In this paper we focus on analyzing the thermal modality of tactile sensing for material recognition using a large materials database. Many factors affect thermal recognition performance, including sensor noise, the initial temperatures of the sensor and the object, the thermal effusivities of the materials, and the duration of contact. To analyze the influence of these factors on thermal recognition, we used a semi-infinite solid based thermal model to simulate heat-transfer data from all the materials in the CES Edupack Level-1 database. We used support-vector machines (SVMs) to predict F1 scores for binary material recognition for 2346 material pairs. We also collected data using a real robot equipped with a thermal sensor and analyzed its material recognition performance on 66 real-world material pairs. Additionally, we analyzed the performance when the models were trained on the simulated data and tested on the real-robot data. Our models predicted the material recognition performance with a 0.980 F1 score for the simulated data, a 0.994 F1 score for real-world data with constant initial sensor temperatures, a 0.966 F1 score for real-world data with varied initial sensor temperatures, and a 0.815 F1 score for sim-to-real transfer. Finally, we present some guidelines on sensor design and parameter choice for thermal recognition based on the insights gained from these results that would hopefully enable robotics researchers to use this less-explored tactile sensing modality more effectively during physical human-robot and robot-object interactions. We release our simulated and real-robot datasets for further use by the robotics community.

Food protein digestibility and bioavailability are critical aspects in addressing human nutritional demands, particularly when seeking sustainable alternatives to animal-based proteins. In this study, we propose a machine learning approach to predict the true ileal digestibility coefficient of food items. The model makes use of a unique curated dataset that combines nutritional information from different foods with FASTA sequences of some of their protein families. We extracted the biochemical properties of the proteins and combined these properties with embeddings from a Transformer-based protein Language Model (pLM). In addition, we used SHAP to identify features that contribute most to the model prediction and provide interpretability. This first AI-based model for predicting food protein digestibility has an accuracy of 90% compared to existing experimental techniques. With this accuracy, our model can eliminate the need for lengthy in-vivo or in-vitro experiments, making the process of creating new foods faster, cheaper, and more ethical.

The recent decade has seen an enormous rise in the popularity of deep learning and neural networks. These algorithms have broken many previous records and achieved remarkable results. Their outstanding performance has significantly sped up the progress of AI, and so far various milestones have been achieved earlier than expected. However, in the case of relatively small datasets, the performance of Deep Neural Networks (DNN) may suffer from reduced accuracy compared to other Machine Learning models. Furthermore, it is difficult to construct prediction intervals or evaluate the uncertainty of predictions when dealing with regression tasks. In this paper, we propose an ensemble method that attempts to estimate the uncertainty of predictions, increase their accuracy and provide an interval for the expected variation. Compared with traditional DNNs that only provide a prediction, our proposed method can output a prediction interval by combining DNNs, extreme gradient boosting (XGBoost) and dissimilarity computation techniques. Albeit the simple design, this approach significantly increases accuracy on small datasets and does not introduce much complexity to the architecture of the neural network. The proposed method is tested on various datasets, and a significant improvement in the performance of the neural network model is seen. The model's prediction interval can include the ground truth value at an average rate of 71% and 78% across training sizes of 90% and 55%, respectively. Finally, we highlight other aspects and applications of the approach in experimental error estimation, and the application of transfer learning.

Compliance control is an increasingly employed technique used in the robotic field. It is known that various mechanical properties can be reproduced depending on the design of the stiffness matrix, but the design theory that takes advantage of this high degree of design freedom has not been elucidated. This paper, therefore, discusses the non-diagonal elements of the stiffness matrix. We proposed a design method according to the conditions required for achieving stable motion. Additionally, we analyzed the displacement induced by the non-diagonal elements in response to an external force and found that to obtain stable contact with a symmetric matrix, the matrix should be positive definite, i.e., all eigenvalues must be positive, however its parameter design is complicated. In this study, we focused on the use of asymmetric matrices in compliance control and showed that the design of eigenvalues can be simplified by using a triangular matrix. This approach expands the range of the stiffness design and enhances the ability of the compliance control to induce motion. We conducted experiments using the stiffness matrix and confirmed that assembly could be achieved without complicated trajectory planning.

Metal-organic frameworks (MOFs) are a class of materials that contain nano-sized pores. These pores give MOFs record-breaking internal surface areas, which make them extremely versatile for a number of applications: separating petrochemicals and gases, mimicking DNA, producing hydrogen, and removing heavy metals, fluoride anions, and even gold from water are just a few examples. MOFs are the focus of Professor Berend Smit's research at EPFL School of Basic Sciences, where his group employs machine learning in the discovery, design, and even categorization of the ever-increasing MOFs that currently flood chemical databases. In a new study, Smit and his colleagues have developed a machine-learning model that predicts the heat capacity of MOFs. "This is about very classical thermodynamics," says Smit. "How much energy is needed to heat up a material by one degree? Until now, all engineering calculations have assumed that all MOFs have the same heat capacity, for the simple reason that there is hardly any data available."

Soft robots have a myriad of potentials because of their intrinsically compliant bodies, enabling safe interactions with humans and adaptability to unpredictable environments. However, most of them have limited actuation speeds, require complex control systems, and lack sensing capabilities. To address these challenges, here we geometrically design a class of metacaps whose rich nonlinear mechanical behaviors can be harnessed to create soft robots with unprecedented functionalities. Specifically, we demonstrate a sensor-less metacap gripper that can grasp objects in 3.75 ms upon physical contact and a pneumatically actuated gripper with tunable actuation behaviors that have little dependence on the rate of input. Both grippers can be readily integrated into a robotic platform for practical applications. Furthermore, we demonstrate that the metacap enables propelling of a swimming robot, exhibiting amplified swimming speed as well as untethered, electronics-free swimming with tunable speeds. Our metacaps provide new strategies to design the next-generation soft robots that require high transient output energy and are capable of autonomous and electronics-free maneuvering.

Additive Manufacturing (AM) is a powerful technology that produces complex 3D geometries using various materials in a layer-by-layer fashion. However, quality assurance is the main challenge in AM industry due to the possible time-varying processing conditions during AM process. Notably, new defects may occur during printing, which cannot be mitigated by offline analysis tools that focus on existing defects. This challenge motivates this work to develop online learning-based methods to deal with the new defects during printing. Since AM typically fabricates a small number of customized products, this paper aims to create an online learning-based strategy to mitigate the new defects in AM process while minimizing the number of samples needed. The proposed method is based on model-free Reinforcement Learning (RL). It is called Continual G-learning since it transfers several sources of prior knowledge to reduce the needed training samples in the AM process. Offline knowledge is obtained from literature, while online knowledge is learned during printing. The proposed method develops a new algorithm for learning the optimal defect mitigation strategies proven the best performance when utilizing both knowledge sources. Numerical and real-world case studies in a fused filament fabrication (FFF) platform are performed and demonstrate the effectiveness of the proposed method.

We present Stanceosaurus, a new corpus of 28,033 tweets in English, Hindi, and Arabic annotated with stance towards 251 misinformation claims. As far as we are aware, it is the largest corpus annotated with stance towards misinformation claims. The claims in Stanceosaurus originate from 15 fact-checking sources that cover diverse geographical regions and cultures. Unlike existing stance datasets, we introduce a more fine-grained 5-class labeling strategy with additional subcategories to distinguish implicit stance. Pre-trained transformer-based stance classifiers that are fine-tuned on our corpus show good generalization on unseen claims and regional claims from countries outside the training data. Cross-lingual experiments demonstrate Stanceosaurus' capability of training multi-lingual models, achieving 53.1 F1 on Hindi and 50.4 F1 on Arabic without any target-language fine-tuning. Finally, we show how a domain adaptation method can be used to improve performance on Stanceosaurus using additional RumourEval-2019 data. We make Stanceosaurus publicly available to the research community and hope it will encourage further work on misinformation identification across languages and cultures.

Researchers have long known that the chemical structure of the molecules we inhale influences what we smell. But in most cases, no one can figure out exactly how. Scientists have deciphered a few specific rules that govern how the nose and brain perceive an airborne molecule based on its characteristics. It has become clear that we quickly recognize some sulfur-containing compounds as the scent of garlic, for example, and certain ammonia-derived amines as a fishy odor. It turns out that structurally unrelated molecules can have similar scents.

Catalyst will be playable when "Apex Legends: Eclipse" launches Nov. 1. In the game's ongoing story, the Apex Games arrive at Cleo after the local government agrees to host the tournament in exchange for financial assistance. Catalyst, angered that corporate interests are now threatening the terraforming work she and her fellow colonists have done, enters the games with the intent of using the prize money to help her people. This puts her on a direct collision course with Seer, the Legend who brought the Apex Games to Cleo.