Aerial Manipulator Systems (AMS) have garnered significant interest for their utility in aerial operations. Nonetheless, challenges related to the manipulator's limited stiffness and the coupling disturbance with manipulator movement persist. This paper introduces the Aerial Tendon-Driven Manipulator (ATDM), an innovative AMS that integrates a hexrotor Unmanned Aerial Vehicle (UAV) with a 4-degree-of-freedom (4-DOF) anthropomorphic tendon-driven manipulator. The design of the manipulator is anatomically inspired, emulating the human arm anatomy from the shoulder joint downward. To enhance the structural integrity and performance, finite element topology optimization and lattice optimization are employed on the links to replicate the radially graded structure characteristic of bone, this approach effectively reduces weight and inertia while simultaneously maximizing stiffness. A novel tensioning mechanism with adjustable tension is introduced to address cable relaxation, and a Tension-amplification tendon mechanism is implemented to increase the manipulator's overall stiffness and output. The paper presents a kinematic model based on virtual coupled joints, a comprehensive workspace analysis, and detailed calculations of output torques and stiffness for individual arm joints. The prototype arm has a total weight of 2.7 kg, with the end effector contributing only 0.818 kg. By positioning all actuators at the base, coupling disturbance are minimized. The paper includes a detailed mechanical design and validates the system's performance through semi-physical multi-body dynamics simulations, confirming the efficacy of the proposed design.

Sparse tensor operations are gaining attention in emerging applications such as social networks, deep learning, diagnosis, crime, and review analysis. However, a major obstacle for research in sparse tensor operations is the deficiency of a broad-scale sparse tensor dataset. Another challenge in sparse tensor operations is examining the sparse tensor features, which are not only important for revealing its nonzero pattern but also have a significant impact on determining the best-suited storage format, the decomposition algorithm, and the reordering methods. However, due to the large sizes of real tensors, even extracting these features becomes costly without caution. To address these gaps in the literature, we have developed a smart sparse tensor generator that mimics the substantial features of real sparse tensors. Moreover, we propose various methods for efficiently extracting an extensive set of features for sparse tensors. The effectiveness of our generator is validated through the quality of features and the performance of decomposition in the generated tensors. Both the sparse tensor feature extractor and the tensor generator are open source with all the artifacts available at https://github.com/sparcityeu/feaTen and https://github.com/sparcityeu/genTen, respectively.

Composing poetry or lyrics involves several creative factors, but a challenging aspect of generation is the adherence to a more or less strict metric and rhyming pattern. To address this challenge specifically, previous work on the task has mainly focused on reverse language modeling, which brings the critical selection of each rhyming word to the forefront of each verse. On the other hand, reversing the word order requires that models be trained from scratch with this task-specific goal and cannot take advantage of transfer learning from a Pretrained Language Model (PLM). We propose a novel fine-tuning approach that prepends the rhyming word at the start of each lyric, which allows the critical rhyming decision to be made before the model commits to the content of the lyric (as during reverse language modeling), but maintains compatibility with the word order of regular PLMs as the lyric itself is still generated in left-to-right order. We conducted extensive experiments to compare this fine-tuning against the current state-of-the-art strategies for rhyming, finding that our approach generates more readable text and better rhyming capabilities. Furthermore, we furnish a high-quality dataset in English and 12 other languages, analyse the approach's feasibility in a multilingual context, provide extensive experimental results shedding light on good and bad practices for lyrics generation, and propose metrics to compare methods in the future.

Table summarization is a crucial task aimed at condensing information from tabular data into concise and comprehensible textual summaries. However, existing approaches often fall short of adequately meeting users' information and quality requirements and tend to overlook the complexities of real-world queries. In this paper, we propose a novel method to address these limitations by introducing query-focused multi-table summarization. Our approach, which comprises a table serialization module, a summarization controller, and a large language model (LLM), utilizes textual queries and multiple tables to generate query-dependent table summaries tailored to users' information needs. To facilitate research in this area, we present a comprehensive dataset specifically tailored for this task, consisting of 4909 query-summary pairs, each associated with multiple tables. Through extensive experiments using our curated dataset, we demonstrate the effectiveness of our proposed method compared to baseline approaches. Our findings offer insights into the challenges of complex table reasoning for precise summarization, contributing to the advancement of research in query-focused multi-table summarization.

This study unveils the In-Context Evolutionary Search (ICE-SEARCH) method, which is among the first works that melds large language models (LLMs) with evolutionary algorithms for feature selection (FS) tasks and demonstrates its effectiveness in Medical Predictive Analytics (MPA) applications. ICE-SEARCH harnesses the crossover and mutation capabilities inherent in LLMs within an evolutionary framework, significantly improving FS through the model's comprehensive world knowledge and its adaptability to a variety of roles. Our evaluation of this methodology spans three crucial MPA tasks: stroke, cardiovascular disease, and diabetes, where ICE-SEARCH outperforms traditional FS methods in pinpointing essential features for medical applications. ICE-SEARCH achieves State-of-the-Art (SOTA) performance in stroke prediction and diabetes prediction; the Decision-Randomized ICE-SEARCH ranks as SOTA in cardiovascular disease prediction. The study emphasizes the critical role of incorporating domain-specific insights, illustrating ICE-SEARCH's robustness, generalizability, and convergence. This opens avenues for further research into comprehensive and intricate FS landscapes, marking a significant stride in the application of artificial intelligence in medical predictive analytics.

Answering complex queries over incomplete knowledge graphs (KGs) is a challenging job. Most previous works have focused on learning entity/relation embeddings and simulating first-order logic operators with various neural networks. However, they are bottlenecked by the inability to share world knowledge to improve logical reasoning, thus resulting in suboptimal performance. In this paper, we propose a complex reasoning schema over KG upon large language models (LLMs), containing a curriculum-based logical-aware instruction tuning framework, named LACT. Specifically, we augment the arbitrary first-order logical queries via binary tree decomposition, to stimulate the reasoning capability of LLMs. To address the difficulty gap among different types of complex queries, we design a simple and flexible logic-aware curriculum learning framework. Experiments across widely used datasets demonstrate that LACT has substantial improvements~(brings an average +5.5% MRR score) over advanced methods, achieving the new state-of-the-art. Our code and model will be released at GitHub and huggingface soon.

This thesis is a corpus-based, quantitative, and typological analysis of the functions of Early Slavic participle constructions and their finite competitors ($jegda$-'when'-clauses). The first part leverages detailed linguistic annotation on Early Slavic corpora at the morphosyntactic, dependency, information-structural, and lexical levels to obtain indirect evidence for different potential functions of participle clauses and their main finite competitor and understand the roles of compositionality and default discourse reasoning as explanations for the distribution of participle constructions and $jegda$-clauses in the corpus. The second part uses massively parallel data to analyze typological variation in how languages express the semantic space of English $when$, whose scope encompasses that of Early Slavic participle constructions and $jegda$-clauses. Probabilistic semantic maps are generated and statistical methods (including Kriging, Gaussian Mixture Modelling, precision and recall analysis) are used to induce cross-linguistically salient dimensions from the parallel corpus and to study conceptual variation within the semantic space of the hypothetical concept WHEN.

Recent advances in natural language processing (NLP) can be largely attributed to the advent of pre-trained language models such as BERT and RoBERTa. While these models demonstrate remarkable performance on general datasets, they can struggle in specialized domains such as medicine, where unique domain-specific terminologies, domain-specific abbreviations, and varying document structures are common. This paper explores strategies for adapting these models to domain-specific requirements, primarily through continuous pre-training on domain-specific data. We pre-trained several German medical language models on 2.4B tokens derived from translated public English medical data and 3B tokens of German clinical data. The resulting models were evaluated on various German downstream tasks, including named entity recognition (NER), multi-label classification, and extractive question answering. Our results suggest that models augmented by clinical and translation-based pre-training typically outperform general domain models in medical contexts. We conclude that continuous pre-training has demonstrated the ability to match or even exceed the performance of clinical models trained from scratch. Furthermore, pre-training on clinical data or leveraging translated texts have proven to be reliable methods for domain adaptation in medical NLP tasks.

Dormant pruning, or the removal of unproductive portions of a tree while a tree is not actively growing, is an important orchard task to help maintain yield, requiring years to build expertise. Because of long training periods and an increasing labor shortage in agricultural jobs, pruning could benefit from robotic automation. However, to program robots to prune branches, we first need to understand how pruning decisions are made, and what variables in the environment (e.g., branch size and thickness) we need to capture. Working directly with three pruning stakeholders -- horticulturists, growers, and pruners -- we find that each group of human experts approaches pruning decision-making differently. To capture this knowledge, we present three studies and two extracted pruning protocols from field work conducted in Prosser, Washington in January 2022 and 2023. We interviewed six stakeholders (two in each group) and observed pruning across three cultivars -- Bing Cherries, Envy Apples, and Jazz Apples -- and two tree architectures -- Upright Fruiting Offshoot and V-Trellis. Leveraging participant interviews and video data, this analysis uses grounded coding to extract pruning terminology, discover horticultural contexts that influence pruning decisions, and find implementable pruning heuristics for autonomous systems. The results include a validated terminology set, which we offer for use by both pruning stakeholders and roboticists, to communicate general pruning concepts and heuristics. The results also highlight seven pruning heuristics utilizing this terminology set that would be relevant for use by future autonomous robot pruning systems, and characterize three discovered horticultural contexts (i.e., environmental management, crop-load management, and replacement wood) across all three cultivars.

Diverse planning is the problem of generating plans with distinct characteristics. This is valuable for many real-world scenarios, including applications related to plan recognition and business process automation. In this work, we introduce \emph{Behaviour Planning}, a diverse planning toolkit that can characterise and generate diverse plans based on modular diversity models. We present a qualitative framework for describing diversity models, a planning approach for generating plans aligned with any given diversity model, and provide a practical implementation of an SMT-based behaviour planner. We showcase how the qualitative approach offered by Behaviour Planning allows it to overcome various challenges faced by previous approaches. Finally, the experimental evaluation shows the effectiveness of Behaviour Planning in generating diverse plans compared to state-of-the-art approaches.