OpenRaiser/Intern-Atlas huggingface dataset:
Dynamic Gesture Recognition in Ultra-Range Distance for Effective Human-Robot Interaction
Venue: arXiv cs.RO 2024
Year: 2024

This paper presents a novel approach for ultra-range gesture recognition, addressing Human-Robot Interaction (HRI) challenges over extended distances. By leveraging human gestures in video data, we propose the Temporal-Spatiotemporal Fusion Network (TSFN) model that surpasses the limitations of current methods, enabling robots to understand gestures from long distances. With applications in service robots, search and rescue operations, and drone-based interactions, our approach enhances HRI in expansive environments. Experimental validation demonstrates significant advancements in gesture recognition accuracy, particularly in prolonged gesture sequences.
FTuner: A Fast Dynamic Shape Tensors Program Auto-Tuner for Deep Learning Compilers
Venue: arXiv cs.LG 2024
Year: 2024

Many artificial intelligence models process input data of different lengths and resolutions, making the shape of the tensors dynamic. The performance of these models depends on the shape of the tensors, which makes it difficult to optimize the tensors before the model runs. There are two common solutions to this problem. The first is to add useless data to the input to match a pre-optimized tensor library. The second is to use small basic tensors to create a tensor that is closest in size to the input data and then tune it to minimize padding. However, this second solution can be time-consuming. This paper proposes a new technique for deep learning compilers called FTuner. Instead of using a large design space or training a cost model, we use an abstract computational unit called the uKernel to patch together small, various-sized tensors to match the shape of the input tensor. We determine the shape of the uKernel using an analytic hardware information model. Experiments show that the FTuner can achieve comparable operators and end-to-end performance to vendor libraries and achieves 3\% speedup on existing auto-tuner with the model-training compiler while reducing tuning time by two orders of magnitude.
Analyzing the impact of semantic LoD3 building models on image-based vehicle localization
Venue: arXiv cs.CV 2024
Year: 2024

Numerous navigation applications rely on data from global navigation satellite systems (GNSS), even though their accuracy is compromised in urban areas, posing a significant challenge, particularly for precise autonomous car localization. Extensive research has focused on enhancing localization accuracy by integrating various sensor types to address this issue. This paper introduces a novel approach for car localization, leveraging image features that correspond with highly detailed semantic 3D building models. The core concept involves augmenting positioning accuracy by incorporating prior geometric and semantic knowledge into calculations. The work assesses outcomes using Level of Detail 2 (LoD2) and Level of Detail 3 (LoD3) models, analyzing whether facade-enriched models yield superior accuracy. This comprehensive analysis encompasses diverse methods, including off-the-shelf feature matching and deep learning, facilitating thorough discussion. Our experiments corroborate that LoD3 enables detecting up to 69\% more features than using LoD2 models. We believe that this study will contribute to the research of enhancing positioning accuracy in GNSS-denied urban canyons. It also shows a practical application of under-explored LoD3 building models on map-based car positioning.
TinyChirp: Bird Song Recognition Using TinyML Models on Low-power Wireless Acoustic Sensors
Venue: arXiv cs.LG 2024
Year: 2024

Monitoring biodiversity at scale is challenging. Detecting and identifying species in fine grained taxonomies requires highly accurate machine learning (ML) methods. Training such models requires large high quality data sets. And deploying these models to low power devices requires novel compression techniques and model architectures. While species classification methods have profited from novel data sets and advances in ML methods, in particular neural networks, deploying these state of the art models to low power devices remains difficult. Here we present a comprehensive empirical comparison of various tinyML neural network architectures and compression techniques for species classification. We focus on the example of bird song detection, more concretely a data set curated for studying the corn bunting bird species. The data set is released along with all code and experiments of this study. In our experiments we compare predictive performance, memory and time complexity of classical spectrogram based methods and recent approaches operating on raw audio signal. Our results indicate that individual bird species can be robustly detected with relatively simple architectures that can be readily deployed to low power devices.
StreetSurfaceVis: a dataset of crowdsourced street-level imagery annotated by road surface type and quality
Venue: arXiv cs.CV 2024
Year: 2024

Road unevenness significantly impacts the safety and comfort of traffic participants, especially vulnerable groups such as cyclists and wheelchair users. To train models for comprehensive road surface assessments, we introduce StreetSurfaceVis, a novel dataset comprising 9,122 street-level images mostly from Germany collected from a crowdsourcing platform and manually annotated by road surface type and quality. By crafting a heterogeneous dataset, we aim to enable robust models that maintain high accuracy across diverse image sources. As the frequency distribution of road surface types and qualities is highly imbalanced, we propose a sampling strategy incorporating various external label prediction resources to ensure sufficient images per class while reducing manual annotation. More precisely, we estimate the impact of (1) enriching the image data with OpenStreetMap tags, (2) iterative training and application of a custom surface type classification model, (3) amplifying underrepresented classes through prompt-based classification with GPT-4o and (4) similarity search using image embeddings. Combining these strategies effectively reduces manual annotation workload while ensuring sufficient class representation.
eSPARQL: Representing and Reconciling Agnostic and Atheistic Beliefs in RDF-star Knowledge Graphs
Venue: arXiv cs.AI 2024
Year: 2024

Over the past few years, we have seen the emergence of large knowledge graphs combining information from multiple sources. Sometimes, this information is provided in the form of assertions about other assertions, defining contexts where assertions are valid. A recent extension to RDF which admits statements over statements, called RDF-star, is in revision to become a W3C standard. However, there is no proposal for a semantics of these RDF-star statements nor a built-in facility to operate over them. In this paper, we propose a query language for epistemic RDF-star metadata based on a four-valued logic, called eSPARQL. Our proposed query language extends SPARQL-star, the query language for RDF-star, with a new type of FROM clause to facilitate operating with multiple and sometimes conflicting beliefs. We show that the proposed query language can express four use case queries, including the following features: (i) querying the belief of an individual, (ii) the aggregating of beliefs, (iii) querying who is conflicting with somebody, and (iv) beliefs about beliefs (i.e., nesting of beliefs).
Mitral Regurgitation Recognition based on Unsupervised Out-of-Distribution Detection with Residual Diffusion Amplification
Venue: arXiv cs.CV 2024
Year: 2024

Mitral regurgitation (MR) is a serious heart valve disease. Early and accurate diagnosis of MR via ultrasound video is critical for timely clinical decision-making and surgical intervention. However, manual MR diagnosis heavily relies on the operator's experience, which may cause misdiagnosis and inter-observer variability. Since MR data is limited and has large intra-class variability, we propose an unsupervised out-of-distribution (OOD) detection method to identify MR rather than building a deep classifier. To our knowledge, we are the first to explore OOD in MR ultrasound videos. Our method consists of a feature extractor, a feature reconstruction model, and a residual accumulation amplification algorithm. The feature extractor obtains features from the video clips and feeds them into the feature reconstruction model to restore the original features. The residual accumulation amplification algorithm then iteratively performs noise feature reconstruction, amplifying the reconstructed error of OOD features. This algorithm is straightforward yet efficient and can seamlessly integrate as a plug-and-play component in reconstruction-based OOD detection methods. We validated the proposed method on a large ultrasound dataset containing 893 non-MR and 267 MR videos. Experimental results show that our OOD detection method can effectively identify MR samples.
Skeleton-Based Action Recognition with Spatial-Structural Graph Convolution
Venue: arXiv cs.CV 2024
Year: 2024

Human Activity Recognition (HAR) is a field of study that focuses on identifying and classifying human activities. Skeleton-based Human Activity Recognition has received much attention in recent years, where Graph Convolutional Network (GCN) based method is widely used and has achieved remarkable results. However, the representation of skeleton data and the issue of over-smoothing in GCN still need to be studied. 1). Compared to central nodes, edge nodes can only aggregate limited neighbor information, and different edge nodes of the human body are always structurally related. However, the information from edge nodes is crucial for fine-grained activity recognition. 2). The Graph Convolutional Network suffers from a significant over-smoothing issue, causing nodes to become increasingly similar as the number of network layers increases. Based on these two ideas, we propose a two-stream graph convolution method called Spatial-Structural GCN (SpSt-GCN). Spatial GCN performs information aggregation based on the topological structure of the human body, and structural GCN performs differentiation based on the similarity of edge node sequences. The spatial connection is fixed, and the human skeleton naturally maintains this topology regardless of the actions performed by humans. However, the structural connection is dynamic and depends on the type of movement the human body is performing. Based on this idea, we also propose an entirely data-driven structural connection, which greatly increases flexibility. We evaluate our method on two large-scale datasets, i.e., NTU RGB+D and NTU RGB+D 120. The proposed method achieves good results while being efficient.
Probabilistic Scoring Lists for Interpretable Machine Learning
Venue: arXiv cs.LG 2024
Year: 2024

A scoring system is a simple decision model that checks a set of features, adds a certain number of points to a total score for each feature that is satisfied, and finally makes a decision by comparing the total score to a threshold. Scoring systems have a long history of active use in safety-critical domains such as healthcare and justice, where they provide guidance for making objective and accurate decisions. Given their genuine interpretability, the idea of learning scoring systems from data is obviously appealing from the perspective of explainable AI. In this paper, we propose a practically motivated extension of scoring systems called probabilistic scoring lists (PSL), as well as a method for learning PSLs from data. Instead of making a deterministic decision, a PSL represents uncertainty in the form of probability distributions, or, more generally, probability intervals. Moreover, in the spirit of decision lists, a PSL evaluates features one by one and stops as soon as a decision can be made with enough confidence. To evaluate our approach, we conduct a case study in the medical domain.
Generative Sentiment Analysis via Latent Category Distribution and Constrained Decoding
Venue: arXiv cs.CL 2024
Year: 2024

Fine-grained sentiment analysis involves extracting and organizing sentiment elements from textual data. However, existing approaches often overlook issues of category semantic inclusion and overlap, as well as inherent structural patterns within the target sequence. This study introduces a generative sentiment analysis model. To address the challenges related to category semantic inclusion and overlap, a latent category distribution variable is introduced. By reconstructing the input of a variational autoencoder, the model learns the intensity of the relationship between categories and text, thereby improving sequence generation. Additionally, a trie data structure and constrained decoding strategy are utilized to exploit structural patterns, which in turn reduces the search space and regularizes the generation process. Experimental results on the Restaurant-ACOS and Laptop-ACOS datasets demonstrate a significant performance improvement compared to baseline models. Ablation experiments further confirm the effectiveness of latent category distribution and constrained decoding strategy.
Vision and Contact based Optimal Control for Autonomous Trocar Docking
Venue: arXiv cs.RO 2024
Year: 2024

Future operating theatres will be equipped with robots to perform various surgical tasks including, for example, endoscope control. Human-in-the-loop supervisory control architectures where the surgeon selects from several autonomous sequences is already being successfully applied in preclinical tests. Inserting an endoscope into a trocar or introducer is a key step for every keyhole surgical procedure -- hereafter we will only refer to this device as a "trocar". Our goal is to develop a controller for autonomous trocar docking. Autonomous trocar docking is a version of the peg-in-hole problem. Extensive work in the robotics literature addresses this problem. The peg-in-hole problem has been widely studied in the context of assembly where, typically, the hole is considered static and rigid to interaction. In our case, however, the trocar is not fixed and responds to interaction. We consider a variety of surgical procedures where surgeons will utilize contact between the endoscope and trocar in order to complete the insertion successfully. To the best of our knowledge, we have not found literature that explores this particular generalization of the problem directly. Our primary contribution in this work is an optimal control formulation for automated trocar docking. We use a nonlinear optimization program to model the task, minimizing a cost function subject to constraints to find optimal joint configurations. The controller incorporates a geometric model for insertion and a force-feedback (FF) term to ensure patient safety by preventing excessive interaction forces with the trocar. Experiments, demonstrated on a real hardware lab setup, validate the approach. Our method successfully achieves trocar insertion on our real robot lab setup, and simulation trials demonstrate its ability to reduce interaction forces.
Towards Error Correction for Computing in Racetrack Memory
Venue: arXiv cs.AR 2024
Year: 2024

Computing-in-memory (CIM) promises to alleviate the Von Neumann bottleneck and accelerate data-intensive applications. Depending on the underlying technology and configuration, CIM enables implementing compute primitives in place, such as multiplication, search operations, and bulk bitwise logic operations. Emerging nonvolatile memory technologies such as spintronic Racetrack memory (RTM) promise not only unprecedented density but also significant parallelism through CIM. However, most CIM designs, including those based on RTM, exhibit high fault rates. Existing error correction codes (ECC) are not homomorphic over bitwise operations such as AND and OR, and hence cannot protect against CIM faults. This paper proposes CIRM-ECC, a technique to protect spintronic RTMs against CIM faults. At the core of CIRM-ECC, we use a recently proposed RTM-based CIM approach and leverage its peripheral circuitry to our implement our novel ECC codes. We show that CIRM-ECC can be applied to single-bit Hamming codes as well as multi-bit BCH codes.
A State-of-the-Art Review of Computational Models for Analyzing Longitudinal Wearable Sensor Data in Healthcare
Venue: arXiv cs.HC 2024
Year: 2024

Wearable devices are increasingly used as tools for biomedical research, as the continuous stream of behavioral and physiological data they collect can provide insights about our health in everyday contexts. Long-term tracking, defined in the timescale of months of year, can provide insights of patterns and changes as indicators of health changes. These insights can make medicine and healthcare more predictive, preventive, personalized, and participative (The 4P's). However, the challenges in modeling, understanding and processing longitudinal data are a significant barrier to their adoption in research studies and clinical settings. In this paper, we review and discuss three models used to make sense of longitudinal data: routines, rhythms and stability metrics. We present the challenges associated with the processing and analysis of longitudinal wearable sensor data, with a special focus on how to handle the different temporal dynamics at various granularities. We then discuss current limitations and identify directions for future work. This review is essential to the advancement of computational modeling and analysis of longitudinal sensor data for pervasive healthcare.
Pedestrian Inertial Navigation: An Overview of Model and Data-Driven Approaches
Venue: arXiv cs.RO 2024
Year: 2024

The task of indoor positioning is fundamental to several applications, including navigation, healthcare, location-based services, and security. An emerging field is inertial navigation for pedestrians, which relies only on inertial sensors for positioning. In this paper, we present inertial pedestrian navigation models and learning approaches. Among these, are methods and algorithms for shoe-mounted inertial sensors and pedestrian dead reckoning (PDR) with unconstrained inertial sensors. We also address three categories of data-driven PDR strategies: activity-assisted, hybrid approaches, and learning-based frameworks.
TransferTOD: A Generalizable Chinese Multi-Domain Task-Oriented Dialogue System with Transfer Capabilities
Venue: arXiv cs.AI 2024
Year: 2024

Task-oriented dialogue (TOD) systems aim to efficiently handle task-oriented conversations, including information collection. How to utilize TOD accurately, efficiently and effectively for information collection has always been a critical and challenging task. Recent studies have demonstrated that Large Language Models (LLMs) excel in dialogue, instruction generation, and reasoning, and can significantly enhance the performance of TOD through fine-tuning. However, current datasets primarily cater to user-led systems and are limited to predefined specific scenarios and slots, thereby necessitating improvements in the proactiveness, diversity, and capabilities of TOD. In this study, we present a detailed multi-domain task-oriented data construction process for conversations, and a Chinese dialogue dataset generated based on this process, TransferTOD, which authentically simulates human-computer dialogues in 30 popular life service scenarios. Leveraging this dataset, we trained a model called TransferTOD-7B using full-parameter fine-tuning, showcasing notable abilities in slot filling and questioning. Our work has demonstrated its strong generalization capabilities in various downstream scenarios, significantly enhancing both data utilization efficiency and system performance. The data is released in https://github.com/KongLongGeFDU/TransferTOD.
Open-Vocabulary Audio-Visual Semantic Segmentation
Venue: arXiv cs.MM 2024
Year: 2024

Audio-visual semantic segmentation (AVSS) aims to segment and classify sounding objects in videos with acoustic cues. However, most approaches operate on the close-set assumption and only identify pre-defined categories from training data, lacking the generalization ability to detect novel categories in practical applications. In this paper, we introduce a new task: open-vocabulary audio-visual semantic segmentation, extending AVSS task to open-world scenarios beyond the annotated label space. This is a more challenging task that requires recognizing all categories, even those that have never been seen nor heard during training. Moreover, we propose the first open-vocabulary AVSS framework, OV-AVSS, which mainly consists of two parts: 1) a universal sound source localization module to perform audio-visual fusion and locate all potential sounding objects and 2) an open-vocabulary classification module to predict categories with the help of the prior knowledge from large-scale pre-trained vision-language models. To properly evaluate the open-vocabulary AVSS, we split zero-shot training and testing subsets based on the AVSBench-semantic benchmark, namely AVSBench-OV. Extensive experiments demonstrate the strong segmentation and zero-shot generalization ability of our model on all categories. On the AVSBench-OV dataset, OV-AVSS achieves 55.43% mIoU on base categories and 29.14% mIoU on novel categories, exceeding the state-of-the-art zero-shot method by 41.88%/20.61% and open-vocabulary method by 10.2%/11.6%. The code is available at https://github.com/ruohaoguo/ovavss.
On the Zero-Error Capacity of Semantic Channels with Input and Output Memories
Venue: arXiv cs.IT 2024
Year: 2024

This paper investigates the zero-error capacity of channels with memory. Motivated by the nuanced requirements of semantic communication that incorporate memory, we advance the classical enlightened dictator channel by introducing a new category known as the semantic channel. We analyze the zero-error capacity of the semantic channel using a comprehensive framework that accommodates multiple input and output memories. Our approach reveals a more sophisticated and detailed model compared to the classical memory channels, highlighting the impact of memory on achieving error-free communication.
Human-Machine Co-Adaptation for Robot-Assisted Rehabilitation via Dual-Agent Multiple Model Reinforcement Learning (DAMMRL)
Venue: arXiv cs.RO 2024
Year: 2024

This study introduces a novel approach to robot-assisted ankle rehabilitation by proposing a Dual-Agent Multiple Model Reinforcement Learning (DAMMRL) framework, leveraging multiple model adaptive control (MMAC) and co-adaptive control strategies. In robot-assisted rehabilitation, one of the key challenges is modelling human behaviour due to the complexity of human cognition and physiological systems. Traditional single-model approaches often fail to capture the dynamics of human-machine interactions. Our research employs a multiple model strategy, using simple sub-models to approximate complex human responses during rehabilitation tasks, tailored to varying levels of patient incapacity. The proposed system's versatility is demonstrated in real experiments and simulated environments. Feasibility and potential were evaluated with 13 healthy young subjects, yielding promising results that affirm the anticipated benefits of the approach. This study not only introduces a new paradigm for robot-assisted ankle rehabilitation but also opens the way for future research in adaptive, patient-centred therapeutic interventions.