OpenRaiser/Intern-Atlas huggingface dataset:
FHT-Map: Feature-based Hierarchical Topological Map for Relocalization and Path Planning
Venue: arXiv cs.RO 2023
Year: 2023

Topological maps are favorable for their small storage compared to geometric map. However, they are limited in relocalization and path planning capabilities. To solve this problem, a feature-based hierarchical topological map (FHT-Map) is proposed along with a real-time map construction algorithm for robot exploration. Specifically, the FHT-Map utilizes both RGB cameras and LiDAR information and consists of two types of nodes: main node and support node. Main nodes will store visual information compressed by convolutional neural network and local laser scan data to enhance subsequent relocalization capability. Support nodes retain a minimal amount of data to ensure storage efficiency while facilitating path planning. After map construction with robot exploration, the FHT-Map can be used by other robots for relocalization and path planning. Experiments are conducted in Gazebo simulator, and the results demonstrate that the proposed FHT-Map can effectively improve relocalization and path planning capability compared with other topological maps. Moreover, experiments on hierarchical architecture are implemented to show the necessity of two types of nodes.
Towards Hyperparameter-Agnostic DNN Training via Dynamical System Insights
Venue: arXiv cs.LG 2023
Year: 2023

We present a stochastic first-order optimization method specialized for deep neural networks (DNNs), ECCO-DNN. This method models the optimization variable trajectory as a dynamical system and develops a discretization algorithm that adaptively selects step sizes based on the trajectory's shape. This provides two key insights: designing the dynamical system for fast continuous-time convergence and developing a time-stepping algorithm to adaptively select step sizes based on principles of numerical integration and neural network structure. The result is an optimizer with performance that is insensitive to hyperparameter variations and that achieves comparable performance to state-of-the-art optimizers including ADAM, SGD, RMSProp, and AdaGrad. We demonstrate this in training DNN models and datasets, including CIFAR-10 and CIFAR-100 using ECCO-DNN and find that ECCO-DNN's single hyperparameter can be changed by three orders of magnitude without affecting the trained models' accuracies. ECCO-DNN's insensitivity reduces the data and computation needed for hyperparameter tuning, making it advantageous for rapid prototyping and for applications with new datasets. To validate the efficacy of our proposed optimizer, we train an LSTM architecture on a household power consumption dataset with ECCO-DNN and achieve an optimal mean-square-error without tuning hyperparameters.
Competitive Ensembling Teacher-Student Framework for Semi-Supervised Left Atrium MRI Segmentation
Venue: arXiv cs.CV 2023
Year: 2023

Semi-supervised learning has greatly advanced medical image segmentation since it effectively alleviates the need of acquiring abundant annotations from experts and utilizes unlabeled data which is much easier to acquire. Among existing perturbed consistency learning methods, mean-teacher model serves as a standard baseline for semi-supervised medical image segmentation. In this paper, we present a simple yet efficient competitive ensembling teacher student framework for semi-supervised for left atrium segmentation from 3D MR images, in which two student models with different task-level disturbances are introduced to learn mutually, while a competitive ensembling strategy is performed to ensemble more reliable information to teacher model. Different from the one-way transfer between teacher and student models, our framework facilitates the collaborative learning procedure of different student models with the guidance of teacher model and motivates different training networks for a competitive learning and ensembling procedure to achieve better performance. We evaluate our proposed method on the public Left Atrium (LA) dataset and it obtains impressive performance gains by exploiting the unlabeled data effectively and outperforms several existing semi-supervised methods.
Ensemble-Instruct: Generating Instruction-Tuning Data with a Heterogeneous Mixture of LMs
Venue: arXiv cs.CL 2023
Year: 2023

Using in-context learning (ICL) for data generation, techniques such as Self-Instruct (Wang et al., 2023) or the follow-up Alpaca (Taori et al., 2023) can train strong conversational agents with only a small amount of human supervision. One limitation of these approaches is that they resort to very large language models (around 175B parameters) that are also proprietary and non-public. Here we explore the application of such techniques to language models that are much smaller (around 10B--40B parameters) and have permissive licenses. We find the Self-Instruct approach to be less effective at these sizes and propose new ICL methods that draw on two main ideas: (a) Categorization and simplification of the ICL templates to make prompt learning easier for the LM, and (b) Ensembling over multiple LM outputs to help select high-quality synthetic examples. Our algorithm leverages the 175 Self-Instruct seed tasks and employs separate pipelines for instructions that require an input and instructions that do not. Empirical investigations with different LMs show that: (1) Our proposed method yields higher-quality instruction tuning data than Self-Instruct, (2) It improves performances of both vanilla and instruction-tuned LMs by significant margins, and (3) Smaller instruction-tuned LMs generate more useful outputs than their larger un-tuned counterparts. Our codebase is available at https://github.com/IBM/ensemble-instruct.
Filling the Missing: Exploring Generative AI for Enhanced Federated Learning over Heterogeneous Mobile Edge Devices
Venue: arXiv cs.LG 2023
Year: 2023

Distributed Artificial Intelligence (AI) model training over mobile edge networks encounters significant challenges due to the data and resource heterogeneity of edge devices. The former hampers the convergence rate of the global model, while the latter diminishes the devices' resource utilization efficiency. In this paper, we propose a generative AI-empowered federated learning to address these challenges by leveraging the idea of FIlling the MIssing (FIMI) portion of local data. Specifically, FIMI can be considered as a resource-aware data augmentation method that effectively mitigates the data heterogeneity while ensuring efficient FL training. We first quantify the relationship between the training data amount and the learning performance. We then study the FIMI optimization problem with the objective of minimizing the device-side overall energy consumption subject to required learning performance constraints. The decomposition-based analysis and the cross-entropy searching method are leveraged to derive the solution, where each device is assigned suitable AI-synthesized data and resource utilization policy. Experiment results demonstrate that FIMI can save up to 50% of the device-side energy to achieve the target global test accuracy in comparison with the existing methods. Meanwhile, FIMI can significantly enhance the converged global accuracy under the non-independently-and-identically distribution (non-IID) data.
Survey of Vector Database Management Systems
Venue: arXiv cs.DB 2023
Year: 2023

There are now over 20 commercial vector database management systems (VDBMSs), all produced within the past five years. But embedding-based retrieval has been studied for over ten years, and similarity search a staggering half century and more. Driving this shift from algorithms to systems are new data intensive applications, notably large language models, that demand vast stores of unstructured data coupled with reliable, secure, fast, and scalable query processing capability. A variety of new data management techniques now exist for addressing these needs, however there is no comprehensive survey to thoroughly review these techniques and systems. We start by identifying five main obstacles to vector data management, namely vagueness of semantic similarity, large size of vectors, high cost of similarity comparison, lack of natural partitioning that can be used for indexing, and difficulty of efficiently answering hybrid queries that require both attributes and vectors. Overcoming these obstacles has led to new approaches to query processing, storage and indexing, and query optimization and execution. For query processing, a variety of similarity scores and query types are now well understood; for storage and indexing, techniques include vector compression, namely quantization, and partitioning based on randomization, learning partitioning, and navigable partitioning; for query optimization and execution, we describe new operators for hybrid queries, as well as techniques for plan enumeration, plan selection, and hardware accelerated execution. These techniques lead to a variety of VDBMSs across a spectrum of design and runtime characteristics, including native systems specialized for vectors and extended systems that incorporate vector capabilities into existing systems. We then discuss benchmarks, and finally we outline research challenges and point the direction for future work.
Visual Tracking Nonlinear Model Predictive Control Method for Autonomous Wind Turbine Inspection
Venue: arXiv cs.RO 2023
Year: 2023

Automated visual inspection of on-and offshore wind turbines using aerial robots provides several benefits, namely, a safe working environment by circumventing the need for workers to be suspended high above the ground, reduced inspection time, preventive maintenance, and access to hard-to-reach areas. A novel nonlinear model predictive control (NMPC) framework alongside a global wind turbine path planner is proposed to achieve distance-optimal coverage for wind turbine inspection. Unlike traditional MPC formulations, visual tracking NMPC (VT-NMPC) is designed to track an inspection surface, instead of a position and heading trajectory, thereby circumventing the need to provide an accurate predefined trajectory for the drone. An additional capability of the proposed VT-NMPC method is that by incorporating inspection requirements as visual tracking costs to minimize, it naturally achieves the inspection task successfully while respecting the physical constraints of the drone. Multiple simulation runs and real-world tests demonstrate the efficiency and efficacy of the proposed automated inspection framework, which outperforms the traditional MPC designs, by providing full coverage of the target wind turbine blades as well as its robustness to changing wind conditions. The implementation codes are open-sourced.
With a Few Square Roots, Quantum Computing is as Easy as Π
Venue: arXiv cs.PL 2023
Year: 2023

Rig groupoids provide a semantic model of \PiLang, a universal classical reversible programming language over finite types. We prove that extending rig groupoids with just two maps and three equations about them results in a model of quantum computing that is computationally universal and equationally sound and complete for a variety of gate sets. The first map corresponds to an $8^{\text{th}}$ root of the identity morphism on the unit $1$. The second map corresponds to a square root of the symmetry on $1+1$. As square roots are generally not unique and can sometimes even be trivial, the maps are constrained to satisfy a nondegeneracy axiom, which we relate to the Euler decomposition of the Hadamard gate. The semantic construction is turned into an extension of \PiLang, called \SPiLang, that is a computationally universal quantum programming language equipped with an equational theory that is sound and complete with respect to the Clifford gate set, the standard gate set of Clifford+T restricted to $\le 2$ qubits, and the computationally universal Gaussian Clifford+T gate set.
Counterfactual Prediction Under Selective Confounding
Venue: arXiv cs.LG 2023
Year: 2023

This research addresses the challenge of conducting interpretable causal inference between a binary treatment and its resulting outcome when not all confounders are known. Confounders are factors that have an influence on both the treatment and the outcome. We relax the requirement of knowing all confounders under desired treatment, which we refer to as Selective Confounding, to enable causal inference in diverse real-world scenarios. Our proposed scheme is designed to work in situations where multiple decision-makers with different policies are involved and where there is a re-evaluation mechanism after the initial decision to ensure consistency. These assumptions are more practical to fulfill compared to the availability of all confounders under all treatments. To tackle the issue of Selective Confounding, we propose the use of dual-treatment samples. These samples allow us to employ two-step procedures, such as Regression Adjustment or Doubly-Robust, to learn counterfactual predictors. We provide both theoretical error bounds and empirical evidence of the effectiveness of our proposed scheme using synthetic and real-world child placement data. Furthermore, we introduce three evaluation methods specifically tailored to assess the performance in child placement scenarios. By emphasizing transparency and interpretability, our approach aims to provide decision-makers with a valuable tool. The source code repository of this work is located at https://github.com/sohaib730/CausalML.
A case study on latency, bandwidth and energy efficiency of mobile 5G and YouTube Edge service in London. Why the 5G ecosystem and energy efficiency matter?
Venue: arXiv cs.NI 2023
Year: 2023

The advancements in 5G mobile networks and Edge computing offer great potential for services like augmented reality and Cloud gaming, thanks to their low latency and high bandwidth capabilities. However, the practical limitations of achieving optimal latency on real applications remain uncertain. This paper aims to investigate the actual latency and bandwidth provided by 5G Networks and YouTube Edge service in London, UK. We analyze how latency and bandwidth differ between 4G LTE and 5G networks and how the location of YouTube Edge servers impacts these metrics. Our research reveals over 10 significant observations and implications, indicating that the primary constraints on 4G LTE and 5G capabilities are the ecosystem and energy efficiency of mobile devices down-streaming data. Our study demonstrates that to fully unlock the potential of 5G and it's applications, it is crucial to prioritize efforts aimed at improving the ecosystem and enhancing the energy efficiency.
Computational Approaches for Modeling Power Consumption on an Underwater Flapping Fin Propulsion System
Venue: arXiv cs.RO 2023
Year: 2023

The last few decades have led to the rise of research focused on propulsion and control systems for bio-inspired unmanned underwater vehicles (UUVs), which provide more maneuverable alternatives to traditional UUVs in underwater missions. Propulsive efficiency is of utmost importance for flapping-fin UUVs in order to extend their range and endurance for essential operations. To optimize for different gait performance metrics, we develop a non-dimensional figure of merit (FOM), derived from measures of propulsive efficiency, that is able to evaluate different fin designs and kinematics, and allow for comparison with other bio-inspired platforms. We create and train computational models using experimental data, and use these models to predict thrust and power under different fin operating states, providing efficiency profiles. We then use the developed FOM to analyze optimal gaits and compare the performance between different fin materials. These comparisons provide a better understanding of how fin materials affect our thrust generation and propulsive efficiency, allowing us to inform control systems and weight for efficiency on an inverse gait-selector model.
Are LSTMs Good Few-Shot Learners?
Venue: arXiv cs.LG 2023
Year: 2023

Deep learning requires large amounts of data to learn new tasks well, limiting its applicability to domains where such data is available. Meta-learning overcomes this limitation by learning how to learn. In 2001, Hochreiter et al. showed that an LSTM trained with backpropagation across different tasks is capable of meta-learning. Despite promising results of this approach on small problems, and more recently, also on reinforcement learning problems, the approach has received little attention in the supervised few-shot learning setting. We revisit this approach and test it on modern few-shot learning benchmarks. We find that LSTM, surprisingly, outperform the popular meta-learning technique MAML on a simple few-shot sine wave regression benchmark, but that LSTM, expectedly, fall short on more complex few-shot image classification benchmarks. We identify two potential causes and propose a new method called Outer Product LSTM (OP-LSTM) that resolves these issues and displays substantial performance gains over the plain LSTM. Compared to popular meta-learning baselines, OP-LSTM yields competitive performance on within-domain few-shot image classification, and performs better in cross-domain settings by 0.5% to 1.9% in accuracy score. While these results alone do not set a new state-of-the-art, the advances of OP-LSTM are orthogonal to other advances in the field of meta-learning, yield new insights in how LSTM work in image classification, allowing for a whole range of new research directions. For reproducibility purposes, we publish all our research code publicly.
FGO-ILNS: Tightly Coupled Multi-Sensor Integrated Navigation System Based on Factor Graph Optimization for Autonomous Underwater Vehicle
Venue: arXiv cs.RO 2023
Year: 2023

Multi-sensor fusion is an effective way to enhance the positioning performance of autonomous underwater vehicles (AUVs). However, underwater multi-sensor fusion faces challenges such as heterogeneous frequency and dynamic availability of sensors. Traditional filter-based algorithms suffer from low accuracy and robustness when sensors become unavailable. The factor graph optimization (FGO) can enable multi-sensor plug-and-play despite data frequency. Therefore, we present an FGO-based strapdown inertial navigation system (SINS) and long baseline location (LBL) system tightly coupled navigation system (FGO-ILNS). Sensors such as Doppler velocity log (DVL), magnetic compass pilot (MCP), pressure sensor (PS), and global navigation satellite system (GNSS) can be tightly coupled with FGO-ILNS to satisfy different navigation scenarios. In this system, we propose a floating LBL slant range difference factor model tightly coupled with IMU preintegration factor to achieve unification of global position above and below water. Furthermore, to address the issue of sensor measurements not being synchronized with the LBL during fusion, we employ forward-backward IMU preintegration to construct sensor factors such as GNSS and DVL. Moreover, we utilize the marginalization method to reduce the computational load of factor graph optimization. Simulation and public KAIST dataset experiments have verified that, compared to filter-based algorithms like the extended Kalman filter and federal Kalman filter, as well as the state-of-the-art optimization-based algorithm ORB-SLAM3, our proposed FGO-ILNS leads in accuracy and robustness.
Factor Graph Processing for Dual-Blind Deconvolution at ISAC Receiver
Venue: arXiv cs.IT 2023
Year: 2023

Integrated sensing and communications (ISAC) systems have gained significant interest because of their ability to jointly and efficiently access, utilize, and manage the scarce electromagnetic spectrum. The co-existence approach toward ISAC focuses on the receiver processing of overlaid radar and communications signals coming from independent transmitters. A specific ISAC coexistence problem is dual-blind deconvolution (DBD), wherein the transmit signals and channels of both radar and communications are unknown to the receiver. Prior DBD works ignore the evolution of the signal model over time. In this work, we consider a dynamic DBD scenario using a linear state space model (LSSM) such that, apart from the transmit signals and channels of both systems, the LSSM parameters are also unknown. We employ a factor graph representation to model these unknown variables. We avoid the conventional matrix inversion approach to estimate the unknown variables by using an efficient expectation-maximization algorithm, where each iteration employs a Gaussian message passing over the factor graph structure. Numerical experiments demonstrate the accurate estimation of radar and communications channels, including in the presence of noise.
Improved Techniques for Training Consistency Models
Venue: arXiv cs.LG 2023
Year: 2023

Consistency models are a nascent family of generative models that can sample high quality data in one step without the need for adversarial training. Current consistency models achieve optimal sample quality by distilling from pre-trained diffusion models and employing learned metrics such as LPIPS. However, distillation limits the quality of consistency models to that of the pre-trained diffusion model, and LPIPS causes undesirable bias in evaluation. To tackle these challenges, we present improved techniques for consistency training, where consistency models learn directly from data without distillation. We delve into the theory behind consistency training and identify a previously overlooked flaw, which we address by eliminating Exponential Moving Average from the teacher consistency model. To replace learned metrics like LPIPS, we adopt Pseudo-Huber losses from robust statistics. Additionally, we introduce a lognormal noise schedule for the consistency training objective, and propose to double total discretization steps every set number of training iterations. Combined with better hyperparameter tuning, these modifications enable consistency models to achieve FID scores of 2.51 and 3.25 on CIFAR-10 and ImageNet $64\times 64$ respectively in a single sampling step. These scores mark a 3.5$\times$ and 4$\times$ improvement compared to prior consistency training approaches. Through two-step sampling, we further reduce FID scores to 2.24 and 2.77 on these two datasets, surpassing those obtained via distillation in both one-step and two-step settings, while narrowing the gap between consistency models and other state-of-the-art generative models.
TransY-Net:Learning Fully Transformer Networks for Change Detection of Remote Sensing Images
Venue: arXiv cs.CV 2023
Year: 2023

In the remote sensing field, Change Detection (CD) aims to identify and localize the changed regions from dual-phase images over the same places. Recently, it has achieved great progress with the advances of deep learning. However, current methods generally deliver incomplete CD regions and irregular CD boundaries due to the limited representation ability of the extracted visual features. To relieve these issues, in this work we propose a novel Transformer-based learning framework named TransY-Net for remote sensing image CD, which improves the feature extraction from a global view and combines multi-level visual features in a pyramid manner. More specifically, the proposed framework first utilizes the advantages of Transformers in long-range dependency modeling. It can help to learn more discriminative global-level features and obtain complete CD regions. Then, we introduce a novel pyramid structure to aggregate multi-level visual features from Transformers for feature enhancement. The pyramid structure grafted with a Progressive Attention Module (PAM) can improve the feature representation ability with additional inter-dependencies through spatial and channel attentions. Finally, to better train the whole framework, we utilize the deeply-supervised learning with multiple boundary-aware loss functions. Extensive experiments demonstrate that our proposed method achieves a new state-of-the-art performance on four optical and two SAR image CD benchmarks. The source code is released at https://github.com/Drchip61/TransYNet.