Robotic Grinding Skills Learning Based on Geodesic Length Dynamic Motion Primitives

Learning grinding skills from human craftsmen via imitation learning has become a key research topic in robotic machining. Due to their strong generalization and robustness to external disturbances, Dynamical Movement Primitives (DMPs) offer a promising approach for robotic grinding skill learning. However, directly applying DMPs to grinding tasks faces challenges, such as low orientation accuracy, unsynchronized position-orientation-force, and limited generalization for surface trajectories. To address these issues, this paper proposes a robotic grinding skill learning method based on geodesic length DMPs (Geo-DMPs). First, a normalized 2D weighted Gaussian kernel and intrinsic mean clustering algorithm are developed to extract geometric features from multiple demonstrations. Then, an orientation manifold distance metric removes the time dependency in traditional orientation DMPs, enabling accurate orientation learning via Geo-DMPs. A synchronization encoding framework is further proposed to jointly model position, orientation, and force using a geodesic length-based phase function. This framework enables robotic grinding actions to be generated between any two surface points. Experiments on robotic chamfer grinding and free-form surface grinding validate that the proposed method achieves high geometric accuracy and generalization in skill encoding and generation. To our knowledge, this is the first attempt to use DMPs for jointly learning and generating grinding skills in position, orientation, and force on model-free surfaces, offering a novel path for robotic grinding.

Coordinated Power Smoothing Control for Wind Storage Integrated System with Physics-informed Deep Reinforcement Learning

The Wind Storage Integrated System with Power Smoothing Control (PSC) has emerged as a promising solution to ensure both efficient and reliable wind energy generation. However, existing PSC strategies overlook the intricate interplay and distinct control frequencies between batteries and wind turbines, and lack consideration of wake effect and battery degradation cost. In this paper, a novel coordinated control framework with hierarchical levels is devised to address these challenges effectively, which integrates the wake model and battery degradation model. In addition, after reformulating the problem as a Markov decision process, the multi-agent reinforcement learning method is introduced to overcome the bi-level characteristic of the problem. Moreover, a Physics-informed Neural Network-assisted Multi-agent Deep Deterministic Policy Gradient (PAMA-DDPG) algorithm is proposed to incorporate the power fluctuation differential equation and expedite the learning process. The effectiveness of the proposed methodology is evaluated through simulations conducted in four distinct scenarios using WindFarmSimulator (WFSim). The results demonstrate that the proposed algorithm facilitates approximately an 11% increase in total profit and a 19% decrease in power fluctuation compared to the traditional methods, thereby addressing the dual objectives of economic efficiency and grid-connected energy reliability.

Hard-Synth: Synthesizing Diverse Hard Samples for ASR using Zero-Shot TTS and LLM

Text-to-speech (TTS) models have been widely adopted to enhance automatic speech recognition (ASR) systems using text-only corpora, thereby reducing the cost of labeling real speech data. Existing research primarily utilizes additional text data and predefined speech styles supported by TTS models. In this paper, we propose Hard-Synth, a novel ASR data augmentation method that leverages large language models (LLMs) and advanced zero-shot TTS. Our approach employs LLMs to generate diverse in-domain text through rewriting, without relying on additional text data. Rather than using predefined speech styles, we introduce a hard prompt selection method with zero-shot TTS to clone speech styles that the ASR model finds challenging to recognize. Experiments demonstrate that Hard-Synth significantly enhances the Conformer model, achieving relative word error rate (WER) reductions of 6.5\%/4.4\% on LibriSpeech dev/test-other subsets. Additionally, we show that Hard-Synth is data-efficient and capable of reducing bias in ASR.

Legal Evalutions and Challenges of Large Language Models

In this paper, we review legal testing methods based on Large Language Models (LLMs), using the OPENAI o1 model as a case study to evaluate the performance of large models in applying legal provisions. We compare current state-of-the-art LLMs, including open-source, closed-source, and legal-specific models trained specifically for the legal domain. Systematic tests are conducted on English and Chinese legal cases, and the results are analyzed in depth. Through systematic testing of legal cases from common law systems and China, this paper explores the strengths and weaknesses of LLMs in understanding and applying legal texts, reasoning through legal issues, and predicting judgments. The experimental results highlight both the potential and limitations of LLMs in legal applications, particularly in terms of challenges related to the interpretation of legal language and the accuracy of legal reasoning. Finally, the paper provides a comprehensive analysis of the advantages and disadvantages of various types of models, offering valuable insights and references for the future application of AI in the legal field.

Leveraging Surgical Activity Grammar for Primary Intention Prediction in Laparoscopy Procedures

Surgical procedures are inherently complex and dynamic, with intricate dependencies and various execution paths. Accurate identification of the intentions behind critical actions, referred to as Primary Intentions (PIs), is crucial to understanding and planning the procedure. This paper presents a novel framework that advances PI recognition in instructional videos by combining top-down grammatical structure with bottom-up visual cues. The grammatical structure is based on a rich corpus of surgical procedures, offering a hierarchical perspective on surgical activities. A grammar parser, utilizing the surgical activity grammar, processes visual data obtained from laparoscopic images through surgical action detectors, ensuring a more precise interpretation of the visual information. Experimental results on the benchmark dataset demonstrate that our method outperforms existing surgical activity detectors that rely solely on visual features. Our research provides a promising foundation for developing advanced robotic surgical systems with enhanced planning and automation capabilities.

Evaluation of OpenAI o1: Opportunities and Challenges of AGI

This comprehensive study evaluates the performance of OpenAI's o1-preview large language model across a diverse array of complex reasoning tasks, spanning multiple domains, including computer science, mathematics, natural sciences, medicine, linguistics, and social sciences. Through rigorous testing, o1-preview demonstrated remarkable capabilities, often achieving human-level or superior performance in areas ranging from coding challenges to scientific reasoning and from language processing to creative problem-solving. Key findings include: -83.3% success rate in solving complex competitive programming problems, surpassing many human experts. -Superior ability in generating coherent and accurate radiology reports, outperforming other evaluated models. -100% accuracy in high school-level mathematical reasoning tasks, providing detailed step-by-step solutions. -Advanced natural language inference capabilities across general and specialized domains like medicine. -Impressive performance in chip design tasks, outperforming specialized models in areas such as EDA script generation and bug analysis. -Remarkable proficiency in anthropology and geology, demonstrating deep understanding and reasoning in these specialized fields. -Strong capabilities in quantitative investing. O1 has comprehensive financial knowledge and statistical modeling skills. -Effective performance in social media analysis, including sentiment analysis and emotion recognition. The model excelled particularly in tasks requiring intricate reasoning and knowledge integration across various fields. While some limitations were observed, including occasional errors on simpler problems and challenges with certain highly specialized concepts, the overall results indicate significant progress towards artificial general intelligence.

ElecBench: a Power Dispatch Evaluation Benchmark for Large Language Models

In response to the urgent demand for grid stability and the complex challenges posed by renewable energy integration and electricity market dynamics, the power sector increasingly seeks innovative technological solutions. In this context, large language models (LLMs) have become a key technology to improve efficiency and promote intelligent progress in the power sector with their excellent natural language processing, logical reasoning, and generalization capabilities. Despite their potential, the absence of a performance evaluation benchmark for LLM in the power sector has limited the effective application of these technologies. Addressing this gap, our study introduces "ElecBench", an evaluation benchmark of LLMs within the power sector. ElecBench aims to overcome the shortcomings of existing evaluation benchmarks by providing comprehensive coverage of sector-specific scenarios, deepening the testing of professional knowledge, and enhancing decision-making precision. The framework categorizes scenarios into general knowledge and professional business, further divided into six core performance metrics: factuality, logicality, stability, security, fairness, and expressiveness, and is subdivided into 24 sub-metrics, offering profound insights into the capabilities and limitations of LLM applications in the power sector. To ensure transparency, we have made the complete test set public, evaluating the performance of eight LLMs across various scenarios and metrics. ElecBench aspires to serve as the standard benchmark for LLM applications in the power sector, supporting continuous updates of scenarios, metrics, and models to drive technological progress and application.

WenetSpeech4TTS: A 12,800-hour Mandarin TTS Corpus for Large Speech Generation Model Benchmark

With the development of large text-to-speech (TTS) models and scale-up of the training data, state-of-the-art TTS systems have achieved impressive performance. In this paper, we present WenetSpeech4TTS, a multi-domain Mandarin corpus derived from the open-sourced WenetSpeech dataset. Tailored for the text-to-speech tasks, we refined WenetSpeech by adjusting segment boundaries, enhancing the audio quality, and eliminating speaker mixing within each segment. Following a more accurate transcription process and quality-based data filtering process, the obtained WenetSpeech4TTS corpus contains $12,800$ hours of paired audio-text data. Furthermore, we have created subsets of varying sizes, categorized by segment quality scores to allow for TTS model training and fine-tuning. VALL-E and NaturalSpeech 2 systems are trained and fine-tuned on these subsets to validate the usability of WenetSpeech4TTS, establishing baselines on benchmark for fair comparison of TTS systems. The corpus and corresponding benchmarks are publicly available on huggingface.

Adaptive Speech Emotion Representation Learning Based On Dynamic Graph

Graph representation learning has become a hot research topic due to its powerful nonlinear fitting capability in extracting representative node embeddings. However, for sequential data such as speech signals, most traditional methods merely focus on the static graph created within a sequence, and largely overlook the intrinsic evolving patterns of these data. This may reduce the efficiency of graph representation learning for sequential data. For this reason, we propose an adaptive graph representation learning method based on dynamically evolved graphs, which are consecutively constructed on a series of subsequences segmented by a sliding window. In doing this, it is better to capture local and global context information within a long sequence. Moreover, we introduce a weighted approach to update the node representation rather than the conventional average one, where the weights are calculated by a novel matrix computation based on the degree of neighboring nodes. Finally, we construct a learnable graph convolutional layer that combines the graph structure loss and classification loss to optimize the graph structure. To verify the effectiveness of the proposed method, we conducted experiments for speech emotion recognition on the IEMOCAP and RAVDESS datasets. Experimental results show that the proposed method outperforms the latest (non-)graph-based models.

ESIHGNN: Event-State Interactions Infused Heterogeneous Graph Neural Network for Conversational Emotion Recognition

Conversational Emotion Recognition (CER) aims to predict the emotion expressed by an utterance (referred to as an ``event'') during a conversation. Existing graph-based methods mainly focus on event interactions to comprehend the conversational context, while overlooking the direct influence of the speaker's emotional state on the events. In addition, real-time modeling of the conversation is crucial for real-world applications but is rarely considered. Toward this end, we propose a novel graph-based approach, namely Event-State Interactions infused Heterogeneous Graph Neural Network (ESIHGNN), which incorporates the speaker's emotional state and constructs a heterogeneous event-state interaction graph to model the conversation. Specifically, a heterogeneous directed acyclic graph neural network is employed to dynamically update and enhance the representations of events and emotional states at each turn, thereby improving conversational coherence and consistency. Furthermore, to further improve the performance of CER, we enrich the graph's edges with external knowledge. Experimental results on four publicly available CER datasets show the superiority of our approach and the effectiveness of the introduced heterogeneous event-state interaction graph.