Miracle-dz/UniFAR-FTUs huggingface dataset:
RH20T: A Robotic Dataset for Learning Diverse Skills in One-Shot

—A key challenge in learning task and motion planning in open domains is how to acquire diverse and generalizable skills for robots. Recent research in one-shot imitation learning has shown promise in transferring trained policies to new tasks based on demonstrations. This feature is attractive for enabling robots to acquire new skills and improving task and motion planning. However, due to limitations in the training dataset, the current focus of the community has mainly been on simple cases, such as push or pick-place tasks, relying solely on visual guidance. In reality, there are many complex skills, some of which may even require both visual and tactile perception to solve. This paper aims to unlock the potential for an agent to generalize to hundreds of real-world skills with multi-modal perception. To achieve this, we have collected a dataset comprising over 110,000 contact-rich robot manipulation sequences across diverse skills, contexts, robots, and camera viewpoints, all collected in the real world . Each sequence in the dataset includes visual, force, audio, and action information, along with a corresponding human demonstration video. We have invested significant efforts in calibrating all the sensors and ensuring a high-quality dataset. The dataset is made publicly available 1 .
UAV Path Planning for Optimal Coverage of Areas with Nonuniform Importance

Coverage of an inaccessible or difficult terrain with potential health and safety hazards, such as in a volcanic region, is difficult yet crucial from scientific and meteorological perspectives. Areas contained within this region can provide us with different types of valuable information of varying importance. We present an algorithm to optimally cover a volcanic region in Hawai‘i with an unmanned aerial vehicle (UAV). The target region is assigned with a nonuniform coverage importance score distribution. For a specified battery capacity of the UAV, the optimization problem seeks the path that maximizes the total coverage area and the accumulated importance score while penalizing the revisiting of the same area. Trajectories are generated offline for the UAV based on the available power and coverage information map. The optimal trajectory minimizes the unspent battery power while enforcing that the UAV returns to its starting location. This multi-objective optimization problem is solved by using sequential quadratic programming. The details of the competitive optimization problem are discussed along with the analysis and simulation results to demonstrate the applicability of the proposed algorithm.
Extraction of Consistent Subsets of Descriptors using Choquet Integral

This paper presents a novel approach to automatically extract a subset of shape descriptors dedicated to an application under consideration. Basic descriptors having low time processing and allowing to keep nice geometric properties were implemented. Then a model based on Choquet integral and Shapley values, are proposed to select suitable descriptors. Experimental studies using real databases attest of the robustness of our approach
Creating Speech and Language Data With Amazon’s Mechanical Turk

In this paper we give an introduction to using Amazon's Mechanical Turk crowdsourcing platform for the purpose of collecting data for human language technologies. We survey the papers published in the NAACL-2010 Workshop. 24 researchers participated in the workshop's shared task to create data for speech and language applications with $100.
Channeling with diffusion into stagnant water and into a matrix in series

Numerous field observations show that most water flow in fractured rocks takes place in only a small part of the fractures. We call these channels. Solutes in the flowing water can diffuse in and out of stagnant water in the porous rock matrix that the flowing water contacts via the so‐called flow wetted surface (FWS). In addition, the solutes can diffuse into stagnant water in the fractures themselves and from this water further into the rock matrix. For narrow channels with small FWS the transport via the stagnant water in the fracture can considerably add to the exchange of solutes between flowing water and matrix water. For sorbing solutes that interact with the micropore surfaces in the matrix the effect can be very strong. Some models that account for these processes are developed and solved using Laplace transforms. Some examples are presented that show the effects of first diffusion into stagnant waters in fractures with subsequent diffusion into the rock matrix. Effects of slit‐like and tube‐like channels are considered as well as the presence of intersecting fractures. The solutions are especially useful to model solute transport in complex three‐dimensional channels networks where wide and narrow or even tube‐like channels with widely varying flow rates combine into a multitude of different paths.
Facial Expression Spacial Charts for Describing Dynamic Diversity of Facial Expressions

This paper presents a new framework to describe individual facial expression spaces, particularly addressing the dynamic diversity of facial expressions that appear as an exclamation or emotion, to create a unique space for each person. We name this framework Facial Expression Spatial Charts (FESCs). The FESCs are created using Self– Organizing Maps (SOMs) and Fuzzy Adaptive Resonance Theory (ART) of unsupervised neural networks. For facial images with emphasized sparse representations using Gabor wavelet filters, SOMs extract topological information in facial expression images and classify them as categories in the fixed space that are decided by the number of units on the mapping layer. Subsequently, Fuzzy ART integrates categories classified by SOMs using adaptive learning functions under fixed granularity that is controlled by the vigilance parameter. The categories integrated by Fuzzy ART are matched to Expression Levels (ELs) for quantifying facial expression intensity based on the arrangement of facial expressions on Russell’s circumplex model. We designate the category that contains neutral facial expression as the basis category. Actually, FESCs can visualize and represent dynamic diversity of facial expressions consisting of ELs extracted from facial expressions. In the experiment, we created an original facial expression dataset consisting of three facial expressions—happiness, anger, and sadness— obtained from 10 subjects during 7–20 weeks at one-week intervals. Results show that the method can adequately display the dynamic diversity of facial expressions between subjects, in addition to temporal changes in each subject. Moreover, we used stress measurement sheets to obtain temporal changes of stress for analyzing psychological effects of the stress that subjects feel. We estimated stress levels of four grades using Support Vector Machines (SVMs). The mean estimation rates for all 10 subjects and for 5 subjects over more than 10 weeks were, respectively, 68.6% and 77.4%.
Robust Global Trajectory Tracking for Underactuated VTOL Aerial Vehicles Using Inner-Outer Loop Control Paradigms

This paper proposes a feedback control strategy to let the dynamics of a class of under-actuated vertical take-off and landing (VTOL) aerial vehicle tracking a desired position and attitude trajectory globally with respect to the initial conditions. The proposed feedback controller is derived following an inner-outer loop control paradigm, namely by considering the attitude, which is governed by means of a hybrid controller so as to overcome the well-known topological constraints, serving as a virtual input to stabilize the aircraft position. Two different approaches, the first one obtained by assuming perfect knowledge of the vehicle dynamics and the second one obtained by considering uncertainties and exogenous disturbances, are proposed and compared by analyzing the interconnection between the hybrid attitude and the continuous-time position closed-loop subsystems. The effectiveness of the obtained results is demonstrated by means of simulations and experiments using a miniature quadrotor prototype.
What is a camera?

This paper addresses the problem of characterizing a general class of cameras under reasonable, “linear” assumptions. Concretely, we use the formalism and terminology of classical projective geometry to model cameras by two-parameter linear families of straight lines-that is, degenerate reguli (rank-3 families) and non-degenerate linear congruences (rank-4 families). This model captures both the general linear cameras of Yu and McMillan and the linear oblique cameras of Pajdla. From a geometric perspective, it affords a simple classification of all possible camera configurations. From an analytical viewpoint, it also provides a simple and unified methodology for deriving general formulas for projection and inverse projection, triangulation, and binocular and trinocular geometry.
De la délétion du premier intron de WNK1 à l'hypertension : caractérisation d'un modèle murin d'Hypertension Hyperkaliémique Familiale, une forme monogénique d'hypertension

Des mutations du gene codant la serine-threonine kinase WNK1 sont responsables de l’Hypertension Hyperkaliemique Familiale (HHF), une forme rare d’hypertension associee a une hyperkaliemie et une acidose metabolique hyperchloremique. WNK1 donne naissance a une isoforme ubiquitaire, L-WNK1, et a une isoforme depourvue de domaine kinase fonctionnel et exprimee exclusivement dans le nephron, KS-WNK1. Plusieurs autres isoformes sont generees par un mecanisme d’epissage alternatif mais n’ont jamais ete etudiees en detail. Nous avons tout d’abord etabli une description exhaustive de l’ensemble des isoformes de WNK1 et quantifie leurs niveaux d’expression respectifs dans un panel de tissus humains et murins ainsi que dans les differents segments du nephron. Nous avons ainsi montre que 9 exons de WNK1 sont soumis a epissage alternatif, ce de maniere tissu-specifique. Dans un second temps, afin de comprendre la physiopathologie de l’HHF, et de ce fait le role de WNK1 dans la regulation de la pression arterielle et de l’homeostasie ionique, nous avons genere des souris WNK1+/FHHt, porteuses d’une deletion du premier intron de WNK1, donc de la mutation HHF humaine. Les souris ont une pression arterielle augmentee, une hyperkaliemie et une acidose metabolique hyperchloremique. Nous avons montre que ce phenotype provient d’une activation du co-transporteur sodium-chlore NCC secondaire a la surexpression de L-WNK1 dans le nephron distal. En conclusion, ce travail a permis d’etablir une description detaillee de toutes les isoformes de WNK1 et de leur profil d’expression et de mieux comprendre la physiopathologie de l’HHF par mutation de WNK1
Isotope geochemistry and Re–Os geochronology of the Yanjiagou Mo deposit in the central North China Craton

The Yanjiagou deposit, located in the central North China Craton (NCC), is a newly found porphyry‐type Mo deposit. The Mo mineralization here is spatially associated with the Mapeng batholith. In this study, we identify four stages of ore formation in this deposit: pyrite phyllic stage (I), quartz–pyrite stage (II), quartz–pyrite–molybdenite stage (III), which is the main mineralization stage, and quartz–carbonate stage (IV). We present sulphur and lead isotope data on pyrite, and rhenium and osmium isotopes of molybdenite from the porphyry deposit and evaluate the timing and origin of ore formation. The δ34S values of the pyrite range from ‐1.1‰ to −0.6‰, with an average of −0.875‰, suggesting origin from a mixture of magmatic/mantle sources and the basement rocks. The Pb isotope compositions of the pyrite show a range of 16.369 to 17.079 for 206Pb/204Pb, 15.201 to 15.355 for 207Pb/204Pb, and 36.696 to 37.380 for 208Pb/204Pb, indicating that the ore‐forming materials were derived from a mixture of lower crust (or basement rocks) and mantle. Rhenium contents in molybdenite samples from the main ore stage are between 74.73 to 254.43 ppm, with an average of 147.9 ppm, indicating a mixed crustal‐mantle source for the metal. Eight molybdenite separates yield model ages ranging from 124.17 to 130.80 Ma and a mean model age of 128.46 Ma. An isochron age of 126.7 ± 1.1 Ma (MSWD = 2.1, initial 187Os = 0.0032 ± 0.0012 ppb) is computed, which reveals a close link between the Mo mineralization and the magmatism that generated the Mapeng batholith. The age is close to the zircon U–Pb age of ca. 130 Ma from the batholith reported in a recent study. The age is also consistent with the timing of mineralization in the Fuping ore cluster in the central NCC, as well as the peak time of lithosphere thinning and destruction of the NCC. We evaluate the spatio‐temporal distribution of the Mo deposits in the NCC and identify three important molybdenum provinces along the northern and southern margins of the craton formed during three distinct episodes: Middle to Late Triassic (240–220 Ma), Early Jurassic (190–175 Ma), and Late Jurassic to Early Cretaceous (150–125 Ma). The third period is considered to mark the most important metallogenic event, coinciding with the peak of lithosphere thinning and craton destruction in the NCC. Copyright © 2014 John Wiley & Sons, Ltd.
Scaling and Elevation in River Networks

The analysis of large river networks obtained from digital elevation models has given insight into the variation of channel slope with scale. Investigators have recently suggested that channel slopes are self-similar with magnitude or area as a scaling parameter. Our data indicates otherwise; in particular, the variance of channel slope is larger than that predicted by simple self-similarity. This suggests multiscaling. The scaling exponent for the standard deviation is approximately half the corresponding exponent in the relationship of the slope mean to magnitude or area. A model for channel slopes based on a point process of elevation drops along the channel is presented. The model reproduces observed multiscaling properties when the density of elevation increments is related to area (or magnitude) as A−θ.
A Multi-Objective Genetic Algorithm for Cutting-Stock in Plastic Rolls Industry

In this paper, we confront a variant of the cutting-stock problem with multiple objectives. It is an actual problem of an industry that manufactures plastic rolls under customers’ demands. The starting point is a solution calculated by a heuristic algorithm, termed SHRP that aims mainly at optimizing the two main objectives, i.e. the number of cuts and the number of different patterns; then the proposed multi-objective genetic algorithm tries to optimize other secondary objectives such as changeovers, completion times of orders weighted by priorities and open stacks. We report experimental results showing that the multiobjective genetic algorithm is able to improve the solutions obtained by SHRP on the secondary objectives and also that it offers a number of non dominated solutions, so that the expert can chose one of them according to his preferences at the time of cutting the orders of a set of customers.
Java Unit Testing Tool Competition - Fifth Round

After four successful JUnit tool competitions, we report on the achievements of a new Java Unit Testing Tool Competition. This 5th contest introduces statistical analyses in the benchmark infrastructure and has been validated with significance against the results of the previous 4th edition. Overall, the competition evaluates four automated JUnit testing tools taking as baseline human written test cases from real projects. The paper details the modifications performed to the methodology and provides full results of the competition.
Modeling global annual N2O and NO emissions from fertilized fields

Information from 846 N2O emission measurements in agricultural fields and 99 measurements for NO emissions was used to describe the influence of various factors regulating emissions from mineral soils in models for calculating global N2O and NO emissions. Only those factors having a significant influence on N2O and NO emissions were included in the models. For N2O these were (1) environmental factors (climate, soil organic C content, soil texture, drainage and soil pH); (2) management‐related factors (N application rate per fertilizer type, type of crop, with major differences between grass, legumes and other annual crops); and (3) factors related to the measurements (length of measurement period and frequency of measurements). The most important controls on NO emission include the N application rate per fertilizer type, soil organic‐C content and soil drainage. Calculated global annual N2O‐N and NO‐N emissions from fertilized agricultural fields amount to 2.8 and 1.6 Mtonne, respectively. The global mean fertilizer‐induced emissions for N2O and NO amount to 0.9% and 0.7%, respectively, of the N applied. These overall results account for the spatial variability of the main N2O and NO emission controls on the landscape scale.
Characteristics of and Corrections for Core Shortening in Unconsolidated Sediments

Thinning, bypassing, and compaction of shallow unconsolidated sediments during manual coring or vibracoring operations probably cause more sediment deformation and greater stratigraphic displacement than is commonly reported in the wetland literature. We measured core shortening in open-barrel cores from fluvial wetlands, lagoonal flats, and marshes to document the magnitude and characteristics of shortening where sediments may be stiff and require extra mechanical effort to recover a sufficient length of sample for analysis. Results of those measurements indicate that thinning or non-recovery of discrete sediment intervals can range from 0 to 67 percent and cumulative core shortening can be as much as 30 percent even for cores less than one meter long. Detailed open-barrel measurements also show that core shortening is not uniformly distributed throughout the depth of penetration as is often assumed. Analytical data derived from shortened cores can only be properly interpreted if patterns of shortening are established and incorporated into the analysis. Minor artificial displacement of sediment depths can alter plots of physico-chemical parameters and can significantly influence calculated rates of sedimentation and other depth-dependent statistical relationships. This study (1) demonstrates how plots of interval shortening and cumulative shortening can be used to characterize the distribution of shortening at depth and (2) presents a simple equation for stratigraphic restoration so that core observations and analyses are corrected to their original depths.
Email data cleaning

Addressed in this paper is the issue of 'email data cleaning' for text mining. Many text mining applications need take emails as input. Email data is usually noisy and thus it is necessary to clean it before mining. Several products offer email cleaning features, however, the types of noises that can be eliminated are restricted. Despite the importance of the problem, email cleaning has received little attention in the research community. A thorough and systematic investigation on the issue is thus needed. In this paper, email cleaning is formalized as a problem of non-text filtering and text normalization. In this way, email cleaning becomes independent from any specific text mining processing. A cascaded approach is proposed, which cleans up an email in four passes including non-text filtering, paragraph normalization, sentence normalization, and word normalization. As far as we know, non-text filtering and paragraph normalization have not been investigated previously. Methods for performing the tasks on the basis of Support Vector Machines (SVM) have also been proposed in this paper. Features in the models have been defined. Experimental results indicate that the proposed SVM based methods can significantly outperform the baseline methods for email cleaning. The proposed method has been applied to term extraction, a typical text mining processing. Experimental results show that the accuracy of term extraction can be significantly improved by using the data cleaning method.
Physical mechanism of long‐term drying trend over tropical North Africa

Based on an approximated moisture budget equation, we investigate the physical mechanisms of a drying trend observed over tropical North Africa in the boreal summer during the 20th Century by analyzing datasets of several climate‐model experiments forced with various combinations of natural and anthropogenic forcings. Increased anthropogenic aerosols thermodynamically induce a drying trend due to a tropospheric cooling and dynamically induce an additional drying trend due to an atmospheric local circulation change stirred up by the strong gradient of a sea surface temperature anomaly over the tropical Atlantic Ocean. Increased greenhouse gases, on the other hand, induce a drying trend through the large‐scale dynamic effect, which is canceled out by the thermodynamically induced moistening trend due to tropospheric warming. Therefore, the drying trend observed over tropical North Africa during the 20th Century is strongly affected by the increased anthropogenic aerosols through both the dynamic and thermodynamic effects.
Direct Superpoints Matching for Fast and Robust Point Cloud Registration

Although deep neural networks endow the downsampled superpoints with discriminative feature representations, directly matching them is usually not used alone in state-of-the-art methods, mainly for two reasons. First, the correspondences are inevitably noisy, so RANSAC-like reﬁnement is usually adopted. Such ad hoc postprocessing, however, is slow and not differentiable, which can not be jointly optimized with feature learning. Second, superpoints are sparse and thus more RANSAC iterations are needed. Existing approaches use the coarse-to-ﬁne strategy to propagate the superpoints correspondences to the point level, which are not discriminative enough and further necessitates the postprocessing reﬁnement. In this paper, we present a simple yet effective approach to extract correspondences by directly matching superpoints using a global softmax layer in an end-to-end manner, which are used to determine the rigid transformation between the source and target point cloud. Compared with methods that directly predict corresponding points, by leveraging the rich information from the superpoints matchings, we can obtain more accurate estimation of the transformation and effectively ﬁlter out outliers without any postprocessing reﬁnement . As a result, our approach is not only fast, but also achieves state-of-the-art results on the challenging ModelNet and 3DMatch benchmarks. Our code and model weights will be publicly released.
Bridge_Sim: Framework for Planning and Optimizing Bridge Deck Construction using Computer Simulation

This paper presents a framework (named Bridge_Sim) that aids contractors in planning bridge deck construction using computer simulation. The proposed framework estimates the time and cost required for construction of bridges' decks. Seven construction methods are included in the proposed framework. These are: cast-in-place on falsework, steel bridge construction, cantilever carriage, pre-cast balanced cantilever, deck pushing, stepping formwork, and launching girder method. The framework estimates total duration and cost for each zone along with its sub-zones, taking into account uncertainties inherited in tasks duration by allowing utilization probability density functions. It allows defining different options and ranges of parameters that influence the duration and total cost associated with launching girder construction method to carry out optimization analysis utilizing ant colony optimization. A numerical example is presented to demonstrate the practical features of Bridge_Sim