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Recent advancements in 3D human pose estimation from single-camera images and videos have relied on parametric models, like SMPL. However, these models oversimplify anatomical structures, limiting their accuracy in capturing true joint locations and movements, which reduces their applicability in biomechanics, healthcare, and robotics. Biomechanically accurate pose estimation, on the other hand, typically requires costly marker-based motion capture systems and optimization techniques in specialized labs. To bridge this gap, we propose BioPose, a novel learning-based framework for predicting biomechanically accurate 3D human pose directly from monocular videos. BioPose includes three key components: a Multi-Query Human Mesh Recovery model (MQ-HMR), a Neural Inverse Kinematics (NeurIK) model, and a 2D-informed pose refinement technique. MQ-HMR leverages a multi-query deformable transformer to extract multi-scale fine-grained image features, enabling precise human mesh recovery. NeurIK treats the mesh vertices as virtual markers, applying a spatial-temporal network to regress biomechanically accurate 3D poses under anatomical constraints. To further improve 3D pose estimations, a 2D-informed refinement step optimizes the query tokens during inference by aligning the 3D structure with 2D pose observations. Experiments on benchmark datasets demonstrate that BioPose significantly outperforms state-of-the-art methods. Project website: \url{https://m-usamasaleem.github.io/publication/BioPose/BioPose.html}.

Human mesh recovery (HMR) is crucial in many computer vision applications; from health to arts and entertainment. HMR from monocular images has predominantly been addressed by deterministic methods that output a single prediction for a given 2D image. However, HMR from a single image is an ill-posed problem due to depth ambiguity and occlusions. Probabilistic methods have attempted to address this by generating and fusing multiple plausible 3D reconstructions, but their performance has often lagged behind deterministic approaches. In this paper, we introduce GenHMR, a novel generative framework that reformulates monocular HMR as an image-conditioned generative task, explicitly modeling and mitigating uncertainties in the 2D-to-3D mapping process. GenHMR comprises two key components: (1) a pose tokenizer to convert 3D human poses into a sequence of discrete tokens in a latent space, and (2) an image-conditional masked transformer to learn the probabilistic distributions of the pose tokens, conditioned on the input image prompt along with randomly masked token sequence. During inference, the model samples from the learned conditional distribution to iteratively decode high-confidence pose tokens, thereby reducing 3D reconstruction uncertainties. To further refine the reconstruction, a 2D pose-guided refinement technique is proposed to directly fine-tune the decoded pose tokens in the latent space, which forces the projected 3D body mesh to align with the 2D pose clues. Experiments on benchmark datasets demonstrate that GenHMR significantly outperforms state-of-the-art methods. Project website can be found at https://m-usamasaleem.github.io/publication/GenHMR/GenHMR.html

Reconstructing a 3D hand mesh from a single RGB image is challenging due to complex articulations, self-occlusions, and depth ambiguities. Traditional discriminative methods, which learn a deterministic mapping from a 2D image to a single 3D mesh, often struggle with the inherent ambiguities in 2D-to-3D mapping. To address this challenge, we propose MMHMR, a novel generative masked model for hand mesh recovery that synthesizes plausible 3D hand meshes by learning and sampling from the probabilistic distribution of the ambiguous 2D-to-3D mapping process. MMHMR consists of two key components: (1) a VQ-MANO, which encodes 3D hand articulations as discrete pose tokens in a latent space, and (2) a Context-Guided Masked Transformer that randomly masks out pose tokens and learns their joint distribution, conditioned on corrupted token sequences, image context, and 2D pose cues. This learned distribution facilitates confidence-guided sampling during inference, producing mesh reconstructions with low uncertainty and high precision. Extensive evaluations on benchmark and real-world datasets demonstrate that MMHMR achieves state-of-the-art accuracy, robustness, and realism in 3D hand mesh reconstruction. Project website: https://m-usamasaleem.github.io/publication/MMHMR/mmhmr.html

Recent advances in motion diffusion models have enabled spatially controllable text-to-motion generation. However, despite achieving acceptable control precision, these models suffer from generation speed and fidelity limitations. To address these challenges, we propose ControlMM, a novel approach incorporating spatial control signals into the generative masked motion model. ControlMM achieves real-time, high-fidelity, and high-precision controllable motion generation simultaneously. Our approach introduces two key innovations. First, we propose masked consistency modeling, which ensures high-fidelity motion generation via random masking and reconstruction, while minimizing the inconsistency between the input control signals and the extracted control signals from the generated motion. To further enhance control precision, we introduce inference-time logit editing, which manipulates the predicted conditional motion distribution so that the generated motion, sampled from the adjusted distribution, closely adheres to the input control signals. During inference, ControlMM enables parallel and iterative decoding of multiple motion tokens, allowing for high-speed motion generation. Extensive experiments show that, compared to the state of the art, ControlMM delivers superior results in motion quality, with better FID scores (0.061 vs 0.271), and higher control precision (average error 0.0091 vs 0.0108). ControlMM generates motions 20 times faster than diffusion-based methods. Additionally, ControlMM unlocks diverse applications such as any joint any frame control, body part timeline control, and obstacle avoidance. Video visualization can be found at https://exitudio.github.io/ControlMM-page, Comment: project page https://exitudio.github.io/ControlMM-page

Traditional multi-agent path finding (MAPF) methods try to compute entire start-goal paths which are collision free. However, computing an entire path can take too long for MAPF systems where agents need to replan fast. Methods that address this typically employ a "windowed" approach and only try to find collision free paths for a small windowed timestep horizon. This adaptation comes at the cost of incompleteness; all current windowed approaches can become stuck in deadlock or livelock. Our main contribution is to introduce our framework, WinC-MAPF, for Windowed MAPF that enables completeness. Our framework uses heuristic update insights from single-agent real-time heuristic search algorithms as well as agent independence ideas from MAPF algorithms. We also develop Single-Step CBS (SS-CBS), an instantiation of this framework using a novel modification to CBS. We show how SS-CBS, which only plans a single step and updates heuristics, can effectively solve tough scenarios where existing windowed approaches fail.

Robots often face challenges in domestic environments where visual feedback is ineffective, such as retrieving objects obstructed by occlusions or finding a light switch in the dark. In these cases, utilizing contacts to localize the target object can be effective. We propose an online planning framework using binary contact signals for manipulation tasks with pose uncertainty, formulated as a Partially Observable Markov Decision Process (POMDP). Naively representing the belief as a particle set makes planning infeasible due to the large uncertainties in domestic settings, as identifying the best sequence of actions requires rolling out thousands of actions across millions of particles, taking significant compute time. To address this, we propose a hierarchical belief representation. Initially, we represent the uncertainty coarsely in a 3D volumetric space. Policies that refine uncertainty in this space are computed and executed, and once uncertainty is sufficiently reduced, the problem is translated back into the particle space for further refinement before task completion. We utilize a closed-loop planning and execution framework with a heuristic-search-based anytime solver that computes partial policies within a limited time budget. The performance of the framework is demonstrated both in real world and in simulation on the high-precision task of inserting a plug into a port using a UR10e manipulator, resolving positional uncertainties up to 50 centimeters and angular uncertainties close to $2\pi$. Experimental results highlight the framework's effectiveness, achieving a 93\% success rate in the real world and over 50\% improvement in solution quality compared to greedy baselines, significantly accelerating planning and enabling real-time solutions for complex problems., Comment: Under review (2025 IEEE International Conference on Robotics & Automation)

This study investigates the use of Large Language Models (LLMs) for improved depression detection from users social media data. Through the use of fine-tuned GPT 3.5 Turbo 1106 and LLaMA2-7B models and a sizable dataset from earlier studies, we were able to identify depressed content in social media posts with a high accuracy of nearly 96.0 percent. The comparative analysis of the obtained results with the relevant studies in the literature shows that the proposed fine-tuned LLMs achieved enhanced performance compared to existing state of the-art systems. This demonstrates the robustness of LLM-based fine-tuned systems to be used as potential depression detection systems. The study describes the approach in depth, including the parameters used and the fine-tuning procedure, and it addresses the important implications of our results for the early diagnosis of depression on several social media platforms., Comment: 16 pages

We consider fact-checking approaches that aim to predict the veracity of assertions in knowledge graphs. Five main categories of fact-checking approaches for knowledge graphs have been proposed in the recent literature, of which each is subject to partially overlapping limitations. In particular, current text-based approaches are limited by manual feature engineering. Path-based and rule-based approaches are limited by their exclusive use of knowledge graphs as background knowledge, and embedding-based approaches suffer from low accuracy scores on current fact-checking tasks. We propose a hybrid approach -- dubbed HybridFC -- that exploits the diversity of existing categories of fact-checking approaches within an ensemble learning setting to achieve a significantly better prediction performance. In particular, our approach outperforms the state of the art by 0.14 to 0.27 in terms of Area Under the Receiver Operating Characteristic curve on the FactBench dataset. Our code is open-source and can be found at https://github.com/dice-group/HybridFC.

The global transportation industry has become one of the main contributors to air pollution. Consequently, electric buses and green transportation are gaining popularity as crucial steps to reduce emission concerns. Many developed countries have already adopted the concept of Battery Electric Buses (BEBs), while the developing ones are just starting with it. However, BEB fleets have advantages, such as lower fuel, higher efficiency, lower maintenance, and energy security. Yet, several obstacles must be overcome to support the mass deployment of BEBs. These incorporate forthright expense charges, arranging loads, BEB reach, and newness to BEB innovation. Stakeholders like policymakers, private company owners, and government leaders have a lot to consider before introducing BEBs at any level in Pakistan. As a result, to operate an electric bus system profitably, it is crucial to develop a proper electric bus network and fleet, especially for bus operators who need to buy enough electric buses at the appropriate time. As a result, this paper aims to investigate if operating an electric bus could be an alternative to regular bus operations. The proposed methodology develops modeling software to cater to various scenarios to determine a proper-designed electric bus operating system in terms of the electric bus route, service frequency, and quantity. This research work simulates and financially analyses an operating Public Transport Infrastructure with a proposed Green Solution. The results show that regardless of the high upfront costs of BEB infrastructure, it becomes profitable in 6-7 years, resulting in a decreased Total Cost of Ownership (TCO) of approximately 30% of its counterpart. The study also provides a clear policy pathway to help stakeholders make informed decisions related to the electrification of public transport in Pakistan.

In manipulation tasks like plug insertion or assembly that have low tolerance to errors in pose estimation (errors of the order of 2mm can cause task failure), the utilization of touch/contact modality can aid in accurately localizing the object of interest. Motivated by this, in this work we model high-precision insertion tasks as planning problems under pose uncertainty, where we effectively utilize the occurrence of contacts (or the lack thereof) as observations to reduce uncertainty and reliably complete the task. We present a preprocessing-based planning framework for high-precision insertion in repetitive and time-critical settings, where the set of initial pose distributions (identified by a perception system) is finite. The finite set allows us to enumerate the possible planning problems that can be encountered online and preprocess a database of policies. Due to the computational complexity of constructing this database, we propose a general experience-based POMDP solver, E-RTDP-Bel, that uses the solutions of similar planning problems as experience to speed up planning queries and use it to efficiently construct the database. We show that the developed algorithm speeds up database creation by over a factor of 100, making the process computationally tractable. We demonstrate the effectiveness of the proposed framework in a real-world plug insertion task in the presence of port position uncertainty and a pipe assembly task in simulation in the presence of pipe pose uncertainty., Comment: \c{opyright} 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

This study aims to examine the effect of L\'evy noise on the solutions of the nonlinear Schr\"odinger equation. An improved diversity of stochastic solutions is instinctively located discretely on certain conditions by applying the generalized Kudryashov method. Moreover, the dynamical behaviors of these exact results of the nonlinear Schr\"odinger equation are interpreted in the context of the effect of L\'evy noise. Even mathematical evaluations have been conducted and presented.

The study of vapor bubble growth following droplet vaporization in a superheated liquid involves research areas such as hydrodynamics, heat transfer, mass transfer, and thermodynamics. The interplay between these multiscale aspects is strongly dependent on the geometry, the thermodynamic response, and the local physical properties of the system. To understand the role of each aspect of this complex mechanism we model super-heated droplet vaporization by coupling the equation of motion for bubble growth with the thermodynamics of phase change and heat transfer through the convection-diffusion equation. The semi-analytical model is validated with the analytical description for vapor bubble growth dominated either by inertia (Rayleigh) or by thermal diffusion (Plesset-Zwick), depending on droplet radius and degree of superheat. The effect of a mismatch of the thermal properties between the host liquid and the droplet is shown to be relevant only for low superheating, above which an increase in thermal diffusivity leads to a reduction in the rate of vaporization. At medium to high superheating, the droplet vaporizes completely without relying on thermal diffusion. At the point of complete vaporization, the potential energy within the system drives the bubble overshoots, which vary based on the droplet size and degree of superheat.

With the advent of machine learning, there have been several recent attempts to learn effective and generalizable heuristics. Local Heuristic A* (LoHA*) is one recent method that instead of learning the entire heuristic estimate, learns a "local" residual heuristic that estimates the cost to escape a region (Veerapaneni et al 2023). LoHA*, like other supervised learning methods, collects a dataset of target values by querying an oracle on many planning problems (in this case, local planning problems). This data collection process can become slow as the size of the local region increases or if the domain requires expensive collision checks. Our main insight is that when an A* search solves a start-goal planning problem it inherently ends up solving multiple local planning problems. We exploit this observation to propose an efficient data collection framework that does <1/10th the amount of work (measured by expansions) to collect the same amount of data in comparison to baselines. This idea also enables us to run LoHA* in an online manner where we can iteratively collect data and improve our model while solving relevant start-goal tasks. We demonstrate the performance of our data collection and online framework on a 4D $(x, y, \theta, v)$ navigation domain., Comment: Accepted in the 17th International Symposium on Combinatorial Search (SoCS 2024)

Zinc sulfide ZnS thin films with variable structural, optical, electrical, and thermoelectric properties were obtained by changing the source to substrate SSD distance in the physical vaporthermal coating PVTC system. The films crystallized into a zinc blede cubic structure with 111 preferred orientation.

InGaN quantum wells (QWs) grown on c-plane sapphire substrate experience strain due to the lattice mismatch. The strain generates a strong piezoelectric field in QWs that contributes to THz emission under ultrafast excitation. Physical parameters such as QW width, period number, and Indium concentration can affect the strength of the piezoelectric field and result in THz emission. Experimental parameters such as pump fluence, laser energy, excitation power, pump polarization angle, and incident angle can be tuned to further optimize the THz emission. This review summarizes the effects of physical and experimental parameters of THz emission on InGaN QWs. Comparison and relationship between photoluminescence properties and THz emission in QWs are given, which further explains the origin of THz emission in InGaN QWs.

Generating human motion from text has been dominated by denoising motion models either through diffusion or generative masking process. However, these models face great limitations in usability by requiring prior knowledge of the motion length. Conversely, autoregressive motion models address this limitation by adaptively predicting motion endpoints, at the cost of degraded generation quality and editing capabilities. To address these challenges, we propose Bidirectional Autoregressive Motion Model (BAMM), a novel text-to-motion generation framework. BAMM consists of two key components: (1) a motion tokenizer that transforms 3D human motion into discrete tokens in latent space, and (2) a masked self-attention transformer that autoregressively predicts randomly masked tokens via a hybrid attention masking strategy. By unifying generative masked modeling and autoregressive modeling, BAMM captures rich and bidirectional dependencies among motion tokens, while learning the probabilistic mapping from textual inputs to motion outputs with dynamically-adjusted motion sequence length. This feature enables BAMM to simultaneously achieving high-quality motion generation with enhanced usability and built-in motion editability. Extensive experiments on HumanML3D and KIT-ML datasets demonstrate that BAMM surpasses current state-of-the-art methods in both qualitative and quantitative measures. Our project page is available at https://exitudio.github.io/BAMM-page

We are interested in studying sports with robots and starting with the problem of intercepting a projectile moving toward a robot manipulator equipped with a shield. To successfully perform this task, the robot needs to (i) detect the incoming projectile, (ii) predict the projectile's future motion, (iii) plan a minimum-time rapid trajectory that can evade obstacles and intercept the projectile, and (iv) execute the planned trajectory. These four steps must be performed under the manipulator's dynamic limits and extreme time constraints (<350ms in our setting) to successfully intercept the projectile. In addition, we want these trajectories to be smooth to reduce the robot's joint torques and the impulse on the platform on which it is mounted. To this end, we propose a kinodynamic motion planning framework that preprocesses smooth trajectories offline to allow real-time collision-free executions online. We present an end-to-end pipeline along with our planning framework, including perception, prediction, and execution modules. We evaluate our framework experimentally in simulation and show that it has a higher blocking success rate than the baselines. Further, we deploy our pipeline on a robotic system comprising an industrial arm (ABB IRB-1600) and an onboard stereo camera (ZED 2i), which achieves a 78% success rate in projectile interceptions., Comment: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2024

Data Science is a multidisciplinary field that plays a crucial role in extracting valuable insights and knowledge from large and intricate datasets. Within the realm of Data Science, two fundamental components are Information Theory (IT) and Statistical Mechanics (SM), which provide a theoretical framework for understanding dataset properties. IT enables efficient storage and transmission of information, while SM focuses on the behavior of systems comprising numerous interacting components. In the context of data science, SM allows us to model complex interactions among variables within a dataset. By leveraging these tools, data scientists can gain a profound understanding of data properties, leading to the development of advanced models and algorithms for analysis and interpretation. Consequently, data science has the potential to drive accurate predictions and enhance decision-making across various domains, including finance, marketing, healthcare, and scientific research. In this paper, we apply this data science framework to a large and intricate quantum mechanical system composed of particles. Our research demonstrates that the dynamic and probabilistic nature of such systems can be effectively addressed using a Multiscale Entropic Dynamics (MED) approach, derived from the Boltzmann methods of SM. Through the MED approach, we can describe the system's dynamics by formulating a general form of the Nonlinear Schr\"odinger equation and how it can be applied to various systems with particles and quasi-particles, such as electrons, plasmons, polarons, and solitons. By employing this innovative approach, we pave the way for a deeper understanding of quantum mechanical systems and their behaviors within complex materials., Comment: 12 pages

Graph search planning algorithms for navigation typically rely heavily on heuristics to efficiently plan paths. As a result, while such approaches require no training phase and can directly plan long horizon paths, they often require careful hand designing of informative heuristic functions. Recent works have started bypassing hand designed heuristics by using machine learning to learn heuristic functions that guide the search algorithm. While these methods can learn complex heuristic functions from raw input, they i) require a significant training phase and ii) do not generalize well to new maps and longer horizon paths. Our contribution is showing that instead of learning a global heuristic estimate, we can define and learn local heuristics which results in a significantly smaller learning problem and improves generalization. We show that using such local heuristics can reduce node expansions by 2-20x while maintaining bounded suboptimality, are easy to train, and generalize to new maps & long horizon plans., Comment: 5 pages, 3 figures, Accepted for presentation at ICAPS 2023 (International Conference on Automated Planning and Scheduling)

The Koper model is a vector field in which the differential equations describe the electrochemical oscillations appearing in diffusion processes. This work focuses on the understanding of the slow dynamics of stochastic Koper model perturbed by stable L\'evy noise. We establish the slow manifold for stochastic Koper model with stable L\'evy noise and verify exponential tracking property. We also present a practical example to demonstrate the analytical results with numerical simulations.