Miracle-dz/UniFAR-FTUs huggingface dataset:
Separating Multiscale Battery Dynamics and Predicting Multi-Step Ahead Voltage Simultaneously Through a Data-Driven Approach

Accurate prediction of battery performance under various ageing conditions is necessary for reliable and stable battery operations. Due to complex battery degradation mecha-nisms, estimating the accurate ageing level and ageing-dependent battery dynamics is difficult. This work presents a health-aware battery model that is capable of separating fast dynamics from slowly varying states of degradation and state of charge (SOC). The method is based on a sequence to sequence learning-based encoder-decoder model, where the encoder infers the slowly varying states as the latent space variables in an unsupervised way, and the decoder provides health-aware multi-step ahead prediction conditioned on slowly varying states from the encoder. The proposed approach is verified on a Lithium-ion battery ageing dataset based on real driving profiles of electric vehicles.
FGO-ILNS: Tightly Coupled Multi-Sensor Integrated Navigation System Based on Factor Graph Optimization for Autonomous Underwater Vehicle

Multi-sensor fusion is an effective way to enhance the positioning performance of autonomous underwater vehicles (AUVs). However, underwater multi-sensor fusion faces challenges such as heterogeneous frequency and dynamic availability of sensors. Traditional filter-based algorithms suffer from low accuracy and robustness when sensors become unavailable. The factor graph optimization (FGO) can enable multi-sensor plug-and-play despite data frequency. Therefore, we present an FGO-based strapdown inertial navigation system (SINS) and long baseline location (LBL) system tightly coupled navigation system (FGO-ILNS). Sensors such as Doppler velocity log (DVL), magnetic compass pilot (MCP), pressure sensor (PS), and global navigation satellite system (GNSS) can be tightly coupled with FGO-ILNS to satisfy different navigation scenarios. In this system, we propose a floating LBL slant range difference factor model tightly coupled with IMU preintegration factor to achieve unification of global position above and below water. Furthermore, to address the issue of sensor measurements not being synchronized with the LBL during fusion, we employ forward-backward IMU preintegration to construct sensor factors such as GNSS and DVL. Moreover, we utilize the marginalization method to reduce the computational load of factor graph optimization. Simulation and public KAIST dataset experiments have verified that, compared to filter-based algorithms like the extended Kalman filter and federal Kalman filter, as well as the state-of-the-art optimization-based algorithm ORB-SLAM3, our proposed FGO-ILNS leads in accuracy and robustness.
Detrive: Imitation Learning with Transformer Detection for End-to-End Autonomous Driving

This Paper proposes a novel Transformer-based end-to-end autonomous driving model named Detrive. This model solves the problem that the past end-to-end models cannot detect the position and size of traffic participants. Detrive uses an end-to-end transformer based detection model as its perception module; a multi-layer perceptron as its feature fusion network; a recurrent neural network with gate recurrent unit for path planning; and two controllers for the vehicle's forward speed and turning angle. The model is trained with an on-line imitation learning method. In order to obtain a better training set, a reinforcement learning agent that can directly obtain a ground truth bird's-eye view map from the Carla simulator as a perceptual output, is used as teacher for the imitation learning. The trained model is tested on the Carla's autonomous driving benchmark. The results show that the Transformer detector based end-to-end model has obvious advantages in dynamic obstacle avoidance compared with the traditional classifier based end-to-end model.
Multilingual k-Nearest-Neighbor Machine Translation

k-nearest-neighbor machine translation has demonstrated remarkable improvements in machine translation quality by creating a datastore of cached examples. However, these improvements have been limited to high-resource language pairs, with large datastores, and remain a challenge for low-resource languages. In this paper, we address this issue by combining representations from multiple languages into a single datastore. Our results consistently demonstrate substantial improvements not only in low-resource translation quality (up to +3.6 BLEU), but also for high-resource translation quality (up to +0.5 BLEU). Our experiments show that it is possible to create multilingual datastores that are a quarter of the size, achieving a 5.3x speed improvement, by using linguistic similarities for datastore creation.
Automatic Pronunciation Assessment - A Review

Pronunciation assessment and its application in computer-aided pronunciation training (CAPT) have seen impressive progress in recent years. With the rapid growth in language processing and deep learning over the past few years, there is a need for an updated review. In this paper, we review methods employed in pronunciation assessment for both phonemic and prosodic. We categorize the main challenges observed in prominent research trends, and highlight existing limitations, and available resources. This is followed by a discussion of the remaining challenges and possible directions for future work.
Robust Model Predictive Control for Enhanced Fast Charging on Electric Vehicles through Integrated Power and Thermal Management

This paper explores the synergies between integrated power and thermal management (iPTM) and battery charging in an electric vehicle (EV). A multi-objective model predictive control (MPC) framework is developed to optimize the fast charging performance while enforcing the constraints in the power and thermal loops. The approach takes into account the coupling of the battery and cabin thermal management. The case study of a commercial EV demonstrates that the proposed method can effectively meet the requirements of fast charging and thermal management when accurate preview information is available. However, failure to predict the charging event can result in performance degradation with longer charging time. A time-varying weighting strategy is proposed to enhance charging performance in the presence of uncertainty. This strategy leverages the battery state-of-charge (SOC) and adjusts the priority of the multi-objective MPC at different phases during charging. Simulated results using a commercial EV use case show improved robustness in charging time using the proposed strategy.
Unraveling the Skillsets of Data Scientists: Text Mining Analysis of Dutch University Master Programs in Data Science and Artificial Intelligence

The growing demand for data scientists in the global labor market and the Netherlands has led to a rise in data science and artificial intelligence (AI) master programs offered by universities. However, there is still a lack of clarity regarding the specific skillsets of data scientists. This study aims to address this issue by employing Correlated Topic Modeling (CTM) to analyse the content of 41 master programs offered by seven Dutch universities. We assess the differences and similarities in the core skills taught by these programs, determine the subject-specific and general nature of the skills, and provide a comparison between the different types of universities offering these programs. Our findings reveal that research, data processing, statistics and ethics are the predominant skills taught in Dutch data science and AI master programs, with general universities emphasizing research skills and technical universities focusing more on IT and electronic skills. This study contributes to a better understanding of the diverse skillsets of data scientists, which is essential for employers, universities, and prospective students.
Robust Visual Imitation Learning with Inverse Dynamics Representations

Imitation learning (IL) has achieved considerable success in solving complex sequential decision-making problems. However, current IL methods mainly assume that the environment for learning policies is the same as the environment for collecting expert datasets. Therefore, these methods may fail to work when there are slight differences between the learning and expert environments, especially for challenging problems with high-dimensional image observations. However, in real-world scenarios, it is rare to have the chance to collect expert trajectories precisely in the target learning environment. To address this challenge, we propose a novel robust imitation learning approach, where we develop an inverse dynamics state representation learning objective to align the expert environment and the learning environment. With the abstract state representation, we design an effective reward function, which thoroughly measures the similarity between behavior data and expert data not only element-wise, but also from the trajectory level. We conduct extensive experiments to evaluate the proposed approach under various visual perturbations and in diverse visual control tasks. Our approach can achieve a near-expert performance in most environments, and significantly outperforms the state-of-the-art visual IL methods and robust IL methods.
Joint secure communication and sensing in 6G networks

Joint communication and sensing is expected to be one of the features introduced by the sixth-generation (6G) wireless systems. This will enable a huge variety of new applications, hence, it is important to find suitable approaches to secure the exchanged information. Conventional security mechanisms may not be able to meet the stringent delay, power, and complexity requirements which opens the challenge of finding new lightweight security solutions. A promising approach coming from the physical layer is the secret key generation (SKG) from channel fading. While SKG has been investigated for several decades, practical implementations of its full protocol are still scarce. The aim of this chapter is to evaluate the SKG rates in real-life setups under a set of different scenarios. We consider a typical radar waveform and present a full implementation of the SKG protocol. Each step is evaluated to demonstrate that generating keys from the physical layer can be a viable solution for future networks. However, we show that there is not a single solution that can be generalized for all cases, instead, parameters should be chosen according to the context.
Generation of Scale-Free Assortative Networks via Newman Rewiring for Simulation of Diffusion Phenomena

By collecting and expanding several numerical recipes developed in previous work, we implement an object-oriented Python code, based on the networkX library, for the realization of the configuration model and Newman rewiring. The software can be applied to any kind of network and “target” correlations, but it is tested with focus on scale-free networks and assortative correlations. In order to generate the degree sequence we use the method of “random hubs”, which gives networks with minimal fluctuations. For the assortative rewiring we use the simple Vazquez-Weigt matrix as a test in the case of random networks; since it does not appear to be effective in the case of scale-free networks, we subsequently turn to another recipe which generates matrices with decreasing off-diagonal elements. The rewiring procedure is also important at the theoretical level, in order to test which types of statistically acceptable correlations can actually be realized in concrete networks. From the point of view of applications, its main use is in the construction of correlated networks for the solution of dynamical or diffusion processes through an analysis of the evolution of single nodes, i.e., beyond the Heterogeneous Mean Field approximation. As an example, we report on an application to the Bass diffusion model, with calculations of the time tmax of the diffusion peak. The same networks can additionally be exported in environments for agent-based simulations like NetLogo.
CAwa-NeRF: Instant Learning of Compression-Aware NeRF Features

Modeling 3D scenes by volumetric feature grids is one of the promising directions of neural approximations to improve Neural Radiance Fields (NeRF). Instant-NGP (INGP) introduced multi-resolution hash encoding from a lookup table of trainable feature grids which enabled learning high-quality neural graphics primitives in a matter of seconds. However, this improvement came at the cost of higher storage size. In this paper, we address this challenge by introducing instant learning of compression-aware NeRF features (CAwa-NeRF), that allows exporting the zip compressed feature grids at the end of the model training with a negligible extra time overhead without changing neither the storage architecture nor the parameters used in the original INGP paper. Nonetheless, the proposed method is not limited to INGP but could also be adapted to any model. By means of extensive simulations, our proposed instant learning pipeline can achieve impressive results on different kinds of static scenes such as single object masked background scenes and real-life scenes captured in our studio. In particular, for single object masked background scenes CAwa-NeRF compresses the feature grids down to 6% (1.2 MB) of the original size without any loss in the PSNR (33 dB) or down to 2.4% (0.53 MB) with a slight virtual loss (32.31 dB).
ALDi: Quantifying the Arabic Level of Dialectness of Text

Transcribed speech and user-generated text in Arabic typically contain a mixture of Modern Standard Arabic (MSA), the standardized language taught in schools, and Dialectal Arabic (DA), used in daily communications. To handle this variation, previous work in Arabic NLP has focused on Dialect Identification (DI) on the sentence or the token level. However, DI treats the task as binary, whereas we argue that Arabic speakers perceive a spectrum of dialectness, which we operationalize at the sentence level as the Arabic Level of Dialectness (ALDi), a continuous linguistic variable. We introduce the AOC-ALDi dataset (derived from the AOC dataset), containing 127,835 sentences (17% from news articles and 83% from user comments on those articles) which are manually labeled with their level of dialectness. We provide a detailed analysis of AOC-ALDi and show that a model trained on it can effectively identify levels of dialectness on a range of other corpora (including dialects and genres not included in AOC-ALDi), providing a more nuanced picture than traditional DI systems. Through case studies, we illustrate how ALDi can reveal Arabic speakers' stylistic choices in different situations, a useful property for sociolinguistic analyses.
Normalizing flow-based deep variational Bayesian network for seismic multi-hazards and impacts estimation from InSAR imagery

Onsite disasters like earthquakes can trigger cascading hazards and impacts, such as landslides and infrastructure damage, leading to catastrophic losses; thus, rapid and accurate estimates are crucial for timely and effective post-disaster responses. Interferometric Synthetic aperture radar (InSAR) data is important in providing high-resolution onsite information for rapid hazard estimation. Most recent methods using InSAR imagery signals predict a single type of hazard and thus often suffer low accuracy due to noisy and complex signals induced by co-located hazards, impacts, and irrelevant environmental changes (e.g., vegetation changes, human activities). We introduce a novel stochastic variational inference with normalizing flows derived to jointly approximate posteriors of multiple unobserved hazards and impacts from noisy InSAR imagery.
Contrast Everything: A Hierarchical Contrastive Framework for Medical Time-Series

Contrastive representation learning is crucial in medical time series analysis as it alleviates dependency on labor-intensive, domain-specific, and scarce expert annotations. However, existing contrastive learning methods primarily focus on one single data level, which fails to fully exploit the intricate nature of medical time series. To address this issue, we present COMET, an innovative hierarchical framework that leverages data consistencies at all inherent levels in medical time series. Our meticulously designed model systematically captures data consistency from four potential levels: observation, sample, trial, and patient levels. By developing contrastive loss at multiple levels, we can learn effective representations that preserve comprehensive data consistency, maximizing information utilization in a self-supervised manner. We conduct experiments in the challenging patient-independent setting. We compare COMET against six baselines using three diverse datasets, which include ECG signals for myocardial infarction and EEG signals for Alzheimer's and Parkinson's diseases. The results demonstrate that COMET consistently outperforms all baselines, particularly in setup with 10% and 1% labeled data fractions across all datasets. These results underscore the significant impact of our framework in advancing contrastive representation learning techniques for medical time series. The source code is available at https://github.com/DL4mHealth/COMET.
Suppressing Rayleigh-Plateau Instability with a Magnetic Force Field for Deformable Interfaces Engineering

The Rayleigh-Plateau instability (RPI) is a classical hydrodynamics phenomenon that prevents a jet of liquid to flow indefinitely within air or another liquid. Here, we show how adding a magnetic force field makes possible its suppression. Enclosing the jet in a ferrofluid held by magnetic forces allows flow focusing without sheath flow, which completely avoids dripping failure at small flow rates and provides conditional stability for a continuous fluid jet. Highly deformable liquid interfaces withstanding spatial and time varying flow conditions within a large parameter space can be realized.
Modeling Intrapersonal and Interpersonal Influences for Automatic Estimation of Therapist Empathy in Counseling Conversation

Counseling is usually conducted through spoken conversation between a therapist and a client. The empathy level of therapist is a key indicator of outcomes. Presuming that therapist's empathy expression is shaped by their past behavior and their perception of the client's behavior, we propose a model to estimate the therapist empathy by considering both intrapersonal and interpersonal influences. These dynamic influences are captured by applying an attention mechanism to the therapist turn and the historical turns of both therapist and client. Our findings suggest that the integration of dynamic influences enhances empathy level estimation. The influence-derived embedding should constitute a minor portion in the target turn representation for optimal empathy estimation. The client's turns (interpersonal influence) appear to slightly surpass the therapist's own turns (intrapersonal influence) in empathy estimation effectiveness. It is noted that concentrating exclusively on recent historical turns can significantly impact the estimation of therapist empathy.
The Boosted DC Algorithm for Clustering with Constraints

This paper aims to investigate the effectiveness of the recently proposed Boosted Difference of Convex functions Algorithm (BDCA) when applied to clustering with constraints and set clustering with constraints problems. This is the first paper to apply BDCA to a problem with nonlinear constraints. We present the mathematical basis for the BDCA and Difference of Convex functions Algorithm (DCA), along with a penalty method based on distance functions. We then develop algorithms for solving these problems and computationally implement them, with publicly available implementations. We compare old examples and provide new experiments to test the algorithms. We find that the BDCA method converges in fewer iterations than the corresponding DCA-based method. In addition, BDCA yields faster CPU running-times in all tested problems.
The Fiedler connection to the parametrized modularity optimization for community detection

This paper presents a comprehensive analysis of the generalized spectral structure of the modularity matrix $B$, which is introduced by Newman as the kernel matrix for the quadratic-form expression of the modularity function $Q$ used for community detection. The analysis is then seamlessly extended to the resolution-parametrized modularity matrix $B(\gamma)$, where $\gamma$ denotes the resolution parameter. The modularity spectral analysis provides fresh and profound insights into the $\gamma$-dynamics within the framework of modularity maximization for community detection. It provides the first algebraic explanation of the resolution limit at any specific $\gamma$ value. Among the significant findings and implications, the analysis reveals that (1) the maxima of the quadratic function with $B(\gamma)$ as the kernel matrix always reside in the Fiedler space of the normalized graph Laplacian $L$ or the null space of $L$, or their combination, and (2) the Fiedler value of the graph Laplacian $L$ marks the critical $\gamma$ value in the transition of candidate community configuration states between graph division and aggregation. Additionally, this paper introduces and identifies the Fiedler pseudo-set (FPS) as the de facto critical region for the state transition. This work is expected to have an immediate and long-term impact on improvements in algorithms for modularity maximization and on model transformations.
DePAint: A Decentralized Safe Multi-Agent Reinforcement Learning Algorithm considering Peak and Average Constraints

The field of safe multi-agent reinforcement learning, despite its potential applications in various domains such as drone delivery and vehicle automation, remains relatively unexplored. Training agents to learn optimal policies that maximize rewards while considering specific constraints can be challenging, particularly in scenarios where having a central controller to coordinate the agents during the training process is not feasible. In this paper, we address the problem of multi-agent policy optimization in a decentralized setting, where agents communicate with their neighbors to maximize the sum of their cumulative rewards while also satisfying each agent's safety constraints. We consider both peak and average constraints. In this scenario, there is no central controller coordinating the agents and both the rewards and constraints are only known to each agent locally/privately. We formulate the problem as a decentralized constrained multi-agent Markov Decision Problem and propose a momentum-based decentralized policy gradient method, DePAint, to solve it. To the best of our knowledge, this is the first privacy-preserving fully decentralized multi-agent reinforcement learning algorithm that considers both peak and average constraints. We also provide theoretical analysis and empirical evaluation of our algorithm in various scenarios and compare its performance to centralized algorithms that consider similar constraints.
Exploring Driving Behavior for Autonomous Vehicles Based on Gramian Angular Field Vision Transformer

Effective classification of autonomous vehicle (AV) driving behavior emerges as a critical area for diagnosing AV operation faults, enhancing autonomous driving algorithms, and reducing accident rates. This paper presents the Gramian Angular Field Vision Transformer (GAF-ViT) model, designed to analyze AV driving behavior. The proposed GAF-ViT model consists of three key components: GAF Transformer Module, Channel Attention Module, and Multi-Channel ViT Module. These modules collectively convert representative sequences of multivariate behavior into multi-channel images and employ image recognition techniques for behavior classification. A channel attention mechanism is applied to multi-channel images to discern the impact of various driving behavior features. Experimental evaluation on the Waymo Open Dataset of trajectories demonstrates that the proposed model achieves state-of-the-art performance. Furthermore, an ablation study effectively substantiates the efficacy of individual modules within the model.