In the past decade, there has been significant advancement in designing wearable neural interfaces for controlling neurorobotic systems, particularly bionic limbs. These interfaces function by decoding signals captured non-invasively from the skin's surface. Portable high-density surface electromyography (HD-sEMG) modules combined with deep learning decoding have attracted interest by achieving excellent gesture prediction and myoelectric control of prosthetic systems and neurorobots. However, factors like pixel-shape electrode size and unstable skin contact make HD-sEMG susceptible to pixel electrode drops. The sparse electrode-skin disconnections rooted in issues such as low adhesion, sweating, hair blockage, and skin stretch challenge the reliability and scalability of these modules as the perception unit for neurorobotic systems. This paper proposes a novel deep-learning model providing resiliency for HD-sEMG modules, which can be used in the wearable interfaces of neurorobots. The proposed 3D Dilated Efficient CapsNet model trains on an augmented input space to computationally `force' the network to learn channel dropout variations and thus learn robustness to channel dropout. The proposed framework maintained high performance under a sensor dropout reliability study conducted. Results show conventional models' performance significantly degrades with dropout and is recovered using the proposed architecture and the training paradigm.
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Thermal spray coating is a critical process in many industries, involving the application of coatings to surfaces to enhance their functionality. This paper proposes a framework for modelling and predicting critical target variables in thermal spray coating processes, based on the application of statistical design of experiments (DoE) and the modelling of the data using generalized linear models (GLMs) and gamma regression. Experimental data obtained from thermal spray coating trials are used to validate the presented approach, demonstrating that it is able to accurately model and predict critical target variables and their intricate relationships. As such, the framework has significant potential for the optimization of thermal spray coating processes, and can contribute to the development of more efficient and effective coating technologies in various industries.
In the rapidly evolving domain of distributed ledger technology, scalability and interoperability have become paramount challenges for both academic and industry sectors. In this paper, we introduce a comprehensive formal model to address atomic composability across multiple rollups on Ethereum. The proposed model incorporates mechanisms like buffering, dependency management, concurrency control, and the groundbreaking zero-knowledge proofs. Moreover, we evaluate its practical repercussions, strengths, and weaknesses, ensuring resilience against manipulative or erroneous actions. The application of the proposed model to shared sequencers and other existing solutions accentuates its versatility and universality.
The surge in developing deep learning models for diagnosing skin lesions through image analysis is notable, yet their clinical black faces challenges. Current dermatology AI models have limitations: limited number of possible diagnostic outputs, lack of real-world testing on uncommon skin lesions, inability to detect out-of-distribution images, and over-reliance on dermoscopic images. To address these, we present an All-In-One \textbf{H}ierarchical-\textbf{O}ut of Distribution-\textbf{C}linical Triage (HOT) model. For a clinical image, our model generates three outputs: a hierarchical prediction, an alert for out-of-distribution images, and a recommendation for dermoscopy if clinical image alone is insufficient for diagnosis. When the recommendation is pursued, it integrates both clinical and dermoscopic images to deliver final diagnosis. Extensive experiments on a representative cutaneous lesion dataset demonstrate the effectiveness and synergy of each component within our framework. Our versatile model provides valuable decision support for lesion diagnosis and sets a promising precedent for medical AI applications.
In robotics and artificial intelligence, the integration of tactile processing is becoming increasingly pivotal, especially in learning to execute intricate tasks like alignment and insertion. However, existing works focusing on tactile methods for insertion tasks predominantly rely on robot teleoperation data and reinforcement learning, which do not utilize the rich insights provided by human's control strategy guided by tactile feedback. For utilizing human sensations, methodologies related to learning from humans predominantly leverage visual feedback, often overlooking the invaluable tactile feedback that humans inherently employ to finish complex manipulations. Addressing this gap, we introduce "MimicTouch", a novel framework that mimics human's tactile-guided control strategy. In this framework, we initially collect multi-modal tactile datasets from human demonstrators, incorporating human tactile-guided control strategies for task completion. The subsequent step involves instructing robots through imitation learning using multi-modal sensor data and retargeted human motions. To further mitigate the embodiment gap between humans and robots, we employ online residual reinforcement learning on the physical robot. Through comprehensive experiments, we validate the safety of MimicTouch in transferring a latent policy learned through imitation learning from human to robot. This ongoing work will pave the way for a broader spectrum of tactile-guided robotic applications.
Face recognition technology has advanced significantly in recent years due largely to the availability of large and increasingly complex training datasets for use in deep learning models. These datasets, however, typically comprise images scraped from news sites or social media platforms and, therefore, have limited utility in more advanced security, forensics, and military applications. These applications require lower resolution, longer ranges, and elevated viewpoints. To meet these critical needs, we collected and curated the first and second subsets of a large multi-modal biometric dataset designed for use in the research and development (R&D) of biometric recognition technologies under extremely challenging conditions. Thus far, the dataset includes more than 350,000 still images and over 1,300 hours of video footage of approximately 1,000 subjects. To collect this data, we used Nikon DSLR cameras, a variety of commercial surveillance cameras, specialized long-rage R&D cameras, and Group 1 and Group 2 UAV platforms. The goal is to support the development of algorithms capable of accurately recognizing people at ranges up to 1,000 m and from high angles of elevation. These advances will include improvements to the state of the art in face recognition and will support new research in the area of whole-body recognition using methods based on gait and anthropometry. This paper describes methods used to collect and curate the dataset, and the dataset's characteristics at the current stage.
Autonomic computing investigates how systems can achieve (user) specified control outcomes on their own, without the intervention of a human operator. Autonomic computing fundamentals have been substantially influenced by those of control theory for closed and open-loop systems. In practice, complex systems may exhibit a number of concurrent and inter-dependent control loops. Despite research into autonomic models for managing computer resources, ranging from individual resources (e.g., web servers) to a resource ensemble (e.g., multiple resources within a data center), research into integrating Artificial Intelligence (AI) and Machine Learning (ML) to improve resource autonomy and performance at scale continues to be a fundamental challenge. The integration of AI/ML to achieve such autonomic and self-management of systems can be achieved at different levels of granularity, from full to human-in-the-loop automation. In this article, leading academics, researchers, practitioners, engineers, and scientists in the fields of cloud computing, AI/ML, and quantum computing join to discuss current research and potential future directions for these fields. Further, we discuss challenges and opportunities for leveraging AI and ML in next generation computing for emerging computing paradigms, including cloud, fog, edge, serverless and quantum computing environments.
Visual dialogue is a challenging task that needs to extract implicit information from both visual (image) and textual (dialogue history) contexts. Classical approaches pay more attention to the integration of the current question, vision knowledge and text knowledge, despising the heterogeneous semantic gaps between the cross-modal information. In the meantime, the concatenation operation has become de-facto standard to the cross-modal information fusion, which has a limited ability in information retrieval. In this paper, we propose a novel Knowledge-Bridge Graph Network (KBGN) model by using graph to bridge the cross-modal semantic relations between vision and text knowledge in fine granularity, as well as retrieving required knowledge via an adaptive information selection mode. Moreover, the reasoning clues for visual dialogue can be clearly drawn from intra-modal entities and inter-modal bridges. Experimental results on VisDial v1.0 and VisDial-Q datasets demonstrate that our model outperforms exiting models with state-of-the-art results.
Substantial efforts have been devoted more recently to presenting various methods for object detection in optical remote sensing images. However, the current survey of datasets and deep learning based methods for object detection in optical remote sensing images is not adequate. Moreover, most of the existing datasets have some shortcomings, for example, the numbers of images and object categories are small scale, and the image diversity and variations are insufficient. These limitations greatly affect the development of deep learning based object detection methods. In the paper, we provide a comprehensive review of the recent deep learning based object detection progress in both the computer vision and earth observation communities. Then, we propose a large-scale, publicly available benchmark for object DetectIon in Optical Remote sensing images, which we name as DIOR. The dataset contains 23463 images and 192472 instances, covering 20 object classes. The proposed DIOR dataset 1) is large-scale on the object categories, on the object instance number, and on the total image number; 2) has a large range of object size variations, not only in terms of spatial resolutions, but also in the aspect of inter- and intra-class size variability across objects; 3) holds big variations as the images are obtained with different imaging conditions, weathers, seasons, and image quality; and 4) has high inter-class similarity and intra-class diversity. The proposed benchmark can help the researchers to develop and validate their data-driven methods. Finally, we evaluate several state-of-the-art approaches on our DIOR dataset to establish a baseline for future research.
Automatic image captioning has recently approached human-level performance due to the latest advances in computer vision and natural language understanding. However, most of the current models can only generate plain factual descriptions about the content of a given image. However, for human beings, image caption writing is quite flexible and diverse, where additional language dimensions, such as emotion, humor and language styles, are often incorporated to produce diverse, emotional, or appealing captions. In particular, we are interested in generating sentiment-conveying image descriptions, which has received little attention. The main challenge is how to effectively inject sentiments into the generated captions without altering the semantic matching between the visual content and the generated descriptions. In this work, we propose two different models, which employ different schemes for injecting sentiments into image captions. Compared with the few existing approaches, the proposed models are much simpler and yet more effective. The experimental results show that our model outperform the state-of-the-art models in generating sentimental (i.e., sentiment-bearing) image captions. In addition, we can also easily manipulate the model by assigning different sentiments to the testing image to generate captions with the corresponding sentiments.
Object detection is an important and challenging problem in computer vision. Although the past decade has witnessed major advances in object detection in natural scenes, such successes have been slow to aerial imagery, not only because of the huge variation in the scale, orientation and shape of the object instances on the earth's surface, but also due to the scarcity of well-annotated datasets of objects in aerial scenes. To advance object detection research in Earth Vision, also known as Earth Observation and Remote Sensing, we introduce a large-scale Dataset for Object deTection in Aerial images (DOTA). To this end, we collect $2806$ aerial images from different sensors and platforms. Each image is of the size about 4000-by-4000 pixels and contains objects exhibiting a wide variety of scales, orientations, and shapes. These DOTA images are then annotated by experts in aerial image interpretation using $15$ common object categories. The fully annotated DOTA images contains $188,282$ instances, each of which is labeled by an arbitrary (8 d.o.f.) quadrilateral To build a baseline for object detection in Earth Vision, we evaluate state-of-the-art object detection algorithms on DOTA. Experiments demonstrate that DOTA well represents real Earth Vision applications and are quite challenging.
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