OpenRaiser/Intern-Atlas huggingface dataset:
Decentralized Multi-Agent Planning for Multirotors: a Fully Online and Communication Latency Robust Approach
Venue: arXiv cs.RO 2023
Year: 2023

There are many industrial, commercial and social applications for multi-agent planning for multirotors such as autonomous agriculture, infrastructure inspection and search and rescue. Thus, improving on the state-of-the-art of multi-agent planning to make it a viable real-world solution is of great benefit. In this work, we propose a new method for multi-agent planning in a static environment that improves our previous work by making it fully online as well as robust to communication latency. The proposed framework generates a global path and a Safe Corridor to avoid static obstacles in an online fashion (generated offline in our previous work). It then generates a time-aware Safe Corridor which takes into account the future positions of other agents to avoid intra-agent collisions. The time-aware Safe Corridor is given with a local reference trajectory to an MIQP (Mixed-Integer Quadratic Problem)/MPC (Model Predictive Control) solver that outputs a safe and optimal trajectory. The planning frequency is adapted to account for communication delays. The proposed method is fully online, real-time, decentralized, and synchronous. It is compared to 3 recent state-of-the-art methods in simulations. It outperforms all methods in robustness and safety as well as flight time. It also outperforms the only other state-of-the-art latency robust method in computation time.
Neural Network Quantisation for Faster Homomorphic Encryption
Venue: arXiv cs.CR 2023
Year: 2023

Homomorphic encryption (HE) enables calculating on encrypted data, which makes it possible to perform privacypreserving neural network inference. One disadvantage of this technique is that it is several orders of magnitudes slower than calculation on unencrypted data. Neural networks are commonly trained using floating-point, while most homomorphic encryption libraries calculate on integers, thus requiring a quantisation of the neural network. A straightforward approach would be to quantise to large integer sizes (e.g. 32 bit) to avoid large quantisation errors. In this work, we reduce the integer sizes of the networks, using quantisation-aware training, to allow more efficient computations. For the targeted MNIST architecture proposed by Badawi et al., we reduce the integer sizes by 33% without significant loss of accuracy, while for the CIFAR architecture, we can reduce the integer sizes by 43%. Implementing the resulting networks under the BFV homomorphic encryption scheme using SEAL, we could reduce the execution time of an MNIST neural network by 80% and by 40% for a CIFAR neural network.
SelfAct: Personalized Activity Recognition based on Self-Supervised and Active Learning
Venue: arXiv cs.LG 2023
Year: 2023

Supervised Deep Learning (DL) models are currently the leading approach for sensor-based Human Activity Recognition (HAR) on wearable and mobile devices. However, training them requires large amounts of labeled data whose collection is often time-consuming, expensive, and error-prone. At the same time, due to the intra- and inter-variability of activity execution, activity models should be personalized for each user. In this work, we propose SelfAct: a novel framework for HAR combining self-supervised and active learning to mitigate these problems. SelfAct leverages a large pool of unlabeled data collected from many users to pre-train through self-supervision a DL model, with the goal of learning a meaningful and efficient latent representation of sensor data. The resulting pre-trained model can be locally used by new users, which will fine-tune it thanks to a novel unsupervised active learning strategy. Our experiments on two publicly available HAR datasets demonstrate that SelfAct achieves results that are close to or even better than the ones of fully supervised approaches with a small number of active learning queries.
Towards Building Child-Centered Machine Learning Pipelines: Use Cases from K-12 and Higher-Education
Venue: arXiv cs.HC 2023
Year: 2023

Researchers and policy-makers have started creating frameworks and guidelines for building machine-learning (ML) pipelines with a human-centered lens. Machine Learning pipelines stand for all the necessary steps to develop ML systems (e.g., developing a predictive keyboard). On the other hand, a child-centered focus in developing ML systems has been recently gaining interest as children are becoming users of these products. These efforts dominantly focus on children's interaction with ML-based systems. However, from our experience, ML pipelines are yet to be adapted using a child-centered lens. In this paper, we list the questions we ask ourselves in adapting human-centered ML pipelines to child-centered ones. We also summarize two case studies of building end-to-end ML pipelines for children's products.
On the Robustness of Aspect-based Sentiment Analysis: Rethinking Model, Data, and Training
Venue: arXiv cs.CL 2023
Year: 2023

Aspect-based sentiment analysis (ABSA) aims at automatically inferring the specific sentiment polarities toward certain aspects of products or services behind the social media texts or reviews, which has been a fundamental application to the real-world society. Since the early 2010s, ABSA has achieved extraordinarily high accuracy with various deep neural models. However, existing ABSA models with strong in-house performances may fail to generalize to some challenging cases where the contexts are variable, i.e., low robustness to real-world environments. In this study, we propose to enhance the ABSA robustness by systematically rethinking the bottlenecks from all possible angles, including model, data, and training. First, we strengthen the current best-robust syntax-aware models by further incorporating the rich external syntactic dependencies and the labels with aspect simultaneously with a universal-syntax graph convolutional network. In the corpus perspective, we propose to automatically induce high-quality synthetic training data with various types, allowing models to learn sufficient inductive bias for better robustness. Last, we based on the rich pseudo data perform adversarial training to enhance the resistance to the context perturbation and meanwhile employ contrastive learning to reinforce the representations of instances with contrastive sentiments. Extensive robustness evaluations are conducted. The results demonstrate that our enhanced syntax-aware model achieves better robustness performances than all the state-of-the-art baselines. By additionally incorporating our synthetic corpus, the robust testing results are pushed with around 10% accuracy, which are then further improved by installing the advanced training strategies. In-depth analyses are presented for revealing the factors influencing the ABSA robustness.
Is ChatGPT Equipped with Emotional Dialogue Capabilities?
Venue: arXiv cs.CL 2023
Year: 2023

This report presents a study on the emotional dialogue capability of ChatGPT, an advanced language model developed by OpenAI. The study evaluates the performance of ChatGPT on emotional dialogue understanding and generation through a series of experiments on several downstream tasks. Our findings indicate that while ChatGPT's performance on emotional dialogue understanding may still lag behind that of supervised models, it exhibits promising results in generating emotional responses. Furthermore, the study suggests potential avenues for future research directions.
Parallel Neural Networks in Golang
Venue: arXiv cs.NE 2023
Year: 2023

This paper describes the design and implementation of parallel neural networks (PNNs) with the novel programming language Golang. We follow in our approach the classical Single-Program Multiple-Data (SPMD) model where a PNN is composed of several sequential neural networks, which are trained with a proportional share of the training dataset. We used for this purpose the MNIST dataset, which contains binary images of handwritten digits. Our analysis focusses on different activation functions and optimizations in the form of stochastic gradients and initialization of weights and biases. We conduct a thorough performance analysis, where network configurations and different performance factors are analyzed and interpreted. Golang and its inherent parallelization support proved very well for parallel neural network simulation by considerable decreased processing times compared to sequential variants.
Integrated Ray-Tracing and Coverage Planning Control using Reinforcement Learning
Venue: arXiv cs.RO 2023
Year: 2023

In this work we propose a coverage planning control approach which allows a mobile agent, equipped with a controllable sensor (i.e., a camera) with limited sensing domain (i.e., finite sensing range and angle of view), to cover the surface area of an object of interest. The proposed approach integrates ray-tracing into the coverage planning process, thus allowing the agent to identify which parts of the scene are visible at any point in time. The problem of integrated ray-tracing and coverage planning control is first formulated as a constrained optimal control problem (OCP), which aims at determining the agent's optimal control inputs over a finite planning horizon, that minimize the coverage time. Efficiently solving the resulting OCP is however very challenging due to non-convex and non-linear visibility constraints. To overcome this limitation, the problem is converted into a Markov decision process (MDP) which is then solved using reinforcement learning. In particular, we show that a controller which follows an optimal control law can be learned using off-policy temporal-difference control (i.e., Q-learning). Extensive numerical experiments demonstrate the effectiveness of the proposed approach for various configurations of the agent and the object of interest.
Autonomous Agent for Beyond Visual Range Air Combat: A Deep Reinforcement Learning Approach
Venue: arXiv cs.RO 2023
Year: 2023

This work contributes to developing an agent based on deep reinforcement learning capable of acting in a beyond visual range (BVR) air combat simulation environment. The paper presents an overview of building an agent representing a high-performance fighter aircraft that can learn and improve its role in BVR combat over time based on rewards calculated using operational metrics. Also, through self-play experiments, it expects to generate new air combat tactics never seen before. Finally, we hope to examine a real pilot's ability, using virtual simulation, to interact in the same environment with the trained agent and compare their performances. This research will contribute to the air combat training context by developing agents that can interact with real pilots to improve their performances in air defense missions.
Synchronized-tracing of implicit surfaces
Venue: arXiv cs.GR 2023
Year: 2023

Implicit surfaces are known for their ability to represent smooth objects of arbitrary topology thanks to hierarchical combinations of primitives using a structure called a blobtree. We present a new tile-based rendering pipeline well suited for modeling scenarios, i.e., no preprocessing is required when primitive parameters are updated. When using approximate signed distance fields, we rely on compact, smooth CSG operators - extended from standard bounded operators - to compute a tight volume of interest for all primitives of the blobtree. The pipeline relies on a low-resolution A-buffer storing the primitives of interest of a given screen tile. The A-buffer is then used during ray processing to synchronize threads within a subfrustum. This allows coherent field evaluation within workgroups. We use a sparse bottom-up tree traversal to prune the blobtree on-the-fly which allows us to decorrelate field evaluation complexity from the full blobtree size. The ray processing itself is done using the sphere-tracing algorithm. The pipeline scales well to surfaces consisting of thousands of primitives.
Comma Selection Outperforms Plus Selection on OneMax with Randomly Planted Optima
Venue: arXiv cs.NE 2023
Year: 2023

It is an ongoing debate whether and how comma selection in evolutionary algorithms helps to escape local optima. We propose a new benchmark function to investigate the benefits of comma selection: OneMax with randomly planted local optima, generated by frozen noise. We show that comma selection (the $(1,λ)$ EA) is faster than plus selection (the $(1+λ)$ EA) on this benchmark, in a fixed-target scenario, and for offspring population sizes $λ$ for which both algorithms behave differently. For certain parameters, the $(1,λ)$ EA finds the target in $Θ(n \ln n)$ evaluations, with high probability (w.h.p.), while the $(1+λ)$ EA) w.h.p. requires almost $Θ((n\ln n)^2)$ evaluations. We further show that the advantage of comma selection is not arbitrarily large: w.h.p. comma selection outperforms plus selection at most by a factor of $O(n \ln n)$ for most reasonable parameter choices. We develop novel methods for analysing frozen noise and give powerful and general fixed-target results with tail bounds that are of independent interest.
The Price of Explainability for Clustering
Venue: arXiv cs.DS 2023
Year: 2023

Given a set of points in $d$-dimensional space, an explainable clustering is one where the clusters are specified by a tree of axis-aligned threshold cuts. Dasgupta et al. (ICML 2020) posed the question of the price of explainability: the worst-case ratio between the cost of the best explainable clusterings to that of the best clusterings. We show that the price of explainability for $k$-medians is at most $1+H_{k-1}$; in fact, we show that the popular Random Thresholds algorithm has exactly this price of explanability, matching the known lower bound constructions. We complement our tight analysis of this particular algorithm by constructing instances where the price of explanability (using any algorithm) is at least $(1-o(1)) \ln k$, showing that our result is best possible, up to lower-order terms. We also improve the price of explanability for the $k$-means problem to $O(k \ln \ln k)$ from the previous $O(k \ln k)$, considerably closing the gap to the lower bounds of $Ω(k)$. Finally, we study the algorithmic question of finding the best explainable clustering: We show that explainable $k$-medians and $k$-means cannot be approximated better than $O(\ln k)$, under standard complexity-theoretic conjectures. This essentially settles the approximability of explainable $k$-medians and leaves open the intriguing possibility to get significantly better approximation algorithms for $k$-means than its price of explainability.
Skeleton-based action analysis for ADHD diagnosis
Venue: arXiv cs.CV 2023
Year: 2023

Attention Deficit Hyperactivity Disorder (ADHD) is a common neurobehavioral disorder worldwide. While extensive research has focused on machine learning methods for ADHD diagnosis, most research relies on high-cost equipment, e.g., MRI machine and EEG patch. Therefore, low-cost diagnostic methods based on the action characteristics of ADHD are desired. Skeleton-based action recognition has gained attention due to the action-focused nature and robustness. In this work, we propose a novel ADHD diagnosis system with a skeleton-based action recognition framework, utilizing a real multi-modal ADHD dataset and state-of-the-art detection algorithms. Compared to conventional methods, the proposed method shows cost-efficiency and significant performance improvement, making it more accessible for a broad range of initial ADHD diagnoses. Through the experiment results, the proposed method outperforms the conventional methods in accuracy and AUC. Meanwhile, our method is widely applicable for mass screening.
Practical Differentially Private and Byzantine-resilient Federated Learning
Venue: arXiv cs.LG 2023
Year: 2023

Privacy and Byzantine resilience are two indispensable requirements for a federated learning (FL) system. Although there have been extensive studies on privacy and Byzantine security in their own track, solutions that consider both remain sparse. This is due to difficulties in reconciling privacy-preserving and Byzantine-resilient algorithms. In this work, we propose a solution to such a two-fold issue. We use our version of differentially private stochastic gradient descent (DP-SGD) algorithm to preserve privacy and then apply our Byzantine-resilient algorithms. We note that while existing works follow this general approach, an in-depth analysis on the interplay between DP and Byzantine resilience has been ignored, leading to unsatisfactory performance. Specifically, for the random noise introduced by DP, previous works strive to reduce its impact on the Byzantine aggregation. In contrast, we leverage the random noise to construct an aggregation that effectively rejects many existing Byzantine attacks. We provide both theoretical proof and empirical experiments to show our protocol is effective: retaining high accuracy while preserving the DP guarantee and Byzantine resilience. Compared with the previous work, our protocol 1) achieves significantly higher accuracy even in a high privacy regime; 2) works well even when up to 90% of distributive workers are Byzantine.
A Survey of Corpora for Germanic Low-Resource Languages and Dialects
Venue: arXiv cs.CL 2023
Year: 2023

Despite much progress in recent years, the vast majority of work in natural language processing (NLP) is on standard languages with many speakers. In this work, we instead focus on low-resource languages and in particular non-standardized low-resource languages. Even within branches of major language families, often considered well-researched, little is known about the extent and type of available resources and what the major NLP challenges are for these language varieties. The first step to address this situation is a systematic survey of available corpora (most importantly, annotated corpora, which are particularly valuable for NLP research). Focusing on Germanic low-resource language varieties, we provide such a survey in this paper. Except for geolocation (origin of speaker or document), we find that manually annotated linguistic resources are sparse and, if they exist, mostly cover morphosyntax. Despite this lack of resources, we observe that interest in this area is increasing: there is active development and a growing research community. To facilitate research, we make our overview of over 80 corpora publicly available. We share a companion website of this overview at https://github.com/mainlp/germanic-lrl-corpora .
VMA: Divide-and-Conquer Vectorized Map Annotation System for Large-Scale Driving Scene
Venue: arXiv cs.CV 2023
Year: 2023

High-definition (HD) map serves as the essential infrastructure of autonomous driving. In this work, we build up a systematic vectorized map annotation framework (termed VMA) for efficiently generating HD map of large-scale driving scene. We design a divide-and-conquer annotation scheme to solve the spatial extensibility problem of HD map generation, and abstract map elements with a variety of geometric patterns as unified point sequence representation, which can be extended to most map elements in the driving scene. VMA is highly efficient and extensible, requiring negligible human effort, and flexible in terms of spatial scale and element type. We quantitatively and qualitatively validate the annotation performance on real-world urban and highway scenes, as well as NYC Planimetric Database. VMA can significantly improve map generation efficiency and require little human effort. On average VMA takes 160min for annotating a scene with a range of hundreds of meters, and reduces 52.3% of the human cost, showing great application value. Code: https://github.com/hustvl/VMA.
Dream Recording Through Non-invasive Brain-Machine Interfaces and Generative AI-assisted Multimodal Software
Venue: arXiv cs.HC 2023
Year: 2023

The present study proposes a novel approach to dream recording by combining non-invasive brain-machine interfaces (BMI), thought-typing software, and generative AI-assisted multimodal software. This method aims to sublimate conscious processes into semi-conscious status during REM sleep and produce signals for thought typing. We outline a two-stage process: first, developing multimodal software using generative AI to supplement text streams and generate multimedia content; second, adapting Morse code-based typing to simplify signal requirements and increase typing speed. We address the challenge of non-invasive EEG by suggesting a control system involving a user with an implanted BMI to optimize non-invasive signals. A literature review highlights recent advancements in BMI typing, sublimation of conscious processes, and generative AI's potential in thought typing based on text prompts.
IoT-based Wearables: A comprehensive Survey
Venue: arXiv cs.HC 2023
Year: 2023

A substantial amount of growth is being achieved by businesses through IoT-based services. The emergent of small electronic devices capable of computing, which are commonly known as wearables in IoT domain has proven to have huge impact in people's life. Theses wearables are capable of collecting vital information about a person's activities and behaviours regularly. This makes them suitable for many applications in health monitoring, fitness, sports, education and some industry related applications. To this end, in this paper, we aim to provide a general review on IoT-based wearables, the sensors adopted for several categorized wearables, the communication technologies adopted and the most widely adopted data processing techniques for wearables. Furthermore, we present the challenges faced for wide adoption of wearables and the future research directions.
Accurate and Fast VR Eye-Tracking using Deflectometric Information
Venue: arXiv cs.HC 2023
Year: 2023

We present two methods for fast and precise eye-tracking in VR headsets. Both methods exploit deflectometric information, i.e., the specular reflection of an extended screen over the eye surface.
Introducing Construct Theory as a Standard Methodology for Inclusive AI Models
Venue: arXiv cs.CV 2023
Year: 2023

Construct theory in social psychology, developed by George Kelly are mental constructs to predict and anticipate events. Constructs are how humans interpret, curate, predict and validate data; information. AI today is biased because it is trained with a narrow construct as defined by the training data labels. Machine Learning algorithms for facial recognition discriminate against darker skin colors and in the ground breaking research papers (Buolamwini, Joy and Timnit Gebru. Gender Shades: Intersectional Accuracy Disparities in Commercial Gender Classification. FAT (2018), the inclusion of phenotypic labeling is proposed as a viable solution. In Construct theory, phenotype is just one of the many subelements that make up the construct of a face. In this paper, we present 15 main elements of the construct of face, with 50 subelements and tested Google Cloud Vision API and Microsoft Cognitive Services API using FairFace dataset that currently has data for 7 races, genders and ages, and we retested against FairFace Plus dataset curated by us. Our results show exactly where they have gaps for inclusivity. Based on our experiment results, we propose that validated, inclusive constructs become industry standards for AI ML models going forward.