OpenRaiser/Intern-Atlas huggingface dataset:
TransPath: Learning Heuristics For Grid-Based Pathfinding via Transformers
Venue: arXiv cs.AI 2022
Year: 2022

Heuristic search algorithms, e.g. A*, are the commonly used tools for pathfinding on grids, i.e. graphs of regular structure that are widely employed to represent environments in robotics, video games etc. Instance-independent heuristics for grid graphs, e.g. Manhattan distance, do not take the obstacles into account and, thus, the search led by such heuristics performs poorly in the obstacle-rich environments. To this end, we suggest learning the instance-dependent heuristic proxies that are supposed to notably increase the efficiency of the search. The first heuristic proxy we suggest to learn is the correction factor, i.e. the ratio between the instance independent cost-to-go estimate and the perfect one (computed offline at the training phase). Unlike learning the absolute values of the cost-to-go heuristic function, which was known before, when learning the correction factor the knowledge of the instance-independent heuristic is utilized. The second heuristic proxy is the path probability, which indicates how likely the grid cell is lying on the shortest path. This heuristic can be utilized in the Focal Search framework as the secondary heuristic, allowing us to preserve the guarantees on the bounded sub-optimality of the solution. We learn both suggested heuristics in a supervised fashion with the state-of-the-art neural networks containing attention blocks (transformers). We conduct a thorough empirical evaluation on a comprehensive dataset of planning tasks, showing that the suggested techniques i) reduce the computational effort of the A* up to a factor of $4$x while producing the solutions, which costs exceed the costs of the optimal solutions by less than $0.3$% on average; ii) outperform the competitors, which include the conventional techniques from the heuristic search, i.e. weighted A*, as well as the state-of-the-art learnable planners.
Depth Estimation maps of lidar and stereo images
Venue: arXiv cs.CV 2022
Year: 2022

This paper as technology report is focusing on evaluation and performance about depth estimations based on lidar data and stereo images(front left and front right). The lidar 3d cloud data and stereo images are provided by ford. In addition, this paper also will explain some details about optimization for depth estimation performance. And some reasons why not use machine learning to do depth estimation, replaced by pure mathmatics to do stereo depth estimation. The structure of this paper is made of by following:(1) Performance: to discuss and evaluate about depth maps created from stereo images and 3D cloud points, and relationships analysis for alignment and errors;(2) Depth estimation by stereo images: to explain the methods about how to use stereo images to estimate depth;(3)Depth estimation by lidar: to explain the methods about how to use 3d cloud datas to estimate depth;In summary, this report is mainly to show the performance of depth maps and their approaches, analysis for them.
CatlNet: Learning Communication and Coordination Policies from CaTL+ Specifications
Venue: arXiv cs.LG 2022
Year: 2022

In this paper, we propose a learning-based framework to simultaneously learn the communication and distributed control policies for a heterogeneous multi-agent system (MAS) under complex mission requirements from Capability Temporal Logic plus (CaTL+) specifications. Both policies are trained, implemented, and deployed using a novel neural network model called CatlNet. Taking advantage of the robustness measure of CaTL+, we train CatlNet centrally to maximize it where network parameters are shared among all agents, allowing CatlNet to scale to large teams easily. CatlNet can then be deployed distributedly. A plan repair algorithm is also introduced to guide CatlNet's training and improve both training efficiency and the overall performance of CatlNet. The CatlNet approach is tested in simulation and results show that, after training, CatlNet can steer the decentralized MAS system online to satisfy a CaTL+ specification with a high success rate.
GAN-based Domain Inference Attack
Venue: arXiv cs.LG 2022
Year: 2022

Model-based attacks can infer training data information from deep neural network models. These attacks heavily depend on the attacker's knowledge of the application domain, e.g., using it to determine the auxiliary data for model-inversion attacks. However, attackers may not know what the model is used for in practice. We propose a generative adversarial network (GAN) based method to explore likely or similar domains of a target model -- the model domain inference (MDI) attack. For a given target (classification) model, we assume that the attacker knows nothing but the input and output formats and can use the model to derive the prediction for any input in the desired form. Our basic idea is to use the target model to affect a GAN training process for a candidate domain's dataset that is easy to obtain. We find that the target model may distract the training procedure less if the domain is more similar to the target domain. We then measure the distraction level with the distance between GAN-generated datasets, which can be used to rank candidate domains for the target model. Our experiments show that the auxiliary dataset from an MDI top-ranked domain can effectively boost the result of model-inversion attacks.
Model Segmentation for Storage Efficient Private Federated Learning with Top $r$ Sparsification
Venue: arXiv cs.IT 2022
Year: 2022

In federated learning (FL) with top $r$ sparsification, millions of users collectively train a machine learning (ML) model locally, using their personal data by only communicating the most significant $r$ fraction of updates to reduce the communication cost. It has been shown that the values as well as the indices of these selected (sparse) updates leak information about the users' personal data. In this work, we investigate different methods to carry out user-database communications in FL with top $r$ sparsification efficiently, while guaranteeing information theoretic privacy of users' personal data. These methods incur considerable storage cost. As a solution, we present two schemes with different properties that use MDS coded storage along with a model segmentation mechanism to reduce the storage cost at the expense of a controllable amount of information leakage, to perform private FL with top $r$ sparsification.
Multi-Lingual DALL-E Storytime
Venue: arXiv cs.CL 2022
Year: 2022

While recent advancements in artificial intelligence (AI) language models demonstrate cutting-edge performance when working with English texts, equivalent models do not exist in other languages or do not reach the same performance level. This undesired effect of AI advancements increases the gap between access to new technology from different populations across the world. This unsought bias mainly discriminates against individuals whose English skills are less developed, e.g., non-English speakers children. Following significant advancements in AI research in recent years, OpenAI has recently presented DALL-E: a powerful tool for creating images based on English text prompts. While DALL-E is a promising tool for many applications, its decreased performance when given input in a different language, limits its audience and deepens the gap between populations. An additional limitation of the current DALL-E model is that it only allows for the creation of a few images in response to a given input prompt, rather than a series of consecutive coherent frames that tell a story or describe a process that changes over time. Here, we present an easy-to-use automatic DALL-E storytelling framework that leverages the existing DALL-E model to enable fast and coherent visualizations of non-English songs and stories, pushing the limit of the one-step-at-a-time option DALL-E currently offers. We show that our framework is able to effectively visualize stories from non-English texts and portray the changes in the plot over time. It is also able to create a narrative and maintain interpretable changes in the description across frames. Additionally, our framework offers users the ability to specify constraints on the story elements, such as a specific location or context, and to maintain a consistent style throughout the visualization.
Natural Way of Solving a Convex Hull Problem
Venue: arXiv cs.MA 2022
Year: 2022

In this article, a new solution for the convex hull problem has been presented. The convex hull is a widely known problem in computational geometry. As nature is a rich source of ideas in the field of algorithms, the solution has been inspired by nature. A tight elastic band is modeled using agents and also nails as points of the problem. By simulating an elastic band with nails in an environment, solving the convex hull problem will be possible. The algorithm runs in O(t) in which t is the time that an elastic band will get fixed.
Department-level comparison of universities' scientific output: A bibliometric study of Greek universities
Venue: arXiv cs.DL 2022
Year: 2022

Although bibliometric studies for the assessment of scientific output at university-level are relatively common, data for performance at department-level rarely exist. In this paper we develop a methodology and tools for conducting department-level assessments, and conduct for the first time a complete bibliometric study of scientific output of all university departments in Greece. The study is based on data from Scopus about the number of scientific publications and respective citations of all faculty members in each department for the period 2017-2021. Code scripts were developed using R to query the Scopus database and automatically generate statistics, as well as an online application to view the results. The results reveal interesting facts about the scientific impact of greek university departments, which vary between universities and thematic areas. The developed tools can be used for continuous monitoring and evaluation of university departments worldwide.
A Domain-Extensible Compiler with Controllable Automation of Optimisations
Venue: arXiv cs.PL 2022
Year: 2022

In high performance domains like image processing, physics simulation or machine learning, program performance is critical. Programmers called performance engineers are responsible for the challenging task of optimising programs. Two major challenges prevent modern compilers targeting heterogeneous architectures from reliably automating optimisation. First, domain-specific compilers such as Halide for image processing and TVM for machine learning are difficult to extend with the new optimisations required by new algorithms and hardware. Second, automatic optimisation is often unable to achieve the required performance, and performance engineers often fall back to painstaking manual optimisation. This thesis shows the potential of the Shine compiler to achieve domain-extensibility, controllable automation, and generate high performance code. Domain-extensibility facilitates adapting compilers to new algorithms and hardware. Controllable automation enables performance engineers to gradually take control of the optimisation process. The first research contribution is to add 3 code generation features to Shine, namely: synchronisation barrier insertion, kernel execution, and storage folding. The second research contribution is to demonstrate how extensibility and controllability are exploited to optimise a standard image processing pipeline for corner detection. The final research contribution is to introduce sketch-guided equality saturation, a semi-automated technique that allows performance engineers to guide program rewriting by specifying rewrite goals as sketches: program patterns that leave details unspecified.
Unpaired Overwater Image Defogging Using Prior Map Guided CycleGAN
Venue: arXiv cs.CV 2022
Year: 2022

Deep learning-based methods have achieved significant performance for image defogging. However, existing methods are mainly developed for land scenes and perform poorly when dealing with overwater foggy images, since overwater scenes typically contain large expanses of sky and water. In this work, we propose a Prior map Guided CycleGAN (PG-CycleGAN) for defogging of images with overwater scenes. To promote the recovery of the objects on water in the image, two loss functions are exploited for the network where a prior map is designed to invert the dark channel and the min-max normalization is used to suppress the sky and emphasize objects. However, due to the unpaired training set, the network may learn an under-constrained domain mapping from foggy to fog-free image, leading to artifacts and loss of details. Thus, we propose an intuitive Upscaling Inception Module (UIM) and a Long-range Residual Coarse-to-fine framework (LRC) to mitigate this issue. Extensive experiments on qualitative and quantitative comparisons demonstrate that the proposed method outperforms the state-of-the-art supervised, semi-supervised, and unsupervised defogging approaches.
Why Does Surprisal From Larger Transformer-Based Language Models Provide a Poorer Fit to Human Reading Times?
Venue: arXiv cs.CL 2022
Year: 2022

This work presents a detailed linguistic analysis into why larger Transformer-based pre-trained language models with more parameters and lower perplexity nonetheless yield surprisal estimates that are less predictive of human reading times. First, regression analyses show a strictly monotonic, positive log-linear relationship between perplexity and fit to reading times for the more recently released five GPT-Neo variants and eight OPT variants on two separate datasets, replicating earlier results limited to just GPT-2 (Oh et al., 2022). Subsequently, analysis of residual errors reveals a systematic deviation of the larger variants, such as underpredicting reading times of named entities and making compensatory overpredictions for reading times of function words such as modals and conjunctions. These results suggest that the propensity of larger Transformer-based models to 'memorize' sequences during training makes their surprisal estimates diverge from humanlike expectations, which warrants caution in using pre-trained language models to study human language processing.
Joint Power Allocation and Decoding Order Selection for NOMA Systems: Outage-Optimal Strategies
Venue: arXiv cs.IT 2022
Year: 2022

We investigate joint power allocation and decoding order selection (PA-DOS) aimed at enhancing the outage performance of non-orthogonal multiple access (NOMA) systems. By considering the diverse target rates of users, new important properties of NOMA are revealed: When users' target rates satisfy certain conditions, the channel state information (CSI) is not required by PA-DOS to minimize the system outage probability, and different users' outage probabilities can be minimized simultaneously; When such conditions are not satisfied, the opposite situation occurs. Following these properties, two PA-DOS strategies are designed regarding distinct user priorities, which ensure the minimization of the system outage probability and the user outage probability of the high-priority user. Especially, these strategies do not require CSI or only require one-bit CSI feedback depending on users' target rates. Analytical and numerical results are provided to demonstrate that the proposed strategies significantly outperform the existing strategies in terms of both system and user outage performance. Furthermore, the results show that although under some target rates the minimum user outage probabilities cannot be simultaneously achieved, they can be closely approached at the same time in the high-signal-to-noise-ratio regime by the proposed strategies.
Online Planning for Constrained POMDPs with Continuous Spaces through Dual Ascent
Venue: arXiv cs.AI 2022
Year: 2022

Rather than augmenting rewards with penalties for undesired behavior, Constrained Partially Observable Markov Decision Processes (CPOMDPs) plan safely by imposing inviolable hard constraint value budgets. Previous work performing online planning for CPOMDPs has only been applied to discrete action and observation spaces. In this work, we propose algorithms for online CPOMDP planning for continuous state, action, and observation spaces by combining dual ascent with progressive widening. We empirically compare the effectiveness of our proposed algorithms on continuous CPOMDPs that model both toy and real-world safety-critical problems. Additionally, we compare against the use of online solvers for continuous unconstrained POMDPs that scalarize cost constraints into rewards, and investigate the effect of optimistic cost propagation.
PanoViT: Vision Transformer for Room Layout Estimation from a Single Panoramic Image
Venue: arXiv cs.CV 2022
Year: 2022

In this paper, we propose PanoViT, a panorama vision transformer to estimate the room layout from a single panoramic image. Compared to CNN models, our PanoViT is more proficient in learning global information from the panoramic image for the estimation of complex room layouts. Considering the difference between a perspective image and an equirectangular image, we design a novel recurrent position embedding and a patch sampling method for the processing of panoramic images. In addition to extracting global information, PanoViT also includes a frequency-domain edge enhancement module and a 3D loss to extract local geometric features in a panoramic image. Experimental results on several datasets demonstrate that our method outperforms state-of-the-art solutions in room layout prediction accuracy.
From Judgement's Premises Towards Key Points
Venue: arXiv cs.CL 2022
Year: 2022

Key Point Analysis(KPA) is a relatively new task in NLP that combines summarization and classification by extracting argumentative key points (KPs) for a topic from a collection of texts and categorizing their closeness to the different arguments. In our work, we focus on the legal domain and develop methods that identify and extract KPs from premises derived from texts of judgments. The first method is an adaptation to an existing state-of-the-art method, and the two others are new methods that we developed from scratch. We present our methods and examples of their outputs, as well a comparison between them. The full evaluation of our results is done in the matching task -- match between the generated KPs to arguments (premises).
Practical Algorithms with Guaranteed Approximation Ratio for TTP with Maximum Tour Length Two
Venue: arXiv cs.DS 2022
Year: 2022

The Traveling Tournament Problem (TTP) is a hard but interesting sports scheduling problem inspired by Major League Baseball, which is to design a double round-robin schedule such that each pair of teams plays one game in each other's home venue, minimizing the total distance traveled by all $n$ teams ($n$ is even). In this paper, we consider TTP-2, i.e., TTP under the constraint that at most two consecutive home games or away games are allowed for each team. We propose practical algorithms for TTP-2 with improved approximation ratios. Due to the different structural properties of the problem, all known algorithms for TTP-2 are different for $n/2$ being odd and even, and our algorithms are also different for these two cases. For even $n/2$, our approximation ratio is $1+3/n$, improving the previous result of $1+4/n$. For odd $n/2$, our approximation ratio is $1+5/n$, improving the previous result of $3/2+6/n$. In practice, our algorithms are easy to implement. Experiments on well-known benchmark sets show that our algorithms beat previously known solutions for all instances with an average improvement of $5.66\%$.
Circle packing in regular polygons
Venue: arXiv cs.CG 2022
Year: 2022

We study the packing of a large number of congruent and non--overlapping circles inside a regular polygon. We have devised efficient algorithms that allow one to generate configurations of $N$ densely packed circles inside a regular polygon and we have carried out intensive numerical experiments spanning several polygons (the largest number of sides considered here being $16$) and up to $200$ circles ($400$ circles in the special cases of the equilateral triangle and the regular hexagon) . Some of the configurations that we have found possibly are not global maxima of the packing fraction, particularly for $N \gg 1$, due to the great computational complexity of the problem, but nonetheless they should provide good lower bounds for the packing fraction at a given $N$. This is the first systematic numerical study of packing in regular polygons, which previously had only been carried out for the equilateral triangle, the square and the circle.
NoSQL Database Tuning through Machine Learning
Venue: arXiv cs.DB 2022
Year: 2022

NoSQL databases have become an important component of many big data and real-time web applications. Their distributed nature and scalability make them an ideal data storage repository for a variety of use cases. While NoSQL databases are delivered with a default ''off-the-shelf'' configuration, they offer configuration settings to adjust a database's behavior and performance to a specific use case and environment. The abundance and oftentimes imperceptible inter-dependencies of configuration settings make it difficult to optimize and performance-tune a NoSQL system. There is no one-size-fits-all configuration and therefore the workload, the physical design, and available resources need to be taken into account when optimizing the configuration of a NoSQL database. This work explores Machine Learning as a means to automatically tune a NoSQL database for optimal performance. Using Random Forest and Gradient Boosting Decision Tree Machine Learning algorithms, multiple Machine Learning models were fitted with a training dataset that incorporates properties of the NoSQL physical configuration (replication and sharding). The best models were then employed as surrogate models to optimize the Database Management System's configuration settings for throughput and latency using a Black-box Optimization algorithm. Using an Apache Cassandra database, multiple experiments were carried out to demonstrate the feasibility of this approach, even across varying physical configurations. The tuned DBMS configurations yielded throughput improvements of up to 4%, read latency reductions of up to 43%, and write latency reductions of up to 39% when compared to the default configuration settings.
Structure-guided Image Outpainting
Venue: arXiv cs.CV 2022
Year: 2022

Deep learning techniques have made considerable progress in image inpainting, restoration, and reconstruction in the last few years. Image outpainting, also known as image extrapolation, lacks attention and practical approaches to be fulfilled, owing to difficulties caused by large-scale area loss and less legitimate neighboring information. These difficulties have made outpainted images handled by most of the existing models unrealistic to human eyes and spatially inconsistent. When upsampling through deconvolution to generate fake content, the naive generation methods may lead to results lacking high-frequency details and structural authenticity. Therefore, as our novelties to handle image outpainting problems, we introduce structural prior as a condition to optimize the generation quality and a new semantic embedding term to enhance perceptual sanity. we propose a deep learning method based on Generative Adversarial Network (GAN) and condition edges as structural prior in order to assist the generation. We use a multi-phase adversarial training scheme that comprises edge inference training, contents inpainting training, and joint training. The newly added semantic embedding loss is proved effective in practice.