Clustering of motion trajectories is highly relevant for human-robot interactions as it allows the anticipation of human motions, fast reaction to those, as well as the recognition of explicit gestures. Further, it allows automated analysis of recorded motion data. Many clustering algorithms for trajectories build upon distance metrics that are based on pointwise Euclidean distances. However, our work indicates that focusing on salient characteristics is often sufficient. We present a novel distance measure for motion plans consisting of state and control trajectories that is based on a compressed representation built from their main features. This approach allows a flexible choice of feature classes relevant to the respective task. The distance measure is used in agglomerative hierarchical clustering. We compare our method with the widely used dynamic time warping algorithm on test sets of motion plans for the Furuta pendulum and the Manutec robot arm and on real-world data from a human motion dataset. The proposed method demonstrates slight advantages in clustering and strong advantages in runtime, especially for long trajectories.

Psychologists have recently begun to develop computational accounts of how people infer others' preferences from their behavior. The inverse decision-making approach proposes that people infer preferences by inverting a generative model of decision-making. Existing data sets, however, do not provide sufficient resolution to thoroughly evaluate this approach. We introduce a new preference learning task that provides a benchmark for evaluating computational accounts and use it to compare the inverse decision-making approach to a feature-based approach, which relies on a discriminative combination of decision features. Our data support the inverse decision-making approach to preference learning.

Transformers are taking the world of NLP by storm. After being introduced in Vaswani et al.'s Attention is all you need work back in 2017, they – and particularly their self-attention mechanism requiring no recurrent elements to be used anymore – have proven to show state-of-the-art performance on a wide variety of language tasks. Nevertheless, what's good can still be improved, and this process has been applied to Transformers as well. After the introduction of the'vanilla' Transformer by Vaswani and colleagues, a group of people at OpenAI have used just the decoder segment and built a model that works great. However, according to Devlin et al., the authors of a 2018 paper about pretrained Transformers in NLP, they do one thing wrong: the attention that they apply is unidirectional. This hampers learning unnecessarily, they argue, and they proposed a bidirectional variant instead: BERT, or Bidirectional Encoder Representations from Transformers.

Compared to English, the amount of labeled data for Indonesian text classification tasks is very small. Recently developed multilingual language models have shown its ability to create multilingual representations effectively. This paper investigates the effect of combining English and Indonesian data on building Indonesian text classification (e.g., sentiment analysis and hate speech) using multilingual language models. Using the feature-based approach, we observe its performance on various data sizes and total added English data. The experiment showed that the addition of English data, especially if the amount of Indonesian data is small, improves performance. Using the fine-tuning approach, we further showed its effectiveness in utilizing the English language to build Indonesian text classification models.

Psychologists have recently begun to develop computational accounts of how people infer others' preferences from their behavior. The inverse decision-making approach proposes that people infer preferences by inverting a generative model of decision-making. Existing data sets, however, do not provide sufficient resolution to thoroughly evaluate this approach. We introduce a new preference learning task that provides a benchmark for evaluating computational accounts and use it to compare the inverse decision-making approach to a feature-based approach, which relies on a discriminative combination of decision features. Our data support the inverse decision-making approach to preference learning.

Psychologists have recently begun to develop computational accounts of how people inferothers' preferences from their behavior. The inverse decision-making approach proposes that people infer preferences by inverting a generative model of decision-making. Existing data sets, however, do not provide sufficient resolution tothoroughly evaluate this approach. We introduce a new preference learning task that provides a benchmark for evaluating computational accounts and use it to compare the inverse decision-making approach to a feature-based approach, which relies on a discriminative combination of decision features. Our data support the inverse decision-making approach to preference learning.

Psychologists have recently begun to develop computational accounts of how people infer others' preferences from their behavior. The inverse decision-making approach proposes that people infer preferences by inverting a generative model of decision-making. Existing data sets, however, do not provide sufficient resolution to thoroughly evaluate this approach. We introduce a new preference learning task that provides a benchmark for evaluating computational accounts and use it to compare the inverse decision-making approach to a feature-based approach, which relies on a discriminative combination of decision features. Our data support the inverse decision-making approach to preference learning.