In this paper, an experimental verification of antagonistic stiffness planning is presented for a 2-DOF parallel mechanism with four actuators. With 2-DOF force redundancy, the magnitude and direction of the stiffness enhancement can be controlled by the additional actuators, where the internal torques of the mechanism exist on the two-dimensional null space. In the experiments, the passive and active stiffness are measured, respectively, during endowing the external force at the end-effector. Two stiffness assignment methods for a given pathway are suggested and are verified by the experiments.
Recently, opinion summarization, which is the generation of a summary from multiple reviews, has been conducted in a self-supervised manner by considering a sampled review as a pseudo summary. However, non-text data such as image and metadata related to reviews have been considered less often. To use the abundant information contained in non-text data, we propose a self-supervised multimodal opinion summarization framework called Mul-timodalSum. Our framework obtains a representation of each modality using a separate encoder for each modality, and the text decoder generates a summary. To resolve the inherent heterogeneity of multimodal data, we propose a multimodal training pipeline. We first pretrain the text encoder-decoder based solely on text modality data. Subsequently, we pretrain the non-text modality encoders by considering the pretrained text decoder as a pivot for the homogeneous representation of multimodal data. Finally, to fuse multimodal representations, we train the entire framework in an end-to-end manner. We demonstrate the superiority of MultimodalSum by conducting experiments on Yelp and Amazon datasets.
Recently, opinion summarization, which is the generation of a summary from multiple reviews, has been conducted in a self-supervised manner by considering a sampled review as a pseudo summary. However, non-text data such as image and metadata related to reviews have been considered less often. To use the abundant information contained in non-text data, we propose a self-supervised multimodal opinion summarization framework called Mul-timodalSum. Our framework obtains a representation of each modality using a separate encoder for each modality, and the text decoder generates a summary. To resolve the inherent heterogeneity of multimodal data, we propose a multimodal training pipeline. We first pretrain the text encoder-decoder based solely on text modality data. Subsequently, we pretrain the non-text modality encoders by considering the pretrained text decoder as a pivot for the homogeneous representation of multimodal data. Finally, to fuse multimodal representations, we train the entire framework in an end-to-end manner. We demonstrate the superiority of MultimodalSum by conducting experiments on Yelp and Amazon datasets.
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