OpenRaiser/Intern-Atlas huggingface dataset:
Deep learning-based Crop Row Detection for Infield Navigation of Agri-Robots
Venue: arXiv cs.CV 2023
Year: 2023

Autonomous navigation in agricultural environments is challenged by varying field conditions that arise in arable fields. State-of-the-art solutions for autonomous navigation in such environments require expensive hardware such as RTK-GNSS. This paper presents a robust crop row detection algorithm that withstands such field variations using inexpensive cameras. Existing datasets for crop row detection does not represent all the possible field variations. A dataset of sugar beet images was created representing 11 field variations comprised of multiple grow stages, light levels, varying weed densities, curved crop rows and discontinuous crop rows. The proposed pipeline segments the crop rows using a deep learning-based method and employs the predicted segmentation mask for extraction of the central crop using a novel central crop row selection algorithm. The novel crop row detection algorithm was tested for crop row detection performance and the capability of visual servoing along a crop row. The visual servoing-based navigation was tested on a realistic simulation scenario with the real ground and plant textures. Our algorithm demonstrated robust vision-based crop row detection in challenging field conditions outperforming the baseline.
A Power Efficiency Metric for Comparing Energy Consumption in Future Wireless Networks in the Millimeter Wave and Terahertz bands
Venue: arXiv cs.IT 2023
Year: 2023

Future wireless cellular networks will utilize millimeter-wave and sub-THz frequencies and deploy small-cell base stations to achieve data rates on the order of hundreds of Gigabits per second per user. The move to sub-THz frequencies will require attention to sustainability and reduction of power whenever possible to reduce the carbon footprint while maintaining adequate battery life for the massive number of resource-constrained devices to be deployed. This article analyzes power consumption of future wireless networks using a new metric, the power waste factor ($ W $), which shows promise for the study and development of "green G" - green technology for future wireless networks. Using $ W $, power efficiency can be considered by quantifying the power wasted by all devices on a signal path in a cascade. We then show that the consumption efficiency factor ($CEF$), defined as the ratio of the maximum data rate achieved to the total power consumed, is a novel and powerful measure of power efficiency that shows less energy per bit is expended as the cell size shrinks and carrier frequency and channel bandwidth increase. Our findings offer a standard approach to calculating and comparing power consumption and energy efficiency.
Explainable Image Quality Assessments in Teledermatological Photography
Venue: arXiv cs.CV 2023
Year: 2023

Image quality is a crucial factor in the effectiveness and efficiency of teledermatological consultations. However, up to 50% of images sent by patients have quality issues, thus increasing the time to diagnosis and treatment. An automated, easily deployable, explainable method for assessing image quality is necessary to improve the current teledermatological consultation flow. We introduce ImageQX, a convolutional neural network for image quality assessment with a learning mechanism for identifying the most common poor image quality explanations: bad framing, bad lighting, blur, low resolution, and distance issues. ImageQX was trained on 26,635 photographs and validated on 9,874 photographs, each annotated with image quality labels and poor image quality explanations by up to 12 board-certified dermatologists. The photographic images were taken between 2017 and 2019 using a mobile skin disease tracking application accessible worldwide. Our method achieves expert-level performance for both image quality assessment and poor image quality explanation. For image quality assessment, ImageQX obtains a macro F1-score of 0.73 +- 0.01, which places it within standard deviation of the pairwise inter-rater F1-score of 0.77 +- 0.07. For poor image quality explanations, our method obtains F1-scores of between 0.37 +- 0.01 and 0.70 +- 0.01, similar to the inter-rater pairwise F1-score of between 0.24 +- 0.15 and 0.83 +- 0.06. Moreover, with a size of only 15 MB, ImageQX is easily deployable on mobile devices. With an image quality detection performance similar to that of dermatologists, incorporating ImageQX into the teledermatology flow can enable a better, faster flow for remote consultations.
Active Learning for Optimal Intervention Design in Causal Models
Venue: arXiv cs.LG 2023
Year: 2023

Sequential experimental design to discover interventions that achieve a desired outcome is a key problem in various domains including science, engineering and public policy. When the space of possible interventions is large, making an exhaustive search infeasible, experimental design strategies are needed. In this context, encoding the causal relationships between the variables, and thus the effect of interventions on the system, is critical for identifying desirable interventions more efficiently. Here, we develop a causal active learning strategy to identify interventions that are optimal, as measured by the discrepancy between the post-interventional mean of the distribution and a desired target mean. The approach employs a Bayesian update for the causal model and prioritizes interventions using a carefully designed, causally informed acquisition function. This acquisition function is evaluated in closed form, allowing for fast optimization. The resulting algorithms are theoretically grounded with information-theoretic bounds and provable consistency results for linear causal models with known causal graph. We apply our approach to both synthetic data and single-cell transcriptomic data from Perturb-CITE-seq experiments to identify optimal perturbations that induce a specific cell state transition. The causally informed acquisition function generally outperforms existing criteria allowing for optimal intervention design with fewer but carefully selected samples.
Towards Sparsification of Graph Neural Networks
Venue: arXiv cs.LG 2023
Year: 2023

As real-world graphs expand in size, larger GNN models with billions of parameters are deployed. High parameter count in such models makes training and inference on graphs expensive and challenging. To reduce the computational and memory costs of GNNs, optimization methods such as pruning the redundant nodes and edges in input graphs have been commonly adopted. However, model compression, which directly targets the sparsification of model layers, has been mostly limited to traditional Deep Neural Networks (DNNs) used for tasks such as image classification and object detection. In this paper, we utilize two state-of-the-art model compression methods (1) train and prune and (2) sparse training for the sparsification of weight layers in GNNs. We evaluate and compare the efficiency of both methods in terms of accuracy, training sparsity, and training FLOPs on real-world graphs. Our experimental results show that on the ia-email, wiki-talk, and stackoverflow datasets for link prediction, sparse training with much lower training FLOPs achieves a comparable accuracy with the train and prune method. On the brain dataset for node classification, sparse training uses a lower number FLOPs (less than 1/7 FLOPs of train and prune method) and preserves a much better accuracy performance under extreme model sparsity.
Vec2Face-v2: Unveil Human Faces from their Blackbox Features via Attention-based Network in Face Recognition
Venue: arXiv cs.CV 2023
Year: 2023

In this work, we investigate the problem of face reconstruction given a facial feature representation extracted from a blackbox face recognition engine. Indeed, it is a very challenging problem in practice due to the limitations of abstracted information from the engine. We, therefore, introduce a new method named Attention-based Bijective Generative Adversarial Networks in a Distillation framework (DAB-GAN) to synthesize the faces of a subject given his/her extracted face recognition features. Given any unconstrained unseen facial features of a subject, the DAB-GAN can reconstruct his/her facial images in high definition. The DAB-GAN method includes a novel attention-based generative structure with the newly defined Bijective Metrics Learning approach. The framework starts by introducing a bijective metric so that the distance measurement and metric learning process can be directly adopted in the image domain for an image reconstruction task. The information from the blackbox face recognition engine will be optimally exploited using the global distillation process. Then an attention-based generator is presented for a highly robust generator to synthesize realistic faces with ID preservation. We have evaluated our method on the challenging face recognition databases, i.e., CelebA, LFW, CFP-FP, CP-LFW, AgeDB, CA-LFW, and consistently achieved state-of-the-art results. The advancement of DAB-GAN is also proven in both image realism and ID preservation properties.
A new hazard event classification model via deep learning and multifractal
Venue: arXiv cs.CL 2023
Year: 2023

Hazard and operability analysis (HAZOP) is the paradigm of industrial safety that can reveal the hazards of process from its node deviations, consequences, causes, measures and suggestions, and such hazards can be considered as hazard events (HaE). The classification research on HaE has much irreplaceable pragmatic values. In this paper, we present a novel deep learning model termed DLF through multifractal to explore HaE classification where the motivation is that HaE can be naturally regarded as a kind of time series. Specifically, first HaE is vectorized to get HaE time series by employing BERT. Then, a new multifractal analysis method termed HmF-DFA is proposed to win HaE fractal series by analyzing HaE time series. Finally, a new hierarchical gating neural network (HGNN) is designed to process HaE fractal series to accomplish the classification of HaE from three aspects: severity, possibility and risk. We take HAZOP reports of 18 processes as cases, and launch the experiments on this basis. Results demonstrate that compared with other classifiers, DLF classifier performs better under metrics of precision, recall and F1-score, especially for the severity aspect. Also, HmF-DFA and HGNN effectively promote HaE classification. Our HaE classification system can serve application incentives to experts, engineers, employees, and other enterprises. We hope our research can contribute added support to the daily practice in industrial safety.
Multimodal Graph Learning for Deepfake Detection
Venue: arXiv cs.CV 2023
Year: 2023

Existing deepfake detectors face several challenges in achieving robustness and generalization. One of the primary reasons is their limited ability to extract relevant information from forgery videos, especially in the presence of various artifacts such as spatial, frequency, temporal, and landmark mismatches. Current detectors rely on pixel-level features that are easily affected by unknown disturbances or facial landmarks that do not provide sufficient information. Furthermore, most detectors cannot utilize information from multiple domains for detection, leading to limited effectiveness in identifying deepfake videos. To address these limitations, we propose a novel framework, namely Multimodal Graph Learning (MGL) that leverages information from multiple modalities using two GNNs and several multimodal fusion modules. At the frame level, we employ a bi-directional cross-modal transformer and an adaptive gating mechanism to combine the features from the spatial and frequency domains with the geometric-enhanced landmark features captured by a GNN. At the video level, we use a Graph Attention Network (GAT) to represent each frame in a video as a node in a graph and encode temporal information into the edges of the graph to extract temporal inconsistency between frames. Our proposed method aims to effectively identify and utilize distinguishing features for deepfake detection. We evaluate the effectiveness of our method through extensive experiments on widely-used benchmarks and demonstrate that our method outperforms the state-of-the-art detectors in terms of generalization ability and robustness against unknown disturbances.
M$^2$-3DLaneNet: Exploring Multi-Modal 3D Lane Detection
Venue: arXiv cs.CV 2023
Year: 2023

Estimating accurate lane lines in 3D space remains challenging due to their sparse and slim nature. Previous works mainly focused on using images for 3D lane detection, leading to inherent projection error and loss of geometry information. To address these issues, we explore the potential of leveraging LiDAR for 3D lane detection, either as a standalone method or in combination with existing monocular approaches. In this paper, we propose M$^2$-3DLaneNet to integrate complementary information from multiple sensors. Specifically, M$^2$-3DLaneNet lifts 2D features into 3D space by incorporating geometry information from LiDAR data through depth completion. Subsequently, the lifted 2D features are further enhanced with LiDAR features through cross-modality BEV fusion. Extensive experiments on the large-scale OpenLane dataset demonstrate the effectiveness of M$^2$-3DLaneNet, regardless of the range (75m or 100m).
Black-box Dataset Ownership Verification via Backdoor Watermarking
Venue: arXiv cs.CR 2023
Year: 2023

Deep learning, especially deep neural networks (DNNs), has been widely and successfully adopted in many critical applications for its high effectiveness and efficiency. The rapid development of DNNs has benefited from the existence of some high-quality datasets ($e.g.$, ImageNet), which allow researchers and developers to easily verify the performance of their methods. Currently, almost all existing released datasets require that they can only be adopted for academic or educational purposes rather than commercial purposes without permission. However, there is still no good way to ensure that. In this paper, we formulate the protection of released datasets as verifying whether they are adopted for training a (suspicious) third-party model, where defenders can only query the model while having no information about its parameters and training details. Based on this formulation, we propose to embed external patterns via backdoor watermarking for the ownership verification to protect them. Our method contains two main parts, including dataset watermarking and dataset verification. Specifically, we exploit poison-only backdoor attacks ($e.g.$, BadNets) for dataset watermarking and design a hypothesis-test-guided method for dataset verification. We also provide some theoretical analyses of our methods. Experiments on multiple benchmark datasets of different tasks are conducted, which verify the effectiveness of our method. The code for reproducing main experiments is available at \url{https://github.com/THUYimingLi/DVBW}.
Patching Weak Convolutional Neural Network Models through Modularization and Composition
Venue: arXiv cs.LG 2023
Year: 2023

Despite great success in many applications, deep neural networks are not always robust in practice. For instance, a convolutional neuron network (CNN) model for classification tasks often performs unsatisfactorily in classifying some particular classes of objects. In this work, we are concerned with patching the weak part of a CNN model instead of improving it through the costly retraining of the entire model. Inspired by the fundamental concepts of modularization and composition in software engineering, we propose a compressed modularization approach, CNNSplitter, which decomposes a strong CNN model for $N$-class classification into $N$ smaller CNN modules. Each module is a sub-model containing a part of the convolution kernels of the strong model. To patch a weak CNN model that performs unsatisfactorily on a target class (TC), we compose the weak CNN model with the corresponding module obtained from a strong CNN model. The ability of the weak CNN model to recognize the TC can thus be improved through patching. Moreover, the ability to recognize non-TCs is also improved, as the samples misclassified as TC could be classified as non-TCs correctly. Experimental results with two representative CNNs on three widely-used datasets show that the averaged improvement on the TC in terms of precision and recall are 12.54% and 2.14%, respectively. Moreover, patching improves the accuracy of non-TCs by 1.18%. The results demonstrate that CNNSplitter can patch a weak CNN model through modularization and composition, thus providing a new solution for developing robust CNN models.
Optimizing SLAM Evaluation Footprint Through Dynamic Range Coverage Analysis of Datasets
Venue: arXiv cs.RO 2023
Year: 2023

Simultaneous Localization and Mapping (SLAM) is considered an ever-evolving problem due to its usage in many applications. Evaluation of SLAM is done typically using publicly available datasets which are increasing in number and the level of difficulty. Each dataset provides a certain level of dynamic range coverage that is a key aspect of measuring the robustness and resilience of SLAM. In this paper, we provide a systematic analysis of the dynamic range coverage of datasets based on a number of characterization metrics, and our analysis shows a huge level of redundancy within and between datasets. Subsequently, we propose a dynamic programming (DP) algorithm for eliminating the redundancy in the evaluation process of SLAM by selecting a subset of sequences that matches a single or multiple dynamic range coverage objectives. It is shown that, with the help of dataset characterization and DP selection algorithm, a reduction in the evaluation effort can be achieved while maintaining the same level of coverage. We also study how the evaluation process of a real-world SLAM system can be optimized utilizing the method proposed.
Multi-Active Multi-Passive (MAMP)-IRS Aided Wireless Communication: A Multi-Hop Beam Routing Design
Venue: arXiv cs.IT 2023
Year: 2023

Prior studies on intelligent reflecting surface (IRS) have mostly considered wireless communication systems aided by a single passive IRS, which, however, has limited control over wireless propagation environment and suffers severe product-distance path-loss. To address these issues, we propose in this paper a new multi-active multi-passive (MAMP)-IRS aided wireless communication system, where a number of active and passive IRSs are deployed to assist the downlink communication in complex environment, by establishing a multi-hop reflection path across active and passive IRSs. An optimization problem is formulated to maximize the achievable rate of a typical user by designing the active-and-passive IRS routing path as well as the joint beamforming of the BS and selected active/passive IRSs. To draw useful insights into the optimal design, we first consider a special case of the single-active multi-passive (SAMP)-IRS aided system. For this case, we propose an efficient algorithm to obtain its optimal solution by first optimizing the joint beamforming given any SAMP-IRS routing path, and then optimizing the routing path by using a new path decomposition method and graph theory. Next, for the general MAMP-IRS aided system, we show that its challenging beam routing optimization problem can be efficiently solved by a new two-phase approach. Its key idea is to first optimize the inner passive-IRS beam routing between each two active IRSs for effective channel power gain maximization, followed by an outer active-IRS beam routing optimization for rate maximization. Last, numerical results are provided to demonstrate the effectiveness of the proposed MAMP-IRS beam routing scheme.
Order-Disorder: Imitation Adversarial Attacks for Black-box Neural Ranking Models
Venue: arXiv cs.IR 2023
Year: 2023

Neural text ranking models have witnessed significant advancement and are increasingly being deployed in practice. Unfortunately, they also inherit adversarial vulnerabilities of general neural models, which have been detected but remain underexplored by prior studies. Moreover, the inherit adversarial vulnerabilities might be leveraged by blackhat SEO to defeat better-protected search engines. In this study, we propose an imitation adversarial attack on black-box neural passage ranking models. We first show that the target passage ranking model can be transparentized and imitated by enumerating critical queries/candidates and then train a ranking imitation model. Leveraging the ranking imitation model, we can elaborately manipulate the ranking results and transfer the manipulation attack to the target ranking model. For this purpose, we propose an innovative gradient-based attack method, empowered by the pairwise objective function, to generate adversarial triggers, which causes premeditated disorderliness with very few tokens. To equip the trigger camouflages, we add the next sentence prediction loss and the language model fluency constraint to the objective function. Experimental results on passage ranking demonstrate the effectiveness of the ranking imitation attack model and adversarial triggers against various SOTA neural ranking models. Furthermore, various mitigation analyses and human evaluation show the effectiveness of camouflages when facing potential mitigation approaches. To motivate other scholars to further investigate this novel and important problem, we make the experiment data and code publicly available.
Multiway Powersort
Venue: arXiv cs.DS 2023
Year: 2023

We present a stable mergesort variant, Multiway Powersort, that exploits existing runs and finds nearly-optimal merging orders for k-way merges with negligible overhead. This builds on Powersort (Munro & Wild, ESA2018), which has recently replaced Timsort's suboptimal merge policy in the CPython reference implementation of Python, as well as in PyPy and further libraries. Multiway Powersort reduces the number of memory transfers, which increasingly determine the cost of internal sorting (as observed with Multiway Quicksort (Kushagra et al., ALENEX 2014; Aumüller & Dietzfelbinger, TALG 2016; Wild, PhD thesis 2016) and the inclusion of Dual-Pivot Quicksort in the Java runtime library). We demonstrate that our 4-way Powersort implementation can achieve substantial speedups over standard (2-way) Powersort and other stable sorting methods without compromising the optimally run-adaptive performance of Powersort.