Graph neural networks (GNNs) have recently emerged as a promising learning paradigm in learning graph-structured data and have demonstrated wide success across various domains such as recommendation systems, social networks, and electronic design automation (EDA). Like other deep learning (DL) methods, GNNs are being deployed in sophisticated modern hardware systems, as well as dedicated accelerators. However, despite the popularity of GNNs and the recent efforts of bringing GNNs to hardware, the fault tolerance and resilience of GNNs has generally been overlooked. Inspired by the inherent algorithmic resilience of DL methods, this paper conducts, for the first time, a large-scale and empirical study of GNN resilience, aiming to understand the relationship between hardware faults and GNN accuracy. By developing a customized fault injection tool on top of PyTorch, we perform extensive fault injection experiments to various GNN models and application datasets. We observe that the error resilience of GNN models varies by orders of magnitude with respect to different models and application datasets. Further, we explore a low-cost error mitigation mechanism for GNN to enhance its resilience. This GNN resilience study aims to open up new directions and opportunities for future GNN accelerator design and architectural optimization.

The advances in Artificial Intelligence are creating new opportunities to improve lives of people around the world, from business to healthcare, from lifestyle to education. For example, some systems profile the users using their demographic and behavioral characteristics to make certain domain-specific predictions. Often, such predictions impact the life of the user directly or indirectly (e.g., loan disbursement, determining insurance coverage, shortlisting applications, etc.). As a result, the concerns over such AI-enabled systems are also increasing. To address these concerns, such systems are mandated to be responsible i.e., transparent, fair, and explainable to developers and end-users. In this paper, we present ComplAI, a unique framework to enable, observe, analyze and quantify explainability, robustness, performance, fairness, and model behavior in drift scenarios, and to provide a single Trust Factor that evaluates different supervised Machine Learning models not just from their ability to make correct predictions but from overall responsibility perspective. The framework helps users to (a) connect their models and enable explanations, (b) assess and visualize different aspects of the model, such as robustness, drift susceptibility, and fairness, and (c) compare different models (from different model families or obtained through different hyperparameter settings) from an overall perspective thereby facilitating actionable recourse for improvement of the models. It is model agnostic and works with different supervised machine learning scenarios (i.e., Binary Classification, Multi-class Classification, and Regression) and frameworks. It can be seamlessly integrated with any ML life-cycle framework. Thus, this already deployed framework aims to unify critical aspects of Responsible AI systems for regulating the development process of such real systems.

This paper presents a state-of-the-art optimal controller for quadruped locomotion. The robot dynamics is represented using a single rigid body (SRB) model. A linear time-varying model predictive controller (LTV MPC) is proposed by using linearization schemes. Simulation results show that the LTV MPC can execute various gaits, such as trot and crawl, and is capable of tracking desired reference trajectories even under unknown external disturbances. The LTV MPC is implemented as a quadratic program using qpOASES through the CasADi interface at 50 Hz. The proposed MPC can reach up to 1 m/s top speed with an acceleration of 0.5 m/s2 executing a trot gait. The implementation is available at https:// github.com/AndrewZheng-1011/Quad_ConvexMPC

We present pyRDDLGym, a Python framework for auto-generation of OpenAI Gym environments from RDDL declerative description. The discrete time step evolution of variables in RDDL is described by conditional probability functions, which fits naturally into the Gym step scheme. Furthermore, since RDDL is a lifted description, the modification and scaling up of environments to support multiple entities and different configurations becomes trivial rather than a tedious process prone to errors. We hope that pyRDDLGym will serve as a new wind in the reinforcement learning community by enabling easy and rapid development of benchmarks due to the unique expressive power of RDDL. By providing explicit access to the model in the RDDL description, pyRDDLGym can also facilitate research on hybrid approaches for learning from interaction while leveraging model knowledge. We present the design and built-in examples of pyRDDLGym, and the additions made to the RDDL language that were incorporated into the framework.

We consider the problem of learning the structure underlying a Gaussian graphical model when the variables (or subsets thereof) are corrupted by independent noise. A recent line of work establishes that even for tree-structured graphical models, only partial structure recovery is possible and goes on to devise algorithms to identify the structure up to an (unavoidable) equivalence class of trees. We extend these results beyond trees and consider the model selection problem under noise for non tree-structured graphs, as tree graphs cannot model several real-world scenarios. Although unidentifiable, we show that, like the tree-structured graphs, the ambiguity is limited to an equivalence class. This limited ambiguity can help provide meaningful clustering information (even with noise), which is helpful in computer and social networks, protein-protein interaction networks, and power networks. Furthermore, we devise an algorithm based on a novel ancestral testing method for recovering the equivalence class. We complement these results with finite sample guarantees for the algorithm in the high-dimensional regime.

We discuss a platform that has both software and hardware components, and whose purpose is to support research into characterizing and mitigating the sim-to-real gap in robotics and vehicle autonomy engineering. The software is operating-system independent and has three main components: a simulation engine called Chrono, which supports high-fidelity vehicle and sensor simulation; an autonomy stack for algorithm design and testing; and a development environment that supports visualization and hardware-in-the-loop experimentation. The accompanying hardware platform is a 1/6th scale vehicle augmented with reconfigurable mountings for computing, sensing, and tracking. Since this vehicle platform has a digital twin within the simulation environment, one can test the same autonomy perception, state estimation, or controls algorithms, as well as the processors they run on, in both simulation and reality. A demonstration is provided to show the utilization of this platform for autonomy research. Future work will concentrate on augmenting ART/ATK with support for a full-sized Chevy Bolt EUV, which will be made available to this group in the immediate future.

Many scientific domains gather sufficient labels to train machine algorithms through human-in-the-loop techniques provided by the Zooniverse.org citizen science platform. As the range of projects, task types and data rates increase, acceleration of model training is of paramount concern to focus volunteer effort where most needed. The application of Transfer Learning (TL) between Zooniverse projects holds promise as a solution. However, understanding the effectiveness of TL approaches that pretrain on large-scale generic image sets vs. images with similar characteristics possibly from similar tasks is an open challenge. We apply a generative segmentation model on two Zooniverse project-based data sets: (1) to identify fat droplets in liver cells (FatChecker; FC) and (2) the identification of kelp beds in satellite images (Floating Forests; FF) through transfer learning from the first project. We compare and contrast its performance with a TL model based on the COCO image set, and subsequently with baseline counterparts. We find that both the FC and COCO TL models perform better than the baseline cases when using >75% of the original training sample size. The COCO-based TL model generally performs better than the FC-based one, likely due to its generalized features. Our investigations provide important insights into usage of TL approaches on multi-domain data hosted across different Zooniverse projects, enabling future projects to accelerate task completion.

Long-range context modeling is crucial to both dialogue understanding and generation. The most popular method for dialogue context representation is to concatenate the last-$k$ previous utterances. However, this method may not be ideal for conversations containing long-range dependencies. In this work, we propose DialoGX, a novel encoder-decoder based framework for conversational response generation with a generalized and explainable context representation that can look beyond the last-$k$ utterances. Hence the method is adaptive to conversations with long-range dependencies. The main idea of our approach is to identify and utilize the most relevant historical utterances instead of the last-$k$ utterances in chronological order. We study the effectiveness of our proposed method on both dialogue generation (open-domain) and understanding (DST) tasks. DialoGX achieves comparable performance with the state-of-the-art models on DailyDialog dataset. We also observe performance gain in existing DST models with our proposed context representation strategy on MultiWOZ dataset. We justify our context representation through the lens of psycholinguistics and show that the relevance score of previous utterances agrees well with human cognition which makes DialoGX explainable as well.

与标准动态范围（SDR）视频相比，高动态范围（HDR）视频可以代表更大的亮度和色彩范围，并且正迅速成为行业标准。与传统SDR视频相比，HDR视频具有更具挑战性的捕获，传输和显示要求。凭借其更大的深度，高级的电流传输功能以及更广泛的颜色范围，因此需要专门设计用于预测HDR视频质量的视频质量算法。为此，我们介绍了HDR视频的首次公开发布的大规模主观研究。我们研究扭曲的影响，例如压缩和混叠对HDR视频质量的影响。我们还通过在黑暗实验室环境和更明亮的客厅环境中进行研究来研究环境照明对HDR视频感知质量的影响。总共有66名受试者参加了这项研究，并收集了20,000多个意见分数，这使得这成为有史以来最大的HDR视频质量研究。我们预计，该数据集将成为研究人员为HDR视频开发更好的感知质量模型的宝贵资源。

我们通过策略提取（MSVIPER）提出了多种可验证的增强学习，这是一种策略蒸馏到决策树以改进机器人导航的新方法。 MSVIPER使用任何强化学习（RL）技术来学习一项“专家”政策，涉及学习国家行动映射，然后使用模仿学习来从中学习决策树策略。我们证明，MSVIPER会导致有效的决策树，并可以准确模仿专家政策的行为。此外，我们提出了有效的政策蒸馏和树修改技术，这些技术利用决策树结构，可以改进政策而无需再培训。我们使用我们的方法来改善用于室内和室外场景的基于RL的机器人导航算法的性能。我们证明了在减少冻结和振荡行为（减少95 \％降低）方面的好处。