantly enhances the robot's awareness of its surroundings, enabling it to predict the traversability of terrains that are not immediately visible. This enhanced awareness contributes to better navigation performance in environments where such predictive capabilities are essential.

Pretrained language models (PLMs) have shown remarkable generalization toward multiple tasks and languages. Nonetheless, the generalization of PLMs towards unseen languages is poor, resulting in significantly worse language performance, or even generating nonsensical responses that are comparable to a random baseline. This limitation has been a longstanding problem of PLMs raising the problem of diversity and equal access to language modeling technology. In this work, we solve this limitation by introducing LinguAlchemy, a regularization technique that incorporates various aspects of languages covering typological, geographical, and phylogenetic constraining the resulting representation of PLMs to better characterize the corresponding linguistics constraints. LinguAlchemy significantly improves the accuracy performance of mBERT and XLM-R on unseen languages by ~18% and ~2%, respectively compared to fully finetuned models and displaying a high degree of unseen language generalization. We further introduce AlchemyScale and AlchemyTune, extension of LinguAlchemy which adjusts the linguistic regularization weights automatically, alleviating the need for hyperparameter search. LinguAlchemy enables better cross-lingual generalization to unseen languages which is vital for better inclusivity and accessibility of PLMs.

LiDARs are widely used for mapping and localization in dynamic environments. However, their high cost limits their widespread adoption. On the other hand, monocular localization in LiDAR maps using inexpensive cameras is a cost-effective alternative for large-scale deployment. Nevertheless, most existing approaches struggle to generalize to new sensor setups and environments, requiring retraining or fine-tuning. In this paper, we present CMRNext, a novel approach for camera-LIDAR matching that is independent of sensor-specific parameters, generalizable, and can be used in the wild for monocular localization in LiDAR maps and camera-LiDAR extrinsic calibration. CMRNext exploits recent advances in deep neural networks for matching cross-modal data and standard geometric techniques for robust pose estimation. We reformulate the point-pixel matching problem as an optical flow estimation problem and solve the Perspective-n-Point problem based on the resulting correspondences to find the relative pose between the camera and the LiDAR point cloud. We extensively evaluate CMRNext on six different robotic platforms, including three publicly available datasets and three in-house robots. Our experimental evaluations demonstrate that CMRNext outperforms existing approaches on both tasks and effectively generalizes to previously unseen environments and sensor setups in a zero-shot manner. We make the code and pre-trained models publicly available at //cmrnext.cs.uni-freiburg.de .

Retrieval-augmented language models can better adapt to changes in world state and incorporate long-tail knowledge. However, most existing methods retrieve only short contiguous chunks from a retrieval corpus, limiting holistic understanding of the overall document context. We introduce the novel approach of recursively embedding, clustering, and summarizing chunks of text, constructing a tree with differing levels of summarization from the bottom up. At inference time, our RAPTOR model retrieves from this tree, integrating information across lengthy documents at different levels of abstraction. Controlled experiments show that retrieval with recursive summaries offers significant improvements over traditional retrieval-augmented LMs on several tasks. On question-answering tasks that involve complex, multi-step reasoning, we show state-of-the-art results; for example, by coupling RAPTOR retrieval with the use of GPT-4, we can improve the best performance on the QuALITY benchmark by 20% in absolute accuracy.

Reconstructing natural speech from neural activity is vital for enabling direct communication via brain-computer interfaces. Previous efforts have explored the conversion of neural recordings into speech using complex deep neural network (DNN) models trained on extensive neural recording data, which is resource-intensive under regular clinical constraints. However, achieving satisfactory performance in reconstructing speech from limited-scale neural recordings has been challenging, mainly due to the complexity of speech representations and the neural data constraints. To overcome these challenges, we propose a novel transfer learning framework for neural-driven speech reconstruction, called Neural2Speech, which consists of two distinct training phases. First, a speech autoencoder is pre-trained on readily available speech corpora to decode speech waveforms from the encoded speech representations. Second, a lightweight adaptor is trained on the small-scale neural recordings to align the neural activity and the speech representation for decoding. Remarkably, our proposed Neural2Speech demonstrates the feasibility of neural-driven speech reconstruction even with only 20 minutes of intracranial data, which significantly outperforms existing baseline methods in terms of speech fidelity and intelligibility.

Humans can naturally and effectively find salient regions in complex scenes. Motivated by this observation, attention mechanisms were introduced into computer vision with the aim of imitating this aspect of the human visual system. Such an attention mechanism can be regarded as a dynamic weight adjustment process based on features of the input image. Attention mechanisms have achieved great success in many visual tasks, including image classification, object detection, semantic segmentation, video understanding, image generation, 3D vision, multi-modal tasks and self-supervised learning. In this survey, we provide a comprehensive review of various attention mechanisms in computer vision and categorize them according to approach, such as channel attention, spatial attention, temporal attention and branch attention; a related repository //github.com/MenghaoGuo/Awesome-Vision-Attentions is dedicated to collecting related work. We also suggest future directions for attention mechanism research.

A large number of real-world graphs or networks are inherently heterogeneous, involving a diversity of node types and relation types. Heterogeneous graph embedding is to embed rich structural and semantic information of a heterogeneous graph into low-dimensional node representations. Existing models usually define multiple metapaths in a heterogeneous graph to capture the composite relations and guide neighbor selection. However, these models either omit node content features, discard intermediate nodes along the metapath, or only consider one metapath. To address these three limitations, we propose a new model named Metapath Aggregated Graph Neural Network (MAGNN) to boost the final performance. Specifically, MAGNN employs three major components, i.e., the node content transformation to encapsulate input node attributes, the intra-metapath aggregation to incorporate intermediate semantic nodes, and the inter-metapath aggregation to combine messages from multiple metapaths. Extensive experiments on three real-world heterogeneous graph datasets for node classification, node clustering, and link prediction show that MAGNN achieves more accurate prediction results than state-of-the-art baselines.