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Research Needs in Human-Autonomy Teaming: Thematic Analysis of Priority Features for Testbed Development

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Research Needs in Human-Autonomy Teaming: Thematic Analysis ...

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Mason O. Smith Sunny Amatya Ashish Amresh Jamie Gorman Matthew Johnson Nancy Cooke Wenlong Zhang School of Manufacturing Systems and Networks Arizona State University Mesa AZ USA School of Informatics Computing and Cyber Systems Northern Arizona University Flagstaff AZ USA The Polytechnic School Arizona State University Mesa AZ USA Florida Institute of Human & Machine Cognition Pensacola FL USA

ISBN: (数字)9798350375022

ISBN: (纸本)9798350375039

Human-Autonomy Teaming (HAT) is a multi-disciplinary domain with a diverse set of research needs and goals stemming from fields such as computer science, robotics, and human factors. This melting pot of fields generates a unique challenge in that there exist many disjoint research methods (measures and tasks) that cause issues with knowledge transfer and comparison between researchers. One way to address this issue is by providing researchers with a testbed containing a standardized suite of analysis tools and tasks that allow direct comparison between different approaches. Therefore, this study attempts to bring the HAT community together in a collaborative discussion to collect and organize their research needs for the future development of these testbeds. Specifically, through thematic analysis, our work reveals three emergent prongs that underpin testbed needs of HAT experts: task, AI, and technical requirements. Also, we organize our thematic analysis by priority to suggest possible paths for HAT testbed development to maximize its immediate and continued utility. Our research indicates that the HAT community places significant importance on both the pre-established, standardized functions available within the testbed and the freedom to tailor and develop their unique tasks or AI solutions.

关键词： Training Technical requirements Collaboration Pressing Human factors Programming Planning Artificial intelligence Robots Knowledge transfer

Consensus ALADIN: A Framework for Distributed Optimization and Its Application in Federated Learning

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arXiv 2023年

作者： Du, Xu Wang, Jingzhe The Institute of Mathematics HNAS Henan Academy of Science Zhengzhou China The Department of Informatics & Networked Systems School of Computing and Information University of Pittsburgh PittsburghPA United States

This paper investigates algorithms for solving distributed consensus optimization problems that are non-convex. Since Typical ALADIN (Typical Augmented Lagrangian based Alternating Direction Inexact Newton Method, T-ALADIN for short) [1] is a well-performed algorithm treating distributed optimization problems that are non-convex, directly adopting T-ALADIN to those of consensus is a natural approach. However, T-ALADIN typically results in high communication and computation overhead, which makes such an approach far from efficient. In this paper, we propose a new variant of the ALADIN family, coined consensus ALADIN (C-ALADIN for short). C-ALADIN inherits all the good properties of T-ALADIN, such as the local linear or super-linear convergence rate and the local convergence guarantees for non-convex optimization problems;besides, C-ALADIN offers unique improvements in terms of communication efficiency and computational efficiency. Moreover, C-ALADIN involves a reduced version, in comparison with Consensus ADMM (Alternating Direction Method of Multipliers) [3], showing significant convergence performance, even without the help of second-order information. We also propose a practical version of C-ALADIN, named FedALADIN, that seamlessly serves the emerging federated learning applications, which expands the reach of our proposed C-ALADIN. We provide numerical experiments to demonstrate the effectiveness of C-ALADIN. The results show that C-ALADIN has significant improvements in convergence performance. © 2023, CC0.

关键词： Computational efficiency

Primitive Recursive Ordered Fields and Some Applications 23rd

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Primitive Recursive Ordered Fields and Some Applications

23rd International Workshop on Computer Algebra in Scientific computing, CASC 2021

作者： Selivanov, Victor Selivanova, Svetlana A. P. Ershov Institute of Informatics Systems and S. L. Sobolev Institute of Mathematics Novosibirsk Russia KAIST School of Computing Daejeon Korea Republic of

ISBN: (纸本)9783030851644

We establish primitive recursive versions of some known facts about computable ordered fields of reals and computable reals and apply them to several problems of algebra and analysis. In particular, we find a primitive recursive analogue of Ershov-Madison’s theorem about the computable real closure, relate primitive recursive fields of reals to the field of primitive recursive reals, give sufficient conditions for primitive recursive root-finding and for computing solution operators of symmetric hyperbolic systems of partial differential equations. © 2021, Springer Nature Switzerland AG.

关键词： Polynomials

Facilitating bootstrapped and rarefaction-based microbiome diversity analysis with q2-boots

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arXiv 2024年

作者： Raspet, Isaiah Gehret, Elizabeth Herman, Chloe Meilander, Jeff Manley, Andrew Simard, Anthony Bolyen, Evan Caporaso, J. Gregory Center for Applied Microbiome Science Pathogen and Microbiome Institute Northern Arizona University FlagstaffAZ United States School of Informatics Computing and Cyber Systems Northern Arizona University FlagstaffAZ United States

Background: We present q2-boots, a QIIME 2 plugin that facilitates bootstrapped and rarefaction-based microbiome diversity analysis. This plugin provides eight new actions that allow users to apply any of thirty different alpha diversity metrics and twenty-two beta diversity metrics to bootstrapped or rarefied feature tables, using a single QIIME 2 Pipeline command, or more granular QIIME 2 Action commands. Results: Given a feature table, an even sampling depth, and the number of iterations to perform (n), the command qiime boots core-metrics will resample the feature table n times and compute alpha and beta diversity metrics on each resampled table. The results will be integrated in summary data artifacts that are identical in structure and type to results that would be generated by applying diversity metrics to a single table. This enables all of the same downstream analytic tools to be applied to these tables, and ensures that all collected data is considered when computing microbiome diversity metrics. Conclusions: A challenge of this work was deciding how to integrate distance matrices that were computed on n resampled feature tables, as a simple average of pairwise distances (median or mean) does not account for the structure of distance matrices. q2-boots provides three options, and we show here that the results of these approaches are highly correlated. q2-boots is free and open source. Source code, installation instructions, and a tutorial can be found at https://***/caporaso-lab/q2-boots. © 2024, CC BY-NC-ND.

关键词： Matrix algebra

Can we trust the evaluation on ChatGPT?

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arXiv 2023年

作者： Aiyappa, Rachith An, Jisun Kwak, Haewoon Ahn, Yong-Yeol Center for Complex Networks & Systems Luddy School of Informatics Computing & Engineering United States Indiana University Network Science Institute Indiana University BloomingtonIN47408 United States

ChatGPT, the first large language model with mass adoption, has demonstrated remarkable performance in numerous natural language tasks. Despite its evident usefulness, evaluating ChatGPT’s performance in diverse problem domains remains challenging due to the closed nature of the model and its continuous updates via Reinforcement Learning from Human Feedback (RLHF). We highlight the issue of data contamination in ChatGPT evaluations, with a case study in stance detection. We discuss the challenge of preventing data contamination and ensuring fair model evaluation in the age of closed and continuously trained models. Copyright © 2023, The Authors. All rights reserved.

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Tableaux for Automated Reasoning in Dependently-Typed Higher-Order Logic

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arXiv 2024年

作者： Niederhauser, Johannes Brown, Chad E. Kaliszyk, Cezary Department of Computer Science University of Innsbruck Innsbruck Austria Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague Czech Republic School of Computing and Information Systems University of Melbourne Melbourne Australia

Dependent type theory gives an expressive type system facilitating succinct formalizations of mathematical concepts. In practice, it is mainly used for interactive theorem proving with intensional type theories, with PVS being a notable exception. In this paper, we present native rules for automated reasoning in a dependently-typed version (DHOL) of classical higher-order logic (HOL). DHOL has an extensional type theory with an undecidable type checking problem which contains theorem proving. We implemented the inference rules as well as an automatic type checking mode in Lash, a fork of Satallax, the leading tableaux-based prover for HOL. Our method is sound and complete with respect to provability in DHOL. Completeness is guaranteed by the incorporation of a sound and complete translation from DHOL to HOL recently proposed by Rothgang et al. While this translation can already be used as a preprocessing step to any HOL prover, to achieve better performance, our system directly works in DHOL. Moreover, experimental results show that the DHOL version of Lash can outperform all major HOL provers executed on the translation. © 2024, CC BY.

关键词： Computer circuits

Millimeter Wave Channel Estimation for Lens based Hybrid MIMO with Low Resolution ADCs

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Millimeter Wave Channel Estimation for Lens based Hybrid MIM...

IEEE International Conference on Communications Workshops, ICC

作者： Evangelos Vlachos Aryan Kaushik Muhammad Z. Shakir Athena Research and Innovation Centre Industrial Systems Institute Greece School of Engineering and Informatics University of Sussex United Kingdom School of Computing Engineering & Physical Sciences University of the West of Scotland United Kingdom

The high path loss associated with millimeter wave (mmWave) frequency communication can be compensated by large scale antenna arrays such as multiple-input multiple-output (MIMO) systems. The hybrid beamforming architecture which uses fewer radio frequency chains is implemented to reduce power consumption and hardware complexity, while still supporting multi-stream communication. We propose an efficient expectation-maximization (EM)-based mmWave channel estimator for a lens-based hybrid MIMO system with low resolution sampling at the receiver. The lens-based beamformer is investigated to provide increased antenna gain and reduced implementation complexity as the conventional beam selection network is excluded. Low resolution sampling at the analog-to-digital converters is implemented for reduced power consumption. The proposed solution with a robust maximum a posteriori estimator based on the EM algorithm performs better than the conventional EM approach and minimum mean square error baselines in medium to high signal-to-noise ratio regions.

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Affective interaction and affective computing - past, present and future

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Affective interaction and affective computing - past, presen...

2025 CHI Conference on Human Factors in computing systems, CHI EA 2025

作者： Ahmadpour, Naseem Lottridge, Danielle Fritsch, Jonas Sas, Corina Cecchinato, Marta E. Harrison, Daniel Höök, Kristina Foong, Pin Sym Ijaz, Kiran Gough, Phillip Cao, Yidan Li, Xuefei Lazem, Shaimaa Sachathep, Thida Affective Interactions Lab. School of Architecture Design and Planning The University of Sydney SydneyNSW Australia University of Auckland Auckland New Zealand IT University of Copenhagen Copenhagen Denmark School of Computing and Communications Lancaster University Lancaster United Kingdom Northumbria University Newcastle upon Tyne United Kingdom KTH Royal Institute of Technology Stockholm Sweden Telehealth Core National University of Singapore Singapore Singapore The University of Sydney SydneyNSW Australia Design Lab. School of Architecture Design and Planning The University of Sydney SydneyNSW Australia Affective Interactions Lab. Sydney School of Architecture Design and Planning The University of Sydney NSW Australia Affective Interactions Lab. Sydney School of Architecture Design and Planning The University of Sydney Sydney Australia Informatics Research Institute City for Scientific Research and Technology Applications Alexandria Egypt School of Architecture Design and Planning The University of Sydney SydneyNSW Australia

ISBN: (纸本)9798400713958

HCI researchers recognize affect and emotion as fundamental parts of human experience however conceptualizing emotions as ineffable, embodied, situated, or culturally bound does not fit within some of the dominant paradigm of Affective computing and emotion AI research focused mostly on recognition and classification of basic emotions. An alternative term, Affective Interaction, has emerged to bring together a growing body of research which treats emotion and affect within HCI in similar ways. This workshop brings the research community together to examine various perspectives on affect, and specifically contrast Affective Interaction with Affective computing. The aim is to discuss opportunities and limitations associated with each perspective, reconcile with advances in the science of emotion, and to speculate on future research directions. We believe that bringing together HCI researchers around Affective Interaction is vitally important because the broad reach of Affective computing techniques may be obscuring advances in emotion research that show evidence that emotion defies easy categories and is culturally situated. © 2025 Copyright held by the owner/author(s).

关键词： Affective computing Affective Interaction AI Emotion

An urban-scale spatiotemporal optimization of rooftop photovoltaic charging of electric vehicles

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Urban informatics 2024年第1期3卷 1-18页

作者： Ji, Nanfan Zhu, Rui Huang, Ziyi You, Linlin Department of Land Surveying and Geo-Informatics The Hong Kong Polytechnic University Kowloon Hong Kong China Institute of High Performance Computing (IHPC) Agency for Science Technology and Research (A*STAR) Singapore Republic of Singapore School of Intelligent Systems Engineering Sun Yat-Sen University Shenzhen China

Solar photovoltaic (PV) farming is increasingly being used to power electric vehicles (EVs). Although many studies have developed dynamic EV charging prediction and scheduling models, few of them have coupled rooftop PV electricity generation with the spatiotemporal EV charging demands at an urban scale. Thus, this study develops a research framework containing three interconnected modules to investigate the feasibility of EV charging powered by rooftop PVs. The framework is constructed by the statistics of time serial EV charging demands at each station, the planning of rooftop PV installations associated with all charging stations, and the development of a dynamic dispatching algorithm to transmit surplus electricity from one station to another. The algorithm can maximize the overall balance between supply and demand, maximize the total PV electricity generation while minimising the total PV area, minimize the number of PV charging stations used as the suppliers for dynamic dispatch, and minimize the total electricity transmission distance between stations given the same power supply. The experiment utilizes a complete EV charging dataset containing 5574 charging piles with more than 9.7 million records in June and July in Guangzhou, China. The results show that rooftop PVs can supply more than 90% of the charging demand. The results encourage and inspire us to generalize and promote such a solution in other cities. Future work can refine the algorithm by adapting different PV sizes into various charging stations to further improve the electricity generation capability and the dynamic dispatching efficiency.

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