16,330 research outputs found

    Requirements for Explainability and Acceptance of Artificial Intelligence in Collaborative Work

    Full text link
    The increasing prevalence of Artificial Intelligence (AI) in safety-critical contexts such as air-traffic control leads to systems that are practical and efficient, and to some extent explainable to humans to be trusted and accepted. The present structured literature analysis examines n = 236 articles on the requirements for the explainability and acceptance of AI. Results include a comprehensive review of n = 48 articles on information people need to perceive an AI as explainable, the information needed to accept an AI, and representation and interaction methods promoting trust in an AI. Results indicate that the two main groups of users are developers who require information about the internal operations of the model and end users who require information about AI results or behavior. Users' information needs vary in specificity, complexity, and urgency and must consider context, domain knowledge, and the user's cognitive resources. The acceptance of AI systems depends on information about the system's functions and performance, privacy and ethical considerations, as well as goal-supporting information tailored to individual preferences and information to establish trust in the system. Information about the system's limitations and potential failures can increase acceptance and trust. Trusted interaction methods are human-like, including natural language, speech, text, and visual representations such as graphs, charts, and animations. Our results have significant implications for future human-centric AI systems being developed. Thus, they are suitable as input for further application-specific investigations of user needs

    Modular lifelong machine learning

    Get PDF
    Deep learning has drastically improved the state-of-the-art in many important fields, including computer vision and natural language processing (LeCun et al., 2015). However, it is expensive to train a deep neural network on a machine learning problem. The overall training cost further increases when one wants to solve additional problems. Lifelong machine learning (LML) develops algorithms that aim to efficiently learn to solve a sequence of problems, which become available one at a time. New problems are solved with less resources by transferring previously learned knowledge. At the same time, an LML algorithm needs to retain good performance on all encountered problems, thus avoiding catastrophic forgetting. Current approaches do not possess all the desired properties of an LML algorithm. First, they primarily focus on preventing catastrophic forgetting (Diaz-Rodriguez et al., 2018; Delange et al., 2021). As a result, they neglect some knowledge transfer properties. Furthermore, they assume that all problems in a sequence share the same input space. Finally, scaling these methods to a large sequence of problems remains a challenge. Modular approaches to deep learning decompose a deep neural network into sub-networks, referred to as modules. Each module can then be trained to perform an atomic transformation, specialised in processing a distinct subset of inputs. This modular approach to storing knowledge makes it easy to only reuse the subset of modules which are useful for the task at hand. This thesis introduces a line of research which demonstrates the merits of a modular approach to lifelong machine learning, and its ability to address the aforementioned shortcomings of other methods. Compared to previous work, we show that a modular approach can be used to achieve more LML properties than previously demonstrated. Furthermore, we develop tools which allow modular LML algorithms to scale in order to retain said properties on longer sequences of problems. First, we introduce HOUDINI, a neurosymbolic framework for modular LML. HOUDINI represents modular deep neural networks as functional programs and accumulates a library of pre-trained modules over a sequence of problems. Given a new problem, we use program synthesis to select a suitable neural architecture, as well as a high-performing combination of pre-trained and new modules. We show that our approach has most of the properties desired from an LML algorithm. Notably, it can perform forward transfer, avoid negative transfer and prevent catastrophic forgetting, even across problems with disparate input domains and problems which require different neural architectures. Second, we produce a modular LML algorithm which retains the properties of HOUDINI but can also scale to longer sequences of problems. To this end, we fix the choice of a neural architecture and introduce a probabilistic search framework, PICLE, for searching through different module combinations. To apply PICLE, we introduce two probabilistic models over neural modules which allows us to efficiently identify promising module combinations. Third, we phrase the search over module combinations in modular LML as black-box optimisation, which allows one to make use of methods from the setting of hyperparameter optimisation (HPO). We then develop a new HPO method which marries a multi-fidelity approach with model-based optimisation. We demonstrate that this leads to improvement in anytime performance in the HPO setting and discuss how this can in turn be used to augment modular LML methods. Overall, this thesis identifies a number of important LML properties, which have not all been attained in past methods, and presents an LML algorithm which can achieve all of them, apart from backward transfer

    CAR-DESPOT: Causally-Informed Online POMDP Planning for Robots in Confounded Environments

    Full text link
    Robots operating in real-world environments must reason about possible outcomes of stochastic actions and make decisions based on partial observations of the true world state. A major challenge for making accurate and robust action predictions is the problem of confounding, which if left untreated can lead to prediction errors. The partially observable Markov decision process (POMDP) is a widely-used framework to model these stochastic and partially-observable decision-making problems. However, due to a lack of explicit causal semantics, POMDP planning methods are prone to confounding bias and thus in the presence of unobserved confounders may produce underperforming policies. This paper presents a novel causally-informed extension of "anytime regularized determinized sparse partially observable tree" (AR-DESPOT), a modern anytime online POMDP planner, using causal modelling and inference to eliminate errors caused by unmeasured confounder variables. We further propose a method to learn offline the partial parameterisation of the causal model for planning, from ground truth model data. We evaluate our methods on a toy problem with an unobserved confounder and show that the learned causal model is highly accurate, while our planning method is more robust to confounding and produces overall higher performing policies than AR-DESPOT.Comment: 8 pages, 3 figures, submitted to 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS

    Ethical Questions Raised by AI-Supported Mentoring in Higher Education

    Get PDF
    Mentoring is a highly personal and individual process, in which mentees take advantage of expertise and experience to expand their knowledge and to achieve individual goals. The emerging use of AI in mentoring processes in higher education not only necessitates the adherence to applicable laws and regulations (e.g., relating to data protection and nondiscrimination) but further requires a thorough understanding of ethical norms, guidelines, and unresolved issues (e.g., integrity of data, safety, and security of systems, and confidentiality, avoiding bias, insuring trust in and transparency of algorithms). Mentoring in Higher Education requires one of the highest degrees of trust, openness, and social–emotional support, as much is at the stake for mentees, especially their academic attainment, career options, and future life choices. However, ethical compromises seem to be common when digital systems are introduced, and the underlying ethical questions in AI-supported mentoring are still insufficiently addressed in research, development, and application. One of the challenges is to strive for privacy and data economy on the one hand, while Big Data is the prerequisite of AI-supported environments on the other hand. How can ethical norms and general guidelines of AIED be respected in complex digital mentoring processes? This article strives to start a discourse on the relevant ethical questions and in this way raise awareness for the ethical development and use of future data-driven, AI-supported mentoring environments in higher education

    The Globalization of Artificial Intelligence: African Imaginaries of Technoscientific Futures

    Get PDF
    Imaginaries of artificial intelligence (AI) have transcended geographies of the Global North and become increasingly entangled with narratives of economic growth, progress, and modernity in Africa. This raises several issues such as the entanglement of AI with global technoscientific capitalism and its impact on the dissemination of AI in Africa. The lack of African perspectives on the development of AI exacerbates concerns of raciality and inclusion in the scientific research, circulation, and adoption of AI. My argument in this dissertation is that innovation in AI, in both its sociotechnical imaginaries and political economies, excludes marginalized countries, nations and communities in ways that not only bar their participation in the reception of AI, but also as being part and parcel of its creation. Underpinned by decolonial thinking, and perspectives from science and technology studies and African studies, this dissertation looks at how AI is reconfiguring the debate about development and modernization in Africa and the implications for local sociotechnical practices of AI innovation and governance. I examined AI in international development and industry across Kenya, Ghana, and Nigeria, by tracing Canada’s AI4D Africa program and following AI start-ups at AfriLabs. I used multi-sited case studies and discourse analysis to examine the data collected from interviews, participant observations, and documents. In the empirical chapters, I first examine how local actors understand the notion of decolonizing AI and show that it has become a sociotechnical imaginary. I then investigate the political economy of AI in Africa and argue that despite Western efforts to integrate the African AI ecosystem globally, the AI epistemic communities in the continent continue to be excluded from dominant AI innovation spaces. Finally, I examine the emergence of a Pan-African AI imaginary and argue that AI governance can be understood as a state-building experiment in post-colonial Africa. The main issue at stake is that the lack of African perspectives in AI leads to negative impacts on innovation and limits the fair distribution of the benefits of AI across nations, countries, and communities, while at the same time excludes globally marginalized epistemic communities from the imagination and creation of AI

    Estimating speaker direction on a humanoid robot with binaural acoustic signals

    Full text link
    To achieve human-like behaviour during speech interactions, it is necessary for a humanoid robot to estimate the location of a human talker. Here, we present a method to optimize the parameters used for the direction of arrival (DOA) estimation, while also considering real-time applications for human-robot interaction scenarios. This method is applied to binaural sound source localization framework on a humanoid robotic head. Real data is collected and annotated for this work. Optimizations are performed via a brute force method and a Bayesian model based method, results are validated and discussed, and effects on latency for real-time use are also explored

    Beacon-based Distributed Structure Formation in Multi-agent Systems

    Full text link
    Autonomous shape and structure formation is an important problem in the domain of large-scale multi-agent systems. In this paper, we propose a 3D structure representation method and a distributed structure formation strategy where settled agents guide free moving agents to a prescribed location to settle in the structure. Agents at the structure formation frontier looking for neighbors to settle act as beacons, generating a surface gradient throughout the formed structure propagated by settled agents. Free-moving agents follow the surface gradient along the formed structure surface to the formation frontier, where they eventually reach the closest beacon and settle to continue the structure formation following a local bidding process. Agent behavior is governed by a finite state machine implementation, along with potential field-based motion control laws. We also discuss appropriate rules for recovering from stagnation points. Simulation experiments are presented to show planar and 3D structure formations with continuous and discontinuous boundary/surfaces, which validate the proposed strategy, followed by a scalability analysis.Comment: 8 pages, 6 figures, accepted for publication in IROS 2023. A link to the simulation videos is provided under the Validation sectio

    Multi-Robot Multi-Room Exploration with Geometric Cue Extraction and Spherical Decomposition

    Full text link
    This work proposes an autonomous multi-robot exploration pipeline that coordinates the behaviors of robots in an indoor environment composed of multiple rooms. Contrary to simple frontier-based exploration approaches, we aim to enable robots to methodically explore and observe an unknown set of rooms in a structured building, keeping track of which rooms are already explored and sharing this information among robots to coordinate their behaviors in a distributed manner. To this end, we propose (1) a geometric cue extraction method that processes 3D map point cloud data and detects the locations of potential cues such as doors and rooms, (2) a spherical decomposition for open spaces used for target assignment. Using these two components, our pipeline effectively assigns tasks among robots, and enables a methodical exploration of rooms. We evaluate the performance of our pipeline using a team of up to 3 aerial robots, and show that our method outperforms the baseline by 36.6% in simulation and 26.4% in real-world experiments

    IR Design for Application-Specific Natural Language: A Case Study on Traffic Data

    Full text link
    In the realm of software applications in the transportation industry, Domain-Specific Languages (DSLs) have enjoyed widespread adoption due to their ease of use and various other benefits. With the ceaseless progress in computer performance and the rapid development of large-scale models, the possibility of programming using natural language in specified applications - referred to as Application-Specific Natural Language (ASNL) - has emerged. ASNL exhibits greater flexibility and freedom, which, in turn, leads to an increase in computational complexity for parsing and a decrease in processing performance. To tackle this issue, our paper advances a design for an intermediate representation (IR) that caters to ASNL and can uniformly process transportation data into graph data format, improving data processing performance. Experimental comparisons reveal that in standard data query operations, our proposed IR design can achieve a speed improvement of over forty times compared to direct usage of standard XML format data

    ABC: Adaptive, Biomimetic, Configurable Robots for Smart Farms - From Cereal Phenotyping to Soft Fruit Harvesting

    Get PDF
    Currently, numerous factors, such as demographics, migration patterns, and economics, are leading to the critical labour shortage in low-skilled and physically demanding parts of agriculture. Thus, robotics can be developed for the agricultural sector to address these shortages. This study aims to develop an adaptive, biomimetic, and configurable modular robotics architecture that can be applied to multiple tasks (e.g., phenotyping, cutting, and picking), various crop varieties (e.g., wheat, strawberry, and tomato) and growing conditions. These robotic solutions cover the entire perception–action–decision-making loop targeting the phenotyping of cereals and harvesting fruits in a natural environment. The primary contributions of this thesis are as follows. a) A high-throughput method for imaging field-grown wheat in three dimensions, along with an accompanying unsupervised measuring method for obtaining individual wheat spike data are presented. The unsupervised method analyses the 3D point cloud of each trial plot, containing hundreds of wheat spikes, and calculates the average size of the wheat spike and total spike volume per plot. Experimental results reveal that the proposed algorithm can effectively identify spikes from wheat crops and individual spikes. b) Unlike cereal, soft fruit is typically harvested by manual selection and picking. To enable robotic harvesting, the initial perception system uses conditional generative adversarial networks to identify ripe fruits using synthetic data. To determine whether the strawberry is surrounded by obstacles, a cluster complexity-based perception system is further developed to classify the harvesting complexity of ripe strawberries. c) Once the harvest-ready fruit is localised using point cloud data generated by a stereo camera, the platform’s action system can coordinate the arm to reach/cut the stem using the passive motion paradigm framework, as inspired by studies on neural control of movement in the brain. Results from field trials for strawberry detection, reaching/cutting the stem of the fruit with a mean error of less than 3 mm, and extension to analysing complex canopy structures/bimanual coordination (searching/picking) are presented. Although this thesis focuses on strawberry harvesting, ongoing research is heading toward adapting the architecture to other crops. The agricultural food industry remains a labour-intensive sector with a low margin, and cost- and time-efficiency business model. The concepts presented herein can serve as a reference for future agricultural robots that are adaptive, biomimetic, and configurable
    • …
    corecore