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We present a complete analysis of Fermi Large Area Telescope (LAT) data of GRB 221009A, the brightest Gamma-Ray Burst (GRB) ever detected. The burst emission above 30 MeV detected by the LAT preceded by 1 s the low-energy (< 10 MeV) pulse that triggered the Fermi Gamma-Ray Burst Monitor (GBM), as has been observed in other GRBs. The prompt phase of GRB 221009A lasted a few hundred seconds. It was so bright that we identify a Bad Time Interval (BTI) of 64 seconds caused by the extremely high flux of hard X-rays and soft gamma rays, during which the event reconstruction efficiency was poor and the dead time fraction quite high. The late-time emission decayed as a power law, but the extrapolation of the late-time emission during the first 450 seconds suggests that the afterglow started during the prompt emission. We also found that high-energy events observed by the LAT are incompatible with synchrotron origin, and, during the prompt emission, are more likely related to an extra component identified as synchrotron self-Compton (SSC). A remarkable 400 GeV photon, detected by the LAT 33 ks after the GBM trigger and directionally consistent with the location of GRB 221009A, is hard to explain as a product of SSC or TeV electromagnetic cascades, and the process responsible for its origin is uncertain. Because of its proximity and energetic nature, GRB 221009A is an extremely rare event., Comment: 60 pages, 38 figures, 9 tables

Despite the recent advancements in robotics and machine learning (ML), the deployment of autonomous robots in our everyday lives is still an open challenge. This is due to multiple reasons among which are their frequent mistakes, such as interrupting people or having delayed responses, as well as their limited ability to understand human speech, i.e., failure in tasks like transcribing speech to text. These mistakes may disrupt interactions and negatively influence human perception of these robots. To address this problem, robots need to have the ability to detect human-robot interaction (HRI) failures. The ERR@HRI 2024 challenge tackles this by offering a benchmark multimodal dataset of robot failures during human-robot interactions (HRI), encouraging researchers to develop and benchmark multimodal machine learning models to detect these failures. We created a dataset featuring multimodal non-verbal interaction data, including facial, speech, and pose features from video clips of interactions with a robotic coach, annotated with labels indicating the presence or absence of robot mistakes, user awkwardness, and interaction ruptures, allowing for the training and evaluation of predictive models. Challenge participants have been invited to submit their multimodal ML models for detection of robot errors and to be evaluated against various performance metrics such as accuracy, precision, recall, F1 score, with and without a margin of error reflecting the time-sensitivity of these metrics. The results of this challenge will help the research field in better understanding the robot failures in human-robot interactions and designing autonomous robots that can mitigate their own errors after successfully detecting them.

Recent research in affective robots has recognized their potential in supporting human well-being. Due to rapidly developing affective and artificial intelligence technologies, this field of research has undergone explosive expansion and advancement in recent years. In order to develop a deeper understanding of recent advancements, we present a systematic review of the past 10 years of research in affective robotics for wellbeing. In this review, we identify the domains of well-being that have been studied, the methods used to investigate affective robots for well-being, and how these have evolved over time. We also examine the evolution of the multifaceted research topic from three lenses: technical, design, and ethical. Finally, we discuss future opportunities for research based on the gaps we have identified in our review -- proposing pathways to take affective robotics from the past and present to the future. The results of our review are of interest to human-robot interaction and affective computing researchers, as well as clinicians and well-being professionals who may wish to examine and incorporate affective robotics in their practices.

We present a modified version of the PRESB preconditioner for two-by-two block system of linear equations with the coefficient matrix $$\textbf{A}=\left(\begin{array}{cc} F & -G^* G & F \end{array}\right),$$ where $F\in\mathbb{C}^{n\times n}$ is Hermitian positive definite and $G\in\mathbb{C}^{n\times n}$ is positive semidefinite. Spectral analysis of the preconditioned matrix is analyzed. In each iteration of a Krylov subspace method, like GMRES, for solving the preconditioned system in conjunction with proposed preconditioner two subsystems with Hermitian positive definite coefficient matrix should be solved which can be accomplished exactly using the Cholesky factorization or inexactly utilizing the conjugate gradient method. Application of the proposed preconditioner to the systems arising from finite element discretization of PDE-constrained optimization problems is presented. Numerical results are given to demonstrate the efficiency of the preconditioner., Comment: 12 pages, 1 Figure, Submitted

Robotic coaches have been recently investigated to promote mental well-being in various contexts such as workplaces and homes. With the widespread use of Large Language Models (LLMs), HRI researchers are called to consider language appropriateness when using such generated language for robotic mental well-being coaches in the real world. Therefore, this paper presents the first work that investigated the language appropriateness of robot mental well-being coach in the workplace. To this end, we conducted an empirical study that involved 17 employees who interacted over 4 weeks with a robotic mental well-being coach equipped with LLM-based capabilities. After the study, we individually interviewed them and we conducted a focus group of 1.5 hours with 11 of them. The focus group consisted of: i) an ice-breaking activity, ii) evaluation of robotic coach language appropriateness in various scenarios, and iii) listing shoulds and shouldn'ts for designing appropriate robotic coach language for mental well-being. From our qualitative evaluation, we found that a language-appropriate robotic coach should (1) ask deep questions which explore feelings of the coachees, rather than superficial questions, (2) express and show emotional and empathic understanding of the context, and (3) not make any assumptions without clarifying with follow-up questions to avoid bias and stereotyping. These results can inform the design of language-appropriate robotic coach to promote mental well-being in real-world contexts.

Robotic well-being coaches have been shown to successfully promote people's mental well-being. To provide successful coaching, a robotic coach should have the capability to repair the mistakes it makes. Past investigations of robot mistakes are limited to game or task-based, one-off and in-lab studies. This paper presents a 4-phase design process to design repair strategies for robotic longitudinal well-being coaching with the involvement of real-world stakeholders: 1) designing repair strategies with a professional well-being coach; 2) a longitudinal study with the involvement of experienced users (i.e., who had already interacted with a robotic coach) to investigate the repair strategies defined in (1); 3) a design workshop with users from the study in (2) to gather their perspectives on the robotic coach's repair strategies; 4) discussing the results obtained in (2) and (3) with the mental well-being professional to reflect on how to design repair strategies for robotic coaching. Our results show that users have different expectations for a robotic coach than a human coach, which influences how repair strategies should be designed. We show that different repair strategies (e.g., apologizing, explaining, or repairing empathically) are appropriate in different scenarios, and that preferences for repair strategies change during longitudinal interactions with the robotic coach.

Recently, several works have explored if and how robotic coaches can promote and maintain mental well-being in different settings. However, findings from these studies revealed that these robotic coaches are not ready to be used and deployed in real-world settings due to several limitations that span from technological challenges to coaching success. To overcome these challenges, this paper presents VITA, a novel multi-modal LLM-based system that allows robotic coaches to autonomously adapt to the coachee's multi-modal behaviours (facial valence and speech duration) and deliver coaching exercises in order to promote mental well-being in adults. We identified five objectives that correspond to the challenges in the recent literature, and we show how the VITA system addresses these via experimental validations that include one in-lab pilot study (N=4) that enabled us to test different robotic coach configurations (pre-scripted, generic, and adaptive models) and inform its design for using it in the real world, and one real-world study (N=17) conducted in a workplace over 4 weeks. Our results show that: (i) coachees perceived the VITA adaptive and generic configurations more positively than the pre-scripted one, and they felt understood and heard by the adaptive robotic coach, (ii) the VITA adaptive robotic coach kept learning successfully by personalising to each coachee over time and did not detect any interaction ruptures during the coaching, (iii) coachees had significant mental well-being improvements via the VITA-based robotic coach practice. The code for the VITA system is openly available via: https://github.com/Cambridge-AFAR/VITA-system.

In any system that uses structured knowledge graph (KG) data as its underlying knowledge representation, KG-to-text generation is a useful tool for turning parts of the graph data into text that can be understood by humans. Recent work has shown that models that make use of pretraining on large amounts of text data can perform well on the KG-to-text task even with relatively small sets of training data on the specific graph-to-text task. In this paper, we build on this concept by using large language models to perform zero-shot generation based on nothing but the model's understanding of the triple structure from what it can read. We show that ChatGPT achieves near state-of-the-art performance on some measures of the WebNLG 2020 challenge, but falls behind on others. Additionally, we compare factual, counter-factual and fictional statements, and show that there is a significant connection between what the LLM already knows about the data it is parsing and the quality of the output text., Comment: 9 pages, 3 pages appendices, 1 figure, 4 tables (incl. appendices)

The pressing need for digitization of historical documents has led to a strong interest in designing computerised image processing methods for automatic handwritten text recognition. However, not much attention has been paid on studying the handwritten text written in the margins, i.e. marginalia, that also forms an important source of information. Nevertheless, training an accurate and robust recognition system for marginalia calls for data-efficient approaches due to the unavailability of sufficient amounts of annotated multi-writer texts. Therefore, this work presents an end-to-end framework for automatic detection and recognition of handwritten marginalia, and leverages data augmentation and transfer learning to overcome training data scarcity. The detection phase involves investigation of R-CNN and Faster R-CNN networks. The recognition phase includes an attention-based sequence-to-sequence model, with ResNet feature extraction, bidirectional LSTM-based sequence modeling, and attention-based prediction of marginalia. The effectiveness of the proposed framework has been empirically evaluated on the data from early book collections found in the Uppsala University Library in Sweden. Source code and pre-trained models are available at Github.