OpenRaiser/Intern-Atlas huggingface dataset:
Efficient delivery of Robotics Programming educational content using Cloud Robotics
Venue: arXiv cs.RO 2022
Year: 2022

In this paper, we report on our use of cloud-robotics solutions to teach a Robotics Applications Programming course at Zurich University of Applied Sciences (ZHAW). The usage of Kubernetes based cloud computing environment combined with real robots -- turtlebots and Niryo arms -- allowed us to: 1) minimize the set up times required to provide a Robotic Operating System (ROS) simulation and development environment to all students independently of their laptop architecture and OS; 2) provide a seamless "simulation to real" experience preserving the exciting experience of writing software interacting with the physical world; and 3) sharing GPUs across multiple student groups, thus using resources efficiently. We describe our requirements, solution design, experience working with the solution in the educational context and areas where it can be further improved. This may be of interest to other educators who may want to replicate our experience.
Group Fairness in Prediction-Based Decision Making: From Moral Assessment to Implementation
Venue: arXiv cs.LG 2022
Year: 2022

Ensuring fairness of prediction-based decision making is based on statistical group fairness criteria. Which one of these criteria is the morally most appropriate one depends on the context, and its choice requires an ethical analysis. In this paper, we present a step-by-step procedure integrating three elements: (a) a framework for the moral assessment of what fairness means in a given context, based on the recently proposed general principle of "Fair equality of chances" (FEC) (b) a mapping of the assessment's results to established statistical group fairness criteria, and (c) a method for integrating the thus-defined fairness into optimal decision making. As a second contribution, we show new applications of the FEC principle and show that, with this extension, the FEC framework covers all types of group fairness criteria: independence, separation, and sufficiency. Third, we introduce an extended version of the FEC principle, which additionally allows accounting for morally irrelevant elements of the fairness assessment and links to well-known relaxations of the fairness criteria. This paper presents a framework to develop fair decision systems in a conceptually sound way, combining the moral and the computational elements of fair prediction-based decision-making in an integrated approach. Data and code to reproduce our results are available at https://github.com/joebaumann/fair-prediction-based-decision-making.
RLM-Tracking: Online Multi-Pedestrian Tracking Supported by Relative Location Mapping
Venue: arXiv cs.CV 2022
Year: 2022

The problem of multi-object tracking is a fundamental computer vision research focus, widely used in public safety, transport, autonomous vehicles, robotics, and other regions involving artificial intelligence. Because of the complexity of natural scenes, object occlusion and semi-occlusion usually occur in fundamental tracking tasks. These can easily lead to ID switching, object loss, detect errors, and misaligned limitation boxes. These conditions have a significant impact on the precision of multi-object tracking. In this paper, we design a new multi-object tracker for the above issues that contains an object \textbf{Relative Location Mapping} (RLM) model and \textbf{Target Region Density} (TRD) model. The new tracker is more sensitive to the differences in position relationships between objects. It can introduce low-score detection frames into different regions in real-time according to the density of object regions in the video. This improves the accuracy of object tracking without consuming extensive arithmetic resources. Our study shows that the proposed model has considerably enhanced the HOTA and DF1 measurements on the MOT17 and MOT20 data sets when applied to the advanced MOT method.
Virtual Sensor Middleware: Managing IoT Data for the Fog-Cloud Platform
Venue: arXiv cs.NI 2022
Year: 2022

This paper introduces the Virtual Sensor Middleware (VSM), which facilitates distributed sensor data processing on multiple fog nodes. VSM uses a Virtual Sensor as the core component of the middleware. The virtual sensor concept is redesigned to support functionality beyond sensor/device virtualization, such as deploying a set of virtual sensors to represent an IoT application and distributed sensor data processing across multiple fog nodes. Furthermore, the virtual sensor deals with the heterogeneous nature of IoT devices and the various communication protocols using different adapters to communicate with the IoT devices and the underlying protocol. VSM uses the publish-subscribe design pattern to allow virtual sensors to receive data from other virtual sensors for seamless sensor data consumption without tight integration among virtual sensors, which reduces application development efforts. Furthermore, VSM enhances the design of virtual sensors with additional components that support sharing of data in dynamic environments where data receivers may change over time, data aggregation is required, and dealing with missing data is essential for the applications.
O Problema do Roteamento de Interligações Elétricas em Circuitos Integrados
Venue: arXiv cs.OH 2022
Year: 2022

Integrated circuit design automation tools are essential for the feasibility of complex designs with millions of transistors. One of the steps performed within the process is the routing of interconnections between components of a circuit. This problem, which also aims to optimize the utilization of connection resources, has been shown to be NP-Complete and requires heuristic algorithms to look for the best achievable solutions. In this work, we present a definition of this problem in context with a brief review of existing solutions in the literature. Then, we propose a methodology for the development of an original algorithm, which aims to differentiate itself, in certain domains, from the solutions already proposed.
Cross-Modal Fusion Distillation for Fine-Grained Sketch-Based Image Retrieval
Venue: arXiv cs.CV 2022
Year: 2022

Representation learning for sketch-based image retrieval has mostly been tackled by learning embeddings that discard modality-specific information. As instances from different modalities can often provide complementary information describing the underlying concept, we propose a cross-attention framework for Vision Transformers (XModalViT) that fuses modality-specific information instead of discarding them. Our framework first maps paired datapoints from the individual photo and sketch modalities to fused representations that unify information from both modalities. We then decouple the input space of the aforementioned modality fusion network into independent encoders of the individual modalities via contrastive and relational cross-modal knowledge distillation. Such encoders can then be applied to downstream tasks like cross-modal retrieval. We demonstrate the expressive capacity of the learned representations by performing a wide range of experiments and achieving state-of-the-art results on three fine-grained sketch-based image retrieval benchmarks: Shoe-V2, Chair-V2 and Sketchy. Implementation is available at https://github.com/abhrac/xmodal-vit.
Efficient, probabilistic analysis of combinatorial neural codes
Venue: arXiv cs.NE 2022
Year: 2022

Artificial and biological neural networks (ANNs and BNNs) can encode inputs in the form of combinations of individual neurons' activities. These combinatorial neural codes present a computational challenge for direct and efficient analysis due to their high dimensionality and often large volumes of data. Here we improve the computational complexity -- from factorial to quadratic time -- of direct algebraic methods previously applied to small examples and apply them to large neural codes generated by experiments. These methods provide a novel and efficient way of probing algebraic, geometric, and topological characteristics of combinatorial neural codes and provide insights into how such characteristics are related to learning and experience in neural networks. We introduce a procedure to perform hypothesis testing on the intrinsic features of neural codes using information geometry. We then apply these methods to neural activities from an ANN for image classification and a BNN for 2D navigation to, without observing any inputs or outputs, estimate the structure and dimensionality of the stimulus or task space. Additionally, we demonstrate how an ANN varies its internal representations across network depth and during learning.
Towards a neural architecture of language: Deep learning versus logistics of access in neural architectures for compositional processing
Venue: arXiv cs.CL 2022
Year: 2022

Recently, a number of articles have argued that deep learning models such as GPT could also capture key aspects of language processing in the human mind and brain. However, I will argue that these models are not suitable as neural models of human language. Firstly, because they fail on fundamental boundary conditions, such as the amount of learning they require. This would in fact imply that the mechanisms of GPT and brain language processing are fundamentally different. Secondly, because they do not possess the logistics of access needed for compositional and productive human language processing. Neural architectures could possess logistics of access based on small-world like network structures, in which processing does not consist of symbol manipulation but of controlling the flow of activation. In this view, two complementary approaches would be needed to investigate the relation between brain and cognition. Investigating learning methods could reveal how 'learned cognition' as found in deep learning could develop in the brain. However, neural architectures with logistics of access should also be developed to account for 'productive cognition' as required for natural or artificial human language processing. Later on, these approaches could perhaps be combined to see how such architectures could develop by learning and development from a simpler basis.
Geometric Deep Learning for the Assessment of Thrombosis Risk in the Left Atrial Appendage
Venue: arXiv cs.LG 2022
Year: 2022

The assessment of left atrial appendage (LAA) thrombogenesis has experienced major advances with the adoption of patient-specific computational fluid dynamics (CFD) simulations. Nonetheless, due to the vast computational resources and long execution times required by fluid dynamics solvers, there is an ever-growing body of work aiming to develop surrogate models of fluid flow simulations based on neural networks. The present study builds on this foundation by developing a deep learning (DL) framework capable of predicting the endothelial cell activation potential (ECAP), linked to the risk of thrombosis, solely from the patient-specific LAA geometry. To this end, we leveraged recent advancements in Geometric DL, which seamlessly extend the unparalleled potential of convolutional neural networks (CNN), to non-Euclidean data such as meshes. The model was trained with a dataset combining 202 synthetic and 54 real LAA, predicting the ECAP distributions instantaneously, with an average mean absolute error of 0.563. Moreover, the resulting framework manages to predict the anatomical features related to higher ECAP values even when trained exclusively on synthetic cases.
Active Learning for Imbalanced Civil Infrastructure Data
Venue: arXiv cs.CV 2022
Year: 2022

Aging civil infrastructures are closely monitored by engineers for damage and critical defects. As the manual inspection of such large structures is costly and time-consuming, we are working towards fully automating the visual inspections to support the prioritization of maintenance activities. To that end we combine recent advances in drone technology and deep learning. Unfortunately, annotation costs are incredibly high as our proprietary civil engineering dataset must be annotated by highly trained engineers. Active learning is, therefore, a valuable tool to optimize the trade-off between model performance and annotation costs. Our use-case differs from the classical active learning setting as our dataset suffers from heavy class imbalance and consists of a much larger already labeled data pool than other active learning research. We present a novel method capable of operating in this challenging setting by replacing the traditional active learning acquisition function with an auxiliary binary discriminator. We experimentally show that our novel method outperforms the best-performing traditional active learning method (BALD) by 5% and 38% accuracy on CIFAR-10 and our proprietary dataset respectively.
DALLE-2 is Seeing Double: Flaws in Word-to-Concept Mapping in Text2Image Models
Venue: arXiv cs.CL 2022
Year: 2022

We study the way DALLE-2 maps symbols (words) in the prompt to their references (entities or properties of entities in the generated image). We show that in stark contrast to the way human process language, DALLE-2 does not follow the constraint that each word has a single role in the interpretation, and sometimes re-use the same symbol for different purposes. We collect a set of stimuli that reflect the phenomenon: we show that DALLE-2 depicts both senses of nouns with multiple senses at once; and that a given word can modify the properties of two distinct entities in the image, or can be depicted as one object and also modify the properties of another object, creating a semantic leakage of properties between entities. Taken together, our study highlights the differences between DALLE-2 and human language processing and opens an avenue for future study on the inductive biases of text-to-image models.
Integrated Decision and Control for High-Level Automated Vehicles by Mixed Policy Gradient and Its Experiment Verification
Venue: arXiv cs.RO 2022
Year: 2022

Self-evolution is indispensable to realize full autonomous driving. This paper presents a self-evolving decision-making system based on the Integrated Decision and Control (IDC), an advanced framework built on reinforcement learning (RL). First, an RL algorithm called constrained mixed policy gradient (CMPG) is proposed to consistently upgrade the driving policy of the IDC. It adapts the MPG under the penalty method so that it can solve constrained optimization problems using both the data and model. Second, an attention-based encoding (ABE) method is designed to tackle the state representation issue. It introduces an embedding network for feature extraction and a weighting network for feature fusion, fulfilling order-insensitive encoding and importance distinguishing of road users. Finally, by fusing CMPG and ABE, we develop the first data-driven decision and control system under the IDC architecture, and deploy the system on a fully-functional self-driving vehicle running in daily operation. Experiment results show that boosting by data, the system can achieve better driving ability over model-based methods. It also demonstrates safe, efficient and smart driving behavior in various complex scenes at a signalized intersection with real mixed traffic flow.
A Unified View of Masked Image Modeling
Venue: arXiv cs.CV 2022
Year: 2022

Masked image modeling has demonstrated great potential to eliminate the label-hungry problem of training large-scale vision Transformers, achieving impressive performance on various downstream tasks. In this work, we propose a unified view of masked image modeling after revisiting existing methods. Under the unified view, we introduce a simple yet effective method, termed as MaskDistill, which reconstructs normalized semantic features from teacher models at the masked positions, conditioning on corrupted input images. Experimental results on image classification and semantic segmentation show that MaskDistill achieves comparable or superior performance than state-of-the-art methods. When using the huge vision Transformer and pretraining 300 epochs, MaskDistill obtains 88.3% fine-tuning top-1 accuracy on ImageNet-1k (224 size) and 58.8% semantic segmentation mIoU metric on ADE20k (512 size). The code and pretrained models will be available at https://aka.ms/unimim.
Improving Chinese Story Generation via Awareness of Syntactic Dependencies and Semantics
Venue: arXiv cs.CL 2022
Year: 2022

Story generation aims to generate a long narrative conditioned on a given input. In spite of the success of prior works with the application of pre-trained models, current neural models for Chinese stories still struggle to generate high-quality long text narratives. We hypothesise that this stems from ambiguity in syntactically parsing the Chinese language, which does not have explicit delimiters for word segmentation. Consequently, neural models suffer from the inefficient capturing of features in Chinese narratives. In this paper, we present a new generation framework that enhances the feature capturing mechanism by informing the generation model of dependencies between words and additionally augmenting the semantic representation learning through synonym denoising training. We conduct a range of experiments, and the results demonstrate that our framework outperforms the state-of-the-art Chinese generation models on all evaluation metrics, demonstrating the benefits of enhanced dependency and semantic representation learning.
HAVANA: Hard negAtiVe sAmples aware self-supervised coNtrastive leArning for Airborne laser scanning point clouds semantic segmentation
Venue: arXiv cs.CV 2022
Year: 2022

Deep Neural Network (DNN) based point cloud semantic segmentation has presented significant achievements on large-scale labeled aerial laser point cloud datasets. However, annotating such large-scaled point clouds is time-consuming. Due to density variations and spatial heterogeneity of the Airborne Laser Scanning (ALS) point clouds, DNNs lack generalization capability and thus lead to unpromising semantic segmentation, as the DNN trained in one region underperform when directly utilized in other regions. However, Self-Supervised Learning (SSL) is a promising way to solve this problem by pre-training a DNN model utilizing unlabeled samples followed by a fine-tuned downstream task involving very limited labels. Hence, this work proposes a hard-negative sample aware self-supervised contrastive learning method to pre-train the model for semantic segmentation. The traditional contrastive learning for point clouds selects the hardest negative samples by solely relying on the distance between the embedded features derived from the learning process, potentially evolving some negative samples from the same classes to reduce the contrastive learning effectiveness. Therefore, we design an AbsPAN (Absolute Positive And Negative samples) strategy based on k-means clustering to filter the possible false-negative samples. Experiments on two typical ALS benchmark datasets demonstrate that the proposed method is more appealing than supervised training schemes without pre-training. Especially when the labels are severely inadequate (10% of the ISPRS training set), the results obtained by the proposed HAVANA method still exceed 94% of the supervised paradigm performance with full training set.
Simulated Contextual Bandits for Personalization Tasks from Recommendation Datasets
Venue: arXiv cs.IR 2022
Year: 2022

We propose a method for generating simulated contextual bandit environments for personalization tasks from recommendation datasets like MovieLens, Netflix, Last.fm, Million Song, etc. This allows for personalization environments to be developed based on real-life data to reflect the nuanced nature of real-world user interactions. The obtained environments can be used to develop methods for solving personalization tasks, algorithm benchmarking, model simulation, and more. We demonstrate our approach with numerical examples on MovieLens and IMDb datasets.
Digital Human Interactive Recommendation Decision-Making Based on Reinforcement Learning
Venue: arXiv cs.IR 2022
Year: 2022

Digital human recommendation system has been developed to help customers find their favorite products and is playing an active role in various recommendation contexts. How to timely catch and learn the dynamics of the preferences of the customers, while meeting their exact requirements, becomes crucial in the digital human recommendation domain. We design a novel practical digital human interactive recommendation agent framework based on Reinforcement Learning(RL) to improve the efficiency of the interactive recommendation decision-making by leveraging both the digital human features and the superior flexibility of RL. Our proposed framework learns through real-time interactions between the digital human and customers dynamically through the state-of-art RL algorithms, combined with multimodal embedding and graph embedding, to improve the accuracy of personalization and thus enable the digital human agent to timely catch the attention of the customer. Experiments on real business data demonstrate that our framework can provide better personalized customer engagement and better customer experiences.
Multi-Modal Recommendation System with Auxiliary Information
Venue: arXiv cs.IR 2022
Year: 2022

Context-aware recommendation systems improve upon classical recommender systems by including, in the modelling, a user's behaviour. Research into context-aware recommendation systems has previously only considered the sequential ordering of items as contextual information. However, there is a wealth of unexploited additional multi-modal information available in auxiliary knowledge related to items. This study extends the existing research by evaluating a multi-modal recommendation system that exploits the inclusion of comprehensive auxiliary knowledge related to an item. The empirical results explore extracting vector representations (embeddings) from unstructured and structured data using data2vec. The fused embeddings are then used to train several state-of-the-art transformer architectures for sequential user-item representations. The analysis of the experimental results shows a statistically significant improvement in prediction accuracy, which confirms the effectiveness of including auxiliary information in a context-aware recommendation system. We report a 4% and 11% increase in the NDCG score for long and short user sequence datasets, respectively.