Teleoperation can transfer human perception and cognition to a slave robot to cope with some complex tasks, in which the agility and flexibility of the interface play an important role in mapping human intention to the robot. In this paper, we developed an agile large-workspace teleoperation interface by estimating human arm behavior. Using the wearable sensor, namely the inertial measurement unit and surface electromyography armband, we can capture the human arm motion and force information, thereby intuitively controlling the manipulation of the robot. The control principle of our wearable interface includes two parts: (1) the arm incremental kinematics and (2) the grasping recognition. Moreover, we developed a teleoperation framework with a time synchronization mechanism for the real-time application. We conducted experimental comparisons with a versatile haptic device (Omega 7) to verify the effectiveness of our interface and framework. Seven subjects are invited to complete three different tasks: free motion, handover, and pick-and-place action (each task ten times), and the total number of tests is 420. Objectively, we used the task completion time and success rate to compare the performance of the two interfaces quantitatively. In addition, to quantify the operator experience, we used the NASA Task Load Index to assess their subjective feelings. The results showed that the proposed interface achieved a competitive performance with a better operating experience.

Drug-target interaction (DTI) prediction is crucial for drug development and repositioning. Methods using heterogeneous graph neural networks (HGNNs) for DTI prediction have become a promising approach, with attention-based models often achieving excellent performance. However, these methods typically overlook edge features when dealing with heterogeneous biomedical networks. We propose a heterogeneous network-based contrastive learning method called HNCL-DTI, which designs a heterogeneous graph attention network to predict potential/novel DTIs. Specifically, our HNCL-DTI utilizes contrastive learning to collaboratively learn node representations from the perspective of both node-based and edge-based attention within the heterogeneous structure of biomedical networks. Experimental results show that HNCL-DTI outperforms existing advanced baseline methods on benchmark datasets, demonstrating strong predictive ability and practical effectiveness. The data and source code are available at https://github.com/Zaiwen/HNCL-DTI.

The rising need for explainable deep neural network architectures has utilized semantic concepts as explainable units. Several approaches utilizing disentangled representation learning estimate the generative factors and utilize them as concepts for explaining DNNs. However, even though the generative factors for a dataset remain fixed, concepts are not fixed entities and vary based on downstream tasks. In this paper, we propose a disentanglement mechanism utilizing a variational autoencoder (VAE) for learning mutually independent generative factors for a given dataset and subsequently learning task-specific concepts using a structural causal model (SCM). Our method assumes generative factors and concepts to form a bipartite graph, with directed causal edges from generative factors to concepts. Experiments are conducted on datasets with known generative factors: D-sprites and Shapes3D. On specific downstream tasks, our proposed method successfully learns task-specific concepts which are explained well by the causal edges from the generative factors. Lastly, separate from current causal concept discovery methods, our methodology is generalizable to an arbitrary number of concepts and flexible to any downstream tasks.

Depth perception is crucial for a wide range of robotic applications. Multi-frame self-supervised depth estimation methods have gained research interest due to their ability to leverage large-scale, unlabeled real-world data. However, the self-supervised methods often rely on the assumption of a static scene and their performance tends to degrade in dynamic environments. To address this issue, we present Motion-Aware Loss, which leverages the temporal relation among consecutive input frames and a novel distillation scheme between the teacher and student networks in the multi-frame self-supervised depth estimation methods. Specifically, we associate the spatial locations of moving objects with the temporal order of input frames to eliminate errors induced by object motion. Meanwhile, we enhance the original distillation scheme in multi-frame methods to better exploit the knowledge from a teacher network. MAL is a novel, plug-and-play module designed for seamless integration into multi-frame self-supervised monocular depth estimation methods. Adding MAL into previous state-of-the-art methods leads to a reduction in depth estimation errors by up to 4.2% and 10.8% on KITTI and CityScapes benchmarks, respectively.

Retrieval-augmented generation (RAG) can supplement large language models (LLMs) by integrating external knowledge. However, as the number of retrieved documents increases, the input length to LLMs grows linearly, causing a dramatic increase in latency and a degradation in long-context understanding. This is particularly serious for multi-hop questions that require a chain of reasoning across documents. To accelerate inference, reduce costs, and minimize distractions, this paper presents BRIEF (Bridging Retrieval and Inference through Evidence Fusion), a lightweight approach that performs query-aware multi-hop reasoning by compressing retrieved documents into highly dense textual summaries to integrate into in-context learning. To enable learning compression for multi-hop reasoning, we curate synthetic data by extracting atomic proposition expressions that encapsulate distinct factoids from the source documents to compose synthetic summaries. Based on our synthetic data built entirely by open-source models, BRIEF generates more concise summaries and enables a range of LLMs to achieve exceptional open-domain question answering (QA) performance. For example, on HotpotQA, BRIEF improves the compression rate by 2 times compared to the state-of-the-art baseline, while outperforming it by 3.00% EM and 4.16% F1 with Flan-UL2 as the reader LM. It also generates more concise summaries than proprietary GPT-3.5, while demonstrating nearly identical QA performance.

Grammatical error correction (GEC) is important for improving written materials for low-resource languages like Zarma -- spoken by over 5 million people in West Africa. Yet it remains a challenging problem. This study compares rule-based methods, machine translation (MT) models, and large language models (LLMs) for GEC in Zarma. We evaluate each approach's effectiveness on our manually-built dataset of over 250,000 examples using synthetic and human-annotated data. Our experiments show that the MT-based approach using the M2M100 model outperforms others, achieving a detection rate of 95.82% and a suggestion accuracy of 78.90% in automatic evaluations, and scoring 3.0 out of 5.0 in logical/grammar error correction during MEs by native speakers. The rule-based method achieved perfect detection (100%) and high suggestion accuracy (96.27%) for spelling corrections but struggled with context-level errors. LLMs like MT5-small showed moderate performance with a detection rate of 90.62% and a suggestion accuracy of 57.15%. Our work highlights the potential of MT models to enhance GEC in low-resource languages, paving the way for more inclusive NLP tools.

Large language models (LLMs) are employed to simulate human-like responses in social surveys, yet it remains unclear if they develop biases like social desirability response (SDR) bias. To investigate this, GPT-4 was assigned personas from four societies, using data from the 2022 Gallup World Poll. These synthetic samples were then prompted with or without a commitment statement intended to induce SDR. The results were mixed. While the commitment statement increased SDR index scores, suggesting SDR bias, it reduced civic engagement scores, indicating an opposite trend. Additional findings revealed demographic associations with SDR scores and showed that the commitment statement had limited impact on GPT-4's predictive performance. The study underscores potential avenues for using LLMs to investigate biases in both humans and LLMs themselves.

Against the backdrop of increasingly severe global environmental changes, accurately predicting and meeting renewable energy demands has become a key challenge for sustainable business development. Traditional energy demand forecasting methods often struggle with complex data processing and low prediction accuracy. To address these issues, this paper introduces a novel approach that combines deep learning techniques with environmental decision support systems. The model integrates advanced deep learning techniques, including LSTM and Transformer, and PSO algorithm for parameter optimization, significantly enhancing predictive performance and practical applicability. Results show that our model achieves substantial improvements across various metrics, including a 30% reduction in MAE, a 20% decrease in MAPE, a 25% drop in RMSE, and a 35% decline in MSE. These results validate the model's effectiveness and reliability in renewable energy demand forecasting. This research provides valuable insights for applying deep learning in environmental decision support systems.

Misinformation undermines individual knowledge and affects broader societal narratives. Despite growing interest in the research community in multi-modal misinformation detection, existing methods exhibit limitations in capturing semantic cues, key regions, and cross-modal similarities within multi-modal datasets. We propose SceneGraMMi, a Scene Graph-boosted Hybrid-fusion approach for Multi-modal Misinformation veracity prediction, which integrates scene graphs across different modalities to improve detection performance. Experimental results across four benchmark datasets show that SceneGraMMi consistently outperforms state-of-the-art methods. In a comprehensive ablation study, we highlight the contribution of each component, while Shapley values are employed to examine the explainability of the model's decision-making process.

Privacy and regulatory constraints make data generation vital to advancing machine learning without relying on real-world datasets. A leading approach for tabular data generation is the Forest Flow (FF) method, which combines Flow Matching with XGBoost. Despite its good performance, FF is slow and makes errors when treating categorical variables as one-hot continuous features. It is also highly sensitive to small changes in the initial conditions of the ordinary differential equation (ODE). To overcome these limitations, we develop Heterogeneous Sequential Feature Forest Flow (HS3F). Our method generates data sequentially (feature-by-feature), reducing the dependency on noisy initial conditions through the additional information from previously generated features. Furthermore, it generates categorical variables using multinomial sampling (from an XGBoost classifier) instead of flow matching, improving generation speed. We also use a Runge-Kutta 4th order (Rg4) ODE solver for improved performance over the Euler solver used in FF. Our experiments with 25 datasets reveal that HS3F produces higher quality and more diverse synthetic data than FF, especially for categorical variables. It also generates data 21-27 times faster for datasets with $\geq20%$ categorical variables. HS3F further demonstrates enhanced robustness to affine transformation in flow ODE initial conditions compared to FF. This study not only validates the HS3F but also unveils promising new strategies to advance generative models.