Transformer-Enhanced Motion Planner: Attention-Guided Sampling for State-Specific Decision Making

Sampling-based motion planning (SBMP) algorithms are renowned for their robust global search capabilities. However, the inherent randomness in their sampling mechanisms often result in inconsistent path quality and limited search efficiency. In response to these challenges, this work proposes a novel deep learning-based motion planning framework, named Transformer-Enhanced Motion Planner (TEMP), which synergizes an Environmental Information Semantic Encoder (EISE) with a Motion Planning Transformer (MPT). EISE converts environmental data into semantic environmental information (SEI), providing MPT with an enriched environmental comprehension. MPT leverages an attention mechanism to dynamically recalibrate its focus on SEI, task objectives, and historical planning data, refining the sampling node generation. To demonstrate the capabilities of TEMP, we train our model using a dataset comprised of planning results produced by the RRT*. EISE and MPT are collaboratively trained, enabling EISE to autonomously learn and extract patterns from environmental data, thereby forming semantic representations that MPT could more effectively interpret and utilize for motion planning. Subsequently, we conducted a systematic evaluation of TEMP's efficacy across diverse task dimensions, which demonstrates that TEMP achieves exceptional performance metrics and a heightened degree of generalizability compared to state-of-the-art SBMPs.

Open-Source Reinforcement Learning Environments Implemented in MuJoCo with Franka Manipulator

This paper presents three open-source reinforcement learning environments developed on the MuJoCo physics engine with the Franka Emika Panda arm in MuJoCo Menagerie. Three representative tasks, push, slide, and pick-and-place, are implemented through the Gymnasium Robotics API, which inherits from the core of Gymnasium. Both the sparse binary and dense rewards are supported, and the observation space contains the keys of desired and achieved goals to follow the Multi-Goal Reinforcement Learning framework. Three different off-policy algorithms are used to validate the simulation attributes to ensure the fidelity of all tasks, and benchmark results are also given. Each environment and task are defined in a clean way, and the main parameters for modifying the environment are preserved to reflect the main difference. The repository, including all environments, is available at https://github.com/zichunxx/panda_mujoco_gym.

Heterophily-Based Graph Neural Network for Imbalanced Classification

Graph neural networks (GNNs) have shown promise in addressing graph-related problems, including node classification. However, conventional GNNs assume an even distribution of data across classes, which is often not the case in real-world scenarios, where certain classes are severely underrepresented. This leads to suboptimal performance of standard GNNs on imbalanced graphs. In this paper, we introduce a unique approach that tackles imbalanced classification on graphs by considering graph heterophily. We investigate the intricate relationship between class imbalance and graph heterophily, revealing that minority classes not only exhibit a scarcity of samples but also manifest lower levels of homophily, facilitating the propagation of erroneous information among neighboring nodes. Drawing upon this insight, we propose an efficient method, called Fast Im-GBK, which integrates an imbalance classification strategy with heterophily-aware GNNs to effectively address the class imbalance problem while significantly reducing training time. Our experiments on real-world graphs demonstrate our model's superiority in classification performance and efficiency for node classification tasks compared to existing baselines.

T5-SR: A Unified Seq-to-Seq Decoding Strategy for Semantic Parsing

Translating natural language queries into SQLs in a seq2seq manner has attracted much attention recently. However, compared with abstract-syntactic-tree-based SQL generation, seq2seq semantic parsers face much more challenges, including poor quality on schematical information prediction and poor semantic coherence between natural language queries and SQLs. This paper analyses the above difficulties and proposes a seq2seq-oriented decoding strategy called SR, which includes a new intermediate representation SSQL and a reranking method with score re-estimator to solve the above obstacles respectively. Experimental results demonstrate the effectiveness of our proposed techniques and T5-SR-3b achieves new state-of-the-art results on the Spider dataset.

Improving Semantic Matching through Dependency-Enhanced Pre-trained Model with Adaptive Fusion

Transformer-based pre-trained models like BERT have achieved great progress on Semantic Sentence Matching. Meanwhile, dependency prior knowledge has also shown general benefits in multiple NLP tasks. However, how to efficiently integrate dependency prior structure into pre-trained models to better model complex semantic matching relations is still unsettled. In this paper, we propose the \textbf{D}ependency-Enhanced \textbf{A}daptive \textbf{F}usion \textbf{A}ttention (\textbf{DAFA}), which explicitly introduces dependency structure into pre-trained models and adaptively fuses it with semantic information. Specifically, \textbf{\emph{(i)}} DAFA first proposes a structure-sensitive paradigm to construct a dependency matrix for calibrating attention weights. It adopts an adaptive fusion module to integrate the obtained dependency information and the original semantic signals. Moreover, DAFA reconstructs the attention calculation flow and provides better interpretability. By applying it on BERT, our method achieves state-of-the-art or competitive performance on 10 public datasets, demonstrating the benefits of adaptively fusing dependency structure in semantic matching task.

DABERT: Dual Attention Enhanced BERT for Semantic Matching

Transformer-based pre-trained language models such as BERT have achieved remarkable results in Semantic Sentence Matching. However, existing models still suffer from insufficient ability to capture subtle differences. Minor noise like word addition, deletion, and modification of sentences may cause flipped predictions. To alleviate this problem, we propose a novel Dual Attention Enhanced BERT (DABERT) to enhance the ability of BERT to capture fine-grained differences in sentence pairs. DABERT comprises (1) Dual Attention module, which measures soft word matches by introducing a new dual channel alignment mechanism to model affinity and difference attention. (2) Adaptive Fusion module, this module uses attention to learn the aggregation of difference and affinity features, and generates a vector describing the matching details of sentence pairs. We conduct extensive experiments on well-studied semantic matching and robustness test datasets, and the experimental results show the effectiveness of our proposed method.

PetLock:A Genderless and Standard Interface for the Future On-orbit Construction

Modular design is the foundation of on orbit construction technology of large space facilities in the future.Standard interface is the key technology of modular design of the future space robotic systems and space facilities.This paper presents the designed and tested of PetLock,a standard and genderless interface which can transfer mechanical loads,power and data between the future modular space robotic manipulator and spacecraft.PetLock adopts a completely genderless design,including connection face,locking mechanism,data and power interface.The connection surface provides a large translation and rotation misalignment tolerance,due to its 120-degree symmetrical and 3D shape design.The locking mechanism features the three locking pins retraction structure design,which is simple and reliable.POGO pin connectors in the center of the interface provides the power and data transfer capabilities.Due to the advantages of high locking force,large tolerance,high reliability and low cost,PetLock has the very big application potential in future on orbit construction missions.

A Combined Inverse Kinematics Algorithm Using FABRIK with Optimization

Forward and backward reaching inverse kinematics (FABRIK) is a heuristic inverse kinematics solver that is gradually applied to manipulators with the advantages of fast convergence and generating more realistic configurations. However, under the high error constraint, FABRIK exhibits unstable convergence behavior, which is unsatisfactory for the real-time motion planning of manipulators. In this paper, a novel inverse kinematics algorithm that combines FABRIK and the sequential quadratic programming (SQP) algorithm is presented, in which the joint angles deduced by FABRIK will be taken as the initial seed of the SQP algorithm to avoid getting stuck in local minima. The combined algorithm is evaluated with experiments, in which our algorithm can achieve higher success rates and faster solution times than FABRIK under the high error constraint. Furthermore, the combined algorithm can generate continuous trajectories for the UR5 and KUKA LBR IIWA 14 R820 manipulators in path tracking with no pose error and permitted position error of the end-effector.

Pay More Attention to History: A Context Modeling Strategy for Conversational Text-to-SQL

Conversational text-to-SQL aims at converting multi-turn natural language queries into their corresponding SQL representations. One of the most intractable problem of conversational text-to-SQL is modeling the semantics of multi-turn queries and gathering proper information required for the current query. This paper shows that explicit modeling the semantic changes by adding each turn and the summarization of the whole context can bring better performance on converting conversational queries into SQLs. In particular, we propose two conversational modeling tasks in both turn grain and conversation grain. These two tasks simply work as auxiliary training tasks to help with multi-turn conversational semantic parsing. We conducted empirical studies and achieve new state-of-the-art results on large-scale open-domain conversational text-to-SQL dataset. The results demonstrate that the proposed mechanism significantly improves the performance of multi-turn semantic parsing.

Small Changes Make Big Differences: Improving Multi-turn Response Selection in Dialogue Systems via Fine-Grained Contrastive Learning

Retrieve-based dialogue response selection aims to find a proper response from a candidate set given a multi-turn context. Pre-trained language models (PLMs) based methods have yielded significant improvements on this task. The sequence representation plays a key role in the learning of matching degree between the dialogue context and the response. However, we observe that different context-response pairs sharing the same context always have a greater similarity in the sequence representations calculated by PLMs, which makes it hard to distinguish positive responses from negative ones. Motivated by this, we propose a novel \textbf{F}ine-\textbf{G}rained \textbf{C}ontrastive (FGC) learning method for the response selection task based on PLMs. This FGC learning strategy helps PLMs to generate more distinguishable matching representations of each dialogue at fine grains, and further make better predictions on choosing positive responses. Empirical studies on two benchmark datasets demonstrate that the proposed FGC learning method can generally and significantly improve the model performance of existing PLM-based matching models.