Multipath Component-Enhanced Signal Processing for Integrated Sensing and Communication Systems

Integrated sensing and communication (ISAC) has gained traction in academia and industry. Recently, multipath components (MPCs), as a type of spatial resource, have the potential to improve the sensing performance in ISAC systems, especially in richly scattering environments. In this paper, we propose to leverage MPC and Khatri-Rao space-time (KRST) code within a single ISAC system to realize high-accuracy sensing for multiple dynamic targets and multi-user communication. Specifically, we propose a novel MPC-enhanced sensing processing scheme with symbol-level fusion, referred to as the "SL-MPS" scheme, to achieve high-accuracy localization of multiple dynamic targets and empower the single ISAC system with a new capability of absolute velocity estimation for multiple targets with a single sensing attempt. Furthermore, the KRST code is applied to flexibly balance communication and sensing performance in richly scattering environments. To evaluate the contribution of MPCs, the closed-form Cram\'er-Rao lower bounds (CRLBs) of location and absolute velocity estimation are derived. Simulation results illustrate that the proposed SL-MPS scheme is more robust and accurate in localization and absolute velocity estimation compared with the existing state-of-the-art schemes.

DTRT: Enhancing Human Intent Estimation and Role Allocation for Physical Human-Robot Collaboration

In physical Human-Robot Collaboration (pHRC), accurate human intent estimation and rational human-robot role allocation are crucial for safe and efficient assistance. Existing methods that rely on short-term motion data for intention estimation lack multi-step prediction capabilities, hindering their ability to sense intent changes and adjust human-robot assignments autonomously, resulting in potential discrepancies. To address these issues, we propose a Dual Transformer-based Robot Trajectron (DTRT) featuring a hierarchical architecture, which harnesses human-guided motion and force data to rapidly capture human intent changes, enabling accurate trajectory predictions and dynamic robot behavior adjustments for effective collaboration. Specifically, human intent estimation in DTRT uses two Transformer-based Conditional Variational Autoencoders (CVAEs), incorporating robot motion data in obstacle-free case with human-guided trajectory and force for obstacle avoidance. Additionally, Differential Cooperative Game Theory (DCGT) is employed to synthesize predictions based on human-applied forces, ensuring robot behavior align with human intention. Compared to state-of-the-art (SOTA) methods, DTRT incorporates human dynamics into long-term prediction, providing an accurate understanding of intention and enabling rational role allocation, achieving robot autonomy and maneuverability. Experiments demonstrate DTRT's accurate intent estimation and superior collaboration performance.

OpenNIRScap: An Open-Source, Low-Cost Wearable Near-Infrared Spectroscopy-based Brain Interfacing Cap

Functional Near-Infrared Spectroscopy (fNIRS) is a non-invasive, real-time method for monitoring brain activity by measuring hemodynamic responses in the cerebral cortex. However, existing systems are expensive, bulky, and limited to clinical or research environments. This paper introduces OpenNIRScap, an open-source, low-cost, and wearable fNIRS system designed to make real-time brain monitoring more accessible in everyday environments. The device features 24 custom-designed sensor boards with dual-wavelength light emitters and photodiode detectors, a central electrical control unit (ECU) with analog multiplexing, and a real-time data processing pipeline. Bench validation and pilot tests on volunteers have confirmed the ability of the system to capture cognitively evoked hemodynamic responses, supporting its potential as an affordable tool for cognitive monitoring and portable neurotechnology applications. The hardware, software, and graphical user interface have all been open-sourced and made publicly available at the following link: https://github.com/tonykim07/fNIRS.

AlayaDB: The Data Foundation for Efficient and Effective Long-context LLM Inference

AlayaDB is a cutting-edge vector database system natively architected for efficient and effective long-context inference for Large Language Models (LLMs) at AlayaDB AI. Specifically, it decouples the KV cache and attention computation from the LLM inference systems, and encapsulates them into a novel vector database system. For the Model as a Service providers (MaaS), AlayaDB consumes fewer hardware resources and offers higher generation quality for various workloads with different kinds of Service Level Objectives (SLOs), when comparing with the existing alternative solutions (e.g., KV cache disaggregation, retrieval-based sparse attention). The crux of AlayaDB is that it abstracts the attention computation and cache management for LLM inference into a query processing procedure, and optimizes the performance via a native query optimizer. In this work, we demonstrate the effectiveness of AlayaDB via (i) three use cases from our industry partners, and (ii) extensive experimental results on LLM inference benchmarks.

Multipath Component-Aided Signal Processing for Integrated Sensing and Communication Systems

Integrated sensing and communication (ISAC) has emerged as a pivotal enabling technology for sixth-generation (6G) mobile communication system. The ISAC research in dense urban areas has been plaguing by severe multipath interference, propelling the thorough research of ISAC multipath interference elimination. However, transforming the multipath component (MPC) from enemy into friend is a viable and mutually beneficial option. In this paper, we preliminarily explore the MPC-aided ISAC signal processing and apply a space-time code to improve the ISAC performance. Specifically, we propose a symbol-level fusion for MPC-aided localization (SFMC) scheme to achieve robust and high-accuracy localization, and apply a Khatri-Rao space-time (KRST) code to improve the communication and sensing performance in rich multipath environment. Simulation results demonstrate that the proposed SFMC scheme has more robust localization performance with higher accuracy, compared with the existing state-of-the-art schemes. The proposed SFMC would benefit highly reliable communication and sub-meter level localization in rich multipath scenarios.

Hyperbolic Chamfer Distance for Point Cloud Completion and Beyond

Chamfer Distance (CD) is widely used as a metric to quantify difference between two point clouds. In point cloud completion, Chamfer Distance (CD) is typically used as a loss function in deep learning frameworks. However, it is generally acknowledged within the field that Chamfer Distance (CD) is vulnerable to the presence of outliers, which can consequently lead to the convergence on suboptimal models. In divergence from the existing literature, which largely concentrates on resolving such concerns in the realm of Euclidean space, we put forth a notably uncomplicated yet potent metric specifically designed for point cloud completion tasks: {Hyperbolic Chamfer Distance (HyperCD)}. This metric conducts Chamfer Distance computations within the parameters of hyperbolic space. During the backpropagation process, HyperCD systematically allocates greater weight to matched point pairs exhibiting reduced Euclidean distances. This mechanism facilitates the preservation of accurate point pair matches while permitting the incremental adjustment of suboptimal matches, thereby contributing to enhanced point cloud completion outcomes. Moreover, measure the shape dissimilarity is not solely work for point cloud completion task, we further explore its applications in other generative related tasks, including single image reconstruction from point cloud, and upsampling. We demonstrate state-of-the-art performance on the point cloud completion benchmark datasets, PCN, ShapeNet-55, and ShapeNet-34, and show from visualization that HyperCD can significantly improve the surface smoothness, we also provide the provide experimental results beyond completion task.

RL2: Reinforce Large Language Model to Assist Safe Reinforcement Learning for Energy Management of Active Distribution Networks

As large-scale distributed energy resources are integrated into the active distribution networks (ADNs), effective energy management in ADNs becomes increasingly prominent compared to traditional distribution networks. Although advanced reinforcement learning (RL) methods, which alleviate the burden of complicated modelling and optimization, have greatly improved the efficiency of energy management in ADNs, safety becomes a critical concern for RL applications in real-world problems. Since the design and adjustment of penalty functions, which correspond to operational safety constraints, requires extensive domain knowledge in RL and power system operation, the emerging ADN operators call for a more flexible and customized approach to address the penalty functions so that the operational safety and efficiency can be further enhanced. Empowered with strong comprehension, reasoning, and in-context learning capabilities, large language models (LLMs) provide a promising way to assist safe RL for energy management in ADNs. In this paper, we introduce the LLM to comprehend operational safety requirements in ADNs and generate corresponding penalty functions. In addition, we propose an RL2 mechanism to refine the generated functions iteratively and adaptively through multi-round dialogues, in which the LLM agent adjusts the functions' pattern and parameters based on training and test performance of the downstream RL agent. The proposed method significantly reduces the intervention of the ADN operators. Comprehensive test results demonstrate the effectiveness of the proposed method.

SeaS: Few-shot Industrial Anomaly Image Generation with Separation and Sharing Fine-tuning

Current segmentation methods require many training images and precise masks, while insufficient anomaly images hinder their application in industrial scenarios. To address such an issue, we explore producing diverse anomalies and accurate pixel-wise annotations. By observing the real production lines, we find that anomalies vary randomly in shape and appearance, whereas products hold globally consistent patterns with slight local variations. Such a characteristic inspires us to develop a Separation and Sharing Fine-tuning (SeaS) approach using only a few abnormal and some normal images. Firstly, we propose the Unbalanced Abnormal (UA) Text Prompt tailored to industrial anomaly generation, consisting of one product token and several anomaly tokens. Then, for anomaly images, we propose a Decoupled Anomaly Alignment (DA) loss to bind the attributes of the anomalies to different anomaly tokens. Re-blending such attributes may produce never-seen anomalies, achieving a high diversity of anomalies. For normal images, we propose a Normal-image Alignment (NA) loss to learn the products' key features that are used to synthesize products with both global consistency and local variations. The two training processes are separated but conducted on a shared U-Net. Finally, SeaS produces high-fidelity annotations for the generated anomalies by fusing discriminative features of U-Net and high-resolution VAE features. Extensive evaluations on the challenging MVTec AD and MVTec 3D AD dataset demonstrate the effectiveness of our approach. For anomaly image generation, we achieve 1.88 on IS and 0.34 on IC-LPIPS on MVTec AD dataset, 1.95 on IS and 0.30 on IC-LPIPS on MVTec 3D AD dataset. For downstream task, using our generated anomaly image-mask pairs, three common segmentation methods achieve an average 11.17% improvement on IoU on MVTec AD dataset, and a 15.49% enhancement in IoU on MVTec 3D AD dataset.

AnomalyNCD: Towards Novel Anomaly Class Discovery in Industrial Scenarios

In the industrial scenario, anomaly detection could locate but cannot classify anomalies. To complete their capability, we study to automatically discover and recognize visual classes of industrial anomalies. In terms of multi-class anomaly classification, previous methods cluster anomalies represented by frozen pre-trained models but often fail due to poor discrimination. Novel class discovery (NCD) has the potential to tackle this. However, it struggles with non-prominent and semantically weak anomalies that challenge network learning focus. To address these, we introduce AnomalyNCD, a multi-class anomaly classification framework compatible with existing anomaly detection methods. This framework learns anomaly-specific features and classifies anomalies in a self-supervised manner. Initially, a technique called Main Element Binarization (MEBin) is first designed, which segments primary anomaly regions into masks to alleviate the impact of incorrect detections on learning. Subsequently, we employ mask-guided contrastive representation learning to improve feature discrimination, which focuses network attention on isolated anomalous regions and reduces the confusion of erroneous inputs through re-corrected pseudo labels. Finally, to enable flexible classification at both region and image levels during inference, we develop a region merging strategy that determines the overall image category based on the classified anomaly regions. Our method outperforms the state-of-the-art works on the MVTec AD and MTD datasets. Compared with the current methods, AnomalyNCD combined with zero-shot anomaly detection method achieves a 10.8% $F_1$ gain, 8.8% NMI gain, and 9.5% ARI gain on MVTec AD, 12.8% $F_1$ gain, 5.7% NMI gain, and 10.8% ARI gain on MTD. The source code is available at https://github.com/HUST-SLOW/AnomalyNCD.

Removing Distributional Discrepancies in Captions Improves Image-Text Alignment

In this paper, we introduce a model designed to improve the prediction of image-text alignment, targeting the challenge of compositional understanding in current visual-language models. Our approach focuses on generating high-quality training datasets for the alignment task by producing mixed-type negative captions derived from positive ones. Critically, we address the distribution imbalance between positive and negative captions to ensure that the alignment model does not depend solely on textual information but also considers the associated images for predicting alignment accurately. By creating this enhanced training data, we fine-tune an existing leading visual-language model to boost its capability in understanding alignment. Our model significantly outperforms current top-performing methods across various datasets. We also demonstrate the applicability of our model by ranking the images generated by text-to-image models based on text alignment. Project page: \url{https://yuheng-li.github.io/LLaVA-score/}