OpenRaiser/Intern-Atlas huggingface dataset:
Mobile-Seed: Joint Semantic Segmentation and Boundary Detection for Mobile Robots
Venue: arXiv cs.CV 2024
Year: 2024

Precise and rapid delineation of sharp boundaries and robust semantics is essential for numerous downstream robotic tasks, such as robot grasping and manipulation, real-time semantic mapping, and online sensor calibration performed on edge computing units. Although boundary detection and semantic segmentation are complementary tasks, most studies focus on lightweight models for semantic segmentation but overlook the critical role of boundary detection. In this work, we introduce Mobile-Seed, a lightweight, dual-task framework tailored for simultaneous semantic segmentation and boundary detection. Our framework features a two-stream encoder, an active fusion decoder (AFD) and a dual-task regularization approach. The encoder is divided into two pathways: one captures category-aware semantic information, while the other discerns boundaries from multi-scale features. The AFD module dynamically adapts the fusion of semantic and boundary information by learning channel-wise relationships, allowing for precise weight assignment of each channel. Furthermore, we introduce a regularization loss to mitigate the conflicts in dual-task learning and deep diversity supervision. Compared to existing methods, the proposed Mobile-Seed offers a lightweight framework to simultaneously improve semantic segmentation performance and accurately locate object boundaries. Experiments on the Cityscapes dataset have shown that Mobile-Seed achieves notable improvement over the state-of-the-art (SOTA) baseline by 2.2 percentage points (pp) in mIoU and 4.2 pp in mF-score, while maintaining an online inference speed of 23.9 frames-per-second (FPS) with 1024x2048 resolution input on an RTX 2080 Ti GPU. Additional experiments on CamVid and PASCAL Context datasets confirm our method's generalizability. Code and additional results are publicly available at https://whu-usi3dv.github.io/Mobile-Seed/.
The DURel Annotation Tool: Human and Computational Measurement of Semantic Proximity, Sense Clusters and Semantic Change
Venue: arXiv cs.CL 2024
Year: 2024

We present the DURel tool that implements the annotation of semantic proximity between uses of words into an online, open source interface. The tool supports standardized human annotation as well as computational annotation, building on recent advances with Word-in-Context models. Annotator judgments are clustered with automatic graph clustering techniques and visualized for analysis. This allows to measure word senses with simple and intuitive micro-task judgments between use pairs, requiring minimal preparation efforts. The tool offers additional functionalities to compare the agreement between annotators to guarantee the inter-subjectivity of the obtained judgments and to calculate summary statistics giving insights into sense frequency distributions, semantic variation or changes of senses over time.
Keeping Users Engaged During Repeated Administration of the Same Questionnaire: Using Large Language Models to Reliably Diversify Questions
Venue: arXiv cs.HC 2024
Year: 2024

Standardized, validated questionnaires are vital tools in research and healthcare, offering dependable self-report data. Prior work has revealed that virtual agent-administered questionnaires are almost equivalent to self-administered ones in an electronic form. Despite being an engaging method, repeated use of virtual agent-administered questionnaires in longitudinal or pre-post studies can induce respondent fatigue, impacting data quality via response biases and decreased response rates. We propose using large language models (LLMs) to generate diverse questionnaire versions while retaining good psychometric properties. In a longitudinal study, participants interacted with our agent system and responded daily for two weeks to one of the following questionnaires: a standardized depression questionnaire, question variants generated by LLMs, or question variants accompanied by LLM-generated small talk. The responses were compared to a validated depression questionnaire. Psychometric testing revealed consistent covariation between the external criterion and focal measure administered across the three conditions, demonstrating the reliability and validity of the LLM-generated variants. Participants found that the variants were significantly less repetitive than repeated administrations of the same standardized questionnaire. Our findings highlight the potential of LLM-generated variants to invigorate agent-administered questionnaires and foster engagement and interest, without compromising their validity.
Proposing an intelligent mesh smoothing method with graph neural networks
Venue: arXiv cs.CV 2024
Year: 2024

In CFD, mesh smoothing methods are commonly utilized to refine the mesh quality to achieve high-precision numerical simulations. Specifically, optimization-based smoothing is used for high-quality mesh smoothing, but it incurs significant computational overhead. Pioneer works improve its smoothing efficiency by adopting supervised learning to learn smoothing methods from high-quality meshes. However, they pose difficulty in smoothing the mesh nodes with varying degrees and also need data augmentation to address the node input sequence problem. Additionally, the required labeled high-quality meshes further limit the applicability of the proposed method. In this paper, we present GMSNet, a lightweight neural network model for intelligent mesh smoothing. GMSNet adopts graph neural networks to extract features of the node's neighbors and output the optimal node position. During smoothing, we also introduce a fault-tolerance mechanism to prevent GMSNet from generating negative volume elements. With a lightweight model, GMSNet can effectively smoothing mesh nodes with varying degrees and remain unaffected by the order of input data. A novel loss function, MetricLoss, is also developed to eliminate the need for high-quality meshes, which provides a stable and rapid convergence during training. We compare GMSNet with commonly used mesh smoothing methods on two-dimensional triangle meshes. The experimental results show that GMSNet achieves outstanding mesh smoothing performances with 5% model parameters of the previous model, and attains 13.56 times faster than optimization-based smoothing.
ECNR: Efficient Compressive Neural Representation of Time-Varying Volumetric Datasets
Venue: arXiv cs.CV 2024
Year: 2024

Due to its conceptual simplicity and generality, compressive neural representation has emerged as a promising alternative to traditional compression methods for managing massive volumetric datasets. The current practice of neural compression utilizes a single large multilayer perceptron (MLP) to encode the global volume, incurring slow training and inference. This paper presents an efficient compressive neural representation (ECNR) solution for time-varying data compression, utilizing the Laplacian pyramid for adaptive signal fitting. Following a multiscale structure, we leverage multiple small MLPs at each scale for fitting local content or residual blocks. By assigning similar blocks to the same MLP via size uniformization, we enable balanced parallelization among MLPs to significantly speed up training and inference. Working in concert with the multiscale structure, we tailor a deep compression strategy to compact the resulting model. We show the effectiveness of ECNR with multiple datasets and compare it with state-of-the-art compression methods (mainly SZ3, TTHRESH, and neurcomp). The results position ECNR as a promising solution for volumetric data compression.
De-fine: Decomposing and Refining Visual Programs with Auto-Feedback
Venue: arXiv cs.CV 2024
Year: 2024

Visual programming, a modular and generalizable paradigm, integrates different modules and Python operators to solve various vision-language tasks. Unlike end-to-end models that need task-specific data, it advances in performing visual processing and reasoning in an unsupervised manner. Current visual programming methods generate programs in a single pass for each task where the ability to evaluate and optimize based on feedback, unfortunately, is lacking, which consequentially limits their effectiveness for complex, multi-step problems. Drawing inspiration from benders decomposition, we introduce De-fine, a training-free framework that automatically decomposes complex tasks into simpler subtasks and refines programs through auto-feedback. This model-agnostic approach can improve logical reasoning performance by integrating the strengths of multiple models. Our experiments across various visual tasks show that De-fine creates more robust programs. Moreover, viewing each feedback module as an independent agent will yield fresh prospects for the field of agent research.
Learning to Fly in Seconds
Venue: arXiv cs.RO 2024
Year: 2024

Learning-based methods, particularly Reinforcement Learning (RL), hold great promise for streamlining deployment, enhancing performance, and achieving generalization in the control of autonomous multirotor aerial vehicles. Deep RL has been able to control complex systems with impressive fidelity and agility in simulation but the simulation-to-reality transfer often brings a hard-to-bridge reality gap. Moreover, RL is commonly plagued by prohibitively long training times. In this work, we propose a novel asymmetric actor-critic-based architecture coupled with a highly reliable RL-based training paradigm for end-to-end quadrotor control. We show how curriculum learning and a highly optimized simulator enhance sample complexity and lead to fast training times. To precisely discuss the challenges related to low-level/end-to-end multirotor control, we also introduce a taxonomy that classifies the existing levels of control abstractions as well as non-linearities and domain parameters. Our framework enables Simulation-to-Reality (Sim2Real) transfer for direct RPM control after only 18 seconds of training on a consumer-grade laptop as well as its deployment on microcontrollers to control a multirotor under real-time guarantees. Finally, our solution exhibits competitive performance in trajectory tracking, as demonstrated through various experimental comparisons with existing state-of-the-art control solutions using a real Crazyflie nano quadrotor. We open source the code including a very fast multirotor dynamics simulator that can simulate about 5 months of flight per second on a laptop GPU. The fast training times and deployment to a cheap, off-the-shelf quadrotor lower the barriers to entry and help democratize the research and development of these systems.
Lightweight High-Speed Photography Built on Coded Exposure and Implicit Neural Representation of Videos
Venue: arXiv cs.CV 2024
Year: 2024

The demand for compact cameras capable of recording high-speed scenes with high resolution is steadily increasing. However, achieving such capabilities often entails high bandwidth requirements, resulting in bulky, heavy systems unsuitable for low-capacity platforms. To address this challenge, leveraging a coded exposure setup to encode a frame sequence into a blurry snapshot and subsequently retrieve the latent sharp video presents a lightweight solution. Nevertheless, restoring motion from blur remains a formidable challenge due to the inherent ill-posedness of motion blur decomposition, the intrinsic ambiguity in motion direction, and the diverse motions present in natural videos. In this study, we propose a novel approach to address these challenges by combining the classical coded exposure imaging technique with the emerging implicit neural representation for videos. We strategically embed motion direction cues into the blurry image during the imaging process. Additionally, we develop a novel implicit neural representation based blur decomposition network to sequentially extract the latent video frames from the blurry image, leveraging the embedded motion direction cues. To validate the effectiveness and efficiency of our proposed framework, we conduct extensive experiments using benchmark datasets and real-captured blurry images. The results demonstrate that our approach significantly outperforms existing methods in terms of both quality and flexibility. The code for our work is available at .https://github.com/zhihongz/BDINR
Multi-Objective Optimization via Wasserstein-Fisher-Rao Gradient Flow
Venue: arXiv cs.LG 2024
Year: 2024

Multi-objective optimization (MOO) aims to optimize multiple, possibly conflicting objectives with widespread applications. We introduce a novel interacting particle method for MOO inspired by molecular dynamics simulations. Our approach combines overdamped Langevin and birth-death dynamics, incorporating a "dominance potential" to steer particles toward global Pareto optimality. In contrast to previous methods, our method is able to relocate dominated particles, making it particularly adept at managing Pareto fronts of complicated geometries. Our method is also theoretically grounded as a Wasserstein-Fisher-Rao gradient flow with convergence guarantees. Extensive experiments confirm that our approach outperforms state-of-the-art methods on challenging synthetic and real-world datasets.
Learning to Complement with Multiple Humans
Venue: arXiv cs.CV 2024
Year: 2024

Real-world image classification tasks tend to be complex, where expert labellers are sometimes unsure about the classes present in the images, leading to the issue of learning with noisy labels (LNL). The ill-posedness of the LNL task requires the adoption of strong assumptions or the use of multiple noisy labels per training image, resulting in accurate models that work well in isolation but fail to optimise human-AI collaborative classification (HAI-CC). Unlike such LNL methods, HAI-CC aims to leverage the synergies between human expertise and AI capabilities but requires clean training labels, limiting its real-world applicability. This paper addresses this gap by introducing the innovative Learning to Complement with Multiple Humans (LECOMH) approach. LECOMH is designed to learn from noisy labels without depending on clean labels, simultaneously maximising collaborative accuracy while minimising the cost of human collaboration, measured by the number of human expert annotations required per image. Additionally, new benchmarks featuring multiple noisy labels for both training and testing are proposed to evaluate HAI-CC methods. Through quantitative comparisons on these benchmarks, LECOMH consistently outperforms competitive HAI-CC approaches, human labellers, multi-rater learning, and noisy-label learning methods across various datasets, offering a promising solution for addressing real-world image classification challenges.
MergeSFL: Split Federated Learning with Feature Merging and Batch Size Regulation
Venue: arXiv cs.LG 2024
Year: 2024

Recently, federated learning (FL) has emerged as a popular technique for edge AI to mine valuable knowledge in edge computing (EC) systems. To mitigate the computing/communication burden on resource-constrained workers and protect model privacy, split federated learning (SFL) has been released by integrating both data and model parallelism. Despite resource limitations, SFL still faces two other critical challenges in EC, i.e., statistical heterogeneity and system heterogeneity. To address these challenges, we propose a novel SFL framework, termed MergeSFL, by incorporating feature merging and batch size regulation in SFL. Concretely, feature merging aims to merge the features from workers into a mixed feature sequence, which is approximately equivalent to the features derived from IID data and is employed to promote model accuracy. While batch size regulation aims to assign diverse and suitable batch sizes for heterogeneous workers to improve training efficiency. Moreover, MergeSFL explores to jointly optimize these two strategies upon their coupled relationship to better enhance the performance of SFL. Extensive experiments are conducted on a physical platform with 80 NVIDIA Jetson edge devices, and the experimental results show that MergeSFL can improve the final model accuracy by 5.82% to 26.22%, with a speedup by about 1.74x to 4.14x, compared to the baselines.
Joinable Search over Multi-source Spatial Datasets: Overlap, Coverage, and Efficiency
Venue: arXiv cs.DB 2024
Year: 2024

The search for joinable data is pivotal for numerous applications, such as data integration, data augmentation, and data analysis. Although there have been many successful joinable search studies for table discovery, the study of finding joinable spatial datasets for a given query from multiple spatial data sources has not been well considered. This paper studies two cases of joinable search problems from multiple spatial data sources. In addition to the overlap joinable search problem (OJSP), we also propose a novel coverage joinable search problem (CJSP) that has not been considered before, motivated by many real-world applications in the field of spatial search. To support two cases of joinable search over multiple spatial data sources seamlessly, we propose a multi-source spatial dataset search framework. Firstly, we design a DIstributed Tree-based Spatial index structure called DITS, which is used not only to design acceleration strategies to speed up joinable searches, but also to support efficient communication between multiple data sources. Additionally, we prove that the CJSP is NP-hard and design a greedy approximate algorithm to solve the problem. We evaluate the efficiency of our search framework on five real-world data sources, and the experimental results show that our framework can significantly reduce running time and communication costs compared with baselines.
RankFeat&RankWeight: Rank-1 Feature/Weight Removal for Out-of-distribution Detection
Venue: arXiv cs.LG 2024
Year: 2024

The task of out-of-distribution (OOD) detection is crucial for deploying machine learning models in real-world settings. In this paper, we observe that the singular value distributions of the in-distribution (ID) and OOD features are quite different: the OOD feature matrix tends to have a larger dominant singular value than the ID feature, and the class predictions of OOD samples are largely determined by it. This observation motivates us to propose \texttt{RankFeat}, a simple yet effective \emph{post hoc} approach for OOD detection by removing the rank-1 matrix composed of the largest singular value and the associated singular vectors from the high-level feature. \texttt{RankFeat} achieves \emph{state-of-the-art} performance and reduces the average false positive rate (FPR95) by 17.90\% compared with the previous best method. The success of \texttt{RankFeat} motivates us to investigate whether a similar phenomenon would exist in the parameter matrices of neural networks. We thus propose \texttt{RankWeight} which removes the rank-1 weight from the parameter matrices of a single deep layer. Our \texttt{RankWeight}is also \emph{post hoc} and only requires computing the rank-1 matrix once. As a standalone approach, \texttt{RankWeight} has very competitive performance against other methods across various backbones. Moreover, \texttt{RankWeight} enjoys flexible compatibility with a wide range of OOD detection methods. The combination of \texttt{RankWeight} and \texttt{RankFeat} refreshes the new \emph{state-of-the-art} performance, achieving the FPR95 as low as 16.13\% on the ImageNet-1k benchmark. Extensive ablation studies and comprehensive theoretical analyses are presented to support the empirical results. Code is publicly available via \url{https://github.com/KingJamesSong/RankFeat}.
Low Latency Instance Segmentation by Continuous Clustering for LiDAR Sensors
Venue: arXiv cs.CV 2024
Year: 2024

Low-latency instance segmentation of LiDAR point clouds is crucial in real-world applications because it serves as an initial and frequently-used building block in a robot's perception pipeline, where every task adds further delay. Particularly in dynamic environments, this total delay can result in significant positional offsets of dynamic objects, as seen in highway scenarios. To address this issue, we employ a new technique, which we call continuous clustering. Unlike most existing clustering approaches, which use a full revolution of the LiDAR sensor, we process the data stream in a continuous and seamless fashion. Our approach does not rely on the concept of complete or partial sensor rotations with multiple discrete range images; instead, it views the range image as a single and infinitely horizontally growing entity. Each new column of this continuous range image is processed as soon it is available. Obstacle points are clustered to existing instances in real-time and it is checked at a high-frequency which instances are completed in order to publish them without waiting for the completion of the revolution or some other integration period. In the case of rotating sensors, no problematic discontinuities between the points of the end and the start of a scan are observed. In this work we describe the two-layered data structure and the corresponding algorithm for continuous clustering. It is able to achieve an average latency of just 5 ms with respect to the latest timestamp of all points in the cluster. We are publishing the source code at https://github.com/UniBwTAS/continuous_clustering.
Creating and Leveraging a Synthetic Dataset of Cloud Optical Thickness Measures for Cloud Detection in MSI
Venue: arXiv cs.CV 2024
Year: 2024

Cloud formations often obscure optical satellite-based monitoring of the Earth's surface, thus limiting Earth observation (EO) activities such as land cover mapping, ocean color analysis, and cropland monitoring. The integration of machine learning (ML) methods within the remote sensing domain has significantly improved performance on a wide range of EO tasks, including cloud detection and filtering, but there is still much room for improvement. A key bottleneck is that ML methods typically depend on large amounts of annotated data for training, which is often difficult to come by in EO contexts. This is especially true when it comes to cloud optical thickness (COT) estimation. A reliable estimation of COT enables more fine-grained and application-dependent control compared to using pre-specified cloud categories, as is commonly done in practice. To alleviate the COT data scarcity problem, in this work we propose a novel synthetic dataset for COT estimation, that we subsequently leverage for obtaining reliable and versatile cloud masks on real data. In our dataset, top-of-atmosphere radiances have been simulated for 12 of the spectral bands of the Multispectral Imagery (MSI) sensor onboard Sentinel-2 platforms. These data points have been simulated under consideration of different cloud types, COTs, and ground surface and atmospheric profiles. Extensive experimentation of training several ML models to predict COT from the measured reflectivity of the spectral bands demonstrates the usefulness of our proposed dataset. In particular, by thresholding COT estimates from our ML models, we show on two satellite image datasets (one that is publicly available, and one which we have collected and annotated) that reliable cloud masks can be obtained. The synthetic data, the collected real dataset, code and models have been made publicly available at https://github.com/aleksispi/ml-cloud-opt-thick.