Forgetful Large Language Models: Lessons Learned from Using LLMs in Robot Programming

Large language models offer new ways of empowering people to program robot applications-namely, code generation via prompting. However, the code generated by LLMs is susceptible to errors. This work reports a preliminary exploration that empirically characterizes common errors produced by LLMs in robot programming. We categorize these errors into two phases: interpretation and execution. In this work, we focus on errors in execution and observe that they are caused by LLMs being "forgetful" of key information provided in user prompts. Based on this observation, we propose prompt engineering tactics designed to reduce errors in execution. We then demonstrate the effectiveness of these tactics with three language models: ChatGPT, Bard, and LLaMA-2. Finally, we discuss lessons learned from using LLMs in robot programming and call for the benchmarking of LLM-powered end-user development of robot applications.Comment: 9 pages ,8 figures, accepted by the AAAI 2023 Fall Symposium Serie

THE EFFECT OF APPLIED DIRECTION OF KINESIO TAPING IN ANKLE MUSCLE STRENGTH AND FLEXIBILITY

The purpose of this study was to examine the effect of applied direction of Kinesio taping (KT) in ankle range of motion and calf muscle strength. Twenty healthy subjects voluntarily participated in this study. The ankle plantar flexor muscle strength and ankle dorsiflexion ROM were assessed in knee flexion and knee extension before and after taping applied. Two applied directions, heel to posterior of knee cap (insertion to origin of calf muscles) and posterior of knee cap to heel (origin to insertion of calf muscles) were applied over both side of calf muscles, respectively. The results had not showed significantly difference in any of the results. The beneficial effects of applied direction of KT has not provided scientific evidence in this study. Future study may be able to seek other methods to identify the effect on strength or flexibility while KT applied

Modeling Online to Offline E-Business User Experience

Complex business patterns from providers and diverse needs of customers in E-commerce necessitate constant and rapid modifications of services for new business models. The online-to-offline (O2O) business model is one of newly developed models where smartphones, tablets, e-readers and digital signages provide mobility and entertainment that ordinary people have never experienced before. Business opportunities are brought forth by O2O from cyberspace into daily reality. User experience (UX) evaluation is thus getting more and more important for user-centered design. In the literature, UX evaluation methodologies were designed for usability and satisfaction of computers or consumer electronics. Their results, however, did not necessarily help design O2O smart business services in that UX constructs in O2O should differ from that in using computers or consumer electronics. Important constructs of UX in O2O such as usability, utility, adoptability and desirability should be considered in the design of service flows and activities. The current study proposed important UX constructs for assessing O2O design by analyzing O2O users. A rapid evaluation method for UX in O2O can be developed based on the constructs

Heritability and major gene effects on left ventricular mass in the Chinese population: a family study

BACKGROUND: Genetic components controlling for echocardiographically determined left ventricular (LV) mass are still unclear in the Chinese population. METHODS: We conducted a family study from the Chin-San community, Taiwan, and a total of 368 families, 1145 subjects, were recruited to undergo echocardiography to measure LV mass. Commingling analysis, familial correlation, and complex segregation analysis were applied to detect component distributions and the mode of inheritance. RESULTS: The two-component distribution model was the best-fitting model to describe the distribution of LV mass. The highest familial correlation coefficients were mother-son (0.379, P < .0001) and father-son (0.356, P < .0001). Genetic heritability (h(2)) of LV mass was estimated as 0.268 ± 0.061 (P < .0001); it decreased to 0.153 ± 0.052 (P = .0009) after systolic blood pressure adjustment. Major gene effects with polygenic components were the best-fitting model to explain the inheritance mode of LV mass. The estimated allele frequency of the gene was 0.089. CONCLUSION: There were significant familial correlations, heritability and a major gene effect on LV mass in the population-based families

UEV-1 Is an Ubiquitin-Conjugating Enzyme Variant That Regulates Glutamate Receptor Trafficking in C. elegans Neurons

The regulation of AMPA-type glutamate receptor (AMPAR) membrane trafficking is a key mechanism by which neurons regulate synaptic strength and plasticity. AMPAR trafficking is modulated through a combination of receptor phosphorylation, ubiquitination, endocytosis, and recycling, yet the factors that mediate these processes are just beginning to be uncovered. Here we identify the ubiquitin-conjugating enzyme variant UEV-1 as a regulator of AMPAR trafficking in vivo. We identified mutations in uev-1 in a genetic screen for mutants with altered trafficking of the AMPAR subunit GLR-1 in C. elegans interneurons. Loss of uev-1 activity results in the accumulation of GLR-1 in elongated accretions in neuron cell bodies and along the ventral cord neurites. Mutants also have a corresponding behavioral defect—a decrease in spontaneous reversals in locomotion—consistent with diminished GLR-1 function. The localization of other synaptic proteins in uev-1-mutant interneurons appears normal, indicating that the GLR-1 trafficking defects are not due to gross deficiencies in synapse formation or overall protein trafficking. We provide evidence that GLR-1 accumulates at RAB-10-containing endosomes in uev-1 mutants, and that receptors arrive at these endosomes independent of clathrin-mediated endocytosis. UEV-1 homologs in other species bind to the ubiquitin-conjugating enzyme Ubc13 to create K63-linked polyubiquitin chains on substrate proteins. We find that whereas UEV-1 can interact with C. elegans UBC-13, global levels of K63-linked ubiquitination throughout nematodes appear to be unaffected in uev-1 mutants, even though UEV-1 is broadly expressed in most tissues. Nevertheless, ubc-13 mutants are similar in phenotype to uev-1 mutants, suggesting that the two proteins do work together to regulate GLR-1 trafficking. Our results suggest that UEV-1 could regulate a small subset of K63-linked ubiquitination events in nematodes, at least one of which is critical in regulating GLR-1 trafficking

Forgetful Large Language Models: Lessons Learned from Using LLMs in Robot Programming

Large language models offer new ways of empowering people to program robot applications-namely, code generation via prompting. However, the code generated by LLMs is susceptible to errors. This work reports a preliminary exploration that empirically characterizes common errors produced by LLMs in robot programming. We categorize these errors into two phases: interpretation and execution. In this work, we focus on errors in execution and observe that they are caused by LLMs being “forgetful” of key information provided in user prompts. Based on this observation, we propose prompt engineering tactics designed to reduce errors in execution. We then demonstrate the effectiveness of these tactics with three language models: ChatGPT, Bard, and LLaMA-2. Finally, we discuss lessons learned from using LLMs in robot programming and call for the benchmarking of LLM-powered end-user development of robot applications

<i>Monascus purpureus</i> Fermented Product Ameliorates Learning and Memory Impairment in the Amyloid Precursor Protein Transgenic J20 Mouse Model of Alzheimer’s Disease

Evidence suggests that various hallmarks such as amyloid overproduction, tau dysfunction, insulin resistance/diabetic mechanisms, and neuroinflammation are associated with Alzheimer’s disease (AD). This study investigated the bioactive functions of ankaflavin (AK) and monascin (MS) in the fermented product of Monascus purpureus and found their abilities to ameliorate AD by modifying several important pathogenic factors including improved cognitive function, reversed behavioral deficits, reduced hippocampal β-amyloid peptide (Aβ) burden, decreased tau hyper-phosphorylation, and reduced neuroinflammation in the J20 mouse model of AD compared to wild type. Monascus purpureus fermented product (MPFP) was suggested to act as a peroxisome proliferator-activated receptor (PPAR)-γ agonist and it was compared against the action of a well-known anti-diabetic PPAR-γ agonist rosiglitazone. MPFP could be a promising therapeutic strategy for disease modification in AD

A comparative analysis of profit inefficiency and productivity convergence between Taiwanese and Chinese banks

To insure a proper and meaningful productivity assessment of DMUs with different production technologies, this article develops a difference-based profit metafrontier Luenberger productivity indicator. Adopting the proposed model, we empirically measure the profit inefficiency and examine the profit productivity convergence for samples banks consisting of 31 Taiwanese banks and 50 Chinese city banks over 2010-2014. Empirical results show that Chinese banks perform better in profit efficiency than Taiwanese banks. While Chinese banks have better technology in profit creation than Taiwanese banks, the latter may reap much higher profit gain than the former if they can adopt the profit metafrontier. The results of the profit metafrontier Luenberger productivity indicator analysis show that both Chinese and Taiwanese banks have experienced declines in profit productivity. However, the results also indicate a divergence in productivity growth for Chinese city banks and a convergent productivity growth for Taiwanese banks

Establishing core competencies and a professional curriculum for the care service department in vocational high schools in Taiwan

[[abstract]]In response to the emergence of the aging society, the vocational high school education system in Taiwan has established a care service department since 2018. The purpose of this study was to develop core competencies and a professional curriculum for the care service department in vocational high schools. First, this study invited 20 experts and scholars to take part in a focus group to collect suggestions as the basis for the development of core competencies and a curriculum. Second, this study invited 10 experts and scholars to participate in three rounds of a Delphi survey to evaluate the planning for the development of core competencies and a curriculum that meet educational needs. In this study, we identified eight core competency constructs and 15 indicators across two dimensions relating to the care services taught in vocational high schools. We then designed 26 professional subjects according to the core competencies. We identified the core competencies for long-term care service education and devised a professional curriculum to foster the skills and knowledge among students that are required for successfully meeting the care needs of a rapidly aging society through work in the long-term care industry after graduation

Universal ferroelectric switching dynamics of vinylidene fluoride-trifluoroethylene copolymer films

In this work, switching dynamics of poly(vinylidene fluoride-trifluoroethylene) [P(VDF-TrFE)] copolymer films are investigated over unprecedentedly wide ranges of temperature and electric field. Remarkably, domain switching of copolymer films obeys well the classical domain nucleation and growth model although the origin of ferroelectricity in organic ferroelectric materials inherently differs from the inorganic counterparts. A lower coercivity limit of 50 MV/m and 180° domain wall energy of 60 mJ/m2 are determined for P(VDF-TrFE) films. Furthermore, we discover in copolymer films an anomalous temperature-dependent crossover behavior between two power-law scaling regimes of frequency-dependent coercivity, which is attributed to the transition between flow and creep motions of domain walls. Our observations shed new light on the switching dynamics of semi-crystalline ferroelectric polymers, and such understandings are critical for realizing their reliable applications.Published versio