Stability for dynamic network embeddings ensures that nodes behaving the same at different times receive the same embedding, allowing comparison of nodes in the network across time. We present attributed unfolded adjacency spectral embedding (AUASE), a stable unsupervised representation learning framework for dynamic networks in which nodes are attributed with time-varying covariate information. To establish stability, we prove uniform convergence to an associated latent position model. We quantify the benefits of our dynamic embedding by comparing with state-of-the-art network representation learning methods on three real attributed networks. To the best of our knowledge, AUASE is the only attributed dynamic embedding that satisfies stability guarantees without the need for ground truth labels, which we demonstrate provides significant improvements for link prediction and node classification.
This paper proposes a new hierarchically tunable six-dimensional movable antenna (HT-6DMA) architecture for base station (BS) in future wireless networks. The HT-6DMA BS consists of multiple antenna arrays that can flexibly move on a spherical surface, with their three-dimensional (3D) positions and 3D rotations/orientations efficiently characterized in the global spherical coordinate system (SCS) and their individual local SCSs, respectively. As a result, the 6DMA system is hierarchically tunable in the sense that each array's global position and local rotation can be separately adjusted in a sequential manner with the other being fixed, thus greatly reducing their design complexity and improving the achievable performance. In particular, we consider an HT-6DMA BS serving multiple single-antenna users in the uplink communication or sensing potential unmanned aerial vehicles (UAVs)/drones in a given airway area. Specifically, for the communication scenario, we aim to maximize the average sum rate of communication users in the long term by optimizing the positions and rotations of all 6DMA arrays at the BS. While for the airway sensing scenario, we maximize the minimum received sensing signal power along the airway by optimizing the 6DMA arrays' positions and rotations along with the BS's transmit covariance matrix. Despite that the formulated problems are both non-convex, we propose efficient solutions to them by exploiting the hierarchical tunability of positions/rotations of 6DMA arrays in our proposed model. Numerical results show that the proposed HT-6DMA design significantly outperforms not only the traditional BS with fixed-position antennas (FPAs), but also the existing 6DMA scheme. Furthermore, it is unveiled that the performance gains of HT-6DMA mostly come from the arrays' global position adjustments on the spherical surface, rather than their local rotation adjustments.
Localizing a person from a moving monocular camera is critical for Human-Robot Interaction (HRI). To estimate the 3D human position from a 2D image, existing methods either depend on the geometric assumption of a fixed camera or use a position regression model trained on datasets containing little camera ego-motion. These methods are vulnerable to fierce camera ego-motion, resulting in inaccurate person localization. We consider person localization as a part of a pose estimation problem. By representing a human with a four-point model, our method jointly estimates the 2D camera attitude and the person's 3D location through optimization. Evaluations on both public datasets and real robot experiments demonstrate our method outperforms baselines in person localization accuracy. Our method is further implemented into a person-following system and deployed on an agile quadruped robot.
The proliferation of AI-generated content online has fueled concerns over \emph{model collapse}, a degradation in future generative models' performance when trained on synthetic data generated by earlier models. Industry leaders, premier research journals and popular science publications alike have prophesied catastrophic societal consequences stemming from model collapse. In this position piece, we contend this widespread narrative fundamentally misunderstands the scientific evidence. We highlight that research on model collapse actually encompasses eight distinct and at times conflicting definitions of model collapse, and argue that inconsistent terminology within and between papers has hindered building a comprehensive understanding of model collapse. To assess how significantly different interpretations of model collapse threaten future generative models, we posit what we believe are realistic conditions for studying model collapse and then conduct a rigorous assessment of the literature's methodologies through this lens. While we leave room for reasonable disagreement, our analysis of research studies, weighted by how faithfully each study matches real-world conditions, leads us to conclude that certain predicted claims of model collapse rely on assumptions and conditions that poorly match real-world conditions, and in fact several prominent collapse scenarios are readily avoidable. Altogether, this position paper argues that model collapse has been warped from a nuanced multifaceted consideration into an oversimplified threat, and that the evidence suggests specific harms more likely under society's current trajectory have received disproportionately less attention.
The aim of this paper is to investigate an attempt to build a binary classification algorithm using principles of geometry such as vectors, planes, and vector algebra. The basic idea behind the proposed algorithm is that a hyperplane can be used to completely separate a given set of data points mapped to n dimensional space, if the given data points are linearly separable in the n dimensions. Since points are the foundational elements of any geometrical construct, by manipulating the position of points used for the construction of a given hyperplane, the position of the hyperplane itself can be manipulated. The paper includes testing data against other classifiers on a variety of standard machine learning datasets. With a focus on support vector machines, since they and our proposed classifier use the same geometrical construct of hyperplane, and the versatility of SVMs make them a good bench mark for comparison. Since the algorithm focuses on moving the points through the hyperspace to which the dataset has been mapped, it has been dubbed as moving points algorithm.
In this paper, we propose a novel approach for air drawing that uses image processing techniques to draw on the screen by moving fingers in the air. This approach benefits a wide range of applications such as sign language, in-air drawing, and 'writing' in the air as a new way of input. The approach starts with preparing ROI (Region of Interest) background images by taking a running average in initial camera frames and later subtracting it from the live camera frames to get a binary mask image. We calculate the pointer's position as the top of the contour on the binary image. When drawing a circle on the canvas in that position, it simulates the drawing. Furthermore, we combine the pre-trained Tesseract model for OCR purposes. To address the false contours, we perform hand detection based on the haar cascade before performing the background subtraction. In an experimental setup, we achieved a latency of only 100ms in air drawing. The code used to this research are available in GitHub as https://github.com/q-viper/Contour-Based-Writing
Transformer-based Large Language Models (LLMs) rely on positional encodings to provide sequence position information to their attention mechanism. Rotary Positional Encodings (RoPE), which encode relative position by rotating queries and keys, have become widely used in modern LLMs. We study the features and patterns that emerge in queries and keys when using rotary embeddings. Our analysis reveals consistent patterns within the same model across layers and attention heads and across different models and architectures. We present and apply analysis techniques and show how the queries and keys use RoPE to construct various attention patterns, including attention sinks. We find and analyze outliers across models in queries and keys and find that they are likely to be found in rotary features with partial cycles. We derive bounds that tell us what rotary frequencies are likely to be selected as outlier features and at what minimum angle the query-key rotary pairs in these features tend to be above and verify the bounds empirically with models of significant architectural differences.
The external evaluation of AI systems is increasingly recognised as a crucial approach for understanding their potential risks. However, facilitating external evaluation in practice faces significant challenges in balancing evaluators' need for system access with AI developers' privacy and security concerns. Additionally, evaluators have reason to protect their own privacy - for example, in order to maintain the integrity of held-out test sets. We refer to the challenge of ensuring both developers' and evaluators' privacy as one of providing mutual privacy. In this position paper, we argue that (i) addressing this mutual privacy challenge is essential for effective external evaluation of AI systems, and (ii) current methods for facilitating external evaluation inadequately address this challenge, particularly when it comes to preserving evaluators' privacy. In making these arguments, we formalise the mutual privacy problem; examine the privacy and access requirements of both model owners and evaluators; and explore potential solutions to this challenge, including through the application of cryptographic and hardware-based approaches.
In physics, complex systems are often simplified into minimal, solvable models that retain only the core principles. In machine learning, layerwise linear models (e.g., linear neural networks) act as simplified representations of neural network dynamics. These models follow the dynamical feedback principle, which describes how layers mutually govern and amplify each other's evolution. This principle extends beyond the simplified models, successfully explaining a wide range of dynamical phenomena in deep neural networks, including neural collapse, emergence, lazy and rich regimes, and grokking. In this position paper, we call for the use of layerwise linear models retaining the core principles of neural dynamical phenomena to accelerate the science of deep learning.
The movable antenna (MA) technology has attracted great attention recently due to its promising capability in improving wireless channel conditions by flexibly adjusting antenna positions. To reap maximal performance gains of MA systems, existing works mainly focus on MA position optimization to cater to the instantaneous channel state information (CSI). However, the resulting real-time antenna movement may face challenges in practical implementation due to the additional time overhead and energy consumption required, especially in fast time-varying channel scenarios. To address this issue, we propose in this paper a new approach to optimize the MA positions based on the users' statistical CSI over a large timescale. In particular, we propose a general field response based statistical channel model to characterize the random channel variations caused by the local movement of users. Based on this model, a two-timescale optimization problem is formulated to maximize the ergodic sum rate of multiple users, where the precoding matrix and the positions of MAs at the base station (BS) are optimized based on the instantaneous and statistical CSI, respectively. To solve this non-convex optimization problem, a log-barrier penalized gradient ascent algorithm is developed to optimize the MA positions, where two methods are proposed to approximate the ergodic sum rate and its gradients with different complexities. Finally, we present simulation results to evaluate the performance of the proposed design and algorithms based on practical channels generated by ray-tracing. The results verify the performance advantages of MA systems compared to their fixed-position antenna (FPA) counterparts in terms of long-term rate improvement, especially for scenarios with more diverse channel power distributions in the angular domain.
Positional encodings (PEs) are essential for effective graph representation learning because they provide position awareness in inherently position-agnostic transformer architectures and increase the expressive capacity of Graph Neural Networks (GNNs). However, designing powerful and efficient PEs for graphs poses significant challenges due to the absence of canonical node ordering and the scale of the graph. In this work, we identify four key properties that graph PEs should satisfy: stability, expressive power, scalability, and genericness. We find that existing eigenvector-based PE methods often fall short of jointly satisfying these criteria. To address this gap, we introduce PEARL, a novel framework of learnable PEs for graphs. Our primary insight is that message-passing GNNs function as nonlinear mappings of eigenvectors, enabling the design of GNN architectures for generating powerful and efficient PEs. A crucial challenge lies in initializing node features in a manner that is both expressive and permutation equivariant. We tackle this by initializing GNNs with random node inputs or standard basis vectors, thereby unlocking the expressive power of message-passing operations, while employing statistical pooling functions to maintain permutation equivariance. Our analysis demonstrates that PEARL approximates equivariant functions of eigenvectors with linear complexity, while rigorously establishing its stability and high expressive power. Experimental evaluations show that PEARL outperforms lightweight versions of eigenvector-based PEs and achieves comparable performance to full eigenvector-based PEs, but with one or two orders of magnitude lower complexity.
The FOX optimizer, inspired by red fox hunting behavior, is a powerful algorithm for solving real-world and engineering problems. However, despite balancing exploration and exploitation, it can prematurely converge to local optima, as agent positions are updated solely based on the current best-known position, causing all agents to converge on one location. This study proposes the modified FOX optimizer (mFOX) to enhance exploration and balance exploration and exploitation in three steps. First, the Oppositional-Based Learning (OBL) strategy is used to improve the initial population. Second, control parameters are refined to achieve a better balance between exploration and exploitation. Third, a new update equation is introduced, allowing agents to adjust their positions relative to one another rather than relying solely on the best-known position. This approach improves exploration efficiency without adding complexity. The mFOX algorithm's performance is evaluated against 12 well-known algorithms on 23 classical benchmark functions, 10 CEC2019 functions, and 12 CEC2022 functions. It outperforms competitors in 74% of the classical benchmarks, 60% of the CEC2019 benchmarks, and 58% of the CEC2022 benchmarks. Additionally, mFOX effectively addresses four engineering problems. These results demonstrate mFOX's strong competitiveness in solving complex optimization tasks, including unimodal, constrained, and high-dimensional problems.
In recent years, the fifth-generation (5G) new radio (NR) signals have emerged as a promising supplementary resource for urban navigation. However, a major challenge in utilizing 5G signals lies in their vulnerability to non-line-of-sight (NLoS) propagation effects, which are especially prevalent in urban street canyons. This paper applies the direct position estimation (DPE) method to 5G cellular signals to mitigate the NLoS bias as well as the multipath effects, thereby enabling precise localization in urbanized environments. The feasibility of applying the DPE method to NR positioning is analyzed, followed by a discussion of the tapped delay line (TDL) channel propagation model provided by the 3rd Generation Partnership Project (3GPP). The positioning performance is then evaluated through large-scale system-level simulations. The simulation results demonstrate that 5G DPE achieves satisfactory positioning accuracy in a 10 dB noisy channel, with an overall root mean square error (RMSE) constrained within 6 m. In addition, 5G DPE outperforms the observed time difference of arrival (OTDoA) method by 95.24% in terms of positioning accuracy in an NLoS-dominated propagation environment.
A novel concept of waveguide division multiple access (WDMA) is proposed for multi-user pinching-antenna systems (PASS). The key principle of WDMA is to allocate each user with a dedicated waveguide, which is regarded as a new type of radio resources, so as to facilitate multi-user communications. By adjusting the activation positions of pinching antennas (PAs) over each waveguide, the pinching beamforming can be exploited for intended user signal enhancement and inter-user interference mitigation. Considering both ideal continuous and practical discrete PA position activation schemes, a joint power allocation and pinching beamforming optimization problem is formulated for the maximization of the sum rate. An alternating optimization-based algorithm is developed to address the formulated nonconvex problem. For solving the power allocation subproblem, the successive convex approximation method is invoked. For the pinching beamforming design subproblem, a penalty-based gradient ascent algorithm is first developed for the continuous PA activation case. Then, for the discrete PA activation case, a matching theory-based algorithm is proposed to achieve the near-optimal performance but with a low complexity. Numerical results unveil that: 1) For both continuous and discrete activation cases, PASS can achieve a significant performance gain over conventional fixed-position antenna systems; 2) the proposed WDMA can effectively underpin multi-user communications with the near orthogonality in free space achieved by the pinching beamforming; and 3) the performance gap between the discrete and continuous activation cases can be significantly alleviated with practically feasible numbers of PA candidate positions.
This paper pioneers the field of multi-user holographic unmanned aerial vehicle (UAV) communications, laying a solid foundation for future innovations in next-generation aerial wireless networks. The study focuses on the challenging problem of jointly optimizing hybrid holographic beamforming and 3D UAV positioning in scenarios where the UAV is equipped with a reconfigurable holographic surface (RHS) instead of conventional phased array antennas. Using the unique capabilities of RHSs, the system dynamically adjusts both the position of the UAV and its hybrid beamforming properties to maximize the sum rate of the network. To address this complex optimization problem, we propose an iterative algorithm combining zero-forcing digital beamforming and a gradient ascent approach for the holographic patterns and the 3D position optimization, while ensuring practical feasibility constraints. The algorithm is designed to effectively balance the trade-offs between power, beamforming, and UAV trajectory constraints, enabling adaptive and efficient communications, while assuring a monotonic increase in the sum-rate performance. Our numerical investigations demonstrate that the significant performance improvements with the proposed approach over the benchmark methods, showcasing enhanced sum rate and system adaptability under varying conditions.
The fluid antenna concept represents shape-flexible and position-flexible antenna technologies designed to enhance wireless communication applications. In this paper, we apply this concept to reconfigurable intelligent surfaces (RISs), introducing fluid RIS (FRIS), where each tunably reflecting element becomes a fluid element with additional position reconfigurability. This new paradigm is referred to as fluid RIS (FRIS). We investigate an FRIS-programmable wireless channel, where the fluid meta-surface is divided into non-overlapping subareas, each acting as a fluid element that can dynamically adjust both its position and phase shift of the reflected signal. We first analyze the single-user, single-input single-output (SU-SISO) channel, in which a single-antenna transmitter communicates with a single-antenna receiver via an FRIS. The achievable rate is maximized by optimizing the fluid elements using a particle swarm optimization (PSO)- based approach. Next, we extend our analysis to the multi-user, multiple-input single-output (MU-MISO) case, where a multi-antenna base station (BS) transmits individual data streams to multiple single-antenna users via an FRIS. In this case, the joint optimization of the positions and phase shifts of the FRIS element, as well as the BS precoding to maximize the sum-rate is studied. To solve the problem, a combination of techniques including PSO, semi-definite relaxation (SDR), and minimum mean square error (MMSE) is proposed. Numerical results demonstrate that the proposed FRIS approach significantly outperforms conventional RIS configurations in terms of achievable rate performance.
This paper presents a novel indoor positioning approach that leverages antenna radiation pattern characteristics through Received Signal Strength Indication (RSSI) measurements in a single-antenna system. By rotating the antenna or reconfiguring its radiation pattern, we derive a maximum likelihood estimation (MLE) algorithm that achieves near-optimal positioning accuracy approaching the Cramer-Rao lower bound (CRLB). Through theoretical analysis, we establish three fundamental theorems characterizing the estimation accuracy bounds and demonstrating how performance improves with increased signal-to-noise ratio, antenna rotation count, and radiation pattern variations. Additionally, we propose a two-position measurement strategy that eliminates dependence on receiving antenna patterns. Simulation results validate that our approach provides an effective solution for indoor robot tracking applications where both accuracy and system simplicity are essential considerations.
The use of autonomous underwater vehicles (AUVs) for surveying, mapping, and inspecting unexplored underwater areas plays a crucial role, where maneuverability and power efficiency are key factors for extending the use of these platforms, making six degrees of freedom (6-DOF) holonomic platforms essential tools. Although Proportional-Integral-Derivative (PID) and Model Predictive Control controllers are widely used in these applications, they often require accurate system knowledge, struggle with repeatability when facing payload or configuration changes, and can be time-consuming to fine-tune. While more advanced methods based on Deep Reinforcement Learning (DRL) have been proposed, they are typically limited to operating in fewer degrees of freedom. This paper proposes a novel DRL-based approach for controlling holonomic 6-DOF AUVs using the Truncated Quantile Critics (TQC) algorithm, which does not require manual tuning and directly feeds commands to the thrusters without prior knowledge of their configuration. Furthermore, it incorporates power consumption directly into the reward function. Simulation results show that the TQC High-Performance method achieves better performance to a fine-tuned PID controller when reaching a goal point, while the TQC Energy-Aware method demonstrates slightly lower performance but consumes 30% less power on average.
PETR-based methods have dominated benchmarks in 3D perception and are increasingly becoming a key component in modern autonomous driving systems. However, their quantization performance significantly degrades when INT8 inference is required, with a degradation of 58.2% in mAP and 36.9% in NDS on the NuScenes dataset. To address this issue, we propose a quantization-aware position embedding transformation for multi-view 3D object detection, termed Q-PETR. Q-PETR offers a quantizationfriendly and deployment-friendly architecture while preserving the original performance of PETR. It substantially narrows the accuracy gap between INT8 and FP32 inference for PETR-series methods. Without bells and whistles, our approach reduces the mAP and NDS drop to within 1% under standard 8-bit per-tensor post-training quantization. Furthermore, our method exceeds the performance of the original PETR in terms of floating-point precision. Extensive experiments across a variety of PETR-series models demonstrate its broad generalization.
Autonomously controlling the position of Remotely Operated underwater Vehicles (ROVs) is of crucial importance for a wide range of underwater engineering applications, such as in the inspection and maintenance of underwater industrial structures. Consequently, studying vision-based underwater robot navigation and control has recently gained increasing attention to counter the numerous challenges faced in underwater conditions, such as lighting variability, turbidity, camera image distortions (due to bubbles), and ROV positional disturbances (due to underwater currents). In this paper, we propose (to the best of our knowledge) a first rigorous unified benchmarking of more than seven Machine Learning (ML)-based one-shot object tracking algorithms for vision-based position locking of ROV platforms. We propose a position-locking system that processes images of an object of interest in front of which the ROV must be kept stable. Then, our proposed system uses the output result of different object tracking algorithms to automatically correct the position of the ROV against external disturbances. We conducted numerous real-world experiments using a BlueROV2 platform within an indoor pool and provided clear demonstrations of the strengths and weaknesses of each tracking approach. Finally, to help alleviate the scarcity of underwater ROV data, we release our acquired data base as open-source with the hope of benefiting future research.