PhysReaction: Physically Plausible Real-Time Humanoid Reaction Synthesis via Forward Dynamics Guided 4D Imitation

Humanoid Reaction Synthesis is pivotal for creating highly interactive and empathetic robots that can seamlessly integrate into human environments, enhancing the way we live, work, and communicate. However, it is difficult to learn the diverse interaction patterns of multiple humans and generate physically plausible reactions. The kinematics-based approaches face challenges, including issues like floating feet, sliding, penetration, and other problems that defy physical plausibility. The existing physics-based method often relies on kinematics-based methods to generate reference states, which struggle with the challenges posed by kinematic noise during action execution. Constrained by their reliance on diffusion models, these methods are unable to achieve real-time inference. In this work, we propose a Forward Dynamics Guided 4D Imitation method to generate physically plausible human-like reactions. The learned policy is capable of generating physically plausible and human-like reactions in real-time, significantly improving the speed(x33) and quality of reactions compared with the existing method. Our experiments on the InterHuman and Chi3D datasets, along with ablation studies, demonstrate the effectiveness of our approach.

Coexistence of Pull and Push Communication in Wireless Access for IoT Devices

We consider a setup with Internet of Things (IoT), where a base station (BS) collects data from nodes that use two different communication modes. The first is pull-based, where the BS retrieves the data from specific nodes through queries. In addition, the nodes that apply pull-based communication contain a wake-up receiver: upon a query, the BS sends wake-up signal (WuS) to activate the corresponding devices equipped with wake-up receiver (WuDs). The second one is push-based communication, in which the nodes decide when to send to the BS. Consider a time-slotted model, where the time slots in each frame are shared for both pull-based and push-based communications. Therein, this coexistence scenario gives rise to a new type of problem with fundamental trade-offs in sharing communication resources: the objective to serve a maximum number of queries, within a specified deadline, limits the transmission opportunities for push sensors, and vice versa. This work develops a mathematical model that characterizes these trade-offs, validates them through simulations, and optimizes the frame design to meet the objectives of both the pull- and push-based communications.

Predictive Modelling of Air Quality Index (AQI) Across Diverse Cities and States of India using Machine Learning: Investigating the Influence of Punjab's Stubble Burning on AQI Variability

Air pollution is a common and serious problem nowadays and it cannot be ignored as it has harmful impacts on human health. To address this issue proactively, people should be aware of their surroundings, which means the environment where they survive. With this motive, this research has predicted the AQI based on different air pollutant concentrations in the atmosphere. The dataset used for this research has been taken from the official website of CPCB. The dataset has the air pollutant concentration from 22 different monitoring stations in different cities of Delhi, Haryana, and Punjab. This data is checked for null values and outliers. But, the most important thing to note is the correct understanding and imputation of such values rather than ignoring or doing wrong imputation. The time series data has been used in this research which is tested for stationarity using The Dickey-Fuller test. Further different ML models like CatBoost, XGBoost, Random Forest, SVM regressor, time series model SARIMAX, and deep learning model LSTM have been used to predict AQI. For the performance evaluation of different models, I used MSE, RMSE, MAE, and R2. It is observed that Random Forest performed better as compared to other models.

ChangeAnywhere: Sample Generation for Remote Sensing Change Detection via Semantic Latent Diffusion Model

Remote sensing change detection (CD) is a pivotal technique that pinpoints changes on a global scale based on multi-temporal images. With the recent expansion of deep learning, supervised deep learning-based CD models have shown satisfactory performance. However, CD sample labeling is very time-consuming as it is densely labeled and requires expert knowledge. To alleviate this problem, we introduce ChangeAnywhere, a novel CD sample generation method using the semantic latent diffusion model and single-temporal images. Specifically, ChangeAnywhere leverages the relative ease of acquiring large single-temporal semantic datasets to generate large-scale, diverse, and semantically annotated bi-temporal CD datasets. ChangeAnywhere captures the two essentials of CD samples, i.e., change implies semantically different, and non-change implies reasonable change under the same semantic constraints. We generated ChangeAnywhere-100K, the largest synthesis CD dataset with 100,000 pairs of CD samples based on the proposed method. The ChangeAnywhere-100K significantly improved both zero-shot and few-shot performance on two CD benchmark datasets for various deep learning-based CD models, as demonstrated by transfer experiments. This paper delineates the enormous potential of ChangeAnywhere for CD sample generation and demonstrates the subsequent enhancement of model performance. Therefore, ChangeAnywhere offers a potent tool for remote sensing CD. All codes and pre-trained models will be available at https://github.com/tangkai-RS/ChangeAnywhere.

CodeCloak: A Method for Evaluating and Mitigating Code Leakage by LLM Code Assistants

LLM-based code assistants are becoming increasingly popular among developers. These tools help developers improve their coding efficiency and reduce errors by providing real-time suggestions based on the developer's codebase. While beneficial, these tools might inadvertently expose the developer's proprietary code to the code assistant service provider during the development process. In this work, we propose two complementary methods to mitigate the risk of code leakage when using LLM-based code assistants. The first is a technique for reconstructing a developer's original codebase from code segments sent to the code assistant service (i.e., prompts) during the development process, enabling assessment and evaluation of the extent of code leakage to third parties (or adversaries). The second is CodeCloak, a novel deep reinforcement learning agent that manipulates the prompts before sending them to the code assistant service. CodeCloak aims to achieve the following two contradictory goals: (i) minimizing code leakage, while (ii) preserving relevant and useful suggestions for the developer. Our evaluation, employing GitHub Copilot, StarCoder, and CodeLlama LLM-based code assistants models, demonstrates the effectiveness of our CodeCloak approach on a diverse set of code repositories of varying sizes, as well as its transferability across different models. In addition, we generate a realistic simulated coding environment to thoroughly analyze code leakage risks and evaluate the effectiveness of our proposed mitigation techniques under practical development scenarios.

Gaussian-LIC: Photo-realistic LiDAR-Inertial-Camera SLAM with 3D Gaussian Splatting

We present a real-time LiDAR-Inertial-Camera SLAM system with 3D Gaussian Splatting as the mapping backend. Leveraging robust pose estimates from our LiDAR-Inertial-Camera odometry, Coco-LIC, an incremental photo-realistic mapping system is proposed in this paper. We initialize 3D Gaussians from colorized LiDAR points and optimize them using differentiable rendering powered by 3D Gaussian Splatting. Meticulously designed strategies are employed to incrementally expand the Gaussian map and adaptively control its density, ensuring high-quality mapping with real-time capability. Experiments conducted in diverse scenarios demonstrate the superior performance of our method compared to existing radiance-field-based SLAM systems.

Predicting Traffic Congestion at Urban Intersections Using Data-Driven Modeling

Traffic congestion at intersections is a significant issue in urban areas, leading to increased commute times, safety hazards, and operational inefficiencies. This study aims to develop a predictive model for congestion at intersections in major U.S. cities, utilizing a dataset of trip-logging metrics from commercial vehicles across 4,800 intersections. The dataset encompasses 27 features, including intersection coordinates, street names, time of day, and traffic metrics (Kashyap et al., 2019). Additional features, such as rainfall/snowfall percentage, distance from downtown and outskirts, and road types, were incorporated to enhance the model's predictive power. The methodology involves data exploration, feature transformation, and handling missing values through low-rank models and label encoding. The proposed model has the potential to assist city planners and governments in anticipating traffic hot spots, optimizing operations, and identifying infrastructure challenges.

Chaos in Motion: Unveiling Robustness in Remote Heart Rate Measurement through Brain-Inspired Skin Tracking

Heart rate is an important physiological indicator of human health status. Existing remote heart rate measurement methods typically involve facial detection followed by signal extraction from the region of interest (ROI). These SOTA methods have three serious problems: (a) inaccuracies even failures in detection caused by environmental influences or subject movement; (b) failures for special patients such as infants and burn victims; (c) privacy leakage issues resulting from collecting face video. To address these issues, we regard the remote heart rate measurement as the process of analyzing the spatiotemporal characteristics of the optical flow signal in the video. We apply chaos theory to computer vision tasks for the first time, thus designing a brain-inspired framework. Firstly, using an artificial primary visual cortex model to extract the skin in the videos, and then calculate heart rate by time-frequency analysis on all pixels. Our method achieves Robust Skin Tracking for Heart Rate measurement, called HR-RST. The experimental results show that HR-RST overcomes the difficulty of environmental influences and effectively tracks the subject movement. Moreover, the method could extend to other body parts. Consequently, the method can be applied to special patients and effectively protect individual privacy, offering an innovative solution.

Weakly-Supervised Learning via Multi-Lateral Decoder Branching for Guidewire Segmentation in Robot-Assisted Cardiovascular Catheterization

Although robot-assisted cardiovascular catheterization is commonly performed for intervention of cardiovascular diseases, more studies are needed to support the procedure with automated tool segmentation. This can aid surgeons on tool tracking and visualization during intervention. Learning-based segmentation has recently offered state-of-the-art segmentation performances however, generating ground-truth signals for fully-supervised methods is labor-intensive and time consuming for the interventionists. In this study, a weakly-supervised learning method with multi-lateral pseudo labeling is proposed for tool segmentation in cardiac angiograms. The method includes a modified U-Net model with one encoder and multiple lateral-branched decoders that produce pseudo labels as supervision signals under different perturbation. The pseudo labels are self-generated through a mixed loss function and shared consistency in the decoders. We trained the model end-to-end with weakly-annotated data obtained during robotic cardiac catheterization. Experiments with the proposed model shows weakly annotated data has closer performance to when fully annotated data is used. Compared to three existing weakly-supervised methods, our approach yielded higher segmentation performance across three different cardiac angiogram data. With ablation study, we showed consistent performance under different parameters. Thus, we offer a less expensive method for real-time tool segmentation and tracking during robot-assisted cardiac catheterization.

Mitigating Language-Level Performance Disparity in mPLMs via Teacher Language Selection and Cross-lingual Self-Distillation

Large-scale multilingual Pretrained Language Models (mPLMs) yield impressive performance on cross-language tasks, yet significant performance disparities exist across different languages within the same mPLM. Previous studies endeavored to narrow these disparities by supervise fine-tuning the mPLMs with multilingual data. However, obtaining labeled multilingual data is time-consuming, and fine-tuning mPLM with limited labeled multilingual data merely encapsulates the knowledge specific to the labeled data. Therefore, we introduce ALSACE to leverage the learned knowledge from the well-performing languages to guide under-performing ones within the same mPLM, eliminating the need for additional labeled multilingual data. Experiments show that ALSACE effectively mitigates language-level performance disparity across various mPLMs while showing the competitive performance on different multilingual NLU tasks, ranging from full resource to limited resource settings. The code for our approach is available at https://github.com/pkunlp-icler/ALSACE.