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 |
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1907.09452 | Mid-price Prediction Based on Machine Learning Methods with Technical
and Quantitative Indicators | Stock price prediction is a challenging task, but machine learning methods have recently been used successfully for this purpose. In this paper, we extract over 270 hand-crafted features (factors) inspired by technical and quantitative analysis and tested their validity on short-term mid-price movement prediction. We focus on a wrapper feature selection method using entropy, least-mean squares, and linear discriminant analysis. We also build a new quantitative feature based on adaptive logistic regression for online learning, which is constantly selected first among the majority of the proposed feature selection methods. This study examines the best combination of features using high frequency limit order book data from Nasdaq Nordic. Our results suggest that sorting methods and classifiers can be used in such a way that one can reach the best performance with a combination of only very few advanced hand-crafted features. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 139,363 |
2405.09163 | DVS-RG: Differential Variable Speed Limits Control using Deep
Reinforcement Learning with Graph State Representation | Variable speed limit (VSL) control is an established yet challenging problem to improve freeway traffic mobility and alleviate bottlenecks by customizing speed limits at proper locations based on traffic conditions. Recent advances in deep reinforcement learning (DRL) have shown promising results in solving VSL control problems by interacting with sophisticated environments. However, the modeling of these methods ignores the inherent graph structure of the traffic state which can be a key factor for more efficient VSL control. Graph structure can not only capture the static spatial feature but also the dynamic temporal features of traffic. Therefore, we propose the DVS-RG: DRL-based differential variable speed limit controller with graph state representation. DVS-RG provides distinct speed limits per lane in different locations dynamically. The road network topology and traffic information(e.g., occupancy, speed) are integrated as the state space of DVS-RG so that the spatial features can be learned. The normalization reward which combines efficiency and safety is used to train the VSL controller to avoid excessive inefficiencies or low safety. The results obtained from the simulation study on SUMO show that DRL-RG achieves higher traffic efficiency (the average waiting time reduced to 68.44\%) and improves the safety measures (the number of potential collision reduced by 15.93\% ) compared to state-of-the-art DRL methods. | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | 454,318 |
2304.00995 | Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl'Bot
Robot | <jats:title>Abstract</jats:title> <jats:p>In manufacturing industry, Computer Numerical Control (CNC) machines are often preferred over Industrial Serial Robots (ISR) for machining tasks. Indeed, CNC machines offer high positioning accuracy, which leads to slight dimensional deviation on the final product. However, these machines have a restricted workspace generating limitations in the machining work. Conversely, ISR are typically characterized by a larger workspace. ISR have already shown satisfactory performance in tasks like polishing, grinding and deburring. This paper proposes a kinematic redundant robot composed of a novel two degrees-of-freedom mechanism with a closed-loop kinematic chain. After describing a task priority inverse kinematic control framework used for joint trajectory planning exploiting the robot kinematic redundancy, the paper analyses the kinetostatic performance of this robot depending on the considered control tasks. Moreover, two kinetostatic tasks are introduced and employed to improve the robot performance. Simulation results show how the robot better performs when the optimization tasks are active.</jats:p> | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | 355,893 |
2104.13155 | Watershed of Artificial Intelligence: Human Intelligence, Machine
Intelligence, and Biological Intelligence | This article reviews the "Once learning" mechanism that was proposed 23 years ago and the subsequent successes of "One-shot learning" in image classification and "You Only Look Once - YOLO" in objective detection. Analyzing the current development of Artificial Intelligence (AI), the proposal is that AI should be clearly divided into the following categories: Artificial Human Intelligence (AHI), Artificial Machine Intelligence (AMI), and Artificial Biological Intelligence (ABI), which will also be the main directions of theory and application development for AI. As a watershed for the branches of AI, some classification standards and methods are discussed: 1) Human-oriented, machine-oriented, and biological-oriented AI R&D; 2) Information input processed by Dimensionality-up or Dimensionality-reduction; 3) The use of one/few or large samples for knowledge learning. | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | false | false | 232,415 |
2003.06958 | Vec2Face: Unveil Human Faces from their Blackbox Features in Face
Recognition | Unveiling face images of a subject given his/her high-level representations extracted from a blackbox Face Recognition engine is extremely challenging. It is because the limitations of accessible information from that engine including its structure and uninterpretable extracted features. This paper presents a novel generative structure with Bijective Metric Learning, namely Bijective Generative Adversarial Networks in a Distillation framework (DiBiGAN), for synthesizing faces of an identity given that person's features. In order to effectively address this problem, this work firstly introduces a bijective metric so that the distance measurement and metric learning process can be directly adopted in image domain for an image reconstruction task. Secondly, a distillation process is introduced to maximize the information exploited from the blackbox face recognition engine. Then a Feature-Conditional Generator Structure with Exponential Weighting Strategy is presented for a more robust generator that can synthesize realistic faces with ID preservation. Results on several benchmarking datasets including CelebA, LFW, AgeDB, CFP-FP against matching engines have demonstrated the effectiveness of DiBiGAN on both image realism and ID preservation properties. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 168,276 |
2410.07442 | Self-Supervised Learning for Real-World Object Detection: a Survey | Self-Supervised Learning (SSL) has emerged as a promising approach in computer vision, enabling networks to learn meaningful representations from large unlabeled datasets. SSL methods fall into two main categories: instance discrimination and Masked Image Modeling (MIM). While instance discrimination is fundamental to SSL, it was originally designed for classification and may be less effective for object detection, particularly for small objects. In this survey, we focus on SSL methods specifically tailored for real-world object detection, with an emphasis on detecting small objects in complex environments. Unlike previous surveys, we offer a detailed comparison of SSL strategies, including object-level instance discrimination and MIM methods, and assess their effectiveness for small object detection using both CNN and ViT-based architectures. Specifically, our benchmark is performed on the widely-used COCO dataset, as well as on a specialized real-world dataset focused on vehicle detection in infrared remote sensing imagery. We also assess the impact of pre-training on custom domain-specific datasets, highlighting how certain SSL strategies are better suited for handling uncurated data. Our findings highlight that instance discrimination methods perform well with CNN-based encoders, while MIM methods are better suited for ViT-based architectures and custom dataset pre-training. This survey provides a practical guide for selecting optimal SSL strategies, taking into account factors such as backbone architecture, object size, and custom pre-training requirements. Ultimately, we show that choosing an appropriate SSL pre-training strategy, along with a suitable encoder, significantly enhances performance in real-world object detection, particularly for small object detection in frugal settings. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 496,626 |
2203.00952 | Sketched RT3D: How to reconstruct billions of photons per second | Single-photon light detection and ranging (lidar) captures depth and intensity information of a 3D scene. Reconstructing a scene from observed photons is a challenging task due to spurious detections associated with background illumination sources. To tackle this problem, there is a plethora of 3D reconstruction algorithms which exploit spatial regularity of natural scenes to provide stable reconstructions. However, most existing algorithms have computational and memory complexity proportional to the number of recorded photons. This complexity hinders their real-time deployment on modern lidar arrays which acquire billions of photons per second. Leveraging a recent lidar sketching framework, we show that it is possible to modify existing reconstruction algorithms such that they only require a small sketch of the photon information. In particular, we propose a sketched version of a recent state-of-the-art algorithm which uses point cloud denoisers to provide spatially regularized reconstructions. A series of experiments performed on real lidar datasets demonstrates a significant reduction of execution time and memory requirements, while achieving the same reconstruction performance than in the full data case. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 283,197 |
1803.01900 | Style Memory: Making a Classifier Network Generative | Deep networks have shown great performance in classification tasks. However, the parameters learned by the classifier networks usually discard stylistic information of the input, in favour of information strictly relevant to classification. We introduce a network that has the capacity to do both classification and reconstruction by adding a "style memory" to the output layer of the network. We also show how to train such a neural network as a deep multi-layer autoencoder, jointly minimizing both classification and reconstruction losses. The generative capacity of our network demonstrates that the combination of style-memory neurons with the classifier neurons yield good reconstructions of the inputs when the classification is correct. We further investigate the nature of the style memory, and how it relates to composing digits and letters. Finally, we propose that this architecture enables the bidirectional flow of information used in predictive coding, and that such bidirectional networks can help mitigate against being fooled by ambiguous or adversarial input. | false | false | false | false | false | false | false | false | false | false | false | false | false | false | false | true | false | false | 91,954 |
2310.13227 | ToolChain*: Efficient Action Space Navigation in Large Language Models
with A* Search | Large language models (LLMs) have demonstrated powerful decision-making and planning capabilities in solving complicated real-world problems. LLM-based autonomous agents can interact with diverse tools (e.g., functional APIs) and generate solution plans that execute a series of API function calls in a step-by-step manner. The multitude of candidate API function calls significantly expands the action space, amplifying the critical need for efficient action space navigation. However, existing methods either struggle with unidirectional exploration in expansive action spaces, trapped into a locally optimal solution, or suffer from exhaustively traversing all potential actions, causing inefficient navigation. To address these issues, we propose ToolChain*, an efficient tree search-based planning algorithm for LLM-based agents. It formulates the entire action space as a decision tree, where each node represents a possible API function call involved in a solution plan. By incorporating the A* search algorithm with task-specific cost function design, it efficiently prunes high-cost branches that may involve incorrect actions, identifying the most low-cost valid path as the solution. Extensive experiments on multiple tool-use and reasoning tasks demonstrate that ToolChain* efficiently balances exploration and exploitation within an expansive action space. It outperforms state-of-the-art baselines on planning and reasoning tasks by 3.1% and 3.5% on average while requiring 7.35x and 2.31x less time, respectively. | false | false | false | false | true | false | true | false | true | false | false | false | false | false | false | false | false | false | 401,345 |
2412.11095 | Dynamic Graph Attention Networks for Travel Time Distribution Prediction
in Urban Arterial Roads | Effective congestion management along signalized corridors is essential for improving productivity and reducing costs, with arterial travel time serving as a key performance metric. Traditional approaches, such as Coordinated Signal Timing and Adaptive Traffic Control Systems, often lack scalability and generalizability across diverse urban layouts. We propose Fusion-based Dynamic Graph Neural Networks (FDGNN), a structured framework for simultaneous modeling of travel time distributions in both directions along arterial corridors. FDGNN utilizes attentional graph convolution on dynamic, bidirectional graphs and integrates fusion techniques to capture evolving spatiotemporal traffic dynamics. The framework is trained on extensive hours of simulation data and utilizes GPU computation to ensure scalability. The results demonstrate that our framework can efficiently and accurately model travel time as a normal distribution on arterial roads leveraging a unique dynamic graph representation of corridor traffic states. This representation integrates sequential traffic signal timing plans, local driving behaviors, temporal turning movement counts, and ingress traffic volumes, even when aggregated over intervals as short as a single cycle length. The results demonstrate resilience to effective traffic variations, including cycle lengths, green time percentages, traffic density, and counterfactual routes. Results further confirm its stability under varying conditions at different intersections. This framework supports dynamic signal timing, enhances congestion management, and improves travel time reliability in real-world applications. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 517,255 |
2211.01738 | Analysis of a Deep Learning Model for 12-Lead ECG Classification Reveals
Learned Features Similar to Diagnostic Criteria | Despite their remarkable performance, deep neural networks remain unadopted in clinical practice, which is considered to be partially due to their lack in explainability. In this work, we apply attribution methods to a pre-trained deep neural network (DNN) for 12-lead electrocardiography classification to open this "black box" and understand the relationship between model prediction and learned features. We classify data from a public data set and the attribution methods assign a "relevance score" to each sample of the classified signals. This allows analyzing what the network learned during training, for which we propose quantitative methods: average relevance scores over a) classes, b) leads, and c) average beats. The analyses of relevance scores for atrial fibrillation (AF) and left bundle branch block (LBBB) compared to healthy controls show that their mean values a) increase with higher classification probability and correspond to false classifications when around zero, and b) correspond to clinical recommendations regarding which lead to consider. Furthermore, c) visible P-waves and concordant T-waves result in clearly negative relevance scores in AF and LBBB classification, respectively. In summary, our analysis suggests that the DNN learned features similar to cardiology textbook knowledge. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 328,333 |
1604.03221 | Leveraging Network Dynamics for Improved Link Prediction | The aim of link prediction is to forecast connections that are most likely to occur in the future, based on examples of previously observed links. A key insight is that it is useful to explicitly model network dynamics, how frequently links are created or destroyed when doing link prediction. In this paper, we introduce a new supervised link prediction framework, RPM (Rate Prediction Model). In addition to network similarity measures, RPM uses the predicted rate of link modifications, modeled using time series data; it is implemented in Spark-ML and trained with the original link distribution, rather than a small balanced subset. We compare the use of this network dynamics model to directly creating time series of network similarity measures. Our experiments show that RPM, which leverages predicted rates, outperforms the use of network similarity measures, either individually or within a time series. | false | false | false | true | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 54,459 |
1712.04106 | Sparse Phase Retrieval via Sparse PCA Despite Model Misspecification: A
Simplified and Extended Analysis | We consider the problem of high-dimensional misspecified phase retrieval. This is where we have an $s$-sparse signal vector $\mathbf{x}_*$ in $\mathbb{R}^n$, which we wish to recover using sampling vectors $\textbf{a}_1,\ldots,\textbf{a}_m$, and measurements $y_1,\ldots,y_m$, which are related by the equation $f(\left<\textbf{a}_i,\textbf{x}_*\right>) = y_i$. Here, $f$ is an unknown link function satisfying a positive correlation with the quadratic function. This problem was analyzed in a recent paper by Neykov, Wang and Liu, who provided recovery guarantees for a two-stage algorithm with sample complexity $m = O(s^2\log n)$. In this paper, we show that the first stage of their algorithm suffices for signal recovery with the same sample complexity, and extend the analysis to non-Gaussian measurements. Furthermore, we show how the algorithm can be generalized to recover a signal vector $\textbf{x}_*$ efficiently given geometric prior information other than sparsity. | false | false | false | false | false | false | true | false | false | true | false | false | false | false | false | false | false | false | 86,545 |
2309.13166 | Invisible Watermarking for Audio Generation Diffusion Models | Diffusion models have gained prominence in the image domain for their capabilities in data generation and transformation, achieving state-of-the-art performance in various tasks in both image and audio domains. In the rapidly evolving field of audio-based machine learning, safeguarding model integrity and establishing data copyright are of paramount importance. This paper presents the first watermarking technique applied to audio diffusion models trained on mel-spectrograms. This offers a novel approach to the aforementioned challenges. Our model excels not only in benign audio generation, but also incorporates an invisible watermarking trigger mechanism for model verification. This watermark trigger serves as a protective layer, enabling the identification of model ownership and ensuring its integrity. Through extensive experiments, we demonstrate that invisible watermark triggers can effectively protect against unauthorized modifications while maintaining high utility in benign audio generation tasks. | false | false | true | false | false | false | true | false | false | false | false | false | true | false | false | false | false | false | 394,079 |
2105.11056 | User-oriented Natural Human-Robot Control with Thin-Plate Splines and
LRCN | We propose a real-time vision-based teleoperation approach for robotic arms that employs a single depth-based camera, exempting the user from the need for any wearable devices. By employing a natural user interface, this novel approach leverages the conventional fine-tuning control, turning it into a direct body pose capture process. The proposed approach is comprised of two main parts. The first is a nonlinear customizable pose mapping based on Thin-Plate Splines (TPS), to directly transfer human body motion to robotic arm motion in a nonlinear fashion, thus allowing matching dissimilar bodies with different workspace shapes and kinematic constraints. The second is a Deep Neural Network hand-state classifier based on Long-term Recurrent Convolutional Networks (LRCN) that exploits the temporal coherence of the acquired depth data. We validate, evaluate and compare our approach through both classical cross-validation experiments of the proposed hand state classifier; and user studies over a set of practical experiments involving variants of pick-and-place and manufacturing tasks. Results revealed that LRCN networks outperform single image Convolutional Neural Networks; and that users' learning curves were steep, thus allowing the successful completion of the proposed tasks. When compared to a previous approach, the TPS approach revealed no increase in task complexity and similar times of completion, while providing more precise operation in regions closer to workspace boundaries. | true | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | 236,579 |
2012.05197 | Predicting Prostate Cancer-Specific Mortality with A.I.-based Gleason
Grading | Gleason grading of prostate cancer is an important prognostic factor but suffers from poor reproducibility, particularly among non-subspecialist pathologists. Although artificial intelligence (A.I.) tools have demonstrated Gleason grading on-par with expert pathologists, it remains an open question whether A.I. grading translates to better prognostication. In this study, we developed a system to predict prostate-cancer specific mortality via A.I.-based Gleason grading and subsequently evaluated its ability to risk-stratify patients on an independent retrospective cohort of 2,807 prostatectomy cases from a single European center with 5-25 years of follow-up (median: 13, interquartile range 9-17). The A.I.'s risk scores produced a C-index of 0.84 (95%CI 0.80-0.87) for prostate cancer-specific mortality. Upon discretizing these risk scores into risk groups analogous to pathologist Grade Groups (GG), the A.I. had a C-index of 0.82 (95%CI 0.78-0.85). On the subset of cases with a GG in the original pathology report (n=1,517), the A.I.'s C-indices were 0.87 and 0.85 for continuous and discrete grading, respectively, compared to 0.79 (95%CI 0.71-0.86) for GG obtained from the reports. These represent improvements of 0.08 (95%CI 0.01-0.15) and 0.07 (95%CI 0.00-0.14) respectively. Our results suggest that A.I.-based Gleason grading can lead to effective risk-stratification and warrants further evaluation for improving disease management. | false | false | false | false | false | false | true | false | false | false | false | true | false | false | false | false | false | false | 210,704 |
2103.04400 | What If We Only Use Real Datasets for Scene Text Recognition? Toward
Scene Text Recognition With Fewer Labels | Scene text recognition (STR) task has a common practice: All state-of-the-art STR models are trained on large synthetic data. In contrast to this practice, training STR models only on fewer real labels (STR with fewer labels) is important when we have to train STR models without synthetic data: for handwritten or artistic texts that are difficult to generate synthetically and for languages other than English for which we do not always have synthetic data. However, there has been implicit common knowledge that training STR models on real data is nearly impossible because real data is insufficient. We consider that this common knowledge has obstructed the study of STR with fewer labels. In this work, we would like to reactivate STR with fewer labels by disproving the common knowledge. We consolidate recently accumulated public real data and show that we can train STR models satisfactorily only with real labeled data. Subsequently, we find simple data augmentation to fully exploit real data. Furthermore, we improve the models by collecting unlabeled data and introducing semi- and self-supervised methods. As a result, we obtain a competitive model to state-of-the-art methods. To the best of our knowledge, this is the first study that 1) shows sufficient performance by only using real labels and 2) introduces semi- and self-supervised methods into STR with fewer labels. Our code and data are available: https://github.com/ku21fan/STR-Fewer-Labels | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 223,626 |
2109.09212 | Generalized Translation and Scale Invariant Online Algorithm for
Adversarial Multi-Armed Bandits | We study the adversarial multi-armed bandit problem and create a completely online algorithmic framework that is invariant under arbitrary translations and scales of the arm losses. We study the expected performance of our algorithm against a generic competition class, which makes it applicable for a wide variety of problem scenarios. Our algorithm works from a universal prediction perspective and the performance measure used is the expected regret against arbitrary arm selection sequences, which is the difference between our losses and a competing loss sequence. The competition class can be designed to include fixed arm selections, switching bandits, contextual bandits, or any other competition of interest. The sequences in the competition class are generally determined by the specific application at hand and should be designed accordingly. Our algorithm neither uses nor needs any preliminary information about the loss sequences and is completely online. Its performance bounds are the second order bounds in terms of sum of the squared losses, where any affine transform of the losses has no effect on the normalized regret. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 256,196 |
1807.11919 | Efficiency, Sequenceability and Deal-Optimality in Fair Division of
Indivisible Goods | In fair division of indivisible goods, using sequences of sincere choices (or picking sequences) is a natural way to allocate the objects. The idea is as follows: at each stage, a designated agent picks one object among those that remain. Another intuitive way to obtain an allocation is to give objects to agents in the first place, and to let agents exchange them as long as such "deals" are beneficial. This paper investigates these notions, when agents have additive preferences over objects, and unveils surprising connections between them, and with other efficiency and fairness notions. In particular, we show that an allocation is sequenceable iff it is optimal for a certain type of deals, namely cycle deals involving a single object. Furthermore, any Pareto-optimal allocation is sequenceable, but not the converse. Regarding fairness, we show that an allocation can be envy-free and non-sequenceable, but that every competitive equilibrium with equal incomes is sequenceable. To complete the picture, we show how some domain restrictions may affect the relations between these notions. Finally, we experimentally explore the links between the scales of efficiency and fairness. | false | false | false | false | true | false | false | false | false | false | false | false | false | false | true | false | false | false | 104,273 |
2004.10320 | A Deep Learning System for Sentiment Analysis of Service Calls | Sentiment analysis is crucial for the advancement of artificial intelligence (AI). Sentiment understanding can help AI to replicate human language and discourse. Studying the formation and response of sentiment state from well-trained Customer Service Representatives (CSRs) can help make the interaction between humans and AI more intelligent. In this paper, a sentiment analysis pipeline is first carried out with respect to real-world multi-party conversations - that is, service calls. Based on the acoustic and linguistic features extracted from the source information, a novel aggregated method for voice sentiment recognition framework is built. Each party's sentiment pattern during the communication is investigated along with the interaction sentiment pattern between all parties. | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | 173,602 |
2312.09457 | Functional Analytics for Document Ordering for Curriculum Development
and Comprehension | We propose multiple techniques for automatic document order generation for (1) curriculum development and for (2) creation of optimal reading order for use in learning, training, and other content-sequencing applications. Such techniques could potentially be used to improve comprehension, identify areas that need expounding, generate curricula, and improve search engine results. We advance two main techniques: The first uses document similarities through various methods. The second uses entropy against the backdrop of topics generated through Latent Dirichlet Allocation (LDA). In addition, we try the same methods on the summarized documents and compare them against the results obtained using the complete documents. Our results showed that while the document orders for our control document sets (biographies, novels, and Wikipedia articles) could not be predicted using our methods, our test documents (textbooks, courses, journal papers, dissertations) provided more reliability. We also demonstrated that summarized documents were good stand-ins for the complete documents for the purposes of ordering. | false | false | false | false | false | true | false | false | true | false | false | false | false | false | false | false | false | false | 415,732 |
2209.05877 | R-WhONet: Recalibrated Wheel Odometry Neural Network for Vehicular
Positioning using Transfer Learning | This paper proposes a transfer learning approach to recalibrate our previously developed Wheel Odometry Neural Network (WhONet) for vehicle positioning in environments where Global Navigation Satellite Systems (GNSS) are unavailable. The WhONet has been shown to possess the capability to learn the uncertainties in the wheel speed measurements needed for correction and accurate positioning of vehicles. These uncertainties may be manifested as tyre pressure changes from driving on muddy and uneven terrains or wheel slips. However, a common cause for concern for data-driven approaches, such as the WhONet model, is usually the inability to generalise the models to a new vehicle. In scenarios where machine learning models are trained in a specific domain but deployed in another domain, the model's performance degrades. In real-life scenarios, several factors are influential to this degradation, from changes to the dynamics of the vehicle to new pattern distributions of the sensor's noise, and bias will make the test sensor data vary from training data. Therefore, the challenge is to explore techniques that allow the trained machine learning models to spontaneously adjust to new vehicle domains. As such, we propose the Recalibrated-Wheel Odometry neural Network (R-WhONet), that adapts the WhONet model from its source domain (a vehicle and environment on which the model is initially trained) to the target domain (a new vehicle on which the trained model is to be deployed). Through a performance evaluation on several GNSS outage scenarios - short-term complex driving scenarios, and on longer-term GNSS outage scenarios. We demonstrate that a model trained in the source domain does not generalise well to a new vehicle in the target domain. However, we show that our new proposed framework improves the generalisation of the WhONet model to new vehicles in the target domains by up to 32%. | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | 317,234 |
2501.14414 | SoK: What Makes Private Learning Unfair? | Differential privacy has emerged as the most studied framework for privacy-preserving machine learning. However, recent studies show that enforcing differential privacy guarantees can not only significantly degrade the utility of the model, but also amplify existing disparities in its predictive performance across demographic groups. Although there is extensive research on the identification of factors that contribute to this phenomenon, we still lack a complete understanding of the mechanisms through which differential privacy exacerbates disparities. The literature on this problem is muddled by varying definitions of fairness, differential privacy mechanisms, and inconsistent experimental settings, often leading to seemingly contradictory results. This survey provides the first comprehensive overview of the factors that contribute to the disparate effect of training models with differential privacy guarantees. We discuss their impact and analyze their causal role in such a disparate effect. Our analysis is guided by a taxonomy that categorizes these factors by their position within the machine learning pipeline, allowing us to draw conclusions about their interaction and the feasibility of potential mitigation strategies. We find that factors related to the training dataset and the underlying distribution play a decisive role in the occurrence of disparate impact, highlighting the need for research on these factors to address the issue. | false | false | false | false | false | false | true | false | false | false | false | false | true | false | false | false | false | false | 527,109 |
2301.10330 | Off-Policy Evaluation for Action-Dependent Non-Stationary Environments | Methods for sequential decision-making are often built upon a foundational assumption that the underlying decision process is stationary. This limits the application of such methods because real-world problems are often subject to changes due to external factors (passive non-stationarity), changes induced by interactions with the system itself (active non-stationarity), or both (hybrid non-stationarity). In this work, we take the first steps towards the fundamental challenge of on-policy and off-policy evaluation amidst structured changes due to active, passive, or hybrid non-stationarity. Towards this goal, we make a higher-order stationarity assumption such that non-stationarity results in changes over time, but the way changes happen is fixed. We propose, OPEN, an algorithm that uses a double application of counterfactual reasoning and a novel importance-weighted instrument-variable regression to obtain both a lower bias and a lower variance estimate of the structure in the changes of a policy's past performances. Finally, we show promising results on how OPEN can be used to predict future performances for several domains inspired by real-world applications that exhibit non-stationarity. | false | false | false | false | true | false | true | false | false | false | false | false | false | false | false | false | false | false | 341,768 |
2309.05840 | Self-Correlation and Cross-Correlation Learning for Few-Shot Remote
Sensing Image Semantic Segmentation | Remote sensing image semantic segmentation is an important problem for remote sensing image interpretation. Although remarkable progress has been achieved, existing deep neural network methods suffer from the reliance on massive training data. Few-shot remote sensing semantic segmentation aims at learning to segment target objects from a query image using only a few annotated support images of the target class. Most existing few-shot learning methods stem primarily from their sole focus on extracting information from support images, thereby failing to effectively address the large variance in appearance and scales of geographic objects. To tackle these challenges, we propose a Self-Correlation and Cross-Correlation Learning Network for the few-shot remote sensing image semantic segmentation. Our model enhances the generalization by considering both self-correlation and cross-correlation between support and query images to make segmentation predictions. To further explore the self-correlation with the query image, we propose to adopt a classical spectral method to produce a class-agnostic segmentation mask based on the basic visual information of the image. Extensive experiments on two remote sensing image datasets demonstrate the effectiveness and superiority of our model in few-shot remote sensing image semantic segmentation. Code and models will be accessed at https://github.com/linhanwang/SCCNet. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 391,212 |
2409.03163 | CyberDep: Towards the Analysis of Cyber-Physical Power System
Interdependencies Using Bayesian Networks and Temporal Data | Modern-day power systems have become increasingly cyber-physical due to the ongoing developments to the grid that include the rise of distributed energy generation and the increase of the deployment of many cyber devices for monitoring and control, such as the Supervisory Control and Data Acquisition (SCADA) system. Such capabilities have made the power system more vulnerable to cyber-attacks that can harm the physical components of the system. As such, it is of utmost importance to study both the physical and cyber components together, focusing on characterizing and quantifying the interdependency between these components. This paper focuses on developing an algorithm, named CyberDep, for Bayesian network generation through conditional probability calculations of cyber traffic flows between system nodes. Additionally, CyberDep is implemented on the temporal data of the cyber-physical emulation of the WSCC 9-bus power system. The results of this work provide a visual representation of the probabilistic relationships within the cyber and physical components of the system, aiding in cyber-physical interdependency quantification. | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | 485,940 |
2308.01954 | Bringing Chemistry to Scale: Loss Weight Adjustment for Multivariate
Regression in Deep Learning of Thermochemical Processes | Flamelet models are widely used in computational fluid dynamics to simulate thermochemical processes in turbulent combustion. These models typically employ memory-expensive lookup tables that are predetermined and represent the combustion process to be simulated. Artificial neural networks (ANNs) offer a deep learning approach that can store this tabular data using a small number of network weights, potentially reducing the memory demands of complex simulations by orders of magnitude. However, ANNs with standard training losses often struggle with underrepresented targets in multivariate regression tasks, e.g., when learning minor species mass fractions as part of lookup tables. This paper seeks to improve the accuracy of an ANN when learning multiple species mass fractions of a hydrogen (\ce{H2}) combustion lookup table. We assess a simple, yet effective loss weight adjustment that outperforms the standard mean-squared error optimization and enables accurate learning of all species mass fractions, even of minor species where the standard optimization completely fails. Furthermore, we find that the loss weight adjustment leads to more balanced gradients in the network training, which explains its effectiveness. | false | true | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 383,433 |
2309.16519 | AtomSurf : Surface Representation for Learning on Protein Structures | While there has been significant progress in evaluating and comparing different representations for learning on protein data, the role of surface-based learning approaches remains not well-understood. In particular, there is a lack of direct and fair benchmark comparison between the best available surface-based learning methods against alternative representations such as graphs. Moreover, the few existing surface-based approaches either use surface information in isolation or, at best, perform global pooling between surface and graph-based architectures. In this work, we fill this gap by first adapting a state-of-the-art surface encoder for protein learning tasks. We then perform a direct and fair comparison of the resulting method against alternative approaches within the Atom3D benchmark, highlighting the limitations of pure surface-based learning. Finally, we propose an integrated approach, which allows learned feature sharing between graphs and surface representations on the level of nodes and vertices $\textit{across all layers}$. We demonstrate that the resulting architecture achieves state-of-the-art results on all tasks in the Atom3D benchmark, while adhering to the strict benchmark protocol, as well as more broadly on binding site identification and binding pocket classification. Furthermore, we use coarsened surfaces and optimize our approach for efficiency, making our tool competitive in training and inference time with existing techniques. Our code and data can be found online: $\texttt{github.com/Vincentx15/atomsurf}$ | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 395,380 |
1807.03523 | DLOPT: Deep Learning Optimization Library | Deep learning hyper-parameter optimization is a tough task. Finding an appropriate network configuration is a key to success, however most of the times this labor is roughly done. In this work we introduce a novel library to tackle this problem, the Deep Learning Optimization Library: DLOPT. We briefly describe its architecture and present a set of use examples. This is an open source project developed under the GNU GPL v3 license and it is freely available at https://github.com/acamero/dlopt | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | true | false | false | 102,548 |
2310.06254 | Get the gist? Using large language models for few-shot
decontextualization | In many NLP applications that involve interpreting sentences within a rich context -- for instance, information retrieval systems or dialogue systems -- it is desirable to be able to preserve the sentence in a form that can be readily understood without context, for later reuse -- a process known as ``decontextualization''. While previous work demonstrated that generative Seq2Seq models could effectively perform decontextualization after being fine-tuned on a specific dataset, this approach requires expensive human annotations and may not transfer to other domains. We propose a few-shot method of decontextualization using a large language model, and present preliminary results showing that this method achieves viable performance on multiple domains using only a small set of examples. | false | false | false | false | true | false | false | false | true | false | false | false | false | false | false | false | false | false | 398,496 |
2312.00742 | Scalable Meta-Learning with Gaussian Processes | Meta-learning is a powerful approach that exploits historical data to quickly solve new tasks from the same distribution. In the low-data regime, methods based on the closed-form posterior of Gaussian processes (GP) together with Bayesian optimization have achieved high performance. However, these methods are either computationally expensive or introduce assumptions that hinder a principled propagation of uncertainty between task models. This may disrupt the balance between exploration and exploitation during optimization. In this paper, we develop ScaML-GP, a modular GP model for meta-learning that is scalable in the number of tasks. Our core contribution is a carefully designed multi-task kernel that enables hierarchical training and task scalability. Conditioning ScaML-GP on the meta-data exposes its modular nature yielding a test-task prior that combines the posteriors of meta-task GPs. In synthetic and real-world meta-learning experiments, we demonstrate that ScaML-GP can learn efficiently both with few and many meta-tasks. | false | false | false | false | true | false | true | false | false | false | false | false | false | false | false | false | false | false | 412,156 |
2408.09675 | Multi-Agent Reinforcement Learning for Autonomous Driving: A Survey | Reinforcement Learning (RL) is a potent tool for sequential decision-making and has achieved performance surpassing human capabilities across many challenging real-world tasks. As the extension of RL in the multi-agent system domain, multi-agent RL (MARL) not only need to learn the control policy but also requires consideration regarding interactions with all other agents in the environment, mutual influences among different system components, and the distribution of computational resources. This augments the complexity of algorithmic design and poses higher requirements on computational resources. Simultaneously, simulators are crucial to obtain realistic data, which is the fundamentals of RL. In this paper, we first propose a series of metrics of simulators and summarize the features of existing benchmarks. Second, to ease comprehension, we recall the foundational knowledge and then synthesize the recently advanced studies of MARL-related autonomous driving and intelligent transportation systems. Specifically, we examine their environmental modeling, state representation, perception units, and algorithm design. Conclusively, we discuss open challenges as well as prospects and opportunities. We hope this paper can help the researchers integrate MARL technologies and trigger more insightful ideas toward the intelligent and autonomous driving. | false | false | false | false | true | false | false | true | false | false | false | false | false | false | true | false | false | false | 481,537 |
2401.07049 | Quantum Denoising Diffusion Models | In recent years, machine learning models like DALL-E, Craiyon, and Stable Diffusion have gained significant attention for their ability to generate high-resolution images from concise descriptions. Concurrently, quantum computing is showing promising advances, especially with quantum machine learning which capitalizes on quantum mechanics to meet the increasing computational requirements of traditional machine learning algorithms. This paper explores the integration of quantum machine learning and variational quantum circuits to augment the efficacy of diffusion-based image generation models. Specifically, we address two challenges of classical diffusion models: their low sampling speed and the extensive parameter requirements. We introduce two quantum diffusion models and benchmark their capabilities against their classical counterparts using MNIST digits, Fashion MNIST, and CIFAR-10. Our models surpass the classical models with similar parameter counts in terms of performance metrics FID, SSIM, and PSNR. Moreover, we introduce a consistency model unitary single sampling architecture that combines the diffusion procedure into a single step, enabling a fast one-step image generation. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 421,399 |
2402.17615 | A Multi-Agent Model for Opinion Evolution under Cognitive Biases | We generalize the DeGroot model for opinion dynamics to better capture realistic social scenarios. We introduce a model where each agent has their own individual cognitive biases. Society is represented as a directed graph whose edges indicate how much agents influence one another. Biases are represented as the functions in the square region $[-1,1]^2$ and categorized into four sub-regions based on the potential reactions they may elicit in an agent during instances of opinion disagreement. Under the assumption that each bias of every agent is a continuous function within the region of receptive but resistant reactions ($\mathbf{R}$), we show that the society converges to a consensus if the graph is strongly connected. Under the same assumption, we also establish that the entire society converges to a unanimous opinion if and only if the source components of the graph-namely, strongly connected components with no external influence-converge to that opinion. We illustrate that convergence is not guaranteed for strongly connected graphs when biases are either discontinuous functions in $\mathbf{R}$ or not included in $\mathbf{R}$. We showcase our model through a series of examples and simulations, offering insights into how opinions form in social networks under cognitive biases. | false | false | false | true | false | false | false | false | false | false | false | false | false | false | true | false | false | false | 433,073 |
2202.11377 | Multi-scale Sparse Representation-Based Shadow Inpainting for Retinal
OCT Images | Inpainting shadowed regions cast by superficial blood vessels in retinal optical coherence tomography (OCT) images is critical for accurate and robust machine analysis and clinical diagnosis. Traditional sequence-based approaches such as propagating neighboring information to gradually fill in the missing regions are cost-effective. But they generate less satisfactory outcomes when dealing with larger missing regions and texture-rich structures. Emerging deep learning-based methods such as encoder-decoder networks have shown promising results in natural image inpainting tasks. However, they typically need a long computational time for network training in addition to the high demand on the size of datasets, which makes it difficult to be applied on often small medical datasets. To address these challenges, we propose a novel multi-scale shadow inpainting framework for OCT images by synergically applying sparse representation and deep learning: sparse representation is used to extract features from a small amount of training images for further inpainting and to regularize the image after the multi-scale image fusion, while convolutional neural network (CNN) is employed to enhance the image quality. During the image inpainting, we divide preprocessed input images into different branches based on the shadow width to harvest complementary information from different scales. Finally, a sparse representation-based regularizing module is designed to refine the generated contents after multi-scale feature aggregation. Experiments are conducted to compare our proposal versus both traditional and deep learning-based techniques on synthetic and real-world shadows. Results demonstrate that our proposed method achieves favorable image inpainting in terms of visual quality and quantitative metrics, especially when wide shadows are presented. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 281,872 |
2403.03149 | Robust Federated Learning Mitigates Client-side Training Data
Distribution Inference Attacks | Recent studies have revealed that federated learning (FL), once considered secure due to clients not sharing their private data with the server, is vulnerable to attacks such as client-side training data distribution inference, where a malicious client can recreate the victim's data. While various countermeasures exist, they are not practical, often assuming server access to some training data or knowledge of label distribution before the attack. In this work, we bridge the gap by proposing InferGuard, a novel Byzantine-robust aggregation rule aimed at defending against client-side training data distribution inference attacks. In our proposed InferGuard, the server first calculates the coordinate-wise median of all the model updates it receives. A client's model update is considered malicious if it significantly deviates from the computed median update. We conduct a thorough evaluation of our proposed InferGuard on five benchmark datasets and perform a comparison with ten baseline methods. The results of our experiments indicate that our defense mechanism is highly effective in protecting against client-side training data distribution inference attacks, even against strong adaptive attacks. Furthermore, our method substantially outperforms the baseline methods in various practical FL scenarios. | false | false | false | false | false | false | true | false | false | false | false | false | true | false | false | false | false | true | 435,078 |
2107.02794 | Improving Coherence and Consistency in Neural Sequence Models with
Dual-System, Neuro-Symbolic Reasoning | Human reasoning can often be understood as an interplay between two systems: the intuitive and associative ("System 1") and the deliberative and logical ("System 2"). Neural sequence models -- which have been increasingly successful at performing complex, structured tasks -- exhibit the advantages and failure modes of System 1: they are fast and learn patterns from data, but are often inconsistent and incoherent. In this work, we seek a lightweight, training-free means of improving existing System 1-like sequence models by adding System 2-inspired logical reasoning. We explore several variations on this theme in which candidate generations from a neural sequence model are examined for logical consistency by a symbolic reasoning module, which can either accept or reject the generations. Our approach uses neural inference to mediate between the neural System 1 and the logical System 2. Results in robust story generation and grounded instruction-following show that this approach can increase the coherence and accuracy of neurally-based generations. | false | false | false | false | true | false | true | false | true | false | false | false | false | false | false | false | false | false | 244,944 |
2404.02499 | Learning Generalized Policies for Fully Observable Non-Deterministic
Planning Domains | General policies represent reactive strategies for solving large families of planning problems like the infinite collection of solvable instances from a given domain. Methods for learning such policies from a collection of small training instances have been developed successfully for classical domains. In this work, we extend the formulations and the resulting combinatorial methods for learning general policies over fully observable, non-deterministic (FOND) domains. We also evaluate the resulting approach experimentally over a number of benchmark domains in FOND planning, present the general policies that result in some of these domains, and prove their correctness. The method for learning general policies for FOND planning can actually be seen as an alternative FOND planning method that searches for solutions, not in the given state space but in an abstract space defined by features that must be learned as well. | false | false | false | false | true | false | true | false | false | false | false | false | false | false | false | false | false | false | 443,881 |
2110.02411 | Voice Aging with Audio-Visual Style Transfer | Face aging techniques have used generative adversarial networks (GANs) and style transfer learning to transform one's appearance to look younger/older. Identity is maintained by conditioning these generative networks on a learned vector representation of the source content. In this work, we apply a similar approach to age a speaker's voice, referred to as voice aging. We first analyze the classification of a speaker's age by training a convolutional neural network (CNN) on the speaker's voice and face data from Common Voice and VoxCeleb datasets. We generate aged voices from style transfer to transform an input spectrogram to various ages and demonstrate our method on a mobile app. | false | false | true | false | false | false | true | false | true | false | false | false | false | false | false | false | false | false | 259,111 |
1911.04133 | IMNet: A Learning Based Detector for Index Modulation Aided MIMO-OFDM
Systems | Index modulation (IM) brings the reduction of power consumption and complexity of the transmitter to classical multiple-input multiple-output orthogonal frequency division multiplexing (MIMO-OFDM) systems. However, due to the introduction of IM, the complexity of the detector at receiver is greatly increased. Furthermore, the detector also requires the channel state information at receiver, which leads to high system overhead. To tackle these challenges, in this paper, we introduce deep learning (DL) in designing a non-iterative detector. Specifically, based on the structural sparsity of the transmitted signal in IM aided MIMO-OFDM systems, we first formulate the detection process as a sparse reconstruction problem. Then, a DL based detector called IMNet, which combines two subnets with the traditional least square method, is designed to recover the transmitted signal. To the best of our knowledge, this is the first attempt that designs the DL based detector for IM aided systems. Finally, to verify the adaptability and robustness of IMNet, simulations are carried out with consideration of correlated MIMO channels. The simulation results demonstrate that the proposed IMNet outperforms existing algorithms in terms of bit error rate and computational complexity under various scenarios. | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | 152,904 |
2304.11370 | SAILER: Structure-aware Pre-trained Language Model for Legal Case
Retrieval | Legal case retrieval, which aims to find relevant cases for a query case, plays a core role in the intelligent legal system. Despite the success that pre-training has achieved in ad-hoc retrieval tasks, effective pre-training strategies for legal case retrieval remain to be explored. Compared with general documents, legal case documents are typically long text sequences with intrinsic logical structures. However, most existing language models have difficulty understanding the long-distance dependencies between different structures. Moreover, in contrast to the general retrieval, the relevance in the legal domain is sensitive to key legal elements. Even subtle differences in key legal elements can significantly affect the judgement of relevance. However, existing pre-trained language models designed for general purposes have not been equipped to handle legal elements. To address these issues, in this paper, we propose SAILER, a new Structure-Aware pre-traIned language model for LEgal case Retrieval. It is highlighted in the following three aspects: (1) SAILER fully utilizes the structural information contained in legal case documents and pays more attention to key legal elements, similar to how legal experts browse legal case documents. (2) SAILER employs an asymmetric encoder-decoder architecture to integrate several different pre-training objectives. In this way, rich semantic information across tasks is encoded into dense vectors. (3) SAILER has powerful discriminative ability, even without any legal annotation data. It can distinguish legal cases with different charges accurately. Extensive experiments over publicly available legal benchmarks demonstrate that our approach can significantly outperform previous state-of-the-art methods in legal case retrieval. | false | false | false | false | false | true | false | false | true | false | false | false | false | false | false | false | false | false | 359,783 |
1710.05719 | Lung Cancer Screening Using Adaptive Memory-Augmented Recurrent Networks | In this paper, we investigate the effectiveness of deep learning techniques for lung nodule classification in computed tomography scans. Using less than 10,000 training examples, our deep networks perform two times better than a standard radiology software. Visualization of the networks' neurons reveals semantically meaningful features that are consistent with the clinical knowledge and radiologists' perception. Our paper also proposes a novel framework for rapidly adapting deep networks to the radiologists' feedback, or change in the data due to the shift in sensor's resolution or patient population. The classification accuracy of our approach remains above 80% while popular deep networks' accuracy is around chance. Finally, we provide in-depth analysis of our framework by asking a radiologist to examine important networks' features and perform blind re-labeling of networks' mistakes. | false | false | false | false | false | false | true | false | false | false | false | true | false | false | false | false | false | false | 82,673 |
2305.03201 | Enhancing Pashto Text Classification using Language Processing
Techniques for Single And Multi-Label Analysis | Text classification has become a crucial task in various fields, leading to a significant amount of research on developing automated text classification systems for national and international languages. However, there is a growing need for automated text classification systems that can handle local languages. This study aims to establish an automated classification system for Pashto text. To achieve this goal, we constructed a dataset of Pashto documents and applied various models, including statistical and neural machine learning models such as DistilBERT-base-multilingual-cased, Multilayer Perceptron, Support Vector Machine, K Nearest Neighbor, decision tree, Gaussian na\"ive Bayes, multinomial na\"ive Bayes, random forest, and logistic regression, to identify the most effective approach. We also evaluated two different feature extraction methods, bag of words and Term Frequency Inverse Document Frequency. The study achieved an average testing accuracy rate of 94% using the MLP classification algorithm and TFIDF feature extraction method in single-label multiclass classification. Similarly, MLP+TFIDF yielded the best results, with an F1-measure of 0.81. Furthermore, the use of pre-trained language representation models, such as DistilBERT, showed promising results for Pashto text classification; however, the study highlights the importance of developing a specific tokenizer for a particular language to achieve reasonable results. | false | false | false | false | false | false | true | false | true | false | false | false | false | false | false | false | false | false | 362,301 |
2406.02744 | DPDR: Gradient Decomposition and Reconstruction for Differentially
Private Deep Learning | Differentially Private Stochastic Gradients Descent (DP-SGD) is a prominent paradigm for preserving privacy in deep learning. It ensures privacy by perturbing gradients with random noise calibrated to their entire norm at each training step. However, this perturbation suffers from a sub-optimal performance: it repeatedly wastes privacy budget on the general converging direction shared among gradients from different batches, which we refer as common knowledge, yet yields little information gain. Motivated by this, we propose a differentially private training framework with early gradient decomposition and reconstruction (DPDR), which enables more efficient use of the privacy budget. In essence, it boosts model utility by focusing on incremental information protection and recycling the privatized common knowledge learned from previous gradients at early training steps. Concretely, DPDR incorporates three steps. First, it disentangles common knowledge and incremental information in current gradients by decomposing them based on previous noisy gradients. Second, most privacy budget is spent on protecting incremental information for higher information gain. Third, the model is updated with the gradient reconstructed from recycled common knowledge and noisy incremental information. Theoretical analysis and extensive experiments show that DPDR outperforms state-of-the-art baselines on both convergence rate and accuracy. | false | false | false | false | false | false | true | false | false | false | false | false | true | false | false | false | false | false | 460,915 |
2305.09887 | Simplifying Distributed Neural Network Training on Massive Graphs:
Randomized Partitions Improve Model Aggregation | Distributed training of GNNs enables learning on massive graphs (e.g., social and e-commerce networks) that exceed the storage and computational capacity of a single machine. To reach performance comparable to centralized training, distributed frameworks focus on maximally recovering cross-instance node dependencies with either communication across instances or periodic fallback to centralized training, which create overhead and limit the framework scalability. In this work, we present a simplified framework for distributed GNN training that does not rely on the aforementioned costly operations, and has improved scalability, convergence speed and performance over the state-of-the-art approaches. Specifically, our framework (1) assembles independent trainers, each of which asynchronously learns a local model on locally-available parts of the training graph, and (2) only conducts periodic (time-based) model aggregation to synchronize the local models. Backed by our theoretical analysis, instead of maximizing the recovery of cross-instance node dependencies -- which has been considered the key behind closing the performance gap between model aggregation and centralized training -- , our framework leverages randomized assignment of nodes or super-nodes (i.e., collections of original nodes) to partition the training graph such that it improves data uniformity and minimizes the discrepancy of gradient and loss function across instances. In our experiments on social and e-commerce networks with up to 1.3 billion edges, our proposed RandomTMA and SuperTMA approaches -- despite using less training data -- achieve state-of-the-art performance and 2.31x speedup compared to the fastest baseline, and show better robustness to trainer failures. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | true | 364,811 |
2111.09083 | Trajectory Prediction & Path Planning for an Object Intercepting UAV
with a Mounted Depth Camera | A novel control & software architecture using ROS C++ is introduced for object interception by a UAV with a mounted depth camera and no external aid. Existing work in trajectory prediction focused on the use of off-board tools like motion capture rooms to intercept thrown objects. The present study designs the UAV architecture to be completely on-board capable of object interception with the use of a depth camera and point cloud processing. The architecture uses an iterative trajectory prediction algorithm for non-propelled objects like a ping-pong ball. A variety of path planning approaches to object interception and their corresponding scenarios are discussed, evaluated & simulated in Gazebo. The successful simulations exemplify the potential of using the proposed architecture for the on-board autonomy of UAVs intercepting objects. | false | false | false | false | false | false | false | true | false | false | true | false | false | false | false | false | false | false | 266,902 |
1701.03961 | Communication-Efficient Algorithms for Decentralized and Stochastic
Optimization | We present a new class of decentralized first-order methods for nonsmooth and stochastic optimization problems defined over multiagent networks. Considering that communication is a major bottleneck in decentralized optimization, our main goal in this paper is to develop algorithmic frameworks which can significantly reduce the number of inter-node communications. We first propose a decentralized primal-dual method which can find an $\epsilon$-solution both in terms of functional optimality gap and feasibility residual in $O(1/\epsilon)$ inter-node communication rounds when the objective functions are convex and the local primal subproblems are solved exactly. Our major contribution is to present a new class of decentralized primal-dual type algorithms, namely the decentralized communication sliding (DCS) methods, which can skip the inter-node communications while agents solve the primal subproblems iteratively through linearizations of their local objective functions. By employing DCS, agents can still find an $\epsilon$-solution in $O(1/\epsilon)$ (resp., $O(1/\sqrt{\epsilon})$) communication rounds for general convex functions (resp., strongly convex functions), while maintaining the $O(1/\epsilon^2)$ (resp., $O(1/\epsilon)$) bound on the total number of intra-node subgradient evaluations. We also present a stochastic counterpart for these algorithms, denoted by SDCS, for solving stochastic optimization problems whose objective function cannot be evaluated exactly. In comparison with existing results for decentralized nonsmooth and stochastic optimization, we can reduce the total number of inter-node communication rounds by orders of magnitude while still maintaining the optimal complexity bounds on intra-node stochastic subgradient evaluations. The bounds on the subgradient evaluations are actually comparable to those required for centralized nonsmooth and stochastic optimization. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 66,786 |
2106.02792 | Weakly-Supervised Methods for Suicide Risk Assessment: Role of Related
Domains | Social media has become a valuable resource for the study of suicidal ideation and the assessment of suicide risk. Among social media platforms, Reddit has emerged as the most promising one due to its anonymity and its focus on topic-based communities (subreddits) that can be indicative of someone's state of mind or interest regarding mental health disorders such as r/SuicideWatch, r/Anxiety, r/depression. A challenge for previous work on suicide risk assessment has been the small amount of labeled data. We propose an empirical investigation into several classes of weakly-supervised approaches, and show that using pseudo-labeling based on related issues around mental health (e.g., anxiety, depression) helps improve model performance for suicide risk assessment. | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | 239,026 |
2011.10487 | Normalization effects on shallow neural networks and related asymptotic
expansions | We consider shallow (single hidden layer) neural networks and characterize their performance when trained with stochastic gradient descent as the number of hidden units $N$ and gradient descent steps grow to infinity. In particular, we investigate the effect of different scaling schemes, which lead to different normalizations of the neural network, on the network's statistical output, closing the gap between the $1/\sqrt{N}$ and the mean-field $1/N$ normalization. We develop an asymptotic expansion for the neural network's statistical output pointwise with respect to the scaling parameter as the number of hidden units grows to infinity. Based on this expansion, we demonstrate mathematically that to leading order in $N$, there is no bias-variance trade off, in that both bias and variance (both explicitly characterized) decrease as the number of hidden units increases and time grows. In addition, we show that to leading order in $N$, the variance of the neural network's statistical output decays as the implied normalization by the scaling parameter approaches the mean field normalization. Numerical studies on the MNIST and CIFAR10 datasets show that test and train accuracy monotonically improve as the neural network's normalization gets closer to the mean field normalization. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 207,526 |
2003.05212 | A Mobile Robot Hand-Arm Teleoperation System by Vision and IMU | In this paper, we present a multimodal mobile teleoperation system that consists of a novel vision-based hand pose regression network (Transteleop) and an IMU-based arm tracking method. Transteleop observes the human hand through a low-cost depth camera and generates not only joint angles but also depth images of paired robot hand poses through an image-to-image translation process. A keypoint-based reconstruction loss explores the resemblance in appearance and anatomy between human and robotic hands and enriches the local features of reconstructed images. A wearable camera holder enables simultaneous hand-arm control and facilitates the mobility of the whole teleoperation system. Network evaluation results on a test dataset and a variety of complex manipulation tasks that go beyond simple pick-and-place operations show the efficiency and stability of our multimodal teleoperation system. | true | false | false | false | false | false | false | true | false | false | false | true | false | false | false | false | false | false | 167,806 |
2208.01462 | Physics-informed Deep Super-resolution for Spatiotemporal Data | High-fidelity simulation of complex physical systems is exorbitantly expensive and inaccessible across spatiotemporal scales. Recently, there has been an increasing interest in leveraging deep learning to augment scientific data based on the coarse-grained simulations, which is of cheap computational expense and retains satisfactory solution accuracy. However, the major existing work focuses on data-driven approaches which rely on rich training datasets and lack sufficient physical constraints. To this end, we propose a novel and efficient spatiotemporal super-resolution framework via physics-informed learning, inspired by the independence between temporal and spatial derivatives in partial differential equations (PDEs). The general principle is to leverage the temporal interpolation for flow estimation, and then introduce convolutional-recurrent neural networks for learning temporal refinement. Furthermore, we employ the stacked residual blocks with wide activation and sub-pixel layers with pixelshuffle for spatial reconstruction, where feature extraction is conducted in a low-resolution latent space. Moreover, we consider hard imposition of boundary conditions in the network to improve reconstruction accuracy. Results demonstrate the superior effectiveness and efficiency of the proposed method compared with baseline algorithms through extensive numerical experiments. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 311,173 |
2009.06181 | Mitigation and Resiliency of Multi-Agent Systems Subject to Malicious
Cyber Attacks on Communication Links | This paper aims at investigating a novel type of cyber attack that is injected to multi-agent systems (MAS) having an underlying directed graph. The cyber attack, which is designated as the controllability attack, is injected by the malicious adversary into the communication links among the agents. The adversary, leveraging the compromised communication links disguises the cyber attack signals and attempts to take control over the entire network of MAS. The adversary aims at achieving this by directly attacking only a subset of the multi-agents. Conditions under which the malicious hacker has control over the entire MAS network are provided. Two notions of security controllability indices are proposed and developed. These notions are utilized as metrics to evaluate the controllability that each agent provides to the adversary for executing the malicious cyber attack. Furthermore, the possibility of introducing zero dynamics cyber attacks on the MAS through compromising the communication links is also investigated. Finally, an illustrative numerical example is provided to demonstrate the effectiveness of our proposed methods. | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | 195,552 |
0911.3872 | Equivalence perspectives in communication, source-channel connections
and universal source-channel separation | An operational perspective is used to understand the relationship between source and channel coding. This is based on a direct reduction of one problem to another that uses random coding (and hence common randomness) but unlike all prior work, does not involve any functional computations, in particular, no mutual-information computations. This result is then used to prove a universal source-channel separation theorem in the rate-distortion context where universality is in the sense of a compound ``general channel.'' | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | 4,983 |
1904.09924 | On the Sum-Rate Capacity of Poisson Multiple Access Channel with
Non-Perfect Photon-Counting Receiver | We first investigate two-user nonasymmetric sum-rate Poisson capacity with non-perfect photoncounting receiver under certain condition and demonstrate three possible transmission strategy, including only one active user and both active users, in sharp contrast to Gaussian multiple access channel (MAC) channel. The two-user capacity reduction due to photon-counting loss is characterized compared with that of continuous Poisson channel. We then study the symmetrical case based on two different methods, demonstrating that the optimal duty cycle for two users must be the same and unique, and the last method maybe can extend to multiple users. Furthermore, we analyze the sum-Rate capacity of Poisson multiple input single output (MISO) MAC. By converting a non-convex optimization problem with a large number of variables into a non-convex optimization problem with two variables, we show that the sum-rate capacity of the Poisson MISO MAC is equivalent to that of SISO under certain condition. | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | 128,514 |
2311.12480 | Speaker-Adapted End-to-End Visual Speech Recognition for Continuous
Spanish | Different studies have shown the importance of visual cues throughout the speech perception process. In fact, the development of audiovisual approaches has led to advances in the field of speech technologies. However, although noticeable results have recently been achieved, visual speech recognition remains an open research problem. It is a task in which, by dispensing with the auditory sense, challenges such as visual ambiguities and the complexity of modeling silence must be faced. Nonetheless, some of these challenges can be alleviated when the problem is approached from a speaker-dependent perspective. Thus, this paper studies, using the Spanish LIP-RTVE database, how the estimation of specialized end-to-end systems for a specific person could affect the quality of speech recognition. First, different adaptation strategies based on the fine-tuning technique were proposed. Then, a pre-trained CTC/Attention architecture was used as a baseline throughout our experiments. Our findings showed that a two-step fine-tuning process, where the VSR system is first adapted to the task domain, provided significant improvements when the speaker adaptation was addressed. Furthermore, results comparable to the current state of the art were reached even when only a limited amount of data was available. | false | false | true | false | false | false | false | false | true | false | false | true | false | false | false | false | false | false | 409,355 |
2412.08189 | Breaking the Bias: Recalibrating the Attention of Industrial Anomaly
Detection | Due to the scarcity and unpredictable nature of defect samples, industrial anomaly detection (IAD) predominantly employs unsupervised learning. However, all unsupervised IAD methods face a common challenge: the inherent bias in normal samples, which causes models to focus on variable regions while overlooking potential defects in invariant areas. To effectively overcome this, it is essential to decompose and recalibrate attention, guiding the model to suppress irrelevant variations and concentrate on subtle, defect-susceptible areas. In this paper, we propose Recalibrating Attention of Industrial Anomaly Detection (RAAD), a framework that systematically decomposes and recalibrates attention maps. RAAD employs a two-stage process: first, it reduces attention bias through quantization, and second, it fine-tunes defect-prone regions for improved sensitivity. Central to this framework is Hierarchical Quantization Scoring (HQS), which dynamically allocates bit-widths across layers based on their anomaly detection contributions. HQS dynamically adjusts bit-widths based on the hierarchical nature of attention maps, compressing lower layers that produce coarse and noisy attention while preserving deeper layers with sharper, defect-focused attention. This approach optimizes both computational efficiency and the model' s sensitivity to anomalies. We validate the effectiveness of RAAD on 32 datasets using a single 3090ti. Experiments demonstrate that RAAD, balances the complexity and expressive power of the model, enhancing its anomaly detection capability. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 515,985 |
2102.02664 | Digital twins based on bidirectional LSTM and GAN for modelling the
COVID-19 pandemic | The outbreak of the coronavirus disease 2019 (COVID-19) has now spread throughout the globe infecting over 150 million people and causing the death of over 3.2 million people. Thus, there is an urgent need to study the dynamics of epidemiological models to gain a better understanding of how such diseases spread. While epidemiological models can be computationally expensive, recent advances in machine learning techniques have given rise to neural networks with the ability to learn and predict complex dynamics at reduced computational costs. Here we introduce two digital twins of a SEIRS model applied to an idealised town. The SEIRS model has been modified to take account of spatial variation and, where possible, the model parameters are based on official virus spreading data from the UK. We compare predictions from a data-corrected Bidirectional Long Short-Term Memory network and a predictive Generative Adversarial Network. The predictions given by these two frameworks are accurate when compared to the original SEIRS model data. Additionally, these frameworks are data-agnostic and could be applied to towns, idealised or real, in the UK or in other countries. Also, more compartments could be included in the SEIRS model, in order to study more realistic epidemiological behaviour. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 218,480 |
2211.10530 | Provable Defense against Backdoor Policies in Reinforcement Learning | We propose a provable defense mechanism against backdoor policies in reinforcement learning under subspace trigger assumption. A backdoor policy is a security threat where an adversary publishes a seemingly well-behaved policy which in fact allows hidden triggers. During deployment, the adversary can modify observed states in a particular way to trigger unexpected actions and harm the agent. We assume the agent does not have the resources to re-train a good policy. Instead, our defense mechanism sanitizes the backdoor policy by projecting observed states to a 'safe subspace', estimated from a small number of interactions with a clean (non-triggered) environment. Our sanitized policy achieves $\epsilon$ approximate optimality in the presence of triggers, provided the number of clean interactions is $O\left(\frac{D}{(1-\gamma)^4 \epsilon^2}\right)$ where $\gamma$ is the discounting factor and $D$ is the dimension of state space. Empirically, we show that our sanitization defense performs well on two Atari game environments. | false | false | false | false | true | false | true | false | false | false | false | false | false | false | false | false | false | false | 331,336 |
2502.14514 | A Mobile Robotic Approach to Autonomous Surface Scanning in Legal
Medicine | Purpose: Comprehensive legal medicine documentation includes both an internal but also an external examination of the corpse. Typically, this documentation is conducted manually during conventional autopsy. A systematic digital documentation would be desirable, especially for the external examination of wounds, which is becoming more relevant for legal medicine analysis. For this purpose, RGB surface scanning has been introduced. While a manual full surface scan using a handheld camera is timeconsuming and operator dependent, floor or ceiling mounted robotic systems require substantial space and a dedicated room. Hence, we consider whether a mobile robotic system can be used for external documentation. Methods: We develop a mobile robotic system that enables full-body RGB-D surface scanning. Our work includes a detailed configuration space analysis to identify the environmental parameters that need to be considered to successfully perform a surface scan. We validate our findings through an experimental study in the lab and demonstrate the system's application in a legal medicine environment. Results: Our configuration space analysis shows that a good trade-off between coverage and time is reached with three robot base positions, leading to a coverage of 94.96 %. Experiments validate the effectiveness of the system in accurately capturing body surface geometry with an average surface coverage of 96.90 +- 3.16 % and 92.45 +- 1.43 % for a body phantom and actual corpses, respectively. Conclusion: This work demonstrates the potential of a mobile robotic system to automate RGB-D surface scanning in legal medicine, complementing the use of post-mortem CT scans for inner documentation. Our results indicate that the proposed system can contribute to more efficient and autonomous legal medicine documentation, reducing the need for manual intervention. | false | false | false | false | false | false | false | true | false | false | true | true | false | false | false | false | false | false | 535,865 |
2210.03256 | Not another Negation Benchmark: The NaN-NLI Test Suite for Sub-clausal
Negation | Negation is poorly captured by current language models, although the extent of this problem is not widely understood. We introduce a natural language inference (NLI) test suite to enable probing the capabilities of NLP methods, with the aim of understanding sub-clausal negation. The test suite contains premise--hypothesis pairs where the premise contains sub-clausal negation and the hypothesis is constructed by making minimal modifications to the premise in order to reflect different possible interpretations. Aside from adopting standard NLI labels, our test suite is systematically constructed under a rigorous linguistic framework. It includes annotation of negation types and constructions grounded in linguistic theory, as well as the operations used to construct hypotheses. This facilitates fine-grained analysis of model performance. We conduct experiments using pre-trained language models to demonstrate that our test suite is more challenging than existing benchmarks focused on negation, and show how our annotation supports a deeper understanding of the current NLI capabilities in terms of negation and quantification. | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | 321,954 |
1809.02052 | Eigenvalue analogy for confidence estimation in item-based recommender
systems | Item-item collaborative filtering (CF) models are a well known and studied family of recommender systems, however current literature does not provide any theoretical explanation of the conditions under which item-based recommendations will succeed or fail. We investigate the existence of an ideal item-based CF method able to make perfect recommendations. This CF model is formalized as an eigenvalue problem, where estimated ratings are equivalent to the true (unknown) ratings multiplied by a user-specific eigenvalue of the similarity matrix. Preliminary experiments show that the magnitude of the eigenvalue is proportional to the accuracy of recommendations for that user and therefore it can provide reliable measure of confidence. | false | false | false | false | false | true | true | false | false | false | false | false | false | false | false | false | false | false | 106,948 |
1603.04163 | A BP-MF-EP Based Iterative Receiver for Joint Phase Noise Estimation,
Equalization and Decoding | In this work, with combined belief propagation (BP), mean field (MF) and expectation propagation (EP), an iterative receiver is designed for joint phase noise (PN) estimation, equalization and decoding in a coded communication system. The presence of the PN results in a nonlinear observation model. Conventionally, the nonlinear model is directly linearized by using the first-order Taylor approximation, e.g., in the state-of-the-art soft-input extended Kalman smoothing approach (soft-in EKS). In this work, MF is used to handle the factor due to the nonlinear model, and a second-order Taylor approximation is used to achieve Gaussian approximation to the MF messages, which is crucial to the low-complexity implementation of the receiver with BP and EP. It turns out that our approximation is more effective than the direct linearization in the soft-in EKS with similar complexity, leading to significant performance improvement as demonstrated by simulation results. | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | 53,205 |
2403.02867 | Scalable Continuous-time Diffusion Framework for Network Inference and
Influence Estimation | The study of continuous-time information diffusion has been an important area of research for many applications in recent years. When only the diffusion traces (cascades) are accessible, cascade-based network inference and influence estimation are two essential problems to explore. Alas, existing methods exhibit limited capability to infer and process networks with more than a few thousand nodes, suffering from scalability issues. In this paper, we view the diffusion process as a continuous-time dynamical system, based on which we establish a continuous-time diffusion model. Subsequently, we instantiate the model to a scalable and effective framework (FIM) to approximate the diffusion propagation from available cascades, thereby inferring the underlying network structure. Furthermore, we undertake an analysis of the approximation error of FIM for network inference. To achieve the desired scalability for influence estimation, we devise an advanced sampling technique and significantly boost the efficiency. We also quantify the effect of the approximation error on influence estimation theoretically. Experimental results showcase the effectiveness and superior scalability of FIM on network inference and influence estimation. | false | false | false | true | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 434,969 |
2203.06153 | Symmetry Group Equivariant Architectures for Physics | Physical theories grounded in mathematical symmetries are an essential component of our understanding of a wide range of properties of the universe. Similarly, in the domain of machine learning, an awareness of symmetries such as rotation or permutation invariance has driven impressive performance breakthroughs in computer vision, natural language processing, and other important applications. In this report, we argue that both the physics community and the broader machine learning community have much to understand and potentially to gain from a deeper investment in research concerning symmetry group equivariant machine learning architectures. For some applications, the introduction of symmetries into the fundamental structural design can yield models that are more economical (i.e. contain fewer, but more expressive, learned parameters), interpretable (i.e. more explainable or directly mappable to physical quantities), and/or trainable (i.e. more efficient in both data and computational requirements). We discuss various figures of merit for evaluating these models as well as some potential benefits and limitations of these methods for a variety of physics applications. Research and investment into these approaches will lay the foundation for future architectures that are potentially more robust under new computational paradigms and will provide a richer description of the physical systems to which they are applied. | false | false | false | false | true | false | true | false | false | false | false | false | false | false | false | false | false | false | 285,024 |
2212.00986 | Masked Contrastive Pre-Training for Efficient Video-Text Retrieval | We present a simple yet effective end-to-end Video-language Pre-training (VidLP) framework, Masked Contrastive Video-language Pretraining (MAC), for video-text retrieval tasks. Our MAC aims to reduce video representation's spatial and temporal redundancy in the VidLP model by a mask sampling mechanism to improve pre-training efficiency. Comparing conventional temporal sparse sampling, we propose to randomly mask a high ratio of spatial regions and only feed visible regions into the encoder as sparse spatial sampling. Similarly, we adopt the mask sampling technique for text inputs for consistency. Instead of blindly applying the mask-then-prediction paradigm from MAE, we propose a masked-then-alignment paradigm for efficient video-text alignment. The motivation is that video-text retrieval tasks rely on high-level alignment rather than low-level reconstruction, and multimodal alignment with masked modeling encourages the model to learn a robust and general multimodal representation from incomplete and unstable inputs. Coupling these designs enables efficient end-to-end pre-training: reduce FLOPs (60% off), accelerate pre-training (by 3x), and improve performance. Our MAC achieves state-of-the-art results on various video-text retrieval datasets, including MSR-VTT, DiDeMo, and ActivityNet. Our approach is omnivorous to input modalities. With minimal modifications, we achieve competitive results on image-text retrieval tasks. | false | false | false | false | true | false | false | false | true | false | false | true | false | false | false | false | false | false | 334,267 |
1904.03620 | Teaching GANs to Sketch in Vector Format | Sketching is more fundamental to human cognition than speech. Deep Neural Networks (DNNs) have achieved the state-of-the-art in speech-related tasks but have not made significant development in generating stroke-based sketches a.k.a sketches in vector format. Though there are Variational Auto Encoders (VAEs) for generating sketches in vector format, there is no Generative Adversarial Network (GAN) architecture for the same. In this paper, we propose a standalone GAN architecture SkeGAN and a VAE-GAN architecture VASkeGAN, for sketch generation in vector format. SkeGAN is a stochastic policy in Reinforcement Learning (RL), capable of generating both multidimensional continuous and discrete outputs. VASkeGAN hybridizes a VAE and a GAN, in order to couple the efficient representation of data by VAE with the powerful generating capabilities of a GAN, to produce visually appealing sketches. We also propose a new metric called the Ske-score which quantifies the quality of vector sketches. We have validated that SkeGAN and VASkeGAN generate visually appealing sketches by using Human Turing Test and Ske-score. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | true | 126,794 |
1809.03956 | Abstraction Learning | There has been a gap between artificial intelligence and human intelligence. In this paper, we identify three key elements forming human intelligence, and suggest that abstraction learning combines these elements and is thus a way to bridge the gap. Prior researches in artificial intelligence either specify abstraction by human experts, or take abstraction as a qualitative explanation for the model. This paper aims to learn abstraction directly. We tackle three main challenges: representation, objective function, and learning algorithm. Specifically, we propose a partition structure that contains pre-allocated abstraction neurons; we formulate abstraction learning as a constrained optimization problem, which integrates abstraction properties; we develop a network evolution algorithm to solve this problem. This complete framework is named ONE (Optimization via Network Evolution). In our experiments on MNIST, ONE shows elementary human-like intelligence, including low energy consumption, knowledge sharing, and lifelong learning. | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | true | false | false | 107,437 |
2406.13151 | von Mises Quasi-Processes for Bayesian Circular Regression | The need for regression models to predict circular values arises in many scientific fields. In this work we explore a family of expressive and interpretable distributions over circle-valued random functions related to Gaussian processes targeting two Euclidean dimensions conditioned on the unit circle. The resulting probability model has connections with continuous spin models in statistical physics. Moreover, its density is very simple and has maximum-entropy, unlike previous Gaussian process-based approaches, which use wrapping or radial marginalization. For posterior inference, we introduce a new Stratonovich-like augmentation that lends itself to fast Markov Chain Monte Carlo sampling. We argue that transductive learning in these models favors a Bayesian approach to the parameters. We present experiments applying this model to the prediction of (i) wind directions and (ii) the percentage of the running gait cycle as a function of joint angles. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 465,718 |
1611.05066 | Sparse Control for Dynamic Movement Primitives | This paper describes the use of spatially-sparse inputs to influence global changes in the behavior of Dynamic Movement Primitives (DMPs). The dynamics of DMPs are analyzed through the framework of contraction theory as networked hierarchies of contracting or transversely contracting systems. Within this framework, sparsely-inhibited rhythmic DMPs (SI-RDMPs) are introduced to both inhibit or enable rhythmic primitives through spatially-sparse modification of the DMP dynamics. SI-RDMPs are demonstrated in experiments to manage start-stop transitions for walking experiments with the MIT Cheetah. New analytical results on the coupling of oscillators with diverse natural frequencies are also discussed. | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | 63,944 |
2009.06027 | ReviewViz: Assisting Developers Perform Empirical Study on Energy
Consumption Related Reviews for Mobile Applications | Improving the energy efficiency of mobile applications is a topic that has gained a lot of attention recently. It has been addressed in a number of ways such as identifying energy bugs and developing a catalog of energy patterns. Previous work shows that users discuss the battery-related issues (energy inefficiency or energy consumption) of the apps in their reviews. However, there is no work that addresses the automatic extraction of battery-related issues from users' feedback. In this paper, we report on a visualization tool that is developed to empirically study machine learning algorithms and text features to automatically identify the energy consumption specific reviews with the highest accuracy. Other than the common machine learning algorithms, we utilize deep learning models with different word embeddings to compare the results. Furthermore, to help the developers extract the main topics that are discussed in the reviews, two states of the art topic modeling algorithms are applied. The visualizations of the topics represent the keywords that are extracted for each topic along with a comparison with the results of string matching. The developed web-browser based interactive visualization tool is a novel framework developed with the intention of giving the app developers insights about running time and accuracy of machine learning and deep learning models as well as extracted topics. The tool makes it easier for the developers to traverse through the extensive result set generated by the text classification and topic modeling algorithms. The dynamic-data structure used for the tool stores the baseline-results of the discussed approaches and is updated when applied on new datasets. The tool is open-sourced to replicate the research results. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 195,507 |
2011.01439 | A Scenario-Based Development Framework for Autonomous Driving | This article summarizes the research progress of scenario-based testing and development technology for autonomous vehicles. We systematically analyzed previous research works and proposed the definition of scenario, the elements of the scenario ontology, the data source of the scenario, the processing method of the scenario data, and scenario-based V-Model. Moreover, we summarized the automated test scenario construction method by random scenario generation and dangerous scenario generation. | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | false | true | 204,583 |
1907.00374 | Fooling a Real Car with Adversarial Traffic Signs | The attacks on the neural-network-based classifiers using adversarial images have gained a lot of attention recently. An adversary can purposely generate an image that is indistinguishable from a innocent image for a human being but is incorrectly classified by the neural networks. The adversarial images do not need to be tuned to a particular architecture of the classifier - an image that fools one network can fool another one with a certain success rate.The published works mostly concentrate on the use of modified image files for attacks against the classifiers trained on the model databases. Although there exists a general understanding that such attacks can be carried in the real world as well, the works considering the real-world attacks are scarce. Moreover, to the best of our knowledge, there have been no reports on the attacks against real production-grade image classification systems.In our work we present a robust pipeline for reproducible production of adversarial traffic signs that can fool a wide range of classifiers, both open-source and production-grade in the real world. The efficiency of the attacks was checked both with the neural-network-based classifiers and legacy computer vision systems. Most of the attacks have been performed in the black-box mode, e.g. the adversarial signs produced for a particular classifier were used to attack a variety of other classifiers. The efficiency was confirmed in drive-by experiments with a production-grade traffic sign recognition systems of a real car. | false | false | false | false | false | false | false | false | false | false | false | true | true | false | false | false | false | false | 137,022 |
1903.01422 | Database Alignment with Gaussian Features | We consider the problem of aligning a pair of databases with jointly Gaussian features. We consider two algorithms, complete database alignment via MAP estimation among all possible database alignments, and partial alignment via a thresholding approach of log likelihood ratios. We derive conditions on mutual information between feature pairs, identifying the regimes where the algorithms are guaranteed to perform reliably and those where they cannot be expected to succeed. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 123,252 |
2407.15877 | Gaussian Process Model with Tensorial Inputs and Its Application to the
Design of 3D Printed Antennas | In simulation-based engineering design with time-consuming simulators, Gaussian process (GP) models are widely used as fast emulators to speed up the design optimization process. In its most commonly used form, the input of GP is a simple list of design parameters. With rapid development of additive manufacturing (also known as 3D printing), design inputs with 2D/3D spatial information become prevalent in some applications, for example, neighboring relations between pixels/voxels and material distributions in heterogeneous materials. Such spatial information, vital to 3D printed designs, is hard to incorporate into existing GP models with common kernels such as squared exponential or Mat\'ern. In this work, we propose to embed a generalized distance measure into a GP kernel, offering a novel and convenient technique to incorporate spatial information from freeform 3D printed designs into the GP framework. The proposed method allows complex design problems for 3D printed objects to take advantage of a plethora of tools available from the GP surrogate-based simulation optimization such as designed experiments and GP-based optimizations including Bayesian optimization. We investigate the properties of the proposed method and illustrate its performance by several numerical examples of 3D printed antennas. The dataset is publicly available at: https://github.com/xichennn/GP_dataset. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 475,384 |
2206.10324 | Online progressive instance-balanced sampling for weakly supervised
object detection | Based on multiple instance detection networks (MIDN), plenty of works have contributed tremendous efforts to weakly supervised object detection (WSOD). However, most methods neglect the fact that the overwhelming negative instances exist in each image during the training phase, which would mislead the training and make the network fall into local minima. To tackle this problem, an online progressive instance-balanced sampling (OPIS) algorithm based on hard sampling and soft sampling is proposed in this paper. The algorithm includes two modules: a progressive instance balance (PIB) module and a progressive instance reweighting (PIR) module. The PIB module combining random sampling and IoU-balanced sampling progressively mines hard negative instances while balancing positive instances and negative instances. The PIR module further utilizes classifier scores and IoUs of adjacent refinements to reweight the weights of positive instances for making the network focus on positive instances. Extensive experimental results on the PASCAL VOC 2007 and 2012 datasets demonstrate the proposed method can significantly improve the baseline, which is also comparable to many existing state-of-the-art results. In addition, compared to the baseline, the proposed method requires no extra network parameters and the supplementary training overheads are small, which could be easily integrated into other methods based on the instance classifier refinement paradigm. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 303,874 |
2306.10491 | A Study on Quantifying Sim2Real Image Gap in Autonomous Driving
Simulations Using Lane Segmentation Attention Map Similarity | Autonomous driving simulations require highly realistic images. Our preliminary study found that when the CARLA Simulator image was made more like reality by using DCLGAN, the performance of the lane recognition model improved to levels comparable to real-world driving. It was also confirmed that the vehicle's ability to return to the center of the lane after deviating from it improved significantly. However, there is currently no agreed-upon metric for quantitatively evaluating the realism of simulation images. To address this issue, based on the idea that FID (Fr\'echet Inception Distance) measures the feature vector distribution distance using a pre-trained model, this paper proposes a metric that measures the similarity of simulation road images using the attention map from the self-attention distillation process of ENet-SAD. Finally, this paper verified the suitability of the measurement method by applying it to the image of the CARLA map that implemented a realworld autonomous driving test road. | false | false | false | false | false | false | false | true | false | false | false | true | false | false | false | false | false | false | 374,255 |
1902.04320 | IEEE 802.11be Extremely High Throughput: The Next Generation of Wi-Fi
Technology Beyond 802.11ax | Wi-Fi technology is continuously innovating to cater to the growing customer demands, driven by the digitalisation of everything, both in the home as well as the enterprise and hotspot spaces. In this article, we introduce to the wireless community the next generation Wi-Fi$-$based on IEEE 802.11be Extremely High Throughput (EHT)$-$, present the main objectives and timelines of this new 802.11be amendment, thoroughly describe its main candidate features and enhancements, and cover the important issue of coexistence with other wireless technologies. We also provide simulation results to assess the potential throughput gains brought by 802.11be with respect to 802.11ax. | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | 121,315 |
2211.11315 | Beyond Attentive Tokens: Incorporating Token Importance and Diversity
for Efficient Vision Transformers | Vision transformers have achieved significant improvements on various vision tasks but their quadratic interactions between tokens significantly reduce computational efficiency. Many pruning methods have been proposed to remove redundant tokens for efficient vision transformers recently. However, existing studies mainly focus on the token importance to preserve local attentive tokens but completely ignore the global token diversity. In this paper, we emphasize the cruciality of diverse global semantics and propose an efficient token decoupling and merging method that can jointly consider the token importance and diversity for token pruning. According to the class token attention, we decouple the attentive and inattentive tokens. In addition to preserving the most discriminative local tokens, we merge similar inattentive tokens and match homogeneous attentive tokens to maximize the token diversity. Despite its simplicity, our method obtains a promising trade-off between model complexity and classification accuracy. On DeiT-S, our method reduces the FLOPs by 35% with only a 0.2% accuracy drop. Notably, benefiting from maintaining the token diversity, our method can even improve the accuracy of DeiT-T by 0.1% after reducing its FLOPs by 40%. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 331,679 |
2110.02054 | NoiER: An Approach for Training more Reliable Fine-TunedDownstream Task
Models | The recent development in pretrained language models trained in a self-supervised fashion, such as BERT, is driving rapid progress in the field of NLP. However, their brilliant performance is based on leveraging syntactic artifacts of the training data rather than fully understanding the intrinsic meaning of language. The excessive exploitation of spurious artifacts causes a problematic issue: The distribution collapse problem, which is the phenomenon that the model fine-tuned on downstream tasks is unable to distinguish out-of-distribution (OOD) sentences while producing a high confidence score. In this paper, we argue that distribution collapse is a prevalent issue in pretrained language models and propose noise entropy regularisation (NoiER) as an efficient learning paradigm that solves the problem without auxiliary models and additional~data. The proposed approach improved traditional OOD detection evaluation metrics by 55% on average compared to the original fine-tuned models. | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | 258,989 |
2501.17206 | Integrating Reinforcement Learning and AI Agents for Adaptive Robotic
Interaction and Assistance in Dementia Care | This study explores a novel approach to advancing dementia care by integrating socially assistive robotics, reinforcement learning (RL), large language models (LLMs), and clinical domain expertise within a simulated environment. This integration addresses the critical challenge of limited experimental data in socially assistive robotics for dementia care, providing a dynamic simulation environment that realistically models interactions between persons living with dementia (PLWDs) and robotic caregivers. The proposed framework introduces a probabilistic model to represent the cognitive and emotional states of PLWDs, combined with an LLM-based behavior simulation to emulate their responses. We further develop and train an adaptive RL system enabling humanoid robots, such as Pepper, to deliver context-aware and personalized interactions and assistance based on PLWDs' cognitive and emotional states. The framework also generalizes to computer-based agents, highlighting its versatility. Results demonstrate that the RL system, enhanced by LLMs, effectively interprets and responds to the complex needs of PLWDs, providing tailored caregiving strategies. This research contributes to human-computer and human-robot interaction by offering a customizable AI-driven caregiving platform, advancing understanding of dementia-related challenges, and fostering collaborative innovation in assistive technologies. The proposed approach has the potential to enhance the independence and quality of life for PLWDs while alleviating caregiver burden, underscoring the transformative role of interaction-focused AI systems in dementia care. | false | false | false | false | true | false | false | true | false | false | false | false | false | false | false | false | false | false | 528,258 |
2502.06022 | Nested subspace learning with flags | Many machine learning methods look for low-dimensional representations of the data. The underlying subspace can be estimated by first choosing a dimension $q$ and then optimizing a certain objective function over the space of $q$-dimensional subspaces (the Grassmannian). Trying different $q$ yields in general non-nested subspaces, which raises an important issue of consistency between the data representations. In this paper, we propose a simple trick to enforce nestedness in subspace learning methods. It consists in lifting Grassmannian optimization problems to flag manifolds (the space of nested subspaces of increasing dimension) via nested projectors. We apply the flag trick to several classical machine learning methods and show that it successfully addresses the nestedness issue. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 531,884 |
2210.02226 | Null Hypothesis Test for Anomaly Detection | We extend the use of Classification Without Labels for anomaly detection with a hypothesis test designed to exclude the background-only hypothesis. By testing for statistical independence of the two discriminating dataset regions, we are able to exclude the background-only hypothesis without relying on fixed anomaly score cuts or extrapolations of background estimates between regions. The method relies on the assumption of conditional independence of anomaly score features and dataset regions, which can be ensured using existing decorrelation techniques. As a benchmark example, we consider the LHC Olympics dataset where we show that mutual information represents a suitable test for statistical independence and our method exhibits excellent and robust performance at different signal fractions even in presence of realistic feature correlations. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 321,574 |
2102.00983 | Mosaics of combinatorial designs for information-theoretic security | We study security functions which can serve to establish semantic security for the two central problems of information-theoretic security: the wiretap channel, and privacy amplification for secret key generation. The security functions are functional forms of mosaics of combinatorial designs, more precisely, of group divisible designs and balanced incomplete block designs. Every member of a mosaic is associated with a unique color, and each color corresponds to a unique message or key value. Every block index of the mosaic corresponds to a public seed shared between the two trusted communicating parties. The seed set should be as small as possible. We give explicit examples which have an optimal or nearly optimal trade-off of seed length versus color (i.e., message or key) rate. We also derive bounds for the security performance of security functions given by functional forms of mosaics of designs. | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | 217,972 |
1009.5773 | Fast Reinforcement Learning for Energy-Efficient Wireless Communications | We consider the problem of energy-efficient point-to-point transmission of delay-sensitive data (e.g. multimedia data) over a fading channel. Existing research on this topic utilizes either physical-layer centric solutions, namely power-control and adaptive modulation and coding (AMC), or system-level solutions based on dynamic power management (DPM); however, there is currently no rigorous and unified framework for simultaneously utilizing both physical-layer centric and system-level techniques to achieve the minimum possible energy consumption, under delay constraints, in the presence of stochastic and a priori unknown traffic and channel conditions. In this report, we propose such a framework. We formulate the stochastic optimization problem as a Markov decision process (MDP) and solve it online using reinforcement learning. The advantages of the proposed online method are that (i) it does not require a priori knowledge of the traffic arrival and channel statistics to determine the jointly optimal power-control, AMC, and DPM policies; (ii) it exploits partial information about the system so that less information needs to be learned than when using conventional reinforcement learning algorithms; and (iii) it obviates the need for action exploration, which severely limits the adaptation speed and run-time performance of conventional reinforcement learning algorithms. Our results show that the proposed learning algorithms can converge up to two orders of magnitude faster than a state-of-the-art learning algorithm for physical layer power-control and up to three orders of magnitude faster than conventional reinforcement learning algorithms. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 7,711 |
1604.06242 | Novelty Detection in MultiClass Scenarios with Incomplete Set of Class
Labels | We address the problem of novelty detection in multiclass scenarios where some class labels are missing from the training set. Our method is based on the initial assignment of confidence values, which measure the affinity between a new test point and each known class. We first compare the values of the two top elements in this vector of confidence values. In the heart of our method lies the training of an ensemble of classifiers, each trained to discriminate known from novel classes based on some partition of the training data into presumed-known and presumednovel classes. Our final novelty score is derived from the output of this ensemble of classifiers. We evaluated our method on two datasets of images containing a relatively large number of classes - the Caltech-256 and Cifar-100 datasets. We compared our method to 3 alternative methods which represent commonly used approaches, including the one-class SVM, novelty based on k-NN, novelty based on maximal confidence, and the recent KNFST method. The results show a very clear and marked advantage for our method over all alternative methods, in an experimental setup where class labels are missing during training. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 54,918 |
2104.10538 | Guided Table Structure Recognition through Anchor Optimization | This paper presents the novel approach towards table structure recognition by leveraging the guided anchors. The concept differs from current state-of-the-art approaches for table structure recognition that naively apply object detection methods. In contrast to prior techniques, first, we estimate the viable anchors for table structure recognition. Subsequently, these anchors are exploited to locate the rows and columns in tabular images. Furthermore, the paper introduces a simple and effective method that improves the results by using tabular layouts in realistic scenarios. The proposed method is exhaustively evaluated on the two publicly available datasets of table structure recognition i.e ICDAR-2013 and TabStructDB. We accomplished state-of-the-art results on the ICDAR-2013 dataset with an average F-Measure of 95.05$\%$ (94.6$\%$ for rows and 96.32$\%$ for columns) and surpassed the baseline results on the TabStructDB dataset with an average F-Measure of 94.17$\%$ (94.08$\%$ for rows and 95.06$\%$ for columns). | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 231,617 |
2402.11221 | MOB-Net: Limb-modularized Uncertainty Torque Learning of Humanoids for
Sensorless External Torque Estimation | Momentum observer (MOB) can estimate external joint torque without requiring additional sensors, such as force/torque or joint torque sensors. However, the estimation performance of MOB deteriorates due to the model uncertainty which encompasses the modeling errors and the joint friction. Moreover, the estimation error is significant when MOB is applied to high-dimensional floating-base humanoids, which prevents the estimated external joint torque from being used for force control or collision detection in the real humanoid robot. In this paper, the pure external joint torque estimation method named MOB-Net, is proposed for humanoids. MOB-Net learns the model uncertainty torque and calibrates the estimated signal of MOB. The external joint torque can be estimated in the generalized coordinate including whole-body and virtual joints of the floating-base robot with only internal sensors (an IMU on the pelvis and encoders in the joints). Our method substantially reduces the estimation errors of MOB, and the robust performance of MOB-Net for the unseen data is validated through extensive simulations, real robot experiments, and ablation studies. Finally, various collision handling scenarios are presented using the estimated external joint torque from MOB-Net: contact wrench feedback control for locomotion, collision detection, and collision reaction for safety. | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | 430,294 |
2308.11509 | SwinFace: A Multi-task Transformer for Face Recognition, Expression
Recognition, Age Estimation and Attribute Estimation | In recent years, vision transformers have been introduced into face recognition and analysis and have achieved performance breakthroughs. However, most previous methods generally train a single model or an ensemble of models to perform the desired task, which ignores the synergy among different tasks and fails to achieve improved prediction accuracy, increased data efficiency, and reduced training time. This paper presents a multi-purpose algorithm for simultaneous face recognition, facial expression recognition, age estimation, and face attribute estimation (40 attributes including gender) based on a single Swin Transformer. Our design, the SwinFace, consists of a single shared backbone together with a subnet for each set of related tasks. To address the conflicts among multiple tasks and meet the different demands of tasks, a Multi-Level Channel Attention (MLCA) module is integrated into each task-specific analysis subnet, which can adaptively select the features from optimal levels and channels to perform the desired tasks. Extensive experiments show that the proposed model has a better understanding of the face and achieves excellent performance for all tasks. Especially, it achieves 90.97% accuracy on RAF-DB and 0.22 $\epsilon$-error on CLAP2015, which are state-of-the-art results on facial expression recognition and age estimation respectively. The code and models will be made publicly available at https://github.com/lxq1000/SwinFace. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 387,167 |
0810.5636 | On the Possibility of Learning in Reactive Environments with Arbitrary
Dependence | We address the problem of reinforcement learning in which observations may exhibit an arbitrary form of stochastic dependence on past observations and actions, i.e. environments more general than (PO)MDPs. The task for an agent is to attain the best possible asymptotic reward where the true generating environment is unknown but belongs to a known countable family of environments. We find some sufficient conditions on the class of environments under which an agent exists which attains the best asymptotic reward for any environment in the class. We analyze how tight these conditions are and how they relate to different probabilistic assumptions known in reinforcement learning and related fields, such as Markov Decision Processes and mixing conditions. | false | false | false | false | true | false | true | false | false | true | false | false | false | false | false | false | false | false | 2,589 |
1706.07450 | Revised Note on Learning Algorithms for Quadratic Assignment with Graph
Neural Networks | Inverse problems correspond to a certain type of optimization problems formulated over appropriate input distributions. Recently, there has been a growing interest in understanding the computational hardness of these optimization problems, not only in the worst case, but in an average-complexity sense under this same input distribution. In this revised note, we are interested in studying another aspect of hardness, related to the ability to learn how to solve a problem by simply observing a collection of previously solved instances. These 'planted solutions' are used to supervise the training of an appropriate predictive model that parametrizes a broad class of algorithms, with the hope that the resulting model will provide good accuracy-complexity tradeoffs in the average sense. We illustrate this setup on the Quadratic Assignment Problem, a fundamental problem in Network Science. We observe that data-driven models based on Graph Neural Networks offer intriguingly good performance, even in regimes where standard relaxation based techniques appear to suffer. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 75,842 |
2306.07852 | Globally convergent homotopies for discrete-time optimal control | Homotopy methods are attractive due to their capability of solving difficult optimisation and optimal control problems. The underlying idea is to construct a homotopy, which may be considered as a continuous (zero) curve between the difficult original problem and a related, comparatively easy one. Then, the solution of the easier one is continuously perturbed along the zero curve towards the sought-after solution of the original problem. We propose a methodology for the systematic construction of such zero curves for discrete-time optimal control problems drawing upon the theory of globally convergent homotopies for nonlinear programs. The proposed framework ensures that for almost every initial guess at a solution there exists a suitable homotopy path that is, in addition, numerically convenient to track. We demonstrate the results by solving optimal path planning problems for a linear system and the nonlinear nonholonomic car (Dubins' vehicle). | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | false | 373,167 |
2301.07389 | Towards Models that Can See and Read | Visual Question Answering (VQA) and Image Captioning (CAP), which are among the most popular vision-language tasks, have analogous scene-text versions that require reasoning from the text in the image. Despite their obvious resemblance, the two are treated independently and, as we show, yield task-specific methods that can either see or read, but not both. In this work, we conduct an in-depth analysis of this phenomenon and propose UniTNT, a Unified Text-Non-Text approach, which grants existing multimodal architectures scene-text understanding capabilities. Specifically, we treat scene-text information as an additional modality, fusing it with any pretrained encoder-decoder-based architecture via designated modules. Thorough experiments reveal that UniTNT leads to the first single model that successfully handles both task types. Moreover, we show that scene-text understanding capabilities can boost vision-language models' performance on general VQA and CAP by up to 2.69% and 0.6 CIDEr, respectively. | false | false | false | false | false | false | true | false | false | false | false | true | false | false | false | false | false | false | 340,907 |
2106.13043 | AudioCLIP: Extending CLIP to Image, Text and Audio | In the past, the rapidly evolving field of sound classification greatly benefited from the application of methods from other domains. Today, we observe the trend to fuse domain-specific tasks and approaches together, which provides the community with new outstanding models. In this work, we present an extension of the CLIP model that handles audio in addition to text and images. Our proposed model incorporates the ESResNeXt audio-model into the CLIP framework using the AudioSet dataset. Such a combination enables the proposed model to perform bimodal and unimodal classification and querying, while keeping CLIP's ability to generalize to unseen datasets in a zero-shot inference fashion. AudioCLIP achieves new state-of-the-art results in the Environmental Sound Classification (ESC) task, out-performing other approaches by reaching accuracies of 90.07% on the UrbanSound8K and 97.15% on the ESC-50 datasets. Further it sets new baselines in the zero-shot ESC-task on the same datasets (68.78% and 69.40%, respectively). Finally, we also assess the cross-modal querying performance of the proposed model as well as the influence of full and partial training on the results. For the sake of reproducibility, our code is published. | false | false | true | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 242,941 |
2306.15777 | "Is a picture of a bird a bird": Policy recommendations for dealing with
ambiguity in machine vision models | Many questions that we ask about the world do not have a single clear answer, yet typical human annotation set-ups in machine learning assume there must be a single ground truth label for all examples in every task. The divergence between reality and practice is stark, especially in cases with inherent ambiguity and where the range of different subjective judgments is wide. Here, we examine the implications of subjective human judgments in the behavioral task of labeling images used to train machine vision models. We identify three primary sources of ambiguity arising from (i) depictions of labels in the images, (ii) raters' backgrounds, and (iii) the task definition. On the basis of the empirical results, we suggest best practices for handling label ambiguity in machine learning datasets. | true | false | false | false | false | false | false | false | false | false | false | true | false | true | false | false | false | false | 376,149 |
1904.07595 | Detecting the Unexpected via Image Resynthesis | Classical semantic segmentation methods, including the recent deep learning ones, assume that all classes observed at test time have been seen during training. In this paper, we tackle the more realistic scenario where unexpected objects of unknown classes can appear at test time. The main trends in this area either leverage the notion of prediction uncertainty to flag the regions with low confidence as unknown, or rely on autoencoders and highlight poorly-decoded regions. Having observed that, in both cases, the detected regions typically do not correspond to unexpected objects, in this paper, we introduce a drastically different strategy: It relies on the intuition that the network will produce spurious labels in regions depicting unexpected objects. Therefore, resynthesizing the image from the resulting semantic map will yield significant appearance differences with respect to the input image. In other words, we translate the problem of detecting unknown classes to one of identifying poorly-resynthesized image regions. We show that this outperforms both uncertainty- and autoencoder-based methods. | false | false | false | false | false | false | false | false | false | false | false | true | false | false | false | false | false | false | 127,838 |
2309.17437 | Learning Decentralized Flocking Controllers with Spatio-Temporal Graph
Neural Network | Recently a line of researches has delved the use of graph neural networks (GNNs) for decentralized control in swarm robotics. However, it has been observed that relying solely on the states of immediate neighbors is insufficient to imitate a centralized control policy. To address this limitation, prior studies proposed incorporating $L$-hop delayed states into the computation. While this approach shows promise, it can lead to a lack of consensus among distant flock members and the formation of small clusters, consequently resulting in the failure of cohesive flocking behaviors. Instead, our approach leverages spatiotemporal GNN, named STGNN that encompasses both spatial and temporal expansions. The spatial expansion collects delayed states from distant neighbors, while the temporal expansion incorporates previous states from immediate neighbors. The broader and more comprehensive information gathered from both expansions results in more effective and accurate predictions. We develop an expert algorithm for controlling a swarm of robots and employ imitation learning to train our decentralized STGNN model based on the expert algorithm. We simulate the proposed STGNN approach in various settings, demonstrating its decentralized capacity to emulate the global expert algorithm. Further, we implemented our approach to achieve cohesive flocking, leader following and obstacle avoidance by a group of Crazyflie drones. The performance of STGNN underscores its potential as an effective and reliable approach for achieving cohesive flocking, leader following and obstacle avoidance tasks. | false | false | false | false | true | false | false | true | false | false | false | false | false | false | false | false | false | false | 395,771 |
2003.09852 | Multiview Neural Surface Reconstruction by Disentangling Geometry and
Appearance | In this work we address the challenging problem of multiview 3D surface reconstruction. We introduce a neural network architecture that simultaneously learns the unknown geometry, camera parameters, and a neural renderer that approximates the light reflected from the surface towards the camera. The geometry is represented as a zero level-set of a neural network, while the neural renderer, derived from the rendering equation, is capable of (implicitly) modeling a wide set of lighting conditions and materials. We trained our network on real world 2D images of objects with different material properties, lighting conditions, and noisy camera initializations from the DTU MVS dataset. We found our model to produce state of the art 3D surface reconstructions with high fidelity, resolution and detail. | false | false | false | false | false | false | true | false | false | false | false | true | false | false | false | false | false | true | 169,162 |
2501.14964 | Personalized Layer Selection for Graph Neural Networks | Graph Neural Networks (GNNs) combine node attributes over a fixed granularity of the local graph structure around a node to predict its label. However, different nodes may relate to a node-level property with a different granularity of its local neighborhood, and using the same level of smoothing for all nodes can be detrimental to their classification. In this work, we challenge the common fact that a single GNN layer can classify all nodes of a graph by training GNNs with a distinct personalized layer for each node. Inspired by metric learning, we propose a novel algorithm, MetSelect1, to select the optimal representation layer to classify each node. In particular, we identify a prototype representation of each class in a transformed GNN layer and then, classify using the layer where the distance is smallest to a class prototype after normalizing with that layer's variance. Results on 10 datasets and 3 different GNNs show that we significantly improve the node classification accuracy of GNNs in a plug-and-play manner. We also find that using variable layers for prediction enables GNNs to be deeper and more robust to poisoning attacks. We hope this work can inspire future works to learn more adaptive and personalized graph representations. | false | false | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | 527,339 |
2501.00184 | TrajLearn: Trajectory Prediction Learning using Deep Generative Models | Trajectory prediction aims to estimate an entity's future path using its current position and historical movement data, benefiting fields like autonomous navigation, robotics, and human movement analytics. Deep learning approaches have become key in this area, utilizing large-scale trajectory datasets to model movement patterns, but face challenges in managing complex spatial dependencies and adapting to dynamic environments. To address these challenges, we introduce TrajLearn, a novel model for trajectory prediction that leverages generative modeling of higher-order mobility flows based on hexagonal spatial representation. TrajLearn predicts the next $k$ steps by integrating a customized beam search for exploring multiple potential paths while maintaining spatial continuity. We conducted a rigorous evaluation of TrajLearn, benchmarking it against leading state-of-the-art approaches and meaningful baselines. The results indicate that TrajLearn achieves significant performance gains, with improvements of up to ~40% across multiple real-world trajectory datasets. In addition, we evaluated different prediction horizons (i.e., various values of $k$), conducted resolution sensitivity analysis, and performed ablation studies to assess the impact of key model components. Furthermore, we developed a novel algorithm to generate mixed-resolution maps by hierarchically subdividing hexagonal regions into finer segments within a specified observation area. This approach supports selective detailing, applying finer resolution to areas of interest or high activity (e.g., urban centers) while using coarser resolution for less significant regions (e.g., rural areas), effectively reducing data storage requirements and computational overhead. We promote reproducibility and adaptability by offering complete code, data, and detailed documentation with flexible configuration options for various applications. | false | false | false | false | false | false | true | true | false | false | false | true | false | false | false | false | false | false | 521,564 |
1707.01959 | Well-Founded Operators for Normal Hybrid MKNF Knowledge Bases | Hybrid MKNF knowledge bases have been considered one of the dominant approaches to combining open world ontology languages with closed world rule-based languages. Currently, the only known inference methods are based on the approach of guess-and-verify, while most modern SAT/ASP solvers are built under the DPLL architecture. The central impediment here is that it is not clear what constitutes a constraint propagator, a key component employed in any DPLL-based solver. In this paper, we address this problem by formulating the notion of unfounded sets for nondisjunctive hybrid MKNF knowledge bases, based on which we propose and study two new well-founded operators. We show that by employing a well-founded operator as a constraint propagator, a sound and complete DPLL search engine can be readily defined. We compare our approach with the operator based on the alternating fixpoint construction by Knorr et al [2011] and show that, when applied to arbitrary partial partitions, the new well-founded operators not only propagate more truth values but also circumvent the non-converging behavior of the latter. In addition, we study the possibility of simplifying a given hybrid MKNF knowledge base by employing a well-founded operator, and show that, out of the two operators proposed in this paper, the weaker one can be applied for this purpose and the stronger one cannot. These observations are useful in implementing a grounder for hybrid MKNF knowledge bases, which can be applied before the computation of MKNF models. The paper is under consideration for acceptance in TPLP. | false | false | false | false | true | false | false | false | false | false | false | false | false | false | false | false | false | false | 76,625 |
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