OpenRaiser/Intern-Atlas huggingface dataset:
People Tracking in Panoramic Video for Guiding Robots
Venue: arXiv cs.CV 2022
Year: 2022

A guiding robot aims to effectively bring people to and from specific places within environments that are possibly unknown to them. During this operation the robot should be able to detect and track the accompanied person, trying never to lose sight of her/him. A solution to minimize this event is to use an omnidirectional camera: its 360° Field of View (FoV) guarantees that any framed object cannot leave the FoV if not occluded or very far from the sensor. However, the acquired panoramic videos introduce new challenges in perception tasks such as people detection and tracking, including the large size of the images to be processed, the distortion effects introduced by the cylindrical projection and the periodic nature of panoramic images. In this paper, we propose a set of targeted methods that allow to effectively adapt to panoramic videos a standard people detection and tracking pipeline originally designed for perspective cameras. Our methods have been implemented and tested inside a deep learning-based people detection and tracking framework with a commercial 360° camera. Experiments performed on datasets specifically acquired for guiding robot applications and on a real service robot show the effectiveness of the proposed approach over other state-of-the-art systems. We release with this paper the acquired and annotated datasets and the open-source implementation of our method.
Mask DINO: Towards A Unified Transformer-based Framework for Object Detection and Segmentation
Venue: arXiv cs.CV 2022
Year: 2022

In this paper we present Mask DINO, a unified object detection and segmentation framework. Mask DINO extends DINO (DETR with Improved Denoising Anchor Boxes) by adding a mask prediction branch which supports all image segmentation tasks (instance, panoptic, and semantic). It makes use of the query embeddings from DINO to dot-product a high-resolution pixel embedding map to predict a set of binary masks. Some key components in DINO are extended for segmentation through a shared architecture and training process. Mask DINO is simple, efficient, and scalable, and it can benefit from joint large-scale detection and segmentation datasets. Our experiments show that Mask DINO significantly outperforms all existing specialized segmentation methods, both on a ResNet-50 backbone and a pre-trained model with SwinL backbone. Notably, Mask DINO establishes the best results to date on instance segmentation (54.5 AP on COCO), panoptic segmentation (59.4 PQ on COCO), and semantic segmentation (60.8 mIoU on ADE20K) among models under one billion parameters. Code is available at \url{https://github.com/IDEACVR/MaskDINO}.
On Efficient Approximate Queries over Machine Learning Models
Venue: arXiv cs.DB 2022
Year: 2022

The question of answering queries over ML predictions has been gaining attention in the database community. This question is challenging because the cost of finding high quality answers corresponds to invoking an oracle such as a human expert or an expensive deep neural network model on every single item in the DB and then applying the query. We develop a novel unified framework for approximate query answering by leveraging a proxy to minimize the oracle usage of finding high quality answers for both Precision-Target (PT) and Recall-Target (RT) queries. Our framework uses a judicious combination of invoking the expensive oracle on data samples and applying the cheap proxy on the objects in the DB. It relies on two assumptions. Under the Proxy Quality assumption, proxy quality can be quantified in a probabilistic manner w.r.t. the oracle. This allows us to develop two algorithms: PQA that efficiently finds high quality answers with high probability and no oracle calls, and PQE, a heuristic extension that achieves empirically good performance with a small number of oracle calls. Alternatively, under the Core Set Closure assumption, we develop two algorithms: CSC that efficiently returns high quality answers with high probability and minimal oracle usage, and CSE, which extends it to more general settings. Our extensive experiments on five real-world datasets on both query types, PT and RT, demonstrate that our algorithms outperform the state-of-the-art and achieve high result quality with provable statistical guarantees.
Dissecting Tensor Cores via Microbenchmarks: Latency, Throughput and Numeric Behaviors
Venue: arXiv cs.AR 2022
Year: 2022

Tensor Cores have been an important unit to accelerate Fused Matrix Multiplication Accumulation (MMA) in all NVIDIA GPUs since Volta Architecture. To program Tensor Cores, users have to use either legacy wmma APIs or current mma APIs. Legacy wmma APIs are more easy-to-use but can only exploit limited features and power of Tensor Cores. Specifically, wmma APIs support fewer operand shapes and can not leverage the new sparse matrix multiplication feature of the newest Ampere Tensor Cores. However, the performance of current programming interface has not been well explored. Furthermore, the computation numeric behaviors of low-precision floating points (TF32, BF16, and FP16) supported by the newest Ampere Tensor Cores are also mysterious. In this paper, we explore the throughput and latency of current programming APIs. We also intuitively study the numeric behaviors of Tensor Cores MMA and profile the intermediate operations including multiplication, addition of inner product, and accumulation. All codes used in this work can be found in https://github.com/sunlex0717/DissectingTensorCores.
ASAP: Reconciling Asynchronous Real-Time Operations and Proofs of Execution in Simple Embedded Systems
Venue: arXiv cs.CR 2022
Year: 2022

Embedded devices are increasingly ubiquitous and their importance is hard to overestimate. While they often support safety-critical functions (e.g., in medical devices and sensor-alarm combinations), they are usually implemented under strict cost/energy budgets, using low-end microcontroller units (MCUs) that lack sophisticated security mechanisms. Motivated by this issue, recent work developed architectures capable of generating Proofs of Execution (PoX) for the correct/expected software in potentially compromised low-end MCUs. In practice, this capability can be leveraged to provide "integrity from birth" to sensor data, by binding the sensed results/outputs to an unforgeable cryptographic proof of execution of the expected sensing process. Despite this significant progress, current PoX schemes for low-end MCUs ignore the real-time needs of many applications. In particular, security of current PoX schemes precludes any interrupts during the execution being proved. We argue that lack of asynchronous capabilities (i.e., interrupts within PoX) can obscure PoX usefulness, as several applications require processing real-time and asynchronous events. To bridge this gap, we propose, implement, and evaluate an Architecture for Secure Asynchronous Processing in PoX (ASAP). ASAP is secure under full software compromise, enables asynchronous PoX, and incurs less hardware overhead than prior work.
The Creativity of Text-to-Image Generation
Venue: arXiv cs.HC 2022
Year: 2022

Text-guided synthesis of images has made a giant leap towards becoming a mainstream phenomenon. With text-to-image generation systems, anybody can create digital images and artworks. This provokes the question of whether text-to-image generation is creative. This paper expounds on the nature of human creativity involved in text-to-image art (so-called "AI art") with a specific focus on the practice of prompt engineering. The paper argues that the current product-centered view of creativity falls short in the context of text-to-image generation. A case exemplifying this shortcoming is provided and the importance of online communities for the creative ecosystem of text-to-image art is highlighted. The paper provides a high-level summary of this online ecosystem drawing on Rhodes' conceptual four P model of creativity. Challenges for evaluating the creativity of text-to-image generation and opportunities for research on text-to-image generation in the field of Human-Computer Interaction (HCI) are discussed.
Learning Image Representations for Content Based Image Retrieval of Radiotherapy Treatment Plans
Venue: arXiv cs.CV 2022
Year: 2022

Objective: Knowledge based planning (KBP) typically involves training an end-to-end deep learning model to predict dose distributions. However, training end-to-end methods may be associated with practical limitations due to the limited size of medical datasets that are often used. To address these limitations, we propose a content based image retrieval (CBIR) method for retrieving dose distributions of previously planned patients based on anatomical similarity. Approach: Our proposed CBIR method trains a representation model that produces latent space embeddings of a patient's anatomical information. The latent space embeddings of new patients are then compared against those of previous patients in a database for image retrieval of dose distributions. All source code for this project is available on github. Main Results: The retrieval performance of various CBIR methods is evaluated on a dataset consisting of both publicly available plans and clinical plans from our institution. This study compares various encoding methods, ranging from simple autoencoders to more recent Siamese networks like SimSiam, and the best performance was observed for the multitask Siamese network. Significance: Applying CBIR to inform subsequent treatment planning potentially addresses many limitations associated with end-to-end KBP. Our current results demonstrate that excellent image retrieval performance can be obtained through slight changes to previously developed Siamese networks. We hope to integrate CBIR into automated planning workflow in future works, potentially through methods like the MetaPlanner framework.
8-bit Numerical Formats for Deep Neural Networks
Venue: arXiv cs.LG 2022
Year: 2022

Given the current trend of increasing size and complexity of machine learning architectures, it has become of critical importance to identify new approaches to improve the computational efficiency of model training. In this context, we address the advantages of floating-point over fixed-point representation, and present an in-depth study on the use of 8-bit floating-point number formats for activations, weights, and gradients for both training and inference. We explore the effect of different bit-widths for exponents and significands and different exponent biases. The experimental results demonstrate that a suitable choice of these low-precision formats enables faster training and reduced power consumption without any degradation in accuracy for a range of deep learning models for image classification and language processing.
Structured Context Transformer for Generic Event Boundary Detection
Venue: arXiv cs.CV 2022
Year: 2022

Generic Event Boundary Detection (GEBD) aims to detect moments where humans naturally perceive as event boundaries. In this paper, we present Structured Context Transformer (or SC-Transformer) to solve the GEBD task, which can be trained in an end-to-end fashion. Specifically, we use the backbone convolutional neural network (CNN) to extract the features of each video frame. To capture temporal context information of each frame, we design the structure context transformer (SC-Transformer) by re-partitioning input frame sequence. Note that, the overall computation complexity of SC-Transformer is linear to the video length. After that, the group similarities are computed to capture the differences between frames. Then, a lightweight fully convolutional network is used to determine the event boundaries based on the grouped similarity maps. To remedy the ambiguities of boundary annotations, the Gaussian kernel is adopted to preprocess the ground-truth event boundaries to further boost the accuracy. Extensive experiments conducted on the challenging Kinetics-GEBD and TAPOS datasets demonstrate the effectiveness of the proposed method compared to the state-of-the-art methods.
Development of Automatic Endotracheal Tube and Carina Detection on Portable Supine Chest Radiographs using Artificial Intelligence
Venue: arXiv cs.CV 2022
Year: 2022

The image quality of portable supine chest radiographs is inherently poor due to low contrast and high noise. The endotracheal intubation detection requires the locations of the endotracheal tube (ETT) tip and carina. The goal is to find the distance between the ETT tip and the carina in chest radiography. To overcome such a problem, we propose a feature extraction method with Mask R-CNN. The Mask R-CNN predicts a tube and a tracheal bifurcation in an image. Then, the feature extraction method is used to find the feature point of the ETT tip and that of the carina. Therefore, the ETT-carina distance can be obtained. In our experiments, our results can exceed 96\% in terms of recall and precision. Moreover, the object error is less than $4.7751\pm 5.3420$ mm, and the ETT-carina distance errors are less than $5.5432\pm 6.3100$ mm. The external validation shows that the proposed method is a high-robustness system. According to the Pearson correlation coefficient, we have a strong correlation between the board-certified intensivists and our result in terms of ETT-carina distance.
Universal Speech Enhancement with Score-based Diffusion
Venue: arXiv cs.SD 2022
Year: 2022

Removing background noise from speech audio has been the subject of considerable effort, especially in recent years due to the rise of virtual communication and amateur recordings. Yet background noise is not the only unpleasant disturbance that can prevent intelligibility: reverb, clipping, codec artifacts, problematic equalization, limited bandwidth, or inconsistent loudness are equally disturbing and ubiquitous. In this work, we propose to consider the task of speech enhancement as a holistic endeavor, and present a universal speech enhancement system that tackles 55 different distortions at the same time. Our approach consists of a generative model that employs score-based diffusion, together with a multi-resolution conditioning network that performs enhancement with mixture density networks. We show that this approach significantly outperforms the state of the art in a subjective test performed by expert listeners. We also show that it achieves competitive objective scores with just 4-8 diffusion steps, despite not considering any particular strategy for fast sampling. We hope that both our methodology and technical contributions encourage researchers and practitioners to adopt a universal approach to speech enhancement, possibly framing it as a generative task.
Locality-sensitive bucketing functions for the edit distance
Venue: arXiv cs.DS 2022
Year: 2022

Many bioinformatics applications involve bucketing a set of sequences where each sequence is allowed to be assigned into multiple buckets. To achieve both high sensitivity and precision, bucketing methods are desired to assign similar sequences into the same bucket while assigning dissimilar sequences into distinct buckets. Existing $k$-mer-based bucketing methods have been efficient in processing sequencing data with low error rate, but encounter much reduced sensitivity on data with high error rate. Locality-sensitive hashing (LSH) schemes are able to mitigate this issue through tolerating the edits in similar sequences, but state-of-the-art methods still have large gaps. Here we generalize the LSH function by allowing it to hash one sequence into multiple buckets. Formally, a bucketing function, which maps a sequence (of fixed length) into a subset of buckets, is defined to be $(d_1, d_2)$-sensitive if any two sequences within an edit distance of $d_1$ are mapped into at least one shared bucket, and any two sequences with distance at least $d_2$ are mapped into disjoint subsets of buckets. We construct locality-sensitive bucketing (LSB) functions with a variety of values of $(d_1,d_2)$ and analyze their efficiency with respect to the total number of buckets needed as well as the number of buckets that a specific sequence is mapped to. We also prove lower bounds of these two parameters in different settings and show that some of our constructed LSB functions are optimal. These results provide theoretical foundations for their practical use in analyzing sequences with high error rate while also providing insights for the hardness of designing ungapped LSH functions.
Relevant Reasoners in a Classical World
Venue: arXiv cs.LO 2022
Year: 2022

We develop a framework for epistemic logic that combines relevant modal logic with classical propositional logic. In our framework the agent is modeled as reasoning in accordance with a relevant modal logic while the propositional fragment of our logics is classical. In order to achieve this feature, we modify the relational semantics for relevant modal logics so that validity in a model is defined as satisfaction throughout a set of designated states that, as far as propositional connectives are concerned, behave like classical possible worlds. The main technical result of the paper is a modular completeness theorem parametrized by the relevant modal logic formalizing the agent's reasoning.
TRAVEL: Traversable Ground and Above-Ground Object Segmentation Using Graph Representation of 3D LiDAR Scans
Venue: arXiv cs.RO 2022
Year: 2022

Perception of traversable regions and objects of interest from a 3D point cloud is one of the critical tasks in autonomous navigation. A ground vehicle needs to look for traversable terrains that are explorable by wheels. Then, to make safe navigation decisions, the segmentation of objects positioned on those terrains has to be followed up. However, over-segmentation and under-segmentation can negatively influence such navigation decisions. To that end, we propose TRAVEL, which performs traversable ground detection and object clustering simultaneously using the graph representation of a 3D point cloud. To segment the traversable ground, a point cloud is encoded into a graph structure, tri-grid field, which treats each tri-grid as a node. Then, the traversable regions are searched and redefined by examining local convexity and concavity of edges that connect nodes. On the other hand, our above-ground object segmentation employs a graph structure by representing a group of horizontally neighboring 3D points in a spherical-projection space as a node and vertical/horizontal relationship between nodes as an edge. Fully leveraging the node-edge structure, the above-ground segmentation ensures real-time operation and mitigates over-segmentation. Through experiments using simulations, urban scenes, and our own datasets, we have demonstrated that our proposed traversable ground segmentation algorithm outperforms other state-of-the-art methods in terms of the conventional metrics and that our newly proposed evaluation metrics are meaningful for assessing the above-ground segmentation. We will make the code and our own dataset available to public at https://github.com/url-kaist/TRAVEL.
Deep Neural Patchworks: Coping with Large Segmentation Tasks
Venue: arXiv cs.CV 2022
Year: 2022

Convolutional neural networks are the way to solve arbitrary image segmentation tasks. However, when images are large, memory demands often exceed the available resources, in particular on a common GPU. Especially in biomedical imaging, where 3D images are common, the problems are apparent. A typical approach to solve this limitation is to break the task into smaller subtasks by dividing images into smaller image patches. Another approach, if applicable, is to look at the 2D image sections separately, and to solve the problem in 2D. Often, the loss of global context makes such approaches less effective; important global information might not be present in the current image patch, or the selected 2D image section. Here, we propose Deep Neural Patchworks (DNP), a segmentation framework that is based on hierarchical and nested stacking of patch-based networks that solves the dilemma between global context and memory limitations.
Dependency, Data and Decolonisation: A Framework for Decolonial Thinking in Collaborative AI Research
Venue: arXiv cs.CY 2022
Year: 2022

This essay seeks to tie together thoughts on the political economy of academia, the inequities in access to the academic means of production and decolonial practice in data empowerment. To demonstrate this I will provide a brief analysis of the neo-colonial, extractive practices of the Western Academy, introduce concepts around decolonial AI practice and then use these to form an investigative framework. Using this framework, I present a brief case study of the AirQo project in Kampala, Uganda. The project aims to deploy a low-cost air pollution sensor network across the city, using machine learning methods to calibrate these sensors against reference instruments, providing high-quality air pollution data at a far lower cost.
The Beyond the Fence Musical and Computer Says Show Documentary
Venue: arXiv cs.CY 2022
Year: 2022

During 2015 and early 2016, the cultural application of Computational Creativity research and practice took a big leap forward, with a project where multiple computational systems were used to provide advice and material for a new musical theatre production. Billed as the world's first 'computer musical... conceived by computer and substantially crafted by computer', Beyond The Fence was staged in the Arts Theatre in London's West End during February and March of 2016. Various computational approaches to analytical and generative sub-projects were used to bring about the musical, and these efforts were recorded in two 1-hour documentary films made by Wingspan Productions, which were aired on SkyArts under the title Computer Says Show. We provide details here of the project conception and execution, including details of the systems which took on some of the creative responsibility in writing the musical, and the contributions they made. We also provide details of the impact of the project, including a perspective from the two (human) writers with overall control of the creative aspects the musical.
Blockchain for Business Process Enactment: A Taxonomy and Systematic Literature Review
Venue: arXiv cs.SE 2022
Year: 2022

Blockchain has been proposed to facilitate the enactment of interorganisational business processes. For such processes, blockchain can guarantee the enforcement of rules and the integrity of execution traces - without the need for a centralised trusted party. However, the enactment of interorganisational processes pose manifold challenges. In this work, we ask what answers the research field offers in response to those challenges. To do so, we conduct a systematic literature review (SLR). As our guiding question, we investigate the guarantees and capabilities of blockchain-based enactment approaches. Based on resulting empirical evidence, we develop a taxonomy for blockchain-based enactment. We find that a wide range of approaches support traceability and correctness; however, research focusing on flexibility and scalability remains nascent. For all challenges, we point towards future research opportunities.
CNTFET quaternary multipliers are less efficient than the corresponding binary ones
Venue: arXiv cs.ET 2022
Year: 2022

We compare N*N quaternary digit and 2N*2N bit CNTFET multipliers in terms of Worst case delay, Chip area, Power and Power Delay Product (PDP) for N=1, N=2 and N=4. Both multipliers use Wallace reduction trees. HSpice simulations with 32-nm CNTFET parameters shows that the binary implementations are always more efficient: the 1*1 quit multiplier is far more complex than a 1*1 bit multiplier (AND gate) and generate both product and a carry terms. Even with half number of terms, the quaternary reduction tree has the same number of terms than the binary one, and uses quaternary adders that are also more complicated than the binary ones. The quaternary multipliers have larger worst case delays, more power dissipation and far more chip areas than the binary ones computing the same amount of information.