In this paper, we propose a novel framework, Tracking-free Relightable Avatar (TRAvatar), for capturing and reconstructing high-fidelity 3D avatars. Compared to previous methods, TRAvatar works in a more practical and efficient setting. Specifically, TRAvatar is trained with dynamic image sequences captured in a Light Stage under varying lighting conditions, enabling realistic relighting and real-time animation for avatars in diverse scenes. Additionally, TRAvatar allows for tracking-free avatar capture and obviates the need for accurate surface tracking under varying illumination conditions. Our contributions are two-fold: First, we propose a novel network architecture that explicitly builds on and ensures the satisfaction of the linear nature of lighting. Trained on simple group light captures, TRAvatar can predict the appearance in real-time with a single forward pass, achieving high-quality relighting effects under illuminations of arbitrary environment maps. Second, we jointly optimize the facial geometry and relightable appearance from scratch based on image sequences, where the tracking is implicitly learned. This tracking-free approach brings robustness for establishing temporal correspondences between frames under different lighting conditions. Extensive qualitative and quantitative experiments demonstrate that our framework achieves superior performance for photorealistic avatar animation and relighting.
Model predictive control (MPC) is a promising technique for motion cueing in driving simulators, but its high computation time limits widespread real-time application. This paper proposes a hybrid algorithm that combines filter-based and MPC-based techniques to improve specific force tracking while reducing computation time. The proposed algorithm divides the reference acceleration into low-frequency and high-frequency components. The high-frequency component serves as a reference for translational motion to avoid workspace limit violations, while the low-frequency component is for tilt coordination. The total acceleration serves as a reference for combined specific force with the highest priority to enable compensation of deviations from its reference values. The algorithm uses constraints in the MPC formulation to account for workspace limits and workspace management is applied. The investigated scenarios were a step signal, a multi-sine wave and a recorded real-drive slalom maneuver. Based on the conducted simulations, the algorithm produces approximately 15% smaller root means squared error (RMSE) for the step signal compared to the state-of-the-art. Around 16% improvement is observed when the real-drive scenario is used as the simulation scenario, and for the multi-sine wave, 90% improvement is observed. At higher prediction horizons the algorithm matches the performance of a state-of-the-art MPC-based motion cueing algorithm. Finally, for all prediction horizons, the frequency-splitting algorithm produced faster results. The pre-generated references reduce the required prediction horizon and computational complexity while improving tracking performance. Hence, the proposed frequency-splitting algorithm outperforms state-of-the-art MPC-based algorithm and offers promise for real-time application in driving simulators.
Labeling of multivariate biomedical time series data is a laborious and expensive process. Self-supervised contrastive learning alleviates the need for large, labeled datasets through pretraining on unlabeled data. However, for multivariate time series data, the set of input channels often varies between applications, and most existing work does not allow for transfer between datasets with different sets of input channels. We propose learning one encoder to operate on all input channels individually. We then use a message passing neural network to extract a single representation across channels. We demonstrate the potential of this method by pretraining our model on a dataset with six EEG channels and then fine-tuning it on a dataset with two different EEG channels. We compare models with and without the message passing neural network across different contrastive loss functions. We show that our method, combined with the TS2Vec loss, outperforms all other methods in most settings.
Visual-based 3D semantic occupancy perception (also known as 3D semantic scene completion) is a new perception paradigm for robotic applications like autonomous driving. Compared with Bird's Eye View (BEV) perception, it extends the vertical dimension, significantly enhancing the ability of robots to understand their surroundings. However, due to this very reason, the computational demand for current 3D semantic occupancy perception methods generally surpasses that of BEV perception methods and 2D perception methods. We propose a novel 3D semantic occupancy perception method, OccupancyDETR, which consists of a DETR-like object detection module and a 3D occupancy decoder module. The integration of object detection simplifies our method structurally - instead of predicting the semantics of each voxels, it identifies objects in the scene and their respective 3D occupancy grids. This speeds up our method, reduces required resources, and leverages object detection algorithm, giving our approach notable performance on small objects. We demonstrate the effectiveness of our proposed method on the SemanticKITTI dataset, showcasing an mIoU of 23 and a processing speed of 6 frames per second, thereby presenting a promising solution for real-time 3D semantic scene completion.
Powered ankle prostheses effectively assist people with lower limb amputation to perform daily activities. High performance prostheses with adjustable compliance and capability to predict and implement amputee's intent are crucial for them to be comparable to or better than a real limb. However, current designs fail to provide simple yet effective compliance of the joint with full potential of modification, and lack accurate gait prediction method in real time. This paper proposes an innovative design of powered ankle prosthesis with serial elastic actuator (SEA), and puts forward a MLP based gait recognition method that can accurately and continuously predict more gait parameters for motion sensing and control. The prosthesis mimics biological joint with similar weight, torque, and power which can assist walking of up to 4 m/s. A new design of planar torsional spring is proposed for the SEA, which has better stiffness, endurance, and potential of modification than current designs. The gait recognition system simultaneously generates locomotive speed, gait phase, ankle angle and angular velocity only utilizing signals of single IMU, holding advantage in continuity, adaptability for speed range, accuracy, and capability of multi-functions.
In this work, we contribute towards the development of video-based epileptic seizure classification by introducing a novel framework (SETR-PKD), which could achieve privacy-preserved early detection of seizures in videos. Specifically, our framework has two significant components - (1) It is built upon optical flow features extracted from the video of a seizure, which encodes the seizure motion semiotics while preserving the privacy of the patient; (2) It utilizes a transformer based progressive knowledge distillation, where the knowledge is gradually distilled from networks trained on a longer portion of video samples to the ones which will operate on shorter portions. Thus, our proposed framework addresses the limitations of the current approaches which compromise the privacy of the patients by directly operating on the RGB video of a seizure as well as impede real-time detection of a seizure by utilizing the full video sample to make a prediction. Our SETR-PKD framework could detect tonic-clonic seizures (TCSs) in a privacy-preserving manner with an accuracy of 83.9% while they are only half-way into their progression. Our data and code is available at https://github.com/DevD1092/seizure-detection
In this paper, we propose a differentiable version of the short-time Fourier transform (STFT) that allows for gradient-based optimization of the hop length or the frame temporal position by making these parameters continuous. Our approach provides improved control over the temporal positioning of frames, as the continuous nature of the hop length allows for a more finely-tuned optimization. Furthermore, our contribution enables the use of optimization methods such as gradient descent, which are more computationally efficient than conventional discrete optimization methods. Our differentiable STFT can also be easily integrated into existing algorithms and neural networks. We present a simulated illustration to demonstrate the efficacy of our approach and to garner interest from the research community.
Quantum reinforcement learning (QRL) has emerged as a framework to solve sequential decision-making tasks, showcasing empirical quantum advantages. A notable development is through quantum recurrent neural networks (QRNNs) for memory-intensive tasks such as partially observable environments. However, QRL models incorporating QRNN encounter challenges such as inefficient training of QRL with QRNN, given that the computation of gradients in QRNN is both computationally expensive and time-consuming. This work presents a novel approach to address this challenge by constructing QRL agents utilizing QRNN-based reservoirs, specifically employing quantum long short-term memory (QLSTM). QLSTM parameters are randomly initialized and fixed without training. The model is trained using the asynchronous advantage actor-aritic (A3C) algorithm. Through numerical simulations, we validate the efficacy of our QLSTM-Reservoir RL framework. Its performance is assessed on standard benchmarks, demonstrating comparable results to a fully trained QLSTM RL model with identical architecture and training settings.
The main goal of this paper is to introduce new local stability conditions for continuous-time Takagi-Sugeno (T-S) fuzzy systems. These stability conditions are based on linear matrix inequalities (LMIs) in combination with quadratic Lyapunov functions. Moreover, they integrate information on the membership functions at the origin and effectively leverage the linear structure of the underlying nonlinear system in the vicinity of the origin. As a result, the proposed conditions are proved to be less conservative compared to existing methods using fuzzy Lyapunov functions in the literature. Moreover, we establish that the proposed methods offer necessary and sufficient conditions for the local exponential stability of T-S fuzzy systems. The paper also includes discussions on the inherent limitations associated with fuzzy Lyapunov approaches. To demonstrate the theoretical results, we provide comprehensive examples that elucidate the core concepts and validate the efficacy of the proposed conditions.
Magnetic resonance imaging (MRI) plays an important role in modern medical diagnostic but suffers from prolonged scan time. Current deep learning methods for undersampled MRI reconstruction exhibit good performance in image de-aliasing which can be tailored to the specific kspace undersampling scenario. But it is very troublesome to configure different deep networks when the sampling setting changes. In this work, we propose a deep plug-and-play method for undersampled MRI reconstruction, which effectively adapts to different sampling settings. Specifically, the image de-aliasing prior is first learned by a deep denoiser trained to remove general white Gaussian noise from synthetic data. Then the learned deep denoiser is plugged into an iterative algorithm for image reconstruction. Results on in vivo data demonstrate that the proposed method provides nice and robust accelerated image reconstruction performance under different undersampling patterns and sampling rates, both visually and quantitatively.