Quadruped robots are usually equipped with additional arms for manipulation, negatively impacting price and weight. On the other hand, the requirements of legged locomotion mean that the legs of such robots often possess the needed torque and precision to perform manipulation. In this paper, we present a novel design for a small-scale quadruped robot equipped with two leg-mounted manipulators inspired by crustacean chelipeds and knuckle-walker forelimbs. By making use of the actuators already present in the legs, we can achieve manipulation using only 3 additional motors per limb. The design enables the use of small and inexpensive actuators relative to the leg motors, further reducing cost and weight. The moment of inertia impact on the leg is small thanks to an integrated cable/pulley system. As we show in a suite of tele-operation experiments, the robot is capable of performing single- and dual-limb manipulation, as well as transitioning between manipulation modes. The proposed design performs similarly to an additional arm while weighing and costing 5 times less per manipulator and enabling the completion of tasks requiring 2 manipulators.

Multivariate time series(MTS) is a universal data type related to many practical applications. However, MTS suffers from missing data problems, which leads to degradation or even collapse of the downstream tasks, such as prediction and classification. The concurrent missing data handling procedures could inevitably arouse the biased estimation and redundancy-training problem when encountering multiple downstream tasks. This paper presents a universally applicable MTS pre-train model, DBT-DMAE, to conquer the abovementioned obstacle. First, a missing representation module is designed by introducing dynamic positional embedding and random masking processing to characterize the missing symptom. Second, we proposed an auto-encoder structure to obtain the generalized MTS encoded representation utilizing an ameliorated TCN structure called dynamic-bidirectional-TCN as the basic unit, which integrates the dynamic kernel and time-fliping trick to draw temporal features effectively. Finally, the overall feed-in and loss strategy is established to ensure the adequate training of the whole model. Comparative experiment results manifest that the DBT-DMAE outperforms the other state-of-the-art methods in six real-world datasets and two different downstream tasks. Moreover, ablation and interpretability experiments are delivered to verify the validity of DBT-DMAE's substructures.

Mosquito-borne diseases (MBDs), such as dengue virus, chikungunya virus, and West Nile virus, cause over one million deaths globally every year. Because many such diseases are spread by the Aedes and Culex mosquitoes, tracking these larvae becomes critical in mitigating the spread of MBDs. Even as citizen science grows and obtains larger mosquito image datasets, the manual annotation of mosquito images becomes ever more time-consuming and inefficient. Previous research has used computer vision to identify mosquito species, and the Convolutional Neural Network (CNN) has become the de-facto for image classification. However, these models typically require substantial computational resources. This research introduces the application of the Vision Transformer (ViT) in a comparative study to improve image classification on Aedes and Culex larvae. Two ViT models, ViT-Base and CvT-13, and two CNN models, ResNet-18 and ConvNeXT, were trained on mosquito larvae image data and compared to determine the most effective model to distinguish mosquito larvae as Aedes or Culex. Testing revealed that ConvNeXT obtained the greatest values across all classification metrics, demonstrating its viability for mosquito larvae classification. Based on these results, future research includes creating a model specifically designed for mosquito larvae classification by combining elements of CNN and transformer architecture.

Removing background noise from speech audio has been the subject of considerable effort, especially in recent years due to the rise of virtual communication and amateur recordings. Yet background noise is not the only unpleasant disturbance that can prevent intelligibility: reverb, clipping, codec artifacts, problematic equalization, limited bandwidth, or inconsistent loudness are equally disturbing and ubiquitous. In this work, we propose to consider the task of speech enhancement as a holistic endeavor, and present a universal speech enhancement system that tackles 55 different distortions at the same time. Our approach consists of a generative model that employs score-based diffusion, together with a multi-resolution conditioning network that performs enhancement with mixture density networks. We show that this approach significantly outperforms the state of the art in a subjective test performed by expert listeners. We also show that it achieves competitive objective scores with just 4-8 diffusion steps, despite not considering any particular strategy for fast sampling. We hope that both our methodology and technical contributions encourage researchers and practitioners to adopt a universal approach to speech enhancement, possibly framing it as a generative task. Real-world recorded speech almost inevitably contains background noise, which can be unpleasant and prevent intelligibility. Removing background noise has traditionally been the objective of speech enhancement algorithms (Loizou, 2013). Since the 1940s (Kolmogorov, 1941; Wiener, 1949), a myriad of denoising approaches based on filtering have been proposed, with a focus on stationary noises. With the advent of deep learning, the task has been dominated by neural networks, often outperforming more classical algorithms and generalizing to multiple noise types (Lu et al., 2013; Pascual et al., 2017; Rethage et al., 2018; Défossez et al., 2020; Fu et al., 2021). Besides recent progress, speech denoising still presents room for improvement, especially when dealing with distribution shift or real-world recordings. Noise however is only one of the many potential disturbances that can be present in speech recordings. If recordings are performed in a closed room, reverberation is ubiquitous. With this in mind, a number of works have recently started to zoom out the focus in order to embrace more realistic situations and tackle noise and reverberation at the same time (Su et al., 2021; 2019; Polyak et al., 2021). Some of these works adopt a generation or re-generation strategy (Maiti & Mandel, 2019), in which a two-stage approach is employed to first enhance and then synthesize speech signals.

The thin-file borrowers are customers for whom a creditworthiness assessment is uncertain due to their lack of credit history; many researchers have used borrowers' relationships and interactions networks in the form of graphs as an alternative data source to address this. Incorporating network data is traditionally made by hand-crafted feature engineering, and lately, the graph neural network has emerged as an alternative, but it still does not improve over the traditional method's performance. Here we introduce a framework to improve credit scoring models by blending several Graph Representation Learning methods: feature engineering, graph embeddings, and graph neural networks. We stacked their outputs to produce a single score in this approach. We validated this framework using a unique multi-source dataset that characterizes the relationships and credit history for the entire population of a Latin American country, applying it to credit risk models, application, and behavior, targeting both individuals and companies. Our results show that the graph representation learning methods should be used as complements, and these should not be seen as self-sufficient methods as is currently done. In terms of AUC and KS, we enhance the statistical performance, outperforming traditional methods. In Corporate lending, where the gain is much higher, it confirms that evaluating an unbanked company cannot solely consider its features. The business ecosystem where these firms interact with their owners, suppliers, customers, and other companies provides novel knowledge that enables financial institutions to enhance their creditworthiness assessment. Our results let us know when and which group to use graph data and what effects on performance to expect. They also show the enormous value of graph data on the unbanked credit scoring problem, principally to help companies' banking.

Will countries need soldiers and fighter pilots in future conflicts, or will drones do the job? Private companies and governments already own huge databases of our DNA and other biometrics, making it easy for drones equipped with facial recognition to target individuals anywhere. In 2018, Venezuelan President Nicolas Maduro said he survived a drone assassination attempt. And in 2020, Israel assassinated Iran's nuclear programme chief, Mohsen Fakhrizadeh, with an autonomous satellite-operated machine gun. Futurist and security consultant Marc Goodman tells host Steve Clemons about the scientific advances that are benefitting humanity – and those that are making the world a darker place.

The rapidly-developing intersection of machine learning (ML) with high-energy physics (HEP) presents both opportunities and challenges to our community. Far beyond applications of standard ML tools to HEP problems, genuinely new and potentially revolutionary approaches are being developed by a generation of talent literate in both fields. There is an urgent need to support the needs of the interdisciplinary community driving these developments, including funding dedicated research at the intersection of the two fields, investing in high-performance computing at universities and tailoring allocation policies to support this work, developing of community tools and standards, and providing education and career paths for young researchers attracted by the intellectual vitality of machine learning for high energy physics.

The diversified ecology in nature had various forms of swarm behaviors in many species. The butterfly species is one of the prominent and a bit insightful in their random flights and converting that into an artificial metaphor would lead to enormous possibilities. This paper considers one such metaphor known as Butterfly Mating Optimization (BMO). In BMO, the Bfly follows the patrolling mating phenomena and simultaneously captures all the local optima of multimodal functions. To imitate this algorithm, a mobile robot (Bflybot) was designed to meet the features of the Bfly in the BMO algorithm. Also, the multi-Bflybot swarm is designed to act like butterflies in nature and follow the algorithm's rules. The real-time experiments were performed on the BMO algorithm in the multi-robotic arena and considered the signal source as the light source. The experimental results show that the BMO algorithm is applicable to detect multiple signal sources with significant variations in their movements i.e., static and dynamic. In the case of static signal sources, with varying initial locations of Bflybots, the convergence is affected in terms of time and smoothness. Whereas the experiments with varying step-size leads to their variation in the execution time and speed of the bots. In this work, experiments were performed in a dynamic environment where the movement of the signal source in both maneuvering and non-maneuvering scenarios. The Bflybot swarm is able to detect the single and multi-signal sources, moving linearly in between two fixed points, in circular, up and down movements.To evaluate the BMO phenomenon, various ongoing and prospective works such as mid-sea ship detection, aerial search applications, and earthquake prediction were discussed.

Document-level information extraction (IE) tasks have recently begun to be revisited in earnest using the end-to-end neural network techniques that have been successful on their sentence-level IE counterparts. Evaluation of the approaches, however, has been limited in a number of dimensions. In particular, the precision/recall/F1 scores typically reported provide few insights on the range of errors the models make. We build on the work of Kummerfeld and Klein (2013) to propose a transformation-based framework for automating error analysis in document-level event and (N-ary) relation extraction. We employ our framework to compare two state-of-the-art document-level template-filling approaches on datasets from three domains; and then, to gauge progress in IE since its inception 30 years ago, vs. four systems from the MUC-4 (1992) evaluation.

The study of language variation examines how language varies between and within different groups of speakers, shedding light on how we use language to construct identities and how social contexts affect language use. A common method is to identify instances of a certain linguistic feature - say, the zero copula construction - in a corpus, and analyze the feature's distribution across speakers, topics, and other variables, to either gain a qualitative understanding of the feature's function or systematically measure variation. In this paper, we explore the challenging task of automatic morphosyntactic feature detection in low-resource English varieties. We present a human-in-the-loop approach to generate and filter effective contrast sets via corpus-guided edits. We show that our approach improves feature detection for both Indian English and African American English, demonstrate how it can assist linguistic research, and release our fine-tuned models for use by other researchers.