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To evaluate the societal impacts of GenAI requires a model of how social harms emerge from interactions between GenAI, people, and societal structures. Yet a model is rarely explicitly defined in societal impact evaluations, or in the taxonomies of societal impacts that support them. In this provocation, we argue that societal impacts should be conceptualised as application- and context-specific, incommensurable, and shaped by questions of social power. Doing so leads us to conclude that societal impact evaluations using existing taxonomies are inherently limited, in terms of their potential to reveal how GenAI systems may interact with people when introduced into specific social contexts. We therefore propose a governance-first approach to managing societal harms attended by GenAI technologies., Comment: 3 pages

Body size drives the energetic demands of organisms, constraining trophic interactions between species and playing a significant role in shaping the feasibility of species' populations in a community. On macroevolutionary timescales, these demands feed back to shape the selective landscape driving the evolution of body size and diet. We develop a theoretical framework for a three-level trophic food chain -- typical for terrestrial mammalian ecosystems -- premised on bioenergetic trade-offs to explore mammalian population dynamics. Our results show that interactions between predators, prey, and external subsidies generate instabilities linked to body size extrema, corresponding to observed limits of predator size and diet. These instabilities generate size-dependent constraints on coexistence and highlight a feasibility range for carnivore size between 40 to 110 kg, encompassing the mean body size of terrestrial Cenozoic hypercarnivores. Finally, we show that predator dietary generalization confers a selective advantage to larger carnivores, which then declines at megapredator body sizes, aligning with diet breadth estimates for contemporary and Pleistocene species. Our framework underscores the importance of understanding macroevolutionary constraints through the lens of ecological pressures, where the selective forces shaping and reshaping the dynamics of communities can be explored., Comment: 14 pages, 3 figures, SI Appendices

As Information and Communication Technology (ICT) use has become more prevalent, there has been a growing concern in how its associated greenhouse gas emissions will impact the climate. Estimating such ICT emissions is a difficult undertaking due to its complexity, its rapidly changing nature, and the lack of accurate and up-to-date data on individual stakeholder emissions. In this paper we provide a framework for estimating ICT's carbon footprint and identify some of the issues that impede the task. We attempt to gain greater insight into the factors affecting the ICT sector by drawing on a number of interviews with industry experts. We conclude that more accurate emissions estimates will only be possible with a more more detailed, industry informed, understanding of the whole ICT landscape and much more transparent reporting of energy usage and emissions data by ICT stakeholders.

Plastic waste in aquatic environments poses severe risks to marine life and human health. Autonomous robots can be utilized to collect floating waste, but they require accurate object identification capability. While deep learning has been widely used as a powerful tool for this task, its performance is significantly limited by outdoor light conditions and water surface reflection. Light polarization, abundant in such environments yet invisible to the human eye, can be captured by modern sensors to significantly improve litter detection accuracy on water surfaces. With this goal in mind, we introduce PoTATO, a dataset containing 12,380 labeled plastic bottles and rich polarimetric information. We demonstrate under which conditions polarization can enhance object detection and, by providing raw image data, we offer an opportunity for the research community to explore novel approaches and push the boundaries of state-of-the-art object detection algorithms even further. Code and data are publicly available at https://github.com/luisfelipewb/ PoTATO/tree/eccv2024., Comment: ECCV24 TRICKY workshop, Sep 2024, Milano (Italy), Italy

Earth System Models (ESMs) are essential for understanding the interaction between human activities and the Earth's climate. However, the computational demands of ESMs often limit the number of simulations that can be run, hindering the robust analysis of risks associated with extreme weather events. While low-cost climate emulators have emerged as an alternative to emulate ESMs and enable rapid analysis of future climate, many of these emulators only provide output on at most a monthly frequency. This temporal resolution is insufficient for analyzing events that require daily characterization, such as heat waves or heavy precipitation. We propose using diffusion models, a class of generative deep learning models, to effectively downscale ESM output from a monthly to a daily frequency. Trained on a handful of ESM realizations, reflecting a wide range of radiative forcings, our DiffESM model takes monthly mean precipitation or temperature as input, and is capable of producing daily values with statistical characteristics close to ESM output. Combined with a low-cost emulator providing monthly means, this approach requires only a small fraction of the computational resources needed to run a large ensemble. We evaluate model behavior using a number of extreme metrics, showing that DiffESM closely matches the spatio-temporal behavior of the ESM output it emulates in terms of the frequency and spatial characteristics of phenomena such as heat waves, dry spells, or rainfall intensity., Comment: Accepted for publication in Journal of Advances in Modeling Earth Systems

Large Language Models (LLMs) have rapidly increased in size and apparent capabilities in the last three years, but their training data is largely English text. There is growing interest in multilingual LLMs, and various efforts are striving for models to accommodate languages of communities outside of the Global North, which include many languages that have been historically underrepresented in digital realms. These languages have been coined as "low resource languages" or "long-tail languages", and LLMs performance on these languages is generally poor. While expanding the use of LLMs to more languages may bring many potential benefits, such as assisting cross-community communication and language preservation, great care must be taken to ensure that data collection on these languages is not extractive and that it does not reproduce exploitative practices of the past. Collecting data from languages spoken by previously colonized people, indigenous people, and non-Western languages raises many complex sociopolitical and ethical questions, e.g., around consent, cultural safety, and data sovereignty. Furthermore, linguistic complexity and cultural nuances are often lost in LLMs. This position paper builds on recent scholarship, and our own work, and outlines several relevant social, cultural, and ethical considerations and potential ways to mitigate them through qualitative research, community partnerships, and participatory design approaches. We provide twelve recommendations for consideration when collecting language data on underrepresented language communities outside of the Global North.

We explore the integration of large language models (LLMs) into visual analytics (VA) systems to transform their capabilities through intuitive natural language interactions. We survey current research directions in this emerging field, examining how LLMs are integrated into data management, language interaction, visualisation generation, and language generation processes. We highlight the new possibilities that LLMs bring to VA, especially how they can change VA processes beyond the usual use cases. We especially highlight building new visualisation-language models, allowing access of a breadth of domain knowledge, multimodal interaction, and opportunities with guidance. Finally, we carefully consider the prominent challenges of using current LLMs in VA tasks. Our discussions in this paper aim to guide future researchers working on LLM-assisted VA systems and help them navigate common obstacles when developing these systems., Comment: Accepted at EG UK Computer Graphics & Visual Computing 2024

Motivated by the stringent safety requirements that are often present in real-world applications, we study a safe online convex optimization setting where the player needs to simultaneously achieve sublinear regret and zero constraint violation while only using zero-order information. In particular, we consider a multi-point feedback setting, where the player chooses $d + 1$ points in each round (where $d$ is the problem dimension) and then receives the value of the constraint function and cost function at each of these points. To address this problem, we propose an algorithm that leverages forward-difference gradient estimation as well as optimistic and pessimistic action sets to achieve $\mathcal{O}(d \sqrt{T})$ regret and zero constraint violation under the assumption that the constraint function is smooth and strongly convex. We then perform a numerical study to investigate the impacts of the unknown constraint and zero-order feedback on empirical performance., Comment: 20 pages, 1 figure. Published in the proceedings of the Learning for Dynamics and Control Conference (L4DC) 2024

The physics of isolated plasma potential structures sustained by a deficit of phase-space density on trapped orbits, commonly known as electron or ion holes, is reviewed. The principles of their equilibria are explained and illustrated, and contrasted with solitons. A literature review mostly prior to 2016 highlights the key historical developments of the field. Progress since, especially in hole acceleration, stability, and multi-dimensional effects, is summarized in more detail.

Despite the increasing adoption of Deep Reinforcement Learning (DRL) for Autonomous Surface Vehicles (ASVs), there still remain challenges limiting real-world deployment. In this paper, we first integrate buoyancy and hydrodynamics models into a modern Reinforcement Learning framework to reduce training time. Next, we show how system identification coupled with domain randomization improves the RL agent performance and narrows the sim-to-real gap. Real-world experiments for the task of capturing floating waste show that our approach lowers energy consumption by 13.1\% while reducing task completion time by 7.4\%. These findings, supported by sharing our open-source implementation, hold the potential to impact the efficiency and versatility of ASVs, contributing to environmental conservation efforts., Comment: IROS 2024, IEEE, Oct 2024, Abu Dhabi, United Arab Emirates

This study introduces the Misclassification Likelihood Matrix (MLM) as a novel tool for quantifying the reliability of neural network predictions under distribution shifts. The MLM is obtained by leveraging softmax outputs and clustering techniques to measure the distances between the predictions of a trained neural network and class centroids. By analyzing these distances, the MLM provides a comprehensive view of the model's misclassification tendencies, enabling decision-makers to identify the most common and critical sources of errors. The MLM allows for the prioritization of model improvements and the establishment of decision thresholds based on acceptable risk levels. The approach is evaluated on the MNIST dataset using a Convolutional Neural Network (CNN) and a perturbed version of the dataset to simulate distribution shifts. The results demonstrate the effectiveness of the MLM in assessing the reliability of predictions and highlight its potential in enhancing the interpretability and risk mitigation capabilities of neural networks. The implications of this work extend beyond image classification, with ongoing applications in autonomous systems, such as self-driving cars, to improve the safety and reliability of decision-making in complex, real-world environments., Comment: 9 pages, 7 figures, 1 table

Kernels are a fundamental technical primitive in machine learning. In recent years, kernel-based methods such as Gaussian processes are becoming increasingly important in applications where quantifying uncertainty is of key interest. In settings that involve structured data defined on graphs, meshes, manifolds, or other related spaces, defining kernels with good uncertainty-quantification behavior, and computing their value numerically, is less straightforward than in the Euclidean setting. To address this difficulty, we present GeometricKernels, a software package which implements the geometric analogs of classical Euclidean squared exponential - also known as heat - and Mat\'ern kernels, which are widely-used in settings where uncertainty is of key interest. As a byproduct, we obtain the ability to compute Fourier-feature-type expansions, which are widely used in their own right, on a wide set of geometric spaces. Our implementation supports automatic differentiation in every major current framework simultaneously via a backend-agnostic design. In this companion paper to the package and its documentation, we outline the capabilities of the package and present an illustrated example of its interface. We also include a brief overview of the theory the package is built upon and provide some historic context in the appendix.

We show that when a honeycomb antiferromagnetic insulator (AFMI) is sandwiched between two transition metal dichalcogenide (TMD) monolayers in a commensurate way, magnons in the AFMI can mediate an interaction between electrons in the TMDs that gives rise to interlayer Cooper pairing. This interaction opens coexisting extended $s$-wave and chiral $p$-wave superconducting gaps in the energy spectrum of the coupled system, and the latter give rise to topological Majorana edge modes., Comment: 13 pages, including 5 pages supplemental material

Long gamma-ray bursts (GRBs) are believed to originate from core collapse of massive stars. High-redshift GRBs can probe the star formation and reionization history of the early universe, but their detection remains rare. Here we report the detection of a GRB triggered in the 0.5--4 keV band by the Wide-field X-ray Telescope (WXT) on board the Einstein Probe (EP) mission, designated as EP240315a, whose bright peak was also detected by the Swift Burst Alert Telescope and Konus-Wind through off-line analyses. At a redshift of $z=4.859$, EP240315a showed a much longer and more complicated light curve in the soft X-ray band than in gamma-rays. Benefiting from a large field-of-view ($\sim$3600 deg$^2$) and a high sensitivity, EP-WXT captured the earlier engine activation and extended late engine activity through a continuous detection. With a peak X-ray flux at the faint end of previously known high-$z$ GRBs, the detection of EP240315a demonstrates the great potential for EP to study the early universe via GRBs., Comment: 41 pages, 8 figures, 7 tables

This position paper concerns the use of religious texts in Natural Language Processing (NLP), which is of special interest to the Ethics of NLP. Religious texts are expressions of culturally important values, and machine learned models have a propensity to reproduce cultural values encoded in their training data. Furthermore, translations of religious texts are frequently used by NLP researchers when language data is scarce. This repurposes the translations from their original uses and motivations, which often involve attracting new followers. This paper argues that NLP's use of such texts raises considerations that go beyond model biases, including data provenance, cultural contexts, and their use in proselytism. We argue for more consideration of researcher positionality, and of the perspectives of marginalized linguistic and religious communities., Comment: Findings of NAACL2024

We introduce a new area of study in the field of educational Natural Language Processing: Automated Long Answer Grading (ALAG). Distinguishing itself from Automated Short Answer Grading (ASAG) and Automated Essay Grading (AEG), ALAG presents unique challenges due to the complexity and multifaceted nature of fact-based long answers. To study ALAG, we introduce RiceChem, a dataset derived from a college chemistry course, featuring real student responses to long-answer questions with an average word count notably higher than typical ASAG datasets. We propose a novel approach to ALAG by formulating it as a rubric entailment problem, employing natural language inference models to verify whether each criterion, represented by a rubric item, is addressed in the student's response. This formulation enables the effective use of MNLI for transfer learning, significantly improving the performance of models on the RiceChem dataset. We demonstrate the importance of rubric-based formulation in ALAG, showcasing its superiority over traditional score-based approaches in capturing the nuances of student responses. We also investigate the performance of models in cold start scenarios, providing valuable insights into the practical deployment considerations in educational settings. Lastly, we benchmark state-of-the-art open-sourced Large Language Models (LLMs) on RiceChem and compare their results to GPT models, highlighting the increased complexity of ALAG compared to ASAG. Despite leveraging the benefits of a rubric-based approach and transfer learning from MNLI, the lower performance of LLMs on RiceChem underscores the significant difficulty posed by the ALAG task. With this work, we offer a fresh perspective on grading long, fact-based answers and introduce a new dataset to stimulate further research in this important area. Code: \url{https://github.com/luffycodes/Automated-Long-Answer-Grading}.

Earth system models (ESMs) are the principal tools used in climate science to generate future climate projections under various atmospheric emissions scenarios on a global or regional scale. Generative deep learning approaches are suitable for emulating these tools due to their computational efficiency and ability, once trained, to generate realizations in a fraction of the time required by ESMs. We extend previous work that used a generative probabilistic diffusion model to emulate ESMs by targeting the joint emulation of multiple variables, temperature and precipitation, by a single diffusion model. Joint generation of multiple variables is critical to generate realistic samples of phenomena resulting from the interplay of multiple variables. The diffusion model emulator takes in the monthly mean-maps of temperature and precipitation and produces the daily values of each of these variables that exhibit statistical properties similar to those generated by ESMs. Our results show the outputs from our extended model closely resemble those from ESMs on various climate metrics including dry spells and hot streaks, and that the joint distribution of temperature and precipitation in our sample closely matches those of ESMs., Comment: Presentation at Tackling Climate Change with Machine Learning, ICLR 2024

Robot art presents an opportunity to both showcase and advance state-of-the-art robotics through the challenging task of creating art. Creating large-scale artworks in particular engages the public in a way that small-scale works cannot, and the distinct qualities of brush strokes contribute to an organic and human-like quality. Combining the large scale of murals with the strokes of the brush medium presents an especially impactful result, but also introduces unique challenges in maintaining precise, dextrous motion control of the brush across such a large workspace. In this work, we present the first robot to our knowledge that can paint architectural-scale murals with a brush. We create a hybrid robot consisting of a cable-driven parallel robot and 4 degree of freedom (DoF) serial manipulator to paint a 27m by 3.7m mural on windows spanning 2-stories of a building. We discuss our approach to achieving both the scale and accuracy required for brush-painting a mural through a combination of novel mechanical design elements, coordinated planning and control, and on-site calibration algorithms with experimental validations., Comment: 8 pages IEEE conference format, submitted to IROS 2024

Real-time recognition and prediction of surgical activities are fundamental to advancing safety and autonomy in robot-assisted surgery. This paper presents a multimodal transformer architecture for real-time recognition and prediction of surgical gestures and trajectories based on short segments of kinematic and video data. We conduct an ablation study to evaluate the impact of fusing different input modalities and their representations on gesture recognition and prediction performance. We perform an end-to-end assessment of the proposed architecture using the JHU-ISI Gesture and Skill Assessment Working Set (JIGSAWS) dataset. Our model outperforms the state-of-the-art (SOTA) with 89.5\% accuracy for gesture prediction through effective fusion of kinematic features with spatial and contextual video features. It achieves the real-time performance of 1.1-1.3ms for processing a 1-second input window by relying on a computationally efficient model., Comment: This work has been submitted to the IEEE for possible publication

We study the problem of online convex optimization (OCO) under unknown linear constraints that are either static, or stochastically time-varying. For this problem, we introduce an algorithm that we term Optimistically Safe OCO (OSOCO) and show that it enjoys $\tilde{O}(\sqrt{T})$ regret and no constraint violation. In the case of static linear constraints, this improves on the previous best known $\tilde{O}(T^{2/3})$ regret under the same assumptions. In the case of stochastic time-varying constraints, our work supplements existing results that show $O(\sqrt{T})$ regret and $O(\sqrt{T})$ cumulative violation under more general convex constraints and a different set of assumptions. In addition to our theoretical guarantees, we also give numerical results that further validate the effectiveness of our approach., Comment: 38 pages, 2 figures

It is the position of the National Association of School Nurses (NASN) that regularly scheduled recess during the school day should be regarded as a childhood right that is necessary for the optimal health and educational growth of all students, and that recess should not be withheld for any student. The registered professional school nurse (hereinafter referred to as school nurse) bridges health and education and can apply leadership and collaborative skills to advocate for equitable policies that support scheduled recess and reject withholding recess (NASN, 2016, 2020). Safeguarding scheduled recess is important for promoting the physical, emotional, social, and cognitive development of all students. This statement provides the background and rationale for NASN's position. [This Position Statement was initially adopted in January 2019 and revised in January 2024.]