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Cloud native technologies have been observed to expand into the realm of Internet of Things (IoT) and Cyber-physical Systems, of which an important application domain is robotics. In this paper, we review the cloudification practice in the robotics domain from both literature and industrial perspectives. We propose RoboKube, an adaptive framework that is based on the Kubernetes (K8s) ecosystem to set up a common platform across the device-cloud continuum for the deployment of cloudified Robotic Operating System (ROS) powered applications, to facilitate the cloud native evolution in robotics. We examine the process of modernizing ROS applications using cloud-native technologies, focusing on both the platform and application perspectives. In addition, we address the challenges of networking setups for heterogeneous environments. This paper intends to serves as a guide for developers and researchers, offering insights into containerization strategies, ROS node distribution and clustering, and deployment options. To demonstrate the feasibility of our approach, we present a case study involving the cloudification of a teleoperation testbed.

We propose SNI-SLAM, a semantic SLAM system utilizing neural implicit representation, that simultaneously performs accurate semantic mapping, high-quality surface reconstruction, and robust camera tracking. In this system, we introduce hierarchical semantic representation to allow multi-level semantic comprehension for top-down structured semantic mapping of the scene. In addition, to fully utilize the correlation between multiple attributes of the environment, we integrate appearance, geometry and semantic features through cross-attention for feature collaboration. This strategy enables a more multifaceted understanding of the environment, thereby allowing SNI-SLAM to remain robust even when single attribute is defective. Then, we design an internal fusion-based decoder to obtain semantic, RGB, Truncated Signed Distance Field (TSDF) values from multi-level features for accurate decoding. Furthermore, we propose a feature loss to update the scene representation at the feature level. Compared with low-level losses such as RGB loss and depth loss, our feature loss is capable of guiding the network optimization on a higher-level. Our SNI-SLAM method demonstrates superior performance over all recent NeRF-based SLAM methods in terms of mapping and tracking accuracy on Replica and ScanNet datasets, while also showing excellent capabilities in accurate semantic segmentation and real-time semantic mapping.

In Bayesian persuasion, an informed sender strategically discloses information to a receiver so as to persuade them to undertake desirable actions. Recently, a growing attention has been devoted to settings in which sender and receivers interact sequentially. Recently, Markov persuasion processes (MPPs) have been introduced to capture sequential scenarios where a sender faces a stream of myopic receivers in a Markovian environment. The MPPs studied so far in the literature suffer from issues that prevent them from being fully operational in practice, e.g., they assume that the sender knows receivers' rewards. We fix such issues by addressing MPPs where the sender has no knowledge about the environment. We design a learning algorithm for the sender, working with partial feedback. We prove that its regret with respect to an optimal information-disclosure policy grows sublinearly in the number of episodes, as it is the case for the loss in persuasiveness cumulated while learning. Moreover, we provide a lower bound for our setting matching the guarantees of our algorithm.

Boolean Satisfiability problems are vital components in Electronic Design Automation, particularly within the Logic Equivalence Checking process. Currently, SAT solvers are employed for these problems and neural network is tried as assistance to solvers. However, as SAT problems in the LEC context are distinctive due to their predominantly unsatisfiability nature and a substantial proportion of UNSAT-core variables, existing neural network assistance has proven unsuccessful in this specialized domain. To tackle this challenge, we propose IB-Net, an innovative framework utilizing graph neural networks and novel graph encoding techniques to model unsatisfiable problems and interact with state-of-the-art solvers. Extensive evaluations across solvers and datasets demonstrate IB-Net's acceleration, achieving an average runtime speedup of 5.0% on industrial data and 8.3% on SAT competition data empirically. This breakthrough advances efficient solving in LEC workflows.

People with Visual Impairments (PVI) typically recognize objects through haptic perception. Knowing objects and materials before touching is desired by the target users but under-explored in the field of human-centered robotics. To fill this gap, in this work, a wearable vision-based robotic system, MateRobot, is established for PVI to recognize materials and object categories beforehand. To address the computational constraints of mobile platforms, we propose a lightweight yet accurate model MateViT to perform pixel-wise semantic segmentation, simultaneously recognizing both objects and materials. Our methods achieve respective 40.2% and 51.1% of mIoU on COCOStuff-10K and DMS datasets, surpassing the previous method with +5.7% and +7.0% gains. Moreover, on the field test with participants, our wearable system reaches a score of 28 in the NASA-Task Load Index, indicating low cognitive demands and ease of use. Our MateRobot demonstrates the feasibility of recognizing material property through visual cues and offers a promising step towards improving the functionality of wearable robots for PVI. The source code has been made publicly available at //junweizheng93.github.io/publications/MATERobot/MATERobot.html.

The widely used 'Counterfactual' definition of Causal Effects was derived for unbiasedness and accuracy - and not generalizability. We propose a Combinatorial definition for the External Validity (EV) of intervention effects. We first define the concept of an effect observation 'background'. We then formulate conditions for effect generalization based on their sets of (observable and unobservable) backgrounds. This reveals two limits for effect generalization: (1) when effects are observed under all their enumerable backgrounds, or, (2) when backgrounds have become sufficiently randomized. We use the resulting combinatorial framework to re-examine several issues in the original counterfactual formulation: out-of-sample validity, concurrent estimation of multiple effects, bias-variance tradeoffs, statistical power, and connections to current predictive and explaining techniques. Methodologically, the definitions also allow us to also replace the parametric estimation problems that followed the counterfactual definition by combinatorial enumeration and randomization problems in non-experimental samples. We use this non-parametric framework to demonstrate (External Validity, Unconfoundness and Precision) tradeoffs in the performance of popular supervised, explaining, and causal-effect estimators. We demonstrate the approach also allows for the use of these methods in non-i.i.d. samples. The COVID19 pandemic highlighted the need for learning solutions to provide predictions in severally incomplete samples. We demonstrate applications in this pressing problem.

Weakly-supervised segmentation (WSS) has emerged as a solution to mitigate the conflict between annotation cost and model performance by adopting sparse annotation formats (e.g., point, scribble, block, etc.). Typical approaches attempt to exploit anatomy and topology priors to directly expand sparse annotations into pseudo-labels. However, due to a lack of attention to the ambiguous edges in medical images and insufficient exploration of sparse supervision, existing approaches tend to generate erroneous and overconfident pseudo proposals in noisy regions, leading to cumulative model error and performance degradation. In this work, we propose a novel WSS approach, named ProCNS, encompassing two synergistic modules devised with the principles of progressive prototype calibration and noise suppression. Specifically, we design a Prototype-based Regional Spatial Affinity (PRSA) loss to maximize the pair-wise affinities between spatial and semantic elements, providing our model of interest with more reliable guidance. The affinities are derived from the input images and the prototype-refined predictions. Meanwhile, we propose an Adaptive Noise Perception and Masking (ANPM) module to obtain more enriched and representative prototype representations, which adaptively identifies and masks noisy regions within the pseudo proposals, reducing potential erroneous interference during prototype computation. Furthermore, we generate specialized soft pseudo-labels for the noisy regions identified by ANPM, providing supplementary supervision. Extensive experiments on three medical image segmentation tasks involving different modalities demonstrate that the proposed framework significantly outperforms representative state-of-the-art methods

Diffusion Probabilistic Models (DPMs) have achieved considerable success in generation tasks. As sampling from DPMs is equivalent to solving diffusion SDE or ODE which is time-consuming, numerous fast sampling methods built upon improved differential equation solvers are proposed. The majority of such techniques consider solving the diffusion ODE due to its superior efficiency. However, stochastic sampling could offer additional advantages in generating diverse and high-quality data. In this work, we engage in a comprehensive analysis of stochastic sampling from two aspects: variance-controlled diffusion SDE and linear multi-step SDE solver. Based on our analysis, we propose SA-Solver, which is an improved efficient stochastic Adams method for solving diffusion SDE to generate data with high quality. Our experiments show that SA-Solver achieves: 1) improved or comparable performance compared with the existing state-of-the-art sampling methods for few-step sampling; 2) SOTA FID scores on substantial benchmark datasets under a suitable number of function evaluations (NFEs).

Artificial Intelligence (AI) is increasingly employed in various decision-making tasks, typically as a Recommender, providing recommendations that the AI deems correct. However, recent studies suggest this may diminish human analytical thinking and lead to humans' inappropriate reliance on AI, impairing the synergy in human-AI teams. In contrast, human advisors in group decision-making perform various roles, such as analyzing alternative options or criticizing decision-makers to encourage their critical thinking. This diversity of roles has not yet been empirically explored in AI assistance. In this paper, we examine three AI roles: Recommender, Analyzer, and Devil's Advocate, and evaluate their effects across two AI performance levels. Our results show each role's distinct strengths and limitations in task performance, reliance appropriateness, and user experience. Notably, the Recommender role is not always the most effective, especially if the AI performance level is low, the Analyzer role may be preferable. These insights offer valuable implications for designing AI assistants with adaptive functional roles according to different situations.

Deep Learning algorithms have achieved the state-of-the-art performance for Image Classification and have been used even in security-critical applications, such as biometric recognition systems and self-driving cars. However, recent works have shown those algorithms, which can even surpass the human capabilities, are vulnerable to adversarial examples. In Computer Vision, adversarial examples are images containing subtle perturbations generated by malicious optimization algorithms in order to fool classifiers. As an attempt to mitigate these vulnerabilities, numerous countermeasures have been constantly proposed in literature. Nevertheless, devising an efficient defense mechanism has proven to be a difficult task, since many approaches have already shown to be ineffective to adaptive attackers. Thus, this self-containing paper aims to provide all readerships with a review of the latest research progress on Adversarial Machine Learning in Image Classification, however with a defender's perspective. Here, novel taxonomies for categorizing adversarial attacks and defenses are introduced and discussions about the existence of adversarial examples are provided. Further, in contrast to exisiting surveys, it is also given relevant guidance that should be taken into consideration by researchers when devising and evaluating defenses. Finally, based on the reviewed literature, it is discussed some promising paths for future research.