OpenRaiser/Intern-Atlas huggingface dataset:
Faster Optimization in S-Graphs Exploiting Hierarchy
Venue: arXiv cs.RO 2023
Year: 2023

3D scene graphs hierarchically represent the environment appropriately organizing different environmental entities in various layers. Our previous work on situational graphs extends the concept of 3D scene graph to SLAM by tightly coupling the robot poses with the scene graph entities, achieving state-of-the-art results. Though, one of the limitations of S-Graphs is scalability in really large environments due to the increased graph size over time, increasing the computational complexity. To overcome this limitation in this work we present an initial research of an improved version of S-Graphs exploiting the hierarchy to reduce the graph size by marginalizing redundant robot poses and their connections to the observations of the same structural entities. Firstly, we propose the generation and optimization of room-local graphs encompassing all graph entities within a room-like structure. These room-local graphs are used to compress the S-Graphs marginalizing the redundant robot keyframes within the given room. We then perform windowed local optimization of the compressed graph at regular time-distance intervals. A global optimization of the compressed graph is performed every time a loop closure is detected. We show similar accuracy compared to the baseline while showing a 39.81% reduction in the computation time with respect to the baseline.
Are current long-term video understanding datasets long-term?
Venue: arXiv cs.CV 2023
Year: 2023

Many real-world applications, from sport analysis to surveillance, benefit from automatic long-term action recognition. In the current deep learning paradigm for automatic action recognition, it is imperative that models are trained and tested on datasets and tasks that evaluate if such models actually learn and reason over long-term information. In this work, we propose a method to evaluate how suitable a video dataset is to evaluate models for long-term action recognition. To this end, we define a long-term action as excluding all the videos that can be correctly recognized using solely short-term information. We test this definition on existing long-term classification tasks on three popular real-world datasets, namely Breakfast, CrossTask and LVU, to determine if these datasets are truly evaluating long-term recognition. Our study reveals that these datasets can be effectively solved using shortcuts based on short-term information. Following this finding, we encourage long-term action recognition researchers to make use of datasets that need long-term information to be solved.
Simple and Faster Algorithms for Knapsack
Venue: arXiv cs.DS 2023
Year: 2023

In this paper, we obtain a number of new simple pseudo-polynomial time algorithms on the well-known knapsack problem, focusing on the running time dependency on the number of items $n$, the maximum item weight $w_\mathrm{max}$, and the maximum item profit $p_\mathrm{max}$. Our results include: - An $\widetilde{O}(n^{3/2}\cdot \min\{w_\mathrm{max},p_\mathrm{max}\})$-time randomized algorithm for 0-1 knapsack, improving the previous $\widetilde{O}(\min\{n w_\mathrm{max} p_\mathrm{max}^{2/3},n p_\mathrm{max} w_\mathrm{max}^{2/3}\})$ [Bringmann and Cassis, ESA'23] for the small $n$ case. - An $\widetilde{O}(n+\min\{w_\mathrm{max},p_\mathrm{max}\}^{5/2})$-time randomized algorithm for bounded knapsack, improving the previous $O(n+\min\{w_\mathrm{max}^3,p_\mathrm{max}^3\})$ [Polak, Rohwedder and Wegrzyck, ICALP'21].
Using and Abusing Equivariance
Venue: arXiv cs.CV 2023
Year: 2023

In this paper we show how Group Equivariant Convolutional Neural Networks use subsampling to learn to break equivariance to their symmetries. We focus on 2D rotations and reflections and investigate the impact of broken equivariance on network performance. We show that a change in the input dimension of a network as small as a single pixel can be enough for commonly used architectures to become approximately equivariant, rather than exactly. We investigate the impact of networks not being exactly equivariant and find that approximately equivariant networks generalise significantly worse to unseen symmetries compared to their exactly equivariant counterparts. However, when the symmetries in the training data are not identical to the symmetries of the network, we find that approximately equivariant networks are able to relax their own equivariant constraints, causing them to match or outperform exactly equivariant networks on common benchmark datasets.
DeepBurning-MixQ: An Open Source Mixed-Precision Neural Network Accelerator Design Framework for FPGAs
Venue: arXiv cs.AR 2023
Year: 2023

Mixed-precision neural networks (MPNNs) that enable the use of just enough data width for a deep learning task promise significant advantages of both inference accuracy and computing overhead. FPGAs with fine-grained reconfiguration capability can adapt the processing with distinct data width and models, and hence, can theoretically unleash the potential of MPNNs. Nevertheless, commodity DPUs on FPGAs mostly emphasize generality and have limited support for MPNNs especially the ones with lower data width. In addition, primitive DSPs in FPGAs usually have much larger data width than that is required by MPNNs and haven't been sufficiently co-explored with MPNNs yet. To this end, we propose an open source MPNN accelerator design framework specifically tailored for FPGAs. In this framework, we have a systematic DSP-packing algorithm to pack multiple lower data width MACs in a single primitive DSP and enable efficient implementation of MPNNs. Meanwhile, we take DSP packing efficiency into consideration with MPNN quantization within a unified neural network architecture search (NAS) framework such that it can be aware of the DSP overhead during quantization and optimize the MPNN performance and accuracy concurrently. Finally, we have the optimized MPNN fine-tuned to a fully pipelined neural network accelerator template based on HLS and make best use of available resources for higher performance. Our experiments reveal the resulting accelerators produced by the proposed framework can achieve overwhelming advantages in terms of performance, resource utilization, and inference accuracy for MPNNs when compared with both handcrafted counterparts and prior hardware-aware neural network accelerators on FPGAs.
Semantic RGB-D Image Synthesis
Venue: arXiv cs.CV 2023
Year: 2023

Collecting diverse sets of training images for RGB-D semantic image segmentation is not always possible. In particular, when robots need to operate in privacy-sensitive areas like homes, the collection is often limited to a small set of locations. As a consequence, the annotated images lack diversity in appearance and approaches for RGB-D semantic image segmentation tend to overfit the training data. In this paper, we thus introduce semantic RGB-D image synthesis to address this problem. It requires synthesising a realistic-looking RGB-D image for a given semantic label map. Current approaches, however, are uni-modal and cannot cope with multi-modal data. Indeed, we show that extending uni-modal approaches to multi-modal data does not perform well. In this paper, we therefore propose a generator for multi-modal data that separates modal-independent information of the semantic layout from the modal-dependent information that is needed to generate an RGB and a depth image, respectively. Furthermore, we propose a discriminator that ensures semantic consistency between the label maps and the generated images and perceptual similarity between the real and generated images. Our comprehensive experiments demonstrate that the proposed method outperforms previous uni-modal methods by a large margin and that the accuracy of an approach for RGB-D semantic segmentation can be significantly improved by mixing real and generated images during training.
Targeted Data Augmentation for bias mitigation
Venue: arXiv cs.LG 2023
Year: 2023

The development of fair and ethical AI systems requires careful consideration of bias mitigation, an area often overlooked or ignored. In this study, we introduce a novel and efficient approach for addressing biases called Targeted Data Augmentation (TDA), which leverages classical data augmentation techniques to tackle the pressing issue of bias in data and models. Unlike the laborious task of removing biases, our method proposes to insert biases instead, resulting in improved performance. To identify biases, we annotated two diverse datasets: a dataset of clinical skin lesions and a dataset of male and female faces. These bias annotations are published for the first time in this study, providing a valuable resource for future research. Through Counterfactual Bias Insertion, we discovered that biases associated with the frame, ruler, and glasses had a significant impact on models. By randomly introducing biases during training, we mitigated these biases and achieved a substantial decrease in bias measures, ranging from two-fold to more than 50-fold, while maintaining a negligible increase in the error rate.
TurboViT: Generating Fast Vision Transformers via Generative Architecture Search
Venue: arXiv cs.CV 2023
Year: 2023

Vision transformers have shown unprecedented levels of performance in tackling various visual perception tasks in recent years. However, the architectural and computational complexity of such network architectures have made them challenging to deploy in real-world applications with high-throughput, low-memory requirements. As such, there has been significant research recently on the design of efficient vision transformer architectures. In this study, we explore the generation of fast vision transformer architecture designs via generative architecture search (GAS) to achieve a strong balance between accuracy and architectural and computational efficiency. Through this generative architecture search process, we create TurboViT, a highly efficient hierarchical vision transformer architecture design that is generated around mask unit attention and Q-pooling design patterns. The resulting TurboViT architecture design achieves significantly lower architectural computational complexity (>2.47$\times$ smaller than FasterViT-0 while achieving same accuracy) and computational complexity (>3.4$\times$ fewer FLOPs and 0.9% higher accuracy than MobileViT2-2.0) when compared to 10 other state-of-the-art efficient vision transformer network architecture designs within a similar range of accuracy on the ImageNet-1K dataset. Furthermore, TurboViT demonstrated strong inference latency and throughput in both low-latency and batch processing scenarios (>3.21$\times$ lower latency and >3.18$\times$ higher throughput compared to FasterViT-0 for low-latency scenario). These promising results demonstrate the efficacy of leveraging generative architecture search for generating efficient transformer architecture designs for high-throughput scenarios.
AIxArtist: A First-Person Tale of Interacting with Artificial Intelligence to Escape Creative Block
Venue: arXiv cs.HC 2023
Year: 2023

The future of the arts and artificial intelligence (AI) is promising as technology advances. As the use of AI in design becomes more widespread, art practice may not be a human-only art form and could instead become a digitally integrated experience. With enhanced creativity and collaboration, arts and AI could work together towards creating artistic outputs that are visually appealing and meet the needs of the artist and viewer. While it is uncertain how far the integration will go, arts and AI will likely influence one another. This workshop pictorial puts forward first-person research that shares interactions between an HCI researcher and AI as they try to escape the creative block. The pictorial paper explores two questions: How can AI support artists' creativity, and what does it mean to be explainable in this context? HIs, ChatGPT and Midjourney were engaged; the result was a series of reflections that require further discussion and explorations in the XAIxArts community: Transparency of attribution, the creation process, ethics of asking, and inspiration vs copying.
Multitemporal analysis in Google Earth Engine for detecting urban changes using optical data and machine learning algorithms
Venue: arXiv cs.CV 2023
Year: 2023

The aim of this work is to perform a multitemporal analysis using the Google Earth Engine (GEE) platform for the detection of changes in urban areas using optical data and specific machine learning (ML) algorithms. As a case study, Cairo City has been identified, in Egypt country, as one of the five most populous megacities of the last decade in the world. Classification and change detection analysis of the region of interest (ROI) have been carried out from July 2013 to July 2021. Results demonstrate the validity of the proposed method in identifying changed and unchanged urban areas over the selected period. Furthermore, this work aims to evidence the growing significance of GEE as an efficient cloud-based solution for managing large quantities of satellite data.
Composed Image Retrieval using Contrastive Learning and Task-oriented CLIP-based Features
Venue: arXiv cs.CV 2023
Year: 2023

Given a query composed of a reference image and a relative caption, the Composed Image Retrieval goal is to retrieve images visually similar to the reference one that integrates the modifications expressed by the caption. Given that recent research has demonstrated the efficacy of large-scale vision and language pre-trained (VLP) models in various tasks, we rely on features from the OpenAI CLIP model to tackle the considered task. We initially perform a task-oriented fine-tuning of both CLIP encoders using the element-wise sum of visual and textual features. Then, in the second stage, we train a Combiner network that learns to combine the image-text features integrating the bimodal information and providing combined features used to perform the retrieval. We use contrastive learning in both stages of training. Starting from the bare CLIP features as a baseline, experimental results show that the task-oriented fine-tuning and the carefully crafted Combiner network are highly effective and outperform more complex state-of-the-art approaches on FashionIQ and CIRR, two popular and challenging datasets for composed image retrieval. Code and pre-trained models are available at https://github.com/ABaldrati/CLIP4Cir
Four years of multi-modal odometry and mapping on the rail vehicles
Venue: arXiv cs.RO 2023
Year: 2023

Precise, seamless, and efficient train localization as well as long-term railway environment monitoring is the essential property towards reliability, availability, maintainability, and safety (RAMS) engineering for railroad systems. Simultaneous localization and mapping (SLAM) is right at the core of solving the two problems concurrently. In this end, we propose a high-performance and versatile multi-modal framework in this paper, targeted for the odometry and mapping task for various rail vehicles. Our system is built atop an inertial-centric state estimator that tightly couples light detection and ranging (LiDAR), visual, optionally satellite navigation and map-based localization information with the convenience and extendibility of loosely coupled methods. The inertial sensors IMU and wheel encoder are treated as the primary sensor, which achieves the observations from subsystems to constrain the accelerometer and gyroscope biases. Compared to point-only LiDAR-inertial methods, our approach leverages more geometry information by introducing both track plane and electric power pillars into state estimation. The Visual-inertial subsystem also utilizes the environmental structure information by employing both lines and points. Besides, the method is capable of handling sensor failures by automatic reconfiguration bypassing failure modules. Our proposed method has been extensively tested in the long-during railway environments over four years, including general-speed, high-speed and metro, both passenger and freight traffic are investigated. Further, we aim to share, in an open way, the experience, problems, and successes of our group with the robotics community so that those that work in such environments can avoid these errors. In this view, we open source some of the datasets to benefit the research community.
LCCo: Lending CLIP to Co-Segmentation
Venue: arXiv cs.CV 2023
Year: 2023

This paper studies co-segmenting the common semantic object in a set of images. Existing works either rely on carefully engineered networks to mine the implicit semantic information in visual features or require extra data (i.e., classification labels) for training. In this paper, we leverage the contrastive language-image pre-training framework (CLIP) for the task. With a backbone segmentation network that independently processes each image from the set, we introduce semantics from CLIP into the backbone features, refining them in a coarse-to-fine manner with three key modules: i) an image set feature correspondence module, encoding global consistent semantic information of the image set; ii) a CLIP interaction module, using CLIP-mined common semantics of the image set to refine the backbone feature; iii) a CLIP regularization module, drawing CLIP towards this co-segmentation task, identifying the best CLIP semantic and using it to regularize the backbone feature. Experiments on four standard co-segmentation benchmark datasets show that the performance of our method outperforms state-of-the-art methods.
Redistricting for Proportionality
Venue: arXiv cs.CY 2023
Year: 2023

American democracy is currently heavily reliant on plurality in single-member districts, or PSMD, as a system of election. But public perceptions of fairness are often keyed to partisan proportionality, or the degree of congruence between each party's share of the the vote and its share of representation. PSMD has not tended to secure proportional outcomes historically, partially due to gerrymandering, where line-drawers intentionally extract more advantage for their side. But it is now increasingly clear that even blind PSMD is frequently disproportional, and in unpredictable ways that depend on local political geography. In this paper we consider whether it is feasible to bring PSMD into alignment with a proportionality norm by targeting proportional outcomes in the design and selection of districts. We do this mainly through a close examination of the "Freedom to Vote Test," a redistricting reform proposed in draft legislation in 2021. We find that applying the test with a proportionality target makes for sound policy: it performs well in legal battleground states and has a workable exception to handle edge cases where proportionality is out of reach.
Using ChatGPT as a CAT tool in Easy Language translation
Venue: arXiv cs.CL 2023
Year: 2023

This study sets out to investigate the feasibility of using ChatGPT to translate citizen-oriented administrative texts into German Easy Language, a simplified, controlled language variety that is adapted to the needs of people with reading impairments. We use ChatGPT to translate selected texts from websites of German public authorities using two strategies, i.e. linguistic and holistic. We analyse the quality of the generated texts based on different criteria, such as correctness, readability, and syntactic complexity. The results indicated that the generated texts are easier than the standard texts, but that they still do not fully meet the established Easy Language standards. Additionally, the content is not always rendered correctly.
Indonesian Automatic Speech Recognition with XLSR-53
Venue: arXiv cs.CL 2023
Year: 2023

This study focuses on the development of Indonesian Automatic Speech Recognition (ASR) using the XLSR-53 pre-trained model, the XLSR stands for cross-lingual speech representations. The use of this XLSR-53 pre-trained model is to significantly reduce the amount of training data in non-English languages required to achieve a competitive Word Error Rate (WER). The total amount of data used in this study is 24 hours, 18 minutes, and 1 second: (1) TITML-IDN 14 hours and 31 minutes; (2) Magic Data 3 hours and 33 minutes; and (3) Common Voice 6 hours, 14 minutes, and 1 second. With a WER of 20%, the model built in this study can compete with similar models using the Common Voice dataset split test. WER can be decreased by around 8% using a language model, resulted in WER from 20% to 12%. Thus, the results of this study have succeeded in perfecting previous research in contributing to the creation of a better Indonesian ASR with a smaller amount of data.
Joint Local Relational Augmentation and Global Nash Equilibrium for Federated Learning with Non-IID Data
Venue: arXiv cs.LG 2023
Year: 2023

Federated learning (FL) is a distributed machine learning paradigm that needs collaboration between a server and a series of clients with decentralized data. To make FL effective in real-world applications, existing work devotes to improving the modeling of decentralized data with non-independent and identical distributions (non-IID). In non-IID settings, there are intra-client inconsistency that comes from the imbalanced data modeling, and inter-client inconsistency among heterogeneous client distributions, which not only hinders sufficient representation of the minority data, but also brings discrepant model deviations. However, previous work overlooks to tackle the above two coupling inconsistencies together. In this work, we propose FedRANE, which consists of two main modules, i.e., local relational augmentation (LRA) and global Nash equilibrium (GNE), to resolve intra- and inter-client inconsistency simultaneously. Specifically, in each client, LRA mines the similarity relations among different data samples and enhances the minority sample representations with their neighbors using attentive message passing. In server, GNE reaches an agreement among inconsistent and discrepant model deviations from clients to server, which encourages the global model to update in the direction of global optimum without breaking down the clients optimization toward their local optimums. We conduct extensive experiments on four benchmark datasets to show the superiority of FedRANE in enhancing the performance of FL with non-IID data.
Learning to generate and corr- uh I mean repair language in real-time
Venue: arXiv cs.CL 2023
Year: 2023

In conversation, speakers produce language incrementally, word by word, while continuously monitoring the appropriateness of their own contribution in the dynamically unfolding context of the conversation; and this often leads them to repair their own utterance on the fly. This real-time language processing capacity is furthermore crucial to the development of fluent and natural conversational AI. In this paper, we use a previously learned Dynamic Syntax grammar and the CHILDES corpus to develop, train and evaluate a probabilistic model for incremental generation where input to the model is a purely semantic generation goal concept in Type Theory with Records (TTR). We show that the model's output exactly matches the gold candidate in 78% of cases with a ROUGE-l score of 0.86. We further do a zero-shot evaluation of the ability of the same model to generate self-repairs when the generation goal changes mid-utterance. Automatic evaluation shows that the model can generate self-repairs correctly in 85% of cases. A small human evaluation confirms the naturalness and grammaticality of the generated self-repairs. Overall, these results further highlight the generalisation power of grammar-based models and lay the foundations for more controllable, and naturally interactive conversational AI systems.