OpenRaiser/Intern-Atlas huggingface dataset:
Quaternion-based Unscented Kalman Filter for 6-DoF Vision-based Inertial Navigation in GPS-denied Regions
Venue: arXiv cs.RO 2024
Year: 2024

This paper investigates the orientation, position, and linear velocity estimation problem of a rigid-body moving in three-dimensional (3D) space with six degrees-of-freedom (6 DoF). The highly nonlinear navigation kinematics are formulated to ensure global representation of the navigation problem. A computationally efficient Quaternion-based Navigation Unscented Kalman Filter (QNUKF) is proposed on $\mathbb{S}^{3}\times\mathbb{R}^{3}\times\mathbb{R}^{3}$ imitating the true nonlinear navigation kinematics and utilize onboard Visual-Inertial Navigation (VIN) units to achieve successful GPS-denied navigation. The proposed QNUKF is designed in discrete form to operate based on the data fusion of photographs garnered by a vision unit (stereo or monocular camera) and information collected by a low-cost inertial measurement unit (IMU). The photographs are processed to extract feature points in 3D space, while the 6-axis IMU supplies angular velocity and accelerometer measurements expressed with respect to the body-frame. Robustness and effectiveness of the proposed QNUKF have been confirmed through experiments on a real-world dataset collected by a drone navigating in 3D and consisting of stereo images and 6-axis IMU measurements. Also, the proposed approach is validated against standard state-of-the-art filtering techniques. IEEE Keywords: Localization, Navigation, Unmanned Aerial Vehicle, Sensor-fusion, Inertial Measurement Unit, Vision Unit.
WxC-Bench: A Novel Dataset for Weather and Climate Downstream Tasks
Venue: arXiv cs.LG 2024
Year: 2024

High-quality machine learning (ML)-ready datasets play a foundational role in developing new artificial intelligence (AI) models or fine-tuning existing models for scientific applications such as weather and climate analysis. Unfortunately, despite the growing development of new deep learning models for weather and climate, there is a scarcity of curated, pre-processed machine learning (ML)-ready datasets. Curating such high-quality datasets for developing new models is challenging particularly because the modality of the input data varies significantly for different downstream tasks addressing different atmospheric scales (spatial and temporal). Here we introduce WxC-Bench (Weather and Climate Bench), a multi-modal dataset designed to support the development of generalizable AI models for downstream use-cases in weather and climate research. WxC-Bench is designed as a dataset of datasets for developing ML-models for a complex weather and climate system, addressing selected downstream tasks as machine learning phenomenon. WxC-Bench encompasses several atmospheric processes from meso-$β$ (20 - 200 km) scale to synoptic scales (2500 km), such as aviation turbulence, hurricane intensity and track monitoring, weather analog search, gravity wave parameterization, and natural language report generation. We provide a comprehensive description of the dataset and also present a technical validation for baseline analysis. The dataset and code to prepare the ML-ready data have been made publicly available on Hugging Face -- https://huggingface.co/datasets/nasa-impact/WxC-Bench
Many-MobileNet: Multi-Model Augmentation for Robust Retinal Disease Classification
Venue: arXiv cs.CV 2024
Year: 2024

In this work, we propose Many-MobileNet, an efficient model fusion strategy for retinal disease classification using lightweight CNN architecture. Our method addresses key challenges such as overfitting and limited dataset variability by training multiple models with distinct data augmentation strategies and different model complexities. Through this fusion technique, we achieved robust generalization in data-scarce domains while balancing computational efficiency with feature extraction capabilities.
Block MedCare: Advancing healthcare through blockchain integration with AI and IoT
Venue: arXiv cs.SE 2024
Year: 2024

This research explores the integration of blockchain technology in healthcare, focusing on enhancing the security and efficiency of Electronic Health Record (EHR) management. We propose a novel Ethereum-based system that empowers patients with secure control over their medical data. Our approach addresses key challenges in healthcare blockchain implementation, including scalability, privacy, and regulatory compliance. The system incorporates digital signatures, Role-Based Access Control, and a multi-layered architecture to ensure secure, controlled access. We developed a decentralized application (dApp) with user-friendly interfaces for patients, doctors, and administrators, demonstrating the practical application of our solution. A survey among healthcare professionals and IT experts revealed strong interest in blockchain adoption, while also highlighting concerns about integration costs. The study explores future enhancements, including integration with IoT devices and AI-driven analytics, contributing to the evolution of secure, efficient, and interoperable healthcare systems that leverage cutting-edge technologies for improved patient care.
Optimized CNNs for Rapid 3D Point Cloud Object Recognition
Venue: arXiv cs.CV 2024
Year: 2024

This study introduces a method for efficiently detecting objects within 3D point clouds using convolutional neural networks (CNNs). Our approach adopts a unique feature-centric voting mechanism to construct convolutional layers that capitalize on the typical sparsity observed in input data. We explore the trade-off between accuracy and speed across diverse network architectures and advocate for integrating an $\mathcal{L}_1$ penalty on filter activations to augment sparsity within intermediate layers. This research pioneers the proposal of sparse convolutional layers combined with $\mathcal{L}_1$ regularization to effectively handle large-scale 3D data processing. Our method's efficacy is demonstrated on the MVTec 3D-AD object detection benchmark. The Vote3Deep models, with just three layers, outperform the previous state-of-the-art in both laser-only approaches and combined laser-vision methods. Additionally, they maintain competitive processing speeds. This underscores our approach's capability to substantially enhance detection performance while ensuring computational efficiency suitable for real-time applications.
Memory-efficient Continual Learning with Neural Collapse Contrastive
Venue: arXiv cs.CV 2024
Year: 2024

Contrastive learning has significantly improved representation quality, enhancing knowledge transfer across tasks in continual learning (CL). However, catastrophic forgetting remains a key challenge, as contrastive based methods primarily focus on "soft relationships" or "softness" between samples, which shift with changing data distributions and lead to representation overlap across tasks. Recently, the newly identified Neural Collapse phenomenon has shown promise in CL by focusing on "hard relationships" or "hardness" between samples and fixed prototypes. However, this approach overlooks "softness", crucial for capturing intra-class variability, and this rigid focus can also pull old class representations toward current ones, increasing forgetting. Building on these insights, we propose Focal Neural Collapse Contrastive (FNC^2), a novel representation learning loss that effectively balances both soft and hard relationships. Additionally, we introduce the Hardness-Softness Distillation (HSD) loss to progressively preserve the knowledge gained from these relationships across tasks. Our method outperforms state-of-the-art approaches, particularly in minimizing memory reliance. Remarkably, even without the use of memory, our approach rivals rehearsal-based methods, offering a compelling solution for data privacy concerns.
iSEEtree: interactive explorer for hierarchical data
Venue: arXiv cs.MS 2024
Year: 2024

$\textbf{Motivation:}$ Hierarchical data structures are prevalent across several fields of research, as they represent an organised and efficient approach to study complex interconnected systems. Their significance is particularly evident in microbiome analysis, where microbial communities are classified at various taxonomic levels along the phylogenetic tree. In light of this trend, the R/Bioconductor community has established a reproducible analytical framework for hierarchical data, which relies on the highly generic and optimised TreeSummarizedExperiment data container. However, using this framework requires basic proficiency in programming. $\textbf{Results:}$ To reduce the entry requirements, we developed iSEEtree, an R shiny app which provides a visual interface for the analysis and exploration of TreeSummarizedExperiment objects, thereby expanding the interactive graphics capabilities of related work to hierarchical structures. This way, users can interactively explore several aspects of their data without the need for extensive knowledge of R programming. We describe how iSEEtree enables the exploration of hierarchical multi-table data and demonstrate its functionality with applications to microbiome analysis. $\textbf{Availability and Implementation:}$ iSEEtree was implemented in the R programming language and is available on Bioconductor at https://bioconductor.org/packages/iSEEtree under an Artistic 2.0 license. $\textbf{Contact:}$ giulio.benedetti@utu.fi or leo.lahti@utu.fi.
Removing Spurious Correlation from Neural Network Interpretations
Venue: arXiv cs.CL 2024
Year: 2024

The existing algorithms for identification of neurons responsible for undesired and harmful behaviors do not consider the effects of confounders such as topic of the conversation. In this work, we show that confounders can create spurious correlations and propose a new causal mediation approach that controls the impact of the topic. In experiments with two large language models, we study the localization hypothesis and show that adjusting for the effect of conversation topic, toxicity becomes less localized.
GUESS: Generative Uncertainty Ensemble for Self Supervision
Venue: arXiv cs.LG 2024
Year: 2024

Self-supervised learning (SSL) frameworks consist of pretext task, and loss function aiming to learn useful general features from unlabeled data. The basic idea of most SSL baselines revolves around enforcing the invariance to a variety of data augmentations via the loss function. However, one main issue is that, inattentive or deterministic enforcement of the invariance to any kind of data augmentation is generally not only inefficient, but also potentially detrimental to performance on the downstream tasks. In this work, we investigate the issue from the viewpoint of uncertainty in invariance representation. Uncertainty representation is fairly under-explored in the design of SSL architectures as well as loss functions. We incorporate uncertainty representation in both loss function as well as architecture design aiming for more data-dependent invariance enforcement. The former is represented in the form of data-derived uncertainty in SSL loss function resulting in a generative-discriminative loss function. The latter is achieved by feeding slightly different distorted versions of samples to the ensemble aiming for learning better and more robust representation. Specifically, building upon the recent methods that use hard and soft whitening (a.k.a redundancy reduction), we introduce a new approach GUESS, a pseudo-whitening framework, composed of controlled uncertainty injection, a new architecture, and a new loss function. We include detailed results and ablation analysis establishing GUESS as a new baseline.
Adaptive LiDAR Odometry and Mapping for Autonomous Agricultural Mobile Robots in Unmanned Farms
Venue: arXiv cs.RO 2024
Year: 2024

Unmanned and intelligent agricultural systems are crucial for enhancing agricultural efficiency and for helping mitigate the effect of labor shortage. However, unlike urban environments, agricultural fields impose distinct and unique challenges on autonomous robotic systems, such as the unstructured and dynamic nature of the environment, the rough and uneven terrain, and the resulting non-smooth robot motion. To address these challenges, this work introduces an adaptive LiDAR odometry and mapping framework tailored for autonomous agricultural mobile robots operating in complex agricultural environments. The proposed framework consists of a robust LiDAR odometry algorithm based on dense Generalized-ICP scan matching, and an adaptive mapping module that considers motion stability and point cloud consistency for selective map updates. The key design principle of this framework is to prioritize the incremental consistency of the map by rejecting motion-distorted points and sparse dynamic objects, which in turn leads to high accuracy in odometry estimated from scan matching against the map. The effectiveness of the proposed method is validated via extensive evaluation against state-of-the-art methods on field datasets collected in real-world agricultural environments featuring various planting types, terrain types, and robot motion profiles. Results demonstrate that our method can achieve accurate odometry estimation and mapping results consistently and robustly across diverse agricultural settings, whereas other methods are sensitive to abrupt robot motion and accumulated drift in unstructured environments. Further, the computational efficiency of our method is competitive compared with other methods. The source code of the developed method and the associated field dataset are publicly available at https://github.com/UCR-Robotics/AG-LOAM.
Does Few-Shot Learning Help LLM Performance in Code Synthesis?
Venue: arXiv cs.SE 2024
Year: 2024

Large language models (LLMs) have made significant strides at code generation through improved model design, training, and chain-of-thought. However, prompt-level optimizations remain an important yet under-explored aspect of LLMs for coding. This work focuses on the few-shot examples present in most code generation prompts, offering a systematic study on whether few-shot examples improve LLM's coding capabilities, which few-shot examples have the largest impact, and how to select impactful examples. Our work offers 2 approaches for selecting few-shot examples, a model-free method, CODEEXEMPLAR-FREE, and a model-based method, CODEEXEMPLAR-BASED. The 2 methods offer a trade-off between improved performance and reliance on training data and interpretability. Both methods significantly improve CodeLlama's coding ability across the popular HumanEval+ coding benchmark. In summary, our work provides valuable insights into how to pick few-shot examples in code generation prompts to improve LLM code generation capabilities.
Single-Cell Omics Arena: A Benchmark Study for Large Language Models on Cell Type Annotation Using Single-Cell Data
Venue: arXiv cs.CL 2024
Year: 2024

Over the past decade, the revolution in single-cell sequencing has enabled the simultaneous molecular profiling of various modalities across thousands of individual cells, allowing scientists to investigate the diverse functions of complex tissues and uncover underlying disease mechanisms. Among all the analytical steps, assigning individual cells to specific types is fundamental for understanding cellular heterogeneity. However, this process is usually labor-intensive and requires extensive expert knowledge. Recent advances in large language models (LLMs) have demonstrated their ability to efficiently process and synthesize vast corpora of text to automatically extract essential biological knowledge, such as marker genes, potentially promoting more efficient and automated cell type annotations. To thoroughly evaluate the capability of modern instruction-tuned LLMs in automating the cell type identification process, we introduce SOAR, a comprehensive benchmarking study of LLMs for cell type annotation tasks in single-cell genomics. Specifically, we assess the performance of 8 instruction-tuned LLMs across 11 datasets, spanning multiple cell types and species. Our study explores the potential of LLMs to accurately classify and annotate cell types in single-cell RNA sequencing (scRNA-seq) data, while extending their application to multiomics data through cross-modality translation. Additionally, we evaluate the effectiveness of chain-of-thought (CoT) prompting techniques in generating detailed biological insights during the annotation process. The results demonstrate that LLMs can provide robust interpretations of single-cell data without requiring additional fine-tuning, advancing the automation of cell type annotation in genomics research.
Harnessing Loss Decomposition for Long-Horizon Wave Predictions via Deep Neural Networks
Venue: arXiv cs.LG 2024
Year: 2024

Accurate prediction over long time horizons is crucial for modeling complex physical processes such as wave propagation. Although deep neural networks show promise for real-time forecasting, they often struggle with accumulating phase and amplitude errors as predictions extend over a long period. To address this issue, we propose a novel loss decomposition strategy that breaks down the loss into separate phase and amplitude components. This technique improves the long-term prediction accuracy of neural networks in wave propagation tasks by explicitly accounting for numerical errors, improving stability, and reducing error accumulation over extended forecasts.
Is Foreground Prototype Sufficient? Few-Shot Medical Image Segmentation with Background-Fused Prototype
Venue: arXiv cs.CV 2024
Year: 2024

Few-shot Semantic Segmentation(FSS)aim to adapt a pre-trained model to new classes with as few as a single labeled training sample per class. The existing prototypical work used in natural image scenarios biasedly focus on capturing foreground's discrimination while employing a simplistic representation for background, grounded on the inherent observation separation between foreground and background. However, this paradigm is not applicable to medical images where the foreground and background share numerous visual features, necessitating a more detailed description for background. In this paper, we present a new pluggable Background-fused prototype(Bro)approach for FSS in medical images. Instead of finding a commonality of background subjects in support image, Bro incorporates this background with two pivot designs. Specifically, Feature Similarity Calibration(FeaC)initially reduces noise in the support image by employing feature cross-attention with the query image. Subsequently, Hierarchical Channel Adversarial Attention(HiCA)merges the background into comprehensive prototypes. We achieve this by a channel groups-based attention mechanism, where an adversarial Mean-Offset structure encourages a coarse-to-fine fusion. Extensive experiments show that previous state-of-the-art methods, when paired with Bro, experience significant performance improvements. This demonstrates a more integrated way to represent backgrounds specifically for medical image.
Advancing Conversational Psychotherapy: Integrating Privacy, Dual-Memory, and Domain Expertise with Large Language Models
Venue: arXiv cs.CL 2024
Year: 2024

Mental health has increasingly become a global issue that reveals the limitations of traditional conversational psychotherapy, constrained by location, time, expense, and privacy concerns. In response to these challenges, we introduce SoulSpeak, a Large Language Model (LLM)-enabled chatbot designed to democratize access to psychotherapy. SoulSpeak improves upon the capabilities of standard LLM-enabled chatbots by incorporating a novel dual-memory component that combines short-term and long-term context via Retrieval Augmented Generation (RAG) to offer personalized responses while ensuring the preservation of user privacy and intimacy through a dedicated privacy module. In addition, it leverages a counseling chat dataset of therapist-client interactions and various prompting techniques to align the generated responses with psychotherapeutic methods. We introduce two fine-tuned BERT models to evaluate the system against existing LLMs and human therapists: the Conversational Psychotherapy Preference Model (CPPM) to simulate human preference among responses and another to assess response relevance to user input. CPPM is useful for training and evaluating psychotherapy-focused language models independent from SoulSpeak, helping with the constrained resources available for psychotherapy. Furthermore, the effectiveness of the dual-memory component and the robustness of the privacy module are also examined. Our findings highlight the potential and challenge of enhancing mental health care by offering an alternative that combines the expertise of traditional therapy with the advantages of LLMs, providing a promising way to address the accessibility and personalization gap in current mental health services.
Human Multi-View Synthesis from a Single-View Model:Transferred Body and Face Representations
Venue: arXiv cs.CV 2024
Year: 2024

Generating multi-view human images from a single view is a complex and significant challenge. Although recent advancements in multi-view object generation have shown impressive results with diffusion models, novel view synthesis for humans remains constrained by the limited availability of 3D human datasets. Consequently, many existing models struggle to produce realistic human body shapes or capture fine-grained facial details accurately. To address these issues, we propose an innovative framework that leverages transferred body and facial representations for multi-view human synthesis. Specifically, we use a single-view model pretrained on a large-scale human dataset to develop a multi-view body representation, aiming to extend the 2D knowledge of the single-view model to a multi-view diffusion model. Additionally, to enhance the model's detail restoration capability, we integrate transferred multimodal facial features into our trained human diffusion model. Experimental evaluations on benchmark datasets demonstrate that our approach outperforms the current state-of-the-art methods, achieving superior performance in multi-view human synthesis.
Exploring the Viability of Unikernels for ARM-powered Edge Computing
Venue: arXiv cs.DC 2024
Year: 2024

The rapid expansion of IoT devices and their real-time applications have driven a growing need for edge computing. To meet this need, efficient and secure solutions are required for running such applications on resource-constrained devices with limited power, CPU, and memory. Unikernel, with its minimalistic design and application-specific approach, offers a promising alternative to traditional virtualization and container technologies in these environments. The existing research does not thoroughly examine the feasibility of using unikernel for edge computing. This paper investigates the potential of unikernel for ARM-powered edge computing by evaluating the performance and efficiency of three prominent unikernel systems such as OSv, Nanos, and Unikraft against Docker container. We experiment with real-world edge computing applications and utilize key metrics such as boot time, execution time, memory usage, CPU overhead, and network performance to determine how unikernel performs under the constraints of edge devices. Our findings reveal the potential advantages of unikernel in terms of reduced resource consumption and faster startup times while highlighting areas where they may need further optimization for edge deployment. This study provides valuable insights for researchers and practitioners considering unikernel as a lightweight, efficient solution for edge computing on ARM architectures.