PreWoMe: Exploiting Presuppositions as Working Memory for Long Form Question Answering

Information-seeking questions in long-form question answering (LFQA) often prove misleading due to ambiguity or false presupposition in the question. While many existing approaches handle misleading questions, they are tailored to limited questions, which are insufficient in a real-world setting with unpredictable input characteristics. In this work, we propose PreWoMe, a unified approach capable of handling any type of information-seeking question. The key idea of PreWoMe involves extracting presuppositions in the question and exploiting them as working memory to generate feedback and action about the question. Our experiment shows that PreWoMe is effective not only in tackling misleading questions but also in handling normal ones, thereby demonstrating the effectiveness of leveraging presuppositions, feedback, and action for real-world QA settings.Comment: 11 pages 3 figures, Accepted to EMNLP 2023 (short

Shape-tailoring and catalytic function of anisotropic gold nanostructures

We report a facile, one-pot, shape-selective synthesis of gold nanoparticles in high yield by the reaction of an aqueous potassium tetrachloroaurate(III) solution with a commercially available detergent. We prove that a commercial detergent can act as a reducing as well as stabilizing agent for the synthesis of differently shaped gold nanoparticles in an aqueous solution at an ambient condition. It is noteworthy that the gold nanoparticles with different shapes can be prepared by simply changing the reaction conditions. It is considered that a slow reduction of the gold ions along with shape-directed effects of the components of the detergent plays a vital function in the formation of the gold nanostructures. Further, the as-prepared gold nanoparticles showed the catalytic activity for the reduction reaction of 4-nitrophenol in the presence of sodium borohydride at room temperature

SPOTS: Stable Placement of Objects with Reasoning in Semi-Autonomous Teleoperation Systems

Pick-and-place is one of the fundamental tasks in robotics research. However, the attention has been mostly focused on the ``pick'' task, leaving the ``place'' task relatively unexplored. In this paper, we address the problem of placing objects in the context of a teleoperation framework. Particularly, we focus on two aspects of the place task: stability robustness and contextual reasonableness of object placements. Our proposed method combines simulation-driven physical stability verification via real-to-sim and the semantic reasoning capability of large language models. In other words, given place context information (e.g., user preferences, object to place, and current scene information), our proposed method outputs a probability distribution over the possible placement candidates, considering the robustness and reasonableness of the place task. Our proposed method is extensively evaluated in two simulation and one real world environments and we show that our method can greatly increase the physical plausibility of the placement as well as contextual soundness while considering user preferences.Comment: 7 page

Minimax Optimal Bandits for Heavy Tail Rewards

Stochastic multiarmed bandits (stochastic MABs) are a problem of sequential decision-making with noisy rewards, where an agent sequentially chooses actions under unknown reward distributions to minimize cumulative regret. The majority of prior works on stochastic MABs assume that the reward distribution of each action has bounded supports or follows light-tailed distribution, i.e., sub-Gaussian distribution. However, in a variety of decision-making problems, the reward distributions follow a heavy-tailed distribution. In this regard, we consider stochastic MABs with heavy-tailed rewards, whose pth moment is bounded by a constant v(p) for 1 < p <= 2. First, we provide theoretical analysis on sub-optimality of the existing exploration methods for heavy-tailed rewards where it has been proven that existing exploration methods do not guarantee a minimax optimal regret bound. Second, to achieve the minimax optimality under heavy-tailed rewards, we propose a minimax optimal robust upper confidence hound (MR-UCB) by providing tight confidence bound of a p-robust estimator. Furthermore, we also propose a minimax optimal robust adaptively perturbed exploration (MR-APE) which is a randomized version of MR-UCB. In particular, unlike the existing robust exploration methods, both proposed methods have no dependence on v(p). Third, we provide the gap-dependent and independent regret bounds of proposed methods and prove that both methods guarantee the minimax optimal regret bound for a heavy-tailed stochastic MAB problem. The proposed methods are the first algorithm that theoretically guarantees the minimax optimality under heavy-tailed reward settings to the best of our knowledge. Finally, we demonstrate the superiority of the proposed methods in simulation with Pareto and Frichet noises with respect to regrets