OpenRaiser/Intern-Atlas huggingface dataset:
TAME: Attention Mechanism Based Feature Fusion for Generating Explanation Maps of Convolutional Neural Networks
Venue: arXiv cs.CV 2023
Year: 2023

The apparent ``black box'' nature of neural networks is a barrier to adoption in applications where explainability is essential. This paper presents TAME (Trainable Attention Mechanism for Explanations), a method for generating explanation maps with a multi-branch hierarchical attention mechanism. TAME combines a target model's feature maps from multiple layers using an attention mechanism, transforming them into an explanation map. TAME can easily be applied to any convolutional neural network (CNN) by streamlining the optimization of the attention mechanism's training method and the selection of target model's feature maps. After training, explanation maps can be computed in a single forward pass. We apply TAME to two widely used models, i.e. VGG-16 and ResNet-50, trained on ImageNet and show improvements over previous top-performing methods. We also provide a comprehensive ablation study comparing the performance of different variations of TAME's architecture. TAME source code is made publicly available at https://github.com/bmezaris/TAME
Autonomous Slalom Maneuver Based on Expert Drivers' Behavior Using Convolutional Neural Network
Venue: arXiv cs.RO 2023
Year: 2023

Lane changing and obstacle avoidance are one of the most important tasks in automated cars. To date, many algorithms have been suggested that are generally based on path trajectory or reinforcement learning approaches. Although these methods have been efficient, they are not able to accurately imitate a smooth path traveled by an expert driver. In this paper, a method is presented to mimic drivers' behavior using a convolutional neural network (CNN). First, seven features are extracted from a dataset gathered from four expert drivers in a driving simulator. Then, these features are converted from 1D arrays to 2D arrays and injected into a CNN. The CNN model computes the desired steering wheel angle and sends it to an adaptive PD controller. Finally, the control unit applies proper torque to the steering wheel. Results show that the CNN model can mimic the drivers' behavior with an R2-squared of 0.83. Also, the performance of the presented method was evaluated in the driving simulator for 17 trials, which avoided all traffic cones successfully. In some trials, the presented method performed a smoother maneuver compared to the expert drivers.
DDPEN: Trajectory Optimisation With Sub Goal Generation Model
Venue: arXiv cs.RO 2023
Year: 2023

Differential dynamic programming (DDP) is a widely used and powerful trajectory optimization technique, however, due to its internal structure, it is not exempt from local minima. In this paper, we present Differential Dynamic Programming with Escape Network (DDPEN) - a novel approach to avoid DDP local minima by utilising an additional term used in the optimization criteria pointing towards the direction where robot should move in order to escape local minima. In order to produce the aforementioned directions, we propose to utilize a deep model that takes as an input the map of the environment in the form of a costmap together with the desired goal position. The Model produces possible future directions that will lead to the goal, avoiding local minima which is possible to run in real time conditions. The model is trained on a synthetic dataset and overall the system is evaluated at the Gazebo simulator. In this work we show that our proposed method allows avoiding local minima of trajectory optimization algorithm and successfully execute a trajectory 278 m long with various convex and nonconvex obstacles.
Multimodal Side-Tuning for Document Classification
Venue: arXiv cs.LG 2023
Year: 2023

In this paper, we propose to exploit the side-tuning framework for multimodal document classification. Side-tuning is a methodology for network adaptation recently introduced to solve some of the problems related to previous approaches. Thanks to this technique it is actually possible to overcome model rigidity and catastrophic forgetting of transfer learning by fine-tuning. The proposed solution uses off-the-shelf deep learning architectures leveraging the side-tuning framework to combine a base model with a tandem of two side networks. We show that side-tuning can be successfully employed also when different data sources are considered, e.g. text and images in document classification. The experimental results show that this approach pushes further the limit for document classification accuracy with respect to the state of the art.
Targeted Image Reconstruction by Sampling Pre-trained Diffusion Model
Venue: arXiv cs.LG 2023
Year: 2023

A trained neural network model contains information on the training data. Given such a model, malicious parties can leverage the "knowledge" in this model and design ways to print out any usable information (known as model inversion attack). Therefore, it is valuable to explore the ways to conduct a such attack and demonstrate its severity. In this work, we proposed ways to generate a data point of the target class without prior knowledge of the exact target distribution by using a pre-trained diffusion model.
Blur Invariants for Image Recognition
Venue: arXiv cs.CV 2023
Year: 2023

Blur is an image degradation that is difficult to remove. Invariants with respect to blur offer an alternative way of a~description and recognition of blurred images without any deblurring. In this paper, we present an original unified theory of blur invariants. Unlike all previous attempts, the new theory does not require any prior knowledge of the blur type. The invariants are constructed in the Fourier domain by means of orthogonal projection operators and moment expansion is used for efficient and stable computation. It is shown that all blur invariants published earlier are just particular cases of this approach. Experimental comparison to concurrent approaches shows the advantages of the proposed theory.
Task-based preemptive scheduling on FPGAs leveraging partial reconfiguration
Venue: arXiv cs.DC 2023
Year: 2023

FPGAs are an attractive type of accelerator for all-purpose HPC computing systems due to the possibility of deploying tailored hardware on demand. However, the common tools for programming and operating FPGAs are still complex to use, especially in scenarios where diverse types of tasks should be dynamically executed. In this work we present a programming abstraction with a simple interface that internally leverages High-Level Synthesis, Dynamic Partial Reconfiguration and synchronisation mechanisms to use an FPGA as a multi-tasking server with preemptive scheduling and priority queues. This leads to an improved use of the FPGA resources, allowing the execution of several different kernels concurrently and deploying the most urgent ones as fast as possible. The results of our experimental study show that our approach incurs only a 10% overhead in the worst case when using two reconfigurable regions, whilst providing a significant performance improvement of at least 24% over the traditional full reconfiguration approach.
Generative AI-empowered Effective Physical-Virtual Synchronization in the Vehicular Metaverse
Venue: arXiv cs.AI 2023
Year: 2023

Metaverse seamlessly blends the physical world and virtual space via ubiquitous communication and computing infrastructure. In transportation systems, the vehicular Metaverse can provide a fully-immersive and hyperreal traveling experience (e.g., via augmented reality head-up displays, AR-HUDs) to drivers and users in autonomous vehicles (AVs) via roadside units (RSUs). However, provisioning real-time and immersive services necessitates effective physical-virtual synchronization between physical and virtual entities, i.e., AVs and Metaverse AR recommenders (MARs). In this paper, we propose a generative AI-empowered physical-virtual synchronization framework for the vehicular Metaverse. In physical-to-virtual synchronization, digital twin (DT) tasks generated by AVs are offloaded for execution in RSU with future route generation. In virtual-to-physical synchronization, MARs customize diverse and personal AR recommendations via generative AI models based on user preferences. Furthermore, we propose a multi-task enhanced auction-based mechanism to match and price AVs and MARs for RSUs to provision real-time and effective services. Finally, property analysis and experimental results demonstrate that the proposed mechanism is strategy-proof and adverse-selection free while increasing social surplus by 50%.
A Comparative Analysis of Bias Amplification in Graph Neural Network Approaches for Recommender Systems
Venue: arXiv cs.IR 2023
Year: 2023

Recommender Systems (RSs) are used to provide users with personalized item recommendations and help them overcome the problem of information overload. Currently, recommendation methods based on deep learning are gaining ground over traditional methods such as matrix factorization due to their ability to represent the complex relationships between users and items and to incorporate additional information. The fact that these data have a graph structure and the greater capability of Graph Neural Networks (GNNs) to learn from these structures has led to their successful incorporation into recommender systems. However, the bias amplification issue needs to be investigated while using these algorithms. Bias results in unfair decisions, which can negatively affect the company reputation and financial status due to societal disappointment and environmental harm. In this paper, we aim to comprehensively study this problem through a literature review and an analysis of the behavior against biases of different GNN-based algorithms compared to state-of-the-art methods. We also intend to explore appropriate solutions to tackle this issue with the least possible impact on the model performance.
Reduced-Reference Quality Assessment of Point Clouds via Content-Oriented Saliency Projection
Venue: arXiv cs.MM 2023
Year: 2023

Many dense 3D point clouds have been exploited to represent visual objects instead of traditional images or videos. To evaluate the perceptual quality of various point clouds, in this letter, we propose a novel and efficient Reduced-Reference quality metric for point clouds, which is based on Content-oriented sAliency Projection (RR-CAP). Specifically, we make the first attempt to simplify reference and distorted point clouds into projected saliency maps with a downsampling operation. Through this process, we tackle the issue of transmitting large-volume original point clouds to user-ends for quality assessment. Then, motivated by the characteristics of the human visual system (HVS), the objective quality scores of distorted point clouds are produced by combining content-oriented similarity and statistical correlation measurements. Finally, extensive experiments are conducted on SJTU-PCQA and WPC databases. The experimental results demonstrate that our proposed algorithm outperforms existing reduced-reference and no-reference quality metrics, and significantly reduces the performance gap between state-of-the-art full-reference quality assessment methods. In addition, we show the performance variation of each proposed technical component by ablation tests.
Factors other than climate change are currently more important in predicting how well fruit farms are doing financially
Venue: arXiv cs.LG 2023
Year: 2023

Machine learning and statistical modeling methods were used to analyze the impact of climate change on financial wellbeing of fruit farmers in Tunisia and Chile. The analysis was based on face to face interviews with 801 farmers. Three research questions were investigated. First, whether climate change impacts had an effect on how well the farm was doing financially. Second, if climate change was not influential, what factors were important for predicting financial wellbeing of the farm. And third, ascertain whether observed effects on the financial wellbeing of the farm were a result of interactions between predictor variables. This is the first report directly comparing climate change with other factors potentially impacting financial wellbeing of farms. Certain climate change factors, namely increases in temperature and reductions in precipitation, can regionally impact self-perceived financial wellbeing of fruit farmers. Specifically, increases in temperature and reduction in precipitation can have a measurable negative impact on the financial wellbeing of farms in Chile. This effect is less pronounced in Tunisia. Climate impact differences were observed within Chile but not in Tunisia. However, climate change is only of minor importance for predicting farm financial wellbeing, especially for farms already doing financially well. Factors that are more important, mainly in Tunisia, included trust in information sources and prior farm ownership. Other important factors include farm size, water management systems used and diversity of fruit crops grown. Moreover, some of the important factors identified differed between farms doing and not doing well financially. Interactions between factors may improve or worsen farm financial wellbeing.
Private Federated Submodel Learning via Private Set Union
Venue: arXiv cs.CR 2023
Year: 2023

We consider the federated submodel learning (FSL) problem and propose an approach where clients are able to update the central model information theoretically privately. Our approach is based on private set union (PSU), which is further based on multi-message symmetric private information retrieval (MM-SPIR). The server has two non-colluding databases which keep the model in a replicated manner. With our scheme, the server does not get to learn anything further than the subset of submodels updated by the clients: the server does not get to know which client updated which submodel(s), or anything about the local client data. In comparison to the state-of-the-art private FSL schemes of Jia-Jafar and Vithana-Ulukus, our scheme does not require noisy storage of the model at the databases; and in comparison to the secure aggregation scheme of Zhao-Sun, our scheme does not require pre-distribution of client-side common randomness, instead, our scheme creates the required client-side common randomness via random SPIR and one-time pads. The protocol starts with a common randomness generation (CRG) phase where the two databases establish common randomness at the client-side using RSPIR and one-time pads (this phase is called FSL-CRG). Next, the clients utilize the established client-side common randomness to have the server determine privately the union of indices of submodels to be updated collectively by the clients (this phase is called FSL-PSU). Then, the two databases broadcast the current versions of the submodels in the set union to clients. The clients update the submodels based on their local training data. Finally, the clients use a variation of FSL-PSU to write the updates back to the databases privately (this phase is called FSL-write). Our proposed private FSL scheme is robust against client drop-outs, client late-arrivals, and database drop-outs.
Fully Elman Neural Network: A Novel Deep Recurrent Neural Network Optimized by an Improved Harris Hawks Algorithm for Classification of Pulmonary Arterial Wedge Pressure
Venue: arXiv cs.LG 2023
Year: 2023

Heart failure (HF) is one of the most prevalent life-threatening cardiovascular diseases in which 6.5 million people are suffering in the USA and more than 23 million worldwide. Mechanical circulatory support of HF patients can be achieved by implanting a left ventricular assist device (LVAD) into HF patients as a bridge to transplant, recovery or destination therapy and can be controlled by measurement of normal and abnormal pulmonary arterial wedge pressure (PAWP). While there are no commercial long-term implantable pressure sensors to measure PAWP, real-time non-invasive estimation of abnormal and normal PAWP becomes vital. In this work, first an improved Harris Hawks optimizer algorithm called HHO+ is presented and tested on 24 unimodal and multimodal benchmark functions. Second, a novel fully Elman neural network (FENN) is proposed to improve the classification performance. Finally, four novel 18-layer deep learning methods of convolutional neural networks (CNNs) with multi-layer perceptron (CNN-MLP), CNN with Elman neural networks (CNN-ENN), CNN with fully Elman neural networks (CNN-FENN), and CNN with fully Elman neural networks optimized by HHO+ algorithm (CNN-FENN-HHO+) for classification of abnormal and normal PAWP using estimated HVAD pump flow were developed and compared. The estimated pump flow was derived by a non-invasive method embedded into the commercial HVAD controller. The proposed methods are evaluated on an imbalanced clinical dataset using 5-fold cross-validation. The proposed CNN-FENN-HHO+ method outperforms the proposed CNN-MLP, CNN-ENN and CNN-FENN methods and improved the classification performance metrics across 5-fold cross-validation. The proposed methods can reduce the likelihood of hazardous events like pulmonary congestion and ventricular suction for HF patients and notify identified abnormal cases to the hospital, clinician and cardiologist.
Temporal Logic Motion Planning with Convex Optimization via Graphs of Convex Sets
Venue: arXiv cs.RO 2023
Year: 2023

Temporal logic is a concise way of specifying complex tasks. But motion planning to achieve temporal logic specifications is difficult, and existing methods struggle to scale to complex specifications and high-dimensional system dynamics. In this paper, we cast Linear Temporal Logic (LTL) motion planning as a shortest path problem in a Graph of Convex Sets (GCS) and solve it with convex optimization. This approach brings together the best of modern optimization-based temporal logic planners and older automata-theoretic methods, addressing the limitations of each: we avoid clipping and passthrough by representing paths with continuous Bezier curves; computational complexity is polynomial (not exponential) in the number of sample points; global optimality can be certified (though it is not guaranteed); soundness and probabilistic completeness are guaranteed under mild assumptions; and most importantly, the method scales to complex specifications and high-dimensional systems, including a 30-DoF humanoid. Open-source code is available at https://github.com/vincekurtz/ltl_gcs.
Sound Symbolic Execution via Abstract Interpretation and its Application to Security
Venue: arXiv cs.PL 2023
Year: 2023

Symbolic execution is a program analysis technique commonly utilized to determine whether programs violate properties and, in case violations are found, to generate inputs that can trigger them. Used in the context of security properties such as noninterference, symbolic execution is precise when looking for counterexample pairs of traces when insecure information flows are found, however it is sound only up to a bound thus it does not allow to prove the correctness of programs with executions beyond the given bound. By contrast, abstract interpretation-based static analysis guarantees soundness but generally lacks the ability to provide counterexample pairs of traces. In this paper, we propose to weave both to obtain the best of two worlds. We demonstrate this with a series of static analyses, including a static analysis called RedSoundRSE aimed at verifying noninterference. RedSoundRSE provides both semantically sound results and the ability to derive counterexample pairs of traces up to a bound. It relies on a combination of symbolic execution and abstract domains inspired by the well known notion of reduced product. We formalize RedSoundRSE and prove its soundness as well as its relative precision up to a bound. We also provide a prototype implementation of RedSoundRSE and evaluate it on a sample of challenging examples.
Improving Food Detection For Images From a Wearable Egocentric Camera
Venue: arXiv cs.CV 2023
Year: 2023

Diet is an important aspect of our health. Good dietary habits can contribute to the prevention of many diseases and improve the overall quality of life. To better understand the relationship between diet and health, image-based dietary assessment systems have been developed to collect dietary information. We introduce the Automatic Ingestion Monitor (AIM), a device that can be attached to one's eye glasses. It provides an automated hands-free approach to capture eating scene images. While AIM has several advantages, images captured by the AIM are sometimes blurry. Blurry images can significantly degrade the performance of food image analysis such as food detection. In this paper, we propose an approach to pre-process images collected by the AIM imaging sensor by rejecting extremely blurry images to improve the performance of food detection.
Fast-BEV: Towards Real-time On-vehicle Bird's-Eye View Perception
Venue: arXiv cs.CV 2023
Year: 2023

Recently, the pure camera-based Bird's-Eye-View (BEV) perception removes expensive Lidar sensors, making it a feasible solution for economical autonomous driving. However, most existing BEV solutions either suffer from modest performance or require considerable resources to execute on-vehicle inference. This paper proposes a simple yet effective framework, termed Fast-BEV, which is capable of performing real-time BEV perception on the on-vehicle chips. Towards this goal, we first empirically find that the BEV representation can be sufficiently powerful without expensive view transformation or depth representation. Starting from M2BEV baseline, we further introduce (1) a strong data augmentation strategy for both image and BEV space to avoid over-fitting (2) a multi-frame feature fusion mechanism to leverage the temporal information (3) an optimized deployment-friendly view transformation to speed up the inference. Through experiments, we show Fast-BEV model family achieves considerable accuracy and efficiency on edge. In particular, our M1 model (R18@256x704) can run over 50FPS on the Tesla T4 platform, with 47.0% NDS on the nuScenes validation set. Our largest model (R101@900x1600) establishes a new state-of-the-art 53.5% NDS on the nuScenes validation set. The code is released at: https://github.com/Sense-GVT/Fast-BEV.
A Nonstochastic Control Approach to Optimization
Venue: arXiv cs.LG 2023
Year: 2023

Selecting the best hyperparameters for a particular optimization instance, such as the learning rate and momentum, is an important but nonconvex problem. As a result, iterative optimization methods such as hypergradient descent lack global optimality guarantees in general. We propose an online nonstochastic control methodology for mathematical optimization. First, we formalize the setting of meta-optimization, an online learning formulation of learning the best optimization algorithm from a class of methods. The meta-optimization problem over gradient-based methods can be framed as a feedback control problem over the choice of hyperparameters, including the learning rate, momentum, and the preconditioner. Although the original optimal control problem is nonconvex, we show how recent methods from online nonstochastic control using convex relaxations can be used to overcome the challenge of nonconvexity, and obtain regret guarantees against the best offline solution. This guarantees that in meta-optimization, given a sequence of optimization problems, we can learn a method that attains convergence comparable to that of the best optimization method in hindsight from a class of methods.