OpenRaiser/Intern-Atlas huggingface dataset:
Real-Time 3D Occupancy Prediction via Geometric-Semantic Disentanglement
Venue: arXiv cs.CV 2024
Year: 2024

Occupancy prediction plays a pivotal role in autonomous driving (AD) due to the fine-grained geometric perception and general object recognition capabilities. However, existing methods often incur high computational costs, which contradicts the real-time demands of AD. To this end, we first evaluate the speed and memory usage of most public available methods, aiming to redirect the focus from solely prioritizing accuracy to also considering efficiency. We then identify a core challenge in achieving both fast and accurate performance: \textbf{the strong coupling between geometry and semantic}. To address this issue, 1) we propose a Geometric-Semantic Dual-Branch Network (GSDBN) with a hybrid BEV-Voxel representation. In the BEV branch, a BEV-level temporal fusion module and a U-Net encoder is introduced to extract dense semantic features. In the voxel branch, a large-kernel re-parameterized 3D convolution is proposed to refine sparse 3D geometry and reduce computation. Moreover, we propose a novel BEV-Voxel lifting module that projects BEV features into voxel space for feature fusion of the two branches. In addition to the network design, 2) we also propose a Geometric-Semantic Decoupled Learning (GSDL) strategy. This strategy initially learns semantics with accurate geometry using ground-truth depth, and then gradually mixes predicted depth to adapt the model to the predicted geometry. Extensive experiments on the widely-used Occ3D-nuScenes benchmark demonstrate the superiority of our method, which achieves a 39.4 mIoU with 20.0 FPS. This result is $\sim 3 \times$ faster and +1.9 mIoU higher compared to FB-OCC, the winner of CVPR2023 3D Occupancy Prediction Challenge. Our code will be made open-source.
Quantum Key Distribution Routing Protocol in Quantum Networks: Overview and Challenges
Venue: arXiv cs.CR 2024
Year: 2024

The use of quantum cryptography in everyday applications has gained attention in both industrial and academic fields. Due to advancements in quantum electronics, practical quantum devices are already available in the market, and ready for wider use. Quantum Key Distribution (QKD) is a crucial aspect of quantum cryptography, which involves generating and distributing symmetric cryptographic keys between geographically separated users using principles of quantum physics. Many successful QKD networks have been established to test different solutions. The objective of this paper is to delve into the potential of utilizing established routing design techniques in the context of quantum key distribution, a field distinguished by its unique properties rooted in the principles of quantum mechanics. However, the implementation of these techniques poses substantial challenges, including quantum memory decoherence, key rate generation, latency delays, inherent noise in quantum systems, limited communication ranges, and the necessity for highly specialized hardware. This paper conducts an in-depth examination of essential research pertaining to the design methodologies for quantum key distribution. It also explores the fundamental aspects of quantum routing and the associated properties inherent to quantum QKD. This paper elucidates the necessary steps for constructing efficient and resilient QKD networks. In summarizing the techniques relevant to QKD networking and routing, including their underlying principles, protocols, and challenges, this paper sheds light on potential applications and delineates future research directions in this burgeoning field.
Attenuation-Aware Weighted Optical Flow with Medium Transmission Map for Learning-based Visual Odometry in Underwater terrain
Venue: arXiv cs.CV 2024
Year: 2024

This paper addresses the challenge of improving learning-based monocular visual odometry (VO) in underwater environments by integrating principles of underwater optical imaging to manipulate optical flow estimation. Leveraging the inherent properties of underwater imaging, the novel wflow-TartanVO is introduced, enhancing the accuracy of VO systems for autonomous underwater vehicles (AUVs). The proposed method utilizes a normalized medium transmission map as a weight map to adjust the estimated optical flow for emphasizing regions with lower degradation and suppressing uncertain regions affected by underwater light scattering and absorption. wflow-TartanVO does not require fine-tuning of pre-trained VO models, thus promoting its adaptability to different environments and camera models. Evaluation of different real-world underwater datasets demonstrates the outperformance of wflow-TartanVO over baseline VO methods, as evidenced by the considerably reduced Absolute Trajectory Error (ATE). The implementation code is available at: https://github.com/bachzz/wflow-TartanVO
Translate-and-Revise: Boosting Large Language Models for Constrained Translation
Venue: arXiv cs.CL 2024
Year: 2024

Imposing constraints on machine translation systems presents a challenging issue because these systems are not trained to make use of constraints in generating adequate, fluent translations. In this paper, we leverage the capabilities of large language models (LLMs) for constrained translation, given that LLMs can easily adapt to this task by taking translation instructions and constraints as prompts. However, LLMs cannot always guarantee the adequacy of translation, and, in some cases, ignore the given constraints. This is in part because LLMs might be overly confident in their predictions, overriding the influence of the constraints. To overcome this overiding behaviour, we propose to add a revision process that encourages LLMs to correct the outputs by prompting them about the constraints that have not yet been met. We evaluate our approach on four constrained translation tasks, encompassing both lexical and structural constraints in multiple constraint domains. Experiments show 15\% improvement in constraint-based translation accuracy over standard LLMs and the approach also significantly outperforms neural machine translation (NMT) state-of-the-art methods.
Nearest Neighbor Future Captioning: Generating Descriptions for Possible Collisions in Object Placement Tasks
Venue: arXiv cs.RO 2024
Year: 2024

Domestic service robots (DSRs) that support people in everyday environments have been widely investigated. However, their ability to predict and describe future risks resulting from their own actions remains insufficient. In this study, we focus on the linguistic explainability of DSRs. Most existing methods do not explicitly model the region of possible collisions; thus, they do not properly generate descriptions of these regions. In this paper, we propose the Nearest Neighbor Future Captioning Model that introduces the Nearest Neighbor Language Model for future captioning of possible collisions, which enhances the model output with a nearest neighbors retrieval mechanism. Furthermore, we introduce the Collision Attention Module that attends regions of possible collisions, which enables our model to generate descriptions that adequately reflect the objects associated with possible collisions. To validate our method, we constructed a new dataset containing samples of collisions that can occur when a DSR places an object in a simulation environment. The experimental results demonstrated that our method outperformed baseline methods, based on the standard metrics. In particular, on CIDEr-D, the baseline method obtained 25.09 points, whereas our method obtained 33.08 points.
Research on Image Super-Resolution Reconstruction Mechanism based on Convolutional Neural Network
Venue: arXiv cs.CV 2024
Year: 2024

Super-resolution reconstruction techniques entail the utilization of software algorithms to transform one or more sets of low-resolution images captured from the same scene into high-resolution images. In recent years, considerable advancement has been observed in the domain of single-image super-resolution algorithms, particularly those based on deep learning techniques. Nevertheless, the extraction of image features and nonlinear mapping methods in the reconstruction process remain challenging for existing algorithms. These issues result in the network architecture being unable to effectively utilize the diverse range of information at different levels. The loss of high-frequency details is significant, and the final reconstructed image features are overly smooth, with a lack of fine texture details. This negatively impacts the subjective visual quality of the image. The objective is to recover high-quality, high-resolution images from low-resolution images. In this work, an enhanced deep convolutional neural network model is employed, comprising multiple convolutional layers, each of which is configured with specific filters and activation functions to effectively capture the diverse features of the image. Furthermore, a residual learning strategy is employed to accelerate training and enhance the convergence of the network, while sub-pixel convolutional layers are utilized to refine the high-frequency details and textures of the image. The experimental analysis demonstrates the superior performance of the proposed model on multiple public datasets when compared with the traditional bicubic interpolation method and several other learning-based super-resolution methods. Furthermore, it proves the model's efficacy in maintaining image edges and textures.
QuIIL at T3 challenge: Towards Automation in Life-Saving Intervention Procedures from First-Person View
Venue: arXiv cs.CV 2024
Year: 2024

In this paper, we present our solutions for a spectrum of automation tasks in life-saving intervention procedures within the Trauma THOMPSON (T3) Challenge, encompassing action recognition, action anticipation, and Visual Question Answering (VQA). For action recognition and anticipation, we propose a pre-processing strategy that samples and stitches multiple inputs into a single image and then incorporates momentum- and attention-based knowledge distillation to improve the performance of the two tasks. For training, we present an action dictionary-guided design, which consistently yields the most favorable results across our experiments. In the realm of VQA, we leverage object-level features and deploy co-attention networks to train both object and question features. Notably, we introduce a novel frame-question cross-attention mechanism at the network's core for enhanced performance. Our solutions achieve the $2^{nd}$ rank in action recognition and anticipation tasks and $1^{st}$ rank in the VQA task.
Transformers with Stochastic Competition for Tabular Data Modelling
Venue: arXiv cs.LG 2024
Year: 2024

Despite the prevalence and significance of tabular data across numerous industries and fields, it has been relatively underexplored in the realm of deep learning. Even today, neural networks are often overshadowed by techniques such as gradient boosted decision trees (GBDT). However, recent models are beginning to close this gap, outperforming GBDT in various setups and garnering increased attention in the field. Inspired by this development, we introduce a novel stochastic deep learning model specifically designed for tabular data. The foundation of this model is a Transformer-based architecture, carefully adapted to cater to the unique properties of tabular data through strategic architectural modifications and leveraging two forms of stochastic competition. First, we employ stochastic "Local Winner Takes All" units to promote generalization capacity through stochasticity and sparsity. Second, we introduce a novel embedding layer that selects among alternative linear embedding layers through a mechanism of stochastic competition. The effectiveness of the model is validated on a variety of widely-used, publicly available datasets. We demonstrate that, through the incorporation of these elements, our model yields high performance and marks a significant advancement in the application of deep learning to tabular data.
Motif-Consistent Counterfactuals with Adversarial Refinement for Graph-Level Anomaly Detection
Venue: arXiv cs.LG 2024
Year: 2024

Graph-level anomaly detection is significant in diverse domains. To improve detection performance, counterfactual graphs have been exploited to benefit the generalization capacity by learning causal relations. Most existing studies directly introduce perturbations (e.g., flipping edges) to generate counterfactual graphs, which are prone to alter the semantics of generated examples and make them off the data manifold, resulting in sub-optimal performance. To address these issues, we propose a novel approach, Motif-consistent Counterfactuals with Adversarial Refinement (MotifCAR), for graph-level anomaly detection. The model combines the motif of one graph, the core subgraph containing the identification (category) information, and the contextual subgraph (non-motif) of another graph to produce a raw counterfactual graph. However, the produced raw graph might be distorted and cannot satisfy the important counterfactual properties: Realism, Validity, Proximity and Sparsity. Towards that, we present a Generative Adversarial Network (GAN)-based graph optimizer to refine the raw counterfactual graphs. It adopts the discriminator to guide the generator to generate graphs close to realistic data, i.e., meet the property Realism. Further, we design the motif consistency to force the motif of the generated graphs to be consistent with the realistic graphs, meeting the property Validity. Also, we devise the contextual loss and connection loss to control the contextual subgraph and the newly added links to meet the properties Proximity and Sparsity. As a result, the model can generate high-quality counterfactual graphs. Experiments demonstrate the superiority of MotifCAR.
Interleaved Block-Sparse Transform
Venue: arXiv cs.IT 2024
Year: 2024

Low-complexity Bayes-optimal memory approximate message passing (MAMP) is an efficient signal estimation algorithm in compressed sensing and multicarrier modulation. However, achieving replica Bayes optimality with MAMP necessitates a large-scale right-unitarily invariant transformation, which is prohibitive in practical systems due to its high computational complexity and hardware costs. To solve this difficulty, this letter proposes a low-complexity interleaved block-sparse (IBS) transform, which consists of interleaved multiple low-dimensional transform matrices, aimed at reducing the hardware implementation scale while mitigating performance loss. Furthermore, an IBS cross-domain memory approximate message passing (IBS-CD-MAMP) estimator is developed, comprising a memory linear estimator in the IBS transform domain and a non-linear estimator in the source domain. Numerical results show that the IBS-CD-MAMP offers a reduced implementation scale and lower complexity with excellent performance in IBS-based compressed sensing and interleave frequency division multiplexing systems.
The role of slicing in test-driven development
Venue: arXiv cs.SE 2024
Year: 2024

Test-driven development (TDD) is a widely used agile practice. However, very little is known with certainty about TDD's underlying foundations, i.e., the way TDD works. In this paper, we propose a theoretical framework for TDD, with the following characteristics: 1) Each TDD cycle represents a vertical slice of a (probably also small) user story, 2) vertical slices are captured using contracts, implicit in the developers' minds, and 3) the code created during a TDD cycle is a sliced-based specification of a code oracle, using the contracts as slicing pre/post-conditions. We have checked the connections among TDD, contracts, and slices using a controlled experiment conducted in the industry.
Collaborative real-time vision-based device for olive oil production monitoring
Venue: arXiv cs.CV 2024
Year: 2024

This paper proposes an innovative approach to improving quality control of olive oil manufacturing and preventing damage to the machinery caused by foreign objects. We developed a computer-vision-based system that monitors the input of an olive grinder and promptly alerts operators if a foreign object is detected, indicating it by using guided lasers, audio, and visual cues.
General Vision Encoder Features as Guidance in Medical Image Registration
Venue: arXiv cs.CV 2024
Year: 2024

General vision encoders like DINOv2 and SAM have recently transformed computer vision. Even though they are trained on natural images, such encoder models have excelled in medical imaging, e.g., in classification, segmentation, and registration. However, no in-depth comparison of different state-of-the-art general vision encoders for medical registration is available. In this work, we investigate how well general vision encoder features can be used in the dissimilarity metrics for medical image registration. We explore two encoders that were trained on natural images as well as one that was fine-tuned on medical data. We apply the features within the well-established B-spline FFD registration framework. In extensive experiments on cardiac cine MRI data, we find that using features as additional guidance for conventional metrics improves the registration quality. The code is available at github.com/compai-lab/2024-miccai-koegl.
A new approach to delegate signing rights to proxy signers using isogeny-based cryptography
Venue: arXiv cs.CR 2024
Year: 2024

E-governance is a two-way protocol through which one can use government services, share data and request information. It refers to the use of communication and information technologies to provide government services to public in an efficient and fast manner. In addition, any document submitted to the e-Government system must be authenticated by a government officer using a digital signature scheme. In the context of digital signatures, the proxy signature is an important cryptographic primitive that allows the original signer to delegate signing authority to another signer (proxy signer). The proxy signature has a number of important applications in the e-government system. There are now a large amount of proxy signature schemes. The security of most of them relies on the following hard problems: the discrete logarithm problem and the factorization of integers problem. However, a large-scale quantum computer can solve them in polynomial time due to Shor's algorithm. As a consequence, there is a need for a quantum computer-resistant proxy signature to secure e-governance system from quantum adversaries. In this work, we propose the first post-quantum isogeny based proxy signature scheme CSI-PS (commutative supersingular isogeny proxy signature). Our construction is proven to be uf-cma secure under the hardness of the group action inverse problem (GAIP) based on isogeny.
RISC-V RVV efficiency for ANN algorithms
Venue: arXiv cs.LG 2024
Year: 2024

Handling vast amounts of data is crucial in today's world. The growth of high-performance computing has created a need for parallelization, particularly in the area of machine learning algorithms such as ANN (Approximate Nearest Neighbors). To improve the speed of these algorithms, it is important to optimize them for specific processor architectures. RISC-V (Reduced Instruction Set Computer Five) is one of the modern processor architectures, which features a vector instruction set called RVV (RISC-V Vector Extension). In machine learning algorithms, vector extensions are widely utilized to improve the processing of voluminous data. This study examines the effectiveness of applying RVV to commonly used ANN algorithms. The algorithms were adapted for RISC-V and optimized using RVV after identifying the primary bottlenecks. Additionally, we developed a theoretical model of a parameterized vector block and identified the best on average configuration that demonstrates the highest theoretical performance of the studied ANN algorithms when the other CPU parameters are fixed.
Exploring Robot Trajectory Planning -- A Comparative Analysis of Algorithms And Software Implementations in Dynamic Environments
Venue: arXiv cs.RO 2024
Year: 2024

Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity, acceleration and jerk. The process deals with how the robot can follow a desired motion path in a suitable environment. This trajectory planning is extensively used in Automobile Industrial Robot, Manipulators, and Mobile Robots. Trajectory planning is a fundamental component of motion control systems. To perform tasks like pick and place operations, assembly, welding, painting, path following, and obstacle avoidance. This paper introduces a comparative analysis of trajectory planning algorithms and their key software elements working strategy in complex and dynamic environments. Adaptability and real-time analysis are the most common problems in trajectory planning. The paper primarily focuses on getting a better understanding of these unpredictable environments.
Reconstruct the Pruned Model without Any Retraining
Venue: arXiv cs.LG 2024
Year: 2024

Structured pruning is a promising hardware-friendly compression technique for large language models (LLMs), which is expected to be retraining-free to avoid the enormous retraining cost. This retraining-free paradigm involves (1) pruning criteria to define the architecture and (2) distortion reconstruction to restore performance. However, existing methods often emphasize pruning criteria while using reconstruction techniques that are specific to certain modules or criteria, resulting in limited generalizability. To address this, we introduce the Linear Interpolation-based Adaptive Reconstruction (LIAR) framework, which is both efficient and effective. LIAR does not require back-propagation or retraining and is compatible with various pruning criteria and modules. By applying linear interpolation to the preserved weights, LIAR minimizes reconstruction error and effectively reconstructs the pruned output. Our evaluations on benchmarks such as GLUE, SQuAD, WikiText, and common sense reasoning show that LIAR enables a BERT model to maintain 98% accuracy even after removing 50% of its parameters and achieves top performance for LLaMA in just a few minutes.
EarlyMalDetect: A Novel Approach for Early Windows Malware Detection Based on Sequences of API Calls
Venue: arXiv cs.CR 2024
Year: 2024

In this work, we propose EarlyMalDetect, a novel approach for early Windows malware detection based on sequences of API calls. Our approach leverages generative transformer models and attention-guided deep recurrent neural networks to accurately identify and detect patterns of malicious behaviors in the early stage of malware execution. By analyzing the sequences of API calls invoked during execution, the proposed approach can classify executable files (programs) as malware or benign by predicting their behaviors based on a few shots (initial API calls) invoked during execution. EarlyMalDetect can predict and reveal what a malware program is going to perform on the target system before it occurs, which can help to stop it before executing its malicious payload and infecting the system. Specifically, EarlyMalDetect relies on a fine-tuned transformer model based on API calls which has the potential to predict the next API call functions to be used by a malware or benign executable program. Our extensive experimental evaluations show that the proposed approach is highly effective in predicting malware behaviors and can be used as a preventive measure against zero-day threats in Windows systems.