Leveraging Compliant Tactile Perception for Haptic Blind Surface Reconstruction

Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as transparency, reflections, and occlusions. This study achieves blind surface reconstruction by harnessing the robotic manipulator's kinematic data and a compliant tactile sensing module, which incorporates inertial, magnetic, and pressure sensors. The module's flexibility enables us to estimate contact positions and surface normals by analyzing its deformation during interactions with unknown objects. While previous works collect only positional information, we include the local normals in a geometrical approach to estimate curvatures between adjacent contact points. These parameters then guide a spline-based patch generation, which allows us to recreate larger surfaces without an increase in complexity while reducing the time-consuming step of probing the surface. Experimental validation demonstrates that this approach outperforms an off-the-shelf vision system in estimation accuracy. Moreover, this compliant haptic method works effectively even when the manipulator's approach angle is not aligned with the surface normals, which is ideal for unknown non-flat surfaces.

Position Paper: Agent AI Towards a Holistic Intelligence

Recent advancements in large foundation models have remarkably enhanced our understanding of sensory information in open-world environments. In leveraging the power of foundation models, it is crucial for AI research to pivot away from excessive reductionism and toward an emphasis on systems that function as cohesive wholes. Specifically, we emphasize developing Agent AI -- an embodied system that integrates large foundation models into agent actions. The emerging field of Agent AI spans a wide range of existing embodied and agent-based multimodal interactions, including robotics, gaming, and healthcare systems, etc. In this paper, we propose a novel large action model to achieve embodied intelligent behavior, the Agent Foundation Model. On top of this idea, we discuss how agent AI exhibits remarkable capabilities across a variety of domains and tasks, challenging our understanding of learning and cognition. Furthermore, we discuss the potential of Agent AI from an interdisciplinary perspective, underscoring AI cognition and consciousness within scientific discourse. We believe that those discussions serve as a basis for future research directions and encourage broader societal engagement.

Enhancing Temporal Knowledge Graph Forecasting with Large Language Models via Chain-of-History Reasoning

Temporal Knowledge Graph (TKG) forecasting aims to predict future facts based on given histories. Most recent graph-based models excel at capturing structural information within TKGs but lack semantic comprehension abilities. Nowadays, with the surge of LLMs, the LLM-based TKG prediction model has emerged. However, the existing LLM-based model exhibits three shortcomings: (1) It only focuses on the first-order history for prediction while ignoring high-order historical information, resulting in the provided information for LLMs being extremely limited. (2) LLMs struggle with optimal reasoning performance under heavy historical information loads. (3) For TKG prediction, the temporal reasoning capability of LLM alone is limited. To address the first two challenges, we propose Chain-of-History (CoH) reasoning which explores high-order histories step-by-step, achieving effective utilization of high-order historical information for LLMs on TKG prediction. To address the third issue, we design CoH as a paly-and-plug module to enhance the performance of graph-based models for TKG prediction. Extensive experiments on three datasets and backbones demonstrate the effectiveness of CoH.

VOOM: Robust Visual Object Odometry and Mapping using Hierarchical Landmarks

In recent years, object-oriented simultaneous localization and mapping (SLAM) has attracted increasing attention due to its ability to provide high-level semantic information while maintaining computational efficiency. Some researchers have attempted to enhance localization accuracy by integrating the modeled object residuals into bundle adjustment. However, few have demonstrated better results than feature-based visual SLAM systems, as the generic coarse object models, such as cuboids or ellipsoids, are less accurate than feature points. In this paper, we propose a Visual Object Odometry and Mapping framework VOOM using high-level objects and low-level points as the hierarchical landmarks in a coarse-to-fine manner instead of directly using object residuals in bundle adjustment. Firstly, we introduce an improved observation model and a novel data association method for dual quadrics, employed to represent physical objects. It facilitates the creation of a 3D map that closely reflects reality. Next, we use object information to enhance the data association of feature points and consequently update the map. In the visual object odometry backend, the updated map is employed to further optimize the camera pose and the objects. Meanwhile, local bundle adjustment is performed utilizing the objects and points-based covisibility graphs in our visual object mapping process. Experiments show that VOOM outperforms both object-oriented SLAM and feature points SLAM systems such as ORB-SLAM2 in terms of localization. The implementation of our method is available at https://github.com/yutongwangBIT/VOOM.git.

Implementing Recycling Methods for Linear Systems in Python with an Application to Multiple Objective Optimization

Sequences of linear systems arise in the predictor-corrector method when computing the Pareto front for multi-objective optimization. Rather than discarding information generated when solving one system, it may be advantageous to recycle information for subsequent systems. To accomplish this, we seek to reduce the overall cost of computation when solving linear systems using common recycling methods. In this work, we assessed the performance of recycling minimum residual (RMINRES) method along with a map between coefficient matrices. For these methods to be fully integrated into the software used in Enouen et al. (2022), there must be working version of each in both Python and PyTorch. Herein, we discuss the challenges we encountered and solutions undertaken (and some ongoing) when computing efficient Python implementations of these recycling strategies. The goal of this project was to implement RMINRES in Python and PyTorch and add it to the established Pareto front code to reduce computational cost. Additionally, we wanted to implement the sparse approximate maps code in Python and PyTorch, so that it can be parallelized in future work.

LocalGCL: Local-aware Contrastive Learning for Graphs

Graph representation learning (GRL) makes considerable progress recently, which encodes graphs with topological structures into low-dimensional embeddings. Meanwhile, the time-consuming and costly process of annotating graph labels manually prompts the growth of self-supervised learning (SSL) techniques. As a dominant approach of SSL, Contrastive learning (CL) learns discriminative representations by differentiating between positive and negative samples. However, when applied to graph data, it overemphasizes global patterns while neglecting local structures. To tackle the above issue, we propose \underline{Local}-aware \underline{G}raph \underline{C}ontrastive \underline{L}earning (\textbf{\methnametrim}), a self-supervised learning framework that supplementarily captures local graph information with masking-based modeling compared with vanilla contrastive learning. Extensive experiments validate the superiority of \methname against state-of-the-art methods, demonstrating its promise as a comprehensive graph representation learner.

Language Agents as Optimizable Graphs

Various human-designed prompt engineering techniques have been proposed to improve problem solvers based on Large Language Models (LLMs), yielding many disparate code bases. We unify these approaches by describing LLM-based agents as computational graphs. The nodes implement functions to process multimodal data or query LLMs, and the edges describe the information flow between operations. Graphs can be recursively combined into larger composite graphs representing hierarchies of inter-agent collaboration (where edges connect operations of different agents). Our novel automatic graph optimizers (1) refine node-level LLM prompts (node optimization) and (2) improve agent orchestration by changing graph connectivity (edge optimization). Experiments demonstrate that our framework can be used to efficiently develop, integrate, and automatically improve various LLM agents. The code can be found at https://github.com/metauto-ai/gptswarm.

Survey in Characterization of Semantic Change

Live languages continuously evolve to integrate the cultural change of human societies. This evolution manifests through neologisms (new words) or \textbf{semantic changes} of words (new meaning to existing words). Understanding the meaning of words is vital for interpreting texts coming from different cultures (regionalism or slang), domains (e.g., technical terms), or periods. In computer science, these words are relevant to computational linguistics algorithms such as translation, information retrieval, question answering, etc. Semantic changes can potentially impact the quality of the outcomes of these algorithms. Therefore, it is important to understand and characterize these changes formally. The study of this impact is a recent problem that has attracted the attention of the computational linguistics community. Several approaches propose methods to detect semantic changes with good precision, but more effort is needed to characterize how the meaning of words changes and to reason about how to reduce the impact of semantic change. This survey provides an understandable overview of existing approaches to the \textit{characterization of semantic changes} and also formally defines three classes of characterizations: if the meaning of a word becomes more general or narrow (change in dimension) if the word is used in a more pejorative or positive/ameliorated sense (change in orientation), and if there is a trend to use the word in a, for instance, metaphoric or metonymic context (change in relation). We summarized the main aspects of the selected publications in a table and discussed the needs and trends in the research activities on semantic change characterization.

InfoLossQA: Characterizing and Recovering Information Loss in Text Simplification

Text simplification aims to make technical texts more accessible to laypeople but often results in deletion of information and vagueness. This work proposes InfoLossQA, a framework to characterize and recover simplification-induced information loss in form of question-and-answer (QA) pairs. Building on the theory of Question Under Discussion, the QA pairs are designed to help readers deepen their knowledge of a text. We conduct a range of experiments with this framework. First, we collect a dataset of 1,000 linguist-curated QA pairs derived from 104 LLM simplifications of scientific abstracts of medical studies. Our analyses of this data reveal that information loss occurs frequently, and that the QA pairs give a high-level overview of what information was lost. Second, we devise two methods for this task: end-to-end prompting of open-source and commercial language models, and a natural language inference pipeline. With a novel evaluation framework considering the correctness of QA pairs and their linguistic suitability, our expert evaluation reveals that models struggle to reliably identify information loss and applying similar standards as humans at what constitutes information loss.

Multi-Sensor and Multi-temporal High-Throughput Phenotyping for Monitoring and Early Detection of Water-Limiting Stress in Soybean

Soybean production is susceptible to biotic and abiotic stresses, exacerbated by extreme weather events. Water limiting stress, i.e. drought, emerges as a significant risk for soybean production, underscoring the need for advancements in stress monitoring for crop breeding and production. This project combines multi-modal information to identify the most effective and efficient automated methods to investigate drought response. We investigated a set of diverse soybean accessions using multiple sensors in a time series high-throughput phenotyping manner to: (1) develop a pipeline for rapid classification of soybean drought stress symptoms, and (2) investigate methods for early detection of drought stress. We utilized high-throughput time-series phenotyping using UAVs and sensors in conjunction with machine learning (ML) analytics, which offered a swift and efficient means of phenotyping. The red-edge and green bands were most effective to classify canopy wilting stress. The Red-Edge Chlorophyll Vegetation Index (RECI) successfully differentiated susceptible and tolerant soybean accessions prior to visual symptom development. We report pre-visual detection of soybean wilting using a combination of different vegetation indices. These results can contribute to early stress detection methodologies and rapid classification of drought responses in screening nurseries for breeding and production applications.