近年来，围绕具有集成自动语音处理的计算机辅助解释工具的设计越来越多的研究以及受训人员和专业口译员的使用。本文讨论了这些工具的系统延迟的作用，并提出了一个实验的结果，该试验旨在调查在同时模当的解释器中认知的最大系统延迟。结果表明，口译员可以应对3秒的系统延迟，而在准确性和流畅性方面都没有对原始文本的再现产生的任何重大影响。该值高于可用的AI的CAI工具的典型延迟，并铺平了以更大的基于上下文的语言模型和更高延迟进行实验的方式。

高质量的人类解释需要语言和事实准备以及实时检索信息的能力。这种情况在远程同步解释（RSI）的背景下尤为重要，其中发生时间可能是短暂的，对专业口译员构成新挑战以及他们对提供高质量服务的承诺。为了减轻这些挑战，我们提出了解释器辅助，这是一个专门为RSI场景集成而设计的计算机辅助解释工具。翻译辅助包括两个主要功能集：自动词汇表创作工具和实时建议系统。在本文中，我们描述了我们工具的整体设计，其集成到典型的RSI工作流程，以及在词汇表创作的质量和相关性的基准测试中实现的结果，以及实时的精度和回忆建议功能。

There is a dramatic shortage of skilled labor for modern vineyards. The Vinum project is developing a mobile robotic solution to autonomously navigate through vineyards for winter grapevine pruning. This necessitates an autonomous navigation stack for the robot pruning a vineyard. The Vinum project is using the quadruped robot HyQReal. This paper introduces an architecture for a quadruped robot to autonomously move through a vineyard by identifying and approaching grapevines for pruning. The higher level control is a state machine switching between searching for destination positions, autonomously navigating towards those locations, and stopping for the robot to complete a task. The destination points are determined by identifying grapevine trunks using instance segmentation from a Mask Region-Based Convolutional Neural Network (Mask-RCNN). These detections are sent through a filter to avoid redundancy and remove noisy detections. The combination of these features is the basis for the proposed architecture.

Explainability is a vibrant research topic in the artificial intelligence community, with growing interest across methods and domains. Much has been written about the topic, yet explainability still lacks shared terminology and a framework capable of providing structural soundness to explanations. In our work, we address these issues by proposing a novel definition of explanation that is a synthesis of what can be found in the literature. We recognize that explanations are not atomic but the product of evidence stemming from the model and its input-output and the human interpretation of this evidence. Furthermore, we fit explanations into the properties of faithfulness (i.e., the explanation being a true description of the model's decision-making) and plausibility (i.e., how much the explanation looks convincing to the user). Using our proposed theoretical framework simplifies how these properties are ope rationalized and provide new insight into common explanation methods that we analyze as case studies.

In the era of digital healthcare, the huge volumes of textual information generated every day in hospitals constitute an essential but underused asset that could be exploited with task-specific, fine-tuned biomedical language representation models, improving patient care and management. For such specialized domains, previous research has shown that fine-tuning models stemming from broad-coverage checkpoints can largely benefit additional training rounds over large-scale in-domain resources. However, these resources are often unreachable for less-resourced languages like Italian, preventing local medical institutions to employ in-domain adaptation. In order to reduce this gap, our work investigates two accessible approaches to derive biomedical language models in languages other than English, taking Italian as a concrete use-case: one based on neural machine translation of English resources, favoring quantity over quality; the other based on a high-grade, narrow-scoped corpus natively written in Italian, thus preferring quality over quantity. Our study shows that data quantity is a harder constraint than data quality for biomedical adaptation, but the concatenation of high-quality data can improve model performance even when dealing with relatively size-limited corpora. The models published from our investigations have the potential to unlock important research opportunities for Italian hospitals and academia. Finally, the set of lessons learned from the study constitutes valuable insights towards a solution to build biomedical language models that are generalizable to other less-resourced languages and different domain settings.

Machine Learning algorithms have been extensively researched throughout the last decade, leading to unprecedented advances in a broad range of applications, such as image classification and reconstruction, object recognition, and text categorization. Nonetheless, most Machine Learning algorithms are trained via derivative-based optimizers, such as the Stochastic Gradient Descent, leading to possible local optimum entrapments and inhibiting them from achieving proper performances. A bio-inspired alternative to traditional optimization techniques, denoted as meta-heuristic, has received significant attention due to its simplicity and ability to avoid local optimums imprisonment. In this work, we propose to use meta-heuristic techniques to fine-tune pre-trained weights, exploring additional regions of the search space, and improving their effectiveness. The experimental evaluation comprises two classification tasks (image and text) and is assessed under four literature datasets. Experimental results show nature-inspired algorithms' capacity in exploring the neighborhood of pre-trained weights, achieving superior results than their counterpart pre-trained architectures. Additionally, a thorough analysis of distinct architectures, such as Multi-Layer Perceptron and Recurrent Neural Networks, attempts to visualize and provide more precise insights into the most critical weights to be fine-tuned in the learning process.

Efficient localization plays a vital role in many modern applications of Unmanned Ground Vehicles (UGV) and Unmanned aerial vehicles (UAVs), which would contribute to improved control, safety, power economy, etc. The ubiquitous 5G NR (New Radio) cellular network will provide new opportunities for enhancing localization of UAVs and UGVs. In this paper, we review the radio frequency (RF) based approaches for localization. We review the RF features that can be utilized for localization and investigate the current methods suitable for Unmanned vehicles under two general categories: range-based and fingerprinting. The existing state-of-the-art literature on RF-based localization for both UAVs and UGVs is examined, and the envisioned 5G NR for localization enhancement, and the future research direction are explored.

This work is on vision-based planning strategies for legged robots that separate locomotion planning into foothold selection and pose adaptation. Current pose adaptation strategies optimize the robot's body pose relative to given footholds. If these footholds are not reached, the robot may end up in a state with no reachable safe footholds. Therefore, we present a Vision-Based Terrain-Aware Locomotion (ViTAL) strategy that consists of novel pose adaptation and foothold selection algorithms. ViTAL introduces a different paradigm in pose adaptation that does not optimize the body pose relative to given footholds, but the body pose that maximizes the chances of the legs in reaching safe footholds. ViTAL plans footholds and poses based on skills that characterize the robot's capabilities and its terrain-awareness. We use the 90 kg HyQ and 140 kg HyQReal quadruped robots to validate ViTAL, and show that they are able to climb various obstacles including stairs, gaps, and rough terrains at different speeds and gaits. We compare ViTAL with a baseline strategy that selects the robot pose based on given selected footholds, and show that ViTAL outperforms the baseline.

Mitotic activity is a crucial proliferation biomarker for the diagnosis and prognosis of different types of cancers. Nevertheless, mitosis counting is a cumbersome process for pathologists, prone to low reproducibility, due to the large size of augmented biopsy slides, the low density of mitotic cells, and pattern heterogeneity. To improve reproducibility, deep learning methods have been proposed in the last years using convolutional neural networks. However, these methods have been hindered by the process of data labelling, which usually solely consist of the mitosis centroids. Therefore, current literature proposes complex algorithms with multiple stages to refine the labels at pixel level, and to reduce the number of false positives. In this work, we propose to avoid complex scenarios, and we perform the localization task in a weakly supervised manner, using only image-level labels on patches. The results obtained on the publicly available TUPAC16 dataset are competitive with state-of-the-art methods, using only one training phase. Our method achieves an F1-score of 0.729 and challenges the efficiency of previous methods, which required multiple stages and strong mitosis location information.

Object-goal navigation (Object-nav) entails searching, recognizing and navigating to a target object. Object-nav has been extensively studied by the Embodied-AI community, but most solutions are often restricted to considering static objects (e.g., television, fridge, etc.). We propose a modular framework for object-nav that is able to efficiently search indoor environments for not just static objects but also movable objects (e.g. fruits, glasses, phones, etc.) that frequently change their positions due to human intervention. Our contextual-bandit agent efficiently explores the environment by showing optimism in the face of uncertainty and learns a model of the likelihood of spotting different objects from each navigable location. The likelihoods are used as rewards in a weighted minimum latency solver to deduce a trajectory for the robot. We evaluate our algorithms in two simulated environments and a real-world setting, to demonstrate high sample efficiency and reliability.