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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： João G. Martins Karle Nutonen Paulo Costa Vladimir Kuts Tauno Otto Armando Sousa Marcelo R. Petry CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal Faculty of Engineering University of Porto (FEUP) Porto Portugal ViruTech - Virumaa innovation center of digitalization and green technologies Taltech Virumaa College Kohtla-Jarve Estonia Department of Mechanical and Indusrial Taltech Tallinn Estonia

ISBN: (数字)9798331538606

ISBN: (纸本)9798331538613

Digital twins enable real-time modeling, simulation, and monitoring of complex systems, driving advancements in automation, robotics, and industrial applications. This study presents a large-scale digital twin-testing facility for evaluating mobile robots and pilot robotic systems in a research laboratory environment. The platform integrates high-fidelity physical and environmental models, providing a controlled yet dynamic setting for analyzing robotic behavior. A key feature of the system is its comprehensive data collection framework, capturing critical parameters such as position, orientation, and velocity, which can be leveraged for machine learning, performance optimization, and decision-making. The facility also supports the simulation of discrete operational systems, using predictive modeling to bridge informational gaps when real-time data updates are unavailable. The digital twin was validated through a matrix manufacturing system simulation, with an Augmented Reality (AR) interface on the HoloLens 2 to overlay digital information onto mobile platform controllers, enhancing situational awareness. The main contributions include a digital twin framework for deploying data-driven robotic systems and three key AR/VR integration optimization methods. Demonstrated in a laboratory setting, the system is a versatile tool for research and industrial applications, fostering insights into robotic automation and digital twin scalability while reducing costs and risks associated with real-world testing.

关键词： Service robots Navigation Metaverse Databases Scalability Digital representation Real-time systems Digital twins Mobile robots Robots

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FediLive: A Framework for Collecting and Preprocessing Snapshots of Decentralized Online Social Networks 25

FediLive: A Framework for Collecting and Preprocessing Snaps...

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Companion Proceedings of the ACM on Web Conference 2025

作者： Shaojie Min Shaobin Wang Yaxiao Luo Min Gao Qingyuan Gong Yu Xiao Yang Chen Shanghai Key Lab of Intelligent Information Processing School of Computer Science Fudan University Shanghai China Research Institute of Intelligent Complex Systems Fudan University Shanghai China Department of Information and Communications Engineering Aalto University Espoo Finland

ISBN: (纸本)9798400713316

Decentralized online social networks such as Mastodon have emerged quickly during the past years, and offer unique opportunities to investigate user behavior, moderation strategies, and community evolution. However, their decentralized nature imposes challenges for data collection and preprocessing, particularly for obtaining a real-time snapshot in a timely manner. This paper introduces FediLive, a framework designed to rapidly collect and preprocess the live feeds from Mastodon, generate a comprehensive snapshot in real-time, including user-generated contents, interaction networks, and users' demographic attributes. Such a snapshot could further be leveraged for data analysis from different angles, leading to a deeper understanding of user activities on Mastodon. Using FediLive, we collected a 13-day snapshot of Mastodon, covering the publicly-visible activities of all Mastodon users. Our study demonstrates the usefulness of FediLive, and reveals its potential in facilitating data-driven analysis for decentralized online social networks.

关键词： decentralized online social networks

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Generalized Correspondence Matching via Flexible Hierarchical Refinement and Patch Descriptor Distillation

arXiv

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arXiv 2024年

作者： Han, Yu Long, Ziwei Zhang, Yanting Wu, Jin Fang, Zhijun Fan, Rui The School of Computer Science and Technology Donghua University Shanghai201620 China The Department of Electronics and Computer Engineering The Hong Kong University of Science and Technology Clear Water Bay Hong Kong SAR Hong Kong Hong Kong Group The College of Electronics & Information Engineering Shanghai Research Institute for Intelligent Autonomous Systems The State Key Laboratory of Intelligent Autonomous Systems Frontiers Science Center for Intelligent Autonomous Systems Tongji University Shanghai201804 China

Correspondence matching plays a crucial role in numerous robotics applications. In comparison to conventional hand-crafted methods and recent data-driven approaches, there is significant interest in plug-and-play algorithms that make full use of pre-trained backbone networks for multi-scale feature extraction and leverage hierarchical refinement strategies to generate matched correspondences. The primary focus of this paper is to address the limitations of deep feature matching (DFM), a state-of-the-art (SoTA) plug-and-play correspondence matching approach. First, we eliminate the pre-defined threshold employed in the hierarchical refinement process of DFM by leveraging a more flexible nearest neighbor search strategy, thereby preventing the exclusion of repetitive yet valid matches during the early stages. Our second technical contribution is the integration of a patch descriptor, which extends the applicability of DFM to accommodate a wide range of backbone networks pre-trained across diverse computer vision tasks, including image classification, semantic segmentation, and stereo matching. Taking into account the practical applicability of our method in real-world robotics applications, we also propose a novel patch descriptor distillation strategy to further reduce the computational complexity of correspondence matching. Extensive experiments conducted on three public datasets demonstrate the superior performance of our proposed method. Specifically, it achieves an overall performance in terms of mean matching accuracy of 0.68, 0.92, and 0.95 with respect to the tolerances of 1, 3, and 5 pixels, respectively, on the HPatches dataset, outperforming all other SoTA algorithms. Our source code, demo video, and supplement are publicly available at ***/GCM. © 2024, CC BY.

关键词： Semantics

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Machine Learning-Enabled Power Scheduling in IoT-Based Smart Cities

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computers, Materials & Continua 2021年第5期67卷 2449-2462页

作者： Nabeela Awan Salman Khan Mohammad Khalid Imam Rahmani Muhammad Tahir Nur Alam MD Ryan Alturki Ihsan Ullah Department of Computer Science Government Girls Degree College MardanKPK23200Pakistan Department of Electrical Energy System UETPeshawar25000Pakistan Department of Computer Science College of Computing and InformaticsSaudi Electronic UniversityKSA Department of Smart Computing Kyungdong UniversityGlobal CampusGosung24764South Korea Department of Information Sciences College of Computer and Information SystemsUmm Al-Qura UniversityMakkahSaudi Arabia Robotics Engineering Daegu Gyeongbuk Institute of Science and TechnologySouth Korea

Recent advancements in hardware and communication technologies have enabled worldwide interconnection using the internet of things(IoT).The IoT is the backbone of smart city applications such as smart grids and green energy *** smart cities,the IoT devices are used for linking power,price,energy,and demand information for smart homes and home energy management(HEM)in the smart *** complex smart gridconnected systems,power scheduling and secure dispatch of information are the main research *** challenges can be resolved through various machine learning techniques and data *** this paper,we have proposed a particle swarm optimization based machine learning algorithm known as a collaborative execute-before-after dependency-based requirement,for the smart *** proposed collaborative execute-before-after dependencybased requirement algorithm works in two phases,analysis and assessment of the requirements of end-users and power distribution *** the rst phases,a xed load is adjusted over a period of 24 h,and in the second phase,a randomly produced population load for 90 days is evaluated using particle swarm *** simulation results demonstrate that the proposed algorithm performed better in terms of percentage cost reduction,peak to average ratio,and power variance mean ratio than particle swarm optimization and inclined block rate.

关键词： PSO IBR machine learning IoT smart cities CDBR

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Generalized Correspondence Matching via Flexible Hierarchical Refinement and Patch Descriptor Distillation

Generalized Correspondence Matching via Flexible Hierarchica...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yu Han Ziwei Long Yanting Zhang Jin Wu Zhijun Fang Rui Fan School of Computer Science and Technology Donghua University Shanghai P. R. China Shanghai Research Institute for Intelligent Autonomous Systems the State Key Laboratory of Intelligent Autonomous Systems and Frontiers Science Center for Intelligent Autonomous Systems Machine Intelligence & Autonomous Systems (MIAS) Group the College of Electronics & Information Engineering Tongji University Shanghai P. R. China Department of Electronics and Computer Engineering The Hong Kong University of Science and Technology P. R. China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

关键词： Performance evaluation Accuracy Semantic segmentation Source coding Image matching Supervised learning Pose estimation

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Artifact: End-to-End Multi-Modal Tiny-CNN for Cardiovascular Monitoring on Sensor Patches

Artifact: End-to-End Multi-Modal Tiny-CNN for Cardiovascular...

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IEEE Annual Conference on Pervasive Computing and Communications Workshops (PerCom)

作者： Mustafa Fuad Rifet Ibrahim Tunc Alkanat Maurice Meijer Alexander Schlaefer Peer Stelldinger NXP Semiconductors Eindhoven The Netherlands Institute of Medical Technology and Intelligent Systems Hamburg University of Technology Hamburg Germany Department of Computer Science Hamburg University of Applied Sciences Hamburg Germany

This document describes the content and usage of the code artifact files of the original paper “End-to-End Multi-Modal Tiny-CNN for Cardiovascular Monitoring on Sensor Patches”. In that work, we show the feasibility of applying deep learning for the classification of synchronized electrocardiogram and phonocardiogram recordings under very tight resource constraints. Our model employs an early fusion of data and uses convolutional layers to solve the problem of binary classification of anomalies. We use the “training-a” dataset of the Physionet Challenge 2016 database for evaluation. Further, we demonstrate the applicability of our model on edge devices, such as sensor patches, by estimating processor performance, power consumption, and silicon area.

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Towards Analysis and Interpretation of Large Language Models for Arithmetic Reasoning

Towards Analysis and Interpretation of Large Language Models...

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Swiss Conference on Data science (SDS)

作者： Mst. Shapna Akter Hossain Shahriar Alfredo Cuzzocrea Department of Intelligent Systems and Robotics University of West Florida Pensacola FL USA Center for Cybersecurity University of West Florida Pensacola FL USA iDEA Lab University of Calabria Rende Italy Department of Computer Science University of Paris City Paris France

ISBN: (数字)9798350309294

ISBN: (纸本)9798350309300

Large Language Models (LLMs) have recently conquered the research scene, with particular regards to the Transformer architecture in the context of arithmetic reasoning. In this so-delineated scenario, this paper puts the basis for a causal mediation analysis about the approach of Transformer-based LLMs to complex arithmetic problems. In particular, we try to discover which parameters are crucial for complex reasoning tasks such as model activations. Our preliminary results state that, for complex arithmetic operations, information is channeled from mid-layer activations to the final token through enhanced attention mechanisms. Preliminary experiments are reported.

关键词： Attention mechanisms Large language models Data science Transformers Cognition Mediation Arithmetic

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Generative Intervention Models for Causal Perturbation Modeling

arXiv

引用

arXiv 2024年

作者： Schneider, Nora Lorch, Lars Kilbertus, Niki Schölkopf, Bernhard Krause, Andreas Technical University of Munich Helmholtz Munich Germany Department of Computer Science ETH Zurich Switzerland MPI for Intelligent Systems Tübingen Germany ELLIS Institute Tübingen Germany

We consider the problem of predicting perturbation effects via causal models. In many applications, it is a priori unknown which mechanisms of a system are modified by an external perturbation, even though the features of the perturbation are available. For example, in genomics, some properties of a drug may be known, but not their causal effects on the regulatory pathways of cells. We propose a generative intervention model (GIM) that learns to map these perturbation features to distributions over atomic interventions in a jointly-estimated causal model. Contrary to prior approaches, this enables us to predict the distribution shifts of unseen perturbation features while gaining insights about their mechanistic effects in the underlying data-generating process. On synthetic data and scRNA-seq drug perturbation data, GIMs achieve robust out-of-distribution predictions on par with unstructured approaches, while effectively inferring the underlying perturbation mechanisms, often better than other causal inference methods. Copyright © 2024, The Authors. All rights reserved.

关键词： Generative adversarial networks

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Render In-between: Motion Guided Video Synthesis for Action Interpolation 32

Render In-between: Motion Guided Video Synthesis for Action ...

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32nd British Machine Vision Conference, BMVC 2021

作者： Ho, Hsuan-I Chen, Xu Song, Jie Hilliges, Otmar Department of Computer Science ETH Zürich Zürich Switzerland Max Planck Institute for Intelligent Systems Tübingen Germany

Upsampling videos of human activity is an interesting yet challenging task with many potential applications ranging from gaming to entertainment and sports broadcasting. The main difficulty in synthesizing video frames in this setting stems from the highly complex and non-linear nature of human motion and the complex appearance and texture of the body. We propose to address these issues in a motion-guided frame-upsampling framework that is capable of producing realistic human motion and appearance. A novel motion model is trained to inference the non-linear skeletal motion between frames by leveraging a large-scale motion-capture dataset (AMASS). The high-frame-rate pose predictions are then used by a neural rendering pipeline to produce the full-frame output, taking the pose and background consistency into consideration. Our pipeline only requires low-frame-rate videos and unpaired human motion data but does not require high-frame-rate videos for training. Furthermore, we contribute the first evaluation dataset that consists of high-quality and high-frame-rate videos of human activities for this task. Compared with state-of-the-art video interpolation techniques, our method produces in-between frames with better quality and accuracy, which is evident by state-of-the-art results on pixel-level, distributional metrics and comparative user evaluations. Our code and the collected dataset are available at https://***/Render-In-Between. © 2021. The copyright of this document resides with its authors.

关键词： Interpolation

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West-of-N: Synthetic Preferences for Self-Improving Reward Models

arXiv

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arXiv 2024年

作者： Pace, Alizée Mallinson, Jonathan Malmi, Eric Krause, Sebastian Severyn, Aliaksei ETH AI Center Switzerland Department of Computer Science ETH Zürich Switzerland Max Planck Institute for Intelligent Systems Tübingen Germany Google Research United States

The success of reinforcement learning from human feedback (RLHF) in language model alignment is strongly dependent on the quality of the underlying reward model. In this paper, we present a novel approach to improving reward model quality by generating synthetic preference data, thereby augmenting the training dataset with on-policy, high-quality preference pairs. Motivated by the promising results of Best-of-N sampling strategies in language model training, we extend their application to reward model training. This results in a self-training strategy to generate preference pairs by selecting the best and worst candidates in a pool of responses to a given query. Empirically, we find that this approach improves the performance of any reward model, with an effect comparable to the addition of a similar quantity of human preference data. This work opens up new avenues of research for improving RLHF for language model alignment, by offering synthetic preference generation as a solution to reward modeling challenges. © 2024, CC BY.

关键词： Reinforcement learning

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