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This paper introduces a "proof of concept" for a new approach to assistive robotics, integrating edge computing with Natural Language Processing (NLP) and computer vision to enhance the interaction between humans and robotic systems. Our "proof of concept" demonstrates the feasibility of using large language models (LLMs) and vision systems in tandem for interpreting and executing complex commands conveyed through natural language. This integration aims to improve the intuitiveness and accessibility of assistive robotic systems, making them more adaptable to the nuanced needs of users with disabilities. By leveraging the capabilities of edge computing, our system has the potential to minimize latency and support offline capability, enhancing the autonomy and responsiveness of assistive robots. Experimental results from our implementation on a robotic arm show promising outcomes in terms of accurate intent interpretation and object manipulation based on verbal commands. This research lays the groundwork for future developments in assistive robotics, focusing on creating highly responsive, user-centric systems that can significantly improve the quality of life for individuals with disabilities.

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The goal of this paper is to develop distributionally robust optimization (DRO) estimators, specifically for multidimensional Extreme Value Theory (EVT) statistics. EVT supports using semi-parametric models called max-stable distributions built from spatial Poisson point processes. While powerful, these models are only asymptotically valid for large samples. However, since extreme data is by definition scarce, the potential for model misspecification error is inherent to these applications, thus DRO estimators are natural. In order to mitigate over-conservative estimates while enhancing out-of-sample performance, we study DRO estimators informed by semi-parametric max-stable constraints in the space of point processes. We study both tractable convex formulations for some problems of interest (e.g. CVaR) and more general neural network based estimators. Both approaches are validated using synthetically generated data, recovering prescribed characteristics, and verifying the efficacy of the proposed techniques. Additionally, the proposed method is applied to a real data set of financial returns for comparison to a previous analysis. We established the proposed model as a novel formulation in the multivariate EVT domain, and innovative with respect to performance when compared to relevant alternate proposals.

Contribution: This paper identifies four critical ethical considerations for implementing generative AI tools to provide automated feedback to students. Background: Providing rich feedback to students is essential for supporting student learning. Recent advances in generative AI, particularly with large language models (LLMs), provide the opportunity to deliver repeatable, scalable and instant automatically generated feedback to students, making abundant a previously scarce and expensive learning resource. Such an approach is feasible from a technical perspective due to these recent advances in Artificial Intelligence (AI) and Natural Language Processing (NLP); while the potential upside is a strong motivator, doing so introduces a range of potential ethical issues that must be considered as we apply these technologies. Intended Outcomes: The goal of this work is to enable the use of AI systems to automate mundane assessment and feedback tasks, without introducing a "tyranny of the majority", where the needs of minorities in the long tail are overlooked because they are difficult to automate. Application Design: This paper applies an extant ethical framework used for AI and machine learning to the specific challenge of providing automated feedback to student engineers. The task is considered from both a development and maintenance perspective, considering how automated feedback tools will evolve and be used over time. Findings: This paper identifies four key ethical considerations for the implementation of automated feedback for students: Participation, Development, Impact on Learning and Evolution over Time.

This paper explores an innovative approach to Environmental, Social, and Governance (ESG) scoring by integrating Natural Language Processing (NLP) techniques with Item Response Theory (IRT), specifically the Rasch model. The study utilizes a comprehensive dataset of news articles in Portuguese related to Petrobras, a major oil company in Brazil, collected from 2022 and 2023. The data is filtered and classified for ESG-related sentiments using advanced NLP methods. The Rasch model is then applied to evaluate the psychometric properties of these ESG measures, providing a nuanced assessment of ESG sentiment trends over time. The results demonstrate the efficacy of this methodology in offering a more precise and reliable measurement of ESG factors, highlighting significant periods and trends. This approach may enhance the robustness of ESG metrics and contribute to the broader field of sustainability and finance by offering a deeper understanding of the temporal dynamics in ESG reporting.

The motivation for this paper is to detect when an irreducible projective variety V is not toric. We do this by analyzing a Lie group and a Lie algebra associated to V. If the dimension of V is strictly less than the dimension of the above mentioned objects, then V is not a toric variety. We provide an algorithm to compute the Lie algebra of an irreducible variety and use it to provide examples of non-toric statistical models in algebraic statistics.

This paper introduces a new structural causal model tailored for representing threshold-based IT systems and presents a new algorithm designed to rapidly detect root causes of anomalies in such systems. When root causes are not causally related, the method is proven to be correct; while an extension is proposed based on the intervention of an agent to relax this assumption. Our algorithm and its agent-based extension leverage causal discovery from offline data and engage in subgraph traversal when encountering new anomalies in online data. Our extensive experiments demonstrate the superior performance of our methods, even when applied to data generated from alternative structural causal models or real IT monitoring data.

This paper introduces a dataset for improving real-time object recognition systems to aid blind and low-vision (BLV) individuals in navigation tasks. The dataset comprises 21 videos of BLV individuals navigating outdoor spaces, and a taxonomy of 90 objects crucial for BLV navigation, refined through a focus group study. We also provide object labeling for the 90 objects across 31 video segments created from the 21 videos. A deeper analysis reveals that most contemporary datasets used in training computer vision models contain only a small subset of the taxonomy in our dataset. Preliminary evaluation of state-of-the-art computer vision models on our dataset highlights shortcomings in accurately detecting key objects relevant to BLV navigation, emphasizing the need for specialized datasets. We make our dataset publicly available, offering valuable resources for developing more inclusive navigation systems for BLV individuals.

This paper introduces a novel control methodology designed to guide a collective of robotic-sheep in a cluttered and unknown environment using robotic-dogs. The dog-agents continuously scan the environment and compute a safe trajectory to guide the sheep to their final destination. The proposed optimization-based controller guarantees that the sheep reside within a desired distance from the reference trajectory through the use of Control Barrier Functions (CBF). Additional CBF constraints are employed simultaneously to ensure inter-agent and obstacle collision avoidance. The efficacy of the proposed approach is rigorously tested in simulation, which demonstrates the successful herding of the robotic-sheep within complex and cluttered environments.

This paper introduces a system of data collection acceleration and real-to-sim transferring for surface recognition on a quadruped robot. The system features a mechanical single-leg setup capable of stepping on various easily interchangeable surfaces. Additionally, it incorporates a GRU-based Surface Recognition System, inspired by the system detailed in the Dog-Surf paper. This setup facilitates the expansion of dataset collection for model training, enabling data acquisition from hard-to-reach surfaces in laboratory conditions. Furthermore, it opens avenues for transferring surface properties from reality to simulation, thereby allowing the training of optimal gaits for legged robots in simulation environments using a pre-prepared library of digital twins of surfaces. Moreover, enhancements have been made to the GRU-based Surface Recognition System, allowing for the integration of data from both the quadruped robot and the single-leg setup. The dataset and code have been made publicly available.

This paper investigates the reliability of explanations generated by large language models (LLMs) when prompted to explain their previous output. We evaluate two kinds of such self-explanations - extractive and counterfactual - using three state-of-the-art LLMs (2B to 8B parameters) on two different classification tasks (objective and subjective). Our findings reveal, that, while these self-explanations can correlate with human judgement, they do not fully and accurately follow the model's decision process, indicating a gap between perceived and actual model reasoning. We show that this gap can be bridged because prompting LLMs for counterfactual explanations can produce faithful, informative, and easy-to-verify results. These counterfactuals offer a promising alternative to traditional explainability methods (e.g. SHAP, LIME), provided that prompts are tailored to specific tasks and checked for validity.

This paper introduces a computational framework designed to delineate gender distribution biases in topics covered by French TV and radio news. We transcribe a dataset of 11.7k hours, broadcasted in 2023 on 21 French channels. A Large Language Model (LLM) is used in few-shot conversation mode to obtain a topic classification on those transcriptions. Using the generated LLM annotations, we explore the finetuning of a specialized smaller classification model, to reduce the computational cost. To evaluate the performances of these models, we construct and annotate a dataset of 804 dialogues. This dataset is made available free of charge for research purposes. We show that women are notably underrepresented in subjects such as sports, politics and conflicts. Conversely, on topics such as weather, commercials and health, women have more speaking time than their overall average across all subjects. We also observe representations differences between private and public service channels.

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