OpenRaiser/Intern-Atlas huggingface dataset:
Effects of Multisensory Feedback on the Perception and Performance of Virtual Reality Hand-Retargeted Interaction
Venue: arXiv cs.HC 2024
Year: 2024

Retargeting methods that modify the visual representation of real movements have been widely used to expand the interaction space and create engaging virtual reality experiences. For optimal user experience and performance, it is essential to specify the perception of retargeting and utilize the appropriate range of modification parameters. However, previous studies mostly concentrated on whether users perceived the target sense or not and rarely examined the perceptual accuracy and sensitivity to retargeting. Moreover, it is unknown how the perception and performance in hand-retargeted interactions are influenced by multisensory feedback. In this study, we used rigorous psychophysical methods to specify users' perceptual accuracy and sensitivity to hand-retargeting and provide acceptable ranges of retargeting parameters. We also presented different multisensory feedback simultaneously with the retargeting to probe its effect on users' perception and task performance. The experimental results showed that providing continuous multisensory feedback, proportionate to the distance between the virtual hand and the targeted destination, heightened the accuracy of users' perception of hand retargeting without altering their perceptual sensitivity. Furthermore, the utilization of multisensory feedback considerably improved the precision of task performance, particularly at lower gain factors. Based on these findings, we propose design guidelines and potential applications of VR hand-retargeted interactions and multisensory feedback for optimal user experience and performance.
Under-Canopy Navigation using Aerial Lidar Maps
Venue: arXiv cs.RO 2024
Year: 2024

Autonomous navigation in unstructured natural environments poses a significant challenge. In goal navigation tasks without prior information, the limited look-ahead of onboard sensors utilised by robots compromises path efficiency. We propose a novel approach that leverages an above-the-canopy aerial map for improved ground robot navigation. Our system utilises aerial lidar scans to create a 3D probabilistic occupancy map, uniquely incorporating the uncertainty in the aerial vehicle's trajectory for improved accuracy. Novel path planning cost functions are introduced, combining path length with obstruction risk estimated from the probabilistic map. The D-Star Lite algorithm then calculates an optimal (minimum-cost) path to the goal. This system also allows for dynamic replanning upon encountering unforeseen obstacles on the ground. Extensive experiments and ablation studies in simulated and real forests demonstrate the effectiveness of our system.
Quand rechercher c'est faire des vagues : Dans et {à} partir des images algorithmiques
Venue: arXiv cs.GR 2024
Year: 2024

In Search of the Wave is a computer-generated film made in 2013, highlighting the computation of images through computer simulation, and through text and voice. Originating from a screening of the film at the Gustave Eiffel University, the article presents a reflection on research-creation in and from algorithmic images. Fundamentally, what is it in this research-creation -- especially in research on algorithmic imagery -- that can be set in motion? Without fully distinguishing between what would be research on one hand and creation on the other, we focus on characterizing forms, aesthetics, or theories that contribute to possible shifts. The inventory of these possibilities is precisely the challenge of the text: from mathematics to image and visualization, from the birth of generative aesthetics to the coding related to pioneering works (recoding), or from indexing new aesthetics to new forms of critical production.
Deep Learning for Satellite Image Time Series Analysis: A Review
Venue: arXiv cs.CV 2024
Year: 2024

Earth observation (EO) satellite missions have been providing detailed images about the state of the Earth and its land cover for over 50 years. Long term missions, such as NASA's Landsat, Terra, and Aqua satellites, and more recently, the ESA's Sentinel missions, record images of the entire world every few days. Although single images provide point-in-time data, repeated images of the same area, or satellite image time series (SITS) provide information about the changing state of vegetation and land use. These SITS are useful for modeling dynamic processes and seasonal changes such as plant phenology. They have potential benefits for many aspects of land and natural resource management, including applications in agricultural, forest, water, and disaster management, urban planning, and mining. However, the resulting satellite image time series (SITS) are complex, incorporating information from the temporal, spatial, and spectral dimensions. Therefore, deep learning methods are often deployed as they can analyze these complex relationships. This review presents a summary of the state-of-the-art methods of modelling environmental, agricultural, and other Earth observation variables from SITS data using deep learning methods. We aim to provide a resource for remote sensing experts interested in using deep learning techniques to enhance Earth observation models with temporal information.
Approximation Schemes for Geometric Knapsack for Packing Spheres and Fat Objects
Venue: arXiv cs.CG 2024
Year: 2024

We study the geometric knapsack problem in which we are given a set of $d$-dimensional objects (each with associated profits) and the goal is to find the maximum profit subset that can be packed non-overlappingly into a given $d$-dimensional (unit hypercube) knapsack. Even if $d=2$ and all input objects are disks, this problem is known to be \textsf{NP}-hard [Demaine, Fekete, Lang, 2010]. In this paper, we give polynomial time $(1+\varepsilon)$-approximation algorithms for the following types of input objects in any constant dimension $d$: - disks and hyperspheres, - a class of fat convex polygons that generalizes regular $k$-gons for $k\ge 5$ (formally, polygons with a constant number of edges, whose lengths are in a bounded range, and in which each angle is strictly larger than $π/2$), - arbitrary fat convex objects that are sufficiently small compared to the knapsack. We remark that in our \textsf{PTAS} for disks and hyperspheres, we output the computed set of objects, but for a $O_\varepsilon(1)$ of them, we determine their coordinates only up to an exponentially small error. However, it is unclear whether there always exists a $(1+\varepsilon)$-approximate solution that uses only rational coordinates for the disks' centers. We leave this as an open problem that is related to well-studied geometric questions in the realm of circle packing.
Rolling the dice for better deep learning performance: A study of randomness techniques in deep neural networks
Venue: arXiv cs.LG 2024
Year: 2024

This paper investigates how various randomization techniques impact Deep Neural Networks (DNNs). Randomization, like weight noise and dropout, aids in reducing overfitting and enhancing generalization, but their interactions are poorly understood. The study categorizes randomness techniques into four types and proposes new methods: adding noise to the loss function and random masking of gradient updates. Using Particle Swarm Optimizer (PSO) for hyperparameter optimization, it explores optimal configurations across MNIST, FASHION-MNIST, CIFAR10, and CIFAR100 datasets. Over 30,000 configurations are evaluated, revealing data augmentation and weight initialization randomness as main performance contributors. Correlation analysis shows different optimizers prefer distinct randomization types. The complete implementation and dataset are available on GitHub.
Pros and Cons! Evaluating ChatGPT on Software Vulnerability
Venue: arXiv cs.SE 2024
Year: 2024

This paper proposes a pipeline for quantitatively evaluating interactive LLMs such as ChatGPT using publicly available dataset. We carry out an extensive technical evaluation of ChatGPT using Big-Vul covering five different common software vulnerability tasks. We evaluate the multitask and multilingual aspects of ChatGPT based on this dataset. We found that the existing state-of-the-art methods are generally superior to ChatGPT in software vulnerability detection. Although ChatGPT improves accuracy when providing context information, it still has limitations in accurately predicting severity ratings for certain CWE types. In addition, ChatGPT demonstrates some ability in locating vulnerabilities for certain CWE types, but its performance varies among different CWE types. ChatGPT exhibits limited vulnerability repair capabilities in both providing and not providing context information. Finally, ChatGPT shows uneven performance in generating CVE descriptions for various CWE types, with limited accuracy in detailed information. Overall, though ChatGPT performs well in some aspects, it still needs improvement in understanding the subtle differences in code vulnerabilities and the ability to describe vulnerabilities in order to fully realize its potential. Our evaluation framework provides valuable insights for further enhancing ChatGPT' s software vulnerability handling capabilities.
Demonstration Guided Multi-Objective Reinforcement Learning
Venue: arXiv cs.LG 2024
Year: 2024

Multi-objective reinforcement learning (MORL) is increasingly relevant due to its resemblance to real-world scenarios requiring trade-offs between multiple objectives. Catering to diverse user preferences, traditional reinforcement learning faces amplified challenges in MORL. To address the difficulty of training policies from scratch in MORL, we introduce demonstration-guided multi-objective reinforcement learning (DG-MORL). This novel approach utilizes prior demonstrations, aligns them with user preferences via corner weight support, and incorporates a self-evolving mechanism to refine suboptimal demonstrations. Our empirical studies demonstrate DG-MORL's superiority over existing MORL algorithms, establishing its robustness and efficacy, particularly under challenging conditions. We also provide an upper bound of the algorithm's sample complexity.
Validation of critical maneuvers based on shared control
Venue: arXiv cs.HC 2024
Year: 2024

This paper presents the validation of shared control strategies for critical maneuvers in automated driving systems. Shared control involves collaboration between the driver and automation, allowing both parties to actively engage and cooperate at different levels of the driving task. The involvement of the driver adds complexity to the control loop, necessitating comprehensive validation methodologies. The proposed approach focuses on two critical maneuvers: overtaking in low visibility scenarios and lateral evasive actions. A modular architecture with an arbitration module and shared control algorithms is implemented, primarily focusing on the lateral control of the vehicle. The validation is conducted using a dynamic simulator, involving 8 real drivers interacting with a virtual environment. The results demonstrate improved safety and user acceptance, indicating the effectiveness of the shared control strategies in comparison with no shared-control support. Future work involves implementing shared control in drive-by-wire systems to enhance safety and driver comfort during critical maneuvers. Overall, this research contributes to the development and validation of shared control approaches in automated driving systems.
Framework to generate perfusion map from CT and CTA images in patients with acute ischemic stroke: A longitudinal and cross-sectional study
Venue: arXiv cs.CV 2024
Year: 2024

Stroke is a leading cause of disability and death. Effective treatment decisions require early and informative vascular imaging. 4D perfusion imaging is ideal but rarely available within the first hour after stroke, whereas plain CT and CTA usually are. Hence, we propose a framework to extract a predicted perfusion map (PPM) derived from CT and CTA images. In all eighteen patients, we found significantly high spatial similarity (with average Spearman's correlation = 0.7893) between our predicted perfusion map (PPM) and the T-max map derived from 4D-CTP. Voxelwise correlations between the PPM and National Institutes of Health Stroke Scale (NIHSS) subscores for L/R hand motor, gaze, and language on a large cohort of 2,110 subjects reliably mapped symptoms to expected infarct locations. Therefore our PPM could serve as an alternative for 4D perfusion imaging, if the latter is unavailable, to investigate blood perfusion in the first hours after hospital admission.
Which Experimental Design is Better Suited for VQA Tasks? Eye Tracking Study on Cognitive Load, Performance, and Gaze Allocations
Venue: arXiv cs.HC 2024
Year: 2024

We conducted an eye-tracking user study with 13 participants to investigate the influence of stimulus-question ordering and question modality on participants using visual question-answering (VQA) tasks. We examined cognitive load, task performance, and gaze allocations across five distinct experimental designs, aiming to identify setups that minimize the cognitive burden on participants. The collected performance and gaze data were analyzed using quantitative and qualitative methods. Our results indicate a significant impact of stimulus-question ordering on cognitive load and task performance, as well as a noteworthy effect of question modality on task performance. These findings offer insights for the experimental design of controlled user studies in visualization research.
Fusing Dictionary Learning and Support Vector Machines for Unsupervised Anomaly Detection
Venue: arXiv cs.LG 2024
Year: 2024

We study in this paper the improvement of one-class support vector machines (OC-SVM) through sparse representation techniques for unsupervised anomaly detection. As Dictionary Learning (DL) became recently a common analysis technique that reveals hidden sparse patterns of data, our approach uses this insight to endow unsupervised detection with more control on pattern finding and dimensions. We introduce a new anomaly detection model that unifies the OC-SVM and DL residual functions into a single composite objective, subsequently solved through K-SVD-type iterative algorithms. A closed-form of the alternating K-SVD iteration is explicitly derived for the new composite model and practical implementable schemes are discussed. The standard DL model is adapted for the Dictionary Pair Learning (DPL) context, where the usual sparsity constraints are naturally eliminated. Finally, we extend both objectives to the more general setting that allows the use of kernel functions. The empirical convergence properties of the resulting algorithms are provided and an in-depth analysis of their parametrization is performed while also demonstrating their numerical performance in comparison with existing methods.
Bidirectional Human Interactive AI Framework for Social Robot Navigation
Venue: arXiv cs.RO 2024
Year: 2024

Trustworthiness is a crucial concept in the context of human-robot interaction. Cooperative robots must be transparent regarding their decision-making process, especially when operating in a human-oriented environment. This paper presents a comprehensive end-to-end framework aimed at fostering trustworthy bidirectional human-robot interaction in collaborative environments for the social navigation of mobile robots. In this framework, the robot communicates verbally while the human guides with gestures. Our method enables a mobile robot to predict the trajectory of people and adjust its route in a socially-aware manner. In case of conflict between human and robot decisions, detected through visual examination, the route is dynamically modified based on human preference while verbal communication is maintained. We present our pipeline, framework design, and preliminary experiments that form the foundation of our proposition.
Hierarchical Neural Additive Models for Interpretable Demand Forecasts
Venue: arXiv cs.LG 2024
Year: 2024

Demand forecasts are the crucial basis for numerous business decisions, ranging from inventory management to strategic facility planning. While machine learning (ML) approaches offer accuracy gains, their interpretability and acceptance are notoriously lacking. Addressing this dilemma, we introduce Hierarchical Neural Additive Models for time series (HNAM). HNAM expands upon Neural Additive Models (NAM) by introducing a time-series specific additive model with a level and interacting covariate components. Covariate interactions are only allowed according to a user-specified interaction hierarchy. For example, weekday effects may be estimated independently of other covariates, whereas a holiday effect may depend on the weekday and an additional promotion may depend on both former covariates that are lower in the interaction hierarchy. Thereby, HNAM yields an intuitive forecasting interface in which analysts can observe the contribution for each known covariate. We evaluate the proposed approach and benchmark its performance against other state-of-the-art machine learning and statistical models extensively on real-world retail data. The results reveal that HNAM offers competitive prediction performance whilst providing plausible explanations.
From STPA to Safe Behavior Models
Venue: arXiv cs.SE 2024
Year: 2024

Model checking is a proven approach for checking whether the behavior model of a safety-critical system fulfills safety properties that are stated as LTL formulas.We propose rules for generating such LTL formulas automatically based on the result of the risk analysis technique System-Theoretic Process Analysis (STPA). Additionally, we propose a synthesis of a Safe Behavior Model from these generated LTL formulas. To also cover liveness properties in the model, we extend STPA with Desired Control Actions. We demonstrate our approach on an example system using SCCharts for the behavior model. The resulting model is not necessarily complete but provides a good foundation that already covers safety and liveness properties.
Reliable Feature Selection for Adversarially Robust Cyber-Attack Detection
Venue: arXiv cs.CR 2024
Year: 2024

The growing cybersecurity threats make it essential to use high-quality data to train Machine Learning (ML) models for network traffic analysis, without noisy or missing data. By selecting the most relevant features for cyber-attack detection, it is possible to improve both the robustness and computational efficiency of the models used in a cybersecurity system. This work presents a feature selection and consensus process that combines multiple methods and applies them to several network datasets. Two different feature sets were selected and were used to train multiple ML models with regular and adversarial training. Finally, an adversarial evasion robustness benchmark was performed to analyze the reliability of the different feature sets and their impact on the susceptibility of the models to adversarial examples. By using an improved dataset with more data diversity, selecting the best time-related features and a more specific feature set, and performing adversarial training, the ML models were able to achieve a better adversarially robust generalization. The robustness of the models was significantly improved without their generalization to regular traffic flows being affected, without increases of false alarms, and without requiring too many computational resources, which enables a reliable detection of suspicious activity and perturbed traffic flows in enterprise computer networks.
Are We Up to the Challenge? An analysis of the FCC Broadband Data Collection Fixed Internet Availability Challenges
Venue: arXiv cs.NI 2024
Year: 2024

In 2021, the Broadband Equity, Access, and Deployment (BEAD) program allocated $42.45 billion to enhance high-speed internet access across the United States. As part of this funding initiative, The Federal Communications Commission (FCC) developed a national coverage map to guide the allocation of BEAD funds. This map was the key determinant to direct BEAD investments to areas in need of broadband infrastructure improvements. The FCC encouraged public participation in refining this coverage map through the submission of "challenges" to either locations on the map or the status of broadband at any location on the map. These challenges allowed citizens and organizations to report discrepancies between the map's data and actual broadband availability, ensuring a more equitable distribution of funds. In this paper, we present a study analyzing the nature and distribution of these challenges across different access technologies and geographic areas. Among several other insights, we observe, for example, that the majority of challenges (about 58%) were submitted against terrestrial fixed wireless technologies as well as that the state of Nebraska had the strongest engagement in the challenge process with more than 75% of its broadband-serviceable locations having submitted at least one challenge.
Unlocking Parameter-Efficient Fine-Tuning for Low-Resource Language Translation
Venue: arXiv cs.CL 2024
Year: 2024

Parameter-efficient fine-tuning (PEFT) methods are increasingly vital in adapting large-scale pre-trained language models for diverse tasks, offering a balance between adaptability and computational efficiency. They are important in Low-Resource Language (LRL) Neural Machine Translation (NMT) to enhance translation accuracy with minimal resources. However, their practical effectiveness varies significantly across different languages. We conducted comprehensive empirical experiments with varying LRL domains and sizes to evaluate the performance of 8 PEFT methods with in total of 15 architectures using the SacreBLEU score. We showed that 6 PEFT architectures outperform the baseline for both in-domain and out-domain tests and the Houlsby+Inversion adapter has the best performance overall, proving the effectiveness of PEFT methods.
How Lexical is Bilingual Lexicon Induction?
Venue: arXiv cs.CL 2024
Year: 2024

In contemporary machine learning approaches to bilingual lexicon induction (BLI), a model learns a mapping between the embedding spaces of a language pair. Recently, retrieve-and-rank approach to BLI has achieved state of the art results on the task. However, the problem remains challenging in low-resource settings, due to the paucity of data. The task is complicated by factors such as lexical variation across languages. We argue that the incorporation of additional lexical information into the recent retrieve-and-rank approach should improve lexicon induction. We demonstrate the efficacy of our proposed approach on XLING, improving over the previous state of the art by an average of 2\% across all language pairs.