JohnVitz/NLP_Assignment_3_part_3 · Datasets at Hugging Face

1909.00732

Hierarchical Control for Bipedal Locomotion using Central Pattern Generators and Neural Networks

The complexity of bipedal locomotion may be attributed to the difficulty in synchronizing joint movements while at the same time achieving high-level objectives such as walking in a particular direction. Artificial central pattern generators (CPGs) can produce synchronized joint movements and have been used in the past for bipedal locomotion. However, most existing CPG-based approaches do not address the problem of high-level control explicitly. We propose a novel hierarchical control mechanism for bipedal locomotion where an optimized CPG network is used for joint control and a neural network acts as a high-level controller for modulating the CPG network. By separating motion generation from motion modulation, the high-level controller does not need to control individual joints directly but instead can develop to achieve a higher goal using a low-dimensional control signal. The feasibility of the hierarchical controller is demonstrated through simulation experiments using the Neuro-Inspired Companion (NICO) robot. Experimental results demonstrate the controller's ability to function even without the availability of an exact robot model.

false

true

false

true

false

143,704

2409.04825

Metadata augmented deep neural networks for wild animal classification

Camera trap imagery has become an invaluable asset in contemporary wildlife surveillance, enabling researchers to observe and investigate the behaviors of wild animals. While existing methods rely solely on image data for classification, this may not suffice in cases of suboptimal animal angles, lighting, or image quality. This study introduces a novel approach that enhances wild animal classification by combining specific metadata (temperature, location, time, etc) with image data. Using a dataset focused on the Norwegian climate, our models show an accuracy increase from 98.4% to 98.9% compared to existing methods. Notably, our approach also achieves high accuracy with metadata-only classification, highlighting its potential to reduce reliance on image quality. This work paves the way for integrated systems that advance wildlife classification technology.

false

true

false

486,525

2310.04791

Conditional Diffusion Model for Target Speaker Extraction

We propose DiffSpEx, a generative target speaker extraction method based on score-based generative modelling through stochastic differential equations. DiffSpEx deploys a continuous-time stochastic diffusion process in the complex short-time Fourier transform domain, starting from the target speaker source and converging to a Gaussian distribution centred on the mixture of sources. For the reverse-time process, a parametrised score function is conditioned on a target speaker embedding to extract the target speaker from the mixture of sources. We utilise ECAPA-TDNN target speaker embeddings and condition the score function alternately on the SDE time embedding and the target speaker embedding. The potential of DiffSpEx is demonstrated with the WSJ0-2mix dataset, achieving an SI-SDR of 12.9 dB and a NISQA score of 3.56. Moreover, we show that fine-tuning a pre-trained DiffSpEx model to a specific speaker further improves performance, enabling personalisation in target speaker extraction.

false

true

false

true

false

397,819

2404.04890

A Unified Diffusion Framework for Scene-aware Human Motion Estimation from Sparse Signals

Estimating full-body human motion via sparse tracking signals from head-mounted displays and hand controllers in 3D scenes is crucial to applications in AR/VR. One of the biggest challenges to this task is the one-to-many mapping from sparse observations to dense full-body motions, which endowed inherent ambiguities. To help resolve this ambiguous problem, we introduce a new framework to combine rich contextual information provided by scenes to benefit full-body motion tracking from sparse observations. To estimate plausible human motions given sparse tracking signals and 3D scenes, we develop $\text{S}^2$Fusion, a unified framework fusing \underline{S}cene and sparse \underline{S}ignals with a conditional dif\underline{Fusion} model. $\text{S}^2$Fusion first extracts the spatial-temporal relations residing in the sparse signals via a periodic autoencoder, and then produces time-alignment feature embedding as additional inputs. Subsequently, by drawing initial noisy motion from a pre-trained prior, $\text{S}^2$Fusion utilizes conditional diffusion to fuse scene geometry and sparse tracking signals to generate full-body scene-aware motions. The sampling procedure of $\text{S}^2$Fusion is further guided by a specially designed scene-penetration loss and phase-matching loss, which effectively regularizes the motion of the lower body even in the absence of any tracking signals, making the generated motion much more plausible and coherent. Extensive experimental results have demonstrated that our $\text{S}^2$Fusion outperforms the state-of-the-art in terms of estimation quality and smoothness.

false

true

false

444,844

1302.7056

KSU KDD: Word Sense Induction by Clustering in Topic Space

We describe our language-independent unsupervised word sense induction system. This system only uses topic features to cluster different word senses in their global context topic space. Using unlabeled data, this system trains a latent Dirichlet allocation (LDA) topic model then uses it to infer the topics distribution of the test instances. By clustering these topics distributions in their topic space we cluster them into different senses. Our hypothesis is that closeness in topic space reflects similarity between different word senses. This system participated in SemEval-2 word sense induction and disambiguation task and achieved the second highest V-measure score among all other systems.

false

true

false

true

false

22,499

2308.13077

Preserving Modality Structure Improves Multi-Modal Learning

Self-supervised learning on large-scale multi-modal datasets allows learning semantically meaningful embeddings in a joint multi-modal representation space without relying on human annotations. These joint embeddings enable zero-shot cross-modal tasks like retrieval and classification. However, these methods often struggle to generalize well on out-of-domain data as they ignore the semantic structure present in modality-specific embeddings. In this context, we propose a novel Semantic-Structure-Preserving Consistency approach to improve generalizability by preserving the modality-specific relationships in the joint embedding space. To capture modality-specific semantic relationships between samples, we propose to learn multiple anchors and represent the multifaceted relationship between samples with respect to their relationship with these anchors. To assign multiple anchors to each sample, we propose a novel Multi-Assignment Sinkhorn-Knopp algorithm. Our experimentation demonstrates that our proposed approach learns semantically meaningful anchors in a self-supervised manner. Furthermore, our evaluation on MSR-VTT and YouCook2 datasets demonstrates that our proposed multi-anchor assignment based solution achieves state-of-the-art performance and generalizes to both inand out-of-domain datasets. Code: https://github.com/Swetha5/Multi_Sinkhorn_Knopp

false

true

false

387,773

2210.01785

TabLeak: Tabular Data Leakage in Federated Learning

While federated learning (FL) promises to preserve privacy, recent works in the image and text domains have shown that training updates leak private client data. However, most high-stakes applications of FL (e.g., in healthcare and finance) use tabular data, where the risk of data leakage has not yet been explored. A successful attack for tabular data must address two key challenges unique to the domain: (i) obtaining a solution to a high-variance mixed discrete-continuous optimization problem, and (ii) enabling human assessment of the reconstruction as unlike for image and text data, direct human inspection is not possible. In this work we address these challenges and propose TabLeak, the first comprehensive reconstruction attack on tabular data. TabLeak is based on two key contributions: (i) a method which leverages a softmax relaxation and pooled ensembling to solve the optimization problem, and (ii) an entropy-based uncertainty quantification scheme to enable human assessment. We evaluate TabLeak on four tabular datasets for both FedSGD and FedAvg training protocols, and show that it successfully breaks several settings previously deemed safe. For instance, we extract large subsets of private data at >90% accuracy even at the large batch size of 128. Our findings demonstrate that current high-stakes tabular FL is excessively vulnerable to leakage attacks.

false

true

false

true

false

true

321,395

2108.10242

Pattern Inversion as a Pattern Recognition Method for Machine Learning

Artificial neural networks use a lot of coefficients that take a great deal of computing power for their adjustment, especially if deep learning networks are employed. However, there exist coefficients-free extremely fast indexing-based technologies that work, for instance, in Google search engines, in genome sequencing, etc. The paper discusses the use of indexing-based methods for pattern recognition. It is shown that for pattern recognition applications such indexing methods replace with inverse patterns the fully inverted files, which are typically employed in search engines. Not only such inversion provide automatic feature extraction, which is a distinguishing mark of deep learning, but, unlike deep learning, pattern inversion supports almost instantaneous learning, which is a consequence of absence of coefficients. The paper discusses a pattern inversion formalism that makes use on a novel pattern transform and its application for unsupervised instant learning. Examples demonstrate a view-angle independent recognition of three-dimensional objects, such as cars, against arbitrary background, prediction of remaining useful life of aircraft engines, and other applications. In conclusion, it is noted that, in neurophysiology, the function of the neocortical mini-column has been widely debated since 1957. This paper hypothesize that, mathematically, the cortical mini-column can be described as an inverse pattern, which physically serves as a connection multiplier expanding associations of inputs with relevant pattern classes.

false

true

false

true

false

true

false

251,839

2409.06267

Mahalanobis k-NN: A Statistical Lens for Robust Point-Cloud Registrations

In this paper, we discuss Mahalanobis k-NN: A Statistical Lens designed to address the challenges of feature matching in learning-based point cloud registration when confronted with an arbitrary density of point clouds. We tackle this by adopting Mahalanobis k-NN's inherent property to capture the distribution of the local neighborhood and surficial geometry. Our method can be seamlessly integrated into any local-graph-based point cloud analysis method. In this paper, we focus on two distinct methodologies: Deep Closest Point (DCP) and Deep Universal Manifold Embedding (DeepUME). Our extensive benchmarking on the ModelNet40 and FAUST datasets highlights the efficacy of the proposed method in point cloud registration tasks. Moreover, we establish for the first time that the features acquired through point cloud registration inherently can possess discriminative capabilities. This is evident by a substantial improvement of about 20% in the average accuracy observed in the point cloud few-shot classification task, benchmarked on ModelNet40 and ScanObjectNN.

false

true

false

487,063

2407.18471

Constructing the CORD-19 Vaccine Dataset

We introduce new dataset 'CORD-19-Vaccination' to cater to scientists specifically looking into COVID-19 vaccine-related research. This dataset is extracted from CORD-19 dataset [Wang et al., 2020] and augmented with new columns for language detail, author demography, keywords, and topic per paper. Facebook's fastText model is used to identify languages [Joulin et al., 2016]. To establish author demography (author affiliation, lab/institution location, and lab/institution country columns) we processed the JSON file for each paper and then further enhanced using Google's search API to determine country values. 'Yake' was used to extract keywords from the title, abstract, and body of each paper and the LDA (Latent Dirichlet Allocation) algorithm was used to add topic information [Campos et al., 2020, 2018a,b]. To evaluate the dataset, we demonstrate a question-answering task like the one used in the CORD-19 Kaggle challenge [Goldbloom et al., 2022]. For further evaluation, sequential sentence classification was performed on each paper's abstract using the model from Dernoncourt et al. [2016]. We partially hand annotated the training dataset and used a pre-trained BERT-PubMed layer. 'CORD- 19-Vaccination' contains 30k research papers and can be immensely valuable for NLP research such as text mining, information extraction, and question answering, specific to the domain of COVID-19 vaccine research.

false

true

false

true

false

476,384

2412.08128

Why Does Dropping Edges Usually Outperform Adding Edges in Graph Contrastive Learning?

Graph contrastive learning (GCL) has been widely used as an effective self-supervised learning method for graph representation learning. However, how to apply adequate and stable graph augmentation to generating proper views for contrastive learning remains an essential problem. Dropping edges is a primary augmentation in GCL while adding edges is not a common method due to its unstable performance. To our best knowledge, there is no theoretical analysis to study why dropping edges usually outperforms adding edges. To answer this question, we introduce a new metric, namely Error Passing Rate (EPR), to quantify how a graph fits the network. Inspired by the theoretical conclusions and the idea of positive-incentive noise, we propose a novel GCL algorithm, Error-PAssing-based Graph Contrastive Learning (EPAGCL), which uses both edge adding and edge dropping as its augmentations. To be specific, we generate views by adding and dropping edges based on the weights derived from EPR. Extensive experiments on various real-world datasets are conducted to validate the correctness of our theoretical analysis and the effectiveness of our proposed algorithm. Our code is available at: https://github.com/hyzhang98/EPAGCL.

false

true

false

515,956

2310.07138

Denoising Task Routing for Diffusion Models

Diffusion models generate highly realistic images by learning a multi-step denoising process, naturally embodying the principles of multi-task learning (MTL). Despite the inherent connection between diffusion models and MTL, there remains an unexplored area in designing neural architectures that explicitly incorporate MTL into the framework of diffusion models. In this paper, we present Denoising Task Routing (DTR), a simple add-on strategy for existing diffusion model architectures to establish distinct information pathways for individual tasks within a single architecture by selectively activating subsets of channels in the model. What makes DTR particularly compelling is its seamless integration of prior knowledge of denoising tasks into the framework: (1) Task Affinity: DTR activates similar channels for tasks at adjacent timesteps and shifts activated channels as sliding windows through timesteps, capitalizing on the inherent strong affinity between tasks at adjacent timesteps. (2) Task Weights: During the early stages (higher timesteps) of the denoising process, DTR assigns a greater number of task-specific channels, leveraging the insight that diffusion models prioritize reconstructing global structure and perceptually rich contents in earlier stages, and focus on simple noise removal in later stages. Our experiments reveal that DTR not only consistently boosts diffusion models' performance across different evaluation protocols without adding extra parameters but also accelerates training convergence. Finally, we show the complementarity between our architectural approach and existing MTL optimization techniques, providing a more complete view of MTL in the context of diffusion training. Significantly, by leveraging this complementarity, we attain matched performance of DiT-XL using the smaller DiT-L with a reduction in training iterations from 7M to 2M.

false

true

false

true

false

398,838

2204.08206

TigerLily: Finding drug interactions in silico with the Graph

Tigerlily is a TigerGraph based system designed to solve the drug interaction prediction task. In this machine learning task, we want to predict whether two drugs have an adverse interaction. Our framework allows us to solve this highly relevant real-world problem using graph mining techniques in these steps: (a) Using PyTigergraph we create a heterogeneous biological graph of drugs and proteins. (b) We calculate the personalized PageRank scores of drug nodes in the TigerGraph Cloud. (c) We embed the nodes using sparse non-negative matrix factorization of the personalized PageRank matrix. (d) Using the node embeddings we train a gradient boosting based drug interaction predictor.

false

true

false

true

false

292,007

2407.19498

Independent fact-checking organizations exhibit a departure from political neutrality

Independent fact-checking organizations have emerged as the crusaders to debunk fake news. However, they may not always remain neutral, as they can be selective in the false news they choose to expose and in how they present the information. They can deviate from neutrality by being selective in what false news they debunk and how the information is presented. Prompting the now popular large language model, GPT-3.5, with journalistic frameworks, we establish a longitudinal measure (2018-2023) for political neutrality that looks beyond the left-right spectrum. Specified on a range of -1 to 1 (with zero being absolute neutrality), we establish the extent of negative portrayal of political entities that makes a difference in the readers' perception in the USA and India. Here, we observe an average score of -0.17 and -0.24 in the USA and India, respectively. The findings indicate how seemingly objective fact-checking can still carry distorted political views, indirectly and subtly impacting the perception of consumers of the news.

false

true

false

476,813

2305.19922

Representation-Driven Reinforcement Learning

We present a representation-driven framework for reinforcement learning. By representing policies as estimates of their expected values, we leverage techniques from contextual bandits to guide exploration and exploitation. Particularly, embedding a policy network into a linear feature space allows us to reframe the exploration-exploitation problem as a representation-exploitation problem, where good policy representations enable optimal exploration. We demonstrate the effectiveness of this framework through its application to evolutionary and policy gradient-based approaches, leading to significantly improved performance compared to traditional methods. Our framework provides a new perspective on reinforcement learning, highlighting the importance of policy representation in determining optimal exploration-exploitation strategies.

false

true

false

true

false

369,738

1801.02774

Adversarial Spheres

State of the art computer vision models have been shown to be vulnerable to small adversarial perturbations of the input. In other words, most images in the data distribution are both correctly classified by the model and are very close to a visually similar misclassified image. Despite substantial research interest, the cause of the phenomenon is still poorly understood and remains unsolved. We hypothesize that this counter intuitive behavior is a naturally occurring result of the high dimensional geometry of the data manifold. As a first step towards exploring this hypothesis, we study a simple synthetic dataset of classifying between two concentric high dimensional spheres. For this dataset we show a fundamental tradeoff between the amount of test error and the average distance to nearest error. In particular, we prove that any model which misclassifies a small constant fraction of a sphere will be vulnerable to adversarial perturbations of size $O(1/\sqrt{d})$. Surprisingly, when we train several different architectures on this dataset, all of their error sets naturally approach this theoretical bound. As a result of the theory, the vulnerability of neural networks to small adversarial perturbations is a logical consequence of the amount of test error observed. We hope that our theoretical analysis of this very simple case will point the way forward to explore how the geometry of complex real-world data sets leads to adversarial examples.

false

true

false

87,980

0711.2444

Proof nets for display logic

This paper explores several extensions of proof nets for the Lambek calculus in order to handle the different connectives of display logic in a natural way. The new proof net calculus handles some recent additions to the Lambek vocabulary such as Galois connections and Grishin interactions. It concludes with an exploration of the generative capacity of the Lambek-Grishin calculus, presenting an embedding of lexicalized tree adjoining grammars into the Lambek-Grishin calculus.

false

true

false

901

2106.07554

Dataset for eye-tracking tasks

In recent years many different deep neural networks were developed, but due to a large number of layers in deep networks, their training requires a long time and a large number of datasets. Today is popular to use trained deep neural networks for various tasks, even for simple ones in which such deep networks are not required. The well-known deep networks such as YoloV3, SSD, etc. are intended for tracking and monitoring various objects, therefore their weights are heavy and the overall accuracy for a specific task is low. Eye-tracking tasks need to detect only one object - an iris in a given area. Therefore, it is logical to use a neural network only for this task. But the problem is the lack of suitable datasets for training the model. In the manuscript, we presented a dataset that is suitable for training custom models of convolutional neural networks for eye-tracking tasks. Using data set data, each user can independently pre-train the convolutional neural network models for eye-tracking tasks. This dataset contains annotated 10,000 eye images in an extension of 416 by 416 pixels. The table with annotation information shows the coordinates and radius of the eye for each image. This manuscript can be considered as a guide for the preparation of datasets for eye-tracking devices

false

true

false

240,970

2410.16893

Global Optimization of Gaussian Process Acquisition Functions Using a Piecewise-Linear Kernel Approximation

Bayesian optimization relies on iteratively constructing and optimizing an acquisition function. The latter turns out to be a challenging, non-convex optimization problem itself. Despite the relative importance of this step, most algorithms employ sampling- or gradient-based methods, which do not provably converge to global optima. This work investigates mixed-integer programming (MIP) as a paradigm for \textit{global} acquisition function optimization. Specifically, our Piecewise-linear Kernel Mixed Integer Quadratic Programming (PK-MIQP) formulation introduces a piecewise-linear approximation for Gaussian process kernels and admits a corresponding MIQP representation for acquisition functions. We analyze the theoretical regret bounds of the proposed approximation, and empirically demonstrate the framework on synthetic functions, constrained benchmarks, and a hyperparameter tuning task.

false

true

false

501,233

2401.12630

Full-Stack Optimization for CAM-Only DNN Inference

The accuracy of neural networks has greatly improved across various domains over the past years. Their ever-increasing complexity, however, leads to prohibitively high energy demands and latency in von Neumann systems. Several computing-in-memory (CIM) systems have recently been proposed to overcome this, but trade-offs involving accuracy, hardware reliability, and scalability for large models remain a challenge. Additionally, for some CIM designs, the activation movement still requires considerable time and energy. This paper explores the combination of algorithmic optimizations for ternary weight neural networks and associative processors (APs) implemented using racetrack memory (RTM). We propose a novel compilation flow to optimize convolutions on APs by reducing their arithmetic intensity. By leveraging the benefits of RTM-based APs, this approach substantially reduces data transfers within the memory while addressing accuracy, energy efficiency, and reliability concerns. Concretely, our solution improves the energy efficiency of ResNet-18 inference on ImageNet by 7.5x compared to crossbar in-memory accelerators while retaining software accuracy.

false

true

false

true

423,448

1911.09487

Chemical-protein Interaction Extraction via Gaussian Probability Distribution and External Biomedical Knowledge

Motivation: The biomedical literature contains a wealth of chemical-protein interactions (CPIs). Automatically extracting CPIs described in biomedical literature is essential for drug discovery, precision medicine, as well as basic biomedical research. Most existing methods focus only on the sentence sequence to identify these CPIs. However, the local structure of sentences and external biomedical knowledge also contain valuable information. Effective use of such information may improve the performance of CPI extraction. Results: In this paper, we propose a novel neural network-based approach to improve CPI extraction. Specifically, the approach first employs BERT to generate high-quality contextual representations of the title sequence, instance sequence, and knowledge sequence. Then, the Gaussian probability distribution is introduced to capture the local structure of the instance. Meanwhile, the attention mechanism is applied to fuse the title information and biomedical knowledge, respectively. Finally, the related representations are concatenated and fed into the softmax function to extract CPIs. We evaluate our proposed model on the CHEMPROT corpus. Our proposed model is superior in performance as compared with other state-of-the-art models. The experimental results show that the Gaussian probability distribution and external knowledge are complementary to each other. Integrating them can effectively improve the CPI extraction performance. Furthermore, the Gaussian probability distribution can effectively improve the extraction performance of sentences with overlapping relations in biomedical relation extraction tasks. Availability: Data and code are available at https://github.com/CongSun-dlut/CPI_extraction. Contact: yangzh@dlut.edu.cn, wangleibihami@gmail.com Supplementary information: Supplementary data are available at Bioinformatics online.

false

true

false

154,536

2311.01944

Swarm Performance Indicators: Metrics for Robustness, Fault Tolerance, Scalability and Adaptability

Swarms have distributed control and so are assumed to inherently have superior robustness, scalability and adaptability compared to centralised multi-agent systems. However, these features have generally only been defined qualitatively and there is a lack of quantitative metrics and experimental measures for the claimed parameters. Swarm Performance Indicators are defined here as Key Performance Indicators for swarm features but can be applied to multi-agent systems with centralised control as well. These swarm features are Robustness, Fault Tolerance, Adaptability and Scalability. Swarm Performance Indicators can be used to highlight the benefits of swarms beyond solely considering task-based performance metrics (e.g. time taken)

false

true

false

405,237

2403.15145

Robust Resource Allocation for STAR-RIS Assisted SWIPT Systems

A simultaneously transmitting and reflecting reconfigurable intelligent surface (STAR-RIS) assisted simultaneous wireless information and power transfer (SWIPT) system is proposed. More particularly, an STAR-RIS is deployed to assist in the information/power transfer from a multi-antenna access point (AP) to multiple single-antenna information users (IUs) and energy users (EUs), where two practical STAR-RIS operating protocols, namely energy splitting (ES) and time switching (TS), are employed. Under the imperfect channel state information (CSI) condition, a multi-objective optimization problem (MOOP) framework, that simultaneously maximizes the minimum data rate and minimum harvested power, is employed to investigate the fundamental rate-energy trade-off between IUs and EUs. To obtain the optimal robust resource allocation strategy, the MOOP is first transformed into a single-objective optimization problem (SOOP) via the {\epsilon}-constraint method, which is then reformulated by approximating semi-infinite inequality constraints with the S-procedure. For ES, an alternating optimization (AO)-based algorithm is proposed to jointly design AP active beamforming and STAR-RIS passive beamforming, where a penalty method is leveraged in STAR-RIS beamforming design. Furthermore, the developed algorithm is extended to optimize the time allocation policy and beamforming vectors in a two-layer iterative manner for TS. Numerical results reveal that: 1) deploying STAR-RISs achieves a significant performance gain over conventional RISs, especially in terms of harvested power for EUs; 2) the ES protocol obtains a better user fairness performance when focusing only on IUs or EUs, while the TS protocol yields a better balance between IUs and EUs; 3) the imperfect CSI affects IUs more significantly than EUs, whereas TS can confer a more robust design to attenuate these effects.

false

true

false

440,420

2407.03551

Feelings about Bodies: Emotions on Diet and Fitness Forums Reveal Gendered Stereotypes and Body Image Concerns

The gendered expectations about ideal body types can lead to body image concerns, dissatisfaction, and in extreme cases, disordered eating and other psychopathologies across the gender spectrum. While research has focused on pro-anorexia online communities that glorify the 'thin ideal', less attention has been given to the broader spectrum of body image concerns or how emerging disorders like muscle dysmorphia ('bigorexia') present in online discussions. To address these gaps, we analyze 46 Reddit discussion forums related to diet, fitness, and associated mental health challenges. Using membership structure analysis and transformer-based language models, we project these communities along gender and body ideal axes, revealing complex interactions between gender, body ideals, and emotional expression. Our findings show that feminine-oriented communities generally express more negative emotions, particularly in thinness-promoting forums. Conversely, communities focused on the muscular ideal exhibit less negativity, regardless of gender orientation. We also uncover a gendered pattern in emotional indicators of mental health challenges, with communities discussing serious issues aligning more closely with thinness-oriented, predominantly feminine-leaning communities. By revealing the gendered emotional dynamics of online communities, our findings can inform the development of more effective content moderation approaches that facilitate supportive interactions, while minimizing exposure to potentially harmful content.

false

true

false

true

false

true

false

470,192

0808.0521

Logics for the Relational Syllogistic

The Aristotelian syllogistic cannot account for the validity of many inferences involving relational facts. In this paper, we investigate the prospects for providing a relational syllogistic. We identify several fragments based on (a) whether negation is permitted on all nouns, including those in the subject of a sentence; and (b) whether the subject noun phrase may contain a relative clause. The logics we present are extensions of the classical syllogistic, and we pay special attention to the question of whether reductio ad absurdum is needed. Thus our main goal is to derive results on the existence (or non-existence) of syllogistic proof systems for relational fragments. We also determine the computational complexity of all our fragments.

false

true

false

true

2,159

2403.00344

Robustifying a Policy in Multi-Agent RL with Diverse Cooperative Behaviors and Adversarial Style Sampling for Assistive Tasks

Autonomous assistance of people with motor impairments is one of the most promising applications of autonomous robotic systems. Recent studies have reported encouraging results using deep reinforcement learning (RL) in the healthcare domain. Previous studies showed that assistive tasks can be formulated as multi-agent RL, wherein there are two agents: a caregiver and a care-receiver. However, policies trained in multi-agent RL are often sensitive to the policies of other agents. In such a case, a trained caregiver's policy may not work for different care-receivers. To alleviate this issue, we propose a framework that learns a robust caregiver's policy by training it for diverse care-receiver responses. In our framework, diverse care-receiver responses are autonomously learned through trials and errors. In addition, to robustify the care-giver's policy, we propose a strategy for sampling a care-receiver's response in an adversarial manner during the training. We evaluated the proposed method using tasks in an Assistive Gym. We demonstrate that policies trained with a popular deep RL method are vulnerable to changes in policies of other agents and that the proposed framework improves the robustness against such changes.

false

true

false

433,950

2012.11975

A Consistent Higher-Order Isogeometric Shell Formulation

Shell analysis is a well-established field, but achieving optimal higher-order convergence rates for such simulations is a difficult challenge. We present an isogeometric Kirchhoff-Love shell framework that treats every numerical aspect in a consistent higher-order accurate way. In particular, a single trimmed B-spline surface provides a sufficiently smooth geometry, and the non-symmetric Nitsche method enforces the boundary conditions. A higher-order accurate reparametrization of cut knot spans in the parameter space provides a robust, higher-order accurate quadrature for (multiple) trimming curves, and the extended B-spline concept controls the conditioning of the resulting system of equations. Besides these components ensuring all requirements for higher-order accuracy, the presented shell formulation is based on tangential differential calculus, and level-set functions define the trimming curves. Numerical experiments confirm that the approach yields higher-order convergence rates, given that the solution is sufficiently smooth.

false

true

false

212,792

1407.7182

Conditional Plausibility Measures and Bayesian Networks

A general notion of algebraic conditional plausibility measures is defined. Probability measures, ranking functions, possibility measures, and (under the appropriate definitions) sets of probability measures can all be viewed as defining algebraic conditional plausibility measures. It is shown that the technology of Bayesian networks can be applied to algebraic conditional plausibility measures.

false

true

false

34,924

2406.07532

Hearing Anything Anywhere

Recent years have seen immense progress in 3D computer vision and computer graphics, with emerging tools that can virtualize real-world 3D environments for numerous Mixed Reality (XR) applications. However, alongside immersive visual experiences, immersive auditory experiences are equally vital to our holistic perception of an environment. In this paper, we aim to reconstruct the spatial acoustic characteristics of an arbitrary environment given only a sparse set of (roughly 12) room impulse response (RIR) recordings and a planar reconstruction of the scene, a setup that is easily achievable by ordinary users. To this end, we introduce DiffRIR, a differentiable RIR rendering framework with interpretable parametric models of salient acoustic features of the scene, including sound source directivity and surface reflectivity. This allows us to synthesize novel auditory experiences through the space with any source audio. To evaluate our method, we collect a dataset of RIR recordings and music in four diverse, real environments. We show that our model outperforms state-ofthe-art baselines on rendering monaural and binaural RIRs and music at unseen locations, and learns physically interpretable parameters characterizing acoustic properties of the sound source and surfaces in the scene.

false

true

false

true

false

true

false

463,092

2412.13877

RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation

In this paper, we introduce RoboMIND (Multi-embodiment Intelligence Normative Data for Robot Manipulation), a dataset containing 107k demonstration trajectories across 479 diverse tasks involving 96 object classes. RoboMIND is collected through human teleoperation and encompasses comprehensive robotic-related information, including multi-view observations, proprioceptive robot state information, and linguistic task descriptions. To ensure data consistency and reliability for imitation learning, RoboMIND is built on a unified data collection platform and a standardized protocol, covering four distinct robotic embodiments: the Franka Emika Panda, the UR5e, the AgileX dual-arm robot, and a humanoid robot with dual dexterous hands. Our dataset also includes 5k real-world failure demonstrations, each accompanied by detailed causes, enabling failure reflection and correction during policy learning. Additionally, we created a digital twin environment in the Isaac Sim simulator, replicating the real-world tasks and assets, which facilitates the low-cost collection of additional training data and enables efficient evaluation. To demonstrate the quality and diversity of our dataset, we conducted extensive experiments using various imitation learning methods for single-task settings and state-of-the-art Vision-Language-Action (VLA) models for multi-task scenarios. By leveraging RoboMIND, the VLA models achieved high manipulation success rates and demonstrated strong generalization capabilities. To the best of our knowledge, RoboMIND is the largest multi-embodiment teleoperation dataset collected on a unified platform, providing large-scale and high-quality robotic training data. Our project is at https://x-humanoid-robomind.github.io/.

false

true

false

true

false

518,490

2403.13672

Machine Learning Optimized Approach for Parameter Selection in MESHFREE Simulations

Meshfree simulation methods are emerging as compelling alternatives to conventional mesh-based approaches, particularly in the fields of Computational Fluid Dynamics (CFD) and continuum mechanics. In this publication, we provide a comprehensive overview of our research combining Machine Learning (ML) and Fraunhofer's MESHFREE software (www.meshfree.eu), a powerful tool utilizing a numerical point cloud in a Generalized Finite Difference Method (GFDM). This tool enables the effective handling of complex flow domains, moving geometries, and free surfaces, while allowing users to finely tune local refinement and quality parameters for an optimal balance between computation time and results accuracy. However, manually determining the optimal parameter combination poses challenges, especially for less experienced users. We introduce a novel ML-optimized approach, using active learning, regression trees, and visualization on MESHFREE simulation data, demonstrating the impact of input combinations on results quality and computation time. This research contributes valuable insights into parameter optimization in meshfree simulations, enhancing accessibility and usability for a broader user base in scientific and engineering applications.

false

true

false

439,727

2311.14859

An Empirical Investigation into Benchmarking Model Multiplicity for Trustworthy Machine Learning: A Case Study on Image Classification

Deep learning models have proven to be highly successful. Yet, their over-parameterization gives rise to model multiplicity, a phenomenon in which multiple models achieve similar performance but exhibit distinct underlying behaviours. This multiplicity presents a significant challenge and necessitates additional specifications in model selection to prevent unexpected failures during deployment. While prior studies have examined these concerns, they focus on individual metrics in isolation, making it difficult to obtain a comprehensive view of multiplicity in trustworthy machine learning. Our work stands out by offering a one-stop empirical benchmark of multiplicity across various dimensions of model design and its impact on a diverse set of trustworthy metrics. In this work, we establish a consistent language for studying model multiplicity by translating several trustworthy metrics into accuracy under appropriate interventions. We also develop a framework, which we call multiplicity sheets, to benchmark multiplicity in various scenarios. We demonstrate the advantages of our setup through a case study in image classification and provide actionable insights into the impact and trends of different hyperparameters on model multiplicity. Finally, we show that multiplicity persists in deep learning models even after enforcing additional specifications during model selection, highlighting the severity of over-parameterization. The concerns of under-specification thus remain, and we seek to promote a more comprehensive discussion of multiplicity in trustworthy machine learning.

false

true

false

410,281

2103.11824

Big Data for Traffic Estimation and Prediction: A Survey of Data and Tools

Big data has been used widely in many areas including the transportation industry. Using various data sources, traffic states can be well estimated and further predicted for improving the overall operation efficiency. Combined with this trend, this study presents an up-to-date survey of open data and big data tools used for traffic estimation and prediction. Different data types are categorized and the off-the-shelf tools are introduced. To further promote the use of big data for traffic estimation and prediction tasks, challenges and future directions are given for future studies.

false

true

false

true

false

225,959

2405.13547

HighwayLLM: Decision-Making and Navigation in Highway Driving with RL-Informed Language Model

Autonomous driving is a complex task which requires advanced decision making and control algorithms. Understanding the rationale behind the autonomous vehicles' decision is crucial to ensure their safe and effective operation on highway driving. This study presents a novel approach, HighwayLLM, which harnesses the reasoning capabilities of large language models (LLMs) to predict the future waypoints for ego-vehicle's navigation. Our approach also utilizes a pre-trained Reinforcement Learning (RL) model to serve as a high-level planner, making decisions on appropriate meta-level actions. The HighwayLLM combines the output from the RL model and the current state information to make safe, collision-free, and explainable predictions for the next states, thereby constructing a trajectory for the ego-vehicle. Subsequently, a PID-based controller guides the vehicle to the waypoints predicted by the LLM agent. This integration of LLM with RL and PID enhances the decision-making process and provides interpretability for highway autonomous driving.

false

true

false

true

false

455,982

2304.12652

Hybrid Neural Rendering for Large-Scale Scenes with Motion Blur

Rendering novel view images is highly desirable for many applications. Despite recent progress, it remains challenging to render high-fidelity and view-consistent novel views of large-scale scenes from in-the-wild images with inevitable artifacts (e.g., motion blur). To this end, we develop a hybrid neural rendering model that makes image-based representation and neural 3D representation join forces to render high-quality, view-consistent images. Besides, images captured in the wild inevitably contain artifacts, such as motion blur, which deteriorates the quality of rendered images. Accordingly, we propose strategies to simulate blur effects on the rendered images to mitigate the negative influence of blurriness images and reduce their importance during training based on precomputed quality-aware weights. Extensive experiments on real and synthetic data demonstrate our model surpasses state-of-the-art point-based methods for novel view synthesis. The code is available at https://daipengwa.github.io/Hybrid-Rendering-ProjectPage.

false

true

false

360,306

2111.03890

Demystifying Deep Learning Models for Retinal OCT Disease Classification using Explainable AI

In the world of medical diagnostics, the adoption of various deep learning techniques is quite common as well as effective, and its statement is equally true when it comes to implementing it into the retina Optical Coherence Tomography (OCT) sector, but (i)These techniques have the black box characteristics that prevent the medical professionals to completely trust the results generated from them (ii)Lack of precision of these methods restricts their implementation in clinical and complex cases (iii)The existing works and models on the OCT classification are substantially large and complicated and they require a considerable amount of memory and computational power, reducing the quality of classifiers in real-time applications. To meet these problems, in this paper a self-developed CNN model has been proposed which is comparatively smaller and simpler along with the use of Lime that introduces Explainable AI to the study and helps to increase the interpretability of the model. This addition will be an asset to the medical experts for getting major and detailed information and will help them in making final decisions and will also reduce the opacity and vulnerability of the conventional deep learning models.

false

true

false

265,303

2205.08029

Automatic Error Classification and Root Cause Determination while Replaying Recorded Workload Data at SAP HANA

Capturing customer workloads of database systems to replay these workloads during internal testing can be beneficial for software quality assurance. However, we experienced that such replays can produce a large amount of false positive alerts that make the results unreliable or time consuming to analyze. Therefore, we design a machine learning based approach that attributes root causes to the alerts. This provides several benefits for quality assurance and allows for example to classify whether an alert is true positive or false positive. Our approach considerably reduces manual effort and improves the overall quality assurance for the database system SAP HANA. We discuss the problem, the design and result of our approach, and we present practical limitations that may require further research.

false

true

false

true

296,794

1301.6236

Multi-Trial Guruswami--Sudan Decoding for Generalised Reed--Solomon Codes

An iterated refinement procedure for the Guruswami--Sudan list decoding algorithm for Generalised Reed--Solomon codes based on Alekhnovich's module minimisation is proposed. The method is parametrisable and allows variants of the usual list decoding approach. In particular, finding the list of \emph{closest} codewords within an intermediate radius can be performed with improved average-case complexity while retaining the worst-case complexity.

false

true

false

21,398

2304.09334

Model-Free Control Design Procedure Applied to Lateral Vehicle Control

Model-Free Control has proven its performance in a wide variety of systems. Although its adequate tuning can be achieved using the knowledge of the system and optimization-based approaches, there is not yet a systematic design procedure for this kind of control scheme. In this paper, a non-iterative Three Term Controller tuning procedure is adapted and extended to fit Model-free controllers' structure. This procedure is successfully applied to design the lateral control of an automated car with realistic performance requirements.

false

true

false

359,014

2110.00337

PhiNets: a scalable backbone for low-power AI at the edge

In the Internet of Things era, where we see many interconnected and heterogeneous mobile and fixed smart devices, distributing the intelligence from the cloud to the edge has become a necessity. Due to limited computational and communication capabilities, low memory and limited energy budget, bringing artificial intelligence algorithms to peripheral devices, such as the end-nodes of a sensor network, is a challenging task and requires the design of innovative methods. In this work, we present PhiNets, a new scalable backbone optimized for deep-learning-based image processing on resource-constrained platforms. PhiNets are based on inverted residual blocks specifically designed to decouple the computational cost, working memory, and parameter memory, thus exploiting all the available resources. With a YoloV2 detection head and Simple Online and Realtime Tracking, the proposed architecture has achieved the state-of-the-art results in (i) detection on the COCO and VOC2012 benchmarks, and (ii) tracking on the MOT15 benchmark. PhiNets reduce the parameter count of 87% to 93% with respect to previous state-of-the-art models (EfficientNetv1, MobileNetv2) and achieve better performance with lower computational cost. Moreover, we demonstrate our approach on a prototype node based on a STM32H743 microcontroller (MCU) with 2MB of internal Flash and 1MB of RAM and achieve power requirements in the order of 10 mW. The code for the PhiNets is publicly available on GitHub.

false

true

false

true

false

258,360

2302.11909

Multi-Valued Neural Networks I A Multi-Valued Associative Memory

A new concept of a multi-valued associative memory is introduced, generalizing a similar one in fuzzy neural networks. We expand the results on fuzzy associative memory with thresholds, to the case of a multi-valued one: we introduce the novel concept of such a network without numbers, investigate its properties, and give a learning algorithm in the multi-valued case. We discovered conditions under which it is possible to store given pairs of network variable patterns in such a multi-valued associative memory. In the multi-valued neural network, all variables are not numbers, but elements or subsets of a lattice, i.e., they are all only partially-ordered. Lattice operations are used to build the network output by inputs. In this paper, the lattice is assumed to be Brouwer and determines the implication used, together with other lattice operations, to determine the neural network output. We gave the example of the network use to classify aircraft/spacecraft trajectories.

false

true

false

347,360

0905.3201

On the Statistics of Cognitive Radio Capacity in Shadowing and Fast Fading Environments

In this paper we consider the capacity of the cognitive radio channel in a fading environment under a "low interference regime". This capacity depends critically on a power loss parameter, $\alpha$, which governs how much transmit power the cognitive radio dedicates to relaying the primary message. We derive a simple, accurate approximation to $\alpha$ which gives considerable insight into system capacity. We also investigate the effects of system parameters and propagation environment on $\alpha$ and the cognitive radio capacity. In all cases, the use of the approximation is shown to be extremely accurate. Finally, we derive the probability that the "low interference regime" holds and demonstrate that this is the dominant case, especially in practical cognitive radio deployment scenarios.

false

true

false

3,729

1905.08775

On Cycling Risk and Discomfort: Urban Safety Mapping and Bike Route Recommendations

Bike usage in Smart Cities becomes paramount for sustainable urban development. Cycling provides tremendous opportunities for a more healthy lifestyle, lower energy consumption and carbon emissions as well as reduction of traffic jams. While the number of cyclists increase along with the expansion of bike sharing initiatives and infrastructures, the number of bike accidents rises drastically threatening to jeopardize the bike urban movement. This paper studies cycling risk and discomfort using a diverse spectrum of data sources about geolocated bike accidents and their severity. Empirical continuous spatial risk estimations are calculated via kernel density contours that map safety in a case study of Zurich city. The role of weather, time, accident type and severity are illustrated. Given the predominance of self-caused accidents, an open-source software artifact for personalized route recommendations is introduced. The software is also used to collect open baseline route data that are compared with alternative ones that minimize risk or discomfort. These contributions can provide invaluable insights for urban planners to improve infrastructure. They can also improve the risk awareness of existing cyclists' as well as support new cyclists, such as tourists, to safely explore a new urban environment by bike.

false

true

false

true

false

131,562

2006.02575

Debiased Sinkhorn barycenters

Entropy regularization in optimal transport (OT) has been the driver of many recent interests for Wasserstein metrics and barycenters in machine learning. It allows to keep the appealing geometrical properties of the unregularized Wasserstein distance while having a significantly lower complexity thanks to Sinkhorn's algorithm. However, entropy brings some inherent smoothing bias, resulting for example in blurred barycenters. This side effect has prompted an increasing temptation in the community to settle for a slower algorithm such as log-domain stabilized Sinkhorn which breaks the parallel structure that can be leveraged on GPUs, or even go back to unregularized OT. Here we show how this bias is tightly linked to the reference measure that defines the entropy regularizer and propose debiased Wasserstein barycenters that preserve the best of both worlds: fast Sinkhorn-like iterations without entropy smoothing. Theoretically, we prove that the entropic OT barycenter of univariate Gaussians is a Gaussian and quantify its variance bias. This result is obtained by extending the differentiability and convexity of entropic OT to sub-Gaussian measures with unbounded supports. Empirically, we illustrate the reduced blurring and the computational advantage on various applications.

false

true

false

180,074

1904.04445

Semi-Supervised Segmentation of Salt Bodies in Seismic Images using an Ensemble of Convolutional Neural Networks

Seismic image analysis plays a crucial role in a wide range of industrial applications and has been receiving significant attention. One of the essential challenges of seismic imaging is detecting subsurface salt structure which is indispensable for identification of hydrocarbon reservoirs and drill path planning. Unfortunately, exact identification of large salt deposits is notoriously difficult and professional seismic imaging often requires expert human interpretation of salt bodies. Convolutional neural networks (CNNs) have been successfully applied in many fields, and several attempts have been made in the field of seismic imaging. But the high cost of manual annotations by geophysics experts and scarce publicly available labeled datasets hinder the performance of the existing CNN-based methods. In this work, we propose a semi-supervised method for segmentation (delineation) of salt bodies in seismic images which utilizes unlabeled data for multi-round self-training. To reduce error amplification during self-training we propose a scheme which uses an ensemble of CNNs. We show that our approach outperforms state-of-the-art on the TGS Salt Identification Challenge dataset and is ranked the first among the 3234 competing methods.

false

true

false

127,039

2311.14729

App for Resume-Based Job Matching with Speech Interviews and Grammar Analysis: A Review

Through the advancement in natural language processing (NLP), specifically in speech recognition, fully automated complex systems functioning on voice input have started proliferating in areas such as home automation. These systems have been termed Automatic Speech Recognition Systems (ASR). In this review paper, we explore the feasibility of an end-to-end system providing speech and text based natural language processing for job interview preparation as well as recommendation of relevant job postings. We also explore existing recommender-based systems and note their limitations. This literature review would help us identify the approaches and limitations of the various similar use-cases of NLP technology for our upcoming project.

false

true

false

true

false

410,226

2112.10493

Measuring Salinity and Density of Seawater Samples with Different Salt Compositions and Suspended Materials

Determining of the solute mass amount in seawater using in situ measurements in seas and oceans remains now an unresolved problem. To solve it, it is necessary to develop both new methods and instruments for measurements. This article analyzes methods for the indirect measuring of salinity and density using parameters that can be measured in situ, including relative electrical conductivity, speed of sound, temperature and hydrostatic pressure. The authors propose an electric conductivity sensor design that allows for obtaining data on solid suspensions along with measuring the impedance of electrodes under various the alternating current frequencies. The authors analyze the joint measurement technique using the CTD and SVP devices in a marine testing area. Based on the results of joint measurements, the authors present tests of water samples of various salt composition for the presence of solid suspensions.

false

true

false

272,448

2211.16715

Policy Optimization over General State and Action Spaces

Reinforcement learning (RL) problems over general state and action spaces are notoriously challenging. In contrast to the tableau setting, one can not enumerate all the states and then iteratively update the policies for each state. This prevents the application of many well-studied RL methods especially those with provable convergence guarantees. In this paper, we first present a substantial generalization of the recently developed policy mirror descent method to deal with general state and action spaces. We introduce new approaches to incorporate function approximation into this method, so that we do not need to use explicit policy parameterization at all. Moreover, we present a novel policy dual averaging method for which possibly simpler function approximation techniques can be applied. We establish linear convergence rate to global optimality or sublinear convergence to stationarity for these methods applied to solve different classes of RL problems under exact policy evaluation. We then define proper notions of the approximation errors for policy evaluation and investigate their impact on the convergence of these methods applied to general-state RL problems with either finite-action or continuous-action spaces. To the best of our knowledge, the development of these algorithmic frameworks as well as their convergence analysis appear to be new in the literature. Preliminary numerical results demonstrate the robustness of the aforementioned methods and show they can be competitive with state-of-the-art RL algorithms.

false

true

false

true

false

333,720

2109.07960

Efficient and Effective Generation of Test Cases for Pedestrian Detection -- Search-based Software Testing of Baidu Apollo in SVL

With the growing capabilities of autonomous vehicles, there is a higher demand for sophisticated and pragmatic quality assurance approaches for machine learning-enabled systems in the automotive AI context. The use of simulation-based prototyping platforms provides the possibility for early-stage testing, enabling inexpensive testing and the ability to capture critical corner-case test scenarios. Simulation-based testing properly complements conventional on-road testing. However, due to the large space of test input parameters in these systems, the efficient generation of effective test scenarios leading to the unveiling of failures is a challenge. This paper presents a study on testing pedestrian detection and emergency braking system of the Baidu Apollo autonomous driving platform within the SVL simulator. We propose an evolutionary automated test generation technique that generates failure-revealing scenarios for Apollo in the SVL environment. Our approach models the input space using a generic and flexible data structure and benefits a multi-criteria safety-based heuristic for the objective function targeted for optimization. This paper presents the results of our proposed test generation technique in the 2021 IEEE Autonomous Driving AI Test Challenge. In order to demonstrate the efficiency and effectiveness of our approach, we also report the results from a baseline random generation technique. Our evaluation shows that the proposed evolutionary test case generator is more effective at generating failure-revealing test cases and provides higher diversity between the generated failures than the random baseline.

false

true

false

true

255,719

1601.07283

Balanced Reed-Solomon Codes

We consider the problem of constructing linear Maximum Distance Separable (MDS) error-correcting codes with generator matrices that are sparsest and balanced. In this context, sparsest means that every row has the least possible number of non-zero entries, and balanced means that every column contains the same number of non-zero entries. Codes with this structure minimize the maximal computation time of computing any code symbol, a property that is appealing to systems where computational load-balancing is critical. The problem was studied before by Dau et al. where it was shown that there always exists an MDS code over a sufficiently large field such that its generator matrix is both sparsest and balanced. However, the construction is not explicit and more importantly, the resulting MDS codes do not lend themselves to efficient error correction. With an eye towards explicit constructions with efficient decoding, we show in this paper that the generator matrix of a cyclic Reed-Solomon code of length $n$ and dimension $k$ can always be transformed to one that is both sparsest and balanced, for all parameters $n$ and $k$ where $\frac{k}{n}(n - k + 1)$ is an integer.

false

true

false

51,413

2105.01227

Causal factors discovering from Chinese construction accident cases

In China, construction accidents have killed more people than any other industry since 2012. The factors which led to the accident have complex interaction. Real data about accidents is the key to reveal the mechanism among these factors. But the data from the questionnaire and interview has inherent defects. Many behaviors that impact safety are illegal. In China, most of the cases are from accident investigation reports. Finding out the cause of the accident and liability affirmation are the core of incident investigation reports. So the truth of some answers from the respondents is doubtful. With a series of NLP technologies, in this paper, causal factors of construction accidents are extracted and organized from Chinese incident case texts. Finally, three kinds of neglected causal factors are discovered after data analysis.

false

true

false

233,462

2009.03352

A Fast Randomized Algorithm for Finding the Maximal Common Subsequences

Finding the common subsequences of $L$ multiple strings has many applications in the area of bioinformatics, computational linguistics, and information retrieval. A well-known result states that finding a Longest Common Subsequence (LCS) for $L$ strings is NP-hard, e.g., the computational complexity is exponential in $L$. In this paper, we develop a randomized algorithm, referred to as {\em Random-MCS}, for finding a random instance of Maximal Common Subsequence ($MCS$) of multiple strings. A common subsequence is {\em maximal} if inserting any character into the subsequence no longer yields a common subsequence. A special case of MCS is LCS where the length is the longest. We show the complexity of our algorithm is linear in $L$, and therefore is suitable for large $L$. Furthermore, we study the occurrence probability for a single instance of MCS and demonstrate via both theoretical and experimental studies that the longest subsequence from multiple runs of {\em Random-MCS} often yields a solution to $LCS$.

false

true

false

true

false

true

194,795

2310.00702

You Do Not Need Additional Priors in Camouflage Object Detection

Camouflage object detection (COD) poses a significant challenge due to the high resemblance between camouflaged objects and their surroundings. Although current deep learning methods have made significant progress in detecting camouflaged objects, many of them heavily rely on additional prior information. However, acquiring such additional prior information is both expensive and impractical in real-world scenarios. Therefore, there is a need to develop a network for camouflage object detection that does not depend on additional priors. In this paper, we propose a novel adaptive feature aggregation method that effectively combines multi-layer feature information to generate guidance information. In contrast to previous approaches that rely on edge or ranking priors, our method directly leverages information extracted from image features to guide model training. Through extensive experimental results, we demonstrate that our proposed method achieves comparable or superior performance when compared to state-of-the-art approaches.

false

true

false

396,103

1301.2218

Estimation from Relative Measurements in Mobile Networks with Markovian Switching Topology: Clock Skew and Offset Estimation for Time Synchronization

We analyze a distributed algorithm for estimation of scalar parameters belonging to nodes in a mobile network from noisy relative measurements. The motivation comes from the problem of clock skew and offset estimation for the purpose of time synchronization. The time variation of the network was modeled as a Markov chain. The estimates are shown to be mean square convergent under fairly weak assumptions on the Markov chain, as long as the union of the graphs is connected. Expressions for the asymptotic mean and correlation are also provided. The Markovian switching topology model of mobile networks is justified for certain node mobility models through empirically estimated conditional entropy measures.

false

true

false

20,923

2412.18862

WeatherGS: 3D Scene Reconstruction in Adverse Weather Conditions via Gaussian Splatting

3D Gaussian Splatting (3DGS) has gained significant attention for 3D scene reconstruction, but still suffers from complex outdoor environments, especially under adverse weather. This is because 3DGS treats the artifacts caused by adverse weather as part of the scene and will directly reconstruct them, largely reducing the clarity of the reconstructed scene. To address this challenge, we propose WeatherGS, a 3DGS-based framework for reconstructing clear scenes from multi-view images under different weather conditions. Specifically, we explicitly categorize the multi-weather artifacts into the dense particles and lens occlusions that have very different characters, in which the former are caused by snowflakes and raindrops in the air, and the latter are raised by the precipitation on the camera lens. In light of this, we propose a dense-to-sparse preprocess strategy, which sequentially removes the dense particles by an Atmospheric Effect Filter (AEF) and then extracts the relatively sparse occlusion masks with a Lens Effect Detector (LED). Finally, we train a set of 3D Gaussians by the processed images and generated masks for excluding occluded areas, and accurately recover the underlying clear scene by Gaussian splatting. We conduct a diverse and challenging benchmark to facilitate the evaluation of 3D reconstruction under complex weather scenarios. Extensive experiments on this benchmark demonstrate that our WeatherGS consistently produces high-quality, clean scenes across various weather scenarios, outperforming existing state-of-the-art methods. See project page:https://jumponthemoon.github.io/weather-gs.

false

true

false

true

false

520,610

2311.09622

Homography Initialization and Dynamic Weighting Algorithm Based on a Downward-Looking Camera and IMU

In recent years, the technology in visual-inertial odometry (VIO) has matured considerably and has been widely used in many applications. However, we still encounter challenges when applying VIO to a micro air vehicle (MAV) equipped with a downward-looking camera. Specifically, VIO cannot compute the correct initialization results during take-off and the cumulative drift is large when the MAV is flying in the air. To overcome these problems, we propose a homographybased initialization method, which utilizes the fact that the features detected by the downward-looking camera during take-off are approximately on the same plane. Then we introduce the prior normal vector and motion field to make states more accurate. In addition, to deal with the cumulative drift, a strategy for dynamically weighting visual residuals is proposed. Finally, we evaluate our method on the collected real-world datasets. The results demonstrate that our system can be successfully initialized no matter how the MAV takes off and the positioning errors are also greatly improved.

false

true

false

408,213

2302.06513

DEPAS: De-novo Pathology Semantic Masks using a Generative Model

The integration of artificial intelligence into digital pathology has the potential to automate and improve various tasks, such as image analysis and diagnostic decision-making. Yet, the inherent variability of tissues, together with the need for image labeling, lead to biased datasets that limit the generalizability of algorithms trained on them. One of the emerging solutions for this challenge is synthetic histological images. However, debiasing real datasets require not only generating photorealistic images but also the ability to control the features within them. A common approach is to use generative methods that perform image translation between semantic masks that reflect prior knowledge of the tissue and a histological image. However, unlike other image domains, the complex structure of the tissue prevents a simple creation of histology semantic masks that are required as input to the image translation model, while semantic masks extracted from real images reduce the process's scalability. In this work, we introduce a scalable generative model, coined as DEPAS, that captures tissue structure and generates high-resolution semantic masks with state-of-the-art quality. We demonstrate the ability of DEPAS to generate realistic semantic maps of tissue for three types of organs: skin, prostate, and lung. Moreover, we show that these masks can be processed using a generative image translation model to produce photorealistic histology images of two types of cancer with two different types of staining techniques. Finally, we harness DEPAS to generate multi-label semantic masks that capture different cell types distributions and use them to produce histological images with on-demand cellular features. Overall, our work provides a state-of-the-art solution for the challenging task of generating synthetic histological images while controlling their semantic information in a scalable way.

false

true

false

true

false

345,430

1210.2474

Level Set Estimation from Compressive Measurements using Box Constrained Total Variation Regularization

Estimating the level set of a signal from measurements is a task that arises in a variety of fields, including medical imaging, astronomy, and digital elevation mapping. Motivated by scenarios where accurate and complete measurements of the signal may not available, we examine here a simple procedure for estimating the level set of a signal from highly incomplete measurements, which may additionally be corrupted by additive noise. The proposed procedure is based on box-constrained Total Variation (TV) regularization. We demonstrate the performance of our approach, relative to existing state-of-the-art techniques for level set estimation from compressive measurements, via several simulation examples.

false

true

false

19,023

2010.11348

Deep Learning for Efficient Reconstruction of High-Resolution Turbulent DNS Data

Within the domain of Computational Fluid Dynamics, Direct Numerical Simulation (DNS) is used to obtain highly accurate numerical solutions for fluid flows. However, this approach for numerically solving the Navier-Stokes equations is extremely computationally expensive mostly due to the requirement of greatly refined grids. Large Eddy Simulation (LES) presents a more computationally efficient approach for solving fluid flows on lower-resolution (LR) grids but results in an overall reduction in solution fidelity. Through this paper, we introduce a novel deep learning framework SR-DNS Net, which aims to mitigate this inherent trade-off between solution fidelity and computational complexity by leveraging deep learning techniques used in image super-resolution. Using our model, we wish to learn the mapping from a coarser LR solution to a refined high-resolution (HR) DNS solution so as to eliminate the need for performing DNS on highly refined grids. Our model efficiently reconstructs the high-fidelity DNS data from the LES like low-resolution solutions while yielding good reconstruction metrics. Thus our implementation improves the solution accuracy of LR solutions while incurring only a marginal increase in computational cost required for deploying the trained deep learning model.

false

true

false

202,210

2311.06952

A GPU-Accelerated Moving-Horizon Algorithm for Training Deep Classification Trees on Large Datasets

Decision trees are essential yet NP-complete to train, prompting the widespread use of heuristic methods such as CART, which suffers from sub-optimal performance due to its greedy nature. Recently, breakthroughs in finding optimal decision trees have emerged; however, these methods still face significant computational costs and struggle with continuous features in large-scale datasets and deep trees. To address these limitations, we introduce a moving-horizon differential evolution algorithm for classification trees with continuous features (MH-DEOCT). Our approach consists of a discrete tree decoding method that eliminates duplicated searches between adjacent samples, a GPU-accelerated implementation that significantly reduces running time, and a moving-horizon strategy that iteratively trains shallow subtrees at each node to balance the vision and optimizer capability. Comprehensive studies on 68 UCI datasets demonstrate that our approach outperforms the heuristic method CART on training and testing accuracy by an average of 3.44% and 1.71%, respectively. Moreover, these numerical studies empirically demonstrate that MH-DEOCT achieves near-optimal performance (only 0.38% and 0.06% worse than the global optimal method on training and testing, respectively), while it offers remarkable scalability for deep trees (e.g., depth=8) and large-scale datasets (e.g., ten million samples).

false

true

false

407,137

1002.3344

Iterative exact global histogram specification and SSIM gradient ascent: a proof of convergence, step size and parameter selection

The SSIM-optimized exact global histogram specification (EGHS) is shown to converge in the sense that the first order approximation of the result's quality (i.e., its structural similarity with input) does not decrease in an iteration, when the step size is small. Each iteration is composed of SSIM gradient ascent and basic EGHS with the specified target histogram. Selection of step size and other parameters is also discussed.

false

true

false

true

5,730

2010.10505

SDF-SRN: Learning Signed Distance 3D Object Reconstruction from Static Images

Dense 3D object reconstruction from a single image has recently witnessed remarkable advances, but supervising neural networks with ground-truth 3D shapes is impractical due to the laborious process of creating paired image-shape datasets. Recent efforts have turned to learning 3D reconstruction without 3D supervision from RGB images with annotated 2D silhouettes, dramatically reducing the cost and effort of annotation. These techniques, however, remain impractical as they still require multi-view annotations of the same object instance during training. As a result, most experimental efforts to date have been limited to synthetic datasets. In this paper, we address this issue and propose SDF-SRN, an approach that requires only a single view of objects at training time, offering greater utility for real-world scenarios. SDF-SRN learns implicit 3D shape representations to handle arbitrary shape topologies that may exist in the datasets. To this end, we derive a novel differentiable rendering formulation for learning signed distance functions (SDF) from 2D silhouettes. Our method outperforms the state of the art under challenging single-view supervision settings on both synthetic and real-world datasets.

false

true

false

true

false

true

false

201,904

2208.11625

PromptFL: Let Federated Participants Cooperatively Learn Prompts Instead of Models -- Federated Learning in Age of Foundation Model

Quick global aggregation of effective distributed parameters is crucial to federated learning (FL), which requires adequate bandwidth for parameters communication and sufficient user data for local training. Otherwise, FL may cost excessive training time for convergence and produce inaccurate models. In this paper, we propose a brand-new FL framework, PromptFL, that replaces the federated model training with the federated prompt training, i.e., let federated participants train prompts instead of a shared model, to simultaneously achieve the efficient global aggregation and local training on insufficient data by exploiting the power of foundation models (FM) in a distributed way. PromptFL ships an off-the-shelf FM, i.e., CLIP, to distributed clients who would cooperatively train shared soft prompts based on very few local data. Since PromptFL only needs to update the prompts instead of the whole model, both the local training and the global aggregation can be significantly accelerated. And FM trained over large scale data can provide strong adaptation capability to distributed users tasks with the trained soft prompts. We empirically analyze the PromptFL via extensive experiments, and show its superiority in terms of system feasibility, user privacy, and performance.

false

true

false

314,493

2403.11996

Accelerating Scientific Discovery with Generative Knowledge Extraction, Graph-Based Representation, and Multimodal Intelligent Graph Reasoning

Leveraging generative Artificial Intelligence (AI), we have transformed a dataset comprising 1,000 scientific papers into an ontological knowledge graph. Through an in-depth structural analysis, we have calculated node degrees, identified communities and connectivities, and evaluated clustering coefficients and betweenness centrality of pivotal nodes, uncovering fascinating knowledge architectures. The graph has an inherently scale-free nature, is highly connected, and can be used for graph reasoning by taking advantage of transitive and isomorphic properties that reveal unprecedented interdisciplinary relationships that can be used to answer queries, identify gaps in knowledge, propose never-before-seen material designs, and predict material behaviors. We compute deep node embeddings for combinatorial node similarity ranking for use in a path sampling strategy links dissimilar concepts that have previously not been related. One comparison revealed structural parallels between biological materials and Beethoven's 9th Symphony, highlighting shared patterns of complexity through isomorphic mapping. In another example, the algorithm proposed a hierarchical mycelium-based composite based on integrating path sampling with principles extracted from Kandinsky's 'Composition VII' painting. The resulting material integrates an innovative set of concepts that include a balance of chaos/order, adjustable porosity, mechanical strength, and complex patterned chemical functionalization. We uncover other isomorphisms across science, technology and art, revealing a nuanced ontology of immanence that reveal a context-dependent heterarchical interplay of constituents. Graph-based generative AI achieves a far higher degree of novelty, explorative capacity, and technical detail, than conventional approaches and establishes a widely useful framework for innovation by revealing hidden connections.

false

true

false

true

false

true

false

438,963

2310.00847

Can Pre-trained Networks Detect Familiar Out-of-Distribution Data?

Out-of-distribution (OOD) detection is critical for safety-sensitive machine learning applications and has been extensively studied, yielding a plethora of methods developed in the literature. However, most studies for OOD detection did not use pre-trained models and trained a backbone from scratch. In recent years, transferring knowledge from large pre-trained models to downstream tasks by lightweight tuning has become mainstream for training in-distribution (ID) classifiers. To bridge the gap between the practice of OOD detection and current classifiers, the unique and crucial problem is that the samples whose information networks know often come as OOD input. We consider that such data may significantly affect the performance of large pre-trained networks because the discriminability of these OOD data depends on the pre-training algorithm. Here, we define such OOD data as PT-OOD (Pre-Trained OOD) data. In this paper, we aim to reveal the effect of PT-OOD on the OOD detection performance of pre-trained networks from the perspective of pre-training algorithms. To achieve this, we explore the PT-OOD detection performance of supervised and self-supervised pre-training algorithms with linear-probing tuning, the most common efficient tuning method. Through our experiments and analysis, we find that the low linear separability of PT-OOD in the feature space heavily degrades the PT-OOD detection performance, and self-supervised models are more vulnerable to PT-OOD than supervised pre-trained models, even with state-of-the-art detection methods. To solve this vulnerability, we further propose a unique solution to large-scale pre-trained models: Leveraging powerful instance-by-instance discriminative representations of pre-trained models and detecting OOD in the feature space independent of the ID decision boundaries. The code will be available via https://github.com/AtsuMiyai/PT-OOD.

false

true

false

396,178

2101.01169

Transformers in Vision: A Survey

Astounding results from Transformer models on natural language tasks have intrigued the vision community to study their application to computer vision problems. Among their salient benefits, Transformers enable modeling long dependencies between input sequence elements and support parallel processing of sequence as compared to recurrent networks e.g., Long short-term memory (LSTM). Different from convolutional networks, Transformers require minimal inductive biases for their design and are naturally suited as set-functions. Furthermore, the straightforward design of Transformers allows processing multiple modalities (e.g., images, videos, text and speech) using similar processing blocks and demonstrates excellent scalability to very large capacity networks and huge datasets. These strengths have led to exciting progress on a number of vision tasks using Transformer networks. This survey aims to provide a comprehensive overview of the Transformer models in the computer vision discipline. We start with an introduction to fundamental concepts behind the success of Transformers i.e., self-attention, large-scale pre-training, and bidirectional encoding. We then cover extensive applications of transformers in vision including popular recognition tasks (e.g., image classification, object detection, action recognition, and segmentation), generative modeling, multi-modal tasks (e.g., visual-question answering, visual reasoning, and visual grounding), video processing (e.g., activity recognition, video forecasting), low-level vision (e.g., image super-resolution, image enhancement, and colorization) and 3D analysis (e.g., point cloud classification and segmentation). We compare the respective advantages and limitations of popular techniques both in terms of architectural design and their experimental value. Finally, we provide an analysis on open research directions and possible future works.

false

true

false

true

false

true

false

214,304

2410.17971

Dynamic Spectrum Access for Ambient Backscatter Communication-assisted D2D Systems with Quantum Reinforcement Learning

Spectrum access is an essential problem in device-to-device (D2D) communications. However, with the recent growth in the number of mobile devices, the wireless spectrum is becoming scarce, resulting in low spectral efficiency for D2D communications. To address this problem, this paper aims to integrate the ambient backscatter communication technology into D2D devices to allow them to backscatter ambient RF signals to transmit their data when the shared spectrum is occupied by mobile users. To obtain the optimal spectrum access policy, i.e., stay idle or access the shared spectrum and perform active transmissions or backscattering ambient RF signals for transmissions, to maximize the average throughput for D2D users, deep reinforcement learning (DRL) can be adopted. However, DRL-based solutions may require long training time due to the curse of dimensionality issue as well as complex deep neural network architectures. For that, we develop a novel quantum reinforcement learning (RL) algorithm that can achieve a faster convergence rate with fewer training parameters compared to DRL thanks to the quantum superposition and quantum entanglement principles. Specifically, instead of using conventional deep neural networks, the proposed quantum RL algorithm uses a parametrized quantum circuit to approximate an optimal policy. Extensive simulations then demonstrate that the proposed solution not only can significantly improve the average throughput of D2D devices when the shared spectrum is busy but also can achieve much better performance in terms of convergence rate and learning complexity compared to existing DRL-based methods.

false

true

false

true

501,691

2308.00096

AirTouch: Towards Safe Human-Robot Interaction Using Air Pressure Feedback and IR Mocap System

The growing use of robots in urban environments has raised concerns about potential safety hazards, especially in public spaces where humans and robots may interact. In this paper, we present a system for safe human-robot interaction that combines an infrared (IR) camera with a wearable marker and airflow potential field. IR cameras enable real-time detection and tracking of humans in challenging environments, while controlled airflow creates a physical barrier that guides humans away from dangerous proximity to robots without the need for wearable devices. A preliminary experiment was conducted to measure the accuracy of the perception of safety barriers rendered by controlled air pressure. In a second experiment, we evaluated our approach in an imitation scenario of an interaction between an inattentive person and an autonomous robotic system. Experimental results show that the proposed system significantly improves a participant's ability to maintain a safe distance from the operating robot compared to trials without the system.

false

true

false

382,811

2305.16502

Learning When to Ask for Help: Efficient Interactive Navigation via Implicit Uncertainty Estimation

Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data collection and model refinement may be impractical in every environment. Approaches that utilize human demonstrations through manual operation can aid in refinement and generalization, but often require significant data collection efforts to generate enough demonstration data to achieve satisfactory task performance. Interactive approaches allow for humans to provide correction to robot action in real time, but intervention policies are often based on explicit factors related to state and task understanding that may be difficult to generalize. Addressing these challenges, we train a lightweight interaction policy that allows robots to decide when to proceed autonomously or request expert assistance at estimated times of uncertainty. An implicit estimate of uncertainty is learned via evaluating the feature extraction capabilities of the robot's visual navigation policy. By incorporating part-time human interaction, robots recover quickly from their mistakes, significantly improving the odds of task completion. Incorporating part-time interaction yields an increase in success of 0.38 with only a 0.3 expert interaction rate within the Habitat simulation environment using a simulated human expert. We further show success transferring this approach to a new domain with a real human expert, improving success from less than 0.1 with an autonomous agent to 0.92 with a 0.23 human interaction rate. This approach provides a practical means for robots to interact and learn from humans in real-world settings.

false

true

false

368,117

2209.10579

First-order Policy Optimization for Robust Markov Decision Process

We consider the problem of solving robust Markov decision process (MDP), which involves a set of discounted, finite state, finite action space MDPs with uncertain transition kernels. The goal of planning is to find a robust policy that optimizes the worst-case values against the transition uncertainties, and thus encompasses the standard MDP planning as a special case. For $(\mathbf{s},\mathbf{a})$-rectangular uncertainty sets, we establish several structural observations on the robust objective, which facilitates the development of a policy-based first-order method, namely the robust policy mirror descent (RPMD). An $\mathcal{O}(\log(1/\epsilon))$ iteration complexity for finding an $\epsilon$-optimal policy is established with linearly increasing stepsizes. We further develop a stochastic variant of the robust policy mirror descent method, named SRPMD, when the first-order information is only available through online interactions with the nominal environment. We show that the optimality gap converges linearly up to the noise level, and consequently establish an $\tilde{\mathcal{O}}(1/\epsilon^2)$ sample complexity by developing a temporal difference learning method for policy evaluation. Both iteration and sample complexities are also discussed for RPMD with a constant stepsize. To the best of our knowledge, all the aforementioned results appear to be new for policy-based first-order methods applied to the robust MDP problem.

false

true

false

true

false

318,903

1301.2785

A comparison of SVM and RVM for Document Classification

Document classification is a task of assigning a new unclassified document to one of the predefined set of classes. The content based document classification uses the content of the document with some weighting criteria to assign it to one of the predefined classes. It is a major task in library science, electronic document management systems and information sciences. This paper investigates document classification by using two different classification techniques (1) Support Vector Machine (SVM) and (2) Relevance Vector Machine (RVM). SVM is a supervised machine learning technique that can be used for classification task. In its basic form, SVM represents the instances of the data into space and tries to separate the distinct classes by a maximum possible wide gap (hyper plane) that separates the classes. On the other hand RVM uses probabilistic measure to define this separation space. RVM uses Bayesian inference to obtain succinct solution, thus RVM uses significantly fewer basis functions. Experimental studies on three standard text classification datasets reveal that although RVM takes more training time, its classification is much better as compared to SVM.

false

true

false

21,042

2403.12012

Convergence of Kinetic Langevin Monte Carlo on Lie groups

Explicit, momentum-based dynamics for optimizing functions defined on Lie groups was recently constructed, based on techniques such as variational optimization and left trivialization. We appropriately add tractable noise to the optimization dynamics to turn it into a sampling dynamics, leveraging the advantageous feature that the trivialized momentum variable is Euclidean despite that the potential function lives on a manifold. We then propose a Lie-group MCMC sampler, by delicately discretizing the resulting kinetic-Langevin-type sampling dynamics. The Lie group structure is exactly preserved by this discretization. Exponential convergence with explicit convergence rate for both the continuous dynamics and the discrete sampler are then proved under $W_2$ distance. Only compactness of the Lie group and geodesically $L$-smoothness of the potential function are needed. To the best of our knowledge, this is the first convergence result for kinetic Langevin on curved spaces, and also the first quantitative result that requires no convexity or, at least not explicitly, any common relaxation such as isoperimetry.

false

true

false

true

438,976

2502.11169

Leveraging Constrained Monte Carlo Tree Search to Generate Reliable Long Chain-of-Thought for Mathematical Reasoning

Recently, Long Chain-of-Thoughts (CoTs) have gained widespread attention for improving the reasoning capabilities of Large Language Models (LLMs). This necessitates that existing LLMs, which lack the ability to generate Long CoTs, to acquire such capability through post-training methods. Without additional training, LLMs typically enhance their mathematical reasoning abilities through inference scaling methods such as MCTS. However, they are hindered by the large action space and inefficient search strategies, making it challenging to generate Long CoTs effectively. To tackle this issue, we propose constraining the action space and guiding the emergence of Long CoTs through a refined search strategy. In our proposed Constrained Monte Carlo Tree Search (C-MCTS) framework, we limit the actions selected from a constrained action space, which is divided into five disjoint subsets: \emph{understanding}, \emph{planning}, \emph{reflection}, \emph{coding}, and \emph{summary}. Each subset is further constrained to a small number of predefined prompts, rather than allowing LLMs to generate actions arbitrarily. Additionally, we refine the search strategy by incorporating prior knowledge about the action sets, such as a human-like partial order of the action subsets and the pretrained process reward models. These strategies work together to significantly reduce the vast search space of Long CoTs. Extensive evaluations on mathematical reasoning benchmarks show that, under zero-shot settings, our method enables the 7B model to achieve reasoning capabilities that surpass those of the 72B model.

false

true

false

534,231

2011.06449

Sensors for expert grip force profiling: towards benchmarking manual control of a robotic device for surgical tool movements

STRAS (Single access Transluminal Robotic Assistant for Surgeons) is a new robotic system for application to intraluminal surgical procedures. Preclinical testing of STRAS has recently permitted to demonstrate major advantages of the system in comparison with classic procedures. Benchmark methods permitting to establish objective criteria for expertise need to be worked out now to effectively train surgeons on this new system in the near future. STRAS consists of three cable driven subsystems, one endoscope serving as guide, and two flexible instruments. The flexible instruments have three degrees of freedom and can be teleoperated by a single user via two specially designed master interfaces. In this study here, small force sensors sewn into a wearable glove to ergonomically fit the master handles of the robotic system were employed for monitoring the forces applied by an expert and a trainee who was a complete novice during all the steps of surgical task execution in a simulator task, a four step pick and drop. Analysis of gripforce profiles is performed sensor by sensor to bring to the fore specific differences in handgrip force profiles in specific sensor locations on anatomically relevant parts of the fingers and hand controlling the master slave system.

false

true

false

206,251

1709.03209

Recurrent neural networks based Indic word-wise script identification using character-wise training

This paper presents a novel methodology of Indic handwritten script recognition using Recurrent Neural Networks and addresses the problem of script recognition in poor data scenarios, such as when only character level online data is available. It is based on the hypothesis that curves of online character data comprise sufficient information for prediction at the word level. Online character data is used to train RNNs using BLSTM architecture which are then used to make predictions of online word level data. These prediction results on the test set are at par with prediction results of models trained with online word data, while the training of the character level model is much less data intensive and takes much less time. Performance for binary-script models and then 5 Indic script models are reported, along with comparison with HMM models.The system is extended for offline data prediction. Raw offline data lacks the temporal information available in online data and required for prediction using models trained with online data. To overcome this, stroke recovery is implemented and the strokes are utilized for predicting using the online character level models. The performance on character and word level offline data is reported.

false

true

false

80,428

2106.10482

Unbalanced Feature Transport for Exemplar-based Image Translation

Despite the great success of GANs in images translation with different conditioned inputs such as semantic segmentation and edge maps, generating high-fidelity realistic images with reference styles remains a grand challenge in conditional image-to-image translation. This paper presents a general image translation framework that incorporates optimal transport for feature alignment between conditional inputs and style exemplars in image translation. The introduction of optimal transport mitigates the constraint of many-to-one feature matching significantly while building up accurate semantic correspondences between conditional inputs and exemplars. We design a novel unbalanced optimal transport to address the transport between features with deviational distributions which exists widely between conditional inputs and exemplars. In addition, we design a semantic-activation normalization scheme that injects style features of exemplars into the image translation process successfully. Extensive experiments over multiple image translation tasks show that our method achieves superior image translation qualitatively and quantitatively as compared with the state-of-the-art.

false

true

false

242,037

2004.00784

Learning Agile Robotic Locomotion Skills by Imitating Animals

Reproducing the diverse and agile locomotion skills of animals has been a longstanding challenge in robotics. While manually-designed controllers have been able to emulate many complex behaviors, building such controllers involves a time-consuming and difficult development process, often requiring substantial expertise of the nuances of each skill. Reinforcement learning provides an appealing alternative for automating the manual effort involved in the development of controllers. However, designing learning objectives that elicit the desired behaviors from an agent can also require a great deal of skill-specific expertise. In this work, we present an imitation learning system that enables legged robots to learn agile locomotion skills by imitating real-world animals. We show that by leveraging reference motion data, a single learning-based approach is able to automatically synthesize controllers for a diverse repertoire behaviors for legged robots. By incorporating sample efficient domain adaptation techniques into the training process, our system is able to learn adaptive policies in simulation that can then be quickly adapted for real-world deployment. To demonstrate the effectiveness of our system, we train an 18-DoF quadruped robot to perform a variety of agile behaviors ranging from different locomotion gaits to dynamic hops and turns.

false

true

false

170,733

2004.00130

A+ Indexes: Tunable and Space-Efficient Adjacency Lists in Graph Database Management Systems

Graph database management systems (GDBMSs) are highly optimized to perform fast traversals, i.e., joins of vertices with their neighbours, by indexing the neighbourhoods of vertices in adjacency lists. However, existing GDBMSs have system-specific and fixed adjacency list structures, which makes each system efficient on only a fixed set of workloads. We describe a new tunable indexing subsystem for GDBMSs, we call A+ indexes, with materialized view support. The subsystem consists of two types of indexes: (i) vertex-partitioned indexes that partition 1-hop materialized views into adjacency lists on either the source or destination vertex IDs; and (ii) edge-partitioned indexes that partition 2-hop views into adjacency lists on one of the edge IDs. As in existing GDBMSs, a system by default requires one forward and one backward vertex-partitioned index, which we call the primary A+ index. Users can tune the primary index or secondary indexes by adding nested partitioning and sorting criteria. Our secondary indexes are space-efficient and use a technique we call offset lists. Our indexing subsystem allows a wider range of applications to benefit from GDBMSs' fast join capabilities. We demonstrate the tunability and space efficiency of A+ indexes through extensive experiments on three workloads.

false

true

false

170,521

2304.02273

MMVC: Learned Multi-Mode Video Compression with Block-based Prediction Mode Selection and Density-Adaptive Entropy Coding

Learning-based video compression has been extensively studied over the past years, but it still has limitations in adapting to various motion patterns and entropy models. In this paper, we propose multi-mode video compression (MMVC), a block wise mode ensemble deep video compression framework that selects the optimal mode for feature domain prediction adapting to different motion patterns. Proposed multi-modes include ConvLSTM-based feature domain prediction, optical flow conditioned feature domain prediction, and feature propagation to address a wide range of cases from static scenes without apparent motions to dynamic scenes with a moving camera. We partition the feature space into blocks for temporal prediction in spatial block-based representations. For entropy coding, we consider both dense and sparse post-quantization residual blocks, and apply optional run-length coding to sparse residuals to improve the compression rate. In this sense, our method uses a dual-mode entropy coding scheme guided by a binary density map, which offers significant rate reduction surpassing the extra cost of transmitting the binary selection map. We validate our scheme with some of the most popular benchmarking datasets. Compared with state-of-the-art video compression schemes and standard codecs, our method yields better or competitive results measured with PSNR and MS-SSIM.

false

true

false

356,386

1301.7417

Planning with Partially Observable Markov Decision Processes: Advances in Exact Solution Method

There is much interest in using partially observable Markov decision processes (POMDPs) as a formal model for planning in stochastic domains. This paper is concerned with finding optimal policies for POMDPs. We propose several improvements to incremental pruning, presently the most efficient exact algorithm for solving POMDPs.

false

true

false

21,650

2305.02982

Preliminary results of a therapeutic lab for promoting autonomies in autistic children

This extended abtract describes the preliminary qualitative results coming from a therapeutic laboratory focused on the use of the Pepper robot to promote autonomies and functional acquisitions in highly functioning (Asperger) children with autism. The field lab, ideated and led by a multidisciplinary team, involved 4 children, aged 11-13, who attended the laboratory sessions once a week for four months.

false

true

false

362,232

2109.12030

Toward Efficient and Robust Multiple Camera Visual-inertial Odometry

Efficiency and robustness are the essential criteria for the visual-inertial odometry (VIO) system. To process massive visual data, the high cost on CPU resources and computation latency limits VIO's possibility in integration with other applications. Recently, the powerful embedded GPUs have great potentials to improve the front-end image processing capability. Meanwhile, multi-camera systems can increase the visual constraints for back-end optimization. Inspired by these insights, we incorporate the GPU-enhanced algorithms in the field of VIO and thus propose a new front-end with NVIDIA Vision Programming Interface (VPI). This new front-end then enables multi-camera VIO feature association and provides more stable back-end pose optimization. Experiments with our new front-end on monocular datasets show the CPU resource occupation rate and computational latency are reduced by 40.4% and 50.6% without losing accuracy compared with the original VIO. The multi-camera system shows a higher VIO initialization success rate and better robustness overall state estimation.

false

true

false

257,134

2304.05105

Learning-based Rigid Tube Model Predictive Control

This paper is concerned with model predictive control (MPC) of discrete-time linear systems subject to bounded additive disturbance and mixed constraints on the state and input, whereas the true disturbance set is unknown. Unlike most existing work on robust MPC, we propose an algorithm incorporating online learning that builds on prior knowledge of the disturbance, i.e., a known but conservative disturbance set. We approximate the true disturbance set at each time step with a parameterised set, which is referred to as a quantified disturbance set, using disturbance realisations. A key novelty is that the parameterisation of these quantified disturbance sets enjoys desirable properties such that the quantified disturbance set and its corresponding rigid tube bounding disturbance propagation can be efficiently updated online. We provide statistical gaps between the true and quantified disturbance sets, based on which, probabilistic recursive feasibility of MPC optimisation problems is discussed. Numerical simulations are provided to demonstrate the effectiveness of our proposed algorithm and compare with conventional robust MPC algorithms.

false

true

false

357,489

2004.01600

VGPN: Voice-Guided Pointing Robot Navigation for Humans

Pointing gestures are widely used in robot navigationapproaches nowadays. However, most approaches only use point-ing gestures, and these have two major limitations. Firstly, they need to recognize pointing gestures all the time, which leads to long processing time and significant system overheads. Secondly,the user's pointing direction may not be very accurate, so the robot may go to an undesired place. To relieve these limitations,we propose a voice-guided pointing robot navigation approach named VGPN, and implement its prototype on a wheeled robot,TurtleBot 2. VGPN recognizes a pointing gesture only if voice information is insufficient for navigation. VGPN also uses voice information as a supplementary channel to help determine the target position of the user's pointing gesture. In the evaluation,we compare VGPN to the pointing-only navigation approach. The results show that VGPN effectively reduces the processing timecost when pointing gesture is unnecessary, and improves the usersatisfaction with navigation accuracy.

false

true

false

170,956

2206.13413

RES: A Robust Framework for Guiding Visual Explanation

Despite the fast progress of explanation techniques in modern Deep Neural Networks (DNNs) where the main focus is handling "how to generate the explanations", advanced research questions that examine the quality of the explanation itself (e.g., "whether the explanations are accurate") and improve the explanation quality (e.g., "how to adjust the model to generate more accurate explanations when explanations are inaccurate") are still relatively under-explored. To guide the model toward better explanations, techniques in explanation supervision - which add supervision signals on the model explanation - have started to show promising effects on improving both the generalizability as and intrinsic interpretability of Deep Neural Networks. However, the research on supervising explanations, especially in vision-based applications represented through saliency maps, is in its early stage due to several inherent challenges: 1) inaccuracy of the human explanation annotation boundary, 2) incompleteness of the human explanation annotation region, and 3) inconsistency of the data distribution between human annotation and model explanation maps. To address the challenges, we propose a generic RES framework for guiding visual explanation by developing a novel objective that handles inaccurate boundary, incomplete region, and inconsistent distribution of human annotations, with a theoretical justification on model generalizability. Extensive experiments on two real-world image datasets demonstrate the effectiveness of the proposed framework on enhancing both the reasonability of the explanation and the performance of the backbone DNNs model.

false

true

false

304,958

2109.11011

SOCIALGYM: A Framework for Benchmarking Social Robot Navigation

Robots moving safely and in a socially compliant manner in dynamic human environments is an essential benchmark for long-term robot autonomy. However, it is not feasible to learn and benchmark social navigation behaviors entirely in the real world, as learning is data-intensive, and it is challenging to make safety guarantees during training. Therefore, simulation-based benchmarks that provide abstractions for social navigation are required. A framework for these benchmarks would need to support a wide variety of learning approaches, be extensible to the broad range of social navigation scenarios, and abstract away the perception problem to focus on social navigation explicitly. While there have been many proposed solutions, including high fidelity 3D simulators and grid world approximations, no existing solution satisfies all of the aforementioned properties for learning and evaluating social navigation behaviors. In this work, we propose SOCIALGYM, a lightweight 2D simulation environment for robot social navigation designed with extensibility in mind, and a benchmark scenario built on SOCIALGYM. Further, we present benchmark results that compare and contrast human-engineered and model-based learning approaches to a suite of off-the-shelf Learning from Demonstration (LfD) and Reinforcement Learning (RL) approaches applied to social robot navigation. These results demonstrate the data efficiency, task performance, social compliance, and environment transfer capabilities for each of the policies evaluated to provide a solid grounding for future social navigation research.

false

true

false

256,812

2104.09952

MGSampler: An Explainable Sampling Strategy for Video Action Recognition

Frame sampling is a fundamental problem in video action recognition due to the essential redundancy in time and limited computation resources. The existing sampling strategy often employs a fixed frame selection and lacks the flexibility to deal with complex variations in videos. In this paper, we present a simple, sparse, and explainable frame sampler, termed as Motion-Guided Sampler (MGSampler). Our basic motivation is that motion is an important and universal signal that can drive us to adaptively select frames from videos. Accordingly, we propose two important properties in our MGSampler design: motion sensitive and motion uniform. First, we present two different motion representations to enable us to efficiently distinguish the motion-salient frames from the background. Then, we devise a motion-uniform sampling strategy based on the cumulative motion distribution to ensure the sampled frames evenly cover all the important segments with high motion salience. Our MGSampler yields a new principled and holistic sampling scheme, that could be incorporated into any existing video architecture. Experiments on five benchmarks demonstrate the effectiveness of our MGSampler over the previous fixed sampling strategies, and its generalization power across different backbones, video models, and datasets.

false

true

false

231,414

2101.10737

Mining the Stars: Learning Quality Ratings with User-facing Explanations for Vacation Rentals

Online Travel Platforms are virtual two-sided marketplaces where guests search for accommodations and accommodation providers list their properties such as hotels and vacation rentals. The large majority of hotels are rated by official institutions with a number of stars indicating the quality of service they provide. It is a simple and effective mechanism that contributes to match supply with demand by helping guests to find options meeting their criteria and accommodation suppliers to market their product to the right segment directly impacting the number of transactions on the platform. Unfortunately, no similar rating system exists for the large majority of vacation rentals, making it difficult for guests to search and compare options and hard for vacation rentals suppliers to market their product effectively. In this work we describe a machine learned quality rating system for vacation rentals. The problem is challenging, mainly due to explainability requirements and the lack of ground truth. We present techniques to address these challenges and empirical evidence of their efficacy. Our system was successfully deployed and validated through Online Controlled Experiments performed in Booking. com, a large Online Travel Platform, and running for more than one year, impacting more than a million accommodations and millions of guests.

false

true

false

217,033

2106.01899

Adversarially Adaptive Normalization for Single Domain Generalization

Single domain generalization aims to learn a model that performs well on many unseen domains with only one domain data for training. Existing works focus on studying the adversarial domain augmentation (ADA) to improve the model's generalization capability. The impact on domain generalization of the statistics of normalization layers is still underinvestigated. In this paper, we propose a generic normalization approach, adaptive standardization and rescaling normalization (ASR-Norm), to complement the missing part in previous works. ASR-Norm learns both the standardization and rescaling statistics via neural networks. This new form of normalization can be viewed as a generic form of the traditional normalizations. When trained with ADA, the statistics in ASR-Norm are learned to be adaptive to the data coming from different domains, and hence improves the model generalization performance across domains, especially on the target domain with large discrepancy from the source domain. The experimental results show that ASR-Norm can bring consistent improvement to the state-of-the-art ADA approaches by 1.6%, 2.7%, and 6.3% averagely on the Digits, CIFAR-10-C, and PACS benchmarks, respectively. As a generic tool, the improvement introduced by ASR-Norm is agnostic to the choice of ADA methods.

false

true

false

238,657

1711.06636

Segmenting Brain Tumors with Symmetry

We explore encoding brain symmetry into a neural network for a brain tumor segmentation task. A healthy human brain is symmetric at a high level of abstraction, and the high-level asymmetric parts are more likely to be tumor regions. Paying more attention to asymmetries has the potential to boost the performance in brain tumor segmentation. We propose a method to encode brain symmetry into existing neural networks and apply the method to a state-of-the-art neural network for medical imaging segmentation. We evaluate our symmetry-encoded network on the dataset from a brain tumor segmentation challenge and verify that the new model extracts information in the training images more efficiently than the original model.

false

true

false

84,817

2312.17173

Non-Vacuous Generalization Bounds for Large Language Models

Modern language models can contain billions of parameters, raising the question of whether they can generalize beyond the training data or simply parrot their training corpora. We provide the first non-vacuous generalization bounds for pretrained large language models (LLMs), indicating that language models are capable of discovering regularities that generalize to unseen data. In particular, we derive a compression bound that is valid for the unbounded log-likelihood loss using prediction smoothing, and we extend the bound to handle subsampling, accelerating bound computation by orders of magnitude on massive datasets. To achieve the extreme level of compression required for non-vacuous bounds, we devise SubLoRA, a simple low-dimensional nonlinear parameterization that leads to non-vacuous generalization bounds for models with nearly a billion parameters. Finally, we use our bounds to understand LLM generalization and find that larger models have better generalization bounds and are more compressible than smaller models.

false

true

false

418,641

cs/0106035

Polymorphic type inference for the relational algebra

We give a polymorphic account of the relational algebra. We introduce a formalism of ``type formulas'' specifically tuned for relational algebra expressions, and present an algorithm that computes the ``principal'' type for a given expression. The principal type of an expression is a formula that specifies, in a clear and concise manner, all assignments of types (sets of attributes) to relation names, under which a given relational algebra expression is well-typed, as well as the output type that expression will have under each of these assignments. Topics discussed include complexity and polymorphic expressive power.

false

true

537,369

2006.01304

Rethinking Empirical Evaluation of Adversarial Robustness Using First-Order Attack Methods

We identify three common cases that lead to overestimation of adversarial accuracy against bounded first-order attack methods, which is popularly used as a proxy for adversarial robustness in empirical studies. For each case, we propose compensation methods that either address sources of inaccurate gradient computation, such as numerical instability near zero and non-differentiability, or reduce the total number of back-propagations for iterative attacks by approximating second-order information. These compensation methods can be combined with existing attack methods for a more precise empirical evaluation metric. We illustrate the impact of these three cases with examples of practical interest, such as benchmarking model capacity and regularization techniques for robustness. Overall, our work shows that overestimated adversarial accuracy that is not indicative of robustness is prevalent even for conventionally trained deep neural networks, and highlights cautions of using empirical evaluation without guaranteed bounds.

false

true

false

true

false

179,736

2206.07568

Contrastive Learning as Goal-Conditioned Reinforcement Learning

In reinforcement learning (RL), it is easier to solve a task if given a good representation. While deep RL should automatically acquire such good representations, prior work often finds that learning representations in an end-to-end fashion is unstable and instead equip RL algorithms with additional representation learning parts (e.g., auxiliary losses, data augmentation). How can we design RL algorithms that directly acquire good representations? In this paper, instead of adding representation learning parts to an existing RL algorithm, we show (contrastive) representation learning methods can be cast as RL algorithms in their own right. To do this, we build upon prior work and apply contrastive representation learning to action-labeled trajectories, in such a way that the (inner product of) learned representations exactly corresponds to a goal-conditioned value function. We use this idea to reinterpret a prior RL method as performing contrastive learning, and then use the idea to propose a much simpler method that achieves similar performance. Across a range of goal-conditioned RL tasks, we demonstrate that contrastive RL methods achieve higher success rates than prior non-contrastive methods, including in the offline RL setting. We also show that contrastive RL outperforms prior methods on image-based tasks, without using data augmentation or auxiliary objectives.

false

true

false

true

false

302,788

2406.05348

Toward Reliable Ad-hoc Scientific Information Extraction: A Case Study on Two Materials Datasets

We explore the ability of GPT-4 to perform ad-hoc schema based information extraction from scientific literature. We assess specifically whether it can, with a basic prompting approach, replicate two existing material science datasets, given the manuscripts from which they were originally manually extracted. We employ materials scientists to perform a detailed manual error analysis to assess where the model struggles to faithfully extract the desired information, and draw on their insights to suggest research directions to address this broadly important task.

false

true

false

true

false

462,092

2302.10243

Mallat Scattering Transformation based surrogate for MagnetoHydroDynamics

A Machine and Deep Learning methodology is developed and applied to give a high fidelity, fast surrogate for 2D resistive MHD simulations of MagLIF implosions. The resistive MHD code GORGON is used to generate an ensemble of implosions with different liner aspect ratios, initial gas preheat temperatures (that is, different adiabats), and different liner perturbations. The liner density and magnetic field as functions of $x$, $y$, and $t$ were generated. The Mallat Scattering Transformation (MST) is taken of the logarithm of both fields and a Principal Components Analysis is done on the logarithm of the MST of both fields. The fields are projected onto the PCA vectors and a small number of these PCA vector components are kept. Singular Value Decompositions of the cross correlation of the input parameters to the output logarithm of the MST of the fields, and of the cross correlation of the SVD vector components to the PCA vector components are done. This allows the identification of the PCA vectors vis-a-vis the input parameters. Finally, a Multi Layer Perceptron neural network with ReLU activation and a simple three layer encoder/decoder architecture is trained on this dataset to predict the PCA vector components of the fields as a function of time. Details of the implosion, stagnation, and the disassembly are well captured. Examination of the PCA vectors and a permutation importance analysis of the MLP show definitive evidence of an inverse turbulent cascade into a dipole emergent behavior. The orientation of the dipole is set by the initial liner perturbation. The analysis is repeated with a version of the MST which includes phase, called Wavelet Phase Harmonics (WPH). While WPH do not give the physical insight of the MST, they can and are inverted to give field configurations as a function of time, including field-to-field correlations.

false

true

false

true

false

346,717

1404.2728

Real-time Decolorization using Dominant Colors

Decolorization is the process to convert a color image or video to its grayscale version, and it has received great attention in recent years. An ideal decolorization algorithm should preserve the original color contrast as much as possible. Meanwhile, it should provide the final decolorized result as fast as possible. However, most of the current methods are suffering from either unsatisfied color information preservation or high computational cost, limiting their application value. In this paper, a simple but effective technique is proposed for real-time decolorization. Based on the typical rgb2gray() color conversion model, which produces a grayscale image by linearly combining R, G, and B channels, we propose a dominant color hypothesis and a corresponding distance measurement metric to evaluate the quality of grayscale conversion. The local optimum scheme provides several "good" candidates in a confidence interval, from which the "best" result can be extracted. Experimental results demonstrate that remarkable simplicity of the proposed method facilitates the process of high resolution images and videos in real-time using a common CPU.

false

true

false

true

32,230

1807.11634

Interactive Summarization and Exploration of Top Aggregate Query Answers

We present a system for summarization and interactive exploration of high-valued aggregate query answers to make a large set of possible answers more informative to the user. Our system outputs a set of clusters on the high-valued query answers showing their common properties such that the clusters are diverse as much as possible to avoid repeating information, and cover a certain number of top original answers as indicated by the user. Further, the system facilitates interactive exploration of the query answers by helping the user (i) choose combinations of parameters for clustering, (ii) inspect the clusters as well as the elements they contain, and (iii) visualize how changes in parameters affect clustering. We define optimization problems, study their complexity, explore properties of the solutions investigating the semi-lattice structure on the clusters, and propose efficient algorithms and optimizations to achieve these goals. We evaluate our techniques experimentally and discuss our prototype with a graphical user interface that facilitates this interactive exploration. A user study is conducted to evaluate the usability of our approach.

false

true

false

104,215

2109.07358

Fermion Sampling Made More Efficient

Fermion sampling is to generate probability distribution of a many-body Slater-determinant wavefunction, which is termed "determinantal point process" in statistical analysis. For its inherently-embedded Pauli exclusion principle, its application reaches beyond simulating fermionic quantum many-body physics to constructing machine learning models for diversified datasets. Here we propose a fermion sampling algorithm, which has a polynomial time-complexity -- quadratic in the fermion number and linear in the system size. This algorithm is about 100% more efficient in computation time than the best known algorithms. In sampling the corresponding marginal distribution, our algorithm has a more drastic improvement, achieving a scaling advantage. We demonstrate its power on several test applications, including sampling fermions in a many-body system and a machine learning task of text summarization, and confirm its improved computation efficiency over other methods by counting floating-point operations.

false

true

false

255,493

1904.00325

ImageGCN: Multi-Relational Image Graph Convolutional Networks for Disease Identification with Chest X-rays

Image representation is a fundamental task in computer vision. However, most of the existing approaches for image representation ignore the relations between images and consider each input image independently. Intuitively, relations between images can help to understand the images and maintain model consistency over related images, leading to better explainability. In this paper, we consider modeling the image-level relations to generate more informative image representations, and propose ImageGCN, an end-to-end graph convolutional network framework for inductive multi-relational image modeling. We apply ImageGCN to chest X-ray images where rich relational information is available for disease identification. Unlike previous image representation models, ImageGCN learns the representation of an image using both its original pixel features and its relationship with other images. Besides learning informative representations for images, ImageGCN can also be used for object detection in a weakly supervised manner. The experimental results on 3 open-source x-ray datasets, ChestX-ray14, CheXpert and MIMIC-CXR demonstrate that ImageGCN can outperform respective baselines in both disease identification and localization tasks and can achieve comparable and often better results than the state-of-the-art methods.

false

true

false

true

false

125,849