OpenRaiser/Intern-Atlas huggingface dataset:
GPr-Net: Geometric Prototypical Network for Point Cloud Few-Shot Learning
Venue: arXiv cs.CV 2023
Year: 2023

In the realm of 3D-computer vision applications, point cloud few-shot learning plays a critical role. However, it poses an arduous challenge due to the sparsity, irregularity, and unordered nature of the data. Current methods rely on complex local geometric extraction techniques such as convolution, graph, and attention mechanisms, along with extensive data-driven pre-training tasks. These approaches contradict the fundamental goal of few-shot learning, which is to facilitate efficient learning. To address this issue, we propose GPr-Net (Geometric Prototypical Network), a lightweight and computationally efficient geometric prototypical network that captures the intrinsic topology of point clouds and achieves superior performance. Our proposed method, IGI++ (Intrinsic Geometry Interpreter++) employs vector-based hand-crafted intrinsic geometry interpreters and Laplace vectors to extract and evaluate point cloud morphology, resulting in improved representations for FSL (Few-Shot Learning). Additionally, Laplace vectors enable the extraction of valuable features from point clouds with fewer points. To tackle the distribution drift challenge in few-shot metric learning, we leverage hyperbolic space and demonstrate that our approach handles intra and inter-class variance better than existing point cloud few-shot learning methods. Experimental results on the ModelNet40 dataset show that GPr-Net outperforms state-of-the-art methods in few-shot learning on point clouds, achieving utmost computational efficiency that is $170\times$ better than all existing works. The code is publicly available at https://github.com/TejasAnvekar/GPr-Net.
Literature Review: Computer Vision Applications in Transportation Logistics and Warehousing
Venue: arXiv cs.CV 2023
Year: 2023

Computer vision applications in transportation logistics and warehousing have a huge potential for process automation. We present a structured literature review on research in the field to help leverage this potential. The literature is categorized w.r.t. the application, i.e. the task it tackles and w.r.t. the computer vision techniques that are used. Regarding applications, we subdivide the literature in two areas: Monitoring, i.e. observing and retrieving relevant information from the environment, and manipulation, where approaches are used to analyze and interact with the environment. Additionally, we point out directions for future research and link to recent developments in computer vision that are suitable for application in logistics. Finally, we present an overview of existing datasets and industrial solutions. The results of our analysis are also available online at https://a-nau.github.io/cv-in-logistics.
Reconfigurable Intelligent Surface-Empowered MIMO Systems
Venue: arXiv cs.IT 2023
Year: 2023

Reconfigurable intelligent surface (RIS)-empowered communication stands out as a solid candidate for future wireless networks due to its flexibility, ease of deployment, and attractive advantages to control the wireless propagation environment. In this perspective article, a brief overview is presented considering the application of reconfigurable intelligent surfaces for future multiple-input multiple-output (MIMO) systems. Potential future research directions are also highlighted.
PD-ADSV: An Automated Diagnosing System Using Voice Signals and Hard Voting Ensemble Method for Parkinson's Disease
Venue: arXiv cs.SD 2023
Year: 2023

Parkinson's disease (PD) is the most widespread movement condition and the second most common neurodegenerative disorder, following Alzheimer's. Movement symptoms and imaging techniques are the most popular ways to diagnose this disease. However, they are not accurate and fast and may only be accessible to a few people. This study provides an autonomous system, i.e., PD-ADSV, for diagnosing PD based on voice signals, which uses four machine learning classifiers and the hard voting ensemble method to achieve the highest accuracy. PD-ADSV is developed using Python and the Gradio web framework.
The Role of Large Language Models in the Recognition of Territorial Sovereignty: An Analysis of the Construction of Legitimacy
Venue: arXiv cs.CY 2023
Year: 2023

We examine the potential impact of Large Language Models (LLM) on the recognition of territorial sovereignty and its legitimization. We argue that while technology tools, such as Google Maps and Large Language Models (LLM) like OpenAI's ChatGPT, are often perceived as impartial and objective, this perception is flawed, as AI algorithms reflect the biases of their designers or the data they are built on. We also stress the importance of evaluating the actions and decisions of AI and multinational companies that offer them, which play a crucial role in aspects such as legitimizing and establishing ideas in the collective imagination. Our paper highlights the case of three controversial territories: Crimea, West Bank and Transnitria, by comparing the responses of ChatGPT against Wikipedia information and United Nations resolutions. We contend that the emergence of AI-based tools like LLMs is leading to a new scenario in which emerging technology consolidates power and influences our understanding of reality. Therefore, it is crucial to monitor and analyze the role of AI in the construction of legitimacy and the recognition of territorial sovereignty.
RELS-DQN: A Robust and Efficient Local Search Framework for Combinatorial Optimization
Venue: arXiv cs.LG 2023
Year: 2023

Combinatorial optimization (CO) aims to efficiently find the best solution to NP-hard problems ranging from statistical physics to social media marketing. A wide range of CO applications can benefit from local search methods because they allow reversible action over greedy policies. Deep Q-learning (DQN) using message-passing neural networks (MPNN) has shown promise in replicating the local search behavior and obtaining comparable results to the local search algorithms. However, the over-smoothing and the information loss during the iterations of message passing limit its robustness across applications, and the large message vectors result in memory inefficiency. Our paper introduces RELS-DQN, a lightweight DQN framework that exhibits the local search behavior while providing practical scalability. Using the RELS-DQN model trained on one application, it can generalize to various applications by providing solution values higher than or equal to both the local search algorithms and the existing DQN models while remaining efficient in runtime and memory.
Confident Object Detection via Conformal Prediction and Conformal Risk Control: an Application to Railway Signaling
Venue: arXiv cs.LG 2023
Year: 2023

Deploying deep learning models in real-world certified systems requires the ability to provide confidence estimates that accurately reflect their uncertainty. In this paper, we demonstrate the use of the conformal prediction framework to construct reliable and trustworthy predictors for detecting railway signals. Our approach is based on a novel dataset that includes images taken from the perspective of a train operator and state-of-the-art object detectors. We test several conformal approaches and introduce a new method based on conformal risk control. Our findings demonstrate the potential of the conformal prediction framework to evaluate model performance and provide practical guidance for achieving formally guaranteed uncertainty bounds.
Maximal Fairness
Venue: arXiv cs.CY 2023
Year: 2023

Fairness in AI has garnered quite some attention in research, and increasingly also in society. The so-called "Impossibility Theorem" has been one of the more striking research results with both theoretical and practical consequences, as it states that satisfying a certain combination of fairness measures is impossible. To date, this negative result has not yet been complemented with a positive one: a characterization of which combinations of fairness notions are possible. This work aims to fill this gap by identifying maximal sets of commonly used fairness measures that can be simultaneously satisfied. The fairness measures used are demographic parity, equal opportunity, false positive parity, predictive parity, predictive equality, overall accuracy equality and treatment equality. We conclude that in total 12 maximal sets of these fairness measures are possible, among which seven combinations of two measures, and five combinations of three measures. Our work raises interest questions regarding the practical relevance of each of these 12 maximal fairness notions in various scenarios.
Consistent Point Data Assimilation in Firedrake and Icepack
Venue: arXiv cs.MS 2023
Year: 2023

When estimating quantities and fields that are difficult to measure directly, such as the fluidity of ice, from point data sources, such as satellite altimetry, it is important to solve a numerical inverse problem that is formulated with Bayesian consistency. Otherwise, the resultant probability density function for the difficult to measure quantity or field will not be appropriately clustered around the truth. In particular, the inverse problem should be formulated by evaluating the numerical solution at the true point locations for direct comparison with the point data source. If the data are first fitted to a gridded or meshed field on the computational grid or mesh, and the inverse problem formulated by comparing the numerical solution to the fitted field, the benefits of additional point data values below the grid density will be lost. We demonstrate, with examples in the fields of groundwater hydrology and glaciology, that a consistent formulation can increase the accuracy of results and aid discourse between modellers and observationalists. To do this, we bring point data into the finite element method ecosystem as discontinuous fields on meshes of disconnected vertices. Point evaluation can then be formulated as a finite element interpolation operation (dual-evaluation). This new abstraction is well-suited to automation, including automatic differentiation. We demonstrate this through implementation in Firedrake, which generates highly optimised code for solving Partial Differential Equations (PDEs) with the finite element method. Our solution integrates with dolfin-adjoint/pyadjoint, allowing PDE-constrained optimisation problems, such as data assimilation, to be solved through forward and adjoint mode automatic differentiation.
CLIP-Guided Vision-Language Pre-training for Question Answering in 3D Scenes
Venue: arXiv cs.CV 2023
Year: 2023

Training models to apply linguistic knowledge and visual concepts from 2D images to 3D world understanding is a promising direction that researchers have only recently started to explore. In this work, we design a novel 3D pre-training Vision-Language method that helps a model learn semantically meaningful and transferable 3D scene point cloud representations. We inject the representational power of the popular CLIP model into our 3D encoder by aligning the encoded 3D scene features with the corresponding 2D image and text embeddings produced by CLIP. To assess our model's 3D world reasoning capability, we evaluate it on the downstream task of 3D Visual Question Answering. Experimental quantitative and qualitative results show that our pre-training method outperforms state-of-the-art works in this task and leads to an interpretable representation of 3D scene features.
Public Sector Open Source Software Projects -- How is development organized?
Venue: arXiv cs.SE 2023
Year: 2023

Background: Open Source Software (OSS) started as an effort of communities of volunteers, but its practices have been adopted far beyond these initial scenarios. For instance, the strategic use of OSS in industry is constantly growing nowadays in different verticals, including energy, automotive, and health. For the public sector, however, the adoption has lagged behind even if benefits particularly salient in the public sector context such as improved interoperability, transparency, and digital sovereignty have been pointed out. When Public Sector Organisations (PSOs) seek to engage with OSS, this introduces challenges as they often lack the necessary technical capabilities, while also being bound and influenced by regulations and practices for public procurement. Aim: We aim to shed light on how public sector OSS projects, i.e., projects initiated, developed and governed by public sector organizations, are developed and structured. We conjecture, based on the challenges of PSOs, that the way development is organized in these type of projects to a large extent disalign with the commonly adopted bazaar model (popularized by Eric Raymond), which implies that development is carried out collaboratively in a larger community. Method: We plan to contrast public sector OSS projects with a set of earlier reported case studies of bazaar OSS projects, including Mockus et al.'s reporting of the Apache web server and Mozilla browser OSS projects, along with the replications performed on the FreeBSD, JBossAS, JOnAS, and Apache Geronimo OSS projects. To enable comparable results, we will replicate the methodology used by Mockus et al. on a purposefully sampled subset of public sector OSS projects. The subset will be identified and characterized quantitatively by mining relevant software repositories, and qualitatively investigated through interviews with individuals from involved organizations.
Primal-Dual Contextual Bayesian Optimization for Control System Online Optimization with Time-Average Constraints
Venue: arXiv cs.LG 2023
Year: 2023

This paper studies the problem of online performance optimization of constrained closed-loop control systems, where both the objective and the constraints are unknown black-box functions affected by exogenous time-varying contextual disturbances. A primal-dual contextual Bayesian optimization algorithm is proposed that achieves sublinear cumulative regret with respect to the dynamic optimal solution under certain regularity conditions. Furthermore, the algorithm achieves zero time-average constraint violation, ensuring that the average value of the constraint function satisfies the desired constraint. The method is applied to both sampled instances from Gaussian processes and a continuous stirred tank reactor parameter tuning problem; simulation results show that the method simultaneously provides close-to-optimal performance and maintains constraint feasibility on average. This contrasts current state-of-the-art methods, which either suffer from large cumulative regret or severe constraint violations for the case studies presented.
Scalable Cell-Free Massive MIMO Unsourced Random Access System
Venue: arXiv cs.IT 2023
Year: 2023

Cell-Free Massive MIMO systems aim to expand the coverage area of wireless networks by replacing a single high-performance Access Point (AP) with multiple small, distributed APs connected to a Central Processing Unit (CPU) through a fronthaul. Another novel wireless approach, known as the unsourced random access (URA) paradigm, enables a large number of devices to communicate concurrently on the uplink. We consider a quasi-static Rayleigh fading channel paired to a scalable cell-free system, wherein a small number of receive antennas in the distributed APs serve devices equipped with a single antenna each. The goal of the study is to extend previous URA results to more realistic channels by examining the performance of a scalable cell-free system. To achieve this goal, we construct a coding scheme that adapts the URA paradigm to various cell-free scenarios. Empirical evidence suggests that using a cell-free architecture can improve the performance of a URA system, especially when taking into account large-scale attenuation and fading.
Explanation of Face Recognition via Saliency Maps
Venue: arXiv cs.CV 2023
Year: 2023

Despite the significant progress in face recognition in the past years, they are often treated as "black boxes" and have been criticized for lacking explainability. It becomes increasingly important to understand the characteristics and decisions of deep face recognition systems to make them more acceptable to the public. Explainable face recognition (XFR) refers to the problem of interpreting why the recognition model matches a probe face with one identity over others. Recent studies have explored use of visual saliency maps as an explanation, but they often lack a deeper analysis in the context of face recognition. This paper starts by proposing a rigorous definition of explainable face recognition (XFR) which focuses on the decision-making process of the deep recognition model. Following the new definition, a similarity-based RISE algorithm (S-RISE) is then introduced to produce high-quality visual saliency maps. Furthermore, an evaluation approach is proposed to systematically validate the reliability and accuracy of general visual saliency-based XFR methods.
IoT trust and reputation: a survey and taxonomy
Venue: arXiv cs.CY 2023
Year: 2023

IoT is one of the fastest-growing technologies and it is estimated that more than a billion devices would be utilized across the globe by the end of 2030. To maximize the capability of these connected entities, trust and reputation among IoT entities is essential. Several trust management models have been proposed in the IoT environment; however, these schemes have not fully addressed the IoT devices features, such as devices role, device type and its dynamic behavior in a smart environment. As a result, traditional trust and reputation models are insufficient to tackle these characteristics and uncertainty risks while connecting nodes to the network. Whilst continuous study has been carried out and various articles suggest promising solutions in constrained environments, research on trust and reputation is still at its infancy. In this paper, we carry out a comprehensive literature review on state-of-the-art research on the trust and reputation of IoT devices and systems. Specifically, we first propose a new structure, namely a new taxonomy, to organize the trust and reputation models based on the ways trust is managed. The proposed taxonomy comprises of traditional trust management-based systems and artificial intelligence-based systems, and combine both the classes which encourage the existing schemes to adapt these emerging concepts. This collaboration between the conventional mathematical and the advanced ML models result in design schemes that are more robust and efficient. Then we drill down to compare and analyse the methods and applications of these systems based on community-accepted performance metrics, e.g. scalability, delay, cooperativeness and efficiency. Finally, built upon the findings of the analysis, we identify and discuss open research issues and challenges, and further speculate and point out future research directions.
Utilizing the International Classification of Functioning, Disability and Health (ICF) in forming a personal health index
Venue: arXiv cs.CY 2023
Year: 2023

We propose a new model for comprehensively monitoring the health status of individuals by calculating a personal health index. The central framework of the model is the International Classification of Functioning, Disability and Health (ICF) developed by the World Health Organization. The model is capable of handling incomplete and heterogeneous data sets collected using different techniques. The health index was validated by comparing it to two self-assessed health measures provided by individuals undergoing rehabilitation. Results indicate that the model yields valid health index outcomes, suggesting that the proposed model is applicable in practice.
Robust and Context-Aware Real-Time Collaborative Robot Handling via Dynamic Gesture Commands
Venue: arXiv cs.RO 2023
Year: 2023

This paper studies real-time collaborative robot (cobot) handling, where the cobot maneuvers an object under human dynamic gesture commands. Enabling dynamic gesture commands is useful when the human needs to avoid direct contact with the robot or the object handled by the robot. However, the key challenge lies in the heterogeneity in human behaviors and the stochasticity in the perception of dynamic gestures, which requires the robot handling policy to be adaptable and robust. To address these challenges, we introduce Conditional Collaborative Handling Process (CCHP) to encode a contextaware cobot handling policy and a procedure to learn such policy from human-human collaboration. We thoroughly evaluate the adaptability and robustness of CCHP and apply our approach to a real-time cobot assembly task with Kinova Gen3 robot arm. Results show that our method leads to significantly less human effort and smoother human-robot collaboration than state-of-the-art rule-based approach even with first-time users.
Situational-Aware Multi-Graph Convolutional Recurrent Network (SA-MGCRN) for Travel Demand Forecasting During Wildfires
Venue: arXiv cs.LG 2023
Year: 2023

Real-time forecasting of travel demand during wildfire evacuations is crucial for emergency managers and transportation planners to make timely and better-informed decisions. However, few studies focus on accurate travel demand forecasting in large-scale emergency evacuations. Therefore, this study develops and tests a new methodological framework for modeling trip generation in wildfire evacuations by using (a) large-scale GPS data generated by mobile devices and (b) state-of-the-art AI technologies. The proposed methodology aims at forecasting evacuation trips and other types of trips. Based on the travel demand inferred from the GPS data, we develop a new deep learning model, i.e., Situational-Aware Multi-Graph Convolutional Recurrent Network (SA-MGCRN), along with a model updating scheme to achieve real-time forecasting of travel demand during wildfire evacuations. The proposed methodological framework is tested in this study for a real-world case study: the 2019 Kincade Fire in Sonoma County, CA. The results show that SA-MGCRN significantly outperforms all the selected state-of-the-art benchmarks in terms of prediction performance. Our finding suggests that the most important model components of SA-MGCRN are evacuation order/warning information, proximity to fire, and population change, which are consistent with behavioral theories and empirical findings.
Model-based Dynamic Shielding for Safe and Efficient Multi-Agent Reinforcement Learning
Venue: arXiv cs.LG 2023
Year: 2023

Multi-Agent Reinforcement Learning (MARL) discovers policies that maximize reward but do not have safety guarantees during the learning and deployment phases. Although shielding with Linear Temporal Logic (LTL) is a promising formal method to ensure safety in single-agent Reinforcement Learning (RL), it results in conservative behaviors when scaling to multi-agent scenarios. Additionally, it poses computational challenges for synthesizing shields in complex multi-agent environments. This work introduces Model-based Dynamic Shielding (MBDS) to support MARL algorithm design. Our algorithm synthesizes distributive shields, which are reactive systems running in parallel with each MARL agent, to monitor and rectify unsafe behaviors. The shields can dynamically split, merge, and recompute based on agents' states. This design enables efficient synthesis of shields to monitor agents in complex environments without coordination overheads. We also propose an algorithm to synthesize shields without prior knowledge of the dynamics model. The proposed algorithm obtains an approximate world model by interacting with the environment during the early stage of exploration, making our MBDS enjoy formal safety guarantees with high probability. We demonstrate in simulations that our framework can surpass existing baselines in terms of safety guarantees and learning performance.