Taekyoung Kim

James Avtges, Jake Ketchum, Helena Young et al.

Adaptation to damages and in-situ physical repairs is essential for long-term robot autonomy, yet challenging outside of narrowly defined and well-anticipated bounds. In this work we proprioceptively adapt to catastrophic damage in soft-actuated systems in under one minute. Architected materials are well equipped for adaptation: actuator failure occurs gradually rather than acutely, and damage can be described in a low-dimensional, discrete coordinate space. Surprisingly, latent damage representations plus a simple yet robust ensemble method is sufficient for adapting to unseen damage in real-time. Moreover, we identify conditions under which exponential sample complexity collapses to linear sample complexity for learned representations of architected materials, a concrete advantage over rigid components or continuum soft mechanisms. We demonstrate LEAP, our method for adaptive proprioception, via a tracing task for a 6DoF soft wrist based on Handed Shearing Auxetic (HSA) actuators. Our algorithm is able to adapt to cuts, burns, and actuator repairs, enabling simulation-free real-time adaptation that is critical for realizing the promise of soft robots outside the lab. Videos and more information are available at https://murpheylab.github.io/leap.

Dongjun Jang, Jean Seo, Sungjoo Byun et al.

This paper explores the challenges posed by aspect-based sentiment classification (ABSC) within pretrained language models (PLMs), with a particular focus on contextualization and hallucination issues. In order to tackle these challenges, we introduce CARBD-Ko (a Contextually Annotated Review Benchmark Dataset for Aspect-Based Sentiment Classification in Korean), a benchmark dataset that incorporates aspects and dual-tagged polarities to distinguish between aspect-specific and aspect-agnostic sentiment classification. The dataset consists of sentences annotated with specific aspects, aspect polarity, aspect-agnostic polarity, and the intensity of aspects. To address the issue of dual-tagged aspect polarities, we propose a novel approach employing a Siamese Network. Our experimental findings highlight the inherent difficulties in accurately predicting dual-polarities and underscore the significance of contextualized sentiment analysis models. The CARBD-Ko dataset serves as a valuable resource for future research endeavors in aspect-level sentiment classification.