OpenRaiser/Intern-Atlas huggingface dataset:
Prediction of SLAM ATE Using an Ensemble Learning Regression Model and 1-D Global Pooling of Data Characterization
Venue: arXiv cs.RO 2023
Year: 2023

Robustness and resilience of simultaneous localization and mapping (SLAM) are critical requirements for modern autonomous robotic systems. One of the essential steps to achieve robustness and resilience is the ability of SLAM to have an integrity measure for its localization estimates, and thus, have internal fault tolerance mechanisms to deal with performance degradation. In this work, we introduce a novel method for predicting SLAM localization error based on the characterization of raw sensor inputs. The proposed method relies on using a random forest regression model trained on 1-D global pooled features that are generated from characterized raw sensor data. The model is validated by using it to predict the performance of ORB-SLAM3 on three different datasets running on four different operating modes, resulting in an average prediction accuracy of up to 94.7\%. The paper also studies the impact of 12 different 1-D global pooling functions on regression quality, and the superiority of 1-D global averaging is quantitatively proven. Finally, the paper studies the quality of prediction with limited training data, and proves that we are able to maintain proper prediction quality when only 20 \% of the training examples are used for training, which highlights how the proposed model can optimize the evaluation footprint of SLAM systems.
Multi-Armed Bandits with Generalized Temporally-Partitioned Rewards
Venue: arXiv cs.LG 2023
Year: 2023

Decision-making problems of sequential nature, where decisions made in the past may have an impact on the future, are used to model many practically important applications. In some real-world applications, feedback about a decision is delayed and may arrive via partial rewards that are observed with different delays. Motivated by such scenarios, we propose a novel problem formulation called multi-armed bandits with generalized temporally-partitioned rewards. To formalize how feedback about a decision is partitioned across several time steps, we introduce $β$-spread property. We derive a lower bound on the performance of any uniformly efficient algorithm for the considered problem. Moreover, we provide an algorithm called TP-UCB-FR-G and prove an upper bound on its performance measure. In some scenarios, our upper bound improves upon the state of the art. We provide experimental results validating the proposed algorithm and our theoretical results.
Forward-PECVaR Algorithm: Exact Evaluation for CVaR SSPs
Venue: arXiv cs.AI 2023
Year: 2023

The Stochastic Shortest Path (SSP) problem models probabilistic sequential-decision problems where an agent must pursue a goal while minimizing a cost function. Because of the probabilistic dynamics, it is desired to have a cost function that considers risk. Conditional Value at Risk (CVaR) is a criterion that allows modeling an arbitrary level of risk by considering the expectation of a fraction $α$ of worse trajectories. Although an optimal policy is non-Markovian, solutions of CVaR-SSP can be found approximately with Value Iteration based algorithms such as CVaR Value Iteration with Linear Interpolation (CVaRVIQ) and CVaR Value Iteration via Quantile Representation (CVaRVILI). These type of solutions depends on the algorithm's parameters such as the number of atoms and $α_0$ (the minimum $α$). To compare the policies returned by these algorithms, we need a way to exactly evaluate stationary policies of CVaR-SSPs. Although there is an algorithm that evaluates these policies, this only works on problems with uniform costs. In this paper, we propose a new algorithm, Forward-PECVaR (ForPECVaR), that evaluates exactly stationary policies of CVaR-SSPs with non-uniform costs. We evaluate empirically CVaR Value Iteration algorithms that found solutions approximately regarding their quality compared with the exact solution, and the influence of the algorithm parameters in the quality and scalability of the solutions. Experiments in two domains show that it is important to use an $α_0$ smaller than the $α$ target and an adequate number of atoms to obtain a good approximation.
Bootstrapping Parallel Anchors for Relative Representations
Venue: arXiv cs.LG 2023
Year: 2023

The use of relative representations for latent embeddings has shown potential in enabling latent space communication and zero-shot model stitching across a wide range of applications. Nevertheless, relative representations rely on a certain amount of parallel anchors to be given as input, which can be impractical to obtain in certain scenarios. To overcome this limitation, we propose an optimization-based method to discover new parallel anchors from a limited known set (seed). Our approach can be used to find semantic correspondence between different domains, align their relative spaces, and achieve competitive results in several tasks.
OSRE: Object-to-Spot Rotation Estimation for Bike Parking Assessment
Venue: arXiv cs.CV 2023
Year: 2023

Current deep models provide remarkable object detection in terms of object classification and localization. However, estimating object rotation with respect to other visual objects in the visual context of an input image still lacks deep studies due to the unavailability of object datasets with rotation annotations. This paper tackles these two challenges to solve the rotation estimation of a parked bike with respect to its parking area. First, we leverage the power of 3D graphics to build a camera-agnostic well-annotated Synthetic Bike Rotation Dataset (SynthBRSet). Then, we propose an object-to-spot rotation estimator (OSRE) by extending the object detection task to further regress the bike rotations in two axes. Since our model is purely trained on synthetic data, we adopt image smoothing techniques when deploying it on real-world images. The proposed OSRE is evaluated on synthetic and real-world data providing promising results. Our data and code are available at \href{https://github.com/saghiralfasly/OSRE-Project}{https://github.com/saghiralfasly/OSRE-Project}.
A Deep Learning Perspective on Network Routing
Venue: arXiv cs.NI 2023
Year: 2023

Routing is, arguably, the most fundamental task in computer networking, and the most extensively studied one. A key challenge for routing in real-world environments is the need to contend with uncertainty about future traffic demands. We present a new approach to routing under demand uncertainty: tackling this challenge as stochastic optimization, and employing deep learning to learn complex patterns in traffic demands. We show that our method provably converges to the global optimum in well-studied theoretical models of multicommodity flow. We exemplify the practical usefulness of our approach by zooming in on the real-world challenge of traffic engineering (TE) on wide-area networks (WANs). Our extensive empirical evaluation on real-world traffic and network topologies establishes that our approach's TE quality almost matches that of an (infeasible) omniscient oracle, outperforming previously proposed approaches, and also substantially lowers runtimes.
On the Semantic Overlap of Operators in Stream Processing Engines
Venue: arXiv cs.DC 2023
Year: 2023

Stream processing is extensively used in the IoT-to-Cloud spectrum to distill information from continuous streams of data. Streaming applications usually run in dedicated Stream Processing Engines (SPEs) that adopt the DataFlow model, which defines such applications as graphs of operators that, step by step, transform data into the desired results. As operators can be deployed and executed independently, the DataFlow model supports parallelism and distribution, thus making streaming applications scalable. Today, we witness an abundance of SPEs, each with its set of operators. In this context, understanding how operators' semantics overlap within and across SPEs, and thus which SPEs can support a given application, is not trivial. We tackle this problem by formally showing that common operators of SPEs can be expressed as compositions of a single, minimalistic Aggregate operator, thus showing any framework able to run compositions of such an operator can run applications defined for state-of-the-art SPEs. The Aggregate operator only relies on core concepts of the DataFlow model such as data partitioning by key and time-based windows, and can only output up to one value for each window it analyzes. Together with our formal argumentation, we empirically assess how an SPE that only relies on such an operator compares with an SPE offering operator-specific implementations, as well as study the performance impact of a more expressive Aggregate operator by relaxing the constraint of outputting up to one value per window. The existence of such a common denominator not only implies the portability of operators within and across SPEs but also defines a concise set of requirements for other data processing frameworks to support streaming applications.
Allocating the surplus induced by cooperation in distribution chains with multiple suppliers and retailers
Venue: arXiv cs.GT 2023
Year: 2023

The coordination of actions and the allocation of profit in supply chains under decentralized control play an important role in improving the profits of retailers and suppliers in the chain. We focus on supply chains under decentralized control in which noncompeting retailers can order from multiple suppliers to replenish their stocks. Suppliers' production capacity is bounded. The goal of the firms in the chain is to maximize their individual profits. As the outcome under decentralized control is inefficient, coordination of actions between cooperating agents can improve individual profits. Cooperative game theory is used to analyze cooperation between agents. We define multi-retailer-supplier games and show that agents can always achieve together an optimal profit and they have incentives to cooperate and to form the grand coalition. Moreover, we show that there always exist stable allocations of the total profit among the firms upon which no coalition can improve. Then we propose and characterize a stable allocation of the total surplus induced by cooperation.
Interactive Exploration of the Temporal $α$-Shape
Venue: arXiv cs.CG 2023
Year: 2023

Shape is a powerful tool to understand point sets. A formal notion of shape is given by $α$-shapes, which generalize the convex hull and provide adjustable level of detail. Many real-world point sets have an inherent temporal property as natural processes often happen over time, like lightning strikes during thunderstorms or moving animal swarms. To explore such point sets, where each point is associated with one timestamp, interactive applications may utilize $α$-shapes and allow the user to specify different time windows and $α$-values. We show how to compute the temporal $α$-shape $α_T$, a minimal description of all $α$-shapes over all time windows, in output-sensitive linear time. We also give complexity bounds on $|α_T|$. We use $α_T$ to interactively visualize $α$-shapes of user-specified time windows without having to constantly compute requested $α$-shapes. Experimental results suggest that our approach outperforms an existing approach by a factor of at least $\sim$52 and that the description we compute has reasonable size in practice. The basis for our algorithm is an existing algorithm which computes all Delaunay triangles over all time windows using $\mathcal{O}(1)$ time per triangle. Our approach generalizes to higher dimensions with the same runtime for fixed $d$.
Variance-reduced Clipping for Non-convex Optimization
Venue: arXiv cs.LG 2023
Year: 2023

Gradient clipping is a standard training technique used in deep learning applications such as large-scale language modeling to mitigate exploding gradients. Recent experimental studies have demonstrated a fairly special behavior in the smoothness of the training objective along its trajectory when trained with gradient clipping. That is, the smoothness grows with the gradient norm. This is in clear contrast to the well-established assumption in folklore non-convex optimization, a.k.a. $L$--smoothness, where the smoothness is assumed to be bounded by a constant $L$ globally. The recently introduced $(L_0,L_1)$--smoothness is a more relaxed notion that captures such behavior in non-convex optimization. In particular, it has been shown that under this relaxed smoothness assumption, SGD with clipping requires $O(ε^{-4})$ stochastic gradient computations to find an $ε$--stationary solution. In this paper, we employ a variance reduction technique, namely SPIDER, and demonstrate that for a carefully designed learning rate, this complexity is improved to $O(ε^{-3})$ which is order-optimal. Our designed learning rate comprises the clipping technique to mitigate the growing smoothness. Moreover, when the objective function is the average of $n$ components, we improve the existing $O(nε^{-2})$ bound on the stochastic gradient complexity to $O(\sqrt{n} ε^{-2} + n)$, which is order-optimal as well. In addition to being theoretically optimal, SPIDER with our designed parameters demonstrates comparable empirical performance against variance-reduced methods such as SVRG and SARAH in several vision tasks.
Encouraging Emotion Regulation in Social Media Conversations through Self-Reflection
Venue: arXiv cs.HC 2023
Year: 2023

Anonymity in social media platforms keeps users hidden behind a keyboard. This absolves users of responsibility, allowing them to engage in online rage, hate speech, and other text-based toxicity that harms online well-being. Recent research in the field of Digital Emotion Regulation (DER) has revealed that indulgence in online toxicity can be a result of ineffective emotional regulation (ER). This, we believe, can be reduced by educating users about the consequences of their actions. Prior DER research has primarily focused on exploring digital emotion regulation practises, identifying emotion regulation using multimodal sensors, and encouraging users to act responsibly in online conversations. While these studies provide valuable insights into how users consciously utilise digital media for emotion regulation, they do not capture the contextual dynamics of emotion regulation online. Through interaction design, this work provides an intervention for the delivery of ER support. It introduces a novel technique for identifying the need for emotional regulation in online conversations and delivering information to users in a way that integrates didactic learning into their daily life. By fostering self-reflection in periods of intensified emotional expression, we present a graph-based framework for on-the-spot emotion regulation support in online conversations. Our findings suggest that using this model in a conversation can help identify its influential threads/nodes to locate where toxicity is concentrated and help reduce it by up to 12\%. This is the first study in the field of DER that focuses on learning transfer by inducing self-reflection and implicit emotion regulation.
Photovoltaic Panel Defect Detection Based on Ghost Convolution with BottleneckCSP and Tiny Target Prediction Head Incorporating YOLOv5
Venue: arXiv cs.CV 2023
Year: 2023

Photovoltaic (PV) panel surface-defect detection technology is crucial for the PV industry to perform smart maintenance. Using computer vision technology to detect PV panel surface defects can ensure better accuracy while reducing the workload of traditional worker field inspections. However, multiple tiny defects on the PV panel surface and the high similarity between different defects make it challenging to {accurately identify and detect such defects}. This paper proposes an approach named Ghost convolution with BottleneckCSP and a tiny target prediction head incorporating YOLOv5 (GBH-YOLOv5) for PV panel defect detection. To ensure better accuracy on multiscale targets, the BottleneckCSP module is introduced to add a prediction head for tiny target detection to alleviate tiny defect misses, using Ghost convolution to improve the model inference speed and reduce the number of parameters. First, the original image is compressed and cropped to enlarge the defect size physically. Then, the processed images are input into GBH-YOLOv5, and the depth features are extracted through network processing based on Ghost convolution, the application of the BottleneckCSP module, and the prediction head of tiny targets. Finally, the extracted features are classified by a Feature Pyramid Network (FPN) and a Path Aggregation Network (PAN) structure. Meanwhile, we compare our method with state-of-the-art methods to verify the effectiveness of the proposed method. The proposed PV panel surface-defect detection network improves the mAP performance by at least 27.8%.
Open-World Object Manipulation using Pre-trained Vision-Language Models
Venue: arXiv cs.RO 2023
Year: 2023

For robots to follow instructions from people, they must be able to connect the rich semantic information in human vocabulary, e.g. "can you get me the pink stuffed whale?" to their sensory observations and actions. This brings up a notably difficult challenge for robots: while robot learning approaches allow robots to learn many different behaviors from first-hand experience, it is impractical for robots to have first-hand experiences that span all of this semantic information. We would like a robot's policy to be able to perceive and pick up the pink stuffed whale, even if it has never seen any data interacting with a stuffed whale before. Fortunately, static data on the internet has vast semantic information, and this information is captured in pre-trained vision-language models. In this paper, we study whether we can interface robot policies with these pre-trained models, with the aim of allowing robots to complete instructions involving object categories that the robot has never seen first-hand. We develop a simple approach, which we call Manipulation of Open-World Objects (MOO), which leverages a pre-trained vision-language model to extract object-identifying information from the language command and image, and conditions the robot policy on the current image, the instruction, and the extracted object information. In a variety of experiments on a real mobile manipulator, we find that MOO generalizes zero-shot to a wide range of novel object categories and environments. In addition, we show how MOO generalizes to other, non-language-based input modalities to specify the object of interest such as finger pointing, and how it can be further extended to enable open-world navigation and manipulation. The project's website and evaluation videos can be found at https://robot-moo.github.io/
Enhancing General Face Forgery Detection via Vision Transformer with Low-Rank Adaptation
Venue: arXiv cs.CV 2023
Year: 2023

Nowadays, forgery faces pose pressing security concerns over fake news, fraud, impersonation, etc. Despite the demonstrated success in intra-domain face forgery detection, existing detection methods lack generalization capability and tend to suffer from dramatic performance drops when deployed to unforeseen domains. To mitigate this issue, this paper designs a more general fake face detection model based on the vision transformer(ViT) architecture. In the training phase, the pretrained ViT weights are freezed, and only the Low-Rank Adaptation(LoRA) modules are updated. Additionally, the Single Center Loss(SCL) is applied to supervise the training process, further improving the generalization capability of the model. The proposed method achieves state-of-the-arts detection performances in both cross-manipulation and cross-dataset evaluations.
Large Deviations for Accelerating Neural Networks Training
Venue: arXiv cs.LG 2023
Year: 2023

Artificial neural networks (ANNs) require tremendous amount of data to train on. However, in classification models, most data features are often similar which can lead to increase in training time without significant improvement in the performance. Thus, we hypothesize that there could be a more efficient way to train an ANN using a better representative sample. For this, we propose the LAD Improved Iterative Training (LIIT), a novel training approach for ANN using large deviations principle to generate and iteratively update training samples in a fast and efficient setting. This is exploratory work with extensive opportunities for future work. The thesis presents this ongoing research work with the following contributions from this study: (1) We propose a novel ANN training method, LIIT, based on the large deviations theory where additional dimensionality reduction is not needed to study high dimensional data. (2) The LIIT approach uses a Modified Training Sample (MTS) that is generated and iteratively updated using a LAD anomaly score based sampling strategy. (3) The MTS sample is designed to be well representative of the training data by including most anomalous of the observations in each class. This ensures distinct patterns and features are learnt with smaller samples. (4) We study the classification performance of the LIIT trained ANNs with traditional batch trained counterparts.
A Deep Reinforcement Learning-Based Resource Scheduler for Massive MIMO Networks
Venue: arXiv cs.IT 2023
Year: 2023

The large number of antennas in massive MIMO systems allows the base station to communicate with multiple users at the same time and frequency resource with multi-user beamforming. However, highly correlated user channels could drastically impede the spectral efficiency that multi-user beamforming can achieve. As such, it is critical for the base station to schedule a suitable group of users in each time and frequency resource block to achieve maximum spectral efficiency while adhering to fairness constraints among the users. In this paper, we consider the resource scheduling problem for massive MIMO systems with its optimal solution known to be NP-hard. Inspired by recent achievements in deep reinforcement learning (DRL) to solve problems with large action sets, we propose \name{}, a dynamic scheduler for massive MIMO based on the state-of-the-art Soft Actor-Critic (SAC) DRL model and the K-Nearest Neighbors (KNN) algorithm. Through comprehensive simulations using realistic massive MIMO channel models as well as real-world datasets from channel measurement experiments, we demonstrate the effectiveness of our proposed model in various channel conditions. Our results show that our proposed model performs very close to the optimal proportionally fair (Opt-PF) scheduler in terms of spectral efficiency and fairness with more than one order of magnitude lower computational complexity in medium network sizes where Opt-PF is computationally feasible. Our results also show the feasibility and high performance of our proposed scheduler in networks with a large number of users and resource blocks.
Differentiable Trajectory Generation for Car-like Robots with Interpolating Radial Basis Function Networks
Venue: arXiv cs.RO 2023
Year: 2023

The design of Autonomous Vehicle software has largely followed the Sense-Plan-Act model. Traditional modular AV stacks develop perception, planning, and control software separately with little integration when optimizing for different objectives. On the other hand, end-to-end methods usually lack the principle provided by model-based white-box planning and control strategies. We propose a computationally efficient method for approximating closed-form trajectory generation with interpolating Radial Basis Function Networks to create a middle ground between the two approaches. The approach creates smooth approximations of local Lipschitz continuous maps of feasible solutions to parametric optimization problems. We show that this differentiable approximation is efficient to compute and allows for tighter integration with perception and control algorithms when used as the planning strategy.