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Multi-label classification problems with thousands of classes are hard to solve with in-context learning alone, as language models (LMs) might lack prior knowledge about the precise classes or how to assign them, and it is generally infeasible to demonstrate every class in a prompt. We propose a general program, $\texttt{Infer--Retrieve--Rank}$, that defines multi-step interactions between LMs and retrievers to efficiently tackle such problems. We implement this program using the $\texttt{DSPy}$ programming model, which specifies in-context systems in a declarative manner, and use $\texttt{DSPy}$ optimizers to tune it towards specific datasets by bootstrapping only tens of few-shot examples. Our primary extreme classification program, optimized separately for each task, attains state-of-the-art results across three benchmarks (HOUSE, TECH, TECHWOLF). We apply the same program to a benchmark with vastly different characteristics and attain competitive performance as well (BioDEX). Unlike prior work, our proposed solution requires no finetuning, is easily applicable to new tasks, alleviates prompt engineering, and requires only tens of labeled examples. Our code is public at //github.com/KarelDO/xmc.dspy.

We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose while simultaneously generating motion plans to control the pose of a grasped object. This approach consists of a discrete pose estimator that uses the Viterbi decoding algorithm to find the most likely sequence of object poses in a coarsely discretized grid, and a continuous pose estimator-controller to refine the pose estimate and accurately manipulate the pose of the grasped object. Our method is tested on diverse objects and configurations, achieving desired manipulation objectives and outperforming single-shot methods in estimation accuracy. The proposed approach holds potential for tasks requiring precise manipulation in scenarios where visual perception is limited, laying the foundation for closed-loop behavior applications such as assembly and tool use. Please see supplementary videos for real-world demonstration at //sites.google.com/view/texterity.

Conformal risk control (CRC) is a recently proposed technique that applies post-hoc to a conventional point predictor to provide calibration guarantees. Generalizing conformal prediction (CP), with CRC, calibration is ensured for a set predictor that is extracted from the point predictor to control a risk function such as the probability of miscoverage or the false negative rate. The original CRC requires the available data set to be split between training and validation data sets. This can be problematic when data availability is limited, resulting in inefficient set predictors. In this paper, a novel CRC method is introduced that is based on cross-validation, rather than on validation as the original CRC. The proposed cross-validation CRC (CV-CRC) extends a version of the jackknife-minmax from CP to CRC, allowing for the control of a broader range of risk functions. CV-CRC is proved to offer theoretical guarantees on the average risk of the set predictor. Furthermore, numerical experiments show that CV-CRC can reduce the average set size with respect to CRC when the available data are limited.

This work presents a framework for a robot with a multi-fingered hand to freely utilize daily tools, including functional parts like buttons and triggers. An approach heatmap is generated by selecting a functional finger, indicating optimal palm positions on the object's surface that enable the functional finger to contact the tool's functional part. Once the palm position is identified through the heatmap, achieving the functional grasp becomes a straightforward process where the fingers stably grasp the object with low-dimensional inputs using the eigengrasp. As our approach does not need human demonstrations, it can easily adapt to various sizes and designs, extending its applicability to different objects. In our approach, we use directional manipulability to obtain the approach heatmap. In addition, we add two kinds of energy functions, i.e., palm energy and functional energy functions, to realize the eigengrasp. Using this method, each robotic gripper can autonomously identify its optimal workspace for functional grasping, extending its applicability to non-anthropomorphic robotic hands. We show that several daily tools like spray, drill, and remotes can be efficiently used by not only an anthropomorphic Shadow hand but also a non-anthropomorphic Barrett hand.

We design a self-decision goal-oriented multiple access scheme, where sensing agents observe a common event and individually decide to communicate the event's attributes to the monitoring agents, to satisfy a certain goal. Decisions are based on the usefulness of contents, which are generated under uniform, change- and semantics-aware content acquisition, as well as statistics and contents of other agents. We obtain optimal activation probabilities and threshold criteria for decision-making under all schemes, maximizing a grade of effectiveness metric. Combined with a semantics-aware acquisition scheme, the self-decision scheme offers, on average, 29.52% higher effectiveness, 25.13% fewer drop-offs, and 67.21% fewer transmissions.

Development of multi-modal, probabilistic prediction models has lead to a need for comprehensive evaluation metrics. While several metrics can characterize the accuracy of machine-learned models (e.g., negative log-likelihood, Jensen-Shannon divergence), these metrics typically operate on probability densities. Applying them to purely sample-based prediction models thus requires that the underlying density function is estimated. However, common methods such as kernel density estimation (KDE) have been demonstrated to lack robustness, while more complex methods have not been evaluated in multi-modal estimation problems. In this paper, we present ROME (RObust Multi-modal density Estimator), a non-parametric approach for density estimation which addresses the challenge of estimating multi-modal, non-normal, and highly correlated distributions. ROME utilizes clustering to segment a multi-modal set of samples into multiple uni-modal ones and then combines simple KDE estimates obtained for individual clusters in a single multi-modal estimate. We compared our approach to state-of-the-art methods for density estimation as well as ablations of ROME, showing that it not only outperforms established methods but is also more robust to a variety of distributions. Our results demonstrate that ROME can overcome the issues of over-fitting and over-smoothing exhibited by other estimators, promising a more robust evaluation of probabilistic machine learning models.

Data-centric artificial intelligence (data-centric AI) represents an emerging paradigm emphasizing that the systematic design and engineering of data is essential for building effective and efficient AI-based systems. The objective of this article is to introduce practitioners and researchers from the field of Information Systems (IS) to data-centric AI. We define relevant terms, provide key characteristics to contrast the data-centric paradigm to the model-centric one, and introduce a framework for data-centric AI. We distinguish data-centric AI from related concepts and discuss its longer-term implications for the IS community.

Standard contrastive learning approaches usually require a large number of negatives for effective unsupervised learning and often exhibit slow convergence. We suspect this behavior is due to the suboptimal selection of negatives used for offering contrast to the positives. We counter this difficulty by taking inspiration from support vector machines (SVMs) to present max-margin contrastive learning (MMCL). Our approach selects negatives as the sparse support vectors obtained via a quadratic optimization problem, and contrastiveness is enforced by maximizing the decision margin. As SVM optimization can be computationally demanding, especially in an end-to-end setting, we present simplifications that alleviate the computational burden. We validate our approach on standard vision benchmark datasets, demonstrating better performance in unsupervised representation learning over state-of-the-art, while having better empirical convergence properties.

Federated learning enables multiple parties to collaboratively train a machine learning model without communicating their local data. A key challenge in federated learning is to handle the heterogeneity of local data distribution across parties. Although many studies have been proposed to address this challenge, we find that they fail to achieve high performance in image datasets with deep learning models. In this paper, we propose MOON: model-contrastive federated learning. MOON is a simple and effective federated learning framework. The key idea of MOON is to utilize the similarity between model representations to correct the local training of individual parties, i.e., conducting contrastive learning in model-level. Our extensive experiments show that MOON significantly outperforms the other state-of-the-art federated learning algorithms on various image classification tasks.

The essence of multivariate sequential learning is all about how to extract dependencies in data. These data sets, such as hourly medical records in intensive care units and multi-frequency phonetic time series, often time exhibit not only strong serial dependencies in the individual components (the "marginal" memory) but also non-negligible memories in the cross-sectional dependencies (the "joint" memory). Because of the multivariate complexity in the evolution of the joint distribution that underlies the data generating process, we take a data-driven approach and construct a novel recurrent network architecture, termed Memory-Gated Recurrent Networks (mGRN), with gates explicitly regulating two distinct types of memories: the marginal memory and the joint memory. Through a combination of comprehensive simulation studies and empirical experiments on a range of public datasets, we show that our proposed mGRN architecture consistently outperforms state-of-the-art architectures targeting multivariate time series.