Tactile sensing is critical in advanced interactive systems by emulating the human sense of touch to detect stimuli. Vision-based tactile sensors (VBTSs) are promising for their ability to provide rich information, robustness, adaptability, low cost, and multimodal capabilities. However, current technologies still have limitations in sensitivity, spatial resolution, and the high computational demands of deep learning-based image processing. This paper presents a comprehensive approach combining a novel sensor structure with micromachined structures and an efficient image processing method, and demonstrates that carefully engineered microstructures within the sensor hardware can significantly enhance sensitivity while reducing computational load. Unlike traditional designs with tracking markers, our sensor incorporates an interface surface with micromachined trenches, as an example of microstructures, which modulate light transmission and amplify the variation in response to applied force. By capturing variations in brightness, wire width, and cross pattern locations with a camera, the sensor accurately infers the contact location, the magnitude of displacement and applied force with a lightweight convolutional neural network (CNN). Theoretical and experimental results demonstrated that the microstructures significantly enhance sensitivity by amplifying the visual effects of shape distortion. The sensor system effectively detected forces below 10 mN, and achieved a millimetre-level single-point spatial resolution. Using a model with only one convolutional layer, a mean absolute error (MAE) below 0.05 mm have been achieved. Its soft sensor body ensures compatibility with soft robots and wearable electronics, while its immunity to electrical crosstalk and interference guarantees reliability in complex human-machine environments.

Deep learning models for anticipating the products of organic reactions have found many use cases, including validating retrosynthetic pathways and constraining synthesis-based molecular design tools. Despite compelling performance on popular benchmark tasks, strange and erroneous predictions sometimes ensue when using these models in practice. The core issue is that common benchmarks test models in an in-distribution setting, whereas many real-world uses for these models are in out-of-distribution settings and require a greater degree of extrapolation. To better understand how current reaction predictors work in out-of-distribution domains, we report a series of more challenging evaluations of a prototypical SMILES-based deep learning model. First, we illustrate how performance on randomly sampled datasets is overly optimistic compared to performance when generalizing to new patents or new authors. Second, we conduct time splits that evaluate how models perform when tested on reactions published in years after those in their training set, mimicking real-world deployment. Finally, we consider extrapolation across reaction classes to reflect what would be required for the discovery of novel reaction types. This panel of tasks can reveal the capabilities and limitations of today's reaction predictors, acting as a crucial first step in the development of tomorrow's next-generation models capable of reaction discovery.

Lattice structures have great potential for several application fields ranging from medical and tissue engineering to aeronautical one. Their development is further speeded up by the continuing advances in additive manufacturing technologies that allow to overcome issues typical of standard processes and to propose tailored designs. However, the design of lattice structures is still challenging since their properties are considerably affected by numerous factors. The present paper aims to propose, discuss, and compare various modeling approaches to describe, understand, and predict the correlations between the mechanical properties and the void volume fraction of different types of lattice structures fabricated by fused deposition modeling 3D printing. Particularly, four approaches are proposed: (i) a simplified analytical model; (ii) a semi-empirical model combining analytical equations with experimental correction factors; (iii) an artificial neural network trained on experimental data; (iv) numerical simulations by finite element analyses. The comparison among the various approaches, and with experimental data, allows to identify the performances, advantages, and disadvantages of each approach, thus giving important guidelines for choosing the right design methodology based on the needs and available data.

While recent multilingual automatic speech recognition models claim to support thousands of languages, ASR for low-resource languages remains highly unreliable due to limited bimodal speech and text training data. Better multilingual spoken language understanding (SLU) can strengthen massively the robustness of multilingual ASR by levering language semantics to compensate for scarce training data, such as disambiguating utterances via context or exploiting semantic similarities across languages. Even more so, SLU is indispensable for inclusive speech technology in roughly half of all living languages that lack a formal writing system. However, the evaluation of multilingual SLU remains limited to shallower tasks such as intent classification or language identification. To address this, we present Fleurs-SLU, a multilingual SLU benchmark that encompasses topical speech classification in 102 languages and multiple-choice question answering through listening comprehension in 92 languages. We extensively evaluate both end-to-end speech classification models and cascaded systems that combine speech-to-text transcription with subsequent classification by large language models on Fleurs-SLU. Our results show that cascaded systems exhibit greater robustness in multilingual SLU tasks, though speech encoders can achieve competitive performance in topical speech classification when appropriately pre-trained. We further find a strong correlation between robust multilingual ASR, effective speech-to-text translation, and strong multilingual SLU, highlighting the mutual benefits between acoustic and semantic speech representations.

The growing demand for halal cosmetic products has exposed significant challenges, especially in Muslim-majority countries. Recently, various machine learning-based strategies, e.g., image-based methods, have shown remarkable success in predicting the halal status of cosmetics. However, these methods mainly focus on analyzing the discrete and specific ingredients within separate cosmetics, which ignore the high-order and complex relations between cosmetics and ingredients. To address this problem, we propose a halal cosmetic recommendation framework, namely HaCKG, that leverages a knowledge graph of cosmetics and their ingredients to explicitly model and capture the relationships between cosmetics and their components. By representing cosmetics and ingredients as entities within the knowledge graph, HaCKG effectively learns the high-order and complex relations between entities, offering a robust method for predicting halal status. Specifically, we first construct a cosmetic knowledge graph representing the relations between various cosmetics, ingredients, and their properties. We then propose a pre-trained relational graph attention network model with residual connections to learn the structural relation between entities in the knowledge graph. The pre-trained model is then fine-tuned on downstream cosmetic data to predict halal status. Extensive experiments on the cosmetic dataset over halal prediction tasks demonstrate the superiority of our model over state-of-the-art baselines.

With the rapid development of the combination of control technology and the Artificial Intelligence(AI) field, the intelligent control of mobile robots and their applications like industrial manufacturing, logistics sorting, etc. in this field is evolving towards self-learning and adaptation [1]. For example, intelligent control of mobile robots in complex environments can autonomously move in various environments without external assistance [2], which requires navigation [3] and motion planning-related technologies in practical applications. Motion planning is divided into path planning and trajectory planning [4]. Path planning often serves as the crucial step of trajectory planning, its goal is to find the optimal path from a starting point to an endpoint in a given environment. However, path planning in dynamic environments is more practical and challenging [5].

Uncertainty estimations for machine learning interatomic potentials (MLIPs) are crucial for quantifying model error and identifying informative training samples in active learning strategies. In this study, we evaluate uncertainty estimations of Gaussian process regression (GPR)-based MLIPs, including the predictive GPR standard deviation and ensemble-based uncertainties. We do this in terms of calibration and in terms of impact on model performance in an active learning scheme. We consider GPR models with Coulomb and Smooth Overlap of Atomic Positions (SOAP) representations as inputs to predict potential energy surfaces and excitation energies of molecules. Regarding calibration, we find that ensemble-based uncertainty estimations show already poor global calibration (e.g., averaged over the whole test set). In contrast, the GPR standard deviation shows good global calibration, but when grouping predictions by their uncertainty, we observe a systematical bias for predictions with high uncertainty. Although an increasing uncertainty correlates with an increasing bias, the bias is not captured quantitatively by the uncertainty. Therefore, the GPR standard deviation can be useful to identify predictions with a high bias and error but, without further knowledge, should not be interpreted as a quantitative measure for a potential error range. Selecting the samples with the highest GPR standard deviation from a fixed configuration space leads to a model that overemphasizes the borders of the configuration space represented in the fixed dataset. This may result in worse performance in more densely sampled areas but better generalization for extrapolation tasks.

Abstract-- Scanning large-scale surfaces is widely demanded in surface reconstruction applications and detecting defects in industries' quality control and maintenance stages. Traditional vision-based tactile sensors have shown promising performance in high-resolution shape reconstruction while suffering limitations such as small sensing areas or susceptibility to damage when slid across surfaces, making them unsuitable for continuous sensing on large surfaces. To address these shortcomings, we introduce a novel vision-based tactile sensor designed for continuous surface sensing applications. Our design uses an elastomeric belt and two wheels to continuously scan the target surface. The proposed sensor showed promising results in both shape reconstruction and surface fusion, indicating its applicability. The dot product of the estimated and reference surface normal map is reported over the sensing area and for different scanning speeds. Results indicate that the proposed sensor can rapidly scan large-scale surfaces with high accuracy at speeds up to 45 mm/s.

The performance of pavement under loading depends on the strength of the subgrade. However, experimental estimation of properties of pavement strengths such as California bearing ratio (CBR), unconfined compressive strength (UCS) and resistance value (R) are often tedious, time-consuming and costly, thereby inspiring a growing interest in machine learning based tools which are simple, cheap and fast alternatives. Thus, the potential application of two boosting techniques; categorical boosting (CatBoost) and extreme gradient boosting (XGBoost) and support vector regression (SVR), is similarly explored in this study for estimation of properties of subgrade soil modified with hydrated lime activated rice husk ash (HARSH). Using 121 experimental data samples of varying proportions of HARSH, plastic limit, liquid limit, plasticity index, clay activity, optimum moisture content, and maximum dry density as input for CBR, UCS and R estimation, four evaluation metrics namely coefficient of determination (R2), root mean squared error (RMSE), mean absolute error (MAE) and mean absolute percentage error (MAPE) are used to evaluate the models' performance. The results indicate that XGBoost outperformed CatBoost and SVR in estimating these properties, yielding R2 of 0.9994, 0.9995 and 0.9999 in estimating the CBR, UCS and R respectively. Also, SVR outperformed CatBoost in estimating the CBR and R with R2 of 0.9997 respectively. On the other hand, CatBoost outperformed SVR in estimating the UCS with R2 of 0.9994. Feature sensitivity analysis shows that the three machine learning techniques are unanimous that increasing HARSH proportion lead to values of the estimated properties respectively. A comparison with previous results also shows superiority of XGBoost in estimating subgrade properties.

The widespread acceptance of empirically derived codal provisions and equations in civil engineering stands in stark contrast to the skepticism facing machine learning (ML) models, despite their shared statistical foundations. This paper examines this philosophical tension through the lens of structural engineering and explores how integrating ML challenges traditional engineering philosophies and professional identities. Recent efforts have documented how ML enhances predictive accuracy, optimizes designs, and analyzes complex behaviors. However, one might also raise concerns about the diminishing role of human intuition and the interpretability of algorithms. To showcase this rarely explored front, this paper presents how ML can be successfully integrated into various engineering problems by means of formulation via deduction, induction, and abduction. Then, this paper identifies three principal paradoxes that could arise when adopting ML: analysis paralysis (increased prediction accuracy leading to a reduced understanding of physical mechanisms), infeasible solutions (optimization resulting in unconventional designs that challenge engineering intuition), and the Rashomon effect (where contradictions in explainability methods and physics arise). This paper concludes by addressing these paradoxes and arguing the need to rethink epistemological shifts in engineering and engineering education and methodologies to harmonize traditional principles with ML.