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question:Below are the abstract, introduction, and conclusion of a computer science research paper. Please summarize the main contribution of the work in a single sentence. Your response should include the summary and no additional text.Paper text:We present a method for policy learning to navigate indoor environments.We adopt a hierarchical policy approach, where two agents are trained to work in cohesion with one another to perform a complex navigation task.A Planner agent operates at a higher level and proposes sub-goals for an Executor agent.The Executor reports an embedding summary back to the Planner as additional side information at the end of its series of operations for the Planner's next sub-goal proposal.The end goal is generated by the environment and exposed to the Planner which then decides which set of sub-goals to propose to the Executor.We show that this Planner-Executor setup drastically increases the sample efficiency of our method over traditional single agent approaches, effectively mitigating the difficulty accompanying long series of actions with a sparse reward signal.On the challenging Habitat environment which requires navigating various realistic indoor environments, we demonstrate that our approach offers a significant improvement over prior work for navigation.The ability to model and understand the world at a high-level is crucial for performing complex tasks in real world environments.Part of this high-level understanding involves the ability to divide and plan out tasks that are complicated and have long time horizons into more manageable subtasks.For example, when navigating to a new location, we typically break the task down into a set of manageable directions (i.e. drive along a certain road until a familiar landmark before taking a turn).Imbuing machines with this ability of creating abstractions for long and complex tasks is an active area of research known as hierarchical learning (Sutton et al., 1998; 1999) .Research for navigation has recently seen a rejuvenation due to the advent of learning-based approaches Parisotto & Salakhutdinov, 2017; Henriques & Vedaldi, 2018) .Embodied learning-based approaches have shown some appealing properties over classical approaches such as being able to operate in complex environments with limited sensor data (Savva et al., 2019; Mishkin et al., 2019) .However, there is a need for the ability to plan across long time horizons with sparse reward signals.This in effect, causes limitations such as the inability to overcome small obstacles when navigating towards a given goal and the requirement of invoking the environment a large number of times for any meaningful learning to occur (Le et al., 2018) .Works which have combined hierarchical reinforcement learning with imitation learning have shown promising results (Das et al., 2018b; Le et al., 2018) , by leveraging expert trajectories with policy sketches (Andreas et al., 2017) , which are less expensive to obtain; however these sketches still require annotation of the environment.In this work, we study such hierarchical control for the task of indoor navigation, whereby an embodied agent is randomly spawned within a novel and complex environment and must learn to navigate this environment through interaction (Das et al., 2018a) .We address this challenging learning problem through a hierarchical policy approach, where two agents are cooperatively trained together.Each agent performs a different role, where one agent acts as a Planner, learning how to propose good sub-goals to an Executor agent, which acts at the low level to achieve these sub-goals (Fig. 1) .In contrast to existing hierarchical policy learning approaches, communication between our two agents is two-way, where the Executor provides the Planner with a summary of its series of actions and recent observations.This aids the Planner in deciding the next sub-goal with additional side Figure 1 : Our PLEX framework adopts a hierarchical policy approach, where a Planner proposes sub-goals for an Executor to act upon within an environment.The Planner receives an egocentric, top-down view with the target location and an embedding summary provided by the Executor.The Executor receives visual sensory data (i.e. colour and depth) as its input and a sub-goal provided by the Planner.Our method reduces the need for long-term planning and addresses the known sample inefficiency problem accompanying memory models within deep reinforcement learning approaches.information provided by the Executor.To this end, we propose PLEX, a planning and executing learning framework which offers the following contributions:• A hierarchical reinforcement learning approach where two agents specialise on different tasks but are jointly trained by sharing information • We demonstrate both theoretically and empirically that our method benefits from significantly improved sample efficiency as the time horizon is distributed between the Planner and Executor • By extension, our approach mitigates problems prevalent in long-horizon planning, especially those adopting LSTM (Hochreiter & Schmidhuber, 1997) planning approachesIn this work, we present a hierarchical reinforcement learning approach for solving PointGoal navigation tasks.Our proposed approach uses a cooperative learning strategy in which two agents, an Executor and a Planner are jointly learned to solve this task.This is enabled through a two-way communication channel established between the two agents through the use of an Executor Latent Information vector provided by the Executor and sub-goals generated by the Planner.We motivate the use of this hierarchical approach both theoretically, as well as through empirical experiments which demonstrate a significant improvement in sampling efficiency of our approach, allowing our structured approach to perform significantly better on increasingly harder tasks when compared to baseline approaches.
answer:We present a hierarchical learning framework for navigation within an embodied learning setting
question:You will be shown a claim related to the COVID-19 pandemic, and the abstract of a biomedical research paper. Each sentence from the abstract will be on a separate line. Your task is to return a JSON object with two fields:- "verdict": The fact-checking verdict. If the information in the abstract supports the claim, write "SUPPORT". If the abstract contradicts the claim, write "CONTRADICT".- "evidence": An array of sentences providing evidence for the verdict. Please copy all relevant sentences verbatim from the abstract.For instance, if the model were given the claim "the COVID vaccine is safe for healthy adults", the output might be{ "verdict": "SUPPORT", "evidence": ["Our findings indicate that the risks of severe COVID vaccine side effects are low for healthy adults."]}Claim: Sars-coronavirus-1 open reading frame-8b triggers intracellular stress pathways and activates nlrp3 inflammasomesAbstract:The SARS (severe acute respiratory syndrome) outbreak was caused by a coronavirus (CoV) named the SARS-CoV. SARS pathology is propagated both by direct cytotoxic effects of the virus and aberrant activation of the innate immune response.Here, we identify several mechanisms by which a SARS-CoV open reading frame (ORF) activates intracellular stress pathways and targets the innate immune response.We show that ORF8b forms insoluble intracellular aggregates dependent on a valine at residue 77.Aggregated ORF8b induces endoplasmic reticulum (ER) stress, lysosomal damage, and subsequent activation of the master regulator of the autophagy and lysosome machinery, Transcription factor EB (TFEB).ORF8b causes cell death in epithelial cells, which is partially rescued by reducing its ability to aggregate.In macrophages, ORF8b robustly activates the NLRP3 inflammasome by providing a potent signal 2 required for activation.Mechanistically, ORF8b interacts directly with the Leucine Rich Repeat domain of NLRP3 and localizes with NLRP3 and ASC in cytosolic dot-like structures.ORF8b triggers cell death consistent with pyroptotic cell death in macrophages.While in those cells lacking NLRP3 accumulating ORF8b cytosolic aggregates cause ER stress, mitochondrial dysfunction, and caspase-independent cell death.
answer:{"verdict": "SUPPORT", "evidence": ["Here, we identify several mechanisms by which a SARS-CoV open reading frame (ORF) activates intracellular stress pathways and targets the innate immune response."]}
question:Given a short query with keyphrases about a research idea in 2016 in the domain of artificial intelligence, recommend the relevant datasets to validate the research idea from options provided. A short description of the datasets is also provided to help you.Query: A method for visual localization in unstructured outdoor environments.Keyphrases: autonomous navigation rgb-d panoramic imagesDataset description:VideoNavQA: The VideoNavQA dataset contains pairs of questions and videos generated in the House3D environment. The goal of this dataset is to assess question-answering performance from nearly-ideal navigation paths, while considering a much more complete variety of questions than current instantiations of the Embodied Question Answering (EQA) task.KITTI: KITTI (Karlsruhe Institute of Technology and Toyota Technological Institute) is one of the most popular datasets for use in mobile robotics and autonomous driving. It consists of hours of traffic scenarios recorded with a variety of sensor modalities, including high-resolution RGB, grayscale stereo cameras, and a 3D laser scanner.TUM monoVO: TUM monoVO is a dataset for evaluating the tracking accuracy of monocular Visual Odometry (VO) and SLAM methods. It contains 50 real-world sequences comprising over 100 minutes of video, recorded across different environments – ranging from narrow indoor corridors to wide outdoor scenes.Aachen Day-Night: Aachen Day-Night is a dataset designed for benchmarking 6DOF outdoor visual localization in changing conditions. It focuses on localizing high-quality night-time images against a day-time 3D model.Options:- A: VideoNavQA B: KITTI C: TUM monoVO D: Aachen Day-Night
answer:KITTI
question:Can you help me transform this SVG into a hologram projection, complete with light rays and a sci-fi vibe?<svg width="32" height="32" viewBox="0 0 32 32" fill="none" xmlns="http://www.w3.org/2000/svg"><path d="M24.8767 1.56153L24.4382 0.662842L23.5395 1.10142C19.7063 2.97212 18.0956 7.59925 19.9694 11.4387L20.0258 11.5544C19.0824 13.9 17.4554 15.953 15.3848 17.408L14.4595 15.5049C16.9207 14.1795 17.9192 11.1492 16.6875 8.61329L14.44 3.99408L13.5411 4.43069C10.9422 5.69302 9.86826 8.82245 11.1285 11.4171L12.666 14.5771C12.6748 14.603 12.6854 14.6287 12.698 14.6539L14.388 18.1298C12.2467 19.8178 10.5976 22.1215 9.70805 24.7101L9.45233 25.45L8.48799 23.4666C11.5326 21.8594 12.7684 18.1177 11.2578 15.0036L8.49833 9.34198L7.59889 9.78163C4.4261 11.3325 3.09573 15.1593 4.64933 18.3386L6.93313 23.0243C6.94266 23.0554 6.95491 23.0862 6.96999 23.1163L8.8924 27.0702L8.01805 29.6001L9.15805 29.99L10.1647 27.0834L13.9655 27.479C13.9897 27.4812 14.0138 27.4819 14.0376 27.4813L18.5742 27.9547C22.0916 28.3219 25.2451 25.7751 25.6127 22.254L25.7165 21.2593L19.4519 20.6056C16.0012 20.2454 12.9008 22.6896 12.4374 26.107L10.5702 25.9123L10.8481 25.1101C11.6223 22.8714 13.0128 20.8665 14.8228 19.3456L18.0565 19.6895L18.0563 19.6907L18.6825 19.7561L19.1897 19.81C19.1945 19.8104 19.1994 19.8108 19.2042 19.8111C19.2086 19.8114 19.213 19.8117 19.2174 19.8119L23.1743 20.2249C26.0402 20.5213 28.6156 18.4459 28.9128 15.5732L29.0156 14.5794L23.9052 14.046L23.9034 14.0458C21.0957 13.7442 18.5937 15.7341 18.1896 18.4906L16.2531 18.2842C18.441 16.6987 20.1643 14.4863 21.1628 11.9688L21.3056 11.8993C25.1516 10.028 26.7496 5.39924 24.8767 1.56153ZM21.4041 9.50218C21.4021 9.50146 21.4001 9.50075 21.398 9.50005C21.3888 9.49689 21.3796 9.49395 21.3704 9.49122C20.7898 7.25943 21.6222 4.87383 23.4685 3.48C24.0632 5.71153 23.2451 8.10035 21.4041 9.50218ZM12.9275 10.5433C12.3008 9.25259 12.6084 7.75141 13.5852 6.80856L14.8887 9.48746C15.5145 10.7762 15.2089 12.2727 14.2296 13.2194L12.9275 10.5433ZM6.44647 17.4609C5.53136 15.5888 6.07235 13.3834 7.62761 12.1204L9.45832 15.8765L9.45877 15.8774C10.3678 17.7526 9.82976 19.9572 8.27829 21.2193L6.44697 17.4619L6.44647 17.4609ZM23.381 18.2356L20.4162 17.9262C20.9715 16.6821 22.2732 15.8817 23.6909 16.0345L23.6943 16.0349L26.6628 16.3447C26.111 17.5822 24.8066 18.3829 23.381 18.2356ZM14.62 25.5312C15.2732 23.6393 17.1644 22.3777 19.2443 22.5947L23.4061 23.0291C22.7529 24.921 20.8617 26.1826 18.7819 25.9655L14.62 25.5312Z" fill="#212121"/></svg>
answer:Creating a hologram effect cannot be done with SVG alone, as SVG is simply a vector image format. However, it can be achieved by applying CSS styles if displayed on a web page. For a full "hologram" effect complete with light rays, you may need to incorporate some sort of animation or 3D effect, which can't be accomplished with SVG by itself, but you can use CSS3 transformations and animations, and possibly a JavaScript library.Assuming you want to add some "hologram" effects using CSS, you could do something like this:```html<style> svg.hologram { animation: hologram-effect 2s infinite; mix-blend-mode: screen; position: relative; } svg.hologram:before, svg.hologram:after { content: ''; position: absolute; top: 0; left: 0; width: 100%; height: 100%; background: url(YOUR_SVG_HERE); animation: hologram-glow 2s infinite; mix-blend-mode: screen; } svg.hologram:before { transform: rotate(-45deg); animation-duration: 1.5s; } @keyframes hologram-effect { to { transform: translateX(5px); } } @keyframes hologram-glow { 50% { opacity: .5; } }</style><svg class="hologram"> <!-- YOUR SVG CONTENT HERE --></svg>```Just replace `YOUR_SVG_HERE` with the URL to your SVG or use a SVG string, and replace `<!-- YOUR SVG CONTENT HERE -->` with the content of your SVG.This will animate the SVG with a slight horizontal movement to simulate the hologram instability, and add some "glows" with different orientations to simulate the light dispersion of a hologram.Please note that the hologram effect quality highly depends on the complexity and colors of your SVG, and you might need to adjust the properties, add blurs, etc. SVG formatting does not support genuine light ray effects just by itself.For more advanced graphic effects like real 3D and light dispersion, you would need to use a WebGL based library, like Three.js.
question:For testing purposes, I need this in Go:++#include<stdio.h>#include<vector>#include<algorithm>using namespace std;vector<int> sort_array(vector<int> array){ vector<int> result(array); // Keep the original input vector untouched // If the array is empty or contains only one element, return it if(result.size() < 2) return result; int sum = result.front() + result.back(); // If the sum of the first and last elements is even if(sum % 2 == 0){ // Sort the array in descending order sort(result.begin(), result.end(), greater<int>()); }else{ // If the sum of the first and last elements is odd // Sort the array in ascending order sort(result.begin(), result.end()); } return result;}Could you also break down what's happening in the Go version?
answer:You can try the following code in Go:```gopackage mainimport ( "fmt" "sort")func sortArray(input []int) []int { result := make([]int, len(input)) copy(result, input) if len(result) < 2 { return result } sum := result[0] + result[len(result)-1] // If the sum of the first and last elements is even if sum%2 == 0 { // Sort the array in descending order sort.Sort(sort.Reverse(sort.IntSlice(result))) } else { // If the sum of the first and last elements is odd sort.Ints(result) } return result}func main() { array := []int{5, 2, 1, 4, 3} sortedArray := sortArray(array) fmt.Println(sortedArray)}```This is a fairly straight conversion of the given C++ code into Go. Here's what it does:1. Defined a function `sortArray` that takes a slice of integers as input and returns a newly created slice of integers (not affecting the original slice).2. Inside the function, first we created `result` which is a copy of our input slice.3. Then, checked if the length of `result` is less than 2. If so, returned `result` as it is. This is because a list of length smaller than 2 is already sorted by definition.4. Calculated the sum of the first and last elements of the result slice.5. Checked whether `sum` is an even number. If so, sorted `result` in descending order. If `sum` is not even (i.e., it's odd), sorted `result` in ascending order.6. Finally, after sorting, `result` is returned.7. Note that Go's sort package provides the `sort.Ints` function to sort a slice of integers in increasing order, and the `sort.Reverse` function to reverse a slice. To get a reversed (i.e., descending) sort, we have to reverse the result of `sort.Ints`, which gives `sort.Sort(sort.Reverse(sort.IntSlice(result)))`.8. As in Go, the function to print an array is `fmt.Println()`, so the sorted array result is printed in the `main()` function.
question:Implement Topic Modeling on this online product reviews dataset https://raw.githubusercontent.com/crow-intelligence/growth-hacking-sentiment/master/dataset/ratings.csv using Non-Negative Matrix Factorization (NMF).
answer:To implement Topic Modeling using Non-Negative Matrix Factorization (NMF), you need to follow these steps:Step 1: Load the DataWe start with importing libraries and loading the csv file into a pandas dataframe.```pythonimport pandas as pdimport numpy as npfrom sklearn.feature_extraction.text import TfidfVectorizerfrom sklearn.decomposition import NMFdata = pd.read_csv('https://raw.githubusercontent.com/crow-intelligence/growth-hacking-sentiment/master/dataset/ratings.csv')```Step 2: Text preprocessingFor the reviews, we may have to clean up the text so that the outcome is not affected by punctuations, common words, etc. You can achieve this with techniques such as tokenization, removing stop words and lemmatization.```pythonimport nltknltk.download('stopwords')nltk.download('wordnet')from nltk.corpus import stopwords from nltk.stem.wordnet import WordNetLemmatizerimport stringstop = set(stopwords.words('english'))exclude = set(string.punctuation)lemma = WordNetLemmatizer()def clean(doc): stop_free = " ".join([i for i in doc.lower().split() if i not in stop]) punc_free = ''.join(ch for ch in stop_free if ch not in exclude) normalized = " ".join(lemma.lemmatize(word) for word in punc_free.split()) return normalizeddoc_clean = [clean(doc).split() for doc in data['review']]```Step 3: Term Frequency-Inverse Document Frequency (TF-IDF) Vectorization For NMF to work with text data, the text has to be transformed into a matrix of TF-IDF features.```pythonvectorizer = TfidfVectorizer( max_features=2000, # keep top 2000 terms min_df=5, # minimum doc freq stop_words='english', # remove stop words lowercase=True, # convert all words to lowercase token_pattern='[a-zA-Z0-9]{3,}', # num chars > 3 max_df=0.6, # set max freq to be used)data_vectorized = vectorizer.fit_transform(data['review'])```Step 4: Perform NMFWe perform the NMF and output the ten most common words for each discovered topic.```pythonnmf = NMF(n_components=5, random_state=42, alpha=.1, l1_ratio=.5)nmf.fit(data_vectorized)``````pythondef display_topics(model, feature_names, no_top_words): for topic_idx, topic in enumerate(model.components_): print("Topic %d:" % (topic_idx)) print(" ".join([feature_names[i] for i in topic.argsort()[:-no_top_words - 1:-1]]))no_top_words = 10display_topics(nmf, vectorizer.get_feature_names(), no_top_words)```It's important to note that the number of topics/n_components in NMF is a hyperparameter that you can tweak and optimize. As more topics can give you more specific subtopics, and fewer topics results in more broader topics.Please note: You may need to install the required python packages. You can do this with pip:```python!pip install nltk sklearn pandas numpy```