OpenRaiser/Intern-Atlas huggingface dataset:
Deep Learning-based Point Cloud Registration for Augmented Reality-guided Surgery
Venue: arXiv cs.CV 2024
Year: 2024

Point cloud registration aligns 3D point clouds using spatial transformations. It is an important task in computer vision, with applications in areas such as augmented reality (AR) and medical imaging. This work explores the intersection of two research trends: the integration of AR into image-guided surgery and the use of deep learning for point cloud registration. The main objective is to evaluate the feasibility of applying deep learning-based point cloud registration methods for image-to-patient registration in augmented reality-guided surgery. We created a dataset of point clouds from medical imaging and corresponding point clouds captured with a popular AR device, the HoloLens 2. We evaluate three well-established deep learning models in registering these data pairs. While we find that some deep learning methods show promise, we show that a conventional registration pipeline still outperforms them on our challenging dataset.
Enhancing Aeroacoustic Wind Tunnel Studies through Massive Channel Upscaling with MEMS Microphones
Venue: arXiv cs.SD 2024
Year: 2024

This paper presents a large 6~m x 3~m aperture 7200 MEMS microphone array. The array is designed so that sub-arrays with optimized point spread functions can be used for beamforming and thus, enable the research of source directivity in wind tunnel facilities. The total array consists of modular 800 microphone panels, each consisting of four unique PCB board designs. This modular architecture allows for the time-synchronized measurement of an arbitrary number of panels and thus, aperture size and total number of sensors. The panels can be installed without a gap so that the array's microphone pattern avoids high sidelobes in the point spread function. The array's capabilities are evaluated on a 1:9.5 airframe half model in an open wind tunnel at DNW-NWB. The total source emission is quantified and the directivity is evaluated with beamforming. Additional far-field microphones are employed to validate the results.
Enhancing Spatiotemporal Disease Progression Models via Latent Diffusion and Prior Knowledge
Venue: arXiv cs.CV 2024
Year: 2024

In this work, we introduce Brain Latent Progression (BrLP), a novel spatiotemporal disease progression model based on latent diffusion. BrLP is designed to predict the evolution of diseases at the individual level on 3D brain MRIs. Existing deep generative models developed for this task are primarily data-driven and face challenges in learning disease progressions. BrLP addresses these challenges by incorporating prior knowledge from disease models to enhance the accuracy of predictions. To implement this, we propose to integrate an auxiliary model that infers volumetric changes in various brain regions. Additionally, we introduce Latent Average Stabilization (LAS), a novel technique to improve spatiotemporal consistency of the predicted progression. BrLP is trained and evaluated on a large dataset comprising 11,730 T1-weighted brain MRIs from 2,805 subjects, collected from three publicly available, longitudinal Alzheimer's Disease (AD) studies. In our experiments, we compare the MRI scans generated by BrLP with the actual follow-up MRIs available from the subjects, in both cross-sectional and longitudinal settings. BrLP demonstrates significant improvements over existing methods, with an increase of 22% in volumetric accuracy across AD-related brain regions and 43% in image similarity to the ground-truth scans. The ability of BrLP to generate conditioned 3D scans at the subject level, along with the novelty of integrating prior knowledge to enhance accuracy, represents a significant advancement in disease progression modeling, opening new avenues for precision medicine. The code of BrLP is available at the following link: https://github.com/LemuelPuglisi/BrLP.
Modality Prompts for Arbitrary Modality Salient Object Detection
Venue: arXiv cs.CV 2024
Year: 2024

This paper delves into the task of arbitrary modality salient object detection (AM SOD), aiming to detect salient objects from arbitrary modalities, eg RGB images, RGB-D images, and RGB-D-T images. A novel modality-adaptive Transformer (MAT) will be proposed to investigate two fundamental challenges of AM SOD, ie more diverse modality discrepancies caused by varying modality types that need to be processed, and dynamic fusion design caused by an uncertain number of modalities present in the inputs of multimodal fusion strategy. Specifically, inspired by prompt learning's ability of aligning the distributions of pre-trained models to the characteristic of downstream tasks by learning some prompts, MAT will first present a modality-adaptive feature extractor (MAFE) to tackle the diverse modality discrepancies by introducing a modality prompt for each modality. In the training stage, a new modality translation contractive (MTC) loss will be further designed to assist MAFE in learning those modality-distinguishable modality prompts. Accordingly, in the testing stage, MAFE can employ those learned modality prompts to adaptively adjust its feature space according to the characteristics of the input modalities, thus being able to extract discriminative unimodal features. Then, MAFE will present a channel-wise and spatial-wise fusion hybrid (CSFH) strategy to meet the demand for dynamic fusion. For that, CSFH dedicates a channel-wise dynamic fusion module (CDFM) and a novel spatial-wise dynamic fusion module (SDFM) to fuse the unimodal features from varying numbers of modalities and meanwhile effectively capture cross-modal complementary semantic and detail information, respectively. Moreover, CSFH will carefully align CDFM and SDFM to different levels of unimodal features based on their characteristics for more effective complementary information exploitation.
Salient Object Detection From Arbitrary Modalities
Venue: arXiv cs.CV 2024
Year: 2024

Toward desirable saliency prediction, the types and numbers of inputs for a salient object detection (SOD) algorithm may dynamically change in many real-life applications. However, existing SOD algorithms are mainly designed or trained for one particular type of inputs, failing to be generalized to other types of inputs. Consequentially, more types of SOD algorithms need to be prepared in advance for handling different types of inputs, raising huge hardware and research costs. Differently, in this paper, we propose a new type of SOD task, termed Arbitrary Modality SOD (AM SOD). The most prominent characteristics of AM SOD are that the modality types and modality numbers will be arbitrary or dynamically changed. The former means that the inputs to the AM SOD algorithm may be arbitrary modalities such as RGB, depths, or even any combination of them. While, the latter indicates that the inputs may have arbitrary modality numbers as the input type is changed, e.g. single-modality RGB image, dual-modality RGB-Depth (RGB-D) images or triple-modality RGB-Depth-Thermal (RGB-D-T) images. Accordingly, a preliminary solution to the above challenges, ı.e. a modality switch network (MSN), is proposed in this paper. In particular, a modality switch feature extractor (MSFE) is first designed to extract discriminative features from each modality effectively by introducing some modality indicators, which will generate some weights for modality switching. Subsequently, a dynamic fusion module (DFM) is proposed to adaptively fuse features from a variable number of modalities based on a novel Transformer structure. Finally, a new dataset, named AM-XD, is constructed to facilitate research on AM SOD. Extensive experiments demonstrate that our AM SOD method can effectively cope with changes in the type and number of input modalities for robust salient object detection.
Knowledge-aware Text-Image Retrieval for Remote Sensing Images
Venue: arXiv cs.CV 2024
Year: 2024

Image-based retrieval in large Earth observation archives is challenging because one needs to navigate across thousands of candidate matches only with the query image as a guide. By using text as information supporting the visual query, the retrieval system gains in usability, but at the same time faces difficulties due to the diversity of visual signals that cannot be summarized by a short caption only. For this reason, as a matching-based task, cross-modal text-image retrieval often suffers from information asymmetry between texts and images. To address this challenge, we propose a Knowledge-aware Text-Image Retrieval (KTIR) method for remote sensing images. By mining relevant information from an external knowledge graph, KTIR enriches the text scope available in the search query and alleviates the information gaps between texts and images for better matching. Moreover, by integrating domain-specific knowledge, KTIR also enhances the adaptation of pre-trained vision-language models to remote sensing applications. Experimental results on three commonly used remote sensing text-image retrieval benchmarks show that the proposed knowledge-aware method leads to varied and consistent retrievals, outperforming state-of-the-art retrieval methods.
Automated Computation of Therapies Using Failure Mode and Effects Analysis in the Medical Domain
Venue: arXiv cs.AI 2024
Year: 2024

Failure mode and effects analysis (FMEA) is a systematic approach to identify and analyse potential failures and their effects in a system or process. The FMEA approach, however, requires domain experts to manually analyse the FMEA model to derive risk-reducing actions that should be applied. In this paper, we provide a formal framework to allow for automatic planning and acting in FMEA models. More specifically, we cast the FMEA model into a Markov decision process which can then be solved by existing solvers. We show that the FMEA approach can not only be used to support medical experts during the modelling process but also to automatically derive optimal therapies for the treatment of patients.
Gaussian Splatting: 3D Reconstruction and Novel View Synthesis, a Review
Venue: arXiv cs.CV 2024
Year: 2024

Image-based 3D reconstruction is a challenging task that involves inferring the 3D shape of an object or scene from a set of input images. Learning-based methods have gained attention for their ability to directly estimate 3D shapes. This review paper focuses on state-of-the-art techniques for 3D reconstruction, including the generation of novel, unseen views. An overview of recent developments in the Gaussian Splatting method is provided, covering input types, model structures, output representations, and training strategies. Unresolved challenges and future directions are also discussed. Given the rapid progress in this domain and the numerous opportunities for enhancing 3D reconstruction methods, a comprehensive examination of algorithms appears essential. Consequently, this study offers a thorough overview of the latest advancements in Gaussian Splatting.
Automated Metaheuristic Algorithm Design with Autoregressive Learning
Venue: arXiv cs.NE 2024
Year: 2024

Automated design of metaheuristic algorithms offers an attractive avenue to reduce human effort and gain enhanced performance beyond human intuition. Current automated methods design algorithms within a fixed structure and operate from scratch. This poses a clear gap towards fully discovering potentials over the metaheuristic family and fertilizing from prior design experience. To bridge the gap, this paper proposes an autoregressive learning-based designer for automated design of metaheuristic algorithms. Our designer formulates metaheuristic algorithm design as a sequence generation task, and harnesses an autoregressive generative network to handle the task. This offers two advances. First, through autoregressive inference, the designer generates algorithms with diverse lengths and structures, enabling to fully discover potentials over the metaheuristic family. Second, prior design knowledge learned and accumulated in neurons of the designer can be retrieved for designing algorithms for future problems, paving the way to continual design of algorithms for open-ended problem-solving. Extensive experiments on numeral benchmarks and real-world problems reveal that the proposed designer generates algorithms that outperform all human-created baselines on 24 out of 25 test problems. The generated algorithms display various structures and behaviors, reasonably fitting for different problem-solving contexts. Code will be released after paper publication.
Are Human Rules Necessary? Generating Reusable APIs with CoT Reasoning and In-Context Learning
Venue: arXiv cs.SE 2024
Year: 2024

Inspired by the great potential of Large Language Models (LLMs) for solving complex coding tasks, in this paper, we propose a novel approach, named Code2API, to automatically perform APIzation for Stack Overflow code snippets. Code2API does not require additional model training or any manual crafting rules and can be easily deployed on personal computers without relying on other external tools. Specifically, Code2API guides the LLMs through well-designed prompts to generate well-formed APIs for given code snippets. To elicit knowledge and logical reasoning from LLMs, we used chain-of-thought (CoT) reasoning and few-shot in-context learning, which can help the LLMs fully understand the APIzation task and solve it step by step in a manner similar to a developer. Our evaluations show that Code2API achieves a remarkable accuracy in identifying method parameters (65%) and return statements (66%) equivalent to human-generated ones, surpassing the current state-of-the-art approach, APIzator, by 15.0% and 16.5% respectively. Moreover, compared with APIzator, our user study demonstrates that Code2API exhibits superior performance in generating meaningful method names, even surpassing the human-level performance, and developers are more willing to use APIs generated by our approach, highlighting the applicability of our tool in practice. Finally, we successfully extend our framework to the Python dataset, achieving a comparable performance with Java, which verifies the generalizability of our tool.
QBER: Quantifying Cyber Risks for Strategic Decisions
Venue: arXiv cs.CR 2024
Year: 2024

Quantifying cyber risks is essential for organizations to grasp their vulnerability to threats and make informed decisions. However, current approaches still need to work on blending economic viewpoints to provide insightful analysis. To bridge this gap, we introduce QBER approach to offer decision-makers measurable risk metrics. The QBER evaluates losses from cyberattacks, performs detailed risk analyses based on existing cybersecurity measures, and provides thorough cost assessments. Our contributions involve outlining cyberattack probabilities and risks, identifying Technical, Economic, and Legal (TEL) impacts, creating a model to gauge impacts, suggesting risk mitigation strategies, and examining trends and challenges in implementing widespread Cyber Risk Quantification (CRQ). The QBER approach serves as a guided approach for organizations to assess risks and strategically invest in cybersecurity.
Semi-autonomous Robotic Disassembly Enhanced by Mixed Reality
Venue: arXiv cs.RO 2024
Year: 2024

In this study, we introduce "SARDiM," a modular semi-autonomous platform enhanced with mixed reality for industrial disassembly tasks. Through a case study focused on EV battery disassembly, SARDiM integrates Mixed Reality, object segmentation, teleoperation, force feedback, and variable autonomy. Utilising the ROS, Unity, and MATLAB platforms, alongside a joint impedance controller, SARDiM facilitates teleoperated disassembly. The approach combines FastSAM for real-time object segmentation, generating data which is subsequently processed through a cluster analysis algorithm to determine the centroid and orientation of the components, categorizing them by size and disassembly priority. This data guides the MoveIt platform in trajectory planning for the Franka Robot arm. SARDiM provides the capability to switch between two teleoperation modes: manual and semi-autonomous with variable autonomy. Each was evaluated using four different Interface Methods (IM): direct view, monitor feed, mixed reality with monitor feed, and point cloud mixed reality. Evaluations across the eight IMs demonstrated a 40.61% decrease in joint limit violations using Mode 2. Moreover, Mode 2-IM4 outperformed Mode 1-IM1 by achieving a 2.33%-time reduction while considerably increasing safety, making it optimal for operating in hazardous environments at a safe distance, with the same ease of use as teleoperation with a direct view of the environment.
Optimizing Hand Region Detection in MediaPipe Holistic Full-Body Pose Estimation to Improve Accuracy and Avoid Downstream Errors
Venue: arXiv cs.CV 2024
Year: 2024

This paper addresses a critical flaw in MediaPipe Holistic's hand Region of Interest (ROI) prediction, which struggles with non-ideal hand orientations, affecting sign language recognition accuracy. We propose a data-driven approach to enhance ROI estimation, leveraging an enriched feature set including additional hand keypoints and the z-dimension. Our results demonstrate better estimates, with higher Intersection-over-Union compared to the current method. Our code and optimizations are available at https://github.com/sign-language-processing/mediapipe-hand-crop-fix.
Model- and Data-Based Control of Self-Balancing Robots: Practical Educational Approach with LabVIEW and Arduino
Venue: arXiv cs.RO 2024
Year: 2024

A two-wheeled self-balancing robot (TWSBR) is non-linear and unstable system. This study compares the performance of model-based and data-based control strategies for TWSBRs, with an explicit practical educational approach. Model-based control (MBC) algorithms such as Lead-Lag and PID control require a proficient dynamic modeling and mathematical manipulation to drive the linearized equations of motions and develop the appropriate controller. On the other side, data-based control (DBC) methods, like fuzzy control, provide a simpler and quicker approach to designing effective controllers without needing in-depth understanding of the system model. In this paper, the advantages and disadvantages of both MBC and DBC using a TWSBR are illustrated. All controllers were implemented and tested on the OSOYOO self-balancing kit, including an Arduino microcontroller, MPU-6050 sensor, and DC motors. The control law and the user interface are constructed using the LabVIEW-LINX toolkit. A real-time hardware-in-loop experiment validates the results, highlighting controllers that can be implemented on a cost-effective platform.
The Sociotechnical Stack: Opportunities for Social Computing Research in Non-consensual Intimate Media
Venue: arXiv cs.CY 2024
Year: 2024

Non-consensual intimate media (NCIM) involves sharing intimate content without the depicted person's consent, including "revenge porn" and sexually explicit deepfakes. While NCIM has received attention in legal, psychological, and communication fields over the past decade, it is not sufficiently addressed in computing scholarship. This paper addresses this gap by linking NCIM harms to the specific technological components that facilitate them. We introduce the sociotechnical stack, a conceptual framework designed to map the technical stack to its corresponding social impacts. The sociotechnical stack allows us to analyze sociotechnical problems like NCIM, and points toward opportunities for computing research. We propose a research roadmap for computing and social computing communities to deter NCIM perpetration and support victim-survivors through building and rebuilding technologies.
Decision algorithms for reversibility of one-dimensional non-linear cellular automata under null boundary conditions
Venue: arXiv cs.CC 2024
Year: 2024

The property of reversibility is quite meaningful for the classic theoretical computer science model, cellular automata. For the reversibility problem for a CA under null boundary conditions, while linear rules have been studied a lot, the non-linear rules remain unexplored at present. The paper investigates the reversibility problem of general one-dimensional CA on a finite field $\mathbb{Z}_p$, and proposes an approach to optimize the Amoroso's infinite CA surjectivity detection algorithm. This paper proposes algorithms for deciding the reversibility of one-dimensional CA under null boundary conditions. We propose a method to decide the strict reversibility of one-dimensional CA under null boundary conditions. We also provide a bucket chain based algorithm for calculating the reversibility function of one-dimensional CA under null boundary conditions. These decision algorithms work for not only linear rules but also non-linear rules. In addition, it has been confirmed that the reversibility function always has a period, and its periodicity is related to the periodicity of the corresponding bucket chain. Some of our experiment results of reversible CA are presented in the paper, complementing and validating the theoretical aspects, and thereby further supporting the research conclusions of this paper.
Competitive strategies to use "warm start" algorithms with predictions
Venue: arXiv cs.DS 2024
Year: 2024

We consider the problem of learning and using predictions for warm start algorithms with predictions. In this setting, an algorithm is given an instance of a problem, and a prediction of the solution. The runtime of the algorithm is bounded by the distance from the predicted solution to the true solution of the instance. Previous work has shown that when instances are drawn iid from some distribution, it is possible to learn an approximately optimal fixed prediction (Dinitz et al, NeurIPS 2021), and in the adversarial online case, it is possible to compete with the best fixed prediction in hindsight (Khodak et al, NeurIPS 2022). In this work we give competitive guarantees against stronger benchmarks that consider a set of $k$ predictions $\mathbf{P}$. That is, the "optimal offline cost" to solve an instance with respect to $\mathbf{P}$ is the distance from the true solution to the closest member of $\mathbf{P}$. This is analogous to the $k$-medians objective function. In the distributional setting, we show a simple strategy that incurs cost that is at most an $O(k)$ factor worse than the optimal offline cost. We then show a way to leverage learnable coarse information, in the form of partitions of the instance space into groups of "similar" instances, that allows us to potentially avoid this $O(k)$ factor. Finally, we consider an online version of the problem, where we compete against offline strategies that are allowed to maintain a moving set of $k$ predictions or "trajectories," and are charged for how much the predictions move. We give an algorithm that does at most $O(k^4 \ln^2 k)$ times as much work as any offline strategy of $k$ trajectories. This algorithm is deterministic (robust to an adaptive adversary), and oblivious to the setting of $k$. Thus the guarantee holds for all $k$ simultaneously.
Towards A Human-in-the-Loop LLM Approach to Collaborative Discourse Analysis
Venue: arXiv cs.CL 2024
Year: 2024

LLMs have demonstrated proficiency in contextualizing their outputs using human input, often matching or beating human-level performance on a variety of tasks. However, LLMs have not yet been used to characterize synergistic learning in students' collaborative discourse. In this exploratory work, we take a first step towards adopting a human-in-the-loop prompt engineering approach with GPT-4-Turbo to summarize and categorize students' synergistic learning during collaborative discourse. Our preliminary findings suggest GPT-4-Turbo may be able to characterize students' synergistic learning in a manner comparable to humans and that our approach warrants further investigation.