Recent years have shown a growing interest in using haptic shared control (HSC) in teleoperated systems. In HSC, the application of virtual guiding forces decreases the user's control effort and improves execution time in various tasks, presenting a good alternative in comparison with direct teleoperation. HSC, despite demonstrating good performance, opens a new gap: how to design the guiding forces. For this reason, the challenge lies in developing controllers to provide the optimal guiding forces for the tasks that are being performed. This work addresses this challenge by designing a controller based on the deep deterministic policy gradient (DDPG) algorithm to provide the assistance, and a convolutional neural network (CNN) to perform the task detection, called TAHSC (Task Agnostic Haptic Shared Controller). The agent learns to minimize the time it takes the human to execute the desired task, while simultaneously minimizing their resistance to the provided feedback. This resistance thus provides the learning algorithm with information about which direction the human is trying to follow, in this case, the pick-and-place task. Diverse results demonstrate the successful application of the proposed approach by learning custom policies for each user who was asked to test the system. It exhibits stable convergence and aids the user in completing the task with the least amount of time possible.

There are many practitioners that create software to buy and sell financial assets in an autonomous way. There are some digital platforms that allow the development, test and deployment of trading agents (or robots) in simulated or real markets. Some of these work focus on very short horizons of investment, while others deal with longer periods. The spectrum of used AI techniques in finance field is wide. There are many cases, where the developers are successful in creating robots with great performance in historical price series (so called backtesting). Furthermore, some platforms make available thousands of robots that [allegedly] are able to be profitable in real markets. These strategies may be created with some simple idea or using complex machine learning schemes. Nevertheless, when they are used in real markets or with data not used in their training or evaluation frequently they present very poor performance. In this paper, we propose a method for testing Foreign Exchange (FX) trading strategies that can provide realistic expectations about strategy's performance. This method addresses many pitfalls that can fool even experience practitioners and researchers. We present the results of applying such method in several famous autonomous strategies in many different financial assets. Analyzing these results, we can realize that it is very hard to build a reliable strategy and many published strategies are far from being reliable vehicles of investment. These facts can be maliciously used by those who try to sell such robots, by advertising such great (and non repetitive) results, while hiding the bad but meaningful results. The proposed method can be used to select among potential robots, establishes minimal periods and requirements for the test executions. In this way, the method helps to tell if you really have a great trading strategy or you are just fooling yourself.

Dynamic time warping (DTW) plays an important role in analytics on time series. Despite the large body of research on speeding up univariate DTW, the method for multivariate DTW has not been improved much in the last two decades. The most popular algorithm used today is still the one developed seventeen years ago. This paper presents a solution that, as far as we know, for the first time consistently outperforms the classic multivariate DTW algorithm across dataset sizes, series lengths, data dimensions, temporal window sizes, and machines. The new solution, named TC-DTW, introduces Triangle Inequality and Point Clustering into the algorithm design on lower bound calculations for multivariate DTW. In experiments on DTW-based nearest neighbor finding, the new solution avoids as much as 98% (60% average) DTW distance calculations and yields as much as 25X (7.5X average) speedups.

This paper explores the state of the art on to methods to verify and validate navigation algorithms for autonomous surface ships. We perform a systematic mapping study to find research works published in the last 10 years proposing new algorithms for autonomous navigation and collision avoidance and we have extracted what verification and validation approaches have been applied on these algorithms. We observe that most research works use simulations to validate their algorithms. However, these simulations often involve just a few scenarios designed manually. This raises the question if the algorithms have been validated properly. To remedy this, we propose the use of a systematic scenario-based testing approach to validate navigation algorithms extensively.

Transformer is a type of deep neural network mainly based on self-attention mechanism which is originally applied in natural language processing field. Inspired by the strong representation ability of transformer, researchers propose to extend transformer for computer vision tasks. Transformer-based models show competitive and even better performance on various visual benchmarks compared to other network types such as convolutional networks and recurrent networks. With high performance and without inductive bias defined by human, transformer is receiving more and more attention from the visual community. In this paper we provide a literature review of these visual transformer models by categorizing them in different tasks and analyze the advantages and disadvantages of these methods. In particular, the main categories include the basic image classification, high-level vision, low-level vision and video processing. The self-attention in computer vision is also briefly revisited as self-attention is the base component in transformer. Efficient transformer methods are included for pushing transformer into real applications on the devices. Finally, we give a discussion about the challenges and further research directions for visual transformers.

Severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) incidence peaked in Manaus, Brazil, in May 2020 with a devastating toll on the city's inhabitants, leaving its health services shattered and cemeteries overwhelmed. Buss et al. collected data from blood donors from Manaus and São Paulo, noted when transmission began to fall, and estimated the final attack rates in October 2020 (see the Perspective by Sridhar and Gurdasani). Heterogeneities in immune protection, population structure, poverty, modes of public transport, and uneven adoption of nonpharmaceutical interventions mean that despite a high attack rate, herd immunity may not have been achieved. This unfortunate city has become a sentinel for how natural population immunity could influence future transmission. Events in Manaus reveal what tragedy and harm to society can unfold if this virus is left to run its course. Science , this issue p. [288][1]; see also p. [230][2] Severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) spread rapidly in Manaus, the capital of Amazonas state in northern Brazil. The attack rate there is an estimate of the final size of the largely unmitigated epidemic that occurred in Manaus. We use a convenience sample of blood donors to show that by June 2020, 1 month after the epidemic peak in Manaus, 44% of the population had detectable immunoglobulin G (IgG) antibodies. Correcting for cases without a detectable antibody response and for antibody waning, we estimate a 66% attack rate in June, rising to 76% in October. This is higher than in São Paulo, in southeastern Brazil, where the estimated attack rate in October was 29%. These results confirm that when poorly controlled, COVID-19 can infect a large proportion of the population, causing high mortality. [1]: /lookup/doi/10.1126/science.abe9728 [2]: /lookup/doi/10.1126/science.abf7921

Personalized gamification explores knowledge about the users to tailor gamification designs to improve one-size-fits-all gamification. The tailoring process should simultaneously consider user and contextual characteristics (e.g., activity to be done and geographic location), which leads to several occasions to tailor. Consequently, tools for automating gamification personalization are needed. The problems that emerge are that which of those characteristics are relevant and how to do such tailoring are open questions, and that the required automating tools are lacking. We tackled these problems in two steps. First, we conducted an exploratory study, collecting participants' opinions on the game elements they consider the most useful for different learning activity types (LAT) via survey. Then, we modeled opinions through conditional decision trees to address the aforementioned tailoring process. Second, as a product from the first step, we implemented a recommender system that suggests personalized gamification designs (which game elements to use), addressing the problem of automating gamification personalization. Our findings i) present empirical evidence that LAT, geographic locations, and other user characteristics affect users' preferences, ii) enable defining gamification designs tailored to user and contextual features simultaneously, and iii) provide technological aid for those interested in designing personalized gamification. The main implications are that demographics, game-related characteristics, geographic location, and LAT to be done, as well as the interaction between different kinds of information (user and contextual characteristics), should be considered in defining gamification designs and that personalizing gamification designs can be improved with aid from our recommender system.

In this work we provide new insights into the transformer architecture, and in particular, its best-known variant, BERT. First, we propose a method to measure the degree of non-linearity of different elements of transformers. Next, we focus our investigation on the feed-forward networks (FFN) inside transformers, which contain 2/3 of the model parameters and have so far not received much attention. We find that FFNs are an inefficient yet important architectural element and that they cannot simply be replaced by attention blocks without a degradation in performance. Moreover, we study the interactions between layers in BERT and show that, while the layers exhibit some hierarchical structure, they extract features in a fuzzy manner. Our results suggest that BERT has an inductive bias towards layer commutativity, which we find is mainly due to the skip connections. This provides a justification for the strong performance of recurrent and weight-shared transformer models.

This tutorial paper presents a didactic treatment of the emerging topic of signal processing on higher-order networks. Drawing analogies from discrete and graph signal processing, we introduce the building blocks for processing data on simplicial complexes and hypergraphs, two common abstractions of higher-order networks that can incorporate polyadic relationships.We provide basic introductions to simplicial complexes and hypergraphs, making special emphasis on the concepts needed for processing signals on them. Leveraging these concepts, we discuss Fourier analysis, signal denoising, signal interpolation, node embeddings, and non-linear processing through neural networks in these two representations of polyadic relational structures. In the context of simplicial complexes, we specifically focus on signal processing using the Hodge Laplacian matrix, a multi-relational operator that leverages the special structure of simplicial complexes and generalizes desirable properties of the Laplacian matrix in graph signal processing. For hypergraphs, we present both matrix and tensor representations, and discuss the trade-offs in adopting one or the other. We also highlight limitations and potential research avenues, both to inform practitioners and to motivate the contribution of new researchers to the area.

The edge is an end point where data is generated through some type of interface, device or sensor. Keep in mind that the technology is nothing new. But in light of the rapid innovations in a myriad of categories, the edge has become a major growth business. "The edge brings the intelligence as close as possible to the data source and the point of action," said Teresa Tung, who is the Managing Director at Accenture Labs. "This is important because while centralized cloud computing makes it easier and cheaper to process data at scale, there are times when it doesn't make sense to send data off to the cloud for processing."