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Intelligent transportation systems (ITS) localization is of significant importance as it provides fundamental position and orientation for autonomous operations like intelligent vehicles. Integrating diverse and complementary sensors such as global navigation satellite system (GNSS) and 4D-radar can provide scalable and reliable global localization. Nevertheless, multi-sensor fusion encounters challenges including heterogeneity and time-varying uncertainty in measurements. Consequently, developing a reliable and unified multi-sensor framework remains challenging. In this paper, we introduce UniMSF, a comprehensive multi-sensor fusion localization framework for ITS, utilizing factor graphs. By integrating a multi-sensor fusion front-end, alongside outlier detection\&noise model estimation, and a factor graph optimization back-end, this framework accomplishes efficient fusion and ensures accurate localization for ITS. Specifically, in the multi-sensor fusion front-end module, we tackle the measurement heterogeneity among different modality sensors and establish effective measurement models. Reliable outlier detection and data-driven online noise estimation methods ensure that back-end optimization is immune to interference from outlier measurements. In addition, integrating multi-sensor observations via factor graph optimization offers the advantage of \enquote{plug and play}. Notably, our framework features high modularity and is seamlessly adapted to various sensor configurations. We demonstrate the effectiveness of the proposed framework through real vehicle tests by tightly integrating GNSS pseudorange and carrier phase information with IMU, and 4D-radar.

The ability of Graph Neural Networks (GNNs) to capture long-range and global topology information is limited by the scope of conventional graph Laplacian, leading to unsatisfactory performance on some datasets, particularly on heterophilic graphs. To address this limitation, we propose a new class of parameterized Laplacian matrices, which provably offers more flexibility in controlling the diffusion distance between nodes than the conventional graph Laplacian, allowing long-range information to be adaptively captured through diffusion on graph. Specifically, we first prove that the diffusion distance and spectral distance on graph have an order-preserving relationship. With this result, we demonstrate that the parameterized Laplacian can accelerate the diffusion of long-range information, and the parameters in the Laplacian enable flexibility of the diffusion scopes. Based on the theoretical results, we propose topology-guided rewiring mechanism to capture helpful long-range neighborhood information for heterophilic graphs. With this mechanism and the new Laplacian, we propose two GNNs with flexible diffusion scopes: namely the Parameterized Diffusion based Graph Convolutional Networks (PD-GCN) and Graph Attention Networks (PD-GAT). Synthetic experiments reveal the high correlations between the parameters of the new Laplacian and the performance of parameterized GNNs under various graph homophily levels, which verifies that our new proposed GNNs indeed have the ability to adjust the parameters to adaptively capture the global information for different levels of heterophilic graphs. They also outperform the state-of-the-art (SOTA) models on 6 out of 7 real-world benchmark datasets, which further confirms their superiority., Comment: arXiv admin note: substantial text overlap with arXiv:2403.01475

Over the past decade, Graph Neural Networks (GNNs) have achieved great success on machine learning tasks with relational data. However, recent studies have found that heterophily can cause significant performance degradation of GNNs, especially on node-level tasks. Numerous heterophilic benchmark datasets have been put forward to validate the efficacy of heterophily-specific GNNs and various homophily metrics have been designed to help people recognize these malignant datasets. Nevertheless, there still exist multiple pitfalls that severely hinder the proper evaluation of new models and metrics. In this paper, we point out three most serious pitfalls: 1) a lack of hyperparameter tuning; 2) insufficient model evaluation on the real challenging heterophilic datasets; 3) missing quantitative evaluation benchmark for homophily metrics on synthetic graphs. To overcome these challenges, we first train and fine-tune baseline models on $27$ most widely used benchmark datasets, categorize them into three distinct groups: malignant, benign and ambiguous heterophilic datasets, and identify the real challenging subsets of tasks. To our best knowledge, we are the first to propose such taxonomy. Then, we re-evaluate $10$ heterophily-specific state-of-the-arts (SOTA) GNNs with fine-tuned hyperparameters on different groups of heterophilic datasets. Based on the model performance, we reassess their effectiveness on addressing heterophily challenge. At last, we evaluate $11$ popular homophily metrics on synthetic graphs with three different generation approaches. To compare the metrics strictly, we propose the first quantitative evaluation method based on Fr\'echet distance., Comment: arXiv admin note: substantial text overlap with arXiv:2407.09618

Mixture of Experts (MoE) offers remarkable performance and computational efficiency by selectively activating subsets of model parameters. Traditionally, MoE models use homogeneous experts, each with identical capacity. However, varying complexity in input data necessitates experts with diverse capabilities, while homogeneous MoE hinders effective expert specialization and efficient parameter utilization. In this study, we propose a novel Heterogeneous Mixture of Experts (HMoE), where experts differ in size and thus possess diverse capacities. This heterogeneity allows for more specialized experts to handle varying token complexities more effectively. To address the imbalance in expert activation, we propose a novel training objective that encourages the frequent activation of smaller experts, enhancing computational efficiency and parameter utilization. Extensive experiments demonstrate that HMoE achieves lower loss with fewer activated parameters and outperforms conventional homogeneous MoE models on various pre-training evaluation benchmarks. Codes will be released upon acceptance.

Mid-infrared spectrum is a critical tool for chemical analysis, industrial inspection, environment, and other fields due to its rich chemical bond information. However, the complicated growth or fabrication procedures of existing mid-infrared sensitive materials hinder the large-scale production and utilization of mid-infrared detectors. To address this issue, we developed Si:S barrier detectors employing sulfur doped silicon and a sophisticated band barrier design. Since the transport of dark current and photo current is separated, the barrier design effectively suppresses the dark current while allowing the photo current to leverage gain mechanisms, thereby substantially improving signal-to-noise ratio. As a result, the detector exhibits an infrared response range covering from 1.12 to 4.4{\mu}m with a peak at 3.3{\mu}m, excluding its intrinsic response in visible range. Its peak quantum efficiency surpasses that of the best mid-infrared silicon-based detector reported to date by an order of magnitude, reaching 2% at room temperature. The peak detectivity at 90K is 1.4E11 Jones @1.4V and decreases to 4.4E9 Jones @1.4V, 210K, comparable to the typical III-V and IV-VI photodetectors at one thousandth fabrication cost. Leveraging the well-established silicon-based manufacturing process, this device holds promise for large-scale production at a reduced price, offering a cost-effective solution for future mid-infrared detection.

Large vision-language models (LVLMs) are markedly proficient in deriving visual representations guided by natural language. Recent explorations have utilized LVLMs to tackle zero-shot visual anomaly detection (VAD) challenges by pairing images with textual descriptions indicative of normal and abnormal conditions, referred to as anomaly prompts. However, existing approaches depend on static anomaly prompts that are prone to cross-semantic ambiguity, and prioritize global image-level representations over crucial local pixel-level image-to-text alignment that is necessary for accurate anomaly localization. In this paper, we present ALFA, a training-free approach designed to address these challenges via a unified model. We propose a run-time prompt adaptation strategy, which first generates informative anomaly prompts to leverage the capabilities of a large language model (LLM). This strategy is enhanced by a contextual scoring mechanism for per-image anomaly prompt adaptation and cross-semantic ambiguity mitigation. We further introduce a novel fine-grained aligner to fuse local pixel-level semantics for precise anomaly localization, by projecting the image-text alignment from global to local semantic spaces. Extensive evaluations on MVTec and VisA datasets confirm ALFA's effectiveness in harnessing the language potential for zero-shot VAD, achieving significant PRO improvements of 12.1% on MVTec and 8.9% on VisA compared to state-of-the-art approaches., Comment: Accepted by MM'24 (Oral)

Weakly supervised text classification (WSTC), also called zero-shot or dataless text classification, has attracted increasing attention due to its applicability in classifying a mass of texts within the dynamic and open Web environment, since it requires only a limited set of seed words (label names) for each category instead of labeled data. With the help of recently popular prompting Pre-trained Language Models (PLMs), many studies leveraged manually crafted and/or automatically identified verbalizers to estimate the likelihood of categories, but they failed to differentiate the effects of these category-indicative words, let alone capture their correlations and realize adaptive adjustments according to the unlabeled corpus. In this paper, in order to let the PLM effectively understand each category, we at first propose a novel form of rule-based knowledge using logical expressions to characterize the meanings of categories. Then, we develop a prompting PLM-based approach named RulePrompt for the WSTC task, consisting of a rule mining module and a rule-enhanced pseudo label generation module, plus a self-supervised fine-tuning module to make the PLM align with this task. Within this framework, the inaccurate pseudo labels assigned to texts and the imprecise logical rules associated with categories mutually enhance each other in an alternative manner. That establishes a self-iterative closed loop of knowledge (rule) acquisition and utilization, with seed words serving as the starting point. Extensive experiments validate the effectiveness and robustness of our approach, which markedly outperforms state-of-the-art weakly supervised methods. What is more, our approach yields interpretable category rules, proving its advantage in disambiguating easily-confused categories., Comment: Accepted by WWW 2024

Graph Attention Network (GAT) is one of the most popular Graph Neural Network (GNN) architecture, which employs the attention mechanism to learn edge weights and has demonstrated promising performance in various applications. However, since it only incorporates information from immediate neighborhood, it lacks the ability to capture long-range and global graph information, leading to unsatisfactory performance on some datasets, particularly on heterophilic graphs. To address this limitation, we propose the Directional Graph Attention Network (DGAT) in this paper. DGAT is able to combine the feature-based attention with the global directional information extracted from the graph topology. To this end, a new class of Laplacian matrices is proposed which can provably reduce the diffusion distance between nodes. Based on the new Laplacian, topology-guided neighbour pruning and edge adding mechanisms are proposed to remove the noisy and capture the helpful long-range neighborhood information. Besides, a global directional attention is designed to enable a topological-aware information propagation. The superiority of the proposed DGAT over the baseline GAT has also been verified through experiments on real-world benchmarks and synthetic data sets. It also outperforms the state-of-the-art (SOTA) models on 6 out of 7 real-world benchmark datasets.

We leverage the Multiplicative Weight Update (MWU) method to develop a decentralized algorithm that significantly improves the performance of dynamic time division duplexing (D-TDD) in small cell networks. The proposed algorithm adaptively adjusts the time portion allocated to uplink (UL) and downlink (DL) transmissions at every node during each scheduled time slot, aligning the packet transmissions toward the most appropriate link directions according to the feedback of signal-to-interference ratio information. Our simulation results reveal that compared to the (conventional) fixed configuration of UL/DL transmission probabilities in D-TDD, incorporating MWU into D-TDD brings about a two-fold improvement of mean packet throughput in the DL and a three-fold improvement of the same performance metric in the UL, resulting in the D-TDD even outperforming Static-TDD in the UL. It also shows that the proposed scheme maintains a consistent performance gain in the presence of an ascending traffic load, validating its effectiveness in boosting the network performance. This work also demonstrates an approach that accounts for algorithmic considerations at the forefront when solving stochastic problems.

Federated learning (FL) underpins advancements in privacy-preserving distributed computing by collaboratively training neural networks without exposing clients' raw data. Current FL paradigms primarily focus on uni-modal data, while exploiting the knowledge from distributed multimodal data remains largely unexplored. Existing multimodal FL (MFL) solutions are mainly designed for statistical or modality heterogeneity from the input side, however, have yet to solve the fundamental issue,"modality imbalance", in distributed conditions, which can lead to inadequate information exploitation and heterogeneous knowledge aggregation on different modalities.In this paper, we propose a novel Cross-Modal Infiltration Federated Learning (FedCMI) framework that effectively alleviates modality imbalance and knowledge heterogeneity via knowledge transfer from the global dominant modality. To avoid the loss of information in the weak modality due to merely imitating the behavior of dominant modality, we design the two-projector module to integrate the knowledge from dominant modality while still promoting the local feature exploitation of weak modality. In addition, we introduce a class-wise temperature adaptation scheme to achieve fair performance across different classes. Extensive experiments over popular datasets are conducted and give us a gratifying confirmation of the proposed framework for fully exploring the information of each modality in MFL., Comment: 10 pages, 5 figures 4 tables

Real-time analytics and decision-making require online anomaly detection (OAD) to handle drifts in data streams efficiently and effectively. Unfortunately, existing approaches are often constrained by their limited detection capacity and slow adaptation to evolving data streams, inhibiting their efficacy and efficiency in handling concept drift, which is a major challenge in evolving data streams. In this paper, we introduce METER, a novel dynamic concept adaptation framework that introduces a new paradigm for OAD. METER addresses concept drift by first training a base detection model on historical data to capture recurring central concepts, and then learning to dynamically adapt to new concepts in data streams upon detecting concept drift. Particularly, METER employs a novel dynamic concept adaptation technique that leverages a hypernetwork to dynamically generate the parameter shift of the base detection model, providing a more effective and efficient solution than conventional retraining or fine-tuning approaches. Further, METER incorporates a lightweight drift detection controller, underpinned by evidential deep learning, to support robust and interpretable concept drift detection. We conduct an extensive experimental evaluation, and the results show that METER significantly outperforms existing OAD approaches in various application scenarios.

Homophily principle, i.e., nodes with the same labels are more likely to be connected, has been believed to be the main reason for the performance superiority of Graph Neural Networks (GNNs) over Neural Networks on node classification tasks. Recent research suggests that, even in the absence of homophily, the advantage of GNNs still exists as long as nodes from the same class share similar neighborhood patterns. However, this argument only considers intra-class Node Distinguishability (ND) but neglects inter-class ND, which provides incomplete understanding of homophily on GNNs. In this paper, we first demonstrate such deficiency with examples and argue that an ideal situation for ND is to have smaller intra-class ND than inter-class ND. To formulate this idea and study ND deeply, we propose Contextual Stochastic Block Model for Homophily (CSBM-H) and define two metrics, Probabilistic Bayes Error (PBE) and negative generalized Jeffreys divergence, to quantify ND. With the metrics, we visualize and analyze how graph filters, node degree distributions and class variances influence ND, and investigate the combined effect of intra- and inter-class ND. Besides, we discovered the mid-homophily pitfall, which occurs widely in graph datasets. Furthermore, we verified that, in real-work tasks, the superiority of GNNs is indeed closely related to both intra- and inter-class ND regardless of homophily levels. Grounded in this observation, we propose a new hypothesis-testing based performance metric beyond homophily, which is non-linear, feature-based and can provide statistical threshold value for GNNs' the superiority. Experiments indicate that it is significantly more effective than the existing homophily metrics on revealing the advantage and disadvantage of graph-aware modes on both synthetic and benchmark real-world datasets., Comment: Accepted by 37th Conference on Neural Information Processing Systems (NeurIPS 2023)

Filtering based on Singular Value Decomposition (SVD) provides substantial separation of clutter, flow and noise in high frame rate ultrasound flow imaging. The use of SVD as a clutter filter has greatly improved techniques such as vector flow imaging, functional ultrasound and super-resolution ultrasound localization microscopy. The removal of clutter and noise relies on the assumption that tissue, flow and noise are each represented by different subsets of singular values, so that their signals are uncorrelated and lay on orthogonal sub-spaces. This assumption fails in the presence of tissue motion, for near-wall or microvascular flow, and can be influenced by an incorrect choice of singular value thresholds. Consequently, separation of flow, clutter and noise is imperfect, which can lead to image artefacts not present in the original data. Temporal and spatial fluctuation in intensity are the commonest artefacts, which vary in appearance and strengths. Ghosting and splitting artefacts are observed in the microvasculature where the flow signal is sparsely distributed. Singular value threshold selection, tissue motion, frame rate, flow signal amplitude and acquisition length affect the prevalence of these artefacts. Understanding what causes artefacts due to SVD clutter and noise removal is necessary for their interpretation., Comment: 10 pages, 7 figures

Online Class-Incremental (OCI) learning has sparked new approaches to expand the previously trained model knowledge from sequentially arriving data streams with new classes. Unfortunately, OCI learning can suffer from catastrophic forgetting (CF) as the decision boundaries for old classes can become inaccurate when perturbated by new ones. Existing literature have applied the data augmentation (DA) to alleviate the model forgetting, while the role of DA in OCI has not been well understood so far. In this paper, we theoretically show that augmented samples with lower correlation to the original data are more effective in preventing forgetting. However, aggressive augmentation may also reduce the consistency between data and corresponding labels, which motivates us to exploit proper DA to boost the OCI performance and prevent the CF problem. We propose the Enhanced Mixup (EnMix) method that mixes the augmented samples and their labels simultaneously, which is shown to enhance the sample diversity while maintaining strong consistency with corresponding labels. Further, to solve the class imbalance problem, we design an Adaptive Mixup (AdpMix) method to calibrate the decision boundaries by mixing samples from both old and new classes and dynamically adjusting the label mixing ratio. Our approach is demonstrated to be effective on several benchmark datasets through extensive experiments, and it is shown to be compatible with other replay-based techniques., Comment: 10 pages, 7 figures and 3 tables

Graph Neural Networks (GNNs) extend basic Neural Networks (NNs) by additionally making use of graph structure based on the relational inductive bias (edge bias), rather than treating the nodes as collections of independent and identically distributed (i.i.d.) samples. Though GNNs are believed to outperform basic NNs in real-world tasks, it is found that in some cases, GNNs have little performance gain or even underperform graph-agnostic NNs. To identify these cases, based on graph signal processing and statistical hypothesis testing, we propose two measures which analyze the cases in which the edge bias in features and labels does not provide advantages. Based on the measures, a threshold value can be given to predict the potential performance advantages of graph-aware models over graph-agnostic models., Comment: Accepted by 12th International Conference on Complex Networks and Their Applications

Graph Neural Networks (GNNs) extend basic Neural Networks (NNs) by using graph structures based on the relational inductive bias (homophily assumption). While GNNs have been commonly believed to outperform NNs in real-world tasks, recent work has identified a non-trivial set of datasets where their performance compared to NNs is not satisfactory. Heterophily has been considered the main cause of this empirical observation and numerous works have been put forward to address it. In this paper, we first revisit the widely used homophily metrics and point out that their consideration of only graph-label consistency is a shortcoming. Then, we study heterophily from the perspective of post-aggregation node similarity and define new homophily metrics, which are potentially advantageous compared to existing ones. Based on this investigation, we prove that some harmful cases of heterophily can be effectively addressed by local diversification operation. Then, we propose the Adaptive Channel Mixing (ACM), a framework to adaptively exploit aggregation, diversification and identity channels node-wisely to extract richer localized information for diverse node heterophily situations. ACM is more powerful than the commonly used uni-channel framework for node classification tasks on heterophilic graphs and is easy to be implemented in baseline GNN layers. When evaluated on 10 benchmark node classification tasks, ACM-augmented baselines consistently achieve significant performance gain, exceeding state-of-the-art GNNs on most tasks without incurring significant computational burden., Comment: Published at 36th Conference on Neural Information Processing Systems (NeurIPS 2022). arXiv admin note: substantial text overlap with arXiv:2109.05641

We study the modifications of near-field radiative energy transfer (NFRET) caused by residual surface charges, which are common in micro- and nano-systems like NEMS/MEMS. The host object with the residual surface charges and the inherent bulk state can be treated as an analog of the real three-dimensional topological insulator, which is inherent of also both surface states and bulk states and is promising to modulate NFRET. Through constructing such a topological insulator analog, we aim to modulate NFRET concerning only common trivial materials. Besides the well-known resonant modes (surface polariton and localized surface polariton) supported by the bulk state, the residual surface charges give rise to an additional temperature-dependent mode providing a new heat flux channel. For low temperatures we find a giant surface-charge-induced enhancement of the NFRET due to a good match between the surface-charge-induced resonance and the Planck window. However, for relative high temperatures where the Fr\"{o}hlich resonance dominates the heat transfer rather the surface-charge-induced resonance, the residual charges result in a weakening of the NFRET. This work paves way for understanding and modulating the near-field radiative energy transfer for micro- and nano-systems., Comment: 8 pages, 7 figures

This paper presents the development and experimental evaluation of a surgical robotic system for total hip arthroplasty (THA). Although existing robotic systems used in joint replacement surgery have achieved some progresses, the robot arm must be situated accurately at the target position during operation, which depends significantly on the experience of the surgeon. In addition, handheld acetabulum reamers typically exhibit uneven strength and grinding file. Moreover, the lack of techniques to real-time measure femoral neck length may lead to poor outcomes. To tackle these challenges, we propose a real-time traceable optical positioning strategy to reduce unnecessary manual adjustments to the robotic arm during surgery, an end-effector system to stabilise grinding, and an optical probe to provide real-time measurement of the femoral neck length and other parameters used to choose the proper prosthesis. The lengths of the lower limbs are measured as the prosthesis is installed. The experimental evaluation results show that, based on its accuracy, execution ability, and robustness, the proposed surgical robotic system is feasible for THA.