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In the past two decades, there has been a continuous rise in the deployment of robots fulfilling social roles that expands across various industries such as guides, service providers, and educators. To establish robots as integral allies in daily life, it is essential for them to deliver positive and trustworthy experiences, achieved through seamless and satisfying interactions across diverse modalities and communication channels. In the realm of human-robot interactions, touch plays a pivotal role in facilitating meaningful connections and communication. To delve into the significance of haptic technologies and their impact on interactions between humans and social robots, an exploration of the existing literature is essential, since the research about touch is the most underrepresented between the other communication channels (facial expressions, movements, vocals etc). A systematic literature review has been carried out, identifying 42 articles with the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA), related to touch and haptic technologies and interaction between humans and social robots in the twenty years (2001 -2023). The results show the main differences, pros and cons between the materials and technologies that have been primary used so far, the qualitative and quantitative research that links the HRI touch studies with the human emotion and also the types of touch and repeatability of those methods. The study identifies research gaps and outlines future directions, while it serves as a guide for anyone who will be interesting in conducting HRI touch research or build a haptic system for a social robot.

This study seeks to identify and quantify biases in simulating political samples with Large Language Models, specifically focusing on vote choice and public opinion. Using the GPT-3.5-Turbo model, we leverage data from the American National Election Studies, German Longitudinal Election Study, Zuobiao Dataset, and China Family Panel Studies to simulate voting behaviors and public opinions. This methodology enables us to examine three types of representation bias: disparities based on the the country's language, demographic groups, and political regime types. The findings reveal that simulation performance is generally better for vote choice than for public opinions, more accurate in English-speaking countries, more effective in bipartisan systems than in multi-partisan systems, and stronger in democratic settings than in authoritarian regimes. These results contribute to enhancing our understanding and developing strategies to mitigate biases in AI applications within the field of computational social science.

Graph neural networks (GNNs) have been shown to be astonishingly capable models for molecular property prediction, particularly as surrogates for expensive density functional theory calculations of relaxed energy for novel material discovery. However, one limitation of GNNs in this context is the lack of useful uncertainty prediction methods, as this is critical to the material discovery pipeline. In this work, we show that uncertainty quantification for relaxed energy calculations is more complex than uncertainty quantification for other kinds of molecular property prediction, due to the effect that structure optimizations have on the error distribution. We propose that distribution-free techniques are more useful tools for assessing calibration, recalibrating, and developing uncertainty prediction methods for GNNs performing relaxed energy calculations. We also develop a relaxed energy task for evaluating uncertainty methods for equivariant GNNs, based on distribution-free recalibration and using the Open Catalyst Project dataset. We benchmark a set of popular uncertainty prediction methods on this task, and show that latent distance methods, with our novel improvements, are the most well-calibrated and economical approach for relaxed energy calculations. Finally, we demonstrate that our latent space distance method produces results which align with our expectations on a clustering example, and on specific equation of state and adsorbate coverage examples from outside the training dataset.

Stochastic gradient descent (SGD) has become a cornerstone of neural network optimization, yet the noise introduced by SGD is often assumed to be uncorrelated over time, despite the ubiquity of epoch-based training. In this work, we challenge this assumption and investigate the effects of epoch-based noise correlations on the stationary distribution of discrete-time SGD with momentum, limited to a quadratic loss. Our main contributions are twofold: first, we calculate the exact autocorrelation of the noise for training in epochs under the assumption that the noise is independent of small fluctuations in the weight vector, and find that SGD noise is anti-correlated in time. Second, we explore the influence of these anti-correlations on SGD dynamics. We find that for directions with a curvature greater than a hyperparameter-dependent crossover value, the results for uncorrelated noise are recovered. However, for relatively flat directions, the weight variance is significantly reduced, and our variance prediction leads to a considerable reduction in loss fluctuations as compared to the constant weight variance assumption.

We consider the problem of active learning for global sensitivity analysis of expensive black-box functions. Our aim is to efficiently learn the importance of different input variables, e.g., in vehicle safety experimentation, we study the impact of the thickness of various components on safety objectives. Since function evaluations are expensive, we use active learning to prioritize experimental resources where they yield the most value. We propose novel active learning acquisition functions that directly target key quantities of derivative-based global sensitivity measures (DGSMs) under Gaussian process surrogate models. We showcase the first application of active learning directly to DGSMs, and develop tractable uncertainty reduction and information gain acquisition functions for these measures. Through comprehensive evaluation on synthetic and real-world problems, our study demonstrates how these active learning acquisition strategies substantially enhance the sample efficiency of DGSM estimation, particularly with limited evaluation budgets. Our work paves the way for more efficient and accurate sensitivity analysis in various scientific and engineering applications.

Current automated program repair (APR) techniques are far from being practical and useful enough to be considered for realistic debugging. They rely on unrealistic assumptions including the requirement of a comprehensive suite of test cases as the correctness criterion and frequent program re-execution for patch validation; they are not fast; and their ability of repairing the commonly arising complex bugs by fixing multiple locations of the program is very limited. We hope to substantially improve APR's practicality, effectiveness, and usefulness to help people debug. Towards this goal, we envision PracAPR, an interactive repair system that works in an Integrated Development Environment (IDE) to provide effective repair suggestions for debugging. PracAPR does not require a test suite or program re-execution. It assumes that the developer uses an IDE debugger and the program has suspended at a location where a problem is observed. It interacts with the developer to obtain a problem specification. Based on the specification, it performs test-free, flow-analysis-based fault localization, patch generation that combines large language model-based local repair and tailored strategy-driven global repair, and program re-execution-free patch validation based on simulated trace comparison to suggest repairs. By having PracAPR, we hope to take a significant step towards making APR useful and an everyday part of debugging.

Face recognition technology has advanced significantly in recent years due largely to the availability of large and increasingly complex training datasets for use in deep learning models. These datasets, however, typically comprise images scraped from news sites or social media platforms and, therefore, have limited utility in more advanced security, forensics, and military applications. These applications require lower resolution, longer ranges, and elevated viewpoints. To meet these critical needs, we collected and curated the first and second subsets of a large multi-modal biometric dataset designed for use in the research and development (R&D) of biometric recognition technologies under extremely challenging conditions. Thus far, the dataset includes more than 350,000 still images and over 1,300 hours of video footage of approximately 1,000 subjects. To collect this data, we used Nikon DSLR cameras, a variety of commercial surveillance cameras, specialized long-rage R&D cameras, and Group 1 and Group 2 UAV platforms. The goal is to support the development of algorithms capable of accurately recognizing people at ranges up to 1,000 m and from high angles of elevation. These advances will include improvements to the state of the art in face recognition and will support new research in the area of whole-body recognition using methods based on gait and anthropometry. This paper describes methods used to collect and curate the dataset, and the dataset's characteristics at the current stage.

We consider the problem of explaining the predictions of graph neural networks (GNNs), which otherwise are considered as black boxes. Existing methods invariably focus on explaining the importance of graph nodes or edges but ignore the substructures of graphs, which are more intuitive and human-intelligible. In this work, we propose a novel method, known as SubgraphX, to explain GNNs by identifying important subgraphs. Given a trained GNN model and an input graph, our SubgraphX explains its predictions by efficiently exploring different subgraphs with Monte Carlo tree search. To make the tree search more effective, we propose to use Shapley values as a measure of subgraph importance, which can also capture the interactions among different subgraphs. To expedite computations, we propose efficient approximation schemes to compute Shapley values for graph data. Our work represents the first attempt to explain GNNs via identifying subgraphs explicitly and directly. Experimental results show that our SubgraphX achieves significantly improved explanations, while keeping computations at a reasonable level.

We examine the problem of question answering over knowledge graphs, focusing on simple questions that can be answered by the lookup of a single fact. Adopting a straightforward decomposition of the problem into entity detection, entity linking, relation prediction, and evidence combination, we explore simple yet strong baselines. On the popular SimpleQuestions dataset, we find that basic LSTMs and GRUs plus a few heuristics yield accuracies that approach the state of the art, and techniques that do not use neural networks also perform reasonably well. These results show that gains from sophisticated deep learning techniques proposed in the literature are quite modest and that some previous models exhibit unnecessary complexity.

Detecting carried objects is one of the requirements for developing systems to reason about activities involving people and objects. We present an approach to detect carried objects from a single video frame with a novel method that incorporates features from multiple scales. Initially, a foreground mask in a video frame is segmented into multi-scale superpixels. Then the human-like regions in the segmented area are identified by matching a set of extracted features from superpixels against learned features in a codebook. A carried object probability map is generated using the complement of the matching probabilities of superpixels to human-like regions and background information. A group of superpixels with high carried object probability and strong edge support is then merged to obtain the shape of the carried object. We applied our method to two challenging datasets, and results show that our method is competitive with or better than the state-of-the-art.