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2022 Conference and Labs of the Evaluation Forum, CLEF 2022

作者： Ting, Hao-Hsuan Zhang, Yu Han, Jen-Chieh Tsai, Richard Tzong-Han Interdisciplinary Program of Electrical Engineering and Computer Science National Central University Taiwan Department of Computer Science and Information Engineering National Central University Taiwan IoX Center National Taiwan University Taiwan Research Center for Humanities and Social Sciences Academia Sinica Taiwan

This paper presents our system for the BioASQ10b Phase B task. For ideal answers, we used the fine-tuned BioBERT model on the MNLI dataset to construct sentence embeddings and combined it with BERTScore to select sentences from the provided Snippets as answers. For the exact answers, we also used the BioBERT model and used the snippet scores generated from the ideal answer selection model to predict the exact answers for factoid and list questions. The exact answers of our fifth test batch ranked second place. In addition, the ideal answers we submitted achieved first place in the ROUGE score in all test batches from batch second to fifth. © 2022 Copyright for this paper by its authors.

关键词： Computational linguistics

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Domain Adaptation in Color-Shifted Datasets Through Adversarial Learning Balancing

Domain Adaptation in Color-Shifted Datasets Through Adversar...

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International Conference on Artificial Intelligence and Data sciences (AiDAS)

作者： Hidayaturrahman Agung Trisetyarso Iman Herwidiana Kartowisastro Widodo Budiharto Computer Science Department BINUS Graduate Program - Doctor of Computer Science Bina Nusatara University Jakarta Indonesia Mathematics Department School of Computer Science Bina Nusatara University Jakarta Indonesia Computer Engineering Department Faculty of Engineering Bina Nusantara University Jakarta Indonesia Computer Science Department School of Computer Science Bina Nusantara University Jakarta Indonesia

Due to the disparity in the levels of difficulty presented by the several tasks, doing domain adaptation in an adversarial way may result in an imbalanced learning process. In the MNIST dataset, this phenomenon also manifests itself in the form of domain adaptation for color-shifted distribution. In this particular situation, the domain classifier has a higher tendency to fit more quickly, but the category classifier fits quite poorly in the learning process. In order to address this problem, a new hyper-parameter has been added to the loss function in order to strike a compromise between the learning speed of the domain and the categorical classifier. By using this technique, the categorical classifier may better match the data while still maintaining the same level of performance as the domain classifier. In order to determine whether or not making use of this hyper-parameter is useful, the phenomena in question is examined using three distinct color-shifted settings. Following the evaluations, it was discovered that the newly introduced hyper-parameter is capable of coping with imbalanced learning while simultaneously engaging in domain adaptation.

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Multi-robot Feature-based SLAM using Submap Joining

Multi-robot Feature-based SLAM using Submap Joining

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2021 Australasian Conference on robotics and Automation, ACRA 2021

作者： Chen, Shengduo Han, Ruihua Zhao, Liang Hang, Shoudong Hao, Qi Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen518055 China Robotics Institute of University of Technology Sydney Australia The Department of Computer Science The University of Hong Kong Hong Kong

ISBN: (纸本)9781713841487

This paper considers the feature-based SLAM using multiple robots. To reduce the computational complexity and data storage, a distributed multi-robot feature-based SLAM algorithm under submap joining scheme is proposed. Each robot first independently builds a submap using the information collected by its sensors. Once the robots can observe each other, the submaps can then be fused together to obtain a global map. We implemented and tested the proposed algorithm in both simulation and real world environments. Both simulation and experimental results have validated the robustness and accuracy of the proposed algorithm. © 2021 Australasian robotics and Automation Association. All rights reserved.

关键词： Digital storage

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Deep learning for brain age estimation: A systematic review

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Information Fusion 2023年 96卷 130-143页

作者： Tanveer, M. Ganaie, M.A. Beheshti, Iman Goel, Tripti Ahmad, Nehal Lai, Kuan-Ting Huang, Kaizhu Zhang, Yu-Dong Del Ser, Javier Lin, Chin-Teng Department of Mathematics Indian Institute of Technology Indore Simrol Indore453552 India Department of Robotics University of Michigan Ann ArborMI48109 United States Department of Human Anatomy and Cell Science Rady Faculty of Health Sciences Max Rady College of Medicine University of Manitoba WinnipegMB Canada Biomedical Imaging Lab National Institute of Technology Silchar Assam 788010 India Department of Electrical Engineering and Computer Science National Taipei University of Technology Taipei Taiwan Department of Electronic Engineering National Taipei University of Technology Taipei Taiwan Data Science Research Center Duke Kunshan University China School of Computing and Mathematical Sciences University of Leicester LeicesterLE1 7RH United Kingdom Derio48160 Spain Bilbao48013 Spain School of Computer Science Faculty of Engineering and Information Technology University of Technology Sydney Sydney Australia

Over the years, Machine Learning models have been successfully employed on neuroimaging data for accurately predicting brain age. Deviations from the healthy brain aging pattern are associated with the accelerated brain aging and brain abnormalities. Hence, efficient and accurate diagnosis techniques are required to elicit accurate brain age estimations. Several contributions have been reported in the past for this purpose, resorting to different data-driven modeling methods. Recently, deep neural networks (also referred to as deep learning) have become prevalent in manifold neuroimaging studies, including brain age estimation. In this review, we offer a comprehensive analysis of the literature related to the adoption of deep learning for brain age estimation with neuroimaging data. We detail and analyze different deep learning architectures used for this application, pausing at research works published to date quantitatively exploring their application. We also examine different brain age estimation frameworks, comparatively exposing their advantages and weaknesses. Finally, the review concludes with an outlook towards future directions that should be followed by prospective studies. The ultimate goal of this paper is to establish a common and informed reference for newcomers and experienced researchers willing to approach brain age estimation by using deep learning models. © 2023 Elsevier B.V.

关键词： Deep neural networks

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Robust STL Control Synthesis under Maximal Disturbance Sets

arXiv

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arXiv 2024年

作者： Verhagen, Joris Lindemann, Lars Tumova, Jana The Division of Robotics Perception and Learning School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden The Thomas Lord Department of Computer Science University of Southern California Los AngelesCA United States

This work addresses maximally robust control synthesis under unknown disturbances. We consider a general nonlinear system, subject to a Signal Temporal Logic (STL) specification, and wish to jointly synthesize the maximal possible disturbance bounds and the corresponding controllers that ensure the STL specification is satisfied under these bounds. Many works have considered STL satisfaction under given bounded disturbances. Yet, to the authors' best knowledge, this is the first work that aims to maximize the permissible disturbance set and find the corresponding controllers that ensure satisfying the STL specification with maximum disturbance robustness. We extend the notion of disturbance-robust semantics for STL, which is a property of a specification, dynamical system, and controller, and provide an algorithm to get the maximal disturbance robust controllers satisfying an STL specification using Hamilton-Jacobi reachability. We show its soundness and provide a simulation example with an Autonomous Underwater Vehicle (AUV). Copyright © 2024, The Authors. All rights reserved.

关键词： Controllers

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Exploring Help-Seeking Behavior, Performance, and Cognitive Load in Individual Tutoring: A Comparative Study between Human Tutors and Social Robots

Exploring Help-Seeking Behavior, Performance, and Cognitive ...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Xiaoxuan Hei Heng Zhang Adriana Tapus Computer Science and System Engineering Department (U2IS) Autonomous Systems and Robotics Lab ENSTA Paris Institut Polytechnique de Paris Paris France

ISBN: (数字)9798350375022

ISBN: (纸本)9798350375039

Social robots have become increasingly prevalent in the context of one-on-one tutoring, serving as effective educational aids. In response to this trend, the present study was devised to conduct a comparative analysis between human tutors and robot tutors. Additionally, the study aims to investigate how varying previous knowledge in robots influence students’ tendencies for help-seeking. By examining the performance and physiological signals of participants, this research seeks to provide valuable insights into the effectiveness of social robots in educational contexts. 21 participants were divided into three groups, each seeking assistance from a human tutor (HT), seeking help from a robot without any prior knowledge of robots (RT1), and seeking help from a robot after gaining some understanding of its capabilities (RT2). Our results demonstrated that participants sought more help from robot than from human and participants in Group RT2 performed better than participants in Group RT1. However, participants experienced greater cognitive load when interacting with a robot tutor compared to interacting with a human tutor. Future work could focus on developing interventions to alleviate students’ cognitive load during interactions with robot tutors.

关键词： Social robots Robot vision systems Cognitive load Market research Cameras Physiology Behavioral sciences Robots Thermal stresses Stress

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Absolute Pose from One or Two Scaled and Oriented Features

Absolute Pose from One or Two Scaled and Oriented Features

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Jonathan Ventura Zuzana Kukelova Torsten Sattler Dániel Baráth Department of Computer Science & Software Engineering Cal Poly San Luis Obispo Faculty of Electrical Engineering Visual Recognition Group Czech Technical University in Prague Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Department of Computer Science Computer Vision and Geometry Group ETH Zürich

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

Keypoints used for image matching often include an estimate of the feature scale and orientation. While recent work has demonstrated the advantages of using feature scales and orientations for relative pose estimation, relatively little work has considered their use for absolute pose estimation. We introduce minimal solutions for absolute pose from two oriented feature correspondences in the general case, or one scaled and oriented correspondence given a known vertical direction. Nowadays, assuming a known direction is not particularly restrictive as modern consumer devices, such as smartphones or drones, are equipped with Inertial Measurement Units (IMU) that provide the gravity direction by default. Compared to traditional absolute pose methods requiring three point correspondences, our solvers need a smaller minimal sample, reducing the cost and complexity of robust estimation. Evaluations on large-scale and public real datasets demonstrate the advantage of our methods for fast and accurate localization in challenging conditions. Code is available at https://***/danini/absolute-pose-from-oriented-and-sealed-features.

关键词： Location awareness Accuracy Simultaneous localization and mapping Measurement units Pose estimation Noise Inertial navigation

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A Real-time Affordance-based Object Pose Estimation Approach for Robotic Grasp Pose Estimation

A Real-time Affordance-based Object Pose Estimation Approach...

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International Conference on System science and engineering (ICSSE)

作者： Shang-Wen Wong Yu-Chen Chiu Chi-Yi Tsai Doctoral Program in Robotics College of Engineering Tamkang University New Taipei City Taiwan Department of Electrical and Computer Engineering Tamkang University New Taipei City Taiwan

This paper proposes a pose estimation system for robot grasping based on a novel Object Affordance Detection and Segmentation (OADS) network. The proposed system consists of four modules: (1) OADS network; (2) point cloud extraction; (3) object pose estimation; (4) grasp pose estimation. Based on the OADS network, the proposed system achieves affordance-based object pose estimation results. The proposed grasp pose estimation system is evaluated on a laboratory-made dual-arm robot. Experimental results show that the proposed system achieves high detection rate and high accuracy in affordance detection and segmentation tasks, leading to a high success rate in object grasping tasks with lab-made dual-arm robot.

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Bilateral-Head Region-Based Convolutional Neural Networks: A Unified Approach for Incremental Few-Shot Object Detection

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第9期5卷 4376-4390页

作者： Li, Yiting Zhu, Haiyue Tian, Sichao Ma, Jun Xiang, Cheng Vadakkepat, Prahlad National University of Singapore Department of Electrical and Computer Engineering 117583 Singapore Singapore Institute of Manufacturing Technology Agency for Science Technology and Research 138634 Singapore Peking Union Medical College Institute of Medicinal Plant Development Chinese Academy of Medical Sciences Beijing100193 China Robotics and Autonomous Systems Thrust Guangzhou511453 China The Hong Kong University of Science and Technology Division of Emerging Interdisciplinary Areas Hong Kong SAR Hong Kong Hkust Shenzhen-Hong Kong Collaborative Innovation Research Institute Shenzhen Futian518045 China

Practical object detection systems are highly desired to be open-ended for learning on frequently evolved datasets. Moreover, learning with little supervision further adds flexibility for real-world applications such as autonomous driving and robotics, where large-scale datasets could be prohibitive or expensive to obtain. However, continual adaption with small training examples often results in catastrophic forgetting and dramatic overfitting. To address such issues, a compositional learning system is proposed to enable effective incremental object detection from nonstationary and few-shot data streams. First of all, a novel bilateral-head framework is proposed to decouple the representation learning of base (pretrained) and novel (few-shot) classes into separate embedding spaces, which takes care of novel concept integration and base knowledge retention simultaneously. Moreover, to enhance learning stability, a robust parameter updating rule, i.e., recall and progress mechanism, is carried out to constrain the optimization trajectory of sequential model adaption. Beyond that, to enforce intertask class discrimination with little memory burden, we present a between-class regularization method that expands the decision space of few-shot classes for constructing unbiased feature representation. Final, we deeply investigate the incomplete annotation issue considering the realistic scenario of incremental few-shot object detection (iFSOD) and propose a semisupervised object labeling mechanism to accurately recover the missing annotations for previously encountered classes, which further enhances the robustness of the target detector to counteract catastrophic forgetting. Extensive experiments conducted on both Pascal visual object classes dataset (VOC) and microsoft common objects in context dataset (MS-COCO) datasets demonstrate the effectiveness of our method. © 2020 IEEE.

关键词： Feature extraction

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Haptic Communication in a Redundant Sensorimotor Interactive Task

Haptic Communication in a Redundant Sensorimotor Interactive...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Cecilia De Vicariis Ekaterina Ivanova Vittorio Sanguineti Etienne Burdet Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa Italy Imperial College of Science Technology and Medicine London UK School of Electronic Engineering and Computer Science Queen Mary University of London UK

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

We refer to joint action as any social interaction where two or more people coordinate their actions in space and time to bring about a change in the environment. We are constantly involved in joint actions in our daily life - lifting a piece of furniture, playing team sport, and during a rehabilitation session. Here, we aim at characterizing emergent coordination in pairs of participants mechanically coupled through a virtual elastic band while moving the hand through multiple via-points. We assessed the level of coordination in terms of temporal synchronization and trajectory similarity metrics. Overall, we found that participants changed their behaviour when mechani-cally coupled toward coordination, both in space and time, compared to their solo performances. However, coordination rapidly disappeared when the mechanical coupling was removed. These results provide insights into the understanding of the mecha-nisms underlying the development of joint coordination while haptically connected.

关键词： Measurement Couplings Robot kinematics Biomechatronics Robot sensing systems Trajectory Haptic interfaces Synchronization Sports

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