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Spoken language instructions are ubiquitous in agent collaboration. However, in human-robot collaboration, recognition accuracy for human speech is often influenced by various speech and environmental factors, such as background noise, the speaker's accents, and mispronunciation. When faced with noisy or unfamiliar auditory inputs, humans use context and prior knowledge to disambiguate the stimulus and take pragmatic actions, a process referred to as top-down processing in cognitive science. We present a cognitively inspired model, Speech Instruction Following through Theory of Mind (SIFToM), to enable robots to pragmatically follow human instructions under diverse speech conditions by inferring the human's goal and joint plan as prior for speech perception and understanding. We test SIFToM in simulated home experiments (VirtualHome 2). Results show that the SIFToM model outperforms state-of-the-art speech and language models, approaching human-level accuracy on challenging speech instruction following tasks. We then demonstrate its ability at the task planning level on a mobile manipulator for breakfast preparation tasks., Comment: 7 pages, 4 figures

While Endpoint Detection and Response (EDR) are able to efficiently monitor threats by comparing static rules to the event stream, their inability to incorporate past system context leads to high rates of false alarms. Recent work has demonstrated Provenance-based Intrusion Detection Systems (Prov-IDS) that can examine the causal relationships between abnormal behaviors to improve threat classification. However, employing these Prov-IDS in practical settings remains difficult -- state-of-the-art neural network based systems are only fast in a fully offline deployment model that increases attacker dwell time, while simultaneously using simplified and less accurate provenance graphs to reduce memory consumption. Thus, today's Prov-IDS cannot operate effectively in the real-time streaming setting required for commercial EDR viability. This work presents the design and implementation of ORCHID, a novel Prov-IDS that performs fine-grained detection of process-level threats over a real time event stream. ORCHID takes advantage of the unique immutable properties of a versioned provenance graphs to iteratively embed the entire graph in a sequential RNN model while only consuming a fraction of the computation and memory costs. We evaluate ORCHID on four public datasets, including DARPA TC, to show that ORCHID can provide competitive classification performance while eliminating detection lag and reducing memory consumption by two orders of magnitude.

Controlling robots through natural language instructions in open-vocabulary scenarios is pivotal for enhancing human-robot collaboration and complex robot behavior synthesis. However, achieving this capability poses significant challenges due to the need for a system that can generalize from limited data to a wide range of tasks and environments. Existing methods rely on large, costly datasets and struggle with generalization. This paper introduces Grounded Equivariant Manipulation (GEM), a novel approach that leverages the generative capabilities of pre-trained vision-language models and geometric symmetries to facilitate few-shot and zero-shot learning for open-vocabulary robot manipulation tasks. Our experiments demonstrate GEM's high sample efficiency and superior generalization across diverse pick-and-place tasks in both simulation and real-world experiments, showcasing its ability to adapt to novel instructions and unseen objects with minimal data requirements. GEM advances a significant step forward in the domain of language-conditioned robot control, bridging the gap between semantic understanding and action generation in robotic systems.

With large language models, robots can understand language more flexibly and more capable than ever before. This survey reviews and situates recent literature into a spectrum with two poles: 1) mapping between language and some manually defined formal representation of meaning, and 2) mapping between language and high-dimensional vector spaces that translate directly to low-level robot policy. Using a formal representation allows the meaning of the language to be precisely represented, limits the size of the learning problem, and leads to a framework for interpretability and formal safety guarantees. Methods that embed language and perceptual data into high-dimensional spaces avoid this manually specified symbolic structure and thus have the potential to be more general when fed enough data but require more data and computing to train. We discuss the benefits and tradeoffs of each approach and finish by providing directions for future work that achieves the best of both worlds., Comment: IJCAI 2024 Survey Track

A critical component when developing question-answering AIs is an adversarial dataset that challenges models to adapt to the complex syntax and reasoning underlying our natural language. Present techniques for procedurally generating adversarial texts are not robust enough for training on complex tasks such as answering multi-sentence trivia questions. We instead turn to human-generated data by introducing an interface for collecting adversarial human-written trivia questions. Our interface is aimed towards question writers and players of Quiz Bowl, a buzzer-based trivia competition where paragraph-long questions consist of a sequence of clues of decreasing difficulty. To incentivize usage, a suite of machine learning-based tools in our interface assist humans in writing questions that are more challenging to answer for Quiz Bowl players and computers alike. Not only does our interface gather training data for the groundbreaking Quiz Bowl AI project QANTA, but it is also a proof-of-concept of future adversarial data collection for question-answering systems. The results of performance-testing our interface with ten originally-composed questions indicate that, despite some flaws, our interface's novel question-writing features as well as its real-time exposure of useful responses from our machine models could facilitate and enhance the collection of adversarial questions., Comment: 17 pages, 1 figure, 1 table

In the context of mobile sensing environments, various sensors on mobile devices continually generate a vast amount of data. Analyzing this ever-increasing data presents several challenges, including limited access to annotated data and a constantly changing environment. Recent advancements in self-supervised learning have been utilized as a pre-training step to enhance the performance of conventional supervised models to address the absence of labelled datasets. This research examines the impact of using a self-supervised representation learning model for time series classification tasks in which data is incrementally available. We proposed and evaluated a workflow in which a model learns to extract informative features using a corpus of unlabeled time series data and then conducts classification on labelled data using features extracted by the model. We analyzed the effect of varying the size, distribution, and source of the unlabeled data on the final classification performance across four public datasets, including various types of sensors in diverse applications., Comment: 6 pages, accepted in the 24th IEEE International Conference on Mobile Data Management (MDM2023)

Grounding navigational commands to linear temporal logic (LTL) leverages its unambiguous semantics for reasoning about long-horizon tasks and verifying the satisfaction of temporal constraints. Existing approaches require training data from the specific environment and landmarks that will be used in natural language to understand commands in those environments. We propose Lang2LTL, a modular system and a software package that leverages large language models (LLMs) to ground temporal navigational commands to LTL specifications in environments without prior language data. We comprehensively evaluate Lang2LTL for five well-defined generalization behaviors. Lang2LTL demonstrates the state-of-the-art ability of a single model to ground navigational commands to diverse temporal specifications in 21 city-scaled environments. Finally, we demonstrate a physical robot using Lang2LTL can follow 52 semantically diverse navigational commands in two indoor environments., Comment: Conference on Robot Learning 2023

Any pair of consecutive B-smooth integers for a given smoothness bound B corresponds to a solution (x, y) of the equation x^2 - 2Dy^2 = 1 for a certain square-free, B-smooth integer D and a B-smooth integer y. This paper describes algorithms to find such twin B-smooth integers that lie in a given interval by using the structure of solutions of the above Pell equation. The problem of finding such twin smooth integers is motivated by the quest for suitable parameters to efficiently instantiate recent isogeny-based cryptosystems. While the Pell equation structure of twin B-smooth integers has previously been used to describe and compute the full set of such pairs for very small values of B, increasing B to allow for cryptographically sized solutions makes this approach utterly infeasible. We start by revisiting the Pell solution structure of the set of twin smooth integers. Instead of using it to enumerate all twin smooth pairs, we focus on identifying only those that lie in a given interval. This restriction allows us to describe algorithms that navigate the vast set of Pell solutions in a more targeted way. Experiments run with these algorithms have provided examples of twin B-smooth pairs that are larger and have smaller smoothness bound B than previously reported pairs. Unfortunately, those examples do not yet provide better parameters for cryptography, but we hope that our methods can be generalized or used as subroutines in future work to achieve that goal.

Deploying robots in real-world environments, such as households and manufacturing lines, requires generalization across novel task specifications without violating safety constraints. Linear temporal logic (LTL) is a widely used task specification language with a compositional grammar that naturally induces commonalities among tasks while preserving safety guarantees. However, most prior work on reinforcement learning with LTL specifications treats every new task independently, thus requiring large amounts of training data to generalize. We propose LTL-Transfer, a zero-shot transfer algorithm that composes task-agnostic skills learned during training to safely satisfy a wide variety of novel LTL task specifications. Experiments in Minecraft-inspired domains show that after training on only 50 tasks, LTL-Transfer can solve over 90% of 100 challenging unseen tasks and 100% of 300 commonly used novel tasks without violating any safety constraints. We deployed LTL-Transfer at the task-planning level of a quadruped mobile manipulator to demonstrate its zero-shot transfer ability for fetch-and-deliver and navigation tasks., Comment: ICRA 2024