OpenRaiser/Intern-Atlas huggingface dataset:
SLAM for Indoor Mapping of Wide Area Construction Environments
Venue: arXiv cs.RO 2024
Year: 2024

Simultaneous localization and mapping (SLAM), i.e., the reconstruction of the environment represented by a (3D) map and the concurrent pose estimation, has made astonishing progress. Meanwhile, large scale applications aiming at the data collection in complex environments like factory halls or construction sites are becoming feasible. However, in contrast to small scale scenarios with building interiors separated to single rooms, shop floors or construction areas require measures at larger distances in potentially texture less areas under difficult illumination. Pose estimation is further aggravated since no GNSS measures are available as it is usual for such indoor applications. In our work, we realize data collection in a large factory hall by a robot system equipped with four stereo cameras as well as a 3D laser scanner. We apply our state-of-the-art LiDAR and visual SLAM approaches and discuss the respective pros and cons of the different sensor types for trajectory estimation and dense map generation in such an environment. Additionally, dense and accurate depth maps are generated by 3D Gaussian splatting, which we plan to use in the context of our project aiming on the automatic construction and site monitoring.
Enhancing Privacy and Security of Autonomous UAV Navigation
Venue: arXiv cs.CR 2024
Year: 2024

Autonomous Unmanned Aerial Vehicles (UAVs) have become essential tools in defense, law enforcement, disaster response, and product delivery. These autonomous navigation systems require a wireless communication network, and of late are deep learning based. In critical scenarios such as border protection or disaster response, ensuring the secure navigation of autonomous UAVs is paramount. But, these autonomous UAVs are susceptible to adversarial attacks through the communication network or the deep learning models - eavesdropping / man-in-the-middle / membership inference / reconstruction. To address this susceptibility, we propose an innovative approach that combines Reinforcement Learning (RL) and Fully Homomorphic Encryption (FHE) for secure autonomous UAV navigation. This end-to-end secure framework is designed for real-time video feeds captured by UAV cameras and utilizes FHE to perform inference on encrypted input images. While FHE allows computations on encrypted data, certain computational operators are yet to be implemented. Convolutional neural networks, fully connected neural networks, activation functions and OpenAI Gym Library are meticulously adapted to the FHE domain to enable encrypted data processing. We demonstrate the efficacy of our proposed approach through extensive experimentation. Our proposed approach ensures security and privacy in autonomous UAV navigation with negligible loss in performance.
Synchronized Stepwise Control of Firing and Learning Thresholds in a Spiking Randomly Connected Neural Network toward Hardware Implementation
Venue: arXiv cs.NE 2024
Year: 2024

We propose hardware-oriented models of intrinsic plasticity (IP) and synaptic plasticity (SP) for spiking randomly connected recursive neural network (RNN). Although the potential of RNNs for temporal data processing has been demonstrated, randomness of the network architecture often causes performance degradation. Self-organization mechanism using IP and SP can mitigate the degradation, therefore, we compile these functions in a spiking neuronal model. To implement the function of IP, a variable firing threshold is introduced to each excitatory neuron in the RNN that changes stepwise in accordance with its activity. We also define other thresholds for SP that synchronize with the firing threshold, which determine the direction of stepwise synaptic update that is executed on receiving a pre-synaptic spike. We demonstrate the effectiveness of our model through simulations of temporal data learning and anomaly detection with a spiking RNN using publicly available electrocardiograms. Considering hardware implementation, we employ discretized thresholds and synaptic weights and show that these parameters can be reduced to binary if the RNN architecture is appropriately designed. This contributes to minimization of the circuit of the neuronal system having IP and SP.
Weakly Supervised Training for Hologram Verification in Identity Documents
Venue: arXiv cs.CV 2024
Year: 2024

We propose a method to remotely verify the authenticity of Optically Variable Devices (OVDs), often referred to as ``holograms'', in identity documents. Our method processes video clips captured with smartphones under common lighting conditions, and is evaluated on two public datasets: MIDV-HOLO and MIDV-2020. Thanks to a weakly-supervised training, we optimize a feature extraction and decision pipeline which achieves a new leading performance on MIDV-HOLO, while maintaining a high recall on documents from MIDV-2020 used as attack samples. It is also the first method, to date, to effectively address the photo replacement attack task, and can be trained on either genuine samples, attack samples, or both for increased performance. By enabling to verify OVD shapes and dynamics with very little supervision, this work opens the way towards the use of massive amounts of unlabeled data to build robust remote identity document verification systems on commodity smartphones. Code is available at https://github.com/EPITAResearchLab/pouliquen.24.icdar
Trinity Detector:text-assisted and attention mechanisms based spectral fusion for diffusion generation image detection
Venue: arXiv cs.CV 2024
Year: 2024

Artificial Intelligence Generated Content (AIGC) techniques, represented by text-to-image generation, have led to a malicious use of deep forgeries, raising concerns about the trustworthiness of multimedia content. Adapting traditional forgery detection methods to diffusion models proves challenging. Thus, this paper proposes a forgery detection method explicitly designed for diffusion models called Trinity Detector. Trinity Detector incorporates coarse-grained text features through a CLIP encoder, coherently integrating them with fine-grained artifacts in the pixel domain for comprehensive multimodal detection. To heighten sensitivity to diffusion-generated image features, a Multi-spectral Channel Attention Fusion Unit (MCAF) is designed, extracting spectral inconsistencies through adaptive fusion of diverse frequency bands and further integrating spatial co-occurrence of the two modalities. Extensive experimentation validates that our Trinity Detector method outperforms several state-of-the-art methods, our performance is competitive across all datasets and up to 17.6\% improvement in transferability in the diffusion datasets.
Beyond Efficiency and Convenience. Using Post-growth Values as a Nucleus to Transform Design Education and Society
Venue: arXiv cs.HC 2024
Year: 2024

In this position paper we present Municipan, an artefact resulting from a post-growth design experiment, applied in a student design project. In contrast to mainstream human-centered design directed at efficiency and convenience, which we argue leads to deskilling, dependency, and the progression of the climate crisis, we challenged students to envision an opposite user that is willing to invest time and effort and learn new skills. While Municipan is not a direct step towards a postgrowth society, integrating the way it was created in design education can act as a nucleus, bringing forth design professionals inclined to create technologies with potential to gradually transform society towards postgrowth living. Bringing in examples from our own research, we illustrate that designs created in this mindset, such as heating systems that train cold resistance, or navigation systems that train orientation have potential to reskill users, reduce technological dependency and steer consumption within planetary limits.
Empirical Studies of Propagation Characteristics and Modeling Based on XL-MIMO Channel Measurement: From Far-Field to Near-Field
Venue: arXiv cs.IT 2024
Year: 2024

In the sixth-generation (6G), the extremely large-scale multiple-input-multiple-output (XL-MIMO) is considered a promising enabling technology. With the further expansion of array element number and frequency bands, near-field effects will be more likely to occur in 6G communication systems. The near-field radio communications (NFRC) will become crucial in 6G communication systems. It is known that the channel research is very important for the development and performance evaluation of the communication systems. In this paper, we will systematically investigate the channel measurements and modeling for the emerging NFRC. First, the principle design of massive MIMO channel measurement platform are solved. Second, an indoor XL-MIMO channel measurement campaign with 1600 array elements is conducted, and the channel characteristics are extracted and validated in the near-field region. Then, the outdoor XL-MIMO channel measurement campaign with 320 array elements is conducted, and the channel characteristics are extracted and modeled from near-field to far-field (NF-FF) region. The spatial non-stationary characteristics of angular spread at the transmitting end are more important in modeling. We hope that this work will give some reference to the near-field and far-field research for 6G.
3SHNet: Boosting Image-Sentence Retrieval via Visual Semantic-Spatial Self-Highlighting
Venue: arXiv cs.CV 2024
Year: 2024

In this paper, we propose a novel visual Semantic-Spatial Self-Highlighting Network (termed 3SHNet) for high-precision, high-efficiency and high-generalization image-sentence retrieval. 3SHNet highlights the salient identification of prominent objects and their spatial locations within the visual modality, thus allowing the integration of visual semantics-spatial interactions and maintaining independence between two modalities. This integration effectively combines object regions with the corresponding semantic and position layouts derived from segmentation to enhance the visual representation. And the modality-independence guarantees efficiency and generalization. Additionally, 3SHNet utilizes the structured contextual visual scene information from segmentation to conduct the local (region-based) or global (grid-based) guidance and achieve accurate hybrid-level retrieval. Extensive experiments conducted on MS-COCO and Flickr30K benchmarks substantiate the superior performances, inference efficiency and generalization of the proposed 3SHNet when juxtaposed with contemporary state-of-the-art methodologies. Specifically, on the larger MS-COCO 5K test set, we achieve 16.3%, 24.8%, and 18.3% improvements in terms of rSum score, respectively, compared with the state-of-the-art methods using different image representations, while maintaining optimal retrieval efficiency. Moreover, our performance on cross-dataset generalization improves by 18.6%. Data and code are available at https://github.com/XuriGe1995/3SHNet.
Fast Evaluation of Additive Kernels: Feature Arrangement, Fourier Methods, and Kernel Derivatives
Venue: arXiv cs.LG 2024
Year: 2024

One of the main computational bottlenecks when working with kernel based learning is dealing with the large and typically dense kernel matrix. Techniques dealing with fast approximations of the matrix vector product for these kernel matrices typically deteriorate in their performance if the feature vectors reside in higher-dimensional feature spaces. We here present a technique based on the non-equispaced fast Fourier transform (NFFT) with rigorous error analysis. We show that this approach is also well suited to allow the approximation of the matrix that arises when the kernel is differentiated with respect to the kernel hyperparameters; a problem often found in the training phase of methods such as Gaussian processes. We also provide an error analysis for this case. We illustrate the performance of the additive kernel scheme with fast matrix vector products on a number of data sets. Our code is available at https://github.com/wagnertheresa/NFFTAddKer
An Optimised Brushless DC Motor Control Scheme for Robotics Applications
Venue: arXiv cs.RO 2024
Year: 2024

This work aims to develop an integrated control strategy for Brushless Direct Current Motors for a wide range of applications in robotics systems. The controller is suited for both high torque - low speed and high-speed control of the motors. Hardware validation is done by developing a custom BLDC drive system, and the circuit elements are optimised for power efficiency.
Multi-view Image Prompted Multi-view Diffusion for Improved 3D Generation
Venue: arXiv cs.CV 2024
Year: 2024

Using image as prompts for 3D generation demonstrate particularly strong performances compared to using text prompts alone, for images provide a more intuitive guidance for the 3D generation process. In this work, we delve into the potential of using multiple image prompts, instead of a single image prompt, for 3D generation. Specifically, we build on ImageDream, a novel image-prompt multi-view diffusion model, to support multi-view images as the input prompt. Our method, dubbed MultiImageDream, reveals that transitioning from a single-image prompt to multiple-image prompts enhances the performance of multi-view and 3D object generation according to various quantitative evaluation metrics and qualitative assessments. This advancement is achieved without the necessity of fine-tuning the pre-trained ImageDream multi-view diffusion model.
Cost-Sensitive Uncertainty-Based Failure Recognition for Object Detection
Venue: arXiv cs.CV 2024
Year: 2024

Object detectors in real-world applications often fail to detect objects due to varying factors such as weather conditions and noisy input. Therefore, a process that mitigates false detections is crucial for both safety and accuracy. While uncertainty-based thresholding shows promise, previous works demonstrate an imperfect correlation between uncertainty and detection errors. This hinders ideal thresholding, prompting us to further investigate the correlation and associated cost with different types of uncertainty. We therefore propose a cost-sensitive framework for object detection tailored to user-defined budgets on the two types of errors, missing and false detections. We derive minimum thresholding requirements to prevent performance degradation and define metrics to assess the applicability of uncertainty for failure recognition. Furthermore, we automate and optimize the thresholding process to maximize the failure recognition rate w.r.t. the specified budget. Evaluation on three autonomous driving datasets demonstrates that our approach significantly enhances safety, particularly in challenging scenarios. Leveraging localization aleatoric uncertainty and softmax-based entropy only, our method boosts the failure recognition rate by 36-60\% compared to conventional approaches. Code is available at https://mos-ks.github.io/publications.
Exploring Wireless Channels in Rural Areas: A Comprehensive Measurement Study
Venue: arXiv cs.NI 2024
Year: 2024

The study of wireless channel behavior has been an active research topic for many years. However, there exists a noticeable scarcity of studies focusing on wireless channel characteristics in rural areas. With the advancement of smart agriculture practices in rural regions, there has been an increasing demand for affordable, high-capacity, and low-latency wireless networks to support various precision agriculture applications such as plant phenotyping, livestock health monitoring, and agriculture automation. To address this research gap, we conducted a channel measurement study on multiple wireless frequency bands at various crop and livestock farms near Ames, Iowa, based on Iowa State University~(ISU)'s ARA Wireless Living lab - one of the NSF PAWR platforms. We specifically investigate the impact of weather conditions, humidity, temperature, and farm buildings on wireless channel behavior. The resulting measurement dataset, which will soon be made publicly accessible, represents a valuable resource for researchers interested in wireless channel prediction and optimization.
Enhancing QoE in HTTP/3 using EPS Framework
Venue: arXiv cs.NI 2024
Year: 2024

HTTP/3, the latest evolution of the Hypertext Transfer Protocol, utilizes QUIC, a new transport protocol leveraging UDP to overcome limitations such as connection time and head-of-line blocking prevalent in HTTP/2. This advancement is enhanced by the Extensible Prioritization Scheme (EPS), which introduces a flexible prioritization framework for improving website resource delivery. This paper proposes a mixed scheduling mechanism that delivers using mixed incremental and non-incremental resource delivery and adheres to EPS urgency levels to improve the QoE. Additionally, we propose an EPS priority mapping to enhance the QoE further. This mapping is based on the priority indicated by the Chromium browser and the resource type. The result of the experimental evaluation indicates that the proposed mechanism and mapping improve commonly-used website performance measures for sites featuring a comparatively large number and size of resources.
CEval: A Benchmark for Evaluating Counterfactual Text Generation
Venue: arXiv cs.CL 2024
Year: 2024

Counterfactual text generation aims to minimally change a text, such that it is classified differently. Judging advancements in method development for counterfactual text generation is hindered by a non-uniform usage of data sets and metrics in related work. We propose CEval, a benchmark for comparing counterfactual text generation methods. CEval unifies counterfactual and text quality metrics, includes common counterfactual datasets with human annotations, standard baselines (MICE, GDBA, CREST) and the open-source language model LLAMA-2. Our experiments found no perfect method for generating counterfactual text. Methods that excel at counterfactual metrics often produce lower-quality text while LLMs with simple prompts generate high-quality text but struggle with counterfactual criteria. By making CEval available as an open-source Python library, we encourage the community to contribute more methods and maintain consistent evaluation in future work.
A multi-agent model of hierarchical decision dynamics
Venue: arXiv cs.MA 2024
Year: 2024

Decision making can be difficult when there are many actors (or agents) who may be coordinating or competing to achieve their various ideas of the optimum outcome. Here I present a simple decision making model with an explicitly hierarchical binary-tree structure, and evaluate how this might cooperate to take actions that match its various evaluations of the uncertain state of the world. Key features of agent behaviour are (a) the separation of its decision making process into three distinct steps: observation, judgement, and action; and (b) the evolution of coordination by the sharing of judgements.
Bridging the Fairness Divide: Achieving Group and Individual Fairness in Graph Neural Networks
Venue: arXiv cs.LG 2024
Year: 2024

Graph neural networks (GNNs) have emerged as a powerful tool for analyzing and learning from complex data structured as graphs, demonstrating remarkable effectiveness in various applications, such as social network analysis, recommendation systems, and drug discovery. However, despite their impressive performance, the fairness problem has increasingly gained attention as a crucial aspect to consider. Existing research in graph learning focuses on either group fairness or individual fairness. However, since each concept provides unique insights into fairness from distinct perspectives, integrating them into a fair graph neural network system is crucial. To the best of our knowledge, no study has yet to comprehensively tackle both individual and group fairness simultaneously. In this paper, we propose a new concept of individual fairness within groups and a novel framework named Fairness for Group and Individual (FairGI), which considers both group fairness and individual fairness within groups in the context of graph learning. FairGI employs the similarity matrix of individuals to achieve individual fairness within groups, while leveraging adversarial learning to address group fairness in terms of both Equal Opportunity and Statistical Parity. The experimental results demonstrate that our approach not only outperforms other state-of-the-art models in terms of group fairness and individual fairness within groups, but also exhibits excellent performance in population-level individual fairness, while maintaining comparable prediction accuracy.
Tunnel Try-on: Excavating Spatial-temporal Tunnels for High-quality Virtual Try-on in Videos
Venue: arXiv cs.CV 2024
Year: 2024

Video try-on is a challenging task and has not been well tackled in previous works. The main obstacle lies in preserving the details of the clothing and modeling the coherent motions simultaneously. Faced with those difficulties, we address video try-on by proposing a diffusion-based framework named "Tunnel Try-on." The core idea is excavating a "focus tunnel" in the input video that gives close-up shots around the clothing regions. We zoom in on the region in the tunnel to better preserve the fine details of the clothing. To generate coherent motions, we first leverage the Kalman filter to construct smooth crops in the focus tunnel and inject the position embedding of the tunnel into attention layers to improve the continuity of the generated videos. In addition, we develop an environment encoder to extract the context information outside the tunnels as supplementary cues. Equipped with these techniques, Tunnel Try-on keeps the fine details of the clothing and synthesizes stable and smooth videos. Demonstrating significant advancements, Tunnel Try-on could be regarded as the first attempt toward the commercial-level application of virtual try-on in videos.
The Future of Scientific Publishing: Automated Article Generation
Venue: arXiv cs.HC 2024
Year: 2024

This study introduces a novel software tool leveraging large language model (LLM) prompts, designed to automate the generation of academic articles from Python code a significant advancement in the fields of biomedical informatics and computer science. Selected for its widespread adoption and analytical versatility, Python served as a foundational proof of concept; however, the underlying methodology and framework exhibit adaptability across various GitHub repo's underlining the tool's broad applicability (Harper 2024). By mitigating the traditionally time-intensive academic writing process, particularly in synthesizing complex datasets and coding outputs, this approach signifies a monumental leap towards streamlining research dissemination. The development was achieved without reliance on advanced language model agents, ensuring high fidelity in the automated generation of coherent and comprehensive academic content. This exploration not only validates the successful application and efficiency of the software but also projects how future integration of LLM agents which could amplify its capabilities, propelling towards a future where scientific findings are disseminated more swiftly and accessibly.
TICE and normalisation, pour une r{é}novation universitaire dans les pays du Sud
Venue: arXiv cs.CY 2024
Year: 2024

University renovation is a recurring fact generated by permanent technological innovations and new methods of organizing universities and training offers. Technological interoperability standards play a determining role, not only by providing added value in terms of saving space and time, but also by changing educational models and knowledge acquisition processes. The countries of sub-Saharan Africa present an institutional framework and a particular type of university organization which requires an in-depth rereading of their operating methods for a better recovery on the path to renovation through ICT. This document offers avenues for reflection and action frameworks that focus on the achievements of norms and interoperability standards.