This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain feasible modal limits for designing braking trajectories. The first approach is real-time capable but conservative considering the usage of the available feasible actuator control region, resulting in longer braking times. In contrast, the second approach maximizes the used braking control inputs at the cost of requiring more time to evaluate larger, feasible modal limits via optimization. Both approaches allow for predicting the robot's stopping trajectory online. In addition, we also formulated and solved a constrained, nonlinear final-time minimization problem to find optimal torque inputs. The optimal solutions were used as a benchmark to evaluate the performance of the proposed predictable braking framework. A comparative study was compiled in simulation versus a classical optimal controller on a 7-DoF robot arm with only three moving joints. The results verified the effectiveness of our proposed framework and its integrated approaches in achieving fast robot braking manoeuvers with accurate online predictions of the stopping trajectories and distances under various braking settings.

Real-time computation of optimal control is a challenging problem and, to solve this difficulty, many frameworks proposed to use learning techniques to learn (possibly sub-optimal) controllers and enable their usage in an online fashion. Among these techniques, the optimal motion framework is a simple, yet powerful technique, that obtained success in many complex real-world applications. The main idea of this approach is to take advantage of dynamic motion primitives, a widely used tool in robotics to learn trajectories from demonstrations. While usually these demonstrations come from humans, the optimal motion framework is based on demonstrations coming from optimal solutions, such as the ones obtained by numeric solvers. As usual in many learning techniques, a drawback of this approach is that it is hard to estimate the suboptimality of learned solutions, since finding easily computable and non-trivial upper bounds to the error between an optimal solution and a learned solution is, in general, unfeasible. However, we show in this paper that it is possible to estimate this error for a broad class of problems. Furthermore, we apply this estimation technique to achieve a novel and more efficient sampling scheme to be used within the optimal motion framework, enabling the usage of this framework in some scenarios where the computational resources are limited.

Implicit discourse relation classification is a challenging task due to the absence of discourse connectives. To overcome this issue, we design an end-to-end neural model to explicitly generate discourse connectives for the task, inspired by the annotation process of PDTB. Specifically, our model jointly learns to generate discourse connectives between arguments and predict discourse relations based on the arguments and the generated connectives. To prevent our relation classifier from being misled by poor connectives generated at the early stage of training while alleviating the discrepancy between training and inference, we adopt Scheduled Sampling to the joint learning. We evaluate our method on three benchmarks, PDTB 2.0, PDTB 3.0, and PCC. Results show that our joint model significantly outperforms various baselines on three datasets, demonstrating its superiority for the task.

Multimodal Machine Learning has emerged as a prominent research direction across various applications such as Sentiment Analysis, Emotion Recognition, Machine Translation, Hate Speech Recognition, and Movie Genre Classification. This approach has shown promising results by utilizing modern deep learning architectures. Despite the achievements made, challenges remain in data representation, alignment techniques, reasoning, generation, and quantification within multimodal learning. Additionally, assumptions about the dominant role of textual modality in decision-making have been made. However, limited investigations have been conducted on the influence of different modalities in Multimodal Machine Learning systems. This paper aims to address this gap by studying the impact of each modality on multimodal learning tasks. The research focuses on verifying presumptions and gaining insights into the usage of different modalities. The main contribution of this work is the proposal of a methodology to determine the effect of each modality on several Multimodal Machine Learning models and datasets from various tasks. Specifically, the study examines Multimodal Sentiment Analysis, Multimodal Emotion Recognition, Multimodal Hate Speech Recognition, and Multimodal Disease Detection. The study objectives include training SOTA MultiModal Machine Learning models with masked modalities to evaluate their impact on performance. Furthermore, the research aims to identify the most influential modality or set of modalities for each task and draw conclusions for diverse multimodal classification tasks. By undertaking these investigations, this research contributes to a better understanding of the role of individual modalities in multi-modal learning and provides valuable insights for future advancements in this field.

Coherence is an important aspect of text quality, and various approaches have been applied to coherence modeling. However, existing methods solely focus on a single document's coherence patterns, ignoring the underlying correlation between documents. We investigate a GCN-based coherence model that is capable of capturing structural similarities between documents. Our model first creates a graph structure for each document, from where we mine different subgraph patterns. We then construct a heterogeneous graph for the training corpus, connecting documents based on their shared subgraphs. Finally, a GCN is applied to the heterogeneous graph to model the connectivity relationships. We evaluate our method on two tasks, assessing discourse coherence and automated essay scoring. Results show that our GCN-based model outperforms all baselines, achieving a new state-of-the-art on both tasks.

Java Code Generation consists in generating automatically Java code from a Natural Language Text. This NLP task helps in increasing programmers' productivity by providing them with immediate solutions to the simplest and most repetitive tasks. Code generation is a challenging task because of the hard syntactic rules and the necessity of a deep understanding of the semantic aspect of the programming language. Many works tried to tackle this task using either RNN-based, or Transformer-based models. The latter achieved remarkable advancement in the domain and they can be divided into three groups: (1) encoder-only models, (2) decoder-only models, and (3) encoder-decoder models. In this paper, we provide a comprehensive review of the evolution and progress of deep learning models in Java code generation task. We focus on the most important methods and present their merits and limitations, as well as the objective functions used by the community. In addition, we provide a detailed description of datasets and evaluation metrics used in the literature. Finally, we discuss results of different models on CONCODE dataset, then propose some future directions.

This work aims to provide a deep-learning solution for the motion interpolation task. Previous studies solve it with geometric weight functions. Some other works propose neural networks for different problem settings with consecutive pose sequences as input. However, motion interpolation is a more complex problem that takes isolated poses (e.g., only one start pose and one end pose) as input. When applied to motion interpolation, these deep learning methods have limited performance since they do not leverage the flexible dependencies between interpolation frames as the original geometric formulas do. To realize this interpolation characteristic, we propose a novel framework, referred to as \emph{Shuffled AutoRegression}, which expands the autoregression to generate in arbitrary (shuffled) order and models any inter-frame dependencies as a directed acyclic graph. We further propose an approach to constructing a particular kind of dependency graph, with three stages assembled into an end-to-end spatial-temporal motion Transformer. Experimental results on one of the current largest datasets show that our model generates vivid and coherent motions from only one start frame to one end frame and outperforms competing methods by a large margin. The proposed model is also extensible to multiple keyframes' motion interpolation tasks and other areas' interpolation.

In a controllable text generation dataset, there exist unannotated attributes that could provide irrelevant learning signals to models that use it for training and thus degrade their performance. We propose focused prefix tuning(FPT) to mitigate the problem and to enable the control to focus on the desired attribute. Experimental results show that FPT can achieve better control accuracy and text fluency than baseline models in single-attribute control tasks. In multi-attribute control tasks, FPT achieves comparable control accuracy with the state-of-the-art approach while keeping the flexibility to control new attributes without retraining existing models.

We present a pipeline for a statistical textual exploration, offering a stylometry-based explanation and statistical validation of a hypothesized partition of a text. Given a parameterization of the text, our pipeline: (1) detects literary features yielding the optimal overlap between the hypothesized and unsupervised partitions, (2) performs a hypothesis-testing analysis to quantify the statistical significance of the optimal overlap, while conserving implicit correlations between units of text that are more likely to be grouped, and (3) extracts and quantifies the importance of features most responsible for the classification, estimates their statistical stability and cluster-wise abundance. We apply our pipeline to the first two books in the Bible, where one stylistic component stands out in the eyes of biblical scholars, namely, the Priestly component. We identify and explore statistically significant stylistic differences between the Priestly and non-Priestly components.

Spanning tree problems with specialized constraints can be difficult to solve in real-world scenarios, often requiring intricate algorithmic design and exponential time. Recently, there has been growing interest in end-to-end deep neural networks for solving routing problems. However, such methods typically produce sequences of vertices, which makes it difficult to apply them to general combinatorial optimization problems where the solution set consists of edges, as in various spanning tree problems. In this paper, we propose NeuroPrim, a novel framework for solving various spanning tree problems by defining a Markov Decision Process (MDP) for general combinatorial optimization problems on graphs. Our approach reduces the action and state space using Prim's algorithm and trains the resulting model using REINFORCE. We apply our framework to three difficult problems on Euclidean space: the Degree-constrained Minimum Spanning Tree (DCMST) problem, the Minimum Routing Cost Spanning Tree (MRCST) problem, and the Steiner Tree Problem in graphs (STP). Experimental results on literature instances demonstrate that our model outperforms strong heuristics and achieves small optimality gaps of up to 250 vertices. Additionally, we find that our model has strong generalization ability, with no significant degradation observed on problem instances as large as 1000. Our results suggest that our framework can be effective for solving a wide range of combinatorial optimization problems beyond spanning tree problems.