arXiv subjects

Shengqian Wang

Publications and source records attributed to Shengqian Wang.

5 recordsLinked to original sources

arXiv2026

D-Compress: Detail-Preserving LiDAR Range Image Compression for Real-Time Streaming on Resource-Constrained Robots

Efficient 3D LiDAR point cloud compression (LPCC) and streaming are critical for edge server-assisted robotic systems, enabling real-time communication with compact data representations. A widely adopted approach represents LiDAR point clouds as range images, enabling the direct use of mature image and video compression codecs. However, because these codecs are designed with human visual perception in mind, they often compromise geometric details, which downgrades the performance of downstream robotic tasks such as mapping and object detection. Furthermore, rate-distortion optimization (RDO)-based rate control remains largely underexplored for range image compression (RIC) under dynamic bandwidth conditions. To address these limitations, we propose D-Compress, a new detail-preserving and fast RIC framework tailored for real-time streaming. D-Compress integrates both intra- and inter-frame prediction with an adaptive discrete wavelet transform approach for precise residual compression. Additionally, we introduce a new RDO-based rate control algorithm for RIC through new rate-distortion modeling. Extensive evaluations on various datasets demonstrate the superiority of D-Compress, which outperforms state-of-the-art (SOTA) compression methods in both geometric accuracy and downstream task performance, particularly at compression ratios exceeding 100x, while maintaining real-time execution on resource-constrained hardware. Moreover, evaluations under dynamic bandwidth conditions validate the robustness of its rate control mechanism.

eess.IV↗

arXiv2025

Is Crowdsourcing a Puppet Show? Detecting a New Type of Fraud in Online Platforms

Crowdsourcing platforms such as Amazon Mechanical Turk (MTurk) are important tools for researchers seeking to conduct studies with a broad, global participant base. Despite their popularity and demonstrated utility, we present evidence that suggests the integrity of data collected through Amazon MTurk is being threatened by the presence of puppeteers, apparently human workers controlling multiple puppet accounts that are capable of bypassing standard attention checks. If left undetected, puppeteers and their puppets can undermine the integrity of data collected on these platforms. This paper investigates data from two Amazon MTurk studies, finding that a substantial proportion of accounts (33% to 56.4%) are likely puppets. Our findings highlight the importance of adopting multifaceted strategies to ensure data integrity on crowdsourcing platforms. With the goal of detecting this type of fraud, we discuss a set of potential countermeasures for both puppets and bots with varying degrees of sophistication (e.g., employing AI). The problem of single entities (or puppeteers) manually controlling multiple accounts could exist on other crowdsourcing platforms; as such, their detection may be of broader application. While our findings suggest the need to re-evaluate the quality of crowdsourced data, many previous studies likely remain valid, particularly those with robust experimental designs. However, the presence of puppets may have contributed to false null results in some studies, suggesting that unpublished work may be worth revisiting with effective puppet detection strategies.

cs.HC↗

arXiv2025

TheraQuest: A Gamified, LLM-Powered Simulation for Massage Therapy Training

Massage therapy training emphasizes hands-on techniques and effective therapist--patient communication. However, many educational programs struggle to provide realistic practice scenarios. To address this problem, we propose TheraQuest, a gamified, web-based simulation platform that employs large language models (LLMs) to generate diverse virtual patients with varying symptoms and cultural backgrounds. Through interactive dialogue, anatomical decision-making, and immediate assessment, trainees develop both diagnostic reasoning and empathetic communication skills in a low-risk environment. Unlike exclusively VR-based solutions, TheraQuest remains accessible via standard web browsers, mitigating the cost and discomfort associated with extended headset use. Preliminary testing suggests that integrating LLM-driven virtual patients with real-time skill metrics can enhance trainee engagement and help bridge the gap between theoretical knowledge and clinical proficiency.

cs.GT↗

arXiv2023

PiXi: Password Inspiration by Exploring Information

Passwords, a first line of defense against unauthorized access, must be secure and memorable. However, people often struggle to create secure passwords they can recall. To address this problem, we design Password inspiration by eXploring information (PiXi), a novel approach to nudge users towards creating secure passwords. PiXi is the first of its kind that employs a password creation nudge to support users in the task of generating a unique secure password themselves. PiXi prompts users to explore unusual information right before creating a password, to shake them out of their typical habits and thought processes, and to inspire them to create unique (and therefore stronger) passwords. PiXi's design aims to create an engaging, interactive, and effective nudge to improve secure password creation. We conducted a user study ($N=238$) to compare the efficacy of PiXi to typical password creation. Our findings indicate that PiXi's nudges do influence users' password choices such that passwords are significantly longer and more secure (less predictable and guessable).

cs.CR↗

arXiv2023

Optical Integrated Sensing and Communication for Cooperative Mobile Robotics Design and Experiments

Integrated Sensing and Communication (ISAC) is an emerging technology that integrates wireless sensing and communication into a single system, transforming many applications, including cooperative mobile robotics. However, in scenarios where radio communications are unavailable, alternative approaches are needed. In this paper, we propose a new optical ISAC (OISAC) scheme for cooperative mobile robots by integrating camera sensing and screen-camera communication (SCC). Unlike previous throughput-oriented SCC designs that work with stationary SCC links, our OISAC scheme is designed for real-time control of mobile robots. It addresses new problems such as image blur and long image display delay. As a case study, we consider the leader-follower formation control problem, an essential part of cooperative mobile robotics. The proposed OISAC scheme enables the follower robot to simultaneously acquire the information shared by the leader and sense the relative pose to the leader using only RGB images captured by its onboard camera. We then design a new control law that can leverage all the information acquired by the camera to achieve stable and accurate formations. We design and conduct real-world experiments involving uniform and nonuniform motions to evaluate the proposed system and demonstrate the advantages of applying OISAC over a benchmark approach that uses extended Kalman filtering (EKF) to estimate the leader's states. Our results show that the proposed OISAC-augmented leader-follower formation system achieves better performance in terms of accuracy, stability, and robustness.

cs.NI↗