OpenRaiser/Intern-Atlas huggingface dataset:
Hybrid ACO-CI Algorithm for Beam Design problems
Venue: arXiv cs.NE 2023
Year: 2023

A range of complicated real-world problems have inspired the development of several optimization methods. Here, a novel hybrid version of the Ant colony optimization (ACO) method is developed using the sample space reduction technique of the Cohort Intelligence (CI) Algorithm. The algorithm is developed, and accuracy is tested by solving 35 standard benchmark test functions. Furthermore, the constrained version of the algorithm is used to solve two mechanical design problems involving stepped cantilever beams and I-section beams. The effectiveness of the proposed technique of solution is evaluated relative to contemporary algorithmic approaches that are already in use. The results show that our proposed hybrid ACO-CI algorithm will take lesser number of iterations to produce the desired output which means lesser computational time. For the minimization of weight of stepped cantilever beam and deflection in I-section beam a proposed hybrid ACO-CI algorithm yielded best results when compared to other existing algorithms. The proposed work could be investigate for variegated real world applications encompassing domains of engineering, combinatorial and health care problems.
Training Feedforward Neural Networks with Bayesian Hyper-Heuristics
Venue: arXiv cs.LG 2023
Year: 2023

The process of training feedforward neural networks (FFNNs) can benefit from an automated process where the best heuristic to train the network is sought out automatically by means of a high-level probabilistic-based heuristic. This research introduces a novel population-based Bayesian hyper-heuristic (BHH) that is used to train feedforward neural networks (FFNNs). The performance of the BHH is compared to that of ten popular low-level heuristics, each with different search behaviours. The chosen heuristic pool consists of classic gradient-based heuristics as well as meta-heuristics (MHs). The empirical process is executed on fourteen datasets consisting of classification and regression problems with varying characteristics. The BHH is shown to be able to train FFNNs well and provide an automated method for finding the best heuristic to train the FFNNs at various stages of the training process.
T-FFTRadNet: Object Detection with Swin Vision Transformers from Raw ADC Radar Signals
Venue: arXiv cs.CV 2023
Year: 2023

Object detection utilizing Frequency Modulated Continous Wave radar is becoming increasingly popular in the field of autonomous systems. Radar does not possess the same drawbacks seen by other emission-based sensors such as LiDAR, primarily the degradation or loss of return signals due to weather conditions such as rain or snow. However, radar does possess traits that make it unsuitable for standard emission-based deep learning representations such as point clouds. Radar point clouds tend to be sparse and therefore information extraction is not efficient. To overcome this, more traditional digital signal processing pipelines were adapted to form inputs residing directly in the frequency domain via Fast Fourier Transforms. Commonly, three transformations were used to form Range-Azimuth-Doppler cubes in which deep learning algorithms could perform object detection. This too has drawbacks, namely the pre-processing costs associated with performing multiple Fourier Transforms and normalization. We explore the possibility of operating on raw radar inputs from analog to digital converters via the utilization of complex transformation layers. Moreover, we introduce hierarchical Swin Vision transformers to the field of radar object detection and show their capability to operate on inputs varying in pre-processing, along with different radar configurations, i.e. relatively low and high numbers of transmitters and receivers, while obtaining on par or better results than the state-of-the-art.
De-coupling and De-positioning Dense Self-supervised Learning
Venue: arXiv cs.CV 2023
Year: 2023

Dense Self-Supervised Learning (SSL) methods address the limitations of using image-level feature representations when handling images with multiple objects. Although the dense features extracted by employing segmentation maps and bounding boxes allow networks to perform SSL for each object, we show that they suffer from coupling and positional bias, which arise from the receptive field increasing with layer depth and zero-padding. We address this by introducing three data augmentation strategies, and leveraging them in (i) a decoupling module that aims to robustify the network to variations in the object's surroundings, and (ii) a de-positioning module that encourages the network to discard positional object information. We demonstrate the benefits of our method on COCO and on a new challenging benchmark, OpenImage-MINI, for object classification, semantic segmentation, and object detection. Our extensive experiments evidence the better generalization of our method compared to the SOTA dense SSL methods
Concise QBF Encodings for Games on a Grid (extended version)
Venue: arXiv cs.AI 2023
Year: 2023

Encoding 2-player games in QBF correctly and efficiently is challenging and error-prone. To enable concise specifications and uniform encodings of games played on grid boards, like Tic-Tac-Toe, Connect-4, Domineering, Pursuer-Evader and Breakthrough, we introduce Board-game Domain Definition Language (BDDL), inspired by the success of PDDL in the planning domain. We provide an efficient translation from BDDL into QBF, encoding the existence of a winning strategy of bounded depth. Our lifted encoding treats board positions symbolically and allows concise definitions of conditions, effects and winning configurations, relative to symbolic board positions. The size of the encoding grows linearly in the input model and the considered depth. To show the feasibility of such a generic approach, we use QBF solvers to compute the critical depths of winning strategies for instances of several known games. For several games, our work provides the first QBF encoding. Unlike plan validation in SAT-based planning, validating QBF-based winning strategies is difficult. We show how to validate winning strategies using QBF certificates and interactive game play.
PopSparse: Accelerated block sparse matrix multiplication on IPU
Venue: arXiv cs.LG 2023
Year: 2023

Reducing the computational cost of running large scale neural networks using sparsity has attracted great attention in the deep learning community. While much success has been achieved in reducing FLOP and parameter counts while maintaining acceptable task performance, achieving actual speed improvements has typically been much more difficult, particularly on general purpose accelerators (GPAs) such as NVIDIA GPUs using low precision number formats. In this work we introduce PopSparse, a library that enables fast sparse operations on Graphcore IPUs by leveraging both the unique hardware characteristics of IPUs as well as any block structure defined in the data. We target two different types of sparsity: static, where the sparsity pattern is fixed at compile-time; and dynamic, where it can change each time the model is run. We present benchmark results for matrix multiplication for both of these modes on IPU with a range of block sizes, matrix sizes and densities. Results indicate that the PopSparse implementations are faster than dense matrix multiplications on IPU at a range of sparsity levels with large matrix size and block size. Furthermore, static sparsity in general outperforms dynamic sparsity. While previous work on GPAs has shown speedups only for very high sparsity (typically 99\% and above), the present work demonstrates that our static sparse implementation outperforms equivalent dense calculations in FP16 at lower sparsity (around 90%). IPU code is available to view and run at ipu.dev/sparsity-benchmarks, GPU code will be made available shortly.
How do decoding algorithms distribute information in dialogue responses?
Venue: arXiv cs.CL 2023
Year: 2023

Humans tend to follow the Uniform Information Density (UID) principle by distributing information evenly in utterances. We study if decoding algorithms implicitly follow this UID principle, and under what conditions adherence to UID might be desirable for dialogue generation. We generate responses using different decoding algorithms with GPT-2 on the Persona-Chat dataset and collect human judgments on their quality using Amazon Mechanical Turk. We find that (i) surprisingly, model-generated responses follow the UID principle to a greater extent than human responses, and (ii) decoding algorithms that promote UID do not generate higher-quality responses. Instead, when we control for surprisal, non-uniformity of information density correlates with the quality of responses with very low/high surprisal. Our findings indicate that encouraging non-uniform responses is a potential solution to the ``likelihood trap'' problem (quality degradation in very high-likelihood text). Our dataset containing multiple candidate responses per dialog history along with human-annotated quality ratings is available at https://huggingface.co/datasets/saranya132/dialog_uid_gpt2.
On the complexity of embedding in graph products
Venue: arXiv cs.CG 2023
Year: 2023

Graph embedding, especially as a subgraph of a grid, is an old topic in VLSI design and graph drawing. In this paper, we investigate related questions concerning the complexity of embedding a graph $G$ in a host graph that is the strong product of a path $P$ with a graph $H$ that satisfies some properties, such as having small treewidth, pathwidth or tree depth. We show that this is NP-hard, even under numerous restrictions on both $G$ and $H$. In particular, computing the row pathwidth and the row treedepth is NP-hard even for a tree of small pathwidth, while computing the row treewidth is NP-hard even for series-parallel graphs.
Deep Generative Model and Its Applications in Efficient Wireless Network Management: A Tutorial and Case Study
Venue: arXiv cs.NI 2023
Year: 2023

With the phenomenal success of diffusion models and ChatGPT, deep generation models (DGMs) have been experiencing explosive growth from 2022. Not limited to content generation, DGMs are also widely adopted in Internet of Things, Metaverse, and digital twin, due to their outstanding ability to represent complex patterns and generate plausible samples. In this article, we explore the applications of DGMs in a crucial task, i.e., improving the efficiency of wireless network management. Specifically, we firstly overview the generative AI, as well as three representative DGMs. Then, a DGM-empowered framework for wireless network management is proposed, in which we elaborate the issues of the conventional network management approaches, why DGMs can address them efficiently, and the step-by-step workflow for applying DGMs in managing wireless networks. Moreover, we conduct a case study on network economics, using the state-of-the-art DGM model, i.e., diffusion model, to generate effective contracts for incentivizing the mobile AI-Generated Content (AIGC) services. Last but not least, we discuss important open directions for the further research.
A declarative approach to data narration
Venue: arXiv cs.DB 2023
Year: 2023

This vision paper lays the preliminary foundations for Data Narrative Management Systems (DNMS), systems that enable the storage, sharing, and manipulation of data narratives. We motivate the need for such formal foundations and introduce a simple logical framework inspired by the relational model. The core of this framework is a Data Narrative Manipulation Language inspired by the extended relational algebra. We illustrate its use via examples and discuss the main challenges for the implementation of this vision.
The Nordic Pile: A 1.2TB Nordic Dataset for Language Modeling
Venue: arXiv cs.CL 2023
Year: 2023

Pre-training Large Language Models (LLMs) require massive amounts of text data, and the performance of the LLMs typically correlates with the scale and quality of the datasets. This means that it may be challenging to build LLMs for smaller languages such as Nordic ones, where the availability of text corpora is limited. In order to facilitate the development of the LLMS in the Nordic languages, we curate a high-quality dataset consisting of 1.2TB of text, in all of the major North Germanic languages (Danish, Icelandic, Norwegian, and Swedish), as well as some high-quality English data. This paper details our considerations and processes for collecting, cleaning, and filtering the dataset.
Milestones in Autonomous Driving and Intelligent Vehicles: Survey of Surveys
Venue: arXiv cs.RO 2023
Year: 2023

Interest in autonomous driving (AD) and intelligent vehicles (IVs) is growing at a rapid pace due to the convenience, safety, and economic benefits. Although a number of surveys have reviewed research achievements in this field, they are still limited in specific tasks, lack of systematic summary and research directions in the future. Here we propose a Survey of Surveys (SoS) for total technologies of AD and IVs that reviews the history, summarizes the milestones, and provides the perspectives, ethics, and future research directions. To our knowledge, this article is the first SoS with milestones in AD and IVs, which constitutes our complete research work together with two other technical surveys. We anticipate that this article will bring novel and diverse insights to researchers and abecedarians, and serve as a bridge between past and future.
JCDNet: Joint of Common and Definite phases Network for Weakly Supervised Temporal Action Localization
Venue: arXiv cs.CV 2023
Year: 2023

Weakly-supervised temporal action localization aims to localize action instances in untrimmed videos with only video-level supervision. We witness that different actions record common phases, e.g., the run-up in the HighJump and LongJump. These different actions are defined as conjoint actions, whose rest parts are definite phases, e.g., leaping over the bar in a HighJump. Compared with the common phases, the definite phases are more easily localized in existing researches. Most of them formulate this task as a Multiple Instance Learning paradigm, in which the common phases are tended to be confused with the background, and affect the localization completeness of the conjoint actions. To tackle this challenge, we propose a Joint of Common and Definite phases Network (JCDNet) by improving feature discriminability of the conjoint actions. Specifically, we design a Class-Aware Discriminative module to enhance the contribution of the common phases in classification by the guidance of the coarse definite-phase features. Besides, we introduce a temporal attention module to learn robust action-ness scores via modeling temporal dependencies, distinguishing the common phases from the background. Extensive experiments on three datasets (THUMOS14, ActivityNetv1.2, and a conjoint-action subset) demonstrate that JCDNet achieves competitive performance against the state-of-the-art methods. Keywords: weakly-supervised learning, temporal action localization, conjoint action
Local region-learning modules for point cloud classification
Venue: arXiv cs.CV 2023
Year: 2023

Data organization via forming local regions is an integral part of deep learning networks that process 3D point clouds in a hierarchical manner. At each level, the point cloud is sampled to extract representative points and these points are used to be centers of local regions. The organization of local regions is of considerable importance since it determines the location and size of the receptive field at a particular layer of feature aggregation. In this paper, we present two local region-learning modules: Center Shift Module to infer the appropriate shift for each center point, and Radius Update Module to alter the radius of each local region. The parameters of the modules are learned through optimizing the loss associated with the particular task within an end-to-end network. We present alternatives for these modules through various ways of modeling the interactions of the features and locations of 3D points in the point cloud. We integrated both modules independently and together to the PointNet++ and PointCNN object classification architectures, and demonstrated that the modules contributed to a significant increase in classification accuracy for the ScanObjectNN data set consisting of scans of real-world objects. Our further experiments on ShapeNet data set showed that the modules are also effective on 3D CAD models.
ISSTAD: Incremental Self-Supervised Learning Based on Transformer for Anomaly Detection and Localization
Venue: arXiv cs.CV 2023
Year: 2023

In the realm of machine learning, the study of anomaly detection and localization within image data has gained substantial traction, particularly for practical applications such as industrial defect detection. While the majority of existing methods predominantly use Convolutional Neural Networks (CNN) as their primary network architecture, we introduce a novel approach based on the Transformer backbone network. Our method employs a two-stage incremental learning strategy. During the first stage, we train a Masked Autoencoder (MAE) model solely on normal images. In the subsequent stage, we apply pixel-level data augmentation techniques to generate corrupted normal images and their corresponding pixel labels. This process allows the model to learn how to repair corrupted regions and classify the status of each pixel. Ultimately, the model generates a pixel reconstruction error matrix and a pixel anomaly probability matrix. These matrices are then combined to produce an anomaly scoring matrix that effectively detects abnormal regions. When benchmarked against several state-of-the-art CNN-based methods, our approach exhibits superior performance on the MVTec AD dataset, achieving an impressive 97.6% AUC.
Switching Pushing Skill Combined MPC and Deep Reinforcement Learning for Planar Non-prehensile Manipulation
Venue: arXiv cs.RO 2023
Year: 2023

In this paper, a novel switching pushing skill algorithm is proposed to improve the efficiency of planar non-prehensile manipulation, which draws inspiration from human pushing actions and comprises two sub-problems, i.e., discrete decision-making of pushing point and continuous feedback control of pushing action. In order to solve the sub-problems above, a combination of Model Predictive Control (MPC) and Deep Reinforcement Learning (DRL) method is employed. Firstly, the selection of pushing point is modeled as a Markov decision process,and an off-policy DRL method is used by reshaping the reward function to train the decision-making model for selecting pushing point from a pre-constructed set based on the current state. Secondly, a motion constraint region (MCR) is constructed for the specific pushing point based on the distance from the target, followed by utilizing the MPC controller to regulate the motion of the object within the MCR towards the target pose. The trigger condition for switching the pushing point occurs when the object reaches the boundary of the MCR under the pushing action. Subsequently, the pushing point and the controller are updated iteratively until the target pose is reached. We conducted pushing experiments on four distinct object shapes in both simulated and physical environments to evaluate our method. The results indicate that our method achieves a significantly higher training efficiency, with a training time that is only about 20% of the baseline method while maintaining around the same success rate. Moreover, our method outperforms the baseline method in terms of both training and execution efficiency of pushing operations, allowing for rapid learning of robot pushing skills.
An Efficient Mobile Gateway Selection and Discovery Based-Routing Protocol in Heterogeneous LTE-VANET Networks
Venue: arXiv cs.NI 2023
Year: 2023

Coupling cellular communication networks with vehicular ad hoc networks (VANET) can be a very interesting way out for providing Internet access to vehicles in the road. However, due to the several specific characteristics of VANETs, making an efficient multi-hop routing from vehicular sources to the Internet gateways through Long Term Evolution (LTE) technology is still challenging. In this paper, an Internet mobile gateway selection scheme is proposed to elect more potential vehicles to behave as gateways to Internet in VANETs. Therefore, the discovery and the selection of route to those mobiles gateways is carried out via an efficient multiple metrics-based relay selection mechanism. The objective is to select the more reliable route to the mobile gateways, by reducing the communication overhead and performing seamless handover. The proposed protocol is compared with one recent protocol based on packet delivery ratio, average end-to-end delay and overhead. The results show that the proposed protocol ameliorates significantly the network performance in the contrast of the other protocol.
On Decoding High-Order Interleaved Sum-Rank-Metric Codes
Venue: arXiv cs.IT 2023
Year: 2023

We consider decoding of vertically homogeneous interleaved sum-rank-metric codes with high interleaving order $s$, that are constructed by stacking $s$ codewords of a single constituent code. We propose a Metzner--Kapturowski-like decoding algorithm that can correct errors of sum-rank weight $t <= d-2$, where $d$ is the minimum distance of the code, if the interleaving order $s > t$ and the error matrix fulfills a certain rank condition. The proposed decoding algorithm generalizes the Metzner--Kapturowski(-like) decoders in the Hamming metric and the rank metric and has a computational complexity of $\tilde{O}(\max(n^3, n^2 s))$ operations in $\mathbb{F}_{q^m}$, where $n$ is the length of the code. The scheme performs linear-algebraic operations only and thus works for any interleaved linear sum-rank-metric code. We show how the decoder can be used to decode high-order interleaved codes in the skew metric. Apart from error control, the proposed decoder allows to determine the security level of code-based cryptosystems based on interleaved sum-rank metric codes.
coExplore: Combining multiple rankings for multi-robot exploration
Venue: arXiv cs.RO 2023
Year: 2023

Multi-robot exploration is a field which tackles the challenge of exploring a previously unknown environment with a number of robots. This is especially relevant for search and rescue operations where time is essential. Current state of the art approaches are able to explore a given environment with a large number of robots by assigning them to frontiers. However, this assignment generally favors large frontiers and hence omits potentially valuable medium-sized frontiers. In this paper we showcase a novel multi-robot exploration algorithm, which improves and adapts the existing approaches. Through the addition of information gain based ranking we improve the exploration time for closed urban environments while maintaining similar exploration performance compared to the state-of-the-art for open environments. Accompanying this paper, we further publish our research code in order to lower the barrier to entry for further multi-robot exploration research. We evaluate the performance in three simulated scenarios, two urban and one open scenario, where our algorithm outperforms the state of the art by 5% overall.