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Abstract:Since OpenAI's release of the very large language models Chat-GPT and GPT-4, the potential dangers of AI have garnered widespread p… (see more)ublic attention. In this essay, the author reviews the threats to democracy posed by the possibility of "rogue AIs," dangerous and powerful AIs that would execute harmful goals, irrespective of whether the outcomes are intended by humans. To mitigate against the risk that rogue AIs present to democracy and geopolitical stability, the author argues that research into safe and defensive AIs should be conducted by a multilateral, international network of research laboratories.
Adaptive interfaces can help users perform sequential decision-making tasks like robotic teleoperation given noisy, high-dimensional command… (see more) signals (e.g., from a brain-computer interface). Recent advances in human-in-the-loop machine learning enable such systems to improve by interacting with users, but tend to be limited by the amount of data that they can collect from individual users in practice. In this paper, we propose a reinforcement learning algorithm to address this by training an interface to map raw command signals to actions using a combination of offline pre-training and online fine-tuning. To address the challenges posed by noisy command signals and sparse rewards, we develop a novel method for representing and inferring the user's long-term intent for a given trajectory. We primarily evaluate our method's ability to assist users who can only communicate through noisy, high-dimensional input channels through a user study in which 12 participants performed a simulated navigation task by using their eye gaze to modulate a 128-dimensional command signal from their webcam. The results show that our method enables successful goal navigation more often than a baseline directional interface, by learning to denoise user commands signals and provide shared autonomy assistance. We further evaluate on a simulated Sawyer pushing task with eye gaze control, and the Lunar Lander game with simulated user commands, and find that our method improves over baseline interfaces in these domains as well. Extensive ablation experiments with simulated user commands empirically motivate each component of our method.
2023-10-01
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (published)
Background Screening for nonalcoholic fatty liver disease (NAFLD) is suboptimal due to the subjective interpretation of US images. Purpose T… (see more)o evaluate the agreement and diagnostic performance of radiologists and a deep learning model in grading hepatic steatosis in NAFLD at US, with biopsy as the reference standard. Materials and Methods This retrospective study included patients with NAFLD and control patients without hepatic steatosis who underwent abdominal US and contemporaneous liver biopsy from September 2010 to October 2019. Six readers visually graded steatosis on US images twice, 2 weeks apart. Reader agreement was assessed with use of κ statistics. Three deep learning techniques applied to B-mode US images were used to classify dichotomized steatosis grades. Classification performance of human radiologists and the deep learning model for dichotomized steatosis grades (S0, S1, S2, and S3) was assessed with area under the receiver operating characteristic curve (AUC) on a separate test set. Results The study included 199 patients (mean age, 53 years ± 13 [SD]; 101 men). On the test set (n = 52), radiologists had fair interreader agreement (0.34 [95% CI: 0.31, 0.37]) for classifying steatosis grades S0 versus S1 or higher, while AUCs were between 0.49 and 0.84 for radiologists and 0.85 (95% CI: 0.83, 0.87) for the deep learning model. For S0 or S1 versus S2 or S3, radiologists had fair interreader agreement (0.30 [95% CI: 0.27, 0.33]), while AUCs were between 0.57 and 0.76 for radiologists and 0.73 (95% CI: 0.71, 0.75) for the deep learning model. For S2 or lower versus S3, radiologists had fair interreader agreement (0.37 [95% CI: 0.33, 0.40]), while AUCs were between 0.52 and 0.81 for radiologists and 0.67 (95% CI: 0.64, 0.69) for the deep learning model. Conclusion Deep learning approaches applied to B-mode US images provided comparable performance with human readers for detection and grading of hepatic steatosis. Published under a CC BY 4.0 license. Supplemental material is available for this article. See also the editorial by Tuthill in this issue.
Deep reinforcement learning (DRL), leveraging Deep Learning (DL) in reinforcement learning, has shown significant potential in achieving hum… (see more)an-level autonomy in a wide range of domains, including robotics, computer vision, and computer games. This potential justifies the enthusiasm and growing interest in DRL in both academia and industry. However, the community currently focuses mostly on the development phase of DRL systems, with little attention devoted to DRL deployment. In this paper, we propose an empirical study on Stack Overflow (SO), the most popular Q&A forum for developers, to uncover and understand the challenges practitioners faced when deploying DRL systems. Specifically, we categorized relevant SO posts by deployment platforms: server/cloud, mobile/embedded system, browser, and game engine. After filtering and manual analysis, we examined 357 SO posts about DRL deployment, investigated the current state, and identified the challenges related to deploying DRL systems. Then, we investigate the prevalence and difficulty of these challenges. Results show that the general interest in DRL deployment is growing, confirming the study’s relevance and importance. Results also show that DRL deployment is more difficult than other DRL issues. Additionally, we built a taxonomy of 31 unique challenges in deploying DRL to different platforms. On all platforms, RL environment-related challenges are the most popular, and communication-related challenges are the most difficult among practitioners. We hope our study inspires future research and helps the community overcome the most common and difficult challenges practitioners face when deploying DRL systems.
2023-10-01
2023 IEEE International Conference on Software Maintenance and Evolution (ICSME) (published)
Software systems are increasingly relying on deep learning components, due to their remarkable capability of identifying complex data patter… (see more)ns and powering intelligent behaviour. A core enabler of this change in software development is the availability of easy-to-use deep learning libraries. Libraries like PyTorch and TensorFlow empower a large variety of intelligent systems, offering a multitude of algorithms and configuration options, applicable to numerous domains of systems. However, bugs in those popular deep learning libraries also may have dire consequences for the quality of systems they enable; thus, it is important to understand how bugs are identified and fixed in those libraries.Inspired by a study of Jia et al., which investigates the bug identification and fixing process at TensorFlow, we characterize bugs in the PyTorch library, a very popular deep learning framework. We investigate the causes and symptoms of bugs identified during PyTorch’s development, and assess their locality within the project, and extract patterns of bug fixes. Our results highlight that PyTorch bugs are more like traditional software projects bugs, than related to deep learning characteristics. Finally, we also compare our results with the study on TensorFlow, highlighting similarities and differences across the bug identification and fixing process.
2023-10-01
2023 IEEE International Conference on Software Maintenance and Evolution (ICSME) (published)
Recent studies show that some security features that blockchains grant to decentralized networks on the internet can be ported to swarm robo… (see more)tics. Although the integration of blockchain technology and swarm robotics shows great promise, thus far, research has been limited to proof-of-concept scenarios where the blockchain-based mechanisms are tailored to a particular swarm task and operating environment. In this study, we propose a generic framework based on a blockchain smart contract that enables robot swarms to achieve secure consensus in an arbitrary observation space. This means that our framework can be customized to fit different swarm robotics missions, while providing methods to identify and neutralize Byzantine robots, that is, robots which exhibit detrimental behaviours stemming from faults or malicious tampering.
2023-10-01
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (published)
This study assessed the early detection of the increased risk of hypoxic ischemic encephalopathy using raw fetal heart rate and its transfor… (see more)mation with scattering transform and a long short-term memory recurrent neural network. There was no significant difference between the two approaches. However, the use of scattering transform produced lower computational demands. Considering scalability to the large data in our database and computational efficiency, the experiments involving scattering transform coefficients will be selected to conduct subsequent experiments. Future works will address the limitations of this study, including the low model performance.
