OpenRaiser/Intern-Atlas huggingface dataset:
RGB-D-Based Categorical Object Pose and Shape Estimation: Methods, Datasets, and Evaluation
Venue: arXiv cs.CV 2023
Year: 2023

Recently, various methods for 6D pose and shape estimation of objects at a per-category level have been proposed. This work provides an overview of the field in terms of methods, datasets, and evaluation protocols. First, an overview of existing works and their commonalities and differences is provided. Second, we take a critical look at the predominant evaluation protocol, including metrics and datasets. Based on the findings, we propose a new set of metrics, contribute new annotations for the Redwood dataset, and evaluate state-of-the-art methods in a fair comparison. The results indicate that existing methods do not generalize well to unconstrained orientations and are actually heavily biased towards objects being upright. We provide an easy-to-use evaluation toolbox with well-defined metrics, methods, and dataset interfaces, which allows evaluation and comparison with various state-of-the-art approaches (https://github.com/roym899/pose_and_shape_evaluation).
DiME: Maximizing Mutual Information by a Difference of Matrix-Based Entropies
Venue: arXiv cs.LG 2023
Year: 2023

We introduce an information-theoretic quantity with similar properties to mutual information that can be estimated from data without making explicit assumptions on the underlying distribution. This quantity is based on a recently proposed matrix-based entropy that uses the eigenvalues of a normalized Gram matrix to compute an estimate of the eigenvalues of an uncentered covariance operator in a reproducing kernel Hilbert space. We show that a difference of matrix-based entropies (DiME) is well suited for problems involving the maximization of mutual information between random variables. While many methods for such tasks can lead to trivial solutions, DiME naturally penalizes such outcomes. We compare DiME to several baseline estimators of mutual information on a toy Gaussian dataset. We provide examples of use cases for DiME, such as latent factor disentanglement and a multiview representation learning problem where DiME is used to learn a shared representation among views with high mutual information.
Enabling Astronaut Self-Scheduling using a Robust Advanced Modelling and Scheduling system: an assessment during a Mars analogue mission
Venue: arXiv cs.RO 2023
Year: 2023

Human long duration exploration missions (LDEMs) raise a number of technological challenges. This paper addresses the question of the crew autonomy: as the distances increase, the communication delays and constraints tend to prevent the astronauts from being monitored and supported by a real time ground control. Eventually, future planetary missions will necessarily require a form of astronaut self-scheduling. We study the usage of a computer decision-support tool by a crew of analog astronauts, during a Mars simulation mission conducted at the Mars Desert Research Station (MDRS, Mars Society) in Utah. The proposed tool, called Romie, belongs to the new category of Robust Advanced Modelling and Scheduling (RAMS) systems. It allows the crew members (i) to visually model their scientific objectives and constraints, (ii) to compute near-optimal operational schedules while taking uncertainty into account, (iii) to monitor the execution of past and current activities, and (iv) to modify scientific objectives/constraints w.r.t. unforeseen events and opportunistic science. In this study, we empirically measure how the astronauts, who are novice planners, perform at using such a tool when self-scheduling under the realistic assumptions of a simulated Martian planetary habitat.
FENDI: Toward High-Fidelity Entanglement Distribution in the Quantum Internet
Venue: arXiv cs.NI 2023
Year: 2023

A quantum network distributes quantum entanglements between remote nodes, and is key to many applications in secure communication, quantum sensing and distributed quantum computing. This paper explores the fundamental trade-off between the throughput and the quality of entanglement distribution in a multi-hop quantum repeater network. Compared to existing work which aims to heuristically maximize the entanglement distribution rate (EDR) and/or entanglement fidelity, our goal is to characterize the maximum achievable worst-case fidelity, while satisfying a bound on the maximum achievable expected EDR between an arbitrary pair of quantum nodes. This characterization will provide fundamental bounds on the achievable performance region of a quantum network, which can assist with the design of quantum network topology, protocols and applications. However, the task is highly non-trivial and is NP-hard as we shall prove. Our main contribution is a fully polynomial-time approximation scheme to approximate the achievable worst-case fidelity subject to a strict expected EDR bound, combining an optimal fidelity-agnostic EDR-maximizing formulation and a worst-case isotropic noise model. The EDR and fidelity guarantees can be implemented by a post-selection-and-storage protocol with quantum memories. By developing a discrete-time quantum network simulator, we conduct simulations to show the characterized performance region (the approximate Pareto frontier) of a network, and demonstrate that the designed protocol can achieve the performance region while existing protocols exhibit a substantial gap.
Sentiment Analysis for Measuring Hope and Fear from Reddit Posts During the 2022 Russo-Ukrainian Conflict
Venue: arXiv cs.CL 2023
Year: 2023

This paper proposes a novel lexicon-based unsupervised sentimental analysis method to measure the $``\textit{hope}"$ and $``\textit{fear}"$ for the 2022 Ukrainian-Russian Conflict. $\textit{Reddit.com}$ is utilised as the main source of human reactions to daily events during nearly the first three months of the conflict. The top 50 $``hot"$ posts of six different subreddits about Ukraine and news (Ukraine, worldnews, Ukraina, UkrainianConflict, UkraineWarVideoReport, UkraineWarReports) and their relative comments are scraped and a data set is created. On this corpus, multiple analyses such as (1) public interest, (2) hope/fear score, (3) stock price interaction are employed. We promote using a dictionary approach, which scores the hopefulness of every submitted user post. The Latent Dirichlet Allocation (LDA) algorithm of topic modelling is also utilised to understand the main issues raised by users and what are the key talking points. Experimental analysis shows that the hope strongly decreases after the symbolic and strategic losses of Azovstal (Mariupol) and Severodonetsk. Spikes in hope/fear, both positives and negatives, are present after important battles, but also some non-military events, such as Eurovision and football games.
AdaEnsemble: Learning Adaptively Sparse Structured Ensemble Network for Click-Through Rate Prediction
Venue: arXiv cs.IR 2023
Year: 2023

Learning feature interactions is crucial to success for large-scale CTR prediction in recommender systems and Ads ranking. Researchers and practitioners extensively proposed various neural network architectures for searching and modeling feature interactions. However, we observe that different datasets favor different neural network architectures and feature interaction types, suggesting that different feature interaction learning methods may have their own unique advantages. Inspired by this observation, we propose AdaEnsemble: a Sparsely-Gated Mixture-of-Experts (SparseMoE) architecture that can leverage the strengths of heterogeneous feature interaction experts and adaptively learns the routing to a sparse combination of experts for each example, allowing us to build a dynamic hierarchy of the feature interactions of different types and orders. To further improve the prediction accuracy and inference efficiency, we incorporate the dynamic early exiting mechanism for feature interaction depth selection. The AdaEnsemble can adaptively choose the feature interaction depth and find the corresponding SparseMoE stacking layer to exit and compute prediction from. Therefore, our proposed architecture inherits the advantages of the exponential combinations of sparsely gated experts within SparseMoE layers and further dynamically selects the optimal feature interaction depth without executing deeper layers. We implement the proposed AdaEnsemble and evaluate its performance on real-world datasets. Extensive experiment results demonstrate the efficiency and effectiveness of AdaEnsemble over state-of-the-art models.
Satellite Clustering for Non-Terrestrial Networks: Concept, Architectures, and Applications
Venue: arXiv cs.IT 2023
Year: 2023

Recently, mega-constellations with a massive number of low Earth orbit (LEO) satellites are being considered as a possible solution for providing global coverage due to relatively low latency and high throughput compared to geosynchronous orbit satellites. However, as the number of satellites and operators participating in the LEO constellation increases, inter-satellite interference will become more severe, which may yield marginal improvement or even decrement in network throughput. In this article, we introduce the concept of satellite clusters that can enhance network performance through satellites' cooperative transmissions. The characteristics, formation types, and transmission schemes for the satellite clusters are highlighted. Simulation results evaluate the impact of clustering from coverage and capacity perspectives, showing that when the number of satellites is large, the performance of clustered networks outperforms the unclustered ones. The viable network architectures of the satellite cluster are proposed based on the 3GPP standard. Finally, the future applications of clustered satellite networks are discussed.
Compliant finray-effect gripper for high-speed robotic assembly of electrical components
Venue: arXiv cs.RO 2023
Year: 2023

Fine assembly tasks such as electrical connector insertion have tight tolerances and sensitive components, limiting the speed and robustness of robot assembly, even when using vision, tactile, or force sensors. Connector insertion is a common industrial task, requiring horizontal alignment errors to be compensated with minimal force, then sufficient force to be brought in the insertion direction. The ability to handle a variety of objects, achieve high-speeds, and handle a wide range in object position variation are also desired. Soft grippers can allow the gripping of parts with variation in surface geometry, but often focus on gripping alone and may not be able to bring the assembly forces required. To achieve high-speed connector insertion, this paper proposes monolithic fingers with structured compliance and form-closure features. A finray-effect gripper is adapted to realize structured (i.e. directional) stiffness that allows high-speed mechanical search, self-alignment in insertion, and sufficient assembly force. The design of the finray ribs and fingertips are investigated, with a final design allowing plug insertion with a tolerance window of up to 7.5 mm at high speed.
Unsupervised Light Field Depth Estimation via Multi-view Feature Matching with Occlusion Prediction
Venue: arXiv cs.CV 2023
Year: 2023

Depth estimation from light field (LF) images is a fundamental step for numerous applications. Recently, learning-based methods have achieved higher accuracy and efficiency than the traditional methods. However, it is costly to obtain sufficient depth labels for supervised training. In this paper, we propose an unsupervised framework to estimate depth from LF images. First, we design a disparity estimation network (DispNet) with a coarse-to-fine structure to predict disparity maps from different view combinations. It explicitly performs multi-view feature matching to learn the correspondences effectively. As occlusions may cause the violation of photo-consistency, we introduce an occlusion prediction network (OccNet) to predict the occlusion maps, which are used as the element-wise weights of photometric loss to solve the occlusion issue and assist the disparity learning. With the disparity maps estimated by multiple input combinations, we then propose a disparity fusion strategy based on the estimated errors with effective occlusion handling to obtain the final disparity map with higher accuracy. Experimental results demonstrate that our method achieves superior performance on both the dense and sparse LF images, and also shows better robustness and generalization on the real-world LF images compared to the other methods.
Compatible Remediation on Vulnerabilities from Third-Party Libraries for Java Projects
Venue: arXiv cs.SE 2023
Year: 2023

With the increasing disclosure of vulnerabilities in open-source software, software composition analysis (SCA) has been widely applied to reveal third-party libraries and the associated vulnerabilities in software projects. Beyond the revelation, SCA tools adopt various remediation strategies to fix vulnerabilities, the quality of which varies substantially. However, ineffective remediation could induce side effects, such as compilation failures, which impede acceptance by users. According to our studies, existing SCA tools could not correctly handle the concerns of users regarding the compatibility of remediated projects. To this end, we propose Compatible Remediation of Third-party libraries (CORAL) for Maven projects to fix vulnerabilities without breaking the projects. The evaluation proved that CORAL not only fixed 87.56% of vulnerabilities which outperformed other tools (best 75.32%) and achieved a 98.67% successful compilation rate and a 92.96% successful unit test rate. Furthermore, we found that 78.45% of vulnerabilities in popular Maven projects could be fixed without breaking the compilation, and the rest of the vulnerabilities (21.55%) could either be fixed by upgrades that break the compilations or even be impossible to fix by upgrading.
DIFAI: Diverse Facial Inpainting using StyleGAN Inversion
Venue: arXiv cs.CV 2023
Year: 2023

Image inpainting is an old problem in computer vision that restores occluded regions and completes damaged images. In the case of facial image inpainting, most of the methods generate only one result for each masked image, even though there are other reasonable possibilities. To prevent any potential biases and unnatural constraints stemming from generating only one image, we propose a novel framework for diverse facial inpainting exploiting the embedding space of StyleGAN. Our framework employs pSp encoder and SeFa algorithm to identify semantic components of the StyleGAN embeddings and feed them into our proposed SPARN decoder that adopts region normalization for plausible inpainting. We demonstrate that our proposed method outperforms several state-of-the-art methods.
Trade Privacy for Utility: A Learning-Based Privacy Pricing Game in Federated Learning
Venue: arXiv cs.GT 2023
Year: 2023

To prevent implicit privacy disclosure in sharing gradients among data owners (DOs) under federated learning (FL), differential privacy (DP) and its variants have become a common practice to offer formal privacy guarantees with low overheads. However, individual DOs generally tend to inject larger DP noises for stronger privacy provisions (which entails severe degradation of model utility), while the curator (i.e., aggregation server) aims to minimize the overall effect of added random noises for satisfactory model performance. To address this conflicting goal, we propose a novel dynamic privacy pricing (DyPP) game which allows DOs to sell individual privacy (by lowering the scale of locally added DP noise) for differentiated economic compensations (offered by the curator), thereby enhancing FL model utility. Considering multi-dimensional information asymmetry among players (e.g., DO's data distribution and privacy preference, and curator's maximum affordable payment) as well as their varying private information in distinct FL tasks, it is hard to directly attain the Nash equilibrium of the mixed-strategy DyPP game. Alternatively, we devise a fast reinforcement learning algorithm with two layers to quickly learn the optimal mixed noise-saving strategy of DOs and the optimal mixed pricing strategy of the curator without prior knowledge of players' private information. Experiments on real datasets validate the feasibility and effectiveness of the proposed scheme in terms of faster convergence speed and enhanced FL model utility with lower payment costs.
Performance of Joint XR and Best Effort eMBB Traffic in 5G-Advanced Networks
Venue: arXiv cs.NI 2023
Year: 2023

In this paper, we address the joint performance of eXtended reality (XR) and best effort enhanced mobile broadband (eMBB) traffic for a 5G-Advanced system. Although XR users require stringent throughput and latency performance, operators do not lose significant additional network capacity when adding XR users to an eMBB dominated network. For instance, adding an XR service at 45 Mbps with 10 ms packet delay budget, yields close to a 45 Mbps drop in eMBB capacity. In an XR only network layer, we show how the capacity in number of supported XR users depends significantly on the rate but also the latency budget. We show also how the XR service capacity is significantly reduced in the mixed service setting as the system goes into full load and other-cell interference becomes significant. The presented results can be used by cellular service providers to assess their networks performance of XR traffic based on their current eMBB performance, or as input to dimensioning to be able to serve certain XR traffic loads.
causalgraph: A Python Package for Modeling, Persisting and Visualizing Causal Graphs Embedded in Knowledge Graphs
Venue: arXiv cs.AI 2023
Year: 2023

This paper describes a novel Python package, named causalgraph, for modeling and saving causal graphs embedded in knowledge graphs. The package has been designed to provide an interface between causal disciplines such as causal discovery and causal inference. With this package, users can create and save causal graphs and export the generated graphs for use in other graph-based packages. The main advantage of the proposed package is its ability to facilitate the linking of additional information and metadata to causal structures. In addition, the package offers a variety of functions for graph modeling and plotting, such as editing, adding, and deleting nodes and edges. It is also compatible with widely used graph data science libraries such as NetworkX and Tigramite and incorporates a specially developed causalgraph ontology in the background. This paper provides an overview of the package's main features, functionality, and usage examples, enabling the reader to use the package effectively in practice.
Plan To Predict: Learning an Uncertainty-Foreseeing Model for Model-Based Reinforcement Learning
Venue: arXiv cs.LG 2023
Year: 2023

In Model-based Reinforcement Learning (MBRL), model learning is critical since an inaccurate model can bias policy learning via generating misleading samples. However, learning an accurate model can be difficult since the policy is continually updated and the induced distribution over visited states used for model learning shifts accordingly. Prior methods alleviate this issue by quantifying the uncertainty of model-generated samples. However, these methods only quantify the uncertainty passively after the samples were generated, rather than foreseeing the uncertainty before model trajectories fall into those highly uncertain regions. The resulting low-quality samples can induce unstable learning targets and hinder the optimization of the policy. Moreover, while being learned to minimize one-step prediction errors, the model is generally used to predict for multiple steps, leading to a mismatch between the objectives of model learning and model usage. To this end, we propose \emph{Plan To Predict} (P2P), an MBRL framework that treats the model rollout process as a sequential decision making problem by reversely considering the model as a decision maker and the current policy as the dynamics. In this way, the model can quickly adapt to the current policy and foresee the multi-step future uncertainty when generating trajectories. Theoretically, we show that the performance of P2P can be guaranteed by approximately optimizing a lower bound of the true environment return. Empirical results demonstrate that P2P achieves state-of-the-art performance on several challenging benchmark tasks.
Machine learning and reduced order modelling for the simulation of braided stent deployment
Venue: arXiv cs.CE 2023
Year: 2023

Endoluminal reconstruction using flow diverters represents a novel paradigm for the minimally invasive treatment of intracranial aneurysms. The configuration assumed by these very dense braided stents once deployed within the parent vessel is not easily predictable and medical volumetric images alone may be insufficient to plan the treatment satisfactorily. Therefore, here we propose a fast and accurate machine learning and reduced order modelling framework, based on finite element simulations, to assist practitioners in the planning and interventional stages. It consists of a first classification step to determine a priori whether a simulation will be successful (good conformity between stent and vessel) or not from a clinical perspective, followed by a regression step that provides an approximated solution of the deployed stent configuration. The latter is achieved using a non-intrusive reduced order modelling scheme that combines the proper orthogonal decomposition algorithm and Gaussian process regression. The workflow was validated on an idealised intracranial artery with a saccular aneurysm and the effect of six geometrical and surgical parameters on the outcome of stent deployment was studied. The two-step workflow allows the classification of deployment conditions with up to 95% accuracy and real-time prediction of the stent deployed configuration with an average prediction error never greater than the spatial resolution of 3D rotational angiography (0.15 mm). These results are promising as they demonstrate the ability of these techniques to achieve simulations within a few milliseconds while retaining the mechanical realism and predictability of the stent deployed configuration.
Predicting Surface Texture in Steel Manufacturing at Speed
Venue: arXiv cs.LG 2023
Year: 2023

Control of the surface texture of steel strip during the galvanizing and temper rolling processes is essential to satisfy customer requirements and is conventionally measured post-production using a stylus. In-production laser reflection measurement is less consistent than physical measurement but enables real time adjustment of processing parameters to optimize product surface characteristics. We propose the use of machine learning to improve accuracy of the transformation from inline laser reflection measurements to a prediction of surface properties. In addition to accuracy, model evaluation speed is important for fast feedback control. The ROCKET model is one of the fastest state of the art models, however it can be sped up by utilizing a GPU. Our contribution is to implement the model in PyTorch for fast GPU kernel transforms and provide a soft version of the Proportion of Positive Values (PPV) nonlinear pooling function, allowing gradient flow. We perform timing and performance experiments comparing the implementations