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35th IEEE International Symposium on Software Reliability Engineering Workshops, ISSREW 2024

作者： Zhang, Shenglin Zhu, Pengtian Ma, Minghua Wang, Jiagang Sun, Yongqian Li, Dongwen Wang, Jingyu Guo, Qianying Hua, Xiaolei Zhu, Lin Pei, Dan Nankai University China Haihe Laboratory of Information Technology Application Innovation China Microsoft Tsinghua University China Tianjin Key Laboratory of Software Experience and Human Computer Interaction China China Mobile Research Institute China Beijing National Research Center for Information Science and Technology China

ISBN: (纸本)9798350367041

Large language models (LLMs) excel at general question-answering (Q&A) but often fall short in specialized domains due to a lack of domain-specific knowledge. Commercial companies face the dual challenges of privacy protection and resource constraints when involving LLMs for fine-tuning. This paper propose a novel framework, Self-Evolution, designed to address these issues by leveraging lightweight open-source LLMs through multiple iterative fine-tuning rounds. To enhance the efficiency of iterative fine-tuning, Self-Evolution employ a strategy that filters and reinforces the knowledge with higher value during the iterative process. We employed Self-Evolution on Qwen1.5-7B-Chat using 4,000 documents containing rich domain knowledge from China Mobile, achieving a performance score 174% higher on domain-specific question-answering evaluations than Qwen1.5-7B-Chat and even 22% higher than Qwen1.5-72B-Chat. Self-Evolution has been deployed in China Mobile's daily operation and maintenance for 117 days, and it improves the efficiency of locating alarms, fixing problems, and finding related reports, with an average efficiency improvement of over 18.6%. In addition, we release Self-Evolution framework code in https://***/Zero-Pointer/Self-Evolution. © 2024 IEEE.

关键词： Data mining

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Experimental Study on Automatically Assembling Custom Catering Packages With a 3-DOF Delta Robot Using Deep Learning Methods

Experimental Study on Automatically Assembling Custom Cateri...

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Iranian Conference on Electrical Engineering (ICEE)

作者： Reihaneh Yourdkhani Arash Tavoosian Navid Asadi Khomami Mehdi Tale Masouleh Electrical and Computer Engineering Department Human and Robot Interaction Laboratory University of Tehran Mechanical Engineering Department University of Tehran

ISBN: (数字)9798350376340

ISBN: (纸本)9798350376357

This paper introduces a pioneering experimental study on the automated packing of a catering package using a two-fingered gripper affixed to a 3-degree-of-freedom Delta parallel robot. A distinctive contribution lies in the application of a deep learning approach to tackle this challenge. A custom dataset, comprising 1,500 images, is meticulously curated for this endeavor, representing a noteworthy initiative as the first dataset focusing on Persian-manufactured products. The study employs the YOLOV5 model for object detection, followed by segmentation using the FastSAM model. Subsequently, rotation angle calculation is facilitated with segmentation masks, and a rotated rectangle encapsulating the object is generated. This rectangle forms the basis for calculating two grasp points using a novel geometrical approach involving eigenvectors. An extensive experimental study validates the proposed model, where all pertinent information is seamlessly transmitted to the 3-DOF Delta parallel robot. The proposed algorithm ensures real-time detection, calibration, and the fully autonomous packing process of a catering package, boasting an impressive over 80% success rate in automatic grasping. This study marks a significant stride in advancing the capabilities of robotic systems for practical applications in packaging automation.

关键词： Deep learning YOLO Parallel robots Image segmentation 3-DOF Focusing Grasping

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Decentralized Federated Graph Learning with Lightweight Zero Trust Architecture for Next-Generation Networking Security

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IEEE Journal on Selected Areas in Communications 2025年第6期43卷 1908-1922页

作者： Zhou, Xiaokang Liang, Wei Wang, Kevin I-Kai Yada, Katsutoshi Yang, Laurence T. Ma, Jianhua Jin, Qun Kansai University Faculty of Business Data Science Osaka565-0823 Japan RIKEN Center for Advanced Intelligence Project RIKEN Tokyo103-0027 Japan Hunan University of Technology and Business School of Computer Science Changsha410205 China Xiangjiang Laboratory Changsha410205 China The University of Auckland Department of Electrical Computer and Software Engineering Auckland1010 New Zealand St. Francis Xavier University Department of Computer Science AntigonishNSB2G 2W5 Canada Hosei University Faculty of Computer and Information Sciences Chiyoda-ku102-8160 Japan Waseda University Faculty of Human Sciences Tokorozawa359-1192 Japan

The rapid development and usage of digital technologies in modern intelligent systems and applications bring critical challenges on data security and privacy. It is essential to allow cross-organizational data sharing to achieve smart service provisioning, while preventing unauthorized access and data leak to ensure end users' efficient and secure collaborations. Federated Learning (FL) offers a promising pathway to enable innovative collaboration across multiple organizations. However, more stringent security policies are needed to ensure authenticity of participating entities, safeguard data during communication, and prevent malicious activities. In this paper, we propose a Decentralized Federated Graph Learning (FGL) with Lightweight Zero Trust Architecture (ZTA) model, named DFGL-LZTA, to provide context-aware security with dynamic defense policy update, while maintaining computational and communication efficiency in resource-constrained environments, for highly distributed and heterogeneous systems in next-generation networking. Specifically, with a re-designed lightweight ZTA, which leverages adaptive privacy preservation and reputation-based aggregation together to tackle multi-level security threats (e.g., data-level, model-level, and identity-level attacks), a Proximal Policy Optimization (PPO) based Deep Reinforcement Learning (DRL) agent is introduced to enable the real-time and adaptive security policy update and optimization based on contextual features. A hierarchical Graph Attention Network (GAT) mechanism is then improved and applied to facilitate the dynamic subgraph learning in local training with a layer-wise architecture, while a so-called sparse global aggregation scheme is developed to balance the communication efficiency and model robustness in a P2P manner. Experiments and evaluations conducted based on two open-source datasets and one synthetic dataset demonstrate the usefulness of our proposed model in terms of training performance, computa

关键词： Federated learning

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Are LLMs Aware that Some Questions are not Open-ended?

Are LLMs Aware that Some Questions are not Open-ended?

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2024 Conference on Empirical Methods in Natural Language Processing, EMNLP 2024

作者： Yang, Dongjie Zhao, Hai Department of Computer Science and Engineering Shanghai Jiao Tong University Key Laboratory of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering Shanghai Jiao Tong University Shanghai Key Laboratory of Trusted Data Circulation and Governance in Web3 China

ISBN: (纸本)9798891761681

Large Language Models (LLMs) have shown the impressive capability of answering questions in a wide range of scenarios. However, when LLMs face different types of questions, it is worth exploring whether LLMs are aware that some questions have limited answers and need to respond more deterministically but some do not. We refer to this as question awareness of LLMs. The lack of question awareness in LLMs leads to two phenomena that LLMs are: (1) too casual to answer non-open-ended questions or (2) too boring to answer open-ended questions. In this paper, we first evaluate the question awareness in LLMs. The experimental results show that LLMs have the issues of lacking awareness of questions in certain domains, e.g. factual knowledge, resulting in hallucinations during the generation. To mitigate these, we propose a method called Question Awareness Temperature Sampling (QuATS). This method enhances the question awareness of LLMs by adaptively adjusting the output distributions based on question features. The automatic adjustment in QuATS eliminates the need for manual temperature tuning in text generation and consistently improves model performance in various benchmarks. © 2024 Association for Computational Linguistics.

关键词： Computational linguistics

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Flow-aware synthesis: A generic motion model for video frame interpolation

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Computational Visual Media 2021年第3期7卷 393-405页

作者： Jinbo Xing Wenbo Hu Yuechen Zhang Tien-Tsin Wong Department of Computer Science and Engineering the Chinese University of Hong KongHong Kong SARChina Shenzhen Key Laboratory of Virtual Reality and Human Interaction Technology Shenzhen Institutes of Advanced TechnologyChinese Academy of SciencesChina

A popular and challenging task in video research,frame interpolation aims to increase the frame rate of *** existing methods employ a fixed motion model,e.g.,linear,quadratic,or cubic,to estimate the intermediate warping ***,such fixed motion models cannot well represent the complicated non-linear motions in the real world or rendered ***,we present an adaptive flow prediction module to better approximate the complex motions in ***,interpolating just one intermediate frame between consecutive input frames may be insufficient for complicated non-linear *** enable multi-frame interpolation,we introduce the time as a control variable when interpolating frames between original ones in our generic adaptive flow prediction *** and quantitative experimental results show that our method can produce high-quality results and outperforms the existing stateof-the-art methods on popular public datasets.

关键词： flow-aware generic motion model video frame interpolation

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2D Skeleton-Based Keypoint Generation Method for Grasping Objects with Roughly Uniform Height Variation

2D Skeleton-Based Keypoint Generation Method for Grasping Ob...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Ali Sabzejou Mehdi Tale Masouleh Ahmad Kalhor School of Electrical and Computer Engineering Department Human and Robot Interaction Laboratory University of Tehran

Robotic grasping poses a fundamental challenge in robotics, particularly when dealing with unknown objects. This skill has always been a focal point in robotics research due to its fundamental importance and inherent complexity. Recent advances utilize state-of-the-art learning techniques, including deep learning and deep reinforcement learning, presenting their unique set of challenges. Training these models requires extensive data and computational resources, with the generalization to unknown objects presenting a significant obstacle for robots. This paper presents a comprehensive approach to unknown object robotic grasping, with a specific focus on top-down grasping actions. The process encompasses image preprocessing, the application of the Straight Skeleton (StSkel) method, and the systematic generation of grasp keypoints when applied to a selection of objects from the Dex-Net dataset. During the evaluation, the analysis incorporated crucial metrics, including the number of detected grasp keypoints for each object, the count of successfully generated grasp pairs, the overall success rate, and the success rate when considering the top 5 ranked grasp pairs. One of the notable strengths of this approach lies in its adaptability to a wide array of objects, ranging from simple shapes to complex ones. The proposed approach in this paper paves the way for automatically labeling grasping datasets, providing a valuable asset for developing auto-generating Deep-RL models. The StSkel method effectively captures essential structural information, making it suitable for real-world applications involving diverse objects. The experimental outcomes affirm the robustness and adaptability of the approach, as it most often achieved a high success rate in generating viable pairs of grasping points for most tested objects. Even complex objects yield impressive results, demonstrating the method’s potential for real-world applications in grasping unknown objects.

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Bioderived Hygromorphic Twisted Actuator for Untethered Sustainable Systems 12th

Bioderived Hygromorphic Twisted Actuator for Untethered Sust...

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Proceedings of the 12th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2023

作者： Whatmore, Reece Keely, Emelia Lee, Zoe Minori, Adriane Yao, Lining Department of Materials Science and Engineering Carnegie Mellon University PittsburghPA15218 United States Industrial Design Department Rhode Island School of Design ProvidenceRI02903 United States Human-Computer Interaction Institute School of Computer Science Carnegie Mellon University PittsburghPA15218 United States

ISBN: (纸本)9783031388569

Environmentally friendly and hygromorphic actuators have gained increasing attention for energy harvesting, field robotics, seeding and biodegradable active structures and sensors. While recent works have used hygromorphic seeds as sources of bio-inspiration, it is challenging to engineer synthetic hygromorphic actuators with comparable stiffness, energy density, and reaction speed, and the processing of synthetic materials or need for external power sources inevitably increases fossil fuel consumption and waste production. In this paper, we harness an alternative bioderived design approach, utilizing the natural twisted body of the seed, Hesperostipa Spartea, itself as a sustainable and biodegradable hygromorphic twisting actuator that converts atmospheric water concentration into mechanical energy. Our self-powered twisted actuator is capable of providing twisting actuation with a load over 11,000 times its body mass. We further demonstrate the potential of modular biohybrid design to create untethered self-locking and crawling systems, powered solely by environmental stimuli. The ability to create biodegradable self-actuating systems with modular bioderived design presents opportunities to create biocompatible systems, improving sustainability in the field of soft robotics and beyond. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Robotics

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VRoxy: Wide-Area Collaboration From an Office Using a VR-Driven Robotic Proxy 23

VRoxy: Wide-Area Collaboration From an Office Using a VR-Dri...

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Proceedings of the 36th Annual ACM Symposium on User Interface Software and Technology

作者： Mose Sakashita Hyunju Kim Brandon Woodard Ruidong Zhang François Guimbretière Information Science Cornell University United States Computer Science/Brown University/Human-Computer Interaction Laboratory Brown University United States

ISBN: (纸本)9798400701320

Recent research in robotic proxies has demonstrated that one can automatically reproduce many non-verbal cues important in co-located collaboration. However, they often require a symmetrical hardware setup in each location. We present the VRoxy system, designed to enable access to remote spaces through a robotic embodiment, using a VR headset in a much smaller space, such as a personal office. VRoxy maps small movements in VR space to larger movements in the physical space of the robot, allowing the user to navigate large physical spaces easily. Using VRoxy, the VR user can quickly explore and navigate in a low-fidelity rendering of the remote space. Upon the robot’s arrival, the system uses the feed of a 360 camera to support real-time interactions. The system also facilitates various interaction modalities by rendering the micro-mobility around shared spaces, head and facial animations, and pointing gestures on the proxy. We demonstrate how our system can accommodate mapping multiple physical locations onto a unified virtual space. In a formative study, users could complete a design decision task where they navigated and collaborated in a complex 7.5m x 5m layout using a 3m x 2m VR space.

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Recommendations in Visual Analytics - An Analytical Approach for Elaboration in science

Recommendations in Visual Analytics - An Analytical Approach...

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International Conference on Information Visualisation (IV)

作者： Midhad Blazevic Lennart B. Sina Cristian A. Secco Kawa Nazemi Department of Media & Department of Computer Science Human-Computer Interaction and Visual Analytics Darmstadt University of Applied Sciences Darmstadt Germany

The huge amount of scientific content increases the workload for evaluating state-of-the-art research and the complexity of creating novel and innovative methods and approaches. Although many approaches exist using recommendations in various application domains, the full potential of recommendation systems is not yet fully utilized. Particularly, there are missing approaches that combine interactive visualizations with recommendation systems to enable an analytical investigation of the current state of technology and science. We, therefore, propose in this work a novel Visual Analytics approach that integrates recommendation methods as the model and provides a seamless integration of both interactive visualizations and recommendation systems. We utilize MAE and RMSE metrics and human validation to identify the best approach out of eight approaches that differ in vectorization and similarity algorithms to recommend scientific items. We contribute novel approaches for recommending scientific publications, venues, and projects, based on comparing traditional and deep-learning-based recommendation approaches. Furthermore, we propose a Visual Analytics approach that uses recommendation methods for analytical elaboration. This work shows the potential of integrating recommendation systems into scientific research and identifies potential future directions for improving the proposed model.

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Real-Time Imitation of human Head Motions, Blinks and Emotions by Nao Robot: A Closed-Loop Approach 11

Real-Time Imitation of Human Head Motions, Blinks and Emotio...

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11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023

作者： Rayati, Keyhan Feizi, Amirhossein Beigy, Alireza Shahverdi, Pourya Masouleh, Mehdi Tale Kalhor, Ahmad Louie, Wing-Yue Geoffrey University of Tehran Human and Robot Interaction Lab Electrical and Computer Engineering Tehran Iran Shahrood University of Technology Department of Electrical Engineering Shahrood Iran Oakland University Intelligent Robotics Laboratory Michigan United States

ISBN: (纸本)9798350308105

This paper introduces a novel approach for enabling real-time imitation of human head motion by a Nao robot, with a primary focus on elevating human-robot interactions. By using the robust capabilities of the MediaPipe as a computer vision library and the DeepFace as an emotion recognition library, this research endeavors to capture the subtleties of human head motion, including blink actions and emotional expressions, and seamlessly incorporate these indicators into the robot's responses. The result is a comprehensive framework which facilitates precise head imitation within human-robot interactions, utilizing a closed-loop approach that involves gathering real-time feedback from the robot's imitation performance. This feedback loop ensures a high degree of accuracy in modeling head motion, as evidenced by an impressive R2 score of 96.3 for pitch and 98.9 for yaw. Notably, the proposed approach holds promise in improving communication for children with autism, offering them a valuable tool for more effective interaction. In essence, proposed work explores the integration of real-time head imitation and real-time emotion recognition to enhance human-robot interactions, with potential benefits for individuals with unique communication needs. © 2023 IEEE.

关键词： Emotion Recognition

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