-- Collaborative robots (cobots) increasingly operate alongside humans, demanding robust real-time safeguarding. Current safety standards (e.g., ISO 10218, ANSI/RIA 15.06, ISO/TS 15066) require risk assessments but offer limited guidance for real-time responses. We propose a virtual fencing approach that detects and predicts human motion, ensuring safe cobot operation. Safety and performance tradeoffs are modeled as an optimization problem and solved via sequential quadratic programming. Experimental validation shows that our method minimizes operational pauses while maintaining safety, providing a modular solution for human-robot collaboration. I. INTRODUCTION Cobots, short for collaborative robots, have gained significant traction in various fields, such as manufacturing, assembly, service, education, and healthcare, due to their ability to seamlessly interact with humans while ensuring their physical and mental well-being [1]-[3].

The attention mechanism plays an important role in the machine reading comprehension (MRC) model. Here, we describe a pipeline for building an MRC model with a pretrained language model and visualizing the effect of each attention zone in different layers, which can indicate the explainability of the model. With the presented protocol and accompanying code, researchers can easily visualize the relevance of each attention zone in the MRC model. This approach can be generalized to other pretrained language models. For complete details on the use and execution of this protocol, please refer to Cui et al. (2022).

Achieving human-level performance on some of Machine Reading Comprehension (MRC) datasets is no longer challenging with the help of powerful Pre-trained Language Models (PLMs). However, the internal mechanism of these artifacts still remains unclear, placing an obstacle for further understanding these models. This paper focuses on conducting a series of analytical experiments to examine the relations between the multi-head self-attention and the final performance, trying to analyze the potential explainability in PLM-based MRC models. We perform quantitative analyses on SQuAD (English) and CMRC 2018 (Chinese), two span-extraction MRC datasets, on top of BERT, ALBERT, and ELECTRA in various aspects. We discover that {\em passage-to-question} and {\em passage understanding} attentions are the most important ones, showing strong correlations to the final performance than other parts. Through visualizations and case studies, we also observe several general findings on the attention maps, which could be helpful to understand how these models solve the questions.

Household appliances such as dishwashers, televisions and radios are an indispensable part of the modern household. Yet, people who have some form of physical impairment often find that they are unable to make use of these commonly available appliances, to the detriment of their lifestyle. This paper proposes a gesture interface for home appliances that can be used by people with physical impairments. Two simulated gesture controlled appliances are developed and evaluated by physically impaired people. The results show that this interface is able to allow physically impaired people to make use of modern appliances by gesture.