OpenRaiser/Intern-Atlas huggingface dataset:
Stein Particle Filter for Nonlinear, Non-Gaussian State Estimation
Venue: arXiv cs.RO 2022
Year: 2022

Estimation of a dynamical system's latent state subject to sensor noise and model inaccuracies remains a critical yet difficult problem in robotics. While Kalman filters provide the optimal solution in the least squared sense for linear and Gaussian noise problems, the general nonlinear and non-Gaussian noise case is significantly more complicated, typically relying on sampling strategies that are limited to low-dimensional state spaces. In this paper we devise a general inference procedure for filtering of nonlinear, non-Gaussian dynamical systems that exploits the differentiability of both the update and prediction models to scale to higher dimensional spaces. Our method, Stein particle filter, can be seen as a deterministic flow of particles, embedded in a reproducing kernel Hilbert space, from an initial state to the desirable posterior. The particles evolve jointly to conform to a posterior approximation while interacting with each other through a repulsive force. We evaluate the method in simulation and in complex localization tasks while comparing it to sequential Monte Carlo solutions.
Distillation with Contrast is All You Need for Self-Supervised Point Cloud Representation Learning
Venue: arXiv cs.CV 2022
Year: 2022

In this paper, we propose a simple and general framework for self-supervised point cloud representation learning. Human beings understand the 3D world by extracting two levels of information and establishing the relationship between them. One is the global shape of an object, and the other is the local structures of it. However, few existing studies in point cloud representation learning explored how to learn both global shapes and local-to-global relationships without a specified network architecture. Inspired by how human beings understand the world, we utilize knowledge distillation to learn both global shape information and the relationship between global shape and local structures. At the same time, we combine contrastive learning with knowledge distillation to make the teacher network be better updated. Our method achieves the state-of-the-art performance on linear classification and multiple other downstream tasks. Especially, we develop a variant of ViT for 3D point cloud feature extraction, which also achieves comparable results with existing backbones when combined with our framework, and visualization of the attention maps show that our model does understand the point cloud by combining the global shape information and multiple local structural information, which is consistent with the inspiration of our representation learning method. Our code will be released soon.
Motion-Aware Transformer For Occluded Person Re-identification
Venue: arXiv cs.CV 2022
Year: 2022

Recently, occluded person re-identification(Re-ID) remains a challenging task that people are frequently obscured by other people or obstacles, especially in a crowd massing situation. In this paper, we propose a self-supervised deep learning method to improve the location performance for human parts through occluded person Re-ID. Unlike previous works, we find that motion information derived from the photos of various human postures can help identify major human body components. Firstly, a motion-aware transformer encoder-decoder architecture is designed to obtain keypoints heatmaps and part-segmentation maps. Secondly, an affine transformation module is utilized to acquire motion information from the keypoint detection branch. Then the motion information will support the segmentation branch to achieve refined human part segmentation maps, and effectively divide the human body into reasonable groups. Finally, several cases demonstrate the efficiency of the proposed model in distinguishing different representative parts of the human body, which can avoid the background and occlusion disturbs. Our method consistently achieves state-of-the-art results on several popular datasets, including occluded, partial, and holistic.
Improving greedy core-set configurations for active learning with uncertainty-scaled distances
Venue: arXiv cs.LG 2022
Year: 2022

We scale perceived distances of the core-set algorithm by a factor of uncertainty and search for low-confidence configurations, finding significant improvements in sample efficiency across CIFAR10/100 and SVHN image classification, especially in larger acquisition sizes. We show the necessity of our modifications and explain how the improvement is due to a probabilistic quadratic speed-up in the convergence of core-set loss, under assumptions about the relationship of model uncertainty and misclassification.
Inflated Bendable Eversion Cantilever Mechanism with Inner Skeleton for Increased Payload Holding
Venue: arXiv cs.RO 2022
Year: 2022

Inflatable structures used in soft robotics applications exhibit unique characteristics. In particular, the tip-extension structure, which grows from the tip, can grow without friction against the environment. However, these inflatable structures are inferior to rigid mechanisms in terms of their load-bearing capacity. The stiffness of the tip-extension structure can be increased by pressurization, but the structure cannot maintain its curved shape and compliance. In this study, we proposed a mechanism that combines a skeleton structure consisting of multi-joint links with functions to increase rigidity while keeping low pressure and realizing the functions of bending and shape fixation. We devised a design method for rigid articulated links and combined it with a membrane structure that utilizes the advantages of the tip-extension structure. The experimental results show that the payload of the designed structure increases compared to that of the membrane-only structure. The findings of this research can be applied to long robots that can be extended in the air without drooping and to mechanisms that can wrap around the human body.
A decision-tree framework to select optimal box-sizes for product shipments
Venue: arXiv cs.LG 2022
Year: 2022

In package-handling facilities, boxes of varying sizes are used to ship products. Improperly sized boxes with box dimensions much larger than the product dimensions create wastage and unduly increase the shipping costs. Since it is infeasible to make unique, tailor-made boxes for each of the $N$ products, the fundamental question that confronts e-commerce companies is: How many $K << N$ cuboidal boxes need to manufactured and what should be their dimensions? In this paper, we propose a solution for the single-count shipment containing one product per box in two steps: (i) reduce it to a clustering problem in the $3$ dimensional space of length, width and height where each cluster corresponds to the group of products that will be shipped in a particular size variant, and (ii) present an efficient forward-backward decision tree based clustering method with low computational complexity on $N$ and $K$ to obtain these $K$ clusters and corresponding box dimensions. Our algorithm has multiple constituent parts, each specifically designed to achieve a high-quality clustering solution. As our method generates clusters in an incremental fashion without discarding the present solution, adding or deleting a size variant is as simple as stopping the backward pass early or executing it for one more iteration. We tested the efficacy of our approach by simulating actual single-count shipments that were transported during a month by Amazon using the proposed box dimensions. Even by just modifying the existing box dimensions and not adding a new size variant, we achieved a reduction of $4.4\%$ in the shipment volume, contributing to the decrease in non-utilized, air volume space by $2.2\%$. The reduction in shipment volume and air volume improved significantly to $10.3\%$ and $6.1\%$ when we introduced $4$ additional boxes.
On Almost Sure Convergence Rates of Stochastic Gradient Methods
Venue: arXiv cs.LG 2022
Year: 2022

The vast majority of convergence rates analysis for stochastic gradient methods in the literature focus on convergence in expectation, whereas trajectory-wise almost sure convergence is clearly important to ensure that any instantiation of the stochastic algorithms would converge with probability one. Here we provide a unified almost sure convergence rates analysis for stochastic gradient descent (SGD), stochastic heavy-ball (SHB), and stochastic Nesterov's accelerated gradient (SNAG) methods. We show, for the first time, that the almost sure convergence rates obtained for these stochastic gradient methods on strongly convex functions, are arbitrarily close to their optimal convergence rates possible. For non-convex objective functions, we not only show that a weighted average of the squared gradient norms converges to zero almost surely, but also the last iterates of the algorithms. We further provide last-iterate almost sure convergence rates analysis for stochastic gradient methods on weakly convex smooth functions, in contrast with most existing results in the literature that only provide convergence in expectation for a weighted average of the iterates.
Log-based Anomaly Detection with Deep Learning: How Far Are We?
Venue: arXiv cs.SE 2022
Year: 2022

Software-intensive systems produce logs for troubleshooting purposes. Recently, many deep learning models have been proposed to automatically detect system anomalies based on log data. These models typically claim very high detection accuracy. For example, most models report an F-measure greater than 0.9 on the commonly-used HDFS dataset. To achieve a profound understanding of how far we are from solving the problem of log-based anomaly detection, in this paper, we conduct an in-depth analysis of five state-of-the-art deep learning-based models for detecting system anomalies on four public log datasets. Our experiments focus on several aspects of model evaluation, including training data selection, data grouping, class distribution, data noise, and early detection ability. Our results point out that all these aspects have significant impact on the evaluation, and that all the studied models do not always work well. The problem of log-based anomaly detection has not been solved yet. Based on our findings, we also suggest possible future work.
On the Implicit Bias of Gradient Descent for Temporal Extrapolation
Venue: arXiv cs.LG 2022
Year: 2022

When using recurrent neural networks (RNNs) it is common practice to apply trained models to sequences longer than those seen in training. This "extrapolating" usage deviates from the traditional statistical learning setup where guarantees are provided under the assumption that train and test distributions are identical. Here we set out to understand when RNNs can extrapolate, focusing on a simple case where the data generating distribution is memoryless. We first show that even with infinite training data, there exist RNN models that interpolate perfectly (i.e., they fit the training data) yet extrapolate poorly to longer sequences. We then show that if gradient descent is used for training, learning will converge to perfect extrapolation under certain assumptions on initialization. Our results complement recent studies on the implicit bias of gradient descent, showing that it plays a key role in extrapolation when learning temporal prediction models.
TinyM$^2$Net: A Flexible System Algorithm Co-designed Multimodal Learning Framework for Tiny Devices
Venue: arXiv cs.LG 2022
Year: 2022

With the emergence of Artificial Intelligence (AI), new attention has been given to implement AI algorithms on resource constrained tiny devices to expand the application domain of IoT. Multimodal Learning has recently become very popular with the classification task due to its impressive performance for both image and audio event classification. This paper presents TinyM$^2$Net -- a flexible system algorithm co-designed multimodal learning framework for resource constrained tiny devices. The framework was designed to be evaluated on two different case-studies: COVID-19 detection from multimodal audio recordings and battle field object detection from multimodal images and audios. In order to compress the model to implement on tiny devices, substantial network architecture optimization and mixed precision quantization were performed (mixed 8-bit and 4-bit). TinyM$^2$Net shows that even a tiny multimodal learning model can improve the classification performance than that of any unimodal frameworks. The most compressed TinyM$^2$Net achieves 88.4% COVID-19 detection accuracy (14.5% improvement from unimodal base model) and 96.8% battle field object detection accuracy (3.9% improvement from unimodal base model). Finally, we test our TinyM$^2$Net models on a Raspberry Pi 4 to see how they perform when deployed to a resource constrained tiny device.
Compiler Support for Sparse Tensor Computations in MLIR
Venue: arXiv cs.PL 2022
Year: 2022

Sparse tensors arise in problems in science, engineering, machine learning, and data analytics. Programs that operate on such tensors can exploit sparsity to reduce storage requirements and computational time. Developing and maintaining sparse software by hand, however, is a complex and error-prone task. Therefore, we propose treating sparsity as a property of tensors, not a tedious implementation task, and letting a sparse compiler generate sparse code automatically from a sparsity-agnostic definition of the computation. This paper discusses integrating this idea into MLIR.
Can Open Domain Question Answering Systems Answer Visual Knowledge Questions?
Venue: arXiv cs.AI 2022
Year: 2022

The task of Outside Knowledge Visual Question Answering (OKVQA) requires an automatic system to answer natural language questions about pictures and images using external knowledge. We observe that many visual questions, which contain deictic referential phrases referring to entities in the image, can be rewritten as "non-grounded" questions and can be answered by existing text-based question answering systems. This allows for the reuse of existing text-based Open Domain Question Answering (QA) Systems for visual question answering. In this work, we propose a potentially data-efficient approach that reuses existing systems for (a) image analysis, (b) question rewriting, and (c) text-based question answering to answer such visual questions. Given an image and a question pertaining to that image (a visual question), we first extract the entities present in the image using pre-trained object and scene classifiers. Using these detected entities, the visual questions can be rewritten so as to be answerable by open domain QA systems. We explore two rewriting strategies: (1) an unsupervised method using BERT for masking and rewriting, and (2) a weakly supervised approach that combines adaptive rewriting and reinforcement learning techniques to use the implicit feedback from the QA system. We test our strategies on the publicly available OKVQA dataset and obtain a competitive performance with state-of-the-art models while using only 10% of the training data.
Securing Smart Grids Through an Incentive Mechanism for Blockchain-Based Data Sharing
Venue: arXiv cs.CR 2022
Year: 2022

Smart grids leverage the data collected from smart meters to make important operational decisions. However, they are vulnerable to False Data Injection (FDI) attacks in which an attacker manipulates meter data to disrupt the grid operations. Existing works on FDI are based on a simple threat model in which a single grid operator has access to all the data, and only some meters can be compromised. Our goal is to secure smart grids against FDI under a realistic threat model. To this end, we present a threat model in which there are multiple operators, each with a partial view of the grid, and each can be fully compromised. An effective defense against FDI in this setting is to share data between the operators. However, the main challenge here is to incentivize data sharing. We address this by proposing an incentive mechanism that rewards operators for uploading data, but penalizes them if the data is missing or anomalous. We derive formal conditions under which our incentive mechanism is provably secure against operators who withhold or distort measurement data for profit. We then implement the data sharing solution on a private blockchain, introducing several optimizations that overcome the inherent performance limitations of the blockchain. Finally, we conduct an experimental evaluation that demonstrates that our implementation has practical performance.
A new perspective on classification: optimally allocating limited resources to uncertain tasks
Venue: arXiv cs.LG 2022
Year: 2022

A central problem in business concerns the optimal allocation of limited resources to a set of available tasks, where the payoff of these tasks is inherently uncertain. In credit card fraud detection, for instance, a bank can only assign a small subset of transactions to their fraud investigations team. Typically, such problems are solved using a classification framework, where the focus is on predicting task outcomes given a set of characteristics. Resources are then allocated to the tasks that are predicted to be the most likely to succeed. However, we argue that using classification to address task uncertainty is inherently suboptimal as it does not take into account the available capacity. Therefore, we first frame the problem as a type of assignment problem. Then, we present a novel solution using learning to rank by directly optimizing the assignment's expected profit given limited, stochastic capacity. This is achieved by optimizing a specific instance of the net discounted cumulative gain, a commonly used class of metrics in learning to rank. Empirically, we demonstrate that our new method achieves higher expected profit and expected precision compared to a classification approach for a wide variety of application areas and data sets. This illustrates the benefit of an integrated approach and of explicitly considering the available resources when learning a predictive model.
Simultaneous Transmit Diversity and Passive Beamforming with Large-Scale Intelligent Reflecting Surface: Far-Field or Near-Field?
Venue: arXiv cs.IT 2022
Year: 2022

Intelligent reflecting surface (IRS) has emerged as a cost-effective solution to enhance wireless communication performance via passive signal reflection. Existing works on IRS have mainly focused on investigating IRS's passive beamforming/reflection design to boost the communication rate for users assuming that their channel state information (CSI) is fully or partially known. However, how to exploit IRS to improve the wireless transmission reliability without any CSI, which is typical in high-mobility/delay-sensitive communication scenarios, remains largely open. In this paper, we study a new IRS-aided communication system with the IRS integrated to its aided access point (AP) to achieve both functions of transmit diversity and passive beamforming simultaneously. Specifically, we first show an interesting result that the IRS's passive beamforming gain in any direction is invariant to the common phase-shift applied to all of its reflecting elements. Accordingly, we design the common phase-shift of IRS elements to achieve transmit diversity at the AP side without the need of any CSI of the users. In addition, we propose a practical method for the users to estimate the CSI at the receiver side for information decoding. Meanwhile, we show that the conventional passive beamforming gain of IRS can be retained for the other users with their CSI known at the AP. Furthermore, we derive the asymptotic performance of both IRS-aided transmit diversity and passive beamforming in closed-form, by considering the large-scale IRS with an infinite number of elements. Numerical results validate our analysis and show the performance gains of the proposed IRS-aided simultaneous transmit diversity and passive beamforming scheme over other benchmark schemes.
Binaural Audio Rendering in the Spherical Harmonic Domain: A Summary of the Mathematics and its Pitfalls
Venue: arXiv cs.SD 2022
Year: 2022

The present document reviews the mathematics behind binaural rendering of sound fields that are available as spherical harmonic expansion coefficients. This process is also known as binaural ambisonic decoding. We highlight that the details entail some amount peculiarity so that one has to be well aware of the precise definitions that are chosen for some of the involved quantities to obtain a consistent formulation. We also discuss what sets of definitions produce ambisonic signals that are compatible with the most common software tools that are available.
Allocation of Indivisible Items with Individual Preference Graphs
Venue: arXiv cs.MA 2022
Year: 2022

This paper studies the allocation of indivisible items to agents, when each agent's preferences are expressed by means of a directed acyclic graph. The vertices of each preference graph represent the subset of items approved of by the respective agent. An arc $(a,b)$ in such a graph means that the respective agent prefers item $a$ over item $b$. We introduce a new measure of dissatisfaction of an agent by counting the number of non-assigned items which are approved of by the agent and for which no more preferred item is allocated to the agent. Considering two problem variants, we seek an allocation of the items to the agents in a way that minimizes (i) the total dissatisfaction over all agents or (ii) the maximum dissatisfaction among the agents. For both optimization problems we study the status of computational complexity and obtain NP-hardness results as well as polynomial algorithms with respect to natural underlying graph structures, such as stars, trees, paths, and matchings. We also analyze the parameterized complexity of the two problems with respect to various parameters related to the number of agents, the dissatisfaction threshold, the vertex degrees of the preference graphs, and the treewidth.
Predicting the intended action using internal simulation of perception
Venue: arXiv cs.AI 2022
Year: 2022

This article proposes an architecture, which allows the prediction of intention by internally simulating perceptual states represented by action pattern vectors. To this end, associative self-organising neural networks (A-SOM) is utilised to build a hierarchical cognitive architecture for recognition and simulation of the skeleton based human actions. The abilities of the proposed architecture in recognising and predicting actions is evaluated in experiments using three different datasets of 3D actions. Based on the experiments of this article, applying internally simulated perceptual states represented by action pattern vectors improves the performance of the recognition task in all experiments. Furthermore, internal simulation of perception addresses the problem of having limited access to the sensory input, and also the future prediction of the consecutive perceptual sequences. The performance of the system is compared and discussed with similar architecture using self-organizing neural networks (SOM).