id stringlengths 9 16 | title stringlengths 4 278 | abstract stringlengths 3 4.08k | cs.HC bool 2 classes | cs.CE bool 2 classes | cs.SD bool 2 classes | cs.SI bool 2 classes | cs.AI bool 2 classes | cs.IR bool 2 classes | cs.LG bool 2 classes | cs.RO bool 2 classes | cs.CL bool 2 classes | cs.IT bool 2 classes | cs.SY bool 2 classes | cs.CV bool 2 classes | cs.CR bool 2 classes | cs.CY bool 2 classes | cs.MA bool 2 classes | cs.NE bool 2 classes | cs.DB bool 2 classes | Other bool 2 classes | __index_level_0__ int64 0 541k |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
2305.14250 | Language Models with Rationality | While large language models (LLMs) are proficient at question-answering (QA), it is not always clear how (or even if) an answer follows from their latent "beliefs". This lack of interpretability is a growing impediment to widespread use of LLMs. To address this, our goals are to make model beliefs and their inferential relationships explicit, and to resolve inconsistencies that may exist, so that answers are supported by interpretable chains of reasoning drawn from a consistent network of beliefs. Our approach, which we call REFLEX, is to add a rational, self-reflecting layer on top of the LLM. First, given a question, we construct a belief graph using a backward-chaining process to materialize relevant model beliefs (including beliefs about answer candidates) and their inferential relationships. Second, we identify and minimize contradictions in that graph using a formal constraint reasoner. We find that REFLEX significantly improves consistency (by 8%-11% absolute) without harming overall answer accuracy, resulting in answers supported by faithful chains of reasoning drawn from a more consistent belief system. This suggests a new style of system architecture in which an LLM extended with a rational layer can provide an interpretable window into system beliefs, add a systematic reasoning capability, and repair latent inconsistencies present in the LLM. | false | false | false | false | true | false | false | false | true | false | false | false | false | false | false | false | false | false | 366,929 |
2412.02112 | Machine Learning Methods for Automated Interstellar Object
Classification with LSST | The Legacy Survey of Space and Time, to be conducted with the Vera C. Rubin Observatory, is poised to revolutionize our understanding of the Solar System by providing an unprecedented wealth of data on various objects, including the elusive interstellar objects (ISOs). Detecting and classifying ISOs is crucial for studying the composition and diversity of materials from other planetary systems. However, the rarity and brief observation windows of ISOs, coupled with the vast quantities of data to be generated by LSST, create significant challenges for their identification and classification. This study aims to address these challenges by exploring the application of machine learning algorithms to the automated classification of ISO tracklets in simulated LSST data. We employed various machine learning algorithms, including random forests (RFs), stochastic gradient descent (SGD), gradient boosting machines (GBMs), and neural networks (NNs), to classify ISO tracklets in simulated LSST data. We demonstrate that GBM and RF algorithms outperform SGD and NN algorithms in accurately distinguishing ISOs from other Solar System objects. RF analysis shows that many derived Digest2 values are more important than direct observables in classifying ISOs from the LSST tracklets. The GBM model achieves the highest precision, recall, and F1 score, with values of 0.9987, 0.9986, and 0.9987, respectively. These findings lay the foundation for the development of an efficient and robust automated system for ISO discovery using LSST data, paving the way for a deeper understanding of the materials and processes that shape planetary systems beyond our own. The integration of our proposed machine learning approach into the LSST data processing pipeline will optimize the survey's potential for identifying these rare and valuable objects, enabling timely follow-up observations and further characterization. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 513,385 |
2302.09260 | Attribute-Specific Manipulation Based on Layer-Wise Channels | Image manipulation on the latent space of the pre-trained StyleGAN can control the semantic attributes of the generated images. Recently, some studies have focused on detecting channels with specific properties to directly manipulate the latent code, which is limited by the entanglement of the latent space. To detect the attribute-specific channels, we propose a novel detection method in the context of pre-trained classifiers. We analyse the gradients layer by layer on the style space. The intensities of the gradients indicate the channel's responses to specific attributes. The latent style codes of channels control separate attributes in the layers. We choose channels with top-$k$ gradients to control specific attributes in the maximum response layer. We implement single-channel and multi-channel manipulations with a certain attribute. Our methods can accurately detect relevant channels for a large number of face attributes. Extensive qualitative and quantitative results demonstrate that the proposed methods outperform state-of-the-art methods in generalization and scalability. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 346,344 |
1712.04787 | Creating New Language and Voice Components for the Updated MaryTTS
Text-to-Speech Synthesis Platform | We present a new workflow to create components for the MaryTTS text-to-speech synthesis platform, which is popular with researchers and developers, extending it to support new languages and custom synthetic voices. This workflow replaces the previous toolkit with an efficient, flexible process that leverages modern build automation and cloud-hosted infrastructure. Moreover, it is compatible with the updated MaryTTS architecture, enabling new features and state-of-the-art paradigms such as synthesis based on deep neural networks (DNNs). Like MaryTTS itself, the new tools are free, open source software (FOSS), and promote the use of open data. | true | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | 86,657 |
2404.04869 | Prompting Multi-Modal Tokens to Enhance End-to-End Autonomous Driving
Imitation Learning with LLMs | The utilization of Large Language Models (LLMs) within the realm of reinforcement learning, particularly as planners, has garnered a significant degree of attention in recent scholarly literature. However, a substantial proportion of existing research predominantly focuses on planning models for robotics that transmute the outputs derived from perception models into linguistic forms, thus adopting a `pure-language' strategy. In this research, we propose a hybrid End-to-End learning framework for autonomous driving by combining basic driving imitation learning with LLMs based on multi-modality prompt tokens. Instead of simply converting perception results from the separated train model into pure language input, our novelty lies in two aspects. 1) The end-to-end integration of visual and LiDAR sensory input into learnable multi-modality tokens, thereby intrinsically alleviating description bias by separated pre-trained perception models. 2) Instead of directly letting LLMs drive, this paper explores a hybrid setting of letting LLMs help the driving model correct mistakes and complicated scenarios. The results of our experiments suggest that the proposed methodology can attain driving scores of 49.21%, coupled with an impressive route completion rate of 91.34% in the offline evaluation conducted via CARLA. These performance metrics are comparable to the most advanced driving models. | false | false | false | false | true | false | false | true | false | false | false | false | false | false | false | false | false | false | 444,828 |
1912.01719 | Communicating with Large Intelligent Surfaces: Fundamental Limits and
Models | This paper analyzes the optimal communication involving large intelligent surfaces (LIS) starting from electromagnetic arguments. Since the numerical solution of the corresponding eigenfunctions problem is in general computationally prohibitive, simple but accurate analytical expressions for the link gain and available spatial degrees-of-freedom (DoF) are derived. It is shown that the achievable DoF and gain offered by the wireless link are determined only by geometric factors, and that the classical Friis' formula is no longer valid in this scenario where the transmitter and receiver could operate in the near-field regime. Furthermore, results indicate that, contrarily to classical MIMO systems, when using LIS-based antennas DoF larger than 1 can be exploited even in strong line-of-sight (LOS) channel conditions, which corresponds to a significant increase in spatial capacity density, especially when working at millimeter waves. | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | 156,155 |
2305.14244 | Federated Prompt Learning for Weather Foundation Models on Devices | On-device intelligence for weather forecasting uses local deep learning models to analyze weather patterns without centralized cloud computing, holds significance for supporting human activates. Federated Learning is a promising solution for such forecasting by enabling collaborative model training without sharing raw data. However, it faces three main challenges that hinder its reliability: (1) data heterogeneity among devices due to geographic differences; (2) data homogeneity within individual devices and (3) communication overload from sending large model parameters for collaboration. To address these challenges, this paper propose Federated Prompt Learning for Weather Foundation Models on Devices (FedPoD), which enables devices to obtain highly customized models while maintaining communication efficiency. Concretely, our Adaptive Prompt Tuning leverages lightweight prompts guide frozen foundation model to generate more precise predictions, also conducts prompt-based multi-level communication to encourage multi-source knowledge fusion and regulate optimization. Additionally, Dynamic Graph Modeling constructs graphs from prompts, prioritizing collaborative training among devices with similar data distributions to against heterogeneity. Extensive experiments demonstrates FedPoD leads the performance among state-of-the-art baselines across various setting in real-world on-device weather forecasting datasets. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 366,927 |
2106.15838 | HySPA: Hybrid Span Generation for Scalable Text-to-Graph Extraction | Text-to-Graph extraction aims to automatically extract information graphs consisting of mentions and types from natural language texts. Existing approaches, such as table filling and pairwise scoring, have shown impressive performance on various information extraction tasks, but they are difficult to scale to datasets with longer input texts because of their second-order space/time complexities with respect to the input length. In this work, we propose a Hybrid Span Generator (HySPA) that invertibly maps the information graph to an alternating sequence of nodes and edge types, and directly generates such sequences via a hybrid span decoder which can decode both the spans and the types recurrently in linear time and space complexities. Extensive experiments on the ACE05 dataset show that our approach also significantly outperforms state-of-the-art on the joint entity and relation extraction task. | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | 243,890 |
1811.06145 | Concept Learning through Deep Reinforcement Learning with
Memory-Augmented Neural Networks | Deep neural networks have shown superior performance in many regimes to remember familiar patterns with large amounts of data. However, the standard supervised deep learning paradigm is still limited when facing the need to learn new concepts efficiently from scarce data. In this paper, we present a memory-augmented neural network which is motivated by the process of human concept learning. The training procedure, imitating the concept formation course of human, learns how to distinguish samples from different classes and aggregate samples of the same kind. In order to better utilize the advantages originated from the human behavior, we propose a sequential process, during which the network should decide how to remember each sample at every step. In this sequential process, a stable and interactive memory serves as an important module. We validate our model in some typical one-shot learning tasks and also an exploratory outlier detection problem. In all the experiments, our model gets highly competitive to reach or outperform those strong baselines. | false | false | false | false | true | false | true | false | false | false | false | false | false | false | false | false | false | false | 113,460 |
1903.09669 | Physics-Aware Neural Networks for Distribution System State Estimation | The distribution system state estimation problem seeks to determine the network state from available measurements. Widely used Gauss-Newton approaches are very sensitive to the initialization and often not suitable for real-time estimation. Learning approaches are very promising for real-time estimation, as they shift the computational burden to an offline training stage. Prior machine learning approaches to power system state estimation have been electrical model-agnostic, in that they did not exploit the topology and physical laws governing the power grid to design the architecture of the learning model. In this paper, we propose a novel learning model that utilizes the structure of the power grid. The proposed neural network architecture reduces the number of coefficients needed to parameterize the mapping from the measurements to the network state by exploiting the separability of the estimation problem. This prevents overfitting and reduces the complexity of the training stage. We also propose a greedy algorithm for phasor measuring units placement that aims at minimizing the complexity of the neural network required for realizing the state estimation mapping. Simulation results show superior performance of the proposed method over the Gauss-Newton approach. | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | 125,096 |
1806.10234 | Scalable Gaussian Process Inference with Finite-data Mean and Variance
Guarantees | Gaussian processes (GPs) offer a flexible class of priors for nonparametric Bayesian regression, but popular GP posterior inference methods are typically prohibitively slow or lack desirable finite-data guarantees on quality. We develop an approach to scalable approximate GP regression with finite-data guarantees on the accuracy of pointwise posterior mean and variance estimates. Our main contribution is a novel objective for approximate inference in the nonparametric setting: the preconditioned Fisher (pF) divergence. We show that unlike the Kullback--Leibler divergence (used in variational inference), the pF divergence bounds the 2-Wasserstein distance, which in turn provides tight bounds the pointwise difference of the mean and variance functions. We demonstrate that, for sparse GP likelihood approximations, we can minimize the pF divergence efficiently. Our experiments show that optimizing the pF divergence has the same computational requirements as variational sparse GPs while providing comparable empirical performance--in addition to our novel finite-data quality guarantees. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 101,509 |
2406.16020 | AudioBench: A Universal Benchmark for Audio Large Language Models | We introduce AudioBench, a universal benchmark designed to evaluate Audio Large Language Models (AudioLLMs). It encompasses 8 distinct tasks and 26 datasets, among which, 7 are newly proposed datasets. The evaluation targets three main aspects: speech understanding, audio scene understanding, and voice understanding (paralinguistic). Despite recent advancements, there lacks a comprehensive benchmark for AudioLLMs on instruction following capabilities conditioned on audio signals. AudioBench addresses this gap by setting up datasets as well as desired evaluation metrics. Besides, we also evaluated the capabilities of five popular models and found that no single model excels consistently across all tasks. We outline the research outlook for AudioLLMs and anticipate that our open-sourced evaluation toolkit, data, and leaderboard will offer a robust testbed for future model developments. | false | false | true | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | 466,964 |
2101.11599 | An Interpretation of Regularization by Denoising and its Application
with the Back-Projected Fidelity Term | The vast majority of image recovery tasks are ill-posed problems. As such, methods that are based on optimization use cost functions that consist of both fidelity and prior (regularization) terms. A recent line of works imposes the prior by the Regularization by Denoising (RED) approach, which exploits the good performance of existing image denoising engines. Yet, the relation of RED to explicit prior terms is still not well understood, as previous work requires too strong assumptions on the denoisers. In this paper, we make two contributions. First, we show that the RED gradient can be seen as a (sub)gradient of a prior function--but taken at a denoised version of the point. As RED is typically applied with a relatively small noise level, this interpretation indicates a similarity between RED and traditional gradients. This leads to our second contribution: We propose to combine RED with the Back-Projection (BP) fidelity term rather than the common Least Squares (LS) term that is used in previous works. We show that the advantages of BP over LS for image deblurring and super-resolution, which have been demonstrated for traditional gradients, carry on to the RED approach. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 217,333 |
2305.15750 | Towards Large-scale Single-shot Millimeter-wave Imaging for Low-cost
Security Inspection | Millimeter-wave (MMW) imaging is emerging as a promising technique for safe security inspection. It achieves a delicate balance between imaging resolution, penetrability and human safety, resulting in higher resolution compared to low-frequency microwave, stronger penetrability compared to visible light, and stronger safety compared to X ray. Despite of recent advance in the last decades, the high cost of requisite large-scale antenna array hinders widespread adoption of MMW imaging in practice. To tackle this challenge, we report a large-scale single-shot MMW imaging framework using sparse antenna array, achieving low-cost but high-fidelity security inspection under an interpretable learning scheme. We first collected extensive full-sampled MMW echoes to study the statistical ranking of each element in the large-scale array. These elements are then sampled based on the ranking, building the experimentally optimal sparse sampling strategy that reduces the cost of antenna array by up to one order of magnitude. Additionally, we derived an untrained interpretable learning scheme, which realizes robust and accurate image reconstruction from sparsely sampled echoes. Last, we developed a neural network for automatic object detection, and experimentally demonstrated successful detection of concealed centimeter-sized targets using 10% sparse array, whereas all the other contemporary approaches failed at the same sample sampling ratio. The performance of the reported technique presents higher than 50% superiority over the existing MMW imaging schemes on various metrics including precision, recall, and mAP50. With such strong detection ability and order-of-magnitude cost reduction, we anticipate that this technique provides a practical way for large-scale single-shot MMW imaging, and could advocate its further practical applications. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 367,762 |
2106.13754 | Nonlinear Acoustic Echo Cancellation with Deep Learning | We propose a nonlinear acoustic echo cancellation system, which aims to model the echo path from the far-end signal to the near-end microphone in two parts. Inspired by the physical behavior of modern hands-free devices, we first introduce a novel neural network architecture that is specifically designed to model the nonlinear distortions these devices induce between receiving and playing the far-end signal. To account for variations between devices, we construct this network with trainable memory length and nonlinear activation functions that are not parameterized in advance, but are rather optimized during the training stage using the training data. Second, the network is succeeded by a standard adaptive linear filter that constantly tracks the echo path between the loudspeaker output and the microphone. During training, the network and filter are jointly optimized to learn the network parameters. This system requires 17 thousand parameters that consume 500 Million floating-point operations per second and 40 Kilo-bytes of memory. It also satisfies hands-free communication timing requirements on a standard neural processor, which renders it adequate for embedding on hands-free communication devices. Using 280 hours of real and synthetic data, experiments show advantageous performance compared to competing methods. | false | false | true | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 243,173 |
1912.11662 | Terahertz Multi-User Massive MIMO with Intelligent Reflecting Surface:
Beam Training and Hybrid Beamforming | Terahertz (THz) communications open a new frontier for the wireless network thanks to their dramatically wider available bandwidth compared to the current micro-wave and forthcoming millimeter-wave communications. However, due to the short length of THz waves, they also suffer from severe path attenuation and poor diffraction. To compensate the THz-induced propagation loss, this paper proposes to combine two promising techniques, viz., massive multiple input multiple output (MIMO) and intelligent reflecting surface (IRS), in THz multi-user communications, considering their significant beamforming and aperture gains. Nonetheless, channel estimation and low-cost beamforming turn out to be two main obstacles to realizing this combination, due to the passivity of IRS for sending/receiving pilot signals and the large-scale use of expensive RF chains in massive MIMO. In view of these limitations, this paper first develops a cooperative beam training scheme to facilitate the channel estimation with IRS. In particular, we design two different hierarchical codebooks for the proposed training procedure, which are able to balance between the robustness against noise and searching complexity. Based on the training results, we further propose two cost-efficient hybrid beamforming (HB) designs for both single-user and multi-user scenarios, respectively. Simulation results demonstrate that the proposed joint beam training and HB scheme is able to achieve close performance to the optimal fully digital beamforming (FDB) which is implemented even under perfect channel state information (CSI). | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | 158,625 |
2403.03055 | Distributed Policy Gradient for Linear Quadratic Networked Control with
Limited Communication Range | This paper proposes a scalable distributed policy gradient method and proves its convergence to near-optimal solution in multi-agent linear quadratic networked systems. The agents engage within a specified network under local communication constraints, implying that each agent can only exchange information with a limited number of neighboring agents. On the underlying graph of the network, each agent implements its control input depending on its nearby neighbors' states in the linear quadratic control setting. We show that it is possible to approximate the exact gradient only using local information. Compared with the centralized optimal controller, the performance gap decreases to zero exponentially as the communication and control ranges increase. We also demonstrate how increasing the communication range enhances system stability in the gradient descent process, thereby elucidating a critical trade-off. The simulation results verify our theoretical findings. | false | false | false | false | false | false | true | true | false | false | true | false | false | false | true | false | false | false | 435,049 |
1909.06982 | Framelet Representation of Tensor Nuclear Norm for Third-Order Tensor
Completion | The main aim of this paper is to develop a framelet representation of the tensor nuclear norm for third-order tensor completion. In the literature, the tensor nuclear norm can be computed by using tensor singular value decomposition based on the discrete Fourier transform matrix, and tensor completion can be performed by the minimization of the tensor nuclear norm which is the relaxation of the sum of matrix ranks from all Fourier transformed matrix frontal slices. These Fourier transformed matrix frontal slices are obtained by applying the discrete Fourier transform on the tubes of the original tensor. In this paper, we propose to employ the framelet representation of each tube so that a framelet transformed tensor can be constructed. Because of framelet basis redundancy, the representation of each tube is sparsely represented. When the matrix slices of the original tensor are highly correlated, we expect the corresponding sum of matrix ranks from all framelet transformed matrix frontal slices would be small, and the resulting tensor completion can be performed much better. The proposed minimization model is convex and global minimizers can be obtained. Numerical results on several types of multi-dimensional data (videos, multispectral images, and magnetic resonance imaging data) have tested and shown that the proposed method outperformed the other testing methods. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 145,555 |
1306.6265 | Towards Secure Two-Party Computation from the Wire-Tap Channel | We introduce a new protocol for secure two-party computation of linear functions in the semi-honest model, based on coding techniques. We first establish a parallel between the second version of the wire-tap channel model and secure two-party computation. This leads us to our protocol, that combines linear coset coding and oblivious transfer techniques. Our construction requires the use of binary intersecting codes or $q$-ary minimal codes, which are also studied in this paper. | false | false | false | false | false | false | false | false | false | true | false | false | true | false | false | false | false | false | 25,471 |
2201.10548 | Optimal estimation of Gaussian DAG models | We study the optimal sample complexity of learning a Gaussian directed acyclic graph (DAG) from observational data. Our main results establish the minimax optimal sample complexity for learning the structure of a linear Gaussian DAG model in two settings of interest: 1) Under equal variances without knowledge of the true ordering, and 2) For general linear models given knowledge of the ordering. In both cases the sample complexity is $n\asymp q\log(d/q)$, where $q$ is the maximum number of parents and $d$ is the number of nodes. We further make comparisons with the classical problem of learning (undirected) Gaussian graphical models, showing that under the equal variance assumption, these two problems share the same optimal sample complexity. In other words, at least for Gaussian models with equal error variances, learning a directed graphical model is statistically no more difficult than learning an undirected graphical model. Our results also extend to more general identification assumptions as well as subgaussian errors. | false | false | false | false | true | false | true | false | false | false | false | false | false | false | false | false | false | false | 277,032 |
1804.05012 | Representing smooth functions as compositions of near-identity functions
with implications for deep network optimization | We show that any smooth bi-Lipschitz $h$ can be represented exactly as a composition $h_m \circ ... \circ h_1$ of functions $h_1,...,h_m$ that are close to the identity in the sense that each $\left(h_i-\mathrm{Id}\right)$ is Lipschitz, and the Lipschitz constant decreases inversely with the number $m$ of functions composed. This implies that $h$ can be represented to any accuracy by a deep residual network whose nonlinear layers compute functions with a small Lipschitz constant. Next, we consider nonlinear regression with a composition of near-identity nonlinear maps. We show that, regarding Fr\'echet derivatives with respect to the $h_1,...,h_m$, any critical point of a quadratic criterion in this near-identity region must be a global minimizer. In contrast, if we consider derivatives with respect to parameters of a fixed-size residual network with sigmoid activation functions, we show that there are near-identity critical points that are suboptimal, even in the realizable case. Informally, this means that functional gradient methods for residual networks cannot get stuck at suboptimal critical points corresponding to near-identity layers, whereas parametric gradient methods for sigmoidal residual networks suffer from suboptimal critical points in the near-identity region. | false | false | false | false | true | false | true | false | false | false | false | false | false | false | false | true | false | false | 94,978 |
2406.00801 | Ensemble Deep Random Vector Functional Link Neural Network Based on
Fuzzy Inference System | The ensemble deep random vector functional link (edRVFL) neural network has demonstrated the ability to address the limitations of conventional artificial neural networks. However, since edRVFL generates features for its hidden layers through random projection, it can potentially lose intricate features or fail to capture certain non-linear features in its base models (hidden layers). To enhance the feature learning capabilities of edRVFL, we propose a novel edRVFL based on fuzzy inference system (edRVFL-FIS). The proposed edRVFL-FIS leverages the capabilities of two emerging domains, namely deep learning and ensemble approaches, with the intrinsic IF-THEN properties of fuzzy inference system (FIS) and produces rich feature representation to train the ensemble model. Each base model of the proposed edRVFL-FIS encompasses two key feature augmentation components: a) unsupervised fuzzy layer features and b) supervised defuzzified features. The edRVFL-FIS model incorporates diverse clustering methods (R-means, K-means, Fuzzy C-means) to establish fuzzy layer rules, resulting in three model variations (edRVFL-FIS-R, edRVFL-FIS-K, edRVFL-FIS-C) with distinct fuzzified features and defuzzified features. Within the framework of edRVFL-FIS, each base model utilizes the original, hidden layer and defuzzified features to make predictions. Experimental results, statistical tests, discussions and analyses conducted across UCI and NDC datasets consistently demonstrate the superior performance of all variations of the proposed edRVFL-FIS model over baseline models. The source codes of the proposed models are available at https://github.com/mtanveer1/edRVFL-FIS. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 460,032 |
2412.18450 | 3DGraphLLM: Combining Semantic Graphs and Large Language Models for 3D
Scene Understanding | A 3D scene graph represents a compact scene model, storing information about the objects and the semantic relationships between them, making its use promising for robotic tasks. When interacting with a user, an embodied intelligent agent should be capable of responding to various queries about the scene formulated in natural language. Large Language Models (LLMs) are beneficial solutions for user-robot interaction due to their natural language understanding and reasoning abilities. Recent methods for creating learnable representations of 3D scenes have demonstrated the potential to improve the quality of LLMs responses by adapting to the 3D world. However, the existing methods do not explicitly utilize information about the semantic relationships between objects, limiting themselves to information about their coordinates. In this work, we propose a method 3DGraphLLM for constructing a learnable representation of a 3D scene graph. The learnable representation is used as input for LLMs to perform 3D vision-language tasks. In our experiments on popular ScanRefer, RIORefer, Multi3DRefer, ScanQA, Sqa3D, and Scan2cap datasets, we demonstrate the advantage of this approach over baseline methods that do not use information about the semantic relationships between objects. The code is publicly available at https://github.com/CognitiveAISystems/3DGraphLLM. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 520,429 |
cond-mat/0412587 | Spin dependent transport of ``nonmagnetic metal/zigzag nanotube
encapsulating magnetic atoms/nonmagnetic metal'' junctions | Towards a novel magnetoresistance (MR) device with a carbon nanotube, we propose ``nonmagnetic metal/zigzag nanotube encapsulating magnetic atoms/nonmagnetic metal'' junctions. We theoretically investigate how spin-polarized edges of the nanotube and the encapsulated magnetic atoms influence on transport. When the on-site Coulomb energy divided by the magnitude of transfer integral, $U/|t|$, is larger than 0.8, large MR effect due to the direction of spins of magnetic atoms, which has the magnitude of the MR ratio of about 100%, appears reflecting such spin-polarized edges. | false | true | false | false | false | false | false | false | false | false | false | false | false | false | false | false | false | false | 536,962 |
1811.07020 | Brain Connectivity Impairments and Categorization Disabilities in
Autism: A Theoretical Approach via Artificial Neural Networks | A developmental disorder that severely damages communicative and social functions, the Autism Spectrum Disorder (ASD) also presents aspects related to mental rigidity, repetitive behavior, and difficulty in abstract reasoning. More, imbalances between excitatory and inhibitory brain states, in addition to cortical connectivity disruptions, are at the source of the autistic behavior. Our main goal consists in unveiling the way by which these local excitatory imbalances and/or long brain connections disruptions are linked to the above mentioned cognitive features. We developed a theoretical model based on Self-Organizing Maps (SOM), where a three-level artificial neural network qualitatively incorporates these kinds of alterations observed in brains of patients with ASD. Computational simulations of our model indicate that high excitatory states or long distance under-connectivity are at the origins of cognitive alterations, as difficulty in categorization and mental rigidity. More specifically, the enlargement of excitatory synaptic reach areas in a cortical map development conducts to low categorization (over-selectivity) and poor concepts formation. And, both the over-strengthening of local excitatory synapses and the long distance under-connectivity, although through distinct mechanisms, contribute to impaired categorization (under-selectivity) and mental rigidity. Our results indicate how, together, both local and global brain connectivity alterations give rise to spoiled cortical structures in distinct ways and in distinct cortical areas. These alterations would disrupt the codification of sensory stimuli, the representation of concepts and, thus, the process of categorization - by this way imposing serious limits to the mental flexibility and to the capacity of generalization in the autistic reasoning. | false | false | false | false | false | false | false | false | false | false | false | false | false | false | false | true | false | false | 113,641 |
1904.03240 | An Unsupervised Autoregressive Model for Speech Representation Learning | This paper proposes a novel unsupervised autoregressive neural model for learning generic speech representations. In contrast to other speech representation learning methods that aim to remove noise or speaker variabilities, ours is designed to preserve information for a wide range of downstream tasks. In addition, the proposed model does not require any phonetic or word boundary labels, allowing the model to benefit from large quantities of unlabeled data. Speech representations learned by our model significantly improve performance on both phone classification and speaker verification over the surface features and other supervised and unsupervised approaches. Further analysis shows that different levels of speech information are captured by our model at different layers. In particular, the lower layers tend to be more discriminative for speakers, while the upper layers provide more phonetic content. | false | false | true | false | false | false | true | false | true | false | false | false | false | false | false | false | false | false | 126,642 |
2005.05269 | Deep-Learning-based Automated Palm Tree Counting and Geolocation in
Large Farms from Aerial Geotagged Images | In this paper, we propose a deep learning framework for the automated counting and geolocation of palm trees from aerial images using convolutional neural networks. For this purpose, we collected aerial images in a palm tree Farm in the Kharj region, in Riyadh Saudi Arabia, using DJI drones, and we built a dataset of around 10,000 instances of palms trees. Then, we developed a convolutional neural network model using the state-of-the-art, Faster R-CNN algorithm. Furthermore, using the geotagged metadata of aerial images, we used photogrammetry concepts and distance corrections to detect the geographical location of detected palms trees automatically. This geolocation technique was tested on two different types of drones (DJI Mavic Pro, and Phantom 4 Pro), and was assessed to provide an average geolocation accuracy of 2.8m. This GPS tagging allows us to uniquely identify palm trees and count their number from a series of drone images, while correctly dealing with the issue of image overlapping. Moreover, it can be generalized to the geolocation of any other objects in UAV images. | false | false | false | false | false | false | true | true | false | false | false | true | false | false | false | false | false | false | 176,690 |
2305.12239 | Off-Policy Average Reward Actor-Critic with Deterministic Policy Search | The average reward criterion is relatively less studied as most existing works in the Reinforcement Learning literature consider the discounted reward criterion. There are few recent works that present on-policy average reward actor-critic algorithms, but average reward off-policy actor-critic is relatively less explored. In this work, we present both on-policy and off-policy deterministic policy gradient theorems for the average reward performance criterion. Using these theorems, we also present an Average Reward Off-Policy Deep Deterministic Policy Gradient (ARO-DDPG) Algorithm. We first show asymptotic convergence analysis using the ODE-based method. Subsequently, we provide a finite time analysis of the resulting stochastic approximation scheme with linear function approximator and obtain an $\epsilon$-optimal stationary policy with a sample complexity of $\Omega(\epsilon^{-2.5})$. We compare the average reward performance of our proposed ARO-DDPG algorithm and observe better empirical performance compared to state-of-the-art on-policy average reward actor-critic algorithms over MuJoCo-based environments. | false | false | false | false | true | false | true | false | false | false | false | false | false | false | false | false | false | false | 365,903 |
2401.10819 | Optimisation in Neurosymbolic Learning Systems | Neurosymbolic AI aims to integrate deep learning with symbolic AI. This integration has many promises, such as decreasing the amount of data required to train a neural network, improving the explainability and interpretability of answers given by models and verifying the correctness of trained systems. We study neurosymbolic learning, where we have both data and background knowledge expressed using symbolic languages. How do we connect the symbolic and neural components to communicate this knowledge? One option is fuzzy reasoning, which studies degrees of truth. For example, being tall is not a binary concept. Instead, probabilistic reasoning studies the probability that something is true or will happen. Our first research question studies how different forms of fuzzy reasoning combine with learning. We find surprising results like a connection to the Raven paradox stating we confirm "ravens are black" when we observe a green apple. In this study, we did not use the background knowledge when we deployed our models after training. In our second research question, we studied how to use background knowledge in deployed models. We developed a new neural network layer based on fuzzy reasoning. Probabilistic reasoning is a natural fit for neural networks, which we usually train to be probabilistic. However, they are expensive to compute and do not scale well to large tasks. In our third research question, we study how to connect probabilistic reasoning with neural networks by sampling to estimate averages, while in the final research question, we study scaling probabilistic neurosymbolic learning to much larger problems than before. Our insight is to train a neural network with synthetic data to predict the result of probabilistic reasoning. | false | false | false | false | true | false | true | false | false | false | false | false | false | false | false | false | false | false | 422,785 |
1702.04886 | Polar codes with a stepped boundary | We consider explicit polar constructions of blocklength $n\rightarrow\infty$ for the two extreme cases of code rates $R\rightarrow1$ and $R\rightarrow0.$ For code rates $R\rightarrow1,$ we design codes with complexity order of $n\log n$ in code construction, encoding, and decoding. These codes achieve the vanishing output bit error rates on the binary symmetric channels with any transition error probability $p\rightarrow 0$ and perform this task with a substantially smaller redundancy $(1-R)n$ than do other known high-rate codes, such as BCH codes or Reed-Muller (RM). We then extend our design to the low-rate codes that achieve the vanishing output error rates with the same complexity order of $n\log n$ and an asymptotically optimal code rate $R\rightarrow0$ for the case of $p\rightarrow1/2.$ | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | 68,326 |
2312.00342 | Efficient Off-Policy Safe Reinforcement Learning Using Trust Region
Conditional Value at Risk | This paper aims to solve a safe reinforcement learning (RL) problem with risk measure-based constraints. As risk measures, such as conditional value at risk (CVaR), focus on the tail distribution of cost signals, constraining risk measures can effectively prevent a failure in the worst case. An on-policy safe RL method, called TRC, deals with a CVaR-constrained RL problem using a trust region method and can generate policies with almost zero constraint violations with high returns. However, to achieve outstanding performance in complex environments and satisfy safety constraints quickly, RL methods are required to be sample efficient. To this end, we propose an off-policy safe RL method with CVaR constraints, called off-policy TRC. If off-policy data from replay buffers is directly used to train TRC, the estimation error caused by the distributional shift results in performance degradation. To resolve this issue, we propose novel surrogate functions, in which the effect of the distributional shift can be reduced, and introduce an adaptive trust-region constraint to ensure a policy not to deviate far from replay buffers. The proposed method has been evaluated in simulation and real-world environments and satisfied safety constraints within a few steps while achieving high returns even in complex robotic tasks. | false | false | false | false | true | false | true | false | false | false | false | false | false | false | false | false | false | false | 412,010 |
2107.11949 | Dissecting FLOPs along input dimensions for GreenAI cost estimations | The term GreenAI refers to a novel approach to Deep Learning, that is more aware of the ecological impact and the computational efficiency of its methods. The promoters of GreenAI suggested the use of Floating Point Operations (FLOPs) as a measure of the computational cost of Neural Networks; however, that measure does not correlate well with the energy consumption of hardware equipped with massively parallel processing units like GPUs or TPUs. In this article, we propose a simple refinement of the formula used to compute floating point operations for convolutional layers, called {\alpha}-FLOPs, explaining and correcting the traditional discrepancy with respect to different layers, and closer to reality. The notion of {\alpha}-FLOPs relies on the crucial insight that, in case of inputs with multiple dimensions, there is no reason to believe that the speedup offered by parallelism will be uniform along all different axes. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 247,749 |
2209.09714 | Cardiac Segmentation using Transfer Learning under Respiratory Motion
Artifacts | Methods that are resilient to artifacts in the cardiac magnetic resonance imaging (MRI) while performing ventricle segmentation, are crucial for ensuring quality in structural and functional analysis of those tissues. While there has been significant efforts on improving the quality of the algorithms, few works have tackled the harm that the artifacts generate in the predictions. In this work, we study fine tuning of pretrained networks to improve the resilience of previous methods to these artifacts. In our proposed method, we adopted the extensive usage of data augmentations that mimic those artifacts. The results significantly improved the baseline segmentations (up to 0.06 Dice score, and 4mm Hausdorff distance improvement). | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 318,619 |
2104.10569 | GraphTheta: A Distributed Graph Neural Network Learning System With
Flexible Training Strategy | Graph neural networks (GNNs) have been demonstrated as a powerful tool for analyzing non-Euclidean graph data. However, the lack of efficient distributed graph learning systems severely hinders applications of GNNs, especially when graphs are big and GNNs are relatively deep. Herein, we present GraphTheta, the first distributed and scalable graph learning system built upon vertex-centric distributed graph processing with neural network operators implemented as user-defined functions. This system supports multiple training strategies and enables efficient and scalable big-graph learning on distributed (virtual) machines with low memory. To facilitate graph convolutions, GraphTheta puts forward a new graph learning abstraction named NN-TGAR to bridge the gap between graph processing and graph deep learning. A distributed graph engine is proposed to conduct the stochastic gradient descent optimization with a hybrid-parallel execution, and a new cluster-batched training strategy is supported. We evaluate GraphTheta using several datasets with network sizes ranging from small-, modest- to large-scale. Experimental results show that GraphTheta can scale well to 1,024 workers for training an in-house developed GNN on an industry-scale Alipay dataset of 1.4 billion nodes and 4.1 billion attributed edges, with a cluster of CPU virtual machines (dockers) of small memory each (5$\sim$12GB). Moreover, GraphTheta can outperform DistDGL by up to $2.02\times$, with better scalability, and GraphLearn by up to $30.56\times$. As for model accuracy, GraphTheta is capable of learning as good GNNs as existing frameworks. To the best of our knowledge, this work presents the largest edge-attributed GNN learning task in the literature. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | true | 231,628 |
1912.08434 | Tree pyramidal adaptive importance sampling | This paper introduces Tree-Pyramidal Adaptive Importance Sampling (TP-AIS), a novel iterated sampling method that outperforms state-of-the-art approaches like deterministic mixture population Monte Carlo (DM-PMC), mixture population Monte Carlo (M-PMC) and layered adaptive importance sampling (LAIS). TP-AIS iteratively builds a proposal distribution parameterized by a tree pyramid, where each tree leaf spans a subspace that represents its importance density. After each new sample operation, a set of tree leaves are subdivided for improving the approximation of the proposal distribution to the target density. Unlike the rest of the methods in the literature, TP-AIS is parameter free and requires no tuning to achieve its best performance. We evaluate TP-AIS with different complexity randomized target probability density functions (PDF) and also analyze its application to different dimensions. The results are compared to state-of-the-art iterative importance sampling approaches and other baseline MCMC approaches using Normalized Effective Sample Size (N-ESS), Jensen-Shannon Divergence, and time complexity. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 157,835 |
1909.05310 | Spatial Graph Convolutional Networks | Graph Convolutional Networks (GCNs) have recently become the primary choice for learning from graph-structured data, superseding hash fingerprints in representing chemical compounds. However, GCNs lack the ability to take into account the ordering of node neighbors, even when there is a geometric interpretation of the graph vertices that provides an order based on their spatial positions. To remedy this issue, we propose Spatial Graph Convolutional Network (SGCN) which uses spatial features to efficiently learn from graphs that can be naturally located in space. Our contribution is threefold: we propose a GCN-inspired architecture which (i) leverages node positions, (ii) is a proper generalization of both GCNs and Convolutional Neural Networks (CNNs), (iii) benefits from augmentation which further improves the performance and assures invariance with respect to the desired properties. Empirically, SGCN outperforms state-of-the-art graph-based methods on image classification and chemical tasks. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 145,052 |
2307.05339 | A Self-Supervised Algorithm for Denoising Photoplethysmography Signals
for Heart Rate Estimation from Wearables | Smart watches and other wearable devices are equipped with photoplethysmography (PPG) sensors for monitoring heart rate and other aspects of cardiovascular health. However, PPG signals collected from such devices are susceptible to corruption from noise and motion artifacts, which cause errors in heart rate estimation. Typical denoising approaches filter or reconstruct the signal in ways that eliminate much of the morphological information, even from the clean parts of the signal that would be useful to preserve. In this work, we develop an algorithm for denoising PPG signals that reconstructs the corrupted parts of the signal, while preserving the clean parts of the PPG signal. Our novel framework relies on self-supervised training, where we leverage a large database of clean PPG signals to train a denoising autoencoder. As we show, our reconstructed signals provide better estimates of heart rate from PPG signals than the leading heart rate estimation methods. Further experiments show significant improvement in Heart Rate Variability (HRV) estimation from PPG signals using our algorithm. We conclude that our algorithm denoises PPG signals in a way that can improve downstream analysis of many different health metrics from wearable devices. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 378,698 |
0812.4523 | System Theoretic Viewpoint on Modeling of Complex Systems: Design,
Synthesis, Simulation, and Control | We consider the basic features of complex dynamic and control systems, including systems having hierarchical structure. Special attention is paid to the problems of design and synthesis of complex systems and control models, and to the development of simulation techniques and systems. A model of complex system is proposed and briefly analyzed. | false | true | false | false | false | false | false | false | false | false | false | false | false | false | false | false | false | false | 2,847 |
1908.04422 | Point-Based Multi-View Stereo Network | We introduce Point-MVSNet, a novel point-based deep framework for multi-view stereo (MVS). Distinct from existing cost volume approaches, our method directly processes the target scene as point clouds. More specifically, our method predicts the depth in a coarse-to-fine manner. We first generate a coarse depth map, convert it into a point cloud and refine the point cloud iteratively by estimating the residual between the depth of the current iteration and that of the ground truth. Our network leverages 3D geometry priors and 2D texture information jointly and effectively by fusing them into a feature-augmented point cloud, and processes the point cloud to estimate the 3D flow for each point. This point-based architecture allows higher accuracy, more computational efficiency and more flexibility than cost-volume-based counterparts. Experimental results show that our approach achieves a significant improvement in reconstruction quality compared with state-of-the-art methods on the DTU and the Tanks and Temples dataset. Our source code and trained models are available at https://github.com/callmeray/PointMVSNet . | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 141,478 |
0708.3573 | On the Outage Capacity of a Practical Decoder Accounting for Channel
Estimation Inaccuracies | The optimal decoder achieving the outage capacity under imperfect channel estimation is investigated. First, by searching into the family of nearest neighbor decoders, which can be easily implemented on most practical coded modulation systems, we derive a decoding metric that minimizes the average of the transmission error probability over all channel estimation errors. Next, we specialize our general expression to obtain the corresponding decoding metric for fading MIMO channels. According to the notion of estimation-induced outage (EIO) capacity introduced in our previous work and assuming no channel state information (CSI) at the transmitter, we characterize maximal achievable information rates, using Gaussian codebooks, associated to the proposed decoder. In the case of uncorrelated Rayleigh fading, these achievable rates are compared to the rates achieved by the classical mismatched maximum-likelihood (ML) decoder and the ultimate limits given by the EIO capacity. Numerical results show that the derived metric provides significant gains for the considered scenario, in terms of achievable information rates and bit error rate (BER), in a bit interleaved coded modulation (BICM) framework, without introducing any additional decoding complexity. | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | 597 |
2110.11040 | InterpolationSLAM: A Novel Robust Visual SLAM System in Rotational
Motion | In recent years, visual SLAM has achieved great progress and development in different scenes, however, there are still many problems to be solved. The SLAM system is not only restricted by the external scenes but is also affected by its movement mode, such as movement speed, rotational motion, etc. As the representatives of the most excellent networks for frame interpolation, Sepconv-slomo and EDSC can predict high-quality intermediate frame between the previous frame and the current frame. Intuitively, frame interpolation technology can enrich the information of images sequences, the number of which is limited by the camera's frame rate, and thus decreasing the probability of SLAM system's failure rate. In this article, we propose an InterpolationSLAM framework. InterpolationSLAM is robust in rotational movement for Monocular and RGB-D configurations. By detecting the rotation and performing interpolation processing at the rotated position, pose of the system can be estimated more accurately, thereby improving the accuracy and robustness of the SLAM system in the rotational movement. | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | 262,343 |
1807.07281 | ClariNet: Parallel Wave Generation in End-to-End Text-to-Speech | In this work, we propose a new solution for parallel wave generation by WaveNet. In contrast to parallel WaveNet (van den Oord et al., 2018), we distill a Gaussian inverse autoregressive flow from the autoregressive WaveNet by minimizing a regularized KL divergence between their highly-peaked output distributions. Our method computes the KL divergence in closed-form, which simplifies the training algorithm and provides very efficient distillation. In addition, we introduce the first text-to-wave neural architecture for speech synthesis, which is fully convolutional and enables fast end-to-end training from scratch. It significantly outperforms the previous pipeline that connects a text-to-spectrogram model to a separately trained WaveNet (Ping et al., 2018). We also successfully distill a parallel waveform synthesizer conditioned on the hidden representation in this end-to-end model. | false | false | true | false | true | false | true | false | true | false | false | false | false | false | false | false | false | false | 103,287 |
2406.09988 | Details Make a Difference: Object State-Sensitive Neurorobotic Task
Planning | The state of an object reflects its current status or condition and is important for a robot's task planning and manipulation. However, detecting an object's state and generating a state-sensitive plan for robots is challenging. Recently, pre-trained Large Language Models (LLMs) and Vision-Language Models (VLMs) have shown impressive capabilities in generating plans. However, to the best of our knowledge, there is hardly any investigation on whether LLMs or VLMs can also generate object state-sensitive plans. To study this, we introduce an Object State-Sensitive Agent (OSSA), a task-planning agent empowered by pre-trained neural networks. We propose two methods for OSSA: (i) a modular model consisting of a pre-trained vision processing module (dense captioning model, DCM) and a natural language processing model (LLM), and (ii) a monolithic model consisting only of a VLM. To quantitatively evaluate the performances of the two methods, we use tabletop scenarios where the task is to clear the table. We contribute a multimodal benchmark dataset that takes object states into consideration. Our results show that both methods can be used for object state-sensitive tasks, but the monolithic approach outperforms the modular approach. The code for OSSA is available at https://github.com/Xiao-wen-Sun/OSSA | false | false | false | false | true | false | false | true | true | false | false | false | false | false | false | false | false | false | 464,179 |
2310.13800 | Evaluation Metrics in the Era of GPT-4: Reliably Evaluating Large
Language Models on Sequence to Sequence Tasks | Large Language Models (LLMs) evaluation is a patchy and inconsistent landscape, and it is becoming clear that the quality of automatic evaluation metrics is not keeping up with the pace of development of generative models. We aim to improve the understanding of current models' performance by providing a preliminary and hybrid evaluation on a range of open and closed-source generative LLMs on three NLP benchmarks: text summarisation, text simplification and grammatical error correction (GEC), using both automatic and human evaluation. We also explore the potential of the recently released GPT-4 to act as an evaluator. We find that ChatGPT consistently outperforms many other popular models according to human reviewers on the majority of metrics, while scoring much more poorly when using classic automatic evaluation metrics. We also find that human reviewers rate the gold reference as much worse than the best models' outputs, indicating the poor quality of many popular benchmarks. Finally, we find that GPT-4 is capable of ranking models' outputs in a way which aligns reasonably closely to human judgement despite task-specific variations, with a lower alignment in the GEC task. | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | 401,579 |
1903.10205 | Accurate Global Trajectory Alignment using Poles and Road Markings | Currently, digital maps are indispensable for automated driving. However, due to the low precision and reliability of GNSS particularly in urban areas, fusing trajectories of independent recording sessions and different regions is a challenging task. To bypass the flaws from direct incorporation of GNSS measurements for geo-referencing, the usage of aerial imagery seems promising. Furthermore, more accurate geo-referencing improves the global map accuracy and allows to estimate the sensor calibration error. In this paper, we present a novel geo-referencing approach to align trajectories to aerial imagery using poles and road markings. To match extracted features from sensor observations to aerial imagery landmarks robustly, a RANSAC-based matching approach is applied in a sliding window. For that, we assume that the trajectories are roughly referenced to the imagery which can be achieved by rough GNSS measurements from a low-cost GNSS receiver. Finally, we align the initial trajectories precisely to the aerial imagery by minimizing a geometric cost function comprising all determined matches. Evaluations performed on data recorded in Karlsruhe, Germany show that our algorithm yields trajectories which are accurately referenced to the used aerial imagery. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 125,227 |
2204.07410 | Initialisation and Grammar Design in Grammar-Guided Evolutionary
Computation | Grammars provide a convenient and powerful mechanism to define the space of possible solutions for a range of problems. However, when used in grammatical evolution (GE), great care must be taken in the design of a grammar to ensure that the polymorphic nature of the genotype-to-phenotype mapping does not impede search. Additionally, recent work has highlighted the importance of the initialisation method on GE's performance. While recent work has shed light on the matters of initialisation and grammar design with respect to GE, their impact on other methods, such as random search and context-free grammar genetic programming (CFG-GP), is largely unknown. This paper examines GE, random search and CFG-GP under a range of benchmark problems using several different initialisation routines and grammar designs. The results suggest that CFG-GP is less sensitive to initialisation and grammar design than both GE and random search: we also demonstrate that observed cases of poor performance by CFG-GP are managed through simple adjustment of tuning parameters. We conclude that CFG-GP is a strong base from which to conduct grammar-guided evolutionary search, and that future work should focus on understanding the parameter space of CFG-GP for better application. | false | false | false | false | false | false | false | false | false | false | false | false | false | false | false | true | false | false | 291,689 |
1712.09716 | Multi-Modal Active Perception for Information Gathering in Science
Missions | Robotic science missions in remote environments, such as deep ocean and outer space, can involve studying phenomena that cannot directly be observed using on-board sensors but must be deduced by combining measurements of correlated variables with domain knowledge. Traditionally, in such missions, robots passively gather data along prescribed paths, while inference, path planning, and other high level decision making is largely performed by a supervisory science team. However, communication constraints hinder these processes, and hence the rate of scientific progress. This paper presents an active perception approach that aims to reduce robots' reliance on human supervision and improve science productivity by encoding scientists' domain knowledge and decision making process on-board. We use Bayesian networks to compactly model critical aspects of scientific knowledge while remaining robust to observation and modeling uncertainty. We then formulate path planning and sensor scheduling as an information gain maximization problem, and propose a sampling-based solution based on Monte Carlo tree search to plan informative sensing actions which exploit the knowledge encoded in the network. The computational complexity of our framework does not grow with the number of observations taken and allows long horizon planning in an anytime manner, making it highly applicable to field robotics. Simulation results show statistically significant performance improvements over baseline methods, and we validate the practicality of our approach through both hardware experiments and simulated experiments with field data gathered during the NASA Mojave Volatiles Prospector science expedition. | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | 87,398 |
1103.4979 | An Introduction to Functional dependency in Relational Databases | This write-up is the suggested lecture notes for a second level course on advanced topics in database systems for master's students of Computer Science with a theoretical focus. A prerequisite in algorithms and an exposure to database systems are required. Additional reading may require exposure to mathematical logic. The starting point for these notes are from M.Y.Vardi's survey listed herein as a reference - some of the proofs are presented as such . This select rewrite on functional dependency is intended to provide a few clarifications even though radically new design approaches are now being proposed. | false | false | false | false | false | false | false | false | false | false | false | false | false | false | false | false | true | false | 9,755 |
2402.17672 | SDF2Net: Shallow to Deep Feature Fusion Network for PolSAR Image
Classification | Polarimetric synthetic aperture radar (PolSAR) images encompass valuable information that can facilitate extensive land cover interpretation and generate diverse output products. Extracting meaningful features from PolSAR data poses challenges distinct from those encountered in optical imagery. Deep learning (DL) methods offer effective solutions for overcoming these challenges in PolSAR feature extraction. Convolutional neural networks (CNNs) play a crucial role in capturing PolSAR image characteristics by leveraging kernel capabilities to consider local information and the complex-valued nature of PolSAR data. In this study, a novel three-branch fusion of complex-valued CNN, named the Shallow to Deep Feature Fusion Network (SDF2Net), is proposed for PolSAR image classification. To validate the performance of the proposed method, classification results are compared against multiple state-of-the-art approaches using the airborne synthetic aperture radar (AIRSAR) datasets of Flevoland and San Francisco, as well as the ESAR Oberpfaffenhofen dataset. The results indicate that the proposed approach demonstrates improvements in overallaccuracy, with a 1.3% and 0.8% enhancement for the AIRSAR datasets and a 0.5% improvement for the ESAR dataset. Analyses conducted on the Flevoland data underscore the effectiveness of the SDF2Net model, revealing a promising overall accuracy of 96.01% even with only a 1% sampling ratio. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 433,092 |
2109.02137 | Efficient Action Recognition Using Confidence Distillation | Modern neural networks are powerful predictive models. However, when it comes to recognizing that they may be wrong about their predictions, they perform poorly. For example, for one of the most common activation functions, the ReLU and its variants, even a well-calibrated model can produce incorrect but high confidence predictions. In the related task of action recognition, most current classification methods are based on clip-level classifiers that densely sample a given video for non-overlapping, same-sized clips and aggregate the results using an aggregation function - typically averaging - to achieve video level predictions. While this approach has shown to be effective, it is sub-optimal in recognition accuracy and has a high computational overhead. To mitigate both these issues, we propose the confidence distillation framework to teach a representation of uncertainty of the teacher to the student sampler and divide the task of full video prediction between the student and the teacher models. We conduct extensive experiments on three action recognition datasets and demonstrate that our framework achieves significant improvements in action recognition accuracy (up to 20%) and computational efficiency (more than 40%). | false | false | false | false | true | false | false | false | false | false | false | true | false | false | false | false | false | false | 253,644 |
2407.17841 | Two-Timescale Design for Movable Antenna Array-Enabled Multiuser Uplink
Communications | Movable antenna (MA) technology can flexibly reconfigure wireless channels by adjusting antenna positions in a local region, thus owing great potential for enhancing communication performance. This letter investigates MA technology enabled multiuser uplink communications over general Rician fading channels, which consist of a base station (BS) equipped with the MA array and multiple single-antenna users. Since it is practically challenging to collect all instantaneous channel state information (CSI) by traversing all possible antenna positions at the BS, we instead propose a two-timescale scheme for maximizing the ergodic sum rate. Specifically, antenna positions at the BS are first optimized using only the statistical CSI. Subsequently, the receiving beamforming at the BS (for which we consider the three typical zero-forcing (ZF), minimum mean-square error (MMSE) and MMSE with successive interference cancellation (MMSE-SIC) receivers) is designed based on the instantaneous CSI with optimized antenna positions, thus significantly reducing practical implementation complexities. The formulated problems are highly non-convex and we develop projected gradient ascent (PGA) algorithms to effectively handle them. Simulation results illustrate that compared to conventional fixed-position antenna (FPA) array, the MA array can achieve significant performance gains by reaping an additional spatial degree of freedom. | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | 476,140 |
2409.01256 | Real-time Accident Anticipation for Autonomous Driving Through Monocular
Depth-Enhanced 3D Modeling | The primary goal of traffic accident anticipation is to foresee potential accidents in real time using dashcam videos, a task that is pivotal for enhancing the safety and reliability of autonomous driving technologies. In this study, we introduce an innovative framework, AccNet, which significantly advances the prediction capabilities beyond the current state-of-the-art (SOTA) 2D-based methods by incorporating monocular depth cues for sophisticated 3D scene modeling. Addressing the prevalent challenge of skewed data distribution in traffic accident datasets, we propose the Binary Adaptive Loss for Early Anticipation (BA-LEA). This novel loss function, together with a multi-task learning strategy, shifts the focus of the predictive model towards the critical moments preceding an accident. {We rigorously evaluate the performance of our framework on three benchmark datasets--Dashcam Accident Dataset (DAD), Car Crash Dataset (CCD), and AnAn Accident Detection (A3D), and DADA-2000 Dataset--demonstrating its superior predictive accuracy through key metrics such as Average Precision (AP) and mean Time-To-Accident (mTTA). | false | false | false | false | true | false | false | false | false | false | false | true | false | false | false | false | false | false | 485,276 |
2105.05725 | On (Coalitional) Exchange-Stable Matching | We study (coalitional) exchange stability, which Alcalde [Economic Design, 1995] introduced as an alternative solution concept for matching markets involving property rights, such as assigning persons to two-bed rooms. Here, a matching of a given Stable Marriage or Stable Roommates instance is called coalitional exchange-stable if it does not admit any exchange-blocking coalition, that is, a subset S of agents in which everyone prefers the partner of some other agent in S. The matching is exchange-stable if it does not admit any exchange-blocking pair, that is, an exchange-blocking coalition of size two. We investigate the computational and parameterized complexity of the Coalitional Exchange-Stable Marriage (resp. Coalitional Exchange Roommates) problem, which is to decide whether a Stable Marriage (resp. Stable Roommates) instance admits a coalitional exchange-stable matching. Our findings resolve an open question and confirm the conjecture of Cechl\'arov\'a and Manlove [Discrete Applied Mathematics, 2005] that Coalitional Exchange-Stable Marriage is NP-hard even for complete preferences without ties. We also study bounded-length preference lists and a local-search variant of deciding whether a given matching can reach an exchange-stable one after at most k swaps, where a swap is defined as exchanging the partners of the two agents in an exchange-blocking pair. | false | false | false | false | false | false | false | false | false | false | false | false | false | false | true | false | false | true | 234,902 |
2106.09637 | AttDLNet: Attention-based DL Network for 3D LiDAR Place Recognition | LiDAR-based place recognition is one of the key components of SLAM and global localization in autonomous vehicles and robotics applications. With the success of DL approaches in learning useful information from 3D LiDARs, place recognition has also benefited from this modality, which has led to higher re-localization and loop-closure detection performance, particularly, in environments with significant changing conditions. Despite the progress in this field, the extraction of proper and efficient descriptors from 3D LiDAR data that are invariant to changing conditions and orientation is still an unsolved challenge. To address this problem, this work proposes a novel 3D LiDAR-based deep learning network (named AttDLNet) that uses a range-based proxy representation for point clouds and an attention network with stacked attention layers to selectively focus on long-range context and inter-feature relationships. The proposed network is trained and validated on the KITTI dataset and an ablation study is presented to assess the novel attention network. Results show that adding attention to the network improves performance, leading to efficient loop closures, and outperforming an established 3D LiDAR-based place recognition approach. From the ablation study, results indicate that the middle encoder layers have the highest mean performance, while deeper layers are more robust to orientation change. The code is publicly available at https://github.com/Cybonic/AttDLNet | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 241,726 |
2110.15777 | GBK-GNN: Gated Bi-Kernel Graph Neural Networks for Modeling Both
Homophily and Heterophily | Graph Neural Networks (GNNs) are widely used on a variety of graph-based machine learning tasks. For node-level tasks, GNNs have strong power to model the homophily property of graphs (i.e., connected nodes are more similar) while their ability to capture the heterophily property is often doubtful. This is partially caused by the design of the feature transformation with the same kernel for the nodes in the same hop and the followed aggregation operator. One kernel cannot model the similarity and the dissimilarity (i.e., the positive and negative correlation) between node features simultaneously even though we use attention mechanisms like Graph Attention Network (GAT), since the weight calculated by attention is always a positive value. In this paper, we propose a novel GNN model based on a bi-kernel feature transformation and a selection gate. Two kernels capture homophily and heterophily information respectively, and the gate is introduced to select which kernel we should use for the given node pairs. We conduct extensive experiments on various datasets with different homophily-heterophily properties. The experimental results show consistent and significant improvements against state-of-the-art GNN methods. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 263,999 |
2302.01417 | A Convolutional-based Model for Early Prediction of Alzheimer's based on
the Dementia Stage in the MRI Brain Images | Alzheimer's disease is a degenerative brain disease. Being the primary cause of Dementia in adults and progressively destroys brain memory. Though Alzheimer's disease does not have a cure currently, diagnosing it at an earlier stage will help reduce the severity of the disease. Thus, early diagnosis of Alzheimer's could help to reduce or stop the disease from progressing. In this paper, we proposed a deep convolutional neural network-based model for learning model using to determine the stage of Dementia in adults based on the Magnetic Resonance Imaging (MRI) images to detect the early onset of Alzheimer's. | false | false | false | false | false | false | true | false | false | false | false | true | false | false | false | false | false | false | 343,591 |
1210.1928 | Information fusion in multi-task Gaussian processes | This paper evaluates heterogeneous information fusion using multi-task Gaussian processes in the context of geological resource modeling. Specifically, it empirically demonstrates that information integration across heterogeneous information sources leads to superior estimates of all the quantities being modeled, compared to modeling them individually. Multi-task Gaussian processes provide a powerful approach for simultaneous modeling of multiple quantities of interest while taking correlations between these quantities into consideration. Experiments are performed on large scale real sensor data. | false | false | false | false | true | false | true | false | false | false | false | false | false | false | false | false | false | false | 18,972 |
2406.09168 | SR-CACO-2: A Dataset for Confocal Fluorescence Microscopy Image
Super-Resolution | Confocal fluorescence microscopy is one of the most accessible and widely used imaging techniques for the study of biological processes at the cellular and subcellular levels. Scanning confocal microscopy allows the capture of high-quality images from thick three-dimensional (3D) samples, yet suffers from well-known limitations such as photobleaching and phototoxicity of specimens caused by intense light exposure, limiting its applications. Cellular damage can be alleviated by changing imaging parameters to reduce light exposure, often at the expense of image quality. Machine/deep learning methods for single-image super-resolution (SISR) can be applied to restore image quality by upscaling lower-resolution (LR) images to yield high-resolution images (HR). These SISR methods have been successfully applied to photo-realistic images due partly to the abundance of publicly available data. In contrast, the lack of publicly available data partly limits their application and success in scanning confocal microscopy. In this paper, we introduce a large scanning confocal microscopy dataset named SR-CACO-2 that is comprised of low- and high-resolution image pairs marked for three different fluorescent markers. It allows the evaluation of performance of SISR methods on three different upscaling levels (X2, X4, X8). SR-CACO-2 contains the human epithelial cell line Caco-2 (ATCC HTB-37), and it is composed of 2,200 unique images, captured with four resolutions and three markers, forming 9,937 image patches for SISR methods. We provide benchmarking results for 16 state-of-the-art methods of the main SISR families. Results show that these methods have limited success in producing high-resolution textures. The dataset is freely accessible under a Creative Commons license (CC BY-NC-SA 4.0). Our dataset, code and pretrained weights for SISR methods are available: https://github.com/sbelharbi/sr-caco-2. | false | false | false | false | false | false | true | false | false | false | false | true | false | false | false | false | false | false | 463,798 |
2405.19532 | Contrasting Multiple Representations with the Multi-Marginal Matching
Gap | Learning meaningful representations of complex objects that can be seen through multiple ($k\geq 3$) views or modalities is a core task in machine learning. Existing methods use losses originally intended for paired views, and extend them to $k$ views, either by instantiating $\tfrac12k(k-1)$ loss-pairs, or by using reduced embeddings, following a \textit{one vs. average-of-rest} strategy. We propose the multi-marginal matching gap (M3G), a loss that borrows tools from multi-marginal optimal transport (MM-OT) theory to simultaneously incorporate all $k$ views. Given a batch of $n$ points, each seen as a $k$-tuple of views subsequently transformed into $k$ embeddings, our loss contrasts the cost of matching these $n$ ground-truth $k$-tuples with the MM-OT polymatching cost, which seeks $n$ optimally arranged $k$-tuples chosen within these $n\times k$ vectors. While the exponential complexity $O(n^k$) of the MM-OT problem may seem daunting, we show in experiments that a suitable generalization of the Sinkhorn algorithm for that problem can scale to, e.g., $k=3\sim 6$ views using mini-batches of size $64~\sim128$. Our experiments demonstrate improved performance over multiview extensions of pairwise losses, for both self-supervised and multimodal tasks. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 458,935 |
2311.12854 | Enhancing Robotic Manipulation: Harnessing the Power of Multi-Task
Reinforcement Learning and Single Life Reinforcement Learning in Meta-World | At present, robots typically require extensive training to successfully accomplish a single task. However, to truly enhance their usefulness in real-world scenarios, robots should possess the capability to perform multiple tasks effectively. To address this need, various multi-task reinforcement learning (RL) algorithms have been developed, including multi-task proximal policy optimization (PPO), multi-task trust region policy optimization (TRPO), and multi-task soft-actor critic (SAC). Nevertheless, these algorithms demonstrate optimal performance only when operating within an environment or observation space that exhibits a similar distribution. In reality, such conditions are often not the norm, as robots may encounter scenarios or observations that differ from those on which they were trained. Addressing this challenge, algorithms like Q-Weighted Adversarial Learning (QWALE) attempt to tackle the issue by training the base algorithm (generating prior data) solely for a particular task, rendering it unsuitable for generalization across tasks. So, the aim of this research project is to enable a robotic arm to successfully execute seven distinct tasks within the Meta World environment. To achieve this, a multi-task soft actor-critic (MT-SAC) is employed to train the robotic arm. Subsequently, the trained model will serve as a source of prior data for the single-life RL algorithm. The effectiveness of this MT-QWALE algorithm will be assessed by conducting tests on various target positions (novel positions). In the end, a comparison is provided between the trained MT-SAC and the MT-QWALE algorithm where the MT-QWALE performs better. An ablation study demonstrates that MT-QWALE successfully completes tasks with a slightly larger number of steps even after hiding the final goal position. | false | false | false | false | true | false | false | true | false | false | false | false | false | false | false | false | false | false | 409,515 |
1003.2782 | Reduced ML-Decoding Complexity, Full-Rate STBCs for $2^a$ Transmit
Antenna Systems | For an $n_t$ transmit, $n_r$ receive antenna system ($n_t \times n_r$ system), a {\it{full-rate}} space time block code (STBC) transmits $n_{min} = min(n_t,n_r)$ complex symbols per channel use and in general, has an ML-decoding complexity of the order of $M^{n_tn_{min}}$ (considering square designs), where $M$ is the constellation size. In this paper, a scheme to obtain a full-rate STBC for $2^a$ transmit antennas and any $n_r$, with reduced ML-decoding complexity of the order of $M^{n_t(n_{min}-3/4)}$, is presented. The weight matrices of the proposed STBC are obtained from the unitary matrix representations of a Clifford Algebra. For any value of $n_r$, the proposed design offers a reduction from the full ML-decoding complexity by a factor of $M^{3n_t/4}}$. The well known Silver code for 2 transmit antennas is a special case of the proposed scheme. Further, it is shown that the codes constructed using the scheme have higher ergodic capacity than the well known punctured Perfect codes for $n_r < n_t$. Simulation results of the symbol error rates are shown for $8 \times 2$ systems, where the comparison of the proposed code is with the punctured Perfect code for 8 transmit antennas. The proposed code matches the punctured perfect code in error performance, while having reduced ML-decoding complexity and higher ergodic capacity. | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | 5,918 |
2106.08541 | Distilling Self-Knowledge From Contrastive Links to Classify Graph Nodes
Without Passing Messages | Nowadays, Graph Neural Networks (GNNs) following the Message Passing paradigm become the dominant way to learn on graphic data. Models in this paradigm have to spend extra space to look up adjacent nodes with adjacency matrices and extra time to aggregate multiple messages from adjacent nodes. To address this issue, we develop a method called LinkDist that distils self-knowledge from connected node pairs into a Multi-Layer Perceptron (MLP) without the need to aggregate messages. Experiment with 8 real-world datasets shows the MLP derived from LinkDist can predict the label of a node without knowing its adjacencies but achieve comparable accuracy against GNNs in the contexts of semi- and full-supervised node classification. Moreover, LinkDist benefits from its Non-Message Passing paradigm that we can also distil self-knowledge from arbitrarily sampled node pairs in a contrastive way to further boost the performance of LinkDist. | false | false | false | false | true | false | true | false | false | false | false | false | false | false | false | false | false | false | 241,327 |
2202.01515 | Channel State Acquisition in FDD Massive MIMO: Rate-Distortion Bound and
Effectiveness of "Analog" Feedback | We consider the problem of estimating channel fading coefficients (modeled as a correlated Gaussian vector) via Downlink (DL) training and Uplink (UL) feedback in wideband FDD massive MIMO systems. Using rate-distortion theory, we derive optimal bounds on the achievable channel state estimation error in terms of the number of training pilots in DL ($\beta_{tr}$) and feedback dimension in UL ($\beta_{fb}$), with random, spatially isotropic pilots. It is shown that when the number of training pilots exceeds the channel covariance rank ($r$), the optimal rate-distortion feedback strategy achieves an estimation error decay of $\Theta (SNR^{-\alpha})$ in estimating the channel state, where $\alpha = min (\beta_{fb}/r , 1)$ is the so-called quality scaling exponent. We also discuss an "analog" feedback strategy, showing that it can achieve the optimal quality scaling exponent for a wide range of training and feedback dimensions with no channel covariance knowledge and simple signal processing at the user side. Our findings are supported by numerical simulations comparing various strategies in terms of channel state mean squared error and achievable ergodic sum-rate in DL with zero-forcing precoding. | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | 278,510 |
2003.11934 | Stability Analysis of Droop-Controlled Inverter-Based Power Grids via
Timescale Separation | We consider the problem of stability analysis for distribution grids with droop-controlled inverters and dynamic distribution power lines. The inverters are modeled as voltage sources with controllable frequency and amplitude. This problem is very challenging for large networks as numerical simulations and detailed eigenvalue analysis are impactical. Motivated by the above limitations, we present in this paper a systematic and computationally efficient framework for stability analysis of inverter-based distribution grids. To design our framework, we use tools from singular perturbation and Lyapunov theories. Interestingly, we show that stability of the fast dynamics of the power grid depends only on the voltage droop gains of the inverters while, stability of the slow dynamics, depends on both voltage and frequency droop gains. Finally, by leveraging these timescale separation properties, we derive sufficient conditions on the frequency and voltage droop gains of the inverters that warrant stability of the full system. We illustrate our theoretical results through a numerical example on the IEEE 13-bus distribution grid. | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | 169,759 |
2302.09597 | Solving Differential-Algebraic Equations in Power System Dynamic
Analysis with Quantum Computing | Power system dynamics are generally modeled by high dimensional nonlinear differential-algebraic equations (DAEs) given a large number of components forming the network. These DAEs' complexity can grow exponentially due to the increasing penetration of distributed energy resources, whereas their computation time becomes sensitive due to the increasing interconnection of the power grid with other energy systems. This paper demonstrates the use of quantum computing algorithms to solve DAEs for power system dynamic analysis. We leverage a symbolic programming framework to equivalently convert the power system's DAEs into ordinary differential equations (ODEs) using index reduction methods and then encode their data into qubits using amplitude encoding. The system nonlinearity is captured by Hamiltonian simulation with truncated Taylor expansion so that state variables can be updated by a quantum linear equation solver. Our results show that quantum computing can solve the power system's DAEs accurately with a computational complexity polynomial in the logarithm of the system dimension. We also illustrate the use of recent advanced tools in scientific machine learning for implementing complex computing concepts, i.e. Taylor expansion, DAEs/ODEs transformation, and quantum computing solver with abstract representation for power engineering applications. | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | 346,491 |
2009.03934 | Metis: Multi-Agent Based Crisis Simulation System | With the advent of the computational technologies (Graphics Processing Units - GPUs) and Machine Learning, the research domain of crowd simulation for crisis management has flourished. Along with the new techniques and methodologies that have been proposed all those years, aiming to increase the realism of crowd simulation, several crisis simulation systems/tools have been developed, but most of them focus on special cases without providing users the ability to adapt them based on their needs. Towards these directions, in this paper, we introduce a novel multi-agent-based crisis simulation system for indoor cases. The main advantage of the system is its ease of use feature, focusing on non-expert users (users with little to no programming skills) that can exploit its capabilities a, adapt the entire environment based on their needs (Case studies) and set up building evacuation planning experiments with some of the most popular Reinforcement Learning algorithms. Simply put, the system's features focus on dynamic environment design and crisis management, interconnection with popular Reinforcement Learning libraries, agents with different characteristics (behaviors), fire propagation parameterization, realistic physics based on popular game engine, GPU-accelerated agents training and simulation end conditions. A case study exploiting a popular reinforcement learning algorithm, for training of the agents, presents the dynamics and the capabilities of the proposed systems and the paper is concluded with the highlights of the system and some future directions. | false | false | false | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | 194,921 |
2112.02468 | Anomaly Detection of Wind Turbine Time Series using Variational
Recurrent Autoencoders | Ice accumulation in the blades of wind turbines can cause them to describe anomalous rotations or no rotations at all, thus affecting the generation of electricity and power output. In this work, we investigate the problem of ice accumulation in wind turbines by framing it as anomaly detection of multi-variate time series. Our approach focuses on two main parts: first, learning low-dimensional representations of time series using a Variational Recurrent Autoencoder (VRAE), and second, using unsupervised clustering algorithms to classify the learned representations as normal (no ice accumulated) or abnormal (ice accumulated). We have evaluated our approach on a custom wind turbine time series dataset, for the two-classes problem (one normal versus one abnormal class), we obtained a classification accuracy of up to 96$\%$ on test data. For the multiple-class problem (one normal versus multiple abnormal classes), we present a qualitative analysis of the low-dimensional learned latent space, providing insights into the capacities of our approach to tackle such problem. The code to reproduce this work can be found here https://github.com/agrija9/Wind-Turbines-VRAE-Paper. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 269,851 |
1804.00038 | Overview: A Hierarchical Framework for Plan Generation and Execution in
Multi-Robot Systems | The authors present an overview of a hierarchical framework for coordinating task- and motion-level operations in multirobot systems. Their framework is based on the idea of using simple temporal networks to simultaneously reason about precedence/causal constraints required for task-level coordination and simple temporal constraints required to take some kinematic constraints of robots into account. In the plan-generation phase, the framework provides a computationally scalable method for generating plans that achieve high-level tasks for groups of robots and take some of their kinematic constraints into account. In the plan-execution phase, the framework provides a method for absorbing an imperfect plan execution to avoid time-consuming re-planning in many cases. The authors use the multirobot path-planning problem as a case study to present the key ideas behind their framework for the long-term autonomy of multirobot systems. | false | false | false | false | true | false | false | true | false | false | false | false | false | false | true | false | false | false | 93,920 |
2003.12163 | Using constraint structure and an improved object detection network to
detect the 12^{th} Vertebra from CT images with a limited field of view for
image-guided radiotherapy | Image guidance has been widely used in radiation therapy. Correctly identifying the bounding box of the anatomical landmarks from limited field of views is the key to success. In image-guided radiation therapy (IGRT), the detection of those landmarks like the 12th vertebra (T12) still requires tedious manual inspections and annotations; and superior-inferior misalignment to the wrong vertebral body is still relatively common. It is necessary to develop an automated approach to detect those landmarks from images. The challenges of training a model to identify T12 vertebrae automatically mainly are high shape similarity between T12 and neighboring vertebrae, limited annotated data, and class imbalance. This study proposed a novel 3D detection network, requiring only a small amount of training data. Our approach has the following innovations, including 1) the introduction of an auxiliary network to build constraint feature map for improving the model's generalization, especially when the constraint structure is easier to be detected than the main one; 2) an improved detection head and target functions for accurate bounding box detection; and 3) an improved loss functions to address the high class imbalance. Our proposed network was trained, validated and tested on anotated CT images from 55 patients and demonstrated accurate distinguish T12 vertebra from its neighboring vertebrae of high shape similarity. Our proposed algorithm yielded the bounding box center and size errors of 3.98\pm2.04mm and 16.83\pm8.34mm, respectively. Our approach significantly outperformed state-of-the-arts Retina-Net3D in average precision (AP) at IoU thresholds of 0.35 and 0.5, with AP increasing from 0 to 95.4 and 0 to 64.7, respectively. In summary, our approach has a great potential to be integrated into the clinical workflow to improve the safety of IGRT. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 169,831 |
2501.04398 | Implementation Of Wildlife Observation System | By entering the habitats of wild animals, wildlife watchers can engage closely with them. There are some wild animals that are not always safe to approach. Therefore, we suggest this system for observing wildlife. Android phones can be used by users to see live events. Wildlife observers can thus get a close-up view of wild animals by employing this robotic vehicle. The commands are delivered to the system via a Wi-Fi module. As we developed the technology to enable our robot to deal with the challenges of maintaining continuous surveillance of a target, we found that our robot needed to be able to move silently and purposefully when monitoring a natural target without being noticed. After processing the data, the computer sends commands to the motors to turn on. The driver motors, which deliver the essential signal outputs to drive the vehicle movement, are now in charge of driving the motors. | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | 523,208 |
1710.05053 | Automated Scalable Bayesian Inference via Hilbert Coresets | The automation of posterior inference in Bayesian data analysis has enabled experts and nonexperts alike to use more sophisticated models, engage in faster exploratory modeling and analysis, and ensure experimental reproducibility. However, standard automated posterior inference algorithms are not tractable at the scale of massive modern datasets, and modifications to make them so are typically model-specific, require expert tuning, and can break theoretical guarantees on inferential quality. Building on the Bayesian coresets framework, this work instead takes advantage of data redundancy to shrink the dataset itself as a preprocessing step, providing fully-automated, scalable Bayesian inference with theoretical guarantees. We begin with an intuitive reformulation of Bayesian coreset construction as sparse vector sum approximation, and demonstrate that its automation and performance-based shortcomings arise from the use of the supremum norm. To address these shortcomings we develop Hilbert coresets, i.e., Bayesian coresets constructed under a norm induced by an inner-product on the log-likelihood function space. We propose two Hilbert coreset construction algorithms---one based on importance sampling, and one based on the Frank-Wolfe algorithm---along with theoretical guarantees on approximation quality as a function of coreset size. Since the exact computation of the proposed inner-products is model-specific, we automate the construction with a random finite-dimensional projection of the log-likelihood functions. The resulting automated coreset construction algorithm is simple to implement, and experiments on a variety of models with real and synthetic datasets show that it provides high-quality posterior approximations and a significant reduction in the computational cost of inference. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 82,570 |
1512.00583 | Central-limit approach to risk-aware Markov decision processes | Whereas classical Markov decision processes maximize the expected reward, we consider minimizing the risk. We propose to evaluate the risk associated to a given policy over a long-enough time horizon with the help of a central limit theorem. The proposed approach works whether the transition probabilities are known or not. We also provide a gradient-based policy improvement algorithm that converges to a local optimum of the risk objective. | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | 49,728 |
cs/0405051 | Short Term Load Forecasting Models in Czech Republic Using Soft
Computing Paradigms | This paper presents a comparative study of six soft computing models namely multilayer perceptron networks, Elman recurrent neural network, radial basis function network, Hopfield model, fuzzy inference system and hybrid fuzzy neural network for the hourly electricity demand forecast of Czech Republic. The soft computing models were trained and tested using the actual hourly load data for seven years. A comparison of the proposed techniques is presented for predicting 2 day ahead demands for electricity. Simulation results indicate that hybrid fuzzy neural network and radial basis function networks are the best candidates for the analysis and forecasting of electricity demand. | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | false | false | 538,201 |
2003.10769 | Estimating Uncertainty and Interpretability in Deep Learning for
Coronavirus (COVID-19) Detection | Deep Learning has achieved state of the art performance in medical imaging. However, these methods for disease detection focus exclusively on improving the accuracy of classification or predictions without quantifying uncertainty in a decision. Knowing how much confidence there is in a computer-based medical diagnosis is essential for gaining clinicians trust in the technology and therefore improve treatment. Today, the 2019 Coronavirus (SARS-CoV-2) infections are a major healthcare challenge around the world. Detecting COVID-19 in X-ray images is crucial for diagnosis, assessment and treatment. However, diagnostic uncertainty in the report is a challenging and yet inevitable task for radiologist. In this paper, we investigate how drop-weights based Bayesian Convolutional Neural Networks (BCNN) can estimate uncertainty in Deep Learning solution to improve the diagnostic performance of the human-machine team using publicly available COVID-19 chest X-ray dataset and show that the uncertainty in prediction is highly correlates with accuracy of prediction. We believe that the availability of uncertainty-aware deep learning solution will enable a wider adoption of Artificial Intelligence (AI) in a clinical setting. | false | false | false | false | false | false | true | false | false | false | false | true | false | false | false | false | false | false | 169,429 |
2011.06237 | Goal-driven Command Recommendations for Analysts | Recent times have seen data analytics software applications become an integral part of the decision-making process of analysts. The users of these software applications generate a vast amount of unstructured log data. These logs contain clues to the user's goals, which traditional recommender systems may find difficult to model implicitly from the log data. With this assumption, we would like to assist the analytics process of a user through command recommendations. We categorize the commands into software and data categories based on their purpose to fulfill the task at hand. On the premise that the sequence of commands leading up to a data command is a good predictor of the latter, we design, develop, and validate various sequence modeling techniques. In this paper, we propose a framework to provide goal-driven data command recommendations to the user by leveraging unstructured logs. We use the log data of a web-based analytics software to train our neural network models and quantify their performance, in comparison to relevant and competitive baselines. We propose a custom loss function to tailor the recommended data commands according to the goal information provided exogenously. We also propose an evaluation metric that captures the degree of goal orientation of the recommendations. We demonstrate the promise of our approach by evaluating the models with the proposed metric and showcasing the robustness of our models in the case of adversarial examples, where the user activity is misaligned with selected goal, through offline evaluation. | true | false | false | false | false | true | true | false | false | false | false | false | false | false | false | false | false | false | 206,189 |
2410.20733 | SEG:Seeds-Enhanced Iterative Refinement Graph Neural Network for Entity
Alignment | Entity alignment is crucial for merging knowledge across knowledge graphs, as it matches entities with identical semantics. The standard method matches these entities based on their embedding similarities using semi-supervised learning. However, diverse data sources lead to non-isomorphic neighborhood structures for aligned entities, complicating alignment, especially for less common and sparsely connected entities. This paper presents a soft label propagation framework that integrates multi-source data and iterative seed enhancement, addressing scalability challenges in handling extensive datasets where scale computing excels. The framework uses seeds for anchoring and selects optimal relationship pairs to create soft labels rich in neighborhood features and semantic relationship data. A bidirectional weighted joint loss function is implemented, which reduces the distance between positive samples and differentially processes negative samples, taking into account the non-isomorphic neighborhood structures. Our method outperforms existing semi-supervised approaches, as evidenced by superior results on multiple datasets, significantly improving the quality of entity alignment. | false | false | false | false | true | false | false | false | true | false | false | false | false | false | false | false | false | false | 502,938 |
2204.11338 | Taming Hybrid-Cloud Fast and Scalable Graph Analytics at Twitter | We have witnessed a boosted demand for graph analytics at Twitter in recent years, and graph analytics has become one of the key parts of Twitter's large-scale data analytics and machine learning for driving engagement, serving the most relevant content, and promoting healthier conversations. However, infrastructure for graph analytics has historically not been an area of investment at Twitter, resulting in a long timeline and huge engineering effort for each project to deal with graphs at the Twitter scale. How do we build a unified graph analytics user experience to fulfill modern data analytics on various graph scales spanning from thousands to hundreds of billions of vertices and edges? To bring fast and scalable graph analytics capability into production, we investigate the challenges we are facing in large-scale graph analytics at Twitter and propose a unified graph analytics platform for efficient, scalable, and reliable graph analytics across on-premises and cloud, to fulfill the requirements of diverse graph use cases and challenging scales. We also conduct quantitative benchmarking on Twitter's production-level graph use cases between popular graph analytics frameworks to certify our solution. | false | false | false | false | false | false | false | false | false | false | false | false | false | false | false | false | true | true | 293,109 |
2304.10510 | Censoring chemical data to mitigate dual use risk | The dual use of machine learning applications, where models can be used for both beneficial and malicious purposes, presents a significant challenge. This has recently become a particular concern in chemistry, where chemical datasets containing sensitive labels (e.g. toxicological information) could be used to develop predictive models that identify novel toxins or chemical warfare agents. To mitigate dual use risks, we propose a model-agnostic method of selectively noising datasets while preserving the utility of the data for training deep neural networks in a beneficial region. We evaluate the effectiveness of the proposed method across least squares, a multilayer perceptron, and a graph neural network. Our findings show selectively noised datasets can induce model variance and bias in predictions for sensitive labels with control, suggesting the safe sharing of datasets containing sensitive information is feasible. We also find omitting sensitive data often increases model variance sufficiently to mitigate dual use. This work is proposed as a foundation for future research on enabling more secure and collaborative data sharing practices and safer machine learning applications in chemistry. | false | false | false | false | false | false | true | false | false | false | false | false | true | true | false | false | false | false | 359,434 |
2012.11107 | Forecasting Irreversible Disease via Progression Learning | Forecasting Parapapillary atrophy (PPA), i.e., a symptom related to most irreversible eye diseases, provides an alarm for implementing an intervention to slow down the disease progression at early stage. A key question for this forecast is: how to fully utilize the historical data (e.g., retinal image) up to the current stage for future disease prediction? In this paper, we provide an answer with a novel framework, namely \textbf{D}isease \textbf{F}orecast via \textbf{P}rogression \textbf{L}earning (\textbf{DFPL}), which exploits the irreversibility prior (i.e., cannot be reversed once diagnosed). Specifically, based on this prior, we decompose two factors that contribute to the prediction of the future disease: i) the current disease label given the data (retinal image, clinical attributes) at present and ii) the future disease label given the progression of the retinal images that from the current to the future. To model these two factors, we introduce the current and progression predictors in DFPL, respectively. In order to account for the degree of progression of the disease, we propose a temporal generative model to accurately generate the future image and compare it with the current one to get a residual image. The generative model is implemented by a recurrent neural network, in order to exploit the dependency of the historical data. To verify our approach, we apply it to a PPA in-house dataset and it yields a significant improvement (\textit{e.g.}, \textbf{4.48\%} of accuracy; \textbf{3.45\%} of AUC) over others. Besides, our generative model can accurately localize the disease-related regions. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 212,532 |
2104.00462 | SCALoss: Side and Corner Aligned Loss for Bounding Box Regression | Bounding box regression is an important component in object detection. Recent work achieves promising performance by optimizing the Intersection over Union~(IoU). However, IoU-based loss has the gradient vanish problem in the case of low overlapping bounding boxes, and the model could easily ignore these simple cases. In this paper, we propose Side Overlap~(SO) loss by maximizing the side overlap of two bounding boxes, which puts more penalty for low overlapping bounding box cases. Besides, to speed up the convergence, the Corner Distance~(CD) is added into the objective function. Combining the Side Overlap and Corner Distance, we get a new regression objective function, \textit{Side and Corner Align Loss~(SCALoss)}. The SCALoss is well-correlated with IoU loss, which also benefits the evaluation metric but produces more penalty for low-overlapping cases. It can serve as a comprehensive similarity measure, leading to better localization performance and faster convergence speed. Experiments on COCO, PASCAL VOC, and LVIS benchmarks show that SCALoss can bring consistent improvement and outperform $\ell_n$ loss and IoU based loss with popular object detectors such as YOLOV3, SSD, Faster-RCNN. Code is available at: \url{https://github.com/Turoad/SCALoss}. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 228,007 |
1807.10366 | Robot Motion Planning in Learned Latent Spaces | This paper presents Latent Sampling-based Motion Planning (L-SBMP), a methodology towards computing motion plans for complex robotic systems by learning a plannable latent representation. Recent works in control of robotic systems have effectively leveraged local, low-dimensional embeddings of high-dimensional dynamics. In this paper we combine these recent advances with techniques from sampling-based motion planning (SBMP) in order to design a methodology capable of planning for high-dimensional robotic systems beyond the reach of traditional approaches (e.g., humanoids, or even systems where planning occurs in the visual space). Specifically, the learned latent space is constructed through an autoencoding network, a dynamics network, and a collision checking network, which mirror the three main algorithmic primitives of SBMP, namely state sampling, local steering, and collision checking. Notably, these networks can be trained through only raw data of the system's states and actions along with a supervising collision checker. Building upon these networks, an RRT-based algorithm is used to plan motions directly in the latent space - we refer to this exploration algorithm as Learned Latent RRT (L2RRT). This algorithm globally explores the latent space and is capable of generalizing to new environments. The overall methodology is demonstrated on two planning problems, namely a visual planning problem, whereby planning happens in the visual (pixel) space, and a humanoid robot planning problem. | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | 103,921 |
2303.08204 | SAILOR: Perceptual Anchoring For Robotic Cognitive Architectures | Symbolic anchoring is a crucial problem in the field of robotics, as it enables robots to obtain symbolic knowledge from the perceptual information acquired through their sensors. In cognitive-based robots, this process of processing sub-symbolic data from real-world sensors to obtain symbolic knowledge is still an open problem. To address this issue, this paper presents SAILOR, a framework for providing symbolic anchoring in the ROS 2 ecosystem. SAILOR aims to maintain the link between symbolic data and perceptual data in real robots over time, increasing the intelligent behavior of robots. It provides a semantic world modeling approach using two deep learning-based sub-symbolic robotic skills: object recognition and matching function. The object recognition skill allows the robot to recognize and identify objects in its environment, while the matching function enables the robot to decide if new perceptual data corresponds to existing symbolic data. This paper provides a description of the proposed method and the development of the framework, as well as its integration in MERLIN2 (a hybrid cognitive architecture fully functional in robots running ROS 2). | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | 351,545 |
2401.03317 | Spatiotemporally adaptive compression for scientific dataset with
feature preservation -- a case study on simulation data with extreme climate
events analysis | Scientific discoveries are increasingly constrained by limited storage space and I/O capacities. For time-series simulations and experiments, their data often need to be decimated over timesteps to accommodate storage and I/O limitations. In this paper, we propose a technique that addresses storage costs while improving post-analysis accuracy through spatiotemporal adaptive, error-controlled lossy compression. We investigate the trade-off between data precision and temporal output rates, revealing that reducing data precision and increasing timestep frequency lead to more accurate analysis outcomes. Additionally, we integrate spatiotemporal feature detection with data compression and demonstrate that performing adaptive error-bounded compression in higher dimensional space enables greater compression ratios, leveraging the error propagation theory of a transformation-based compressor. To evaluate our approach, we conduct experiments using the well-known E3SM climate simulation code and apply our method to compress variables used for cyclone tracking. Our results show a significant reduction in storage size while enhancing the quality of cyclone tracking analysis, both quantitatively and qualitatively, in comparison to the prevalent timestep decimation approach. Compared to three state-of-the-art lossy compressors lacking feature preservation capabilities, our adaptive compression framework improves perfectly matched cases in TC tracking by 26.4-51.3% at medium compression ratios and by 77.3-571.1% at large compression ratios, with a merely 5-11% computational overhead. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | true | 420,056 |
2206.06518 | Estimating Pose from Pressure Data for Smart Beds with Deep Image-based
Pose Estimators | In-bed pose estimation has shown value in fields such as hospital patient monitoring, sleep studies, and smart homes. In this paper, we explore different strategies for detecting body pose from highly ambiguous pressure data, with the aid of pre-existing pose estimators. We examine the performance of pre-trained pose estimators by using them either directly or by re-training them on two pressure datasets. We also explore other strategies utilizing a learnable pre-processing domain adaptation step, which transforms the vague pressure maps to a representation closer to the expected input space of common purpose pose estimation modules. Accordingly, we used a fully convolutional network with multiple scales to provide the pose-specific characteristics of the pressure maps to the pre-trained pose estimation module. Our complete analysis of different approaches shows that the combination of learnable pre-processing module along with re-training pre-existing image-based pose estimators on the pressure data is able to overcome issues such as highly vague pressure points to achieve very high pose estimation accuracy. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 302,401 |
2301.00524 | Learning Confident Classifiers in the Presence of Label Noise | The success of Deep Neural Network (DNN) models significantly depends on the quality of provided annotations. In medical image segmentation, for example, having multiple expert annotations for each data point is common to minimize subjective annotation bias. Then, the goal of estimation is to filter out the label noise and recover the ground-truth masks, which are not explicitly given. This paper proposes a probabilistic model for noisy observations that allows us to build a confident classification and segmentation models. To accomplish it, we explicitly model label noise and introduce a new information-based regularization that pushes the network to recover the ground-truth labels. In addition, for segmentation task we adjust the loss function by prioritizing learning in high-confidence regions where all the annotators agree on labeling. We evaluate the proposed method on a series of classification tasks such as noisy versions of MNIST, CIFAR-10, Fashion-MNIST datasets as well as CIFAR-10N, which is real-world dataset with noisy human annotations. Additionally, for segmentation task, we consider several medical imaging datasets, such as, LIDC and RIGA that reflect real-world inter-variability among multiple annotators. Our experiments show that our algorithm outperforms state-of-the-art solutions for the considered classification and segmentation problems. | true | false | false | false | false | false | true | false | false | false | false | true | false | false | false | false | false | false | 338,937 |
2403.11985 | SceneSense: Diffusion Models for 3D Occupancy Synthesis from Partial
Observation | When exploring new areas, robotic systems generally exclusively plan and execute controls over geometry that has been directly measured. When entering space that was previously obstructed from view such as turning corners in hallways or entering new rooms, robots often pause to plan over the newly observed space. To address this we present SceneScene, a real-time 3D diffusion model for synthesizing 3D occupancy information from partial observations that effectively predicts these occluded or out of view geometries for use in future planning and control frameworks. SceneSense uses a running occupancy map and a single RGB-D camera to generate predicted geometry around the platform at runtime, even when the geometry is occluded or out of view. Our architecture ensures that SceneSense never overwrites observed free or occupied space. By preserving the integrity of the observed map, SceneSense mitigates the risk of corrupting the observed space with generative predictions. While SceneSense is shown to operate well using a single RGB-D camera, the framework is flexible enough to extend to additional modalities. SceneSense operates as part of any system that generates a running occupancy map `out of the box', removing conditioning from the framework. Alternatively, for maximum performance in new modalities, the perception backbone can be replaced and the model retrained for inference in new applications. Unlike existing models that necessitate multiple views and offline scene synthesis, or are focused on filling gaps in observed data, our findings demonstrate that SceneSense is an effective approach to estimating unobserved local occupancy information at runtime. Local occupancy predictions from SceneSense are shown to better represent the ground truth occupancy distribution during the test exploration trajectories than the running occupancy map. | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | 438,961 |
2009.11587 | Transfer Learning by Cascaded Network to identify and classify lung
nodules for cancer detection | Lung cancer is one of the most deadly diseases in the world. Detecting such tumors at an early stage can be a tedious task. Existing deep learning architecture for lung nodule identification used complex architecture with large number of parameters. This study developed a cascaded architecture which can accurately segment and classify the benign or malignant lung nodules on computed tomography (CT) images. The main contribution of this study is to introduce a segmentation network where the first stage trained on a public data set can help to recognize the images which included a nodule from any data set by means of transfer learning. And the segmentation of a nodule improves the second stage to classify the nodules into benign and malignant. The proposed architecture outperformed the conventional methods with an area under curve value of 95.67\%. The experimental results showed that the classification accuracy of 97.96\% of our proposed architecture outperformed other simple and complex architectures in classifying lung nodules for lung cancer detection. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 197,212 |
1111.4580 | Networked estimation under information constraints | In this paper, we study estimation of potentially unstable linear dynamical systems when the observations are distributed over a network. We are interested in scenarios when the information exchange among the agents is restricted. In particular, we consider that each agent can exchange information with its neighbors only once per dynamical system evolution-step. Existing work with similar information-constraints is restricted to static parameter estimation, whereas, the work on dynamical systems assumes large number of information exchange iterations between every two consecutive system evolution steps. We show that when the agent communication network is sparely-connected, the sparsity of the network plays a key role in the stability and performance of the underlying estimation algorithm. To this end, we introduce the notion of \emph{Network Tracing Capacity} (NTC), which is defined as the largest two-norm of the system matrix that can be estimated with bounded error. Extending this to fully-connected networks or infinite information exchanges (per dynamical system evolution-step), we note that the NTC is infinite, i.e., any dynamical system can be estimated with bounded error. In short, the NTC characterizes the estimation capability of a sparse network by relating it to the evolution of the underlying dynamical system. | false | false | false | true | false | false | false | false | false | true | false | false | false | false | true | false | false | false | 13,095 |
2403.05593 | Introducing First-Principles Calculations: New Approach to Group
Dynamics and Bridging Social Phenomena in TeNP-Chain Based Social Dynamics
Simulations | This note considers an innovative interdisciplinary methodology that bridges the gap between the fundamental principles of quantum mechanics applied to the study of materials such as tellurium nanoparticles (TeNPs) and graphene and the complex dynamics of social systems. The basis for this approach lies in the metaphorical parallels drawn between the structural features of TeNPs and graphene and the behavioral patterns of social groups in the face of misinformation. TeNPs exhibit unique properties such as the strengthening of covalent bonds within telluric chains and the disruption of secondary structure leading to the separation of these chains. This is analogous to increased cohesion within social groups and disruption of information flow between different subgroups, respectively. . Similarly, the outstanding properties of graphene, such as high electrical conductivity, strength, and flexibility, provide additional aspects for understanding the resilience and adaptability of social structures in response to external stimuli such as fake news. This research note proposes a novel metaphorical framework for analyzing the spread of fake news within social groups, analogous to the structural features of telluric nanoparticles (TeNPs). We investigate how the strengthening of covalent bonds within TeNPs reflects the strengthening of social cohesion in groups that share common beliefs and values. This paper is partially an attempt to utilize "Generative AI" and was written with educational intent. There are currently no plans for it to become a peer-reviewed paper. | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | false | false | 436,078 |
2112.05702 | Sampling from Discrete Energy-Based Models with Quality/Efficiency
Trade-offs | Energy-Based Models (EBMs) allow for extremely flexible specifications of probability distributions. However, they do not provide a mechanism for obtaining exact samples from these distributions. Monte Carlo techniques can aid us in obtaining samples if some proposal distribution that we can easily sample from is available. For instance, rejection sampling can provide exact samples but is often difficult or impossible to apply due to the need to find a proposal distribution that upper-bounds the target distribution everywhere. Approximate Markov chain Monte Carlo sampling techniques like Metropolis-Hastings are usually easier to design, exploiting a local proposal distribution that performs local edits on an evolving sample. However, these techniques can be inefficient due to the local nature of the proposal distribution and do not provide an estimate of the quality of their samples. In this work, we propose a new approximate sampling technique, Quasi Rejection Sampling (QRS), that allows for a trade-off between sampling efficiency and sampling quality, while providing explicit convergence bounds and diagnostics. QRS capitalizes on the availability of high-quality global proposal distributions obtained from deep learning models. We demonstrate the effectiveness of QRS sampling for discrete EBMs over text for the tasks of controlled text generation with distributional constraints and paraphrase generation. We show that we can sample from such EBMs with arbitrary precision at the cost of sampling efficiency. | false | false | false | false | false | false | true | false | true | false | false | false | false | false | false | true | false | false | 270,930 |
2011.11134 | Differentiable Computational Geometry for 2D and 3D machine learning | With the growth of machine learning algorithms with geometry primitives, a high-efficiency library with differentiable geometric operators are desired. We present an optimized Differentiable Geometry Algorithm Library (DGAL) loaded with implementations of differentiable operators for geometric primitives like lines and polygons. The library is a header-only templated C++ library with GPU support. We discuss the internal design of the library and benchmark its performance on some tasks with other implementations. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | true | 207,730 |
2006.11029 | Learning Optimal Power Flow: Worst-Case Guarantees for Neural Networks | This paper introduces for the first time a framework to obtain provable worst-case guarantees for neural network performance, using learning for optimal power flow (OPF) problems as a guiding example. Neural networks have the potential to substantially reduce the computing time of OPF solutions. However, the lack of guarantees for their worst-case performance remains a major barrier for their adoption in practice. This work aims to remove this barrier. We formulate mixed-integer linear programs to obtain worst-case guarantees for neural network predictions related to (i) maximum constraint violations, (ii) maximum distances between predicted and optimal decision variables, and (iii) maximum sub-optimality. We demonstrate our methods on a range of PGLib-OPF networks up to 300 buses. We show that the worst-case guarantees can be up to one order of magnitude larger than the empirical lower bounds calculated with conventional methods. More importantly, we show that the worst-case predictions appear at the boundaries of the training input domain, and we demonstrate how we can systematically reduce the worst-case guarantees by training on a larger input domain than the domain they are evaluated on. | false | false | false | false | true | false | true | false | false | false | true | false | false | false | false | false | false | false | 183,085 |
2009.09884 | Selectivity correction with online machine learning | Computer systems are full of heuristic rules which drive the decisions they make. These rules of thumb are designed to work well on average, but ignore specific information about the available context, and are thus sub-optimal. The emerging field of machine learning for systems attempts to learn decision rules with machine learning algorithms. In the database community, many recent proposals have been made to improve selectivity estimation with batch machine learning methods. Such methods are all batch methods which require retraining and cannot handle concept drift, such as workload changes and schema modifications. We present online machine learning as an alternative approach. Online models learn on the fly and do not require storing data, they are more lightweight than batch models, and finally may adapt to concept drift. As an experiment, we teach models to improve the selectivity estimates made by PostgreSQL's cost model. Our experiments make the case that simple online models are able to compete with a recently proposed deep learning method. | false | false | false | false | false | false | false | false | false | false | false | false | false | false | false | false | true | false | 196,721 |
2106.07938 | User Pairing and Power Allocation for IRS-Assisted NOMA Systems with
Imperfect Phase Compensation | In this letter, we analyze the performance of the intelligent reflecting surface (IRS) assisted downlink non-orthogonal multiple access (NOMA) systems in the presence of imperfect phase compensation. We derive an upper bound on the imperfect phase compensation to achieve minimum required data rates for each user. Using this bound, we propose an adaptive user pairing algorithm to maximize the network throughput. We then derive bounds on the power allocation factors and propose power allocation algorithms for the paired users to achieve the maximum sum rate or ensure fairness. Through extensive simulations, we show that the proposed algorithms significantly outperform the state-of-the-art algorithms. | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | 241,122 |
2312.07526 | RTMO: Towards High-Performance One-Stage Real-Time Multi-Person Pose
Estimation | Real-time multi-person pose estimation presents significant challenges in balancing speed and precision. While two-stage top-down methods slow down as the number of people in the image increases, existing one-stage methods often fail to simultaneously deliver high accuracy and real-time performance. This paper introduces RTMO, a one-stage pose estimation framework that seamlessly integrates coordinate classification by representing keypoints using dual 1-D heatmaps within the YOLO architecture, achieving accuracy comparable to top-down methods while maintaining high speed. We propose a dynamic coordinate classifier and a tailored loss function for heatmap learning, specifically designed to address the incompatibilities between coordinate classification and dense prediction models. RTMO outperforms state-of-the-art one-stage pose estimators, achieving 1.1% higher AP on COCO while operating about 9 times faster with the same backbone. Our largest model, RTMO-l, attains 74.8% AP on COCO val2017 and 141 FPS on a single V100 GPU, demonstrating its efficiency and accuracy. The code and models are available at https://github.com/open-mmlab/mmpose/tree/main/projects/rtmo. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 414,952 |
2205.05369 | AutoLC: Search Lightweight and Top-Performing Architecture for Remote
Sensing Image Land-Cover Classification | Land-cover classification has long been a hot and difficult challenge in remote sensing community. With massive High-resolution Remote Sensing (HRS) images available, manually and automatically designed Convolutional Neural Networks (CNNs) have already shown their great latent capacity on HRS land-cover classification in recent years. Especially, the former can achieve better performance while the latter is able to generate lightweight architecture. Unfortunately, they both have shortcomings. On the one hand, because manual CNNs are almost proposed for natural image processing, it becomes very redundant and inefficient to process HRS images. On the other hand, nascent Neural Architecture Search (NAS) techniques for dense prediction tasks are mainly based on encoder-decoder architecture, and just focus on the automatic design of the encoder, which makes it still difficult to recover the refined mapping when confronting complicated HRS scenes. To overcome their defects and tackle the HRS land-cover classification problems better, we propose AutoLC which combines the advantages of two methods. First, we devise a hierarchical search space and gain the lightweight encoder underlying gradient-based search strategy. Second, we meticulously design a lightweight but top-performing decoder that is adaptive to the searched encoder of itself. Finally, experimental results on the LoveDA land-cover dataset demonstrate that our AutoLC method outperforms the state-of-art manual and automatic methods with much less computational consumption. | false | false | false | false | true | false | false | false | false | false | false | true | false | false | false | false | false | false | 295,913 |
2408.09734 | Mutually-Aware Feature Learning for Few-Shot Object Counting | Few-shot object counting has garnered significant attention for its practicality as it aims to count target objects in a query image based on given exemplars without the need for additional training. However, there is a shortcoming in the prevailing extract-and-match approach: query and exemplar features lack interaction during feature extraction since they are extracted unaware of each other and later correlated based on similarity. This can lead to insufficient target awareness of the extracted features, resulting in target confusion in precisely identifying the actual target when multiple class objects coexist. To address this limitation, we propose a novel framework, Mutually-Aware FEAture learning(MAFEA), which encodes query and exemplar features mutually aware of each other from the outset. By encouraging interaction between query and exemplar features throughout the entire pipeline, we can obtain target-aware features that are robust to a multi-category scenario. Furthermore, we introduce a background token to effectively associate the target region of query with exemplars and decouple its background region from them. Our extensive experiments demonstrate that our model reaches a new state-of-the-art performance on the two challenging benchmarks, FSCD-LVIS and FSC-147, with a remarkably reduced degree of the target confusion problem. | false | false | false | false | true | false | false | false | false | false | false | true | false | false | false | false | false | false | 481,563 |
1301.4625 | Two-Way Training for Discriminatory Channel Estimation in Wireless MIMO
Systems | This work examines the use of two-way training to efficiently discriminate the channel estimation performances at a legitimate receiver (LR) and an unauthorized receiver (UR) in a multiple-input multiple-output (MIMO) wireless system. This work improves upon the original discriminatory channel estimation (DCE) scheme proposed by Chang et al where multiple stages of feedback and retraining were used. While most studies on physical layer secrecy are under the information-theoretic framework and focus directly on the data transmission phase, studies on DCE focus on the training phase and aim to provide a practical signal processing technique to discriminate between the channel estimation performances at LR and UR. A key feature of DCE designs is the insertion of artificial noise (AN) in the training signal to degrade the channel estimation performance at UR. To do so, AN must be placed in a carefully chosen subspace based on the transmitter's knowledge of LR's channel in order to minimize its effect on LR. In this paper, we adopt the idea of two-way training that allows both the transmitter and LR to send training signals to facilitate channel estimation at both ends. Both reciprocal and non-reciprocal channels are considered and a two-way DCE scheme is proposed for each scenario. {For mathematical tractability, we assume that all terminals employ the linear minimum mean square error criterion for channel estimation. Based on the mean square error (MSE) of the channel estimates at all terminals,} we formulate and solve an optimization problem where the optimal power allocation between the training signal and AN is found by minimizing the MSE of LR's channel estimate subject to a constraint on the MSE achievable at UR. Numerical results show that the proposed DCE schemes can effectively discriminate between the channel estimation and hence the data detection performances at LR and UR. | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | 21,262 |
1904.05165 | Causal Embeddings for Recommendation: An Extended Abstract | Recommendations are commonly used to modify user's natural behavior, for example, increasing product sales or the time spent on a website. This results in a gap between the ultimate business objective and the classical setup where recommendations are optimized to be coherent with past user behavior. To bridge this gap, we propose a new learning setup for recommendation that optimizes for the Incremental Treatment Effect (ITE) of the policy. We show this is equivalent to learning to predict recommendation outcomes under a fully random recommendation policy and propose a new domain adaptation algorithm that learns from logged data containing outcomes from a biased recommendation policy and predicts recommendation outcomes according to random exposure. We compare our method against state-of-the-art factorization methods, in addition to new approaches of causal recommendation and show significant improvements. | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | false | 127,229 |
2408.14089 | Mini-Slot-Assisted Short Packet URLLC:Differential or Coherent
Detection? | One of the primary challenges in short packet ultra-reliable and low-latency communications (URLLC) is to achieve reliable channel estimation and data detection while minimizing the impact on latency performance. Given the small packet size in mini-slot-assisted URLLC, relying solely on pilot-based coherent detection is almost impossible to meet the seemingly contradictory requirements of high channel estimation accuracy, high reliability, low training overhead, and low latency. In this paper, we explore differential modulation both in the frequency domain and in the time domain, and propose adopting an adaptive approach that integrates both differential and coherent detection to achieve mini-slot-assisted short packet URLLC, striking a balance among training overhead, system performance, and computational complexity. Specifically, differential (especially in the frequency domain) and coherent detection schemes can be dynamically activated based on application scenarios, channel statistics, information payloads, mini-slot deployment options, and service requirements. Furthermore, we derive the block error rate (BLER) for pilot-based, frequency domain, and time domain differential OFDM using non-asymptotic information-theoretic bounds. Simulation results validate the feasibility and effectiveness of adaptive differential and coherent detection. | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | 483,417 |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.