Miracle-dz/UniFAR-FTUs huggingface dataset:
Cooperative Localization for Autonomous Underwater Vehicles - a comprehensive review

Cooperative localization is an important technique in environments devoid of GPS-based localization, more so in underwater scenarios, where none of the terrestrial localization techniques based on radio frequency or optics are suitable due to severe attenuation. Given the large swaths of oceans and seas where autonomous underwater vehicles (AUVs) operate, traditional acoustic positioning systems fall short on many counts. Cooperative localization (CL), which involves sharing mutual information amongst the vehicles, has thus emerged as a viable option in the past decade. This paper assimilates the research carried out in AUV cooperative localization and presents a qualitative overview. The cooperative localization approaches are categorized by their cooperation and localization strategies, while the algorithms employed are reviewed on the various challenges posed by the underwater acoustic channel and environment. Furthermore, existing problems and future scope in the domain of underwater cooperative localization are discussed.
CellGAN: Conditional Cervical Cell Synthesis for Augmenting Cytopathological Image Classification

Automatic examination of thin-prep cytologic test (TCT) slides can assist pathologists in finding cervical abnormality for accurate and efficient cancer screening. Current solutions mostly need to localize suspicious cells and classify abnormality based on local patches, concerning the fact that whole slide images of TCT are extremely large. It thus requires many annotations of normal and abnormal cervical cells, to supervise the training of the patch-level classifier for promising performance. In this paper, we propose CellGAN to synthesize cytopathological images of various cervical cell types for augmenting patch-level cell classification. Built upon a lightweight backbone, CellGAN is equipped with a non-linear class mapping network to effectively incorporate cell type information into image generation. We also propose the Skip-layer Global Context module to model the complex spatial relationship of the cells, and attain high fidelity of the synthesized images through adversarial learning. Our experiments demonstrate that CellGAN can produce visually plausible TCT cytopathological images for different cell types. We also validate the effectiveness of using CellGAN to greatly augment patch-level cell classification performance.
A Bayesian adaptive dose-finding algorithm for balancing individual- and population-level ethics in Phase I clinical trials

ABSTRACT Multiple Bayesian adaptive designs have been proposed for Phase I clinical trials since the continual reassessment method (CRM) was proposed by O’Quigley et al. (1990). Focused on dose-finding in cancer studies, the CRM seeks to allocate new patients to an estimated maximum tolerable dose (MTD). Later, Whitehead and Brunier (1995) applied Bayesian decision theory to maximize statistical information for the MTD when allocating new patients. The two allocation rules reflect conflicting perspectives. The CRM emphasizes individual-level ethics, whereas the method of Whitehead and Brunier (1995) emphasizes population-level ethics. In the design of a Phase I clinical trial to investigate hyperthermic intraperitoneal chemotherapy (HIPEC) we sought to compromise the two perspectives. To this end, we propose a novel dose allocation design referred to as the balanced information gain method. We first decompose the loss function used by Whitehead and Brunier and then modify it with a tuning parameter that allows a trialist to differentially weigh individual- and population-level ethics based on their particular clinical setting. Simulation studies show that the proposed design provides a reasonable compromise between the distribution of the estimated MTD and the distribution of the number of observed adverse events per trial when compared to the two existing methods.
Online Ad Procurement in Non-stationary Autobidding Worlds

Today's online advertisers procure digital ad impressions through interacting with autobidding platforms: advertisers convey high level procurement goals via setting levers such as budget, target return-on-investment, max cost per click, etc. Then ads platforms subsequently procure impressions on advertisers' behalf, and report final procurement conversions (e.g. click) to advertisers. In practice, advertisers may receive minimal information on platforms' procurement details, and procurement outcomes are subject to non-stationary factors like seasonal patterns, occasional system corruptions, and market trends which make it difficult for advertisers to optimize lever decisions effectively. Motivated by this, we present an online learning framework that helps advertisers dynamically optimize ad platform lever decisions while subject to general long-term constraints in a realistic bandit feedback environment with non-stationary procurement outcomes. In particular, we introduce a primal-dual algorithm for online decision making with multi-dimension decision variables, bandit feedback and long-term uncertain constraints. We show that our algorithm achieves low regret in many worlds when procurement outcomes are generated through procedures that are stochastic, adversarial, adversarially corrupted, periodic, and ergodic, respectively, without having to know which procedure is the ground truth. Finally, we emphasize that our proposed algorithm and theoretical results extend beyond the applications of online advertising.
PID-Inspired Inductive Biases for Deep Reinforcement Learning in Partially Observable Control Tasks

Deep reinforcement learning (RL) has shown immense potential for learning to control systems through data alone. However, one challenge deep RL faces is that the full state of the system is often not observable. When this is the case, the policy needs to leverage the history of observations to infer the current state. At the same time, differences between the training and testing environments makes it critical for the policy not to overfit to the sequence of observations it sees at training time. As such, there is an important balancing act between having the history encoder be flexible enough to extract relevant information, yet be robust to changes in the environment. To strike this balance, we look to the PID controller for inspiration. We assert the PID controller's success shows that only summing and differencing are needed to accumulate information over time for many control tasks. Following this principle, we propose two architectures for encoding history: one that directly uses PID features and another that extends these core ideas and can be used in arbitrary control tasks. When compared with prior approaches, our encoders produce policies that are often more robust and achieve better performance on a variety of tracking tasks. Going beyond tracking tasks, our policies achieve 1.7x better performance on average over previous state-of-the-art methods on a suite of locomotion control tasks.
Useful but Distracting: Keyword Highlights and Time-Synchronization in Captions for Language Learning

Captions provide language learners with a scaffold for comprehension and vocabulary acquisition. Past work has proposed several enhancements such as keyword highlights for increased learning gains. However, little is known about learners' experience with enhanced captions, although this is critical for adoption in everyday life. We conducted a survey and focus group to elicit learner preferences and requirements and implemented a processing pipeline for enhanced captions with keyword highlights, time-synchronized keyword highlights, and keyword captions. A subsequent online study (n = 49) showed that time-synchronized keyword highlights were the preferred design for learning but were perceived as too distracting to replace standard captions in everyday viewing scenarios. We conclude that keyword highlights and time-synchronization are suitable for integrating learning into an entertaining everyday-life activity, but the design should be optimized to provide a more seamless experience.
The Coble Quadric

Given a smooth genus three curve $C$, the moduli space of rank two stable vector bundles on C with trivial determinant embeds in $\mathbb{P}^8$ as a hypersurface whose singular locus is the Kummer threefold of $C$; this hypersurface is the Coble quartic. Gruson, Sam and Weyman realized that this quartic could be constructed from a general skew-symmetric fourform in eight variables. Using the lines contained in the quartic, we prove that a similar construction allows to recover SU$_C(2, L)$, the moduli space of rank two stable vector bundles on C with fixed determinant of odd degree L, as a subvariety of $G(2, 8)$. In fact, each point $p \in C$ defines a natural embedding of SU$_C(2, \mathcal{O}(p))$ in $G(2, 8)$. We show that, for the generic such embedding, there exists a unique quadratic section of the Grassmannian which is singular exactly along the image of SU$_C(2, \mathcal{O}(p))$, and thus deserves to be coined the Coble quadric of the pointed curve $(C, p)$.
The Effects of ‘Geometry Sketchpad’ on Grade 12 Learners’ Performance in Geometry

Learners at Grade 12 level persistently show a weak conceptual understanding of geometric concepts (DNEA, 2011, 2012, 2014). The study was guided by Bruner’s (1960) Constructivist Theory, using Understanding by Design teaching approach to explain Geometrical concepts. The study was qualitative, using non-equivalent pre-test and post-test quasi-experimental design. Cluster random sampling was used to select a sample of 176 Grade 12 learners from two purposively selected secondary schools. The findings revealed that at 95% confidence level.
Flexible and Fully Quantized Ultra-Lightweight TinyissimoYOLO for Ultra-Low-Power Edge Systems

This paper deploys and explores variants of TinyissimoYOLO, a highly flexible and fully quantized ultra-lightweight object detection network designed for edge systems with a power envelope of a few milliwatts. With experimental measurements, we present a comprehensive characterization of the network's detection performance, exploring the impact of various parameters, including input resolution, number of object classes, and hidden layer adjustments. We deploy variants of TinyissimoYOLO on state-of-the-art ultra-low-power extreme edge platforms, presenting an in-depth a comparison on latency, energy efficiency, and their ability to efficiently parallelize the workload. In particular, the paper presents a comparison between a novel parallel RISC-V processor (GAP9 from Greenwaves) with and without use of its on-chip hardware accelerator, an ARM Cortex-M7 core (STM32H7 from ST Microelectronics), two ARM Cortex-M4 cores (STM32L4 from STM and Apollo4b from Ambiq), and a multi-core platform with a CNN hardware accelerator (Analog Devices MAX78000). Experimental results show that the GAP9's hardware accelerator achieves the lowest inference latency and energy at 2.12ms and 150uJ respectively, which is around 2x faster and 20% more efficient than the next best platform, the MAX78000. The hardware accelerator of GAP9 can even run an increased resolution version of TinyissimoYOLO with 112x112 pixels and 10 detection classes within 3.2ms, consuming 245uJ. To showcase the competitiveness of a versatile general-purpose system we also deployed and profiled a multi-core implementation on GAP9 at different operating points, achieving 11.3ms with the lowest-latency and 490uJ with the most energy-efficient configuration. With this paper, we demonstrate the suitability and flexibility of TinyissimoYOLO on state-of-the-art detection datasets for real-time ultra-low-power edge inference.
AlephZero and Mathematical Experience

This essay explores the impact of automated proof construction on three key areas of mathematical cognition: on how we judge the role one piece of mathematics plays in another, on how we make mistakes in reasoning about mathematical objects, and on how we understand what our theorems are truly about. It concludes by speculating on a new form of mathematical experience that these methods could make possible: ``glitching'', a game-like search for uncanny consequences of our definitions.
UX Heuristics and Checklist for Deep Learning powered Mobile Applications with Image Classification

Advances in mobile applications providing image classification enabled by Deep Learning require innovative User Experience solutions in order to assure their adequate use by users. To aid the design process, usability heuristics are typically customized for a specific kind of application. Therefore, based on a literature review and analyzing existing mobile applications with image classification, we propose an initial set of AIX heuristics for Deep Learning powered mobile applications with image classification decomposed into a checklist. In order to facilitate the usage of the checklist we also developed an online course presenting the concepts and heuristics as well as a web-based tool in order to support an evaluation using these heuristics. These results of this research can be used to guide the design of the interfaces of such applications as well as support the conduction of heuristic evaluations supporting practitioners to develop image classification apps that people can understand, trust, and can engage with effectively.
Exploring Large Language Model for Graph Data Understanding in Online Job Recommendations

Large Language Models (LLMs) have revolutionized natural language processing tasks, demonstrating their exceptional capabilities in various domains. However, their potential for graph semantic mining in job recommendations remains largely unexplored. This paper focuses on unveiling the capability of large language models in understanding behavior graphs and leveraging this understanding to enhance recommendations in online recruitment, including promoting out-of-distribution (OOD) applications. We present a novel framework that harnesses the rich contextual information and semantic representations provided by large language models to analyze behavior graphs and uncover underlying patterns and relationships. Specifically, we propose a meta-path prompt constructor that aids LLM recommender in grasping the semantics of behavior graphs for the first time and design a corresponding path augmentation module to alleviate the prompt bias introduced by path-based sequence input. By facilitating this capability, our framework enables personalized and accurate job recommendations for individual users. We evaluate the effectiveness of our approach on comprehensive real-world datasets and demonstrate its ability to improve the relevance and quality of recommended results. This research not only sheds light on the untapped potential of large language models but also provides valuable insights for developing advanced recommendation systems in the recruitment market. The findings contribute to the growing field of natural language processing and offer practical implications for enhancing job search experiences.
Cases of EFL Secondary Students' Prompt Engineering Pathways to Complete a Writing Task with ChatGPT

ChatGPT is a state-of-the-art (SOTA) chatbot. Although it has potential to support English as a foreign language (EFL) students' writing, to effectively collaborate with it, a student must learn to engineer prompts, that is, the skill of crafting appropriate instructions so that ChatGPT produces desired outputs. However, writing an appropriate prompt for ChatGPT is not straightforward for non-technical users who suffer a trial-and-error process. This paper examines the content of EFL students' ChatGPT prompts when completing a writing task and explores patterns in the quality and quantity of the prompts. The data come from iPad screen recordings of secondary school EFL students who used ChatGPT and other SOTA chatbots for the first time to complete the same writing task. The paper presents a case study of four distinct pathways that illustrate the trial-and-error process and show different combinations of prompt content and quantity. The cases contribute evidence for the need to provide prompt engineering education in the context of the EFL writing classroom, if students are to move beyond an individual trial-and-error process, learning a greater variety of prompt content and more sophisticated prompts to support their writing.
Data-Driven Design for Metamaterials and Multiscale Systems: A Review

Metamaterials are artificial materials designed to exhibit effective material parameters that go beyond those found in nature. Composed of unit cells with rich designability that are assembled into multiscale systems, they hold great promise for realizing next-generation devices with exceptional, often exotic, functionalities. However, the vast design space and intricate structure-property relationships pose significant challenges in their design. A compelling paradigm that could bring the full potential of metamaterials to fruition is emerging: data-driven design. This review provides a holistic overview of this rapidly evolving field, emphasizing the general methodology instead of specific domains and deployment contexts. Existing research is organized into data-driven modules, encompassing data acquisition, machine learning-based unit cell design, and data-driven multiscale optimization. The approaches are further categorized within each module based on shared principles, analyze and compare strengths and applicability, explore connections between different modules, and identify open research questions and opportunities.
Random-Set Convolutional Neural Network (RS-CNN) for Epistemic Deep Learning

Machine learning is increasingly deployed in safety-critical domains where robustness against adversarial attacks is crucial and erroneous predictions could lead to potentially catastrophic consequences. This highlights the need for learning systems to be equipped with the means to determine a model's confidence in its prediction and the epistemic uncertainty associated with it, 'to know when a model does not know'. In this paper, we propose a novel Random-Set Convolutional Neural Network (RS-CNN) for classification which predicts belief functions rather than probability vectors over the set of classes, using the mathematics of random sets, i.e., distributions over the power set of the sample space. Based on the epistemic deep learning approach, random-set models are capable of representing the 'epistemic' uncertainty induced in machine learning by limited training sets. We estimate epistemic uncertainty by approximating the size of credal sets associated with the predicted belief functions, and experimentally demonstrate how our approach outperforms competing uncertainty-aware approaches in a classical evaluation setting. The performance of RS-CNN is best demonstrated on OOD samples where it manages to capture the true prediction while standard CNNs fail.
Determinants of successful disease control through voluntary quarantine dynamics on social networks

In the wake of epidemics, quarantine measures are typically recommended by health authorities or governments to help control the spread of the disease. Compared with mandatory quarantine, voluntary quarantine offers individuals the liberty to decide whether to isolate themselves in case of infection exposure, driven by their personal assessment of the trade-off between economic loss and health risks as well as their own sense of social responsibility and concern for public health. To better understand self-motivated health behavior choices under these factors, here we incorporate voluntary quarantine into an endemic disease model -- the susceptible-infected-susceptible (SIS) model -- and perform comprehensive agent-based simulations to characterize the resulting behavior-disease interactions in structured populations. We quantify the conditions under which voluntary quarantine will be an effective intervention measure to mitigate disease burden. Furthermore, we demonstrate how individual decision-making factors, including the level of temptation to refrain from quarantine and the degree of social compassion, impact compliance levels of voluntary quarantines and the consequent collective disease mitigation efforts. We find that successful disease control requires either a sufficiently low level of temptation or a sufficiently high degree of social compassion, such that even complete containment of the epidemic is attainable. In addition to well-mixed populations, our simulation results are applicable to other more realistic social networks of contacts, including spatial lattices, small-world networks, and real social networks. Our work offers new insights into the fundamental social dilemma aspect of disease control through non-pharmaceutical interventions, such as voluntary quarantine and isolation, where the collective outcome of individual decision-making is crucial.
Stochastic Light Field Holography

The Visual Turing Test is the ultimate goal to evaluate the realism of holographic displays. Previous studies have focused on addressing challenges such as limited étendue and image quality over a large focal volume, but they have not investigated the effect of pupil sampling on the viewing experience in full 3D holograms. In this work, we tackle this problem with a novel hologram generation algorithm motivated by matching the projection operators of incoherent (Light Field) and coherent (Wigner Function) light transport. To this end, we supervise hologram computation using synthesized photographs, which are rendered on-the-fly using Light Field refocusing from stochastically sampled pupil states during optimization. The proposed method produces holograms with correct parallax and focus cues, which are important for passing the Visual Turing Test. We validate that our approach compares favorably to state-of-the-art CGH algorithms that use Light Field and Focal Stack supervision. Our experiments demonstrate that our algorithm improves the viewing experience when evaluated under a large variety of different pupil states.
Disassociation of a one-dimensional cold molecule via quantum scattering

Motivated by the recent experimental developments in ultracold molecules and atoms, we propose a simple theoretical model to address the disassociation, reflection, and transmission probability of a one-dimensional cold molecule via quantum scattering. First, we show the Born approximation results in the weak interaction regime. Then, by employing the Lippmann–Schwinger equation, we give the numerical solution and investigate the disassociation’s dependence on the injection momentum and the interaction strengths. We find that the maximum disassociation rate has a limit when increasing the interaction strengths and injection momentum. We expect that our model can be realized in experiments in the near future.
Photon-induced dropletlike bound states in a one-dimensional qubit array

We consider an array of $N_e$ non-interacting qubits or emitters that are coupled to a one-dimensional cavity array with tunneling energy $J$ and non-linearity of strength $U$. The number of cavities is assumed to be larger than the number of qubits. Working in the two-excitation manifold, we focus on the bandgap regime where the energy of two excited qubits is off-resonant with the two-photon bound state band. A two-step adiabatic elimination of the photonic degrees of freedom gives rise to a one-dimensional spin Hamiltonian with effective interactions; specifically, the Hamiltonian features constrained single-qubit hopping and pair hopping interactions not only between nearest neighbors but also between next-to-nearest and next-to-next-to-nearest spins. For a regularly arranged qubit array, we identify parameter combinations for which the system supports novel droplet-like bound states whose characteristics depend critically on the pair hopping. The droplet-like states can be probed dynamically. The bound states identified in our work for off-resonance conditions are distinct from localized hybridized states that emerge for on-resonance conditions.