Computer Sciences Commons^™

Advancing Multi-Agent Robotics Simulations Through Heterogeneous Reinforcement Learning In Isaaclab, Jacob R. Haight

All Graduate Theses and Dissertations, Fall 2023 to Present

Robots increasingly operate in collaborative teams across domains such as search-and- rescue, warehouse automation, and autonomous driving—scenarios that demand advanced coordination strategies enabled by multi-agent reinforcement learning (MARL). However, existing simulation frameworks often struggle to balance realism, speed, and scalability, especially when supporting diverse, heterogeneous robot teams. This research extends Isaac Lab, a high-performance robotics simulator, by integrating heterogeneous-agent reinforcement learning (HARL) capabilities. The result is a flexible and GPU-accelerated platform for training both homogeneous and heterogeneous robot teams in complex, physics-based environments. These enhancements significantly narrow the gap between simulation and real-world deployment for multi-robot systems.

Ml Playground: Data Modification/Preprocessing And Model Simulation Tool, Marco D. Cerrato

Electronic Theses, Projects, and Dissertations

There is a heavy reliance on programming when it comes to learning machine learning (ML). This often creates barriers for students and newcomers unfamiliar with coding. While the lessons you learn in the classroom provide essential foundational understanding, some technical or practical aspects of ML—such as data preprocessing, feature engineering, and model tuning—are best learned through hands-on interaction. ML Playground was developed to act as a proof-of-concept application to address this gap by offering a browser-based, graphical user interface that lets users engage with core ML workflows without writing code. Designed with educational accessibility in mind, the application allows users …

Time Series Deep Learning Approach For The Intermittent Operational Performance Of A Wellhead Water Treatment And Desalination System, Michael G. Clement

Electronic Theses, Projects, and Dissertations

Distributed water treatment and desalination (DWTD) systems are becoming significant for serving disadvantaged communities that are geographically segregated from centralized water distribution networks. However, given the remote nature of the communities, these systems must operate autonomously adapting to intermittent operations due to varying water use patterns and unavailability of continuous manual labor support. Machine Learning models describing and forecasting system performance are critical, allowing for model-based control, performance forecasting, fault detection, and determination of causal relationships among process attributes. Accordingly, graph convolutional neural networks with an attention mechanism (GATConv) were developed to describe the intermittent operational profiles of a wellhead …

Contrastive Learning Techniques For Fraud Detection, Vinay Madanbhavi Shashidhar

Graduate Theses and Dissertations

Detecting fraud in computing platforms involves identifying malicious user sessions, often using deep learning models, but several challenges hinder effective deployment. Attackers can craft diverse malicious sessions that closely resemble normal ones, complicating the learning of robust decision boundaries. While supervised contrastive learning offers a promising solution through class-specific clustering, its potential remains underexplored. Real-world datasets typically contain few labeled malicious sessions and many normal ones, creating an open-set anomaly detection challenge. Costly expert annotation further limits labeled data, especially for smaller organizations, leading to Positive Unlabeled (PU) learning and noisy label learning issues. Organizations are increasingly turning to LLMs …

Solving Real-World Optimization Problems Using Near-Term Quantum Computing With Applications In Vehicle Routing And Drone Delivery, James Bradley Holliday

Graduate Theses and Dissertations

Quantum computing (QC) stands at the cusp of revolutionizing computation, yet its near-term potential, constrained by Noisy Intermediate-Scale Quantum (NISQ) devices, remains underexplored. This dissertation investigates how hybrid quantum-classical algorithms can address combinatorial optimization challenges in logistics, focusing on vehicle routing and drone delivery—NP-hard problems with exponential solution spaces that defy classical exhaustive methods. Amidst NISQ limitations like limited qubits and high noise, we confront key challenges: encoding complex constraints, e.g., time windows, battery capacity, into quantum models, balancing quantum and classical components for scalability, and accessing scarce quantum resources. By integrating quantum annealing (QA) and the Quantum Approximate Optimization …

Learning Behaviors In Physics-Informed Deep Learning, Alex Glover

Electronic Theses and Dissertations

Physics-informed deep learning is a methodology in artificial intelligence aimed at combating the large training data requirement and the barrier of domain awareness that deep learning architectures commonly face in applications. Stochastic modeling integrated into the predictive models provides that domain knowledge. Variations of the Intelligent Driving Model impact the learning behaviors of the joint-training architecture. This thesis examines the effect of substituting the standard linear Intelligent Driving Model with a modified nonlinear version, as applied to real human driving behavior on the I-80 interstate. The experimentation also critically evaluates the complications that impede the viability of this architecture in …

Divergence-Free Smoothed Particle Hydrodynamics In A Stream Digital Twin, Austin Hartley

All Theses

Digital Twins (DT) are being explored by the South Carolina (SC) water community to simulate how SC streams will flow at various water levels. Currently, a DT called Gilligan simulates these streams utilizing weakly-incompressible Smoothed Particle Hydrodynamics (SPH). This method does not strictly enforce incompressibility, which leads to unrealistic water flows and unwanted visual artifacts that require post-processing effects to hide. To address these problems and simulate more realistic water flows, the Gilligan stream logic is updated and a state-of-the-art SPH method that enforces incompressibility—Divergence-Free SPH (DFSPH)—is implemented within the Gilligan framework. DFSPH is able to make use of two …

Development Of Aczel-Alsina Aggregation Operators In Neutrosophic Cubic Sets For Multi-Expert And Multi-Criteria Weighting: Optimizing Alternative Fuel Technology Selection, Majid Khan, Muhammad Gulistan, Aitazaz A. Farooque, Mohammed M. Al-Shamiri, Witold Pedrycz

Neutrosophic Systems with Applications

Managing vague and uncertain data has long been a challenge in decision-making (DM), particularly in scenarios where criteria and expert assessments play a critical role. This paper introduces operational laws based on Aczel-Alsina (AA) norms within Neutrosophic Cubic Sets (NCS) to more effectively handle uncertainty. Leveraging these operational laws, we propose two aggregation operators: the Neutrosophic Cubic Aczel-Alsina Weighted Averaging (NCAAWA) and the Neutrosophic Cubic Aczel-Alsina Weighted Geometric (NCAAWG) operators. These provide a comprehensive approach to data aggregation, preserving both additive and multiplicative influences on outcomes in complex systems. In DM, the importance of weights is paramount, and we introduce …

Towards Reliable Ml: Data Attribution And Adversarial Robustness, Xiaosen Zheng

Dissertations and Theses Collection (Open Access)

Modern machine learning (ML) models achieve remarkable success, but face critical reliability challenges. This thesis advances two pillars of reliable ML systems: interpretability through data attribution and robustness against adversarial threats.

In the first part, we develop novel data attribution methods to elucidate the data-model relationship. We establish the critical role of memorization in model generalization through token-level influence analysis, extend sample-level attribution to diffusion models with effective approximation techniques, and introduce REGMIX, a group-level approach that predicts data mixture performance using small-scale experiments. These contributions provide practitioners with scalable tools to audit training data impacts across modalities.

The second …

Disentangling User Preferences Towards Self-Interpretable Recommender Systems, Nhu Thuat Tran

Dissertations and Theses Collection (Open Access)

Understanding user preferences remains a central challenge in recommender systems due to their inherently complex, unstructured, and multi-faceted nature, exacerbated by the sparsity of user interaction data. Traditional approaches often compress user interests into a single latent vector, overlooking the fact that user preferences are typically shaped by multiple underlying factors that differ across individuals. These latent drivers are not directly observable and must be discovered through unsupervised modeling, further complicated by limited historical interactions per user.

This dissertation addresses these challenges by introducing a principled framework for multiinterest modeling, which disentangles user behaviors into multiple latent factors to better …

Tailoring Transformer-Based Deep Learning For Code Generation And Translation, Imam Nur Bani Yusuf

Dissertations and Theses Collection (Open Access)

Software is increasingly pervasive in modern society, making the effective translation of human intent into code essential. Novice programmers often struggle with domain-specific code due to limited background knowledge, while experienced developers face challenges in maintaining evolving largescale codebases. Traditional pattern-based approaches address these issues, but such approaches are task-specific and require significant adaptation for different tasks. Transformer-based models offer a more flexible alternative, as the same architecture can be tailored for diverse programming tasks.

This dissertation investigates how Transformer-based models can be customized for various code generation and translation tasks. First, it introduces Transformer-based approaches that assist end-users with …

Network-Based Attacks In Cloud Computing In 2020-2024, Yaswanth Sai Manikanta Anguluri

Electronic Theses, Projects, and Dissertations

As the use of cloud technologies has increased in the past five years, the number of network attacks is also increasing. During 2020 to 2024, there are lot of changes in cloud technologies which led to various network attacks in the cloud computing environments from 2020 to 2024. This study investigates the evolution of network-based attacks in cloud environments from 2020 to 2024. Data was collected from Kaggle website to analyze the trends of the evolution of network-based attacks. The research questions are: (Q1) How do the trends change in network-based attack from 2020 to 2024 and why? (Q2) Which …

Triple-Valued Neutrosophic Set, Quadruple-Valued Neutrosophic Set, Quintuple-Valued Neutrosophic Set, And Double-Valued Indetermsoft Set, Takaaki Fujita

Neutrosophic Systems with Applications

Concepts such as Fuzzy Sets, Neutrosophic Sets, Rough Sets, and Plithogenic Sets have been extensively studied to address uncertainty, finding diverse applications across various fields. A Double-Valued Neutrosophic Set (DVNS) extends traditional neutrosophic sets by introducing two distinct indeterminacy components: one leaning towards truth and the other towards falsity. In this paper, we explore Triple-Valued Neutrosophic Sets, Quadruple-Valued Neutrosophic Sets, and Quintuple-Valued Neutrosophic Sets, as well as an extension of the Indetermsoft Set, termed the Double-Valued Indetermsoft Set. Note that related concepts such as the Multi-Valued Neutrosophic Set and the n-Valued Refined Neutrosophic Set have already been established.

Towards Visual Inertial Navigation With Fixed Tetrahedral Targets, Joao Leonardo Silva Cotta

Theses and Dissertations

This dissertation presents a robust method for 6DoF position estimation under impaired visual conditions utilizing a minimum 4-point Perspective-n-Point (P4P) solver designed for tetrahedral targets. Using SO(3) × R 3 instead of SE(3), the method uses a Lie group-based formulation to discriminate between rotation and translation, thereby enabling computationally efficient, resource-conscious op- optimization while preserving correct geometric behavior. Designed using the contemporary C++17 library ShomerTarget, the solver is analytically formulated and assessed under pragmatic robotic conditions. Particularly in low-light and high-dynamic environments, experiments on embedded systems, UAVs, and NASA’s Astrobee show that the proposed solver attains enhanced accuracy compared to …

Analytics Insights From Text: Machine Learning, Ai, And Sentiment Analysis On Beige Books, Charlie Smith

Graduate Theses and Dissertations (2019 - present)

Business analytics is about drawing actionable insights from data. These distinct but connected essays represent a novel approach to explore how natural language processing (NLP) advances and machine learning can transform unstructured text data into actionable conclusions. Essay 1 provides a broad framework. Essay 2 strengthens the sentiment analysis with the most recent artificial intelligence methodologies for capturing nuanced sentiment in complex texts. Essay 3 applies those insights to forecast recessions using topics that can be readily interpreted and applied.

The research demonstrates how these methodologies can be applied to enhance understanding of the same dataset, Beige Books. Published by …

Comparative Analysis Of Regression And Random Forest Models For Player Performance Prediction In The Mls, Joshua Clement Madeti

Senior Honors Theses

Advanced technology and analytics have transformed the world and have benefited several industries throughout, the sport industry being one of them. Data is constantly generated during sports and requires post-game or post-season analysis which is crucial to team and player success. In this paper, the researcher will focus on the impact of analytics on soccer and soccer players. With over three billion active fans, soccer is the most famous sport in the world yet, when it comes to analytics, it is lagging. The thesis includes a comparative study of multiple linear regression and random forest regression to explore whether these …

Towards Multimodal Scene Graph Generation Approaches To Video Understanding, Trong-Thuan Nguyen

Graduate Theses and Dissertations

This thesis advances video understanding by enhancing Video Scene Graph Generation (VidSGG) through improved temporal modeling, the integration of long-range temporal dependencies via continuous updates to interaction histories, and the utilization of Large Language Models (LLMs) for scene graph reasoning. To this end, three novel datasets and corresponding approaches are introduced. First, the ASPIRe dataset incorporates interactivity annotations and leverages the Hierarchical Interlacement Graph (HIG) for hierarchical temporal modeling, providing deep insights into scene changes and effectively capturing intricate interactions. Next, the AeroEye dataset, focusing on drone videos, is paired with the Cyclic Graph Transformer (CYCLO), which establishes circular connectivity …

Achieving Flexible Fairness And Privacy In Federated Learning, Alycia N. Carey

Graduate Theses and Dissertations

Having access to large, high-quality datasets is crucial for training machine learning models that achieve satisfactory performance. Unfortunately, it is common that a single entity (e.g., mobile device or organization) does not have access to such datasets due to monetary or resource constraints. Traditional machine learning requires that all training data reside in a centralized location during the entire duration of model training, however, in many circumstances it is difficult or even impossible (e.g., due to governmental regulations) for multiple parties to combine their data to meet this constraint. Federated learning is a machine learning paradigm that facilitates the joint …

Oscar: Object Status And Contextual Awareness For Recipes To Support Non-Visual Cooking, Franklin Mingzhe Li, Kaitlyn Ng, Bin Zhu, Patrick Carrington

Research Collection School Of Computing and Information Systems

Following recipes while cooking is an important but difficult task for visually impaired individuals. We developed OSCAR (Object Status Context Awareness for Recipes), a novel approach that provides recipe progress tracking and context-aware feedback on the completion of cooking tasks through tracking object statuses. OSCAR leverages both Large-Language Models (LLMs) and Vision-Language Models (VLMs) to manipulate recipe steps, extract object status information, align visual frames with object status, and provide cooking progress tracking log. We evaluated OSCAR’s recipe following functionality using 173 YouTube cooking videos and 12 real-world non-visual cooking videos to demonstrate OSCAR’s capability to track cooking steps and …

Seaexam And Seabench: Benchmarking Llms With Local Multilingual Questions In Southeast Asia, Chaoqun Liu, Wenxuan Zhang, Jiahao Ying, Mahani Aljunied, Anh Tuan Luu, Lidong Bing

Research Collection School Of Computing and Information Systems

This study introduces two novel benchmarks, SeaExam and SeaBench, designed to evalu ate the capabilities of Large Language Models (LLMs) in Southeast Asian (SEA) application scenarios. Unlike existing multilingual datasets primarily derived from English translations, these benchmarks are constructed based on real world scenarios from SEA regions. SeaExam draws from regional educational exams to form a comprehensive dataset that encompasses sub jects such as local history and literature. In contrast, SeaBench is crafted around multi turn, open-ended tasks that reflect daily inter actions within SEA communities. Our evalua tions demonstrate that SeaExam and SeaBench more effectively discern LLM performance on …

Intention Is All You Need: Refining Your Code From Your Intention, Qi Guo, Xiaofei Xie, Shangqing Liu, Ming Hu, Xiaohong Li, Lei Bu

Research Collection School Of Computing and Information Systems

Code refinement aims to enhance existing code by addressing issues, refactoring, and optimizing to improve quality and meet specific requirements. As software projects scale in size and complexity, the traditional iterative exchange between reviewers and developers becomes increasingly burdensome. While recent deep learning techniques have been explored to accelerate this process, their performance remains limited, primarily due to challenges in accurately understanding reviewers’ intents. This paper proposes an intention-based code refinement technique that enhances the conventional comment-to-code process by explicitly extracting reviewer intentions from the comments. Our approach consists of two key phases: Intention Extraction and Intention Guided Revision Generation. …

Tensorjsfuzz: Effective Testing Of Web-Based Deep Learning Frameworks Via Input-Constraint Extraction, Lili Quan, Xiaofei Xie, Qianyu Guo, Lingxiao Jiang, Sen Chen, Junjie Wang, Xiaohong Li

Research Collection School Of Computing and Information Systems

The 2025 ACM Web Conference (WWW '25) took place from April 28 to May 2, 2025, in the Sydney Convention & Exhibition Centre, Australia. Its logo, featuring the Sydney Harbour Bridge, symbolizes the core "connecting" function of the Web. Formerly known as the International World Wide Web Conference (WWW), this event originated at CERN in 1994 and has long served as the premier venue for presenting and discussing research, development, standards, and applications related to the Web.The 2025 ACM Web Conference (WWW'25) took place from April 28 to May 2, 2025, in the Sydney Convention & Exhibition Centre, Australia. Its …

Rotation-Adaptive Point Cloud Domain Generalization Via Intricate Orientation Learning, Bangzhen Liu, Chenxi Zheng, Xuemiao Xu, Cheng Xu, Huaidong Zhang, Shengfeng He

Research Collection School Of Computing and Information Systems

The vulnerability of 3D point cloud analysis to unpredictable rotations poses an open yet challenging problem: orientation-aware 3D domain generalization. Cross-domain robustness and adaptability of 3D representations are crucial but not easily achieved through rotation augmentation. Motivated by the inherent advantages of intricate orientations in enhancing generalizability, we propose an innovative rotation-adaptive domain generalization framework for 3D point cloud analysis. Our approach aims to alleviate orientational shifts by leveraging intricate samples in an iterative learning process. Specifically, we identify the most challenging rotation for each point cloud and construct an intricate orientation set by optimizing intricate orientations. Subsequently, we employ …

“I Can Run At Night!”: Using Augmented Reality To Support Nighttime Guided Running For Low-Vision Runners, Yuki Abe, Keisuke Matsushima, Kotaro Hara, Daisuke Sakamoto, Tetsuo Ono

Research Collection School Of Computing and Information Systems

Dark environment challenges low-vision (LV) individuals to engage in running by following sighted guide—a Caller-style guided running—due to insufficient illumination, because it prevents them from using their residual vision to follow the guide and be aware about their environment. We design, develop, and evaluate RunSight, an augmented reality (AR)-based assistive tool to support LV individuals to run at night. RunSight combines see-through HMD and image processing to enhance one’s visual awareness of the surrounding environment (e.g., potential hazard) and visualize the guide’s position with AR-based visualization. To demonstrate RunSight’s efficacy, we conducted a user study with 8 LV runners. The …

Cyberoception: Finding A Painlessly-Measurable New Sense In The Cyberworld Towards Emotion-Awareness In Computing, Tadashi Okoshi, Zexiong Gao, Yi Zhen Tan, Takumi Karasawa, Takeshi Miki, Wataru Sasaki, Rajesh Krishna Balan

Research Collection School Of Computing and Information Systems

In Affective computing, recognizing users’ emotions accurately is the basis of affective human–computer interaction. Understanding users’ interoception contributes to a better understanding of individually different emotional abilities, which is essential for achieving inter-individually accurate emotion estimation. However, existing interoception measurement methods, such as the heart rate discrimination task, have several limitations, including their dependence on a well-controlled laboratory environment and precision apparatus, making monitoring users’ interoception challenging. This study aims to determine other forms of data that can explain users’ interoceptive or similar states in their real-world lives and propose a novel hypothetical concept “cyberoception,” a new sense (1) which …

Mosmac: A Multi-Agent Reinforcement Learning Benchmark On Sequential Multi-Objective Tasks, Minghong Geng, Shubham Pateria, Budhitama Subagdja, Ah-Hwee Tan

Research Collection School Of Computing and Information Systems

Recent advancements in multi-agent reinforcement learning (MARL) have demonstrated success on various cooperative multi-agent tasks. However, current benchmarks often fall short of representing realistic scenarios that demand agents to execute sequential tasks over long temporal horizons while balancing multiple objectives. To address this limitation, we introduce multi-objective SMAC (MOSMAC), a comprehensive MARL benchmark designed to evaluate MARL methods on tasks involving multiple objectives, sequential subtask assignments, and varying temporal horizons. MOSMAC requires agents to tackle a series of interconnected subtasks in StarCraft II while simultaneously optimizing for multiple objectives, including combat, safety, and navigation. Through rigorous evaluation of nine state-of-the-art …

Toward Better Comprehension Of Breaking Changes In The Npm Ecosystem, Dezhen Kong, Jiakun Liu, Lingfeng Bao, David Lo

Research Collection School Of Computing and Information Systems

Code evolution is prevalent in software ecosystems, which can provide many benefits, such as new features, bug fixes, security patches, while still introducing breaking changes that make downstream projects fail to work. Breaking changes cause a lot of effort to both downstream and upstream developers: downstream developers need to adapt to breaking changes and upstream developers are responsible for identifying and documenting them. In the NPM ecosystem, characterized by frequent code changes and a high tolerance for making breaking changes, the effort is larger.For better comprehension of breaking changes in the NPM ecosystem and to enhance breaking change detection tools, …

Multiobjective Linear Ensembles For Robust And Sparse Training Of Few-Bit Neural Networks, Ambrogio Maria Bernardelli, Stefano Gualandi, Simone Milanesi, Hoong Chuin Lau, Neil Yorke-Smith

Research Collection School Of Computing and Information Systems

Training neural networks (NNs) using combinatorial optimization solvers has gained attention in recent years. In low-data settings, the use of state-of-the-art mixed integer linear programming solvers, for instance, has the potential to exactly train an NN while avoiding computing-intensive training and hyperparameter tuning and simultaneously training and sparsifying the network. We study the case of few-bit discrete-valued neural networks, both binarized neural networks (BNNs) whose values are restricted to ±1 and integer-valued neural networks (INNs) whose values lie in the range {−P,…,P}. Few-bit NNs receive increasing recognition because of their lightweight architecture and ability to run on low-power devices: for …

Enriching Automatic Test Case Generation By Extracting Relevant Test Inputs From Bug Reports, Wendkuuni C. Ouedraogo, Laura Plein, Kader Kabore, Andrew Habib, Jacques Klein, David Lo, Tegawende F. Bissyande

Research Collection School Of Computing and Information Systems

The quality of software is closely tied to the effectiveness of the tests it undergoes. Manual test writing, though crucial for bug detection, is time-consuming, which has driven significant research into automated test case generation. However, current methods often struggle to generate relevant inputs, limiting the effectiveness of the tests produced. To address this, we introduce BRMiner, a novel approach that leverages Large Language Models (LLMs) in combination with traditional techniques to extract relevant inputs from bug reports, thereby enhancing automated test generation tools. In this study, we evaluate BRMiner using the Defects4J benchmark and test generation tools such as …

Prompting An Embodied Ai Agent: How Embodiment And Multimodal Signaling Affects Prompting Behaviour, Tianyi Zhang, Colin Au Yeung, Emily Aurelia, Yuki Onishi, Neil Chulpongsatorn, Jiannan Li, Anthony Tang

Research Collection School Of Computing and Information Systems

Current voice agents wait for a user to complete their verbal instruction before responding; yet, this is misaligned with how humans engage in everyday conversational interaction, where interlocutors use multimodal signaling (e.g. nodding, grunting, or looking at referred to objects) to ensure conversational grounding. We designed an embodied VR agent that exhibits multimodal signaling behaviors in response to situated prompts, by turning its head, or by visually highlighting objects being discussed or referred to. We explore how people prompt this agent to design and manipulate the objects in a VR scene. Through a Wizard of Oz study, we found that …