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Benchmarking Neural Radiance Fields for Autonomous Robots: An Overview

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arXiv 2024年

作者： Ming, Yuhang Yang, Xingrui Wang, Weihan Chen, Zheng Feng, Jinglun Xing, Yifan Zhang, Guofeng School of Computer Science Hangzhou Dianzi University Hangzhou310018 China High-speed Aerodynamics Institute CARDC Mianyang621000 China Stevens Institute of Technology HobokenNJ07030 United States Luddy School of Informatics Computing and Engineering Indiana University BloomingtonIN47405 United States City College of New York New YorkNY10031 United States School of Computer Science University of Bristol BristolBS8 1UB United Kingdom State Key Lab of CAD&CG Zhejiang University Hangzhou310058 China

Neural Radiance Fields (NeRF) have emerged as a powerful paradigm for 3D scene representation, offering high-fidelity renderings and reconstructions from a set of sparse and unstructured sensor data. In the context of autonomous robotics, where perception and understanding of the environment are pivotal, NeRF holds immense promise for improving performance. In this paper, we present a comprehensive survey and analysis of the state-of-the-art techniques for utilizing NeRF to enhance the capabilities of autonomous robots. We especially focus on the perception, localization and navigation, and decision-making modules of autonomous robots and delve into tasks crucial for autonomous operation, including 3D reconstruction, segmentation, pose estimation, simultaneous localization and mapping (SLAM), navigation and planning, and interaction. Our survey meticulously benchmarks existing NeRF-based methods, providing insights into their strengths and limitations. Moreover, we explore promising avenues for future research and development in this domain. Notably, we discuss the integration of advanced techniques such as 3D Gaussian splatting (3DGS), large language models (LLM), and generative AIs, envisioning enhanced reconstruction efficiency, scene understanding, decision-making capabilities. This survey serves as a roadmap for researchers seeking to leverage NeRFs to empower autonomous robots, paving the way for innovative solutions that can navigate and interact seamlessly in complex environments. Copyright © 2024, The Authors. All rights reserved.

关键词： Benchmarking

Identification of Autism spectrum disorder based on a novel feature selection method and Variational Autoencoder

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arXiv 2022年

作者： Zhang, Fangyu Wei, Yanjie Liu, Jin Wang, Yanlin Xi, Wenhui Pan, Yi College of Engineering Southern University of Science and Technology Shenzhen518055 China Centre for High Performance Computing Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China College of Computer Science and Control Engineering Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China School of Information Science and Engineering Central South University Changsha410083 China

The development of noninvasive brain imaging such as resting-state functional magnetic resonance imaging (rs-fMRI) and its combination with AI algorithm provides a promising solution for the early diagnosis of Autism spectrum disorder (ASD). However, the performance of the current ASD classification based on rs-fMRI still needs to be improved. This paper introduces a classification framework to aid ASD diagnosis based on rs-fMRI. In the framework, we proposed a novel filter feature selection method based on the difference between step distribution curves (DSDC) to select remarkable functional connectivities (FCs) and utilized a multilayer perceptron (MLP) which was pretrained by a simplified Variational Autoencoder (VAE) for classification. We also designed a pipeline consisting of a normalization procedure and a modified hyperbolic tangent (tanh) activation function to replace the original tanh function, further improving the model accuracy. Our model was evaluated by 10 times 10-fold cross-validation and achieved an average accuracy of 78.12%, outperforming the state-of-the-art methods reported on the same dataset. Given the importance of sensitivity and specificity in disease diagnosis, two constraints were designed in our model which can improve the model's sensitivity and specificity by up to 9.32% and 10.21%, respectively. The added constraints allow our model to handle different application scenarios and can be used broadly. Copyright © 2022, The Authors. All rights reserved.

关键词： Feature extraction

Benchmarking Neural Radiance Fields for Autonomous Robots: An Overview

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SSRN

SSRN 2024年

Neural Radiance Field (NeRF) has emerged as a powerful paradigm for scene representation, offering high-fidelity renderings and reconstructions from a set of sparse and unstructured sensor data. In the context of autonomous robotics, where perception and understanding of the environment are pivotal, NeRF holds immense promise for improving performance. In this paper, we present a comprehensive survey and analysis of the state-of-the-art techniques for utilizing NeRF to enhance the capabilities of autonomous robots. We especially focus on the perception, localization and navigation, and decision-making modules of autonomous robots and delve into tasks crucial for autonomous operation, including 3-dimensional reconstruction, segmentation, pose estimation, simultaneous localization and mapping, navigation and planning, and interaction. Our survey meticulously benchmarks existing NeRF-based methods, providing insights into their strengths and limitations. Moreover, we explore promising avenues for future research and development in this domain. Notably, we discuss the integration of advanced techniques such as 3-dimensional Gaussian splatting, large language models, and generative artificial intelligence, envisioning enhanced reconstruction efficiency, scene understanding, decision-making capabilities. This survey serves as a roadmap for researchers seeking to leverage NeRF to empower autonomous robots, paving the way for innovative solutions that can navigate and interact seamlessly in complex environments. © 2024, The Authors. All rights reserved.

关键词： Decision making

An Unbiased Quantum Random Number Generator Based on Boson Sampling

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arXiv 2022年

作者： Shi, Jinjing Zhao, Tongge Wang, Yizhi Yu, Chunlin Lu, Yuhu Shi, Ronghua Zhang, Shichao Wu, Junjie School of Computer Science and Engineering Central South University Changsha410083 China Institute for Quantum Information State Key Laboratory of High Performance Computing College of Computer Science and Technology National University of Defense Technology Changsha410073 China China Greatwall Quantum Laboratory China Greatwall Technology Group CO. LTD. Changsha410073 China

It has been proven that Boson sampling is a much promising model of optical quantum computation, which has been applied to designing quantum computer successfully, such as "Jiuzhang". However, the meaningful randomness of Boson sampling results, whose correctness and significance were proved from a specific quantum mechanical distribution, has not been utilized or exploited. In this research, Boson sampling is applied to design a novel Quantum Random Number Generator (QRNG) by fully exploiting the randomness of Boson sampling results, and its prototype system is constructed with the programmable silicon photonic processor, which can generate uniform and unbiased random sequences and overcome the shortcomings of the existing discrete QRNGs such as source-related, high demand for the photon number resolution capability of the detector and slow self-detection generator speed. Boson sampling is implemented as a random entropy source, and random bit strings with satisfactory randomness and uniformity can be obtained after post-processing the sampling results. It is the first approach for applying the randomness of Boson sampling results to develop a practical prototype system for actual tasks, and the experiment results demonstrate the designed Boson sampling-based QRNG prototype system pass 15 tests of the NIST SP 800-22 statistical test component, which prove that Boson sampling has great potential for practical applications with desirable performance besides quantum advantage. Copyright © 2022, The Authors. All rights reserved.

关键词： Sampling

Privacy-Preserving Federated Foundation Model for Generalist Ultrasound Artificial Intelligence

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arXiv 2024年

作者： Jiang, Yuncheng Feng, Chun-Mei Ren, Jinke Wei, Jun Zhang, Zixun Hu, Yiwen Liu, Yunbi Sun, Rui Tang, Xuemei Du, Juan Wan, Xiang Xu, Yong Du, Bo Gao, Xin Wang, Guangyu Zhou, Shaohua Cui, Shuguang Goh, Rick Siow Mong Liu, Yong Li, Zhen Shenzhen518172 China Shenzhen518172 China Institute of High Performance Computing Agency for Science Technology and Research Singapore138632 Singapore College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China Shenzhen Research Institute of Big Data Shenzhen518172 China South China Hospital Health Science Center Shenzhen University Shenzhen518111 China School of Computer Science Nanjing University of Posts and Telecommunications Nanjing210023 China Affiliated Hospital of North Sichuan Medical College Sichuan637000 China North Sichuan Medical College Sichuan637000 China Shenzhen518055 China School of Computer Science Wuhan University Wuhan430072 China Thuwal23955-6900 Saudi Arabia Thuwal23955-6900 Saudi Arabia Beijing University of Posts and Telecommunications Beijing100876 China School of Biomedical Engineering Suzhou Institute for Advanced Research University of Science and Technology of China Suzhou215123 China Institute of Computing Technology Chinese Academy of Sciences Beijing100190 China

Ultrasound imaging is widely used in clinical diagnosis due to its non-invasive nature and real-time capabilities. However, conventional ultrasound diagnostics face several limitations, including high dependence on physician expertise and suboptimal image quality, which complicates interpretation and increases the likelihood of diagnostic errors. Artificial intelligence (AI) has emerged as a promising solution to enhance clinical diagnosis, particularly in detecting abnormalities across various biomedical imaging modalities. Nonetheless, current AI models for ultrasound imaging face critical challenges. First, these models often require large volumes of labeled medical data, raising concerns over patient privacy breaches. Second, most existing models are task-specific, which restricts their broader clinical utility. To overcome these challenges, we present UltraFedFM, an innovative privacy-preserving ultrasound foundation model. UltraFedFM is collaboratively pre-trained using federated learning across 16 distributed medical institutions in 9 countries, leveraging a dataset of over 1 million ultrasound images covering 19 organs and 10 ultrasound modalities. This extensive and diverse data, combined with a secure training framework, enables UltraFedFM to exhibit strong generalization and diagnostic capabilities. It achieves an average area under the receiver operating characteristic curve (AUROC) of 0.927 for disease diagnosis and a dice similarity coefficient (DSC) of 0.878 for lesion segmentation. Notably, UltraFedFM surpasses the diagnostic accuracy of mid-level ultrasonographers (4–8 years of experience) and matches the performance of expert-level sonographers (10+ years of experience) in the joint diagnosis of 8 common systemic diseases. These findings indicate that UltraFedFM can significantly enhance clinical diagnostics while safeguarding patient privacy, marking a significant advancement in AI-driven ultrasound imaging for future clinical applications. Copyri

关键词： Differential privacy

MAPA: Multi-accelerator pattern allocation policy for multi-tenant GPU servers

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arXiv 2021年

作者： Ranganath, Kiran Suetterlein, Joshua D. Manzano, Joseph B. Song, Shuaiwen Leon Wong, Daniel Department of Electrical and Computer Engineering University of California RiversideCA United States High-Performance Computing Group Pacific Northwest National Lab WA United States Future System Architecture Lab School of Computer Science University of Sydney SydneyNSW Australia

Multi-accelerator servers are increasingly being deployed in shared multi-tenant environments (such as in cloud data centers) in order to meet the demands of large-scale compute-intensive workloads. In addition, these accelerators are increasingly being inter-connected in complex topologies and workloads are exhibiting a wider variety of inter-accelerator communication patterns. However, existing allocation policies are ill-suited for these emerging use-cases. Specifically, this work identifies that multi-accelerator workloads are commonly fragmented leading to reduced bandwidth and increased latency for inter-accelerator communication. We propose Multi-Accelerator Pattern Allocation (MAPA), a graph pattern mining approach towards providing generalized allocation support for allocating multi-accelerator workloads on multi-accelerator servers. We demonstrate that MAPA is able to improve the execution time of multi-accelerator workloads and that MAPA is able to provide generalized benefits across various accelerator topologies. Finally, we demonstrate a speedup of 12.4% for 75th percentile of jobs with the worst case execution time reduced by up to 35% against baseline policy using MAPA. © 2021, CC BY-NC-SA.

关键词： Graphics processing unit

HFN: Heterogeneous Feature Network for Multivariate Time Series Anomaly Detection

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arXiv 2022年

作者： Zhan, Jun Wu, Chengkun Yang, Canqun Miao, Qiucheng Ma, Xiandong College of Computer Science National University of Defense Technology Changsha410073 China State Key Laboratory of High Performance Computing College of Computer Science National University of Defense Technology Changsha410073 China National SuperComputing Center Tianjin China School of Engineering Lancaster University LancasterLA1 4YW United Kingdom

Network or physical attacks on industrial equipment or computer systems may cause massive losses. Therefore, a quick and accurate anomaly detection (AD) based on monitoring data, especially the multivariate time-series (MTS) data, is of great significance. As the key step of anomaly detection for MTS data, learning the relations among different variables has been explored by many approaches. However, most of the existing approaches do not consider the heterogeneity between variables, that is, different types of variables (continuous numerical variables, discrete categorical variables or hybrid variables) may have different and distinctive edge distributions. In this paper, we propose a novel semi-supervised anomaly detection framework based on a heterogeneous feature network (HFN) for MTS, learning heterogeneous structure information from a mass of unlabeled time-series data to improve the accuracy of anomaly detection, and using attention coefficient to provide an explanation for the detected anomalies. Specifically, we first combine the embedding similarity subgraph generated by sensor embedding and feature value similarity subgraph generated by sensor values to construct a time-series heterogeneous graph, which fully utilizes the rich heterogeneous mutual information among variables. Then, a prediction model containing nodes and channel attentions is jointly optimized to obtain better time-series representations. This approach fuses the state-of-the-art technologies of heterogeneous graph structure learning (HGSL) and representation learning. The experiments on four sensor datasets from real-world applications demonstrate that our approach detects the anomalies more accurately than those baseline approaches, thus providing a basis for the rapid positioning of anomalies. Copyright © 2022, The Authors. All rights reserved.

关键词： Anomaly detection

Biofunctionalization-Optimized MoS2-Based Fet Biosensors for the Detection of Tau Protein

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SSRN

SSRN 2024年

作者： Wen, Xiaohong Zhao, Xuefeng Shan, Xinzhi Lu, Hongliang Gao, Xiumin Zhuang, Songlin Engineering Research Center of Optical Instrument and System Ministry of Education Shanghai Key Lab of Modern Optical System School of Optical-Electrical and Computer Engineering University of Shanghai for Science and Technology 516 Jungong Road Shanghai200093 China State Key Laboratory of High-Performance Ceramics and Superfine Microstructure Shanghai Institute of Ceramics Chinese Academy of Sciences Shanghai200050 China State Key Laboratory of ASIC System Shanghai Institute of Intelligent Electronics & Systems School of Microelectronics Fudan University Shanghai200433 China

Field effect transistor (FET)-based biosensors can accurately quantify changes in weak signals and show excellent performance advantages in the detection of trace biological disease markers. Biological functionalization (biofunctionalization) is an important factor in the fabrication of FET-based biosensors, which directly affects the performance of the biosensor. However, little attention from researchers has been paid to biofunctionalization, which results in uneven performance of biosensors. Herein, MoS2-based FET biosensors are designed and fabricated using four different biofunctionalization methods. The most suitable biofunctionalization method is obtained by comparing the sensing performances of different functionalized MoS2based FET biosensors. Moreover, the working mechanism of the optimized biofunctionalization method is explored. Besides, the biofunctionalization-optimized MoS2-based FET biosensor exhibits excellent sensing performance, achieving sensitive detection of Tau protein in the concentration range of 10-2~103 pg/mL. This study provides a universal and effective strategy for the biofunctionalization optimization of two-dimensional materials-based FET biosensors. © 2024, The Authors. All rights reserved.

关键词： Molybdenum compounds

Biofunctionalization-Optimized Mos2-Based Fet Biosensors for the Detection of Tau Protein

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SSRN

SSRN 2024年

Field effect transistor (FET)-based biosensors can accurately quantify changes in weak signals and show excellent performance advantages in the detection of trace biological disease markers. Biological functionalization (biofunctionalization) is an important factor in the fabrication of FET-based biosensors, which directly affects the performance of the biosensor. However, little attention from researchers has been paid to biofunctionalization, which results in uneven performance of biosensors. Herein, MoS2-based FET biosensors are designed and fabricated using four different biofunctionalization methods. The most suitable biofunctionalization method is obtained by comparing the sensing performances of different functionalized MoS2-based FET biosensors. Moreover, the working mechanism of the optimized biofunctionalization method is explored. Besides, the biofunctionalization-optimized MoS2-based FET biosensor exhibits excellent sensing performance, achieving sensitive detection of Tau protein in the concentration range of 10-2~103 pg/mL. This study provides a universal and effective strategy for the biofunctionalization optimization of two-dimensional materials-based FET biosensors. © 2024, The Authors. All rights reserved.

关键词： Molybdenum compounds