Artificial Intelligence and Robotics Commons^™

A Systemic Approach To Maximize Heterogeneous System Performance, Thomas L. Randall

All Dissertations

Continuous increases in high performance computing (HPC) throughput have served as catalysts for industry and scientific advancement in countless manners that have fundamentally shaped our modern world. Our demands on compute resources continue to scale, but the limitations of Ahmdal’s law and Dennard scaling have proven increasingly difficult to overcome when approached solely through hardware or software design. Furthermore, many HPC applications fail to utilize the collective system’s performance, even on the most advanced supercomputers.

However, the resurgence of AI in the industry has promoted an explosion of hardware and software codesign that have fueled massive improvements in GPU design …

Oculomics: Current Concepts And Evidence, Zhuoting Zhu, Yueye Wang, Ziyi Qi, Wenyi Hu, Xiayin Zhang, Siegfried K Wagner, Yujie Wang, An Ran Ran, Joshua Ong, Ethan Waisberg, Mouayad Masalkhi, Alex Suh, Yih Chung Tham, Carol Y Cheung, Xiaohong Yang, Honghua Yu, Zongyuan Ge, Wei Wang, Bin Sheng, Yun Liu, Andrew G Lee, Alastair K Denniston, Peter Van Wijngaarden, Pearse A Keane, Ching-Yu Cheng, Mingguang He, Tien Yin Wong

Faculty, Staff and Student Publications

The eye provides novel insights into general health, as well as pathogenesis and development of systemic diseases. In the past decade, growing evidence has demonstrated that the eye's structure and function mirror multiple systemic health conditions, especially in cardiovascular diseases, neurodegenerative disorders, and kidney impairments. This has given rise to the field of oculomics-the application of ophthalmic biomarkers to understand mechanisms, detect and predict disease. The development of this field has been accelerated by three major advances: 1) the availability and widespread clinical adoption of high-resolution and non-invasive ophthalmic imaging ("hardware"); 2) the availability of large studies to interrogate associations …

The Role Of Ai In Enhancing Teamwork, Resilience And Decision-Making: Review Of Recent Developments, Satyadhar Joshi

Harrisburg University Other Works

This paper explores the transformative impact of artificial intelligence (AI) on organizational teamwork, decision-making, and resilience. This paper furthur reviews recent literature on the integration of Artificial Intelligence (AI) in various organizational functions, focusing on its impact on innovation management, leadership paradigms, and organizational resilience. We provide groundwork required to enhance frameworks that can integrate cognitive scaffolding with antifragile team dynamics, employing behavioral economics and neurocognitive principles. We introduce methodologies for enhancing team resilience through adaptive AI systems, cross-training interventions, and pre-mortem simulation techniques. The framework addresses key challenges in confirmation bias mitigation, cultural dimension alignment, and vigilance decrement prevention. …

Robot-Integrated 4d Building Information Modeling (4d Bim): Framework For Planning Safe Autonomous Construction Operations In Dynamic Environments, Hafiz Oyedimeji Oyediran

Dissertations and Doctoral Documents, University of Nebraska-Lincoln, 2023–

In the construction industry, the use of autonomous robots is considered a solution to overcome the heavy reliance on human workers to perform repetitive, strenuous, and hazardous tasks. While these robots offer the advantage of autonomous operation, ensuring their safe and efficient integration within construction sites requires precise planning. Such planning must account for the varying project complexities such as scope, site layout, tasks, timelines, existence of human workers, and other spatiotemporal conditions of the construction site. Currently, there are no methods to safely plan autonomous robot operations considering these factors within the overarching construction planning process. Thus, autonomous robots …

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 …

Using Natural Language Processing And Machine Learning To Detect Online Radicalisation In The Maldivian Language, Dhivehi, Hussain Ibrahim, Ahmed Ibrahim, Michael N. Johnstone

Research outputs 2022 to 2026

Early detection of online radical content is important for intelligence services to combat radicalisation and terrorism. The motivation for this research was the lack of language tools in the detection of radicalisation in the Maldivian language, Dhivehi. This research applied Machine Learning and Natural Language Processing (NLP) to detect online radicalisation content in Dhivehi, with the incorporation of domain-specific knowledge. The research used Machine Learning to evaluate the most effective technique for detection of radicalisation text in Dhivehi and used interviews with Subject Matter Experts and self-deradicalised individuals to validate the results, add contextual information and improve recognition accuracy. The …

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 …

Reverse Modeling In Large Language Models, Sicheng Yu, Yuanchen Xu, Cunxiao Du, Yanying Zhou, Minghui Qiu, Qianru Sun, Hao Zhang, Jiawei Wu

Research Collection School Of Computing and Information Systems

Humans are accustomed to reading and writing in a forward manner, and this natural bias extends to text understanding in auto-regressive large language models (LLMs). This paper investigates whether LLMs, like humans, struggle with reverse modeling, specifically with reversed text inputs. We found that publicly available pre-trained LLMs cannot understand such inputs. However, LLMs trained from scratch with both forward and reverse texts can understand them equally well during inference. Our case study shows that different-content texts result in different losses if input (to LLMs) in different directions---some get lower losses for forward while some for reverse. This leads us …

“Ronaldo’S A Poser!”: How The Use Of Generative Ai Shapes Debates In Online Forums, Yuhan Zeng, Yingxuan Shi, Xuehan Huang, Fiona Fui-Hoon Nah, Ray Lc

Research Collection School Of Computing and Information Systems

Online debates can enhance critical thinking but may escalate into hostile attacks. As humans are increasingly reliant on Generative AI (GenAI) in writing tasks, we need to understand how people utilize GenAI in online debates. To examine the patterns of writing behavior while making arguments with GenAI, we created an online forum for soccer fans to engage in turn-based and free debates in a post format with the assistance of ChatGPT, arguing on the topic of "Messi vs Ronaldo". After 13 sessions of two-part study and semi-structured interviews with 39 participants, we conducted content and thematic analyses to integrate insights …

Iot In Sustainability And Iot In The Ai And Metaverse Age, Yuzhou Qian, Keng Siau

Research Collection School Of Computing and Information Systems

The Internet of Things (IoT) is a modern technology that has gained large popularity and is still developing. Connecting heterogeneous devices, such as phones, vehicles, and household appliances, IoT has brought convenience to our lives. Further, IoT plays a significant role in enhancing environmental sustainability. It provides timely data about different devices and enables users and managers to directly control the objects. IoT can optimize the existing energy systems and promote the usage of renewable technologies. In this paper, we discuss how IoT supports green initiatives (i.e., how it is applied in different sectors), how it can be "green" itself …

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 …

Hierarchical Frameworks For Scaling-Up Multi-Agent Coordination, Minghong Geng

Research Collection School Of Computing and Information Systems

Multi-agent reinforcement learning has emerged as a powerful framework for developing collaborative behaviors in autonomous systems. However, existing MARL methods often struggle with scalability in terms of both the number of agents and decision-making horizons. My research focuses on developing hierarchicalapproaches to scale up MARL systems through two complementary directions: structural scaling by increasing the number of coordinated agents and temporal scaling by extending planning horizons. My initial work introduced HiSOMA, a hierarchical framework integrating self-organizing neural networks with MARL forlong-horizon planning, and MOSMAC, a benchmark for evaluating MARL methods on multi-objective MARL scenarios. Building on these foundations, my recent …

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 …

Creating Talking Points For Client Advisers At Banks To Promote Sustainable Investing, Wewe Zi Yi, Pradeep Varakantham, Alan Megargel

Research Collection School Of Computing and Information Systems

Environmental, social and governance (ESG) factors have become key nonfinancial factors for investors to evaluate companies with respect to understanding material risks and growth opportunities. While not mandatory, companies are providing ESG reports that outline progress in different ESG metrics (six broad metrics and 15 specific ones). Client advisers (CAs) read these reports to identify key metrics of interest to investors. Given the number of companies and investment products, however, it is not feasible for CAs to read all the reports, which can sometimes run into tens or hundreds of pages). The authors have developed multiple frameworks building on leading …

Hello Again! Llm-Powered Personalized Agent For Long-Term Dialogue, Hao Li, Chenghao Yang, An Zhang, Yang Deng, Xiang Wang, Tat-Seng Chua

Research Collection School Of Computing and Information Systems

Open-domain dialogue systems have seen remarkable advancements with the development of large language models (LLMs). Nonetheless, most existing dialogue systems predominantly focus on brief single-session interactions, neglecting the real-world demands for long-term companionship and personalized interactions with chatbots. Crucial to addressing this real-world need are event summary and persona management, which enable reasoning for appropriate long-term dialogue responses. Recent progress in the human-like cognitive and reasoning capabilities of LLMs suggests that LLM-based agents could significantly enhance automated perception, decision-making, and problem-solving. In response to this potential, we introduce a model-agnostic framework, the Long-term Dialogue Agent (LD-Agent), which incorporates three independently …

Query Understanding In Llm-Based Conversational Information Seeking, Yifei Yuan, Zahra Abbasiantaeb, Yang Deng, Mohammad Aliannejadi

Research Collection School Of Computing and Information Systems

Query understanding in Conversational Information Seeking (CIS) involves accurately interpreting user intent through context-aware interactions. This includes resolving ambiguities, refining queries, and adapting to evolving information needs. Large Language Models (LLMs) enhance this process by interpreting nuanced language and adapting dynamically, improving the relevance and precision of search results in real-time. In this tutorial, we explore advanced techniques to enhance query understanding in LLM-based CIS systems. We delve into LLM-driven methods for developing robust evaluation metrics to assess query understanding quality in multiturn interactions, strategies for building more interactive systems, and applications like proactive query management and query reformulation. We …

Sans: Efficient Densest Subgraph Discovery Over Relational Graphs Without Materialization, Yudong Niu, Yuchen Li, Jiaxin Jiang, Laks V. S. Lakshmanan

Research Collection School Of Computing and Information Systems

How can we efficiently identify the densest subgraph over relational graphs? Existing dense subgraph discovery (DSD) approaches assume that a relational graph H is already derived from a heterogeneous data source and they focus on efficient discovery of the densest subgraph on the materialized H. Unfortunately, materializing relational graphs can be resource-intensive, which thus limits the practical usefulness of existing algorithms over large datasets. To mitigate this, we propose a novel Summary-bAsed deNsest Subgraph discovery (SANS) system. Our unique summary-based peeling algorithm forms the core of SANS. Following the peeling paradigm, it utilizes summaries of each node's neighborhood to efficiently …

Gamba: Marry Gaussian Splatting With Mamba For Single-View 3d Reconstruction, Qiuhong Shen, Zike Wu, Xuanyu Yi, Pan Zhou, Hanwang Zhang, Shuicheng Yan, Xinchao Wang

Research Collection School Of Computing and Information Systems

We tackle the challenge of efficiently reconstructing a 3D asset from a single image at millisecond speed. Existing methods for single-image 3D reconstruction are primarily based on Score Distillation Sampling (SDS) with Neural 3D representations. Despite promising results, these approaches encounter practical limitations due to lengthy optimizations and significant memory consumption. In this work, we introduce Gamba, an end-to-end 3D reconstruction model from a single-view image, emphasizing two main insights: (1) Efficient Backbone Design: introducing a Mamba-based GambaFormer network to model 3D Gaussian Splatting (3DGS) reconstruction as sequential prediction with linear scalability of token length, thereby accommodating a substantial number …

Hierarchical Learning-Based Graph Partition For Large-Scale Vehicle Routing Problems, Yuxin Pan, Ruohong Liu, Yize Chen, Zhiguang Cao, Fangzhen Lin

Research Collection School Of Computing and Information Systems

Neural solvers based on the divide-and-conquer approach for Vehicle Routing Problems (VRPs) in general, and capacitated VRP (CVRP) in particular, integrates the global partition of an instance with local constructions for each subproblem to enhance generalization. However, during the global partition phase, misclusterings within subgraphs have a tendency to progressively compound throughout the multi-step decoding process of the learning-based partition policy. This suboptimal behavior in the global partition phase, in turn, may lead to a dramatic deterioration in the performance of the overall decomposition-based system, despite using optimal local constructions. To address these challenges, we propose a versatile Hierarchical Learning-based …

Enhancing Sub-Optimal Trajectory Stitching: Spatial Composition Rvs For Offline Rl, Sheng Zang, Zhiguang Cao, Bo An, Senthilnath Jayavelu, Xiaoli Li

Research Collection School Of Computing and Information Systems

Reinforcement learning via supervised learning (RvS) has been known as a burgeoning paradigm for offline reinforcement learning (RL). While return-conditioned RvS (RvS-R) predominates across a wide range of datasets pertaining to the offline RL tasks, recent findings suggest that goal-conditioned RvS (RvS-G) outperforms in specific sub-optimal datasets where trajectory stitching is crucial for achieving optimal performance. However, the underlying reasons for this superiority remain insufficiently explored. In this paper, employing didactic experiments and theoretical analysis, we reveal that the proficiency of RvS-G in stitching trajectories arises from its adeptness in generalizing to unknown goals during evaluation. Building on this insight, …

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 …

Shipnavisim: Data-Driven Simulation For Real-World Maritime Navigation, Quang Anh Pham, Janaka Chathuranga Brahmanage, Akshat Kumar

Research Collection School Of Computing and Information Systems

Maritime traffic management in busy ports faces growing challenges due to increased vessel traffic and complex waterway interactions. Strategies such as e-navigation by the International Maritime Organization aim to enhance navigation safety through traffic digitization. Maritime traffic simulation is essential for these systems, offering a virtual environment to model, analyze, and optimize traffic flows. Unlike road traffic, there are few simulators for maritime traffic, and they often lack realism and multi-ship interactions. In this paper, we (a) present ShipNaviSim, a data-driven maritime traffic simulator that utilizes a large-scale dataset over 2 years and electronic navigation charts to model vessel movements …

Worldcuisines: A Massive-Scale Benchmark For Multilingual And Multicultural Visual Question Answering On Global Cuisines, Genta Indra Winata, Et. Al

Research Collection School Of Computing and Information Systems

Vision Language Models (VLMs) often struggle with culture-specific knowledge, particularly in languages other than English and in underrepresented cultural contexts. To evaluate their understanding of such knowledge, we introduce WorldCuisines, a massive-scale benchmark for multilingual and multicultural, visually grounded language understanding. This benchmark includes a visual question answering (VQA) dataset with text-image pairs across 30 languages and dialects, spanning 9 language families and featuring over 1 million data points, making it the largest multicultural VQA benchmark to date. It includes tasks for identifying dish names and their origins. We provide evaluation datasets in two sizes (12k and 60k instances) alongside …

Unlocking The Planning Capabilities Of Llms Through Maximum Diversity Fine-Tuning, Wenjun Li, Changyu Chen, Pradeep Varakantham

Research Collection School Of Computing and Information Systems

Large language models (LLMs) have demonstrated impressive task-solving capabilities through prompting techniques and system designs, including solving planning tasks (e.g., math proofs, basic travel planning) when sufficient data is available online and used during pre-training. However, for planning tasks with limited prior data (e.g., blocks world, advanced travel planning), the performance of LLMs, including proprietary models like GPT and Gemini, is poor. This paper investigates the impact of fine-tuning on the planning capabilities of LLMs, revealing that LLMs can achieve strong performance in planning through substantial (tens of thousands of specific examples) fine-tuning. Yet, this process incurs high economic, time, …

Eduqate: Generating Adaptive Curricula Through Rmabs In Education Settings, Sidney Tio, Dexun Li, Pradeep Varakantham

Research Collection School Of Computing and Information Systems

There has been significant interest in the development of personalized and adaptive educational tools that cater to a student's individual learning progress. A crucial aspect in developing such tools is in exploring how mastery can be achieved across a diverse yet related range of content in an efficient manner. While Reinforcement Learning and Multi-armed Bandits have shown promise in educational settings, existing works often assume the independence of learning content, neglecting the prevalent interdependencies between such content. In response, we introduce Education Network Restless Multi-armed Bandits (EdNetRMABs), utilizing a network to represent the relationships between interdependent arms. Subsequently, we propose …

Towards Multimodal Empathetic Response Generation: A Rich Text-Speech-Vision Avatar-Based Benchmark, Han Zhang, Zixiang Meng, Meng Luo, Hong Han, Lizi Liao, Erik Cambria, Hao Fei

Research Collection School Of Computing and Information Systems

Empathetic Response Generation (ERG) is one of the key tasks of the affective computing area, which aims to produce emotionally nuanced and compassionate responses to user's queries. However, existing ERG research is predominantly confined to the singleton text modality, limiting its effectiveness since human emotions are inherently conveyed through multiple modalities. To combat this, we introduce an avatar-based Multimodal ERG (MERG) task, entailing rich text, speech, and facial vision information. We first present a large-scale high-quality benchmark dataset, AvaMERG, which extends traditional text ERG by incorporating authentic human speech audio and dynamic talking-face avatar videos, encompassing a diverse range of …

On Learning Informative Trajectory Embeddings For Imitation, Classification And Regression, Zichang Ge, Changyu Chen, Arunesh Sinha, Pradeep Varakantham

Research Collection School Of Computing and Information Systems

In real-world sequential decision making tasks like autonomousdriving, robotics, and healthcare, learning from observed state-action trajectories is critical for tasks like imitation, classification,and clustering. For example, self-driving cars must replicate humandriving behaviors, while robots and healthcare systems benefitfrom modeling decision sequences, whether or not they come fromexpert data. Existing trajectory encoding methods often focus onspecific tasks or rely on reward signals, limiting their ability togeneralize across domains and tasks.Inspired by the success of embedding models like CLIP andBERT in static domains, we propose a novel method for embeddingstate-action trajectories into a latent space that captures the skillsand competencies in the …

Strengthening The Bonds Between Us: An Empirical Investigation Of Morale In Human-Ai Teams And The Socially Supportive Ai Teammates Who Empower It, Rohit Mallick

All Dissertations

This dissertation investigates how artificial intelligence (AI) can be designed to improve the collective emotion within a team. A team's collective emotion, or morale, describes how motivated, optimistic, and enthusiastic the group is in accomplishing its goals. We conducted four studies that compared different social support strategies that AI teammates can provide to the team. Study 1A found that AI teammates who communicate with emotions can better motivate human team members and promote awareness of team dynamics and environmental changes. Study 1B found that human teammates become more motivated and happier when their AI teammates express joy and are close …

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 …

Empirically Exploring The Physical Realizability Of Adversarial Examples, Ruoyao Wen

McKelvey School of Engineering Graduate Student Theses & Dissertations

The development of autonomous vehicles (AVs) has been accelerated by advancements in deep neural networks (DNNs), which power the complex perception systems necessary for safe and efficient real-world navigation. However, as AVs increasingly integrate into public transportation networks, the robustness of their perception systems against potential vulnerabilities is critical. Among these threats, adversarial attacks—particularly through the use of adversarial patches—pose significant risks. These patches are carefully crafted perturbations designed to mislead DNNs, potentially compromising AV safety by causing incorrect object recognition or misclassification.

While extensive research has demonstrated high attack success rates for adversarial patches in controlled digital environments, their …