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Visual Simultaneous Localization and Mapping (VSLAM) is a fundamental technology for robotics applications. While VSLAM research has achieved significant advancements, its robustness under challenging situations, such as poor lighting, dynamic environments, motion blur, and sensor failures, remains a challenging issue. To address these challenges, we introduce a novel RGB-D dataset designed for evaluating the robustness of VSLAM systems. The dataset comprises real-world indoor scenes with dynamic objects, motion blur, and varying illumination, as well as emulated camera failures, including lens dirt, condensation, underexposure, and overexposure. Additionally, we offer open-source scripts for injecting camera failures into any images, enabling further customization by the research community. Our experiments demonstrate that ORB-SLAM2, a traditional VSLAM algorithm, and TartanVO, a Deep Learning-based VO algorithm, can experience performance degradation under these challenging conditions. Therefore, this dataset and the camera failure open-source tools provide a valuable resource for developing more robust VSLAM systems capable of handling real-world challenges., Comment: 6 pages

Determining the chronology of ancient handwritten manuscripts is essential for reconstructing the evolution of ideas. For the Dead Sea Scrolls, this is particularly important. However, there is an almost complete lack of date-bearing manuscripts evenly distributed across the timeline and written in similar scripts available for palaeographic comparison. Here, we present Enoch, a state-of-the-art AI-based date-prediction model, trained on the basis of new radiocarbon-dated samples of the scrolls. Enoch uses established handwriting-style descriptors and applies Bayesian ridge regression. The challenge of this study is that the number of radiocarbon-dated manuscripts is small, while current machine learning requires an abundance of training data. We show that by using combined angular and allographic writing style feature vectors and applying Bayesian ridge regression, Enoch could predict the radiocarbon-based dates from style, supported by leave-one-out validation, with varied MAEs of 27.9 to 30.7 years relative to the radiocarbon dating. Enoch was then used to estimate the dates of 135 unseen manuscripts, revealing that 79 per cent of the samples were considered 'realistic' upon palaeographic post-hoc evaluation. We present a new chronology of the scrolls. The radiocarbon ranges and Enoch's style-based predictions are often older than the traditionally assumed palaeographic estimates. In the range of 300-50 BCE, Enoch's date prediction provides an improved granularity. The study is in line with current developments in multimodal machine-learning techniques, and the methods can be used for date prediction in other partially-dated manuscript collections. This research shows how Enoch's quantitative, probability-based approach can be a tool for palaeographers and historians, re-dating ancient Jewish key texts and contributing to current debates on Jewish and Christian origins., Comment: 16 pages of main article, 103 pages of supplementary materials; the first version of this article is originally prepared in July 2023 after the completion of all the experiments

Prethermalization occurs as an important phase in the dynamics of many-body systems when strong coupling drives a quasi-equilibrium in a subspace separated from the thermodynamic equilibrium by the restriction of a gap in energy or other conserved quantity. Here, we report the signature of an enduring prethermal regime of arrested relaxation in the molecular ultracold plasma that forms following the avalanche of a state-selected Rydberg gas of nitric oxide. Electron collisions mix orbital angular momentum, scattering Rydberg molecules to states of very high-$\ell$. Spontaneous predissociation purifies this non-penetrating character, creating an extraordinary gap between the plasma states of $n \approx \ell$, with measured $n>200$ and penetrating states of $\ell = 0, ~1$ and 2. Evolution to a statistically equilibrated state of N and O atoms cannot occur without Rydberg electron penetration, and this gap blocks relaxation for a millisecond or more. Evolving through the critical phase, electrons that balance the NO$^+$ charge behave as though localized in the prethermal phase and play an ineffective role in bridging this gap. However, the application of a weak radiofrequency (RF) field promotes a dramatic degree of relaxation owing to electron collisions. On an entirely different scale, exciting a quantum-state transition in an exceedingly small fraction of the molecules in the prethermalized ensemble acts with even greater effect to drive the entire system toward equilibrium. We ascribe this to dissipative character added to a small fraction of the states in the prethermally localized ensemble. Using the Lindblad master equation, we illustrate qualitatively similar dynamics for a toy model of an open quantum system that consists of a localized set of spins on which dissipation acts locally at a single site.

Data derived from the realm of the social sciences is often produced in digital text form, which motivates its use as a source for natural language processing methods. Researchers and practitioners have developed and relied on artificial intelligence techniques to collect, process, and analyze documents in the legal field, especially for tasks such as text summarization and classification. While increasing procedural efficiency is often the primary motivation behind natural language processing in the field, several works have proposed solutions for human rights-related issues, such as assessment of public policy and institutional social settings. One such issue is the presence of gender biases in court decisions, which has been largely studied in social sciences fields; biased institutional responses to gender-based violence are a violation of international human rights dispositions since they prevent gender minorities from accessing rights and hamper their dignity. Natural language processing-based approaches can help detect these biases on a larger scale. Still, the development and use of such tools require researchers and practitioners to be mindful of legal and ethical aspects concerning data sharing and use, reproducibility, domain expertise, and value-charged choices. In this work, we (a) present an experimental framework developed to automatically detect gender biases in court decisions issued in Brazilian Portuguese and (b) describe and elaborate on features we identify to be critical in such a technology, given its proposed use as a support tool for research and assessment of court~activity., Comment: 27 pages; 2 figures; 6 tables. To appear in the proceedings of the 2024 ACM Conference on Fairness, Accountability, and Transparency (FAccT 24), June 3 to 6, 2024, Rio de Janeiro, Brazil

This work introduces CAPIVARA, a cost-efficient framework designed to enhance the performance of multilingual CLIP models in low-resource languages. While CLIP has excelled in zero-shot vision-language tasks, the resource-intensive nature of model training remains challenging. Many datasets lack linguistic diversity, featuring solely English descriptions for images. CAPIVARA addresses this by augmenting text data using image captioning and machine translation to generate multiple synthetic captions in low-resource languages. We optimize the training pipeline with LiT, LoRA, and gradient checkpointing to alleviate the computational cost. Through extensive experiments, CAPIVARA emerges as state of the art in zero-shot tasks involving images and Portuguese texts. We show the potential for significant improvements in other low-resource languages, achieved by fine-tuning the pre-trained multilingual CLIP using CAPIVARA on a single GPU for 2 hours. Our model and code is available at https://github.com/hiaac-nlp/CAPIVARA.

The ability to automatically learn movements and behaviors of increasing complexity is a long-term goal in autonomous systems. Indeed, this is a very complex problem that involves understanding how knowledge is acquired and reused by humans as well as proposing mechanisms that allow artificial agents to reuse previous knowledge. Inspired by Jean Piaget's theory's first three sensorimotor substages, this work presents a cognitive agent based on CONAIM (Conscious Attention-Based Integrated Model) that can learn procedures incrementally. Throughout the paper, we show the cognitive functions required in each substage and how adding new functions helps address tasks previously unsolved by the agent. Experiments were conducted with a humanoid robot in a simulated environment modeled with the Cognitive Systems Toolkit (CST) performing an object tracking task. The system is modeled using a single procedural learning mechanism based on Reinforcement Learning. The increasing agent's cognitive complexity is managed by adding new terms to the reward function for each learning phase. Results show that this approach is capable of solving complex tasks incrementally., Comment: Preprint submitted to IEEE Transactions on Cognitive and Developmental Systems

Humans have needs motivating their behavior according to intensity and context. However, we also create preferences associated with each action's perceived pleasure, which is susceptible to changes over time. This makes decision-making more complex, requiring learning to balance needs and preferences according to the context. To understand how this process works and enable the development of robots with a motivational-based learning model, we computationally model a motivation theory proposed by Hull. In this model, the agent (an abstraction of a mobile robot) is motivated to keep itself in a state of homeostasis. We added hedonic dimensions to see how preferences affect decision-making, and we employed reinforcement learning to train our motivated-based agents. We run three agents with energy decay rates representing different metabolisms in two different environments to see the impact on their strategy, movement, and behavior. The results show that the agent learned better strategies in the environment that enables choices more adequate according to its metabolism. The use of pleasure in the motivational mechanism significantly impacted behavior learning, mainly for slow metabolism agents. When survival is at risk, the agent ignores pleasure and equilibrium, hinting at how to behave in harsh scenarios.

In the present paper, we consider second order strictly hyperbolic linear operators of the form $Lu\,=\,\partial_t^2u\,-\,{\rm div}\big(A(t,x)\nabla u\big)$, for $(t,x)\in[0,T]\times\mathbb{R}^n$. We assume the coefficients of the matrix $A(t,x)$ to be smooth in time on $\,]0,T]\times\mathbb{R}^n$, but rapidly oscillating when $t\to 0^+$; they match instead minimal regularity assumptions (either Lipschitz or log-Lipschitz regularity conditions) with respect to the space variable. Correspondingly, we prove well-posedness results for the Cauchy problem related to $L$, either with no loss of derivatives (in the Lipschitz case) or with a finite loss of derivatives, which is linearly increasing in time (in the log-Lipschitz case)., Comment: Submitted

Natural language processing techniques have helped domain experts solve legal problems. Digital availability of court documents increases possibilities for researchers, who can access them as a source for building datasets -- whose disclosure is aligned with good reproducibility practices in computational research. Large and digitized court systems, such as the Brazilian one, are prone to be explored in that sense. However, personal data protection laws impose restrictions on data exposure and state principles about which researchers should be mindful. Special caution must be taken in cases with human rights violations, such as gender discrimination, over which we elaborate as an example of interest. We present legal and ethical considerations on the issue, as well as guidelines for researchers dealing with this kind of data and deciding whether to disclose it., Comment: 10 pages, 2 figures. To be published in the 4th Workshop on Natural Legal Language Processing (NLLP 2022), co-located with the 2022 Conference on Empirical Methods in Natural Language Processing (EMNLP 2022)

With the widespread adoption of deep learning, reinforcement learning (RL) has experienced a dramatic increase in popularity, scaling to previously intractable problems, such as playing complex games from pixel observations, sustaining conversations with humans, and controlling robotic agents. However, there is still a wide range of domains inaccessible to RL due to the high cost and danger of interacting with the environment. Offline RL is a paradigm that learns exclusively from static datasets of previously collected interactions, making it feasible to extract policies from large and diverse training datasets. Effective offline RL algorithms have a much wider range of applications than online RL, being particularly appealing for real-world applications, such as education, healthcare, and robotics. In this work, we contribute with a unifying taxonomy to classify offline RL methods. Furthermore, we provide a comprehensive review of the latest algorithmic breakthroughs in the field using a unified notation as well as a review of existing benchmarks' properties and shortcomings. Additionally, we provide a figure that summarizes the performance of each method and class of methods on different dataset properties, equipping researchers with the tools to decide which type of algorithm is best suited for the problem at hand and identify which classes of algorithms look the most promising. Finally, we provide our perspective on open problems and propose future research directions for this rapidly growing field., Comment: 21 pages; Final version accepted to IEEE Transactions on Neural Networks and Learning Systems

Attention is a state of arousal capable of dealing with limited processing bottlenecks in human beings by focusing selectively on one piece of information while ignoring other perceptible information. For decades, concepts and functions of attention have been studied in philosophy, psychology, neuroscience, and computing. Currently, this property has been widely explored in deep neural networks. Many different neural attention models are now available and have been a very active research area over the past six years. From the theoretical standpoint of attention, this survey provides a critical analysis of major neural attention models. Here we propose a taxonomy that corroborates with theoretical aspects that predate Deep Learning. Our taxonomy provides an organizational structure that asks new questions and structures the understanding of existing attentional mechanisms. In particular, 17 criteria derived from psychology and neuroscience classic studies are formulated for qualitative comparison and critical analysis on the 51 main models found on a set of more than 650 papers analyzed. Also, we highlight several theoretical issues that have not yet been explored, including discussions about biological plausibility, highlight current research trends, and provide insights for the future.

We give sufficient conditions for the well-posedness in $\mathcal{C}^\infty$ of the Cauchy problem for third order equations with time dependent coefficients.

This paper shows that CIDEr-D, a traditional evaluation metric for image description, does not work properly on datasets where the number of words in the sentence is significantly greater than those in the MS COCO Captions dataset. We also show that CIDEr-D has performance hampered by the lack of multiple reference sentences and high variance of sentence length. To bypass this problem, we introduce CIDEr-R, which improves CIDEr-D, making it more flexible in dealing with datasets with high sentence length variance. We demonstrate that CIDEr-R is more accurate and closer to human judgment than CIDEr-D; CIDEr-R is more robust regarding the number of available references. Our results reveal that using Self-Critical Sequence Training to optimize CIDEr-R generates descriptive captions. In contrast, when CIDEr-D is optimized, the generated captions' length tends to be similar to the reference length. However, the models also repeat several times the same word to increase the sentence length., Comment: Paper accepted to the 7th Workshop on Noisy User-generated Text (W-NUT). 10 pages, 4 figures, 3 tables