Miracle-dz/UniFAR-FTUs huggingface dataset:
Meta-Learning Based Early Fault Detection for Rolling Bearings via Few-Shot Anomaly Detection

Early fault detection (EFD) of rolling bearings can recognize slight deviation of the health states and contribute to the stability of mechanical systems. In practice, very limited target bearing data are available to conduct EFD, which makes it hard to adapt to the EFD task of new bearings. To address this problem, many transfer learning based EFD methods utilize historical data to learn transferable domain knowledge and conduct early fault detection on new target bearings. However, most existing methods only consider the distribution drift across different working conditions but ignore the difference between bearings under the same working condition, which is called Unit-to-Unit Variability (UtUV). The setting of EFD with limited target data considering UtUV can be formulated as a Few-shot Anomaly Detection task. Therefore, this paper proposes a novel EFD method based on meta-learning considering UtUV. The proposed method can learn a generic metric based on Relation Network (RN) to measure the similarity between normal data and the new arrival target bearing data. Besides, the proposed method utilizes a health state embedding strategy to decrease false alarms. The performance of proposed method is tested on two bearing datasets. The results show that the proposed method can detect incipient faults earlier than the baselines with lower false alarms.
The Revisiting Problem in Simultaneous Localization and Mapping: A Survey on Visual Loop Closure Detection

Where am I? This is one of the most critical questions that any intelligent system should answer to decide whether it navigates to a previously visited area. This problem has long been acknowledged for its challenging nature in simultaneous localization and mapping (SLAM), wherein the robot needs to correctly associate the incoming sensory data to the database allowing consistent map generation. The significant advances in computer vision achieved over the last 20 years, the increased computational power, and the growing demand for long-term exploration contributed to efficiently performing such a complex task with inexpensive perception sensors. In this article, visual loop closure detection, which formulates a solution based solely on appearance input data, is surveyed. We start by briefly introducing place recognition and SLAM concepts in robotics. Then, we describe a loop closure detection system’s structure, covering an extensive collection of topics, including the feature extraction, the environment representation, the decision-making step, and the evaluation process. We conclude by discussing open and new research challenges, particularly concerning the robustness in dynamic environments, the computational complexity, and scalability in long-term operations. The article aims to serve as a tutorial and a position paper for newcomers to visual loop closure detection.
Matter&Mind Matter

As a result of a hundred million years of evolution, living animals have adapted extremely well to their ecological niche. Such adaptation implies species-specific interactions with their immediate environment by processing sensory cues and responding with appropriate behavior. Understanding how living creatures perform pattern recognition and cognitive tasks is of particular importance for computing architectures: by studying these information pathways refined over eons of evolution, researchers may be able to streamline the process of developing more highly advanced, energy efficient autonomous systems. With the advent of novel electronic and ionic components along with a deeper understanding of information pathways in living species, a plethora of opportunities to develop completely novel information processing avenues are within reach. Here, we describe the basal information pathways in nervous systems, from the local neuron level to the entire nervous system network. The dual importance of local learning rules is addressed, from spike timing dependent plasticity at the neuron level to the interwoven morphological and dynamical mechanisms of the global network. Basal biological principles are highlighted, including phylogenies, ontogenesis, and homeostasis, with particular emphasis on network topology and dynamics. While in machine learning system training is performed on virgin networks without any a priori knowledge, the approach proposed here distinguishes itself unambiguously by employing growth mechanisms as a guideline to design novel computing architectures. Including fundamental biological information pathways that explore the spatiotemporal fundamentals of nervous systems has untapped potential for the development of entirely novel information processing systems. Finally, a benchmark for neuromorphic systems is suggested.
Differential Data-Aided Beam Training for RIS-Empowered Multi-Antenna Communications

The Reconfigurable Intelligent Surface (RIS) constitutes one of the prominent technologies for the next generation of wireless communications. It is envisioned to enhance the signal coverage in cases when the direct link of the communication is weak. Recently, beam training based on codebook selection is proposed to obtain the optimized phase configuration of the RIS. After that, the data is transmitted and received by using the classical coherent demodulation scheme (CDS). This training approach is able to avoid the large overhead required by the channel sounding process, and it also circumvents complex optimization problems. However, the beam training still requires the transmission of some reference signals to test the different phase configurations of the codebook, and the best codeword is chosen according to the measurement of the received energy of the reference signals. Then, the overhead due to the transmission of reference signals reduces the spectral efficiency. In this paper, a zero overhead beam training for RIS is proposed, relying on data transmission and reception based on non-CDS (NCDS). At the BS, the received differential data can also be used for the determination of the best beam for the RIS. Therefore, the efficiency of the system is significantly enhanced since reference signals are fully avoided. After choosing the best codebook, NCDS is still more suitable to transmit information for high mobility scenarios as compared to the classical CDS. Analytical expressions for the Signal-to-Interference and Noise Ratio (SINR) for the non-coherent RIS-empowered system are presented. Moreover, a detailed comparison between the NCDS and CDS in terms of efficiency and complexity is also given. The extensive computer simulation results verify the accuracy of the presented analysis and showcase that the proposed system outperforms the existing solutions.
Self-Driving Car Steering Angle Prediction: Let Transformer Be a Car Again

Self-driving vehicles are expected to be a massive economic influence over the coming decades. Udacity https://www.udacity. com/ has been working on a completely open-source self driving car. Thus, it regularly organizes various competitions, one of which was dedicated to steering angle prediction task. In this work, we perform an extensive study on this particular task by exploring the Udacity Self-driving Car Challenge 2. We provide insights on the previous teams' solutions. Moreover, we propose our new architecture that is inspired by some of the teams. We report our performance and compare it with multiple baseline architectures as well as other teams' solutions. We make our work available on GitHub and hope it is useful for the Udacity community and brings insights for future works https://github.com/chingisooinar/AI_self-driving-car
Application of WGAN-GP in recommendation and Questioning the relevance of GAN-based approaches

Many neural-based recommender systems were proposed in recent years and part of them used Generative Adversarial Networks (GAN) to model user-item interactions. However, the exploration of Wasserstein GAN with Gradient Penalty (WGAN-GP) on recommendation has received relatively less scrutiny. In this paper, we focus on two questions: 1- Can we successfully apply WGAN-GP on recommendation and does this approach give an advantage compared to the best GAN models? 2- Are GAN-based recommender systems relevant? To answer the first question, we propose a recommender system based on WGAN-GP called CFWGAN-GP which is founded on a previous model (CFGAN). We successfully applied our method on real-world datasets on the top-k recommendation task and the empirical results show that it is competitive with state-of-the-art GAN approaches, but we found no evidence of significant advantage of using WGAN-GP instead of the original GAN, at least from the accuracy point of view. As for the second question, we conduct a simple experiment in which we show that a well-tuned conceptually simpler method outperforms GAN-based models by a considerable margin, questioning the use of such models.
NeuralSound

We present a novel learning-based modal sound synthesis approach that includes a mixed vibration solver for modal analysis and a radiation network for acoustic transfer. Our mixed vibration solver consists of a 3D sparse convolution network and a Locally Optimal Block Preconditioned Conjugate Gradient (LOBPCG) module for iterative optimization. Moreover, we highlight the correlation between a standard numerical vibration solver and our network architecture. Our radiation network predicts the Far-Field Acoustic Transfer maps (FFAT Maps) from the surface vibration of the object. The overall running time of our learning-based approach for most new objects is less than one second on a RTX 3080 Ti GPU while maintaining a high sound quality close to the ground truth solved by standard numerical methods. We also evaluate the numerical and perceptual accuracy of our approach on different objects with various shapes and materials.
Explainable artiﬁcial intelligence for autonomous driving: An overview and guide for future research directions

—Autonomous driving has achieved a signiﬁcant mile-stone in research and development over the last decade. There is increasing interest in the ﬁeld as the deployment of self-operating vehicles promises safer and more ecologically friendly transportation systems. With the rise of computationally powerful artiﬁcial intelligence (AI) techniques, autonomous vehicles can sense their environment with high precision, make safe real-time decisions, and operate reliably without human intervention. However, intelligent decision-making in autonomous cars is not generally understandable by humans in the current state of the art, and such deﬁciency hinders this technology from being socially acceptable. Hence, aside from making safe real-time decisions, the AI systems of autonomous vehicles also need to explain how their decisions are constructed in order to be regulatory compliant across many jurisdictions. Our study sheds a comprehensive light on the development of explainable artiﬁcial intelligence (XAI) approaches for autonomous vehicles. In particular, we make the following contributions. First, we provide a thorough overview of the state-of-the-art studies on XAI for autonomous driving. We then propose an XAI framework that considers all the societal and legal requirements for explainability of autonomous driving systems. Finally, as future research directions, we provide a guide to XAI approaches that can improve operational safety and transparency to support public approval of autonomous driving technology by regulators, manufacturers, and all engaged stakeholders.
Speeding Hirschberg Algorithm for Sequence Alignment

The use of Hirschberg algorithm reduces the spatial cost of recovering the Longest Common Subsequence to linear space. The same technique can be applied to similar problems like Sequence Alignment. However, the price to pay is a duplication of temporal cost. We present here a technique to reduce this time overhead to a negligible amount.
Requirements on quantum superpositions of macro-objects for sensing neutrinos

We examine a macroscopic system in a quantum superposition of two spatially separated localized states as a detector for a stream of weakly interacting relativistic particles. We do this using the explicit example of neutrinos with MeV-scale energy scattering from a solid object via neutral-current neutrino-nucleus scattering. Presuming the (anti-)neutrino source to be a nuclear fission reactor, we utilize the estimated flux and coherent elastic neutrino-nucleus cross section to constrain the spatial separation ${\Delta}$x and describe the temporal evolution of the sensing system. Particularly, we find that a potentially measurable relative phase between quantum superposed components is obtained for a single gram scale mass placed in a superposition of spatial components separated by $10^{-14}$m under sufficient cooling and background suppression.
From Sand to Flour: The Next Leap in Granular Computing with NanoSort

The granularity of distributed computing is limited by communication time: there is no point in farming out smaller and smaller tasks if the communication overhead dominates the decrease in processing time due to the added parallelism. In this work, we leverage the low communication latency of a new NIC/CPU hardware design, the nanoPU, to explore a new extreme of granularity in distributed computation, where a problem is partitioned into tens of thousands of nanosecond-scale tasks. To evaluate the feasibility and practicality of extremely fine-grained computing, we built NanoSort, a distributed sorting algorithm running on the nanoPU. Using cycle-accurate FireSim simulations of 65,536 nanoPU cores, we show that NanoSort can sort 1M keys in 68$\mu$s, an order of magnitude faster than MilliSort, the current state-of-the-art.
A direct measurement of the distance to the Galactic center using the kinematics of bar stars

The distance to the Galactic center 𝑅 0 is a fundamental parameter for understanding the Milky Way, because all observations of our Galaxy are made from our heliocentric reference point. The uncertainty in 𝑅 0 limits our knowledge of many aspects of the Milky Way, including its total mass and the relative mass of its major components, and any orbital parameters of stars employed in chemo-dynamical analyses. While measurements of 𝑅 0 have been improving over a century, measurements in the past few years from a variety of methods still ﬁnd a wide range of 𝑅 0 being somewhere within 8 . 0 to 8 . 5 kpc. The most precise measurements to date have to assume that Sgr A ∗ is at rest at the Galactic center, which may not be the case. In this paper, we use maps of the kinematics of stars in the Galactic bar derived from APOGEE DR17 and Gaia EDR3 data augmented with spectro-photometric distances from the astroNN neural-network method. These maps clearly display the minimum in the rotational velocity 𝑣 𝑇 and the quadrupolar signature in radial velocity 𝑣 𝑅 expected for stars orbiting in a bar. From the minimum in 𝑣 𝑇 , we measure 𝑅 0 = 8 . 23 ± 0 . 12 kpc. We validate our measurement using realistic 𝑁 -body simulations of the Milky Way. We further measure the pattern speed of the bar to be Ω bar = 40 . 08 ± 1 . 78 km s − 1 kpc − 1 . Because the bar forms out of the disk, its center is manifestly the barycenter of the bar+disc system and our measurement is therefore the most robust and accurate measurement of 𝑅 0 to date.
First do no harm: counterfactual objective functions for safe & ethical AI

To act safely and ethically in the real world, agents must be able to reason about harm and avoid harmful actions. In this paper we develop the ﬁrst statistical deﬁnition of harm and a framework for factoring harm into algorithmic decisions. We argue that harm is fundamentally a counterfactual quantity, and show that standard machine learning algorithms are guaranteed to pursue harmful policies in certain environments. To resolve this, we derive a family of counterfactual objective functions that robustly mitigate for harm. We demonstrate our approach with a statistical model for identifying optimal drug doses. While identifying optimal doses using the causal treatment eﬀect results in harmful treatment decisions, our counterfactual algorithm identiﬁes doses that are far less harmful without sacriﬁcing eﬃcacy. Our results show that counterfactual reasoning is a key ingredient for safe and ethical AI.
G2: Enhance Knowledge Grounded Dialogue via Ground Graph

Knowledge grounded dialogue system is designed to generate responses that convey information from given knowledge documents. However, it's a challenge for the current Seq2Seq model to acquire knowledge from complex documents and integrate it to perform correct responses without the aid of an explicit semantic structure. To address these issues, we present a novel graph structure, Ground Graph ($G^2$), which models the semantic structure of both dialogue contexts and knowledge documents to facilitate knowledge selection and integration for the task. Besides, a Ground Graph Aware Transformer ($G^2AT$) is proposed to enhance knowledge grounded response generation. Empirical results show that our proposed model outperforms previous state-of-the-art methods with more than 10\% and 20\% gains on response generation and factual consistency. Furthermore, our structure-aware approach shows excellent generalization ability in resource-limited situations.
Beyond Duplicates: Towards Understanding and Predicting Link Types in Issue Tracking Systems

Software projects use Issue Tracking Systems (ITS) like JIRA to track issues and organize the workflows around them. Issues are often inter-connected via different links such as the default JIRA link types Duplicate, Relate, Block, or Subtask. While previous research has mostly focused on analyzing and predicting duplication links, this work aims at understanding the various other link types, their prevalence, and characteristics towards a more reliable link type prediction. For this, we studied 607,208 links connecting 698,790 issues in 15 public JIRA repositories. Besides the default types, the custom types Depend, Incorporate, Split, and Cause were also common. We manually grouped all 75 link types used in the repositories into five general categories: General Relation, Duplication, Composition, Temporal/Causal, and Workflow. Comparing the structures of the corresponding graphs, we observed several trends. For instance, Duplication links tend to represent simpler issue graphs often with two components and Composition links present the highest amount of hierarchical tree structures (97.7%). Surprisingly, General Relation links have a significantly higher transitivity score than Duplication and Temporal/ Causal links. Motivated by the differences between the link types and by their popularity, we evaluated the robustness of two state-of-the-art duplicate detection approaches from the literature on the JIRA dataset. We found that current deep-learning approaches confuse between Duplication and other links in almost all repositories. On average, the classification accuracy dropped by 6% for one approach and 12% for the other. Extending the training sets with other link types seems to partly solve this issue. We discuss our findings and their implications for research and practice.
Robust interpolation for dispersed gas‐droplet flows using statistical learning with the fully Lagrangian approach

A novel methodology is presented for reconstructing the Eulerian number density field of dispersed gas‐droplet flows modelled using the fully Lagrangian approach (FLA). In this work, the nonparametric framework of kernel regression is used to accumulate the FLA number density contributions of individual droplets in accordance with the spatial structure of the dispersed phase. The high variation which is observed in the droplet number density field for unsteady flows is accounted for by using the Eulerian‐Lagrangian transformation tensor, which is central to the FLA, to specify the size and shape of the kernel associated with each droplet. This procedure enables a high level of structural detail to be retained, and it is demonstrated that far fewer droplets have to be tracked in order to reconstruct a faithful Eulerian representation of the dispersed phase. Furthermore, the kernel regression procedure is easily extended to higher dimensions, and inclusion of the droplet radius within the phase space description using the generalised fully Lagrangian approach (gFLA) additionally enables statistics of the droplet size distribution to be determined for polydisperse flows. The developed methodology is applied to a range of one‐dimensional and two‐dimensional steady‐state and transient flows, for both monodisperse and polydisperse droplets, and it is shown that kernel regression performs well across this variety of cases. A comparison is made against conventional direct trajectory methods to determine the saving in computational expense which can be gained, and it is found that 103$$ 1{0}^3 $$ times fewer droplet realisations are needed to reconstruct a qualitatively similar representation of the number density field.
GypSum: Learning Hybrid Representations for Code Summarization

Code summarization with deep learning has been widely studied in recent years. Current deep learning models for code summarization generally follow the principle in neural machine translation and adopt the encoder-decoder framework, where the encoder learns the semantic representations from source code and the decoder transforms the learnt representations into human-readable text that describes the functionality of code snippets. Despite they achieve the new state-of-the-art performance, we notice that current models often either generate less fluent summaries, or fail to capture the core functionality, since they usually focus on a single type of code representations. As such we propose GypSum, a new deep learning model that learns hybrid representations using graph attention neural networks and a pre-trained programming and natural language model. We introduce particular edges related to the control flow of a code snippet into the abstract syntax tree for graph construction, and design two encoders to learn from the graph and the token sequence of source code, respectively. We modify the encoder-decoder sublayer in the Transformer's decoder to fuse the representations and propose a dual-copy mechanism to facilitate summary generation. Experimental results demonstrate the superior performance of GypSum over existing code summarization models.
Control Globally, Understand Locally: A Global-to-Local Hierarchical Graph Network for Emotional Support Conversation

Emotional support conversation aims at reducing the emotional distress of the help-seeker, which is a new and challenging task. It requires the system to explore the cause of help-seeker's emotional distress and understand their psychological intention to provide supportive responses. However, existing methods mainly focus on the sequential contextual information, ignoring the hierarchical relationships with the global cause and local psychological intention behind conversations, thus leads to a weak ability of emotional support. In this paper, we propose a Global-to-Local Hierarchical Graph Network to capture the multi-source information (global cause, local intentions and dialog history) and model hierarchical relationships between them, which consists of a multi-source encoder, a hierarchical graph reasoner, and a global-guide decoder. Furthermore, a novel training objective is designed to monitor semantic information of the global cause. Experimental results on the emotional support conversation dataset, ESConv, confirm that the proposed GLHG has achieved the state-of-the-art performance on the automatic and human evaluations.