OpenRaiser/Intern-Atlas huggingface dataset:
Constrained Bayesian Optimization for Automatic Underwater Vehicle Hull Design
Venue: arXiv cs.RO 2023
Year: 2023

Automatic underwater vehicle hull Design optimization is a complex engineering process for generating a UUV hull with optimized properties on a given requirement. First, it involves the integration of involved computationally complex engineering simulation tools. Second, it needs integration of a sample efficient optimization framework with the integrated toolchain. To this end, we integrated the CAD tool called FreeCAD with CFD tool openFoam for automatic design evaluation. For optimization, we chose Bayesian optimization (BO), which is a well-known technique developed for optimizing time-consuming expensive engineering simulations and has proven to be very sample efficient in a variety of problems, including hyper-parameter tuning and experimental design. During the optimization process, we can handle infeasible design as constraints integrated into the optimization process. By integrating domain-specific toolchain with AI-based optimization, we executed the automatic design optimization of underwater vehicle hull design. For empirical evaluation, we took two different use cases of real-world underwater vehicle design to validate the execution of our tool.
Identifying roadway departure crash patterns on rural two-lane highways under different lighting conditions: association knowledge using data mining approach
Venue: arXiv cs.LG 2023
Year: 2023

More than half of all fatalities on U.S. highways occur due to roadway departure (RwD) each year. Previous research has explored various risk factors that contribute to RwD crashes, however, a comprehensive investigation considering the effect of lighting conditions has been insufficiently addressed. Using the Louisiana Department of Transportation and Development crash database, fatal and injury RwD crashes occurring on rural two-lane (R2L) highways between 2008-2017 were analyzed based on daylight and dark (with/without streetlight). This research employed a safe system approach to explore meaningful complex interactions among multidimensional crash risk factors. To accomplish this, an unsupervised data mining algorithm association rules mining (ARM) was utilized. Based on the generated rules, the findings reveal several interesting crash patterns in the daylight, dark-with-streetlight, and dark-no-streetlight, emphasizing the importance of investigating RwD crash patterns depending on the lighting conditions. In daylight, fatal RwD crashes are associated with cloudy weather conditions, distracted drivers, standing water on the roadway, no seat belt use, and construction zones. In dark lighting conditions (with/without streetlight), the majority of the RwD crashes are associated with alcohol/drug involvement, young drivers (15-24 years), driver condition (e.g., inattentive, distracted, illness/fatigued/asleep) and colliding with animal (s). The findings reveal how certain driver behavior patterns are connected to RwD crashes, such as a strong association between alcohol/drug intoxication and no seat belt usage in the dark-no-streetlight condition. Based on the identified crash patterns and behavioral characteristics under different lighting conditions, the findings could aid researchers and safety specialists in developing the most effective RwD crash mitigation strategies.
Joint Representations of Text and Knowledge Graphs for Retrieval and Evaluation
Venue: arXiv cs.CL 2023
Year: 2023

A key feature of neural models is that they can produce semantic vector representations of objects (texts, images, speech, etc.) ensuring that similar objects are close to each other in the vector space. While much work has focused on learning representations for other modalities, there are no aligned cross-modal representations for text and knowledge base (KB) elements. One challenge for learning such representations is the lack of parallel data, which we use contrastive training on heuristics-based datasets and data augmentation to overcome, training embedding models on (KB graph, text) pairs. On WebNLG, a cleaner manually crafted dataset, we show that they learn aligned representations suitable for retrieval. We then fine-tune on annotated data to create EREDAT (Ensembled Representations for Evaluation of DAta-to-Text), a similarity metric between English text and KB graphs. EREDAT outperforms or matches state-of-the-art metrics in terms of correlation with human judgments on WebNLG even though, unlike them, it does not require a reference text to compare against.
Particle-based Online Bayesian Sampling
Venue: arXiv cs.LG 2023
Year: 2023

Online optimization has gained increasing interest due to its capability of tracking real-world streaming data. Although online optimization methods have been widely studied in the setting of frequentist statistics, few works have considered online optimization with the Bayesian sampling problem. In this paper, we study an Online Particle-based Variational Inference (OPVI) algorithm that uses a set of particles to represent the approximating distribution. To reduce the gradient error caused by the use of stochastic approximation, we include a sublinear increasing batch-size method to reduce the variance. To track the performance of the OPVI algorithm with respect to a sequence of dynamically changing target posterior, we provide a detailed theoretical analysis from the perspective of Wasserstein gradient flow with a dynamic regret. Synthetic and Bayesian Neural Network experiments show that the proposed algorithm achieves better results than naively applying existing Bayesian sampling methods in the online setting.
Multi-view Semantic Consistency based Information Bottleneck for Clustering
Venue: arXiv cs.LG 2023
Year: 2023

Multi-view clustering can make use of multi-source information for unsupervised clustering. Most existing methods focus on learning a fused representation matrix, while ignoring the influence of private information and noise. To address this limitation, we introduce a novel Multi-view Semantic Consistency based Information Bottleneck for clustering (MSCIB). Specifically, MSCIB pursues semantic consistency to improve the learning process of information bottleneck for different views. It conducts the alignment operation of multiple views in the semantic space and jointly achieves the valuable consistent information of multi-view data. In this way, the learned semantic consistency from multi-view data can improve the information bottleneck to more exactly distinguish the consistent information and learn a unified feature representation with more discriminative consistent information for clustering. Experiments on various types of multi-view datasets show that MSCIB achieves state-of-the-art performance.
Algorithmic Solutions for Maximizing Shareable Costs
Venue: arXiv cs.GT 2023
Year: 2023

This paper addresses the optimization problem to maximize the total costs that can be shared among a group of agents, while maintaining stability in the sense of the core constraints of a cooperative transferable utility game, or TU game. When maximizing total shareable costs, the cost shares must satisfy all constraints that define the core of a TU game, except for being budget balanced. The paper first gives a fairly complete picture of the computational complexity of this optimization problem, its relation to optimiztion over the core itself, and its equivalence to other, minimal core relaxations that have been proposed earlier. We then address minimum cost spanning tree (MST) games as an example for a class of cost sharing games with non-empty core. While submodular cost functions yield efficient algorithms to maximize shareable costs, MST games have cost functions that are subadditive, but generally not submodular. Nevertheless, it is well known that cost shares in the core of MST games can be found efficiently. In contrast, we show that the maximization of shareable costs is NP-hard for MST games and derive a 2-approximation algorithm. Our work opens several directions for future research.
Linear Size Universal Point Sets for Classes of Planar Graphs
Venue: arXiv cs.CG 2023
Year: 2023

A finite set $P$ of points in the plane is $n$-universal with respect to a class $\mathcal{C}$ of planar graphs if every $n$-vertex graph in $\mathcal{C}$ admits a crossing-free straight-line drawing with vertices at points of $P$. For the class of all planar graphs the best known upper bound on the size of a universal point set is quadratic and the best known lower bound is linear in $n$. Some classes of planar graphs are known to admit universal point sets of near linear size, however, there are no truly linear bounds for interesting classes beyond outerplanar graphs. In this paper, we show that there is a universal point set of size $2n-2$ for the class of bipartite planar graphs with $n$ vertices. The same point set is also universal for the class of $n$-vertex planar graphs of maximum degree $3$. The point set used for the results is what we call an exploding double chain, and we prove that this point set allows planar straight-line embeddings of many more planar graphs, namely of all subgraphs of planar graphs admitting a one-sided Hamiltonian cycle. The result for bipartite graphs also implies that every $n$-vertex plane graph has a $1$-bend drawing all whose bends and vertices are contained in a specific point set of size $4n-6$, this improves a bound of $6n-10$ for the same problem by Löffler and Tóth.
Neural Auctions Compromise Bidder Information
Venue: arXiv cs.LG 2023
Year: 2023

Single-shot auctions are commonly used as a means to sell goods, for example when selling ad space or allocating radio frequencies, however devising mechanisms for auctions with multiple bidders and multiple items can be complicated. It has been shown that neural networks can be used to approximate optimal mechanisms while satisfying the constraints that an auction be strategyproof and individually rational. We show that despite such auctions maximizing revenue, they do so at the cost of revealing private bidder information. While randomness is often used to build in privacy, in this context it comes with complications if done without care. Specifically, it can violate rationality and feasibility constraints, fundamentally change the incentive structure of the mechanism, and/or harm top-level metrics such as revenue and social welfare. We propose a method that employs stochasticity to improve privacy while meeting the requirements for auction mechanisms with only a modest sacrifice in revenue. We analyze the cost to the auction house that comes with introducing varying degrees of privacy in common auction settings. Our results show that despite current neural auctions' ability to approximate optimal mechanisms, the resulting vulnerability that comes with relying on neural networks must be accounted for.
Onboard dynamic-object detection and tracking for autonomous robot navigation with RGB-D camera
Venue: arXiv cs.RO 2023
Year: 2023

Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection problem, the usage of dense point clouds from a heavy Light Detection and Ranging (LiDAR) sensor and their high computation cost for learning-based data processing make those methods not applicable to small robots, such as vision-based UAVs with small onboard computers. To address this issue, we propose a lightweight 3D dynamic obstacle detection and tracking (DODT) method based on an RGB-D camera, which is designed for low-power robots with limited computing power. Our method adopts a novel ensemble detection strategy, combining multiple computationally efficient but low-accuracy detectors to achieve real-time high-accuracy obstacle detection. Besides, we introduce a new feature-based data association and tracking method to prevent mismatches utilizing point clouds' statistical features. In addition, our system includes an optional and auxiliary learning-based module to enhance the obstacle detection range and dynamic obstacle identification. The proposed method is implemented in a small quadcopter, and the results show that our method can achieve the lowest position error (0.11m) and a comparable velocity error (0.23m/s) across the benchmarking algorithms running on the robot's onboard computer. The flight experiments prove that the tracking results from the proposed method can make the robot efficiently alter its trajectory for navigating dynamic environments. Our software is available on GitHub as an open-source ROS package.
REASONER: An Explainable Recommendation Dataset with Multi-aspect Real User Labeled Ground Truths Towards more Measurable Explainable Recommendation
Venue: arXiv cs.IR 2023
Year: 2023

Explainable recommendation has attracted much attention from the industry and academic communities. It has shown great potential for improving the recommendation persuasiveness, informativeness and user satisfaction. Despite a lot of promising explainable recommender models have been proposed in the past few years, the evaluation strategies of these models suffer from several limitations. For example, the explanation ground truths are not labeled by real users, the explanations are mostly evaluated based on only one aspect and the evaluation strategies can be hard to unify. To alleviate the above problems, we propose to build an explainable recommendation dataset with multi-aspect real user labeled ground truths. In specific, we firstly develop a video recommendation platform, where a series of questions around the recommendation explainability are carefully designed. Then, we recruit about 3000 users with different backgrounds to use the system, and collect their behaviors and feedback to our questions. In this paper, we detail the construction process of our dataset and also provide extensive analysis on its characteristics. In addition, we develop a library, where ten well-known explainable recommender models are implemented in a unified framework. Based on this library, we build several benchmarks for different explainable recommendation tasks. At last, we present many new opportunities brought by our dataset, which are expected to shed some new lights to the explainable recommendation field. Our dataset, library and the related documents have been released at https://reasoner2023.github.io/.
Selectively Hard Negative Mining for Alleviating Gradient Vanishing in Image-Text Matching
Venue: arXiv cs.CV 2023
Year: 2023

Recently, a series of Image-Text Matching (ITM) methods achieve impressive performance. However, we observe that most existing ITM models suffer from gradients vanishing at the beginning of training, which makes these models prone to falling into local minima. Most ITM models adopt triplet loss with Hard Negative mining (HN) as the optimization objective. We find that optimizing an ITM model using only the hard negative samples can easily lead to gradient vanishing. In this paper, we derive the condition under which the gradient vanishes during training. When the difference between the positive pair similarity and the negative pair similarity is close to 0, the gradients on both the image and text encoders will approach 0. To alleviate the gradient vanishing problem, we propose a Selectively Hard Negative Mining (SelHN) strategy, which chooses whether to mine hard negative samples according to the gradient vanishing condition. SelHN can be plug-and-play applied to existing ITM models to give them better training behavior. To further ensure the back-propagation of gradients, we construct a Residual Visual Semantic Embedding model with SelHN, denoted as RVSE++. Extensive experiments on two ITM benchmarks demonstrate the strength of RVSE++, achieving state-of-the-art performance.
Targeted demand response for flexible energy communities using clustering techniques
Venue: arXiv cs.LG 2023
Year: 2023

The present study proposes clustering techniques for designing demand response (DR) programs for commercial and residential prosumers. The goal is to alter the consumption behavior of the prosumers within a distributed energy community in Italy. This aggregation aims to: a) minimize the reverse power flow at the primary substation, occuring when generation from solar panels in the local grid exceeds consumption, and b) shift the system wide peak demand, that typically occurs during late afternoon. Regarding the clustering stage, we consider daily prosumer load profiles and divide them across the extracted clusters. Three popular machine learning algorithms are employed, namely k-means, k-medoids and agglomerative clustering. We evaluate the methods using multiple metrics including a novel metric proposed within this study, namely peak performance score (PPS). The k-means algorithm with dynamic time warping distance considering 14 clusters exhibits the highest performance with a PPS of 0.689. Subsequently, we analyze each extracted cluster with respect to load shape, entropy, and load types. These characteristics are used to distinguish the clusters that have the potential to serve the optimization objectives by matching them to proper DR schemes including time of use, critical peak pricing, and real-time pricing. Our results confirm the effectiveness of the proposed clustering algorithm in generating meaningful flexibility clusters, while the derived DR pricing policy encourages consumption during off-peak hours. The developed methodology is robust to the low availability and quality of training datasets and can be used by aggregator companies for segmenting energy communities and developing personalized DR policies.
pyribs: A Bare-Bones Python Library for Quality Diversity Optimization
Venue: arXiv cs.NE 2023
Year: 2023

Recent years have seen a rise in the popularity of quality diversity (QD) optimization, a branch of optimization that seeks to find a collection of diverse, high-performing solutions to a given problem. To grow further, we believe the QD community faces two challenges: developing a framework to represent the field's growing array of algorithms, and implementing that framework in software that supports a range of researchers and practitioners. To address these challenges, we have developed pyribs, a library built on a highly modular conceptual QD framework. By replacing components in the conceptual framework, and hence in pyribs, users can compose algorithms from across the QD literature; equally important, they can identify unexplored algorithm variations. Furthermore, pyribs makes this framework simple, flexible, and accessible, with a user-friendly API supported by extensive documentation and tutorials. This paper overviews the creation of pyribs, focusing on the conceptual framework that it implements and the design principles that have guided the library's development.
Exploring Challenges and Opportunities to Support Designers in Learning to Co-create with AI-based Manufacturing Design Tools
Venue: arXiv cs.HC 2023
Year: 2023

AI-based design tools are proliferating in professional software to assist engineering and industrial designers in complex manufacturing and design tasks. These tools take on more agentic roles than traditional computer-aided design tools and are often portrayed as "co-creators." Yet, working effectively with such systems requires different skills than working with complex CAD tools alone. To date, we know little about how engineering designers learn to work with AI-based design tools. In this study, we observed trained designers as they learned to work with two AI-based tools on a realistic design task. We find that designers face many challenges in learning to effectively co-create with current systems, including challenges in understanding and adjusting AI outputs and in communicating their design goals. Based on our findings, we highlight several design opportunities to better support designer-AI co-creation.
RECIST Weakly Supervised Lesion Segmentation via Label-Space Co-Training
Venue: arXiv cs.CV 2023
Year: 2023

As an essential indicator for cancer progression and treatment response, tumor size is often measured following the response evaluation criteria in solid tumors (RECIST) guideline in CT slices. By marking each lesion with its longest axis and the longest perpendicular one, laborious pixel-wise manual annotation can be avoided. However, such a coarse substitute cannot provide a rich and accurate base to allow versatile quantitative analysis of lesions. To this end, we propose a novel weakly supervised framework to exploit the existing rich RECIST annotations for pixel-wise lesion segmentation. Specifically, a pair of under- and over-segmenting masks are constructed for each lesion based on its RECIST annotation and served as the label for co-training a pair of subnets, respectively, along with the proposed label-space perturbation induced consistency loss to bridge the gap between the two subnets and enable effective co-training. Extensive experiments are conducted on a public dataset to demonstrate the superiority of the proposed framework regarding the RECIST-based weakly supervised segmentation task and its universal applicability to various backbone networks.
Efficient Solution to 3D-LiDAR-based Monte Carlo Localization with Fusion of Measurement Model Optimization via Importance Sampling
Venue: arXiv cs.RO 2023
Year: 2023

This paper presents an efficient solution to 3D-LiDAR-based Monte Carlo localization (MCL). MCL robustly works if particles are exactly sampled around the ground truth. An inertial navigation system (INS) can be used for accurate sampling, but many particles are still needed to be used for solving the 3D localization problem even if INS is available. In particular, huge number of particles are necessary if INS is not available and it makes infeasible to perform 3D MCL in terms of the computational cost. Scan matching (SM), that is optimization-based localization, efficiently works even though INS is not available because SM can ignore movement constraints of a robot and/or device in its optimization process. However, SM sometimes determines an infeasible estimate against movement. We consider that MCL and SM have complemental advantages and disadvantages and propose a fusion method of MCL and SM. Because SM is considered as optimization of a measurement model in terms of the probabilistic modeling, we perform measurement model optimization as SM. The optimization result is then used to approximate the measurement model distribution and the approximated distribution is used to sample particles. The sampled particles are fused with MCL via importance sampling. As a result, the advantages of MCL and SM can be simultaneously utilized while mitigating their disadvantages. Experiments are conducted on the KITTI dataset and other two open datasets. Results show that the presented method can be run on a single CPU thread and accurately perform localization even if INS is not available.