Depth Restoration of Hand-Held Transparent Objects for Human-to-Robot Handover

Transparent objects are common in daily life, while their unique optical properties pose challenges for RGB-D cameras, which struggle to capture accurate depth information. For assistant robots, accurately perceiving transparent objects held by humans is essential for effective human-robot interaction. This paper presents a Hand-Aware Depth Restoration (HADR) method for hand-held transparent objects based on creating an implicit neural representation function from a single RGB-D image. The proposed method introduces the hand posture as an important guidance to leverage semantic and geometric information. To train and evaluate the proposed method, we create a high-fidelity synthetic dataset called TransHand-14K with a real-to-sim data generation scheme. Experiments show that our method has a better performance and generalization ability compared with existing methods. We further develop a real-world human-to-robot handover system based on the proposed depth restoration method, demonstrating its application value in human-robot interaction.

Utilizing Large Language Models for Named Entity Recognition in Traditional Chinese Medicine against COVID-19 Literature: Comparative Study

Objective: To explore and compare the performance of ChatGPT and other state-of-the-art LLMs on domain-specific NER tasks covering different entity types and domains in TCM against COVID-19 literature. Methods: We established a dataset of 389 articles on TCM against COVID-19, and manually annotated 48 of them with 6 types of entities belonging to 3 domains as the ground truth, against which the NER performance of LLMs can be assessed. We then performed NER tasks for the 6 entity types using ChatGPT (GPT-3.5 and GPT-4) and 4 state-of-the-art BERT-based question-answering (QA) models (RoBERTa, MiniLM, PubMedBERT and SciBERT) without prior training on the specific task. A domain fine-tuned model (GSAP-NER) was also applied for a comprehensive comparison. Results: The overall performance of LLMs varied significantly in exact match and fuzzy match. In the fuzzy match, ChatGPT surpassed BERT-based QA models in 5 out of 6 tasks, while in exact match, BERT-based QA models outperformed ChatGPT in 5 out of 6 tasks but with a smaller F-1 difference. GPT-4 showed a significant advantage over other models in fuzzy match, especially on the entity type of TCM formula and the Chinese patent drug (TFD) and ingredient (IG). Although GPT-4 outperformed BERT-based models on entity type of herb, target, and research method, none of the F-1 scores exceeded 0.5. GSAP-NER, outperformed GPT-4 in terms of F-1 by a slight margin on RM. ChatGPT achieved considerably higher recalls than precisions, particularly in the fuzzy match. Conclusions: The NER performance of LLMs is highly dependent on the entity type, and their performance varies across application scenarios. ChatGPT could be a good choice for scenarios where high recall is favored. However, for knowledge acquisition in rigorous scenarios, neither ChatGPT nor BERT-based QA models are off-the-shelf tools for professional practitioners.

SATac: A Thermoluminescence Enabled Tactile Sensor for Concurrent Perception of Temperature, Pressure, and Shear

Most vision-based tactile sensors use elastomer deformation to infer tactile information, which can not sense some modalities, like temperature. As an important part of human tactile perception, temperature sensing can help robots better interact with the environment. In this work, we propose a novel multimodal vision-based tactile sensor, SATac, which can simultaneously perceive information of temperature, pressure, and shear. SATac utilizes thermoluminescence of strontium aluminate (SA) to sense a wide range of temperatures with exceptional resolution. Additionally, the pressure and shear can also be perceived by analyzing Voronoi diagram. A series of experiments are conducted to verify the performance of our proposed sensor. We also discuss the possible application scenarios and demonstrate how SATac could benefit robot perception capabilities.

Growing from Exploration: A self-exploring framework for robots based on foundation models

Intelligent robot is the ultimate goal in the robotics field. Existing works leverage learning-based or optimization-based methods to accomplish human-defined tasks. However, the challenge of enabling robots to explore various environments autonomously remains unresolved. In this work, we propose a framework named GExp, which enables robots to explore and learn autonomously without human intervention. To achieve this goal, we devise modules including self-exploration, knowledge-base-building, and close-loop feedback based on foundation models. Inspired by the way that infants interact with the world, GExp encourages robots to understand and explore the environment with a series of self-generated tasks. During the process of exploration, the robot will acquire skills from beneficial experiences that are useful in the future. GExp provides robots with the ability to solve complex tasks through self-exploration. GExp work is independent of prior interactive knowledge and human intervention, allowing it to adapt directly to different scenarios, unlike previous studies that provided in-context examples as few-shot learning. In addition, we propose a workflow of deploying the real-world robot system with self-learned skills as an embodied assistant.

Creating Knowledge Graphs for Geographic Data on the Web

Geographic data plays an essential role in various Web, Semantic Web and machine learning applications. OpenStreetMap and knowledge graphs are critical complementary sources of geographic data on the Web. However, data veracity, the lack of integration of geographic and semantic characteristics, and incomplete representations substantially limit the data utility. Verification, enrichment and semantic representation are essential for making geographic data accessible for the Semantic Web and machine learning. This article describes recent approaches we developed to tackle these challenges.

Global Spectral Filter Memory Network for Video Object Segmentation

This paper studies semi-supervised video object segmentation through boosting intra-frame interaction. Recent memory network-based methods focus on exploiting inter-frame temporal reference while paying little attention to intra-frame spatial dependency. Specifically, these segmentation model tends to be susceptible to interference from unrelated nontarget objects in a certain frame. To this end, we propose Global Spectral Filter Memory network (GSFM), which improves intra-frame interaction through learning long-term spatial dependencies in the spectral domain. The key components of GSFM is 2D (inverse) discrete Fourier transform for spatial information mixing. Besides, we empirically find low frequency feature should be enhanced in encoder (backbone) while high frequency for decoder (segmentation head). We attribute this to semantic information extracting role for encoder and fine-grained details highlighting role for decoder. Thus, Low (High) Frequency Module is proposed to fit this circumstance. Extensive experiments on the popular DAVIS and YouTube-VOS benchmarks demonstrate that GSFM noticeably outperforms the baseline method and achieves state-of-the-art performance. Besides, extensive analysis shows that the proposed modules are reasonable and of great generalization ability. Our source code is available at https://github.com/workforai/GSFM.

Learning Quality-aware Dynamic Memory for Video Object Segmentation

Recently, several spatial-temporal memory-based methods have verified that storing intermediate frames and their masks as memory are helpful to segment target objects in videos. However, they mainly focus on better matching between the current frame and the memory frames without explicitly paying attention to the quality of the memory. Therefore, frames with poor segmentation masks are prone to be memorized, which leads to a segmentation mask error accumulation problem and further affect the segmentation performance. In addition, the linear increase of memory frames with the growth of frame number also limits the ability of the models to handle long videos. To this end, we propose a Quality-aware Dynamic Memory Network (QDMN) to evaluate the segmentation quality of each frame, allowing the memory bank to selectively store accurately segmented frames to prevent the error accumulation problem. Then, we combine the segmentation quality with temporal consistency to dynamically update the memory bank to improve the practicability of the models. Without any bells and whistles, our QDMN achieves new state-of-the-art performance on both DAVIS and YouTube-VOS benchmarks. Moreover, extensive experiments demonstrate that the proposed Quality Assessment Module (QAM) can be applied to memory-based methods as generic plugins and significantly improves performance. Our source code is available at https://github.com/workforai/QDMN.

Still Haven't Found What You're Looking For -- Detecting the Intent of Web Search Missions from User Interaction Features

Web search is among the most frequent online activities. Whereas traditional information retrieval techniques focus on the information need behind a user query, previous work has shown that user behaviour and interaction can provide important signals for understanding the underlying intent of a search mission. An established taxonomy distinguishes between transactional, navigational and informational search missions, where in particular the latter involve a learning goal, i.e. the intent to acquire knowledge about a particular topic. We introduce a supervised approach for classifying online search missions into either of these categories by utilising a range of features obtained from the user interactions during an online search mission. Applying our model to a dataset of real-world query logs, we show that search missions can be categorised with an average F1 score of 63% and accuracy of 69%, while performance on informational and navigational missions is particularly promising (F1>75%). This suggests the potential to utilise such supervised classification during online search to better facilitate retrieval and ranking as well as to improve affiliated services, such as targeted online ads.

SaL-Lightning Dataset: Search and Eye Gaze Behavior, Resource Interactions and Knowledge Gain during Web Search

The emerging research field Search as Learning investigates how the Web facilitates learning through modern information retrieval systems. SAL research requires significant amounts of data that capture both search behavior of users and their acquired knowledge in order to obtain conclusive insights or train supervised machine learning models. However, the creation of such datasets is costly and requires interdisciplinary efforts in order to design studies and capture a wide range of features. In this paper, we address this issue and introduce an extensive dataset based on a user study, in which $114$ participants were asked to learn about the formation of lightning and thunder. Participants' knowledge states were measured before and after Web search through multiple-choice questionnaires and essay-based free recall tasks. To enable future research in SAL-related tasks we recorded a plethora of features and person-related attributes. Besides the screen recordings, visited Web pages, and detailed browsing histories, a large number of behavioral features and resource features were monitored. We underline the usefulness of the dataset by describing three, already published, use cases.

WorldKG: A World-Scale Geographic Knowledge Graph

OpenStreetMap is a rich source of openly available geographic information. However, the representation of geographic entities, e.g., buildings, mountains, and cities, within OpenStreetMap is highly heterogeneous, diverse, and incomplete. As a result, this rich data source is hardly usable for real-world applications. This paper presents WorldKG -- a new geographic knowledge graph aiming to provide a comprehensive semantic representation of geographic entities in OpenStreetMap. We describe the WorldKG knowledge graph, including its ontology that builds the semantic dataset backbone, the extraction procedure of the ontology and geographic entities from OpenStreetMap, and the methods to enhance entity annotation. We perform statistical and qualitative dataset assessment, demonstrating the large scale and high precision of the semantic geographic information in WorldKG.