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International Winter Workshop on Brain-computer Interface (BCI)

作者： Vladislav Mun Berdakh Abibullaev Computer Science Department School of Engineering and Digital Sciences Nazarbayev University Kazakhstan Robotics and Mechatronics Department School of Engineering and Digital Sciences Nazarbayev University Kazakhstan

With an ever-growing demand for BCI-based systems, numerous algorithms and machine learning systems have been proposed over the past few decades. Although state-of-theart approaches have reached practically appropriate levels of accuracy, most are often regarded as black-box models, which need more explainability. However, for cases where a Neural Network is used as the base for a classifier, a Layerwise Relevance Propagation (LRP) approach can be utilized to analyze the decision boundaries considered by the network. By calculating the importance of the neuron in each layer, the LRP can also be used as an effective model complexity reduction technique through the inactivation (pruning) of the neural pathways. The following work investigates the usability of the LRP framework in the field of BCI. This study provides an example of the practical application of the LRP with respect to the EEG (ERP) dataset, along with visual heatmap and scalp map examples of the LRP. Furthermore, the work analyzes the impact of network pruning on heatmap visualization and the model’s accuracy while also practically determining the maximum cutoff range for pruning BCI models.

关键词： Heating systems Deep learning Analytical models Visualization Brain modeling Transformers Electroencephalography

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Thermal energy dependent transient permittivity of epsilon-near-zero material

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science China(Physics,Mechanics & Astronomy) 2022年第8期65卷 96-101页

作者： Heng Wang Lixun Sun Kang Du Wending Zhang SooJin Chua Guixin Li Ting Mei MOE Key Laboratory of Material Physics and Chemistry under Extraordinary Conditions and Shaanxi Key Laboratory of Optical Information TechnologySchool of Physical Science and TechnologyNorthwestern Polytechnical UniversityXi’an710129China Department of Materials Science and Engineering Southern University of Science and TechnologyShenzhen518055China Shenzhen Institute for Quantum Science and Engineering Southern University of Science and TechnologyShenzhen518055China Department of Electrical and Computer Engineering National University of SingaporeSingapore117583Singapore LEES Program Singapore-MIT Alliance for Research&Technology(SMART)Singapore138602Singapore

Transparent conductive oxides exhibit attractive optical nonlinearity with ultrafast response and giant refractive index change near the epsilon-near-zero(ENZ) wavelength, originating from the intraband dynamics of conduction electrons. The optical nonlinearity of ENZ materials has been explained by using the overall-effective-mass and the overall-scattering-time of electrons in the extended Drude model. However, their response to optical excitation is yet the last building block to complete the theory. In this paper, the concept of thermal energy is theoretically proposed to account for the total energy of conduction electrons exceeding their thermal equilibrium value. The time-varying thermal energy is adopted to describe the transient optical response of indium-tin-oxide(ITO), a typical ENZ material. A spectrally-resolved femtosecond pump-probe experiment was conducted to verify our theory. By correlating the thermal energy with the pumping density, both the giant change and the transient response of the permittivity of ITO can be predicted. The results in this work provide a new methodology to describe the transient permittivities of ENZ materials, which will benefit the design of ENZ-based nonlinear photonic devices.

关键词： epsilon-near-zero optical nonlinearity transient response thermal energy hot electron indium tin oxide

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Enhancing Crop Management: Ensemble Machine Learning for Real-Time Crop Recommendation System from Sensor Data

Enhancing Crop Management: Ensemble Machine Learning for Rea...

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2024 International Conference on Smart Systems for Applications in Electrical sciences, ICSSES 2024

作者： Hossain, Sadia Prova, Nuzhat Noor Islam Sadik, Md Rezwane Maruf, Abdullah Al Bangabandhu Sheikh Mujibur Rahman Digital University Internet of Things and Robotics Engineering Gazipur Bangladesh Pace University Seidenberg School of CSIS One Pace Plaza New York CityNY10038 United States University of South Dakota Department of Economics & Decision Sciences VermillionSD United States Department of Computer Science & Engineering Dhaka Bangladesh

ISBN: (纸本)9798350364040

The agricultural industry is essential to the world's food production, and it is critical to use cutting-edge technologies to increase crop productivity. We provide a revolutionary Crop Recommendation System (CRS) that utilizes cutting-edge technology to maximize crop output in response to the pressing need for improvement. Our study incorporates real-time monitoring of soil conditions, made possible by a custom hardware configuration that includes sensors for temperature, humidity, phosphorus, potassium, nitrogen, and pH measurements. First, we assembled a large dataset with 22 kinds of agricultural production components. Using many machine learning models, such as ensemble methods and baseline classifiers, we were able to classify crops with an astounding 99 % accuracy rate. With the application of these insights, the CRS provides customized recommendations through an easy-to-use user interface for appropriate crops under particular climatic conditions. Our system's innovative combination of hardware sensing capabilities and AI-driven decision-making promises to revolutionize crop management practices, offering actionable insights for agricultural stakeholders. Our system's novel integration of AI-driven decision-making and hardware sensing capabilities promises to transform crop management techniques and provide agricultural stakeholders with useful insights. © 2024 IEEE.

关键词： Internet of things

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Modular Sensor Integration into Soft Robots using Stretchable Wires for Nuclear Infrastructure Inspection and Radiation Spectroscopy

Modular Sensor Integration into Soft Robots using Stretchabl...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Calder Wilson Joseph Karam Callen Votzke Farhan Rozaidi Camille J. Palmer Ross L. Hatton Matthew L. Johnston School of Electrical Engineering and Computer Science Corvallis OR USA Collaborative Robotics and Intelligent Systems Institute Corvallis OR USA School of Nuclear Science & Engineering Oregon State University Corvallis OR USA

Soft robots are uniquely suited for applications in inspection, search and rescue, and exploration in confined and unstructured environments. Leveraging the benefits of these soft robots will increasingly require the integration of equally compliant electronic components for sensing, actuation, control, and computation to maintain mechanical conformability at the system level. In this work, we demonstrate the integration of modular electronic sensors into a robotic snake platform using stretchable interconnects. Aimed at applications in nuclear infrastructure inspection, included sensors include visual perception and on-board radiation spectroscopy. In addition to high mechanical compliance, the stretchable interconnect enables physical separation of analog sensors and digital electronics for use in radiation environments. We present details of stretchable electronics fabrication and integration, standalone validation of integrated sensors, and field test results from a simulated nuclear infrastructure inspection task.

关键词： Mechanical sensors Fabrication Spectroscopy Visualization Wires Soft robotics Inspection

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Near-Optimal Resilient Aggregation Rules for Distributed Learning Using 1-Center and 1-Mean Clustering with Outliers

arXiv

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arXiv 2023年

作者： Yi, Yuhao You, Ronghui Liu, Hong Liu, Changxin Wang, Yuan Lv, Jiancheng College of Computer Science Sichuan University China School of Statistics and Data Science Nankai University China School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden School of Robotics Hunan University China

Byzantine machine learning has garnered considerable attention in light of the unpredictable faults that can occur in large-scale distributed learning systems. The key to secure resilience against Byzantine machines in distributed learning is resilient aggregation mechanisms. Although abundant resilient aggregation rules have been proposed, they are designed in ad-hoc manners, imposing extra barriers on comparing, analyzing, and improving the rules across performance criteria. This paper studies near-optimal aggregation rules using clustering in the presence of outliers. Our outlier-robust clustering approach utilizes geometric properties of the update vectors provided by workers. Our analysis show that constant approximations to the 1-center and 1-mean clustering problems with outliers provide near-optimal resilient aggregators for metric-based criteria, which have been proven to be crucial in the homogeneous and heterogeneous cases respectively. In addition, we discuss two contradicting types of attacks under which no single aggregation rule is guaranteed to improve upon the naive average. Based on the discussion, we propose a two-phase resilient aggregation framework. We run experiments for image classification using a non-convex loss function. The proposed algorithms outperform previously known aggregation rules by a large margin with both homogeneous and heterogeneous data distributions among non-faulty workers. Code and appendix are available at https://***/jerry907/AAAI24-RASHB. Copyright © 2023, The Authors. All rights reserved.

关键词： Machine learning

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Generalizing 6-DoF Grasp Detection via Domain Prior Knowledge

arXiv

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arXiv 2024年

作者： Ma, Haoxiang Shi, Modi Gao, Boyang Huang, Di State Key Laboratory of Software Development Environment Beihang University Beijing China School of Computer Science and Engineering Beihang University Beijing China School of Computer Science and Technology Harbin Institute of Technology Harbin China Geometry Robotics China

We focus on the generalization ability of the 6-DoF grasp detection method in this paper. While learning-based grasp detection methods can predict grasp poses for unseen objects using the grasp distribution learned from the training set, they often exhibit a significant performance drop when encountering objects with diverse shapes and structures. To enhance the grasp detection methods’ generalization ability, we incorporate domain prior knowledge of robotic grasping, enabling better adaptation to objects with significant shape and structure differences. More specifically, we employ the physical constraint regularization during the training phase to guide the model towards predicting grasps that comply with the physical rule on grasping. For the unstable grasp poses predicted on novel objects, we design a contact-score joint optimization using the projection contact map to refine these poses in cluttered scenarios. Extensive experiments conducted on the GraspNet-1billion benchmark demonstrate a substantial performance gain on the novel object set and the real-world grasping experiments also demonstrate the effectiveness of our generalizing 6-DoF grasp detection method. Code is available at https://***/mahaoxiang822/ Generalizing-Grasp. Copyright © 2024, The Authors. All rights reserved.

关键词： Benchmarking

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Gender-Based Bimodal Analysis of Speech and Text in Non-Contextual Emotion Recognition

Gender-Based Bimodal Analysis of Speech and Text in Non-Cont...

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Informatics International Conference (BTS-I2C), Beyond Technology Summit on

作者： Abby Rasya Angkasa Amalia Zahra Wai-Keung Fung Computer Science Department BINUS Graduate Program - Master of Computer Science Jakarta Indonesia Engineering Department Cardiff Metropolitan University - Cardiff School of Technologies Cardiff United Kingdom

ISBN: (数字)9798331508579

ISBN: (纸本)9798331508586

Emotion recognition can help human-computer interactions by enabling systems to respond empathetically and adapt to users' emotional conditions. This capability improves user experience, supporting the development of a more intuitive and emotionally responsive communication system. This study analyzes a bimodal approach based on gender (male and female) to recognize emotions without contextual information in dialogue analysis. Utilizing the Multimodal EmoryNLP dataset extracted from the TV series Friends with acted speech, we focused on four primary emotions: Angry, Neutral, Joy, and Scared. The model used in this study for text classification is RoBERTa, and wav2vec 2.0 is used for audio feature extraction with the Bi-LSTM model for classification. The experiment results using weighted F1-score reveal that data augmentation enhanced the performance of analyzing the original dataset from 0.46% to 0.52% and the male dataset from 0.43% to 0.51 %. In comparison, the female dataset remained consistent at 0.46%. The weighted F1-score and Unweighted Averaged Recall (UAR) from the male dataset are higher, 51 % and 48%, respectively, than those from the female dataset, 46% and 47%, respectively. Gender-based analysis indicated that male and female datasets exhibited distinct performance patterns, highlighting variations in emotional expression and recognition between genders. These findings underscore the effectiveness of multimodal strategies in emotion recognition and suggest that gender-specific factors play a significant role in enhancing classification performance. While these results highlight performance trends, further validation through repeated trials and statistical analyses could provide stronger generalizations and insights into gender-based differences.

关键词： Emotion recognition TV Statistical analysis Text categorization Speech recognition Linguistics Feature extraction Data augmentation Market research User experience

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DeTrack: in-model latent denoising learning for visual object tracking 24

DeTrack: in-model latent denoising learning for visual objec...

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Proceedings of the 38th International Conference on Neural Information Processing Systems

作者： Xinyu Zhou Jinglun Li Lingyi Hong Kaixun Jiang Pinxue Guo Weifeng Ge Wenqiang Zhang Shanghai Key Lab of Intelligent Information Processing School of Computer Science Fudan University Shanghai China Shanghai Engineering Research Center of AI & Robotics Academy for Engineering and Technology Fudan University Shanghai China Shanghai Key Lab of Intelligent Information Processing School of Computer Science Fudan University Shanghai China and Shanghai Engineering Research Center of AI & Robotics Academy for Engineering and Technology Fudan University Shanghai China

ISBN: (纸本)9798331314385

Previous visual object tracking methods employ image-feature regression models or coordinate autoregression models for bounding box prediction. Image-feature regression methods heavily depend on matching results and do not utilize positional prior, while the autoregressive approach can only be trained using bounding boxes available in the training set, potentially resulting in suboptimal performance during testing with unseen data. Inspired by the diffusion model, denoising learning enhances the model's robustness to unseen data. Therefore, We introduce noise to bounding boxes, generating noisy boxes for training, thus enhancing model robustness on testing data. We propose a new paradigm to formulate the visual object tracking problem as a denoising learning process. However, tracking algorithms are usually asked to run in real-time, directly applying the diffusion model to object tracking would severely impair tracking speed. Therefore, we decompose the denoising learning process into every denoising block within a model, not by running the model multiple times, and thus we summarize the proposed paradigm as an in-model latent denoising learning process. Specifically, we propose a denoising Vision Transformer (ViT), which is composed of multiple denoising blocks. In the denoising block, template and search embeddings are projected into every denoising block as conditions. A denoising block is responsible for removing the noise in a predicted bounding box, and multiple stacked denoising blocks cooperate to accomplish the whole denoising process. Subsequently, we utilize image features and trajectory information to refine the denoised bounding box. Besides, we also utilize trajectory memory and visual memory to improve tracking stability. Experimental results validate the effectiveness of our approach, achieving competitive performance on several challenging datasets. The proposed in-model latent denoising tracker achieve real-time speed, rendering denoising learning

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SELM: From Efficient Autonomous Exploration to Long-term Monitoring in Semantic Level

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IEEE Transactions on Cognitive and Developmental Systems 2025年

作者： Lang, Fang Qin, Yongsen Wang, Yinchuan Liu, Jin Wang, Chaoqun Song, Wei Zhu, Qiuguo Song, Rui Zhejiang University Polytechnic Institute Hangzhou310015 China Shandong University School of Control Science and Engineering Jinan China Zhejiang University Robotics Institute Hangzhou China Zhejiang University College of Computer Science and Technology Hangzhou China

Maintaining up-to-date environmental models from initial deployment through long-term autonomy in service is critical for applications like navigation and task planning. To address the challenges of persistent monitoring in unknown environments, we introduce a Two-Stage monitoring strategy, termed the Semantic-level autonomous Exploration and Long-term environment Monitoring (SELM) framework. In the first stage, we introduce a novel semantic exploration method to adapt to new environments quickly. Leveraging the semantic information within the incrementally constructed 3D Scene Graph (3DSG), we combine the Next-Best-View (NBV) selection with room semantics, introducing a more efficient and comprehensive approach for multi-room indoor environment exploration. In addition, the exploration provides patrol routes, the room distance-connectivity graph, and complete environment initial states for subsequential monitoring. The monitoring stage aims to persistently patrol to update the world model in the presence of dynamic changes, including changes in objects' positions. We formulate the long-term monitoring problem as the Partially Observable Markov Decision Process (POMDP) to cope with the environmental uncertainty. To solve the POMDP, we propose the Graph Attention Bidirectional long short-term memory Proximal Policy Optimization (GABPPO) algorithm for the optimal patrol strategy. The feasibility and effectiveness of the proposed SELM framework are verified through extensive experiments. © 2016 IEEE.

关键词： Environmental monitoring

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DLPO : Towards a Robust, Efficient, and Generalizable Prompt Optimization Framework from a Deep-Learning Perspective

arXiv

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arXiv 2025年

作者： Peng, Dengyun Zhou, Yuhang Chen, Qiguang Liu, Jinhao Chen, Jingjing Qin, Libo Research Center for Social Computing and Interactive Robotics Harbin Institute of Technology China School of Computer Science and Engineering Central South University China Fudan University China

Large Language Models (LLMs) have achieved remarkable success across diverse tasks, largely driven by well-designed prompts. However, crafting and selecting such prompts often requires considerable human effort, significantly limiting its scalability. To mitigate this, recent studies have explored automated prompt optimization as a promising solution. Despite these efforts, existing methods still face critical challenges in robustness, efficiency, and generalization. To systematically address these challenges, we first conduct an empirical analysis to identify the limitations of current reflection-based prompt optimization paradigm. Building on these insights, we propose 7 innovative approaches inspired by traditional deep learning paradigms for prompt optimization (DLPO), seamlessly integrating these concepts into text-based gradient optimization. Through these advancements, we progressively tackle the aforementioned challenges and validate our methods through extensive experimentation. We hope our study not only provides valuable guidance for future research but also offers a comprehensive understanding of the challenges and potential solutions in prompt optimization. Our code is available at https://***/sfasfaffa/DLPO. Copyright © 2025, The Authors. All rights reserved.

关键词： Contrastive Learning

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