Tackling is a fundamental defensive move in American football, with the main purpose of stopping the forward motion of the ball-carrier. However, current tackling metrics are manually recorded outcomes that are inherently flawed due to their discrete and subjective nature. Using player tracking data, we present a novel framework for assessing tackling contribution in a continuous and objective manner. Our approach first identifies when a defender is in a ``contact window'' of the ball-carrier during a play, before assigning value to each window and the players involved. This enables us to devise a new metric called fractional tackles, which credits defenders for halting the ball-carrier's forward motion toward the end zone. We demonstrate that fractional tackles overcome the shortcomings of traditional metrics such as tackles and assists, by providing greater variation and measurable information for players lacking recorded statistics like defensive linemen. We view our contribution as a significant step forward in measuring defensive performance in American football and a clear demonstration of the capabilities of player tracking data.
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Dimensionality Reduction plays a pivotal role in improving feature learning accuracy and reducing training time by eliminating redundant features, noise, and irrelevant data. Nonnegative Matrix Factorization (NMF) has emerged as a popular and powerful method for dimensionality reduction. Despite its extensive use, there remains a need for a comprehensive analysis of NMF in the context of dimensionality reduction. To address this gap, this paper presents a comprehensive survey of NMF, focusing on its applications in both feature extraction and feature selection. We introduce a classification of dimensionality reduction, enhancing understanding of the underlying concepts. Subsequently, we delve into a thorough summary of diverse NMF approaches used for feature extraction and selection. Furthermore, we discuss the latest research trends and potential future directions of NMF in dimensionality reduction, aiming to highlight areas that need further exploration and development.
The ability to determine the pose of a rover in an inertial frame autonomously is a crucial capability necessary for the next generation of surface rover missions on other planetary bodies. Currently, most on-going rover missions utilize ground-in-the-loop interventions to manually correct for drift in the pose estimate and this human supervision bottlenecks the distance over which rovers can operate autonomously and carry out scientific measurements. In this paper, we present ShadowNav, an autonomous approach for global localization on the Moon with an emphasis on driving in darkness and at nighttime. Our approach uses the leading edge of Lunar craters as landmarks and a particle filtering approach is used to associate detected craters with known ones on an offboard map. We discuss the key design decisions in developing the ShadowNav framework for use with a Lunar rover concept equipped with a stereo camera and an external illumination source. Finally, we demonstrate the efficacy of our proposed approach in both a Lunar simulation environment and on data collected during a field test at Cinder Lakes, Arizona.
Graph Transformers (GTs) have significantly advanced the field of graph representation learning by overcoming the limitations of message-passing graph neural networks (GNNs) and demonstrating promising performance and expressive power. However, the quadratic complexity of self-attention mechanism in GTs has limited their scalability, and previous approaches to address this issue often suffer from expressiveness degradation or lack of versatility. To address this issue, we propose AnchorGT, a novel attention architecture for GTs with global receptive field and almost linear complexity, which serves as a flexible building block to improve the scalability of a wide range of GT models. Inspired by anchor-based GNNs, we employ structurally important $k$-dominating node set as anchors and design an attention mechanism that focuses on the relationship between individual nodes and anchors, while retaining the global receptive field for all nodes. With its intuitive design, AnchorGT can easily replace the attention module in various GT models with different network architectures and structural encodings, resulting in reduced computational overhead without sacrificing performance. In addition, we theoretically prove that AnchorGT attention can be strictly more expressive than Weisfeiler-Lehman test, showing its superiority in representing graph structures. Our experiments on three state-of-the-art GT models demonstrate that their AnchorGT variants can achieve better results while being faster and significantly more memory efficient.
Robotics presents a promising opportunity for enhancing bathing assistance, potentially to alleviate labor shortages and reduce care costs, while offering consistent and gentle care for individuals with physical disabilities. However, ensuring flexible and efficient cleaning of the human body poses challenges as it involves direct physical contact between the human and the robot, and necessitates simple, safe, and effective control. In this paper, we introduce a soft, expandable robotic manipulator with embedded capacitive proximity sensing arrays, designed for safe and efficient bathing assistance. We conduct a thorough evaluation of our soft manipulator, comparing it with a baseline rigid end effector in a human study involving 12 participants across $96$ bathing trails. Our soft manipulator achieves an an average cleaning effectiveness of 88.8% on arms and 81.4% on legs, far exceeding the performance of the baseline. Participant feedback further validates the manipulator's ability to maintain safety, comfort, and thorough cleaning.
Methods for relation extraction from text mostly focus on high precision, at the cost of limited recall. High recall is crucial, though, to populate long lists of object entities that stand in a specific relation with a given subject. Cues for relevant objects can be spread across many passages in long texts. This poses the challenge of extracting long lists from long texts. We present the L3X method which tackles the problem in two stages: (1) recall-oriented generation using a large language model (LLM) with judicious techniques for retrieval augmentation, and (2) precision-oriented scrutinization to validate or prune candidates. Our L3X method outperforms LLM-only generations by a substantial margin.
When executing interdependent personal tasks for the team's purpose, simultaneous individual flow(simultaneous flow) is the antecedent condition of achieving shared team flow. Detecting simultaneous flow helps better understanding the status of team members, which is thus important for optimizing multi-user interaction systems. However, there is currently a lack exploration on objective features and methods for detecting simultaneous flow. Based on brain mechanism of flow in teamwork and previous studies on electroencephalogram (EEG)-based individual flow detection, this study aims to explore the significant EEG features related to simultaneous flow, as well as effective detection methods based on EEG signals. First, a two-player simultaneous flow task is designed, based on which we construct the first multi-EEG signals dataset of simultaneous flow. Then, we explore the potential EEG signal features that may be related to individual and simultaneous flow and validate their effectiveness in simultaneous flow detection with various machine learning models. The results show that 1) the inter-brain synchrony features are relevant to simultaneous flow due to enhancing the models' performance in detecting different types of simultaneous flow; 2) the features from the frontal lobe area seem to be given priority attention when detecting simultaneous flows; 3) Random Forests performed best in binary classification while Neural Network and Deep Neural Network3 performed best in ternary classification.
Large-scale machines like particle accelerators are usually run by a team of experienced operators. In case of a particle accelerator, these operators possess suitable background knowledge on both accelerator physics and the technology comprising the machine. Due to the complexity of the machine, particular subsystems of the machine are taken care of by experts, who the operators can turn to. In this work the reasoning and action (ReAct) prompting paradigm is used to couple an open-weights large language model (LLM) with a high-level machine control system framework and other tools, e.g. the electronic logbook or machine design documentation. By doing so, a multi-expert retrieval augmented generation (RAG) system is implemented, which assists operators in knowledge retrieval tasks, interacts with the machine directly if needed, or writes high level control system scripts. This consolidation of expert knowledge and machine interaction can simplify and speed up machine operation tasks for both new and experienced human operators.
Humans seemingly incorporate potential touch signals in their perception. Our goal is to equip robots with a similar capability, which we term Imagine2touch. Imagine2touch aims to predict the expected touch signal based on a visual patch representing the area to be touched. We use ReSkin, an inexpensive and compact touch sensor to collect the required dataset through random touching of five basic geometric shapes, and one tool. We train Imagine2touch on two out of those shapes and validate it on the ood. tool. We demonstrate the efficacy of Imagine2touch through its application to the downstream task of object recognition. In this task, we evaluate Imagine2touch performance in two experiments, together comprising 5 out of training distribution objects. Imagine2touch achieves an object recognition accuracy of 58% after ten touches per object, surpassing a proprioception baseline.
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.
Machine learning plays a role in many deployed decision systems, often in ways that are difficult or impossible to understand by human stakeholders. Explaining, in a human-understandable way, the relationship between the input and output of machine learning models is essential to the development of trustworthy machine-learning-based systems. A burgeoning body of research seeks to define the goals and methods of explainability in machine learning. In this paper, we seek to review and categorize research on counterfactual explanations, a specific class of explanation that provides a link between what could have happened had input to a model been changed in a particular way. Modern approaches to counterfactual explainability in machine learning draw connections to the established legal doctrine in many countries, making them appealing to fielded systems in high-impact areas such as finance and healthcare. Thus, we design a rubric with desirable properties of counterfactual explanation algorithms and comprehensively evaluate all currently-proposed algorithms against that rubric. Our rubric provides easy comparison and comprehension of the advantages and disadvantages of different approaches and serves as an introduction to major research themes in this field. We also identify gaps and discuss promising research directions in the space of counterfactual explainability.
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