OpenRaiser/Intern-Atlas huggingface dataset:
Planetary UAV localization based on Multi-modal Registration with Pre-existing Digital Terrain Model
Venue: arXiv cs.CV 2021
Year: 2021

The autonomous real-time optical navigation of planetary UAV is of the key technologies to ensure the success of the exploration. In such a GPS denied environment, vision-based localization is an optimal approach. In this paper, we proposed a multi-modal registration based SLAM algorithm, which estimates the location of a planet UAV using a nadir view camera on the UAV compared with pre-existing digital terrain model. To overcome the scale and appearance difference between on-board UAV images and pre-installed digital terrain model, a theoretical model is proposed to prove that topographic features of UAV image and DEM can be correlated in frequency domain via cross power spectrum. To provide the six-DOF of the UAV, we also developed an optimization approach which fuses the geo-referencing result into a SLAM system via LBA (Local Bundle Adjustment) to achieve robust and accurate vision-based navigation even in featureless planetary areas. To test the robustness and effectiveness of the proposed localization algorithm, a new cross-source drone-based localization dataset for planetary exploration is proposed. The proposed dataset includes 40200 synthetic drone images taken from nine planetary scenes with related DEM query images. Comparison experiments carried out demonstrate that over the flight distance of 33.8km, the proposed method achieved average localization error of 0.45 meters, compared to 1.31 meters by ORB-SLAM, with the processing speed of 12hz which will ensure a real-time performance. We will make our datasets available to encourage further work on this promising topic.
An Automated Knowledge Mining and Document Classification System with Multi-model Transfer Learning
Venue: arXiv cs.CL 2021
Year: 2021

Service manual documents are crucial to the engineering company as they provide guidelines and knowledge to service engineers. However, it has become inconvenient and inefficient for service engineers to retrieve specific knowledge from documents due to the complexity of resources. In this research, we propose an automated knowledge mining and document classification system with novel multi-model transfer learning approaches. Particularly, the classification performance of the system has been improved with three effective techniques: fine-tuning, pruning, and multi-model method. The fine-tuning technique optimizes a pre-trained BERT model by adding a feed-forward neural network layer and the pruning technique is used to retrain the BERT model with new data. The multi-model method initializes and trains multiple BERT models to overcome the randomness of data ordering during the fine-tuning process. In the first iteration of the training process, multiple BERT models are being trained simultaneously. The best model is then selected for the next phase of the training process with another two iterations and the training processes for other BERT models will be terminated. The performance of the proposed system has been evaluated by comparing with two robust baseline methods, BERT and BERT-CNN. Experimental results on a widely used Corpus of Linguistic Acceptability (CoLA) dataset have shown that the proposed techniques perform better than these baseline methods in terms of accuracy and MCC score.
OKGIT: Open Knowledge Graph Link Prediction with Implicit Types
Venue: arXiv cs.CL 2021
Year: 2021

Open Knowledge Graphs (OpenKG) refer to a set of (head noun phrase, relation phrase, tail noun phrase) triples such as (tesla, return to, new york) extracted from a corpus using OpenIE tools. While OpenKGs are easy to bootstrap for a domain, they are very sparse and far from being directly usable in an end task. Therefore, the task of predicting new facts, i.e., link prediction, becomes an important step while using these graphs in downstream tasks such as text comprehension, question answering, and web search query recommendation. Learning embeddings for OpenKGs is one approach for link prediction that has received some attention lately. However, on careful examination, we found that current OpenKG link prediction algorithms often predict noun phrases (NPs) with incompatible types for given noun and relation phrases. We address this problem in this work and propose OKGIT that improves OpenKG link prediction using novel type compatibility score and type regularization. With extensive experiments on multiple datasets, we show that the proposed method achieves state-of-the-art performance while producing type compatible NPs in the link prediction task.
Simple Truncated SVD based Model for Node Classification on Heterophilic Graphs
Venue: arXiv cs.LG 2021
Year: 2021

Graph Neural Networks (GNNs) have shown excellent performance on graphs that exhibit strong homophily with respect to the node labels i.e. connected nodes have same labels. However, they perform poorly on heterophilic graphs. Recent approaches have typically modified aggregation schemes, designed adaptive graph filters, etc. to address this limitation. In spite of this, the performance on heterophilic graphs can still be poor. We propose a simple alternative method that exploits Truncated Singular Value Decomposition (TSVD) of topological structure and node features. Our approach achieves up to ~30% improvement in performance over state-of-the-art methods on heterophilic graphs. This work is an early investigation into methods that differ from aggregation based approaches. Our experimental results suggest that it might be important to explore other alternatives to aggregation methods for heterophilic setting.
Unsupervised Deep Image Stitching: Reconstructing Stitched Features to Images
Venue: arXiv cs.CV 2021
Year: 2021

Traditional feature-based image stitching technologies rely heavily on feature detection quality, often failing to stitch images with few features or low resolution. The learning-based image stitching solutions are rarely studied due to the lack of labeled data, making the supervised methods unreliable. To address the above limitations, we propose an unsupervised deep image stitching framework consisting of two stages: unsupervised coarse image alignment and unsupervised image reconstruction. In the first stage, we design an ablation-based loss to constrain an unsupervised homography network, which is more suitable for large-baseline scenes. Moreover, a transformer layer is introduced to warp the input images in the stitching-domain space. In the second stage, motivated by the insight that the misalignments in pixel-level can be eliminated to a certain extent in feature-level, we design an unsupervised image reconstruction network to eliminate the artifacts from features to pixels. Specifically, the reconstruction network can be implemented by a low-resolution deformation branch and a high-resolution refined branch, learning the deformation rules of image stitching and enhancing the resolution simultaneously. To establish an evaluation benchmark and train the learning framework, a comprehensive real-world image dataset for unsupervised deep image stitching is presented and released. Extensive experiments well demonstrate the superiority of our method over other state-of-the-art solutions. Even compared with the supervised solutions, our image stitching quality is still preferred by users.
Choice of Parallelism: Multi-GPU Driven Pipeline for Huge Academic Backbone Network
Venue: arXiv cs.DC 2021
Year: 2021

Science Information Network (SINET) is a Japanese academic backbone network for more than 800 research institutions and universities. In this paper, we present a multi-GPU-driven pipeline for handling huge session data of SINET. Our pipeline consists of ELK stack, multi-GPU server, and Splunk. A multi-GPU server is responsible for two procedures: discrimination and histogramming. Discrimination is dividing session data into ingoing/outgoing with subnet mask calculation and network address matching. Histogramming is grouping ingoing/outgoing session data into bins with map-reduce. In our architecture, we use GPU for the acceleration of ingress/egress discrimination of session data. Also, we use a tiling design pattern for building a two-stage map-reduce of CPU and GPU. Our multi-GPU-driven pipeline has succeeded in processing huge workloads of about 1.2 to 1.6 billion session streams (500GB-650GB) within 24 hours.
L'Apprentissage Automatique dans la planification et le contr{ô}le de la production : un {é}tat de l'art
Venue: arXiv cs.LG 2021
Year: 2021

Proper Production Planning and Control (PPC) is capital to have an edge over competitors, reduce costs and respect delivery dates. With regard to PPC, Machine Learning (ML) provides new opportunities to make intelligent decisions based on data. Therefore, this communication provides an initial systematic review of publications on ML applied in PPC. The research objective of this study is twofold: firstly, it aims to identify techniques and tools allowing to apply ML in PPC, and secondly, it reviews the characteristics of Industry 4.0 (I4.0) in recent research papers. Concerning the second objective, seven characteristics of I4.0 are used in the analysis framework, from which two of them are proposed by the authors. Additionally, the addressed domains of ML-aided PPC in scientific literature are identified. Finally, results are analyzed and gaps that may motivate further research are highlighted.
Self-Supervised Monocular Depth Estimation of Untextured Indoor Rotated Scenes
Venue: arXiv cs.CV 2021
Year: 2021

Self-supervised deep learning methods have leveraged stereo images for training monocular depth estimation. Although these methods show strong results on outdoor datasets such as KITTI, they do not match performance of supervised methods on indoor environments with camera rotation. Indoor, rotated scenes are common for less constrained applications and pose problems for two reasons: abundance of low texture regions and increased complexity of depth cues for images under rotation. In an effort to extend self-supervised learning to more generalised environments we propose two additions. First, we propose a novel Filled Disparity Loss term that corrects for ambiguity of image reconstruction error loss in textureless regions. Specifically, we interpolate disparity in untextured regions, using the estimated disparity from surrounding textured areas, and use L1 loss to correct the original estimation. Our experiments show that depth estimation is substantially improved on low-texture scenes, without any loss on textured scenes, when compared to Monodepth by Godard et al. Secondly, we show that training with an application's representative rotations, in both pitch and roll, is sufficient to significantly improve performance over the entire range of expected rotation. We demonstrate that depth estimation is successfully generalised as performance is not lost when evaluated on test sets with no camera rotation. Together these developments enable a broader use of self-supervised learning of monocular depth estimation for complex environments.
Approximability of (Simultaneous) Class Cover for Boxes
Venue: arXiv cs.CG 2021
Year: 2021

Bereg et al. (2012) introduced the Boxes Class Cover problem, which has its roots in classification and clustering applications: Given a set of n points in the plane, each colored red or blue, find the smallest cardinality set of axis-aligned boxes whose union covers the red points without covering any blue point. In this paper we give an alternative proof of APX-hardness for this problem, which also yields an explicit lower bound on its approximability. Our proof also directly applies when restricted to sets of points in general position and to the case where so-called half-strips are considered instead of boxes, which is a new result. We also introduce a symmetric variant of this problem, which we call Simultaneous Boxes Class Cover and can be stated as follows: Given a set S of n points in the plane, each colored red or blue, find the smallest cardinality set of axis-aligned boxes which together cover S such that all boxes cover only points of the same color and no box covering a red point intersects a box covering a blue point. We show that this problem is also APX-hard and give a polynomial-time constant-factor approximation algorithm.
Evaluation of deep lift pose models for 3D rodent pose estimation based on geometrically triangulated data
Venue: arXiv cs.CV 2021
Year: 2021

The assessment of laboratory animal behavior is of central interest in modern neuroscience research. Behavior is typically studied in terms of pose changes, which are ideally captured in three dimensions. This requires triangulation over a multi-camera system which view the animal from different angles. However, this is challenging in realistic laboratory setups due to occlusions and other technical constrains. Here we propose the usage of lift-pose models that allow for robust 3D pose estimation of freely moving rodents from a single view camera view. To obtain high-quality training data for the pose-lifting, we first perform geometric calibration in a camera setup involving bottom as well as side views of the behaving animal. We then evaluate the performance of two previously proposed model architectures under given inference perspectives and conclude that reliable 3D pose inference can be obtained using temporal convolutions. With this work we would like to contribute to a more robust and diverse behavior tracking of freely moving rodents for a wide range of experiments and setups in the neuroscience community.
SGTBN: Generating Dense Depth Maps from Single-Line LiDAR
Venue: arXiv cs.CV 2021
Year: 2021

Depth completion aims to generate a dense depth map from the sparse depth map and aligned RGB image. However, current depth completion methods use extremely expensive 64-line LiDAR(about $100,000) to obtain sparse depth maps, which will limit their application scenarios. Compared with the 64-line LiDAR, the single-line LiDAR is much less expensive and much more robust. Therefore, we propose a method to tackle the problem of single-line depth completion, in which we aim to generate a dense depth map from the single-line LiDAR info and the aligned RGB image. A single-line depth completion dataset is proposed based on the existing 64-line depth completion dataset(KITTI). A network called Semantic Guided Two-Branch Network(SGTBN) which contains global and local branches to extract and fuse global and local info is proposed for this task. A Semantic guided depth upsampling module is used in our network to make full use of the semantic info in RGB images. Except for the usual MSE loss, we add the virtual normal loss to increase the constraint of high-order 3D geometry in our network. Our network outperforms the state-of-the-art in the single-line depth completion task. Besides, compared with the monocular depth estimation, our method also has significant advantages in precision and model size.
PERT: A Progressively Region-based Network for Scene Text Removal
Venue: arXiv cs.CV 2021
Year: 2021

Scene text removal (STR) contains two processes: text localization and background reconstruction. Through integrating both processes into a single network, previous methods provide an implicit erasure guidance by modifying all pixels in the entire image. However, there exists two problems: 1) the implicit erasure guidance causes the excessive erasure to non-text areas; 2) the one-stage erasure lacks the exhaustive removal of text region. In this paper, we propose a ProgrEssively Region-based scene Text eraser (PERT), introducing an explicit erasure guidance and performing balanced multi-stage erasure for accurate and exhaustive text removal. Firstly, we introduce a new region-based modification strategy (RegionMS) to explicitly guide the erasure process. Different from previous implicitly guided methods, RegionMS performs targeted and regional erasure on only text region, and adaptively perceives stroke-level information to improve the integrity of non-text areas with only bounding box level annotations. Secondly, PERT performs balanced multi-stage erasure with several progressive erasing stages. Each erasing stage takes an equal step toward the text-erased image to ensure the exhaustive erasure of text regions. Compared with previous methods, PERT outperforms them by a large margin without the need of adversarial loss, obtaining SOTA results with high speed (71 FPS) and at least 25% lower parameter complexity. Code is available at https://github.com/wangyuxin87/PERT.
Mix and Mask Actor-Critic Methods
Venue: arXiv cs.LG 2021
Year: 2021

Shared feature spaces for actor-critic methods aims to capture generalized latent representations to be used by the policy and value function with the hopes for a more stable and sample-efficient optimization. However, such a paradigm present a number of challenges in practice, as parameters generating a shared representation must learn off two distinct objectives, resulting in competing updates and learning perturbations. In this paper, we present a novel feature-sharing framework to address these difficulties by introducing the mix and mask mechanisms and the distributional scalarization technique. These mechanisms behaves dynamically to couple and decouple connected latent features variably between the policy and value function, while the distributional scalarization standardizes the two objectives using a probabilistic standpoint. From our experimental results, we demonstrate significant performance improvements compared to alternative methods using separate networks and networks with a shared backbone.
AudioCLIP: Extending CLIP to Image, Text and Audio
Venue: arXiv cs.SD 2021
Year: 2021

In the past, the rapidly evolving field of sound classification greatly benefited from the application of methods from other domains. Today, we observe the trend to fuse domain-specific tasks and approaches together, which provides the community with new outstanding models. In this work, we present an extension of the CLIP model that handles audio in addition to text and images. Our proposed model incorporates the ESResNeXt audio-model into the CLIP framework using the AudioSet dataset. Such a combination enables the proposed model to perform bimodal and unimodal classification and querying, while keeping CLIP's ability to generalize to unseen datasets in a zero-shot inference fashion. AudioCLIP achieves new state-of-the-art results in the Environmental Sound Classification (ESC) task, out-performing other approaches by reaching accuracies of 90.07% on the UrbanSound8K and 97.15% on the ESC-50 datasets. Further it sets new baselines in the zero-shot ESC-task on the same datasets (68.78% and 69.40%, respectively). Finally, we also assess the cross-modal querying performance of the proposed model as well as the influence of full and partial training on the results. For the sake of reproducibility, our code is published.
BotRGCN: Twitter Bot Detection with Relational Graph Convolutional Networks
Venue: arXiv cs.SI 2021
Year: 2021

Twitter bot detection is an important and challenging task. Existing bot detection measures fail to address the challenge of community and disguise, falling short of detecting bots that disguise as genuine users and attack collectively. To address these two challenges of Twitter bot detection, we propose BotRGCN, which is short for Bot detection with Relational Graph Convolutional Networks. BotRGCN addresses the challenge of community by constructing a heterogeneous graph from follow relationships and applies relational graph convolutional networks. Apart from that, BotRGCN makes use of multi-modal user semantic and property information to avoid feature engineering and augment its ability to capture bots with diversified disguise. Extensive experiments demonstrate that BotRGCN outperforms competitive baselines on a comprehensive benchmark TwiBot-20 which provides follow relationships.
Towards Fully Interpretable Deep Neural Networks: Are We There Yet?
Venue: arXiv cs.LG 2021
Year: 2021

Despite the remarkable performance, Deep Neural Networks (DNNs) behave as black-boxes hindering user trust in Artificial Intelligence (AI) systems. Research on opening black-box DNN can be broadly categorized into post-hoc methods and inherently interpretable DNNs. While many surveys have been conducted on post-hoc interpretation methods, little effort is devoted to inherently interpretable DNNs. This paper provides a review of existing methods to develop DNNs with intrinsic interpretability, with a focus on Convolutional Neural Networks (CNNs). The aim is to understand the current progress towards fully interpretable DNNs that can cater to different interpretation requirements. Finally, we identify gaps in current work and suggest potential research directions.
Resource Management for Transmit Power Minimization in UAV-Assisted RIS HetNets Supported by Dual Connectivity
Venue: arXiv cs.IT 2021
Year: 2021

This paper proposes a novel approach to improve the performance of a heterogeneous network (HetNet) supported by dual connectivity (DC) by adopting multiple unmanned aerial vehicles (UAVs) as passive relays that carry reconfigurable intelligent surfaces (RISs). More specifically, RISs are deployed under the UAVs termed as UAVs-RISs that operate over the micro-wave ($μ$W) channel in the sky to sustain a strong line-of-sight (LoS) connection with the ground users. The macro-cell operates over the $μ$W channel based on orthogonal multiple access (OMA), while small base stations (SBSs) operate over the millimeter-wave (mmW) channel based on non-orthogonal multiple access (NOMA). We study the problem of total transmit power minimization by jointly optimizing the trajectory/velocity of each UAV, RISs' phase shifts, subcarrier allocations, and active beamformers at each BS. The underlying problem is highly non-convex and the global optimal solution is intractable. To handle it, we decompose the original problem into two subproblems, i.e., a subproblem which deals with the UAVs' trajectories/velocities, RISs' phase shifts, and subcarrier allocations for $μ$W; and a subproblem for active beamforming design and subcarrier allocation for mmW. In particular, we solve the first subproblem via the dueling deep Q-Network (DQN) learning approach by developing a distributed algorithm which leads to a better policy evaluation. Then, we solve the active beamforming design and subcarrier allocation for the mmW via the successive convex approximation (SCA) method. Simulation results exhibit the effectiveness of the proposed resource allocation scheme compared to other baseline schemes. In particular, it is revealed that by deploying UAVs-RISs, the transmit power can be reduced by 6 dBm while maintaining similar guaranteed QoS.