arXiv subjects

André Santos

Publications and source records attributed to André Santos.

13 recordsLinked to original sources

arXiv2026

ERUPT: An Open Toolkit for Interfacing with Robot Motion Planners in Extended Reality

We present the Extended Reality Universal Planning Toolkit (ERUPT), an extended reality (XR) system for interactive motion planning. This paper serves to introduce our open-source system to others who can use it as a base to develop immersive robot interaction applications. Our system allows users to create and dynamically reconfigure environments while they plan robot paths. ERUPT uses XR to provide a broad range of natural interaction capabilities, allowing users to grab and adjust objects in the environment similar to interaction in the real world, rather than using a mouse and keyboard with the scene projected onto a 2D computer screen. Our system integrates with MoveIt, a manipulation planning framework, allowing users to send motion planning requests and visualize the resulting robot paths in virtual or augmented reality. We provide a broad range of interaction modalities, allowing users to modify objects in the environment and interact with a virtual robot. Our system allows operators to visualize robot motions, ensuring desired behavior as it moves throughout the environment, without risk of collisions within a virtual space, and to then deploy planned paths on physical robots in the real world. Code can be found at https://github.com/parasollab/erupt.

cs.RO↗

arXiv2026

The S-PLUS Fifth Data-Release: Over 4500 square degrees of the Southern Sky and a multicolor view of the Hydra and Antlia galaxy clusters

We present the 5th data release (DR5) of the Southern Photometric Local Universe Survey (S-PLUS), covering 4592 square degrees across 2491 fields. Observations were conducted with the T80-South, a Brazilian robotic telescope equipped with the Javalambre 12-filter system, containing five broad- and seven narrowband filters. Data products feature FITS images and extensive catalogs containing fluxes, magnitudes, and shape parameters for over 113 million detections. In addition, several value-added catalogs are provided, offering photometric redshifts (photo-zs), object classifications, masks, and extinction coefficients. For the first time, this release includes coverage of 110 square degrees along the Galactic disk, facilitating new research into Galactic structure and stellar populations. The release also provides full coverage of the Hydra Supercluster and numerous other nearby clusters with improved data reduction and calibration, enhancing photo-z accuracy, which is vital for large-scale structure studies. A preliminary analysis of the Hydra and Antlia galaxy clusters up to $5 \times R_{200}$ yields an updated catalog of 1706 cluster members based on both spectroscopic and high-quality photo-zs. Our photometric data shows that both clusters have a similar proportion of galaxies with an H$α$ excess relative to their clustercentric distance, though Hydra has a higher fraction near its center. Additionally, the spatial distribution of all objects in our sample highlights a bridge connecting both clusters. We verify that S-PLUS DR5 provides a solid foundation for future scientific investigations, ranging from Solar System studies to Cosmology.

astro-ph.GA↗

arXiv2025

SN 2022acko and the Properties of its Red Supergiant Progenitor: Direct Detection, Light Curves, and Nebular Spectroscopy

We present ultraviolet, optical, and infrared observations of the Type II-P supernova SN 2022acko in NGC 1300, located at a distance of 19.0 +/- 2.9 Mpc. Our dataset spans 1-350 days post-explosion in photometry, complemented by late-time optical spectroscopy covering 200-600 days, and includes deep pre-explosion imaging. We use this extensive multiwavelength dataset for both direct and indirect constraints on the progenitor system. Using the early-time photometry and shock-cooling models, we infer that SN 2022acko likely originated from a red supergiant with a radius of R ~ 580 solar radii and an initial mass of M ~ 9-10 solar masses. From the radioactive decay tail, we infer a synthesized Ni56 mass of 0.014 +/- 0.004 solar masses. We further model nebular-phase spectra using radiative transfer models and nucleosynthesis yields for core-collapse supernovae, which suggest a progenitor initial mass in the range of 10-15 solar masses. Meanwhile, blackbody fitting of the detected pre-explosion counterpart in the F814W and F160W bands indicates a red supergiant with a lower initial mass of approximately 7.5 solar masses. The light curve exhibits a 116 days plateau, indicative of a massive hydrogen-rich envelope, inconsistent with the pre-explosion analysis. We investigated the discrepancy between direct and indirect progenitor mass estimates, focusing on the roles of binary interaction, early-time modeling limitations, and systematic uncertainties in spectral calibration. Our results indicate that the tension among mass estimates likely arises from modeling limitations and flux calibration uncertainties rather than from insufficient data, highlighting the need for more physically realistic models and a deeper understanding of systematic effects.

astro-ph.HE↗

arXiv2025

Kilonova constraints for the LIGO/Virgo/KAGRA neutron star merger candidate S250206dm: GW-MMADS observations

Gravitational wave (GW) neutron star mergers with an associated electromagnetic counterpart constitute powerful probes of binary evolution, the production sites of heavy elements, general relativity, and the expansion of the universe. Only a handful of candidate GW binary mergers during the fourth LIGO/Virgo/KAGRA observing run (O4) so far are believed to include a neutron star. We present optical-near infrared follow-up observations of the candidate neutron-star black hole GW merger S250206dm. This is the first high-significance mass gap neutron star-black hole candidate observed by multiple GW detectors (thus having a significantly smaller sky localization than one-detector events), offering the first opportunity to effectively follow up a GW event of this kind. Our GW MultiMessenger Astronomy DECam Survey (GW-MMADS) campaign consisted of a wide-field search using the Dark Energy Camera (DECam) and T80-South (T80S), as well as galaxy-targeted observations using the Southern Astrophysical Research (SOAR) imager and the Wendelstein 2.1m 3-channel camera. No viable kilonova counterpart was found in our observations. We use our observation depths to place competitive constraints on kilonova models similar to or brighter than the GW170817 kilonova AT 2017gfo within our observed fields, ruling out 100\% of such models with SOAR galaxy-targeted observations and $\sim43$\% (48\%) with DECam (DECam and T80S).

astro-ph.HE↗

arXiv2025

Gaze-Hand Steering for Travel and Multitasking in Virtual Environments

As head-mounted displays (HMDs) with eye-tracking become increasingly accessible, the need for effective gaze-based interfaces in virtual reality (VR) grows. Traditional gaze- or hand-based navigation often limits user precision or impairs free viewing, making multitasking difficult. We present a gaze-hand steering technique that combines eye-tracking with hand-pointing: users steer only when gaze aligns with a hand-defined target, reducing unintended actions and enabling free look. Speed is controlled via either a joystick or a waist-level speed circle. We evaluated our method in a user study (N=20) across multitasking and single-task scenarios, comparing it to a similar technique. Results show that gaze-hand steering maintains performance and enhances user comfort and spatial awareness during multitasking. Our findings support the use of gaze-hand steering in gaze-dominant VR applications requiring precision and simultaneous interaction. Our method significantly improves VR navigation in gaze-dominant, multitasking-intensive applications, supporting immersion and efficient control.

cs.HC↗

arXiv2024

The Fourth S-PLUS Data Release: 12-filter photometry covering $\sim3000$ square degrees in the southern hemisphere

The Southern Photometric Local Universe Survey (S-PLUS) is a project to map $\sim9300$ sq deg of the sky using twelve bands (seven narrow and five broadbands). Observations are performed with the T80-South telescope, a robotic telescope located at the Cerro Tololo Observatory in Chile. The survey footprint consists of several large contiguous areas, including fields at high and low galactic latitudes, and towards the Magellanic Clouds. S-PLUS uses fixed exposure times to reach point source depths of about $21$ mag in the $griz$ and $20$ mag in the $u$ and the narrow filters. This paper describes the S-PLUS Data Release 4 (DR4), which includes calibrated images and derived catalogues for over 3000 sq deg, covering the aforementioned area. The catalogues provide multi-band photometry performed with the tools \texttt{DoPHOT} and \texttt{SExtractor} -- point spread function (\PSF) and aperture photometry, respectively. In addition to the characterization, we also present the scientific potential of the data. We use statistical tools to present and compare the photometry obtained through different methods. Overall we find good agreement between the different methods, with a slight systematic offset of 0.05\,mag between our \PSF and aperture photometry. We show that the astrometry accuracy is equivalent to that obtained in previous S-PLUS data releases, even in very crowded fields where photometric extraction is challenging. The depths of main survey (MS) photometry for a minimum signal-to-noise ratio $S/N = 3$ reach from $\sim19.5$ for the bluer bands to $\sim21.5$ mag on the red. The range of magnitudes over which accurate \PSF photometry is obtained is shallower, reaching $\sim19$ to $\sim20.5$ mag depending on the filter. Based on these photometric data, we provide star-galaxy-quasar classification and photometric redshift for millions of objects.

astro-ph.GA↗

arXiv2024

ROBUST: 221 Bugs in the Robot Operating System

As robotic systems such as autonomous cars and delivery drones assume greater roles and responsibilities within society, the likelihood and impact of catastrophic software failure within those systems is increased.To aid researchers in the development of new methods to measure and assure the safety and quality of robotics software, we systematically curated a dataset of 221 bugs across 7 popular and diverse software systems implemented via the Robot Operating System (ROS). We produce historically accurate recreations of each of the 221 defective software versions in the form of Docker images, and use a grounded theory approach to examine and categorize their corresponding faults, failures, and fixes. Finally, we reflect on the implications of our findings and outline future research directions for the community.

cs.SE↗

arXiv2023

Robotic Learning the Sequence of Packing Irregular Objects from Human Demonstrations

We tackle the challenge of robotic bin packing with irregular objects, such as groceries. Given the diverse physical attributes of these objects and the complex constraints governing their placement and manipulation, employing preprogrammed strategies becomes unfeasible. Our approach is to learn directly from expert demonstrations in order to extract implicit task knowledge and strategies to ensure safe object positioning, efficient use of space, and the generation of human-like behaviors that enhance human-robot trust. We rely on human demonstrations to learn a Markov chain for predicting the object packing sequence for a given set of items and then compare it with human performance. Our experimental results show that the model outperforms human performance by generating sequence predictions that humans classify as human-like more frequently than human-generated sequences. The human demonstrations were collected using our proposed VR platform, BoxED, which is a box packaging environment for simulating real-world objects and scenarios for fast and streamlined data collection with the purpose of teaching robots. We collected data from 43 participants packing a total of 263 boxes with supermarket-like objects, yielding 4644 object manipulations. Our VR platform can be easily adapted to new scenarios and objects, and is publicly available, alongside our dataset, at https://github.com/andrejfsantos4/BoxED.

cs.RO↗

arXiv2023

Manual Tests Do Smell! Cataloging and Identifying Natural Language Test Smells

Background: Test smells indicate potential problems in the design and implementation of automated software tests that may negatively impact test code maintainability, coverage, and reliability. When poorly described, manual tests written in natural language may suffer from related problems, which enable their analysis from the point of view of test smells. Despite the possible prejudice to manually tested software products, little is known about test smells in manual tests, which results in many open questions regarding their types, frequency, and harm to tests written in natural language. Aims: Therefore, this study aims to contribute to a catalog of test smells for manual tests. Method: We perform a two-fold empirical strategy. First, an exploratory study in manual tests of three systems: the Ubuntu Operational System, the Brazilian Electronic Voting Machine, and the User Interface of a large smartphone manufacturer. We use our findings to propose a catalog of eight test smells and identification rules based on syntactical and morphological text analysis, validating our catalog with 24 in-company test engineers. Second, using our proposals, we create a tool based on Natural Language Processing (NLP) to analyze the subject systems' tests, validating the results. Results: We observed the occurrence of eight test smells. A survey of 24 in-company test professionals showed that 80.7% agreed with our catalog definitions and examples. Our NLP-based tool achieved a precision of 92%, recall of 95%, and f-measure of 93.5%, and its execution evidenced 13,169 occurrences of our cataloged test smells in the analyzed systems. Conclusion: We contribute with a catalog of natural language test smells and novel detection strategies that better explore the capabilities of current NLP mechanisms with promising results and reduced effort to analyze tests written in different idioms.

cs.SE↗

arXiv2023

RedBit: An End-to-End Flexible Framework for Evaluating the Accuracy of Quantized CNNs

In recent years, Convolutional Neural Networks (CNNs) have become the standard class of deep neural network for image processing, classification and segmentation tasks. However, the large strides in accuracy obtained by CNNs have been derived from increasing the complexity of network topologies, which incurs sizeable performance and energy penalties in the training and inference of CNNs. Many recent works have validated the effectiveness of parameter quantization, which consists in reducing the bit width of the network's parameters, to enable the attainment of considerable performance and energy efficiency gains without significantly compromising accuracy. However, it is difficult to compare the relative effectiveness of different quantization methods. To address this problem, we introduce RedBit, an open-source framework that provides a transparent, extensible and easy-to-use interface to evaluate the effectiveness of different algorithms and parameter configurations on network accuracy. We use RedBit to perform a comprehensive survey of five state-of-the-art quantization methods applied to the MNIST, CIFAR-10 and ImageNet datasets. We evaluate a total of 2300 individual bit width combinations, independently tuning the width of the network's weight and input activation parameters, from 32 bits down to 1 bit (e.g., 8/8, 2/2, 1/32, 1/1, for weights/activations). Upwards of 20000 hours of computing time in a pool of state-of-the-art GPUs were used to generate all the results in this paper. For 1-bit quantization, the accuracy losses for the MNIST, CIFAR-10 and ImageNet datasets range between [0.26%, 0.79%], [9.74%, 32.96%] and [10.86%, 47.36%] top-1, respectively. We actively encourage the reader to download the source code and experiment with RedBit, and to submit their own observed results to our public repository, available at https://github.com/IT-Coimbra/RedBit.

cs.LG↗

arXiv2021

WildKey: A Privacy-Aware Keyboard Toolkit for Data Collection In-The-Wild

Touch data, and in particular text-entry data, has been mostly collected in the laboratory, under controlled conditions. While touch and text-entry data have consistently shown its potential for monitoring and detecting a variety of conditions and impairments, its deployment in-the-wild remains a challenge. In this paper, we present WildKey, an Android keyboard toolkit that allows for the usable deployment of in-the-wild user studies. WildKey is able to analyze text-entry behaviors through implicit and explicit text-entry data collection while ensuring user privacy. We detail each of the WildKey's components and features, all of the metrics collected, and discuss the steps taken to ensure user privacy and promote compliance.

cs.HC↗

arXiv2021

Promoting Self-Efficacy Through an Effective Human-Powered Nonvisual Smartphone Task Assistant

Accessibility assessments typically focus on determining a binary measurement of task performance success/failure; and often neglect to acknowledge the nuances of those interactions. Although a large population of blind people find smartphone interactions possible, many experiences take a significant toll and can have a lasting negative impact on the individual and their willingness to step out of technological comfort zones. There is a need to assist and support individuals with the adoption and learning process of new tasks to mitigate these negative experiences. We contribute with a human-powered nonvisual task assistant for smartphones to provide pervasive assistance. We argue, in addition to success, one must carefully consider promoting and evaluating factors such as self-efficacy and the belief in one's own abilities to control and learn to use technology. In this paper, we show effective assistant positively affects self-efficacy when performing new tasks with smartphones, affects perceptions of accessibility and enables systemic task-based learning.

cs.HC↗

arXiv2021

The High-Assurance ROS Framework

This tool paper presents the High-Assurance ROS (HAROS) framework. HAROS is a framework for the analysis and quality improvement of robotics software developed using the popular Robot Operating System (ROS). It builds on a static analysis foundation to automatically extract models from the source code. Such models are later used to enable other sorts of analyses, such as Model Checking, Runtime Verification, and Property-based Testing. It has been applied to multiple real-world examples, helping developers find and correct various issues.

cs.SE↗