OpenRaiser/Intern-Atlas huggingface dataset:
Invariant-Feature Subspace Recovery: A New Class of Provable Domain Generalization Algorithms
Venue: arXiv cs.LG 2023
Year: 2023

Domain generalization asks for models trained over a set of training environments to generalize well in unseen test environments. Recently, a series of algorithms such as Invariant Risk Minimization (IRM) have been proposed for domain generalization. However, Rosenfeld et al. (2021) shows that in a simple linear data model, even if non-convexity issues are ignored, IRM and its extensions cannot generalize to unseen environments with less than $d_s+1$ training environments, where $d_s$ is the dimension of the spurious-feature subspace. In this work, we propose Invariant-feature Subspace Recovery (ISR): a new class of algorithms to achieve provable domain generalization across the settings of classification and regression problems. First, in the binary classification setup of Rosenfeld et al. (2021), we show that our first algorithm, ISR-Mean, can identify the subspace spanned by invariant features from the first-order moments of the class-conditional distributions, and achieve provable domain generalization with $d_s+1$ training environments. Our second algorithm, ISR-Cov, further reduces the required number of training environments to $O(1)$ using the information of second-order moments. Notably, unlike IRM, our algorithms bypass non-convexity issues and enjoy global convergence guarantees. Next, we extend ISR-Mean to the more general setting of multi-class classification and propose ISR-Multiclass, which leverages class information and provably recovers the invariant-feature subspace with $\lceil d_s/k\rceil+1$ training environments for $k$-class classification. Finally, for regression problems, we propose ISR-Regression that can identify the invariant-feature subspace with $d_s+1$ training environments. Empirically, we demonstrate the superior performance of our ISRs on synthetic benchmarks. Further, ISR can be used as post-processing methods for feature extractors such as neural nets.
Optimizing Inventory Routing: A Decision-Focused Learning Approach using Neural Networks
Venue: arXiv cs.LG 2023
Year: 2023

Inventory Routing Problem (IRP) is a crucial challenge in supply chain management as it involves optimizing efficient route selection while considering the uncertainty of inventory demand planning. To solve IRPs, usually a two-stage approach is employed, where demand is predicted using machine learning techniques first, and then an optimization algorithm is used to minimize routing costs. Our experiment shows machine learning models fall short of achieving perfect accuracy because inventory levels are influenced by the dynamic business environment, which, in turn, affects the optimization problem in the next stage, resulting in sub-optimal decisions. In this paper, we formulate and propose a decision-focused learning-based approach to solving real-world IRPs. This approach directly integrates inventory prediction and routing optimization within an end-to-end system potentially ensuring a robust supply chain strategy.
M&M3D: Multi-Dataset Training and Efficient Network for Multi-view 3D Object Detection
Venue: arXiv cs.CV 2023
Year: 2023

In this research, I proposed a network structure for multi-view 3D object detection using camera-only data and a Bird's-Eye-View map. My work is based on a current key challenge domain adaptation and visual data transfer. Although many excellent camera-only 3D object detection has been continuously proposed, many research work risk dramatic performance drop when the networks are trained on the source domain but tested on a different target domain. Then I found it is very surprising that predictions on bounding boxes and classes are still replied to on 2D networks. Based on the domain gap assumption on various 3D datasets, I found they still shared a similar data extraction on the same BEV map size and camera data transfer. Therefore, to analyze the domain gap influence on the current method and to make good use of 3D space information among the dataset and the real world, I proposed a transfer learning method and Transformer construction to study the 3D object detection on NuScenes-mini and Lyft. Through multi-dataset training and a detection head from the Transformer, the network demonstrated good data migration performance and efficient detection performance by using 3D anchor query and 3D positional information. Relying on only a small amount of source data and the existing large model pre-training weights, the efficient network manages to achieve competitive results on the new target domain. Moreover, my study utilizes 3D information as available semantic information and 2D multi-view image features blending into the visual-language transfer design. In the final 3D anchor box prediction and object classification, my network achieved good results on standard metrics of 3D object detection, which differs from dataset-specific models on each training domain without any fine-tuning.
Using Augmented Reality to Assess and Modify Mobile Manipulator Surface Repair Plans
Venue: arXiv cs.RO 2023
Year: 2023

Industrial robotics are redefining inspection and maintenance routines across multiple sectors, enhancing safety, efficiency, and environmental sustainability. In outdoor industrial facilities, it is crucial to inspect and repair complex surfaces affected by corrosion. To address this challenge, mobile manipulators have been developed to navigate these facilities, identify corroded areas, and apply protective coatings. However, given that this technology is still in its infancy and the consequences of improperly coating essential equipment can be significant, human oversight is necessary to review the robot's corrosion identification and repair plan. We present a practical and scalable Augmented Reality (AR)-based system designed to empower non-experts to visualize, modify, and approve robot-generated surface corrosion repair plans in real-time. Built upon an AR-based human-robot interaction framework, Augmented Robot Environment (AugRE), we developed a comprehensive AR application module called Situational Task Accept and Repair (STAR). STAR allows users to examine identified corrosion images, point cloud data, and robot navigation objectives overlaid on the physical environment within these industrial environments. Users are able to additionally make adjustments to the robot repair plan in real-time using interactive holographic volumes, excluding critical nearby equipment that might be at risk of coating overspray. We demonstrate the entire system using a Microsoft HoloLens 2 and a dual-arm mobile manipulator. Our future research will focus on evaluating user experience, system robustness, and real-world validation.
IR-UWB Radar-based Situational Awareness System for Smartphone-Distracted Pedestrians
Venue: arXiv cs.CV 2023
Year: 2023

With the widespread adoption of smartphones, ensuring pedestrian safety on roads has become a critical concern due to smartphone distraction. This paper proposes a novel and real-time assistance system called UWB-assisted Safe Walk (UASW) for obstacle detection and warns users about real-time situations. The proposed method leverages Impulse Radio Ultra-Wideband (IR-UWB) radar embedded in the smartphone, which provides excellent range resolution and high noise resilience using short pulses. We implemented UASW specifically for Android smartphones with IR-UWB connectivity. The framework uses complex Channel Impulse Response (CIR) data to integrate rule-based obstacle detection with artificial neural network (ANN) based obstacle classification. The performance of the proposed UASW system is analyzed using real-time collected data. The results show that the proposed system achieves an obstacle detection accuracy of up to 97% and obstacle classification accuracy of up to 95% with an inference delay of 26.8 ms. The results highlight the effectiveness of UASW in assisting smartphone-distracted pedestrians and improving their situational awareness.
Evaluation Measures of Individual Item Fairness for Recommender Systems: A Critical Study
Venue: arXiv cs.IR 2023
Year: 2023

Fairness is an emerging and challenging topic in recommender systems. In recent years, various ways of evaluating and therefore improving fairness have emerged. In this study, we examine existing evaluation measures of fairness in recommender systems. Specifically, we focus solely on exposure-based fairness measures of individual items that aim to quantify the disparity in how individual items are recommended to users, separate from item relevance to users. We gather all such measures and we critically analyse their theoretical properties. We identify a series of limitations in each of them, which collectively may render the affected measures hard or impossible to interpret, to compute, or to use for comparing recommendations. We resolve these limitations by redefining or correcting the affected measures, or we argue why certain limitations cannot be resolved. We further perform a comprehensive empirical analysis of both the original and our corrected versions of these fairness measures, using real-world and synthetic datasets. Our analysis provides novel insights into the relationship between measures based on different fairness concepts, and different levels of measure sensitivity and strictness. We conclude with practical suggestions of which fairness measures should be used and when. Our code is publicly available. To our knowledge, this is the first critical comparison of individual item fairness measures in recommender systems.
Sponsorship Disclosure in Native Advertising: A Theoretical Framework
Venue: arXiv cs.SI 2023
Year: 2023

Native advertising is one of the fastest growing areas of online promotion. After reviewing extant literature via EBSCOhost database, this study draws on Persuasion Knowledge Model and develops a theoretical framework which facilitates a clearer understanding of the relationship between sponsorship disclosure in native advertising and consumer outcome. The framework suggests that sponsorship disclosure has a negative effect on electronic word of mouth (eWOM), and further proposes the interplay between the main effect with brand prominence and the type of device. This is highly relevant to marketer as regulators have been pressuring for the disclosure of native advertising. As this is likely to have detrimental effect to the eWOM, marketer may employ the boundary conditions proposed by this framework to attenuate that negative effect.
Multimodal Foundation Models for Zero-shot Animal Species Recognition in Camera Trap Images
Venue: arXiv cs.CV 2023
Year: 2023

Due to deteriorating environmental conditions and increasing human activity, conservation efforts directed towards wildlife is crucial. Motion-activated camera traps constitute an efficient tool for tracking and monitoring wildlife populations across the globe. Supervised learning techniques have been successfully deployed to analyze such imagery, however training such techniques requires annotations from experts. Reducing the reliance on costly labelled data therefore has immense potential in developing large-scale wildlife tracking solutions with markedly less human labor. In this work we propose WildMatch, a novel zero-shot species classification framework that leverages multimodal foundation models. In particular, we instruction tune vision-language models to generate detailed visual descriptions of camera trap images using similar terminology to experts. Then, we match the generated caption to an external knowledge base of descriptions in order to determine the species in a zero-shot manner. We investigate techniques to build instruction tuning datasets for detailed animal description generation and propose a novel knowledge augmentation technique to enhance caption quality. We demonstrate the performance of WildMatch on a new camera trap dataset collected in the Magdalena Medio region of Colombia.
Multi-agent robotic systems and exploration algorithms: Applications for data collection in construction sites
Venue: arXiv cs.RO 2023
Year: 2023

The construction industry has been notoriously slow to adopt new technology and embrace automation. This has resulted in lower efficiency and productivity compared to other industries where automation has been widely adopted. However, recent advancements in robotics and artificial intelligence offer a potential solution to this problem. In this study, a methodology is proposed to integrate multi-robotic systems in construction projects with the aim of increasing efficiency and productivity. The proposed approach involves the use of multiple robot and human agents working collaboratively to complete a construction task. The methodology was tested through a case study that involved 3D digitization of a small, occluded space using two robots and one human agent. The results show that integrating multi-agent robotic systems in construction can effectively overcome challenges and complete tasks efficiently. The implications of this study suggest that multi-agent robotic systems could revolutionize the industry.
H-NeXt: The next step towards roto-translation invariant networks
Venue: arXiv cs.CV 2023
Year: 2023

The widespread popularity of equivariant networks underscores the significance of parameter efficient models and effective use of training data. At a time when robustness to unseen deformations is becoming increasingly important, we present H-NeXt, which bridges the gap between equivariance and invariance. H-NeXt is a parameter-efficient roto-translation invariant network that is trained without a single augmented image in the training set. Our network comprises three components: an equivariant backbone for learning roto-translation independent features, an invariant pooling layer for discarding roto-translation information, and a classification layer. H-NeXt outperforms the state of the art in classification on unaugmented training sets and augmented test sets of MNIST and CIFAR-10.
CRUSH4SQL: Collective Retrieval Using Schema Hallucination For Text2SQL
Venue: arXiv cs.CL 2023
Year: 2023

Existing Text-to-SQL generators require the entire schema to be encoded with the user text. This is expensive or impractical for large databases with tens of thousands of columns. Standard dense retrieval techniques are inadequate for schema subsetting of a large structured database, where the correct semantics of retrieval demands that we rank sets of schema elements rather than individual elements. In response, we propose a two-stage process for effective coverage during retrieval. First, we instruct an LLM to hallucinate a minimal DB schema deemed adequate to answer the query. We use the hallucinated schema to retrieve a subset of the actual schema, by composing the results from multiple dense retrievals. Remarkably, hallucination $\unicode{x2013}$ generally considered a nuisance $\unicode{x2013}$ turns out to be actually useful as a bridging mechanism. Since no existing benchmarks exist for schema subsetting on large databases, we introduce three benchmarks. Two semi-synthetic datasets are derived from the union of schemas in two well-known datasets, SPIDER and BIRD, resulting in 4502 and 798 schema elements respectively. A real-life benchmark called SocialDB is sourced from an actual large data warehouse comprising 17844 schema elements. We show that our method1 leads to significantly higher recall than SOTA retrieval-based augmentation methods.
EISim: A Platform for Simulating Intelligent Edge Orchestration Solutions
Venue: arXiv cs.DC 2023
Year: 2023

To support the stringent requirements of the future intelligent and interactive applications, intelligence needs to become an essential part of the resource management in the edge environment. Developing intelligent orchestration solutions is a challenging and arduous task, where the evaluation and comparison of the proposed solution is a focal point. Simulation is commonly used to evaluate and compare proposed solutions. However, the currently existing, openly available simulators are lacking in terms of supporting the research on intelligent edge orchestration methods. To address this need, this article presents a simulation platform called Edge Intelligence Simulator (EISim), the purpose of which is to facilitate the research on intelligent edge orchestration solutions. EISim is extended from an existing fog simulator called PureEdgeSim. In its current form, EISim supports simulating deep reinforcement learning based solutions and different orchestration control topologies in scenarios related to task offloading and resource pricing on edge. The platform also includes additional tools for creating simulation environments, running simulations for agent training and evaluation, and plotting results.
FacadeNet: Conditional Facade Synthesis via Selective Editing
Venue: arXiv cs.CV 2023
Year: 2023

We introduce FacadeNet, a deep learning approach for synthesizing building facade images from diverse viewpoints. Our method employs a conditional GAN, taking a single view of a facade along with the desired viewpoint information and generates an image of the facade from the distinct viewpoint. To precisely modify view-dependent elements like windows and doors while preserving the structure of view-independent components such as walls, we introduce a selective editing module. This module leverages image embeddings extracted from a pre-trained vision transformer. Our experiments demonstrated state-of-the-art performance on building facade generation, surpassing alternative methods.
Revisiting MAB based approaches to recursive delegation
Venue: arXiv cs.MA 2023
Year: 2023

In this paper we examine the effectiveness of several multi-arm bandit algorithms when used as a trust system to select agents to delegate tasks to. In contrast to existing work, we allow for recursive delegation to occur. That is, a task delegated to one agent can be delegated onwards by that agent, with further delegation possible until some agent finally executes the task. We show that modifications to the standard multi-arm bandit algorithms can provide improvements in performance in such recursive delegation settings.
Efficient Neural Ranking using Forward Indexes and Lightweight Encoders
Venue: arXiv cs.IR 2023
Year: 2023

Dual-encoder-based dense retrieval models have become the standard in IR. They employ large Transformer-based language models, which are notoriously inefficient in terms of resources and latency. We propose Fast-Forward indexes -- vector forward indexes which exploit the semantic matching capabilities of dual-encoder models for efficient and effective re-ranking. Our framework enables re-ranking at very high retrieval depths and combines the merits of both lexical and semantic matching via score interpolation. Furthermore, in order to mitigate the limitations of dual-encoders, we tackle two main challenges: Firstly, we improve computational efficiency by either pre-computing representations, avoiding unnecessary computations altogether, or reducing the complexity of encoders. This allows us to considerably improve ranking efficiency and latency. Secondly, we optimize the memory footprint and maintenance cost of indexes; we propose two complementary techniques to reduce the index size and show that, by dynamically dropping irrelevant document tokens, the index maintenance efficiency can be improved substantially. We perform evaluation to show the effectiveness and efficiency of Fast-Forward indexes -- our method has low latency and achieves competitive results without the need for hardware acceleration, such as GPUs.
UniFolding: Towards Sample-efficient, Scalable, and Generalizable Robotic Garment Folding
Venue: arXiv cs.RO 2023
Year: 2023

This paper explores the development of UniFolding, a sample-efficient, scalable, and generalizable robotic system for unfolding and folding various garments. UniFolding employs the proposed UFONet neural network to integrate unfolding and folding decisions into a single policy model that is adaptable to different garment types and states. The design of UniFolding is based on a garment's partial point cloud, which aids in generalization and reduces sensitivity to variations in texture and shape. The training pipeline prioritizes low-cost, sample-efficient data collection. Training data is collected via a human-centric process with offline and online stages. The offline stage involves human unfolding and folding actions via Virtual Reality, while the online stage utilizes human-in-the-loop learning to fine-tune the model in a real-world setting. The system is tested on two garment types: long-sleeve and short-sleeve shirts. Performance is evaluated on 20 shirts with significant variations in textures, shapes, and materials. More experiments and videos can be found in the supplementary materials and on the website: https://unifolding.robotflow.ai
Generic Model Checking for Modal Fixpoint Logics in COOL-MC
Venue: arXiv cs.LO 2023
Year: 2023

We report on COOL-MC, a model checking tool for fixpoint logics that is parametric in the branching type of models (nondeterministic, game-based, probabilistic etc.) and in the next-step modalities used in formulae. The tool implements generic model checking algorithms developed in coalgebraic logic that are easily adapted to concrete instance logics. Apart from the standard modal $μ$-calculus, COOL-MC currently supports alternating-time, graded, probabilistic and monotone variants of the $μ$-calculus, but is also effortlessly extensible with new instance logics. The model checking process is realized by polynomial reductions to parity game solving, or, alternatively, by a local model checking algorithm that directly computes the extensions of formulae in a lazy fashion, thereby potentially avoiding the construction of the full parity game. We evaluate COOL-MC on informative benchmark sets.
Pushdown Normal-Form Bisimulation: A Nominal Context-Free Approach to Program Equivalence
Venue: arXiv cs.PL 2023
Year: 2023

We propose Pushdown Normal Form (PDNF) Bisimulation to verify contextual equivalence in higher-order functional programming languages with local state. Similar to previous work on Normal Form (NF) bisimulation, PDNF Bisimulation is sound and complete with respect to contextual equivalence. However, unlike traditional NF Bisimulation, PDNF Bisimulation is also decidable for a class of program terms that reach bounded configurations but can potentially have unbounded call stacks and input an unbounded number of unknown functions from their context. Our approach relies on the principle that, in model-checking for reachability, pushdown systems can be simulated by finite-state automata designed to accept their initial/final stack content. We embody this in a stackless Labelled Transition System (LTS), together with an on-the-fly saturation procedure for call stacks, upon which bisimulation is defined. To enhance the effectiveness of our bisimulation, we develop up-to techniques and confirm their soundness for PDNF Bisimulation. We develop a prototype implementation of our technique which is able to verify equivalence in examples from practice and the literature that were out of reach for previous work.