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The utilization of teleoperation is a crucial aspect of the construction industry, as it enables operators to control machines safely from a distance. However, remote operation of these machines at a joint level using individual joysticks necessitates extensive training for operators to achieve proficiency due to their multiple degrees of freedom. Additionally, verifying the machine resulting motion is only possible after execution, making optimal control challenging. In addressing this issue, this study proposes a reinforcement learning-based approach to optimize task performance. The control policy acquired through learning is used to provide instructions on efficiently controlling and coordinating multiple joints. To evaluate the effectiveness of the proposed framework, a user study is conducted with a Brokk 170 construction machine by assessing its performance in a typical construction task involving inserting a chisel into a borehole. The effectiveness of the proposed framework is evaluated by comparing the performance of participants in the presence and absence of virtual fixtures. This study results demonstrate the proposed framework potential in enhancing the teleoperation process in the construction industry.

We investigate the feasibility of employing large language models (LLMs) for conducting the security audit of smart contracts, a traditionally time-consuming and costly process. Our research focuses on the optimization of prompt engineering for enhanced security analysis, and we evaluate the performance and accuracy of LLMs using a benchmark dataset comprising 52 Decentralized Finance (DeFi) smart contracts that have previously been compromised. Our findings reveal that, when applied to vulnerable contracts, both GPT-4 and Claude models correctly identify the vulnerability type in 40% of the cases. However, these models also demonstrate a high false positive rate, necessitating continued involvement from manual auditors. The LLMs tested outperform a random model by 20% in terms of F1-score. To ensure the integrity of our study, we conduct mutation testing on five newly developed and ostensibly secure smart contracts, into which we manually insert two and 15 vulnerabilities each. This testing yielded a remarkable best-case 78.7% true positive rate for the GPT-4-32k model. We tested both, asking the models to perform a binary classification on whether a contract is vulnerable, and a non-binary prompt. We also examined the influence of model temperature variations and context length on the LLM's performance. Despite the potential for many further enhancements, this work lays the groundwork for a more efficient and economical approach to smart contract security audits.

We explore sim-to-real transfer of deep reinforcement learning controllers for a heavy vehicle with active suspensions designed for traversing rough terrain. While related research primarily focuses on lightweight robots with electric motors and fast actuation, this study uses a forestry vehicle with a complex hydraulic driveline and slow actuation. We simulate the vehicle using multibody dynamics and apply system identification to find an appropriate set of simulation parameters. We then train policies in simulation using various techniques to mitigate the sim-to-real gap, including domain randomization, action delays, and a reward penalty to encourage smooth control. In reality, the policies trained with action delays and a penalty for erratic actions perform at nearly the same level as in simulation. In experiments on level ground, the motion trajectories closely overlap when turning to either side, as well as in a route tracking scenario. When faced with a ramp that requires active use of the suspensions, the simulated and real motions are in close alignment. This shows that the actuator model together with system identification yields a sufficiently accurate model of the actuators. We observe that policies trained without the additional action penalty exhibit fast switching or bang-bang control. These present smooth motions and high performance in simulation but transfer poorly to reality. We find that policies make marginal use of the local height map for perception, showing no indications of look-ahead planning. However, the strong transfer capabilities entail that further development concerning perception and performance can be largely confined to simulation.

Conscious states (states that there is something it is like to be in) seem both rich or full of detail, and ineffable or hard to fully describe or recall. The problem of ineffability, in particular, is a longstanding issue in philosophy that partly motivates the explanatory gap: the belief that consciousness cannot be reduced to underlying physical processes. Here, we provide an information theoretic dynamical systems perspective on the richness and ineffability of consciousness. In our framework, the richness of conscious experience corresponds to the amount of information in a conscious state and ineffability corresponds to the amount of information lost at different stages of processing. We describe how attractor dynamics in working memory would induce impoverished recollections of our original experiences, how the discrete symbolic nature of language is insufficient for describing the rich and high-dimensional structure of experiences, and how similarity in the cognitive function of two individuals relates to improved communicability of their experiences to each other. While our model may not settle all questions relating to the explanatory gap, it makes progress toward a fully physicalist explanation of the richness and ineffability of conscious experience: two important aspects that seem to be part of what makes qualitative character so puzzling.

Change detection (CD) is to decouple object changes (i.e., object missing or appearing) from background changes (i.e., environment variations) like light and season variations in two images captured in the same scene over a long time span, presenting critical applications in disaster management, urban development, etc. In particular, the endless patterns of background changes require detectors to have a high generalization against unseen environment variations, making this task significantly challenging. Recent deep learning-based methods develop novel network architectures or optimization strategies with paired-training examples, which do not handle the generalization issue explicitly and require huge manual pixel-level annotation efforts. In this work, for the first attempt in the CD community, we study the generalization issue of CD from the perspective of data augmentation and develop a novel weakly supervised training algorithm that only needs image-level labels. Different from general augmentation techniques for classification, we propose the background-mixed augmentation that is specifically designed for change detection by augmenting examples under the guidance of a set of background-changing images and letting deep CD models see diverse environment variations. Moreover, we propose the augmented & real data consistency loss that encourages the generalization increase significantly. Our method as a general framework can enhance a wide range of existing deep learning-based detectors. We conduct extensive experiments in two public datasets and enhance four state-of-the-art methods, demonstrating the advantages of our method. We release the code at //github.com/tsingqguo/bgmix.

The reuse of research software is central to research efficiency and academic exchange. The application of software enables researchers with varied backgrounds to reproduce, validate, and expand upon study findings. Furthermore, the analysis of open source code aids in the comprehension, comparison, and integration of approaches. Often, however, no further use occurs because relevant software cannot be found or is incompatible with existing research processes. This results in repetitive software development, which impedes the advancement of individual researchers and entire research communities. In this article, the DataDesc ecosystem is presented, an approach to describing data models of software interfaces with detailed and machine-actionable metadata. In addition to a specialized metadata schema, an exchange format and support tools for easy collection and the automated publishing of software documentation are introduced. This approach practically increases the FAIRness, i.e., findability, accessibility, interoperability, and so the reusability of research software, as well as effectively promotes its impact on research.

Digital twins (DT) are often defined as a pairing of a physical entity and a corresponding virtual entity mimicking certain aspects of the former depending on the use-case. In recent years, this concept has facilitated numerous use-cases ranging from design to validation and predictive maintenance of large and small high-tech systems. Although growing in popularity in both industry and academia, digital twins and the methodologies for developing and maintaining them differ vastly. To better understand these differences and similarities, we performed a semi-structured interview research study with 19 professionals from industry and academia who are closely associated with different lifecycle stages of the corresponding digital twins. In this paper, we present our analysis and findings from this study, which is based on eight research questions (RQ). We present our findings per research question. In general, we identified an overall lack of uniformity in terms of the understanding of digital twins and used tools, techniques, and methodologies for their development and maintenance. Furthermore, considering that digital twins are software intensive systems, we recognize a significant growth potential for adopting more software engineering practices, processes, and expertise in various stages of a digital twin's lifecycle.

Reasoning is a fundamental aspect of human intelligence that plays a crucial role in activities such as problem solving, decision making, and critical thinking. In recent years, large language models (LLMs) have made significant progress in natural language processing, and there is observation that these models may exhibit reasoning abilities when they are sufficiently large. However, it is not yet clear to what extent LLMs are capable of reasoning. This paper provides a comprehensive overview of the current state of knowledge on reasoning in LLMs, including techniques for improving and eliciting reasoning in these models, methods and benchmarks for evaluating reasoning abilities, findings and implications of previous research in this field, and suggestions on future directions. Our aim is to provide a detailed and up-to-date review of this topic and stimulate meaningful discussion and future work.

Transformers have achieved superior performances in many tasks in natural language processing and computer vision, which also intrigues great interests in the time series community. Among multiple advantages of transformers, the ability to capture long-range dependencies and interactions is especially attractive for time series modeling, leading to exciting progress in various time series applications. In this paper, we systematically review transformer schemes for time series modeling by highlighting their strengths as well as limitations through a new taxonomy to summarize existing time series transformers in two perspectives. From the perspective of network modifications, we summarize the adaptations of module level and architecture level of the time series transformers. From the perspective of applications, we categorize time series transformers based on common tasks including forecasting, anomaly detection, and classification. Empirically, we perform robust analysis, model size analysis, and seasonal-trend decomposition analysis to study how Transformers perform in time series. Finally, we discuss and suggest future directions to provide useful research guidance. To the best of our knowledge, this paper is the first work to comprehensively and systematically summarize the recent advances of Transformers for modeling time series data. We hope this survey will ignite further research interests in time series Transformers.

We describe ACE0, a lightweight platform for evaluating the suitability and viability of AI methods for behaviour discovery in multiagent simulations. Specifically, ACE0 was designed to explore AI methods for multi-agent simulations used in operations research studies related to new technologies such as autonomous aircraft. Simulation environments used in production are often high-fidelity, complex, require significant domain knowledge and as a result have high R&D costs. Minimal and lightweight simulation environments can help researchers and engineers evaluate the viability of new AI technologies for behaviour discovery in a more agile and potentially cost effective manner. In this paper we describe the motivation for the development of ACE0.We provide a technical overview of the system architecture, describe a case study of behaviour discovery in the aerospace domain, and provide a qualitative evaluation of the system. The evaluation includes a brief description of collaborative research projects with academic partners, exploring different AI behaviour discovery methods.