This article presents a comprehensive review of control algorithms used in mobile robotics, a field in constant evolution. Mobile robotics has seen significant advances in recent years, driven by the demand for applications in various sectors, such as industrial automation, space exploration, and medical care. The review focuses on control algorithms that address specific challenges in navigation, localization, mapping, and path planning in changing and unknown environments. Classical approaches, such as PID control and methods based on classical control theory, as well as modern techniques, including deep learning and model-based planning, are discussed in detail. In addition, practical applications and remaining challenges in implementing these algorithms in real-world mobile robots are highlighted. Ultimately, this review provides a comprehensive overview of the diversity and complexity of control algorithms in mobile robotics, helping researchers and practitioners to better understand the options available to address specific problems in this exciting area of study.

Recent efforts have augmented language models (LMs) with external tools or environments, leading to the development of language agents that can reason and act. However, most of these agents rely on few-shot prompting techniques with off-the-shelf LMs. In this paper, we investigate and argue for the overlooked direction of fine-tuning LMs to obtain language agents. Using a setup of question answering (QA) with a Google search API, we explore a variety of base LMs, prompting methods, fine-tuning data, and QA tasks, and find language agents are consistently improved after fine-tuning their backbone LMs. For example, fine-tuning Llama2-7B with 500 agent trajectories generated by GPT-4 leads to a 77% HotpotQA performance increase. Furthermore, we propose FireAct, a novel approach to fine-tuning LMs with trajectories from multiple tasks and prompting methods, and show having more diverse fine-tuning data can further improve agents. Along with other findings regarding scaling effects, robustness, generalization, efficiency and cost, our work establishes comprehensive benefits of fine-tuning LMs for agents, and provides an initial set of experimental designs, insights, as well as open questions toward language agent fine-tuning.

The recent program development industries have required problem-solving abilities for engineers, especially application developers. However, AI-based education systems to help solve computer algorithm problems have not yet attracted attention, while most big tech companies require the ability to solve algorithm problems including Google, Meta, and Amazon. The most useful guide to solving algorithm problems might be guessing the category (tag) of the facing problems. Therefore, our study addresses the task of predicting the algorithm tag as a useful tool for engineers and developers. Moreover, we also consider predicting the difficulty levels of algorithm problems, which can be used as useful guidance to calculate the required time to solve that problem. In this paper, we present a real-world algorithm problem multi-task dataset, AMT, by mainly collecting problem samples from the most famous and large competitive programming website Codeforces. To the best of our knowledge, our proposed dataset is the most large-scale dataset for predicting algorithm tags compared to previous studies. Moreover, our work is the first to address predicting the difficulty levels of algorithm problems. We present a deep learning-based novel method for simultaneously predicting algorithm tags and the difficulty levels of an algorithm problem given. All datasets and source codes are available at https://github.com/sronger/PSG_Predicting_Algorithm_Tags_and_Difficulty.

Imbalanced classification is a well-known challenge faced by many real-world applications. This issue occurs when the distribution of the target variable is skewed, leading to a prediction bias toward the majority class. With the arrival of the Big Data era, there is a pressing need for efficient solutions to solve this problem. In this work, we present a novel resampling method called SMOTENN that combines intelligent undersampling and oversampling using a MapReduce framework. Both procedures are performed on the same pass over the data, conferring efficiency to the technique. The SMOTENN method is complemented with an efficient implementation of the neighborhoods related to the minority samples. Our experimental results show the virtues of this approach, outperforming alternative resampling techniques for small- and medium-sized datasets while achieving positive results on large datasets with reduced running times.

With its vast expanse, exceeding that of Western Europe by twice, the Amazon rainforest stands as the largest forest of the Earth, holding immense importance in global climate regulation. Yet, deforestation detection from remote sensing data in this region poses a critical challenge, often hindered by the persistent cloud cover that obscures optical satellite data for much of the year. Addressing this need, this paper proposes three deep-learning models tailored for deforestation monitoring, utilizing SAR (Synthetic Aperture Radar) multitemporal data moved by its independence on atmospheric conditions. Specifically, the study proposes three novel recurrent fully convolutional network architectures-namely, RRCNN-1, RRCNN-2, and RRCNN-3, crafted to enhance the accuracy of deforestation detection. Additionally, this research explores replacing a bitemporal with multitemporal SAR sequences, motivated by the hypothesis that deforestation signs quickly fade in SAR images over time. A comprehensive assessment of the proposed approaches was conducted using a Sentinel-1 multitemporal sequence from a sample site in the Brazilian rainforest. The experimental analysis confirmed that analyzing a sequence of SAR images over an observation period can reveal deforestation spots undetectable in a pair of images. Notably, experimental results underscored the superiority of the multitemporal approach, yielding approximately a five percent enhancement in F1-Score across all tested network architectures. Particularly the RRCNN-1 achieved the highest accuracy and also boasted half the processing time of its closest counterpart.

Etruscan is an ancient language spoken in Italy from the 7th century BC to the 1st century AD. There are no native speakers of the language at the present day, and its resources are scarce, as there exist only around 12,000 known inscriptions. To the best of our knowledge, there are no publicly available Etruscan corpora for natural language processing. Therefore, we propose a dataset for machine translation from Etruscan to English, which contains 2891 translated examples from existing academic sources. Some examples are extracted manually, while others are acquired in an automatic way. Along with the dataset, we benchmark different machine translation models observing that it is possible to achieve a BLEU score of 10.1 with a small transformer model. Releasing the dataset can help enable future research on this language, similar languages or other languages with scarce resources.

Multimodal Entity Linking (MEL) is a task that aims to link ambiguous mentions within multimodal contexts to referential entities in a multimodal knowledge base. Recent methods for MEL adopt a common framework: they first interact and fuse the text and image to obtain representations of the mention and entity respectively, and then compute the similarity between them to predict the correct entity. However, these methods still suffer from two limitations: first, as they fuse the features of text and image before matching, they cannot fully exploit the fine-grained alignment relations between the mention and entity. Second, their alignment is static, leading to low performance when dealing with complex and diverse data. To address these issues, we propose a novel framework called Dynamic Relation Interactive Network (DRIN) for MEL tasks. DRIN explicitly models four different types of alignment between a mention and entity and builds a dynamic Graph Convolutional Network (GCN) to dynamically select the corresponding alignment relations for different input samples. Experiments on two datasets show that DRIN outperforms state-of-the-art methods by a large margin, demonstrating the effectiveness of our approach.

Polyp segmentation is crucial for preventing colorectal cancer a common type of cancer. Deep learning has been used to segment polyps automatically, which reduces the risk of misdiagnosis. Localizing small polyps in colonoscopy images is challenging because of its complex characteristics, such as color, occlusion, and various shapes of polyps. To address this challenge, a novel frequency-based fully convolutional neural network, Multi-Frequency Feature Fusion Polyp Segmentation Network (M3FPolypSegNet) was proposed to decompose the input image into low/high/full-frequency components to use the characteristics of each component. We used three independent multi-frequency encoders to map multiple input images into a high-dimensional feature space. In the Frequency-ASPP Scalable Attention Module (F-ASPP SAM), ASPP was applied between each frequency component to preserve scale information. Subsequently, scalable attention was applied to emphasize polyp regions in a high-dimensional feature space. Finally, we designed three multi-task learning (i.e., region, edge, and distance) in four decoder blocks to learn the structural characteristics of the region. The proposed model outperformed various segmentation models with performance gains of 6.92% and 7.52% on average for all metrics on CVC-ClinicDB and BKAI-IGH-NeoPolyp, respectively.

Multilingual language models have gained significant attention in recent years, enabling the development of applications that cater to diverse linguistic contexts. In this paper, we present a comprehensive evaluation of three prominent multilingual language models: mBERT, XLM-R, and GPT-3. Using the self-supervised task of next token prediction, we assess their performance across a diverse set of languages, with a focus on understanding the impact of resource availability, word order, language family, and script type on model accuracy. Our findings reveal that resource availability plays a crucial role in model performance, with higher resource levels leading to improved accuracy. We also identify the complex relationship between resource availability, language families, and script types, highlighting the need for further investigation into language-specific characteristics and structural variations. Additionally, our statistical inference analysis identifies significant features contributing to model performance, providing insights for model selection and deployment. Our study contributes to a deeper understanding of multilingual language models and informs future research and development to enhance their performance and generalizability across languages and linguistic contexts.

Acceleration of gradient-based optimization methods is an issue of significant practical and theoretical interest, particularly in machine learning applications. Most research has focused on optimization over Euclidean spaces, but given the need to optimize over spaces of probability measures in many machine learning problems, it is of interest to investigate accelerated gradient methods in this context too. To this end, we introduce a Hamiltonian-flow approach that is analogous to moment-based approaches in Euclidean space. We demonstrate that algorithms based on this approach can achieve convergence rates of arbitrarily high order. Numerical examples illustrate our claim.