JohnVitz/NLP_Assignment_3_part_3 · Datasets at Hugging Face

2305.19223

Intent-aligned AI systems deplete human agency: the need for agency foundations research in AI safety

The rapid advancement of artificial intelligence (AI) systems suggests that artificial general intelligence (AGI) systems may soon arrive. Many researchers are concerned that AIs and AGIs will harm humans via intentional misuse (AI-misuse) or through accidents (AI-accidents). In respect of AI-accidents, there is an increasing effort focused on developing algorithms and paradigms that ensure AI systems are aligned to what humans intend, e.g. AI systems that yield actions or recommendations that humans might judge as consistent with their intentions and goals. Here we argue that alignment to human intent is insufficient for safe AI systems and that preservation of long-term agency of humans may be a more robust standard, and one that needs to be separated explicitly and a priori during optimization. We argue that AI systems can reshape human intention and discuss the lack of biological and psychological mechanisms that protect humans from loss of agency. We provide the first formal definition of agency-preserving AI-human interactions which focuses on forward-looking agency evaluations and argue that AI systems - not humans - must be increasingly tasked with making these evaluations. We show how agency loss can occur in simple environments containing embedded agents that use temporal-difference learning to make action recommendations. Finally, we propose a new area of research called "agency foundations" and pose four initial topics designed to improve our understanding of agency in AI-human interactions: benevolent game theory, algorithmic foundations of human rights, mechanistic interpretability of agency representation in neural-networks and reinforcement learning from internal states.

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false

true

false

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false

369,430

2407.09728

Neural Operator-Based Proxy for Reservoir Simulations Considering Varying Well Settings, Locations, and Permeability Fields

Simulating Darcy flows in porous media is fundamental to understand the future flow behavior of fluids in hydrocarbon and carbon storage reservoirs. Geological models of reservoirs are often associated with high uncertainly leading to many numerical simulations for history matching and production optimization. Machine learning models trained with simulation data can provide a faster alternative to traditional simulators. In this paper we present a single Fourier Neural Operator (FNO) surrogate that outperforms traditional reservoir simulators by the ability to predict pressures and saturations on varying permeability fields, well locations, well controls, and number of wells. The maximum-mean relative error of 95\% of pressure and saturation predictions is less than 5\%. This is achieved by employing a simple yet very effective data augmentation technique that reduces the dataset size by 75\% and reduces overfitting. Also, constructing the input tensor in a binary fashion enables predictions on unseen well locations, well controls, and number of wells. Such model can accelerate history matching and reservoir characterization procedures by several orders of magnitude. The ability to predict on new well locations, well controls, and number of wells enables highly efficient reservoir management and optimization.

false

true

false

472,697

2303.10891

Non-Exemplar Online Class-incremental Continual Learning via Dual-prototype Self-augment and Refinement

This paper investigates a new, practical, but challenging problem named Non-exemplar Online Class-incremental continual Learning (NO-CL), which aims to preserve the discernibility of base classes without buffering data examples and efficiently learn novel classes continuously in a single-pass (i.e., online) data stream. The challenges of this task are mainly two-fold: (1) Both base and novel classes suffer from severe catastrophic forgetting as no previous samples are available for replay. (2) As the online data can only be observed once, there is no way to fully re-train the whole model, e.g., re-calibrate the decision boundaries via prototype alignment or feature distillation. In this paper, we propose a novel Dual-prototype Self-augment and Refinement method (DSR) for NO-CL problem, which consists of two strategies: 1) Dual class prototypes: vanilla and high-dimensional prototypes are exploited to utilize the pre-trained information and obtain robust quasi-orthogonal representations rather than example buffers for both privacy preservation and memory reduction. 2) Self-augment and refinement: Instead of updating the whole network, we optimize high-dimensional prototypes alternatively with the extra projection module based on self-augment vanilla prototypes, through a bi-level optimization problem. Extensive experiments demonstrate the effectiveness and superiority of the proposed DSR in NO-CL.

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true

false

352,621

2301.11113

Finding Regions of Counterfactual Explanations via Robust Optimization

Counterfactual explanations play an important role in detecting bias and improving the explainability of data-driven classification models. A counterfactual explanation (CE) is a minimal perturbed data point for which the decision of the model changes. Most of the existing methods can only provide one CE, which may not be achievable for the user. In this work we derive an iterative method to calculate robust CEs, i.e. CEs that remain valid even after the features are slightly perturbed. To this end, our method provides a whole region of CEs allowing the user to choose a suitable recourse to obtain a desired outcome. We use algorithmic ideas from robust optimization and prove convergence results for the most common machine learning methods including logistic regression, decision trees, random forests, and neural networks. Our experiments show that our method can efficiently generate globally optimal robust CEs for a variety of common data sets and classification models.

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true

false

342,022

2104.04147

Artificial intelligence, human rights, democracy, and the rule of law: a primer

In September 2019, the Council of Europe's Committee of Ministers adopted the terms of reference for the Ad Hoc Committee on Artificial Intelligence (CAHAI). The CAHAI is charged with examining the feasibility and potential elements of a legal framework for the design, development, and deployment of AI systems that accord with Council of Europe standards across the interrelated areas of human rights, democracy, and the rule of law. As a first and necessary step in carrying out this responsibility, the CAHAI's Feasibility Study, adopted by its plenary in December 2020, has explored options for an international legal response that fills existing gaps in legislation and tailors the use of binding and non-binding legal instruments to the specific risks and opportunities presented by AI systems. The Study examines how the fundamental rights and freedoms that are already codified in international human rights law can be used as the basis for such a legal framework. The purpose of this primer is to introduce the main concepts and principles presented in the CAHAI's Feasibility Study for a general, non-technical audience. It also aims to provide some background information on the areas of AI innovation, human rights law, technology policy, and compliance mechanisms covered therein. In keeping with the Council of Europe's commitment to broad multi-stakeholder consultations, outreach, and engagement, this primer has been designed to help facilitate the meaningful and informed participation of an inclusive group of stakeholders as the CAHAI seeks feedback and guidance regarding the essential issues raised by the Feasibility Study.

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false

true

false

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false

true

false

229,304

2003.04188

BirdNet+: End-to-End 3D Object Detection in LiDAR Bird's Eye View

On-board 3D object detection in autonomous vehicles often relies on geometry information captured by LiDAR devices. Albeit image features are typically preferred for detection, numerous approaches take only spatial data as input. Exploiting this information in inference usually involves the use of compact representations such as the Bird's Eye View (BEV) projection, which entails a loss of information and thus hinders the joint inference of all the parameters of the objects' 3D boxes. In this paper, we present a fully end-to-end 3D object detection framework that can infer oriented 3D boxes solely from BEV images by using a two-stage object detector and ad-hoc regression branches, eliminating the need for a post-processing stage. The method outperforms its predecessor (BirdNet) by a large margin and obtains state-of-the-art results on the KITTI 3D Object Detection Benchmark for all the categories in evaluation.

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true

false

167,477

2303.13101

MMFormer: Multimodal Transformer Using Multiscale Self-Attention for Remote Sensing Image Classification

To benefit the complementary information between heterogeneous data, we introduce a new Multimodal Transformer (MMFormer) for Remote Sensing (RS) image classification using Hyperspectral Image (HSI) accompanied by another source of data such as Light Detection and Ranging (LiDAR). Compared with traditional Vision Transformer (ViT) lacking inductive biases of convolutions, we first introduce convolutional layers to our MMFormer to tokenize patches from multimodal data of HSI and LiDAR. Then we propose a Multi-scale Multi-head Self-Attention (MSMHSA) module to address the problem of compatibility which often limits to fuse HSI with high spectral resolution and LiDAR with relatively low spatial resolution. The proposed MSMHSA module can incorporate HSI to LiDAR data in a coarse-to-fine manner enabling us to learn a fine-grained representation. Extensive experiments on widely used benchmarks (e.g., Trento and MUUFL) demonstrate the effectiveness and superiority of our proposed MMFormer for RS image classification.

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true

false

353,548

1911.02086

Small-Footprint Keyword Spotting on Raw Audio Data with Sinc-Convolutions

Keyword Spotting (KWS) enables speech-based user interaction on smart devices. Always-on and battery-powered application scenarios for smart devices put constraints on hardware resources and power consumption, while also demanding high accuracy as well as real-time capability. Previous architectures first extracted acoustic features and then applied a neural network to classify keyword probabilities, optimizing towards memory footprint and execution time. Compared to previous publications, we took additional steps to reduce power and memory consumption without reducing classification accuracy. Power-consuming audio preprocessing and data transfer steps are eliminated by directly classifying from raw audio. For this, our end-to-end architecture extracts spectral features using parametrized Sinc-convolutions. Its memory footprint is further reduced by grouping depthwise separable convolutions. Our network achieves the competitive accuracy of 96.4% on Google's Speech Commands test set with only 62k parameters.

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true

false

true

false

152,271

2402.02479

BRAIn: Bayesian Reward-conditioned Amortized Inference for natural language generation from feedback

Distribution matching methods for language model alignment such as Generation with Distributional Control (GDC) and Distributional Policy Gradient (DPG) have not received the same level of attention in reinforcement learning from human feedback (RLHF) as contrastive methods such as Sequence Likelihood Calibration (SLiC), Direct Preference Optimization (DPO) and its variants. We identify high variance of the gradient estimate as the primary reason for the lack of success of these methods and propose a self-normalized baseline to reduce the variance. We further generalize the target distribution in DPG, GDC and DPO by using Bayes' rule to define the reward-conditioned posterior. The resulting approach, referred to as BRAIn - Bayesian Reward-conditioned Amortized Inference acts as a bridge between distribution matching methods and DPO and significantly outperforms prior art in summarization and Antropic HH tasks.

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false

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false

426,583

2204.10233

A Sandbox Tool to Bias(Stress)-Test Fairness Algorithms

Motivated by the growing importance of reducing unfairness in ML predictions, Fair-ML researchers have presented an extensive suite of algorithmic 'fairness-enhancing' remedies. Most existing algorithms, however, are agnostic to the sources of the observed unfairness. As a result, the literature currently lacks guiding frameworks to specify conditions under which each algorithmic intervention can potentially alleviate the underpinning cause of unfairness. To close this gap, we scrutinize the underlying biases (e.g., in the training data or design choices) that cause observational unfairness. We present the conceptual idea and a first implementation of a bias-injection sandbox tool to investigate fairness consequences of various biases and assess the effectiveness of algorithmic remedies in the presence of specific types of bias. We call this process the bias(stress)-testing of algorithmic interventions. Unlike existing toolkits, ours provides a controlled environment to counterfactually inject biases in the ML pipeline. This stylized setup offers the distinct capability of testing fairness interventions beyond observational data and against an unbiased benchmark. In particular, we can test whether a given remedy can alleviate the injected bias by comparing the predictions resulting after the intervention in the biased setting with true labels in the unbiased regime-that is, before any bias injection. We illustrate the utility of our toolkit via a proof-of-concept case study on synthetic data. Our empirical analysis showcases the type of insights that can be obtained through our simulations.

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false

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false

292,717

2212.04630

A PINN Approach to Symbolic Differential Operator Discovery with Sparse Data

Given ample experimental data from a system governed by differential equations, it is possible to use deep learning techniques to construct the underlying differential operators. In this work we perform symbolic discovery of differential operators in a situation where there is sparse experimental data. This small data regime in machine learning can be made tractable by providing our algorithms with prior information about the underlying dynamics. Physics Informed Neural Networks (PINNs) have been very successful in this regime (reconstructing entire ODE solutions using only a single point or entire PDE solutions with very few measurements of the initial condition). We modify the PINN approach by adding a neural network that learns a representation of unknown hidden terms in the differential equation. The algorithm yields both a surrogate solution to the differential equation and a black-box representation of the hidden terms. These hidden term neural networks can then be converted into symbolic equations using symbolic regression techniques like AI Feynman. In order to achieve convergence of these neural networks, we provide our algorithms with (noisy) measurements of both the initial condition as well as (synthetic) experimental data obtained at later times. We demonstrate strong performance of this approach even when provided with very few measurements of noisy data in both the ODE and PDE regime.

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true

false

335,513

2410.21129

Fast Calibrated Explanations: Efficient and Uncertainty-Aware Explanations for Machine Learning Models

This paper introduces Fast Calibrated Explanations, a method designed for generating rapid, uncertainty-aware explanations for machine learning models. By incorporating perturbation techniques from ConformaSight - a global explanation framework - into the core elements of Calibrated Explanations (CE), we achieve significant speedups. These core elements include local feature importance with calibrated predictions, both of which retain uncertainty quantification. While the new method sacrifices a small degree of detail, it excels in computational efficiency, making it ideal for high-stakes, real-time applications. Fast Calibrated Explanations are applicable to probabilistic explanations in classification and thresholded regression tasks, where they provide the likelihood of a target being above or below a user-defined threshold. This approach maintains the versatility of CE for both classification and probabilistic regression, making it suitable for a range of predictive tasks where uncertainty quantification is crucial.

false

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false

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true

false

503,100

1801.05230

Real-time CPU-based large-scale 3D mesh reconstruction

In Robotics, especially in this era of autonomous driving, mapping is one key ability of a robot to be able to navigate through an environment, localize on it and analyze its traversability. To allow for real-time execution on constrained hardware, the map usually estimated by feature-based or semi-dense SLAM algorithms is a sparse point cloud; a richer and more complete representation of the environment is desirable. Existing dense mapping algorithms require extensive use of GPU computing and they hardly scale to large environments; incremental algorithms from sparse points still represent an effective solution when light computational effort is needed and big sequences have to be processed in real-time. In this paper we improved and extended the state of the art incremental manifold mesh algorithm proposed in [1] and extended in [2]. While these algorithms do not achieve real-time and they embed points from SLAM or Structure from Motion only when their position is fixed, in this paper we propose the first incremental algorithm able to reconstruct a manifold mesh in real-time through single core CPU processing which is also able to modify the mesh according to 3D points updates from the underlying SLAM algorithm. We tested our algorithm against two state of the art incremental mesh mapping systems on the KITTI dataset, and we showed that, while accuracy is comparable, our approach is able to reach real-time performances thanks to an order of magnitude speed-up.

false

true

false

88,422

2312.05153

Uncertainty Quantification and Propagation in Surrogate-based Bayesian Inference

Surrogate models are statistical or conceptual approximations for more complex simulation models. In this context, it is crucial to propagate the uncertainty induced by limited simulation budget and surrogate approximation error to predictions, inference, and subsequent decision-relevant quantities. However, quantifying and then propagating the uncertainty of surrogates is usually limited to special analytic cases or is otherwise computationally very expensive. In this paper, we propose a framework enabling a scalable, Bayesian approach to surrogate modeling with thorough uncertainty quantification, propagation, and validation. Specifically, we present three methods for Bayesian inference with surrogate models given measurement data. This is a task where the propagation of surrogate uncertainty is especially relevant, because failing to account for it may lead to biased and/or overconfident estimates of the parameters of interest. We showcase our approach in three detailed case studies for linear and nonlinear real-world modeling scenarios. Uncertainty propagation in surrogate models enables more reliable and safe approximation of expensive simulators and will therefore be useful in various fields of applications.

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true

false

413,962

2211.00921

A Data-driven Case-based Reasoning in Bankruptcy Prediction

There has been intensive research regarding machine learning models for predicting bankruptcy in recent years. However, the lack of interpretability limits their growth and practical implementation. This study proposes a data-driven explainable case-based reasoning (CBR) system for bankruptcy prediction. Empirical results from a comparative study show that the proposed approach performs superior to existing, alternative CBR systems and is competitive with state-of-the-art machine learning models. We also demonstrate that the asymmetrical feature similarity comparison mechanism in the proposed CBR system can effectively capture the asymmetrically distributed nature of financial attributes, such as a few companies controlling more cash than the majority, hence improving both the accuracy and explainability of predictions. In addition, we delicately examine the explainability of the CBR system in the decision-making process of bankruptcy prediction. While much research suggests a trade-off between improving prediction accuracy and explainability, our findings show a prospective research avenue in which an explainable model that thoroughly incorporates data attributes by design can reconcile the dilemma.

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true

false

328,055

2302.08366

Defect Transfer GAN: Diverse Defect Synthesis for Data Augmentation

Data-hunger and data-imbalance are two major pitfalls in many deep learning approaches. For example, on highly optimized production lines, defective samples are hardly acquired while non-defective samples come almost for free. The defects however often seem to resemble each other, e.g., scratches on different products may only differ in a few characteristics. In this work, we introduce a framework, Defect Transfer GAN (DT-GAN), which learns to represent defect types independent of and across various background products and yet can apply defect-specific styles to generate realistic defective images. An empirical study on the MVTec AD and two additional datasets showcase DT-GAN outperforms state-of-the-art image synthesis methods w.r.t. sample fidelity and diversity in defect generation. We further demonstrate benefits for a critical downstream task in manufacturing -- defect classification. Results show that the augmented data from DT-GAN provides consistent gains even in the few samples regime and reduces the error rate up to 51% compared to both traditional and advanced data augmentation methods.

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true

false

346,030

2501.11014

Transfer Learning Strategies for Pathological Foundation Models: A Systematic Evaluation in Brain Tumor Classification

Foundation models pretrained on large-scale pathology datasets have shown promising results across various diagnostic tasks. Here, we present a systematic evaluation of transfer learning strategies for brain tumor classification using these models. We analyzed 252 cases comprising five major tumor types: glioblastoma, astrocytoma, oligodendroglioma, primary central nervous system lymphoma, and metastatic tumors. Comparing state-of-the-art foundation models with conventional approaches, we found that foundation models demonstrated robust classification performance with as few as 10 patches per case, challenging the traditional assumption that extensive per-case image sampling is necessary. Furthermore, our evaluation revealed that simple transfer learning strategies like linear probing were sufficient, while fine-tuning often degraded model performance. These findings suggest a paradigm shift from extensive data collection to efficient utilization of pretrained features, providing practical implications for implementing AI-assisted diagnosis in clinical pathology.

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true

false

525,754

2311.03383

Toward Reinforcement Learning-based Rectilinear Macro Placement Under Human Constraints

Macro placement is a critical phase in chip design, which becomes more intricate when involving general rectilinear macros and layout areas. Furthermore, macro placement that incorporates human-like constraints, such as design hierarchy and peripheral bias, has the potential to significantly reduce the amount of additional manual labor required from designers. This study proposes a methodology that leverages an approach suggested by Google's Circuit Training (G-CT) to provide a learning-based macro placer that not only supports placing rectilinear cases, but also adheres to crucial human-like design principles. Our experimental results demonstrate the effectiveness of our framework in achieving power-performance-area (PPA) metrics and in obtaining placements of high quality, comparable to those produced with human intervention. Additionally, our methodology shows potential as a generalized model to address diverse macro shapes and layout areas.

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false

true

false

true

false

true

405,831

2407.08742

Improved Robustness and Hyperparameter Selection in the Dense Associative Memory

The Dense Associative Memory generalizes the Hopfield network by allowing for sharper interaction functions. This increases the capacity of the network as an autoassociative memory as nearby learned attractors will not interfere with one another. However, the implementation of the network relies on applying large exponents to the dot product of memory vectors and probe vectors. If the dimension of the data is large the calculation can be very large and result in imprecisions and overflow when using floating point numbers in a practical implementation. We describe the computational issues in detail, modify the original network description to mitigate the problem, and show the modification will not alter the networks' dynamics during update or training. We also show our modification greatly improves hyperparameter selection for the Dense Associative Memory, removing dependence on the interaction vertex and resulting in an optimal region of hyperparameters that does not significantly change with the interaction vertex as it does in the original network.

false

true

false

true

false

472,295

2407.18466

A Progressive Single-Modality to Multi-Modality Classification Framework for Alzheimer's Disease Sub-type Diagnosis

The current clinical diagnosis framework of Alzheimer's disease (AD) involves multiple modalities acquired from multiple diagnosis stages, each with distinct usage and cost. Previous AD diagnosis research has predominantly focused on how to directly fuse multiple modalities for an end-to-end one-stage diagnosis, which practically requires a high cost in data acquisition. Moreover, a significant part of these methods diagnose AD without considering clinical guideline and cannot offer accurate sub-type diagnosis. In this paper, by exploring inter-correlation among multiple modalities, we propose a novel progressive AD sub-type diagnosis framework, aiming to give diagnosis results based on easier-to-access modalities in earlier low-cost stages, instead of modalities from all stages. Specifically, first, we design 1) a text disentanglement network for better processing tabular data collected in the initial stage, and 2) a modality fusion module for fusing multi-modality features separately. Second, we align features from modalities acquired in earlier low-cost stage(s) with later high-cost stage(s) to give accurate diagnosis without actual modality acquisition in later-stage(s) for saving cost. Furthermore, we follow the clinical guideline to align features at each stage for achieving sub-type diagnosis. Third, we leverage a progressive classifier that can progressively include additional acquired modalities (if needed) for diagnosis, to achieve the balance between diagnosis cost and diagnosis performance. We evaluate our proposed framework on large diverse public and in-home datasets (8280 in total) and achieve superior performance over state-of-the-art methods. Our codes will be released after the acceptance.

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true

false

476,379

2408.13679

Segment Any Mesh: Zero-shot Mesh Part Segmentation via Lifting Segment Anything 2 to 3D

We propose Segment Any Mesh (SAMesh), a novel zero-shot method for mesh part segmentation that overcomes the limitations of shape analysis-based, learning-based, and current zero-shot approaches. SAMesh operates in two phases: multimodal rendering and 2D-to-3D lifting. In the first phase, multiview renders of the mesh are individually processed through Segment Anything 2 (SAM2) to generate 2D masks. These masks are then lifted into a mesh part segmentation by associating masks that refer to the same mesh part across the multiview renders. We find that applying SAM2 to multimodal feature renders of normals and shape diameter scalars achieves better results than using only untextured renders of meshes. By building our method on top of SAM2, we seamlessly inherit any future improvements made to 2D segmentation. We compare our method with a robust, well-evaluated shape analysis method, Shape Diameter Function (ShapeDiam), and show our method is comparable to or exceeds its performance. Since current benchmarks contain limited object diversity, we also curate and release a dataset of generated meshes and use it to demonstrate our method's improved generalization over ShapeDiam via human evaluation. We release the code and dataset at https://github.com/gtangg12/samesh

false

true

false

483,241

2411.01742

Learning from Convolution-based Unlearnable Datastes

The construction of large datasets for deep learning has raised concerns regarding unauthorized use of online data, leading to increased interest in protecting data from third-parties who want to use it for training. The Convolution-based Unlearnable DAtaset (CUDA) method aims to make data unlearnable by applying class-wise blurs to every image in the dataset so that neural networks learn relations between blur kernels and labels, as opposed to informative features for classifying clean data. In this work, we evaluate whether CUDA data remains unlearnable after image sharpening and frequency filtering, finding that this combination of simple transforms improves the utility of CUDA data for training. In particular, we observe a substantial increase in test accuracy over adversarial training for models trained with CUDA unlearnable data from CIFAR-10, CIFAR-100, and ImageNet-100. In training models to high accuracy using unlearnable data, we underscore the need for ongoing refinement in data poisoning techniques to ensure data privacy. Our method opens new avenues for enhancing the robustness of unlearnable datasets by highlighting that simple methods such as sharpening and frequency filtering are capable of breaking convolution-based unlearnable datasets.

false

true

false

true

false

505,200

2409.18931

Social Media Bot Policies: Evaluating Passive and Active Enforcement

The emergence of Multimodal Foundation Models (MFMs) holds significant promise for transforming social media platforms. However, this advancement also introduces substantial security and ethical concerns, as it may facilitate malicious actors in the exploitation of online users. We aim to evaluate the strength of security protocols on prominent social media platforms in mitigating the deployment of MFM bots. We examined the bot and content policies of eight popular social media platforms: X (formerly Twitter), Instagram, Facebook, Threads, TikTok, Mastodon, Reddit, and LinkedIn. Using Selenium, we developed a web bot to test bot deployment and AI-generated content policies and their enforcement mechanisms. Our findings indicate significant vulnerabilities within the current enforcement mechanisms of these platforms. Despite having explicit policies against bot activity, all platforms failed to detect and prevent the operation of our MFM bots. This finding reveals a critical gap in the security measures employed by these social media platforms, underscoring the potential for malicious actors to exploit these weaknesses to disseminate misinformation, commit fraud, or manipulate users.

false

true

false

true

false

492,461

2403.04576

A Model Hierarchy for Predicting the Flow in Stirred Tanks with Physics-Informed Neural Networks

This paper explores the potential of Physics-Informed Neural Networks (PINNs) to serve as Reduced Order Models (ROMs) for simulating the flow field within stirred tank reactors (STRs). We solve the two-dimensional stationary Navier-Stokes equations within a geometrically intricate domain and explore methodologies that allow us to integrate additional physical insights into the model. These approaches include imposing the Dirichlet boundary conditions (BCs) strongly and employing domain decomposition (DD), with both overlapping and non-overlapping subdomains. We adapt the Extended Physics-Informed Neural Network (XPINN) approach to solve different sets of equations in distinct subdomains based on the diverse flow characteristics present in each region. Our exploration results in a hierarchy of models spanning various levels of complexity, where the best models exhibit l1 prediction errors of less than 1% for both pressure and velocity. To illustrate the reproducibility of our approach, we track the errors over repeated independent training runs of the best identified model and show its reliability. Subsequently, by incorporating the stirring rate as a parametric input, we develop a fast-to-evaluate model of the flow capable of interpolating across a wide range of Reynolds numbers. Although we exclusively restrict ourselves to STRs in this work, we conclude that the steps taken to obtain the presented model hierarchy can be transferred to other applications.

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true

false

435,647

2108.01721

Improving Counterfactual Generation for Fair Hate Speech Detection

Bias mitigation approaches reduce models' dependence on sensitive features of data, such as social group tokens (SGTs), resulting in equal predictions across the sensitive features. In hate speech detection, however, equalizing model predictions may ignore important differences among targeted social groups, as hate speech can contain stereotypical language specific to each SGT. Here, to take the specific language about each SGT into account, we rely on counterfactual fairness and equalize predictions among counterfactuals, generated by changing the SGTs. Our method evaluates the similarity in sentence likelihoods (via pre-trained language models) among counterfactuals, to treat SGTs equally only within interchangeable contexts. By applying logit pairing to equalize outcomes on the restricted set of counterfactuals for each instance, we improve fairness metrics while preserving model performance on hate speech detection.

false

true

false

true

false

249,106

2304.03373

Training-Free Layout Control with Cross-Attention Guidance

Recent diffusion-based generators can produce high-quality images from textual prompts. However, they often disregard textual instructions that specify the spatial layout of the composition. We propose a simple approach that achieves robust layout control without the need for training or fine-tuning of the image generator. Our technique manipulates the cross-attention layers that the model uses to interface textual and visual information and steers the generation in the desired direction given, e.g., a user-specified layout. To determine how to best guide attention, we study the role of attention maps and explore two alternative strategies, forward and backward guidance. We thoroughly evaluate our approach on three benchmarks and provide several qualitative examples and a comparative analysis of the two strategies that demonstrate the superiority of backward guidance compared to forward guidance, as well as prior work. We further demonstrate the versatility of layout guidance by extending it to applications such as editing the layout and context of real images.

false

true

false

356,778

1711.05462

A Machine Learning Approach to Modeling Human Migration

Human migration is a type of human mobility, where a trip involves a person moving with the intention of changing their home location. Predicting human migration as accurately as possible is important in city planning applications, international trade, spread of infectious diseases, conservation planning, and public policy development. Traditional human mobility models, such as gravity models or the more recent radiation model, predict human mobility flows based on population and distance features only. These models have been validated on commuting flows, a different type of human mobility, and are mainly used in modeling scenarios where large amounts of prior ground truth mobility data are not available. One downside of these models is that they have a fixed form and are therefore not able to capture more complicated migration dynamics. We propose machine learning models that are able to incorporate any number of exogenous features, to predict origin/destination human migration flows. Our machine learning models outperform traditional human mobility models on a variety of evaluation metrics, both in the task of predicting migrations between US counties as well as international migrations. In general, predictive machine learning models of human migration will provide a flexible base with which to model human migration under different what-if conditions, such as potential sea level rise or population growth scenarios.

false

true

false

true

false

84,577

2210.04174

Grow and Merge: A Unified Framework for Continuous Categories Discovery

Although a number of studies are devoted to novel category discovery, most of them assume a static setting where both labeled and unlabeled data are given at once for finding new categories. In this work, we focus on the application scenarios where unlabeled data are continuously fed into the category discovery system. We refer to it as the {\bf Continuous Category Discovery} ({\bf CCD}) problem, which is significantly more challenging than the static setting. A common challenge faced by novel category discovery is that different sets of features are needed for classification and category discovery: class discriminative features are preferred for classification, while rich and diverse features are more suitable for new category mining. This challenge becomes more severe for dynamic setting as the system is asked to deliver good performance for known classes over time, and at the same time continuously discover new classes from unlabeled data. To address this challenge, we develop a framework of {\bf Grow and Merge} ({\bf GM}) that works by alternating between a growing phase and a merging phase: in the growing phase, it increases the diversity of features through a continuous self-supervised learning for effective category mining, and in the merging phase, it merges the grown model with a static one to ensure satisfying performance for known classes. Our extensive studies verify that the proposed GM framework is significantly more effective than the state-of-the-art approaches for continuous category discovery.

false

true

false

true

false

322,341

1508.04333

ESDF: Ensemble Selection using Diversity and Frequency

Recently ensemble selection for consensus clustering has emerged as a research problem in Machine Intelligence. Normally consensus clustering algorithms take into account the entire ensemble of clustering, where there is a tendency of generating a very large size ensemble before computing its consensus. One can avoid considering the entire ensemble and can judiciously select few partitions in the ensemble without compromising on the quality of the consensus. This may result in an efficient consensus computation technique and may save unnecessary computational overheads. The ensemble selection problem addresses this issue of consensus clustering. In this paper, we propose an efficient method of ensemble selection for a large ensemble. We prioritize the partitions in the ensemble based on diversity and frequency. Our method selects top K of the partitions in order of priority, where K is decided by the user. We observe that considering jointly the diversity and frequency helps in identifying few representative partitions whose consensus is qualitatively better than the consensus of the entire ensemble. Experimental analysis on a large number of datasets shows our method gives better results than earlier ensemble selection methods.

false

true

false

46,121

2212.14351

Properties of Group Fairness Metrics for Rankings

In recent years, several metrics have been developed for evaluating group fairness of rankings. Given that these metrics were developed with different application contexts and ranking algorithms in mind, it is not straightforward which metric to choose for a given scenario. In this paper, we perform a comprehensive comparative analysis of existing group fairness metrics developed in the context of fair ranking. By virtue of their diverse application contexts, we argue that such a comparative analysis is not straightforward. Hence, we take an axiomatic approach whereby we design a set of thirteen properties for group fairness metrics that consider different ranking settings. A metric can then be selected depending on whether it satisfies all or a subset of these properties. We apply these properties on eleven existing group fairness metrics, and through both empirical and theoretical results we demonstrate that most of these metrics only satisfy a small subset of the proposed properties. These findings highlight limitations of existing metrics, and provide insights into how to evaluate and interpret different fairness metrics in practical deployment. The proposed properties can also assist practitioners in selecting appropriate metrics for evaluating fairness in a specific application.

false

true

false

true

false

338,585

2401.08282

Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk

Template models are frequently used to simplify the control dynamics for robot hopping or running. Passive limit cycles can emerge for such systems and be exploited for energy-efficient control. A grand challenge in locomotion is trunk stabilization when the hip is offset from the center of mass (CoM). The swing phase plays a major role in this process due to the moment of inertia of the leg; however, many template models ignore the leg mass. In this work, the authors consider a robot hopper model (RHM) with a rigid trunk and leg plus a hip that is displaced from the CoM. It has been previously shown that no passive limit cycle exists for such a model given a linear hip spring. In this work, we show that passive limit cycles can be found when a nonlinear hip spring is used instead. To the authors' knowledge, this is the first time that a passive limit cycle has been found for this type of system.

false

true

false

true

false

421,837

2007.05856

Anomaly Detection-Based Unknown Face Presentation Attack Detection

Anomaly detection-based spoof attack detection is a recent development in face Presentation Attack Detection (fPAD), where a spoof detector is learned using only non-attacked images of users. These detectors are of practical importance as they are shown to generalize well to new attack types. In this paper, we present a deep-learning solution for anomaly detection-based spoof attack detection where both classifier and feature representations are learned together end-to-end. First, we introduce a pseudo-negative class during training in the absence of attacked images. The pseudo-negative class is modeled using a Gaussian distribution whose mean is calculated by a weighted running mean. Secondly, we use pairwise confusion loss to further regularize the training process. The proposed approach benefits from the representation learning power of the CNNs and learns better features for fPAD task as shown in our ablation study. We perform extensive experiments on four publicly available datasets: Replay-Attack, Rose-Youtu, OULU-NPU and Spoof in Wild to show the effectiveness of the proposed approach over the previous methods. Code is available at: \url{https://github.com/yashasvi97/IJCB2020_anomaly}

false

true

false

186,806

2007.01851

Swoosh! Rattle! Thump! -- Actions that Sound

Truly intelligent agents need to capture the interplay of all their senses to build a rich physical understanding of their world. In robotics, we have seen tremendous progress in using visual and tactile perception; however, we have often ignored a key sense: sound. This is primarily due to the lack of data that captures the interplay of action and sound. In this work, we perform the first large-scale study of the interactions between sound and robotic action. To do this, we create the largest available sound-action-vision dataset with 15,000 interactions on 60 objects using our robotic platform Tilt-Bot. By tilting objects and allowing them to crash into the walls of a robotic tray, we collect rich four-channel audio information. Using this data, we explore the synergies between sound and action and present three key insights. First, sound is indicative of fine-grained object class information, e.g., sound can differentiate a metal screwdriver from a metal wrench. Second, sound also contains information about the causal effects of an action, i.e. given the sound produced, we can predict what action was applied to the object. Finally, object representations derived from audio embeddings are indicative of implicit physical properties. We demonstrate that on previously unseen objects, audio embeddings generated through interactions can predict forward models 24% better than passive visual embeddings. Project videos and data are at https://dhiraj100892.github.io/swoosh/

false

true

false

true

false

185,550

1610.09164

Effects of Social Ties in Knowledge Diffusion: case study on PLOS ONE

In order to capture the effects of social ties in knowledge diffusion, this paper examines the publication network that emerges from the collaboration of researchers, using citation information as means to estimate knowledge flow. For this purpose, we analyzed the papers published in the PLOS ONE journal finding strong evidence to support that the closer two authors are in the co-authorship network, the larger the probability that knowledge flow will occur between them. Moreover, we also found that when it comes to knowledge diffusion, strong co-authorship proximity is more determinant than geographic proximity.

false

true

false

true

63,014

2009.04254

Cooperative Formation of Autonomous Vehicles in Mixed Traffic Flow: Beyond Platooning

Cooperative formation and control of autonomous vehicles (AVs) promise increased efficiency and safety on public roads. In mixed traffic flow consisting of AVs and human-driven vehicles (HDVs), the prevailing platooning of multiple AVs is not the only choice for cooperative formation. In this paper, we investigate how different formations of AVs impact traffic performance from a set-function optimization perspective. We first reveal a stability invariance property and a diminishing improvement property of noncooperative formation when AVs adopt typical Adaptive Cruise Control (ACC) strategies. Then, we focus on the case of cooperative formation where the AV controllers are cooperatively designed %redesign the control strategies of AVs in different formations and investigate the optimal formation of multiple AVs using set-function optimization. Two predominant optimal formations, i.e., uniform distribution and platoon formation, emerge from extensive numerical experiments. Interestingly, platooning might have the least potential to improve traffic performance when HDVs have poor string stability behavior. These results suggest more opportunities for cooperative formation of AVs, beyond platooning, in practical mixed traffic flow.

false

true

false

194,999

2311.05332

On the Road with GPT-4V(ision): Early Explorations of Visual-Language Model on Autonomous Driving

The pursuit of autonomous driving technology hinges on the sophisticated integration of perception, decision-making, and control systems. Traditional approaches, both data-driven and rule-based, have been hindered by their inability to grasp the nuance of complex driving environments and the intentions of other road users. This has been a significant bottleneck, particularly in the development of common sense reasoning and nuanced scene understanding necessary for safe and reliable autonomous driving. The advent of Visual Language Models (VLM) represents a novel frontier in realizing fully autonomous vehicle driving. This report provides an exhaustive evaluation of the latest state-of-the-art VLM, GPT-4V(ision), and its application in autonomous driving scenarios. We explore the model's abilities to understand and reason about driving scenes, make decisions, and ultimately act in the capacity of a driver. Our comprehensive tests span from basic scene recognition to complex causal reasoning and real-time decision-making under varying conditions. Our findings reveal that GPT-4V demonstrates superior performance in scene understanding and causal reasoning compared to existing autonomous systems. It showcases the potential to handle out-of-distribution scenarios, recognize intentions, and make informed decisions in real driving contexts. However, challenges remain, particularly in direction discernment, traffic light recognition, vision grounding, and spatial reasoning tasks. These limitations underscore the need for further research and development. Project is now available on GitHub for interested parties to access and utilize: \url{https://github.com/PJLab-ADG/GPT4V-AD-Exploration}

false

true

false

true

false

true

false

406,547

1901.06082

Probabilistic symmetries and invariant neural networks

Treating neural network inputs and outputs as random variables, we characterize the structure of neural networks that can be used to model data that are invariant or equivariant under the action of a compact group. Much recent research has been devoted to encoding invariance under symmetry transformations into neural network architectures, in an effort to improve the performance of deep neural networks in data-scarce, non-i.i.d., or unsupervised settings. By considering group invariance from the perspective of probabilistic symmetry, we establish a link between functional and probabilistic symmetry, and obtain generative functional representations of probability distributions that are invariant or equivariant under the action of a compact group. Our representations completely characterize the structure of neural networks that can be used to model such distributions and yield a general program for constructing invariant stochastic or deterministic neural networks. We demonstrate that examples from the recent literature are special cases, and develop the details of the general program for exchangeable sequences and arrays.

false

true

false

118,920

2409.18877

UniEmoX: Cross-modal Semantic-Guided Large-Scale Pretraining for Universal Scene Emotion Perception

Visual emotion analysis holds significant research value in both computer vision and psychology. However, existing methods for visual emotion analysis suffer from limited generalizability due to the ambiguity of emotion perception and the diversity of data scenarios. To tackle this issue, we introduce UniEmoX, a cross-modal semantic-guided large-scale pretraining framework. Inspired by psychological research emphasizing the inseparability of the emotional exploration process from the interaction between individuals and their environment, UniEmoX integrates scene-centric and person-centric low-level image spatial structural information, aiming to derive more nuanced and discriminative emotional representations. By exploiting the similarity between paired and unpaired image-text samples, UniEmoX distills rich semantic knowledge from the CLIP model to enhance emotional embedding representations more effectively. To the best of our knowledge, this is the first large-scale pretraining framework that integrates psychological theories with contemporary contrastive learning and masked image modeling techniques for emotion analysis across diverse scenarios. Additionally, we develop a visual emotional dataset titled Emo8. Emo8 samples cover a range of domains, including cartoon, natural, realistic, science fiction and advertising cover styles, covering nearly all common emotional scenes. Comprehensive experiments conducted on six benchmark datasets across two downstream tasks validate the effectiveness of UniEmoX. The source code is available at https://github.com/chincharles/u-emo.

false

true

false

true

false

492,443

1605.08179

Discovering Causal Signals in Images

This paper establishes the existence of observable footprints that reveal the "causal dispositions" of the object categories appearing in collections of images. We achieve this goal in two steps. First, we take a learning approach to observational causal discovery, and build a classifier that achieves state-of-the-art performance on finding the causal direction between pairs of random variables, given samples from their joint distribution. Second, we use our causal direction classifier to effectively distinguish between features of objects and features of their contexts in collections of static images. Our experiments demonstrate the existence of a relation between the direction of causality and the difference between objects and their contexts, and by the same token, the existence of observable signals that reveal the causal dispositions of objects.

false

true

false

56,396

2409.17475

On the Impact of Feature Heterophily on Link Prediction with Graph Neural Networks

Heterophily, or the tendency of connected nodes in networks to have different class labels or dissimilar features, has been identified as challenging for many Graph Neural Network (GNN) models. While the challenges of applying GNNs for node classification when class labels display strong heterophily are well understood, it is unclear how heterophily affects GNN performance in other important graph learning tasks where class labels are not available. In this work, we focus on the link prediction task and systematically analyze the impact of heterophily in node features on GNN performance. Theoretically, we first introduce formal definitions of homophilic and heterophilic link prediction tasks, and present a theoretical framework that highlights the different optimizations needed for the respective tasks. We then analyze how different link prediction encoders and decoders adapt to varying levels of feature homophily and introduce designs for improved performance. Our empirical analysis on a variety of synthetic and real-world datasets confirms our theoretical insights and highlights the importance of adopting learnable decoders and GNN encoders with ego- and neighbor-embedding separation in message passing for link prediction tasks beyond homophily.

false

true

false

491,818

1911.08581

A Configuration-Space Decomposition Scheme for Learning-based Collision Checking

Motion planning for robots of high degrees-of-freedom (DOFs) is an important problem in robotics with sampling-based methods in configuration space C as one popular solution. Recently, machine learning methods have been introduced into sampling-based motion planning methods, which train a classifier to distinguish collision free subspace from in-collision subspace in C. In this paper, we propose a novel configuration space decomposition method and show two nice properties resulted from this decomposition. Using these two properties, we build a composite classifier that works compatibly with previous machine learning methods by using them as the elementary classifiers. Experimental results are presented, showing that our composite classifier outperforms state-of-the-art single classifier methods by a large margin. A real application of motion planning in a multi-robot system in plant phenotyping using three UR5 robotic arms is also presented.

false

true

false

154,226

2403.00387

For time-invariant delay systems, global asymptotic stability does not imply uniform global attractivity

Adapting a counterexample recently proposed by J.L. Mancilla-Aguilar and H. Haimovich, we show here that, for time-delay systems, global asymptotic stability does not ensure that solutions converge uniformly to zero over bounded sets of initial states. Hence, the convergence might be arbitrarily slow even if initial states are confined to a bounded set.

false

true

false

433,961

1810.03237

Task-Embedded Control Networks for Few-Shot Imitation Learning

Much like humans, robots should have the ability to leverage knowledge from previously learned tasks in order to learn new tasks quickly in new and unfamiliar environments. Despite this, most robot learning approaches have focused on learning a single task, from scratch, with a limited notion of generalisation, and no way of leveraging the knowledge to learn other tasks more efficiently. One possible solution is meta-learning, but many of the related approaches are limited in their ability to scale to a large number of tasks and to learn further tasks without forgetting previously learned ones. With this in mind, we introduce Task-Embedded Control Networks, which employ ideas from metric learning in order to create a task embedding that can be used by a robot to learn new tasks from one or more demonstrations. In the area of visually-guided manipulation, we present simulation results in which we surpass the performance of a state-of-the-art method when using only visual information from each demonstration. Additionally, we demonstrate that our approach can also be used in conjunction with domain randomisation to train our few-shot learning ability in simulation and then deploy in the real world without any additional training. Once deployed, the robot can learn new tasks from a single real-world demonstration.

false

true

false

true

false

true

false

109,767

2111.00316

Real-time Speaker counting in a cocktail party scenario using Attention-guided Convolutional Neural Network

Most current speech technology systems are designed to operate well even in the presence of multiple active speakers. However, most solutions assume that the number of co-current speakers is known. Unfortunately, this information might not always be available in real-world applications. In this study, we propose a real-time, single-channel attention-guided Convolutional Neural Network (CNN) to estimate the number of active speakers in overlapping speech. The proposed system extracts higher-level information from the speech spectral content using a CNN model. Next, the attention mechanism summarizes the extracted information into a compact feature vector without losing critical information. Finally, the active speakers are classified using a fully connected network. Experiments on simulated overlapping speech using WSJ corpus show that the attention solution is shown to improve the performance by almost 3% absolute over conventional temporal average pooling. The proposed Attention-guided CNN achieves 76.15% for both Weighted Accuracy and average Recall, and 75.80% Precision on speech segments as short as 20 frames (i.e., 200 ms). All the classification metrics exceed 92% for the attention-guided model in offline scenarios where the input signal is more than 100 frames long (i.e., 1s).

false

true

false

true

false

264,179

2412.01330

The "LLM World of Words" English free association norms generated by large language models

Free associations have been extensively used in cognitive psychology and linguistics for studying how conceptual knowledge is organized. Recently, the potential of applying a similar approach for investigating the knowledge encoded in LLMs has emerged, specifically as a method for investigating LLM biases. However, the absence of large-scale LLM-generated free association norms that are comparable with human-generated norms is an obstacle to this new research direction. To address this limitation, we create a new dataset of LLM-generated free association norms modeled after the "Small World of Words" (SWOW) human-generated norms consisting of approximately 12,000 cue words. We prompt three LLMs, namely Mistral, Llama3, and Haiku, with the same cues as those in the SWOW norms to generate three novel comparable datasets, the "LLM World of Words" (LWOW). Using both SWOW and LWOW norms, we construct cognitive network models of semantic memory that represent the conceptual knowledge possessed by humans and LLMs. We demonstrate how these datasets can be used for investigating implicit biases in humans and LLMs, such as the harmful gender stereotypes that are prevalent both in society and LLM outputs.

false

true

false

true

false

513,066

2405.09640

Personalized Content Moderation and Emergent Outcomes

Social media platforms have implemented automated content moderation tools to preserve community norms and mitigate online hate and harassment. Recently, these platforms have started to offer Personalized Content Moderation (PCM), granting users control over moderation settings or aligning algorithms with individual user preferences. While PCM addresses the limitations of the one-size-fits-all approach and enhances user experiences, it may also impact emergent outcomes on social media platforms. Our study reveals that PCM leads to asymmetric information loss (AIL), potentially impeding the development of a shared understanding among users, crucial for healthy community dynamics. We further demonstrate that PCM tools could foster the creation of echo chambers and filter bubbles, resulting in increased community polarization. Our research is the first to identify AIL as a consequence of PCM and to highlight its potential negative impacts on online communities.

false

true

false

true

false

454,485

2501.04169

Learning to Transfer Human Hand Skills for Robot Manipulations

We present a method for teaching dexterous manipulation tasks to robots from human hand motion demonstrations. Unlike existing approaches that solely rely on kinematics information without taking into account the plausibility of robot and object interaction, our method directly infers plausible robot manipulation actions from human motion demonstrations. To address the embodiment gap between the human hand and the robot system, our approach learns a joint motion manifold that maps human hand movements, robot hand actions, and object movements in 3D, enabling us to infer one motion component from others. Our key idea is the generation of pseudo-supervision triplets, which pair human, object, and robot motion trajectories synthetically. Through real-world experiments with robot hand manipulation, we demonstrate that our data-driven retargeting method significantly outperforms conventional retargeting techniques, effectively bridging the embodiment gap between human and robotic hands. Website at https://rureadyo.github.io/MocapRobot/.

false

true

false

true

false

523,116

2407.20805

Multivariable Extremum Seeking Control for Dynamic Maps through Sliding Modes and Periodic Switching Function

This paper presents the design of an extremum seeking controller based on sliding modes and cyclic search for real-time optimization of non-linear multivariable dynamic systems. These systems have arbitrary relative degree, compensated by the technique of time-scaling. The resulting approach guarantees global convergence of the system output to a small neighborhood of the optimum point. To corroborate with the theoretical results, numerical simulations are presented considering a system with two inputs and one output, which rapidly converges to the optimal parameters of the objective function.

false

true

false

477,294

2411.01119

AquaFuse: Waterbody Fusion for Physics Guided View Synthesis of Underwater Scenes

We introduce the idea of AquaFuse, a physics-based method for synthesizing waterbody properties in underwater imagery. We formulate a closed-form solution for waterbody fusion that facilitates realistic data augmentation and geometrically consistent underwater scene rendering. AquaFuse leverages the physical characteristics of light propagation underwater to synthesize the waterbody from one scene to the object contents of another. Unlike data-driven style transfer, AquaFuse preserves the depth consistency and object geometry in an input scene. We validate this unique feature by comprehensive experiments over diverse underwater scenes. We find that the AquaFused images preserve over 94% depth consistency and 90-95% structural similarity of the input scenes. We also demonstrate that it generates accurate 3D view synthesis by preserving object geometry while adapting to the inherent waterbody fusion process. AquaFuse opens up a new research direction in data augmentation by geometry-preserving style transfer for underwater imaging and robot vision applications.

false

true

false

true

false

504,917

2105.08263

New LCD MDS codes of non-Reed-Solomon type

Both linear complementary dual (LCD) codes and maximum distance separable (MDS) codes have good algebraic structures, and they have interesting practical applications such as communication systems, data storage, quantum codes, and so on. So far, most of LCD MDS codes have been constructed by employing generalized Reed-Solomon codes. In this paper we construct some classes of new Euclidean LCD MDS codes and Hermitian LCD MDS codes which are not monomially equivalent to Reed-Solomon codes, called LCD MDS codes of non-Reed- Solomon type. Our method is based on the constructions of Beelen et al. (2017) and Roth and Lempel (1989). To the best of our knowledge, this is the first paper on the construction of LCD MDS codes of non-Reed-Solomon type; any LCD MDS code of non- Reed-Solomon type constructed by our method is not monomially equivalent to any LCD code constructed by the method of Carlet et al. (2018).

false

true

false

235,707

2411.02972

Exploring Seasonal Variability in the Context of Neural Radiance Fields for 3D Reconstruction on Satellite Imagery

In this work, the seasonal predictive capabilities of Neural Radiance Fields (NeRF) applied to satellite images are investigated. Focusing on the utilization of satellite data, the study explores how Sat-NeRF, a novel approach in computer vision, performs in predicting seasonal variations across different months. Through comprehensive analysis and visualization, the study examines the model's ability to capture and predict seasonal changes, highlighting specific challenges and strengths. Results showcase the impact of the sun direction on predictions, revealing nuanced details in seasonal transitions, such as snow cover, color accuracy, and texture representation in different landscapes. Given these results, we propose Planet-NeRF, an extension to Sat-NeRF capable of incorporating seasonal variability through a set of month embedding vectors. Comparative evaluations reveal that Planet-NeRF outperforms prior models in the case where seasonal changes are present. The extensive evaluation combined with the proposed method offers promising avenues for future research in this domain.

false

true

false

505,740

2410.15086

Towards Safer Heuristics With XPlain

Many problems that cloud operators solve are computationally expensive, and operators often use heuristic algorithms (that are faster and scale better than optimal) to solve them more efficiently. Heuristic analyzers enable operators to find when and by how much their heuristics underperform. However, these tools do not provide enough detail for operators to mitigate the heuristic's impact in practice: they only discover a single input instance that causes the heuristic to underperform (and not the full set), and they do not explain why. We propose XPlain, a tool that extends these analyzers and helps operators understand when and why their heuristics underperform. We present promising initial results that show such an extension is viable.

false

true

false

true

false

true

500,364

2209.12785

Outage Performance of Cross-Packet HARQ

As opposed to hybrid automatic repeat request with incremental redundancy (HARQ-IR) that all the resources are occupied to resend the redundant information, cross-packet HARQ (XP-HARQ) allows the introduction of new information into retransmissions to substantially exploit the remaining resources. This letter provides a profound investigation into the outage performance of XP-HARQ. In particular, the exact outage expression of XP-HARQ is derived if the maximum number of transmissions is two, and tight outage bounds are obtained for more than two transmissions. Moreover, the asymptotic outage analysis of XP-HARQ in the high signal-to-noise ratio (SNR) regime is carried out not only to simplify the outage expression, but also to show that full time diversity is achievable by XP-HARQ. The simulation results are eventually presented for verifications.

false

true

false

319,658

1907.03635

Distance from the Nucleus to a Uniformly Random Point in the 0-cell and the Typical Cell of the Poisson-Voronoi Tessellation

Consider the distances $\tilde{R}_o$ and $R_o$ from the nucleus to a uniformly random point in the 0-cell and the typical cell, respectively, of the $d$-dimensional Poisson-Voronoi (PV) tessellation. The main objective of this paper is to characterize the exact distributions of $\tilde{R}_o$ and $R_o$. First, using the well-known relationship between the 0-cell and the typical cell, we show that the random variable $\tilde{R}_o$ is equivalent in distribution to the contact distance of the Poisson point process. Next, we derive a multi-integral expression for the exact distribution of $R_o$. Further, we derive a closed-form approximate expression for the distribution of $R_o$, which is the contact distribution with a mean corrected by a factor equal to the ratio of the mean volumes of the 0-cell and the typical cell. An additional outcome of our analysis is a direct proof of the well-known spherical property of the PV cells having a large inball.

false

true

false

137,900

1808.06640

Adversarial Removal of Demographic Attributes from Text Data

Recent advances in Representation Learning and Adversarial Training seem to succeed in removing unwanted features from the learned representation. We show that demographic information of authors is encoded in -- and can be recovered from -- the intermediate representations learned by text-based neural classifiers. The implication is that decisions of classifiers trained on textual data are not agnostic to -- and likely condition on -- demographic attributes. When attempting to remove such demographic information using adversarial training, we find that while the adversarial component achieves chance-level development-set accuracy during training, a post-hoc classifier, trained on the encoded sentences from the first part, still manages to reach substantially higher classification accuracies on the same data. This behavior is consistent across several tasks, demographic properties and datasets. We explore several techniques to improve the effectiveness of the adversarial component. Our main conclusion is a cautionary one: do not rely on the adversarial training to achieve invariant representation to sensitive features.

false

true

false

true

false

105,573

2105.13530

A BIC-based Mixture Model Defense against Data Poisoning Attacks on Classifiers

Data Poisoning (DP) is an effective attack that causes trained classifiers to misclassify their inputs. DP attacks significantly degrade a classifier's accuracy by covertly injecting attack samples into the training set. Broadly applicable to different classifier structures, without strong assumptions about the attacker, an {\it unsupervised} Bayesian Information Criterion (BIC)-based mixture model defense against "error generic" DP attacks is herein proposed that: 1) addresses the most challenging {\it embedded} DP scenario wherein, if DP is present, the poisoned samples are an {\it a priori} unknown subset of the training set, and with no clean validation set available; 2) applies a mixture model both to well-fit potentially multi-modal class distributions and to capture poisoned samples within a small subset of the mixture components; 3) jointly identifies poisoned components and samples by minimizing the BIC cost defined over the whole training set, with the identified poisoned data removed prior to classifier training. Our experimental results, for various classifier structures and benchmark datasets, demonstrate the effectiveness and universality of our defense under strong DP attacks, as well as its superiority over other works.

false

true

false

true

false

237,330

2106.14610

A keyword-driven approach to science

To a good extent, words can be understood as corresponding to patterns or categories that appeared in order to represent concepts and structures that are particularly important or useful in a given time and space. Words are characterized by not being completely general nor specific, in the sense that the same word can be instantiated or related to several different contexts, depending on specific situations. Indeed, the way in which words are instantiated and associated represents a particularly interesting aspect that can substantially help to better understand the context in which they are employed. Scientific words are no exception to that. In the present work, we approach the associations between a set of particularly relevant words in the sense of being not only frequently used in several areas, but also representing concepts that are currently related to some of the main standing challenges in science. More specifically, the study reported here takes into account the words "prediction", "model", "optimization", "complex", "entropy", "random", "deterministic", "pattern", and "database". In order to complement the analysis, we also obtain a network representing the relationship between the adopted areas. Many interesting results were found. First and foremost, several of the words were observed to have markedly distinct associations in different areas. Biology was found to be related to computer science, sharing associations with databases. Furthermore, for most of the cases, the words "complex", "model", and "prediction" were observed to have several strong associations.

false

true

false

243,459

2104.13494

Probability Distribution-free General Scenario Programming

This paper presents a novel solution paradigm of general optimization under both exogenous and endogenous uncertainties. This solution paradigm consists of a probability distribution (PD)-free method of obtaining deterministic equivalents and an innovative approach of scenario reduction. First, dislike the existing methods that use scenarios sampled from pre-known PD functions, the PD-free method uses historical measurements of uncertain variables as input to convert the logical models into a type of deterministic equivalents called General Scenario Program (GSP). Our contributions to the PD-free deterministic equivalent construction reside in generalization (making it applicable to general optimization under uncertainty rather than just chance-constrained optimization) and extension (enabling it to the problems under endogenous uncertainty via developing an iterative and a non-iterative frameworks). Second, this paper reveals some unknown properties of the PD-free deterministic equivalent construction, such as the characteristics of active scenarios and repeated scenarios. Base on this discoveries, we propose a concept and methods of strategic scenario selection which can effectively reduce the required number of scenarios as demonstrated in both mathematical analysis and numerical experiments. Numerical experiments are conducted on two typical smart grid optimization problems under exogenous and endogenous uncertainties.

false

true

false

232,520

2112.01525

Co-domain Symmetry for Complex-Valued Deep Learning

We study complex-valued scaling as a type of symmetry natural and unique to complex-valued measurements and representations. Deep Complex Networks (DCN) extends real-valued algebra to the complex domain without addressing complex-valued scaling. SurReal takes a restrictive manifold view of complex numbers, adopting a distance metric to achieve complex-scaling invariance while losing rich complex-valued information. We analyze complex-valued scaling as a co-domain transformation and design novel equivariant and invariant neural network layer functions for this special transformation. We also propose novel complex-valued representations of RGB images, where complex-valued scaling indicates hue shift or correlated changes across color channels. Benchmarked on MSTAR, CIFAR10, CIFAR100, and SVHN, our co-domain symmetric (CDS) classifiers deliver higher accuracy, better generalization, robustness to co-domain transformations, and lower model bias and variance than DCN and SurReal with far fewer parameters.

false

true

false

true

false

true

false

269,515

2502.01500

Gamma/hadron separation in the TAIGA experiment with neural network methods

In this work, the ability of rare VHE gamma ray selection with neural network methods is investigated in the case when cosmic radiation flux strongly prevails (ratio up to {10^4} over the gamma radiation flux from a point source). This ratio is valid for the Crab Nebula in the TeV energy range, since the Crab is a well-studied source for calibration and test of various methods and installations in gamma astronomy. The part of TAIGA experiment which includes three Imaging Atmospheric Cherenkov Telescopes observes this gamma-source too. Cherenkov telescopes obtain images of Extensive Air Showers. Hillas parameters can be used to analyse images in standard processing method, or images can be processed with convolutional neural networks. In this work we would like to describe the main steps and results obtained in the gamma/hadron separation task from the Crab Nebula with neural network methods. The results obtained are compared with standard processing method applied in the TAIGA collaboration and using Hillas parameter cuts. It is demonstrated that a signal was received at the level of higher than 5.5{\sigma} in 21 hours of Crab Nebula observations after processing the experimental data with the neural network method.

false

true

false

529,882

2409.03542

Risk-based Calibration for Probabilistic Classifiers

We introduce a general iterative procedure called risk-based calibration (RC) designed to minimize the empirical risk under the 0-1 loss (empirical error) for probabilistic classifiers. These classifiers are based on modeling probability distributions, including those constructed from the joint distribution (generative) and those based on the class conditional distribution (conditional). RC can be particularized to any probabilistic classifier provided a specific learning algorithm that computes the classifier's parameters in closed form using data statistics. RC reinforces the statistics aligned with the true class while penalizing those associated with other classes, guided by the 0-1 loss. The proposed method has been empirically tested on 30 datasets using na\"ive Bayes, quadratic discriminant analysis, and logistic regression classifiers. RC improves the empirical error of the original closed-form learning algorithms and, more notably, consistently outperforms the gradient descent approach with the three classifiers.

false

true

false

486,084

2207.10781

Data-Driven Stochastic AC-OPF using Gaussian Processes

In recent years, electricity generation has been responsible for more than a quarter of the greenhouse gas emissions in the US. Integrating a significant amount of renewables into a power grid is probably the most accessible way to reduce carbon emissions from power grids and slow down climate change. Unfortunately, the most accessible renewable power sources, such as wind and solar, are highly fluctuating and thus bring a lot of uncertainty to power grid operations and challenge existing optimization and control policies. The chance-constrained alternating current (AC) optimal power flow (OPF) framework finds the minimum cost generation dispatch maintaining the power grid operations within security limits with a prescribed probability. Unfortunately, the AC-OPF problem's chance-constrained extension is non-convex, computationally challenging, and requires knowledge of system parameters and additional assumptions on the behavior of renewable distribution. Known linear and convex approximations to the above problems, though tractable, are too conservative for operational practice and do not consider uncertainty in system parameters. This paper presents an alternative data-driven approach based on Gaussian process (GP) regression to close this gap. The GP approach learns a simple yet non-convex data-driven approximation to the AC power flow equations that can incorporate uncertainty inputs. The latter is then used to determine the solution of CC-OPF efficiently, by accounting for both input and parameter uncertainty. The practical efficiency of the proposed approach using different approximations for GP-uncertainty propagation is illustrated over numerous IEEE test cases.

false

true

false

true

false

309,378

2209.03561

Video Vision Transformers for Violence Detection

Law enforcement and city safety are significantly impacted by detecting violent incidents in surveillance systems. Although modern (smart) cameras are widely available and affordable, such technological solutions are impotent in most instances. Furthermore, personnel monitoring CCTV recordings frequently show a belated reaction, resulting in the potential cause of catastrophe to people and property. Thus automated detection of violence for swift actions is very crucial. The proposed solution uses a novel end-to-end deep learning-based video vision transformer (ViViT) that can proficiently discern fights, hostile movements, and violent events in video sequences. The study presents utilizing a data augmentation strategy to overcome the downside of weaker inductive biasness while training vision transformers on a smaller training datasets. The evaluated results can be subsequently sent to local concerned authority, and the captured video can be analyzed. In comparison to state-of-theart (SOTA) approaches the proposed method achieved auspicious performance on some of the challenging benchmark datasets.

false

true

false

true

false

316,527

2104.10067

Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems

In this paper, we propose a robust end-to-end multi-modal pipeline for place recognition where the sensor systems can differ from the map building to the query. Our approach operates directly on images and LiDAR scans without requiring any local feature extraction modules. By projecting the sensor data onto the unit sphere, we learn a multi-modal descriptor of partially overlapping scenes using a spherical convolutional neural network. The employed spherical projection model enables the support of arbitrary LiDAR and camera systems readily without losing information. Loop closure candidates are found using a nearest-neighbor lookup in the embedding space. We tackle the problem of correctly identifying the closest place by correlating the candidates' power spectra, obtaining a confidence value per prospect. Our estimate for the correct place corresponds then to the candidate with the highest confidence. We evaluate our proposal w.r.t. state-of-the-art approaches in place recognition using real-world data acquired using different sensors. Our approach can achieve a recall that is up to 10% and 5% higher than for a LiDAR- and vision-based system, respectively, when the sensor setup differs between model training and deployment. Additionally, our place selection can correctly identify up to 95% matches from the candidate set.

false

true

false

231,452

1703.02905

Learning a Unified Control Policy for Safe Falling

Being able to fall safely is a necessary motor skill for humanoids performing highly dynamic tasks, such as running and jumping. We propose a new method to learn a policy that minimizes the maximal impulse during the fall. The optimization solves for both a discrete contact planning problem and a continuous optimal control problem. Once trained, the policy can compute the optimal next contacting body part (e.g. left foot, right foot, or hands), contact location and timing, and the required joint actuation. We represent the policy as a mixture of actor-critic neural network, which consists of n control policies and the corresponding value functions. Each pair of actor-critic is associated with one of the n possible contacting body parts. During execution, the policy corresponding to the highest value function will be executed while the associated body part will be the next contact with the ground. With this mixture of actor-critic architecture, the discrete contact sequence planning is solved through the selection of the best critics while the continuous control problem is solved by the optimization of actors. We show that our policy can achieve comparable, sometimes even higher, rewards than a recursive search of the action space using dynamic programming, while enjoying 50 to 400 times of speed gain during online execution.

false

true

false

true

false

69,639

2112.01841

Reinforcement learning for options on target volatility funds

In this work we deal with the funding costs rising from hedging the risky securities underlying a target volatility strategy (TVS), a portfolio of risky assets and a risk-free one dynamically rebalanced in order to keep the realized volatility of the portfolio on a certain level. The uncertainty in the TVS risky portfolio composition along with the difference in hedging costs for each component requires to solve a control problem to evaluate the option prices. We derive an analytical solution of the problem in the Black and Scholes (BS) scenario. Then we use Reinforcement Learning (RL) techniques to determine the fund composition leading to the most conservative price under the local volatility (LV) model, for which an a priori solution is not available. We show how the performances of the RL agents are compatible with those obtained by applying path-wise the BS analytical strategy to the TVS dynamics, which therefore appears competitive also in the LV scenario.

false

true

false

269,637

1804.04687

Cross-Domain Visual Recognition via Domain Adaptive Dictionary Learning

In real-world visual recognition problems, the assumption that the training data (source domain) and test data (target domain) are sampled from the same distribution is often violated. This is known as the domain adaptation problem. In this work, we propose a novel domain-adaptive dictionary learning framework for cross-domain visual recognition. Our method generates a set of intermediate domains. These intermediate domains form a smooth path and bridge the gap between the source and target domains. Specifically, we not only learn a common dictionary to encode the domain-shared features, but also learn a set of domain-specific dictionaries to model the domain shift. The separation of the common and domain-specific dictionaries enables us to learn more compact and reconstructive dictionaries for domain adaptation. These dictionaries are learned by alternating between domain-adaptive sparse coding and dictionary updating steps. Meanwhile, our approach gradually recovers the feature representations of both source and target data along the domain path. By aligning all the recovered domain data, we derive the final domain-adaptive features for cross-domain visual recognition. Extensive experiments on three public datasets demonstrates that our approach outperforms most state-of-the-art methods.

false

true

false

94,913

2410.09220

M3Hop-CoT: Misogynous Meme Identification with Multimodal Multi-hop Chain-of-Thought

In recent years, there has been a significant rise in the phenomenon of hate against women on social media platforms, particularly through the use of misogynous memes. These memes often target women with subtle and obscure cues, making their detection a challenging task for automated systems. Recently, Large Language Models (LLMs) have shown promising results in reasoning using Chain-of-Thought (CoT) prompting to generate the intermediate reasoning chains as the rationale to facilitate multimodal tasks, but often neglect cultural diversity and key aspects like emotion and contextual knowledge hidden in the visual modalities. To address this gap, we introduce a Multimodal Multi-hop CoT (M3Hop-CoT) framework for Misogynous meme identification, combining a CLIP-based classifier and a multimodal CoT module with entity-object-relationship integration. M3Hop-CoT employs a three-step multimodal prompting principle to induce emotions, target awareness, and contextual knowledge for meme analysis. Our empirical evaluation, including both qualitative and quantitative analysis, validates the efficacy of the M3Hop-CoT framework on the SemEval-2022 Task 5 (MAMI task) dataset, highlighting its strong performance in the macro-F1 score. Furthermore, we evaluate the model's generalizability by evaluating it on various benchmark meme datasets, offering a thorough insight into the effectiveness of our approach across different datasets.

false

true

false

true

false

true

false

497,488

2302.00236

Generative Adversarial Symmetry Discovery

Despite the success of equivariant neural networks in scientific applications, they require knowing the symmetry group a priori. However, it may be difficult to know which symmetry to use as an inductive bias in practice. Enforcing the wrong symmetry could even hurt the performance. In this paper, we propose a framework, LieGAN, to automatically discover equivariances from a dataset using a paradigm akin to generative adversarial training. Specifically, a generator learns a group of transformations applied to the data, which preserve the original distribution and fool the discriminator. LieGAN represents symmetry as interpretable Lie algebra basis and can discover various symmetries such as the rotation group $\mathrm{SO}(n)$, restricted Lorentz group $\mathrm{SO}(1,3)^+$ in trajectory prediction and top-quark tagging tasks. The learned symmetry can also be readily used in several existing equivariant neural networks to improve accuracy and generalization in prediction.

false

true

false

343,150

1912.08066

Putting Ridesharing to the Test: Efficient and Scalable Solutions and the Power of Dynamic Vehicle Relocation

We study the optimization of large-scale, real-time ridesharing systems and propose a modular design methodology, Component Algorithms for Ridesharing (CAR). We evaluate a diverse set of CARs (14 in total), focusing on the key algorithmic components of ridesharing. We take a multi-objective approach, evaluating 12 metrics related to global efficiency, complexity, passenger, driver, and platform incentives, in settings designed to closely resemble reality in every aspect, focusing on vehicles of capacity two. To the best of our knowledge, this is the largest and most comprehensive evaluation to date. We (i) identify CARs that perform well on global, passenger, driver or platform metrics, (ii) demonstrate that lightweight relocation schemes can significantly improve the Quality of Service by up to $50\%$, and (iii) highlight a practical, scalable, on-device CAR that works well across all metrics.

false

true

false

true

false

true

157,753

2304.06798

On the Opportunities and Challenges of Foundation Models for Geospatial Artificial Intelligence

Large pre-trained models, also known as foundation models (FMs), are trained in a task-agnostic manner on large-scale data and can be adapted to a wide range of downstream tasks by fine-tuning, few-shot, or even zero-shot learning. Despite their successes in language and vision tasks, we have yet seen an attempt to develop foundation models for geospatial artificial intelligence (GeoAI). In this work, we explore the promises and challenges of developing multimodal foundation models for GeoAI. We first investigate the potential of many existing FMs by testing their performances on seven tasks across multiple geospatial subdomains including Geospatial Semantics, Health Geography, Urban Geography, and Remote Sensing. Our results indicate that on several geospatial tasks that only involve text modality such as toponym recognition, location description recognition, and US state-level/county-level dementia time series forecasting, these task-agnostic LLMs can outperform task-specific fully-supervised models in a zero-shot or few-shot learning setting. However, on other geospatial tasks, especially tasks that involve multiple data modalities (e.g., POI-based urban function classification, street view image-based urban noise intensity classification, and remote sensing image scene classification), existing foundation models still underperform task-specific models. Based on these observations, we propose that one of the major challenges of developing a FM for GeoAI is to address the multimodality nature of geospatial tasks. After discussing the distinct challenges of each geospatial data modality, we suggest the possibility of a multimodal foundation model which can reason over various types of geospatial data through geospatial alignments. We conclude this paper by discussing the unique risks and challenges to develop such a model for GeoAI.

false

true

false

true

false

true

false

358,105

1202.3717

PAC-Bayesian Policy Evaluation for Reinforcement Learning

Bayesian priors offer a compact yet general means of incorporating domain knowledge into many learning tasks. The correctness of the Bayesian analysis and inference, however, largely depends on accuracy and correctness of these priors. PAC-Bayesian methods overcome this problem by providing bounds that hold regardless of the correctness of the prior distribution. This paper introduces the first PAC-Bayesian bound for the batch reinforcement learning problem with function approximation. We show how this bound can be used to perform model-selection in a transfer learning scenario. Our empirical results confirm that PAC-Bayesian policy evaluation is able to leverage prior distributions when they are informative and, unlike standard Bayesian RL approaches, ignore them when they are misleading.

false

true

false

14,389

1512.08475

MRF-Based Multispectral Image Fusion Using an Adaptive Approach Based on Edge-Guided Interpolation

In interpretation of remote sensing images, it is possible that some images which are supplied by different sensors become incomprehensible. For better visual perception of these images, it is essential to operate series of pre-processing and elementary corrections and then operate a series of main processing steps for more precise analysis on the images. There are several approaches for processing which are depended on the type of remote sensing images. The discussed approach in this article, i.e. image fusion, is the use of natural colors of an optical image for adding color to a grayscale satellite image which gives us the ability for better observation of the HR image of OLI sensor of Landsat-8. This process with emphasis on details of fusion technique has previously been performed; however, we are going to apply the concept of the interpolation process. In fact, we see many important software tools such as ENVI and ERDAS as the most famous remote sensing image processing tools have only classical interpolation techniques (such as bi-linear (BL) and bi-cubic/cubic convolution (CC)). Therefore, ENVI- and ERDAS-based researches in image fusion area and even other fusion researches often dont use new and better interpolators and are mainly concentrated on the fusion algorithms details for achieving a better quality, so we only focus on the interpolation impact on fusion quality in Landsat-8 multispectral images. The important feature of this approach is to use a statistical, adaptive, and edge-guided interpolation method for improving the color quality in the images in practice. Numerical simulations show selecting the suitable interpolation techniques in MRF-based images creates better quality than the classical interpolators.

false

true

false

50,519

1906.05894

Semantics to Space(S2S): Embedding semantics into spatial space for zero-shot verb-object query inferencing

We present a novel deep zero-shot learning (ZSL) model for inferencing human-object-interaction with verb-object (VO) query. While the previous two-stream ZSL approaches only use the semantic/textual information to be fed into the query stream, we seek to incorporate and embed the semantics into the visual representation stream as well. Our approach is powered by Semantics-to-Space (S2S) architecture where semantics derived from the residing objects are embedded into a spatial space of the visual stream. This architecture allows the co-capturing of the semantic attributes of the human and the objects along with their location/size/silhouette information. To validate, we have constructed a new dataset, Verb-Transferability 60 (VT60). VT60 provides 60 different VO pairs with overlapping verbs tailored for testing two-stream ZSL approaches with VO query. Experimental evaluations show that our approach not only outperforms the state-of-the-art, but also shows the capability of consistently improving performance regardless of which ZSL baseline architecture is used.

false

true

false

135,150

2210.14492

Provable Safe Reinforcement Learning with Binary Feedback

Safety is a crucial necessity in many applications of reinforcement learning (RL), whether robotic, automotive, or medical. Many existing approaches to safe RL rely on receiving numeric safety feedback, but in many cases this feedback can only take binary values; that is, whether an action in a given state is safe or unsafe. This is particularly true when feedback comes from human experts. We therefore consider the problem of provable safe RL when given access to an offline oracle providing binary feedback on the safety of state, action pairs. We provide a novel meta algorithm, SABRE, which can be applied to any MDP setting given access to a blackbox PAC RL algorithm for that setting. SABRE applies concepts from active learning to reinforcement learning to provably control the number of queries to the safety oracle. SABRE works by iteratively exploring the state space to find regions where the agent is currently uncertain about safety. Our main theoretical results shows that, under appropriate technical assumptions, SABRE never takes unsafe actions during training, and is guaranteed to return a near-optimal safe policy with high probability. We provide a discussion of how our meta-algorithm may be applied to various settings studied in both theoretical and empirical frameworks.

false

true

false

true

false

326,571

2203.12687

Trust in AI and Its Role in the Acceptance of AI Technologies

As AI-enhanced technologies become common in a variety of domains, there is an increasing need to define and examine the trust that users have in such technologies. Given the progress in the development of AI, a correspondingly sophisticated understanding of trust in the technology is required. This paper addresses this need by explaining the role of trust on the intention to use AI technologies. Study 1 examined the role of trust in the use of AI voice assistants based on survey responses from college students. A path analysis confirmed that trust had a significant effect on the intention to use AI, which operated through perceived usefulness and participants' attitude toward voice assistants. In study 2, using data from a representative sample of the U.S. population, different dimensions of trust were examined using exploratory factor analysis, which yielded two dimensions: human-like trust and functionality trust. The results of the path analyses from Study 1 were replicated in Study 2, confirming the indirect effect of trust and the effects of perceived usefulness, ease of use, and attitude on intention to use. Further, both dimensions of trust shared a similar pattern of effects within the model, with functionality-related trust exhibiting a greater total impact on usage intention than human-like trust. Overall, the role of trust in the acceptance of AI technologies was significant across both studies. This research contributes to the advancement and application of the TAM in AI-related applications and offers a multidimensional measure of trust that can be utilized in the future study of trustworthy AI.

true

false

true

false

287,360

1402.2562

\'Etude cognitive des processus de construction d'une requ\^ete dans un syst\`eme de gestion de connaissances m\'edicales

This article presents the Cogni-CISMeF project, which aims at improving medical information search in the CISMeF system (Catalog and Index of French-language health resources) by including a conversational agent to interact with the user in natural language. To study the cognitive processes involved during the information search, a bottom-up methodology was adopted. Experimentation has been set up to obtain human dialogs between a user (playing the role of patient) dealing with medical information search and a CISMeF expert refining the request. The analysis of these dialogs underlined the use of discursive evidence: vocabulary, reformulation, implicit or explicit expression of user intentions, conversational sequences, etc. A model of artificial agent is proposed. It leads the user in its information search by proposing to him examples, assistance and choices. This model was implemented and integrated in the CISMeF system. ---- Cet article d\'ecrit le projet Cogni-CISMeF qui propose un module de dialogue Homme-Machine \`a int\'egrer dans le syst\`eme d'indexation de connaissances m\'edicales CISMeF (Catalogue et Index des Sites M\'edicaux Francophones). Nous avons adopt\'e une d\'emarche de mod\'elisation cognitive en proc\'edant \`a un recueil de corpus de dialogues entre un utilisateur (jouant le r\^ole d'un patient) d\'esirant une information m\'edicale et un expert CISMeF af inant cette demande pour construire la requ\^ete. Nous avons analys\'e la structure des dialogues ainsi obtenus et avons \'etudi\'e un certain nombre d'indices discursifs : vocabulaire employ\'e, marques de reformulation, commentaires m\'eta et \'epilinguistiques, expression implicite ou explicite des intentions de l'utilisateur, encha\^inement conversationnel, etc. De cette analyse, nous avons construit un mod\`ele d'agent artificiel dot\'e de capacit\'es cognitives capables d'aider l'utilisateur dans sa t\^ache de recherche d'information. Ce mod\`ele a \'et\'e impl\'ement\'e et int\'egr\'e dans le syst\`eme CISMeF.

false

true

false

true

false

30,791

2202.00332

Activity Recognition in Assembly Tasks by Bayesian Filtering in Multi-Hypergraphs

We study sensor-based human activity recognition in manual work processes like assembly tasks. In such processes, the system states often have a rich structure, involving object properties and relations. Thus, estimating the hidden system state from sensor observations by recursive Bayesian filtering can be very challenging, due to the combinatorial explosion in the number of system states. To alleviate this problem, we propose an efficient Bayesian filtering model for such processes. In our approach, system states are represented by multi-hypergraphs, and the system dynamics is modeled by graph rewriting rules. We show a preliminary concept that allows to represent distributions over multi-hypergraphs more compactly than by full enumeration, and present an inference algorithm that works directly on this compact representation. We demonstrate the applicability of the algorithm on a real dataset.

false

true

false

278,104

2105.02953

Recognition of handwritten MNIST digits on low-memory 2 Kb RAM Arduino board using LogNNet reservoir neural network

The presented compact algorithm for recognizing handwritten digits of the MNIST database, created on the LogNNet reservoir neural network, reaches the recognition accuracy of 82%. The algorithm was tested on a low-memory Arduino board with 2 Kb static RAM low-power microcontroller. The dependences of the accuracy and time of image recognition on the number of neurons in the reservoir have been investigated. The memory allocation demonstrates that the algorithm stores all the necessary information in RAM without using additional data storage, and operates with original images without preliminary processing. The simple structure of the algorithm, with appropriate training, can be adapted for wide practical application, for example, for creating mobile biosensors for early diagnosis of adverse events in medicine. The study results are important for the implementation of artificial intelligence on peripheral constrained IoT devices and for edge computing.

false

true

false

true

false

true

false

233,979

2203.01641

On generating parametrised structural data using conditional generative adversarial networks

A powerful approach, and one of the most common ones in structural health monitoring (SHM), is to use data-driven models to make predictions and inferences about structures and their condition. Such methods almost exclusively rely on the quality of the data. Within the SHM discipline, data do not always suffice to build models with satisfactory accuracy for given tasks. Even worse, data may be completely missing from one's dataset, regarding the behaviour of a structure under different environmental conditions. In the current work, with a view to confronting such issues, the generation of artificial data using a variation of the generative adversarial network (GAN) algorithm, is used. The aforementioned variation is that of the conditional GAN or cGAN. The algorithm is not only used to generate artificial data, but also to learn transformations of manifolds according to some known parameters. Assuming that the structure's response is represented by points in a manifold, part of the space will be formed due to variations in external conditions affecting the structure. This idea proves efficient in SHM, as it is exploited to generate structural data for specific values of environmental coefficients. The scheme is applied here on a simulated structure which operates under different temperature and humidity conditions. The cGAN is trained on data for some discrete values of the temperature within some range, and is able to generate data for every temperature in this range with satisfactory accuracy. The novelty, compared to classic regression in similar problems, is that the cGAN allows unknown environmental parameters to affect the structure and can generate whole manifolds of data for every value of the known parameters, while the unknown ones vary within the generated manifolds.

false

true

false

283,460

1407.5144

Lower Bounds on the Oracle Complexity of Nonsmooth Convex Optimization via Information Theory

We present an information-theoretic approach to lower bound the oracle complexity of nonsmooth black box convex optimization, unifying previous lower bounding techniques by identifying a combinatorial problem, namely string guessing, as a single source of hardness. As a measure of complexity we use distributional oracle complexity, which subsumes randomized oracle complexity as well as worst-case oracle complexity. We obtain strong lower bounds on distributional oracle complexity for the box $[-1,1]^n$, as well as for the $L^p$-ball for $p \geq 1$ (for both low-scale and large-scale regimes), matching worst-case upper bounds, and hence we close the gap between distributional complexity, and in particular, randomized complexity, and worst-case complexity. Furthermore, the bounds remain essentially the same for high-probability and bounded-error oracle complexity, and even for combination of the two, i.e., bounded-error high-probability oracle complexity. This considerably extends the applicability of known bounds.

false

true

false

true

34,753

2312.03864

Geometry Matching for Multi-Embodiment Grasping

Many existing learning-based grasping approaches concentrate on a single embodiment, provide limited generalization to higher DoF end-effectors and cannot capture a diverse set of grasp modes. We tackle the problem of grasping using multiple embodiments by learning rich geometric representations for both objects and end-effectors using Graph Neural Networks. Our novel method - GeoMatch - applies supervised learning on grasping data from multiple embodiments, learning end-to-end contact point likelihood maps as well as conditional autoregressive predictions of grasps keypoint-by-keypoint. We compare our method against baselines that support multiple embodiments. Our approach performs better across three end-effectors, while also producing diverse grasps. Examples, including real robot demos, can be found at geo-match.github.io.

false

true

false

413,461

1502.07019

Building with Drones: Accurate 3D Facade Reconstruction using MAVs

Automatic reconstruction of 3D models from images using multi-view Structure-from-Motion methods has been one of the most fruitful outcomes of computer vision. These advances combined with the growing popularity of Micro Aerial Vehicles as an autonomous imaging platform, have made 3D vision tools ubiquitous for large number of Architecture, Engineering and Construction applications among audiences, mostly unskilled in computer vision. However, to obtain high-resolution and accurate reconstructions from a large-scale object using SfM, there are many critical constraints on the quality of image data, which often become sources of inaccuracy as the current 3D reconstruction pipelines do not facilitate the users to determine the fidelity of input data during the image acquisition. In this paper, we present and advocate a closed-loop interactive approach that performs incremental reconstruction in real-time and gives users an online feedback about the quality parameters like Ground Sampling Distance (GSD), image redundancy, etc on a surface mesh. We also propose a novel multi-scale camera network design to prevent scene drift caused by incremental map building, and release the first multi-scale image sequence dataset as a benchmark. Further, we evaluate our system on real outdoor scenes, and show that our interactive pipeline combined with a multi-scale camera network approach provides compelling accuracy in multi-view reconstruction tasks when compared against the state-of-the-art methods.

false

true

false

true

false

true

false

40,542

2008.06810

Cluster-level Feature Alignment for Person Re-identification

Instance-level alignment is widely exploited for person re-identification, e.g. spatial alignment, latent semantic alignment and triplet alignment. This paper probes another feature alignment modality, namely cluster-level feature alignment across whole dataset, where the model can see not only the sampled images in local mini-batch but the global feature distribution of the whole dataset from distilled anchors. Towards this aim, we propose anchor loss and investigate many variants of cluster-level feature alignment, which consists of iterative aggregation and alignment from the overview of dataset. Our extensive experiments have demonstrated that our methods can provide consistent and significant performance improvement with small training efforts after the saturation of traditional training. In both theoretical and experimental aspects, our proposed methods can result in more stable and guided optimization towards better representation and generalization for well-aligned embedding.

false

true

false

191,896

1103.4547

Canonical Dual Method for Resource Allocation and Adaptive Modulation in Uplink SC-FDMA Systems

In this paper, we study resource allocation and adaptive modulation in SC-FDMA which is adopted as the multiple access scheme for the uplink in the 3GPP-LTE standard. A sum-utility maximization (SUmax), and a joint adaptive modulation and sum-cost minimization (JAMSCmin) problems are considered. Unlike OFDMA, in addition to the restriction of allocating a sub-channel to one user at most, the multiple sub-channels allocated to a user in SC-FDMA should be consecutive as well. This renders the resource allocation problem prohibitively difficult and the standard optimization tools (e.g., Lagrange dual approach widely used for OFDMA, etc.) can not help towards its optimal solution. We propose a novel optimization framework for the solution of these problems that is inspired from the recently developed canonical duality theory. We first formulate the optimization problems as binary-integer programming problems and then transform these binary-integer programming problems into continuous space canonical dual problems that are concave maximization problems. Based on the solution of the continuous space dual problems, we derive resource allocation (joint with adaptive modulation for JAMSCmin) algorithms for both the problems which have polynomial complexities. We provide conditions under which the proposed algorithms are optimal. We also propose an adaptive modulation scheme for SUmax problem. We compare the proposed algorithms with the existing algorithms in the literature to assess their performance.

false

true

false

9,726

2311.13921

Some Like It Small: Czech Semantic Embedding Models for Industry Applications

This article focuses on the development and evaluation of Small-sized Czech sentence embedding models. Small models are important components for real-time industry applications in resource-constrained environments. Given the limited availability of labeled Czech data, alternative approaches, including pre-training, knowledge distillation, and unsupervised contrastive fine-tuning, are investigated. Comprehensive intrinsic and extrinsic analyses are conducted, showcasing the competitive performance of our models compared to significantly larger counterparts, with approximately 8 times smaller size and 5 times faster speed than conventional Base-sized models. To promote cooperation and reproducibility, both the models and the evaluation pipeline are made publicly accessible. Ultimately, this article presents practical applications of the developed sentence embedding models in Seznam.cz, the Czech search engine. These models have effectively replaced previous counterparts, enhancing the overall search experience for instance, in organic search, featured snippets, and image search. This transition has yielded improved performance.

false

true

false

true

false

409,925

2107.02778

Anomaly Detection using Edge Computing in Video Surveillance System: Review

The current concept of Smart Cities influences urban planners and researchers to provide modern, secured and sustainable infrastructure and give a decent quality of life to its residents. To fulfill this need video surveillance cameras have been deployed to enhance the safety and well-being of the citizens. Despite technical developments in modern science, abnormal event detection in surveillance video systems is challenging and requires exhaustive human efforts. In this paper, we surveyed various methodologies developed to detect anomalies in intelligent video surveillance. Firstly, we revisit the surveys on anomaly detection in the last decade. We then present a systematic categorization of methodologies developed for ease of understanding. Considering the notion of anomaly depends on context, we identify different objects-of-interest and publicly available datasets in anomaly detection. Since anomaly detection is considered a time-critical application of computer vision, our emphasis is on anomaly detection using edge devices and approaches explicitly designed for them. Further, we discuss the challenges and opportunities involved in anomaly detection at the edge.

false

true

false

244,936

2405.14233

Language processing in humans and computers

Machine-learned language models have transformed everyday life: they steer us when we study, drive, manage money. They have the potential to transform our civilization. But they hallucinate. Their realities are virtual. This note provides a high-level overview of language models and outlines a low-level model of learning machines. It turns out that, after they become capable of recognizing hallucinations and dreaming safely, as humans tend to be, the language-learning machines proceed to generate broader systems of false beliefs and self-confirming theories, as humans tend to do.

false

true

false

true

false

true

456,324

2206.14981

Randomized Coordinate Subgradient Method for Nonsmooth Composite Optimization

Coordinate-type subgradient methods for addressing nonsmooth optimization problems are relatively underexplored due to the set-valued nature of the subdifferential. In this work, our study focuses on nonsmooth composite optimization problems, encompassing a wide class of convex and weakly convex (nonconvex nonsmooth) problems. By utilizing the chain rule of the composite structure properly, we introduce the Randomized Coordinate Subgradient method (RCS) for tackling this problem class. To the best of our knowledge, this is the first coordinate subgradient method for solving general nonsmooth composite optimization problems. In theory, we consider the linearly bounded subgradients assumption for the objective function, which is more general than the traditional Lipschitz continuity assumption, to account for practical scenarios. We then conduct convergence analysis for RCS in both convex and weakly convex cases based on this generalized Lipschitz-type assumption. Specifically, we establish the $\widetilde{\mathcal{O}}$$(1/\sqrt{k})$ convergence rate in expectation and the $\tilde o(1/\sqrt{k})$ almost sure asymptotic convergence rate in terms of the suboptimality gap when $f$ is convex. For the case when $f$ is weakly convex and its subdifferential satisfies the global metric subregularity property, we derive the $\mathcal{O}(\varepsilon^{-4})$ iteration complexity in expectation. We also establish an asymptotic convergence result. To justify the global metric subregularity property utilized in the analysis, we establish this error bound condition for the concrete (real-valued) robust phase retrieval problem. We also provide a convergence lemma and the relationship between the global metric subregularity properties of a weakly convex function and its Moreau envelope. Finally, we conduct several experiments to demonstrate the possible superiority of RCS over the subgradient method.

false

true

false

305,442

2412.07770

From an Image to a Scene: Learning to Imagine the World from a Million 360 Videos

Three-dimensional (3D) understanding of objects and scenes play a key role in humans' ability to interact with the world and has been an active area of research in computer vision, graphics, and robotics. Large scale synthetic and object-centric 3D datasets have shown to be effective in training models that have 3D understanding of objects. However, applying a similar approach to real-world objects and scenes is difficult due to a lack of large-scale data. Videos are a potential source for real-world 3D data, but finding diverse yet corresponding views of the same content has shown to be difficult at scale. Furthermore, standard videos come with fixed viewpoints, determined at the time of capture. This restricts the ability to access scenes from a variety of more diverse and potentially useful perspectives. We argue that large scale 360 videos can address these limitations to provide: scalable corresponding frames from diverse views. In this paper, we introduce 360-1M, a 360 video dataset, and a process for efficiently finding corresponding frames from diverse viewpoints at scale. We train our diffusion-based model, Odin, on 360-1M. Empowered by the largest real-world, multi-view dataset to date, Odin is able to freely generate novel views of real-world scenes. Unlike previous methods, Odin can move the camera through the environment, enabling the model to infer the geometry and layout of the scene. Additionally, we show improved performance on standard novel view synthesis and 3D reconstruction benchmarks.

false

true

false

true

false

515,795

2408.09662

CusADi: A GPU Parallelization Framework for Symbolic Expressions and Optimal Control

The parallelism afforded by GPUs presents significant advantages in training controllers through reinforcement learning (RL). However, integrating model-based optimization into this process remains challenging due to the complexity of formulating and solving optimization problems across thousands of instances. In this work, we present CusADi, an extension of the CasADi symbolic framework to support the parallelization of arbitrary closed-form expressions on GPUs with CUDA. We also formulate a closed-form approximation for solving general optimal control problems, enabling large-scale parallelization and evaluation of MPC controllers. Our results show a ten-fold speedup relative to similar MPC implementation on the CPU, and we demonstrate the use of CusADi for various applications, including parallel simulation, parameter sweeps, and policy training.

false

true

false

true

481,530

2410.22606

Testing Tensor Products of Algebraic Codes

Motivated by recent advances in locally testable codes and quantum LDPCs based on robust testability of tensor product codes, we explore the local testability of tensor products of (an abstraction of) algebraic geometry codes. Such codes are parameterized by, in addition to standard parameters such as block length $n$ and dimension $k$, their genus $g$. We show that the tensor product of two algebraic geometry codes is robustly locally testable provided $n = \Omega((k+g)^2)$. Apart from Reed-Solomon codes, this seems to be the first explicit family of codes of super-constant dual distance that is robustly locally testable.

false

true

false

503,692

2211.02566

scikit-fda: A Python Package for Functional Data Analysis

The library scikit-fda is a Python package for Functional Data Analysis (FDA). It provides a comprehensive set of tools for representation, preprocessing, and exploratory analysis of functional data. The library is built upon and integrated in Python's scientific ecosystem. In particular, it conforms to the scikit-learn application programming interface so as to take advantage of the functionality for machine learning provided by this package: pipelines, model selection, and hyperparameter tuning, among others. The scikit-fda package has been released as free and open-source software under a 3-Clause BSD license and is open to contributions from the FDA community. The library's extensive documentation includes step-by-step tutorials and detailed examples of use.

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true

false

true

328,615

2309.02067

Histograms of Points, Orientations, and Dynamics of Orientations Features for Hindi Online Handwritten Character Recognition

A set of features independent of character stroke direction and order variations is proposed for online handwritten character recognition. A method is developed that maps features like co-ordinates of points, orientations of strokes at points, and dynamics of orientations of strokes at points spatially as a function of co-ordinate values of the points and computes histograms of these features from different regions in the spatial map. Different features like spatio-temporal, discrete Fourier transform, discrete cosine transform, discrete wavelet transform, spatial, and histograms of oriented gradients used in other studies for training classifiers for character recognition are considered. The classifier chosen for classification performance comparison, when trained with different features, is support vector machines (SVM). The character datasets used for training and testing the classifiers consist of online handwritten samples of 96 different Hindi characters. There are 12832 and 2821 samples in training and testing datasets, respectively. SVM classifiers trained with the proposed features has the highest classification accuracy of 92.9\% when compared to the performances of SVM classifiers trained with the other features and tested on the same testing dataset. Therefore, the proposed features have better character discriminative capability than the other features considered for comparison.

false

true

false

389,919

1703.02629

Online Learning Without Prior Information

The vast majority of optimization and online learning algorithms today require some prior information about the data (often in the form of bounds on gradients or on the optimal parameter value). When this information is not available, these algorithms require laborious manual tuning of various hyperparameters, motivating the search for algorithms that can adapt to the data with no prior information. We describe a frontier of new lower bounds on the performance of such algorithms, reflecting a tradeoff between a term that depends on the optimal parameter value and a term that depends on the gradients' rate of growth. Further, we construct a family of algorithms whose performance matches any desired point on this frontier, which no previous algorithm reaches.

false

true

false

69,590

2107.12744

Real-Time Activity Recognition and Intention Recognition Using a Vision-based Embedded System

With the rapid increase in digital technologies, most fields of study include recognition of human activity and intention recognition, which are essential in smart environments. In this study, we equipped the activity recognition system with the ability to recognize intentions by affecting the pace of movement of individuals in the representation of images. Using this technology in various environments such as elevators and automatic doors will lead to identifying those who intend to pass the automatic door from those who are passing by. This system, if applied in elevators and automatic doors, will save energy and increase efficiency. For this study, data preparation is applied to combine the spatial and temporal features with the help of digital image processing principles. Nevertheless, unlike previous studies, only one AlexNet neural network is used instead of two-stream convolutional neural networks. Our embedded system was implemented with an accuracy of 98.78% on our intention recognition dataset. We also examined our data representation approach on other datasets, including HMDB-51, KTH, and Weizmann, and obtained accuracy of 78.48%, 97.95%, and 100%, respectively. The image recognition and neural network models were simulated and implemented using Xilinx simulators for the Xilinx ZCU102 board. The operating frequency of this embedded system is 333 MHz, and it works in real-time with 120 frames per second (fps).

false

true

false

247,997

1807.08405

Visual Mesh: Real-time Object Detection Using Constant Sample Density

This paper proposes an enhancement of convolutional neural networks for object detection in resource-constrained robotics through a geometric input transformation called Visual Mesh. It uses object geometry to create a graph in vision space, reducing computational complexity by normalizing the pixel and feature density of objects. The experiments compare the Visual Mesh with several other fast convolutional neural networks. The results demonstrate execution times sixteen times quicker than the fastest competitor tested, while achieving outstanding accuracy.

false

true

false

true

false

true

false

true

103,533

2306.06945

Underwater Acoustic Target Recognition based on Smoothness-inducing Regularization and Spectrogram-based Data Augmentation

Underwater acoustic target recognition is a challenging task owing to the intricate underwater environments and limited data availability. Insufficient data can hinder the ability of recognition systems to support complex modeling, thus impeding their advancement. To improve the generalization capacity of recognition models, techniques such as data augmentation have been employed to simulate underwater signals and diversify data distribution. However, the complexity of underwater environments can cause the simulated signals to deviate from real scenarios, resulting in biased models that are misguided by non-true data. In this study, we propose two strategies to enhance the generalization ability of models in the case of limited data while avoiding the risk of performance degradation. First, as an alternative to traditional data augmentation, we utilize smoothness-inducing regularization, which only incorporates simulated signals in the regularization term. Additionally, we propose a specialized spectrogram-based data augmentation strategy, namely local masking and replicating (LMR), to capture inter-class relationships. Our experiments and visualization analysis demonstrate the superiority of our proposed strategies.

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false

true

false

372,818

1905.10054

A Compressive Sensing Video dataset using Pixel-wise coded exposure

Manifold amount of video data gets generated every minute as we read this document, ranging from surveillance to broadcasting purposes. There are two roadblocks that restrain us from using this data as such, first being the storage which restricts us from only storing the information based on the hardware constraints. Secondly, the computation required to process this data is highly expensive which makes it infeasible to work on them. Compressive sensing(CS)[2] is a signal process technique[11], through optimization, the sparsity of a signal can be exploited to recover it from far fewer samples than required by the Shannon-Nyquist sampling theorem. There are two conditions under which recovery is possible. The first one is sparsity which requires the signal to be sparse in some domain. The second one is incoherence which is applied through the isometric property which is sufficient for sparse signals[9][10]. To sustain these characteristics, preserving all attributes in the uncompressed domain would help any kind of in this field. However, existing dataset fallback in terms of continuous tracking of all the object present in the scene, very few video datasets have comprehensive continuous tracking of objects. To address these problems collectively, in this work we propose a new comprehensive video dataset, where the data is compressed using pixel-wise coded exposure [3] that resolves various other impediments.

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true

false

131,936

2306.06850

Volume-DROID: A Real-Time Implementation of Volumetric Mapping with DROID-SLAM

This paper presents Volume-DROID, a novel approach for Simultaneous Localization and Mapping (SLAM) that integrates Volumetric Mapping and Differentiable Recurrent Optimization-Inspired Design (DROID). Volume-DROID takes camera images (monocular or stereo) or frames from a video as input and combines DROID-SLAM, point cloud registration, an off-the-shelf semantic segmentation network, and Convolutional Bayesian Kernel Inference (ConvBKI) to generate a 3D semantic map of the environment and provide accurate localization for the robot. The key innovation of our method is the real-time fusion of DROID-SLAM and Convolutional Bayesian Kernel Inference (ConvBKI), achieved through the introduction of point cloud generation from RGB-Depth frames and optimized camera poses. This integration, engineered to enable efficient and timely processing, minimizes lag and ensures effective performance of the system. Our approach facilitates functional real-time online semantic mapping with just camera images or stereo video input. Our paper offers an open-source Python implementation of the algorithm, available at https://github.com/peterstratton/Volume-DROID.

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false

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372,778