OpenRaiser/Intern-Atlas huggingface dataset:
Invariant neuromorphic representations of tactile stimuli improve robustness of a real-time texture classification system
Venue: arXiv cs.RO 2024
Year: 2024

Humans have an exquisite sense of touch which robotic and prosthetic systems aim to recreate. We developed algorithms to create neuron-like (neuromorphic) spiking representations of texture that are invariant to the scanning speed and contact force applied in the sensing process. The spiking representations are based on mimicking activity from mechanoreceptors in human skin and further processing up to the brain. The neuromorphic encoding process transforms analog sensor readings into speed and force invariant spiking representations in three sequential stages: the force invariance module (in the analog domain), the spiking activity encoding module (transforms from analog to spiking domain), and the speed invariance module (in the spiking domain). The algorithms were tested on a tactile texture dataset collected in 15 speed-force conditions. An offline texture classification system built on the invariant representations has higher classification accuracy, improved computational efficiency, and increased capability to identify textures explored in novel speed-force conditions. The speed invariance algorithm was adapted to a real-time human-operated texture classification system. Similarly, the invariant representations improved classification accuracy, computational efficiency, and capability to identify textures explored in novel conditions. The invariant representation is even more crucial in this context due to human imprecision which seems to the classification system as a novel condition. These results demonstrate that invariant neuromorphic representations enable better performing neurorobotic tactile sensing systems. Furthermore, because the neuromorphic representations are based on biological processing, this work can be used in the future as the basis for naturalistic sensory feedback for upper limb amputees.
Path-RAG: Knowledge-Guided Key Region Retrieval for Open-ended Pathology Visual Question Answering
Venue: arXiv cs.CV 2024
Year: 2024

Accurate diagnosis and prognosis assisted by pathology images are essential for cancer treatment selection and planning. Despite the recent trend of adopting deep-learning approaches for analyzing complex pathology images, they fall short as they often overlook the domain-expert understanding of tissue structure and cell composition. In this work, we focus on a challenging Open-ended Pathology VQA (PathVQA-Open) task and propose a novel framework named Path-RAG, which leverages HistoCartography to retrieve relevant domain knowledge from pathology images and significantly improves performance on PathVQA-Open. Admitting the complexity of pathology image analysis, Path-RAG adopts a human-centered AI approach by retrieving domain knowledge using HistoCartography to select the relevant patches from pathology images. Our experiments suggest that domain guidance can significantly boost the accuracy of LLaVA-Med from 38% to 47%, with a notable gain of 28% for H&E-stained pathology images in the PathVQA-Open dataset. For longer-form question and answer pairs, our model consistently achieves significant improvements of 32.5% in ARCH-Open PubMed and 30.6% in ARCH-Open Books on H\&E images. Our code and dataset is available here (https://github.com/embedded-robotics/path-rag).
PassionSR: Post-Training Quantization with Adaptive Scale in One-Step Diffusion based Image Super-Resolution
Venue: arXiv cs.CV 2024
Year: 2024

Diffusion-based image super-resolution (SR) models have shown superior performance at the cost of multiple denoising steps. However, even though the denoising step has been reduced to one, they require high computational costs and storage requirements, making it difficult for deployment on hardware devices. To address these issues, we propose a novel post-training quantization approach with adaptive scale in one-step diffusion (OSD) image SR, PassionSR. First, we simplify OSD model to two core components, UNet and Variational Autoencoder (VAE) by removing the CLIPEncoder. Secondly, we propose Learnable Boundary Quantizer (LBQ) and Learnable Equivalent Transformation (LET) to optimize the quantization process and manipulate activation distributions for better quantization. Finally, we design a Distributed Quantization Calibration (DQC) strategy that stabilizes the training of quantized parameters for rapid convergence. Comprehensive experiments demonstrate that PassionSR with 8-bit and 6-bit obtains comparable visual results with full-precision model. Moreover, our PassionSR achieves significant advantages over recent leading low-bit quantization methods for image SR. Our code will be at https://github.com/libozhu03/PassionSR.
HGC: A hybrid method combining gravity model and cycle structure for identifying influential spreaders in complex networks
Venue: arXiv cs.CE 2024
Year: 2024

Identifying influential spreaders in complex networks is a critical challenge in network science, with broad applications in disease control, information dissemination, and influence analysis in social networks. The gravity model, a distinctive approach for identifying influential spreaders, has attracted significant attention due to its ability to integrate node influence and the distance between nodes. However, the law of gravity is symmetric, whereas the influence between different nodes is asymmetric. Existing gravity model-based methods commonly rely on the topological distance as a metric to measure the distance between nodes. Such reliance neglects the strength or frequency of connections between nodes, resulting in symmetric influence values between node pairs, which ultimately leads to an inaccurate assessment of node influence. Moreover, these methods often overlook cycle structures within networks, which provide redundant pathways for nodes and contribute significantly to the overall connectivity and stability of the network. In this paper, we propose a hybrid method called HGC, which integrates the gravity model with effective distance and incorporates cycle structure to address the issues above. Effective distance, derived from probabilities, measures the distance between a source node and others by considering its connectivity, providing a more accurate reflection of actual relationships between nodes. To evaluate the accuracy and effectiveness of the proposed method, we conducted several experiments on eight real-world networks based on the Susceptible-Infected-Recovered model. The results demonstrate that HGC outperforms seven compared methods in accurately identifying influential nodes.
Fault Localization from the Semantic Code Search Perspective
Venue: arXiv cs.SE 2024
Year: 2024

The software development process is characterized by an iterative cycle of continuous functionality implementation and debugging, essential for the enhancement of software quality and adaptability to changing requirements. This process incorporates two isolatedly studied tasks: Code Search (CS), which retrieves reference code from a code corpus to aid in code implementation, and Fault Localization (FL), which identifies code entities responsible for bugs within the software project to boost software debugging. These two tasks exhibit similarities since they both address search problems. Notably, CS techniques have demonstrated greater effectiveness than FL ones, possibly because of the precise semantic details of the required code offered by natural language queries, which are not readily accessible to FL methods. Drawing inspiration from this, we hypothesize that a fault localizer could achieve greater proficiency if semantic information about the buggy methods were made available. Based on this idea, we propose CosFL, an FL approach that decomposes the FL task into two steps: query generation, which describes the functionality of the problematic code in natural language, and fault retrieval, which uses CS to find program elements semantically related to the query. Specifically, to depict the buggy functionalities and generate high-quality queries, CosFL extensively harnesses the code analysis, semantic comprehension, and decision-making capabilities of LLMs. Moreover, to enhance the accuracy of CS, CosFL captures varying levels of context information and employs a multi-granularity code search strategy, which facilitates a more precise identification of buggy methods from a holistic view. The evaluation on 835 real bugs from 23 Java projects shows that CosFL successfully localizes 324 bugs within Top-1, which significantly outperforms the state-of-the-art approaches by 26.6%-57.3%.
MLI-NeRF: Multi-Light Intrinsic-Aware Neural Radiance Fields
Venue: arXiv cs.CV 2024
Year: 2024

Current methods for extracting intrinsic image components, such as reflectance and shading, primarily rely on statistical priors. These methods focus mainly on simple synthetic scenes and isolated objects and struggle to perform well on challenging real-world data. To address this issue, we propose MLI-NeRF, which integrates \textbf{M}ultiple \textbf{L}ight information in \textbf{I}ntrinsic-aware \textbf{Ne}ural \textbf{R}adiance \textbf{F}ields. By leveraging scene information provided by different light source positions complementing the multi-view information, we generate pseudo-label images for reflectance and shading to guide intrinsic image decomposition without the need for ground truth data. Our method introduces straightforward supervision for intrinsic component separation and ensures robustness across diverse scene types. We validate our approach on both synthetic and real-world datasets, outperforming existing state-of-the-art methods. Additionally, we demonstrate its applicability to various image editing tasks. The code and data are publicly available.
LHPF: Look back the History and Plan for the Future in Autonomous Driving
Venue: arXiv cs.RO 2024
Year: 2024

Decision-making and planning in autonomous driving critically reflect the safety of the system, making effective planning imperative. Current imitation learning-based planning algorithms often merge historical trajectories with present observations to predict future candidate paths. However, these algorithms typically assess the current and historical plans independently, leading to discontinuities in driving intentions and an accumulation of errors with each step in a discontinuous plan. To tackle this challenge, this paper introduces LHPF, an imitation learning planner that integrates historical planning information. Our approach employs a historical intention aggregation module that pools historical planning intentions, which are then combined with a spatial query vector to decode the final planning trajectory. Furthermore, we incorporate a comfort auxiliary task to enhance the human-like quality of the driving behavior. Extensive experiments using both real-world and synthetic data demonstrate that LHPF not only surpasses existing advanced learning-based planners in planning performance but also marks the first instance of a purely learning-based planner outperforming the expert. Additionally, the application of the historical intention aggregation module across various backbones highlights the considerable potential of the proposed method. The code will be made publicly available.
Semantic Data Augmentation for Long-tailed Facial Expression Recognition
Venue: arXiv cs.CV 2024
Year: 2024

Facial Expression Recognition has a wide application prospect in social robotics, health care, driver fatigue monitoring, and many other practical scenarios. Automatic recognition of facial expressions has been extensively studied by the Computer Vision research society. But Facial Expression Recognition in real-world is still a challenging task, partially due to the long-tailed distribution of the dataset. Many recent studies use data augmentation for Long-Tailed Recognition tasks. In this paper, we propose a novel semantic augmentation method. By introducing randomness into the encoding of the source data in the latent space of VAE-GAN, new samples are generated. Then, for facial expression recognition in RAF-DB dataset, we use our augmentation method to balance the long-tailed distribution. Our method can be used in not only FER tasks, but also more diverse data-hungry scenarios.
Broadcasting in Heterogeneous Tree Networks with Edge Weight Uncertainty
Venue: arXiv cs.DS 2024
Year: 2024

A broadcasting problem in heterogeneous tree networks with edge weight uncertainty under the postal model is considered in this paper. The broadcasting problem asks for a minmax-regret broadcast center, which minimizes the worst-case loss in the objective function. Due to the presence of edge weight uncertainty, it is not easy to attack the broadcasting problem. An $O(n \log n \log \log n)$-time algorithm is proposed for solving the broadcasting problem.
Knowledge-aware Evolutionary Graph Neural Architecture Search
Venue: arXiv cs.NE 2024
Year: 2024

Graph neural architecture search (GNAS) can customize high-performance graph neural network architectures for specific graph tasks or datasets. However, existing GNAS methods begin searching for architectures from a zero-knowledge state, ignoring the prior knowledge that may improve the search efficiency. The available knowledge base (e.g. NAS-Bench-Graph) contains many rich architectures and their multiple performance metrics, such as the accuracy (#Acc) and number of parameters (#Params). This study proposes exploiting such prior knowledge to accelerate the multi-objective evolutionary search on a new graph dataset, named knowledge-aware evolutionary GNAS (KEGNAS). KEGNAS employs the knowledge base to train a knowledge model and a deep multi-output Gaussian process (DMOGP) in one go, which generates and evaluates transfer architectures in only a few GPU seconds. The knowledge model first establishes a dataset-to-architecture mapping, which can quickly generate candidate transfer architectures for a new dataset. Subsequently, the DMOGP with architecture and dataset encodings is designed to predict multiple performance metrics for candidate transfer architectures on the new dataset. According to the predicted metrics, non-dominated candidate transfer architectures are selected to warm-start the multi-objective evolutionary algorithm for optimizing the #Acc and #Params on a new dataset. Empirical studies on NAS-Bench-Graph and five real-world datasets show that KEGNAS swiftly generates top-performance architectures, achieving 4.27% higher accuracy than advanced evolutionary baselines and 11.54% higher accuracy than advanced differentiable baselines. In addition, ablation studies demonstrate that the use of prior knowledge significantly improves the search performance.
Cross-modal Medical Image Generation Based on Pyramid Convolutional Attention Network
Venue: arXiv cs.CE 2024
Year: 2024

The integration of multimodal medical imaging can provide complementary and comprehensive information for the diagnosis of Alzheimer's disease (AD). However, in clinical practice, since positron emission tomography (PET) is often missing, multimodal images might be incomplete. To address this problem, we propose a method that can efficiently utilize structural magnetic resonance imaging (sMRI) image information to generate high-quality PET images. Our generation model efficiently utilizes pyramid convolution combined with channel attention mechanism to extract multi-scale local features in sMRI, and injects global correlation information into these features using self-attention mechanism to ensure the restoration of the generated PET image on local texture and global structure. Additionally, we introduce additional loss functions to guide the generation model in producing higher-quality PET images. Through experiments conducted on publicly available ADNI databases, the generated images outperform previous research methods in various performance indicators (average absolute error: 0.0194, peak signal-to-noise ratio: 29.65, structural similarity: 0.9486) and are close to real images. In promoting AD diagnosis, the generated images combined with their corresponding sMRI also showed excellent performance in AD diagnosis tasks (classification accuracy: 94.21 %), and outperformed previous research methods of the same type. The experimental results demonstrate that our method outperforms other competing methods in quantitative metrics, qualitative visualization, and evaluation criteria.
DRiVE: Diffusion-based Rigging Empowers Generation of Versatile and Expressive Characters
Venue: arXiv cs.CV 2024
Year: 2024

Recent advances in generative models have enabled high-quality 3D character reconstruction from multi-modal. However, animating these generated characters remains a challenging task, especially for complex elements like garments and hair, due to the lack of large-scale datasets and effective rigging methods. To address this gap, we curate AnimeRig, a large-scale dataset with detailed skeleton and skinning annotations. Building upon this, we propose DRiVE, a novel framework for generating and rigging 3D human characters with intricate structures. Unlike existing methods, DRiVE utilizes a 3D Gaussian representation, facilitating efficient animation and high-quality rendering. We further introduce GSDiff, a 3D Gaussian-based diffusion module that predicts joint positions as spatial distributions, overcoming the limitations of regression-based approaches. Extensive experiments demonstrate that DRiVE achieves precise rigging results, enabling realistic dynamics for clothing and hair, and surpassing previous methods in both quality and versatility. The code and dataset will be made public for academic use upon acceptance.
Unlocking the Potential of Text-to-Image Diffusion with PAC-Bayesian Theory
Venue: arXiv cs.CV 2024
Year: 2024

Text-to-image (T2I) diffusion models have revolutionized generative modeling by producing high-fidelity, diverse, and visually realistic images from textual prompts. Despite these advances, existing models struggle with complex prompts involving multiple objects and attributes, often misaligning modifiers with their corresponding nouns or neglecting certain elements. Recent attention-based methods have improved object inclusion and linguistic binding, but still face challenges such as attribute misbinding and a lack of robust generalization guarantees. Leveraging the PAC-Bayes framework, we propose a Bayesian approach that designs custom priors over attention distributions to enforce desirable properties, including divergence between objects, alignment between modifiers and their corresponding nouns, minimal attention to irrelevant tokens, and regularization for better generalization. Our approach treats the attention mechanism as an interpretable component, enabling fine-grained control and improved attribute-object alignment. We demonstrate the effectiveness of our method on standard benchmarks, achieving state-of-the-art results across multiple metrics. By integrating custom priors into the denoising process, our method enhances image quality and addresses long-standing challenges in T2I diffusion models, paving the way for more reliable and interpretable generative models.
IMPROVE: Improving Medical Plausibility without Reliance on HumanValidation -- An Enhanced Prototype-Guided Diffusion Framework
Venue: arXiv cs.CV 2024
Year: 2024

Generative models have proven to be very effective in generating synthetic medical images and find applications in downstream tasks such as enhancing rare disease datasets, long-tailed dataset augmentation, and scaling machine learning algorithms. For medical applications, the synthetically generated medical images by such models are still reasonable in quality when evaluated based on traditional metrics such as FID score, precision, and recall. However, these metrics fail to capture the medical/biological plausibility of the generated images. Human expert feedback has been used to get biological plausibility which demonstrates that these generated images have very low plausibility. Recently, the research community has further integrated this human feedback through Reinforcement Learning from Human Feedback(RLHF), which generates more medically plausible images. However, incorporating human feedback is a costly and slow process. In this work, we propose a novel approach to improve the medical plausibility of generated images without the need for human feedback. We introduce IMPROVE:Improving Medical Plausibility without Reliance on Human Validation - An Enhanced Prototype-Guided Diffusion Framework, a prototype-guided diffusion process for medical image generation and show that it substantially enhances the biological plausibility of the generated medical images without the need for any human feedback. We perform experiments on Bone Marrow and HAM10000 datasets and show that medical accuracy can be substantially increased without human feedback.
Tracing Optimization for Performance Modeling and Regression Detection
Venue: arXiv cs.SE 2024
Year: 2024

Software performance modeling plays a crucial role in developing and maintaining software systems. A performance model analytically describes the relationship between the performance of a system and its runtime activities. This process typically examines various aspects of a system's runtime behavior, such as the execution frequency of functions or methods, to forecast performance metrics like program execution time. By using performance models, developers can predict expected performance and thereby effectively identify and address unexpected performance regressions when actual performance deviates from the model's predictions. One common and precise method for capturing performance behavior is software tracing, which involves instrumenting the execution of a program, either at the kernel level (e.g., system calls) or application level (e.g., function calls). However, due to the nature of tracing, it can be highly resource-intensive, making it impractical for production environments where resources are limited. In this work, we propose statistical approaches to reduce tracing overhead by identifying and excluding performance-insensitive code regions, particularly application-level functions, from tracing while still building accurate performance models that can capture performance degradations. By selecting an optimal set of functions to be traced, we can construct optimized performance models that achieve an R-2 score of up to 99% and, sometimes, outperform full tracing models (models using non-optimized tracing data), while significantly reducing the tracing overhead by more than 80% in most cases. Our optimized performance models can also capture performance regressions in our studied programs effectively, demonstrating their usefulness in real-world scenarios. Our approach is fully automated, making it ready to be used in production environments with minimal human effort.