Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including self-driving cars and mobile robots that perform complex tasks. Fast moving platforms like self-driving cars impose a hard challenge for localization and mapping algorithms. In this work, we propose a novel framework for real-time LiDAR odometry and mapping based on LOAM architecture for fast moving platforms. Our framework utilizes semantic information produced by a deep learning model to improve point-to-line and point-to-plane matching between LiDAR scans and build a semantic map of the environment, leading to more accurate motion estimation using LiDAR data. We observe that including semantic information in the matching process introduces a new type of outlier matches to the process, where matching occur between different objects of the same semantic class. To this end, we propose a novel algorithm that explicitly identifies and discards potential outliers in the matching process. In our experiments, we study the effect of improving the matching process on the robustness of LiDAR odometry against high speed motion. Our experimental evaluations on KITTI dataset demonstrate that utilizing semantic information and rejecting outliers significantly enhance the robustness of LiDAR odometry and mapping when there are large gaps between scan acquisition poses, which is typical for fast moving platforms.

On February 22nd, a robotic lander named Odysseus touched down on the sun-washed highlands near the south pole of the moon. It was the first time since the Apollo 17 mission, fifty-two years ago, that an American spacecraft had gracefully landed on the lunar surface. And yet NASA hadn't designed or built Odysseus; it was renting space onboard. Intuitive Machines, a relatively small aerospace firm based in Houston, was responsible for the lander, which launched atop a SpaceX rocket. The event was historic not just because it signalled a return to the moon but because it was the first time that a private company from any country had landed a spacecraft there.

White storks take increasingly quicker and more direct routes for their migrations as they get older, which suggests they learn by experience to perfect these paths. "We've been able to track these animals and gain detailed information on when and where they go," says Ellen Aikens at the University of Wyoming. "But we wanted to learn more about how migration is refined and developed over the stork's lifetime." White storks (Ciconia ciconia) mostly breed in Europe, but fly to central or southern Africa for the winter. Between 2013 and 2020, Aikens and her colleagues captured 258 juvenile white storks at five breeding sites in Germany and Austria.

Hand-crafted, logic-based state and action representations have been widely used to overcome the intractable computational complexity of long-horizon robot planning problems, including task and motion planning problems. However, creating such representations requires experts with strong intuitions and detailed knowledge about the robot and the tasks it may need to accomplish in a given setting. Removing this dependency on human intuition is a highly active research area. This paper presents the first approach for autonomously learning generalizable, logic-based relational representations for abstract states and actions starting from unannotated high-dimensional, real-valued robot trajectories. The learned representations constitute auto-invented PDDL-like domain models. Empirical results in deterministic settings show that powerful abstract representations can be learned from just a handful of robot trajectories; the learned relational representations include but go beyond classical, intuitive notions of high-level actions; and that the learned models allow planning algorithms to scale to tasks that were previously beyond the scope of planning without hand-crafted abstractions.

Existing approaches on zero-shot event detection usually train models on datasets annotated with known event types, and prompt them with unseen event definitions. These approaches yield sporadic successes, yet generally fall short of expectations. In this work, we aim to improve zero-shot event detection by training models to better follow event definitions. We hypothesize that a diverse set of event types and definitions are the key for models to learn to follow event definitions while existing event extraction datasets focus on annotating many high-quality examples for a few event types. To verify our hypothesis, we construct an automatically generated Diverse Event Definition (DivED) dataset and conduct comparative studies. Our experiments reveal that a large number of event types (200) and diverse event definitions can significantly boost event extraction performance; on the other hand, the performance does not scale with over ten examples per event type. Beyond scaling, we incorporate event ontology information and hard-negative samples during training, further boosting the performance. Based on these findings, we fine-tuned a LLaMA-2-7B model on our DivED dataset, yielding performance that surpasses SOTA large language models like GPT-3.5 across three open benchmarks on zero-shot event detection.

Zhang et al. (ICML 2021, PLMR 139, pp. 12447-1245) introduced probabilistic generating circuits (PGCs) as a probabilistic model to unify probabilistic circuits (PCs) and determinantal point processes (DPPs). At a first glance, PGCs store a distribution in a very different way, they compute the probability generating polynomial instead of the probability mass function and it seems that this is the main reason why PGCs are more powerful than PCs or DPPs. However, PGCs also allow for negative weights, whereas classical PCs assume that all weights are nonnegative. One of the main insights of our paper is that the negative weights are responsible for the power of PGCs and not the different representation. PGCs are PCs in disguise, in particular, we show how to transform any PGC into a PC with negative weights with only polynomial blowup. PGCs were defined by Zhang et al. only for binary random variables. As our second main result, we show that there is a good reason for this: we prove that PGCs for categorial variables with larger image size do not support tractable marginalization unless NP = P. On the other hand, we show that we can model categorial variables with larger image size as PC with negative weights computing set-multilinear polynomials. These allow for tractable marginalization. In this sense, PCs with negative weights strictly subsume PGCs.

This communication presents preliminary findings from comparing two recent chatbots, OpenAI's ChatGPT and Google's Bard, in the context of fire engineering by evaluating their responses in handling fire safety related queries. A diverse range of fire engineering questions and scenarios were created and examined, including structural fire design, fire prevention strategies, evacuation, building code compliance, and fire suppression systems (some of which resemble those commonly present in the Fire Protection exam (FPE)). The results reveal some key differences in the performance of the chatbots, with ChatGPT demonstrating a relatively superior performance. Then, this communication highlights the potential for chatbot technology to revolutionize fire engineering practices by providing instant access to critical information while outlining areas for further improvement and research. Evidently, and when it matures, this technology will likely be elemental to our engineers' practice and education.

In recent advancements in Conversational Large Language Models (LLMs), a concerning trend has emerged, showing that many new base LLMs experience a knowledge reduction in their foundational capabilities following Supervised Fine-Tuning (SFT). This process often leads to issues such as forgetting or a decrease in the base model's abilities. Moreover, fine-tuned models struggle to align with user preferences, inadvertently increasing the generation of toxic outputs when specifically prompted. To overcome these challenges, we adopted an innovative approach by completely bypassing SFT and directly implementing Harmless Reinforcement Learning from Human Feedback (RLHF). Our method not only preserves the base model's general capabilities but also significantly enhances its conversational abilities, while notably reducing the generation of toxic outputs. Our approach holds significant implications for fields that demand a nuanced understanding and generation of responses, such as customer service. We applied this methodology to Mistral, the most popular base model, thereby creating Mistral-Plus. Our validation across 11 general tasks demonstrates that Mistral-Plus outperforms similarly sized open-source base models and their corresponding instruct versions. Importantly, the conversational abilities of Mistral-Plus were significantly improved, indicating a substantial advancement over traditional SFT models in both safety and user preference alignment.

Health acoustic sounds such as coughs and breaths are known to contain useful health signals with significant potential for monitoring health and disease, yet are underexplored in the medical machine learning community. The existing deep learning systems for health acoustics are often narrowly trained and evaluated on a single task, which is limited by data and may hinder generalization to other tasks. To mitigate these gaps, we develop HeAR, a scalable self-supervised learning-based deep learning system using masked autoencoders trained on a large dataset of 313 million two-second long audio clips. Through linear probes, we establish HeAR as a state-of-the-art health audio embedding model on a benchmark of 33 health acoustic tasks across 6 datasets. By introducing this work, we hope to enable and accelerate further health acoustics research.

Kurdish, an Indo-European language spoken by over 30 million speakers, is considered a dialect continuum and known for its diversity in language varieties. Previous studies addressing language and speech technology for Kurdish handle it in a monolithic way as a macro-language, resulting in disparities for dialects and varieties for which there are few resources and tools available. In this paper, we take a step towards developing resources for language and speech technology for varieties of Central Kurdish, creating a corpus by transcribing movies and TV series as an alternative to fieldwork. Additionally, we report the performance of machine translation, automatic speech recognition, and language identification as downstream tasks evaluated on Central Kurdish varieties. Data and models are publicly available under an open license at https://github.com/sinaahmadi/CORDI.