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A vast number of applications for legged robots entail tasks in complex, dynamic environments. But these environments put legged robots at high risk for limb damage. This paper presents an empirical study of fault tolerant dynamic gaits designed for a quadrupedal robot suffering from a single, known "missing" limb. Preliminary data suggests that the featured gait controller successfully anchors a previously developed planar monopedal hopping template in the three-legged spatial machine. This compositional approach offers a useful and generalizable guide to the development of a wider range of tripedal recovery gaits for damaged quadrupedal machines.

In recent decades, several assistive technologies have been developed for visually impaired and blind (VIB) individuals to improve their ability to navigate independently and safely. At the same time, simultaneous localization and mapping (SLAM) techniques have become sufficiently robust and efficient to be adopted in the development of these assistive technologies. In this paper, we first report the results of an anonymous worldwide survey conducted with VIB people to understand their experiences, needs, and challenges in navigation, differentiating our approach from prior work that often has a limited geographic scope and focuses on specific challenges. We then present a systematic literature review of recent studies on SLAM-based solutions for VIB people. This review explores various SLAM techniques employed in this context. We discuss the advantages and limitations of these techniques for VIB navigation. Moreover, we examined a range of challenging situations addressed in the studies included in this review. We explain how SLAM-based solutions offer potential to improve the ability of visually impaired individuals to navigate effectively. Finally, we present future opportunities and challenges in this domain.

Statisticians are not only one of the earliest professional adopters of data visualization, but also some of its most prolific users. Understanding how these professionals utilize visual representations in their analytic process may shed light on best practices for visual sensemaking. We present results from an interview study involving 18 professional statisticians (19.7 years average in the profession) on three aspects: (1) their use of visualization in their daily analytic work; (2) their mental models of inferential statistical processes; and (3) their design recommendations for how to best represent statistical inferences. Interview sessions consisted of discussing inferential statistics, eliciting participant sketches of suitable visual designs, and finally, a design intervention with our proposed visual designs. We analyzed interview transcripts using thematic analysis and open coding, deriving thematic codes on statistical mindset, analytic process, and analytic toolkit. The key findings for each aspect are as follows: (1) statisticians make extensive use of visualization during all phases of their work (and not just when reporting results); (2) their mental models of inferential methods tend to be mostly visually based; and (3) many statisticians abhor dichotomous thinking. The latter suggests that a multi-faceted visual display of inferential statistics that includes a visual indicator of analytically important effect sizes may help to balance the attributed epistemic power of traditional statistical testing with an awareness of the uncertainty of sensemaking.

The development of large language models (LLMs) capable of following instructions and engaging in conversational interactions sparked increased interest in their utilization across various support tools. We investigate the utility of modern LLMs in assisting professional writers via an empirical user study (n=30). The design of our collaborative writing interface is grounded in the cognitive process model of writing that views writing as a goal-oriented thinking process encompassing non-linear cognitive activities: planning, translating, and reviewing. Participants are asked to submit a post-completion survey to provide feedback on the potential and pitfalls of LLMs as writing collaborators. Upon analyzing the writer-LLM interactions, we find that while writers seek LLM's help across all three types of cognitive activities, they find LLMs more helpful in translation and reviewing. Our findings from analyzing both the interactions and the survey responses highlight future research directions in creative writing assistance using LLMs.

Linear combination is a potent data fusion method in information retrieval tasks, thanks to its ability to adjust weights for diverse scenarios. However, achieving optimal weight training has traditionally required manual relevance judgments on a large percentage of documents, a labor-intensive and expensive process. In this study, we investigate the feasibility of obtaining near-optimal weights using a mere 20\%-50\% of relevant documents. Through experiments on four TREC datasets, we find that weights trained with multiple linear regression using this reduced set closely rival those obtained with TREC's official "qrels." Our findings unlock the potential for more efficient and affordable data fusion, empowering researchers and practitioners to reap its full benefits with significantly less effort.

Modern agile software projects are subject to constant change, making it essential to re-asses overall delay risk throughout the project life cycle. Existing effort estimation models are static and not able to incorporate changes occurring during project execution. In this paper, we propose a dynamic model for continuously predicting overall delay using delay patterns and Bayesian modeling. The model incorporates the context of the project phase and learns from changes in team performance over time. We apply the approach to real-world data from 4,040 epics and 270 teams at ING. An empirical evaluation of our approach and comparison to the state-of-the-art demonstrate significant improvements in predictive accuracy. The dynamic model consistently outperforms static approaches and the state-of-the-art, even during early project phases.

Modern autonomous systems are purposed for many challenging scenarios, where agents will face unexpected events and complicated tasks. The presence of disturbance noise with control command and unknown inputs can negatively impact robot performance. Previous research of joint input and state estimation separately studied the continuous and discrete cases without any prior information. This paper combines the continuous and discrete input cases into a unified theory based on the Expectation-Maximum (EM) algorithm. By introducing prior knowledge of events as the constraint, inequality optimization problems are formulated to determine a gain matrix or dynamic weights to realize an optimal input estimation with lower variance and more accurate decision-making. Finally, statistical results from experiments show that our algorithm owns 81\% improvement of the variance than KF and 47\% improvement than RKF in continuous space; a remarkable improvement of right decision-making probability of our input estimator in discrete space, identification ability is also analyzed by experiments.

Software Bills of Materials (SBOMs) have emerged as tools to facilitate the management of software dependencies, vulnerabilities, licenses, and the supply chain. While significant effort has been devoted to increasing SBOM awareness and developing SBOM formats and tools, recent studies have shown that SBOMs are still an early technology not yet adequately adopted in practice. Expanding on previous research, this paper reports a comprehensive study that investigates the current challenges stakeholders encounter when creating and using SBOMs. The study surveyed 138 practitioners belonging to five stakeholder groups (practitioners familiar with SBOMs, members of critical open source projects, AI/ML, cyber-physical systems, and legal practitioners) using differentiated questionnaires, and interviewed 8 survey respondents to gather further insights about their experience. We identified 12 major challenges facing the creation and use of SBOMs, including those related to the SBOM content, deficiencies in SBOM tools, SBOM maintenance and verification, and domain-specific challenges. We propose and discuss 4 actionable solutions to the identified challenges and present the major avenues for future research and development.

In policy learning for robotic manipulation, sample efficiency is of paramount importance. Thus, learning and extracting more compact representations from camera observations is a promising avenue. However, current methods often assume full observability of the scene and struggle with scale invariance. In many tasks and settings, this assumption does not hold as objects in the scene are often occluded or lie outside the field of view of the camera, rendering the camera observation ambiguous with regard to their location. To tackle this problem, we present BASK, a Bayesian approach to tracking scale-invariant keypoints over time. Our approach successfully resolves inherent ambiguities in images, enabling keypoint tracking on symmetrical objects and occluded and out-of-view objects. We employ our method to learn challenging multi-object robot manipulation tasks from wrist camera observations and demonstrate superior utility for policy learning compared to other representation learning techniques. Furthermore, we show outstanding robustness towards disturbances such as clutter, occlusions, and noisy depth measurements, as well as generalization to unseen objects both in simulation and real-world robotic experiments.

In pace with developments in the research field of artificial intelligence, knowledge graphs (KGs) have attracted a surge of interest from both academia and industry. As a representation of semantic relations between entities, KGs have proven to be particularly relevant for natural language processing (NLP), experiencing a rapid spread and wide adoption within recent years. Given the increasing amount of research work in this area, several KG-related approaches have been surveyed in the NLP research community. However, a comprehensive study that categorizes established topics and reviews the maturity of individual research streams remains absent to this day. Contributing to closing this gap, we systematically analyzed 507 papers from the literature on KGs in NLP. Our survey encompasses a multifaceted review of tasks, research types, and contributions. As a result, we present a structured overview of the research landscape, provide a taxonomy of tasks, summarize our findings, and highlight directions for future work.