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Quadrupedal robots hold promising potential for applications in navigating cluttered environments with resilience akin to their animal counterparts. However, their floating base configuration makes them vulnerable to real-world uncertainties, yielding substantial challenges in their locomotion control. Deep reinforcement learning has become one of the plausible alternatives for realizing a robust locomotion controller. However, the approaches that rely solely on proprioception sacrifice collision-free locomotion because they require front-feet contact to detect the presence of stairs to adapt the locomotion gait. Meanwhile, incorporating exteroception necessitates a precisely modeled map observed by exteroceptive sensors over a period of time. Therefore, this work proposes a novel method to fuse proprioception and exteroception featuring a resilient multi-modal reinforcement learning. The proposed method yields a controller that showcases agile locomotion performance on a quadrupedal robot over a myriad of real-world courses, including rough terrains, steep slopes, and high-rise stairs, while retaining its robustness against out-of-distribution situations., Comment: Under review. Project site is available at https://dreamwaqpp.github.io

Safe navigation with simultaneous localization and mapping (SLAM) for autonomous robots is crucial in challenging environments. To achieve this goal, detecting moving objects in the surroundings and building a static map are essential. However, existing moving object segmentation methods have been developed separately for each field, making it challenging to perform real-time navigation and precise static map building simultaneously. In this paper, we propose an integrated real-time framework that combines online tracking-based moving object segmentation with static map building. For safe navigation, we introduce a computationally efficient hierarchical association cost matrix to enable real-time moving object segmentation. In the context of precise static mapping, we present a voting-based method, DS-Voting, designed to achieve accurate dynamic object removal and static object recovery by emphasizing their spatio-temporal differences. We evaluate our proposed method quantitatively and qualitatively in the SemanticKITTI dataset and real-world challenging environments. The results demonstrate that dynamic objects can be clearly distinguished and incorporated into static map construction, even in stairs, steep hills, and dense vegetation., Comment: 13 pages, The 11th International Conference on Robot Intelligence Technology and Applications (RiTA 2023)

Unlike professional caregivers, family caregivers often assume this role without formal preparation or training. Because of this, there is an urgent need to enhance the capacity of family caregivers to provide quality care. Large language models can potentially be used as a foundation technology for supporting caregivers as educational tools or as adjunct to care. This study aimed to develop a reliable Caregiving Language Model (CaLM) by using FMs and a caregiving knowledge base, develop an accessible CaLM using a small FM that requires fewer computing resources, and evaluate the performance of the model compared to a large FM. We developed CaLM using the Retrieval Augmented Generation (RAG) framework combined with FM fine-tuning for improving the quality of FM answers by grounding the model on a caregiving knowledge base. We used two small FMs as candidates for the FM of CaLM (LLaMA-2 and Falcon with 7B parameters) and larger FM GPT-3.5 as a benchmark. We developed the caregiving knowledge base by gathering various types of documents from the Internet. In this study, we focused on caregivers of individuals with Alzheimer's Disease Related Dementias. We evaluated the models' performance using the benchmark metrics commonly used in evaluating language models and their reliability to provide accurate references with the answers. The RAG framework improved the performance of all FMs used in this study across all measures. As expected, the large FM performed better than small FMs across all metrics. The most interesting result is that small fine-tuned FMs with RAG performed significantly better than GPT 3.5 across all metrics. The fine-tuned LLaMA-2 small FM performed better than GPT 3.5 (even with RAG) in returning references with the answers. The study shows that reliable and accessible CaLM can be developed by using small FMs with a knowledge base specific to the caregiving domain.

We present COPAL-ID, a novel, public Indonesian language common sense reasoning dataset. Unlike the previous Indonesian COPA dataset (XCOPA-ID), COPAL-ID incorporates Indonesian local and cultural nuances, and therefore, provides a more natural portrayal of day-to-day causal reasoning within the Indonesian cultural sphere. Professionally written by natives from scratch, COPAL-ID is more fluent and free from awkward phrases, unlike the translated XCOPA-ID. In addition, we present COPAL-ID in both standard Indonesian and in Jakartan Indonesian-a dialect commonly used in daily conversation. COPAL-ID poses a greater challenge for existing open-sourced and closed state-of-the-art multilingual language models, yet is trivially easy for humans. Our findings suggest that general multilingual models struggle to perform well, achieving 66.91% accuracy on COPAL-ID. South-East Asian-specific models achieve slightly better performance of 73.88% accuracy. Yet, this number still falls short of near-perfect human performance. This shows that these language models are still way behind in comprehending the local nuances of Indonesian., Comment: 8 pages, Camera Ready (NAACL 2024 - Main)

Battery health assessment and recuperation play a crucial role in the utilization of second-life Li-ion batteries. However, due to ambiguous aging mechanisms and lack of correlations between the recovery effects and operational states, it is challenging to accurately estimate battery health and devise a clear strategy for cell rejuvenation. This paper presents aging and reconditioning experiments of 62 commercial high-energy type lithium iron phosphate (LFP) cells, which supplement existing datasets of high-power LFP cells. The relatively large-scale data allow us to use machine learning models to predict cycle life and identify important indicators of recoverable capacity. Considering cell-to-cell inconsistencies, an average test error of $16.84\% \pm 1.87\%$ (mean absolute percentage error) for cycle life prediction is achieved by gradient boosting regressor given information from the first 80 cycles. In addition, it is found that some of the recoverable lost capacity is attributed to the lateral lithium non-uniformity within the electrodes. An equivalent circuit model is built and experimentally validated to demonstrate how such non-uniformity can be accumulated, and how it can give rise to recoverable capacity loss. SHapley Additive exPlanations (SHAP) analysis also reveals that battery operation history significantly affects the capacity recovery., Comment: 20 pages, 5 figures, 1 table

Indonesia, as a maritime country, has a significant portion of its territory covered by water. Ineffective waste management has resulted in a considerable amount of trash in Indonesian waters, leading to various issues. The development of an automated trash-collecting robot can be a solution to address this problem. The robot requires a system capable of detecting objects in motion, such as in videos. However, using naive object detection methods in videos has limitations, particularly when image focus is reduced and the target object is obstructed by other objects. This paper's contribution provides an explanation of the methods that can be applied to perform video object detection in an automated trash-collecting robot. The study utilizes the YOLOv5 model and the Robust & Efficient Post Processing (REPP) method, along with tubelet-level bounding box linking on the FloW and Roboflow datasets. The combination of these methods enhances the performance of naive object detection from YOLOv5 by considering the detection results in adjacent frames. The results show that the post-processing stage and tubelet-level bounding box linking can improve the quality of detection, achieving approximately 3% better performance compared to YOLOv5 alone. The use of these methods has the potential to detect surface and underwater trash and can be applied to a real-time image-based trash-collecting robot. Implementing this system is expected to mitigate the damage caused by trash in the past and improve Indonesia's waste management system in the future., Comment: 14 pages, in Indonesian language, 14 figures

Quadrupedal robots have emerged as a cutting-edge platform for assisting humans, finding applications in tasks related to inspection and exploration in remote areas. Nevertheless, their floating base structure renders them susceptible to fall in cluttered environments, where manual recovery by a human operator may not always be feasible. Several recent studies have presented recovery controllers employing deep reinforcement learning algorithms. However, these controllers are not specifically designed to operate effectively in cluttered environments, such as stairs and slopes, which restricts their applicability. In this study, we propose a robust all-terrain recovery policy to facilitate rapid and secure recovery in cluttered environments. We substantiate the superiority of our proposed approach through simulations and real-world tests encompassing various terrain types., Comment: RSS 2023 Workshop on Experiment-oriented Locomotion and Manipulation Research

Efforts to improve the performance of services on the transaction at a bank can be done by performing data retention, reduce the volume of data in the database production by cutting the historical data in accordance with the rules in a bank to a data warehouse. Design and implementation of applications Domain Specific Language (DSL) for handling the data transfer on the data warehouse is divided into lexical analysis, syntax analysis, semantic analysis and code generation. Each part has different characteristics to produce an executable command. Has been developed an application with the DSL method, which is beneficial to reduce the error of writing a command for a normal (non-technical) way to transfer data. From the test result in a decision Oracle transfer method according to the size scale of a particular data., Comment: 16 pages, in Indonesian language, 8 figures

This evidence-based position paper critiques current research practices within the language model pre-training literature. Despite rapid recent progress afforded by increasingly better pre-trained language models (PLMs), current PLM research practices often conflate different possible sources of model improvement, without conducting proper ablation studies and principled comparisons between different models under comparable conditions. These practices (i) leave us ill-equipped to understand which pre-training approaches should be used under what circumstances; (ii) impede reproducibility and credit assignment; and (iii) render it difficult to understand: "How exactly does each factor contribute to the progress that we have today?" We provide a case in point by revisiting the success of BERT over its baselines, ELMo and GPT-1, and demonstrate how -- under comparable conditions where the baselines are tuned to a similar extent -- these baselines (and even-simpler variants thereof) can, in fact, achieve competitive or better performance than BERT. These findings demonstrate how disentangling different factors of model improvements can lead to valuable new insights. We conclude with recommendations for how to encourage and incentivize this line of work, and accelerate progress towards a better and more systematic understanding of what factors drive the progress of our foundation models today., Comment: Accepted at ACL 2023

The growing demand for precision agriculture necessitates efficient and accurate crop-weed recognition and classification systems. Current datasets often lack the sample size, diversity, and hierarchical structure needed to develop robust deep learning models for discriminating crops and weeds in agricultural fields. Moreover, the similar external structure and phenomics of crops and weeds complicate recognition tasks. To address these issues, we present the CWD30 dataset, a large-scale, diverse, holistic, and hierarchical dataset tailored for crop-weed recognition tasks in precision agriculture. CWD30 comprises over 219,770 high-resolution images of 20 weed species and 10 crop species, encompassing various growth stages, multiple viewing angles, and environmental conditions. The images were collected from diverse agricultural fields across different geographic locations and seasons, ensuring a representative dataset. The dataset's hierarchical taxonomy enables fine-grained classification and facilitates the development of more accurate, robust, and generalizable deep learning models. We conduct extensive baseline experiments to validate the efficacy of the CWD30 dataset. Our experiments reveal that the dataset poses significant challenges due to intra-class variations, inter-class similarities, and data imbalance. Additionally, we demonstrate that minor training modifications like using CWD30 pretrained backbones can significantly enhance model performance and reduce convergence time, saving training resources on several downstream tasks. These challenges provide valuable insights and opportunities for future research in crop-weed recognition. We believe that the CWD30 dataset will serve as a benchmark for evaluating crop-weed recognition algorithms, promoting advancements in precision agriculture, and fostering collaboration among researchers in the field., Comment: 15 pages, 14 figures, journal research article

Currently, text-to-image synthesis uses text encoder and image generator architecture. Research on this topic is challenging. This is because of the domain gap between natural language and vision. Nowadays, most research on this topic only focuses on producing a photo-realistic image, but the other domain, in this case, is the language, which is less concentrated. A lot of the current research uses English as the input text. Besides, there are many languages around the world. Bahasa Indonesia, as the official language of Indonesia, is quite popular. This language has been taught in Philipines, Australia, and Japan. Translating or recreating a new dataset into another language with good quality will cost a lot. Research on this domain is necessary because we need to examine how the image generator performs in other languages besides generating photo-realistic images. To achieve this, we translate the CUB dataset into Bahasa using google translate and manually by humans. We use Sentence BERT as the text encoder and FastGAN as the image generator. FastGAN uses lots of skip excitation modules and auto-encoder to generate an image with resolution 512x512x3, which is twice as bigger as the current state-of-the-art model (Zhang, Xu, Li, Zhang, Wang, Huang and Metaxas, 2019). We also get 4.76 +- 0.43 and 46.401 on Inception Score and Fr\'echet inception distance, respectively, and comparable with the current English text-to-image generation models. The mean opinion score also gives as 3.22 out of 5, which means the generated image is acceptable by humans. Link to source code: https://github.com/share424/Indonesian-Text-to-Image-synthesis-with-Sentence-BERT-and-FastGAN, Comment: 11 pages, 3 figures

Quadrupedal robots resemble the physical ability of legged animals to walk through unstructured terrains. However, designing a controller for quadrupedal robots poses a significant challenge due to their functional complexity and requires adaptation to various terrains. Recently, deep reinforcement learning, inspired by how legged animals learn to walk from their experiences, has been utilized to synthesize natural quadrupedal locomotion. However, state-of-the-art methods strongly depend on a complex and reliable sensing framework. Furthermore, prior works that rely only on proprioception have shown a limited demonstration for overcoming challenging terrains, especially for a long distance. This work proposes a novel quadrupedal locomotion learning framework that allows quadrupedal robots to walk through challenging terrains, even with limited sensing modalities. The proposed framework was validated in real-world outdoor environments with varying conditions within a single run for a long distance., Comment: Accepted for ICRA 2023

Twisted bilayer graphene (tBLG) is two graphene layers placed on top of each other with a twist angle, making it has tunable thermal properties. In this paper, we report an analysis of thermal conductivity ($\kappa$), phonon density of states, and specific heat capacity of tBLG with various twist angles over a range of temperatures using equilibrium molecular dynamics simulations based on the Green-Kubo method. Simulation shows that stacking and twisting graphene layers lead to a decrease in the thermal conductivity, with the highest $\kappa$ at around room temperature owned by the tBLG with a twist angle of 3.89$^{\circ}$ followed by 16.43$^{\circ}$ and 4.41$^{\circ}$. We also perform quantum correction to the simulation results to show the process of increasing thermal conductivity at low temperatures., Comment: 18 pages, 12 figures, submitted to 2nd Functional Nano Powder International Conference 2022

Graphene quantum dots (GQDs) are nanoscale structures of graphene with quantum properties and edge effects that give photoluminescence properties. The effect of quantum confinement and differences in the nature of GQD structure makes its optical characteristics highly dependent on the size of the structure. This study explains a few exploratory semi empirical calculations of nonlinear polarization properties of functionalized GQD (fGQD) three dimensionally. Based on this, the calculation of the linear polarization and first hyperpolarization was performed by the finite field method, which is based on the expansion of the energy and dipole moment. As a result, the fGQD molecule dominantly has high optical nonlinear properties as indicated by the high \b{eta} values (71 to 4488 a.u.). In general, the first hyperpolarizabilities have a linear relationship with the dipole moments. It was potentially used for the second harmonic imaging microscopy (SHIM) application., Comment: conference paper

We present NusaCrowd, a collaborative initiative to collect and unify existing resources for Indonesian languages, including opening access to previously non-public resources. Through this initiative, we have brought together 137 datasets and 118 standardized data loaders. The quality of the datasets has been assessed manually and automatically, and their value is demonstrated through multiple experiments. NusaCrowd's data collection enables the creation of the first zero-shot benchmarks for natural language understanding and generation in Indonesian and the local languages of Indonesia. Furthermore, NusaCrowd brings the creation of the first multilingual automatic speech recognition benchmark in Indonesian and the local languages of Indonesia. Our work strives to advance natural language processing (NLP) research for languages that are under-represented despite being widely spoken.