Miracle-dz/UniFAR-FTUs huggingface dataset:
Incremental Cycle Bases for Cycle-Based Pose Graph Optimization

Pose graph optimization is a special case of the simultaneous localization and mapping problem where the only variables to be estimated are pose variables and the only measurements are inter-pose constraints. The vast majority of pose graph optimization techniques are vertex based (variables are robot poses), but recent work has parameterized the pose graph optimization problem in a relative fashion (variables are the transformations between poses) that utilizes a minimum cycle basis to maximize the sparsity of the problem. We explore the construction of a cycle basis in an incremental manner while maximizing the sparsity. We validate an algorithm that constructs a sparse cycle basis incrementally and compare its performance with a minimum cycle basis. Additionally, we present an algorithm to approximate the minimum cycle basis of two graphs that are sparsely connected as is common in multi-agent scenarios. Lastly, the relative parameterization of pose graph optimization has been limited to using rigid body transforms on $SE(2)$ or $SE(3)$ as the constraints between poses. We introduce a methodology to allow for the use of lower-degree-of-freedom measurements in the relative pose graph optimization problem. We provide extensive validation of our algorithms on standard benchmarks, simulated datasets, and custom hardware.
Quantifying Discourse Support for Omitted Pronouns

Pro-drop is commonly seen in many languages, but its discourse motivations have not been well characterized. Inspired by the topic chain theory in Chinese, this study shows how character-verb usage continuity distinguishes dropped pronouns from overt references to story characters. We model the choice to drop vs. not drop as a function of character-verb continuity. The results show that omitted subjects have higher character history-current verb continuity salience than non-omitted subjects. This is consistent with the idea that discourse coherence with a particular topic, such as a story character, indeed facilitates the omission of pronouns in languages and contexts where they are optional.
Self-Optimizing Feature Transformation

Feature transformation aims to extract a good representation (feature) space by mathematically transforming existing features. It is crucial to address the curse of dimensionality, enhance model generalization, overcome data sparsity, and expand the availability of classic models. Current research focuses on domain knowledge-based feature engineering or learning latent representations; nevertheless, these methods are not entirely automated and cannot produce a traceable and optimal representation space. When rebuilding a feature space for a machine learning task, can these limitations be addressed concurrently? In this extension study, we present a self-optimizing framework for feature transformation. To achieve a better performance, we improved the preliminary work by (1) obtaining an advanced state representation for enabling reinforced agents to comprehend the current feature set better; and (2) resolving Q-value overestimation in reinforced agents for learning unbiased and effective policies. Finally, to make experiments more convincing than the preliminary work, we conclude by adding the outlier detection task with five datasets, evaluating various state representation approaches, and comparing different training strategies. Extensive experiments and case studies show that our work is more effective and superior.
An Empirical Study of Automatic Post-Editing

Automatic post-editing (APE) aims to reduce manual post-editing efforts by automatically correcting errors in machine-translated output. Due to the limited amount of human-annotated training data, data scarcity is one of the main challenges faced by all APE systems. To alleviate the lack of genuine training data, most of the current APE systems employ data augmentation methods to generate large-scale artificial corpora. In view of the importance of data augmentation in APE, we separately study the impact of the construction method of artificial corpora and artificial data domain on the performance of APE models. Moreover, the difficulty of APE varies between different machine translation (MT) systems. We study the outputs of the state-of-art APE model on a difficult APE dataset to analyze the problems in existing APE systems. Primarily, we find that 1) Artificial corpora with high-quality source text and machine-translated text more effectively improve the performance of APE models; 2) In-domain artificial training data can better improve the performance of APE models, while irrelevant out-of-domain data actually interfere with the model; 3) Existing APE model struggles with cases containing long source text or high-quality machine-translated text; 4) The state-of-art APE model works well on grammatical and semantic addition problems, but the output is prone to entity and semantic omission errors.
Rashba-like spin-orbit interaction and spin texture at the KTaO$_\text{3}$ (001) surface from DFT calculations

Rashba-like spin-orbit interaction at oxide heterostructures emerges as a much sought-after feature in the context of oxide spintronics and spin-orbitronics. KTaO$_3$ (KTO) is one of the best substrates available for the purpose, owing to its strong spin-orbit interaction and alternating $+1|-1$ charged layers along the (001) direction. Employing first-principles calculations within density functional theory (DFT) and proposing a possible electrostatic model for charge transfer to the surfaces of KTO slabs, we comprehensively analyze Rashba-like spin-orbit interaction with the help of three-dimensional band dispersion, isoenergetic contours, and projected spin textures $-$ all directly obtained from our DFT results $-$ in a thin insulating slab and a conducting thick slab of KTO. Our results reveal reasonably strong linear Rashba interaction with no signature of Dresselhaus or higher order Rashba interactions in the systems considered here. The rigorous analysis presented here may be crucial for future developments in oxide spintronics.
Echo chamber effects based on a novel three-dimensional Deffuant-Weisbuch model

In order to solve the problem of opinion polarization and distortion caused by echo chamber eﬀect in the evolution process of online public opinion, a novel three-dimensional Deﬀuant-Weisbuch model is proposed to study the formation and elimination of echo chamber eﬀect in this paper. Firstly, the original pairwise interaction model is generalized to three-point interaction model. Sec-ondly, we consider individual psychological mechanism and introduce individual emotional factor into the trust threshold of original model. Finally, the natural evolution coeﬃcient of opinion is introduced to modify the model. The improved model is used to conduct simulation experiments on social networks with dif-ferent structures, and opinion leaders and active agents are introduced into the network, so as to study the corresponding generation and breaking mechanism of echo chamber. The experimental results show that the change of network structure cannot eliminate the echo chamber eﬀect, and the increase of network stability and connectivity can only slow down the echo chamber eﬀect. Opinion leaders can aggregate opinions within their scope of inﬂuence and have a guid-(cid:63) AMS Subject Classiﬁcation: 91D30 05C82 05C80 05C85. (cid:63)(cid:63) This work supported by the State of National Grant No.91324201. by the Fundamental Research Funds for the Central Universities of China Grant 2018IB017, Equipment Pre-Research Min-istry of Education Grant 6141A02033703 and the Natural Science Foundation of Hubei Province of Grant 2014CFB865. ing eﬀect on opinions. Therefore, if opinion leaders can change their opinions over time, they can well guide opinions to converge to neutral opinions, thus achieving the purpose of breaking the echo chamber. Active agents can lead the opinions in the network to converge to the neutral, and active agents with high stubbornness can lead the free views to converge to the neutral, thus achieving the purpose of breaking the echo chamber eﬀect.
FlexER: Flexible Entity Resolution for Multiple Intents

Entity resolution, a longstanding problem of data cleaning and integration, aims at identifying data records that represent the same real-world entity. Existing approaches treat entity resolution as a universal task, assuming the existence of a single interpretation of a real-world entity and focusing only on finding matched records, separating corresponding from non-corresponding ones, with respect to this single interpretation. However, in real-world scenarios, where entity resolution is part of a more general data project, downstream applications may have varying interpretations of real-world entities relating, for example, to various user needs. In what follows, we introduce the problem of multiple intents entity resolution (MIER), an extension to the universal (single intent) entity resolution task. As a solution, we propose FlexER, utilizing contemporary solutions to universal entity resolution tasks to solve MIER. FlexER addresses the problem as a multi-label classification problem. It combines intent-based representations of tuple pairs using a multiplex graph representation that serves as an input to a graph neural network (GNN). FlexER learns intent representations and improves the outcome to multiple resolution problems. A large-scale empirical evaluation introduces a new benchmark and, using also two well-known benchmarks, shows that FlexER effectively solves the MIER problem and outperforms the state-of-the-art for a universal entity resolution.
Prophet Inequalities for Cost Minimization

Prophet inequalities for rewards maximization are fundamental to optimal stopping theory with extensive applications to mechanism design and online optimization. We study the \emph{cost minimization} counterpart of the classical prophet inequality: a decision maker is facing a sequence of costs $X_1, X_2, \dots, X_n$ drawn from known distributions in an online manner and \emph{must} ``stop'' at some point and take the last cost seen. The goal is to compete with a ``prophet'' who can see the realizations of all $X_i$'s upfront and always select the minimum, obtaining a cost of $\mathbb{E}[\min_i X_i]$. If the $X_i$'s are not identically distributed, no strategy can achieve a bounded approximation, even for random arrival order and $n = 2$. This leads us to consider the case where the $X_i$'s are independent and identically distributed (I.I.D.). For the I.I. D. case, we show that if the distribution satisfies a mild condition, the optimal stopping strategy achieves a (distribution-dependent) constant-factor approximation to the prophet's cost. Moreover, for MHR distributions, this constant is at most $2$. All our results are tight. We also demonstrate an example distribution that does not satisfy the condition and for which the competitive ratio of any algorithm is infinite. Turning our attention to single-threshold strategies, we design a threshold that achieves a $O\left(polylog{n}\right)$-factor approximation, where the exponent in the logarithmic factor is a distribution-dependent constant, and we show a matching lower bound. Finally, we note that our results can be used to design approximately optimal posted price-style mechanisms for procurement auctions which may be of independent interest. Our techniques utilize the \emph{hazard rate} of the distribution in a novel way, allowing for a fine-grained analysis which could find further applications in prophet inequalities.
Trustworthy Reinforcement Learning Against Intrinsic Vulnerabilities: Robustness, Safety, and Generalizability

A trustworthy reinforcement learning algorithm should be competent in solving challenging real-world problems, including {robustly} handling uncertainties, satisfying {safety} constraints to avoid catastrophic failures, and {generalizing} to unseen scenarios during deployments. This study aims to overview these main perspectives of trustworthy reinforcement learning considering its intrinsic vulnerabilities on robustness, safety, and generalizability. In particular, we give rigorous formulations, categorize corresponding methodologies, and discuss benchmarks for each perspective. Moreover, we provide an outlook section to spur promising future directions with a brief discussion on extrinsic vulnerabilities considering human feedback. We hope this survey could bring together separate threads of studies together in a unified framework and promote the trustworthiness of reinforcement learning.
Hierarchical Superquadric Decomposition with Implicit Space Separation

We introduce a new method to reconstruct 3D objects using a set of volumetric primitives, i.e., superquadrics. The method hierarchically decomposes a target 3D object into pairs of superquadrics recovering ﬁner and ﬁner details. While such hierarchical methods have been studied before, we introduce a new way of splitting the object space using only properties of the predicted superquadrics. The method is trained and evaluated on the ShapeNet dataset. The results of our experiments suggest that reasonable reconstructions can be obtained with the proposed approach for a diverse set of objects with complex geometry.
musicaiz: A Python Library for Symbolic Music Generation, Analysis and Visualization

In this article, we present musicaiz, an object-oriented library for analyzing, generating and evaluating symbolic music. The submodules of the package allow the user to create symbolic music data from scratch, build algorithms to analyze symbolic music, encode MIDI data as tokens to train deep learning sequence models, modify existing music data and evaluate music generation systems. The evaluation submodule builds on previous work to objectively measure music generation systems and to be able to reproduce the results of music generation models. The library is publicly available online. We encourage the community to contribute and provide feedback.
A transformer‐based approach for improving app review response generation

Mobile apps are becoming an integral part of people's daily life by providing various functionalities, such as messaging and gaming. App developers try their best to ensure user experience during app development and maintenance to improve the rating of their apps on app platforms and attract more user downloads. Previous studies indicated that responding to users' reviews tends to change their attitude towards the apps positively. Users who have been replied are more likely to update the given ratings. However, reading and responding to every user review is not an easy task for developers since it is common for popular apps to receive tons of reviews every day. Thus, automation tools for review replying are needed. To address the need above, the paper introduces a Transformer‐based approach, named TRRGen, to automatically generate responses to given user reviews. TRRGen extracts apps' categories, rating, and review text as the input features. By adapting a Transformer‐based model, TRRGen can generate appropriate replies for new reviews. Comprehensive experiments and analysis on the real‐world datasets indicate that the proposed approach can generate high‐quality replies for users' reviews and significantly outperform current state‐of‐art approaches on the task. The manual validation results on the generated replies further demonstrate the effectiveness of the proposed approach.
Improved proteasomal cleavage prediction with positive-unlabeled learning

Accurate in silico modeling of the antigen processing pathway is crucial to enable personalized epitope vaccine design for cancer. An important step of such pathway is the degradation of the vaccine into smaller peptides by the proteasome, some of which are going to be presented to T cells by the MHC complex. While predicting MHC-peptide presentation has received a lot of at-tention recently, proteasomal cleavage prediction remains a relatively unex-plored area in light of recent advances in high-throughput mass spectrometry-based MHC ligandomics. Moreover, as such experimental techniques do not al-low to identify regions that cannot be cleaved, the latest predictors generate decoy negative samples and treat them as true negatives when training, even though some of them could actually be positives. In this work, we thus present a new predictor trained with an ex-panded dataset and the solid theoretical underpinning of positive-unlabeled learning, achieving a new state-of-the-art in proteasomal cleavage prediction. The improved predictive capabilities will in turn enable more precise vaccine development improving the eﬃcacy of epitope-based vaccines. Pretrained models are available on GitHub. 1 https://github.com/SchubertLab/proteasomal-cleavage-puupl
3D Matting: A Soft Segmentation Method Applied in Computed Tomography

Three-dimensional (3D) images, such as CT, MRI, and PET, are common in medical imaging applications and important in clinical diagnosis. Semantic ambiguity is a typical feature of many medical image labels. It can be caused by many factors, such as the imaging properties, pathological anatomy, and the weak representation of the binary masks, which brings challenges to accurate 3D segmentation. In 2D medical images, using soft masks instead of binary masks generated by image matting to characterize lesions can provide rich semantic information, describe the structural characteristics of lesions more comprehensively, and thus benefit the subsequent diagnoses and analyses. In this work, we introduce image matting into the 3D scenes to describe the lesions in 3D medical images. The study of image matting in 3D modality is limited, and there is no high-quality annotated dataset related to 3D matting, therefore slowing down the development of data-driven deep-learning-based methods. To address this issue, we constructed the first 3D medical matting dataset and convincingly verified the validity of the dataset through quality control and downstream experiments in lung nodules classification. We then adapt the four selected state-of-the-art 2D image matting algorithms to 3D scenes and further customize the methods for CT images. Also, we propose the first end-to-end deep 3D matting network and implement a solid 3D medical image matting benchmark, which will be released to encourage further research.
Extracting Biomedical Factual Knowledge Using Pretrained Language Model and Electronic Health Record Context

Language Models (LMs) have performed well on biomedical natural language processing applications. In this study, we conducted some experiments to use prompt methods to extract knowledge from LMs as new knowledge Bases (LMs as KBs). However, prompting can only be used as a low bound for knowledge extraction, and perform particularly poorly on biomedical domain KBs. In order to make LMs as KBs more in line with the actual application scenarios of the biomedical domain, we specifically add EHR notes as context to the prompt to improve the low bound in the biomedical domain. We design and validate a series of experiments for our Dynamic-Context-BioLAMA task. Our experiments show that the knowledge possessed by those language models can distinguish the correct knowledge from the noise knowledge in the EHR notes, and such distinguishing ability can also be used as a new metric to evaluate the amount of knowledge possessed by the model.
Imitrob: Imitation Learning Dataset for Training and Evaluating 6D Object Pose Estimators

This letter introduces a dataset for training and evaluating methods for 6D pose estimation of hand-held tools in task demonstrations captured by a standard RGB camera. Despite the significant progress of 6D pose estimation methods, their performance is usually limited for heavily occluded objects, which is a common case in imitation learning, where the object is typically partially occluded by the manipulating hand. Currently, there is a lack of datasets that would enable the development of robust 6D pose estimation methods for these conditions. To overcome this problem, we collect a new dataset (Imitrob) aimed at 6D pose estimation in imitation learning and other applications where a human holds a tool and performs a task. The dataset contains image sequences of nine different tools and twelve manipulation tasks with two camera viewpoints, four human subjects, and left/right hand. Each image is accompanied by an accurate ground truth measurement of the 6D object pose obtained by the HTC Vive motion tracking device. The use of the dataset is demonstrated by training and evaluating a recent 6D object pose estimation method (DOPE) in various setups.
Braiding with Majorana Lattices: Groundstate Degeneracy and Supersymmetry

Majorana-based topological qubits are expected to exploit the nonabelian braiding statistics of Majorana modes in topological superconductors to realize fault-tolerant topological quantum computation. Scalable qubit designs require several Majorana modes localized on quantum wires networks, with braiding operations relying on the presence of the groundstate degeneracy of the topologically nontrivial superconducting phase. However, this degeneracy is lifted due to the hybridization between Majorana modes localized at a finite distance. Here, we describe a braiding protocol in a trijunction where each branch consists of a lattice of Majorana modes overlapping at a finite distance. We find that the energy splitting between the groundstate and the lowest-energy state decreases exponentially with the number of Majorana modes if the system is in its topologically nontrivial regime. This result does not rely on the specific braiding geometry and on the details of the braiding scheme but is a consequence of the supersymmetry and nontrivial topology of the effective low-energy Hamiltonian describing the Majorana lattice.
Possible Stories: Evaluating Situated Commonsense Reasoning under Multiple Possible Scenarios

The possible consequences for the same context may vary depending on the situation we refer to. However, current studies in natural language processing do not focus on situated commonsense reasoning under multiple possible scenarios. This study frames this task by asking multiple questions with the same set of possible endings as candidate answers, given a short story text. Our resulting dataset, Possible Stories, consists of more than 4.5K questions over 1.3K story texts in English. We discover that even current strong pretrained language models struggle to answer the questions consistently, highlighting that the highest accuracy in an unsupervised setting (60.2%) is far behind human accuracy (92.5%). Through a comparison with existing datasets, we observe that the questions in our dataset contain minimal annotation artifacts in the answer options. In addition, our dataset includes examples that require counterfactual reasoning, as well as those requiring readers’ reactions and fictional information, suggesting that our dataset can serve as a challenging testbed for future studies on situated commonsense reasoning.