OpenRaiser/Intern-Atlas huggingface dataset:
Keys to Accurate Feature Extraction Using Residual Spiking Neural Networks
Venue: arXiv cs.LG 2022
Year: 2022

Spiking neural networks (SNNs) have become an interesting alternative to conventional artificial neural networks (ANN) thanks to their temporal processing capabilities and energy efficient implementations in neuromorphic hardware. However the challenges involved in training SNNs have limited their performance in terms of accuracy and thus their applications. Improving learning algorithms and neural architectures for a more accurate feature extraction is therefore one of the current priorities in SNN research. In this paper we present a study on the key components of modern spiking architectures. We design a spiking version of the successful residual network architecture and provide an in-depth study on the possible implementations of spiking residual connections. This study shows how, depending on the use case, the optimal residual connection implementation may vary. Additionally, we empirically compare different techniques in image classification datasets taken from the best performing networks. Our results provide a state of the art guide to SNN design, which allows to make informed choices when trying to build the optimal visual feature extractor. Finally, our network outperforms previous SNN architectures in CIFAR-10 (94.14%) and CIFAR-100 (74.65%) datasets and matches the state of the art in DVS-CIFAR10 (72.98%), with less parameters than the previous state of the art and without the need for ANN-SNN conversion. Code available at https://github.com/VicenteAlex/Spiking_ResNet
csBoundary: City-scale Road-boundary Detection in Aerial Images for High-definition Maps
Venue: arXiv cs.CV 2022
Year: 2022

High-Definition (HD) maps can provide precise geometric and semantic information of static traffic environments for autonomous driving. Road-boundary is one of the most important information contained in HD maps since it distinguishes between road areas and off-road areas, which can guide vehicles to drive within road areas. But it is labor-intensive to annotate road boundaries for HD maps at the city scale. To enable automatic HD map annotation, current work uses semantic segmentation or iterative graph growing for road-boundary detection. However, the former could not ensure topological correctness since it works at the pixel level, while the latter suffers from inefficiency and drifting issues. To provide a solution to the aforementioned problems, in this letter, we propose a novel system termed csBoundary to automatically detect road boundaries at the city scale for HD map annotation. Our network takes as input an aerial image patch, and directly infers the continuous road-boundary graph (i.e., vertices and edges) from this image. To generate the city-scale road-boundary graph, we stitch the obtained graphs from all the image patches. Our csBoundary is evaluated and compared on a public benchmark dataset. The results demonstrate our superiority. The accompanied demonstration video is available at our project page \url{https://sites.google.com/view/csboundary/}.
AlphaDDA: Strategies for Adjusting the Playing Strength of a Fully Trained AlphaZero System to a Suitable Human Training Partner
Venue: arXiv cs.LG 2022
Year: 2022

Artificial intelligence (AI) has achieved superhuman performance in board games such as Go, chess, and Othello (Reversi). In other words, the AI system surpasses the level of a strong human expert player in such games. In this context, it is difficult for a human player to enjoy playing the games with the AI. To keep human players entertained and immersed in a game, the AI is required to dynamically balance its skill with that of the human player. To address this issue, we propose AlphaDDA, an AlphaZero-based AI with dynamic difficulty adjustment (DDA). AlphaDDA consists of a deep neural network (DNN) and a Monte Carlo tree search, as in AlphaZero. AlphaDDA learns and plays a game the same way as AlphaZero, but can change its skills. AlphaDDA estimates the value of the game state from only the board state using the DNN. AlphaDDA changes a parameter dominantly controlling its skills according to the estimated value. Consequently, AlphaDDA adjusts its skills according to a game state. AlphaDDA can adjust its skill using only the state of a game without any prior knowledge regarding an opponent. In this study, AlphaDDA plays Connect4, Othello, and 6x6 Othello with other AI agents. Other AI agents are AlphaZero, Monte Carlo tree search, the minimax algorithm, and a random player. This study shows that AlphaDDA can balance its skill with that of the other AI agents, except for a random player. The DDA ability of AlphaDDA is based on an accurate estimation of the value from the state of a game. We believe that the AlphaDDA approach for DDA can be used for any game AI system if the DNN can accurately estimate the value of the game state and we know a parameter controlling the skills of the AI system.
The Harmless Set Problem
Venue: arXiv cs.CC 2022
Year: 2022

Given a graph $G = (V,E)$, a threshold function $t~ :~ V \rightarrow \mathbb{N}$ and an integer $k$, we study the Harmless Set problem, where the goal is to find a subset of vertices $S \subseteq V$ of size at least $k$ such that every vertex $v\in V$ has less than $t(v)$ neighbors in $S$. We enhance our understanding of the problem from the viewpoint of parameterized complexity. Our focus lies on parameters that measure the structural properties of the input instance. We show that the problem is W[1]-hard parameterized by a wide range of fairly restrictive structural parameters such as the feedback vertex set number, pathwidth, treedepth, and even the size of a minimum vertex deletion set into graphs of pathwidth and treedepth at most three. On dense graphs, we show that the problem is W[1]-hard parameterized by cluster vertex deletion number. We also show that the Harmless Set problem with majority thresholds is W[1]-hard when parameterized by the treewidth of the input graph. We prove that the Harmless Set problem can be solved in polynomial time on graph with bounded cliquewidth. On the positive side, we obtain fixed-parameter algorithms for the problem with respect to neighbourhood diversity, twin cover and vertex integrity of the input graph. We show that the problem parameterized by the solution size is fixed parameter tractable on planar graphs. We thereby resolve two open questions stated in C. Bazgan and M. Chopin (2014) concerning the complexity of {\sc Harmless Set} parameterized by the treewidth of the input graph and on planar graphs with respect to the solution size.
Optimal Physical Sorting of Mobile Agents
Venue: arXiv cs.DM 2022
Year: 2022

Given a collection of red and blue mobile agents located on two grid rows, we seek to move all the blue agents to the far left side and all the red agents to the far right side, thus \textit{physically sorting} them according to color. The agents all start on the bottom row. They move simultaneously at discrete time steps and must not collide. Our goal is to design a centralized algorithm that controls the agents so as to sort them in the least number of time steps. We derive an \textbf{exact} lower bound on the amount of time any algorithm requires to sort a given initial configuration of agents. We find an instance optimal algorithm that provably matches this lower bound, attaining the best possible sorting time for any initial configuration. Surprisingly, we find that whenever the leftmost agent is red and the rightmost agent is blue, a straightforward decentralized and local sensing-based algorithm is at most $1$ time step slower than the centralized instance-optimal algorithm.
Towards Transferring Human Preferences from Canonical to Actual Assembly Tasks
Venue: arXiv cs.RO 2022
Year: 2022

To assist human users according to their individual preference in assembly tasks, robots typically require user demonstrations in the given task. However, providing demonstrations in actual assembly tasks can be tedious and time-consuming. Our thesis is that we can learn user preferences in assembly tasks from demonstrations in a representative canonical task. Inspired by previous work in economy of human movement, we propose to represent user preferences as a linear function of abstract task-agnostic features, such as movement and physical and mental effort required by the user. For each user, we learn their preference from demonstrations in a canonical task and use the learned preference to anticipate their actions in the actual assembly task without any user demonstrations in the actual task. We evaluate our proposed method in a model-airplane assembly study and show that preferences can be effectively transferred from canonical to actual assembly tasks, enabling robots to anticipate user actions.
Self-supervised GAN Detector
Venue: arXiv cs.CV 2022
Year: 2022

Although the recent advancement in generative models brings diverse advantages to society, it can also be abused with malicious purposes, such as fraud, defamation, and fake news. To prevent such cases, vigorous research is conducted to distinguish the generated images from the real images, but challenges still remain to distinguish the unseen generated images outside of the training settings. Such limitations occur due to data dependency arising from the model's overfitting issue to the training data generated by specific GANs. To overcome this issue, we adopt a self-supervised scheme to propose a novel framework. Our proposed method is composed of the artificial fingerprint generator reconstructing the high-quality artificial fingerprints of GAN images for detailed analysis, and the GAN detector distinguishing GAN images by learning the reconstructed artificial fingerprints. To improve the generalization of the artificial fingerprint generator, we build multiple autoencoders with different numbers of upconvolution layers. With numerous ablation studies, the robust generalization of our method is validated by outperforming the generalization of the previous state-of-the-art algorithms, even without utilizing the GAN images of the training dataset.
Deep Reinforcement Model Selection for Communications Resource Allocation in On-Site Medical Care
Venue: arXiv cs.LG 2022
Year: 2022

Greater capabilities of mobile communications technology enable interconnection of on-site medical care at a scale previously unavailable. However, embedding such critical, demanding tasks into the already complex infrastructure of mobile communications proves challenging. This paper explores a resource allocation scenario where a scheduler must balance mixed performance metrics among connected users. To fulfill this resource allocation task, we present a scheduler that adaptively switches between different model-based scheduling algorithms. We make use of a deep Q-Network to learn the benefit of selecting a scheduling paradigm for a given situation, combining advantages from model-driven and data-driven approaches. The resulting ensemble scheduler is able to combine its constituent algorithms to maximize a sum-utility cost function while ensuring performance on designated high-priority users.
Offense Detection in Dravidian Languages using Code-Mixing Index based Focal Loss
Venue: arXiv cs.CL 2022
Year: 2022

Over the past decade, we have seen exponential growth in online content fueled by social media platforms. Data generation of this scale comes with the caveat of insurmountable offensive content in it. The complexity of identifying offensive content is exacerbated by the usage of multiple modalities (image, language, etc.), code-mixed language and more. Moreover, even after careful sampling and annotation of offensive content, there will always exist a significant class imbalance between offensive and non-offensive content. In this paper, we introduce a novel Code-Mixing Index (CMI) based focal loss which circumvents two challenges (1) code-mixing in languages (2) class imbalance problem for Dravidian language offense detection. We also replace the conventional dot product-based classifier with the cosine-based classifier which results in a boost in performance. Further, we use multilingual models that help transfer characteristics learnt across languages to work effectively with low resourced languages. It is also important to note that our model handles instances of mixed script (say usage of Latin and Dravidian-Tamil script) as well. To summarize, our model can handle offensive language detection in a low-resource, class imbalanced, multilingual and code-mixed setting.
5 Gbps Optical Wireless Communication Using Commercial SPAD Array Receivers
Venue: arXiv cs.IT 2022
Year: 2022

Photon counting detectors such as single-photon avalanche diode (SPAD) arrays can be utilized to improve the sensitivity of optical wireless communication (OWC) systems. However, the achievable data rate of SPAD-based OWC systems is strongly limited by the nonlinearity induced by SPAD dead time. In this work, the performance of SPAD-based OWC system with orthogonal frequency division multiplexing (OFDM) is investigated and compared with that of on-off keying (OOK). We employ nonlinear equalization, peak-to-average power ratio optimization by adjusting the OFDM clipping level, and adaptive bit and energy loading to achieve a record experimental data rate of 5 Gbps. The contrasting optimal regimes of operation of the two modulation schemes are also demonstrated.
An Assessment of the Eye Tracking Signal Quality Captured in the HoloLens 2
Venue: arXiv cs.HC 2022
Year: 2022

We present an analysis of the eye tracking signal quality of the HoloLens 2s integrated eye tracker. Signal quality was measured from eye movement data captured during a random saccades task from a new eye movement dataset collected on 30 healthy adults. We characterize the eye tracking signal quality of the device in terms of spatial accuracy, spatial precision, temporal precision, linearity, and crosstalk. Most notably, our evaluation of spatial accuracy reveals that the eye movement data in our dataset appears to be uncalibrated. Recalibrating the data using a subset of our dataset task produces notably better eye tracking signal quality.
Explicit Explore, Exploit, or Escape ($E^4$): near-optimal safety-constrained reinforcement learning in polynomial time
Venue: arXiv cs.LG 2022
Year: 2022

In reinforcement learning (RL), an agent must explore an initially unknown environment in order to learn a desired behaviour. When RL agents are deployed in real world environments, safety is of primary concern. Constrained Markov decision processes (CMDPs) can provide long-term safety constraints; however, the agent may violate the constraints in an effort to explore its environment. This paper proposes a model-based RL algorithm called Explicit Explore, Exploit, or Escape ($E^{4}$), which extends the Explicit Explore or Exploit ($E^{3}$) algorithm to a robust CMDP setting. $E^4$ explicitly separates exploitation, exploration, and escape CMDPs, allowing targeted policies for policy improvement across known states, discovery of unknown states, as well as safe return to known states. $E^4$ robustly optimises these policies on the worst-case CMDP from a set of CMDP models consistent with the empirical observations of the deployment environment. Theoretical results show that $E^4$ finds a near-optimal constraint-satisfying policy in polynomial time whilst satisfying safety constraints throughout the learning process. We then discuss $E^4$ as a practical algorithmic framework, including robust-constrained offline optimisation algorithms, the design of uncertainty sets for the transition dynamics of unknown states, and how to further leverage empirical observations and prior knowledge to relax some of the worst-case assumptions underlying the theory.
Reinforcement Learning of Self Enhancing Camera Image and Signal Processing
Venue: arXiv cs.CV 2022
Year: 2022

Current camera image and signal processing pipelines (ISPs), including deep-trained versions, tend to apply a single filter that is uniformly applied to the entire image. This is despite the fact that most acquired camera images have spatially heterogeneous artifacts. This spatial heterogeneity manifests itself across the image space as varied Moire ringing, motion-blur, color-bleaching, or lens-based projection distortions. Moreover, combinations of these image artifacts can be present in small or large pixel neighborhoods, within an acquired image. Here, we present a deep reinforcement learning model that works in learned latent subspaces, and recursively improves camera image quality through a patch-based spatially adaptive artifact filtering and image enhancement. Our \textit{Recursive Self Enhancement Reinforcement Learning}(RSE-RL) model views the identification and correction of artifacts as a recursive self-learning and self-improvement exercise and consists of two major sub-modules: (i) The latent feature sub-space clustering/grouping obtained through variational auto-encoders enabling rapid identification of the correspondence and discrepancy between noisy and clean image patches. (ii) The adaptive learned transformation is controlled by a soft actor-critic agent that progressively filters and enhances the noisy patches using its closest feature distance neighbors of clean patches. Artificial artifacts that may be introduced in a patch-based ISP, are also removed through a reward-based de-blocking recovery and image enhancement. We demonstrate the self-improvement feature of our model by recursively training and testing on images, wherein the enhanced images resulting from each epoch provide a natural data augmentation and robustness to the RSE-RL training-filtering pipeline. Our method shows advantage for heterogeneous noise and artifact removal.
Enhance Accuracy: Sensitivity and Uncertainty Theory in LiDAR Odometry and Mapping
Venue: arXiv cs.RO 2022
Year: 2022

Currently, the improvement of LiDAR poses estimation accuracy is an urgent need for mobile robots. Research indicates that diverse LiDAR points have different influences on the accuracy of pose estimation. This study aimed to select a good point set to enhance accuracy. Accordingly, the sensitivity and uncertainty of LiDAR point residuals were formulated as a fundamental basis for derivation and analysis. High-sensitivity and low -uncertainty point residual terms are preferred to achieve higher pose estimation accuracy. The proposed selection method has been theoretically proven to be capable of achieving a global statistical optimum. It was tested on artificial data and compared with the KITTI benchmark. It was also implemented in LiDAR odometry (LO) and LiDAR inertial odometry (LIO), both indoors and outdoors. The experiments revealed that utilizing selected LiDAR point residuals simultaneously enhances optimization accuracy, decreases residual terms, and guarantees real-time performance.
EmbAssi: Embedding Assignment Costs for Similarity Search in Large Graph Databases
Venue: arXiv cs.DB 2022
Year: 2022

The graph edit distance is an intuitive measure to quantify the dissimilarity of graphs, but its computation is NP-hard and challenging in practice. We introduce methods for answering nearest neighbor and range queries regarding this distance efficiently for large databases with up to millions of graphs. We build on the filter-verification paradigm, where lower and upper bounds are used to reduce the number of exact computations of the graph edit distance. Highly effective bounds for this involve solving a linear assignment problem for each graph in the database, which is prohibitive in massive datasets. Index-based approaches typically provide only weak bounds leading to high computational costs verification. In this work, we derive novel lower bounds for efficient filtering from restricted assignment problems, where the cost function is a tree metric. This special case allows embedding the costs of optimal assignments isometrically into $\ell_1$ space, rendering efficient indexing possible. We propose several lower bounds of the graph edit distance obtained from tree metrics reflecting the edit costs, which are combined for effective filtering. Our method termed EmbAssi can be integrated into existing filter-verification pipelines as a fast and effective pre-filtering step. Empirically we show that for many real-world graphs our lower bounds are already close to the exact graph edit distance, while our index construction and search scales to very large databases.
A Finite-Sampling, Operational Domain Specific, and Provably Unbiased Connected and Automated Vehicle Safety Metric
Venue: arXiv cs.RO 2022
Year: 2022

A connected and automated vehicle safety metric determines the performance of a subject vehicle (SV) by analyzing the data involving the interactions among the SV and other dynamic road users and environmental features. When the data set contains only a finite set of samples collected from the naturalistic mixed-traffic driving environment, a metric is expected to generalize the safety assessment outcome from the observed finite samples to the unobserved cases by specifying in what domain the SV is expected to be safe and how safe the SV is, statistically, in that domain. However, to the best of our knowledge, none of the existing safety metrics are able to justify the above properties with an operational domain specific, guaranteed complete, and provably unbiased safety evaluation outcome. In this paper, we propose a novel safety metric that involves the $α$-shape and the $ε$-almost robustly forward invariant set to characterize the SV's almost safe operable domain and the probability for the SV to remain inside the safe domain indefinitely, respectively. The empirical performance of the proposed method is demonstrated in several different operational design domains through a series of cases covering a variety of fidelity levels (real-world and simulators), driving environments (highway, urban, and intersections), road users (car, truck, and pedestrian), and SV driving behaviors (human driver and self driving algorithms).
Testing the Generalization of Neural Language Models for COVID-19 Misinformation Detection
Venue: arXiv cs.CL 2022
Year: 2022

A drastic rise in potentially life-threatening misinformation has been a by-product of the COVID-19 pandemic. Computational support to identify false information within the massive body of data on the topic is crucial to prevent harm. Researchers proposed many methods for flagging online misinformation related to COVID-19. However, these methods predominantly target specific content types (e.g., news) or platforms (e.g., Twitter). The methods' capabilities to generalize were largely unclear so far. We evaluate fifteen Transformer-based models on five COVID-19 misinformation datasets that include social media posts, news articles, and scientific papers to fill this gap. We show tokenizers and models tailored to COVID-19 data do not provide a significant advantage over general-purpose ones. Our study provides a realistic assessment of models for detecting COVID-19 misinformation. We expect that evaluating a broad spectrum of datasets and models will benefit future research in developing misinformation detection systems.
Faster-than-Nyquist Signaling for MIMO Communications
Venue: arXiv cs.IT 2022
Year: 2022

Faster-than-Nyquist (FTN) signaling is a non-orthogonal transmission technique, which has the potential to provide significant spectral efficiency improvement. This paper studies the capacity of FTN signaling for both frequency-flat and for frequency-selective multiple-input multiple-output (MIMO) channels. We show that precoding in time and waterfilling in space is capacity achieving for frequency-flat MIMO FTN. For frequency-selective fading, joint waterfilling in time, space and frequency is required.