OpenRaiser/Intern-Atlas huggingface dataset:
Dually Enhanced Propensity Score Estimation in Sequential Recommendation
Venue: arXiv cs.IR 2023
Year: 2023

Sequential recommender systems train their models based on a large amount of implicit user feedback data and may be subject to biases when users are systematically under/over-exposed to certain items. Unbiased learning based on inverse propensity scores (IPS), which estimate the probability of observing a user-item pair given the historical information, has been proposed to address the issue. In these methods, propensity score estimation is usually limited to the view of item, that is, treating the feedback data as sequences of items that interacted with the users. However, the feedback data can also be treated from the view of user, as the sequences of users that interact with the items. Moreover, the two views can jointly enhance the propensity score estimation. Inspired by the observation, we propose to estimate the propensity scores from the views of user and item, called Dually Enhanced Propensity Score Estimation (DEPS). Specifically, given a target user-item pair and the corresponding item and user interaction sequences, DEPS firstly constructs a time-aware causal graph to represent the user-item observational probability. According to the graph, two complementary propensity scores are estimated from the views of item and user, respectively, based on the same set of user feedback data. Finally, two transformers are designed to make the final preference prediction. Theoretical analysis showed the unbiasedness and variance of DEPS. Experimental results on three publicly available and an industrial datasets demonstrated that DEPS can significantly outperform the state-of-the-art baselines.
Fully neuromorphic vision and control for autonomous drone flight
Venue: arXiv cs.RO 2023
Year: 2023

Biological sensing and processing is asynchronous and sparse, leading to low-latency and energy-efficient perception and action. In robotics, neuromorphic hardware for event-based vision and spiking neural networks promises to exhibit similar characteristics. However, robotic implementations have been limited to basic tasks with low-dimensional sensory inputs and motor actions due to the restricted network size in current embedded neuromorphic processors and the difficulties of training spiking neural networks. Here, we present the first fully neuromorphic vision-to-control pipeline for controlling a freely flying drone. Specifically, we train a spiking neural network that accepts high-dimensional raw event-based camera data and outputs low-level control actions for performing autonomous vision-based flight. The vision part of the network, consisting of five layers and 28.8k neurons, maps incoming raw events to ego-motion estimates and is trained with self-supervised learning on real event data. The control part consists of a single decoding layer and is learned with an evolutionary algorithm in a drone simulator. Robotic experiments show a successful sim-to-real transfer of the fully learned neuromorphic pipeline. The drone can accurately follow different ego-motion setpoints, allowing for hovering, landing, and maneuvering sideways$\unicode{x2014}$even while yawing at the same time. The neuromorphic pipeline runs on board on Intel's Loihi neuromorphic processor with an execution frequency of 200 Hz, spending only 27 $\unicode{x00b5}$J per inference. These results illustrate the potential of neuromorphic sensing and processing for enabling smaller, more intelligent robots.
Query-guided Attention in Vision Transformers for Localizing Objects Using a Single Sketch
Venue: arXiv cs.CV 2023
Year: 2023

In this work, we investigate the problem of sketch-based object localization on natural images, where given a crude hand-drawn sketch of an object, the goal is to localize all the instances of the same object on the target image. This problem proves difficult due to the abstract nature of hand-drawn sketches, variations in the style and quality of sketches, and the large domain gap existing between the sketches and the natural images. To mitigate these challenges, existing works proposed attention-based frameworks to incorporate query information into the image features. However, in these works, the query features are incorporated after the image features have already been independently learned, leading to inadequate alignment. In contrast, we propose a sketch-guided vision transformer encoder that uses cross-attention after each block of the transformer-based image encoder to learn query-conditioned image features leading to stronger alignment with the query sketch. Further, at the output of the decoder, the object and the sketch features are refined to bring the representation of relevant objects closer to the sketch query and thereby improve the localization. The proposed model also generalizes to the object categories not seen during training, as the target image features learned by our method are query-aware. Our localization framework can also utilize multiple sketch queries via a trainable novel sketch fusion strategy. The model is evaluated on the images from the public object detection benchmark, namely MS-COCO, using the sketch queries from QuickDraw! and Sketchy datasets. Compared with existing localization methods, the proposed approach gives a $6.6\%$ and $8.0\%$ improvement in mAP for seen objects using sketch queries from QuickDraw! and Sketchy datasets, respectively, and a $12.2\%$ improvement in AP@50 for large objects that are `unseen' during training.
EvalAttAI: A Holistic Approach to Evaluating Attribution Maps in Robust and Non-Robust Models
Venue: arXiv cs.LG 2023
Year: 2023

The expansion of explainable artificial intelligence as a field of research has generated numerous methods of visualizing and understanding the black box of a machine learning model. Attribution maps are generally used to highlight the parts of the input image that influence the model to make a specific decision. On the other hand, the robustness of machine learning models to natural noise and adversarial attacks is also being actively explored. This paper focuses on evaluating methods of attribution mapping to find whether robust neural networks are more explainable. We explore this problem within the application of classification for medical imaging. Explainability research is at an impasse. There are many methods of attribution mapping, but no current consensus on how to evaluate them and determine the ones that are the best. Our experiments on multiple datasets (natural and medical imaging) and various attribution methods reveal that two popular evaluation metrics, Deletion and Insertion, have inherent limitations and yield contradictory results. We propose a new explainability faithfulness metric (called EvalAttAI) that addresses the limitations of prior metrics. Using our novel evaluation, we found that Bayesian deep neural networks using the Variational Density Propagation technique were consistently more explainable when used with the best performing attribution method, the Vanilla Gradient. However, in general, various types of robust neural networks may not be more explainable, despite these models producing more visually plausible attribution maps.
Process Equivalence Problems as Energy Games
Venue: arXiv cs.DS 2023
Year: 2023

We characterize all common notions of behavioral equivalence by one 6-dimensional energy game, where energies bound capabilities of an attacker trying to tell processes apart. The defender-winning initial credits exhaustively determine which preorders and equivalences from the (strong) linear-time--branching-time spectrum relate processes. The time complexity is exponential, which is optimal due to trace equivalence being covered. This complexity improves drastically on our recent approach for deciding groups of equivalences where exponential sets of distinguishing HML formulas are constructed on top of a super-exponential reachability game. In experiments using the VLTS benchmarks, the algorithm performs on par with the best similarity algorithm.
VVS: Video-to-Video Retrieval with Irrelevant Frame Suppression
Venue: arXiv cs.CV 2023
Year: 2023

In content-based video retrieval (CBVR), dealing with large-scale collections, efficiency is as important as accuracy; thus, several video-level feature-based studies have actively been conducted. Nevertheless, owing to the severe difficulty of embedding a lengthy and untrimmed video into a single feature, these studies have been insufficient for accurate retrieval compared to frame-level feature-based studies. In this paper, we show that appropriate suppression of irrelevant frames can provide insight into the current obstacles of the video-level approaches. Furthermore, we propose a Video-to-Video Suppression network (VVS) as a solution. VVS is an end-to-end framework that consists of an easy distractor elimination stage to identify which frames to remove and a suppression weight generation stage to determine the extent to suppress the remaining frames. This structure is intended to effectively describe an untrimmed video with varying content and meaningless information. Its efficacy is proved via extensive experiments, and we show that our approach is not only state-of-the-art in video-level approaches but also has a fast inference time despite possessing retrieval capabilities close to those of frame-level approaches. Code is available at https://github.com/sejong-rcv/VVS
Multi-Robot Persistent Monitoring: Minimizing Latency and Number of Robots with Recharging Constraints
Venue: arXiv cs.RO 2023
Year: 2023

In this paper we study multi-robot path planning for persistent monitoring tasks. We consider the case where robots have a limited battery capacity with a discharge time $D$. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum allowable time between robot visits, called the latency. The objective is to find the minimum number of robots that can satisfy these latency constraints while also ensuring that the robots periodically charge at a recharging depot. The decision version of this problem is known to be PSPACE-complete. We present a $O(\frac{\log D}{\log \log D}\log ρ)$ approximation algorithm for the problem where $ρ$ is the ratio of the maximum and the minimum latency constraints. We also present an orienteering based heuristic to solve the problem and show empirically that it typically provides higher quality solutions than the approximation algorithm. We extend our results to provide an algorithm for the problem of minimizing the maximum weighted latency given a fixed number of robots. We evaluate our algorithms on large problem instances in a patrolling scenario and in a wildfire monitoring application. We also compare the algorithms with an existing solver on benchmark instances.
Design, Modeling, and Redundancy Resolution of Soft Robot for Effective Harvesting
Venue: arXiv cs.RO 2023
Year: 2023

Blackberry harvesting is a labor-intensive and costly process, consuming up to 50\% of the total annual crop hours. This paper presents a solution for robotic harvesting through the design, manufacturing, integration, and control of a pneumatically actuated, kinematically redundant soft arm with a tendon-driven soft robotic gripper. The hardware design is optimized for durability and modularity for practical use. The harvesting process is divided into four stages: initial placement, fine positioning, grasp, and move back to home position. For initial placement, we propose a real-time, continuous gain-scheduled redundancy resolution algorithm for simultaneous position and orientation control with joint-limit avoidance. The algorithm relies solely on visual feedback from an eye-to-hand camera and achieved a position and orientation tracking error of $0.64\pm{0.27}$ mm and $1.08\pm{1.5}^{\circ}$, respectively, in benchtop settings. Following accurate initial placement of the robotic arm, fine positioning is achieved using a combination of eye-in-hand and eye-to-hand visual feedback, reaching an accuracy of $0.75\pm{0.36}$ mm. The system's hardware, feedback framework, and control methods are thoroughly validated through benchtop and field tests, confirming feasibility for practical applications.
Gated Compression Layers for Efficient Always-On Models
Venue: arXiv cs.LG 2023
Year: 2023

Mobile and embedded machine learning developers frequently have to compromise between two inferior on-device deployment strategies: sacrifice accuracy and aggressively shrink their models to run on dedicated low-power cores; or sacrifice battery by running larger models on more powerful compute cores such as neural processing units or the main application processor. In this paper, we propose a novel Gated Compression layer that can be applied to transform existing neural network architectures into Gated Neural Networks. Gated Neural Networks have multiple properties that excel for on-device use cases that help significantly reduce power, boost accuracy, and take advantage of heterogeneous compute cores. We provide results across five public image and audio datasets that demonstrate the proposed Gated Compression layer effectively stops up to 96% of negative samples, compresses 97% of positive samples, while maintaining or improving model accuracy.
Towards a Benchmarking Suite for Kernel Tuners
Venue: arXiv cs.DC 2023
Year: 2023

As computing system become more complex, it is becoming harder for programmers to keep their codes optimized as the hardware gets updated. Autotuners try to alleviate this by hiding as many architecture-based optimization details as possible from the user, so that the code can be used efficiently across different generations of systems. In this article we introduce a new benchmark suite for evaluating the performance of optimization algorithms used by modern autotuners targeting GPUs. The suite contains tunable GPU kernels that are representative of real-world applications, allowing for comparisons between optimization algorithms and the examination of code optimization, search space difficulty, and performance portability. Our framework facilitates easy integration of new autotuners and benchmarks by defining a shared problem interface. Our benchmark suite is evaluated based on five characteristics: convergence rate, local minima centrality, optimal speedup, Permutation Feature Importance (PFI), and performance portability. The results show that optimization parameters greatly impact performance and the need for global optimization. The importance of each parameter is consistent across GPU architectures, however, the specific values need to be optimized for each architecture. Our portability study highlights the crucial importance of autotuning each application for a specific target architecture. The results reveal that simply transferring the optimal configuration from one architecture to another can result in a performance ranging from 58.5% to 99.9% of the optimal performance, depending on the GPU architecture. This highlights the importance of autotuning in modern computing systems and the value of our benchmark suite in facilitating the study of optimization algorithms and their effectiveness in achieving optimal performance for specific target architectures.
Deep Learning Weight Pruning with RMT-SVD: Increasing Accuracy and Reducing Overfitting
Venue: arXiv cs.LG 2023
Year: 2023

In this work, we present some applications of random matrix theory for the training of deep neural networks. Recently, random matrix theory (RMT) has been applied to the overfitting problem in deep learning. Specifically, it has been shown that the spectrum of the weight layers of a deep neural network (DNN) can be studied and understood using techniques from RMT. In this work, these RMT techniques will be used to determine which and how many singular values should be removed from the weight layers of a DNN during training, via singular value decomposition (SVD), so as to reduce overfitting and increase accuracy. We show the results on a simple DNN model trained on MNIST. In general, these techniques may be applied to any fully connected layer of a pretrained DNN to reduce the number of parameters in the layer while preserving and sometimes increasing the accuracy of the DNN.
A High-Performance Accelerator for Super-Resolution Processing on Embedded GPU
Venue: arXiv cs.AR 2023
Year: 2023

Recent years have witnessed impressive progress in super-resolution (SR) processing. However, its real-time inference requirement sets a challenge not only for the model design but also for the on-chip implementation. In this paper, we implement a full-stack SR acceleration framework on embedded GPU devices. The special dictionary learning algorithm used in SR models was analyzed in detail and accelerated via a novel dictionary selective strategy. Besides, the hardware programming architecture together with the model structure is analyzed to guide the optimal design of computation kernels to minimize the inference latency under the resource constraints. With these novel techniques, the communication and computation bottlenecks in the deep dictionary learning-based SR models are tackled perfectly. The experiments on the edge embedded NVIDIA NX and 2080Ti show that our method outperforms the state-of-the-art NVIDIA TensorRT significantly, and can achieve real-time performance.
Conditionally Optimistic Exploration for Cooperative Deep Multi-Agent Reinforcement Learning
Venue: arXiv cs.LG 2023
Year: 2023

Efficient exploration is critical in cooperative deep Multi-Agent Reinforcement Learning (MARL). In this work, we propose an exploration method that effectively encourages cooperative exploration based on the idea of sequential action-computation scheme. The high-level intuition is that to perform optimism-based exploration, agents would explore cooperative strategies if each agent's optimism estimate captures a structured dependency relationship with other agents. Assuming agents compute actions following a sequential order at \textit{each environment timestep}, we provide a perspective to view MARL as tree search iterations by considering agents as nodes at different depths of the search tree. Inspired by the theoretically justified tree search algorithm UCT (Upper Confidence bounds applied to Trees), we develop a method called Conditionally Optimistic Exploration (COE). COE augments each agent's state-action value estimate with an action-conditioned optimistic bonus derived from the visitation count of the global state and joint actions of preceding agents. COE is performed during training and disabled at deployment, making it compatible with any value decomposition method for centralized training with decentralized execution. Experiments across various cooperative MARL benchmarks show that COE outperforms current state-of-the-art exploration methods on hard-exploration tasks.
Unsupervised Facial Expression Representation Learning with Contrastive Local Warping
Venue: arXiv cs.CV 2023
Year: 2023

This paper investigates unsupervised representation learning for facial expression analysis. We think Unsupervised Facial Expression Representation (UFER) deserves exploration and has the potential to address some key challenges in facial expression analysis, such as scaling, annotation bias, the discrepancy between discrete labels and continuous emotions, and model pre-training. Such motivated, we propose a UFER method with contrastive local warping (ContraWarping), which leverages the insight that the emotional expression is robust to current global transformation (affine transformation, color jitter, etc.) but can be easily changed by random local warping. Therefore, given a facial image, ContraWarping employs some global transformations and local warping to generate its positive and negative samples and sets up a novel contrastive learning framework. Our in-depth investigation shows that: 1) the positive pairs from global transformations may be exploited with general self-supervised learning (e.g., BYOL) and already bring some informative features, and 2) the negative pairs from local warping explicitly introduce expression-related variation and further bring substantial improvement. Based on ContraWarping, we demonstrate the benefit of UFER under two facial expression analysis scenarios: facial expression recognition and image retrieval. For example, directly using ContraWarping features for linear probing achieves 79.14% accuracy on RAF-DB, significantly reducing the gap towards the full-supervised counterpart (88.92% / 84.81% with/without pre-training).
Homography matrix based trajectory planning method for robot uncalibrated visual servoing
Venue: arXiv cs.RO 2023
Year: 2023

In view of the classical visual servoing trajectory planning method which only considers the camera trajectory, this paper proposes one homography matrix based trajectory planning method for robot uncalibrated visual servoing. Taking the robot-end-effector frame as one generic case, eigenvalue decomposition is utilized to calculate the infinite homography matrix of the robot-end-effector trajectory, and then the image feature-point trajectories corresponding to the camera rotation is obtained, while the image feature-point trajectories corresponding to the camera translation is obtained by the homography matrix. According to the additional image corresponding to the robot-end-effector rotation, the relationship between the robot-end-effector rotation and the variation of the image feature-points is obtained, and then the expression of the image trajectories corresponding to the optimal robot-end-effector trajectories (the rotation trajectory of the minimum geodesic and the linear translation trajectory) are obtained. Finally, the optimal image trajectories of the uncalibrated visual servoing controller is modified to track the image trajectories. Simulation experiments show that, compared with the classical IBUVS method, the proposed trajectory planning method can obtain the shortest path of any frame and complete the robot visual servoing task with large initial pose deviation.
Dual skip connections in U-Net, ResUnet and U-Net3+ for remote extraction of buildings
Venue: arXiv cs.CV 2023
Year: 2023

Urban buildings are extracted from high-resolution Earth observation (EO) images using semantic segmentation networks like U-Net and its successors. Each re-iteration aims to improve performance by employing a denser skip connection mechanism that harnesses multi-scale features for accurate object mapping. However, denser connections increase network parameters and do not necessarily contribute to precise segmentation. In this paper, we develop three dual skip connection mechanisms for three networks (U-Net, ResUnet, and U-Net3+) to selectively deepen the essential feature maps for improved performance. The three mechanisms are evaluated on feature maps of different scales, producing nine new network configurations. They are evaluated against their original vanilla configurations on four building footprint datasets of different spatial resolutions, including a multi-resolution (0.3+0.6+1.2m) dataset that we develop for complex urban environments. The evaluation revealed that densifying the large- and small-scale features in U-Net and U-Net3+ produce up to 0.905 F1, more than TransUnet (0.903) and Swin-Unet (0.882) in our new dataset with up to 19x fewer parameters. The results conclude that selectively densifying feature maps and skip connections enhances network performance without a substantial increase in parameters. The findings and the new dataset will contribute to the computer vision domain and urban planning decision processes.