Miracle-dz/UniFAR-FTUs huggingface dataset:
Efficient Object Rearrangement via Multi-view Fusion

The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal rearrangement system is estimating the desired placement pose of each object based on the single goal image and observations from the current scene. In order to establish sufficient associations for accurate estimation, the system should observe an object from a viewpoint similar to that in the goal image. Existing image-goal rearrangement systems, due to their reliance on a fixed viewpoint for perception, often require redundant manipulations to randomly adjust an object's pose for a better perspective. Addressing this inefficiency, we introduce a novel object rearrangement system that employs multi-view fusion. By observing the current scene from multiple viewpoints before manipulating objects, our approach can estimate a more accurate pose without redundant manipulation times. A standard visual localization pipeline at the object level is developed to capitalize on the advantages of multi-view observations. Simulation results demonstrate that the efficiency of our system outperforms existing single-view systems. The effectiveness of our system is further validated in a physical experiment.
Constructing a Knowledge Graph for Vietnamese Legal Cases with Heterogeneous Graphs

We develop a novel approach to construct a knowledge graph encompassing legal case documents and relevant legislation to improve legal information organization and retrieval. Our method involves data collection, entity extraction, and graph construction using natural language processing techniques. The constructed heterogeneous graph connects courts, cases, domains, and laws, significantly enriching information provided by retrieval systems. Our approach demonstrates potential in case analysis, legal recommendations, and decision support, providing valuable insights and resources for the legal domain.
NOWJ1@ALQAC 2023: Enhancing Legal Task Performance with Classic Statistical Models and Pre-trained Language Models

This paper describes the NOWJ1 Team's approach for the Automated Legal Question Answering Competition (ALQAC) 2023, which focuses on enhancing legal task performance by integrating classical statistical models and Pre-trained Language Models (PLMs). For the document retrieval task, we implement a pre-processing step to overcome input limitations and apply learning-to-rank methods to consolidate features from various models. The question-answering task is split into two sub-tasks: sentence classification and answer extraction. We incorporate state-of-the-art models to develop distinct systems for each sub-task, utilizing both classic statistical models and pre-trained Language Models. Experimental results demonstrate the promising potential of our proposed methodology in the competition.
Conformal submanifolds, distinguished submanifolds, and integrability

For conformal geometries of Riemannian signature, we provide a comprehensive and explicit treatment of the core local theory for embedded submanifolds of arbitrary dimension. This is based in the conformal tractor calculus and includes a conformally invariant Gauss formula leading to conformal versions of the Gauss, Codazzi, and Ricci equations. It provides the tools for proliferating submanifold conformal invariants, as well for extending to conformally singular Riemannian manifolds the notions of mean curvature and of minimal and CMC submanifolds. A notion of distinguished submanifold is defined by asking the tractor second fundamental form to vanish. We show that for the case of curves this exactly characterises conformal geodesics (a.k.a. conformal circles) while for hypersurfaces it is the totally umbilic condition. So, for other codimensions, this unifying notion interpolates between these extremes, and we prove that in all dimensions this coincides with the submanifold being weakly conformally circular, meaning that ambient conformal circles remain in the submanifold. Stronger notions of conformal circularity are then characterised similarly. Next we provide a very general theory and construction of quantities that are necessarily conserved along distinguished submanifolds. This first integral theory thus vastly generalises the results available for conformal circles in [56]. We prove that any normal solution to an equation from the class of first BGG equations can yield such a conserved quantity, and show that it is easy to provide explicit formulae for these. Finally we prove that the property of being distinguished is also captured by a type of moving incidence relation. This second characterisation is used to show that, for suitable solutions of conformal Killing-Yano equations, a certain zero locus of the solution is necessarily a distinguished submanifold.
Combinatorial curvature flows for generalized hyperbolic circle packings

Generalized circle packings were introduced in \cite{Ba-Hu-Sun} as a generalization of tangential circle packings in hyperbolic background geometry. In this paper, we introduce the combinatorial Calabi flow, fractional combinatorial Calabi flow and combinatorial $p$-th Calabi flow for generalized hyperbolic circle packings. We establish several equivalent conditions regarding the longtime behaviors of these flows. This provides effective algorithms for finding the generalized circle packings with prescribed total geodesic curvatures.
Sorted LLaMA: Unlocking the Potential of Intermediate Layers of Large Language Models for Dynamic Inference

Large language models (LLMs) have revolutionized natural language processing (NLP) by excelling at understanding and generating human-like text. However, their widespread deployment can be prohibitively expensive. SortedNet is a recent training technique for enabling dynamic inference by leveraging the modularity in networks and sorting sub-models based on computation/accuracy in a nested manner. We extend SortedNet to generative NLP tasks, making large language models dynamic without any Pre-Training and by only replacing Standard Fine-Tuning (SFT) with Sorted Fine-Tuning (SoFT). Our approach boosts model efficiency, eliminating the need for multiple models for various scenarios during inference. We show that this approach can unlock the potential of intermediate layers of transformers in generating the target output. Our sub-models remain integral components of the original model, minimizing storage requirements and transition costs between different computational/latency budgets. The efficacy of our proposed method was demonstrated by applying it to tune LLaMA 2 13B on the Stanford Alpaca dataset for instruction following and TriviaQA for closed-book question answering. Our results show the superior performance of sub-models in comparison to Standard Fine-Tuning and SFT+ICT (Early-Exit), all achieved with very efficient tuning and without additional memory usage during inference.
A Few-Shot Approach to Dysarthric Speech Intelligibility Level Classification Using Transformers

Dysarthria is a speech disorder that hinders communication due to difficulties in articulating words. Detection of dysarthria is important for several reasons as it can be used to develop a treatment plan and help improve a person’s quality of life and ability to communicate effectively. Much of the literature focused on improving ASR systems for dysarthric speech. The objective of the current work is to develop models that can accurately classify the presence of dysarthria and also give information about the intelligibility level using limited data by employing a few-shot approach using a transformer model. This work also aims to tackle the data leakage that is present in previous studies. Our whisper-large-v2 transformer model trained on a subset of the UASpeech dataset containing medium intelligibility level patients achieved an accuracy of 85%, precision of 0.92, recall of 0.8 F1-score of 0.85, and specificity of 0.91. Experimental results also demonstrate that the model trained using the ’words’ dataset performed better compared to the model trained on the ’letters’ and ’digits’ dataset. Moreover, the multiclass model achieved an accuracy of 67%.
Diagnostic Value and Challenges of BRAF V600E Molecular Testing and Thyroid Fine-Needle Aspiration Cytology: A Retrospective Study from a Tertiary Institution in Southern Hunan Province, China

Introduction: Combined thyroid fine-needle aspiration (FNA) cytology and valine-to-glutamate substitution at codon 600 of B-Raf proto-oncogene, serine/threonine kinase (BRAF V600E) mutation detection are procedures used for diagnosing thyroid nodules in many Chinese tertiary institutions. This retrospective study at our institution aimed to explore the effectiveness and challenges of the combined approach in diagnosing thyroid nodules and the correlation between BRAF V600E mutation status and behavior of papillary thyroid carcinoma. Methods: Thyroid FNA cytology and BRAF V600E mutation detection results were reviewed between November 2020 and July 2022. A total of 623 patients, each of whom underwent thyroidectomy and final pathological examination after FNA cytology diagnosis, were included in the study. The relationship between the BRAF V600E mutational status and pathological parameters was analyzed using the χ2 test. The effectiveness and challenges of FNA cytology alone and the combined procedure were also evaluated based on the final pathology. Results: Of 623 patients, 591 were diagnosed with papillary thyroid carcinoma (PTC), of which 456 were positive for the BRAF V600E mutation. It demonstrated near-perfect specificity for identifying PTC, and its incidence rate showed an age-specific curve with an inverted U-shaped distribution. The final pathological examination showed that the combined procedure had a higher sensitivity (83.91%) than FNA cytology alone (63.45%) for distinguishing PTC from other lesions (p < 0.001). Mutational status was associated with a larger maximum tumor diameter (p = 0.003) and a tendency of capsular invasion (p = 0.0542) but possibly unrelated to central lymph node metastasis (p = 0.1846). Nodular goiters accounted for most benign entities initially designated as Bethesda categories III–V. Conclusion: BRAF V600E mutational analysis complements cytopathology and improves the PTC detection rate in FNA cytology samples due to the high prevalence of the mutation in China. BRAF V600E mutation does not show a statistical correlation with tumor aggressiveness. Morphological pitfalls such as histocyte aggregation, cystic-lining cells in nodular goiters, and oncocytes in Hashimoto’s thyroiditis, were overwhelmingly found in BRAF V600E-negative specimens.
Regional impact of aging population on carbon dioxide emissions in China: Evidence from panel threshold regression (PTR)

Carbon dioxide emission is a high-profile issue that can affect both the human economy and human existence, but few scholars have studied the relationship between these two. Therefore, this study constructs the panel threshold regression (PTR) based on the National Bureau of Statistics of China’s panel data from 2002 to 2019 in 19 regions. One of the advantages of PTR is to leverage segmented functions, allowing for a more detailed analysis of the data. Besides, by introducing the idea of a threshold, PTR can effectively avoid structural changes in the data. The different between this study and other research is that this study divides 19 regions into two parts: Eastern China and Central China. Based on that, this study researches and compares the different influences of the aging population on carbon emissions in these two regions. The results show that although the Environment Kuznets Curve has been confirmed in both Eastern China and Central China, with the development of the economy, the carbon emissions will increase in Eastern China and decrease in Central China, respectively. In addition, the key factors affecting carbon emissions in Eastern China and Central China are trade dependence and urbanization rate separately. Hence, this study suggests that the regional governments in Eastern China may guide and encourage more international trading companies to move to Central China, and at the same time, the regional governments in Central China should issue more policies to attract these companies, such as: reducing land lease fees and building better transportation infrastructure. Apart from that, the governments in Central China should vigorously increase the rate of urbanization to reduce energy consumption and improve energy efficiency.
Sin3a associated protein 130 kDa, sap130, plays an evolutionary conserved role in zebrafish heart development

Hypoplastic left heart syndrome (HLHS) is a congenital heart disease where the left ventricle is reduced in size. A forward genetic screen in mice identified SIN3A associated protein 130 kDa (Sap130), part of the chromatin modifying SIN3A/HDAC complex, as a gene contributing to the etiology of HLHS. Here, we report the role of zebrafish sap130 genes in heart development. Loss of sap130a, one of two Sap130 orthologs, resulted in smaller ventricle size, a phenotype reminiscent to the hypoplastic left ventricle in mice. While cardiac progenitors were normal during somitogenesis, diminution of the ventricle size suggest the Second Heart Field (SHF) was the source of the defect. To explore the role of sap130a in gene regulation, transcriptome profiling was performed after the heart tube formation to identify candidate pathways and genes responsible for the small ventricle phenotype. Genes involved in cardiac differentiation and cardiac function were dysregulated in sap130a, but not in sap130b mutants. Confocal light sheet analysis measured deficits in cardiac output in MZsap130a supporting the notion that cardiomyocyte maturation was disrupted. Lineage tracing experiments revealed a significant reduction of SHF cells in the ventricle that resulted in increased outflow tract size. These data suggest that sap130a is involved in cardiogenesis via regulating the accretion of SHF cells to the growing ventricle and in their subsequent maturation for cardiac function. Further, genetic studies revealed an interaction between hdac1 and sap130a, in the incidence of small ventricles. These studies highlight the conserved role of Sap130a and Hdac1 in zebrafish cardiogenesis.
The re-emergence of influenza following the COVID-19 pandemic in Victoria, Australia, 2021 to 2022

Background COVID-19 pandemic mitigation measures, including travel restrictions, limited global circulation of influenza viruses. In Australia, travel bans for non-residents and quarantine requirements for returned travellers were eased in November 2021, providing pathways for influenza viruses to be re-introduced. Aim We aimed to describe the epidemiological and virological characteristics of the re-emergence of influenza in Victoria, Australia to inform public health interventions. Methods From 1 November 2021 to 30 April 2022, we conducted an epidemiological study analysing case notification data from the Victorian Department of Health to describe case demographics, interviewed the first 200 cases to establish probable routes of virus reintroduction and examined phylogenetic and antigenic data to understand virus diversity and susceptibility to current vaccines. Results Overall, 1,598 notifications and 1,064 positive specimens were analysed. The majority of cases (61.4%) occurred in the 15–34 years age group. Interviews revealed a higher incidence of international travel exposure during the first month of case detections, and high levels of transmission in university residential colleges were associated with return to campus. Influenza A(H3N2) was the predominant subtype, with a single lineage predominating despite multiple importations. Conclusion Enhanced testing for respiratory viruses during the COVID-19 pandemic provided a more complete picture of influenza virus transmission compared with previous seasons. Returned international travellers were important drivers of influenza reemergence, as were young adults, a group whose role has previously been under-recognised in the establishment of seasonal influenza epidemics. Targeting interventions, including vaccination, to these groups could reduce future influenza transmission.
Accelerating HIV vaccine development through meaningful engagement of local scientists and communities

Purpose of review There is a need to conduct multiple experimental medicine trials in regions with significant burden of disease to ensure the global relevance of vaccines under development including the African context. Recent findings African scientists can support accelerated HIV vaccine development by leading EMVTs in the region in a complementary fashion to global efforts and augment evidence generated to optimize and advance relevant vaccines towards licensure. The ADVANCE program enables EMVTs, where local scientists lead trial implementation and immunogenicity endpoint analysis of promising vaccine approaches. Concerted efforts towards scientific collaboration, enhancing specific clinical and lab capacity, and improving ethical and regulatory systems to review EMVTs in Africa will be catalytic. Appropriate engagement of local communities and stakeholders will be equally important, and the field needs to refine existing research literacy approaches to effectively partner with communities around current complex scientific approaches. Review of inclusion of relevant populations in early research is also needed. Summary African scientists and communities can help accelerate HIV vaccine development through stronger global collaboration. Now is the time for bold investments to enable the conduct of innovative EMVTs in Africa where the eventual vaccines will have the greatest impact.
Unidirectional conduction characterizing epicardial connections in patients with atrial tachyarrhythmias

Electrophysiological characteristics of epicardial connections (ECs) in atria and pulmonary veins (PVs) are unclear despite their important contributions to atrial fibrillation (AF). Unidirectional conduction associated with source‐sink mismatch can occur in ECs due to their fine fibers with abrupt changes in orientation. We detailed the prevalence and electrophysiological characteristics of unidirectional conduction in the atria and investigated its association with the clinical manifestation of AF.
Genotypes of Stim1 and the proximal region on chromosome 1 exert opposite effects on stroke susceptibility in stroke-prone spontaneously hypertensive rat

Background: The stroke-prone spontaneously hypertensive rat (SHRSP) is a genetic model for cerebral stroke. Although a recent study on a congenic SHRSP suggested that a nonsense mutation in stromal interaction molecule 1 (Stim1) encoding a major component of store-operated Ca2+ entry was a causal variant for stroke in SHRSP, this was not conclusive because the congenic region including Stim1 in that rat was too wide. On the other hand, we demonstrated that the Wistar–Kyoto (WKY)-derived congenic fragment adjacent to Stim1 exacerbated stroke susceptibility in a congenic SHRSP called SPwch1.71. In the present study, we directly examined the effects of the Stim1 genotype on stroke susceptibility using SHRSP in which wild-type Stim1 was knocked in (called Stim1-KI SHRSP). The combined effects of Stim1 and the congenic fragment of SPwch1.71 were also investigated. Methods: Stroke susceptibility was assessed by the stroke symptom-free and survival periods based on observations of behavioral symptoms and reductions in body weight. Results: Stim1-KI SHRSP was more resistant to, while SPwch1.71 was more susceptible to stroke than the original SHRSP. Introgression of the wild-type Stim1 of Stim1-KI SHRSP into SPwch1.71 by the generation of F1 rats ameliorated stroke susceptibility in SPwch1.71. Gene expression, whole-genome sequencing, and biochemical analyses identified Art2b, Folr1, and Pde2a as possible candidate genes accelerating stroke in SPwch1.71. Conclusion: The substitution of SHRSP-type Stim1 to wild-type Stim1 ameliorated stroke susceptibility in both SHRSP and SPwch1.71, indicating that the nonsense mutation in Stim1 is causally related to stroke susceptibility in SHRSP.
A Reservoir Analysis of the Denver Earthquakes: A Case of Induced Seismicity (Paper 80B 1095)

Injection of fluid wastes into the fractured Precambrian crystalline bedrock beneath the Rocky Mountain Arsenal near Denver triggered earthquakes in the 1960's. An analysis, based on the assumption that fluid flow in the fractured reservoir can be approximated by flow in a porous medium, is presented. The configuration and hydrologic properties of the reservoir are determined from two lines of evidence: (1) locations of earthquake hypocenters determined by seismic arrays installed at the Arsenal and (2) observed long-term decline in fluid levels in the injection well. Together these two sets of data indicate that a long, narrow reservoir, aligned in the direction N 60/sup 0/W, exists. The reservoir is 3.35 km in width, extends 30.5 km to the northwest and infinitely to the southeast, and spans a depth interval from 3.7 to 7.0 km below land surface. It has a transmissivity of 1.08 x 10/sup -5/ m/sup 2//s and a storage coefficient of 1.0 x 10/sup -5/. Computed pressure buildup along the length of the reservoir is compared with the spatial distribution of earthquake epicenters. The comparison shows that earthquakes are confined to that part of the reservoir where the pressure buildup exceeds 32 bars. This critical value is interpretedmore » as the pressure buildup above which earthquakes occur. The migration of earthquake epicenters away from the injection well, a phenomenon noted by previous investigators, can be accounted for by the outward propagation of the critical pressure buildup. The analysis is extended to examining the effects of rapid flow in fractures opened by high injection pressure. The results show that the effect is confined to a small region within 1 km of the injection well. The existence of a critical pressure buildup above which earthquakes occur is completely consistent with the theory on the role of fluid pressure in fault movement as presented by Hubbert and Rubey. « less
Asthma and landscape fire smoke: A Thoracic Society of Australia and New Zealand position statement

Landscape fires are increasing in frequency and severity globally. In Australia, extreme bushfires cause a large and increasing health and socioeconomic burden for communities and governments. People with asthma are particularly vulnerable to the effects of landscape fire smoke (LFS) exposure. Here, we present a position statement from the Thoracic Society of Australia and New Zealand. Within this statement we provide a review of the impact of LFS on adults and children with asthma, highlighting the greater impact of LFS on vulnerable groups, particularly older people, pregnant women and Aboriginal and Torres Strait Islander peoples. We also highlight the development of asthma on the background of risk factors (smoking, occupation and atopy). Within this document we present advice for asthma management, smoke mitigation strategies and access to air quality information, that should be implemented during periods of LFS. We promote clinician awareness, and the implementation of public health messaging and preparation, especially for people with asthma.