This letter describes the manufacturing and experimental characterization of novel stretchable strain sensors for continuum robots. The overarching goal of this research is to provide a new solution for the shape sensing of these devices. The sensors are fabricated via direct ink writing, an extrusion-based additive manufacturing technique. Electrically conductive material (i.e., the \textit{ink}) is printed into traces whose electrical resistance varies in response to mechanical deformation. The principle of operation of stretchable strain sensors is analogous to that of conventional strain gauges, but with a significantly larger operational window thanks to their ability to withstand larger strain. Among the different conductive materials considered for this study, we opted to fabricate the sensors with a high-viscosity eutectic Gallium-Indium ink, which in initial testing exhibited high linearity ($R^2 \approx$ 0.99), gauge factor $\approx$ 1, and negligible drift. Benefits of the proposed sensors include (i) ease of fabrication, as they can be conveniently printed in a matter of minutes; (ii) ease of installation, as they can simply be glued to the outside body of a robot; (iii) ease of miniaturization, which enables integration into millimiter-sized continuum robots.

Large Language Models (LLMs) are widely used in both industry and academia for various tasks, yet evaluating the consistency of generated text responses continues to be a challenge. Traditional metrics like ROUGE and BLEU show a weak correlation with human judgment. More sophisticated metrics using Natural Language Inference (NLI) have shown improved correlations but are complex to implement, require domain-specific training due to poor cross-domain generalization, and lack explainability. More recently, prompt-based metrics using LLMs as evaluators have emerged; while they are easier to implement, they still lack explainability and depend on task-specific prompts, which limits their generalizability. This work introduces Automated eXplainable Consistency Evaluation using LLMs (AXCEL), a prompt-based consistency metric which offers explanations for the consistency scores by providing detailed reasoning and pinpointing inconsistent text spans. AXCEL is also a generalizable metric which can be adopted to multiple tasks without changing the prompt. AXCEL outperforms both non-prompt and prompt-based state-of-the-art (SOTA) metrics in detecting inconsistencies across summarization by 8.7%, free text generation by 6.2%, and data-to-text conversion tasks by 29.4%. We also evaluate the influence of underlying LLMs on prompt based metric performance and recalibrate the SOTA prompt-based metrics with the latest LLMs for fair comparison. Further, we show that AXCEL demonstrates strong performance using open source LLMs.

Existing reinforcement learning environment libraries use monolithic environment classes, provide shallow methods for altering agent observation and action spaces, and/or are tied to a specific simulation environment. The Core Reinforcement Learning library (CoRL) is a modular, composable, and hyper-configurable environment creation tool. It allows minute control over agent observations, rewards, and done conditions through the use of easy-to-read configuration files, pydantic validators, and a functor design pattern. Using integration pathways allows agents to be quickly implemented in new simulation environments, encourages rapid exploration, and enables transition of knowledge from low-fidelity to high-fidelity simulations. Natively multi-agent design and integration with Ray/RLLib (Liang et al., 2018) at release allow for easy scalability of agent complexity and computing power. The code is publicly released and available at https://github.com/act3-ace/CoRL.

What is the creative process through which an artist goes from an original image to a painting? Can we examine this process using techniques from computer vision and pattern recognition? Here we set the first preliminary steps to algorithmically deconstruct some of the transformations that an artist applies to an original image in order to establish centres of interest, which are focal areas of a painting that carry meaning. We introduce a comparative methodology that first cuts out the minimal segment from the original image on which the painting is based, then aligns the painting with this source, investigates micro-differences to identify centres of interest and attempts to understand their role. In this paper we focus exclusively on micro-differences with respect to edges. We believe that research into where and how artists create centres of interest in paintings is valuable for curators, art historians, viewers, and art educators, and might even help artists to understand and refine their own artistic method.

Significance: We demonstrated the potential of using domain adaptation on functional Near-Infrared Spectroscopy (fNIRS) data to classify different levels of n-back tasks that involve working memory. Aim: Domain shift in fNIRS data is a challenge in the workload level alignment across different experiment sessions and subjects. In order to address this problem, two domain adaptation approaches -- Gromov-Wasserstein (G-W) and Fused Gromov-Wasserstein (FG-W) were used. Approach: Specifically, we used labeled data from one session or one subject to classify trials in another session (within the same subject) or another subject. We applied G-W for session-by-session alignment and FG-W for subject-by-subject alignment to fNIRS data acquired during different n-back task levels. We compared these approaches with three supervised methods: multi-class Support Vector Machine (SVM), Convolutional Neural Network (CNN), and Recurrent Neural Network (RNN). Results: In a sample of six subjects, G-W resulted in an alignment accuracy of 68 $\pm$ 4 % (weighted mean $\pm$ standard error) for session-by-session alignment, FG-W resulted in an alignment accuracy of 55 $\pm$ 2 % for subject-by-subject alignment. In each of these cases, 25 % accuracy represents chance. Alignment accuracy results from both G-W and FG-W are significantly greater than those from SVM, CNN and RNN. We also showed that removal of motion artifacts from the fNIRS data plays an important role in improving alignment performance. Conclusions: Domain adaptation has potential for session-by-session and subject-by-subject alignment of mental workload by using fNIRS data.

Developments in Brain Computer Interfaces (BCIs) are empowering those with severe physical afflictions through their use in assistive systems. Common methods of achieving this is via Motor Imagery (MI), which maps brain signals to code for certain commands. Electroencephalogram (EEG) is preferred for recording brain signal data on account of it being non-invasive. Despite their potential utility, MI-BCI systems are yet confined to research labs. A major cause for this is lack of robustness of such systems. As hypothesized by two teams during Cybathlon 2016, a particular source of the system's vulnerability is the sharp change in the subject's state of emotional arousal. This work aims towards making MI-BCI systems resilient to such emotional perturbations. To do so, subjects are exposed to high and low arousal-inducing virtual reality (VR) environments before recording EEG data. The advent of COVID-19 compelled us to modify our methodology. Instead of training machine learning algorithms to classify emotional arousal, we opt for classifying subjects that serve as proxy for each state. Additionally, MI models are trained for each subject instead of each arousal state. As training subjects to use MI-BCI can be an arduous and time-consuming process, reducing this variability and increasing robustness can considerably accelerate the acceptance and adoption of assistive technologies powered by BCI.

Like so many industries it came for over the past few years, the fourth industrial revolution is now heading straight for real estate, making huge waves that are only going to get bigger. Some of these advancements, particularly in artificial intelligence (AI), are going to have significant impact on the management of commercial real estate properties. One of the biggest benefits to advancements in AI and other technologies is having the ability to streamline so many of the property management processes, processes that are all critical to the management of a commercial building, especially ones that house a significant number of tenants. Managing these types of properties has never been an easy feat, but technology is reshaping what property management looks like, ultimately giving time back to property management companies to focus on revenue, continue to grow their business and provide more positive tenant experiences. AI in Commercial Property Management When it comes to commercial real estate, just like residential, there is constant change.

Neuroimaging data analysis often involves \emph{a-priori} selection of data features to study the underlying neural activity. Since this could lead to sub-optimal feature selection and thereby prevent the detection of subtle patterns in neural activity, data-driven methods have recently gained popularity for optimizing neuroimaging data analysis pipelines and thereby, improving our understanding of neural mechanisms. In this context, we developed a deep convolutional architecture that can identify discriminating patterns in neuroimaging data and applied it to electroencephalography (EEG) recordings collected from 25 subjects performing a hand motor task before and after a rest period or a bout of exercise. The deep network was trained to classify subjects into exercise and control groups based on differences in their EEG signals. Subsequently, we developed a novel method termed the cue-combination for Class Activation Map (ccCAM), which enabled us to identify discriminating spatio-temporal features within definite frequency bands (23--33 Hz) and assess the effects of exercise on the brain. Additionally, the proposed architecture allowed the visualization of the differences in the propagation of underlying neural activity across the cortex between the two groups, for the first time in our knowledge. Our results demonstrate the feasibility of using deep network architectures for neuroimaging analysis in different contexts such as, for the identification of robust brain biomarkers to better characterize and potentially treat neurological disorders.

Unable to help with hurricane relief efforts in person, Scott Jones did the next best thing he could think of -- he gripped his Nintendo 64 video game controller and began playing, his fingers jumping across the game pad. His goal: a 24-hour video game marathon to raise money for charity. Wearing a T-shirt and pajama bottoms and camped out in his apartment in Arlington, Va., Jones spent the first 23 hours playing video game classics, such as "Star Wars Episode One Racer," and only getting up when nature called. With one hour left, he switched to "Super Smash Bros. Melee," but in advanced mode -- a decision he regrets. "It was brutal, I was so tired," Jones said.

The proliferation of online information sources has led to an increased use of wrappers for extracting data from Web sources. While most of the previous research has focused on quick and efficient generation of wrappers, the development of tools for wrapper maintenance has received less attention. This is an important research problem because Web sources often change in ways that prevent the wrappers from extracting data correctly. We present an efficient algorithm that learns structural information about data from positive examples alone. We describe how this information can be used for two wrapper maintenance applications: wrapper verification and reinduction. The wrapper verification system detects when a wrapper is not extracting correct data, usually because the Web source has changed its format. The reinduction algorithm automatically recovers from changes in the Web source by identifying data on Web pages so that a new wrapper may be generated for this source. To validate our approach, we monitored 27 wrappers over a period of a year. The verification algorithm correctly discovered 35 of the 37 wrapper changes, and made 16 mistakes, resulting in precision of 0.73 and recall of 0.95. We validated the reinduction algorithm on ten Web sources. We were able to successfully reinduce the wrappers, obtaining precision and recall values of 0.90 and 0.80 on the data extraction task.