Point cloud registration is a crucial technique in 3D computer vision with a wide range of applications. However, this task can be challenging, particularly in large fields of view with dynamic objects, environmental noise, or other perturbations. To address this challenge, we propose a model called PosDiffNet. Our approach performs hierarchical registration based on window-level, patch-level, and point-level correspondence. We leverage a graph neural partial differential equation (PDE) based on Beltrami flow to obtain high-dimensional features and position embeddings for point clouds. We incorporate position embeddings into a Transformer module based on a neural ordinary differential equation (ODE) to efficiently represent patches within points. We employ the multi-level correspondence derived from the high feature similarity scores to facilitate alignment between point clouds. Subsequently, we use registration methods such as SVD-based algorithms to predict the transformation using corresponding point pairs. We evaluate PosDiffNet on several 3D point cloud datasets, verifying that it achieves state-of-the-art (SOTA) performance for point cloud registration in large fields of view with perturbations. The implementation code of experiments is available at https://github.com/AI-IT-AVs/PosDiffNet.
Deep Venous Thrombosis (DVT) is a common vascular disease with blood clots inside deep veins, which may block blood flow or even cause a life-threatening pulmonary embolism. A typical exam for DVT using ultrasound (US) imaging is by pressing the target vein until its lumen is fully compressed. However, the compression exam is highly operator-dependent. To alleviate intra- and inter-variations, we present a robotic US system with a novel hybrid force motion control scheme ensuring position and force tracking accuracy, and soft landing of the probe onto the target surface. In addition, a path-based virtual fixture is proposed to realize easy human-robot interaction for repeat compression operation at the lesion location. To ensure the biometric measurements obtained in different examinations are comparable, the 6D scanning path is determined in a coarse-to-fine manner using both an external RGBD camera and US images. The RGBD camera is first used to extract a rough scanning path on the object. Then, the segmented vascular lumen from US images are used to optimize the scanning path to ensure the visibility of the target object. To generate a continuous scan path for developing virtual fixtures, an arc-length based path fitting model considering both position and orientation is proposed. Finally, the whole system is evaluated on a human-like arm phantom with an uneven surface.
Double-strand breaks (DSBs) in DNA are naturally occurring destructive events in all organisms that may lead to genome instability. Cells employ various repair methods known as non-homologous end joining (NHEJ), microhomology mediated end joining (MMEJ), and homology-directed recombination (HDR). These repair processes may lead to DNA sequence variations (e.g., nucleotide insertions, deletions, and substitutions) at the location of the break. Studying DNA DSB repair processes often involves the use of high throughput sequencing assays to precisely quantify the sequence variations near the break with software tools. Often methods of assessing and visualizing these data have not taken into account the full complexity of the sequencing data, such as the frequency, type, and position of the sequence variations in a single comprehensive representation. Here we present a method that allows visualization of the overall variation pattern as well as comparison of these patterns among experimental setups.
Deep learning models require large amounts of clean data to acheive good performance. To avoid the cost of expensive data acquisition, researchers use the abundant data available on the internet. This raises significant privacy concerns on the potential misuse of personal data for model training without authorisation. Recent works such as CUDA propose solutions to this problem by adding class-wise blurs to make datasets unlearnable, i.e a model can never use the acquired dataset for learning. However these methods often reduce the quality of the data making it useless for practical applications. We introduce PosCUDA, a position based convolution for creating unlearnable audio datasets. PosCUDA uses class-wise convolutions on small patches of audio. The location of the patches are based on a private key for each class, hence the model learns the relations between positional blurs and labels, while failing to generalize. We empirically show that PosCUDA can achieve unlearnability while maintaining the quality of the original audio datasets. Our proposed method is also robust to different audio feature representations such as MFCC, raw audio and different architectures such as transformers, convolutional networks etc.
The body plan of the fruit fly is determined by the expression of just a handful of genes. We show that the spatial patterns of expression for several of these genes scale precisely with the size of the embryo. Concretely, discrete positional markers such as the peaks in striped patterns have absolute positions along the anterior-posterior axis that are proportional to embryo length, with better than 1% accuracy. Further, the information (in bits) that graded patterns of expression provide about position can be decomposed into information about fractional or scaled position and information about absolute position or embryo length; all of the available information is about scaled position, again with ~1% accuracy. These observations suggest that the underlying genetic network exhibits scale invariance in a deeper mathematical sense. Taking this mathematical statement seriously requires that the network dynamics have a zero mode, which connects to many other observations on this system.
—In directional sensor networks (DSNs), coverage control is an important way to ensure efficient communication and reliable data transmission. Aiming at enhancing the DSNs coverage performance, a coverage control algorithm based on improved gravitational search (IGSCCA) was proposed. Firstly, in the coverage enhancement phase, aiming at the defects of gravitational search algorithm that it is easy to fall into local optimum and slow convergencespeed when solving the coverage enhancement problem, cosine decay function is used to improve the gravitational function, the global optimum position is introduced into the velocity updating of gravitational search algorithm, and use the uncovered grid points attractive force to disturb the worst particles. Secondly, in the node sleep phase, the node sleep strategy based on security set is introduced to reduce the network redundancy rate. Finally, the simulation results showed that this paper has great advantages in coverage rate, energy utilization rate and redundancy rate.
We characterize and study zero-shot abstractive summarization in Large Language Models (LLMs) by measuring position bias, which we propose as a general formulation of the more restrictive lead bias phenomenon studied previously in the literature. Position bias captures the tendency of a model unfairly prioritizing information from certain parts of the input text over others, leading to undesirable behavior. Through numerous experiments on four diverse real-world datasets, we study position bias in multiple LLM models such as GPT 3.5-Turbo, Llama-2, and Dolly-v2, as well as state-of-the-art pretrained encoder-decoder abstractive summarization models such as Pegasus and BART. Our findings lead to novel insights and discussion on performance and position bias of models for zero-shot summarization tasks.
E-commerce platforms usually present an ordered list, mixed with several organic items and an advertisement, in response to each user's page view request. This list, the outcome of ad auction and allocation processes, directly impacts the platform's ad revenue and gross merchandise volume (GMV). Specifically, the ad auction determines which ad is displayed and the corresponding payment, while the ad allocation decides the display positions of the advertisement and organic items. The prevalent methods of segregating the ad auction and allocation into two distinct stages face two problems: 1) Ad auction does not consider externalities, such as the influence of actual display position and context on ad Click-Through Rate (CTR); 2) The ad allocation, which utilizes the auction-winning ad's payment to determine the display position dynamically, fails to maintain incentive compatibility (IC) for the advertisement. For instance, in the auction stage employing the traditional Generalized Second Price (GSP) , even if the winning ad increases its bid, its payment remains unchanged. This implies that the advertisement cannot secure a better position and thus loses the opportunity to achieve higher utility in the subsequent ad allocation stage. Previous research often focused on one of the two stages, neglecting the two-stage problem, which may result in suboptimal outcomes...
Fine-tuning has been demonstrated to be an effective method to improve the domain performance of large language models (LLMs). However, LLMs might fit the dataset bias and shortcuts for prediction, leading to poor generation performance. Previous works have proven that LLMs are prone to exhibit position bias, i.e., leveraging information positioned at the beginning or end, or specific positional cues within the input. Existing debiasing methods for LLMs require external bias knowledge or annotated non-biased samples, which is lacking for position debiasing and impractical in reality. In this work, we propose a self-supervised position debiasing (SOD) framework to mitigate position bias for LLMs. SOD leverages unsupervised responses from pre-trained LLMs for debiasing without relying on any external knowledge. To improve the quality of unsupervised responses, we propose an objective alignment (OAM) module to prune these responses. Experiments on eight datasets and five tasks show that SOD consistently outperforms existing methods in mitigating three types of position biases. Besides, SOD achieves this by sacrificing only a small performance on biased samples, which is general and effective. To facilitate the reproducibility of the results, we share the code of all methods and datasets on https://github.com/LZKSKY/SOD.
Built upon the Transformer, large language models (LLMs) have captured worldwide attention due to their remarkable abilities. Nevertheless, all Transformer-based models including LLMs suffer from a preset length limit and can hardly generalize from short training sequences to longer inference ones, namely, they cannot perform length extrapolation to handle long sequences, which severely hinders their application in scenarios demanding long input sequences such as legal or scientific documents. Thus, numerous methods have emerged to enhance the length extrapolation of Transformers. Despite the great research efforts, a systematic survey is still lacking. To fill this gap, we delve into these advances in a unified notation from the perspective of positional encoding (PE), as it has been considered the primary factor on length extrapolation. Specifically, we begin with extrapolatable PEs that have dominated this research field. Then, we dive into extrapolation methods based on them, covering position interpolation and randomized position methods. Finally, several challenges and future directions in this area are highlighted. Through this survey, we aim to enable the reader to gain a deep understanding of existing methods and provide stimuli for future research.
The contemporary landscape of wireless technology underscores the critical role of precise localization services. Traditional global navigation satellite systems (GNSS)-based solutions, however, fall short when it comes to indoor environments, and existing indoor localization techniques such as electromagnetic fingerprinting methods face challenges of additional implementation costs and limited coverage. This article explores an innovative solution that blends low Earth orbit (LEO) satellites with reconfigurable intelligent surfaces (RISs), unlocking its potential for realizing seamless indoor and outdoor localization (SIOL) with global coverage. After a comprehensive review of the distinctive characteristics of LEO satellites and RISs, we showcase their potential for SIOL applications through two case studies on position error bound evaluation. Finally, we discuss system architectures and highlight open challenges in such systems.
This paper proposes a novel logo image recognition approach incorporating a localization technique based on reinforcement learning. Logo recognition is an image classification task identifying a brand in an image. As the size and position of a logo vary widely from image to image, it is necessary to determine its position for accurate recognition. However, because there is no annotation for the position coordinates, it is impossible to train and infer the location of the logo in the image. Therefore, we propose a deep reinforcement learning localization method for logo recognition (RL-LOGO). It utilizes deep reinforcement learning to identify a logo region in images without annotations of the positions, thereby improving classification accuracy. We demonstrated a significant improvement in accuracy compared with existing methods in several published benchmarks. Specifically, we achieved an 18-point accuracy improvement over competitive methods on the complex dataset Logo-2K+. This demonstrates that the proposed method is a promising approach to logo recognition in real-world applications.
Particle-based Variational Inference (ParVI) methods approximate the target distribution by iteratively evolving finite weighted particle systems. Recent advances of ParVI methods reveal the benefits of accelerated position update strategies and dynamic weight adjustment approaches. In this paper, we propose the first ParVI framework that possesses both accelerated position update and dynamical weight adjustment simultaneously, named the General Accelerated Dynamic-Weight Particle-based Variational Inference (GAD-PVI) framework. Generally, GAD-PVI simulates the semi-Hamiltonian gradient flow on a novel Information-Fisher-Rao space, which yields an additional decrease on the local functional dissipation. GAD-PVI is compatible with different dissimilarity functionals and associated smoothing approaches under three information metrics. Experiments on both synthetic and real-world data demonstrate the faster convergence and reduced approximation error of GAD-PVI methods over the state-of-the-art.
We consider the problem of third-person imitation learning with the additional challenge that the learner must select the perspective from which they observe the expert. In our setting, each perspective provides only limited information about the expert's behavior, and the learning agent must carefully select and combine information from different perspectives to achieve competitive performance. This setting is inspired by real-world imitation learning applications, e.g., in robotics, a robot might observe a human demonstrator via camera and receive information from different perspectives depending on the camera's position. We formalize the aforementioned active third-person imitation learning problem, theoretically analyze its characteristics, and propose a generative adversarial network-based active learning approach. Empirically, we demstrate that our proposed approach can effectively learn from expert demonstrations and explore the importance of different architectural choices for the learner's performance.
High-dimensional and sparse (HiDS) matrices are frequently adopted to describe the complex relationships in various big data-related systems and applications. A Position-transitional Latent Factor Analysis (PLFA) model can accurately and efficiently represent an HiDS matrix. However, its involved latent factors are optimized by particle-swarm-optimization-incorporated stochastic gradient descent with the specific gradient direction step-by-step, which may cause a suboptimal solution. To address this issue, this paper proposes a S equential- G roup- D ifferential- E volution (SGDE) algorithm to refine the latent factors optimized by a PLFA model, thereby achieving a highly-accurate SGDE-PLFA model to HiDS matrices. The main idea of SGDE-PLFA is two-fold. First, it divides the obtained latent factors by PLFA into row and column sub-groups to ensure the efficient low-dimensional optimization. Second, it initializes and optimizes these sub-group latent factors with our improved Differential Evolution algorithm to search more accurate solutions nearby the suboptimum. As demonstrated by the extensive experiments on four HiDS matrices, an SGDE-PLFA model outperforms the state-of-the-art models in representing HiDS matrices.
Large Language Models (LLMs) have demonstrated remarkable capabilities and have been extensively deployed across various domains, including recommender systems. Prior research has employed specialized \textit{prompts} to leverage the in-context learning capabilities of LLMs for recommendation purposes. More recent studies have utilized instruction tuning techniques to align LLMs with human preferences, promising more effective recommendations. However, existing methods suffer from several limitations. The full potential of LLMs is not fully elicited due to low-quality tuning data and the overlooked integration of conventional recommender signals. Furthermore, LLMs may generate inconsistent responses for different ranking tasks in the recommendation, potentially leading to unreliable results. In this paper, we introduce \textbf{RecRanker}, tailored for instruction tuning LLMs to serve as the \textbf{Ranker} for top-\textit{k} \textbf{Rec}ommendations. Specifically, we introduce an adaptive sampling module for sampling high-quality, representative, and diverse training data. To enhance the prompt, we introduce a position shifting strategy to mitigate position bias and augment the prompt with auxiliary information from conventional recommendation models, thereby enriching the contextual understanding of the LLM. Subsequently, we utilize the sampled data to assemble an instruction-tuning dataset with the augmented prompts comprising three distinct ranking tasks: pointwise, pairwise, and listwise rankings. We further propose a hybrid ranking method to enhance the model performance by ensembling these ranking tasks. Our empirical evaluations demonstrate the effectiveness of our proposed RecRanker in both direct and sequential recommendation scenarios.
This paper offers a fresh look at the pumping lemma constant as an upper bound on the information required for learning Context Free Grammars. An objective function based on indirect negative evidence considers the occurrences, and non-occurrences, of a finite number of strings, encountered after a sufficiently long presentation. This function has optimal substructure in the hypotheses space, giving rise to a greedy search learner in a branch and bound method. A hierarchy of learnable classes is defined in terms of the number of production rules that must be added to interim solutions in order to incrementally fit the input. Efficiency strongly depends on the position of the target grammar in the hierarchy and on the richness of the input.
Fake news detection models are critical to countering disinformation but can be manipulated through adversarial attacks. In this position paper, we analyze how an attacker can compromise the performance of an online learning detector on specific news content without being able to manipulate the original target news. In some contexts, such as social networks, where the attacker cannot exert complete control over all the information, this scenario can indeed be quite plausible. Therefore, we show how an attacker could potentially introduce poisoning data into the training data to manipulate the behavior of an online learning method. Our initial findings reveal varying susceptibility of logistic regression models based on complexity and attack type.
Deformable linear object (DLO) manipulation is needed in many fields. Previous research on deformable linear object (DLO) manipulation has primarily involved parallel jaw gripper manipulation with fixed grasping positions. However, the potential for dexterous manipulation of DLOs using an anthropomorphic hand is under-explored. We present DexDLO, a model-free framework that learns dexterous dynamic manipulation policies for deformable linear objects with a fixed-base dexterous hand in an end-to-end way. By abstracting several common DLO manipulation tasks into goal-conditioned tasks, our DexDLO can perform these tasks, such as DLO grabbing, DLO pulling, DLO end-tip position controlling, etc. Using the Mujoco physics simulator, we demonstrate that our framework can efficiently and effectively learn five different DLO manipulation tasks with the same framework parameters. We further provide a thorough analysis of learned policies, reward functions, and reduced observations for a comprehensive understanding of the framework.
This research addresses whether the ball's direction after a soccer free-kick can be accurately predicted solely by observing the shooter's kicking technique. To investigate this, we meticulously curated a dataset of soccer players executing free kicks and conducted manual temporal segmentation to identify the moment of the kick precisely. Our approach involves utilizing neural networks to develop a model that integrates Human Action Recognition (HAR) embeddings with contextual information, predicting the ball-on-goal position (BoGP) based on two temporal states: the kicker's run-up and the instant of the kick. The study encompasses a performance evaluation for eleven distinct HAR backbones, shedding light on their effectiveness in BoGP estimation during free-kick situations. An extra tabular metadata input is introduced, leading to an interesting model enhancement without introducing bias. The promising results reveal 69.1% accuracy when considering two primary BoGP classes: right and left. This underscores the model's proficiency in predicting the ball's destination towards the goal with high accuracy, offering promising implications for understanding free-kick dynamics in soccer.