Spiking Neural Networks (SNNs) offer a biologically inspired computational paradigm that emulates neuronal activity through discrete spike-based processing. Despite their advantages, training SNNs with traditional backpropagation (BP) remains challenging due to computational inefficiencies and a lack of biological plausibility. This study explores the Forward-Forward (FF) algorithm as an alternative learning framework for SNNs. Unlike backpropagation, which relies on forward and backward passes, the FF algorithm employs two forward passes, enabling localized learning, enhanced computational efficiency, and improved compatibility with neuromorphic hardware. We introduce an FF-based SNN training framework and evaluate its performance across both non-spiking (MNIST, Fashion-MNIST, CIFAR-10) and spiking (Neuro-MNIST, SHD) datasets. Experimental results demonstrate that our model surpasses existing FF-based SNNs by over 5% on MNIST and Fashion-MNIST while achieving accuracy comparable to state-of-the-art backpropagation-trained SNNs. On more complex tasks such as CIFAR-10 and SHD, our approach outperforms other SNN models by up to 6% and remains competitive with leading backpropagation-trained SNNs. These findings highlight the FF algorithm's potential to advance SNN training methodologies and neuromorphic computing by addressing key limitations of backpropagation.

Code-switching, the alternation of languages within a single discourse, presents a significant challenge for Automatic Speech Recognition. Despite the unique nature of the task, performance is commonly measured with established metrics such as Word-Error-Rate (WER). However, in this paper, we question whether these general metrics accurately assess performance on code-switching. Specifically, using both Connectionist-Temporal-Classification and Encoder-Decoder models, we show fine-tuning on non-code-switched data from both matrix and embedded language improves classical metrics on code-switching test sets, although actual code-switched words worsen (as expected). Therefore, we propose Point-of-Interest Error Rate (PIER), a variant of WER that focuses only on specific words of interest. We instantiate PIER on code-switched utterances and show that this more accurately describes the code-switching performance, showing huge room for improvement in future work. This focused evaluation allows for a more precise assessment of model performance, particularly in challenging aspects such as inter-word and intra-word code-switching.

This paper presents a novel predictive maintenance framework centered on Enhanced Quantile Regression Neural Networks EQRNNs, for anticipating system failures in industrial robotics. We address the challenge of early failure detection through a hybrid approach that combines advanced neural architectures. The system leverages dual computational stages: first implementing an EQRNN optimized for processing multi-sensor data streams including vibration, thermal, and power signatures, followed by an integrated Spiking Neural Network SNN, layer that enables microsecond-level response times. This architecture achieves notable accuracy rates of 92.3\% in component failure prediction with a 90-hour advance warning window. Field testing conducted on an industrial scale with 50 robotic systems demonstrates significant operational improvements, yielding a 94\% decrease in unexpected system failures and 76\% reduction in maintenance-related downtimes. The framework's effectiveness in processing complex, multi-modal sensor data while maintaining computational efficiency validates its applicability for Industry 4.0 manufacturing environments.

Robotic manipulation of fresh fruits and vegetables, including the grasping of multiple loose items, has a strong industrial need but it still is a challenging task for robotic manipulation. This paper outlines the distinctive manipulation strategies used by humans to pick loose fruits and vegetables with the aim to better adopt them for robotic manipulation of diverse items. In this work we present a first version of a robotic setup designed to pick different single or multiple fresh items, featuring multi-fingered compliant robotic gripper. We analyse human grasping strategies from the perspective of industrial Key Performance Indicators (KPIs) used in the logistic sector. The robotic system was validated using the same KPIs, as well as taking into account human performance and strategies. This paper lays the foundation for future development of the robotic demonstrator for fresh fruit and vegetable intelligent manipulation, and outlines the need for generic approaches to handle the complexity of the task.

Pedestrian motion prediction is a key part of the modular-based autonomous driving pipeline, ensuring safe, accurate, and timely awareness of human agents' possible future trajectories. The autonomous vehicle can use this information to prevent any possible accidents and create a comfortable and pleasant driving experience for the passengers and pedestrians. A wealth of research was done on the topic from the authors of robotics, computer vision, intelligent transportation systems, and other fields. However, a relatively unexplored angle is the integration of the state-of-art solutions into existing autonomous driving stacks and evaluating them in real-life conditions rather than sanitized datasets. We analyze selected publications with provided open-source solutions and provide a perspective obtained by integrating them into existing Autonomous Driving framework - Autoware Mini and performing experiments in natural urban conditions in Tartu, Estonia to determine valuability of traditional motion prediction metrics. This perspective should be valuable to any potential autonomous driving or robotics engineer looking for the real-world performance of the existing state-of-art pedestrian motion prediction problem. The code with instructions on accessing the dataset is available at https://github.com/dmytrozabolotnii/autoware_mini.

In this research, we present an innovative, parameter-efficient model that utilizes the attention U-Net architecture for the automatic detection and eradication of non-speech vocal sounds, specifically breath sounds, in vocal recordings. This task is of paramount importance in the field of sound engineering, despite being relatively under-explored. The conventional manual process for detecting and eliminating these sounds requires significant expertise and is extremely time-intensive. Existing automated detection and removal methods often fall short in terms of efficiency and precision. Our proposed model addresses these limitations by offering a streamlined process and superior accuracy, achieved through the application of advanced deep learning techniques. A unique dataset, derived from Device and Produced Speech (DAPS), was employed for this purpose. The training phase of the model emphasizes a log spectrogram and integrates an early stopping mechanism to prevent overfitting. Our model not only conserves precious time for sound engineers but also enhances the quality and consistency of audio production. This constitutes a significant breakthrough, as evidenced by its comparative efficiency, necessitating only 1.9M parameters and a training duration of 3.2 hours - markedly less than the top-performing models in this domain. The model is capable of generating identical outputs as previous models with drastically improved precision, making it an optimal choice.

Natural Language Processing (NLP) research has traditionally been predominantly focused on English, driven by the availability of resources, the size of the research community, and market demands. Recently, there has been a noticeable shift towards multilingualism in NLP, recognizing the need for inclusivity and effectiveness across diverse languages and cultures. Monolingual surveys have the potential to complement the broader trend towards multilingualism in NLP by providing foundational insights and resources necessary for effectively addressing the linguistic diversity of global communication. However, monolingual NLP surveys are extremely rare in literature. This study fills the gap by introducing a method for creating systematic and comprehensive monolingual NLP surveys. Characterized by a structured search protocol, it can be used to select publications and organize them through a taxonomy of NLP tasks. We include a classification of Language Resources (LRs), according to their availability, and datasets, according to their annotation, to highlight publicly-available and machine-actionable LRs. By applying our method, we conducted a systematic literature review of Greek NLP from 2012 to 2022, providing a comprehensive overview of the current state and challenges of Greek NLP research. We discuss the progress of Greek NLP and outline encountered Greek LRs, classified by availability and usability. As we show, our proposed method helps avoid common pitfalls, such as data leakage and contamination, and to assess language support per NLP task. We consider this systematic literature review of Greek NLP an application of our method that showcases the benefits of a monolingual NLP survey. Similar applications could be regard the myriads of languages whose progress in NLP lags behind that of well-supported languages.

Generating realistic images to accurately predict changes in the structure of brain MRI is a crucial tool for clinicians. Such applications help assess patients' outcomes and analyze how diseases progress at the individual level. However, existing methods for this task present some limitations. Some approaches attempt to model the distribution of MRI scans directly by conditioning the model on patients' ages, but they fail to explicitly capture the relationship between structural changes in the brain and time intervals, especially on age-unbalanced datasets. Other approaches simply rely on interpolation between scans, which limits their clinical application as they do not predict future MRIs. To address these challenges, we propose a Temporally-Aware Diffusion Model (TADM), which introduces a novel approach to accurately infer progression in brain MRIs. TADM learns the distribution of structural changes in terms of intensity differences between scans and combines the prediction of these changes with the initial baseline scans to generate future MRIs. Furthermore, during training, we propose to leverage a pre-trained Brain-Age Estimator (BAE) to refine the model's training process, enhancing its ability to produce accurate MRIs that match the expected age gap between baseline and generated scans. Our assessment, conducted on the OASIS-3 dataset, uses similarity metrics and region sizes computed by comparing predicted and real follow-up scans on 3 relevant brain regions. TADM achieves large improvements over existing approaches, with an average decrease of 24% in region size error and an improvement of 4% in similarity metrics. These evaluations demonstrate the improvement of our model in mimicking temporal brain neurodegenerative progression compared to existing methods. Our approach will benefit applications, such as predicting patient outcomes or improving treatments for patients.

Novel end-user programming (EUP) tools enable on-the-fly (i.e., spontaneous, easy, and rapid) creation of interactions with robotic systems. These tools are expected to empower users in determining system behavior, although very little is understood about how end users perceive, experience, and use these systems. In this paper, we seek to address this gap by investigating end-user experience with on-the-fly robot EUP. We trained 21 end users to use an existing on-the-fly EUP tool, asked them to create robot interactions for four scenarios, and assessed their overall experience. Our findings provide insight into how these systems should be designed to better support end-user experience with on-the-fly EUP, focusing on user interaction with an automatic program synthesizer that resolves imprecise user input, the use of multimodal inputs to express user intent, and the general process of programming a robot.

Collaborative robots or cobots interact with humans in a common work environment. In cobots, one under investigated but important issue is related to their movement and how it is perceived by humans. This paper tries to analyze whether humans prefer a robot moving in a human or in a robotic fashion. To this end, the present work lays out what differentiates the movement performed by an industrial robotic arm from that performed by a human one. The main difference lies in the fact that the robotic movement has a trapezoidal speed profile, while for the human arm, the speed profile is bell-shaped and during complex movements, it can be considered as a sum of superimposed bell-shaped movements. Based on the lognormality principle, a procedure was developed for a robotic arm to perform human-like movements. Both speed profiles were implemented in two industrial robots, namely, an ABB IRB 120 and a Universal Robot UR3. Three tests were used to study the subjects' preference when seeing both movements and another analyzed the same when interacting with the robot by touching its ends with their fingers.