OpenRaiser/Intern-Atlas huggingface dataset:
Asynchronous Collaborative Autoscanning with Mode Switching for Multi-Robot Scene Reconstruction
Venue: arXiv cs.RO 2022
Year: 2022

When conducting autonomous scanning for the online reconstruction of unknown indoor environments, robots have to be competent at exploring scene structure and reconstructing objects with high quality. Our key observation is that different tasks demand specialized scanning properties of robots: rapid moving speed and far vision for global exploration and slow moving speed and narrow vision for local object reconstruction, which are referred as two different scanning modes: explorer and reconstructor, respectively. When requiring multiple robots to collaborate for efficient exploration and fine-grained reconstruction, the questions on when to generate and how to assign those tasks should be carefully answered. Therefore, we propose a novel asynchronous collaborative autoscanning method with mode switching, which generates two kinds of scanning tasks with associated scanning modes, i.e., exploration task with explorer mode and reconstruction task with reconstructor mode, and assign them to the robots to execute in an asynchronous collaborative manner to highly boost the scanning efficiency and reconstruction quality. The task assignment is optimized by solving a modified Multi-Depot Multiple Traveling Salesman Problem (MDMTSP). Moreover, to further enhance the collaboration and increase the efficiency, we propose a task-flow model that actives the task generation and assignment process immediately when any of the robots finish all its tasks with no need to wait for all other robots to complete the tasks assigned in the previous iteration. Extensive experiments have been conducted to show the importance of each key component of our method and the superiority over previous methods in scanning efficiency and reconstruction quality.
Fault-Tolerant Strassen-Like Matrix Multiplication
Venue: arXiv cs.DC 2022
Year: 2022

In this study, we propose a simple method for fault-tolerant Strassen-like matrix multiplications. The proposed method is based on using two distinct Strassen-like algorithms instead of replicating a given one. We have realized that using two different algorithms, new check relations arise resulting in more local computations. These local computations are found using computer aided search. To improve performance, special parity (extra) sub-matrix multiplications (PSMMs) are generated (two of them) at the expense of increasing communication/computation cost of the system. Our preliminary results demonstrate that the proposed method outperforms a Strassen-like algorithm with two copies and secures a very close performance to three copy version using only 2 PSMMs, reducing the total number of compute nodes by around 24\% i.e., from 21 to 16.
CrowdChecked: Detecting Previously Fact-Checked Claims in Social Media
Venue: arXiv cs.CL 2022
Year: 2022

While there has been substantial progress in developing systems to automate fact-checking, they still lack credibility in the eyes of the users. Thus, an interesting approach has emerged: to perform automatic fact-checking by verifying whether an input claim has been previously fact-checked by professional fact-checkers and to return back an article that explains their decision. This is a sensible approach as people trust manual fact-checking, and as many claims are repeated multiple times. Yet, a major issue when building such systems is the small number of known tweet--verifying article pairs available for training. Here, we aim to bridge this gap by making use of crowd fact-checking, i.e., mining claims in social media for which users have responded with a link to a fact-checking article. In particular, we mine a large-scale collection of 330,000 tweets paired with a corresponding fact-checking article. We further propose an end-to-end framework to learn from this noisy data based on modified self-adaptive training, in a distant supervision scenario. Our experiments on the CLEF'21 CheckThat! test set show improvements over the state of the art by two points absolute. Our code and datasets are available at https://github.com/mhardalov/crowdchecked-claims
Investigating the Failure Modes of the AUC metric and Exploring Alternatives for Evaluating Systems in Safety Critical Applications
Venue: arXiv cs.CL 2022
Year: 2022

With the increasing importance of safety requirements associated with the use of black box models, evaluation of selective answering capability of models has been critical. Area under the curve (AUC) is used as a metric for this purpose. We find limitations in AUC; e.g., a model having higher AUC is not always better in performing selective answering. We propose three alternate metrics that fix the identified limitations. On experimenting with ten models, our results using the new metrics show that newer and larger pre-trained models do not necessarily show better performance in selective answering. We hope our insights will help develop better models tailored for safety-critical applications.
Leveraging Key Information Modeling to Improve Less-Data Constrained News Headline Generation via Duality Fine-Tuning
Venue: arXiv cs.CL 2022
Year: 2022

Recent language generative models are mostly trained on large-scale datasets, while in some real scenarios, the training datasets are often expensive to obtain and would be small-scale. In this paper we investigate the challenging task of less-data constrained generation, especially when the generated news headlines are short yet expected by readers to keep readable and informative simultaneously. We highlight the key information modeling task and propose a novel duality fine-tuning method by formally defining the probabilistic duality constraints between key information prediction and headline generation tasks. The proposed method can capture more information from limited data, build connections between separate tasks, and is suitable for less-data constrained generation tasks. Furthermore, the method can leverage various pre-trained generative regimes, e.g., autoregressive and encoder-decoder models. We conduct extensive experiments to demonstrate that our method is effective and efficient to achieve improved performance in terms of language modeling metric and informativeness correctness metric on two public datasets.
Belief functions on ordered frames of discernment
Venue: arXiv cs.AI 2022
Year: 2022

Most questionnaires offer ordered responses whose order is poorly studied via belief functions. In this paper, we study the consequences of a frame of discernment consisting of ordered elements on belief functions. This leads us to redefine the power space and the union of ordered elements for the disjunctive combination. We also study distances on ordered elements and their use. In particular, from a membership function, we redefine the cardinality of the intersection of ordered elements, considering them fuzzy.
Sparse Semantic Map-Based Monocular Localization in Traffic Scenes Using Learned 2D-3D Point-Line Correspondences
Venue: arXiv cs.CV 2022
Year: 2022

Vision-based localization in a prior map is of crucial importance for autonomous vehicles. Given a query image, the goal is to estimate the camera pose corresponding to the prior map, and the key is the registration problem of camera images within the map. While autonomous vehicles drive on the road under occlusion (e.g., car, bus, truck) and changing environment appearance (e.g., illumination changes, seasonal variation), existing approaches rely heavily on dense point descriptors at the feature level to solve the registration problem, entangling features with appearance and occlusion. As a result, they often fail to estimate the correct poses. To address these issues, we propose a sparse semantic map-based monocular localization method, which solves 2D-3D registration via a well-designed deep neural network. Given a sparse semantic map that consists of simplified elements (e.g., pole lines, traffic sign midpoints) with multiple semantic labels, the camera pose is then estimated by learning the corresponding features between the 2D semantic elements from the image and the 3D elements from the sparse semantic map. The proposed sparse semantic map-based localization approach is robust against occlusion and long-term appearance changes in the environments. Extensive experimental results show that the proposed method outperforms the state-of-the-art approaches.
The Eyecandies Dataset for Unsupervised Multimodal Anomaly Detection and Localization
Venue: arXiv cs.CV 2022
Year: 2022

We present Eyecandies, a novel synthetic dataset for unsupervised anomaly detection and localization. Photo-realistic images of procedurally generated candies are rendered in a controlled environment under multiple lightning conditions, also providing depth and normal maps in an industrial conveyor scenario. We make available anomaly-free samples for model training and validation, while anomalous instances with precise ground-truth annotations are provided only in the test set. The dataset comprises ten classes of candies, each showing different challenges, such as complex textures, self-occlusions and specularities. Furthermore, we achieve large intra-class variation by randomly drawing key parameters of a procedural rendering pipeline, which enables the creation of an arbitrary number of instances with photo-realistic appearance. Likewise, anomalies are injected into the rendering graph and pixel-wise annotations are automatically generated, overcoming human-biases and possible inconsistencies. We believe this dataset may encourage the exploration of original approaches to solve the anomaly detection task, e.g. by combining color, depth and normal maps, as they are not provided by most of the existing datasets. Indeed, in order to demonstrate how exploiting additional information may actually lead to higher detection performance, we show the results obtained by training a deep convolutional autoencoder to reconstruct different combinations of inputs.
HumSet: Dataset of Multilingual Information Extraction and Classification for Humanitarian Crisis Response
Venue: arXiv cs.CL 2022
Year: 2022

Timely and effective response to humanitarian crises requires quick and accurate analysis of large amounts of text data - a process that can highly benefit from expert-assisted NLP systems trained on validated and annotated data in the humanitarian response domain. To enable creation of such NLP systems, we introduce and release HumSet, a novel and rich multilingual dataset of humanitarian response documents annotated by experts in the humanitarian response community. The dataset provides documents in three languages (English, French, Spanish) and covers a variety of humanitarian crises from 2018 to 2021 across the globe. For each document, HUMSET provides selected snippets (entries) as well as assigned classes to each entry annotated using common humanitarian information analysis frameworks. HUMSET also provides novel and challenging entry extraction and multi-label entry classification tasks. In this paper, we take a first step towards approaching these tasks and conduct a set of experiments on Pre-trained Language Models (PLM) to establish strong baselines for future research in this domain. The dataset is available at https://blog.thedeep.io/humset/.
Actor-Critic Network for O-RAN Resource Allocation: xApp Design, Deployment, and Analysis
Venue: arXiv cs.NI 2022
Year: 2022

Open Radio Access Network (O-RAN) has introduced an emerging RAN architecture that enables openness, intelligence, and automated control. The RAN Intelligent Controller (RIC) provides the platform to design and deploy RAN controllers. xApps are the applications which will take this responsibility by leveraging machine learning (ML) algorithms and acting in near-real time. Despite the opportunities provided by this new architecture, the progress of practical artificial intelligence (AI)-based solutions for network control and automation has been slow. This is mostly because of the lack of an endto-end solution for designing, deploying, and testing AI-based xApps fully executable in real O-RAN network. In this paper we introduce an end-to-end O-RAN design and evaluation procedure and provide a detailed discussion of developing a Reinforcement Learning (RL) based xApp by using two different RL approaches and considering the latest released O-RAN architecture and interfaces.
Integrating Digital Twin and Advanced Intelligent Technologies to Realize the Metaverse
Venue: arXiv cs.HC 2022
Year: 2022

The advances in Artificial Intelligence (AI) have led to technological advancements in a plethora of domains. Healthcare, education, and smart city services are now enriched with AI capabilities. These technological advancements would not have been realized without the assistance of fast, secure, and fault-tolerant communication media. Traditional processing, communication and storage technologies cannot maintain high levels of scalability and user experience for immersive services. The metaverse is an immersive three-dimensional (3D) virtual world that integrates fantasy and reality into a virtual environment using advanced virtual reality (VR) and augmented reality (AR) devices. Such an environment is still being developed and requires extensive research in order for it to be realized to its highest attainable levels. In this article, we discuss some of the key issues required in order to attain realization of metaverse services. We propose a framework that integrates digital twin (DT) with other advanced technologies such as the sixth generation (6G) communication network, blockchain, and AI, to maintain continuous end-to-end metaverse services. This article also outlines requirements for an integrated, DT-enabled metaverse framework and provides a look ahead into the evolving topic.
EmbryosFormer: Deformable Transformer and Collaborative Encoding-Decoding for Embryos Stage Development Classification
Venue: arXiv cs.CV 2022
Year: 2022

The timing of cell divisions in early embryos during the In-Vitro Fertilization (IVF) process is a key predictor of embryo viability. However, observing cell divisions in Time-Lapse Monitoring (TLM) is a time-consuming process and highly depends on experts. In this paper, we propose EmbryosFormer, a computational model to automatically detect and classify cell divisions from original time-lapse images. Our proposed network is designed as an encoder-decoder deformable transformer with collaborative heads. The transformer contracting path predicts per-image labels and is optimized by a classification head. The transformer expanding path models the temporal coherency between embryo images to ensure monotonic non-decreasing constraint and is optimized by a segmentation head. Both contracting and expanding paths are synergetically learned by a collaboration head. We have benchmarked our proposed EmbryosFormer on two datasets: a public dataset with mouse embryos with 8-cell stage and an in-house dataset with human embryos with 4-cell stage. Source code: https://github.com/UARK-AICV/Embryos.
Robustness Certification of Visual Perception Models via Camera Motion Smoothing
Venue: arXiv cs.CV 2022
Year: 2022

A vast literature shows that the learning-based visual perception model is sensitive to adversarial noises, but few works consider the robustness of robotic perception models under widely-existing camera motion perturbations. To this end, we study the robustness of the visual perception model under camera motion perturbations to investigate the influence of camera motion on robotic perception. Specifically, we propose a motion smoothing technique for arbitrary image classification models, whose robustness under camera motion perturbations could be certified. The proposed robustness certification framework based on camera motion smoothing provides tight and scalable robustness guarantees for visual perception modules so that they are applicable to wide robotic applications. As far as we are aware, this is the first work to provide robustness certification for the deep perception module against camera motions, which improves the trustworthiness of robotic perception. A realistic indoor robotic dataset with a dense point cloud map for the entire room, MetaRoom, is introduced for the challenging certifiable robust perception task. We conduct extensive experiments to validate the certification approach via motion smoothing against camera motion perturbations. Our framework guarantees the certified accuracy of 81.7% against camera translation perturbation along depth direction within -0.1m ~ 0.1m. We also validate the effectiveness of our method on the real-world robot by conducting hardware experiments on the robotic arm with an eye-in-hand camera. The code is available at https://github.com/HanjiangHu/camera-motion-smoothing.
Exploiting map information for self-supervised learning in motion forecasting
Venue: arXiv cs.CV 2022
Year: 2022

Inspired by recent developments regarding the application of self-supervised learning (SSL), we devise an auxiliary task for trajectory prediction that takes advantage of map-only information such as graph connectivity with the intent of improving map comprehension and generalization. We apply this auxiliary task through two frameworks - multitasking and pretraining. In either framework we observe significant improvement of our baseline in metrics such as $\mathrm{minFDE}_6$ (as much as 20.3%) and $\mathrm{MissRate}_6$ (as much as 33.3%), as well as a richer comprehension of map features demonstrated by different training configurations. The results obtained were consistent in all three data sets used for experiments: Argoverse, Interaction and NuScenes. We also submit our new pretrained model's results to the Interaction challenge and achieve $\textit{1st}$ place with respect to $\mathrm{minFDE}_6$ and $\mathrm{minADE}_6$.
FedBA: Non-IID Federated Learning Framework in UAV Networks
Venue: arXiv cs.LG 2022
Year: 2022

With the development and progress of science and technology, the Internet of Things(IoT) has gradually entered people's lives, bringing great convenience to our lives and improving people's work efficiency. Specifically, the IoT can replace humans in jobs that they cannot perform. As a new type of IoT vehicle, the current status and trend of research on Unmanned Aerial Vehicle(UAV) is gratifying, and the development prospect is very promising. However, privacy and communication are still very serious issues in drone applications. This is because most drones still use centralized cloud-based data processing, which may lead to leakage of data collected by drones. At the same time, the large amount of data collected by drones may incur greater communication overhead when transferred to the cloud. Federated learning as a means of privacy protection can effectively solve the above two problems. However, federated learning when applied to UAV networks also needs to consider the heterogeneity of data, which is caused by regional differences in UAV regulation. In response, this paper proposes a new algorithm FedBA to optimize the global model and solves the data heterogeneity problem. In addition, we apply the algorithm to some real datasets, and the experimental results show that the algorithm outperforms other algorithms and improves the accuracy of the local model for UAVs.
Over-the-Air Split Machine Learning in Wireless MIMO Networks
Venue: arXiv cs.LG 2022
Year: 2022

In split machine learning (ML), different partitions of a neural network (NN) are executed by different computing nodes, requiring a large amount of communication cost. To ease communication burden, over-the-air computation (OAC) can efficiently implement all or part of the computation at the same time of communication. Based on the proposed system, the system implementation over wireless network is introduced and we provide the problem formulation. In particular, we show that the inter-layer connection in a NN of any size can be mathematically decomposed into a set of linear precoding and combining transformations over MIMO channels. Therefore, the precoding matrix at the transmitter and the combining matrix at the receiver of each MIMO link, as well as the channel matrix itself, can jointly serve as a fully connected layer of the NN. The generalization of the proposed scheme to the conventional NNs is also introduced. Finally, we extend the proposed scheme to the widely used convolutional neural networks and demonstrate its effectiveness under both the static and quasi-static memory channel conditions with comprehensive simulations. In such a split ML system, the precoding and combining matrices are regarded as trainable parameters, while MIMO channel matrix is regarded as unknown (implicit) parameters.
Metaphorical Paraphrase Generation: Feeding Metaphorical Language Models with Literal Texts
Venue: arXiv cs.CL 2022
Year: 2022

This study presents a new approach to metaphorical paraphrase generation by masking literal tokens of literal sentences and unmasking them with metaphorical language models. Unlike similar studies, the proposed algorithm does not only focus on verbs but also on nouns and adjectives. Despite the fact that the transfer rate for the former is the highest (56%), the transfer of the latter is feasible (24% and 31%). Human evaluation showed that our system-generated metaphors are considered more creative and metaphorical than human-generated ones while when using our transferred metaphors for data augmentation improves the state of the art in metaphorical sentence classification by 3% in F1.
Towards a case-based learning approach to support software architecture education
Venue: arXiv cs.CY 2022
Year: 2022

Software architecture education remains challenging for instructors, students, and software industry professionals. Several initiatives have been proposed to mitigate the inherent challenges, including games, supporting tools, collaborative courses, and hands-on projects. Case-based learning has been introduced in software architecture, and its benefits are recognized. However, choosing the right cases that cover the stated learning objectives and developing learning activities to achieve high-order learning are also challenging. The main goal of this paper is to present a case-based learning approach that guides the development of learning objectives, the finding and selection of real-world software architecture cases, and the design of instructional activities. We applied our approach in software architecture related courses during the past few years. The results show that it can leverage the ways to adequately explore cases for educational purposes while also motivating instructors and students to the software architecture education.