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Anneke Wernerfelt

Publications and source records attributed to Anneke Wernerfelt.

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Feature Responsiveness Scores: Model-Agnostic Explanations for Recourse

Consumer protection rules require companies that deploy models to automate decisions in high-stakes settings to explain predictions to decision subjects. These rules are motivated, in part, by the belief that explanations can promote recourse by revealing information that decision subjects can use to contest or overturn their predictions. In practice, companies provide individuals with a list of principal reasons based on feature importance derived from methods like SHAP and LIME. In this work, we show how common practices can fail to provide recourse and propose to highlight features based on their responsiveness -- the probability that a decision subject can attain a target prediction through an arbitrary intervention on the feature. We develop efficient methods to compute responsiveness scores for any model and actionability constraints. We show that standard practices in lending can undermine decision subjects by highlighting unresponsive features and explaining predictions that are fixed.

stat.ML

λ: A Benchmark for Data-Efficiency in Long-Horizon Indoor Mobile Manipulation Robotics

Learning to execute long-horizon mobile manipulation tasks is crucial for advancing robotics in household and workplace settings. However, current approaches are typically data-inefficient, underscoring the need for improved models that require realistically sized benchmarks to evaluate their efficiency. To address this, we introduce the LAMBDA (λ) benchmark-Long-horizon Actions for Mobile-manipulation Benchmarking of Directed Activities-which evaluates the data efficiency of models on language-conditioned, long-horizon, multi-room, multi-floor, pick-and-place tasks using a dataset of manageable size, more feasible for collection. Our benchmark includes 571 human-collected demonstrations that provide realism and diversity in simulated and real-world settings. Unlike planner-generated data, these trajectories offer natural variability and replay-verifiability, ensuring robust learning and evaluation. We leverage λ to benchmark current end-to-end learning methods and a modular neuro-symbolic approach that combines foundation models with task and motion planning. We find that learning methods, even when pretrained, yield lower success rates, while a neuro-symbolic method performs significantly better and requires less data.

cs.RO