Miracle-dz/UniFAR-FTUs huggingface dataset:
Planning and Inverse Kinematics of Hyper-Redundant Manipulators with VO-FABRIK

Hyper-redundant Robotic Manipulators (HRMs) offer great dexterity and flexibility of operation, but solving Inverse Kinematics (IK) is challenging. In this work, we introduce VO-FABRIK, an algorithm combining Forward and Backward Reaching Inverse Kinematics (FABRIK) for repeatable deterministic IK computation, and an approach inspired from velocity obstacles to perform path planning under collision and joint limits constraints. We show preliminary results on an industrial HRM with 19 actuated joints. Our algorithm achieves good performance where a state-of-the-art IK solver fails.
Node Centrality Approximation For Large Networks Based On Inductive Graph Neural Networks

Closeness Centrality (CC) and Betweenness Centrality (BC) are crucial metrics in network analysis, providing essential reference for discerning the significance of nodes within complex networks. These measures find wide applications in critical tasks, such as community detection and network dismantling. However, their practical implementation on extensive networks remains computationally demanding due to their high time complexity. To mitigate these computational challenges, numerous approximation algorithms have been developed to expedite the computation of CC and BC. Nevertheless, even these approximations still necessitate substantial processing time when applied to large-scale networks. Furthermore, their output proves sensitive to even minor perturbations within the network structure. In this work, We redefine the CC and BC node ranking problem as a machine learning problem and propose the CNCA-IGE model, which is an encoder-decoder model based on inductive graph neural networks designed to rank nodes based on specified CC or BC metrics. We incorporate the MLP-Mixer model as the decoder in the BC ranking prediction task to enhance the model's robustness and capacity. Our approach is evaluated on diverse synthetic and real-world networks of varying scales, and the experimental results demonstrate that the CNCA-IGE model outperforms state-of-the-art baseline models, significantly reducing execution time while improving performance.
Safe Spot: Perceived safety of dominant and submissive appearances of quadruped robots in human-robot interactions

Unprecedented possibilities of quadruped robots have driven much research on the technical aspects of these robots. However, the social perception and acceptability of quadruped robots so far remain poorly understood. This work investigates whether the way we design quadruped robots' behaviors can affect people's perception of safety in interactions with these robots. We designed and tested a dominant and submissive personality for the quadruped robot (Boston Dynamics Spot). These were tested in two different walking scenarios (head-on and crossing interactions) in a 2x2 within-subjects study. We collected both behavioral data and subjective reports on participants' perception of the interaction. The results highlight that participants perceived the submissive robot as safer compared to the dominant one. The behavioral dynamics of interactions did not change depending on the robot's appearance. Participants' previous in-person experience with the robot was associated with lower subjective safety ratings but did not correlate with the interaction dynamics. Our findings have implications for the design of quadruped robots and contribute to the body of knowledge on the social perception of non-humanoid robots. We call for a stronger standing of felt experiences in human-robot interaction research.
REPS: Reconstruction-based Point Cloud Sampling

Sampling is widely used in various point cloud tasks as it can effectively reduce resource consumption. Recently, some methods have proposed utilizing neural networks to optimize the sampling process for various task requirements. Currently, deep downsampling methods can be categorized into two main types: generative-based and score-based. Generative-based methods directly generate sampled point clouds using networks, whereas score-based methods assess the importance of points according to specific rules and then select sampled point clouds based on their scores. However, these methods often result in noticeable clustering effects in high-intensity feature areas, compromising their ability to preserve small-scale features and leading to the loss of some structures, thereby affecting the performance of subsequent tasks. In this paper, we propose REPS, a reconstruction-based scoring strategy that evaluates the importance of each vertex by removing and reconstructing them using surrounding vertices. Our reconstruction process comprises point reconstruction and shape reconstruction. The two aforementioned reconstruction methods effectively evaluate the importance of vertices by removing them at different scales for reconstruction. These reconstructions ensure that our method maintains the overall geometric features of the point cloud and avoids disturbing small-scale structures during sampling. Additionally, we propose the Global-Local Fusion Attention (GLFA) module, which aggregates local and global attention features of point clouds, ensuring high-quality reconstruction and sampling effects. Our method outperforms previous approaches in preserving the structural features of the sampled point clouds. Furthermore, abundant experimental results demonstrate the superior performance of our method across various common tasks.
Age of Computing: A Metric of Computation Freshness in Communication and Computation Cooperative Networks

In communication and computation cooperative networks (3CNs), timely computation is crucial but not always guaranteed. There is a strong demand for a computational task to be completed within a given time. The time taken involves both processing time and communication time. However, a measure of such timeliness in 3CNs is lacking. In this letter, we introduce the novel concept, Age of Computing (AoC), to capture computation freshness in 3CNs. We develop two methods for calculating this metric, applicable to a wide range of 3CNs. These calculations are applied to a queue-theoretic system comprising a task-initiating source, a task-executing computational node and a communication link, resulting in the derivation of two expressions for the AoC. Then a tight upper bound and a tight lower bound are derived. Subsequently, we investigate the communication-computation tradeoff and the AoC-delay tradeoff. While our models are simpler than their real-world counterparts, they provide comprehensive insight in understanding computation freshness in 3CNs and the relationships between computing and communications.
Long-range competition on the torus

We study a competition between two growth models with long-range correlations on the torus $\mathbb T_n^d$ of size $n$ in dimension $d$. We append the edge set of the torus $\mathbb T_n^d$ by including all non-nearest-neighbour edges, and from two source vertices, two first-passage percolation (FPP) processes start flowing on $\mathbb T_n^d$ and compete to cover the sites. The FPP processes we consider are long-range first-passage percolation processes, as studied by Chaterjee and Dey. Here, we have two types, say Type-$1$ and Type-$2$, and the Type-$i$ transmission time of an edge $e$ equals $\lambda_i^{-1} \|e\|^{\alpha_i}E_e$ for $i\in\{1,2\}$, where $(E_e)_e$ is a family of i.i. d. \ rate-one exponential random variables, $\lambda_1,\lambda_2>0$ are the global rate parameters, and $\alpha_1,\alpha_2\geq 0$ are the long-range parameters. In particular, we consider the instantaneous percolation regime, where $\alpha_1,\alpha_2\in[0,d)$, and we allow all parameters to depend on $n$. We study \emph{coexistence}, the event that both types reach a positive proportion of the graph, and identify precisely when coexistence occurs. In the case of absence of coexistence, we outline several phase transitions in the size of the losing type, depending on the relation between the rates of both types. One of the consequences of our results is that for constant intensity competition, i.e.\ when the long-range parameters of the two processes are the same, while their rates differ by a constant multiplicative factor, coexistence of the two processes at the scale of the torus volume happen if and only if their global rates are equal. On the other hand, when the long-range parameters differ, it is possible for one of the types, e.g.\ Type-$2$, to reach a significant number of vertices, even when its global rate parameter $\lambda_2$ is much smaller than $\lambda_1$.
Rule-driven News Captioning

News captioning task aims to generate sentences by describing named entities or concrete events for an image with its news article. Existing methods have achieved remarkable results by relying on the large-scale pre-trained models, which primarily focus on the correlations between the input news content and the output predictions. However, the news captioning requires adhering to some fundamental rules of news reporting, such as accurately describing the individuals and actions associated with the event. In this paper, we propose the rule-driven news captioning method, which can generate image descriptions following designated rule signal. Specifically, we first design the news-aware semantic rule for the descriptions. This rule incorporates the primary action depicted in the image (e.g.,"performing") and the roles played by named entities involved in the action (e.g.,"Agent"and"Place"). Second, we inject this semantic rule into the large-scale pre-trained model, BART, with the prefix-tuning strategy, where multiple encoder layers are embedded with news-aware semantic rule. Finally, we can effectively guide BART to generate news sentences that comply with the designated rule. Extensive experiments on two widely used datasets (i.e., GoodNews and NYTimes800k) demonstrate the effectiveness of our method.
Is Cosine-Similarity of Embeddings Really About Similarity?

Cosine-similarity is the cosine of the angle between two vectors, or equivalently the dot product between their normalizations. A popular application is to quantify semantic similarity between high-dimensional objects by applying cosine-similarity to a learned low-dimensional feature embedding. This can work better but sometimes also worse than the unnormalized dot-product between embedded vectors in practice. To gain insight into this empirical observation, we study embeddings derived from regularized linear models, where closed-form solutions facilitate analytical insights. We derive analytically how cosine-similarity can yield arbitrary and therefore meaningless `similarities. ' For some linear models the similarities are not even unique, while for others they are implicitly controlled by the regularization. We discuss implications beyond linear models: a combination of different regularizations are employed when learning deep models; these have implicit and unintended effects when taking cosine-similarities of the resulting embeddings, rendering results opaque and possibly arbitrary. Based on these insights, we caution against blindly using cosine-similarity and outline alternatives.
Med3DInsight: Enhancing 3D Medical Image Understanding with 2D Multi-Modal Large Language Models

Understanding 3D medical image volumes is a critical task in the medical domain. However, existing 3D convolution and transformer-based methods have limited semantic understanding of an image volume and also need a large set of volumes for training. Recent advances in multi-modal large language models (MLLMs) provide a new and promising way to understand images with the help of text descriptions. However, most current MLLMs are designed for 2D natural images. To enhance the 3D medical image understanding with 2D MLLMs, we propose a novel pre-training framework called Med3DInsight, which marries existing 3D image encoders with 2D MLLMs and bridges them via a designed Plane-Slice-Aware Transformer (PSAT) module. Extensive experiments demonstrate our SOTA performance on two downstream segmentation and classification tasks, including three public datasets with CT and MRI modalities and comparison to more than ten baselines. Med3DInsight can be easily integrated into any current 3D medical image understanding network and improves its performance by a good margin.
Hide in Thicket: Generating Imperceptible and Rational Adversarial Perturbations on 3D Point Clouds

Adversarial attack methods based on point manipulation for 3D point cloud classification have revealed the fragility of 3D models, yet the adversarial examples they produce are easily perceived or defended against. The trade-off between the imperceptibility and adversarial strength leads most point attack methods to inevitably introduce easily detectable outlier points upon a successful attack. Another promising strategy, shape-based attack, can effectively eliminate outliers, but existing methods often suffer significant reductions in imperceptibility due to irrational deformations. We find that concealing deformation perturbations in areas insensitive to human eyes can achieve a better trade-off between imperceptibility and adversarial strength, specifically in parts of the object surface that are complex and exhibit drastic curvature changes. Therefore, we propose a novel shape-based adversarial attack method, HiT-ADV, which initially conducts a two-stage search for attack regions based on saliency and imperceptibility scores, and then adds deformation perturbations in each attack region using Gaussian kernel functions. Additionally, HiT-ADV is extendable to physical attack. We propose that by employing benign resampling and benign rigid transformations, we can further enhance physical adversarial strength with little sacrifice to imperceptibility. Extensive experiments have validated the superiority of our method in terms of adversarial and imperceptible properties in both digital and physical spaces. Our code is avaliable at: https://github.com/TRLou/HiT-ADV.
ECToNAS: Evolutionary Cross-Topology Neural Architecture Search

We present ECToNAS, a cost-efficient evolutionary cross-topology neural architecture search algorithm that does not require any pre-trained meta controllers. Our framework is able to select suitable network architectures for different tasks and hyperparameter settings, independently performing cross-topology optimisation where required. It is a hybrid approach that fuses training and topology optimisation together into one lightweight, resource-friendly process. We demonstrate the validity and power of this approach with six standard data sets (CIFAR-10, CIFAR-100, EuroSAT, Fashion MNIST, MNIST, SVHN), showcasing the algorithm's ability to not only optimise the topology within an architectural type, but also to dynamically add and remove convolutional cells when and where required, thus crossing boundaries between different network types. This enables researchers without a background in machine learning to make use of appropriate model types and topologies and to apply machine learning methods in their domains, with a computationally cheap, easy-to-use cross-topology neural architecture search framework that fully encapsulates the topology optimisation within the training process.
DeRO: Dead Reckoning Based on Radar Odometry With Accelerometers Aided for Robot Localization

In this paper, we propose a radar odometry structure that directly utilizes radar velocity measurements for dead reckoning while maintaining its ability to update estimations within the Kalman filter framework. Specifically, we employ the Doppler velocity obtained by a 4D Frequency Modulated Continuous Wave (FMCW) radar in conjunction with gyroscope data to calculate poses. This approach helps mitigate high drift resulting from accelerometer biases and double integration. Instead, tilt angles measured by gravitational force are utilized alongside relative distance measurements from radar scan matching for the filter's measurement update. Additionally, to further enhance the system's accuracy, we estimate and compensate for the radar velocity scale factor. The performance of the proposed method is verified through five real-world open-source datasets. The results demonstrate that our approach reduces position error by 47% and rotation error by 52% on average compared to the state-of-the-art radar-inertial fusion method in terms of absolute trajectory error.
Prediction of turbulent energy based on low-rank resolvent modes and machine learning

A modelling framework based on the resolvent analysis and machine learning is proposed to predict the turbulent energy in incompressible channel flows. In the framework, the optimal resolvent response modes are selected as the basis functions modelling the low-rank behaviour of high-dimensional nonlinear turbulent flow-fields, and the corresponding weight functions are determined by data-driven neural networks. Turbulent-energy distribution in space and scales, at the friction Reynolds number 1000, is predicted and compared to the data of direct numerical simulation. Close agreement is observed, suggesting the feasibility and reliability of the proposed framework for turbulence prediction.
Simulating adiabatic quantum computation with a variational approach

The theoretical analysis of the Adiabatic Quantum Computation protocol presents several challenges resulting from the difficulty of simulating, with classical resources, the unitary dynamics of a large quantum device. We present here a variational approach to substantially alleviate this problem in many situations of interest. Our approach is based on the time-dependent Variational Monte Carlo method, in conjunction with a correlated and time-dependent Jastrow ansatz. We demonstrate that accurate results can be obtained in a variety of problems, ranging from the description of defect generation through a dynamical phase transition in 1D to the complex dynamics of frustrated spin-glass problems both on fully-connected and Chimera graphs.
Estimation of Electronic Band Gap Energy From Material Properties Using Machine Learning

Machine learning techniques are utilized to estimate the electronic band gap energy and forecast the band gap category of materials based on experimentally quantifiable properties. The determination of band gap energy is critical for discerning various material properties, such as its metallic nature, and potential applications in electronic and optoelectronic devices. While numerical methods exist for computing band gap energy, they often entail high computational costs and have limitations in accuracy and scalability. A machine learning-driven model capable of swiftly predicting material band gap energy using easily obtainable experimental properties would offer a superior alternative to conventional density functional theory (DFT) methods. Our model does not require any preliminary DFT-based calculation or knowledge of the structure of the material. We present a scheme for improving the performance of simple regression and classification models by partitioning the dataset into multiple clusters. A new evaluation scheme for comparing the performance of ML-based models in material sciences involving both regression and classification tasks is introduced based on traditional evaluation metrics. It is shown that on this new evaluation metric, our method of clustering the dataset results in better performance.
HistGen: Histopathology Report Generation via Local-Global Feature Encoding and Cross-modal Context Interaction

Histopathology serves as the gold standard in cancer diagnosis, with clinical reports being vital in interpreting and understanding this process, guiding cancer treatment and patient care. The automation of histopathology report generation with deep learning stands to significantly enhance clinical efficiency and lessen the labor-intensive, time-consuming burden on pathologists in report writing. In pursuit of this advancement, we introduce HistGen, a multiple instance learning-empowered framework for histopathology report generation together with the first benchmark dataset for evaluation. Inspired by diagnostic and report-writing workflows, HistGen features two delicately designed modules, aiming to boost report generation by aligning whole slide images (WSIs) and diagnostic reports from local and global granularity. To achieve this, a local-global hierarchical encoder is developed for efficient visual feature aggregation from a region-to-slide perspective. Meanwhile, a cross-modal context module is proposed to explicitly facilitate alignment and interaction between distinct modalities, effectively bridging the gap between the extensive visual sequences of WSIs and corresponding highly summarized reports. Experimental results on WSI report generation show the proposed model outperforms state-of-the-art (SOTA) models by a large margin. Moreover, the results of fine-tuning our model on cancer subtyping and survival analysis tasks further demonstrate superior performance compared to SOTA methods, showcasing strong transfer learning capability. Dataset, model weights, and source code are available in https://github.com/dddavid4real/HistGen.
Estimating time-varying exposure effects through continuous-time modelling in Mendelian randomization

Mendelian randomization is an instrumental variable method that utilizes genetic information to investigate the causal effect of a modifiable exposure on an outcome. In most cases, the exposure changes over time. Understanding the time-varying causal effect of the exposure can yield detailed insights into mechanistic effects and the potential impact of public health interventions. Recently, a growing number of Mendelian randomization studies have attempted to explore time-varying causal effects. However, the proposed approaches oversimplify temporal information and rely on overly restrictive structural assumptions, limiting their reliability in addressing time-varying causal problems. This paper considers a novel approach to estimate time-varying effects through continuous-time modelling by combining functional principal component analysis and weak-instrument-robust techniques. Our method effectively utilizes available data without making strong structural assumptions and can be applied in general settings where the exposure measurements occur at different timepoints for different individuals. We demonstrate through simulations that our proposed method performs well in estimating time-varying effects and provides reliable inference results when the time-varying effect form is correctly specified. The method could theoretically be used to estimate arbitrarily complex time-varying effects. However, there is a trade-off between model complexity and instrument strength. Estimating complex time-varying effects requires instruments that are unrealistically strong. We illustrate the application of this method in a case study examining the time-varying effects of systolic blood pressure on urea levels.
On a Software Joint Velocity Limitation of a Spherical Parallel Manipulator with Coaxial Input Shafts

This article discusses the implementation of a software joint velocity limitation dedicated to a Spherical Parallel Manipulator (SPM) with coaxial input shafts (CoSPM) using a speed control loop. Such an algorithm takes as input the current joint positions as well as the joint reference velocities computed by the speed controller and limit the latter in order to avoid any known singular configuration. This limitation takes into account the workspace properties of the mechanism and the physical characteristics of its actuators. In particular, one takes advantage of the coaxiality of the input shafts of the CoSPM and the resulting unlimited bearing.