OpenRaiser/Intern-Atlas huggingface dataset:
Random Heterogeneous Neurochaos Learning Architecture for Data Classification
Venue: arXiv cs.LG 2024
Year: 2024

Inspired by the human brain's structure and function, Artificial Neural Networks (ANN) were developed for data classification. However, existing Neural Networks, including Deep Neural Networks, do not mimic the brain's rich structure. They lack key features such as randomness and neuron heterogeneity, which are inherently chaotic in their firing behavior. Neurochaos Learning (NL), a chaos-based neural network, recently employed one-dimensional chaotic maps like Generalized Lüroth Series (GLS) and Logistic map as neurons. For the first time, we propose a random heterogeneous extension of NL, where various chaotic neurons are randomly placed in the input layer, mimicking the randomness and heterogeneous nature of human brain networks. We evaluated the performance of the newly proposed Random Heterogeneous Neurochaos Learning (RHNL) architectures combined with traditional Machine Learning (ML) methods. On public datasets, RHNL outperformed both homogeneous NL and fixed heterogeneous NL architectures in nearly all classification tasks. RHNL achieved high F1 scores on the Wine dataset (1.0), Bank Note Authentication dataset (0.99), Breast Cancer Wisconsin dataset (0.99), and Free Spoken Digit Dataset (FSDD) (0.98). These RHNL results are among the best in the literature for these datasets. We investigated RHNL performance on image datasets, where it outperformed stand-alone ML classifiers. In low training sample regimes, RHNL was the best among stand-alone ML. Our architecture bridges the gap between existing ANN architectures and the human brain's chaotic, random, and heterogeneous properties. We foresee the development of several novel learning algorithms centered around Random Heterogeneous Neurochaos Learning in the coming days.
Practical Evaluation of Wize and Bluetooth 5 Assisted RFID for an Opportunistic Vehicular Scenario
Venue: arXiv cs.NI 2024
Year: 2024

Wireless communications are critical in the constantly changing environment of IoT and RFID technologies, where thousands of devices can be deployed across a wide range of scenarios. Whether connecting to cloud servers or local fog/edge devices, maintaining seamless communications is difficult, especially in demanding contexts like industrial warehouses or remote rural areas. Opportunistic networks, when combined with edge devices, provide a possible solution to this challenge. These networks enable IoT devices, particularly mobile devices, to redirect information as it passes via other devices until it reaches an edge node. Using different communication protocols, this paper investigates their effects on response times and total messages received for a opportunistic assisted RFID system. Specifically, this article compares two communications technologies (Bluetooth 5 and Wize) when used for building a novel Opportunistic Edge Computing (OEC) identification system based on low-cost Single-Board Computers (SBCs). For such a comparison, measurements have been performed for quantifying packet loss and latency. The tests consisted in two experiments under identical conditions and scenarios, with a node located roadside, transmitting identification information, and a node located inside a moving vehicle that was driven at varying vehicle speeds. The obtained results show for Bluetooth 5 average latencies ranging between 700 and 950 ms with packet losses between 7% and 27%, whereas for Wize the average delay as between 150 and 370 ms with packet losses between 20% and 52%.
A Cost-Effective Thermal Imaging Safety Sensor for Industry 5.0 and Collaborative Robotics
Venue: arXiv cs.RO 2024
Year: 2024

The Industry 5.0 paradigm focuses on industrial operator well-being and sustainable manufacturing practices, where humans play a central role, not only during the repetitive and collaborative tasks of the manufacturing process, but also in the management of the factory floor assets. Human factors, such as ergonomics, safety, and well-being, push the human-centric smart factory to efficiently adopt novel technologies while minimizing environmental and social impact. As operations at the factory floor increasingly rely on collaborative robots (CoBots) and flexible manufacturing systems, there is a growing demand for redundant safety mechanisms (i.e., automatic human detection in the proximity of machinery that is under operation). Fostering enhanced process safety for human proximity detection allows for the protection against possible incidents or accidents with the deployed industrial devices and machinery. This paper introduces the design and implementation of a cost-effective thermal imaging Safety Sensor that can be used in the scope of Industry 5.0 to trigger distinct safe mode states in manufacturing processes that rely on collaborative robotics. The proposed Safety Sensor uses a hybrid detection approach and has been evaluated under controlled environmental conditions. The obtained results show a 97% accuracy at low computational cost when using the developed hybrid method to detect the presence of humans in thermal images.
Multi-fidelity Machine Learning for Uncertainty Quantification and Optimization
Venue: arXiv cs.LG 2024
Year: 2024

In system analysis and design optimization, multiple computational models are typically available to represent a given physical system. These models can be broadly classified as high-fidelity models, which provide highly accurate predictions but require significant computational resources, and low-fidelity models, which are computationally efficient but less accurate. Multi-fidelity methods integrate high- and low-fidelity models to balance computational cost and predictive accuracy. This perspective paper provides an in-depth overview of the emerging field of machine learning-based multi-fidelity methods, with a particular emphasis on uncertainty quantification and optimization. For uncertainty quantification, a particular focus is on multi-fidelity graph neural networks, compared with multi-fidelity polynomial chaos expansion. For optimization, our emphasis is on multi-fidelity Bayesian optimization, offering a unified perspective on multi-fidelity priors and proposing an application strategy when the objective function is an integral or a weighted sum. We highlight the current state of the art, identify critical gaps in the literature, and outline key research opportunities in this evolving field.
Development and Comparative Analysis of Machine Learning Models for Hypoxemia Severity Triage in CBRNE Emergency Scenarios Using Physiological and Demographic Data from Medical-Grade Devices
Venue: arXiv cs.LG 2024
Year: 2024

This paper presents the development of machine learning (ML) models to predict hypoxemia severity during emergency triage, especially in Chemical, Biological, Radiological, Nuclear, and Explosive (CBRNE) events, using physiological data from medical-grade sensors. Gradient Boosting Models (XGBoost, LightGBM, CatBoost) and sequential models (LSTM, GRU) were trained on physiological and demographic data from the MIMIC-III and IV datasets. A robust preprocessing pipeline addressed missing data, class imbalances, and incorporated synthetic data flagged with masks. Gradient Boosting Models (GBMs) outperformed sequential models in terms of training speed, interpretability, and reliability, making them well-suited for real-time decision-making. While their performance was comparable to that of sequential models, the GBMs used score features from six physiological variables derived from the enhanced National Early Warning Score (NEWS) 2, which we termed NEWS2+. This approach significantly improved prediction accuracy. While sequential models handled temporal data well, their performance gains did not justify the higher computational cost. A 5-minute prediction window was chosen for timely intervention, with minute-level interpolations standardizing the data. Feature importance analysis highlighted the significant role of mask and score features in enhancing both transparency and performance. Temporal dependencies proved to be less critical, as Gradient Boosting Models were able to capture key patterns effectively without relying on them. This study highlights ML's potential to improve triage and reduce alarm fatigue. Future work will integrate data from multiple hospitals to enhance model generalizability across clinical settings.
From Blocking to Breaking: Evaluating the Impact of Adblockers on Web Usability
Venue: arXiv cs.CR 2024
Year: 2024

Recent years have seen a sharp rise in adblocker use, driven by increased web tracking and personalized ads. However, a significant issue for adblocker users is the web breakages they encounter, which worsens their browsing experience and often leads them to turn off their adblockers. Despite efforts by filter list maintainers to create rules that minimize these breakages, they remain a common issue. Our research aims to assess the extent of web breakages caused by adblocking on live sites using automated tools, attempting to establish a baseline for these disruptions. The study also outlines the challenges and limitations encountered when measuring web breakages in real-time. The current automated crawler's inability to consistently navigate a vast array of websites, combined with the unpredictable nature of web content, makes this research particularly difficult. We have identified several key findings related to web breakages in our preliminary study, which we intend to delve deeper into in future research.
NUSense: Robust Soft Optical Tactile Sensor
Venue: arXiv cs.RO 2024
Year: 2024

While most tactile sensors rely on measuring pressure, insights from continuum mechanics suggest that measuring shear strain provides critical information for tactile sensing. In this work, we introduce an optical tactile sensing principle based on shear strain detection. A silicone rubber layer, dyed with color inks, is used to quantify the shear magnitude of the sensing layer. This principle was validated using the NUSense camera-based tactile sensor. The wide-angle camera captures the elongation of the soft pad under mechanical load, a phenomenon attributed to the Poisson effect. The physical and optical properties of the inked pad are essential and should ideally remain stable over time. We tested the robustness of the sensor by subjecting the outermost layer to multiple load cycles using a robot arm. Additionally, we discussed potential applications of this sensor in force sensing and contact localization.
Context-Aware Token Selection and Packing for Enhanced Vision Transformer
Venue: arXiv cs.CV 2024
Year: 2024

In recent years, the long-range attention mechanism of vision transformers has driven significant performance breakthroughs across various computer vision tasks. However, the traditional self-attention mechanism, which processes both informative and non-informative tokens, suffers from inefficiency and inaccuracies. While sparse attention mechanisms have been introduced to mitigate these issues by pruning tokens involved in attention, they often lack context-awareness and intelligence. These mechanisms frequently apply a uniform token selection strategy across different inputs for batch training or optimize efficiency only for the inference stage. To overcome these challenges, we propose a novel algorithm: Select and Pack Attention (SPA). SPA dynamically selects informative tokens using a low-cost gating layer supervised by selection labels and packs these tokens into new batches, enabling a variable number of tokens to be used in parallelized GPU batch training and inference. Extensive experiments across diverse datasets and computer vision tasks demonstrate that SPA delivers superior performance and efficiency, including a 0.6 mAP improvement in object detection and a 16.4% reduction in computational costs.
DIP: Diffusion Learning of Inconsistency Pattern for General DeepFake Detection
Venue: arXiv cs.CV 2024
Year: 2024

With the advancement of deepfake generation techniques, the importance of deepfake detection in protecting multimedia content integrity has become increasingly obvious. Recently, temporal inconsistency clues have been explored to improve the generalizability of deepfake video detection. According to our observation, the temporal artifacts of forged videos in terms of motion information usually exhibits quite distinct inconsistency patterns along horizontal and vertical directions, which could be leveraged to improve the generalizability of detectors. In this paper, a transformer-based framework for Diffusion Learning of Inconsistency Pattern (DIP) is proposed, which exploits directional inconsistencies for deepfake video detection. Specifically, DIP begins with a spatiotemporal encoder to represent spatiotemporal information. A directional inconsistency decoder is adopted accordingly, where direction-aware attention and inconsistency diffusion are incorporated to explore potential inconsistency patterns and jointly learn the inherent relationships. In addition, the SpatioTemporal Invariant Loss (STI Loss) is introduced to contrast spatiotemporally augmented sample pairs and prevent the model from overfitting nonessential forgery artifacts. Extensive experiments on several public datasets demonstrate that our method could effectively identify directional forgery clues and achieve state-of-the-art performance.
CubiXMusashi: Fusion of Wire-Driven CubiX and Musculoskeletal Humanoid Musashi toward Unlimited Performance
Venue: arXiv cs.RO 2024
Year: 2024

Humanoids exhibit a wide variety in terms of joint configuration, actuators, and degrees of freedom, resulting in different achievable movements and tasks for each type. Particularly, musculoskeletal humanoids are developed to closely emulate human body structure and movement functions, consisting of a skeletal framework driven by numerous muscle actuators. The redundant arrangement of muscles relative to the skeletal degrees of freedom has been used to represent the flexible and complex body movements observed in humans. However, due to this flexible body and high degrees of freedom, modeling, simulation, and control become extremely challenging, limiting the feasible movements and tasks. In this study, we integrate the musculoskeletal humanoid Musashi with the wire-driven robot CubiX, capable of connecting to the environment, to form CubiXMusashi. This combination addresses the shortcomings of traditional musculoskeletal humanoids and enables movements beyond the capabilities of other humanoids. CubiXMusashi connects to the environment with wires and drives by winding them, successfully achieving movements such as pull-up, rising from a lying pose, and mid-air kicking, which are difficult for Musashi alone. This concept demonstrates that various humanoids, not limited to musculoskeletal humanoids, can mitigate their physical constraints and acquire new abilities by connecting to the environment and driving through wires.
Features characterizing safe aerial-aquatic robots
Venue: arXiv cs.RO 2024
Year: 2024

This paper underscores the importance of environmental monitoring, and specifically of freshwater ecosystems, which play a critical role in sustaining life and global economy. Despite their importance, insufficient data availability prevents a comprehensive understanding of these ecosystems, thereby impeding informed decision-making concerning their preservation. Aerial-aquatic robots are identified as effective tools for freshwater sensing, offering rapid deployment and avoiding the need of using ships and manned teams. To advance the field of aerial aquatic robots, this paper conducts a comprehensive review of air-water transitions focusing on the water entry strategy of existing prototypes. This analysis also highlights the safety risks associated with each transition and proposes a set of design requirements relating to robots' tasks, mission objectives, and safety measures. To further explore the proposed design requirements, we present a novel robot with VTOL capability, enabling seamless air water transitions.
A Comprehensive Review of Current Robot- Based Pollinators in Greenhouse Farming
Venue: arXiv cs.RO 2024
Year: 2024

The decline of bee and wind-based pollination systems in greenhouses due to controlled environments and limited access has boost the importance of finding alternative pollination methods. Robotic based pollination systems have emerged as a promising solution, ensuring adequate crop yield even in challenging pollination scenarios. This paper presents a comprehensive review of the current robotic-based pollinators employed in greenhouses. The review categorizes pollinator technologies into major categories such as air-jet, water-jet, linear actuator, ultrasonic wave, and air-liquid spray, each suitable for specific crop pollination requirements. However, these technologies are often tailored to particular crops, limiting their versatility. The advancement of science and technology has led to the integration of automated pollination technology, encompassing information technology, automatic perception, detection, control, and operation. This integration not only reduces labor costs but also fosters the ongoing progress of modern agriculture by refining technology, enhancing automation, and promoting intelligence in agricultural practices. Finally, the challenges encountered in design of pollinator are addressed, and a forward-looking perspective is taken towards future developments, aiming to contribute to the sustainable advancement of this technology.
Reverse Attitude Statistics Based Star Map Identification Method
Venue: arXiv cs.CV 2024
Year: 2024

The star tracker is generally affected by the atmospheric background light and the aerodynamic environment when working in near space, which results in missing stars or false stars. Moreover, high-speed maneuvering may cause star trailing, which reduces the accuracy of the star position. To address the challenges for starmap identification, a reverse attitude statistics based method is proposed to handle position noise, false stars, and missing stars. Conversely to existing methods which match before solving for attitude, this method introduces attitude solving into the matching process, and obtains the final match and the correct attitude simultaneously by frequency statistics. Firstly, based on stable angular distance features, the initial matching is obtained by utilizing spatial hash indexing. Then, the dual-vector attitude determination is introduced to calculate potential attitude. Finally, the star pairs are accurately matched by applying a frequency statistics filtering method. In addition, Bayesian optimization is employed to find optimal parameters under the impact of noises, which is able to enhance the algorithm performance further. In this work, the proposed method is validated in simulation, field test and on-orbit experiment. Compared with the state-of-the-art, the identification rate is improved by more than 14.3%, and the solving time is reduced by over 28.5%.
Efficient Performance Analysis of Modular Rewritable Petri Nets
Venue: arXiv cs.PF 2024
Year: 2024

Petri Nets (PN) are extensively used as a robust formalism to model concurrent and distributed systems; however, they encounter difficulties in accurately modeling adaptive systems. To address this issue, we defined rewritable PT nets (RwPT) using Maude, a declarative language that ensures consistent rewriting logic semantics. Recently, we proposed a modular approach that employs algebraic operators to build extensive RwPT models. This methodology uses composite node labeling to maintain hierarchical organization through net rewrites and has been shown to be effective. Once stochastic parameters are integrated into the formalism, we introduce an automated procedure to derive a lumped CTMC from the quotient graph generated by a modular RwPT model. To demonstrate the effectiveness of our method, we present a fault-tolerant manufacturing system as a case study.
In-Context LoRA for Diffusion Transformers
Venue: arXiv cs.CV 2024
Year: 2024

Recent research arXiv:2410.15027 has explored the use of diffusion transformers (DiTs) for task-agnostic image generation by simply concatenating attention tokens across images. However, despite substantial computational resources, the fidelity of the generated images remains suboptimal. In this study, we reevaluate and streamline this framework by hypothesizing that text-to-image DiTs inherently possess in-context generation capabilities, requiring only minimal tuning to activate them. Through diverse task experiments, we qualitatively demonstrate that existing text-to-image DiTs can effectively perform in-context generation without any tuning. Building on this insight, we propose a remarkably simple pipeline to leverage the in-context abilities of DiTs: (1) concatenate images instead of tokens, (2) perform joint captioning of multiple images, and (3) apply task-specific LoRA tuning using small datasets (e.g., 20~100 samples) instead of full-parameter tuning with large datasets. We name our models In-Context LoRA (IC-LoRA). This approach requires no modifications to the original DiT models, only changes to the training data. Remarkably, our pipeline generates high-fidelity image sets that better adhere to prompts. While task-specific in terms of tuning data, our framework remains task-agnostic in architecture and pipeline, offering a powerful tool for the community and providing valuable insights for further research on product-level task-agnostic generation systems. We release our code, data, and models at https://github.com/ali-vilab/In-Context-LoRA
Memes, Markets, and Machines: The Evolution of On Chain Autonomy through Hyperstition
Venue: arXiv cs.CY 2024
Year: 2024

Autonomous AI is driving new intersections between culture, cognition, and finance, fundamentally reshaping the digital landscape. Zerebro, an AI fine-tuned on schizophrenic responses and scraped conversations of Andy Ayrey's infinite backrooms, autonomously creates and spreads disruptive memes across online platforms. It also mints unique ASCII artwork on blockchain networks and launched a memecoin amassing a 3 million USD market cap after migrating to Raydium. Based on our research, Zerebro is the first cross-chain AI, seamlessly interacting with multiple blockchains. By exploring its architecture, content generation techniques, and blockchain integration, this study uncovers how hyperstition, fictions becoming reality through viral propagation, emerges in AI, driven meme culture and decentralized finance. Through historical examples of memetic influence, we reveal how AI systems like Zerebro are not merely participants but architects of culture, cognition, and finance.
SOAR: Self-Occluded Avatar Recovery from a Single Video In the Wild
Venue: arXiv cs.CV 2024
Year: 2024

Self-occlusion is common when capturing people in the wild, where the performer do not follow predefined motion scripts. This challenges existing monocular human reconstruction systems that assume full body visibility. We introduce Self-Occluded Avatar Recovery (SOAR), a method for complete human reconstruction from partial observations where parts of the body are entirely unobserved. SOAR leverages structural normal prior and generative diffusion prior to address such an ill-posed reconstruction problem. For structural normal prior, we model human with an reposable surfel model with well-defined and easily readable shapes. For generative diffusion prior, we perform an initial reconstruction and refine it using score distillation. On various benchmarks, we show that SOAR performs favorably than state-of-the-art reconstruction and generation methods, and on-par comparing to concurrent works. Additional video results and code are available at https://soar-avatar.github.io/.