Soft robotic grippers demonstrate great potential for gently and safely handling objects; however, their full potential for executing precise and secure grasping has been limited by the lack of integrated sensors, leading to problems such as slippage and excessive force exertion. To address this challenge, we present a small and highly sensitive Fiber Bragg Grating-based force sensor designed for accurate contact force measurement. The flexible force sensor comprises a 3D-printed TPU casing with a small bump and uvula structure, a dual FBG array, and a protective tube. A series of tests have been conducted to evaluate the effectiveness of the proposed force sensor, including force calibration, repeatability test, hysteresis study, force measurement comparison, and temperature calibration and compensation tests. The results demonstrated good repeatability, with a force measurement range of 4.69 N, a high sensitivity of approximately 1169.04 pm/N, a root mean square error (RMSE) of 0.12 N, and a maximum hysteresis of 4.83%. When compared to a commercial load cell, the sensor showed a percentage error of 2.56% and an RMSE of 0.14 N. Besides, the proposed sensor validated its temperature compensation effectiveness, with a force RMSE of 0.01 N over a temperature change of 11 Celsius degree. The sensor was integrated with a soft grow-and-twine gripper to monitor interaction forces between different objects and the robotic gripper. Closed-loop force control was applied during automated pick-and-place tasks and significantly improved gripping stability, as demonstrated in tests. This force sensor can be used across manufacturing, agriculture, healthcare (like prosthetic hands), logistics, and packaging, to provide situation awareness and higher operational efficiency.

Vision-and-Language Navigation (VLN) tasks mainly evaluate agents based on one-time execution of individual instructions across multiple environments, aiming to develop agents capable of functioning in any environment in a zero-shot manner. However, real-world navigation robots often operate in persistent environments with relatively consistent physical layouts, visual observations, and language styles from instructors. Such a gap in the task setting presents an opportunity to improve VLN agents by incorporating continuous adaptation to specific environments. To better reflect these real-world conditions, we introduce GSA-VLN, a novel task requiring agents to execute navigation instructions within a specific scene and simultaneously adapt to it for improved performance over time. To evaluate the proposed task, one has to address two challenges in existing VLN datasets: the lack of OOD data, and the limited number and style diversity of instructions for each scene. Therefore, we propose a new dataset, GSA-R2R, which significantly expands the diversity and quantity of environments and instructions for the R2R dataset to evaluate agent adaptability in both ID and OOD contexts. Furthermore, we design a three-stage instruction orchestration pipeline that leverages LLMs to refine speaker-generated instructions and apply role-playing techniques to rephrase instructions into different speaking styles. This is motivated by the observation that each individual user often has consistent signatures or preferences in their instructions. We conducted extensive experiments on GSA-R2R to thoroughly evaluate our dataset and benchmark various methods. Based on our findings, we propose a novel method, GR-DUET, which incorporates memory-based navigation graphs with an environment-specific training strategy, achieving state-of-the-art results on all GSA-R2R splits.

Real-time detection of out-of-context LLM outputs is crucial for enterprises looking to safely adopt RAG applications. In this work, we train lightweight models to discriminate LLM-generated text that is semantically out-of-context from retrieved text documents. We preprocess a combination of summarisation and semantic textual similarity datasets to construct training data using minimal resources. We find that DeBERTa is not only the best-performing model under this pipeline, but it is also fast and does not require additional text preprocessing or feature engineering. While emerging work demonstrates that generative LLMs can also be fine-tuned and used in complex data pipelines to achieve state-of-the-art performance, we note that speed and resource limits are important considerations for on-premise deployment.

Generalist robot manipulation policies (GMPs) have the potential to generalize across a wide range of tasks, devices, and environments. However, existing policies continue to struggle with out-of-distribution scenarios due to the inherent difficulty of collecting sufficient action data to cover extensively diverse domains. While fine-tuning offers a practical way to quickly adapt a GMPs to novel domains and tasks with limited samples, we observe that the performance of the resulting GMPs differs significantly with respect to the design choices of fine-tuning strategies. In this work, we first conduct an in-depth empirical study to investigate the effect of key factors in GMPs fine-tuning strategies, covering the action space, policy head, supervision signal and the choice of tunable parameters, where 2,500 rollouts are evaluated for a single configuration. We systematically discuss and summarize our findings and identify the key design choices, which we believe give a practical guideline for GMPs fine-tuning. We observe that in a low-data regime, with carefully chosen fine-tuning strategies, a GMPs significantly outperforms the state-of-the-art imitation learning algorithms. The results presented in this work establish a new baseline for future studies on fine-tuned GMPs, and provide a significant addition to the GMPs toolbox for the community.

Offline reinforcement learning (RL) is an effective tool for real-world recommender systems with its capacity to model the dynamic interest of users and its interactive nature. Most existing offline RL recommender systems focus on model-based RL through learning a world model from offline data and building the recommendation policy by interacting with this model. Although these methods have made progress in the recommendation performance, the effectiveness of model-based offline RL methods is often constrained by the accuracy of the estimation of the reward model and the model uncertainties, primarily due to the extreme discrepancy between offline logged data and real-world data in user interactions with online platforms. To fill this gap, a more accurate reward model and uncertainty estimation are needed for the model-based RL methods. In this paper, a novel model-based Reward Shaping in Offline Reinforcement Learning for Recommender Systems, ROLeR, is proposed for reward and uncertainty estimation in recommendation systems. Specifically, a non-parametric reward shaping method is designed to refine the reward model. In addition, a flexible and more representative uncertainty penalty is designed to fit the needs of recommendation systems. Extensive experiments conducted on four benchmark datasets showcase that ROLeR achieves state-of-the-art performance compared with existing baselines. The source code can be downloaded at https://github.com/ArronDZhang/ROLeR.

Recently, various pre-trained language models (PLMs) have been proposed to prove their impressive performances on a wide range of few-shot tasks. However, limited by the unstructured prior knowledge in PLMs, it is difficult to maintain consistent performance on complex structured scenarios, such as hierarchical text classification (HTC), especially when the downstream data is extremely scarce. The main challenge is how to transfer the unstructured semantic space in PLMs to the downstream domain hierarchy. Unlike previous work on HTC which directly performs multi-label classification or uses graph neural network (GNN) to inject label hierarchy, in this work, we study the HTC problem under a few-shot setting to adapt knowledge in PLMs from an unstructured manner to the downstream hierarchy. Technically, we design a simple yet effective method named Hierarchical Iterative Conditional Random Field (HierICRF) to search the most domain-challenging directions and exquisitely crafts domain-hierarchy adaptation as a hierarchical iterative language modeling problem, and then it encourages the model to make hierarchical consistency self-correction during the inference, thereby achieving knowledge transfer with hierarchical consistency preservation. We perform HierICRF on various architectures, and extensive experiments on two popular HTC datasets demonstrate that prompt with HierICRF significantly boosts the few-shot HTC performance with an average Micro-F1 by 28.80% to 1.50% and Macro-F1 by 36.29% to 1.5% over the previous state-of-the-art (SOTA) baselines under few-shot settings, while remaining SOTA hierarchical consistency performance.

Continual Knowledge Graph Embedding (CKGE) aims to efficiently learn new knowledge and simultaneously preserve old knowledge. Dominant approaches primarily focus on alleviating catastrophic forgetting of old knowledge but neglect efficient learning for the emergence of new knowledge. However, in real-world scenarios, knowledge graphs (KGs) are continuously growing, which brings a significant challenge to fine-tuning KGE models efficiently. To address this issue, we propose a fast CKGE framework (\model), incorporating an incremental low-rank adapter (\mec) mechanism to efficiently acquire new knowledge while preserving old knowledge. Specifically, to mitigate catastrophic forgetting, \model\ isolates and allocates new knowledge to specific layers based on the fine-grained influence between old and new KGs. Subsequently, to accelerate fine-tuning, \model\ devises an efficient \mec\ mechanism, which embeds the specific layers into incremental low-rank adapters with fewer training parameters. Moreover, \mec\ introduces adaptive rank allocation, which makes the LoRA aware of the importance of entities and adjusts its rank scale adaptively. We conduct experiments on four public datasets and two new datasets with a larger initial scale. Experimental results demonstrate that \model\ can reduce training time by 34\%-49\% while still achieving competitive link prediction performance against state-of-the-art models on four public datasets (average MRR score of 21.0\% vs. 21.1\%).Meanwhile, on two newly constructed datasets, \model\ saves 51\%-68\% training time and improves link prediction performance by 1.5\%.

Current Vision-and-Language Navigation (VLN) tasks mainly employ textual instructions to guide agents. However, being inherently abstract, the same textual instruction can be associated with different visual signals, causing severe ambiguity and limiting the transfer of prior knowledge in the vision domain from the user to the agent. To fill this gap, we propose Vision-and-Language Navigation with Multi-modal Prompts (VLN-MP), a novel task augmenting traditional VLN by integrating both natural language and images in instructions. VLN-MP not only maintains backward compatibility by effectively handling text-only prompts but also consistently shows advantages with different quantities and relevance of visual prompts. Possible forms of visual prompts include both exact and similar object images, providing adaptability and versatility in diverse navigation scenarios. To evaluate VLN-MP under a unified framework, we implement a new benchmark that offers: (1) a training-free pipeline to transform textual instructions into multi-modal forms with landmark images; (2) diverse datasets with multi-modal instructions for different downstream tasks; (3) a novel module designed to process various image prompts for seamless integration with state-of-the-art VLN models. Extensive experiments on four VLN benchmarks (R2R, RxR, REVERIE, CVDN) show that incorporating visual prompts significantly boosts navigation performance. While maintaining efficiency with text-only prompts, VLN-MP enables agents to navigate in the pre-explore setting and outperform text-based models, showing its broader applicability.

Traditional knowledge graph embedding (KGE) methods typically require preserving the entire knowledge graph (KG) with significant training costs when new knowledge emerges. To address this issue, the continual knowledge graph embedding (CKGE) task has been proposed to train the KGE model by learning emerging knowledge efficiently while simultaneously preserving decent old knowledge. However, the explicit graph structure in KGs, which is critical for the above goal, has been heavily ignored by existing CKGE methods. On the one hand, existing methods usually learn new triples in a random order, destroying the inner structure of new KGs. On the other hand, old triples are preserved with equal priority, failing to alleviate catastrophic forgetting effectively. In this paper, we propose a competitive method for CKGE based on incremental distillation (IncDE), which considers the full use of the explicit graph structure in KGs. First, to optimize the learning order, we introduce a hierarchical strategy, ranking new triples for layer-by-layer learning. By employing the inter- and intra-hierarchical orders together, new triples are grouped into layers based on the graph structure features. Secondly, to preserve the old knowledge effectively, we devise a novel incremental distillation mechanism, which facilitates the seamless transfer of entity representations from the previous layer to the next one, promoting old knowledge preservation. Finally, we adopt a two-stage training paradigm to avoid the over-corruption of old knowledge influenced by under-trained new knowledge. Experimental results demonstrate the superiority of IncDE over state-of-the-art baselines. Notably, the incremental distillation mechanism contributes to improvements of 0.2%-6.5% in the mean reciprocal rank (MRR) score.

Relation extraction (RE) is an important task that aims to identify the relationships between entities in texts. While large language models (LLMs) have revealed remarkable in-context learning (ICL) capability for general zero and few-shot learning, recent studies indicate that current LLMs still struggle with zero and few-shot RE. Previous studies are mainly dedicated to design prompt formats and select good examples for improving ICL-based RE. Although both factors are vital for ICL, if one can fundamentally boost the ICL capability of LLMs in RE, the zero and few-shot RE performance via ICL would be significantly improved. To this end, we introduce \textsc{Micre} (\textbf{M}eta \textbf{I}n-\textbf{C}ontext learning of LLMs for \textbf{R}elation \textbf{E}xtraction), a new meta-training framework for zero and few-shot RE where an LLM is tuned to do ICL on a diverse collection of RE datasets (i.e., learning to learn in context for RE). Through meta-training, the model becomes more effectively to learn a new RE task in context by conditioning on a few training examples with no parameter updates or task-specific templates at inference time, enabling better zero and few-shot task generalization. We experiment \textsc{Micre} on various LLMs with different model scales and 12 public RE datasets, and then evaluate it on unseen RE benchmarks under zero and few-shot settings. \textsc{Micre} delivers comparable or superior performance compared to a range of baselines including supervised fine-tuning and typical in-context learning methods. We find that the gains are particular significant for larger model scales, and using a diverse set of the meta-training RE datasets is key to improvements. Empirically, we show that \textsc{Micre} can transfer the relation semantic knowledge via relation label name during inference on target RE datasets.