OpenRaiser/Intern-Atlas huggingface dataset:
Design of a robot for the automatic charging of an electric car
Venue: arXiv cs.RO 2022
Year: 2022

In this paper, a robot with parallel architecture is proposed for charging an electric vehicle having the charging socket on its front side. Kinematic models are developed to design the robot for a given workspace that corresponds to the car's plug placements. A demonstrator composed by commercial components is shown.
Privacy-Preserving Aggregation in Federated Learning: A Survey
Venue: arXiv cs.CR 2022
Year: 2022

Over the recent years, with the increasing adoption of Federated Learning (FL) algorithms and growing concerns over personal data privacy, Privacy-Preserving Federated Learning (PPFL) has attracted tremendous attention from both academia and industry. Practical PPFL typically allows multiple participants to individually train their machine learning models, which are then aggregated to construct a global model in a privacy-preserving manner. As such, Privacy-Preserving Aggregation (PPAgg) as the key protocol in PPFL has received substantial research interest. This survey aims to fill the gap between a large number of studies on PPFL, where PPAgg is adopted to provide a privacy guarantee, and the lack of a comprehensive survey on the PPAgg protocols applied in FL systems. In this survey, we review the PPAgg protocols proposed to address privacy and security issues in FL systems. The focus is placed on the construction of PPAgg protocols with an extensive analysis of the advantages and disadvantages of these selected PPAgg protocols and solutions. Additionally, we discuss the open-source FL frameworks that support PPAgg. Finally, we highlight important challenges and future research directions for applying PPAgg to FL systems and the combination of PPAgg with other technologies for further security improvement.
Vehicular Positioning and Tracking in Multipath Non-Line-of-Sight Channels
Venue: arXiv cs.IT 2022
Year: 2022

We consider the downlink transmission in a single cell multiple-input multiple-output system, in which the user equipment correspond to a vehicle moving along a given trajectory. This system utilizes millimeter wave channels characterized by multiple non-line-of-sight (NLoS) components. As it has been pointed out in several related works, in such systems radio access network (RAN)-based positioning can effectively improve the positioning accuracy achieved by Global Navigation Satellite Systems. However, the RAN-based positioning accuracy is highly dependent on the quality of the channel estimates, especially if multipath propagation is exploited. Recognizing that the communication channels between the serving base station and the vehicle as well as the geographical position of the vehicle can be advantageously modeled as inter-related autoregressive processes, we propose a two-stage Kalman filter algorithm employing two intertwined filters for channel tracking, position tracking and abrupt channel change detection. The first Kalman filter tracks angles-of-departure and angles-of-arrival associated with the communication channels, which are used to make a coarse position estimation. The second Kalman filter tracks the position of the vehicle utilizing the kinematic parameters of the vehicle. Simulation results clearly show the advantages of using the proposed scheme, which exploits the memoryful property of both the communication channels and the geographical positions, as compared to employing previously proposed single-stage or not properly combined filters in NLoS environments.
Adversarial Speaker Distillation for Countermeasure Model on Automatic Speaker Verification
Venue: arXiv cs.SD 2022
Year: 2022

The countermeasure (CM) model is developed to protect ASV systems from spoof attacks and prevent resulting personal information leakage in Automatic Speaker Verification (ASV) system. Based on practicality and security considerations, the CM model is usually deployed on edge devices, which have more limited computing resources and storage space than cloud-based systems, confining the model size under a limitation. To better trade off the CM model sizes and performance, we proposed an adversarial speaker distillation method, which is an improved version of knowledge distillation method combined with generalized end-to-end (GE2E) pre-training and adversarial fine-tuning. In the evaluation phase of the ASVspoof 2021 Logical Access task, our proposed adversarial speaker distillation ResNetSE (ASD-ResNetSE) model reaches 0.2695 min t-DCF and 3.54% EER. ASD-ResNetSE only used 22.5% of parameters and 19.4% of multiply and accumulate operands of ResNetSE model.
Java Prolog Interface
Venue: arXiv cs.PL 2022
Year: 2022

There are many initiatives in presents-days for interaction between Java and Prolog programming languages. These initiatives allow combine two programming paradigms, Object Oriented Programming and Logic Programming. Every proposed interface has specifics features depending of the final use. The present paper introduces a new Java Prolog Interface to be use for Prolog persistence interacting from Java side and functional programming from Prolog side. To support this interaction, the most advanced solutions implements interlanguages data type mappings between Java objects and Prolog terms. Java Prolog Interface is a modern solution that take the best features from existing solutions and combine all in one. It' s more flexible, adaptive and have an Application Provider Interface (API) easy to use. JPI implement the javax.script interface include in Java from version 1.6. The project like existing solutions have an implementation for the most popular open source Prolog Engines. Is hosted on GitHub source code management at Prolobjectlink repository and deploy the resulting artifacts on Maven Central repository. The project have a web page too hosted on GitHub.
The Legend of Zelda: The Complexity of Mechanics
Venue: arXiv cs.CC 2022
Year: 2022

We analyze some of the many game mechanics available to Link in the classic Legend of Zelda series of video games. In each case, we prove that the generalized game with that mechanic is polynomial, NP-complete, NP-hard and in PSPACE, or PSPACE-complete. In the process we give an overview of many of the hardness proof techniques developed for video games over the past decade: the motion-planning-through-gadgets framework, the planar doors framework, the doors-and-buttons framework, the "Nintendo" platform game / SAT framework, and the collectible tokens and toll roads / Hamiltonicity framework.
Free Resolutions and Generalized Hamming Weights of binary linear codes
Venue: arXiv cs.IT 2022
Year: 2022

In this work, we explore the relationship between free resolution of some monomial ideals and Generalized Hamming Weights (GHWs) of binary codes. More precisely, we look for a structure smaller than the set of codewords of minimal support that provides us some information about the GHWs. We prove that the first and second generalized Hamming weight of a binary linear code can be computed (by means of a graded free resolution) from a set of monomials associated to a binomial ideal related with the code. Moreover, the remaining weights are bounded by the Betti numbers for that set.
Rethinking Video Salient Object Ranking
Venue: arXiv cs.CV 2022
Year: 2022

Salient Object Ranking (SOR) involves ranking the degree of saliency of multiple salient objects in an input image. Most recently, a method is proposed for ranking salient objects in an input video based on a predicted fixation map. It relies solely on the density of the fixations within the salient objects to infer their saliency ranks, which is incompatible with human perception of saliency ranking. In this work, we propose to explicitly learn the spatial and temporal relations between different salient objects to produce the saliency ranks. To this end, we propose an end-to-end method for video salient object ranking (VSOR), with two novel modules: an intra-frame adaptive relation (IAR) module to learn the spatial relation among the salient objects in the same frame locally and globally, and an inter-frame dynamic relation (IDR) module to model the temporal relation of saliency across different frames. In addition, to address the limited video types (just sports and movies) and scene diversity in the existing VSOR dataset, we propose a new dataset that covers different video types and diverse scenes on a large scale. Experimental results demonstrate that our method outperforms state-of-the-art methods in relevant fields. We will make the source code and our proposed dataset available.
A 23 MW data centre is all you need
Venue: arXiv cs.LG 2022
Year: 2022

The field of machine learning has achieved striking progress in recent years, witnessing breakthrough results on language modelling, protein folding and nitpickingly fine-grained dog breed classification. Some even succeeded at playing computer games and board games, a feat both of engineering and of setting their employers' expectations. The central contribution of this work is to carefully examine whether this progress, and technology more broadly, can be expected to continue indefinitely. Through a rigorous application of statistical theory and failure to extrapolate beyond the training data, we answer firmly in the negative and provide details: technology will peak at 3:07 am (BST) on 20th July, 2032. We then explore the implications of this finding, discovering that individuals awake at this ungodly hour with access to a sufficiently powerful computer possess an opportunity for myriad forms of long-term linguistic 'lock in'. All we need is a large (>> 1W) data centre to seize this pivotal moment. By setting our analogue alarm clocks, we propose a tractable algorithm to ensure that, for the future of humanity, the British spelling of colour becomes the default spelling across more than 80% of the global word processing software market.
Ball 3D Localization From A Single Calibrated Image
Venue: arXiv cs.CV 2022
Year: 2022

Ball 3D localization in team sports has various applications including automatic offside detection in soccer, or shot release localization in basketball. Today, this task is either resolved by using expensive multi-views setups, or by restricting the analysis to ballistic trajectories. In this work, we propose to address the task on a single image from a calibrated monocular camera by estimating ball diameter in pixels and use the knowledge of real ball diameter in meters. This approach is suitable for any game situation where the ball is (even partly) visible. To achieve this, we use a small neural network trained on image patches around candidates generated by a conventional ball detector. Besides predicting ball diameter, our network outputs the confidence of having a ball in the image patch. Validations on 3 basketball datasets reveals that our model gives remarkable predictions on ball 3D localization. In addition, through its confidence output, our model improves the detection rate by filtering the candidates produced by the detector. The contributions of this work are (i) the first model to address 3D ball localization on a single image, (ii) an effective method for ball 3D annotation from single calibrated images, (iii) a high quality 3D ball evaluation dataset annotated from a single viewpoint. In addition, the code to reproduce this research is be made freely available at https://github.com/gabriel-vanzandycke/deepsport.
SimPO: Simultaneous Prediction and Optimization
Venue: arXiv cs.LG 2022
Year: 2022

Many machine learning (ML) models are integrated within the context of a larger system as part of a key component for decision making processes. Concretely, predictive models are often employed in estimating the parameters for the input values that are utilized for optimization models as isolated processes. Traditionally, the predictive models are built first, then the model outputs are used to generate decision values separately. However, it is often the case that the prediction values that are trained independently of the optimization process produce sub-optimal solutions. In this paper, we propose a formulation for the Simultaneous Prediction and Optimization (SimPO) framework. This framework introduces the use of a joint weighted loss of a decision-driven predictive ML model and an optimization objective function, which is optimized end-to-end directly through gradient-based methods.
Perceptive, non-linear Speech Processing and Spiking Neural Networks
Venue: arXiv cs.SD 2022
Year: 2022

Source separation and speech recognition are very difficult in the context of noisy and corrupted speech. Most conventional techniques need huge databases to estimate speech (or noise) density probabilities to perform separation or recognition. We discuss the potential of perceptive speech analysis and processing in combination with biologically plausible neural network processors. We illustrate the potential of such non-linear processing of speech on a source separation system inspired by an Auditory Scene Analysis paradigm. We also discuss a potential application in speech recognition.
MyMove: Facilitating Older Adults to Collect In-Situ Activity Labels on a Smartwatch with Speech
Venue: arXiv cs.HC 2022
Year: 2022

Current activity tracking technologies are largely trained on younger adults' data, which can lead to solutions that are not well-suited for older adults. To build activity trackers for older adults, it is crucial to collect training data with them. To this end, we examine the feasibility and challenges with older adults in collecting activity labels by leveraging speech. Specifically, we built MyMove, a speech-based smartwatch app to facilitate the in-situ labeling with a low capture burden. We conducted a 7-day deployment study, where 13 older adults collected their activity labels and smartwatch sensor data, while wearing a thigh-worn activity monitor. Participants were highly engaged, capturing 1,224 verbal reports in total. We extracted 1,885 activities with corresponding effort level and timespan, and examined the usefulness of these reports as activity labels. We discuss the implications of our approach and the collected dataset in supporting older adults through personalized activity tracking technologies.
An End-to-end Supervised Domain Adaptation Framework for Cross-Domain Change Detection
Venue: arXiv cs.CV 2022
Year: 2022

Existing deep learning-based change detection methods try to elaborately design complicated neural networks with powerful feature representations, but ignore the universal domain shift induced by time-varying land cover changes, including luminance fluctuations and season changes between pre-event and post-event images, thereby producing sub-optimal results. In this paper, we propose an end-to-end Supervised Domain Adaptation framework for cross-domain Change Detection, namely SDACD, to effectively alleviate the domain shift between bi-temporal images for better change predictions. Specifically, our SDACD presents collaborative adaptations from both image and feature perspectives with supervised learning. Image adaptation exploits generative adversarial learning with cycle-consistency constraints to perform cross-domain style transformation, effectively narrowing the domain gap in a two-side generation fashion. As to feature adaptation, we extract domain-invariant features to align different feature distributions in the feature space, which could further reduce the domain gap of cross-domain images. To further improve the performance, we combine three types of bi-temporal images for the final change prediction, including the initial input bi-temporal images and two generated bi-temporal images from the pre-event and post-event domains. Extensive experiments and analyses on two benchmarks demonstrate the effectiveness and universality of our proposed framework. Notably, our framework pushes several representative baseline models up to new State-Of-The-Art records, achieving 97.34% and 92.36% on the CDD and WHU building datasets, respectively. The source code and models are publicly available at https://github.com/Perfect-You/SDACD.
Making Pre-trained Language Models End-to-end Few-shot Learners with Contrastive Prompt Tuning
Venue: arXiv cs.CL 2022
Year: 2022

Pre-trained Language Models (PLMs) have achieved remarkable performance for various language understanding tasks in IR systems, which require the fine-tuning process based on labeled training data. For low-resource scenarios, prompt-based learning for PLMs exploits prompts as task guidance and turns downstream tasks into masked language problems for effective few-shot fine-tuning. In most existing approaches, the high performance of prompt-based learning heavily relies on handcrafted prompts and verbalizers, which may limit the application of such approaches in real-world scenarios. To solve this issue, we present CP-Tuning, the first end-to-end Contrastive Prompt Tuning framework for fine-tuning PLMs without any manual engineering of task-specific prompts and verbalizers. It is integrated with the task-invariant continuous prompt encoding technique with fully trainable prompt parameters. We further propose the pair-wise cost-sensitive contrastive learning procedure to optimize the model in order to achieve verbalizer-free class mapping and enhance the task-invariance of prompts. It explicitly learns to distinguish different classes and makes the decision boundary smoother by assigning different costs to easy and hard cases. Experiments over a variety of language understanding tasks used in IR systems and different PLMs show that CP-Tuning outperforms state-of-the-art methods.
Dynamic Supervisor for Cross-dataset Object Detection
Venue: arXiv cs.CV 2022
Year: 2022

The application of cross-dataset training in object detection tasks is complicated because the inconsistency in the category range across datasets transforms fully supervised learning into semi-supervised learning. To address this problem, recent studies focus on the generation of high-quality missing annotations. In this study, we first point out that it is not enough to generate high-quality annotations using a single model, which only looks once for annotations. Through detailed experimental analyses, we further conclude that hard-label training is conducive to generating high-recall annotations, while soft-label training tends to obtain high-precision annotations. Inspired by the aspects mentioned above, we propose a dynamic supervisor framework that updates the annotations multiple times through multiple-updated submodels trained using hard and soft labels. In the final generated annotations, both recall and precision improve significantly through the integration of hard-label training with soft-label training. Extensive experiments conducted on various dataset combination settings support our analyses and demonstrate the superior performance of the proposed dynamic supervisor.
Measuring Cognitive Load of Software Developers Based on Nasal Skin Temperature
Venue: arXiv cs.SE 2022
Year: 2022

It has recently become increasingly important to measure the cognitive load of developers. This is because continuing with a development under a high cognitive load may cause human errors. Therefore, to automatically measure the cognitive load, existing studies have used biometric measures such as brain waves and the heart rate. However, developers are often required to equip certain devices when measuring them, and can therefore be physically burdened. In this study, we evaluated the feasibility of non-invasive biometric measures based on the nasal skin temperature. The nasal skin temperature has been widely used in other fields to measure mental status. In the present experiment, the subjects created small Java programs, and we estimated their cognitive load using the proposed biometric measures based on the nasal skin temperature. As a result, the proposed biometric measures were shown to be more effective than non-biometric measures. Hence, biometric measures based on nasal skin temperature are promising for estimating the cognitive load of developers.
Development of current estimated household data and agent-based simulation of the future population distribution of households in Japan
Venue: arXiv cs.SI 2022
Year: 2022

In response to the declining population and aging infrastructure in Japan, local governments are implementing compact city policies such as the location normalization plan. To optimize the reorganization of urban public infrastructure, it is important to provide detailed and accurate forecasts of the distribution of urban populations and households. However, many local governments do not have the necessary data and forecasting capability. Moreover, current forecasts of gender- and age-based population data only exist at the municipal level, and household data are only available by family type at the prefecture level. Meanwhile, the accuracy is limited with an assumption of same change rate of population in all municipalities and within each city. Therefore, the aim of this study was to develop an agent-based microsimulation household transition model, with the household as the unit and agent, and household data was estimated for all cities in Japan from 2015. Estimated household data comprised the family type, house type, and address, age, and gender of household members, obtained from the national census, and building data. The resulting household transition model was used to forecast the attributes of each household every five years. Simulations in Toyama and Shizuoka Prefectures, Japan from 1980 to 2010 provided highly accurate estimates of municipal-level population by age and household volume by family type. The proposed model was also applied to predict the future distribution of disappearing villages and vacant houses in Japan.
Federated Learning Framework Coping with Hierarchical Heterogeneity in Cooperative ITS
Venue: arXiv cs.LG 2022
Year: 2022

Deep learning is a key approach for the environment perception function of Cooperative Intelligent Transportation Systems (C-ITS) with autonomous vehicles and smart traffic infrastructure. In today's C-ITS, smart traffic participants are capable of timely generating and transmitting a large amount of data. However, these data can not be used for model training directly due to privacy constraints. In this paper, we introduce a federated learning framework coping with Hierarchical Heterogeneity (H2-Fed), which can notably enhance the conventional pre-trained deep learning model. The framework exploits data from connected public traffic agents in vehicular networks without affecting user data privacy. By coordinating existing traffic infrastructure, including roadside units and road traffic clouds, the model parameters are efficiently disseminated by vehicular communications and hierarchically aggregated. Considering the individual heterogeneity of data distribution, computational and communication capabilities across traffic agents and roadside units, we employ a novel method that addresses the heterogeneity of different aggregation layers of the framework architecture, i.e., aggregation in layers of roadside units and cloud. The experiment results indicate that our method can well balance the learning accuracy and stability according to the knowledge of heterogeneity in current communication networks. Comparing to other baseline approaches, the evaluation on federated datasets shows that our framework is more general and capable especially in application scenarios with low communication quality. Even when 90% of the agents are timely disconnected, the pre-trained deep learning model can still be forced to converge stably, and its accuracy can be enhanced from 68% to over 90% after convergence.