Estimating robot pose and joint angles is significant in advanced robotics, enabling applications like robot collaboration and online hand-eye calibration. However, the introduction of unknown joint angles makes prediction more complex than simple robot pose estimation, due to its higher dimensionality. Previous methods either regress 3D keypoints directly or utilise a render&compare strategy. These approaches often falter in terms of performance or efficiency and grapple with the cross-camera gap problem. This paper presents a novel framework that bifurcates the high-dimensional prediction task into two manageable subtasks: 2D keypoints detection and lifting 2D keypoints to 3D. This separation promises enhanced performance without sacrificing the efficiency innate to keypoint-based techniques. A vital component of our method is the lifting of 2D keypoints to 3D keypoints. Common deterministic regression methods may falter when faced with uncertainties from 2D detection errors or self-occlusions. Leveraging the robust modeling potential of diffusion models, we reframe this issue as a conditional 3D keypoints generation task. To bolster cross-camera adaptability, we introduce the Normalised Camera Coordinate Space (NCCS), ensuring alignment of estimated 2D keypoints across varying camera intrinsics. Experimental results demonstrate that the proposed method outperforms the state-of-the-art render&compare method and achieves higher inference speed. Furthermore, the tests accentuate our method’s robust cross-camera generalisation capabilities. We intend to release both the dataset and code in https://nimolty.github.io/Robokeygen/.

Post-sequencing genomic data analysis becomes a major challenge while next-generation sequencing technologies evolve by leaps and bounds. The data-intensive and compute-intensive nature of genome analysis makes cluster computing an attractive choice for building efficient solutions. This paper presents HiGene, a high-performance genome analysis platform that exploits big data technology to revolutionize genomics data crunching power. HiGene reconstructs the genome analysis pipeline by exploiting both multi-core and multi-node parallelization using Apache Spark, and employs two key techniques to further boost the performance. First, a dynamic computing resource re-allocator is implemented, which allows flexible on-demand resource allocation for operations inside tasks. Second, an efficient skew mitigation approach is proposed, which automatically identifies and resolves data skew and computation skew through task repartitioning and resource reallocating respectively. HiGene has been evaluated with a whole human genome dataset on a 10-node Huawei 5885 cluster. Experimental results show that HiGene achieves remarkable high performance that reduces the total running time on a whole genome sequence dataset from days to nearly one hour. Furthermore, it is two times faster than state-of-the-art cluster based approaches.

Ego-network, which represents relationships between a specific individual, i.e., the ego, and people connected to it, i.e., alters, is a critical target to study in social network analysis. Evolutionary patterns of ego-networks along time provide huge insights to many domains such as sociology, anthropology, and psychology. However, the analysis of dynamic ego-networks remains challenging due to its complicated time-varying graph structures, for example: alters come and leave, ties grow stronger and fade away, and alter communities merge and split. Most of the existing dynamic graph visualization techniques mainly focus on topological changes of the entire network, which is not adequate for egocentric analytical tasks. In this paper, we present egoSlider, a visual analysis system for exploring and comparing dynamic ego-networks. egoSlider provides a holistic picture of the data through multiple interactively coordinated views, revealing ego-network evolutionary patterns at three different layers: a macroscopic level for summarizing the entire ego-network data, a mesoscopic level for overviewing specific individuals' ego-network evolutions, and a microscopic level for displaying detailed temporal information of egos and their alters. We demonstrate the effectiveness of egoSlider with a usage scenario with the DBLP publication records. Also, a controlled user study indicates that in general egoSlider outperforms a baseline visualization of dynamic networks for completing egocentric analytical tasks.