Active Simultaneous Localisation and Mapping (SLAM) is a critical problem in autonomous robotics, enabling robots to navigate to new regions while building an accurate model of their surroundings. Visual SLAM is a popular technique that uses virtual elements to enhance the experience. However, existing frontier-based exploration strategies can lead to a non-optimal path in scenarios where there are multiple frontiers with similar distance. This issue can impact the efficiency and accuracy of Visual SLAM, which is crucial for a wide range of robotic applications, such as search and rescue, exploration, and mapping. To address this issue, this research combines both an existing Visual-Graph SLAM known as ExploreORB with reinforcement learning. The proposed algorithm allows the robot to learn and optimize exploration routes through a reward-based system to create an accurate map of the environment with proper frontier selection. Frontier-based exploration is used to detect unexplored areas, while reinforcement learning optimizes the robot's movement by assigning rewards for optimal frontier points. Graph SLAM is then used to integrate the robot's sensory data and build an accurate map of the environment. The proposed algorithm aims to improve the efficiency and accuracy of ExploreORB by optimizing the exploration process of frontiers to build a more accurate map. To evaluate the effectiveness of the proposed approach, experiments will be conducted in various virtual environments using Gazebo, a robot simulation software. Results of these experiments will be compared with existing methods to demonstrate the potential of the proposed approach as an optimal solution for SLAM in autonomous robotics.

Emulators, or reduced complexity climate models, are surrogate Earth system models that produce projections of key climate quantities with minimal computational resources. Using time-series modeling or more advanced machine learning techniques, data-driven emulators have emerged as a promising avenue of research, producing spatially resolved climate responses that are visually indistinguishable from state-of-the-art Earth system models. Yet, their lack of physical interpretability limits their wider adoption. In this work, we introduce FaIRGP, a data-driven emulator that satisfies the physical temperature response equations of an energy balance model. The result is an emulator that (i) enjoys the flexibility of statistical machine learning models and can learn from observations, and (ii) has a robust physical grounding with interpretable parameters that can be used to make inference about the climate system. Further, our Bayesian approach allows a principled and mathematically tractable uncertainty quantification. Our model demonstrates skillful emulation of global mean surface temperature and spatial surface temperatures across realistic future scenarios. Its ability to learn from data allows it to outperform energy balance models, while its robust physical foundation safeguards against the pitfalls of purely data-driven models. We also illustrate how FaIRGP can be used to obtain estimates of top-of-atmosphere radiative forcing and discuss the benefits of its mathematical tractability for applications such as detection and attribution or precipitation emulation. We hope that this work will contribute to widening the adoption of data-driven methods in climate emulation.

For smart vehicles driving through signalised intersections, it is crucial to determine whether the vehicle has right of way given the state of the traffic lights. To address this issue, camera based sensors can be used to determine whether the vehicle has permission to proceed straight, turn left or turn right. This paper proposes a novel end to end intersection right of way recognition model called LightFormer to generate right of way status for available driving directions in complex urban intersections. The model includes a spatial temporal inner structure with an attention mechanism, which incorporates features from past image to contribute to the classification of the current frame right of way status. In addition, a modified, multi weight arcface loss is introduced to enhance the model classification performance. Finally, the proposed LightFormer is trained and tested on two public traffic light datasets with manually augmented labels to demonstrate its effectiveness.

Cricket is the second most popular sport after soccer in terms of viewership. However, the assessment of individual player performance, a fundamental task in team sports, is currently primarily based on aggregate performance statistics, including average runs and wickets taken. We propose Context-Aware Metric of player Performance, CAMP, to quantify individual players' contributions toward a cricket match outcome. CAMP employs data mining methods and enables effective data-driven decision-making for selection and drafting, coaching and training, team line-ups, and strategy development. CAMP incorporates the exact context of performance, such as opponents' strengths and specific circumstances of games, such as pressure situations. We empirically evaluate CAMP on data of limited-over cricket matches between 2001 and 2019. In every match, a committee of experts declares one player as the best player, called Man of the M}atch (MoM). The top two rated players by CAMP match with MoM in 83\% of the 961 games. Thus, the CAMP rating of the best player closely matches that of the domain experts. By this measure, CAMP significantly outperforms the current best-known players' contribution measure based on the Duckworth-Lewis-Stern (DLS) method.

Memory-based Temporal Graph Neural Networks are powerful tools in dynamic graph representation learning and have demonstrated superior performance in many real-world applications. However, their node memory favors smaller batch sizes to capture more dependencies in graph events and needs to be maintained synchronously across all trainers. As a result, existing frameworks suffer from accuracy loss when scaling to multiple GPUs. Evenworse, the tremendous overhead to synchronize the node memory make it impractical to be deployed to distributed GPU clusters. In this work, we propose DistTGL -- an efficient and scalable solution to train memory-based TGNNs on distributed GPU clusters. DistTGL has three improvements over existing solutions: an enhanced TGNN model, a novel training algorithm, and an optimized system. In experiments, DistTGL achieves near-linear convergence speedup, outperforming state-of-the-art single-machine method by 14.5% in accuracy and 10.17x in training throughput.

Identifying and understanding implicit attitudes toward food can help efforts to mitigate social prejudice due to food's pervasive role as a marker of cultural and ethnic identity. Stereotypes about food are a form of microaggression that contribute to harmful public discourse that may in turn perpetuate prejudice toward ethnic groups and negatively impact economic outcomes for restaurants. Through careful linguistic analyses, we evaluate social theories about attitudes toward immigrant cuisine in a large-scale study of framing differences in 2.1M English language Yelp reviews of restaurants in 14 US states. Controlling for factors such as restaurant price and neighborhood racial diversity, we find that immigrant cuisines are more likely to be framed in objectifying and othering terms of authenticity (e.g., authentic, traditional), exoticism (e.g., exotic, different), and prototypicality (e.g., typical, usual), but that non-Western immigrant cuisines (e.g., Indian, Mexican) receive more othering than European cuisines (e.g., French, Italian). We further find that non-Western immigrant cuisines are framed less positively and as lower status, being evaluated in terms of affordability and hygiene. Finally, we show that reviews generated by large language models (LLMs) reproduce many of the same framing tendencies. Our results empirically corroborate social theories of taste and gastronomic stereotyping, and reveal linguistic processes by which such attitudes are reified.

Addressing the interpretability problem of NMF on Boolean data, Boolean Matrix Factorization (BMF) uses Boolean algebra to decompose the input into low-rank Boolean factor matrices. These matrices are highly interpretable and very useful in practice, but they come at the high computational cost of solving an NP-hard combinatorial optimization problem. To reduce the computational burden, we propose to relax BMF continuously using a novel elastic-binary regularizer, from which we derive a proximal gradient algorithm. Through an extensive set of experiments, we demonstrate that our method works well in practice: On synthetic data, we show that it converges quickly, recovers the ground truth precisely, and estimates the simulated rank exactly. On real-world data, we improve upon the state of the art in recall, loss, and runtime, and a case study from the medical domain confirms that our results are easily interpretable and semantically meaningful.

ASR systems are generally built for the spoken 'standard', and their performance declines for non-standard dialects/varieties. This is a problem for a language like Irish, where there is no single spoken standard, but rather three major dialects: Ulster (Ul), Connacht (Co) and Munster (Mu). As a diagnostic to quantify the effect of the speaker's dialect on recognition performance, 12 ASR systems were trained, firstly using baseline dialect-balanced training corpora, and then using modified versions of the baseline corpora, where dialect-specific materials were either subtracted or added. Results indicate that dialect-balanced corpora do not yield a similar performance across the dialects: the Ul dialect consistently underperforms, whereas Mu yields lowest WERs. There is a close relationship between Co and Mu dialects, but one that is not symmetrical. These results will guide future corpus collection and system building strategies to optimise for cross-dialect performance equity.

Sharing ideas through communication with peers is the primary mode of human interaction. Consequently, extensive research has been conducted in the area of conversational AI, leading to an increase in the availability and diversity of conversational tasks, datasets, and methods. However, with numerous tasks being explored simultaneously, the current landscape of conversational AI becomes fragmented. Therefore, initiating a well-thought-out model for a dialogue agent can pose significant challenges for a practitioner. Towards highlighting the critical ingredients needed for a practitioner to design a dialogue agent from scratch, the current study provides a comprehensive overview of the primary characteristics of a dialogue agent, the supporting tasks, their corresponding open-domain datasets, and the methods used to benchmark these datasets. We observe that different methods have been used to tackle distinct dialogue tasks. However, building separate models for each task is costly and does not leverage the correlation among the several tasks of a dialogue agent. As a result, recent trends suggest a shift towards building unified foundation models. To this end, we propose UNIT, a UNified dIalogue dataseT constructed from conversations of existing datasets for different dialogue tasks capturing the nuances for each of them. We also examine the evaluation strategies used to measure the performance of dialogue agents and highlight the scope for future research in the area of conversational AI.

The evolutionary diversity optimization aims at finding a diverse set of solutions which satisfy some constraint on their fitness. In the context of multi-objective optimization this constraint can require solutions to be Pareto-optimal. In this paper we study how the GSEMO algorithm with additional diversity-enhancing heuristic optimizes a diversity of its population on a bi-objective benchmark problem OneMinMax, for which all solutions are Pareto-optimal. We provide a rigorous runtime analysis of the last step of the optimization, when the algorithm starts with a population with a second-best diversity, and prove that it finds a population with optimal diversity in expected time $O(n^2)$, when the problem size $n$ is odd. For reaching our goal, we analyse the random walk of the population, which reflects the frequency of changes in the population and their outcomes.