OpenRaiser/Intern-Atlas huggingface dataset:
The Power of Uniform Sampling for Coresets
Venue: arXiv cs.DS 2022
Year: 2022

Motivated by practical generalizations of the classic $k$-median and $k$-means objectives, such as clustering with size constraints, fair clustering, and Wasserstein barycenter, we introduce a meta-theorem for designing coresets for constrained-clustering problems. The meta-theorem reduces the task of coreset construction to one on a bounded number of ring instances with a much-relaxed additive error. This reduction enables us to construct coresets using uniform sampling, in contrast to the widely-used importance sampling, and consequently we can easily handle constrained objectives. Notably and perhaps surprisingly, this simpler sampling scheme can yield coresets whose size is independent of $n$, the number of input points. Our technique yields smaller coresets, and sometimes the first coresets, for a large number of constrained clustering problems, including capacitated clustering, fair clustering, Euclidean Wasserstein barycenter, clustering in minor-excluded graph, and polygon clustering under Fréchet and Hausdorff distance. Finally, our technique yields also smaller coresets for $1$-median in low-dimensional Euclidean spaces, specifically of size $\tilde{O}(\varepsilon^{-1.5})$ in $\mathbb{R}^2$ and $\tilde{O}(\varepsilon^{-1.6})$ in $\mathbb{R}^3$.
Analysis of the Effect of Time Delay for Unmanned Aerial Vehicles with Applications to Vision Based Navigation
Venue: arXiv cs.RO 2022
Year: 2022

In this paper, we analyze the effect of time delay dynamics on controller design for Unmanned Aerial Vehicles (UAVs) with vision based navigation. Time delay is an inevitable phenomenon in cyber-physical systems, and has important implications on controller design and trajectory generation for UAVs. The impact of time delay on UAV dynamics increases with the use of the slower vision based navigation stack. We show that the existing models in the literature, which exclude time delay, are unsuitable for controller tuning since a trivial solution for minimizing an error cost functional always exists. The trivial solution that we identify suggests use of infinite controller gains to achieve optimal performance, which contradicts practical findings. We avoid such shortcomings by introducing a novel nonlinear time delay model for UAVs, and then obtain a set of linear decoupled models corresponding to each of the UAV control loops. The cost functional of the linearized time delay model of angular and altitude dynamics is analyzed, and in contrast to the delay-free models, we show the existence of finite optimal controller parameters. Due to the use of time delay models, we experimentally show that the proposed model accurately represents system stability limits. Due to time delay consideration, we achieved a tracking results of RMSE 5.01 cm when tracking a lemniscate trajectory with a peak velocity of 2.09 m/s using visual odometry (VO) based UAV navigation, which is on par with the state-of-the-art.
Modeling User Repeat Consumption Behavior for Online Novel Recommendation
Venue: arXiv cs.IR 2022
Year: 2022

Given a user's historical interaction sequence, online novel recommendation suggests the next novel the user may be interested in. Online novel recommendation is important but underexplored. In this paper, we concentrate on recommending online novels to new users of an online novel reading platform, whose first visits to the platform occurred in the last seven days. We have two observations about online novel recommendation for new users. First, repeat novel consumption of new users is a common phenomenon. Second, interactions between users and novels are informative. To accurately predict whether a user will reconsume a novel, it is crucial to characterize each interaction at a fine-grained level. Based on these two observations, we propose a neural network for online novel recommendation, called NovelNet. NovelNet can recommend the next novel from both the user's consumed novels and new novels simultaneously. Specifically, an interaction encoder is used to obtain accurate interaction representation considering fine-grained attributes of interaction, and a pointer network with a pointwise loss is incorporated into NovelNet to recommend previously-consumed novels. Moreover, an online novel recommendation dataset is built from a well-known online novel reading platform and is released for public use as a benchmark. Experimental results on the dataset demonstrate the effectiveness of NovelNet.
"Dummy Grandpa, do you know anything?": Identifying and Characterizing Ad hominem Fallacy Usage in the Wild
Venue: arXiv cs.CL 2022
Year: 2022

Today, participating in discussions on online forums is extremely commonplace and these discussions have started rendering a strong influence on the overall opinion of online users. Naturally, twisting the flow of the argument can have a strong impact on the minds of naive users, which in the long run might have socio-political ramifications, for example, winning an election or spreading targeted misinformation. Thus, these platforms are potentially highly vulnerable to malicious players who might act individually or as a cohort to breed fallacious arguments with a motive to sway public opinion. Ad hominem arguments are one of the most effective forms of such fallacies. Although a simple fallacy, it is effective enough to sway public debates in offline world and can be used as a precursor to shutting down the voice of opposition by slander. In this work, we take a first step in shedding light on the usage of ad hominem fallacies in the wild. First, we build a powerful ad hominem detector with high accuracy (F1 more than 83%, showing a significant improvement over prior work), even for datasets for which annotated instances constitute a very small fraction. We then used our detector on 265k arguments collected from the online debate forum - CreateDebate. Our crowdsourced surveys validate our in-the-wild predictions on CreateDebate data (94% match with manual annotation). Our analysis revealed that a surprising 31.23% of CreateDebate content contains ad hominem fallacy, and a cohort of highly active users post significantly more ad hominem to suppress opposing views. Then, our temporal analysis revealed that ad hominem argument usage increased significantly since the 2016 US Presidential election, not only for topics like Politics, but also for Science and Law. We conclude by discussing important implications of our work to detect and defend against ad hominem fallacies.
Nearest-Neighbor Decompositions of Drawings
Venue: arXiv cs.CG 2022
Year: 2022

Let $\mathcal{D}$ be a set of straight-line segments in the plane, potentially crossing, and let $c$ be a positive integer. We denote by $P$ the union of the endpoints of the straight-line segments of $\mathcal{D}$ and of the intersection points between pairs of segments. We say that $\mathcal{D}$ has a nearest-neighbor decomposition into $c$ parts if we can partition $P$ into $c$ point sets $P_1, \ldots, P_c$ such that $\mathcal{D}$ is the union of the nearest neighbor graphs on $P_1, \ldots, P_c$. We show that it is NP-complete to decide whether $\mathcal{D}$ can be drawn as the union of $c\geq 3$ nearest-neighbor graphs, even when no two segments cross. We show that for $c = 2$, it is NP-complete in the general setting and polynomial-time solvable when no two segments cross. We show the existence of an $O(\log n)$-approximation algorithm running in subexponential time for partitioning $\mathcal{D}$ into a minimum number of nearest-neighbor graphs. As a main tool in our analysis, we establish the notion of the conflict graph for a drawing $\mathcal{D}$. The vertices of the conflict graph are the connected components of $\mathcal{D}$, with the assumption that each connected component is the nearest neighbor graph of its vertices, and there is an edge between two components $U$ and $V$ if and only if the nearest neighbor graph of $U \cup V$ contains an edge between a vertex in $U$ and a vertex in $V$. We show that string graphs are conflict graphs of certain planar drawings. For planar graphs and complete $k$-partite graphs, we give additional, more efficient constructions. We furthermore show that there are subdivisions of non-planar graphs that are not conflict graphs. Lastly, we show a separator lemma for conflict graphs.
Rare but Severe Neural Machine Translation Errors Induced by Minimal Deletion: An Empirical Study on Chinese and English
Venue: arXiv cs.CL 2022
Year: 2022

We examine the inducement of rare but severe errors in English-Chinese and Chinese-English in-domain neural machine translation by minimal deletion of the source text with character-based models. By deleting a single character, we can induce severe translation errors. We categorize these errors and compare the results of deleting single characters and single words. We also examine the effect of training data size on the number and types of pathological cases induced by these minimal perturbations, finding significant variation. We find that deleting a word hurts overall translation score more than deleting a character, but certain errors are more likely to occur when deleting characters, with language direction also influencing the effect.
Learning Canonical Embeddings for Unsupervised Shape Correspondence with Locally Linear Transformations
Venue: arXiv cs.CV 2022
Year: 2022

We present a new approach to unsupervised shape correspondence learning between pairs of point clouds. We make the first attempt to adapt the classical locally linear embedding algorithm (LLE) -- originally designed for nonlinear dimensionality reduction -- for shape correspondence. The key idea is to find dense correspondences between shapes by first obtaining high-dimensional neighborhood-preserving embeddings of low-dimensional point clouds and subsequently aligning the source and target embeddings using locally linear transformations. We demonstrate that learning the embedding using a new LLE-inspired point cloud reconstruction objective results in accurate shape correspondences. More specifically, the approach comprises an end-to-end learnable framework of extracting high-dimensional neighborhood-preserving embeddings, estimating locally linear transformations in the embedding space, and reconstructing shapes via divergence measure-based alignment of probabilistic density functions built over reconstructed and target shapes. Our approach enforces embeddings of shapes in correspondence to lie in the same universal/canonical embedding space, which eventually helps regularize the learning process and leads to a simple nearest neighbors approach between shape embeddings for finding reliable correspondences. Comprehensive experiments show that the new method makes noticeable improvements over state-of-the-art approaches on standard shape correspondence benchmark datasets covering both human and nonhuman shapes.
Exploiting and Guiding User Interaction in Interactive Machine Teaching
Venue: arXiv cs.HC 2022
Year: 2022

Humans are talented with the ability to perform diverse interactions in the teaching process. However, when humans want to teach AI, existing interactive systems only allow humans to perform repetitive labeling, causing an unsatisfactory teaching experience. My Ph.D. research studies Interactive Machine Teaching (IMT), an emerging field of HCI research that aims to enhance humans' teaching experience in the AI creation process. My research builds IMT systems that exploit and guide user interaction and shows that such in-depth integration of human interaction can benefit both AI models and user experience.
Factor Graph Accelerator for LiDAR-Inertial Odometry
Venue: arXiv cs.RO 2022
Year: 2022

Factor graph is a graph representing the factorization of a probability distribution function, and has been utilized in many autonomous machine computing tasks, such as localization, tracking, planning and control etc. We are developing an architecture with the goal of using factor graph as a common abstraction for most, if not, all autonomous machine computing tasks. If successful, the architecture would provide a very simple interface of mapping autonomous machine functions to the underlying compute hardware. As a first step of such an attempt, this paper presents our most recent work of developing a factor graph accelerator for LiDAR-Inertial Odometry (LIO), an essential task in many autonomous machines, such as autonomous vehicles and mobile robots. By modeling LIO as a factor graph, the proposed accelerator not only supports multi-sensor fusion such as LiDAR, inertial measurement unit (IMU), GPS, etc., but solves the global optimization problem of robot navigation in batch or incremental modes. Our evaluation demonstrates that the proposed design significantly improves the real-time performance and energy efficiency of autonomous machine navigation systems. The initial success suggests the potential of generalizing the factor graph architecture as a common abstraction for autonomous machine computing, including tracking, planning, and control etc.
Adaptive Machine Learning for Cooperative Manipulators
Venue: arXiv cs.RO 2022
Year: 2022

The problem of self-tuning control of cooperative manipulators forming a closed kinematic chain in the presence of an inaccurate kinematics model is addressed using adaptive machine learning. The kinematic parameters pertaining to the relative position/orientation uncertainties of the interconnected manipulators are updated online by two cascaded estimators in order to tune a cooperative controller for achieving accurate motion tracking with minimum-norm actuation force. This technique permits accurate calibration of the relative kinematics of the involved manipulators without needing high precision end-point sensing or force measurements, and hence it is economically justified. Investigating the stability of the entire real-time estimator/controller system reveals that the convergence and stability of the adaptive control process can be ensured if i) the direction of the angular velocity vector does not remain constant over time, and ii) the initial kinematic parameter error is upper bounded by a scaler function of some known parameters. The adaptive controller is proved to be singularity-free even though the control law involves inverting the approximation of a matrix computed at the estimated parameters. Experimental results demonstrate the sensitivity of the tracking performance of the conventional inverse dynamic control scheme to kinematic inaccuracies, while the tracking error is significantly reduced by the self-tuning cooperative controller.
Automatic Code Documentation Generation Using GPT-3
Venue: arXiv cs.SE 2022
Year: 2022

Source code documentation is an important artifact for efficient software development. Code documentation could greatly benefit from automation since manual documentation is often labouring, resource and time-intensive. In this paper, we employed Codex for automatic code documentation creation. Codex is a GPT-3 based model pre-trained on both natural and programming languages. We find that Codex outperforms existing techniques even with basic settings like one-shot learning (i.e., providing only one example for training). Codex achieves an overall BLEU score of 20.6 for six different programming languages (11.2% improvement over earlier state-of-the-art techniques). Thus, Codex shows promise and warrants in-depth future studies for automatic code documentation generation to support diverse development tasks.
Real-Time Cattle Interaction Recognition via Triple-stream Network
Venue: arXiv cs.CV 2022
Year: 2022

In stockbreeding of beef cattle, computer vision-based approaches have been widely employed to monitor cattle conditions (e.g. the physical, physiology, and health). To this end, the accurate and effective recognition of cattle action is a prerequisite. Generally, most existing models are confined to individual behavior that uses video-based methods to extract spatial-temporal features for recognizing the individual actions of each cattle. However, there is sociality among cattle and their interaction usually reflects important conditions, e.g. estrus, and also video-based method neglects the real-time capability of the model. Based on this, we tackle the challenging task of real-time recognizing interactions between cattle in a single frame in this paper. The pipeline of our method includes two main modules: Cattle Localization Network and Interaction Recognition Network. At every moment, cattle localization network outputs high-quality interaction proposals from every detected cattle and feeds them into the interaction recognition network with a triple-stream architecture. Such a triple-stream network allows us to fuse different features relevant to recognizing interactions. Specifically, the three kinds of features are a visual feature that extracts the appearance representation of interaction proposals, a geometric feature that reflects the spatial relationship between cattle, and a semantic feature that captures our prior knowledge of the relationship between the individual action and interaction of cattle. In addition, to solve the problem of insufficient quantity of labeled data, we pre-train the model based on self-supervised learning. Qualitative and quantitative evaluation evidences the performance of our framework as an effective method to recognize cattle interaction in real time.
Machine Learning For Classification Of Antithetical Emotional States
Venue: arXiv cs.LG 2022
Year: 2022

Emotion Classification through EEG signals has achieved many advancements. However, the problems like lack of data and learning the important features and patterns have always been areas with scope for improvement both computationally and in prediction accuracy. This works analyses the baseline machine learning classifiers' performance on DEAP Dataset along with a tabular learning approach that provided state-of-the-art comparable results leveraging the performance boost due to its deep learning architecture without deploying heavy neural networks.
Spatio-Temporal Action Detection Under Large Motion
Venue: arXiv cs.CV 2022
Year: 2022

Current methods for spatiotemporal action tube detection often extend a bounding box proposal at a given keyframe into a 3D temporal cuboid and pool features from nearby frames. However, such pooling fails to accumulate meaningful spatiotemporal features if the position or shape of the actor shows large 2D motion and variability through the frames, due to large camera motion, large actor shape deformation, fast actor action and so on. In this work, we aim to study the performance of cuboid-aware feature aggregation in action detection under large action. Further, we propose to enhance actor feature representation under large motion by tracking actors and performing temporal feature aggregation along the respective tracks. We define the actor motion with intersection-over-union (IoU) between the boxes of action tubes/tracks at various fixed time scales. The action having a large motion would result in lower IoU over time, and slower actions would maintain higher IoU. We find that track-aware feature aggregation consistently achieves a large improvement in action detection performance, especially for actions under large motion compared to the cuboid-aware baseline. As a result, we also report state-of-the-art on the large-scale MultiSports dataset. The Code is available at https://github.com/gurkirt/ActionTrackDetectron.
External Knowledge Selection with Weighted Negative Sampling in Knowledge-grounded Task-oriented Dialogue Systems
Venue: arXiv cs.CL 2022
Year: 2022

Constructing a robust dialogue system on spoken conversations bring more challenge than written conversation. In this respect, DSTC10-Track2-Task2 is proposed, which aims to build a task-oriented dialogue (TOD) system incorporating unstructured external knowledge on a spoken conversation, extending DSTC9-Track1. This paper introduces our system containing four advanced methods: data construction, weighted negative sampling, post-training, and style transfer. We first automatically construct a large training data because DSTC10-Track2 does not release the official training set. For the knowledge selection task, we propose weighted negative sampling to train the model more fine-grained manner. We also employ post-training and style transfer for the response generation task to generate an appropriate response with a similar style to the target response. In the experiment, we investigate the effect of weighted negative sampling, post-training, and style transfer. Our model ranked 7 out of 16 teams in the objective evaluation and 6 in human evaluation.
SIND: A Drone Dataset at Signalized Intersection in China
Venue: arXiv cs.CV 2022
Year: 2022

Intersection is one of the most challenging scenarios for autonomous driving tasks. Due to the complexity and stochasticity, essential applications (e.g., behavior modeling, motion prediction, safety validation, etc.) at intersections rely heavily on data-driven techniques. Thus, there is an intense demand for trajectory datasets of traffic participants (TPs) in intersections. Currently, most intersections in urban areas are equipped with traffic lights. However, there is not yet a large-scale, high-quality, publicly available trajectory dataset for signalized intersections. Therefore, in this paper, a typical two-phase signalized intersection is selected in Tianjin, China. Besides, a pipeline is designed to construct a Signalized INtersection Dataset (SIND), which contains 7 hours of recording including over 13,000 TPs with 7 types. Then, the behaviors of traffic light violations in SIND are recorded. Furthermore, the SIND is also compared with other similar works. The features of the SIND can be summarized as follows: 1) SIND provides more comprehensive information, including traffic light states, motion parameters, High Definition (HD) map, etc. 2) The category of TPs is diverse and characteristic, where the proportion of vulnerable road users (VRUs) is up to 62.6% 3) Multiple traffic light violations of non-motor vehicles are shown. We believe that SIND would be an effective supplement to existing datasets and can promote related research on autonomous driving.The dataset is available online via: https://github.com/SOTIF-AVLab/SinD
Multimodal contrastive learning for remote sensing tasks
Venue: arXiv cs.CV 2022
Year: 2022

Self-supervised methods have shown tremendous success in the field of computer vision, including applications in remote sensing and medical imaging. Most popular contrastive-loss based methods like SimCLR, MoCo, MoCo-v2 use multiple views of the same image by applying contrived augmentations on the image to create positive pairs and contrast them with negative examples. Although these techniques work well, most of these techniques have been tuned on ImageNet (and similar computer vision datasets). While there have been some attempts to capture a richer set of deformations in the positive samples, in this work, we explore a promising alternative to generating positive examples for remote sensing data within the contrastive learning framework. Images captured from different sensors at the same location and nearby timestamps can be thought of as strongly augmented instances of the same scene, thus removing the need to explore and tune a set of hand crafted strong augmentations. In this paper, we propose a simple dual-encoder framework, which is pre-trained on a large unlabeled dataset (~1M) of Sentinel-1 and Sentinel-2 image pairs. We test the embeddings on two remote sensing downstream tasks: flood segmentation and land cover mapping, and empirically show that embeddings learnt from this technique outperform the conventional technique of collecting positive examples via aggressive data augmentations.