Miracle-dz/UniFAR-FTUs huggingface dataset:
3DInAction: Understanding Human Actions in 3D Point Clouds

We propose a novel method for 3D point cloud action recognition. Understanding human actions in RGB videos has been widely studied in recent years, however, its 3D point cloud counterpart remains under-explored. This is mostly due to the inherent limitation of the point cloud data modality -- lack of structure, permutation invariance, and varying number of points -- which makes it difficult to learn a spatio-temporal representation. To address this limitation, we propose the 3DinAction pipeline that first estimates patches moving in time (t-patches) as a key building block, alongside a hierarchical architecture that learns an informative spatio-temporal representation. We show that our method achieves improved performance on existing datasets, including DFAUST and IKEA ASM. Code is publicly available at https://github.com/sitzikbs/3dincaction.
Blockchain-Empowered Trustworthy Data Sharing: Fundamentals, Applications, and Challenges

Various data-sharing platforms have emerged with the growing public demand for open data and legislation mandating certain data to remain open. Most of these platforms remain opaque, leading to many questions about data accuracy, provenance and lineage, privacy implications, consent management, and the lack of fair incentives for data providers. With their transparency, immutability, non-repudiation, and decentralization properties, blockchains could not be more apt to answer these questions and enhance trust in a data-sharing platform. However, blockchains are not good at handling the four Vs of big data (i.e., volume, variety, velocity, and veracity) due to their limited performance, scalability, and high cost. Given many related works proposes blockchain-based trustworthy data-sharing solutions, there is increasing confusion and difficulties in understanding and selecting these technologies and platforms in terms of their sharing mechanisms, sharing services, quality of services, and applications. In this paper, we conduct a comprehensive survey on blockchain-based data-sharing architectures and applications to fill the gap. First, we present the foundations of blockchains and discuss the challenges of current data-sharing techniques. Second, we focus on the convergence of blockchain and data sharing to give a clear picture of this landscape and propose a reference architecture for blockchain-based data sharing. Third, we discuss the industrial applications of blockchain-based data sharing, ranging from healthcare and smart grid to transportation and decarbonization. For each application, we provide lessons learned for the deployment of Blockchain-based data sharing. Finally, we discuss research challenges and open research directions.
Instate: Predicting the State of Residence From Last Name

India has twenty-two official languages. Serving such a diverse language base is a challenge for survey statisticians, call center operators, software developers, and other such service providers. To help provide better services to different language communities via better localization, we introduce a new machine learning model that predicts the language(s) that the user can speak from their name. Using nearly 438M records spanning 33 Indian states and 1.13M unique last names from the Indian Electoral Rolls Corpus (? ), we build a character-level transformer-based machine-learning model that predicts the state of residence based on the last name. The model has a top-3 accuracy of 85.3% on unseen names. We map the states to languages using the Indian census to infer languages understood by the respondent. We provide open-source software that implements the method discussed in the paper.
Decision Making for Human-in-the-loop Robotic Agents via Uncertainty-Aware Reinforcement Learning

In a Human-in-the-Loop paradigm, a robotic agent is able to act mostly autonomously in solving a task, but can request help from an external expert when needed. However, knowing when to request such assistance is critical: too few requests can lead to the robot making mistakes, but too many requests can overload the expert. In this paper, we present a Reinforcement Learning based approach to this problem, where a semi-autonomous agent asks for external assistance when it has low confidence in the eventual success of the task. The confidence level is computed by estimating the variance of the return from the current state. We show that this estimate can be iteratively improved during training using a Bellman-like recursion. On discrete navigation problems with both fully- and partially-observable state information, we show that our method makes effective use of a limited budget of expert calls at run-time, despite having no access to the expert at training time.
Mechanical-scan-free and multi-color super-resolution imaging with diffractive spot array illumination

Point-scanning microscopy approaches are transforming super-resolution imaging. Despite achieving parallel high-speed imaging using multifocal techniques, efficient multi-color capability with high-quality illumination is currently lacking. In this paper, we present for the first time Mechanical-scan-free and multi-Color Super-resolution Microscopy (MCoSM) by spot array illumination, which enables mechanical-scan-free super-resolution imaging with adjustable resolution and field of view (FoV) based on spatial light modulators (SLMs). Through 100s-10,000s super-resolution spot illumination with different FoV for imaging, we demonstrate the adjustable capacity of MCoSM. MCoSM extends current spectral imaging capabilities through a time-sharing process of different color illumination with phase-shifting scanning, while retaining the spatial flexibility of super-resolution imaging with diffractive spot array illumination. To showcase the prospects for further combining MCoSM with multi-color imaging, we also perform spectral unmixing (four-colors) on images of fluorescent beads at high resolution. MCoSM provides a versatile platform for studying molecular interactions in complex samples at the nanoscale level.
Assembling Cartesian Harmonic Tensors

Cartesian harmonic tensors are completely symmetric traceless tensors in three dimensional space constructed from the direct product of unit vectors. They are useful in generating expressions for the angular coupling of spherical harmonics of differing solid angles in terms of scalar and vector products of the unit vectors for the spherical harmonics involved. A presentation for the algebraic programming of Cartesian harmonic tensors of arbitrary rank is given using Algebraic Assembly Language. Results are checked using Mathematica.
Category-Level Multi-Part Multi-Joint 3D Shape Assembly

Shape assembly composes complex shapes geometries by arranging simple part geometries and has wide applications in autonomous robotic assembly and CAD modeling. Existing works focus on geometry reasoning and neglect the actual physical assembly process of matching and fitting joints, which are the contact surfaces connecting different parts. In this paper, we consider contacting joints for the task of multi-part assembly. A successful joint-optimized assembly needs to satisfy the bilateral objectives of shape structure and joint alignment. We propose a hierarchical graph learning approach composed of two levels of graph representation learning. The part graph takes part geometries as input to build the desired shape structure. The joint-level graph uses part joints information and focuses on matching and aligning joints. The two kinds of information are combined to achieve the bilateral objectives. Extensive experiments demonstrate that our method outperforms previous methods, achieving better shape structure and higher joint alignment accuracy.
Are Models Trained on Indian Legal Data Fair?

Recent advances and applications of language technology and artificial intelligence have enabled much success across multiple domains like law, medical and mental health. AI-based Language Models, like Judgement Prediction, have recently been proposed for the legal sector. However, these models are strife with encoded social biases picked up from the training data. While bias and fairness have been studied across NLP, most studies primarily locate themselves within a Western context. In this work, we present an initial investigation of fairness from the Indian perspective in the legal domain. We highlight the propagation of learnt algorithmic biases in the bail prediction task for models trained on Hindi legal documents. We evaluate the fairness gap using demographic parity and show that a decision tree model trained for the bail prediction task has an overall fairness disparity of 0.237 between input features associated with Hindus and Muslims. Additionally, we highlight the need for further research and studies in the avenues of fairness/bias in applying AI in the legal sector with a specific focus on the Indian context.
An Improved Sample Complexity for Rank-1 Matrix Sensing

Matrix sensing is a problem in signal processing and machine learning that involves recovering a low-rank matrix from a set of linear measurements. The goal is to reconstruct the original matrix as accurately as possible, given only a set of linear measurements obtained by sensing the matrix [Jain, Netrapalli and Shanghavi, 2013]. In this work, we focus on a particular direction of matrix sensing, which is called rank-$1$ matrix sensing [Zhong, Jain and Dhillon, 2015]. We present an improvement over the original algorithm in [Zhong, Jain and Dhillon, 2015]. It is based on a novel analysis and sketching technique that enables faster convergence rates and better accuracy in recovering low-rank matrices. The algorithm focuses on developing a theoretical understanding of the matrix sensing problem and establishing its advantages over previous methods. The proposed sketching technique allows for efficiently extracting relevant information from the linear measurements, making the algorithm computationally efficient and scalable. Our novel matrix sensing algorithm improves former result [Zhong, Jain and Dhillon, 2015] on in two senses: $\bullet$ We improve the sample complexity from $\widetilde{O}(\epsilon^{-2} dk^2)$ to $\widetilde{O}(\epsilon^{-2} (d+k^2))$. $\bullet$ We improve the running time from $\widetilde{O}(md^2 k^2)$ to $\widetilde{O}(m d^2 k)$. The proposed algorithm has theoretical guarantees and is analyzed to provide insights into the underlying structure of low-rank matrices and the nature of the linear measurements used in the recovery process. It advances the theoretical understanding of matrix sensing and provides a new approach for solving this important problem.
Zero-Shot Object Searching Using Large-scale Object Relationship Prior

Home-assistant robots have been a long-standing research topic, and one of the biggest challenges is searching for required objects in housing environments. Previous object-goal navigation requires the robot to search for a target object category in an unexplored environment, which may not be suitable for home-assistant robots that typically have some level of semantic knowledge of the environment, such as the location of static furniture. In our approach, we leverage this knowledge and the fact that a target object may be located close to its related objects for efficient navigation. To achieve this, we train a graph neural network using the Visual Genome dataset to learn the object co-occurrence relationships and formulate the searching process as iteratively predicting the possible areas where the target object may be located. This approach is entirely zero-shot, meaning it doesn't require new accurate object correlation in the test environment. We empirically show that our method outperforms prior correlational object search algorithms. As our ultimate goal is to build fully autonomous assistant robots for everyday use, we further integrate the task planner for parsing natural language and generating task-completing plans with object navigation to execute human instructions. We demonstrate the effectiveness of our proposed pipeline in both the AI2-THOR simulator and a Stretch robot in a real-world environment.
BeamAttack: Generating High-quality Textual Adversarial Examples through Beam Search and Mixed Semantic Spaces

Natural language processing models based on neural networks are vulnerable to adversarial examples. These adversarial examples are imperceptible to human readers but can mislead models to make the wrong predictions. In a black-box setting, attacker can fool the model without knowing model's parameters and architecture. Previous works on word-level attacks widely use single semantic space and greedy search as a search strategy. However, these methods fail to balance the attack success rate, quality of adversarial examples and time consumption. In this paper, we propose BeamAttack, a textual attack algorithm that makes use of mixed semantic spaces and improved beam search to craft high-quality adversarial examples. Extensive experiments demonstrate that BeamAttack can improve attack success rate while saving numerous queries and time, e.g., improving at most 7\% attack success rate than greedy search when attacking the examples from MR dataset. Compared with heuristic search, BeamAttack can save at most 85\% model queries and achieve a competitive attack success rate. The adversarial examples crafted by BeamAttack are highly transferable and can effectively improve model's robustness during adversarial training. Code is available at https://github.com/zhuhai-ustc/beamattack/tree/master
Deep-water and shallow-water limits of the intermediate long wave equation

In this paper, we study the low regularity convergence problem for the intermediate long wave equation (ILW), with respect to the depth parameter $\delta>0$, on the real line and the circle. As a natural bridge between the Korteweg-de Vries (KdV) and the Benjamin-Ono (BO) equations, the ILW equation is of physical interest. We prove that the solutions of ILW converge in the $H^s$-Sobolev space for $s>\frac12$, to those of BO in the deep-water limit (as $\delta\to\infty$), and to those of KdV in the shallow-water limit (as $\delta\to 0$). This improves previous convergence results by Abdelouhab, Bona, Felland, and Saut (1989), which required $s>\frac32$ in the deep-water limit and $s\geq2$ in the shallow-water limit. Moreover, the convergence results also apply to the generalised ILW equation, i.e.~with nonlinearity $\partial_x (u^k)$ for $k\geq 2$. Furthermore, this work gives the first convergence results of generalised ILW solutions on the circle with regularity $s\geq \frac34$. Overall, this study provides mathematical insights for the behaviour of the ILW equation and its solutions in different water depths, and has implications for predicting and modelling wave behaviour in various environments.
BEV-LaneDet: a Simple and Effective 3D Lane Detection Baseline

3D lane detection which plays a crucial role in vehicle routing, has recently been a rapidly developing topic in autonomous driving. Previous works struggle with practicality due to their complicated spatial transformations and inflexible representations of 3D lanes. Faced with the issues, our work proposes an efficient and robust monocular 3D lane detection called BEV-LaneDet with three main contributions. First, we introduce the Virtual Camera that unifies the in/extrinsic parameters of cameras mounted on different vehicles to guarantee the consistency of the spatial relationship among cameras. It can effectively promote the learning procedure due to the unified visual space. We secondly propose a simple but efficient 3D lane representation called Key-Points Representation. This module is more suitable to represent the complicated and diverse 3D lane structures. At last, we present a light-weight and chip-friendly spatial transformation module named Spatial Transformation Pyramid to transform multiscale front-view features into BEV features. Experimental results demonstrate that our work outperforms the state-of-the-art approaches in terms of F-Score, being 10.6% higher on the OpenLane dataset and 5.9% higher on the Apollo 3D synthetic dataset, with a speed of 185 FPS. The source code will released at https://github.com/gigo-team/bev_lane_det.
Towards Practical Multi-Robot Hybrid Tasks Allocation for Autonomous Cleaning

Task allocation plays a vital role in multi-robot autonomous cleaning systems, where multiple robots work together to clean a large area. However, most current studies mainly focus on deterministic, single-task allocation for cleaning robots, without considering hybrid tasks in uncertain working environments. Moreover, there is a lack of datasets and benchmarks for relevant research. In this paper, to address these problems, we formulate multi-robot hybrid-task allocation under the uncertain cleaning environment as a robust optimization problem. Firstly, we propose a novel robust mixed-integer linear programming model with practical constraints including the task order constraint for different tasks and the ability constraints of hybrid robots. Secondly, we establish a dataset of \emph{100} instances made from floor plans, each of which has 2D manually-labeled images and a 3D model. Thirdly, we provide comprehensive results on the collected dataset using three traditional optimization approaches and a deep reinforcement learning-based solver. The evaluation results show that our solution meets the needs of multi-robot cleaning task allocation and the robust solver can protect the system from worst-case scenarios with little additional cost. The benchmark will be available at {https://github.com/iamwangyabin/Multi-robot-Cleaning-Task-Allocation}.
Energy Regularized RNNS for solving non-stationary Bandit problems

We consider a Multi-Armed Bandit problem in which the re- wards are non-stationary and are dependent on past actions and potentially on past contexts. At the heart of our method, we employ a recurrent neural network, which models these sequences. In order to balance between exploration and exploitation, we present an energy minimization term that pre- vents the neural network from becoming too confident in support of a certain action. This term provably limits the gap between the maximal and minimal probabilities assigned by the network. In a diverse set of experiments, we demonstrate that our method is at least as effective as methods suggested to solve the sub-problem of Rotting Bandits, and can solve intuitive extensions of various benchmark problems. We share our implementation at https://github.com/rotmanmi/Energy-Regularized-RNN.
Optimal and Private Learning from Human Response Data

Item response theory (IRT) is the study of how people make probabilistic decisions, with diverse applications in education testing, recommendation systems, among others. The Rasch model of binary response data, one of the most fundamental models in IRT, remains an active area of research with important practical significance. Recently, Nguyen and Zhang (2022) proposed a new spectral estimation algorithm that is efficient and accurate. In this work, we extend their results in two important ways. Firstly, we obtain a refined entrywise error bound for the spectral algorithm, complementing the `average error' $\ell_2$ bound in their work. Notably, under mild sampling conditions, the spectral algorithm achieves the minimax optimal error bound (modulo a log factor). Building on the refined analysis, we also show that the spectral algorithm enjoys optimal sample complexity for top-$K$ recovery (e.g., identifying the best $K$ items from approval/disapproval response data), explaining the empirical findings in the previous work. Our second contribution addresses an important but understudied topic in IRT: privacy. Despite the human-centric applications of IRT, there has not been any proposed privacy-preserving mechanism in the literature. We develop a private extension of the spectral algorithm, leveraging its unique Markov chain formulation and the discrete Gaussian mechanism (Canonne et al., 2020). Experiments show that our approach is significantly more accurate than the baselines in the low-to-moderate privacy regime.
Study of Multiuser Scheduling with Enhanced Greedy Techniques for Multicell and Cell-Free Massive MIMO Networks

In this work, we investigate the sum-rate performance of multicell and cell-free massive MIMO systems using linear precoding and multiuser scheduling algorithms. We consider the use of a network-centric clustering approach to reduce the computational complexity of the techniques applied to the cell-free system. We then develop a greedy algorithm that considers multiple candidates for the subset of users to be scheduled and that approaches the performance of the optimal exhaustive search. We assess the proposed and existing scheduling algorithms in both multicell and cell-free networks with the same coverage area. Numerical results illustrate the sum-rate performance of the proposed scheduling algorithm against existing approaches.
Competing Magnetic Interactions and Field-Induced Metamagnetic Transition in Highly Crystalline Phase-Tunable Iron Oxide Nanorods

The inherent existence of multi phases in iron oxide nanostructures highlights the significance of them being investigated deliberately to understand and possibly control the phases. Here, the effects of annealing at 250 °C with a variable duration on the bulk magnetic and structural properties of high aspect ratio biphase iron oxide nanorods with ferrimagnetic Fe3O4 and antiferromagnetic α-Fe2O3 are explored. Increasing annealing time under a free flow of oxygen enhanced the α-Fe2O3 volume fraction and improved the crystallinity of the Fe3O4 phase, identified in changes in the magnetization as a function of annealing time. A critical annealing time of approximately 3 h maximized the presence of both phases, as observed via an enhancement in the magnetization and an interfacial pinning effect. This is attributed to disordered spins separating the magnetically distinct phases which tend to align with the application of a magnetic field at high temperatures. The increased antiferromagnetic phase can be distinguished due to the field-induced metamagnetic transitions observed in structures annealed for more than 3 h and was especially prominent in the 9 h annealed sample. Our controlled study in determining the changes in volume fractions with annealing time will enable precise control over phase tunability in iron oxide nanorods, allowing custom-made phase volume fractions in different applications ranging from spintronics to biomedical applications.
Asynchronous Decentralized Federated Lifelong Learning for Landmark Localization in Medical Imaging

Federated learning is a recent development in the machine learning area that allows a system of devices to train on one or more tasks without sharing their data to a single location or device. However, this framework still requires a centralized global model to consolidate individual models into one, and the devices train synchronously, which both can be potential bottlenecks for using federated learning. In this paper, we propose a novel method of asynchronous decentralized federated lifelong learning (ADFLL) method that inherits the merits of federated learning and can train on multiple tasks simultaneously without the need for a central node or synchronous training. Thus, overcoming the potential drawbacks of conventional federated learning. We demonstrate excellent performance on the brain tumor segmentation (BRATS) dataset for localizing the left ventricle on multiple image sequences and image orientation. Our framework allows agents to achieve the best performance with a mean distance error of 7.81, better than the conventional all-knowing agent's mean distance error of 11.78, and significantly (p=0.01) better than a conventional lifelong learning agent with a distance error of 15.17 after eight rounds of training. In addition, all ADFLL agents have comparable or better performance than a conventional LL agent. In conclusion, we developed an ADFLL framework with excellent performance and speed-up compared to conventional RL agents.