OpenRaiser/Intern-Atlas huggingface dataset:
Robot Vulnerability and the Elicitation of User Empathy
Venue: arXiv cs.RO 2024
Year: 2024

This paper describes a between-subjects Amazon Mechanical Turk study (n = 220) that investigated how a robot's affective narrative influences its ability to elicit empathy in human observers. We first conducted a pilot study to develop and validate the robot's affective narratives. Then, in the full study, the robot used one of three different affective narrative strategies (funny, sad, neutral) while becoming less functional at its shopping task over the course of the interaction. As the functionality of the robot degraded, participants were repeatedly asked if they were willing to help the robot. The results showed that conveying a sad narrative significantly influenced the participants' willingness to help the robot throughout the interaction and determined whether participants felt empathetic toward the robot throughout the interaction. Furthermore, a higher amount of past experience with robots also increased the participants' willingness to help the robot. This work suggests that affective narratives can be useful in short-term interactions that benefit from emotional connections between humans and robots.
TripleSurv: Triplet Time-adaptive Coordinate Loss for Survival Analysis
Venue: arXiv cs.LG 2024
Year: 2024

A core challenge in survival analysis is to model the distribution of censored time-to-event data, where the event of interest may be a death, failure, or occurrence of a specific event. Previous studies have showed that ranking and maximum likelihood estimation (MLE)loss functions are widely-used for survival analysis. However, ranking loss only focus on the ranking of survival time and does not consider potential effect of samples for exact survival time values. Furthermore, the MLE is unbounded and easily subject to outliers (e.g., censored data), which may cause poor performance of modeling. To handle the complexities of learning process and exploit valuable survival time values, we propose a time-adaptive coordinate loss function, TripleSurv, to achieve adaptive adjustments by introducing the differences in the survival time between sample pairs into the ranking, which can encourage the model to quantitatively rank relative risk of pairs, ultimately enhancing the accuracy of predictions. Most importantly, the TripleSurv is proficient in quantifying the relative risk between samples by ranking ordering of pairs, and consider the time interval as a trade-off to calibrate the robustness of model over sample distribution. Our TripleSurv is evaluated on three real-world survival datasets and a public synthetic dataset. The results show that our method outperforms the state-of-the-art methods and exhibits good model performance and robustness on modeling various sophisticated data distributions with different censor rates. Our code will be available upon acceptance.
Lock-free de Bruijn graph
Venue: arXiv cs.DC 2024
Year: 2024

De Bruijn graph is one of the most important data structures used in de-novo genome assembly algorithms, especially for NGS data. There is a growing need for parallel data structures and algorithms due to the increasing number of cores in modern computers. The assembly task is an indispensable step in sequencing genomes of new organisms and studying structural genomic changes. In recent years, the dynamic development of next-generation sequencing (NGS) methods raises hopes for making whole-genome sequencing a fast and reliable tool used, for example, in medical diagnostics. However, this is hampered by the slowness and computational requirements of the current processing algorithms, which raises the need to develop more efficient algorithms. One possible approach, still little explored, is the use of quantum computing. We created the lock-free version of the de Bruijn graph, as well as a lock-free algorithm to build such graph from reads. Our algorithm and data structures are developed to use parallel threads of execution and do not use mutexes or other locking mechanisms, instead, we used only compare-and-swap instruction and other atomic operations. It makes our algorithm very fast and efficiently scaling. The presented article depicts the new lock-free de Bruijn graph data structure with a graph build algorithm. We developed a C++ library and tested its performance to depict its high speed and scalability compared to other available tools.
Systematic review of image segmentation using complex networks
Venue: arXiv cs.CV 2024
Year: 2024

This review presents various image segmentation methods using complex networks. Image segmentation is one of the important steps in image analysis as it helps analyze and understand complex images. At first, it has been tried to classify complex networks based on how it being used in image segmentation. In computer vision and image processing applications, image segmentation is essential for analyzing complex images with irregular shapes, textures, or overlapping boundaries. Advanced algorithms make use of machine learning, clustering, edge detection, and region-growing techniques. Graph theory principles combined with community detection-based methods allow for more precise analysis and interpretation of complex images. Hybrid approaches combine multiple techniques for comprehensive, robust segmentation, improving results in computer vision and image processing tasks.
Overwhelmed software developers: An Interpretative Phenomenological Analysis
Venue: arXiv cs.SE 2024
Year: 2024

In this paper, we report on an Interpretive Phenomenological Analysis (IPA) study on experiencing overwhelm in a software development context. The objectives of our study are, hence, to understand the experiences developers have when being overwhelmed, how this impacts their productivity and which role stress plays in the process. To this end, we interviewed two software developers who have experienced overwhelm recently. Throughout a qualitative analysis of the shared experiences, we uncover seven categories of overwhelm (communication, disturbance, organizational, variety, technical, temporal, and positive overwhelm). While the first six themes all are related to negative outcomes, including low productivity and stress, the participants reported that overwhelm can sometimes be experienced to be positive and pleasant, and it can increase their mental focus, self ambition, and productivity. Stress was the most mentioned feeling experienced when overwhelmed. Our findings, for the most, are along the same direction of similar studies from other disciplines and with other participants. However, there may be unique attributes to software developers that mitigate the negative experiences of overwhelm.
Ejafa_protocol: A custom INC secure protocol
Venue: arXiv cs.CR 2024
Year: 2024

"EJAFA_PROTOCOL: A CUSTOM INC SECURE PROTOCOL" presents a cryptographic solution tailored for lightweight devices, striking a delicate balance between security and efficiency. The protocol incorporates modern cryptographic primitives, including X25519 for key exchange and ChaCha20 for encryption, while adhering to established RFC standards. The report explores the protocol's design, implementation over various network protocols, and its performance characteristics. A key feature of the protocol is its adaptability to resource-constrained environments without compromising on security. This work contributes to the evolving landscape of secure communication protocols, providing a robust solution for practical deployment across a spectrum of applications.
Comparative Evaluation of RGB-D SLAM Methods for Humanoid Robot Localization and Mapping
Venue: arXiv cs.RO 2024
Year: 2024

In this paper, we conducted a comparative evaluation of three RGB-D SLAM (Simultaneous Localization and Mapping) algorithms: RTAB-Map, ORB-SLAM3, and OpenVSLAM for SURENA-V humanoid robot localization and mapping. Our test involves the robot to follow a full circular pattern, with an Intel RealSense D435 RGB-D camera installed on its head. In assessing localization accuracy, ORB-SLAM3 outperformed the others with an ATE of 0.1073, followed by RTAB-Map at 0.1641 and OpenVSLAM at 0.1847. However, it should be noted that both ORB-SLAM3 and OpenVSLAM faced challenges in maintaining accurate odometry when the robot encountered a wall with limited feature points. Nevertheless, OpenVSLAM demonstrated the ability to detect loop closures and successfully relocalize itself within the map when the robot approached its initial location. The investigation also extended to mapping capabilities, where RTAB-Map excelled by offering diverse mapping outputs, including dense, OctoMap, and occupancy grid maps. In contrast, both ORB-SLAM3 and OpenVSLAM provided only sparse maps.
CRSOT: Cross-Resolution Object Tracking using Unaligned Frame and Event Cameras
Venue: arXiv cs.CV 2024
Year: 2024

Existing datasets for RGB-DVS tracking are collected with DVS346 camera and their resolution ($346 \times 260$) is low for practical applications. Actually, only visible cameras are deployed in many practical systems, and the newly designed neuromorphic cameras may have different resolutions. The latest neuromorphic sensors can output high-definition event streams, but it is very difficult to achieve strict alignment between events and frames on both spatial and temporal views. Therefore, how to achieve accurate tracking with unaligned neuromorphic and visible sensors is a valuable but unresearched problem. In this work, we formally propose the task of object tracking using unaligned neuromorphic and visible cameras. We build the first unaligned frame-event dataset CRSOT collected with a specially built data acquisition system, which contains 1,030 high-definition RGB-Event video pairs, 304,974 video frames. In addition, we propose a novel unaligned object tracking framework that can realize robust tracking even using the loosely aligned RGB-Event data. Specifically, we extract the template and search regions of RGB and Event data and feed them into a unified ViT backbone for feature embedding. Then, we propose uncertainty perception modules to encode the RGB and Event features, respectively, then, we propose a modality uncertainty fusion module to aggregate the two modalities. These three branches are jointly optimized in the training phase. Extensive experiments demonstrate that our tracker can collaborate the dual modalities for high-performance tracking even without strictly temporal and spatial alignment. The source code, dataset, and pre-trained models will be released at https://github.com/Event-AHU/Cross_Resolution_SOT.
Two-stage Progressive Residual Dense Attention Network for Image Denoising
Venue: arXiv cs.CV 2024
Year: 2024

Deep convolutional neural networks (CNNs) for image denoising can effectively exploit rich hierarchical features and have achieved great success. However, many deep CNN-based denoising models equally utilize the hierarchical features of noisy images without paying attention to the more important and useful features, leading to relatively low performance. To address the issue, we design a new Two-stage Progressive Residual Dense Attention Network (TSP-RDANet) for image denoising, which divides the whole process of denoising into two sub-tasks to remove noise progressively. Two different attention mechanism-based denoising networks are designed for the two sequential sub-tasks: the residual dense attention module (RDAM) is designed for the first stage, and the hybrid dilated residual dense attention module (HDRDAM) is proposed for the second stage. The proposed attention modules are able to learn appropriate local features through dense connection between different convolutional layers, and the irrelevant features can also be suppressed. The two sub-networks are then connected by a long skip connection to retain the shallow feature to enhance the denoising performance. The experiments on seven benchmark datasets have verified that compared with many state-of-the-art methods, the proposed TSP-RDANet can obtain favorable results both on synthetic and real noisy image denoising. The code of our TSP-RDANet is available at https://github.com/WenCongWu/TSP-RDANet.
Integrating Flow Theory and Adaptive Robot Roles: A Conceptual Model of Dynamic Robot Role Adaptation for the Enhanced Flow Experience in Long-term Multi-person Human-Robot Interactions
Venue: arXiv cs.RO 2024
Year: 2024

In this paper, we introduce a novel conceptual model for a robot's behavioral adaptation in its long-term interaction with humans, integrating dynamic robot role adaptation with principles of flow experience from psychology. This conceptualization introduces a hierarchical interaction objective grounded in the flow experience, serving as the overarching adaptation goal for the robot. This objective intertwines both cognitive and affective sub-objectives and incorporates individual and group-level human factors. The dynamic role adaptation approach is a cornerstone of our model, highlighting the robot's ability to fluidly adapt its support roles - from leader to follower - with the aim of maintaining equilibrium between activity challenge and user skill, thereby fostering the user's optimal flow experiences. Moreover, this work delves into a comprehensive exploration of the limitations and potential applications of our proposed conceptualization. Our model places a particular emphasis on the multi-person HRI paradigm, a dimension of HRI that is both under-explored and challenging. In doing so, we aspire to extend the applicability and relevance of our conceptualization within the HRI field, contributing to the future development of adaptive social robots capable of sustaining long-term interactions with humans.
Framework for Variable-lag Motif Following Relation Inference In Time Series using Matrix Profile analysis
Venue: arXiv cs.LG 2024
Year: 2024

Knowing who follows whom and what patterns they are following are crucial steps to understand collective behaviors (e.g. a group of human, a school of fish, or a stock market). Time series is one of resources that can be used to get insight regarding following relations. However, the concept of following patterns or motifs and the solution to find them in time series are not obvious. In this work, we formalize a concept of following motifs between two time series and present a framework to infer following patterns between two time series. The framework utilizes one of efficient and scalable methods to retrieve motifs from time series called the Matrix Profile Method. We compare our proposed framework with several baselines. The framework performs better than baselines in the simulation datasets. In the dataset of sound recording, the framework is able to retrieve the following motifs within a pair of time series that two singers sing following each other. In the cryptocurrency dataset, the framework is capable of capturing the following motifs within a pair of time series from two digital currencies, which implies that the values of one currency follow the values of another currency patterns. Our framework can be utilized in any field of time series to get insight regarding following patterns between time series.
Reversing the Irreversible: A Survey on Inverse Biometrics
Venue: arXiv cs.CV 2024
Year: 2024

With the widespread use of biometric recognition, several issues related to the privacy and security provided by this technology have been recently raised and analysed. As a result, the early common belief among the biometrics community of templates irreversibility has been proven wrong. It is now an accepted fact that it is possible to reconstruct from an unprotected template a synthetic sample that matches the bona fide one. This reverse engineering process, commonly referred to as \textit{inverse biometrics}, constitutes a severe threat for biometric systems from two different angles: on the one hand, sensitive personal data (i.e., biometric data) can be derived from compromised unprotected templates; on the other hand, other powerful attacks can be launched building upon these reconstructed samples. Given its important implications, biometric stakeholders have produced over the last fifteen years numerous works analysing the different aspects related to inverse biometrics: development of reconstruction algorithms for different characteristics; proposal of methodologies to assess the vulnerabilities of biometric systems to the aforementioned algorithms; development of countermeasures to reduce the possible effects of attacks. The present article is an effort to condense all this information in one comprehensive review of: the problem itself, the evaluation of the problem, and the mitigation of the problem. The present article is an effort to condense all this information in one comprehensive review of: the problem itself, the evaluation of the problem, and the mitigation of the problem.
Uncovering the human motion pattern: Pattern Memory-based Diffusion Model for Trajectory Prediction
Venue: arXiv cs.CV 2024
Year: 2024

Human trajectory forecasting is a critical challenge in fields such as robotics and autonomous driving. Due to the inherent uncertainty of human actions and intentions in real-world scenarios, various unexpected occurrences may arise. To uncover latent motion patterns in human behavior, we introduce a novel memory-based method, named Motion Pattern Priors Memory Network. Our method involves constructing a memory bank derived from clustered prior knowledge of motion patterns observed in the training set trajectories. We introduce an addressing mechanism to retrieve the matched pattern and the potential target distributions for each prediction from the memory bank, which enables the identification and retrieval of natural motion patterns exhibited by agents, subsequently using the target priors memory token to guide the diffusion model to generate predictions. Extensive experiments validate the effectiveness of our approach, achieving state-of-the-art trajectory prediction accuracy. The code will be made publicly available.
Approximation Algorithms for the Weighted Nash Social Welfare via Convex and Non-Convex Programs
Venue: arXiv cs.DS 2024
Year: 2024

In an instance of the weighted Nash Social Welfare problem, we are given a set of $m$ indivisible items, $\mathscr{G}$, and $n$ agents, $\mathscr{A}$, where each agent $i \in \mathscr{A}$ has a valuation $v_{ij}\geq 0$ for each item $j\in \mathscr{G}$. In addition, every agent $i$ has a non-negative weight $w_i$ such that the weights collectively sum up to $1$. The goal is to find an assignment $σ:\mathscr{G}\rightarrow \mathscr{A}$ that maximizes $\prod_{i\in \mathscr{A}} \left(\sum_{j\in σ^{-1}(i)} v_{ij}\right)^{w_i}$, the product of the weighted valuations of the players. When all the weights equal $\frac1n$, the problem reduces to the classical Nash Social Welfare problem, which has recently received much attention. In this work, we present a $5\cdot\exp\left(2\cdot D_{\text{KL}}(\mathbf{w}\, ||\, \frac{\vec{\mathbf{1}}}{n})\right) = 5\cdot\exp\left(2\log{n} + 2\sum_{i=1}^n w_i \log{w_i}\right)$-approximation algorithm for the weighted Nash Social Welfare problem, where $D_{\text{KL}}(\mathbf{w}\, ||\, \frac{\vec{\mathbf{1}}}{n})$ denotes the KL-divergence between the distribution induced by $\mathbf{w}$ and the uniform distribution on $[n]$. We show a novel connection between the convex programming relaxations for the unweighted variant of Nash Social Welfare presented in \cite{cole2017convex, anari2017nash}, and generalize the programs to two different mathematical programs for the weighted case. The first program is convex and is necessary for computational efficiency, while the second program is a non-convex relaxation that can be rounded efficiently. The approximation factor derives from the difference in the objective values of the convex and non-convex relaxation.
Analytically-Driven Resource Management for Cloud-Native Microservices
Venue: arXiv cs.DC 2024
Year: 2024

Resource management for cloud-native microservices has attracted a lot of recent attention. Previous work has shown that machine learning (ML)-driven approaches outperform traditional techniques, such as autoscaling, in terms of both SLA maintenance and resource efficiency. However, ML-driven approaches also face challenges including lengthy data collection processes and limited scalability. We present Ursa, a lightweight resource management system for cloud-native microservices that addresses these challenges. Ursa uses an analytical model that decomposes the end-to-end SLA into per-service SLA, and maps per-service SLA to individual resource allocations per microservice tier. To speed up the exploration process and avoid prolonged SLA violations, Ursa explores each microservice individually, and swiftly stops exploration if latency exceeds its SLA. We evaluate Ursa on a set of representative and end-to-end microservice topologies, including a social network, media service and video processing pipeline, each consisting of multiple classes and priorities of requests with different SLAs, and compare it against two representative ML-driven systems, Sinan and Firm. Compared to these ML-driven approaches, Ursa provides significant advantages: It shortens the data collection process by more than 128x, and its control plane is 43x faster than ML-driven approaches. At the same time, Ursa does not sacrifice resource efficiency or SLAs. During online deployment, Ursa reduces the SLA violation rate by 9.0% up to 49.9%, and reduces CPU allocation by up to 86.2% compared to ML-driven approaches.
SPFormer: Enhancing Vision Transformer with Superpixel Representation
Venue: arXiv cs.CV 2024
Year: 2024

In this work, we introduce SPFormer, a novel Vision Transformer enhanced by superpixel representation. Addressing the limitations of traditional Vision Transformers' fixed-size, non-adaptive patch partitioning, SPFormer employs superpixels that adapt to the image's content. This approach divides the image into irregular, semantically coherent regions, effectively capturing intricate details and applicable at both initial and intermediate feature levels. SPFormer, trainable end-to-end, exhibits superior performance across various benchmarks. Notably, it exhibits significant improvements on the challenging ImageNet benchmark, achieving a 1.4% increase over DeiT-T and 1.1% over DeiT-S respectively. A standout feature of SPFormer is its inherent explainability. The superpixel structure offers a window into the model's internal processes, providing valuable insights that enhance the model's interpretability. This level of clarity significantly improves SPFormer's robustness, particularly in challenging scenarios such as image rotations and occlusions, demonstrating its adaptability and resilience.