OpenRaiser/Intern-Atlas huggingface dataset:
ODD: Omni Differential Drive for Simultaneous Reconfiguration and Omnidirectional Mobility of Wheeled Robots
Venue: arXiv cs.RO 2024
Year: 2024

Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, with their limited degrees of freedom and constraints in robot configuration, struggle to simultaneously achieve stability, passability, and agility due to varying footprint needs. This paper proposes a novel robot drive model inspired by human movements, termed as the Omni Differential Drive (ODD). The ODD model innovatively utilizes a lateral differential drive to adjust wheel spacing without adding additional actuators to the existing omnidirectional drive. This approach enables wheeled robots to achieve both simultaneous reconfiguration and omnidirectional mobility. To validate the feasibility of the ODD model, a functional prototype was developed, followed by comprehensive kinematic analyses. Control systems for self-balancing and motion control were designed and implemented. Experimental validations confirmed the feasibility of the ODD mechanism and the effectiveness of the control strategies. The results underline the potential of this innovative drive system to enhance the mobility and adaptability of robotic platforms.
Programming Manipulators by Instructions
Venue: arXiv cs.RO 2024
Year: 2024

We propose an instructions-based approach for robot programming where the programmer interacts with the robot by issuing simple commands in a scripting language, like python. Internally, these commands make use of pre-programmed motion and manipulation skills coordinated by a behaviour tree task controller. A knowledge graph keeps track of the state of the robot and the environment and of all the instructions given to the robot by the programmer. This allows to easily transform sequences of instructions into new skills that can be reused in the same or in other tasks. An advantage of this approach is that the programmer does not need to be located physically next to the robot, but can work remotely, either with a physical robot or with a digital twin. To demonstrate the concept, we show an interactive simulation of a robot manipulator in a pick and place scenario.
Competitive Query Minimization for Stable Matching with One-Sided Uncertainty
Venue: arXiv cs.DS 2024
Year: 2024

We study the two-sided stable matching problem with one-sided uncertainty for two sets of agents A and B, with equal cardinality. Initially, the preference lists of the agents in A are given but the preferences of the agents in B are unknown. An algorithm can make queries to reveal information about the preferences of the agents in B. We examine three query models: comparison queries, interviews, and set queries. Using competitive analysis, our aim is to design algorithms that minimize the number of queries required to solve the problem of finding a stable matching or verifying that a given matching is stable (or stable and optimal for the agents of one side). We present various upper and lower bounds on the best possible competitive ratio as well as results regarding the complexity of the offline problem of determining the optimal query set given full information.
Few-Shot Bioacoustic Event Detection with Frame-Level Embedding Learning System
Venue: arXiv cs.SD 2024
Year: 2024

This technical report presents our frame-level embedding learning system for the DCASE2024 challenge for few-shot bioacoustic event detection (Task 5).In this work, we used log-mel and PCEN for feature extraction of the input audio, Netmamba Encoder as the information interaction network, and adopted data augmentation strategies to improve the generalizability of the trained model as well as multiple post-processing methods. Our final system achieved an F-measure score of 56.4%, securing the 2nd rank in the few-shot bioacoustic event detection category of the Detection and Classification of Acoustic Scenes and Events Challenge 2024.
Addressing Domain Discrepancy: A Dual-branch Collaborative Model to Unsupervised Dehazing
Venue: arXiv cs.CV 2024
Year: 2024

Although synthetic data can alleviate acquisition challenges in image dehazing tasks, it also introduces the problem of domain bias when dealing with small-scale data. This paper proposes a novel dual-branch collaborative unpaired dehazing model (DCM-dehaze) to address this issue. The proposed method consists of two collaborative branches: dehazing and contour constraints. Specifically, we design a dual depthwise separable convolutional module (DDSCM) to enhance the information expressiveness of deeper features and the correlation to shallow features. In addition, we construct a bidirectional contour function to optimize the edge features of the image to enhance the clarity and fidelity of the image details. Furthermore, we present feature enhancers via a residual dense architecture to eliminate redundant features of the dehazing process and further alleviate the domain deviation problem. Extensive experiments on benchmark datasets show that our method reaches the state-of-the-art. This project code will be available at \url{https://github.com/Fan-pixel/DCM-dehaze.
Reimagining AI in Social Work: Practitioner Perspectives on Incorporating Technology in their Practice
Venue: arXiv cs.CY 2024
Year: 2024

There has been a surge in the number and type of AI tools being tested and deployed within both national and local government in the UK, including within the social care sector. Given the many ongoing and planned future developments, the time is ripe to review and reflect on the state of AI in social care. We do so by conducting semi-structured interviews with UK-based social work professionals about their experiences and opinions of past and current AI systems. Our aim is to understand what systems would practitioners like to see developed and how. We find that all our interviewees had overwhelmingly negative past experiences of technology in social care, unanimous aversion to algorithmic decision systems in particular, but also strong interest in AI applications that could allow them to spend less time on administrative tasks. In response to our findings, we offer a series of concrete recommendations, which include commitment to participatory design, as well as the necessity of regaining practitioner trust.
The Elephant in the Room -- Why AI Safety Demands Diverse Teams
Venue: arXiv cs.CY 2024
Year: 2024

We consider that existing approaches to AI "safety" and "alignment" may not be using the most effective tools, teams, or approaches. We suggest that an alternative and better approach to the problem may be to treat alignment as a social science problem, since the social sciences enjoy a rich toolkit of models for understanding and aligning motivation and behavior, much of which could be repurposed to problems involving AI models, and enumerate reasons why this is so. We introduce an alternate alignment approach informed by social science tools and characterized by three steps: 1. defining a positive desired social outcome for human/AI collaboration as the goal or "North Star," 2. properly framing knowns and unknowns, and 3. forming diverse teams to investigate, observe, and navigate emerging challenges in alignment.
Towards detailed and interpretable hybrid modeling of continental-scale bird migration
Venue: arXiv cs.LG 2024
Year: 2024

Hybrid modeling aims to augment traditional theory-driven models with machine learning components that learn unknown parameters, sub-models or correction terms from data. In this work, we build on FluxRGNN, a recently developed hybrid model of continental-scale bird migration, which combines a movement model inspired by fluid dynamics with recurrent neural networks that capture the complex decision-making processes of birds. While FluxRGNN has been shown to successfully predict key migration patterns, its spatial resolution is constrained by the typically sparse observations obtained from weather radars. Additionally, its trainable components lack explicit incentives to adequately predict take-off and landing events. Both aspects limit our ability to interpret model results ecologically. To address this, we propose two major modifications that allow for more detailed predictions on any desired tessellation while providing control over the interpretability of model components. In experiments on the U.S. weather radar network, the enhanced model effectively leverages the underlying movement model, resulting in strong extrapolation capabilities to unobserved locations.
Does Burrows' Delta really confirm that Rowling and Galbraith are the same author?
Venue: arXiv cs.CL 2024
Year: 2024

The stylo package includes a frequency table that can be used to calculate distances between texts and thus independently solve the problem of attribution of The Cuckoo's Calling, a novel that J.K. Rowling said she wrote. However, the set of texts for this table is very vulnerable to criticism. The authors there are not modern, they wrote in a different genre. I set out to test the performance of the method on texts that are more relevant to the research question.
Building Collaborative Learning: Exploring Social Annotation in Introductory Programming
Venue: arXiv cs.CY 2024
Year: 2024

The increasing demand for software engineering education presents learning challenges in courses due to the diverse range of topics that require practical applications, such as programming or software design, all of which are supported by group work and interaction. Social Annotation (SA) is an approach to teaching that can enhance collaborative learning among students. In SA, both students and teachers utilize platforms like Feedback Fruits, Perusall, and Diigo to collaboratively annotate and discuss course materials. This approach encourages students to share their thoughts and answers with their peers, fostering a more interactive learning environment. We share our experience of implementing social annotation via Perusall as a preparatory tool for lectures in an introductory programming course aimed at undergraduate students in Software Engineering. We report the impact of Perusall on the examination results of 112 students. Our results show that 81% of students engaged in meaningful social annotation successfully passed the course. Notably, the proportion of students passing the exam tends to rise as they complete more Perusall assignments. In contrast, only 56% of students who did not participate in Perusall discussions managed to pass the exam. We did not enforce mandatory Perusall participation in the course. Yet, the feedback from our course evaluation questionnaire reveals that most students ranked Perusall among their favorite components of the course and that their interest in the subject has increased.
Mapping the Scholarship of Dark Pattern Regulation: A Systematic Review of Concepts, Regulatory Paradigms, and Solutions from an Interdisciplinary Perspective
Venue: arXiv cs.CY 2024
Year: 2024

Dark patterns, design tricks used on online interfaces to manipulate users decision-making process, have raised public concerns. However, research on regulation of dark pattern remains underdeveloped and scattered, particularly regarding scholars views on the concept, regulatory paradigms, and solutions. Following PRISMA guidelines, this paper systematically reviews the formats and content of regulatory discussions on dark patterns from the interdisciplinary scholarship of Law and Human-Computer Interaction. A total of 65 studies were analysed through content and thematic analysis. This study synthesises the unique trends and characteristics of legal scholarship on dark patterns, identifying five root problems and triple layered harms. It critiques current regulations in terms of legal theories and sectoral legislations, highlighting their inadequacies in addressing dark patterns. The paper also critically examines existing proposed solutions, including paradigmatic shifts in legal doctrines, refinements to existing frameworks, technical design-embedded solutions, and accountability measures for design practices. This research critically discusses the current barriers to effective dark pattern regulations and explores promising regulatory solutions. The difficulty in identifying the normative nature of various forms of dark patterns, in identifying evident and actionable harm, and the expanding scope of dark patterns connotation inherently hinders effective regulation. However, technical design-embedded solutions, accountability frameworks, and practical design guidelines offer potential routes for more proactive regulation, while legal pluralism stands as a promising macro-level change in regulatory paradigms for dark pattern regulation.
PLACIDUS: Engineering Product Lines of Rigorous Assurance Cases
Venue: arXiv cs.SE 2024
Year: 2024

In critical software engineering, structured assurance cases (ACs) are used to demonstrate how key properties (e.g., safety, security) are supported by evidence artifacts (e.g., test results, proofs). ACs can also be studied as formal objects in themselves, such that formal methods can be used to establish their correctness. Creating rigorous ACs is particularly challenging in the context of software product lines (SPLs), wherein a family of related software products is engineered simultaneously. Since creating individual ACs for each product is infeasible, AC development must be lifted to the level of product lines. In this work, we propose PLACIDUS, a methodology for integrating formal methods and software product line engineering to develop provably correct ACs for SPLs. To provide rigorous foundations for PLACIDUS, we define a variability-aware AC language and formalize its semantics using the proof assistant Lean. We provide tool support for PLACIDUS as part of an Eclipse-based model management framework. Finally, we demonstrate the feasibility of PLACIDUS by developing an AC for a product line of medical devices.
Comparing Complex Concepts with Transformers: Matching Patent Claims Against Natural Language Text
Venue: arXiv cs.CL 2024
Year: 2024

A key capability in managing patent applications or a patent portfolio is comparing claims to other text, e.g. a patent specification. Because the language of claims is different from language used elsewhere in the patent application or in non-patent text, this has been challenging for computer based natural language processing. We test two new LLM-based approaches and find that both provide substantially better performance than previously published values. The ability to match dense information from one domain against much more distributed information expressed in a different vocabulary may also be useful beyond the intellectual property space.
Learning to Represent Surroundings, Anticipate Motion and Take Informed Actions in Unstructured Environments
Venue: arXiv cs.RO 2024
Year: 2024

Contemporary robots have become exceptionally skilled at achieving specific tasks in structured environments. However, they often fail when faced with the limitless permutations of real-world unstructured environments. This motivates robotics methods which learn from experience, rather than follow a pre-defined set of rules. In this thesis, we present a range of learning-based methods aimed at enabling robots, operating in dynamic and unstructured environments, to better understand their surroundings, anticipate the actions of others, and take informed actions accordingly.
A Multi-Stage Framework for 3D Individual Tooth Segmentation in Dental CBCT
Venue: arXiv cs.CV 2024
Year: 2024

Cone beam computed tomography (CBCT) is a common way of diagnosing dental related diseases. Accurate segmentation of 3D tooth is of importance for the treatment. Although deep learning based methods have achieved convincing results in medical image processing, they need a large of annotated data for network training, making it very time-consuming in data collection and annotation. Besides, domain shift widely existing in the distribution of data acquired by different devices impacts severely the model generalization. To resolve the problem, we propose a multi-stage framework for 3D tooth segmentation in dental CBCT, which achieves the third place in the "Semi-supervised Teeth Segmentation" 3D (STS-3D) challenge. The experiments on validation set compared with other semi-supervised segmentation methods further indicate the validity of our approach.
DDFAD: Dataset Distillation Framework for Audio Data
Venue: arXiv cs.SD 2024
Year: 2024

Deep neural networks (DNNs) have achieved significant success in numerous applications. The remarkable performance of DNNs is largely attributed to the availability of massive, high-quality training datasets. However, processing such massive training data requires huge computational and storage resources. Dataset distillation is a promising solution to this problem, offering the capability to compress a large dataset into a smaller distilled dataset. The model trained on the distilled dataset can achieve comparable performance to the model trained on the whole dataset. While dataset distillation has been demonstrated in image data, none have explored dataset distillation for audio data. In this work, for the first time, we propose a Dataset Distillation Framework for Audio Data (DDFAD). Specifically, we first propose the Fused Differential MFCC (FD-MFCC) as extracted features for audio data. After that, the FD-MFCC is distilled through the matching training trajectory distillation method. Finally, we propose an audio signal reconstruction algorithm based on the Griffin-Lim Algorithm to reconstruct the audio signal from the distilled FD-MFCC. Extensive experiments demonstrate the effectiveness of DDFAD on various audio datasets. In addition, we show that DDFAD has promising application prospects in many applications, such as continual learning and neural architecture search.
G-PCGRL: Procedural Graph Data Generation via Reinforcement Learning
Venue: arXiv cs.LG 2024
Year: 2024

Graph data structures offer a versatile and powerful means to model relationships and interconnections in various domains, promising substantial advantages in data representation, analysis, and visualization. In games, graph-based data structures are omnipresent and represent, for example, game economies, skill trees or complex, branching quest lines. With this paper, we propose G-PCGRL, a novel and controllable method for the procedural generation of graph data using reinforcement learning. Therefore, we frame this problem as manipulating a graph's adjacency matrix to fulfill a given set of constraints. Our method adapts and extends the Procedural Content Generation via Reinforcement Learning (PCGRL) framework and introduces new representations to frame the problem of graph data generation as a Markov decision process. We compare the performance of our method with the original PCGRL, the run time with a random search and evolutionary algorithm, and evaluate G-PCGRL on two graph data domains in games: game economies and skill trees. The results show that our method is capable of generating graph-based content quickly and reliably to support and inspire designers in the game creation process. In addition, trained models are controllable in terms of the type and number of nodes to be generated.
MM-Tracker: Motion Mamba with Margin Loss for UAV-platform Multiple Object Tracking
Venue: arXiv cs.CV 2024
Year: 2024

Multiple object tracking (MOT) from unmanned aerial vehicle (UAV) platforms requires efficient motion modeling. This is because UAV-MOT faces both local object motion and global camera motion. Motion blur also increases the difficulty of detecting large moving objects. Previous UAV motion modeling approaches either focus only on local motion or ignore motion blurring effects, thus limiting their tracking performance and speed. To address these issues, we propose the Motion Mamba Module, which explores both local and global motion features through cross-correlation and bi-directional Mamba Modules for better motion modeling. To address the detection difficulties caused by motion blur, we also design motion margin loss to effectively improve the detection accuracy of motion blurred objects. Based on the Motion Mamba module and motion margin loss, our proposed MM-Tracker surpasses the state-of-the-art in two widely open-source UAV-MOT datasets. Code will be available.
ConTEXTure: Consistent Multiview Images to Texture
Venue: arXiv cs.CV 2024
Year: 2024

We introduce ConTEXTure, a generative network designed to create a texture map/atlas for a given 3D mesh using images from multiple viewpoints. The process begins with generating a front-view image from a text prompt, such as 'Napoleon, front view', describing the 3D mesh. Additional images from different viewpoints are derived from this front-view image and camera poses relative to it. ConTEXTure builds upon the TEXTure network, which uses text prompts for six viewpoints (e.g., 'Napoleon, front view', 'Napoleon, left view', etc.). However, TEXTure often generates images for non-front viewpoints that do not accurately represent those viewpoints.To address this issue, we employ Zero123++, which generates multiple view-consistent images for the six specified viewpoints simultaneously, conditioned on the initial front-view image and the depth maps of the mesh for the six viewpoints. By utilizing these view-consistent images, ConTEXTure learns the texture atlas from all viewpoint images concurrently, unlike previous methods that do so sequentially. This approach ensures that the rendered images from various viewpoints, including back, side, bottom, and top, are free from viewpoint irregularities.
An evaluation of CNN models and data augmentation techniques in hierarchical localization of mobile robots
Venue: arXiv cs.CV 2024
Year: 2024

This work presents an evaluation of CNN models and data augmentation to carry out the hierarchical localization of a mobile robot by using omnidireccional images. In this sense, an ablation study of different state-of-the-art CNN models used as backbone is presented and a variety of data augmentation visual effects are proposed for addressing the visual localization of the robot. The proposed method is based on the adaption and re-training of a CNN with a dual purpose: (1) to perform a rough localization step in which the model is used to predict the room from which an image was captured, and (2) to address the fine localization step, which consists in retrieving the most similar image of the visual map among those contained in the previously predicted room by means of a pairwise comparison between descriptors obtained from an intermediate layer of the CNN. In this sense, we evaluate the impact of different state-of-the-art CNN models such as ConvNeXt for addressing the proposed localization. Finally, a variety of data augmentation visual effects are separately employed for training the model and their impact is assessed. The performance of the resulting CNNs is evaluated under real operation conditions, including changes in the lighting conditions. Our code is publicly available on the project website https://github.com/juanjo-cabrera/IndoorLocalizationSingleCNN.git