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Recent research has begun to examine the potential of automatically finding and fixing accessibility issues that manifest in software. However, while recent work makes important progress, it has generally been skewed toward identifying issues that affect users with certain disabilities, such as those with visual or hearing impairments. However, there are other groups of users with different types of disabilities that also need software tooling support to improve their experience. As such, this paper aims to automatically identify accessibility issues that affect users with motor-impairments. To move toward this goal, this paper introduces a novel approach, called MotorEase, capable of identifying accessibility issues in mobile app UIs that impact motor-impaired users. Motor-impaired users often have limited ability to interact with touch-based devices, and instead may make use of a switch or other assistive mechanism -- hence UIs must be designed to support both limited touch gestures and the use of assistive devices. MotorEase adapts computer vision and text processing techniques to enable a semantic understanding of app UI screens, enabling the detection of violations related to four popular, previously unexplored UI design guidelines that support motor-impaired users, including: (i) visual touch target size, (ii) expanding sections, (iii) persisting elements, and (iv) adjacent icon visual distance. We evaluate MotorEase on a newly derived benchmark, called MotorCheck, that contains 555 manually annotated examples of violations to the above accessibility guidelines, across 1599 screens collected from 70 applications via a mobile app testing tool. Our experiments illustrate that MotorEase is able to identify violations with an average accuracy of ~90%, and a false positive rate of less than 9%, outperforming baseline techniques.

Recent studies have introduced a new class of generative models for synthesizing implicit neural representations (INRs) that capture arbitrary continuous signals in various domains. These models opened the door for domain-agnostic generative models, but they often fail to achieve high-quality generation. We observed that the existing methods generate the weights of neural networks to parameterize INRs and evaluate the network with fixed positional embeddings (PEs). Arguably, this architecture limits the expressive power of generative models and results in low-quality INR generation. To address this limitation, we propose Domain-agnostic Latent Diffusion Model for INRs (DDMI) that generates adaptive positional embeddings instead of neural networks' weights. Specifically, we develop a Discrete-to-continuous space Variational AutoEncoder (D2C-VAE), which seamlessly connects discrete data and the continuous signal functions in the shared latent space. Additionally, we introduce a novel conditioning mechanism for evaluating INRs with the hierarchically decomposed PEs to further enhance expressive power. Extensive experiments across four modalities, e.g., 2D images, 3D shapes, Neural Radiance Fields, and videos, with seven benchmark datasets, demonstrate the versatility of DDMI and its superior performance compared to the existing INR generative models.

Predicting the future motion of surrounding agents is essential for autonomous vehicles (AVs) to operate safely in dynamic, human-robot-mixed environments. Context information, such as road maps and surrounding agents' states, provides crucial geometric and semantic information for motion behavior prediction. To this end, recent works explore two-stage prediction frameworks where coarse trajectories are first proposed, and then used to select critical context information for trajectory refinement. However, they either incur a large amount of computation or bring limited improvement, if not both. In this paper, we introduce a novel scenario-adaptive refinement strategy, named SmartRefine, to refine prediction with minimal additional computation. Specifically, SmartRefine can comprehensively adapt refinement configurations based on each scenario's properties, and smartly chooses the number of refinement iterations by introducing a quality score to measure the prediction quality and remaining refinement potential of each scenario. SmartRefine is designed as a generic and flexible approach that can be seamlessly integrated into most state-of-the-art motion prediction models. Experiments on Argoverse (1 & 2) show that our method consistently improves the prediction accuracy of multiple state-of-the-art prediction models. Specifically, by adding SmartRefine to QCNet, we outperform all published ensemble-free works on the Argoverse 2 leaderboard (single agent track) at submission. Comprehensive studies are also conducted to ablate design choices and explore the mechanism behind multi-iteration refinement. Codes are available at //github.com/opendilab/SmartRefine/

Difficulties in replication and reproducibility of empirical evidences in machine learning research have become a prominent topic in recent years. Ensuring that machine learning research results are sound and reliable requires reproducibility, which verifies the reliability of research findings using the same code and data. This promotes open and accessible research, robust experimental workflows, and the rapid integration of new findings. Evaluating the degree to which research publications support these different aspects of reproducibility is one goal of the present work. For this we introduce an ontology of reproducibility in machine learning and apply it to methods for graph neural networks. Building on these efforts we turn towards another critical challenge in machine learning, namely the curse of dimensionality, which poses challenges in data collection, representation, and analysis, making it harder to find representative data and impeding the training and inference processes. Using the closely linked concept of geometric intrinsic dimension we investigate to which extend the used machine learning models are influenced by the intrinsic dimension of the data sets they are trained on.

End-to-end autonomous driving has witnessed remarkable progress. However, the extensive deployment of autonomous vehicles has yet to be realized, primarily due to 1) inefficient multi-modal environment perception: how to integrate data from multi-modal sensors more efficiently; 2) non-human-like scene understanding: how to effectively locate and predict critical risky agents in traffic scenarios like an experienced driver. To overcome these challenges, in this paper, we propose a Multi-Modal fusion transformer incorporating Driver Attention (M2DA) for autonomous driving. To better fuse multi-modal data and achieve higher alignment between different modalities, a novel Lidar-Vision-Attention-based Fusion (LVAFusion) module is proposed. By incorporating driver attention, we empower the human-like scene understanding ability to autonomous vehicles to identify crucial areas within complex scenarios precisely and ensure safety. We conduct experiments on the CARLA simulator and achieve state-of-the-art performance with less data in closed-loop benchmarks. Source codes are available at //anonymous.4open.science/r/M2DA-4772.

The prevalence of social media and its escalating impact on mental health has highlighted the need for effective digital wellbeing strategies. Current digital wellbeing interventions have primarily focused on reducing screen time and social media use, often neglecting the potential benefits of these platforms. This paper introduces a new perspective centered around empowering positive social media experiences, instead of limiting users with restrictive rules. In line with this perspective, we lay out the key requirements that should be considered in future work, aiming to spark a dialogue in this emerging area. We further present our initial effort to address these requirements with PauseNow, an innovative digital wellbeing intervention designed to align users' digital behaviors with their intentions. PauseNow leverages digital nudging and intention-aware recommendations to gently guide users back to their original intentions when they "get lost" during their digital usage, promoting a more mindful use of social media.

3D reconstruction has been widely used in autonomous navigation fields of mobile robotics. However, the former research can only provide the basic geometry structure without the capability of open-world scene understanding, limiting advanced tasks like human interaction and visual navigation. Moreover, traditional 3D scene understanding approaches rely on expensive labeled 3D datasets to train a model for a single task with supervision. Thus, geometric reconstruction with zero-shot scene understanding i.e. Open vocabulary 3D Understanding and Reconstruction, is crucial for the future development of mobile robots. In this paper, we propose OpenOcc, a novel framework unifying the 3D scene reconstruction and open vocabulary understanding with neural radiance fields. We model the geometric structure of the scene with occupancy representation and distill the pre-trained open vocabulary model into a 3D language field via volume rendering for zero-shot inference. Furthermore, a novel semantic-aware confidence propagation (SCP) method has been proposed to relieve the issue of language field representation degeneracy caused by inconsistent measurements in distilled features. Experimental results show that our approach achieves competitive performance in 3D scene understanding tasks, especially for small and long-tail objects.

Predicting the future motion of surrounding agents is essential for autonomous vehicles (AVs) to operate safely in dynamic, human-robot-mixed environments. Context information, such as road maps and surrounding agents' states, provides crucial geometric and semantic information for motion behavior prediction. To this end, recent works explore two-stage prediction frameworks where coarse trajectories are first proposed, and then used to select critical context information for trajectory refinement. However, they either incur a large amount of computation or bring limited improvement, if not both. In this paper, we introduce a novel scenario-adaptive refinement strategy, named SmartRefine, to refine prediction with minimal additional computation. Specifically, SmartRefine can comprehensively adapt refinement configurations based on each scenario's properties, and smartly chooses the number of refinement iterations by introducing a quality score to measure the prediction quality and remaining refinement potential of each scenario. SmartRefine is designed as a generic and flexible approach that can be seamlessly integrated into most state-of-the-art motion prediction models. Experiments on Argoverse (1 & 2) show that our method consistently improves the prediction accuracy of multiple state-of-the-art prediction models. Specifically, by adding SmartRefine to QCNet, we outperform all published ensemble-free works on the Argoverse 2 leaderboard (single agent track) at submission. Comprehensive studies are also conducted to ablate design choices and explore the mechanism behind multi-iteration refinement. Codes are available at //github.com/opendilab/SmartRefine/

The quest for real-time, accurate environmental perception is pivotal in the evolution of autonomous driving technologies. In response to this challenge, we present DyRoNet, a Dynamic Router Network that innovates by incorporating low-rank dynamic routing to enhance streaming perception. DyRoNet distinguishes itself by seamlessly integrating a diverse array of specialized pre-trained branch networks, each meticulously fine-tuned for specific environmental contingencies, thus facilitating an optimal balance between response latency and detection precision. Central to DyRoNet's architecture is the Speed Router module, which employs an intelligent routing mechanism to dynamically allocate input data to the most suitable branch network, thereby ensuring enhanced performance adaptability in real-time scenarios. Through comprehensive evaluations, DyRoNet demonstrates superior adaptability and significantly improved performance over existing methods, efficiently catering to a wide variety of environmental conditions and setting new benchmarks in streaming perception accuracy and efficiency. Beyond establishing a paradigm in autonomous driving perception, DyRoNet also offers engineering insights and lays a foundational framework for future advancements in streaming perception. For further information and updates on the project, visit //tastevision.github.io/DyRoNet/.

Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of reduced-order models in robotics, this paper presents a tutorial on constructive safety-critical control via reduced-order models and control barrier functions (CBFs). To this end, we provide a unified formulation of techniques in the literature that share a common foundation of constructing CBFs for complex systems from CBFs for much simpler systems. Such ideas are illustrated through formal results, simple numerical examples, and case studies of real-world systems to which these techniques have been experimentally applied.