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We introduce a new area of study in the field of educational Natural Language Processing: Automated Long Answer Grading (ALAG). Distinguishing itself from Automated Short Answer Grading (ASAG) and Automated Essay Grading (AEG), ALAG presents unique challenges due to the complexity and multifaceted nature of fact-based long answers. To study ALAG, we introduce RiceChem, a dataset derived from a college chemistry course, featuring real student responses to long-answer questions with an average word count notably higher than typical ASAG datasets. We propose a novel approach to ALAG by formulating it as a rubric entailment problem, employing natural language inference models to verify whether each criterion, represented by a rubric item, is addressed in the student's response. This formulation enables the effective use of MNLI for transfer learning, significantly improving the performance of models on the RiceChem dataset. We demonstrate the importance of rubric-based formulation in ALAG, showcasing its superiority over traditional score-based approaches in capturing the nuances of student responses. We also investigate the performance of models in cold start scenarios, providing valuable insights into the practical deployment considerations in educational settings. Lastly, we benchmark state-of-the-art open-sourced Large Language Models (LLMs) on RiceChem and compare their results to GPT models, highlighting the increased complexity of ALAG compared to ASAG. Despite leveraging the benefits of a rubric-based approach and transfer learning from MNLI, the lower performance of LLMs on RiceChem underscores the significant difficulty posed by the ALAG task. With this work, we offer a fresh perspective on grading long, fact-based answers and introduce a new dataset to stimulate further research in this important area. Code: \url{https://github.com/luffycodes/Automated-Long-Answer-Grading}.

Take a drinking straw and bend it from its ends. After sufficient bending, the tube buckles forming a kink, where the curvature is localized in a very small area. This instability, known generally as the Brazier effect, is inherent to thin-walled cylindrical shells, which are particularly ubiquitous in living systems, such as rod-shaped bacteria. However, tubular biological structures are often pressurized, and the knowledge of the mechanical response upon bending in this scenario is limited. In this work, we use a computational model to study the mechanical response and the deformations as a result of bending pressurized tubes. In addition, we employ tension-field theory to describe the mechanical behaviour before and after the wrinkling transition. Furthermore, we investigate the development and evolution of wrinkle patterns beyond the instability, showing different wrinkled configurations. We discover the existence of a multi-wavelength mode following the purely sinusoidal wrinkles and anticipating the kinked configuration of the tube., Comment: 5 pages, 4 figures

The stability of the multiple equilibrium states of a hexagram ring with six curved sides is investigated. Each of the six segments is a rod having the same length and uniform natural curvature. These rods are bent uniformly in the plane of the hexagram into equal arcs of 120deg or 240deg and joined at a cusp where their ends meet to form a 1-loop planar ring. The 1-loop rings formed from 120deg or 240deg arcs are inversions of one another and they, in turn, can be folded into a 3-loop straight line configuration or a 3-loop ring with each loop in an "8" shape. Each of these four equilibrium states has a uniform bending moment. Two additional intriguing planar shapes, 6-circle hexagrams, with equilibrium states that are also uniform bending, are identified and analyzed for stability. Stability is lost when the natural curvature falls outside the upper and lower limits in the form of a bifurcation mode involving coupled out-of-plane deflection and torsion of the rod segments. Conditions for stability, or lack thereof, depend on the geometry of the rod cross-section as well as its natural curvature. Rods with circular and rectangular cross-sections will be analyzed using a specialized form of Kirchhoff rod theory, and properties will be detailed such that all four of the states of interest are mutually stable. Experimental demonstrations of the various states and their stability are presented. Part II presents numerical simulations of transitions between states using both rod theory and a three-dimensional finite element formulation, includes confirmation of the stability limits established in Part I, and presents additional experimental demonstrations and verifications.

Curved-sided hexagrams with multiple equilibrium states have great potential in engineering applications such as foldable architectures, deployable aerospace structures, and shape-morphing soft robots. In Part I, the classical stability criterion based on energy variation was used to study the elastic stability of the curved-sided hexagram and identify the natural curvature range for stability of each state for circular and rectangular rod cross-sections. Here, we combine a multi-segment Kirchhoff rod model, finite element simulations, and experiments to investigate the transitions between four basic equilibrium states of the curved-sided hexagram. The four equilibrium states, namely the star hexagram, the daisy hexagram, the 3-loop line, and the 3-loop "8", carry uniform bending moments in their initial states, and the magnitudes of these moments depend on the natural curvatures and their initial curvatures. Transitions between these equilibrium states are triggered by applying bending loads at their corners or edges. It is found that transitions between the stable equilibrium states of the curved-sided hexagram are influenced by both the natural curvature and the loading position. Within a specific natural curvature range, the star hexagram, the daisy hexagram, and the 3-loop "8" can transform among one another by bending at different positions. Based on these findings, we identify the natural curvature range and loading conditions to achieve transition among these three equilibrium states plus a folded 3-loop line state for one specific ring having a rectangular cross-section. The results obtained in this part also validate the elastic stability range of the four equilibrium states of the curved-sided hexagram in Part I. We envision that the present work could provide a new perspective for the design of multi-functional deployable and foldable structures.

Single-loop elastic rings can be folded into multi-loop equilibrium configurations. In this paper, the stability of several such multi-loop states which are either circular or straight are investigated analytically and illustrated by experimental demonstrations. The analysis ascertains stability by exploring variations of the elastic energy of the rings for admissible deformations in the vicinity of the equilibrium state. The approach employed is the conventional stability analysis for elastic conservative systems which differs from most of the analyses that have been published on this class of problems, as will be illustrated by reproducing and elaborating on several problems in the literature. In addition to providing solutions to two basic problems, the paper analyses and demonstrates the stability of six-sided rings that fold into straight configurations.

Muscle-actuated control is a research topic that spans multiple domains, including biomechanics, neuroscience, reinforcement learning, robotics, and graphics. This type of control is particularly challenging as bodies are often overactuated and dynamics are delayed and non-linear. It is however a very well tested and tuned actuation mechanism that has undergone millions of years of evolution with interesting properties exploiting passive forces and efficient energy storage of muscle-tendon units. To facilitate research on muscle-actuated simulation, we release a 3D musculoskeletal simulation of an ostrich based on the MuJoCo physics engine. The ostrich is one of the fastest bipeds on earth and therefore makes an excellent model for studying muscle-actuated bipedal locomotion. The model is based on CT scans and dissections used to collect actual muscle data, such as insertion sites, lengths, and pennation angles. Along with this model, we also provide a set of reinforcement learning tasks, including reference motion tracking, running, and neck control, used to infer muscle actuation patterns. The reference motion data is based on motion capture clips of various behaviors that we preprocessed and adapted to our model. This paper describes how the model was built and iteratively improved using the tasks. We also evaluate the accuracy of the muscle actuation patterns by comparing them to experimentally collected electromyographic data from locomoting birds. The results demonstrate the need for rich reward signals or regularization techniques to constrain muscle excitations and produce realistic movements. Overall, we believe that this work can provide a useful bridge between fields of research interested in muscle actuation., Comment: https://github.com/vittorione94/ostrichrl

Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve mobility. However, a challenge in designing and controlling such devices lies in the coordination of high-dimensional redundant modules in a way that improves mobility. Here we develop a general framework to control serially connected multi-legged robots. Specifically, we combine two approaches to build a general shape control scheme which can provide baseline patterns of self-deformation ("gaits") for effective locomotion in diverse robot morphologies. First, we take inspiration from a dimensionality reduction and a biological gait classification scheme to generate cyclic patterns of body deformation and foot lifting/lowering, which facilitate generation of arbitrary substrate contact patterns. Second, we use geometric mechanics methods to facilitates identification of optimal phasing of these undulations to maximize speed and/or stability. Our scheme allows the development of effective gaits in multi-legged robots locomoting on flat frictional terrain with diverse number of limbs (4, 6, 16, and even 0 limbs) and body actuation capabilities (including sidewinding gaits on limbless devices). By properly coordinating the body undulation and the leg placement, our framework combines the advantages of both limbless robots (modularity) and legged robots (mobility). We expect that our framework can provide general control schemes for the rapid deployment of general multi-legged robots, paving the ways toward machines that can traverse complex environments under real-life conditions.

A thin-walled tube, e.g., a drinking straw, manifests an instability when bent by localizing the curvature change in a small region. This instability has been extensively studied since the seminal work of Brazier nearly a century ago. However, the scenario of pressurized tubes has received much less attention. Motivated by rod-shaped bacteria such as E. coli, whose cell walls are much thinner than their radius and are subject to a substantial internal pressure, we study, theoretically, how this instability is affected by this internal pressure. In the parameter range relevant to the bacteria, we find that the internal pressure significantly postpones the onset of the instability, while the bending stiffness of the cell wall has almost no influence. This study suggests a new method to infer turgor pressure in rod-shaped bacteria from bending experiments., Comment: 5 pages, 2 figures with a supplementary material

This paper addresses testing of compressed structures, such as shells, that exhibit catastrophic buckling and notorious imperfection sensitivity. The central concept is the probing of a loaded structural specimen by a controlled lateral displacement to gain quantitative insight into its buckling behaviour and to measure the energy barrier against buckling. This can provide design information about a structure's stiffness and robustness against buckling in terms of energy and force landscapes. Developments in this area are relatively new but have proceeded rapidly with encouraging progress. Recent experimental tests on uniformly compressed spherical shells, and axially loaded cylinders, show excellent agreement with theoretical solutions. The probing technique could be a valuable experimental procedure for testing prototype structures, but before it can be used a range of potential problems must be examined and solved. The probing response is highly nonlinear and a variety of complications can occur. Here, we make a careful assessment of unexpected limit points and bifurcations, that could accompany probing, causing complications and possibly even collapse of a test specimen. First, a limit point in the probe displacement (associated with a cusp instability and fold) can result in dynamic buckling as probing progresses, as demonstrated in the buckling of a spherical shell under volume control. Second, various types of bifurcations which can occur on the probing path which result in the probing response becoming unstable are also discussed. To overcome these problems, we outline the extra controls over the entire structure that may be needed to stabilize the response., Comment: as accepted in International Journal of Bifurcation and Chaos (18 pages)

The family of $V$-variable fractals provides a means of interpolating between two families of random fractals previously considered in the literature; scale irregular fractals ($V=1$) and random recursive fractals ($V=\infty$). We consider a class of $V$-variable affine nested fractals based on the Sierpinski gasket with a general class of measures. We calculate the spectral exponent for a general measure and find the spectral dimension for these fractals. We show that the spectral properties and on-diagonal heat kernel estimates for $V$-variable fractals are closer to those of scale irregular fractals, in that it is the fluctuations in scale that determine their behaviour but that there are also effects of the spatial variability.

We examine the basic assumptions in the original setup of the firewall paradox. The main claim is that a single mode of the lathe radiation is maximally entangled with the mode inside the horizon and simultaneously with the modes of early Hawking radiation. We argue that this situation never happens during the evolution of a black hole. Quantum mechanics tells us that while the black hole exists, unitary evolution maximally entangles a late mode located just outside the horizon with a combination of early radiation and black hole states, instead of either of them separately. One of the reasons for this is that the black hole radiation is not random and strongly depends on the geometry and charge of the black hole, as detailed numerical calculations of Hawking evaporation clearly show. As a consequence, one can't factor out the state of the black hole. However, this extended entanglement between the black hole and modes of early and late radiation indicates that, as the black hole ages, the local Rindler horizon is modified out to macroscopic distances from the black hole. Fundamentally non-local physics nor firewalls are not necessary to explain this result. We propose an infrared mechanism called {\it icezone} that is mediated by low energy interacting modes and acts near any event horizon to entangle states separated by long distances. These interactions at first provide small corrections to the thermal Hawking radiation. At the end of evaporation however the effect of interactions is as large as the Hawking radiation and information is recovered for an outside observer. We verify this in an explicit construction and calculation of the density matrix of a spin model., Comment: Published in Class. Quant. Grav. 33 (2016) no.13, 135006 , references updated

We establish properties of a new type of fractal which has partial self similarity at all scales. For any collection of iterated functions systems with an associated probability distribution and any positive integer V there is a corresponding class of V-variable fractal sets or measures. These V-variable fractals can be obtained from the points on the attractor of a single deterministic iterated function system. Existence, uniqueness and approximation results are established under average contractive assumptions. We also obtain extensions of some basic results concerning iterated function systems., Comment: 33 pages, 3 figures