Interactive Text2Pickup Network for Natural Language based Human-Robot Collaboration

In this paper, we propose the Interactive Text2Pickup (IT2P) network for human-robot collaboration which enables an effective interaction with a human user despite the ambiguity in user's commands. We focus on the task where a robot is expected to pick up an object instructed by a human, and to interact with the human when the given instruction is vague. The proposed network understands the command from the human user and estimates the position of the desired object first. To handle the inherent ambiguity in human language commands, a suitable question which can resolve the ambiguity is generated. The user's answer to the question is combined with the initial command and given back to the network, resulting in more accurate estimation. The experiment results show that given unambiguous commands, the proposed method can estimate the position of the requested object with an accuracy of 98.49% based on our test dataset. Given ambiguous language commands, we show that the accuracy of the pick up task increases by 1.94 times after incorporating the information obtained from the interaction.Comment: 8 pages, 9 figure

Towards standardizing Korean Grammatical Error Correction: Datasets and Annotation

Research on Korean grammatical error correction (GEC) is limited compared to other major languages such as English and Chinese. We attribute this problematic circumstance to the lack of a carefully designed evaluation benchmark for Korean. Thus, in this work, we first collect three datasets from different sources (Kor-Lang8, Kor-Native, and Kor-Learner) to cover a wide range of error types and annotate them using our newly proposed tool called Korean Automatic Grammatical error Annotation System (KAGAS). KAGAS is a carefully designed edit alignment & classification tool that considers the nature of Korean on generating an alignment between a source sentence and a target sentence, and identifies error types on each aligned edit. We also present baseline models fine-tuned over our datasets. We show that the model trained with our datasets significantly outperforms the public statistical GEC system (Hanspell) on a wider range of error types, demonstrating the diversity and usefulness of the datasets.Comment: Add affiliation and email addres

Histone acylation marks respond to metabolic perturbations and enable cellular adaptation

Acetylation is the most studied histone acyl modification and has been recognized as a fundamental player in metabolic gene regulation, whereas other short-chain acyl modifications have only been recently identified, and little is known about their dynamics or molecular functions at the intersection of metabolism and epigenetic gene regulation. In this study, we aimed to understand the link between nonacetyl histone acyl modification, metabolic transcriptional regulation, and cellular adaptation. Using antibodies specific for butyrylated, propionylated, and crotonylated H3K23, we analyzed dynamic changes of H3K23 acylation upon various metabolic challenges. Here, we show that H3K23 modifications were highly responsive and reversibly regulated by nutrient availability. These modifications were commonly downregulated by the depletion of glucose and recovered based on glucose or fatty acid availability. Depletion of metabolic enzymes, namely, ATP citrate lyase, carnitine acetyltransferase, and acetyl-CoA synthetase, which are involved in Ac-CoA synthesis, resulted in global loss of H3K23 butyrylation, crotonylation, propionylation, and acetylation, with a profound impact on gene expression and cellular metabolic states. Our data indicate that Ac-CoA/CoA and central metabolic inputs are important for the maintenance of histone acylation. Additionally, genome-wide analysis revealed that acyl modifications are associated with gene activation. Our study shows that histone acylation acts as an immediate and reversible metabolic sensor enabling cellular adaptation to metabolic stress by reprogramming gene expression. © 2020, The Author(s).1

Ultrasonographic evaluation of tracheal collapse in dogs

Tracheal ultrasonography was performed to measure the width of the tracheal ring shadow and to assess the clinical relevance of these measurements for identifying tracheal collapse. The first tracheal ring width (FTRW) and thoracic inlet tracheal ring width (TITRW) were measured on both expiration and inspiration. The mean of the FTRW width (129 dogs) was greater in expiration (10.97 ± 1.02 mm, p = 0.001) than that in inspiration (9.86 ± 1.03 mm). For 51 normal dogs, the mean of the TITRW width was greater in expiration (9.05 ± 1.52 mm, p = 0.001) than in inspiration (8.02 ± 1.43 mm). For 78 tracheal collapse dogs, the mean of the TITRW width was greater in expiration (15.89 ± 1.01 mm, p = 0.001) than in inspiration (14.85 ± 1.17 mm). The TITRW/FTRW ratio of the normal dogs was higher (p = 0.001) in expiration (0.81 ± 0.09) than that in inspiration (0.79 ± 0.10). When compared between the normal and tracheal collapse dogs, the TITRW/FTRW ratio was also increased (p = 0.001) both in expiration (1.54 ± 0.09) and inspiration (1.47 ± 0.08), respectively. Based on these results, the cutoff level of the TITRW/FTRW ratio was statistically analyzed according to the receiver operating characteristic curve and it could be set at 1.16 in expiration and at 1.13 in inspiration. We have demonstrated that tracheal ultrasonography is a useful technique for the evaluation of tracheal collapse and it can be a supportive tool together with the radiographic findings for making the correct diagnosis