3,513 research outputs found

    Undergraduate Catalog of Studies, 2023-2024

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    Haisor: Human-aware indoor scene optimization via deep reinforcement learning

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    3D scene synthesis facilitates and benefits many real-world applications. Most scene generators focus on making indoor scenes plausible via learning from training data and leveraging extra constraints such as adjacency and symmetry. Although the generated 3D scenes are mostly plausible with visually realistic layouts, they can be functionally unsuitable for human users to navigate and interact with furniture. Our key observation is that human activity plays a critical role and sufficient free space is essential for human-scene interactions. This is exactly where many existing synthesized scenes fail—the seemingly correct layouts are often not fit for living. To tackle this, we present a human-aware optimization framework Haisor for 3D indoor scene arrangement via reinforcement learning, which aims to find an action sequence to optimize the indoor scene layout automatically. Based on the hierarchical scene graph representation, an optimal action sequence is predicted and performed via Deep Q-Learning with Monte Carlo Tree Search (MCTS), where MCTS is our key feature to search for the optimal solution in long-term sequences and large action space. Multiple human-aware rewards are designed as our core criteria of human-scene interaction, aiming to identify the next smart action by leveraging powerful reinforcement learning. Our framework is optimized end-to-end by giving the indoor scenes with part-level furniture layout including part mobility information. Furthermore, our methodology is extensible and allows utilizing different reward designs to achieve personalized indoor scene synthesis. Extensive experiments demonstrate that our approach optimizes the layout of 3D indoor scenes in a human-aware manner, which is more realistic and plausible than original state-of-the-art generator results, and our approach produces superior smart actions, outperforming alternative baselines

    Evaluation of Data Processing and Artifact Removal Approaches Used for Physiological Signals Captured Using Wearable Sensing Devices during Construction Tasks

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    Wearable sensing devices (WSDs) have enormous promise for monitoring construction worker safety. They can track workers and send safety-related information in real time, allowing for more effective and preventative decision making. WSDs are particularly useful on construction sites since they can track workers’ health, safety, and activity levels, among other metrics that could help optimize their daily tasks. WSDs may also assist workers in recognizing health-related safety risks (such as physical fatigue) and taking appropriate action to mitigate them. The data produced by these WSDs, however, is highly noisy and contaminated with artifacts that could have been introduced by the surroundings, the experimental apparatus, or the subject’s physiological state. These artifacts are very strong and frequently found during field experiments. So, when there is a lot of artifacts, the signal quality drops. Recently, artifacts removal has been greatly enhanced by developments in signal processing, which has vastly enhanced the performance. Thus, the proposed review aimed to provide an in-depth analysis of the approaches currently used to analyze data and remove artifacts from physiological signals obtained via WSDs during construction-related tasks. First, this study provides an overview of the physiological signals that are likely to be recorded from construction workers to monitor their health and safety. Second, this review identifies the most prevalent artifacts that have the most detrimental effect on the utility of the signals. Third, a comprehensive review of existing artifact-removal approaches were presented. Fourth, each identified artifact detection and removal approach was analyzed for its strengths and weaknesses. Finally, in conclusion, this review provides a few suggestions for future research for improving the quality of captured physiological signals for monitoring the health and safety of construction workers using artifact removal approaches

    Multidisciplinary perspectives on Artificial Intelligence and the law

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    This open access book presents an interdisciplinary, multi-authored, edited collection of chapters on Artificial Intelligence (‘AI’) and the Law. AI technology has come to play a central role in the modern data economy. Through a combination of increased computing power, the growing availability of data and the advancement of algorithms, AI has now become an umbrella term for some of the most transformational technological breakthroughs of this age. The importance of AI stems from both the opportunities that it offers and the challenges that it entails. While AI applications hold the promise of economic growth and efficiency gains, they also create significant risks and uncertainty. The potential and perils of AI have thus come to dominate modern discussions of technology and ethics – and although AI was initially allowed to largely develop without guidelines or rules, few would deny that the law is set to play a fundamental role in shaping the future of AI. As the debate over AI is far from over, the need for rigorous analysis has never been greater. This book thus brings together contributors from different fields and backgrounds to explore how the law might provide answers to some of the most pressing questions raised by AI. An outcome of the Católica Research Centre for the Future of Law and its interdisciplinary working group on Law and Artificial Intelligence, it includes contributions by leading scholars in the fields of technology, ethics and the law.info:eu-repo/semantics/publishedVersio

    A Critical Review Of Post-Secondary Education Writing During A 21st Century Education Revolution

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    Educational materials are effective instruments which provide information and report new discoveries uncovered by researchers in specific areas of academia. Higher education, like other education institutions, rely on instructional materials to inform its practice of educating adult learners. In post-secondary education, developmental English programs are tasked with meeting the needs of dynamic populations, thus there is a continuous need for research in this area to support its changing landscape. However, the majority of scholarly thought in this area centers on K-12 reading and writing. This paucity presents a phenomenon to the post-secondary community. This research study uses a qualitative content analysis to examine peer-reviewed journals from 2003-2017, developmental online websites, and a government issued document directed toward reforming post-secondary developmental education programs. These highly relevant sources aid educators in discovering informational support to apply best practices for student success. Developmental education serves the purpose of addressing literacy gaps for students transitioning to college-level work. The findings here illuminate the dearth of material offered to developmental educators. This study suggests the field of literacy research is fragmented and highlights an apparent blind spot in scholarly literature with regard to English writing instruction. This poses a quandary for post-secondary literacy researchers in the 21st century and establishes the necessity for the literacy research community to commit future scholarship toward equipping college educators teaching writing instruction to underprepared adult learners

    Probabilistic inverse optimal control with local linearization for non-linear partially observable systems

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    Inverse optimal control methods can be used to characterize behavior in sequential decision-making tasks. Most existing work, however, requires the control signals to be known, or is limited to fully-observable or linear systems. This paper introduces a probabilistic approach to inverse optimal control for stochastic non-linear systems with missing control signals and partial observability that unifies existing approaches. By using an explicit model of the noise characteristics of the sensory and control systems of the agent in conjunction with local linearization techniques, we derive an approximate likelihood for the model parameters, which can be computed within a single forward pass. We evaluate our proposed method on stochastic and partially observable version of classic control tasks, a navigation task, and a manual reaching task. The proposed method has broad applicability, ranging from imitation learning to sensorimotor neuroscience

    Large Language Models Still Can't Plan (A Benchmark for LLMs on Planning and Reasoning about Change)

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    Recent advances in large language models (LLMs) have transformed the field of natural language processing (NLP). From GPT-3 to PaLM, the state-of-the-art performance on natural language tasks is being pushed forward with every new large language model. Along with natural language abilities, there has been a significant interest in understanding whether such models exhibit reasoning capabilities with the use of reasoning benchmarks. However, even though results are seemingly positive, these benchmarks prove to be simplistic in nature and the performance of LLMs on these benchmarks cannot be used as evidence to support, many a times outlandish, claims being made about LLMs' reasoning capabilities. Further, these only represent a very limited set of simple reasoning tasks and we need to look at more sophisticated reasoning problems if we are to measure the true limits of such LLM-based systems. Motivated by this, we propose an extensible assessment framework to test the capabilities of LLMs on reasoning about actions and change, a central aspect of human intelligence. We provide multiple test cases that are more involved than any of the previously established benchmarks and each test case evaluates a different aspect of reasoning about actions and change. Results on GPT-3 (davinci), Instruct-GPT3 (text-davinci-002) and BLOOM (176B), showcase subpar performance on such reasoning tasks.Comment: An updated version of this work is here: arXiv:2302.06706 Accepted at Foundation Models for Decision Making Workshop at Neural Information Processing Systems, 202

    Posthuman Creative Styling can a creative writer’s style of writing be described as procedural?

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    This thesis is about creative styling — the styling a creative writer might use to make their writing unique. It addresses the question as to whether such styling can be described as procedural. Creative styling is part of the technique a creative writer uses when writing. It is how they make the text more ‘lively’ by use of tips and tricks they have either learned or discovered. In essence these are rules, ones the writer accrues over time by their practice. The thesis argues that the use and invention of these rules can be set as procedures. and so describe creative styling as procedural. The thesis follows from questioning why it is that machines or algorithms have, so far, been incapable of producing creative writing which has value. Machine-written novels do not abound on the bookshelves and writing styled by computers is, on the whole, dull in comparison to human-crafted literature. It came about by thinking how it would be possible to reach a point where writing by people and procedural writing are considered to have equal value. For this reason the thesis is set in a posthuman context, where the differences between machines and people are erased. The thesis uses practice to inform an original conceptual space model, based on quality dimensions and dynamic-inter operation of spaces. This model gives an example of the procedures which a posthuman creative writer uses when engaged in creative styling. It suggests an original formulation for the conceptual blending of conceptual spaces, based on the casting of qualities from one space to another. In support of and informing its arguments are ninety-nine examples of creative writing practice which show the procedures by which style has been applied, created and assessed. It provides a route forward for further joint research into both computational and human-coded creative writing

    Not Only WEIRD but "Uncanny"? A Systematic Review of Diversity in Human-Robot Interaction Research

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    Critical voices within and beyond the scientific community have pointed to a grave matter of concern regarding who is included in research and who is not. Subsequent investigations have revealed an extensive form of sampling bias across a broad range of disciplines that conduct human subjects research called "WEIRD": Western, Educated, Industrial, Rich, and Democratic. Recent work has indicated that this pattern exists within human-computer interaction (HCI) research, as well. How then does human-robot interaction (HRI) fare? And could there be other patterns of sampling bias at play, perhaps those especially relevant to this field of study? We conducted a systematic review of the premier ACM/IEEE International Conference on Human-Robot Interaction (2006-2022) to discover whether and how WEIRD HRI research is. Importantly, we expanded our purview to other factors of representation highlighted by critical work on inclusion and intersectionality as potentially underreported, overlooked, and even marginalized factors of human diversity. Findings from 827 studies across 749 papers confirm that participants in HRI research also tend to be drawn from WEIRD populations. Moreover, we find evidence of limited, obscured, and possible misrepresentation in participant sampling and reporting along key axes of diversity: sex and gender, race and ethnicity, age, sexuality and family configuration, disability, body type, ideology, and domain expertise. We discuss methodological and ethical implications for recruitment, analysis, and reporting, as well as the significance for HRI as a base of knowledge.Comment: Published at IJSR/SORO, Int J of Soc Robotics (2023

    RE-MOVE: An Adaptive Policy Design Approach for Dynamic Environments via Language-Based Feedback

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    Reinforcement learning-based policies for continuous control robotic navigation tasks often fail to adapt to changes in the environment during real-time deployment, which may result in catastrophic failures. To address this limitation, we propose a novel approach called RE-MOVE (\textbf{RE}quest help and \textbf{MOVE} on), which uses language-based feedback to adjust trained policies to real-time changes in the environment. In this work, we enable the trained policy to decide \emph{when to ask for feedback} and \emph{how to incorporate feedback into trained policies}. RE-MOVE incorporates epistemic uncertainty to determine the optimal time to request feedback from humans and uses language-based feedback for real-time adaptation. We perform extensive synthetic and real-world evaluations to demonstrate the benefits of our proposed approach in several test-time dynamic navigation scenarios. Our approach enable robots to learn from human feedback and adapt to previously unseen adversarial situations
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