OpenRaiser/Intern-Atlas huggingface dataset:
Fast State-of-Health Estimation Method for Lithium-ion Battery using Sparse Identification of Nonlinear Dynamics
Venue: arXiv cs.RO 2024
Year: 2024

Lithium-ion batteries (LIBs) are utilized as a major energy source in various fields because of their high energy density and long lifespan. During repeated charging and discharging, the degradation of LIBs, which reduces their maximum power output and operating time, is a pivotal issue. This degradation can affect not only battery performance but also safety of the system. Therefore, it is essential to accurately estimate the state-of-health (SOH) of the battery in real time. To address this problem, we propose a fast SOH estimation method that utilizes the sparse model identification algorithm (SINDy) for nonlinear dynamics. SINDy can discover the governing equations of target systems with low data assuming that few functions have the dominant characteristic of the system. To decide the state of degradation model, correlation analysis is suggested. Using SINDy and correlation analysis, we can obtain the data-driven SOH model to improve the interpretability of the system. To validate the feasibility of the proposed method, the estimation performance of the SOH and the computation time are evaluated by comparing it with various machine learning algorithms.
Coarse-to-fine Dynamic Uplift Modeling for Real-time Video Recommendation
Venue: arXiv cs.IR 2024
Year: 2024

With the rise of short video platforms, video recommendation technology faces more complex challenges. Currently, there are multiple non-personalized modules in the video recommendation pipeline that urgently need personalized modeling techniques for improvement. Inspired by the success of uplift modeling in online marketing, we attempt to implement uplift modeling in the video recommendation scenario. However, we face two main challenges: 1) Design and utilization of treatments, and 2) Capture of user real-time interest. To address them, we design adjusting the distribution of videos with varying durations as the treatment and propose Coarse-to-fine Dynamic Uplift Modeling (CDUM) for real-time video recommendation. CDUM consists of two modules, CPM and FIC. The former module fully utilizes the offline features of users to model their long-term preferences, while the latter module leverages online real-time contextual features and request-level candidates to model users' real-time interests. These two modules work together to dynamically identify and targeting specific user groups and applying treatments effectively. Further, we conduct comprehensive experiments on the offline public and industrial datasets and online A/B test, demonstrating the superiority and effectiveness of our proposed CDUM. Our proposed CDUM is eventually fully deployed on the Kuaishou platform, serving hundreds of millions of users every day. The source code will be provided after the paper is accepted.
DSORT-MCU: Detecting Small Objects in Real-Time on Microcontroller Units
Venue: arXiv cs.CV 2024
Year: 2024

Advances in lightweight neural networks have revolutionized computer vision in a broad range of IoT applications, encompassing remote monitoring and process automation. However, the detection of small objects, which is crucial for many of these applications, remains an underexplored area in current computer vision research, particularly for low-power embedded devices that host resource-constrained processors. To address said gap, this paper proposes an adaptive tiling method for lightweight and energy-efficient object detection networks, including YOLO-based models and the popular FOMO network. The proposed tiling enables object detection on low-power MCUs with no compromise on accuracy compared to large-scale detection models. The benefit of the proposed method is demonstrated by applying it to FOMO and TinyissimoYOLO networks on a novel RISC-V-based MCU with built-in ML accelerators. Extensive experimental results show that the proposed tiling method boosts the F1-score by up to 225% for both FOMO and TinyissimoYOLO networks while reducing the average object count error by up to 76% with FOMO and up to 89% for TinyissimoYOLO. Furthermore, the findings of this work indicate that using a soft F1 loss over the popular binary cross-entropy loss can serve as an implicit non-maximum suppression for the FOMO network. To evaluate the real-world performance, the networks are deployed on the RISC-V based GAP9 microcontroller from GreenWaves Technologies, showcasing the proposed method's ability to strike a balance between detection performance ($58% - 95%$ F1 score), low latency (0.6 ms/Inference - 16.2 ms/Inference}), and energy efficiency (31 uJ/Inference} - 1.27 mJ/Inference) while performing multiple predictions using high-resolution images on a MCU.
Bridging Search and Recommendation in Generative Retrieval: Does One Task Help the Other?
Venue: arXiv cs.IR 2024
Year: 2024

Generative retrieval for search and recommendation is a promising paradigm for retrieving items, offering an alternative to traditional methods that depend on external indexes and nearest-neighbor searches. Instead, generative models directly associate inputs with item IDs. Given the breakthroughs of Large Language Models (LLMs), these generative systems can play a crucial role in centralizing a variety of Information Retrieval (IR) tasks in a single model that performs tasks such as query understanding, retrieval, recommendation, explanation, re-ranking, and response generation. Despite the growing interest in such a unified generative approach for IR systems, the advantages of using a single, multi-task model over multiple specialized models are not well established in the literature. This paper investigates whether and when such a unified approach can outperform task-specific models in the IR tasks of search and recommendation, broadly co-existing in multiple industrial online platforms, such as Spotify, YouTube, and Netflix. Previous work shows that (1) the latent representations of items learned by generative recommenders are biased towards popularity, and (2) content-based and collaborative-filtering-based information can improve an item's representations. Motivated by this, our study is guided by two hypotheses: [H1] the joint training regularizes the estimation of each item's popularity, and [H2] the joint training regularizes the item's latent representations, where search captures content-based aspects of an item and recommendation captures collaborative-filtering aspects. Our extensive experiments with both simulated and real-world data support both [H1] and [H2] as key contributors to the effectiveness improvements observed in the unified search and recommendation generative models over the single-task approaches.
Contrasting Attitudes Towards Current and Future AI Applications for Computerised Interpretation of ECG: A Clinical Stakeholder Interview Study
Venue: arXiv cs.CY 2024
Year: 2024

Objectives: To investigate clinicians' attitudes towards current automated interpretation of ECG and novel AI technologies and their perception of computer-assisted interpretation. Materials and Methods: We conducted a series of interviews with clinicians in the UK. Our study: (i) explores the potential for AI, specifically future 'human-like' computing approaches, to facilitate ECG interpretation and support clinical decision making, and (ii) elicits their opinions about the importance of explainability and trustworthiness of AI algorithms. Results: We performed inductive thematic analysis on interview transcriptions from 23 clinicians and identified the following themes: (i) a lack of trust in current systems, (ii) positive attitudes towards future AI applications and requirements for these, (iii) the relationship between the accuracy and explainability of algorithms, and (iv) opinions on education, possible deskilling, and the impact of AI on clinical competencies. Discussion: Clinicians do not trust current computerised methods, but welcome future 'AI' technologies. Where clinicians trust future AI interpretation to be accurate, they are less concerned that it is explainable. They also preferred ECG interpretation that demonstrated the results of the algorithm visually. Whilst clinicians do not fear job losses, they are concerned about deskilling and the need to educate the workforce to use AI responsibly. Conclusion: Clinicians are positive about the future application of AI in clinical decision-making. Accuracy is a key factor of uptake and visualisations are preferred over current computerised methods. This is viewed as a potential means of training and upskilling, in contrast to the deskilling that automation might be perceived to bring.
Distribution of Responsibility During the Usage of AI-Based Exoskeletons for Upper Limb Rehabilitation
Venue: arXiv cs.RO 2024
Year: 2024

The ethical issues concerning the AI-based exoskeletons used in healthcare have already been studied literally rather than technically. How the ethical guidelines can be integrated into the development process has not been widely studied. However, this is one of the most important topics which should be studied more in real-life applications. Therefore, in this paper we highlight one ethical concern in the context of an exoskeleton used to train a user to perform a gesture: during the interaction between the exoskeleton, patient and therapist, how is the responsibility for decision making distributed? Based on the outcome of this, we will discuss how to integrate ethical guidelines into the development process of an AI-based exoskeleton. The discussion is based on a case study: AiBle. The different technical factors affecting the rehabilitation results and the human-machine interaction for AI-based exoskeletons are identified and discussed in this paper in order to better apply the ethical guidelines during the development of AI-based exoskeletons.
SleepCoT: A Lightweight Personalized Sleep Health Model via Chain-of-Thought Distillation
Venue: arXiv cs.AI 2024
Year: 2024

We present a novel approach to personalized sleep health management using few-shot Chain-of-Thought (CoT) distillation, enabling small-scale language models (> 2B parameters) to rival the performance of large language models (LLMs) in specialized health domains. Our method simultaneously distills problem-solving strategies, long-tail expert knowledge, and personalized recommendation capabilities from larger models into more efficient, compact models. Unlike existing systems, our approach offers three key functionalities: generating personalized sleep health recommendations, supporting user-specific follow-up inquiries, and providing responses to domain-specific knowledge questions. We focus on sleep health due to its measurability via wearable devices and its impact on overall well-being. Our experimental setup, involving GPT-4o for data synthesis, Qwen-max for instruction set creation, and Qwen2.5 1.5B for model distillation, demonstrates significant improvements over baseline small-scale models in penalization, reasoning, and knowledge application. Experiments using 100 simulated sleep reports and 1,000 domain-specific questions shows our model achieves comparable performance to larger models while maintaining efficiency for real-world deployment. This research not only advances AI-driven health management but also provides a novel approach to leveraging LLM capabilities in resource-constrained environments, potentially enhancing the accessibility of personalized healthcare solutions.
Publishing Neural Networks in Drug Discovery Might Compromise Training Data Privacy
Venue: arXiv cs.CR 2024
Year: 2024

This study investigates the risks of exposing confidential chemical structures when machine learning models trained on these structures are made publicly available. We use membership inference attacks, a common method to assess privacy that is largely unexplored in the context of drug discovery, to examine neural networks for molecular property prediction in a black-box setting. Our results reveal significant privacy risks across all evaluated datasets and neural network architectures. Combining multiple attacks increases these risks. Molecules from minority classes, often the most valuable in drug discovery, are particularly vulnerable. We also found that representing molecules as graphs and using message-passing neural networks may mitigate these risks. We provide a framework to assess privacy risks of classification models and molecular representations. Our findings highlight the need for careful consideration when sharing neural networks trained on proprietary chemical structures, informing organisations and researchers about the trade-offs between data confidentiality and model openness.
Multi-Layer Gaussian Splatting for Immersive Anatomy Visualization
Venue: arXiv cs.GR 2024
Year: 2024

In medical image visualization, path tracing of volumetric medical data like CT scans produces lifelike three-dimensional visualizations. Immersive VR displays can further enhance the understanding of complex anatomies. Going beyond the diagnostic quality of traditional 2D slices, they enable interactive 3D evaluation of anatomies, supporting medical education and planning. Rendering high-quality visualizations in real-time, however, is computationally intensive and impractical for compute-constrained devices like mobile headsets. We propose a novel approach utilizing GS to create an efficient but static intermediate representation of CT scans. We introduce a layered GS representation, incrementally including different anatomical structures while minimizing overlap and extending the GS training to remove inactive Gaussians. We further compress the created model with clustering across layers. Our approach achieves interactive frame rates while preserving anatomical structures, with quality adjustable to the target hardware. Compared to standard GS, our representation retains some of the explorative qualities initially enabled by immersive path tracing. Selective activation and clipping of layers are possible at rendering time, adding a degree of interactivity to otherwise static GS models. This could enable scenarios where high computational demands would otherwise prohibit using path-traced medical volumes.
An Eye for an AI: Evaluating GPT-4o's Visual Perception Skills and Geometric Reasoning Skills Using Computer Graphics Questions
Venue: arXiv cs.AI 2024
Year: 2024

CG (Computer Graphics) is a popular field of CS (Computer Science), but many students find this topic difficult due to it requiring a large number of skills, such as mathematics, programming, geometric reasoning, and creativity. Over the past few years, researchers have investigated ways to harness the power of GenAI (Generative Artificial Intelligence) to improve teaching. In CS, much of the research has focused on introductory computing. A recent study evaluating the performance of an LLM (Large Language Model), GPT-4 (text-only), on CG questions, indicated poor performance and reliance on detailed descriptions of image content, which often required considerable insight from the user to return reasonable results. So far, no studies have investigated the abilities of LMMs (Large Multimodal Models), or multimodal LLMs, to solve CG questions and how these abilities can be used to improve teaching. In this study, we construct two datasets of CG questions requiring varying degrees of visual perception skills and geometric reasoning skills, and evaluate the current state-of-the-art LMM, GPT-4o, on the two datasets. We find that although GPT-4o exhibits great potential in solving questions with visual information independently, major limitations still exist to the accuracy and quality of the generated results. We propose several novel approaches for CG educators to incorporate GenAI into CG teaching despite these limitations. We hope that our guidelines further encourage learning and engagement in CG classrooms.
Nanosecond Precision Time Synchronization for Optical Data Center Networks
Venue: arXiv cs.NI 2024
Year: 2024

Optical data center networks (DCNs) are renovating the infrastructure design for the cloud in the post Moore's law era. The fact that optical DCNs rely on optical circuits of microsecond-scale durations makes nanosecond-precision time synchronization essential for the correct functioning of routing on the network fabric. However, current studies on optical DCNs neglect the fundamental need for accurate time synchronization. In this paper, we bridge the gap by developing Nanosecond Optical Synchronization (NOS), the first nanosecond-precision synchronization solution for optical DCNs general to various optical hardware. NOS builds clock propagation trees on top of the dynamically reconfigured circuits in optical DCNs, allowing switches to seek better sync parents throughout time. It predicts drifts in the tree-building process, which enables minimization of sync errors. We also tailor today's sync protocols to the needs of optical DCNs, including reducing the number of sync messages to fit into short circuit durations and correcting timestamp errors for higher sync accuracy. Our implementation on programmable switches shows 28ns sync accuracy in a 192-ToR setting.
Magneto-oscillatory localization for small-scale robots
Venue: arXiv cs.RO 2024
Year: 2024

Magnetism is widely used for the wireless localization and actuation of robots and devices for medical procedures. However, current static magnetic localization methods suffer from large required magnets and are limited to only five degrees of freedom due to a fundamental constraint of the rotational symmetry around the magnetic axis. We present the small-scale magneto-oscillatory localization (SMOL) method, which is capable of wirelessly localizing a millimeter-scale tracker with full six degrees of freedom in deep biological tissues. The SMOL device uses the temporal oscillation of a mechanically resonant cantilever with a magnetic dipole to break the rotational symmetry, and exploits the frequency-response to achieve a high signal-to-noise ratio with sub-millimeter accuracy over a large distance of up to 12 centimeters and quasi-continuous refresh rates up to 200 Hz. Integration into real-time closed-loop controlled robots and minimally-invasive surgical tools are demonstrated to reveal the vast potential of the SMOL method.
SG-FSM: A Self-Guiding Zero-Shot Prompting Paradigm for Multi-Hop Question Answering Based on Finite State Machine
Venue: arXiv cs.CL 2024
Year: 2024

Large Language Models with chain-of-thought prompting, such as OpenAI-o1, have shown impressive capabilities in natural language inference tasks. However, Multi-hop Question Answering (MHQA) remains challenging for many existing models due to issues like hallucination, error propagation, and limited context length. To address these challenges and enhance LLMs' performance on MHQA, we propose the Self-Guiding prompting Finite State Machine (SG-FSM), designed to strengthen multi-hop reasoning abilities. Unlike traditional chain-of-thought methods, SG-FSM tackles MHQA by iteratively breaking down complex questions into sub-questions, correcting itself to improve accuracy. It processes one sub-question at a time, dynamically deciding the next step based on the current context and results, functioning much like an automaton. Experiments across various benchmarks demonstrate the effectiveness of our approach, outperforming strong baselines on challenging datasets such as Musique. SG-FSM reduces hallucination, enabling recovery of the correct final answer despite intermediate errors. It also improves adherence to specified output formats, simplifying evaluation significantly.
GeoCode-GPT: A Large Language Model for Geospatial Code Generation Tasks
Venue: arXiv cs.SE 2024
Year: 2024

The increasing demand for spatiotemporal data and modeling tasks in geosciences has made geospatial code generation technology a critical factor in enhancing productivity. Although large language models (LLMs) have demonstrated potential in code generation tasks, they often encounter issues such as refusal to code or hallucination in geospatial code generation due to a lack of domain-specific knowledge and code corpora. To address these challenges, this paper presents and open-sources the GeoCode-PT and GeoCode-SFT corpora, along with the GeoCode-Eval evaluation dataset. Additionally, by leveraging QLoRA and LoRA for pretraining and fine-tuning, we introduce GeoCode-GPT-7B, the first LLM focused on geospatial code generation, fine-tuned from Code Llama-7B. Furthermore, we establish a comprehensive geospatial code evaluation framework, incorporating option matching, expert validation, and prompt engineering scoring for LLMs, and systematically evaluate GeoCode-GPT-7B using the GeoCode-Eval dataset. Experimental results show that GeoCode-GPT outperforms other models in multiple-choice accuracy by 9.1% to 32.1%, in code summarization ability by 1.7% to 25.4%, and in code generation capability by 1.2% to 25.1%. This paper provides a solution and empirical validation for enhancing LLMs' performance in geospatial code generation, extends the boundaries of domain-specific model applications, and offers valuable insights into unlocking their potential in geospatial code generation.
GS-LIVM: Real-Time Photo-Realistic LiDAR-Inertial-Visual Mapping with Gaussian Splatting
Venue: arXiv cs.RO 2024
Year: 2024

In this paper, we introduce GS-LIVM, a real-time photo-realistic LiDAR-Inertial-Visual mapping framework with Gaussian Splatting tailored for outdoor scenes. Compared to existing methods based on Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS), our approach enables real-time photo-realistic mapping while ensuring high-quality image rendering in large-scale unbounded outdoor environments. In this work, Gaussian Process Regression (GPR) is employed to mitigate the issues resulting from sparse and unevenly distributed LiDAR observations. The voxel-based 3D Gaussians map representation facilitates real-time dense mapping in large outdoor environments with acceleration governed by custom CUDA kernels. Moreover, the overall framework is designed in a covariance-centered manner, where the estimated covariance is used to initialize the scale and rotation of 3D Gaussians, as well as update the parameters of the GPR. We evaluate our algorithm on several outdoor datasets, and the results demonstrate that our method achieves state-of-the-art performance in terms of mapping efficiency and rendering quality. The source code is available on GitHub.
Risk-Averse Model Predictive Control for Racing in Adverse Conditions
Venue: arXiv cs.RO 2024
Year: 2024

Model predictive control (MPC) algorithms can be sensitive to model mismatch when used in challenging nonlinear control tasks. In particular, the performance of MPC for vehicle control at the limits of handling suffers when the underlying model overestimates the vehicle's capabilities. In this work, we propose a risk-averse MPC framework that explicitly accounts for uncertainty over friction limits and tire parameters. Our approach leverages a sample-based approximation of an optimal control problem with a conditional value at risk (CVaR) constraint. This sample-based formulation enables planning with a set of expressive vehicle dynamics models using different tire parameters. Moreover, this formulation enables efficient numerical resolution via sequential quadratic programming and GPU parallelization. Experiments on a Lexus LC 500 show that risk-averse MPC unlocks reliable performance, while a deterministic baseline that plans using a single dynamics model may lose control of the vehicle in adverse road conditions.