Cross-Modal Retrieval (CMR), which retrieves relevant items from one modality (e.g., audio) given a query in another modality (e.g., visual), has undergone significant advancements in recent years. This capability is crucial for robots to integrate and interpret information across diverse sensory inputs. However, the retrieval space in existing robotic CMR approaches often consists of only one modality, which limits the robot's performance. In this paper, we propose a novel CMR model that incorporates three different modalities, i.e., visual, audio and tactile, for enhanced multi-modal object retrieval, named as VAT-CMR. In this model, multi-modal representations are first fused to provide a holistic view of object features. To mitigate the semantic gaps between representations of different modalities, a dominant modality is then selected during the classification training phase to improve the distinctiveness of the representations, so as to improve the retrieval performance. To evaluate our proposed approach, we conducted a case study and the results demonstrate that our VAT-CMR model surpasses competing approaches. Further, our proposed dominant modality selection significantly enhances cross-retrieval accuracy.

HAL (Hyper Articles en Ligne) is the French national publication repository, used by most higher education and research organizations for their open science policy. As a digital library, it is a rich repository of scholarly documents, but its potential for advanced research has been underutilized. We present HALvest, a unique dataset that bridges the gap between citation networks and the full text of papers submitted on HAL. We craft our dataset by filtering HAL for scholarly publications, resulting in approximately 700,000 documents, spanning 34 languages across 13 identified domains, suitable for language model training, and yielding approximately 16.5 billion tokens (with 8 billion in French and 7 billion in English, the most represented languages). We transform the metadata of each paper into a citation network, producing a directed heterogeneous graph. This graph includes uniquely identified authors on HAL, as well as all open submitted papers, and their citations. We provide a baseline for authorship attribution using the dataset, implement a range of state-of-the-art models in graph representation learning for link prediction, and discuss the usefulness of our generated knowledge graph structure.

Causal discovery aims to estimate causal structures among variables based on observational data. Large Language Models (LLMs) offer a fresh perspective to tackle the causal discovery problem by reasoning on the metadata associated with variables rather than their actual data values, an approach referred to as knowledge-based causal discovery. In this paper, we investigate the capabilities of Small Language Models (SLMs, defined as LLMs with fewer than 1 billion parameters) with prompt-based learning for knowledge-based causal discovery. Specifically, we present "KG Structure as Prompt", a novel approach for integrating structural information from a knowledge graph, such as common neighbor nodes and metapaths, into prompt-based learning to enhance the capabilities of SLMs. Experimental results on three types of biomedical and open-domain datasets under few-shot settings demonstrate the effectiveness of our approach, surpassing most baselines and even conventional fine-tuning approaches trained on full datasets. Our findings further highlight the strong capabilities of SLMs: in combination with knowledge graphs and prompt-based learning, SLMs demonstrate the potential to surpass LLMs with larger number of parameters. Our code and datasets are available on GitHub.

Measuring grasp stability is an important skill for dexterous robot manipulation tasks, which can be inferred from haptic information with a tactile sensor. Control policies have to detect rotational displacement and slippage from tactile feedback, and determine a re-grasp strategy in term of location and force. Classic stable grasp task only trains control policies to solve for re-grasp location with objects of fixed center of gravity. In this work, we propose a revamped version of stable grasp task that optimises both re-grasp location and gripping force for objects with unknown and moving center of gravity. We tackle this task with a model-free, end-to-end Transformer-based reinforcement learning framework. We show that our approach is able to solve both objectives after training in both simulation and in a real-world setup with zero-shot transfer. We also provide performance analysis of different models to understand the dynamics of optimizing two opposing objectives.

Unsupervised domain adaptation (UDA) aims to mitigate the domain shift issue, where the distribution of training (source) data differs from that of testing (target) data. Many models have been developed to tackle this problem, and recently vision transformers (ViTs) have shown promising results. However, the complexity and large number of trainable parameters of ViTs restrict their deployment in practical applications. This underscores the need for an efficient model that not only reduces trainable parameters but also allows for adjustable complexity based on specific needs while delivering comparable performance. To achieve this, in this paper we introduce an Efficient Unsupervised Domain Adaptation (EUDA) framework. EUDA employs the DINOv2, which is a self-supervised ViT, as a feature extractor followed by a simplified bottleneck of fully connected layers to refine features for enhanced domain adaptation. Additionally, EUDA employs the synergistic domain alignment loss (SDAL), which integrates cross-entropy (CE) and maximum mean discrepancy (MMD) losses, to balance adaptation by minimizing classification errors in the source domain while aligning the source and target domain distributions. The experimental results indicate the effectiveness of EUDA in producing comparable results as compared with other state-of-the-art methods in domain adaptation with significantly fewer trainable parameters, between 42% to 99.7% fewer. This showcases the ability to train the model in a resource-limited environment. The code of the model is available at: https://github.com/A-Abedi/EUDA.

Structure encoding has proven to be the key feature to distinguishing links in a graph. However, Structure encoding in the temporal graph keeps changing as the graph evolves, repeatedly computing such features can be time-consuming due to the high-order subgraph construction. We develop the Co-Neighbor Encoding Schema (CNES) to address this issue. Instead of recomputing the feature by the link, CNES stores information in the memory to avoid redundant calculations. Besides, unlike the existing memory-based dynamic graph learning method that stores node hidden states, we introduce a hashtable-based memory to compress the adjacency matrix for efficient structure feature construction and updating with vector computation in parallel. Furthermore, CNES introduces a Temporal-Diverse Memory to generate long-term and short-term structure encoding for neighbors with different structural information. A dynamic graph learning framework, Co-Neighbor Encoding Network (CNE-N), is proposed using the aforementioned techniques. Extensive experiments on thirteen public datasets verify the effectiveness and efficiency of the proposed method.

Israeli drone attacks have reportedly killed two people in southern Lebanon as conflict spirals between the bordering states. The Israeli attack was the first lethal action following a rocket attack on Saturday that Israel says killed 12 children and youths in the Israeli-occupied Golan Heights. The strike has increased concern that the war in Gaza threatens to escalate into a regional conflict. Lebanese state media said one strike hit a motorcycle close to the border, killing two riders and injuring a child. Two others were injured in a separate strike in southern Lebanon.

Domain generalizability is a crucial aspect of a deep learning model since it determines the capability of the model to perform well on data from unseen domains. However, research on the domain generalizability of deep learning models for vision-language tasks remains limited, primarily because of the lack of required datasets. To address these challenges, we propose VolDoGer: Vision-Language Dataset for Domain Generalization, a dedicated dataset designed for domain generalization that addresses three vision-language tasks: image captioning, visual question answering, and visual entailment. We constructed VolDoGer by extending LLM-based data annotation techniques to vision-language tasks, thereby alleviating the burden of recruiting human annotators. We evaluated the domain generalizability of various models, ranging from fine-tuned models to a recent multimodal large language model, through VolDoGer.

Generative retrieval introduces a groundbreaking paradigm to document retrieval by directly generating the identifier of a pertinent document in response to a specific query. This paradigm has demonstrated considerable benefits and potential, particularly in representation and generalization capabilities, within the context of large language models. However, it faces significant challenges in E-commerce search scenarios, including the complexity of generating detailed item titles from brief queries, the presence of noise in item titles with weak language order, issues with long-tail queries, and the interpretability of results. To address these challenges, we have developed an innovative framework for E-commerce search, called generative retrieval with preference optimization. This framework is designed to effectively learn and align an autoregressive model with target data, subsequently generating the final item through constraint-based beam search. By employing multi-span identifiers to represent raw item titles and transforming the task of generating titles from queries into the task of generating multi-span identifiers from queries, we aim to simplify the generation process. The framework further aligns with human preferences using click data and employs a constrained search method to identify key spans for retrieving the final item, thereby enhancing result interpretability. Our extensive experiments show that this framework achieves competitive performance on a real-world dataset, and online A/B tests demonstrate the superiority and effectiveness in improving conversion gains.

A drawing robot avatar is a robotic system that allows for telepresence-based drawing, enabling users to remotely control a robotic arm and create drawings in real-time from a remote location. The proposed control framework aims to improve bimanual robot telepresence quality by reducing the user workload and required prior knowledge through the automation of secondary or auxiliary tasks. The introduced novel method calculates the near-optimal Cartesian end-effector pose in terms of visual feedback quality for the attached eye-to-hand camera with motion constraints in consideration. The effectiveness is demonstrated by conducting user studies of drawing reference shapes using the implemented robot avatar compared to stationary and teleoperated camera pose conditions. Our results demonstrate that the proposed control framework offers improved visual feedback quality and drawing performance.