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Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended loads, focusing on the sling load lifting and tracking problems. By utilizing the mathematical efficiency and compactness of dual quaternions, a unified representation of the UAV and its suspended load's dynamics and kinematics is achieved, facilitating the realization of load lifting and trajectory tracking. The simulation results have tested the proposed strategy's accuracy, efficiency, and robustness. This study makes a substantial contribution to present this novel control strategy that harnesses the benefits of dual quaternions for cargo UAVs. Our work also holds promise for inspiring future innovations in under-actuated systems control using dual quaternions.

We address prevailing challenges of the brain-powered research, departing from the observation that the literature hardly recover accurate spatial information and require subject-specific models. To address these challenges, we propose UMBRAE, a unified multimodal decoding of brain signals. First, to extract instance-level conceptual and spatial details from neural signals, we introduce an efficient universal brain encoder for multimodal-brain alignment and recover object descriptions at multiple levels of granularity from subsequent multimodal large language model (MLLM). Second, we introduce a cross-subject training strategy mapping subject-specific features to a common feature space. This allows a model to be trained on multiple subjects without extra resources, even yielding superior results compared to subject-specific models. Further, we demonstrate this supports weakly-supervised adaptation to new subjects, with only a fraction of the total training data. Experiments demonstrate that UMBRAE not only achieves superior results in the newly introduced tasks but also outperforms methods in well established tasks. To assess our method, we construct and share with the community a comprehensive brain understanding benchmark BrainHub. Our code and benchmark are available at //weihaox.github.io/UMBRAE.

Post-selected quantum metrological scheme is especially advantageous when the final measurements are either very noisy or expensive in practical experiments. In this work, we put forward a general theory on the compression channels in post-selected metrology. We define the basic notions characterizing the compression quality and illuminate the underlying structure of lossless compression channels. Previous experiments on post-selected optical phase estimation and weak-value amplification are shown to be particular cases of this general theory. Furthermore, for two categories of bipartite systems, we show that the compression loss can be made arbitrarily small even when the compression channel acts only on one subsystem. These findings can be employed to distribute quantum measurements so that the measurement noise and cost are dramatically reduced.

Many explainable AI (XAI) techniques strive for interpretability by providing concise salient information, such as sparse linear factors. However, users either only see inaccurate global explanations, or highly-varying local explanations. We propose to provide more detailed explanations by leveraging the human cognitive capacity to accumulate knowledge by incrementally receiving more details. Focusing on linear factor explanations (factors $\times$ values = outcome), we introduce Incremental XAI to automatically partition explanations for general and atypical instances by providing Base + Incremental factors to help users read and remember more faithful explanations. Memorability is improved by reusing base factors and reducing the number of factors shown in atypical cases. In modeling, formative, and summative user studies, we evaluated the faithfulness, memorability and understandability of Incremental XAI against baseline explanation methods. This work contributes towards more usable explanation that users can better ingrain to facilitate intuitive engagement with AI.

This review gives an extensive overview of evaluation methods for task-oriented dialogue systems, paying special attention to practical applications of dialogue systems, for example for customer service. The review (1) provides an overview of the used constructs and metrics in previous work, (2) discusses challenges in the context of dialogue system evaluation and (3) develops a research agenda for the future of dialogue system evaluation. We conducted a systematic review of four databases (ACL, ACM, IEEE and Web of Science), which after screening resulted in 122 studies. Those studies were carefully analysed for the constructs and methods they proposed for evaluation. We found a wide variety in both constructs and methods. Especially the operationalisation is not always clearly reported. Newer developments concerning large language models are discussed in two contexts: to power dialogue systems and to use in the evaluation process. We hope that future work will take a more critical approach to the operationalisation and specification of the used constructs. To work towards this aim, this review ends with recommendations for evaluation and suggestions for outstanding questions.

Biometric systems based on brain activity have been proposed as an alternative to passwords or to complement current authentication techniques. By leveraging the unique brainwave patterns of individuals, these systems offer the possibility of creating authentication solutions that are resistant to theft, hands-free, accessible, and potentially even revocable. However, despite the growing stream of research in this area, faster advance is hindered by reproducibility problems. Issues such as the lack of standard reporting schemes for performance results and system configuration, or the absence of common evaluation benchmarks, make comparability and proper assessment of different biometric solutions challenging. Further, barriers are erected to future work when, as so often, source code is not published open access. To bridge this gap, we introduce NeuroIDBench, a flexible open source tool to benchmark brainwave-based authentication models. It incorporates nine diverse datasets, implements a comprehensive set of pre-processing parameters and machine learning algorithms, enables testing under two common adversary models (known vs unknown attacker), and allows researchers to generate full performance reports and visualizations. We use NeuroIDBench to investigate the shallow classifiers and deep learning-based approaches proposed in the literature, and to test robustness across multiple sessions. We observe a 37.6% reduction in Equal Error Rate (EER) for unknown attacker scenarios (typically not tested in the literature), and we highlight the importance of session variability to brainwave authentication. All in all, our results demonstrate the viability and relevance of NeuroIDBench in streamlining fair comparisons of algorithms, thereby furthering the advancement of brainwave-based authentication through robust methodological practices.

Quantifying variable importance is essential for answering high-stakes questions in fields like genetics, public policy, and medicine. Current methods generally calculate variable importance for a given model trained on a given dataset. However, for a given dataset, there may be many models that explain the target outcome equally well; without accounting for all possible explanations, different researchers may arrive at many conflicting yet equally valid conclusions given the same data. Additionally, even when accounting for all possible explanations for a given dataset, these insights may not generalize because not all good explanations are stable across reasonable data perturbations. We propose a new variable importance framework that quantifies the importance of a variable across the set of all good models and is stable across the data distribution. Our framework is extremely flexible and can be integrated with most existing model classes and global variable importance metrics. We demonstrate through experiments that our framework recovers variable importance rankings for complex simulation setups where other methods fail. Further, we show that our framework accurately estimates the true importance of a variable for the underlying data distribution. We provide theoretical guarantees on the consistency and finite sample error rates for our estimator. Finally, we demonstrate its utility with a real-world case study exploring which genes are important for predicting HIV load in persons with HIV, highlighting an important gene that has not previously been studied in connection with HIV. Code is available at //github.com/jdonnelly36/Rashomon_Importance_Distribution.

Believable proxies of human behavior can empower interactive applications ranging from immersive environments to rehearsal spaces for interpersonal communication to prototyping tools. In this paper, we introduce generative agents--computational software agents that simulate believable human behavior. Generative agents wake up, cook breakfast, and head to work; artists paint, while authors write; they form opinions, notice each other, and initiate conversations; they remember and reflect on days past as they plan the next day. To enable generative agents, we describe an architecture that extends a large language model to store a complete record of the agent's experiences using natural language, synthesize those memories over time into higher-level reflections, and retrieve them dynamically to plan behavior. We instantiate generative agents to populate an interactive sandbox environment inspired by The Sims, where end users can interact with a small town of twenty five agents using natural language. In an evaluation, these generative agents produce believable individual and emergent social behaviors: for example, starting with only a single user-specified notion that one agent wants to throw a Valentine's Day party, the agents autonomously spread invitations to the party over the next two days, make new acquaintances, ask each other out on dates to the party, and coordinate to show up for the party together at the right time. We demonstrate through ablation that the components of our agent architecture--observation, planning, and reflection--each contribute critically to the believability of agent behavior. By fusing large language models with computational, interactive agents, this work introduces architectural and interaction patterns for enabling believable simulations of human behavior.

Face recognition technology has advanced significantly in recent years due largely to the availability of large and increasingly complex training datasets for use in deep learning models. These datasets, however, typically comprise images scraped from news sites or social media platforms and, therefore, have limited utility in more advanced security, forensics, and military applications. These applications require lower resolution, longer ranges, and elevated viewpoints. To meet these critical needs, we collected and curated the first and second subsets of a large multi-modal biometric dataset designed for use in the research and development (R&D) of biometric recognition technologies under extremely challenging conditions. Thus far, the dataset includes more than 350,000 still images and over 1,300 hours of video footage of approximately 1,000 subjects. To collect this data, we used Nikon DSLR cameras, a variety of commercial surveillance cameras, specialized long-rage R&D cameras, and Group 1 and Group 2 UAV platforms. The goal is to support the development of algorithms capable of accurately recognizing people at ranges up to 1,000 m and from high angles of elevation. These advances will include improvements to the state of the art in face recognition and will support new research in the area of whole-body recognition using methods based on gait and anthropometry. This paper describes methods used to collect and curate the dataset, and the dataset's characteristics at the current stage.

This work considers the question of how convenient access to copious data impacts our ability to learn causal effects and relations. In what ways is learning causality in the era of big data different from -- or the same as -- the traditional one? To answer this question, this survey provides a comprehensive and structured review of both traditional and frontier methods in learning causality and relations along with the connections between causality and machine learning. This work points out on a case-by-case basis how big data facilitates, complicates, or motivates each approach.