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Modulating the stiffness of soft actuators is crucial for improving the efficiency of interaction with the environment. However, current stiffness modulation mechanisms are hard to achieve high lateral stiffness and a wide range of bending stiffness simultaneously. Here, we draw inspiration from the anatomical structure of the finger and propose a bi-directional tunable stiffness actuator (BTSA). BTSA is a soft-rigid hybrid structure that combines air-tendon hybrid actuation (ATA) and bone-like structures (BLS). We develop a corresponding fabrication method and a stiffness analysis model to support the design of BLS. The results show that the influence of the BLS on bending deformation is negligible, with a distal point distance error of less than 1.5 mm. Moreover, the bi-directional tunable stiffness is proved to be functional. The bending stiffness can be tuned by ATA from 0.23 N/mm to 0.70 N/mm, with a magnification of 3 times. The addition of BLS improves lateral stiffness up to 4.2 times compared with the one without BLS, and the lateral stiffness can be tuned decoupling within 1.2 to 2.1 times (e.g. from 0.35 N/mm to 0.46 N/mm when the bending angle is 45 deg). Finally, a four-BTSA gripper is developed to conduct horizontal lifting and grasping tasks to demonstrate the advantages of BTSA.

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Robust and efficient solvers for coupled-adjoint linear systems are crucial to successful aerostructural optimization. Monolithic and partitioned strategies can be applied. The monolithic approach is expected to offer better robustness and efficiency for strong fluid-structure interactions. However, it requires a high implementation cost and convergence may depend on appropriate scaling and initialization strategies. On the other hand, the modularity of the partitioned method enables a straightforward implementation while its convergence may require relaxation. In addition, a partitioned solver leads to a higher number of iterations to get the same level of convergence as the monolithic one. The objective of this paper is to accelerate the fluid-structure coupled-adjoint partitioned solver by considering techniques borrowed from approximate invariant subspace recycling strategies adapted to sequences of linear systems with varying right-hand sides. Indeed, in a partitioned framework, the structural source term attached to the fluid block of equations affects the right-hand side with the nice property of quickly converging to a constant value. We also consider deflation of approximate eigenvectors in conjunction with advanced inner-outer Krylov solvers for the fluid block equations. We demonstrate the benefit of these techniques by computing the coupled derivatives of an aeroelastic configuration of the ONERA-M6 fixed wing in transonic flow. For this exercise the fluid grid was coupled to a structural model specifically designed to exhibit a high flexibility. All computations are performed using RANS flow modeling and a fully linearized one-equation Spalart-Allmaras turbulence model. Numerical simulations show up to 39% reduction in matrix-vector products for GCRO-DR and up to 19% for the nested FGCRO-DR solver.

One of the problems in quantitative finance that has received the most attention is the portfolio optimization problem. Regarding its solving, this problem has been approached using different techniques, with those related to quantum computing being especially prolific in recent years. In this study, we present a system called Quantum Computing-based System for Portfolio Optimization with Future Asset Values and Automatic Universe Reduction (Q4FuturePOP), which deals with the Portfolio Optimization Problem considering the following innovations: i) the developed tool is modeled for working with future prediction of assets, instead of historical values; and ii) Q4FuturePOP includes an automatic universe reduction module, which is conceived to intelligently reduce the complexity of the problem. We also introduce a brief discussion about the preliminary performance of the different modules that compose the prototypical version of Q4FuturePOP.

In post-disaster scenarios, efficient search and rescue operations involve collaborative efforts between robots and humans. Existing planning approaches focus on specific aspects but overlook crucial elements like information gathering, task assignment, and planning. Furthermore, previous methods considering robot capabilities and victim requirements suffer from time complexity due to repetitive planning steps. To overcome these challenges, we introduce a comprehensive framework__the Multi-Stage Multi-Robot Task Assignment. This framework integrates scouting, task assignment, and path-planning stages, optimizing task allocation based on robot capabilities, victim requirements, and past robot performance. Our iterative approach ensures objective fulfillment within problem constraints. Evaluation across four maps, comparing with a state-of-the-art baseline, demonstrates our algorithm's superiority with a remarkable 97 percent performance increase. Our code is open-sourced to enable result replication.

Session types employ a linear type system that ensures that communication channels cannot be implicitly copied or discarded. As a result, many mechanizations of these systems require modeling channel contexts and carefully ensuring that they treat channels linearly. We demonstrate a technique that localizes linearity conditions as additional predicates embedded within type judgments, which allows us to use structural typing contexts instead of linear ones. This technique is especially relevant when leveraging (weak) higher-order abstract syntax to handle channel mobility and the intricate binding structures that arise in session-typed systems. Following this approach, we mechanize a session-typed system based on classical linear logic and its type preservation proof in the proof assistant Beluga, which uses the logical framework LF as its encoding language. We also prove adequacy for our encoding. This shows the tractability and effectiveness of our approach in modelling substructural systems such as session-typed languages.

Current speaker recognition systems primarily rely on supervised approaches, constrained by the scale of labeled datasets. To boost the system performance, researchers leverage large pretrained models such as WavLM to transfer learned high-level features to the downstream speaker recognition task. However, this approach introduces extra parameters as the pretrained model remains in the inference stage. Another group of researchers directly apply self-supervised methods such as DINO to speaker embedding learning, yet they have not explored its potential on large-scale in-the-wild datasets. In this paper, we present the effectiveness of DINO training on the large-scale WenetSpeech dataset and its transferability in enhancing the supervised system performance on the CNCeleb dataset. Additionally, we introduce a confidence-based data filtering algorithm to remove unreliable data from the pretraining dataset, leading to better performance with less training data. The associated pretrained models, confidence files, pretraining and finetuning scripts will be made available in the Wespeaker toolkit.

Introducing curiosities in a conversation is a way to teach something new to the person in a pleasant and enjoyable way. Enriching dialogues with contextualized curiosities can improve the users' perception of a dialog system and their overall user experience. In this paper, we introduce a set of curated curiosities, targeting dialogues in the cooking and DIY domains. In particular, we use real human-agent conversations collected in the context of the Amazon Alexa TaskBot challenge, a multimodal and multi-turn conversational setting. According to an A/B test with over 1000 conversations, curiosities not only increase user engagement, but provide an average relative rating improvement of 9.7%.

Generalization techniques have many applications, such as template construction, argument generalization, and indexing. Modern interactive provers can exploit advancement in generalization methods over expressive-type theories to further develop proof generalization techniques and other transformations. So far, investigations concerned with anti-unification (AU) over lambda terms and similar type theories have focused on developing algorithms for well-studied variants. These variants forbid the nesting of generalization variables, restrict the structure of their arguments, and are unitary. Extending these methods to more expressive variants is important to applications. We consider the case of nested generalization variables and show that the AU problem is nullary (using capture-avoiding substitutions), even when the arguments to free variables are severely restricted.

Quantization is a widely used compression method that effectively reduces redundancies in over-parameterized neural networks. However, existing quantization techniques for deep neural networks often lack a comprehensive error analysis due to the presence of non-convex loss functions and nonlinear activations. In this paper, we propose a fast stochastic algorithm for quantizing the weights of fully trained neural networks. Our approach leverages a greedy path-following mechanism in combination with a stochastic quantizer. Its computational complexity scales only linearly with the number of weights in the network, thereby enabling the efficient quantization of large networks. Importantly, we establish, for the first time, full-network error bounds, under an infinite alphabet condition and minimal assumptions on the weights and input data. As an application of this result, we prove that when quantizing a multi-layer network having Gaussian weights, the relative square quantization error exhibits a linear decay as the degree of over-parametrization increases. Furthermore, we demonstrate that it is possible to achieve error bounds equivalent to those obtained in the infinite alphabet case, using on the order of a mere $\log\log N$ bits per weight, where $N$ represents the largest number of neurons in a layer.

PAC-Bayesian bounds are known to be tight and informative when studying the generalization ability of randomized classifiers. However, they require a loose and costly derandomization step when applied to some families of deterministic models such as neural networks. As an alternative to this step, we introduce new PAC-Bayesian generalization bounds that have the originality to provide disintegrated bounds, i.e., they give guarantees over one single hypothesis instead of the usual averaged analysis. Our bounds are easily optimizable and can be used to design learning algorithms. We illustrate this behavior on neural networks, and we show a significant practical improvement over the state-of-the-art framework.

Human-in-the-loop aims to train an accurate prediction model with minimum cost by integrating human knowledge and experience. Humans can provide training data for machine learning applications and directly accomplish some tasks that are hard for computers in the pipeline with the help of machine-based approaches. In this paper, we survey existing works on human-in-the-loop from a data perspective and classify them into three categories with a progressive relationship: (1) the work of improving model performance from data processing, (2) the work of improving model performance through interventional model training, and (3) the design of the system independent human-in-the-loop. Using the above categorization, we summarize major approaches in the field, along with their technical strengths/ weaknesses, we have simple classification and discussion in natural language processing, computer vision, and others. Besides, we provide some open challenges and opportunities. This survey intends to provide a high-level summarization for human-in-the-loop and motivates interested readers to consider approaches for designing effective human-in-the-loop solutions.

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