arXiv subjects

Daniel Weber

Publications and source records attributed to Daniel Weber.

At least 19 recordsLinked to original sources

arXiv2026

Inertial Human Motion Capture: From Biomechanics to Recent Sensor Fusion Methods and Back

Inertial measurement units (IMUs) are a promising means to capture human motion, yet obtaining meaningful biomechanical quantities from IMU measurements remains non-trivial. This tutorial-style review focuses on kinematics and introduces four key aspects (inertial human motion capture objective, environmental conditions, subject & attributes, and motion characteristics) to determine how to translate biomechanical problems into adequate formulations for the fusion of inertial sensor measurements. We identify three fundamental challenges for kinematics estimation from IMUs: IMUs do not provide direct information about the joint angle, IMUs do not measure their own orientation, and real-world environments and dynamics compromise sensor reliability. Though there exist widely-used methods to overcome these challenges, they suffer from severe limitations in real-life applications, e.g., the need for sensor-to-segment calibration, and the fact that magnetic field disturbances degrade joint angle accuracy. The full potential for many use-cases hence remains untapped in terms of accuracy and reliability. We share insights into recently proposed methods, e.g. exploiting the human body's kinematic chain constraints, having the potential to overcome these limitations. We also present guiding questions related to the four key aspects and illustrate their use for navigating the methodological landscape for the use-case of lower-extremity joint angle estimation, for which we share open-access code and compare the traditional workflow with three alternatives. Our aim is to bridge the gap between the sensor fusion community developing methods for human motion capture and the biomechanics community in need of accurate, easy-to-use, and reliable methods to study human motion outside of the laboratory.

eess.SP↗

arXiv2026

Container Unloading via Reinforcement Learning: Picking Order, Deadlock Avoidance, and Proof-of-Concept Simulation

Unloading containers in the courier, express and parcel industry is a physically demanding and labor-intensive work. Automatizing this process is an important step towards increasing the efficiency of parcel-handling systems. This work investigates the potential of reinforcement learning to learn a policy for item selection in container unloading scenarios. For that, a simulation environment is created and a masked deep Q-learning with a specially designed neural network architecture is implemented. The results indicate that the agent can learn to select items with an average success rate of 60 %, which is significantly better than a random policy at a random chance of 20 %. The findings suggest that RL could be a promising approach for automatizing item unloading tasks in the future.

eess.SY↗

arXiv2025

The Equational Theories Project: Advancing Collaborative Mathematical Research at Scale

We report on the Equational Theories Project (ETP), an online collaborative pilot project to explore new ways to collaborate in mathematics with machine assistance. The project successfully determined all 22 028 942 edges of the implication graph between the 4694 simplest equational laws on magmas, by a combination of human-generated and automated proofs, all validated by the formal proof assistant language Lean. As a result of this project, several new constructions of magmas satisfying specific laws were discovered, and several auxiliary questions were also addressed, such as the effect of restricting attention to finite magmas.

math.RA↗

arXiv2025

Tunneling resonances through periodically driven quantum dots

Periodic driving of quantum dots is analyzed as a basis for developing dynamic switching devices. We study transport through periodically modulated energy levels which are coupled to leads via tunneling coefficients. Utilizing Floquet theory a full analytic solution is found in terms of continued fractions, enabling us to efficiently calculate and analyze the transmission through the quantum dot in relevant parameter regimes. By considering levels at higher energy outside the spectrum of the transmitted particles a resonant switching effects is identified, where a very small oscillating control signal on a weakly connected quantum dot can induce perfect transmission. We also find closed form expressions using Bessel functions in the limit of small tunnel couplings. The results predict and explain resonant tunneling in nano-electronic devices as well as in corresponding setups using magnonic systems, photonic waveguides, or ultra-cold gases in optical lattices.

cond-mat.mes-hall↗

arXiv2023

Teaching Unknown Objects by Leveraging Human Gaze and Augmented Reality in Human-Robot Interaction

Robots are becoming increasingly popular in a wide range of environments due to their exceptional work capacity, precision, efficiency, and scalability. This development has been further encouraged by advances in Artificial Intelligence, particularly Machine Learning. By employing sophisticated neural networks, robots are given the ability to detect and interact with objects in their vicinity. However, a significant drawback arises from the underlying dependency on extensive datasets and the availability of substantial amounts of training data for these object detection models. This issue becomes particularly problematic when the specific deployment location of the robot and the surroundings, are not known in advance. The vast and ever-expanding array of objects makes it virtually impossible to comprehensively cover the entire spectrum of existing objects using preexisting datasets alone. The goal of this dissertation was to teach a robot unknown objects in the context of Human-Robot Interaction (HRI) in order to liberate it from its data dependency, unleashing it from predefined scenarios. In this context, the combination of eye tracking and Augmented Reality created a powerful synergy that empowered the human teacher to communicate with the robot and effortlessly point out objects by means of human gaze. This holistic approach led to the development of a multimodal HRI system that enabled the robot to identify and visually segment the Objects of Interest in 3D space. Through the class information provided by the human, the robot was able to learn the objects and redetect them at a later stage. Due to the knowledge gained from this HRI based teaching, the robot's object detection capabilities exhibited comparable performance to state-of-the-art object detectors trained on extensive datasets, without being restricted to predefined classes, showcasing its versatility and adaptability.

cs.HC↗

arXiv2023

Indirect Meltdown: Building Novel Side-Channel Attacks from Transient-Execution Attacks

The transient-execution attack Meltdown leaks sensitive information by transiently accessing inaccessible data during out-of-order execution. Although Meltdown is fixed in hardware for recent CPU generations, most currently-deployed CPUs have to rely on software mitigations, such as KPTI. Still, Meltdown is considered non-exploitable on current systems. In this paper, we show that adding another layer of indirection to Meltdown transforms a transient-execution attack into a side-channel attack, leaking metadata instead of data. We show that despite software mitigations, attackers can still leak metadata from other security domains by observing the success rate of Meltdown on non-secret data. With LeakIDT, we present the first cache-line granular monitoring of kernel addresses. LeakIDT allows an attacker to obtain cycle-accurate timestamps for attacker-chosen interrupts. We use our attack to get accurate inter-keystroke timings and fingerprint visited websites. While we propose a low-overhead software mitigation to prevent the exploitation of LeakIDT, we emphasize that the side-channel aspect of transient-execution attacks should not be underestimated.

cs.CR↗

arXiv2023

Reviving Meltdown 3a

Since the initial discovery of Meltdown and Spectre in 2017, different variants of these attacks have been discovered. One often overlooked variant is Meltdown 3a, also known as Meltdown-CPL-REG. Even though Meltdown-CPL-REG was initially discovered in 2018, the available information regarding the vulnerability is still sparse. In this paper, we analyze Meltdown-CPL-REG on 19 different CPUs from different vendors using an automated tool. We observe that the impact is more diverse than documented and differs from CPU to CPU. Surprisingly, while the newest Intel CPUs do not seem affected by Meltdown-CPL-REG, the newest available AMD CPUs (Zen3+) are still affected by the vulnerability. Furthermore, given our attack primitive CounterLeak, we show that besides up-to-date patches, Meltdown-CPL-REG can still be exploited as we reenable performance-counter-based attacks on cryptographic algorithms, break KASLR, and mount Spectre attacks. Although Meltdown-CPL-REG is not as powerful as other transient-execution attacks, its attack surface should not be underestimated.

cs.CR↗

arXiv2023

Platinum-based Catalysts for Oxygen Reduction Reaction simulated with a Quantum Computer

Hydrogen has emerged as a promising energy source, holding the key to achieve low-carbon and sustainable mobility. However, its applications are still limited by modest conversion efficiency in the electrocatalytic oxygen reduction reaction (ORR) within fuel cells. Consequently, the development of novel catalysts and a profound understanding of the underlying reactions have become of paramount importance. The complex nature of the ORR potential energy landscape and the presence of strong electronic correlations present challenges to atomistic modelling using classical computers. This scenario opens new avenues for the implementation of novel quantum computing workflows to address these molecular systems. Here, we present a pioneering study that combines classical and quantum computational approaches to investigate the ORR on pure platinum and platinum/cobalt surfaces. Our research demonstrates, for the first time, the feasibility of implementing this workflow on the H1-series trapped-ion quantum computer and identify the challenges of the quantum chemistry modelling of this reaction. The results highlight the involvement of strongly correlated species in the cobalt-containing catalyst, suggesting their potential as ideal candidates for showcasing quantum advantage in future applications.

quant-ph↗

arXiv2023

Improving the Efficiency of Human-in-the-Loop Systems: Adding Artificial to Human Experts

Information systems increasingly leverage artificial intelligence (AI) and machine learning (ML) to generate value from vast amounts of data. However, ML models are imperfect and can generate incorrect classifications. Hence, human-in-the-loop (HITL) extensions to ML models add a human review for instances that are difficult to classify. This study argues that continuously relying on human experts to handle difficult model classifications leads to a strong increase in human effort, which strains limited resources. To address this issue, we propose a hybrid system that creates artificial experts that learn to classify data instances from unknown classes previously reviewed by human experts. Our hybrid system assesses which artificial expert is suitable for classifying an instance from an unknown class and automatically assigns it. Over time, this reduces human effort and increases the efficiency of the system. Our experiments demonstrate that our approach outperforms traditional HITL systems for several benchmarks on image classification.

cs.LG↗

arXiv2023

Multiperspective Teaching of Unknown Objects via Shared-gaze-based Multimodal Human-Robot Interaction

For successful deployment of robots in multifaceted situations, an understanding of the robot for its environment is indispensable. With advancing performance of state-of-the-art object detectors, the capability of robots to detect objects within their interaction domain is also enhancing. However, it binds the robot to a few trained classes and prevents it from adapting to unfamiliar surroundings beyond predefined scenarios. In such scenarios, humans could assist robots amidst the overwhelming number of interaction entities and impart the requisite expertise by acting as teachers. We propose a novel pipeline that effectively harnesses human gaze and augmented reality in a human-robot collaboration context to teach a robot novel objects in its surrounding environment. By intertwining gaze (to guide the robot's attention to an object of interest) with augmented reality (to convey the respective class information) we enable the robot to quickly acquire a significant amount of automatically labeled training data on its own. Training in a transfer learning fashion, we demonstrate the robot's capability to detect recently learned objects and evaluate the influence of different machine learning models and learning procedures as well as the amount of training data involved. Our multimodal approach proves to be an efficient and natural way to teach the robot novel objects based on a few instances and allows it to detect classes for which no training dataset is available. In addition, we make our dataset publicly available to the research community, which consists of RGB and depth data, intrinsic and extrinsic camera parameters, along with regions of interest.

cs.HC↗

arXiv2022

Gaze-based Object Detection in the Wild

In human-robot collaboration, one challenging task is to teach a robot new yet unknown objects enabling it to interact with them. Thereby, gaze can contain valuable information. We investigate if it is possible to detect objects (object or no object) merely from gaze data and determine their bounding box parameters. For this purpose, we explore different sizes of temporal windows, which serve as a basis for the computation of heatmaps, i.e., the spatial distribution of the gaze data. Additionally, we analyze different grid sizes of these heatmaps, and demonstrate the functionality in a proof of concept using different machine learning techniques. Our method is characterized by its speed and resource efficiency compared to conventional object detectors. In order to generate the required data, we conducted a study with five subjects who could move freely and thus, turn towards arbitrary objects. This way, we chose a scenario for our data collection that is as realistic as possible. Since the subjects move while facing objects, the heatmaps also contain gaze data trajectories, complicating the detection and parameter regression. We make our data set publicly available to the research community for download.

cs.RO↗

arXiv2022

Steady-State Error Compensation in Reference Tracking and Disturbance Rejection Problems for Reinforcement Learning-Based Control

Reinforcement learning (RL) is a promising, upcoming topic in automatic control applications. Where classical control approaches require a priori system knowledge, data-driven control approaches like RL allow a model-free controller design procedure, rendering them emergent techniques for systems with changing plant structures and varying parameters. While it was already shown in various applications that the transient control behavior for complex systems can be sufficiently handled by RL, the challenge of non-vanishing steady-state control errors remains, which arises from the usage of control policy approximations and finite training times. To overcome this issue, an integral action state augmentation (IASA) for actor-critic-based RL controllers is introduced that mimics an integrating feedback, which is inspired by the delta-input formulation within model predictive control. This augmentation does not require any expert knowledge, leaving the approach model free. As a result, the RL controller learns how to suppress steady-state control deviations much more effectively. Two exemplary applications from the domain of electrical energy engineering validate the benefit of the developed method both for reference tracking and disturbance rejection. In comparison to a standard deep deterministic policy gradient (DDPG) setup, the suggested IASA extension allows to reduce the steady-state error by up to 52 $\%$ within the considered validation scenarios.

eess.SY↗

arXiv2022

GroupGazer: A Tool to Compute the Gaze per Participant in Groups with integrated Calibration to Map the Gaze Online to a Screen or Beamer Projection

In this paper we present GroupGaze. It is a tool that can be used to calculate the gaze direction and the gaze position of whole groups. GroupGazer calculates the gaze direction of every single person in the image and allows to map these gaze vectors to a projection like a projector. In addition to the person-specific gaze direction, the person affiliation of each gaze vector is stored based on the position in the image. Also, it is possible to save the group attention after a calibration. The software is free to use and requires a simple webcam as well as an NVIDIA GPU and the operating system Windows or Linux. Link: https://es-cloud.cs.uni-tuebingen.de/d/8e2ab8c3fdd444e1a135/?p=%2FGroupGazer&mode=list

cs.CV↗

arXiv2022

Pistol: Pupil Invisible Supportive Tool to extract Pupil, Iris, Eye Opening, Eye Movements, Pupil and Iris Gaze Vector, and 2D as well as 3D Gaze

This paper describes a feature extraction and gaze estimation software, named \textit{Pistol} that can be used with Pupil Invisible projects and other eye trackers in the future. In offline mode, our software extracts multiple features from the eye including, the pupil and iris ellipse, eye aperture, pupil vector, iris vector, eye movement types from pupil and iris velocities, marker detection, marker distance, 2D gaze estimation for the pupil center, iris center, pupil vector, and iris vector using Levenberg Marquart fitting and neural networks. The gaze signal is computed in 2D for each eye and each feature separately and for both eyes in 3D also for each feature separately. We hope this software helps other researchers to extract state-of-the-art features for their research out of their recordings. Link: https://es-cloud.cs.uni-tuebingen.de/d/8e2ab8c3fdd444e1a135/?p=%2FPISTOL&mode=list

cs.CV↗

arXiv2021

Osiris: Automated Discovery of Microarchitectural Side Channels

In the last years, a series of side channels have been discovered on CPUs. These side channels have been used in powerful attacks, e.g., on cryptographic implementations, or as building blocks in transient-execution attacks such as Spectre or Meltdown. However, in many cases, discovering side channels is still a tedious manual process. In this paper, we present Osiris, a fuzzing-based framework to automatically discover microarchitectural side channels. Based on a machine-readable specification of a CPU's ISA, Osiris generates instruction-sequence triples and automatically tests whether they form a timing-based side channel. Furthermore, Osiris evaluates their usability as a side channel in transient-execution attacks, i.e., as the microarchitectural encoding for attacks like Spectre. In total, we discover four novel timing-based side channels on Intel and AMD CPUs. Based on these side channels, we demonstrate exploitation in three case studies. We show that our microarchitectural KASLR break using non-temporal loads, FlushConflict, even works on the new Intel Ice Lake and Comet Lake microarchitectures. We present a cross-core cross-VM covert channel that is not relying on the memory subsystem and transmits up to 1 kbit/s. We demonstrate this channel on the AWS cloud, showing that it is stealthy and noise resistant. Finally, we demonstrate Stream+Reload, a covert channel for transient-execution attacks that, on average, allows leaking 7.83 bytes within a transient window, improving state-of-the-art attacks that only leak up to 3 bytes.

cs.CR↗

arXiv2021

Non-Autoregressive vs Autoregressive Neural Networks for System Identification

The application of neural networks to non-linear dynamic system identification tasks has a long history, which consists mostly of autoregressive approaches. Autoregression, the usage of the model outputs of previous time steps, is a method of transferring a system state between time steps, which is not necessary for modeling dynamic systems with modern neural network structures, such as gated recurrent units (GRUs) and Temporal Convolutional Networks (TCNs). We compare the accuracy and execution performance of autoregressive and non-autoregressive implementations of a GRU and TCN on the simulation task of three publicly available system identification benchmarks. Our results show, that the non-autoregressive neural networks are significantly faster and at least as accurate as their autoregressive counterparts. Comparisons with other state-of-the-art black-box system identification methods show, that our implementation of the non-autoregressive GRU is the best performing neural network-based system identification method, and in the benchmarks without extrapolation, the best performing black-box method.

cs.LG↗

arXiv2021

RIANN -- A Robust Neural Network Outperforms Attitude Estimation Filters

Inertial-sensor-based attitude estimation is a crucial technology in various applications, from human motion tracking to autonomous aerial and ground vehicles. Application scenarios differ in characteristics of the performed motion, presence of disturbances, and environmental conditions. Since state-of-the-art attitude estimators do not generalize well over these characteristics, their parameters must be tuned for the individual motion characteristics and circumstances. We propose RIANN, a ready-to-use, neural network-based, parameter-free, real-time-capable inertial attitude estimator, which generalizes well across different motion dynamics, environments, and sampling rates, without the need for application-specific adaptations. We gather six publicly available datasets of which we exploit two datasets for the method development and the training, and we use four datasets for evaluation of the trained estimator in three different test scenarios with varying practical relevance. Results show that RIANN outperforms state-of-the-art attitude estimation filters in the sense that it generalizes much better across a variety of motions and conditions in different applications, with different sensor hardware and different sampling frequencies. This is true even if the filters are tuned on each individual test dataset, whereas RIANN was trained on completely separate data and has never seen any of these test datasets. RIANN can be applied directly without adaptations or training and is therefore expected to enable plug-and-play solutions in numerous applications, especially when accuracy is crucial but no ground-truth data is available for tuning or when motion and disturbance characteristics are uncertain. We made RIANN publicly available.

cs.LG↗

arXiv2021

Emergence of a noncollinear magnetic state in twisted bilayer CrI3

The emergence of two-dimensional (2D) magnetic crystals and moir\'e engineering has opened the door for devising new magnetic ground states via competing interactions in moir\'e superlattices. Although a suite of interesting phenomena, including multi-flavor magnetic states, noncollinear magnetic states, moir\'e magnon bands and magnon networks, has been predicted, nontrivial magnetic ground states in twisted bilayer magnetic crystals have yet to be realized. Here, by utilizing the stacking-dependent interlayer exchange interactions in CrI3, we demonstrate in small-twist-angle bilayer CrI3 a noncollinear magnetic ground state. It consists of both antiferromagnetic (AF) and ferromagnetic (FM) domains and is a result of the competing interlayer AF coupling in the monoclinic stacking regions of the moir\'e superlattice and the energy cost for forming AF-FM domain walls. Above the critical twist angle of ~ 3{\deg}, the noncollinear state transitions abruptly to a collinear FM ground state. We further show that the noncollinear magnetic state can be controlled by gating through the doping-dependent interlayer AF interaction. Our results demonstrate the possibility of engineering moir\'e magnetism in twisted bilayer magnetic crystals, as well as gate-voltage-controllable high-density magnetic memory storage.

cond-mat.mtrl-sci↗