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Proceedings of the 41st International Conference on Machine Learning

作者： Nahyuk Lee Juhong Min Junha Lee Seungwook Kim Kanghee Lee Jaesik Park Minsu Cho Department of Computer Science and Engineering POSTECH Pohang Korea Graduate School of Artificial Intelligence POSTECH Pohang Korea Department of Computer Science and Engineering Seoul National University Seoul Korea Department of Computer Science and Engineering Seoul National University Seoul Korea and Interdisciplinary Program in Artificial Intelligence Seoul National University Seoul Korea Department of Computer Science and Engineering POSTECH Pohang Korea and Graduate School of Artificial Intelligence POSTECH Pohang Korea

Learning to assemble geometric shapes into a larger target structure is a pivotal task in various practical applications. In this work, we tackle this problem by establishing local correspondences between point clouds of part shapes in both coarse- and fine-levels. To this end, we introduce Proxy Match Transform (PMT), an approximate high-order feature transform layer that enables reliable matching between mating surfaces of parts while incurring low costs in memory and compute. Building upon PMT, we introduce a new framework, dubbed Proxy Match TransformeR (PMTR), for the geometric assembly task. We evaluate the proposed PMTR on the large-scale 3D geometric shape assembly benchmark dataset of Breaking Bad and demonstrate its superior performance and efficiency compared to state-of-the-art methods. Project page: https://***/pmtr.

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On the Global Convergence of a General Class of Augmented Lagrangian Methods

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Journal of Optimization Theory and Applications 2025年第3期206卷 1-25页

作者： Birgin, Ernesto G. Haeser, Gabriel Maculan, Nelson Ramirez, Lennin Mallma Department of Computer Science Institute of Mathematics and Statistics University of São Paulo São Paulo Brazil Department of Applied Mathematics Institute of Mathematics and Statistics University of São Paulo São Paulo Brazil Systems Engineering and Computer Science Program-Applied Mathematics (COPPE/IM) Federal University of Rio de Janeiro Rio de Janeiro Brazil Systems Engineering and Computer Science Program (COPPE) Federal University of Rio de Janeiro Rio de Janeiro Brazil

In [E. G. Birgin, R. Castillo and J. M. Martínez, Computational Optimization and Applications 31, pp. 31–55, 2005], a general class of safeguarded augmented Lagrangian methods is introduced which includes a large number of different methods from the literature. Besides a numerical comparison including 65 different methods, primal-dual global convergence to a KKT point is shown under a (strong) regularity condition. In the present work, we generalize this framework by considering also classical/non-safeguarded Lagrange multipliers updates. This is done in order to give a rigorous theoretical study to the so-called hyperbolic augmented Lagrangian method, which is not safeguarded, while also including the classical Powell-Hestenes-Rockafellar augmented Lagrangian method. Our results are based on a weak regularity condition which does not require boundedness of the set of Lagrange multipliers. Somewhat surprisingly, in non-safeguarded methods, we show that the penalty parameter may be kept constant at every iteration even in the lack of convexity assumptions. Numerical experiments with all the problems in the Netlib and CUTEst collections are reported to compare and discuss the different approaches.

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Late-Fusion Multimodal Human Detection Based on RGB and Thermal Images for Robotic Perception

Late-Fusion Multimodal Human Detection Based on RGB and Ther...

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European Conference on Mobile Robots (ECMR)

作者： Elísio Sousa Kennedy O. S. Mota Iago P. Gomes Luís Garrote Denis F. Wolf Cristiano Premebida Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal Institute of Mathematics and Computer Science University of São Paulo Brazil

This paper addresses the problem of detecting humans in RGB and Thermal (long-wave IR) images taken by cameras mounted onboard a mobile robot. Human/Pedestrian detection is currently one of the most pertinent object detection problems, mainly due to safety concerns in autonomous vehicles. The majority of approaches apply deep-learning techniques based solely on RGB images. However, they have a few shortcomings, namely that during foggy weather, nighttime, and low-light scenarios, these images may not contain sufficient information. To address these issues, this work studies the use of thermal cameras as a complementary source of information for human detection in indoor and outdoor environments. The proposed approach uses YOLOv5 to detect pedestrians in both thermal and RGB images. Moreover, the different modalities are combined using early and late fusion techniques. Evaluation of the proposed approach is carried out in the FLIR Aligned dataset and in a new in-house dataset. Results indicate that the use of fusion techniques highlights a promising way to improve the overall performance in this application domain.

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PACED-5G: Predictive Autonomous Control using Edge for Drones over 5G

PACED-5G: Predictive Autonomous Control using Edge for Drone...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Viswa Narayanan Sankaranarayanan Gerasimos Damigos Achilleas Santi Seisa Sumeet Gajanan Satpute Tore Lindgren George Nikolakopoulos Department of Computer Science Electrical and Space Engineering Robotics and AI Group Luleå University of Technology Luleå Ericsson Research Luleå

With the advent of technologies such as Edge computing, the horizons of remote computational applications have broadened multi-dimensionally. Autonomous Unmanned Aerial Vehicle (UAV) mission is a vital application to utilize remote computation to catalyze its performance. However, offloading computational complexity to a remote system increases the latency in the system. Though technologies such as 5G networking minimize communication latency, the effects of latency on the control of UAVs are inevitable and may destabilize the system. Hence, it is essential to consider the delays in the system and compensate for them in the control design. Therefore, we propose a novel Edge-based predictive control architecture enabled by 5G networking, PACED-5G (Predictive Autonomous Control using Edge for Drones over 5G). In the proposed control architecture, we have designed a state estimator for estimating the current states based on the available knowledge of the time-varying delays, devised a Model Predictive controller (MPC) for the UAV to track the reference trajectory while avoiding obstacles, and provided an interface to offload the high-level tasks over Edge systems. The proposed architecture is validated in two experimental test cases using a quadrotor UAV.

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Interaction-Aware Maneuver Intention Prediction Using Gated Mixture-of-Experts Attention Mechanism

Interaction-Aware Maneuver Intention Prediction Using Gated ...

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International Conference on Intelligent Transportation

作者： Iago Pachêco Gomes Cristiano Premebida Denis Fernando Wolf Institute of Mathematics and Computer Science University of São Paulo Brazil Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal

This paper addresses the task of predicting the behavior of traffic participants, which involves complexities such as road geometry and agent interactions. To overcome these challenges, this paper presents a novel framework called AIMP (Attention-based Interaction-aware Maneuver Prediction). AIMP utilizes interaction graphs to extract intricate interaction features from traffic scenes. The framework incorporates a Gated Mixture-of-Experts Attention Mechanism, which combines information from road geometry, interaction patterns, and motion dynamics. This fusion process also considers prior maneuver intention estimations, enhancing both explainability and informativeness. Experimental results highlight a performance enhancement (approximately 2% ∼ 9% of accuracy) of the proposed AIMP framework compared to alternative fusion methods.

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Measurement of peripheral nerve magnetostimulation thresholds of a head solenoid coil between 200 Hz and 88.1 kHz

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IEEE Journal of Translational engineering in Health and Medicine 2025年 13卷 275-285页

作者： Barksdale, Alex C. Ferris, Natalie G. Mattingly, Eli Sliwiak, Monika Guerin, Bastien Wald, Lawrence L. Davids, Mathias Klein, Valerie MIT Department of Electrical Engineering and Computer Science CambridgeMA United States Martinos Center for Biomedical Imaging CharlestownMA United States Harvard University Harvard Graduate Program in Biophysics CambridgeMA United States Harvard-MIT Division of Health Sciences and Technology BostonMA United States Harvard Medical School BostonMA United States

Objective: Magnetic fields switching at kilohertz frequencies induce electric fields in the body, which can cause peripheral nerve stimulation (PNS). Although magnetostimulation has been extensively studied below 10 kHz, the behavior of PNS at higher frequencies remains poorly understood. This study aims to investigate PNS thresholds at frequencies up to 88.1 kHz and to explore deviations from the widely accepted hyperbolic strength-duration curve (SDC). Methods and procedures: PNS thresholds were measured in the head of 8 human volunteers using a solenoidal coil at 16 distinct frequencies, ranging from 200 Hz to 88.1 kHz. A hyperbolic SDC was used as a reference to compare the frequency-dependent behavior of PNS thresholds. Results: Contrary to the predictions of the hyperbolic SDC, PNS thresholds did not decrease monotonically with frequency. Instead, thresholds reached a minimum near 25 kHz, after which they increased by an average of 39% from 25 kHz to 88.1 kHz across subjects. This pattern indicates a significant deviation from previously observed behavior at lower frequencies. Conclusion: Our results suggest that PNS thresholds exhibit a non-monotonic frequency dependence at higher frequencies, diverging from the traditional hyperbolic SDC. These findings offer critical data for refining neurodynamic models and provide insights for setting PNS safety limits in applications like MRI gradient coils and magnetic particle imaging (MPI). Further investigation is needed to understand the biological mechanisms driving these deviations beyond 25 kHz. Clinical impact: These findings call for further basic research into biological mechanisms underlying high frequency PNS threshold trends, and supports refinement of safety guidelines for MRI and MPI systems for clinical implementation. © 2013 IEEE.

关键词： Neuroimaging

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Computing Beneficence: a Study of Pro-Social Attitudes in Comments of Online Social Media Users

Computing Beneficence: a Study of Pro-Social Attitudes in Co...

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International Conference on Affective Computing and Intelligent Interaction Workshops and Demos (ACIIW)

作者： Maurizio Mancini Matteo Cinelli Gabriele Etta Paul Ciurla Radoslaw Niewiadomski Walter Quattrociocchi Valentina Franzoni Department of Computer Science Sapienza University of Rome Rome Italy Department of Computer Science Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genova Genova Italy Department of Mathematics and Computer Science University of Perugia Perugia Italy Department of Computer Science Hong Kong Baptist University Hong Kong China

Beneficence is a social phenomenon that has rarely been modeled computationally so far. In this paper, we propose to study the beneficence of online opinions and comments published on social media on essential topics for society. Our computational approach is based on measuring semantic similarity. We apply three measures to assess the beneficence of $\sim 41 K$ social media users: average Confidence, Normalized Google Distance, and Pointwise Mutual Information. As a use case, we analyze opinions on the topic of vaccinations on Facebook, where two distinct groups (Pro-Vax vs. Anti-Vax) are present. The results reveal a shared connection to beneficence among social media users, with both groups exhibiting similar levels of similarity and no significant clustering into echo chambers.

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Analysis of Partial Discharges in Oil-Impregnated Transformer Paper Insulation and PET-G Insulation

IEEE Open Journal of Instrumentation and Measurement

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IEEE Open Journal of Instrumentation and Measurement 2025年 4卷

作者： Kameli, Sayed Mohammad Abuelrub, Abdelaziz AlShaikh Saleh, Mohammad Refaat, Shady S. Ghrayeb, Ali Abu-Rub, Haitham Olesz, Marek Texas A&M University at Qatar Electrical and Computer Engineering Department Doha Qatar Texas A&M University Department of Electrical and Computer Engineering College StationTX77843 United States University of Hertfordshire School of Physics Engineering and Computer Science Department of Engineering HatfieldAL10 9EU United Kingdom Hamad Bin Khalifa University Qatar Foundation Electrical and Computer Engineering Program in College of Science and Engineering Doha Qatar Gdańsk University of Technology Department of Electrical Power Engineering Gdańsk80-233 Poland

Partial discharge (PD) is a widespread phenomenon instigated in power transformer (PT) insulation systems. PDs are triggered by voids that vary in size and position within the PT insulation. The electrical characteristics of those damaging, PD-causing cavities must be well understood, to accelerate the development of advanced PD detection techniques. Thus, the impact of varying the radius and position of spherical air voids on the characteristics of PDs in PTs is examined using a 3-D finite element analysis (FEA) model designed in COMSOL Multiphysics. The spherical voids are positioned between two windings of a 512 kV, three-phase (3φ ) PT. The peak electric field (EF) and aggregate energy in the FEA model are used in conjunction with laboratory measurements of the apparent discharge magnitude, for detailed analysis of Polyethylene Terephthalate Glycol (PET-G)-based cylindrical voids with different heights. Simulations demonstrate that the inception of PD activity in the PT model occurs for spherical voids with a radius exceeding 1 mm. Furthermore, the most severe PDs occur within the press-board insulation, adjacent to the uppermost part of the innermost windings. Experiments demonstrate that a significant increase in PD activity was observed for PET-G-based cylindrical voids with heights exceeding 1 mm. © 2022 IEEE.

关键词： Partial discharges

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Cascaded multiparameter quantum metrology

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Physical Review A 2025年第1期111卷 012618-012618页

作者： Gregory Krueper Lior Cohen Juliet T. Gopinath Department of Physics University of Colorado Boulder Boulder Colorado 80309 USA Department of Electrical Computer and Energy Engineering University of Colorado Boulder Boulder Colorado 80309 USA Materials Science and Engineering Program University of Colorado Boulder Boulder Colorado 80309 USA

We present an innovative, platform-independent concept for multiparameter sensing where the measurable parameters are in series, or cascaded, enabling measurements as a function of position. With temporally resolved detection, we show that squeezing can give a quantum enhancement in sensitivity over that of classical states by a factor of e2r, where r≈1 is the squeezing parameter. As an example, we have modeled an interferometer that senses multiple phase shifts along the same path, demonstrating a maximal quantum advantage by combining a coherent state with squeezed vacuum. Further classical modeling with up to 100 phases shows linear scaling potential for adding nodes to the sensor. The approach can be applied to remote sensing, geophysical surveying, and infrastructure monitoring.

关键词： Interferometers

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Comprehensive Analysis and Remediation of Insecure Direct Object References (IDOR) Vulnerabilities in Android APIs

Comprehensive Analysis and Remediation of Insecure Direct Ob...

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Cryptography, Informatics, and Cybersecurity (ICoCICs), IEEE International Conference on

作者： Semi Yulianto Roni Reza Abdullah Benfano Soewito Computer Science Department Binus Graduate Program Computer Science Bina Nusantara University Jakarta Indonesia Faculty of Informatics Engineering National Institute of Science and Technology Jakarta Indonesia Computer Science Department Binus Graduate Program. Master of Computer Science Bina Nusantara University Jakarta Indonesia

The escalating visibility of secure direct object reference (IDOR) vulnerabilities in API security, as indicated in the compilation of OWASP Top 10 API Security Risks, highlights a noteworthy peril to sensitive data. This study explores IDOR vulnerabilities found within Android APIs, intending to clarify their inception while evaluating their implications for application security. This study combined the qualitative and quantitative approaches. Insights were obtained from an actual penetration test on an Android app into the primary reasons for IDOR vulnerabilities, underscoring insufficient input validation and weak authorization methods. We stress the frequent occurrence of IDOR vulnerabilities in the OWASP Top 10 API vulnerability list, highlighting the necessity to prioritize them in security evaluations. There are mitigation recommendations available for developers, which recognize its limitations involving a possibly small and homogeneous selection of tested Android applications, the testing environment that could cause some inaccuracies, and the impact of time constraints. Additionally, the study noted insufficient threat modeling and root cause analysis, affecting its generalizability and real-world relevance. However, comprehending and controlling IDOR dangers can enhance Android API security, protect user data, and bolster application resilience.

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