HRL4IN tackles interactive navigation tasks with mobile manipulators, improving efficiency and performance.
problem Interactive Navigation tasks require mobile manipulators to perform various actions, but choosing the right part of the embodiment is inefficient.
method HRL4IN uses a hierarchical reinforcement learning architecture to handle heterogeneous phases of navigation and manipulation, selecting the appropriate part of the embodiment for each phase.
result HRL4IN significantly outperforms flat PPO and HAC in terms of task performance and energy efficiency.
Robotic grasping system learns to target objects from a single image.
problem Robotic grasping in unstructured environments.
method Distributed reinforcement learning, active vision, synchronous SGD.
result System learns to grasp unseen objects without retraining.
Paper presents a new port-Hamiltonian model for vehicle manipulators.
problem Complex mechanical systems' energy flow and conservation.
method Derives port-Hamiltonian dynamics from Hamiltonian reduction theory.
result Establishes mathematical equivalence with existing formulations.
SAVO actor improves reinforcement learning by avoiding local optima in complex Q-functions.
problem Gradient ascent in complex Q-functions leads to suboptimal solutions.
method SAVO actor generates multiple action proposals and truncates poor local optima.
result SAVO actor finds optimal actions more frequently and outperforms other architectures.
Study shows how high-budget agents can manipulate prediction markets.
problem Manipulation of prediction markets by high-budget agents.
method Agent-based simulations and analytic characterization of price dynamics.
result High-budget agents can temporarily shift prediction market prices.
Mobile sensing is an emerging technology that utilizes agent-participatory data for decision making or state estimation, including multimedia applications. This article investigates the structure of mobile sensing schemes and introduces crowdsourcing methods for mobile sensing. Inspired by social network, one can estab…
This is a brief survey of the research performed by Grandata Labs in collaboration with numerous academic groups around the world on the topic of human mobility. A driving theme in these projects is to use and improve Data Science techniques to understand mobility, as it can be observed through the lens of mobile phone…
Paper tackles dynamic behavior of variable topology mechanisms, presenting new transition conditions.
problem Dynamic behavior of mechanisms with changing kinematic topology.
method Presented new transition conditions for variable topology mechanisms using projected motion equations and Voronets equations.
result Results show the dynamic behavior of joint locking in 3R and 6DOF mechanisms.
Introduces mobility algebra for modeling geodesics on n-spheres.
problem Modeling geodesics on n-spheres using algebraic structures.
method Introduces mobility algebra and mobility spaces, showing connections to modules and affine spaces.
result Shows geodesics on n-spheres as mobility spaces over unit interval mobility algebra.
The paper presents a probabilistic method to discover daily human mobility patterns from mobile data.
problem Discovering daily human mobility patterns from mobile data.
method A non-parameter Bayesian modeling method, Infinite Gaussian Mixture Model, combined with Kullback-Leibler divergence for automatic clustering.
result The IGMM-based algorithm outperforms the GMM-based algorithm in discovering mobility patterns.
FLAME auto-labels mobile data efficiently on diverse processors.
problem Accurately and efficiently labeling mobile data with unknown labels on heterogeneous processors.
method Self-adaptive auto-labeling system Flame that schedules and executes workloads on mobile processors.
result Flame achieves high labeling accuracy and performance on heterogeneous mobile processors.
Graphs model human mobility patterns, reducing errors in data matching.
problem Lack of high-quality data and computational resources for graph-based mobility analysis.
method Embedding graphs into a continuous space to address matching, modeling, and visualization challenges.
result Approx 40% decrease in error on average in matched graphs vs unmatched ones.
Model predicts urban population using mobile data traffic.
problem Estimating urban population dynamics from mobile data.
method Data-driven approach combining NetMob 2023 and ENACT datasets.
result NetMob 2023 data can estimate urban population with XGBoost models.
In this paper, we investigate the economic mobility in some money transfer models which have been applied into the research on wealth distribution. We demonstrate the mobility by recording the time series of agents' ranks and observing their volatility. We also compare the mobility quantitatively by employing an index,…
AI learns market manipulation through simulation, suggesting regulation.
problem Regulating AI to prevent market manipulation.
method Used a genetic algorithm in an artificial market simulation.
result AI discovered market manipulation as an optimal strategy.
MobILE learns from expert demonstrations without access to actions, achieving strong performance guarantees.
problem Imitation Learning from Observations alone (ILFO) where actions are not observed.
method MobILE integrates optimism in the face of uncertainty into distribution matching IL framework, trading off exploration and imitation.
result MobILE provides strong performance guarantees for certain MDP dynamics and demonstrates efficacy on OpenAI Gym tasks.
New models predict mobility flows as well as complex machine learning but are simpler and interpretable.
problem Incomplete understanding and modeling of human mobility flows.
method Developed simple machine-learned, closed-form models of mobility.
result These models predict mobility flows more accurately than gravity or complex machine/deep learning models.
The ever-increasing demand from mobile Machine Learning (ML) applications calls for evermore powerful on-chip computing resources. Mobile devices are empowered with heterogeneous multi-processor Systems-on-Chips (SoCs) to process ML workloads such as Convolutional Neural Network (CNN) inference. Mobile SoCs house sever…
Mobile big data contains vast statistical features in various dimensions, including spatial, temporal, and the underlying social domain. Understanding and exploiting the features of mobile data from a social network perspective will be extremely beneficial to wireless networks, from planning, operation, and maintenance…
The paper analyzes how leverage affects manipulation in event-linked markets, offering new insights into regulation.
problem Manipulation and insider information in leveraged event-linked markets.
method Develops a two-axis manipulation taxonomy and analyzes leverage's effects on market-price and outcome manipulation.
result Leverage scales market-price manipulation linearly but shifts the cost-benefit threshold for outcome manipulation.
TraLFM models human mobility patterns from traffic trajectories.
problem Understanding human mobility patterns from traffic data.
method Latent factor modeling of sequential, personal, and temporal factors.
result TraLFM significantly outperforms state-of-the-art methods in latent factor analysis and next location prediction.
Study predicts traffic congestion based on population mobility data.
problem Predicting traffic congestion in multimodal transport networks.
method Machine learning methods applied to population mobility data.
result Likely prediction of congestion based on population movements.
New model improves neural network robustness against input manipulations.
problem Improving neural network robustness against input manipulations.
method Causal view and deep causal manipulation augmented model (deep CAMA) with data augmentation and test-time fine-tuning.
result Deep CAMA shows superior robustness against unseen manipulations compared to traditional models.
In this work, we analyze the problem of adoption of mobile money in Pakistan by using the call detail records of a major telecom company as our input. Our results highlight the fact that different sections of the society have different patterns of adoption of digital financial services but user mobility related feature…
New method learns various data manipulation schemes for model training.
problem Improving model training with data manipulation.
method Adapts RL reward learning algorithm for data manipulation learning.
result Significant improvement in classification performance.
This papers presents a deep learning-based framework to predict crowdsourced service availability spatially and temporally. A novel two-stage prediction model is introduced based on historical spatio-temporal traces of mobile crowdsourced services. The prediction model first clusters mobile crowdsourced services into r…
This paper studies poisoning attacks in episodic RL and discovers their effectiveness depends on reward bounds.
problem Understanding security threats to RL algorithms through poisoning attacks.
method Examined two types of poisoning attacks: reward and action manipulation, in bounded and unbounded reward settings.
result The effectiveness of poisoning attacks depends on reward bounds, with different attack costs and success rates.
Manipulating video content is easier than ever. Due to the misuse potential of manipulated content, multiple detection techniques that analyze the pixel data from the videos have been proposed. However, clever manipulators should also carefully forge the metadata and auxiliary header information, which is harder to do …
We present and test a sequential learning algorithm for the short-term prediction of human mobility. This novel approach pairs the Exponential Weights forecaster with a very large ensemble of experts. The experts are individual sequence prediction algorithms constructed from the mobility traces of 10 million roaming mo…
SplitEasy trains ML models on mobile devices without server data transfer.
problem Training complex DL models on resource-limited mobile devices.
method Split learning approach where sensitive layers are trained locally, computationally intensive layers on server.
result SplitEasy trains models on mobile devices with minimal data transfer, near-constant time per sample.
Training deep learning models on mobile devices recently becomes possible, because of increasing computation power on mobile hardware and the advantages of enabling high user experiences. Most of the existing work on machine learning at mobile devices is focused on the inference of deep learning models (particularly co…
Nowadays, mobile telephony interruptions in our daily life activities are common because of the inappropriate ringing notifications of incoming phone calls in different contexts. Such interruptions may impact on the work attention not only for the mobile phone owners but also the surrounding people. Decision tree is th…
Mobility datasets are fundamental for evaluating algorithms pertaining to geographic information systems and facilitating experimental reproducibility. But privacy implications restrict sharing such datasets, as even aggregated location-data is vulnerable to membership inference attacks. Current synthetic mobility data…
Understanding the spatiotemporal distribution of people within a city is crucial to many planning applications. Obtaining data to create required knowledge, currently involves costly survey methods. At the same time ubiquitous mobile sensors from personal GPS devices to mobile phones are collecting massive amounts of d…
Detects anomalies in autonomous mobile robots using vision.
problem Anomaly detection for autonomous mobile robots.
method Unsupervised deep learning methods and a novel dataset.
result State-of-the-art approach tested on a new dataset.
In this work we propose a model that can manipulate individual visual attributes of objects in a real scene using examples of how respective attribute manipulations affect the output of a simulation. As an example, we train our model to manipulate the expression of a human face using nonphotorealistic 3D renders of a f…
Prediction markets can be manipulated by traders who can move contract settlements, harming price discovery.
problem Manipulation of settlement times in prediction markets leads to unfair wealth transfer and harms price discovery.
method Developed a model showing how settlement manipulation transfers wealth and harms price discovery, and observed real-world effects on Polymarket's Bitcoin contract.
result Manipulators capture significant profits from retail traders, especially when settlement times are short.
Due to the drastic increase of mobile traffic, wireless caching is proposed to serve repeated requests for content download. To determine the caching scheme for decentralized caching networks, the content preference learning problem based on mobility prediction is studied. We first formulate preference prediction as a …
DIGIT is a low-cost tactile sensor for in-hand manipulation.
problem Difficulty in sensing contact forces limits robotic manipulation.
method DIGIT miniaturizes and improves a vision-based tactile sensor.
result DIGIT enables better control of interactions with the environment.
Paper infers human mobility from sparse trajectories.
problem Modeling and inferring human mobility from sparse trajectory data.
method Proposes a single trajectory inference algorithm and a deep learning architecture for multiple trajectories.
result Deep learning model achieves 2x overall accuracy improvement on sparse trajectories.
New method for efficient personalized learning in mobile health.
problem Efficient and personalized learning in mobile health.
method Proposes a novel generative process on kernel composition for online Gaussian Process regression.
result Trajectories of kernel evolutions can be transferred between users to improve learning and kernels are meaningful for mHealth prediction.
On-device inference of machine learning models for mobile phones is desirable due to its lower latency and increased privacy. Running such a compute-intensive task solely on the mobile CPU, however, can be difficult due to limited computing power, thermal constraints, and energy consumption. App developers and research…
Volunteer labor can temporarily yield lower benefits to charities than its costs. In such instances, organizations may wish to defer volunteer donations to a later date. Exploiting a discontinuity in blood donations' eligibility criteria, we show that deferring donors reduces their future volunteerism. In our setting, …
TransFall uses transfer learning to improve activity recognition from mobile sensors.
problem Performance degradation due to platform and user movement differences.
method Two-tier data transformation, label estimation, and model generation layers.
result TransFall enhances activity recognition accuracy for new scenarios.
MASnet enhances speech on mobile devices with low latency.
problem Efficiently enhancing speech on mobile devices with low latency.
method MASnet processes linear-scale spectrograms, using ratio masks to enhance noisy frames, and operates in low-latency incremental inference mode.
result MASnet achieves efficient speech enhancement with low latency, reducing FMA/s operations.
Paper develops fine-grain spatiotemporal risk scores using high-resolution mobility data.
problem Developing reliable spatiotemporal risk scores for safe economic reopening.
method Hawkes process-based technique leveraging high-resolution cell-phone location signals.
result Fine-grain spatiotemporal risk scores based on high-resolution mobility data provide useful insights for safe re-opening.
MDLdroid improves mobile deep learning for personal sensing with faster training.
problem Continuous local changes and resource constraints in personal mobile sensing affect global model performance.
method ChainSGD-reduce approach to reduce overhead and balance resources.
result 2x to 3.5x faster training on off-the-shelf mobile devices compared to single-device training.
UrbanRhythm reveals urban dynamics from mobility data.
problem Understanding changing urban activities over time.
method Extracting staying, leaving, arriving attributes; using Saak transform; clustering for city states; motif analysis for short-term regularity.
result Characterized urban dynamics as city state transformations over time.