Soft robots are interesting examples of hyper-redundancy in robotics, however, the nonlinear continuous dynamics of these robots and the use of hyper-elastic and visco-elastic materials makes modeling of these robots more complicated. This study presents a geometric Inverse Kinematic (IK) model for trajectory tracking of multi-segment extensible soft robots, where, each segment of the soft actuator is geometrically approximated with multiple rigid links connected with rotary and prismatic joints. Using optimization methods, the desired configuration variables of the soft actuator for the desired end-effector positions are obtained. Also, the redundancy of the robot is applied for second task applications, such as tip angle control. The model's performance is investigated through simulations, numerical benchmarks, and experimental validations and results show lower computational costs and higher accuracy compared to most existing methods. The method is easy to apply to multi segment soft robots, both in 2D and 3D. As a case study, a fully 3D-printed soft robot manipulator is tested using a control unit and the model predictions show good agreement with the experimental results.
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Machine Learning models capable of handling the large datasets collected in the financial world can often become black boxes expensive to run. The quantum computing paradigm suggests new optimization techniques, that combined with classical algorithms, may deliver competitive, faster and more interpretable models. In this work we propose a quantum-enhanced machine learning solution for the prediction of credit rating downgrades, also known as fallen-angels forecasting in the financial risk management field. We implement this solution on a neutral atom Quantum Processing Unit with up to 60 qubits on a real-life dataset. We report competitive performances against the state-of-the-art Random Forest benchmark whilst our model achieves better interpretability and comparable training times. We examine how to improve performance in the near-term validating our ideas with Tensor Networks-based numerical simulations.
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Large language models (LLMs) have been shown to be able to perform new tasks based on a few demonstrations or natural language instructions. While these capabilities have led to widespread adoption, most LLMs are developed by resource-rich organizations and are frequently kept from the public. As a step towards democratizing this powerful technology, we present BLOOM, a 176B-parameter open-access language model designed and built thanks to a collaboration of hundreds of researchers. BLOOM is a decoder-only Transformer language model that was trained on the ROOTS corpus, a dataset comprising hundreds of sources in 46 natural and 13 programming languages (59 in total). We find that BLOOM achieves competitive performance on a wide variety of benchmarks, with stronger results after undergoing multitask prompted finetuning. To facilitate future research and applications using LLMs, we publicly release our models and code under the Responsible AI License.
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Federated Learning (FL) enables the training of Deep Learning models without centrally collecting possibly sensitive raw data. This paves the way for stronger privacy guarantees when building predictive models. The most used algorithms for FL are parameter-averaging based schemes (e.g., Federated Averaging) that, however, have well known limits: (i) Clients must implement the same model architecture; (ii) Transmitting model weights and model updates implies high communication cost, which scales up with the number of model parameters; (iii) In presence of non-IID data distributions, parameter-averaging aggregation schemes perform poorly due to client model drifts. Federated adaptations of regular Knowledge Distillation (KD) can solve and/or mitigate the weaknesses of parameter-averaging FL algorithms while possibly introducing other trade-offs. In this article, we provide a review of KD-based algorithms tailored for specific FL issues.
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We present SLATE, a sequence labeling approach for extracting tasks from free-form content such as digitally handwritten (or "inked") notes on a virtual whiteboard. Our approach allows us to create a single, low-latency model to simultaneously perform sentence segmentation and classification of these sentences into task/non-task sentences. SLATE greatly outperforms a baseline two-model (sentence segmentation followed by classification model) approach, achieving a task F1 score of 84.4\%, a sentence segmentation (boundary similarity) score of 88.4% and three times lower latency compared to the baseline. Furthermore, we provide insights into tackling challenges of performing NLP on the inking domain. We release both our code and dataset for this novel task.
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随着车身可穿戴感应技术的发展，人类活动的识别已成为一个有吸引力的研究领域。借助舒适的电子质地，传感器可以嵌入衣服中，以便可以长期记录人类运动。但是，一个长期存在的问题是如何处理通过相对于身体运动引入的运动人工制品。令人惊讶的是，最近的经验发现表明，与刚性连接的传感器相比，与固定的传感器相比，布置的传感器实际上可以实现更高的活动识别精度，尤其是在从短时间窗口中预测时。在这项工作中，引入了概率模型，其中通过织物传感记录的运动之间的统计距离增加了这种提高的准确性和呼吸。模型的预测在模拟和真实的人类运动捕获实验中得到了验证，很明显，这种反直觉效应是紧密捕获的。
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在过去的几年中，虚假内容的增长速度令人难以置信。社交媒体和在线平台的传播使他们的恶意演员越来越多地传播大规模的传播。同时，由于虚假图像生成方法的扩散越来越大，已经提出了许多基于深度学习的检测技术。这些方法中的大多数依赖于从RGB图像中提取显着特征，以通过二进制分类器检测图像是假的或真实的。在本文中，我们提出了DepthFake，这是一项有关如何使用深度图改善基于经典RGB的方法的研究。深度信息是从具有最新单眼深度估计技术的RGB图像中提取的。在这里，我们证明了深度映射对深料检测任务的有效贡献对稳健的预训练架构。实际上，针对faceforensic ++数据集的标准RGB体系结构，对于一些DeepFake攻击，对一些DeepFake攻击的平均提高了3.20％和11.7％。
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无线电访问网络（RAN）切片中的容量共享问题与各种式式切片之间可用的容量的分配，以满足其交通需求并有效地使用无线电资源。尽管文献中已经提出了几种能力共享算法解决方案，但它们的实际实施仍然是差距。在本文中，讨论了基于增强学习的能力共享算法对O-RAN体系结构的实施，从而提供了有关涉及接口的操作和解决方案容器化的见解。此外，还包括对解决方案进行验证的测试床的描述，并提供了一些性能和验证结果。
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研究部门在组织中推动创新的重要作用。随着速度和量的信息增长，绘制见解，跟随趋势，保持新的研究以及制定策略的配制策略越来越越来越具有挑战性。在本文中，我们介绍了一个用例，即公司研究界如何利用语义网络技术来诱导从结构化和文本数据中诱导统一的知识图，通过整合与研究项目相关的社区使用的各种应用程序，学术论文，学术论文，数据集，成就和认可。为了使应用程序开发人员更容易访问知识图，我们确定了一组通用模式，用于利用诱导的知识并将其视为API。这些模式是从用户研究中诞生的，这些模式确定了最有价值的用例或用户疼痛点要缓解。我们概述了两个不同的方案：用于业务使用的建议和分析。我们将详细讨论这些方案，并针对实体建议提供经验评估。所使用的方法和从这项工作中学到的教训可以应用于面临类似挑战的其他组织。
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电子健康记录（EHR）是现代医疗系统的重要组成部分，影响医疗保健提供，运营和研究。尽管在EHR中进行了结构化信息，但非结构化的文本仍吸引了很多关注，并已成为一个令人兴奋的研究领域。最近的神经自然语言处理（NLP）方法的成功导致了处理非结构化临床笔记的新方向。在这项工作中，我们创建了一个用于临床文本的Python库，Ehrkit。该库包含两个主要部分：模拟III特定功能和任务特定功能。第一部分介绍了用于访问MIMIC-III NoteEvents数据的接口列表，包括基本搜索，信息检索和信息提取。第二部分集成了许多第三方库，用于多达12个删除NLP任务，例如命名实体识别，摘要，机器翻译等。
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