pwc-archive/papers-with-abstracts huggingface dataset:
Shannon information and integrated information: message and meaning
Authors: Alireza Zaeemzadeh, Giulio Tononi
Date: 2024-12-14 00:00:00

Information theory, introduced by Shannon, has been extremely successful and influential as a mathematical theory of communication. Shannon's notion of information does not consider the meaning of the messages being communicated but only their probability. Even so, computational approaches regularly appeal to "information processing" to study how meaning is encoded and decoded in natural and artificial systems. Here, we contrast Shannon information theory with integrated information theory (IIT), which was developed to account for the presence and properties of consciousness. IIT considers meaning as integrated information and characterizes it as a structure, rather than as a message or code. In principle, IIT's axioms and postulates allow one to "unfold" a cause-effect structure from a substrate in a state, a structure that fully defines the intrinsic meaning of an experience and its contents. It follows that, for the communication of meaning, the cause-effect structures of sender and receiver must be similar.
AI and Deep Learning for THz Ultra-Massive MIMO: From Model-Driven Approaches to Foundation Models
Authors: Wentao Yu, Hengtao He, Shenghui Song, Jun Zhang, Linglong Dai, Lizhong Zheng, Khaled B. Letaief
Date: 2024-12-13 00:00:00

In this paper, we explore the potential of artificial intelligence (AI) to address challenges in terahertz ultra-massive multiple-input multiple-output (THz UM-MIMO) systems. We identify three key challenges for transceiver design: "hard to compute," "hard to model," and "hard to measure," and argue that AI can provide promising solutions. We propose three research roadmaps for AI algorithms tailored to THz UM-MIMO systems. The first, model-driven deep learning (DL), emphasizes leveraging domain knowledge and using AI to enhance bottleneck modules in established signal processing or optimization frameworks. We discuss four steps: algorithmic frameworks, basis algorithms, loss function design, and neural architecture design. The second roadmap presents channel station information (CSI) foundation models to unify transceiver module design by focusing on the wireless channel. We propose a compact foundation model to estimate wireless channel score functions, serving as a prior for designing transceiver modules. We outline four steps: general frameworks, conditioning, site-specific adaptation, and joint design of CSI models and model-driven DL. The third roadmap explores applying pre-trained large language models (LLMs) to THz UM-MIMO systems, with applications in estimation, optimization, searching, network management, and protocol understanding. Finally, we discuss open problems and future research directions.
Recursive Aggregates as Intensional Functions in Answer Set Programming: Semantics and Strong Equivalence
Authors: Jorge Fandinno, Zachary Hansen
Date: 2024-12-14 00:00:00

This paper shows that the semantics of programs with aggregates implemented by the solvers clingo and dlv can be characterized as extended First-Order formulas with intensional functions in the logic of Here-and-There. Furthermore, this characterization can be used to study the strong equivalence of programs with aggregates under either semantics. We also present a transformation that reduces the task of checking strong equivalence to reasoning in classical First-Order logic, which serves as a foundation for automating this procedure.
A Hybrid Real-Time Framework for Efficient Fussell-Vesely Importance Evaluation Using Virtual Fault Trees and Graph Neural Networks
Authors: Xingyu Xiao, Peng Chen
Date: 2024-12-13 00:00:00
Tasks: Graph Neural Network

The Fussell-Vesely Importance (FV) reflects the potential impact of a basic event on system failure, and is crucial for ensuring system reliability. However, traditional methods for calculating FV importance are complex and time-consuming, requiring the construction of fault trees and the calculation of minimal cut set. To address these limitations, this study proposes a hybrid real-time framework to evaluate the FV importance of basic events. Our framework combines expert knowledge with a data-driven model. First, we use Interpretive Structural Modeling (ISM) to build a virtual fault tree that captures the relationships between basic events. Unlike traditional fault trees, which include intermediate events, our virtual fault tree consists solely of basic events, reducing its complexity and space requirements. Additionally, our virtual fault tree considers the dependencies between basic events rather than assuming their independence, as is typically done in traditional fault trees. We then feed both the event relationships and relevant data into a graph neural network (GNN). This approach enables a rapid, data-driven calculation of FV importance, significantly reducing processing time and quickly identifying critical events, thus providing robust decision support for risk control. Results demonstrate that our model performs well in terms of MSE, RMSE, MAE, and R2, reducing computational energy consumption and offering real-time, risk-informed decision support for complex systems.
Hidden Echoes Survive Training in Audio To Audio Generative Instrument Models
Authors: Christopher J. Tralie, Matt Amery, Benjamin Douglas, Ian Utz
Date: 2024-12-14 00:00:00

As generative techniques pervade the audio domain, there has been increasing interest in tracing back through these complicated models to understand how they draw on their training data to synthesize new examples, both to ensure that they use properly licensed data and also to elucidate their black box behavior. In this paper, we show that if imperceptible echoes are hidden in the training data, a wide variety of audio to audio architectures (differentiable digital signal processing (DDSP), Realtime Audio Variational autoEncoder (RAVE), and ``Dance Diffusion'') will reproduce these echoes in their outputs. Hiding a single echo is particularly robust across all architectures, but we also show promising results hiding longer time spread echo patterns for an increased information capacity. We conclude by showing that echoes make their way into fine tuned models, that they survive mixing/demixing, and that they survive pitch shift augmentation during training. Hence, this simple, classical idea in watermarking shows significant promise for tagging generative audio models.
Physics Meets Pixels: PDE Models in Image Processing
Authors: Alejandro Garnung Menéndez
Date: 2024-12-11 00:00:00
Tasks: Deblurring, Denoising

Partial Differential Equations (PDEs) have long been recognized as powerful tools for image processing and analysis, providing a framework to model and exploit structural and geometric properties inherent in visual data. Over the years, numerous PDE-based models have been developed and refined, inspired by natural analogies between physical phenomena and image spaces. These methods have proven highly effective in a wide range of applications, including denoising, deblurring, sharpening, inpainting, feature extraction, and others. This work provides a theoretical and computational exploration of both fundamental and innovative PDE models applied to image processing, accompanied by extensive numerical experimentation and objective and subjective analysis. Building upon well-established techniques, we introduce novel physical-based PDE models specifically designed for various image processing tasks. These models incorporate mathematical principles and approaches that, to the best of our knowledge, have not been previously applied in this domain, showcasing their potential to address challenges beyond the capabilities of traditional and existing PDE methods. By formulating and solving these mathematical models, we demonstrate their effectiveness in advancing image processing tasks while retaining a rigorous connection to their theoretical underpinnings. This work seeks to bridge foundational concepts and cutting-edge innovations, contributing to the evolution of PDE methodologies in digital image processing and related interdisciplinary fields.
Communications over Unlicensed sub-8 GHz Spectrum: Opportunities and Challenges
Authors: Karim Saifullin, Hussein Al-Shatri, Mohamed-Slim Alouini
Date: 2024-12-15 00:00:00

The utilization of unlicensed spectrum presents a promising solution to the issue of spectrum scarcity in densely populated areas, while also offering a cost-effective means to connect underserved regions. In response to this potential, both academia and industry are actively exploring innovative applications of unlicensed spectrum. This work offers a thorough overview of unlicensed spectrum bands below 8 GHz, including TV White Spaces, Civil Broadband Radio Services, Industrial Scientific Medical bands, and the Unlicensed National Information Infrastructure. The paper focuses on three key aspects: regulations, existing technologies, and applications. It is essential to recognize that "unlicensed" does not equate to "unregulated"; therefore, a clear understanding of permissible and prohibited activities is crucial. From a technological perspective, we examine the current technologies, their capabilities, and relevant applications. Additionally, the shared nature of this spectrum introduces challenges related to interference among users. These collisions can be managed through two primary strategies, that we described: a database-driven approach and coexistence mechanisms at the MAC and PHY layers. This work may serve as a starting point for those who are interested in the unlicensed spectrum, both in academia and industry.
Online Adaptive Real-Time Beamforming Design for Dynamic Environments in Cell-Free Systems
Authors: Guanghui Chen, Zheng Wang, Hongxin Lin, Pengguang Du, Yongming Huang
Date: 2024-11-27 00:00:00

In this paper, we consider real-time beamforming design for dynamic wireless environments with varying channels and different numbers of access points (APs) and users in cell-free systems. Specifically, a sum-rate maximization optimization problem is formulated for the beamforming design in dynamic wireless environments of cell-free systems. To efficiently solve it, a high-generalization network (HGNet) is proposed to adapt to the changing numbers of APs and users. Then, a high-generalization beamforming module is also designed in HGNet to extract the valuable features for the varying channels, and we theoretically prove that such a high-generalization beamforming module is able to reduce the upper bound of the generalization error. Subsequently, by online adaptively updating about 3% of the parameters of HGNet, an online adaptive updating (OAU) algorithm is proposed to enable the online adaptive real-time beamforming design for improving the sum rate. Numerical results demonstrate that the proposed HGNet with OAU algorithm achieves a higher sum rate with a lower computational cost on the order of milliseconds, thus realizing the real-time beamforming design for dynamic wireless environments in cell-free systems.
SnapGen-V: Generating a Five-Second Video within Five Seconds on a Mobile Device
Authors: Yushu Wu, Zhixing Zhang, Yanyu Li, Yanwu Xu, Anil Kag, Yang Sui, Huseyin Coskun, Ke Ma, Aleksei Lebedev, Ju Hu, Dimitris Metaxas, Yanzhi Wang, Sergey Tulyakov, Jian Ren
Date: 2024-12-13 00:00:00
Proceeding: CVPR 2025 1
Tasks: Denoising, Image Generation, Video Generation

We have witnessed the unprecedented success of diffusion-based video generation over the past year. Recently proposed models from the community have wielded the power to generate cinematic and high-resolution videos with smooth motions from arbitrary input prompts. However, as a supertask of image generation, video generation models require more computation and are thus hosted mostly on cloud servers, limiting broader adoption among content creators. In this work, we propose a comprehensive acceleration framework to bring the power of the large-scale video diffusion model to the hands of edge users. From the network architecture scope, we initialize from a compact image backbone and search out the design and arrangement of temporal layers to maximize hardware efficiency. In addition, we propose a dedicated adversarial fine-tuning algorithm for our efficient model and reduce the denoising steps to 4. Our model, with only 0.6B parameters, can generate a 5-second video on an iPhone 16 PM within 5 seconds. Compared to server-side models that take minutes on powerful GPUs to generate a single video, we accelerate the generation by magnitudes while delivering on-par quality.
A Long-Duration Autonomy Approach to Connected and Automated Vehicles
Authors: Logan E. Beaver
Date: 2024-12-16 00:00:00

In this article, we present a long-duration autonomy approach for the control of connected and automated vehicles (CAVs) operating in a transportation network. In particular, we focus on the performance of CAVs at traffic bottlenecks, including roundabouts, merging roadways, and intersections. We take a principled approach based on optimal control, and derive a reactive controller with guarantees on safety, performance, and energy efficiency. We guarantee safety through high order control barrier functions (HOCBFs), which we ``lift'' to first order CBFs using time-optimal motion primitives. We demonstrate the performance of our approach in simulation and compare it to an optimal control-based approach.
Advances in Transformers for Robotic Applications: A Review
Authors: Nikunj Sanghai, Nik Bear Brown
Date: 2024-12-13 00:00:00
Tasks: Decision Making, Deep Reinforcement Learning

The introduction of Transformers architecture has brought about significant breakthroughs in Deep Learning (DL), particularly within Natural Language Processing (NLP). Since their inception, Transformers have outperformed many traditional neural network architectures due to their "self-attention" mechanism and their scalability across various applications. In this paper, we cover the use of Transformers in Robotics. We go through recent advances and trends in Transformer architectures and examine their integration into robotic perception, planning, and control for autonomous systems. Furthermore, we review past work and recent research on use of Transformers in Robotics as pre-trained foundation models and integration of Transformers with Deep Reinforcement Learning (DRL) for autonomous systems. We discuss how different Transformer variants are being adapted in robotics for reliable planning and perception, increasing human-robot interaction, long-horizon decision-making, and generalization. Finally, we address limitations and challenges, offering insight and suggestions for future research directions.
RowDetr: End-to-End Row Detection Using Polynomials
Authors: Rahul Harsha Cheppally, Ajay Sharda
Date: 2024-12-13 00:00:00
Tasks: Autonomous Driving, Autonomous Navigation, Lane Detection

Crop row detection is essential for enabling autonomous navigation in GPS-denied environments, such as under-canopy agricultural settings. Traditional methods often struggle with occlusions, variable lighting conditions, and the structural variability of crop rows. To address these challenges, RowDetr, a novel end-to-end neural network architecture, is introduced for robust and efficient row detection. A new dataset of approximately 6,900 images is curated, capturing a diverse range of real-world agricultural conditions, including occluded rows, uneven terrain, and varying crop densities. Unlike previous approaches, RowDetr leverages smooth polynomial functions to precisely delineate crop boundaries in the image space, ensuring a more structured and interpretable representation of row geometry. A key innovation of this approach is PolyOptLoss, a novel energy-based loss function designed to enhance learning robustness, even in the presence of noisy or imperfect labels. This loss function significantly improves model stability and generalization by optimizing polynomial curve fitting directly in image space. Extensive experiments demonstrate that RowDetr significantly outperforms existing frameworks, including Agronav and RowColAttention, across key performance metrics. Additionally, RowDetr achieves a sixfold speedup over Agronav, making it highly suitable for real-time deployment on resource-constrained edge devices. To facilitate better comparisons across future studies, lane detection metrics from autonomous driving research are adapted, providing a more standardized and meaningful evaluation framework for crop row detection. This work establishes a new benchmark in under-canopy
Automatic Detection, Positioning and Counting of Grape Bunches Using Robots
Authors: Xumin Gao
Date: 2024-12-12 00:00:00
Tasks: Position

In order to promote agricultural automatic picking and yield estimation technology, this project designs a set of automatic detection, positioning and counting algorithms for grape bunches, and applies it to agricultural robots. The Yolov3 detection network is used to realize the accurate detection of grape bunches, and the local tracking algorithm is added to eliminate relocation. Then it obtains the accurate 3D spatial position of the central points of grape bunches using the depth distance and the spatial restriction method. Finally, the counting of grape bunches is completed. It is verified using the agricultural robot in the simulated vineyard environment. The project code is released at: https://github.com/XuminGaoGithub/Grape_bunches_count_using_robots.
TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning
Authors: Jimmy Wu, William Chong, Robert Holmberg, Aaditya Prasad, Yihuai Gao, Oussama Khatib, Shuran Song, Szymon Rusinkiewicz, Jeannette Bohg
Date: 2024-12-11 00:00:00
Tasks: Imitation Learning

Exploiting the promise of recent advances in imitation learning for mobile manipulation will require the collection of large numbers of human-guided demonstrations. This paper proposes an open-source design for an inexpensive, robust, and flexible mobile manipulator that can support arbitrary arms, enabling a wide range of real-world household mobile manipulation tasks. Crucially, our design uses powered casters to enable the mobile base to be fully holonomic, able to control all planar degrees of freedom independently and simultaneously. This feature makes the base more maneuverable and simplifies many mobile manipulation tasks, eliminating the kinematic constraints that create complex and time-consuming motions in nonholonomic bases. We equip our robot with an intuitive mobile phone teleoperation interface to enable easy data acquisition for imitation learning. In our experiments, we use this interface to collect data and show that the resulting learned policies can successfully perform a variety of common household mobile manipulation tasks.
Boundary Exploration of Next Best View Policy in 3D Robotic Scanning
Authors: Leihui Li, Xuping Zhang
Date: 2024-12-11 00:00:00

The Next Best View (NBV) problem is a pivotal challenge in 3D robotic scanning, with the potential to greatly improve the efficiency of object capture and reconstruction. Current methods for determining the NBV often overlook view overlaps, assume a virtual origin point for the camera's focus, and rely on voxel representations of 3D data. To address these issues and improve the practicality of scanning unknown objects, we propose an NBV policy in which the next view explores the boundary of the scanned point cloud, and the overlap is intrinsically considered. The scanning distance or camera working distance is adjustable and flexible. To this end, a model-based approach is proposed where the next sensor positions are searched iteratively based on a reference model. A score is calculated by considering the overlaps between newly scanned and existing data, as well as the final convergence. Additionally, following the boundary exploration idea, a deep learning network, Boundary Exploration NBV network (BENBV-Net), is designed and proposed, which can be used to predict the NBV directly from the scanned data without requiring the reference model. It predicts the scores for given boundaries, and the boundary with the highest score is selected as the target point of the next best view. BENBV-Net improves the speed of NBV generation while maintaining the performance of the model-based approach. Our proposed methods are evaluated and compared with existing approaches on the ShapeNet, ModelNet, and 3D Repository datasets. Experimental results demonstrate that our approach outperforms others in terms of scanning efficiency and overlap, both of which are crucial for practical 3D scanning applications. The related code is released at \url{github.com/leihui6/BENBV}.
CogNav: Cognitive Process Modeling for Object Goal Navigation with LLMs
Authors: Yihan Cao, Jiazhao Zhang, Zhinan Yu, Shuzhen Liu, Zheng Qin, Qin Zou, Bo Du, Kai Xu
Date: 2024-12-11 00:00:00
Tasks: Large Language Model, Object, Object Recognition

Object goal navigation (ObjectNav) is a fundamental task in embodied AI, requiring an agent to locate a target object in previously unseen environments. This task is particularly challenging because it requires both perceptual and cognitive processes, including object recognition and decision-making. While substantial advancements in perception have been driven by the rapid development of visual foundation models, progress on the cognitive aspect remains constrained, primarily limited to either implicit learning through simulator rollouts or explicit reliance on predefined heuristic rules. Inspired by neuroscientific findings demonstrating that humans maintain and dynamically update fine-grained cognitive states during object search tasks in novel environments, we propose CogNav, a framework designed to mimic this cognitive process using large language models. Specifically, we model the cognitive process using a finite state machine comprising fine-grained cognitive states, ranging from exploration to identification. Transitions between states are determined by a large language model based on a dynamically constructed heterogeneous cognitive map, which contains spatial and semantic information about the scene being explored. Extensive evaluations on the HM3D, MP3D, and RoboTHOR benchmarks demonstrate that our cognitive process modeling significantly improves the success rate of ObjectNav at least by relative 14% over the state-of-the-arts.