Procedures as Programs: Hierarchical Control of Situated Agents through Natural Language

When humans conceive how to perform a particular task, they do so hierarchically: splitting higher-level tasks into smaller sub-tasks. However, in the literature on natural language (NL) command of situated agents, most works have treated the procedures to be executed as flat sequences of simple actions, or any hierarchies of procedures have been shallow at best. In this paper, we propose a formalism of procedures as programs, a powerful yet intuitive method of representing hierarchical procedural knowledge for agent command and control. We further propose a modeling paradigm of hierarchical modular networks, which consist of a planner and reactors that convert NL intents to predictions of executable programs and probe the environment for information necessary to complete the program execution. We instantiate this framework on the IQA and ALFRED datasets for NL instruction following. Our model outperforms reactive baselines by a large margin on both datasets. We also demonstrate that our framework is more data-efficient, and that it allows for fast iterative development

"When He Feels Cold, He Goes to the Seahorse"-Blending Generative AI into Multimaterial Storymaking for Family Expressive Arts Therapy

Storymaking, as an integrative form of expressive arts therapy, is an effective means to foster family communication. Yet, the integration of generative AI as expressive materials in therapeutic storymaking remains underexplored. And there is a lack of HCI implications on how to support families and therapists in this context. Addressing this, our study involved five weeks of storymaking sessions with seven families guided by a professional therapist. In these sessions, the families used both traditional art-making materials and image-based generative AI to create and evolve their family stories. Via the rich empirical data and commentaries from four expert therapists, we contextualize how families creatively melded AI and traditional expressive materials to externalize their ideas and feelings. Through the lens of Expressive Therapies Continuum (ETC), we characterize the therapeutic implications of AI as expressive materials. Desirable interaction qualities to support children, parents, and therapists are distilled for future HCI research.Comment: to appear at ACM CHI '2

False discovery rate regression: an application to neural synchrony detection in primary visual cortex

Many approaches for multiple testing begin with the assumption that all tests in a given study should be combined into a global false-discovery-rate analysis. But this may be inappropriate for many of today's large-scale screening problems, where auxiliary information about each test is often available, and where a combined analysis can lead to poorly calibrated error rates within different subsets of the experiment. To address this issue, we introduce an approach called false-discovery-rate regression that directly uses this auxiliary information to inform the outcome of each test. The method can be motivated by a two-groups model in which covariates are allowed to influence the local false discovery rate, or equivalently, the posterior probability that a given observation is a signal. This poses many subtle issues at the interface between inference and computation, and we investigate several variations of the overall approach. Simulation evidence suggests that: (1) when covariate effects are present, FDR regression improves power for a fixed false-discovery rate; and (2) when covariate effects are absent, the method is robust, in the sense that it does not lead to inflated error rates. We apply the method to neural recordings from primary visual cortex. The goal is to detect pairs of neurons that exhibit fine-time-scale interactions, in the sense that they fire together more often than expected due to chance. Our method detects roughly 50% more synchronous pairs versus a standard FDR-controlling analysis. The companion R package FDRreg implements all methods described in the paper

Reweighted lp Constraint LMS-Based Adaptive Sparse Channel Estimation for Cooperative Communication System

This paper studies the issue of sparsity adaptive channel reconstruction in time-varying cooperative communication networks through the amplify-and-forward transmission scheme. A new sparsity adaptive system identification method is proposed, namely reweighted norm ( < < ) penalized least mean square（LMS）algorithm. The main idea of the algorithm is to add a norm penalty of sparsity into the cost function of the LMS algorithm. By doing so, the weight factor becomes a balance parameter of the associated norm adaptive sparse system identification. Subsequently, the steady state of the coefficient misalignment vector is derived theoretically, with a performance upper bounds provided which serve as a sufficient condition for the LMS channel estimation of the precise reweighted norm. With the upper bounds, we prove that the ( < < ) norm sparsity inducing cost function is superior to the reweighted norm. An optimal selection of for the norm problem is studied to recover various sparse channel vectors. Several experiments verify that the simulation results agree well with the theoretical analysis, and thus demonstrate that the proposed algorithm has a better convergence speed and better steady state behavior than other LMS algorithms