OpenRaiser/Intern-Atlas huggingface dataset:
Collision Avoidance Metric for 3D Camera Evaluation
Venue: arXiv cs.CV 2024
Year: 2024

3D cameras have emerged as a critical source of information for applications in robotics and autonomous driving. These cameras provide robots with the ability to capture and utilize point clouds, enabling them to navigate their surroundings and avoid collisions with other objects. However, current standard camera evaluation metrics often fail to consider the specific application context. These metrics typically focus on measures like Chamfer distance (CD) or Earth Mover's Distance (EMD), which may not directly translate to performance in real-world scenarios. To address this limitation, we propose a novel metric for point cloud evaluation, specifically designed to assess the suitability of 3D cameras for the critical task of collision avoidance. This metric incorporates application-specific considerations and provides a more accurate measure of a camera's effectiveness in ensuring safe robot navigation. The source code is available at https://github.com/intrinsic-ai/collision-avoidance-metric.
Combining RL and IL using a dynamic, performance-based modulation over learning signals and its application to local planning
Venue: arXiv cs.RO 2024
Year: 2024

This paper proposes a method to combine reinforcement learning (RL) and imitation learning (IL) using a dynamic, performance-based modulation over learning signals. The proposed method combines RL and behavioral cloning (IL), or corrective feedback in the action space (interactive IL/IIL), by dynamically weighting the losses to be optimized, taking into account the backpropagated gradients used to update the policy and the agent's estimated performance. In this manner, RL and IL/IIL losses are combined by equalizing their impact on the policy's updates, while modulating said impact such that IL signals are prioritized at the beginning of the learning process, and as the agent's performance improves, the RL signals become progressively more relevant, allowing for a smooth transition from pure IL/IIL to pure RL. The proposed method is used to learn local planning policies for mobile robots, synthesizing IL/IIL signals online by means of a scripted policy. An extensive evaluation of the application of the proposed method to this task is performed in simulations, and it is empirically shown that it outperforms pure RL in terms of sample efficiency (achieving the same level of performance in the training environment utilizing approximately 4 times less experiences), while consistently producing local planning policies with better performance metrics (achieving an average success rate of 0.959 in an evaluation environment, outperforming pure RL by 12.5% and pure IL by 13.9%). Furthermore, the obtained local planning policies are successfully deployed in the real world without performing any major fine tuning. The proposed method can extend existing RL algorithms, and is applicable to other problems for which generating IL/IIL signals online is feasible. A video summarizing some of the real world experiments that were conducted can be found in https://youtu.be/mZlaXn9WGzw.
Fusion Intelligence: Confluence of Natural and Artificial Intelligence for Enhanced Problem-Solving Efficiency
Venue: arXiv cs.AI 2024
Year: 2024

This paper introduces Fusion Intelligence (FI), a bio-inspired intelligent system, where the innate sensing, intelligence and unique actuation abilities of biological organisms such as bees and ants are integrated with the computational power of Artificial Intelligence (AI). This interdisciplinary field seeks to create systems that are not only smart but also adaptive and responsive in ways that mimic the nature. As FI evolves, it holds the promise of revolutionizing the way we approach complex problems, leveraging the best of both biological and digital worlds to create solutions that are more effective, sustainable, and harmonious with the environment. We demonstrate FI's potential to enhance agricultural IoT system performance through a simulated case study on improving insect pollination efficacy (entomophily).
Rethinking Barely-Supervised Volumetric Medical Image Segmentation from an Unsupervised Domain Adaptation Perspective
Venue: arXiv cs.CV 2024
Year: 2024

This paper investigates an extremely challenging problem: barely-supervised volumetric medical image segmentation (BSS). A BSS training dataset consists of two parts: 1) a barely-annotated labeled set, where each labeled image contains only a single-slice annotation, and 2) an unlabeled set comprising numerous unlabeled volumetric images. State-of-the-art BSS methods employ a registration-based paradigm, which uses inter-slice image registration to propagate single-slice annotations into volumetric pseudo labels, constructing a completely annotated labeled set, to which a semi-supervised segmentation scheme can be applied. However, the paradigm has a critical limitation: the pseudo-labels generated by image registration are unreliable and noisy. Motivated by this, we propose a new perspective: instead of solving BSS within a semi-supervised learning scheme, this work formulates BSS as an unsupervised domain adaptation problem. To this end, we propose a novel BSS framework, \textbf{B}arely-supervised learning \textbf{via} unsupervised domain \textbf{A}daptation (BvA), as an alternative to the dominant registration paradigm. Specifically, we first design a novel noise-free labeled data construction algorithm (NFC) for slice-to-volume labeled data synthesis. Then, we introduce a frequency and spatial Mix-Up strategy (FSX) to mitigate the domain shifts. Extensive experiments demonstrate that our method provides a promising alternative for BSS. Remarkably, the proposed method, trained on the left atrial segmentation dataset with \textbf{only one} barely-labeled image, achieves a Dice score of 81.20%, outperforming the state-of-the-art by 61.71%. The code is available at https://github.com/Senyh/BvA.
Integrating Uncertainty-Aware Human Motion Prediction into Graph-Based Manipulator Motion Planning
Venue: arXiv cs.RO 2024
Year: 2024

There has been a growing utilization of industrial robots as complementary collaborators for human workers in re-manufacturing sites. Such a human-robot collaboration (HRC) aims to assist human workers in improving the flexibility and efficiency of labor-intensive tasks. In this paper, we propose a human-aware motion planning framework for HRC to effectively compute collision-free motions for manipulators when conducting collaborative tasks with humans. We employ a neural human motion prediction model to enable proactive planning for manipulators. Particularly, rather than blindly trusting and utilizing predicted human trajectories in the manipulator planning, we quantify uncertainties of the neural prediction model to further ensure human safety. Moreover, we integrate the uncertainty-aware prediction into a graph that captures key workspace elements and illustrates their interconnections. Then a graph neural network is leveraged to operate on the constructed graph. Consequently, robot motion planning considers both the dependencies among all the elements in the workspace and the potential influence of future movements of human workers. We experimentally validate the proposed planning framework using a 6-degree-of-freedom manipulator in a shared workspace where a human is performing disassembling tasks. The results demonstrate the benefits of our approach in terms of improving the smoothness and safety of HRC. A brief video introduction of this work is available as the supplemental materials.
Synthesizing Proteins on the Graphics Card. Protein Folding and the Limits of Critical AI Studies
Venue: arXiv cs.CY 2024
Year: 2024

This paper investigates the application of the transformer architecture in protein folding, as exemplified by DeepMind's AlphaFold project, and its implications for the understanding of so-called large language models. The prevailing discourse often assumes a ready-made analogy between proteins, encoded as sequences of amino acids, and natural language, which we term the language paradigm of computational (structural) biology. Instead of assuming this analogy as given, we critically evaluate it to assess the kind of knowledge-making afforded by the transformer architecture. We first trace the analogy's emergence and historical development, carving out the influence of structural linguistics on structural biology beginning in the mid-20th century. We then examine three often overlooked preprocessing steps essential to the transformer architecture, including subword tokenization, word embedding, and positional encoding, to demonstrate its regime of representation based on continuous, high-dimensional vector spaces, which departs from the discrete nature of language. The successful deployment of transformers in protein folding, we argue, discloses what we consider a non-linguistic approach to token processing intrinsic to the architecture. We contend that through this non-linguistic processing, the transformer architecture carves out unique epistemological territory and produces a new class of knowledge, distinct from established domains. We contend that our search for intelligent machines has to begin with the shape, rather than the place, of intelligence. Consequently, the emerging field of critical AI studies should take methodological inspiration from the history of science in its quest to conceptualize the contributions of artificial intelligence to knowledge-making, within and beyond the domain-specific sciences.
Human-AI Safety: A Descendant of Generative AI and Control Systems Safety
Venue: arXiv cs.AI 2024
Year: 2024

Artificial intelligence (AI) is interacting with people at an unprecedented scale, offering new avenues for immense positive impact, but also raising widespread concerns around the potential for individual and societal harm. Today, the predominant paradigm for human--AI safety focuses on fine-tuning the generative model's outputs to better agree with human-provided examples or feedback. In reality, however, the consequences of an AI model's outputs cannot be determined in isolation: they are tightly entangled with the responses and behavior of human users over time. In this paper, we distill key complementary lessons from AI safety and control systems safety, highlighting open challenges as well as key synergies between both fields. We then argue that meaningful safety assurances for advanced AI technologies require reasoning about how the feedback loop formed by AI outputs and human behavior may drive the interaction towards different outcomes. To this end, we introduce a unifying formalism to capture dynamic, safety-critical human--AI interactions and propose a concrete technical roadmap towards next-generation human-centered AI safety.
Dual3D: Efficient and Consistent Text-to-3D Generation with Dual-mode Multi-view Latent Diffusion
Venue: arXiv cs.CV 2024
Year: 2024

We present Dual3D, a novel text-to-3D generation framework that generates high-quality 3D assets from texts in only $1$ minute.The key component is a dual-mode multi-view latent diffusion model. Given the noisy multi-view latents, the 2D mode can efficiently denoise them with a single latent denoising network, while the 3D mode can generate a tri-plane neural surface for consistent rendering-based denoising. Most modules for both modes are tuned from a pre-trained text-to-image latent diffusion model to circumvent the expensive cost of training from scratch. To overcome the high rendering cost during inference, we propose the dual-mode toggling inference strategy to use only $1/10$ denoising steps with 3D mode, successfully generating a 3D asset in just $10$ seconds without sacrificing quality. The texture of the 3D asset can be further enhanced by our efficient texture refinement process in a short time. Extensive experiments demonstrate that our method delivers state-of-the-art performance while significantly reducing generation time. Our project page is available at https://dual3d.github.io
Hyperplane Arrangements and Fixed Points in Iterated PWL Neural Networks
Venue: arXiv cs.LG 2024
Year: 2024

We leverage the framework of hyperplane arrangements to analyze potential regions of (stable) fixed points. We provide an upper bound on the number of fixed points for multi-layer neural networks equipped with piecewise linear (PWL) activation functions with arbitrary many linear pieces. The theoretical optimality of the exponential growth in the number of layers of the latter bound is shown. Specifically, we also derive a sharper upper bound on the number of stable fixed points for one-hidden-layer networks with hard tanh activation.
KPNDepth: Depth Estimation of Lane Images under Complex Rainy Environment
Venue: arXiv cs.CV 2024
Year: 2024

Recent advancements in deep neural networks have improved depth estimation in clear, daytime driving scenarios. However, existing methods struggle with rainy conditions due to rain streaks and fog, which distort depth estimation. This paper introduces a novel dual-layer convolutional kernel prediction network for lane depth estimation in rainy environments. It predicts two sets of kernels to mitigate depth loss and rain streak artifacts. To address the scarcity of real rainy lane data, an image synthesis algorithm, RCFLane, is presented, creating a synthetic dataset called RainKITTI. Experiments show the framework's effectiveness in complex rainy conditions.
Language-Oriented Semantic Latent Representation for Image Transmission
Venue: arXiv cs.CV 2024
Year: 2024

In the new paradigm of semantic communication (SC), the focus is on delivering meanings behind bits by extracting semantic information from raw data. Recent advances in data-to-text models facilitate language-oriented SC, particularly for text-transformed image communication via image-to-text (I2T) encoding and text-to-image (T2I) decoding. However, although semantically aligned, the text is too coarse to precisely capture sophisticated visual features such as spatial locations, color, and texture, incurring a significant perceptual difference between intended and reconstructed images. To address this limitation, in this paper, we propose a novel language-oriented SC framework that communicates both text and a compressed image embedding and combines them using a latent diffusion model to reconstruct the intended image. Experimental results validate the potential of our approach, which transmits only 2.09\% of the original image size while achieving higher perceptual similarities in noisy communication channels compared to a baseline SC method that communicates only through text.The code is available at https://github.com/ispamm/Img2Img-SC/ .
The Real Price of Bandit Information in Multiclass Classification
Venue: arXiv cs.LG 2024
Year: 2024

We revisit the classical problem of multiclass classification with bandit feedback (Kakade, Shalev-Shwartz and Tewari, 2008), where each input classifies to one of $K$ possible labels and feedback is restricted to whether the predicted label is correct or not. Our primary inquiry is with regard to the dependency on the number of labels $K$, and whether $T$-step regret bounds in this setting can be improved beyond the $\smash{\sqrt{KT}}$ dependence exhibited by existing algorithms. Our main contribution is in showing that the minimax regret of bandit multiclass is in fact more nuanced, and is of the form $\smash{\widetildeΘ\left(\min \left\{|H| + \sqrt{T}, \sqrt{KT \log |H|} \right\} \right) }$, where $H$ is the underlying (finite) hypothesis class. In particular, we present a new bandit classification algorithm that guarantees regret $\smash{\widetilde{O}(|H|+\sqrt{T})}$, improving over classical algorithms for moderately-sized hypothesis classes, and give a matching lower bound establishing tightness of the upper bounds (up to log-factors) in all parameter regimes.
Smoothing Linear Codes by Rényi Divergence and Applications to Security Reduction
Venue: arXiv cs.IT 2024
Year: 2024

The concept of the smoothing parameter plays a crucial role in both lattice-based and code-based cryptography, primarily due to its effectiveness in achieving nearly uniform distributions through the addition of noise. Recent research by Pathegama and Barg has determined the optimal smoothing bound for random codes under Rényi Divergence for any order $α\in (1, \infty)$ \cite{pathegama2024r}. Considering the inherent complexity of encoding/decoding algorithms in random codes, our research introduces enhanced structural elements into these coding schemes. Specifically, this paper presents a novel derivation of the smoothing bound for random linear codes, maintaining the same order of Rényi Divergence and achieving optimality for any $α\in (1,\infty)$. We extend this framework under KL Divergence by transitioning from random linear codes to random self-dual codes, and subsequently to random quasi-cyclic codes, incorporating progressively more structures. As an application, we derive an average-case to average-case reduction from the Learning Parity with Noise (LPN) problem to the average-case decoding problem. This reduction aligns with the parameter regime in \cite{debris2022worst}, but uniquely employs Rényi divergence and directly considers Bernoulli noise, instead of combining ball noise and Bernoulli noise.
Cooperative Visual-LiDAR Extrinsic Calibration Technology for Intersection Vehicle-Infrastructure: A review
Venue: arXiv cs.CV 2024
Year: 2024

In the typical urban intersection scenario, both vehicles and infrastructures are equipped with visual and LiDAR sensors. By successfully integrating the data from vehicle-side and road monitoring devices, a more comprehensive and accurate environmental perception and information acquisition can be achieved. The Calibration of sensors, as an essential component of autonomous driving technology, has consistently drawn significant attention. Particularly in scenarios involving multiple sensors collaboratively perceiving and addressing localization challenges, the requirement for inter-sensor calibration becomes crucial. Recent years have witnessed the emergence of the concept of multi-end cooperation, where infrastructure captures and transmits surrounding environment information to vehicles, bolstering their perception capabilities while mitigating costs. However, this also poses technical complexities, underscoring the pressing need for diverse end calibration. Camera and LiDAR, the bedrock sensors in autonomous driving, exhibit expansive applicability. This paper comprehensively examines and analyzes the calibration of multi-end camera-LiDAR setups from vehicle, roadside, and vehicle-road cooperation perspectives, outlining their relevant applications and profound significance. Concluding with a summary, we present our future-oriented ideas and hypotheses.
Comparative Analysis of Predicting Subsequent Steps in Hénon Map
Venue: arXiv cs.LG 2024
Year: 2024

This paper explores the prediction of subsequent steps in Hénon Map using various machine learning techniques. The Hénon map, well known for its chaotic behaviour, finds applications in various fields including cryptography, image encryption, and pattern recognition. Machine learning methods, particularly deep learning, are increasingly essential for understanding and predicting chaotic phenomena. This study evaluates the performance of different machine learning models including Random Forest, Recurrent Neural Network (RNN), Long Short-Term Memory (LSTM) networks, Support Vector Machines (SVM), and Feed Forward Neural Networks (FNN) in predicting the evolution of the Hénon map. Results indicate that LSTM network demonstrate superior predictive accuracy, particularly in extreme event prediction. Furthermore, a comparison between LSTM and FNN models reveals the LSTM's advantage, especially for longer prediction horizons and larger datasets. This research underscores the significance of machine learning in elucidating chaotic dynamics and highlights the importance of model selection and dataset size in forecasting subsequent steps in chaotic systems.
A Participatory Budgeting based Truthful Budget-Limited Incentive Mechanism for Time-Constrained Tasks in Crowdsensing Systems
Venue: arXiv cs.GT 2024
Year: 2024

Crowdsensing, also known as participatory sensing, is a method of data collection that involves gathering information from a large number of common people (or individuals), often using mobile devices or other personal technologies. This paper considers the set-up with multiple task requesters and several task executors in a strategic setting. Each task requester has multiple heterogeneous tasks and an estimated budget for the tasks. In our proposed model, the Government has a publicly known fund (or budget) and is limited. Due to limited funds, it may not be possible for the platform to offer the funds to all the available task requesters. For that purpose, in the first tier, the voting by the city dwellers over the task requesters is carried out to decide on the subset of task requesters receiving the Government fund. In the second tier, each task of the task requesters has start and finish times. Based on that, firstly, the tasks are distributed to distinct slots. In each slot, we have multiple task executors for executing the floated tasks. Each task executor reports a cost (private) for completing the floated task(s). Given the above-discussed set-up, the objectives of the second tier are: (1) to schedule each task of the task requesters in the available slots in a non-conflicting manner and (2) to select a set of executors for the available tasks in such a way that the total incentive given to the task executors should be at most the budget for the tasks. For the discussed scenario, a truthful incentive based mechanism is designed that also takes care of budget criteria. Theoretical analysis is done, and it shows that the proposed mechanism is computationally efficient, truthful, budget-feasible, and individually rational. The simulation is carried out, and the efficacy of the designed mechanism is compared with the state-of-the-art mechanisms.
How To Save A World: The Go-Along Interview as Game Preservation Methodology in Wurm Online
Venue: arXiv cs.HC 2024
Year: 2024

Massively multiplayer online (MMO) games boomed in the late 1990s to 2000s. In parallel, ethnographic studies of these communities emerged, generally involving participant observation and interviews. Several decades on, many MMOs have been reconfigured, remastered or are potentially no longer accessible at all, which presents challenges for their continued study and long-term preservation. In this paper we explore the "go-along" methodology, in which a researcher joins a participant on a walk through a familiar place and asks them questions, as a qualitative research method applicable for the study and preservation of games culture. Though the methodology has been introduced in digital media studies, to date it has had limited application in digital games, if at all. We report on a pilot study exploring applications of the go-along method to the sandbox MMO Wurm Online; a persistent, player-directed world with a rich history. We report on our motivations for the work, our analysis of the resulting interviews, and our reflections on both the use of go-alongs in digital games, as well as the unique and inspiring culture and community of this lesser-known game.