arXiv subjects

Homayoun Najjaran

Publications and source records attributed to Homayoun Najjaran.

At least 37 records · Page 2Linked to original sources

arXiv2025

From Flight to Insight: Semantic 3D Reconstruction for Aerial Inspection via Gaussian Splatting and Language-Guided Segmentation

High-fidelity 3D reconstruction is critical for aerial inspection tasks such as infrastructure monitoring, structural assessment, and environmental surveying. While traditional photogrammetry techniques enable geometric modeling, they lack semantic interpretability, limiting their effectiveness for automated inspection workflows. Recent advances in neural rendering and 3D Gaussian Splatting (3DGS) offer efficient, photorealistic reconstructions but similarly lack scene-level understanding. In this work, we present a UAV-based pipeline that extends Feature-3DGS for language-guided 3D segmentation. We leverage LSeg-based feature fields with CLIP embeddings to generate heatmaps in response to language prompts. These are thresholded to produce rough segmentations, and the highest-scoring point is then used as a prompt to SAM or SAM2 for refined 2D segmentation on novel view renderings. Our results highlight the strengths and limitations of various feature field backbones (CLIP-LSeg, SAM, SAM2) in capturing meaningful structure in large-scale outdoor environments. We demonstrate that this hybrid approach enables flexible, language-driven interaction with photorealistic 3D reconstructions, opening new possibilities for semantic aerial inspection and scene understanding.

cs.GR↗

arXiv2025

Domain Adaptive Skin Lesion Classification via Conformal Ensemble of Vision Transformers

Exploring the trustworthiness of deep learning models is crucial, especially in critical domains such as medical imaging decision support systems. Conformal prediction has emerged as a rigorous means of providing deep learning models with reliable uncertainty estimates and safety guarantees. However, conformal prediction results face challenges due to the backbone model's struggles in domain-shifted scenarios, such as variations in different sources. To aim this challenge, this paper proposes a novel framework termed Conformal Ensemble of Vision Transformers (CE-ViTs) designed to enhance image classification performance by prioritizing domain adaptation and model robustness, while accounting for uncertainty. The proposed method leverages an ensemble of vision transformer models in the backbone, trained on diverse datasets including HAM10000, Dermofit, and Skin Cancer ISIC datasets. This ensemble learning approach, calibrated through the combined mentioned datasets, aims to enhance domain adaptation through conformal learning. Experimental results underscore that the framework achieves a high coverage rate of 90.38\%, representing an improvement of 9.95\% compared to the HAM10000 model. This indicates a strong likelihood that the prediction set includes the true label compared to singular models. Ensemble learning in CE-ViTs significantly improves conformal prediction performance, increasing the average prediction set size for challenging misclassified samples from 1.86 to 3.075.

cs.CV↗

arXiv2025

Feature-Weighted MMD-CORAL for Domain Adaptation in Power Transformer Fault Diagnosis

Ensuring the reliable operation of power transformers is critical to grid stability. Dissolved Gas Analysis (DGA) is widely used for fault diagnosis, but traditional methods rely on heuristic rules, which may lead to inconsistent results. Machine learning (ML)-based approaches have improved diagnostic accuracy; however, power transformers operate under varying conditions, and differences in transformer type, environmental factors, and operational settings create distribution shifts in diagnostic data. Consequently, direct model transfer between transformers often fails, making techniques for domain adaptation a necessity. To tackle this issue, this work proposes a feature-weighted domain adaptation technique that combines Maximum Mean Discrepancy (MMD) and Correlation Alignment (CORAL) with feature-specific weighting (MCW). Kolmogorov-Smirnov (K-S) statistics are used to assign adaptable weights, prioritizing features with larger distributional discrepancies and thereby improving source and target domain alignment. Experimental evaluations on datasets for power transformers demonstrate the effectiveness of the proposed method, which achieves a 7.9% improvement over Fine-Tuning and a 2.2% improvement over MMD-CORAL (MC). Furthermore, it outperforms both techniques across various training sample sizes, confirming its robustness for domain adaptation.

cs.LG↗

arXiv2025

Multi-Channel Swin Transformer Framework for Bearing Remaining Useful Life Prediction

Precise estimation of the Remaining Useful Life (RUL) of rolling bearings is an important consideration to avoid unexpected failures, reduce downtime, and promote safety and efficiency in industrial systems. Complications in degradation trends, noise presence, and the necessity to detect faults in advance make estimation of RUL a challenging task. This paper introduces a novel framework that combines wavelet-based denoising method, Wavelet Packet Decomposition (WPD), and a customized multi-channel Swin Transformer model (MCSFormer) to address these problems. With attention mechanisms incorporated for feature fusion, the model is designed to learn global and local degradation patterns utilizing hierarchical representations for enhancing predictive performance. Additionally, a customized loss function is developed as a key distinction of this work to differentiate between early and late predictions, prioritizing accurate early detection and minimizing the high operation risks of late predictions. The proposed model was evaluated with the PRONOSTIA dataset using three experiments. Intra-condition experiments demonstrated that MCSFormer outperformed state-of-the-art models, including the Adaptive Transformer, MDAN, and CNN-SRU, achieving 41%, 64%, and 69% lower MAE on average across different operating conditions, respectively. In terms of cross-condition testing, it achieved superior generalization under varying operating conditions compared to the adapted ViT and Swin Transformer. Lastly, the custom loss function effectively reduced late predictions, as evidenced in a 6.3% improvement in the scoring metric while maintaining competitive overall performance. The model's robust noise resistance, generalization capability, and focus on safety make MCSFormer a trustworthy and effective predictive maintenance tool in industrial applications.

cs.LG↗

arXiv2025

Sliced Wasserstein Discrepancy in Disentangling Representation and Adaptation Networks for Unsupervised Domain Adaptation

This paper introduces DRANet-SWD as a novel complete pipeline for disentangling content and style representations of images for unsupervised domain adaptation (UDA). The approach builds upon DRANet by incorporating the sliced Wasserstein discrepancy (SWD) as a style loss instead of the traditional Gram matrix loss. The potential advantages of SWD over the Gram matrix loss for capturing style variations in domain adaptation are investigated. Experiments using digit classification datasets and driving scenario segmentation validate the method, demonstrating that DRANet-SWD enhances performance. Results indicate that SWD provides a more robust statistical comparison of feature distributions, leading to better style adaptation. These findings highlight the effectiveness of SWD in refining feature alignment and improving domain adaptation tasks across these benchmarks. Our code can be found here.

cs.CV↗

arXiv2025

Sim-to-Real Domain Adaptation for Deformation Classification

Deformation detection is vital for enabling accurate assessment and prediction of structural changes in materials, ensuring timely and effective interventions to maintain safety and integrity. Automating deformation detection through computer vision is crucial for efficient monitoring, but it faces significant challenges in creating a comprehensive dataset of both deformed and non-deformed objects, which can be difficult to obtain in many scenarios. In this paper, we introduce a novel framework for generating controlled synthetic data that simulates deformed objects. This approach allows for the realistic modeling of object deformations under various conditions. Our framework integrates an intelligent adapter network that facilitates sim-to-real domain adaptation, enhancing classification results without requiring real data from deformed objects. We conduct experiments on domain adaptation and classification tasks and demonstrate that our framework improves sim-to-real classification results compared to simulation baseline.

cs.CV↗

arXiv2025

Conformal-in-the-Loop for Learning with Imbalanced Noisy Data

Class imbalance and label noise are pervasive in large-scale datasets, yet much of machine learning research assumes well-labeled, balanced data, which rarely reflects real world conditions. Existing approaches typically address either label noise or class imbalance in isolation, leading to suboptimal results when both issues coexist. In this work, we propose Conformal-in-the-Loop (CitL), a novel training framework that addresses both challenges with a conformal prediction-based approach. CitL evaluates sample uncertainty to adjust weights and prune unreliable examples, enhancing model resilience and accuracy with minimal computational cost. Our extensive experiments include a detailed analysis showing how CitL effectively emphasizes impactful data in noisy, imbalanced datasets. Our results show that CitL consistently boosts model performance, achieving up to a 6.1% increase in classification accuracy and a 5.0 mIoU improvement in segmentation. Our code is publicly available: CitL.

cs.LG↗

arXiv2024

Visual Deformation Detection Using Soft Material Simulation for Pre-training of Condition Assessment Models

This paper addresses the challenge of geometric quality assurance in manufacturing, particularly when human assessment is required. It proposes using Blender, an open-source simulation tool, to create synthetic datasets for machine learning (ML) models. The process involves translating expert information into shape key parameters to simulate deformations, generating images for both deformed and non-deformed objects. The study explores the impact of discrepancies between real and simulated environments on ML model performance and investigates the effect of different simulation backgrounds on model sensitivity. Additionally, the study aims to enhance the model's robustness to camera positioning by generating datasets with a variety of randomized viewpoints. The entire process, from data synthesis to model training and testing, is implemented using a Python API interfacing with Blender. An experiment with a soda can object validates the accuracy of the proposed pipeline.

cs.CV↗

arXiv2024

Debiasify: Self-Distillation for Unsupervised Bias Mitigation

Simplicity bias poses a significant challenge in neural networks, often leading models to favor simpler solutions and inadvertently learn decision rules influenced by spurious correlations. This results in biased models with diminished generalizability. While many current approaches depend on human supervision, obtaining annotations for various bias attributes is often impractical. To address this, we introduce Debiasify, a novel self-distillation approach that requires no prior knowledge about the nature of biases. Our method leverages a new distillation loss to transfer knowledge within the network, from deeper layers containing complex, highly-predictive features to shallower layers with simpler, attribute-conditioned features in an unsupervised manner. This enables Debiasify to learn robust, debiased representations that generalize effectively across diverse biases and datasets, improving both worst-group performance and overall accuracy. Extensive experiments on computer vision and medical imaging benchmarks demonstrate the effectiveness of our approach, significantly outperforming previous unsupervised debiasing methods (e.g., a 10.13% improvement in worst-group accuracy for Wavy Hair classification in CelebA) and achieving comparable or superior performance to supervised approaches. Our code is publicly available at the following link: Debiasify.

cs.CV↗

arXiv2024

Extended Reality for Enhanced Human-Robot Collaboration: a Human-in-the-Loop Approach

The rise of automation has provided an opportunity to achieve higher efficiency in manufacturing processes, yet it often compromises the flexibility required to promptly respond to evolving market needs and meet the demand for customization. Human-robot collaboration attempts to tackle these challenges by combining the strength and precision of machines with human ingenuity and perceptual understanding. In this paper, we conceptualize and propose an implementation framework for an autonomous, machine learning-based manipulator that incorporates human-in-the-loop principles and leverages Extended Reality (XR) to facilitate intuitive communication and programming between humans and robots. Furthermore, the conceptual framework foresees human involvement directly in the robot learning process, resulting in higher adaptability and task generalization. The paper highlights key technologies enabling the proposed framework, emphasizing the importance of developing the digital ecosystem as a whole. Additionally, we review the existent implementation approaches of XR in human-robot collaboration, showcasing diverse perspectives and methodologies. The challenges and future outlooks are discussed, delving into the major obstacles and potential research avenues of XR for more natural human-robot interaction and integration in the industrial landscape.

cs.RO↗

arXiv2024

Vision transformers in domain adaptation and domain generalization: a study of robustness

Deep learning models are often evaluated in scenarios where the data distribution is different from those used in the training and validation phases. The discrepancy presents a challenge for accurately predicting the performance of models once deployed on the target distribution. Domain adaptation and generalization are widely recognized as effective strategies for addressing such shifts, thereby ensuring reliable performance. The recent promising results in applying vision transformers in computer vision tasks, coupled with advancements in self-attention mechanisms, have demonstrated their significant potential for robustness and generalization in handling distribution shifts. Motivated by the increased interest from the research community, our paper investigates the deployment of vision transformers in domain adaptation and domain generalization scenarios. For domain adaptation methods, we categorize research into feature-level, instance-level, model-level adaptations, and hybrid approaches, along with other categorizations with respect to diverse strategies for enhancing domain adaptation. Similarly, for domain generalization, we categorize research into multi-domain learning, meta-learning, regularization techniques, and data augmentation strategies. We further classify diverse strategies in research, underscoring the various approaches researchers have taken to address distribution shifts by integrating vision transformers. The inclusion of comprehensive tables summarizing these categories is a distinct feature of our work, offering valuable insights for researchers. These findings highlight the versatility of vision transformers in managing distribution shifts, crucial for real-world applications, especially in critical safety and decision-making scenarios.

cs.CV↗

arXiv2024

Using Implicit Behavior Cloning and Dynamic Movement Primitive to Facilitate Reinforcement Learning for Robot Motion Planning

Reinforcement learning (RL) for motion planning of multi-degree-of-freedom robots still suffers from low efficiency in terms of slow training speed and poor generalizability. In this paper, we propose a novel RL-based robot motion planning framework that uses implicit behavior cloning (IBC) and dynamic movement primitive (DMP) to improve the training speed and generalizability of an off-policy RL agent. IBC utilizes human demonstration data to leverage the training speed of RL, and DMP serves as a heuristic model that transfers motion planning into a simpler planning space. To support this, we also create a human demonstration dataset using a pick-and-place experiment that can be used for similar studies. Comparison studies in simulation reveal the advantage of the proposed method over the conventional RL agents with faster training speed and higher scores. A real-robot experiment indicates the applicability of the proposed method to a simple assembly task. Our work provides a novel perspective on using motion primitives and human demonstration to leverage the performance of RL for robot applications.

cs.RO↗

arXiv2024

Meta SAC-Lag: Towards Deployable Safe Reinforcement Learning via MetaGradient-based Hyperparameter Tuning

Safe Reinforcement Learning (Safe RL) is one of the prevalently studied subcategories of trial-and-error-based methods with the intention to be deployed on real-world systems. In safe RL, the goal is to maximize reward performance while minimizing constraints, often achieved by setting bounds on constraint functions and utilizing the Lagrangian method. However, deploying Lagrangian-based safe RL in real-world scenarios is challenging due to the necessity of threshold fine-tuning, as imprecise adjustments may lead to suboptimal policy convergence. To mitigate this challenge, we propose a unified Lagrangian-based model-free architecture called Meta Soft Actor-Critic Lagrangian (Meta SAC-Lag). Meta SAC-Lag uses meta-gradient optimization to automatically update the safety-related hyperparameters. The proposed method is designed to address safe exploration and threshold adjustment with minimal hyperparameter tuning requirement. In our pipeline, the inner parameters are updated through the conventional formulation and the hyperparameters are adjusted using the meta-objectives which are defined based on the updated parameters. Our results show that the agent can reliably adjust the safety performance due to the relatively fast convergence rate of the safety threshold. We evaluate the performance of Meta SAC-Lag in five simulated environments against Lagrangian baselines, and the results demonstrate its capability to create synergy between parameters, yielding better or competitive results. Furthermore, we conduct a real-world experiment involving a robotic arm tasked with pouring coffee into a cup without spillage. Meta SAC-Lag is successfully trained to execute the task, while minimizing effort constraints.

cs.LG↗

arXiv2024

A Review of AI and Machine Learning Contribution in Predictive Business Process Management (Process Enhancement and Process Improvement Approaches)

Purpose- The significance of business processes has fostered a close collaboration between academia and industry. Moreover, the business landscape has witnessed continuous transformation, closely intertwined with technological advancements. Our main goal is to offer researchers and process analysts insights into the latest developments concerning Artificial Intelligence (AI) and Machine Learning (ML) to optimize their processes in an organization and identify research gaps and future directions in the field. Design/methodology/approach- In this study, we perform a systematic review of academic literature to investigate the integration of AI/ML in business process management (BPM). We categorize the literature according to the BPM life-cycle and employ bibliometric and objective-oriented methodology, to analyze related papers. Findings- In business process management and process map, AI/ML has made significant improvements using operational data on process metrics. These developments involve two distinct stages: (1) process enhancement, which emphasizes analyzing process information and adding descriptions to process models, and (2) process improvement, which focuses on redesigning processes based on insights derived from analysis. Research limitations/implications- While this review paper serves to provide an overview of different approaches for addressing process-related challenges, it does not delve deeply into the intricacies of fine-grained technical details of each method. This work focuses on recent papers conducted between 2010 and 2024. Originality/value- This paper adopts a pioneering approach by conducting an extensive examination of the integration of AI/ML techniques across the entire process management lifecycle. Additionally, it presents groundbreaking research and introduces AI/ML-enabled integrated tools, further enhancing the insights for future research.

cs.AI↗

arXiv2024

Condition Monitoring with Incomplete Data: An Integrated Variational Autoencoder and Distance Metric Framework

Condition monitoring of industrial systems is crucial for ensuring safety and maintenance planning, yet notable challenges arise in real-world settings due to the limited or non-existent availability of fault samples. This paper introduces an innovative solution to this problem by proposing a new method for fault detection and condition monitoring for unseen data. Adopting an approach inspired by zero-shot learning, our method can identify faults and assign a relative health index to various operational conditions. Typically, we have plenty of data on normal operations, some data on compromised conditions, and very few (if any) samples of severe faults. We use a variational autoencoder to capture the probabilistic distribution of previously seen and new unseen conditions. The health status is determined by comparing each sample's deviation from a normal operation reference distribution in the latent space. Faults are detected by establishing a threshold for the health indexes, allowing the model to identify severe, unseen faults with high accuracy, even amidst noise. We validate our approach using the run-to-failure IMS-bearing dataset and compare it with other methods. The health indexes generated by our model closely match the established descriptive model of bearing wear, attesting to the robustness and reliability of our method. These findings highlight the potential of our methodology in augmenting fault detection capabilities within industrial domains, thereby contributing to heightened safety protocols and optimized maintenance practices.

eess.SP↗

arXiv2024

Ego-Motion Aware Target Prediction Module for Robust Multi-Object Tracking

Multi-object tracking (MOT) is a prominent task in computer vision with application in autonomous driving, responsible for the simultaneous tracking of multiple object trajectories. Detection-based multi-object tracking (DBT) algorithms detect objects using an independent object detector and predict the imminent location of each target. Conventional prediction methods in DBT utilize Kalman Filter(KF) to extrapolate the target location in the upcoming frames by supposing a constant velocity motion model. These methods are especially hindered in autonomous driving applications due to dramatic camera motion or unavailable detections. Such limitations lead to tracking failures manifested by numerous identity switches and disrupted trajectories. In this paper, we introduce a novel KF-based prediction module called the Ego-motion Aware Target Prediction (EMAP) module by focusing on the integration of camera motion and depth information with object motion models. Our proposed method decouples the impact of camera rotational and translational velocity from the object trajectories by reformulating the Kalman Filter. This reformulation enables us to reject the disturbances caused by camera motion and maximizes the reliability of the object motion model. We integrate our module with four state-of-the-art base MOT algorithms, namely OC-SORT, Deep OC-SORT, ByteTrack, and BoT-SORT. In particular, our evaluation on the KITTI MOT dataset demonstrates that EMAP remarkably drops the number of identity switches (IDSW) of OC-SORT and Deep OC-SORT by 73% and 21%, respectively. At the same time, it elevates other performance metrics such as HOTA by more than 5%. Our source code is available at https://github.com/noyzzz/EMAP.

cs.CV↗

arXiv2024

Empirical Validation of Conformal Prediction for Trustworthy Skin Lesions Classification

Background and objective: Uncertainty quantification is a pivotal field that contributes to realizing reliable and robust systems. It becomes instrumental in fortifying safe decisions by providing complementary information, particularly within high-risk applications. existing studies have explored various methods that often operate under specific assumptions or necessitate substantial modifications to the network architecture to effectively account for uncertainties. The objective of this paper is to study Conformal Prediction, an emerging distribution-free uncertainty quantification technique, and provide a comprehensive understanding of the advantages and limitations inherent in various methods within the medical imaging field. Methods: In this study, we developed Conformal Prediction, Monte Carlo Dropout, and Evidential Deep Learning approaches to assess uncertainty quantification in deep neural networks. The effectiveness of these methods is evaluated using three public medical imaging datasets focused on detecting pigmented skin lesions and blood cell types. Results: The experimental results demonstrate a significant enhancement in uncertainty quantification with the utilization of the Conformal Prediction method, surpassing the performance of the other two methods. Furthermore, the results present insights into the effectiveness of each uncertainty method in handling Out-of-Distribution samples from domain-shifted datasets. Our code is available at: Conclusions: Our conclusion highlights a robust and consistent performance of conformal prediction across diverse testing conditions. This positions it as the preferred choice for decision-making in safety-critical applications.

eess.IV↗

arXiv2024

A mathematical model for simultaneous personnel shift planning and unrelated parallel machine scheduling

This paper addresses a production scheduling problem derived from an industrial use case, focusing on unrelated parallel machine scheduling with the personnel availability constraint. The proposed model optimizes the production plan over a multi-period scheduling horizon, accommodating variations in personnel shift hours within each time period. It assumes shared personnel among machines, with one personnel required per machine for setup and supervision during job processing. Available personnel are fewer than the machines, thus limiting the number of machines that can operate in parallel. The model aims to minimize the total production time considering machine-dependent processing times and sequence-dependent setup times. The model handles practical scenarios like machine eligibility constraints and production time windows. A Mixed Integer Linear Programming (MILP) model is introduced to formulate the problem, taking into account both continuous and district variables. A two-step solution approach enhances computational speed, first maximizing accepted jobs and then minimizing production time. Validation with synthetic problem instances and a real industrial case study of a food processing plant demonstrates the performance of the model and its usefulness in personnel shift planning. The findings offer valuable insights for practical managerial decision-making in the context of production scheduling.

cs.AI↗