Daniel Martin

Letian Chen, Sravan Jayanthi, Rohan Paleja et al.

Learning from Demonstration (LfD) approaches empower end-users to teach robots novel tasks via demonstrations of the desired behaviors, democratizing access to robotics. However, current LfD frameworks are not capable of fast adaptation to heterogeneous human demonstrations nor the large-scale deployment in ubiquitous robotics applications. In this paper, we propose a novel LfD framework, Fast Lifelong Adaptive Inverse Reinforcement learning (FLAIR). Our approach (1) leverages learned strategies to construct policy mixtures for fast adaptation to new demonstrations, allowing for quick end-user personalization, (2) distills common knowledge across demonstrations, achieving accurate task inference; and (3) expands its model only when needed in lifelong deployments, maintaining a concise set of prototypical strategies that can approximate all behaviors via policy mixtures. We empirically validate that FLAIR achieves adaptability (i.e., the robot adapts to heterogeneous, user-specific task preferences), efficiency (i.e., the robot achieves sample-efficient adaptation), and scalability (i.e., the model grows sublinearly with the number of demonstrations while maintaining high performance). FLAIR surpasses benchmarks across three control tasks with an average 57% improvement in policy returns and an average 78% fewer episodes required for demonstration modeling using policy mixtures. Finally, we demonstrate the success of FLAIR in a table tennis task and find users rate FLAIR as having higher task (p<.05) and personalization (p<.05) performance.

Andrew Caplin, Daniel Martin, Philip Marx

A much studied issue is the extent to which the confidence scores provided by machine learning algorithms are calibrated to ground truth probabilities. Our starting point is that calibration is seemingly incompatible with class weighting, a technique often employed when one class is less common (class imbalance) or with the hope of achieving some external objective (cost-sensitive learning). We provide a model-based explanation for this incompatibility and use our anthropomorphic model to generate a simple method of recovering likelihoods from an algorithm that is miscalibrated due to class weighting. We validate this approach in the binary pneumonia detection task of Rajpurkar, Irvin, Zhu, et al. (2017).

Yuqiu Liu, Jialin Song, Marissa Ramirez de Chanlatte et al.

Real objects that inhabit the physical world follow physical laws and thus behave plausibly during interaction with other physical objects. However, current methods that perform 3D reconstructions of real-world scenes from multi-view 2D images optimize primarily for visual fidelity, i.e., they train with photometric losses and reason about uncertainty in the image or representation space. This appearance-centric view overlooks body contacts and couplings, conflates function-critical regions (e.g., aerodynamic or hydrodynamic surfaces) with ornamentation, and reconstructs structures suboptimally, even when physical regularizers are added. All these can lead to unphysical and implausible interactions. To address this, we consider the question: How can 3D reconstruction become aware of real-world interactions and underlying object functionality, beyond visual cues? To answer this question, we propose FluidGaussian, a plug-and-play method that tightly couples geometry reconstruction with ubiquitous fluid-structure interactions to assess surface quality at high granularity. We define a simulation-based uncertainty metric induced by fluid simulations and integrate it with active learning to prioritize views that improve both visual and physical fidelity. In an empirical evaluation on NeRF Synthetic (Blender), Mip-NeRF 360, and DrivAerNet++, our FluidGaussian method yields up to +8.6% visual PSNR (Peak Signal-to-Noise Ratio) and -62.3% velocity divergence during fluid simulations. Our code is available at https://github.com/delta-lab-ai/FluidGaussian.

Daniel Martin, Diego Gutierrez, Belen Masia

Human visual attention is a complex phenomenon that has been studied for decades. Within it, the particular problem of scanpath prediction poses a challenge, particularly due to the inter- and intra-observer variability, among other reasons. Besides, most existing approaches to scanpath prediction have focused on optimizing the prediction of a gaze point given the previous ones. In this work, we present a probabilistic time-evolving approach to scanpath prediction, based on Bayesian deep learning. We optimize our model using a novel spatio-temporal loss function based on a combination of Kullback-Leibler divergence and dynamic time warping, jointly considering the spatial and temporal dimensions of scanpaths. Our scanpath prediction framework yields results that outperform those of current state-of-the-art approaches, and are almost on par with the human baseline, suggesting that our model is able to generate scanpaths whose behavior closely resembles those of the real ones.

Ludovic Goudenège, Daniel Martin, Grégory Vial

In this work, we propose a numerical method based on high degree continuous nodal elements for the Cahn-Hilliard evolution. The use of the p-version of the finite element method proves to be very efficient and favorably compares with other existing strategies (C^1 elements, adaptive mesh refinement, multigrid resolution, etc). Beyond the classical benchmarks, a numerical study has been carried out to investigate the influence of a polynomial approximation of the logarithmic free energy and the bifurcations near the first eigenvalue of the Laplace operator.

Nir Chemaya, Daniel Martin

The emergent abilities of Large Language Models (LLMs), which power tools like ChatGPT and Bard, have produced both excitement and worry about how AI will impact academic writing. In response to rising concerns about AI use, authors of academic publications may decide to voluntarily disclose any AI tools they use to revise their manuscripts, and journals and conferences could begin mandating disclosure and/or turn to using detection services, as many teachers have done with student writing in class settings. Given these looming possibilities, we investigate whether academics view it as necessary to report AI use in manuscript preparation and how detectors react to the use of AI in academic writing.

David Autor, Andrew Caplin, Daniel Martin et al.

The cost of error in many high-stakes settings is asymmetric: misdiagnosing pneumonia when absent is an inconvenience, but failing to detect it when present can be life-threatening. Because of this, artificial intelligence (AI) models used to assist such decisions are frequently trained with asymmetric loss functions that incorporate human decision-makers' trade-offs between false positives and false negatives. In two focal applications, we show that this standard alignment practice can backfire. In both cases, it would be better to train the machine learning model with a loss function that ignores the human's objective and then adjust predictions ex post according to that objective. We rationalize this result using an economic model of incentive design with endogenous information acquisition. The key insight from our theoretical framework is that machine classifiers perform not one but two incentivized tasks: choosing how to classify and learning how to classify. We show that while the adjustments engineers use correctly incentivize choosing, they can simultaneously reduce the incentives to learn. Our formal treatment of the problem reveals that methods embraced for their intuitive appeal can in fact misalign human and machine objectives in predictable ways.

Gunnar P. Epping, Andrew Caplin, Erik Duhaime et al.

Many operational AI systems depend on large-scale human annotation to detect rare but consequential events (e.g., fraud, defects, and medical abnormalities). When positives are rare, the prevalence effect induces systematic cognitive biases that inflate misses and can propagate through the AI lifecycle via biased training labels. We analyze prior experimental evidence and run a field experiment on DiagnosUs, a medical crowdsourcing platform, in which we hold the true prevalence in the unlabeled stream fixed (20% blasts) while varying (i) the prevalence of positives in the gold-standard feedback stream (20% vs. 50%) and (ii) the response interface (binary labels vs. elicited probabilities). We then post-process probabilistic labels using a linear-in-log-odds recalibration approach at the worker and crowd levels, and train convolutional neural networks on the resulting labels. Balanced feedback and probabilistic elicitation reduce rare-event misses, and pipeline-level recalibration substantially improves both classification performance and probabilistic calibration; these gains carry through to downstream CNN reliability out of sample.

David Almog, Romain Gauriot, Lionel Page et al.

Powered by the increasing predictive capabilities of machine learning algorithms, artificial intelligence (AI) systems have the potential to overrule human mistakes in many settings. We provide the first field evidence that the use of AI oversight can impact human decision-making. We investigate one of the highest visibility settings where AI oversight has occurred: Hawk-Eye review of umpires in top tennis tournaments. We find that umpires lowered their overall mistake rate after the introduction of Hawk-Eye review, but also that umpires increased the rate at which they called balls in, producing a shift from making Type II errors (calling a ball out when in) to Type I errors (calling a ball in when out). We structurally estimate the psychological costs of being overruled by AI using a model of attention-constrained umpires, and our results suggest that because of these costs, umpires cared 37% more about Type II errors under AI oversight.

Daniel Martin, Ana Serrano, Alexander W. Bergman et al.

Understanding and modeling the dynamics of human gaze behavior in 360$^\circ$ environments is a key challenge in computer vision and virtual reality. Generative adversarial approaches could alleviate this challenge by generating a large number of possible scanpaths for unseen images. Existing methods for scanpath generation, however, do not adequately predict realistic scanpaths for 360$^\circ$ images. We present ScanGAN360, a new generative adversarial approach to address this challenging problem. Our network generator is tailored to the specifics of 360$^\circ$ images representing immersive environments. Specifically, we accomplish this by leveraging the use of a spherical adaptation of dynamic-time warping as a loss function and proposing a novel parameterization of 360$^\circ$ scanpaths. The quality of our scanpaths outperforms competing approaches by a large margin and is almost on par with the human baseline. ScanGAN360 thus allows fast simulation of large numbers of virtual observers, whose behavior mimics real users, enabling a better understanding of gaze behavior and novel applications in virtual scene design.

Daniel Martin, Sandra Malpica, Diego Gutierrez et al.

Virtual reality (VR) is rapidly growing, with the potential to change the way we create and consume content. In VR, users integrate multimodal sensory information they receive, to create a unified perception of the virtual world. In this survey, we review the body of work addressing multimodality in VR, and its role and benefits in user experience, together with different applications that leverage multimodality in many disciplines. These works thus encompass several fields of research, and demonstrate that multimodality plays a fundamental role in VR; enhancing the experience, improving overall performance, and yielding unprecedented abilities in skill and knowledge transfer.