OpenRaiser/Intern-Atlas huggingface dataset:
HALS: A Height-Aware Lidar Super-Resolution Framework for Autonomous Driving
Venue: arXiv cs.CV 2022
Year: 2022

Lidar sensors are costly yet critical for understanding the 3D environment in autonomous driving. High-resolution sensors provide more details about the surroundings because they contain more vertical beams, but they come at a much higher cost, limiting their inclusion in autonomous vehicles. Upsampling lidar pointclouds is a promising approach to gain the benefits of high resolution while maintaining an affordable cost. Although there exist many pointcloud upsampling frameworks, a consistent comparison of these works against each other on the same dataset using unified metrics is still missing. In the first part of this paper, we propose to benchmark existing methods on the Kitti dataset. In the second part, we introduce a novel lidar upsampling model, HALS: Height-Aware Lidar Super-resolution. HALS exploits the observation that lidar scans exhibit a height-aware range distribution and adopts a generator architecture with multiple upsampling branches of different receptive fields. HALS regresses polar coordinates instead of spherical coordinates and uses a surface-normal loss. Extensive experiments show that HALS achieves state-of-the-art performance on 3 real-world lidar datasets.
Tube-Balloon Logic for the Exploration of Fluidic Control Elements
Venue: arXiv cs.RO 2022
Year: 2022

The control of pneumatically driven soft robots typically requires electronics. Microcontrollers are connected to power electronics that switch valves and pumps on and off. As a recent alternative, fluidic control methods have been introduced, in which soft digital logic gates permit multiple actuation states to be achieved in soft systems. Such systems have demonstrated autonomous behaviors without the use of electronics. However, fluidic controllers have required complex fabrication processes. To democratize the exploration of fluidic controllers, we developed tube-balloon logic circuitry, which consists of logic gates made from straws and balloons. Each tube-balloon logic device takes a novice five minutes to fabricate and costs $0.45. Tube-balloon logic devices can also operate at pressures of up to 200 kPa and oscillate at frequencies of up to 15 Hz. We configure the tube-balloon logic device as NOT-, NAND-, and NOR-gates and assemble them into a three-ring oscillator to demonstrate a vibrating sieve that separates sugar from rice. Because tube-balloon logic devices are low-cost, easy to fabricate, and their operating principle is simple, they are well suited for exploring fundamental concepts of fluidic control schemes while encouraging design inquiry for pneumatically driven soft robots
Minimum-Time Quadrotor Waypoint Flight in Cluttered Environments
Venue: arXiv cs.RO 2022
Year: 2022

We tackle the problem of planning a minimum-time trajectory for a quadrotor over a sequence of specified waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. This problem is crucial for autonomous search and rescue and drone racing scenarios but was, so far, unaddressed by the robotics community \emph{in its entirety} due to the challenges of minimizing time in the presence of the non-convex constraints posed by collision avoidance. Early works relied on simplified dynamics or polynomial trajectory representations that did not exploit the full actuator potential of a quadrotor and, thus, did not aim at minimizing time. We address this challenging problem by using a hierarchical, sampling-based method with an incrementally more complex quadrotor model. Our method first finds paths in different topologies to guide subsequent trajectory search for a kinodynamic point-mass model. Then, it uses an asymptotically-optimal, kinodynamic sampling-based method based on a full quadrotor model on top of the point-mass solution to find a feasible trajectory with a time-optimal objective. The proposed method is shown to outperform all related baselines in cluttered environments and is further validated in real-world flights at over 60km/h in one of the world's largest motion capture systems. We release the code open source.
Social-DualCVAE: Multimodal Trajectory Forecasting Based on Social Interactions Pattern Aware and Dual Conditional Variational Auto-Encoder
Venue: arXiv cs.CV 2022
Year: 2022

Pedestrian trajectory forecasting is a fundamental task in multiple utility areas, such as self-driving, autonomous robots, and surveillance systems. The future trajectory forecasting is multi-modal, influenced by physical interaction with scene contexts and intricate social interactions among pedestrians. The mainly existing literature learns representations of social interactions by deep learning networks, while the explicit interaction patterns are not utilized. Different interaction patterns, such as following or collision avoiding, will generate different trends of next movement, thus, the awareness of social interaction patterns is important for trajectory forecasting. Moreover, the social interaction patterns are privacy concerned or lack of labels. To jointly address the above issues, we present a social-dual conditional variational auto-encoder (Social-DualCVAE) for multi-modal trajectory forecasting, which is based on a generative model conditioned not only on the past trajectories but also the unsupervised classification of interaction patterns. After generating the category distribution of the unlabeled social interaction patterns, DualCVAE, conditioned on the past trajectories and social interaction pattern, is proposed for multi-modal trajectory prediction by latent variables estimating. A variational bound is derived as the minimization objective during training. The proposed model is evaluated on widely used trajectory benchmarks and outperforms the prior state-of-the-art methods.
Uncertainty Modeling for Out-of-Distribution Generalization
Venue: arXiv cs.CV 2022
Year: 2022

Though remarkable progress has been achieved in various vision tasks, deep neural networks still suffer obvious performance degradation when tested in out-of-distribution scenarios. We argue that the feature statistics (mean and standard deviation), which carry the domain characteristics of the training data, can be properly manipulated to improve the generalization ability of deep learning models. Common methods often consider the feature statistics as deterministic values measured from the learned features and do not explicitly consider the uncertain statistics discrepancy caused by potential domain shifts during testing. In this paper, we improve the network generalization ability by modeling the uncertainty of domain shifts with synthesized feature statistics during training. Specifically, we hypothesize that the feature statistic, after considering the potential uncertainties, follows a multivariate Gaussian distribution. Hence, each feature statistic is no longer a deterministic value, but a probabilistic point with diverse distribution possibilities. With the uncertain feature statistics, the models can be trained to alleviate the domain perturbations and achieve better robustness against potential domain shifts. Our method can be readily integrated into networks without additional parameters. Extensive experiments demonstrate that our proposed method consistently improves the network generalization ability on multiple vision tasks, including image classification, semantic segmentation, and instance retrieval. The code can be available at https://github.com/lixiaotong97/DSU.
Improving the Sample-Complexity of Deep Classification Networks with Invariant Integration
Venue: arXiv cs.LG 2022
Year: 2022

Leveraging prior knowledge on intraclass variance due to transformations is a powerful method to improve the sample complexity of deep neural networks. This makes them applicable to practically important use-cases where training data is scarce. Rather than being learned, this knowledge can be embedded by enforcing invariance to those transformations. Invariance can be imposed using group-equivariant convolutions followed by a pooling operation. For rotation-invariance, previous work investigated replacing the spatial pooling operation with invariant integration which explicitly constructs invariant representations. Invariant integration uses monomials which are selected using an iterative approach requiring expensive pre-training. We propose a novel monomial selection algorithm based on pruning methods to allow an application to more complex problems. Additionally, we replace monomials with different functions such as weighted sums, multi-layer perceptrons and self-attention, thereby streamlining the training of invariant-integration-based architectures. We demonstrate the improved sample complexity on the Rotated-MNIST, SVHN and CIFAR-10 datasets where rotation-invariant-integration-based Wide-ResNet architectures using monomials and weighted sums outperform the respective baselines in the limited sample regime. We achieve state-of-the-art results using full data on Rotated-MNIST and SVHN where rotation is a main source of intraclass variation. On STL-10 we outperform a standard and a rotation-equivariant convolutional neural network using pooling.
Transferable Student Performance Modeling for Intelligent Tutoring Systems
Venue: arXiv cs.LG 2022
Year: 2022

Millions of learners worldwide are now using intelligent tutoring systems (ITSs). At their core, ITSs rely on machine learning algorithms to track each user's changing performance level over time to provide personalized instruction. Crucially, student performance models are trained using interaction sequence data of previous learners to analyse data generated by future learners. This induces a cold-start problem when a new course is introduced for which no training data is available. Here, we consider transfer learning techniques as a way to provide accurate performance predictions for new courses by leveraging log data from existing courses. We study two settings: (i) In the naive transfer setting, we propose course-agnostic performance models that can be applied to any course. (ii) In the inductive transfer setting, we tune pre-trained course-agnostic performance models to new courses using small-scale target course data (e.g., collected during a pilot study). We evaluate the proposed techniques using student interaction sequence data from 5 different mathematics courses containing data from over 47,000 students in a real world large-scale ITS. The course-agnostic models that use additional features provided by human domain experts (e.g, difficulty ratings for questions in the new course) but no student interaction training data for the new course, achieve prediction accuracy on par with standard BKT and PFA models that use training data from thousands of students in the new course. In the inductive setting our transfer learning approach yields more accurate predictions than conventional performance models when only limited student interaction training data (<100 students) is available to both.
Wi-Fi Rate Adaptation using a Simple Deep Reinforcement Learning Approach
Venue: arXiv cs.NI 2022
Year: 2022

The increasing complexity of recent Wi-Fi amendments is making optimal Rate Adaptation (RA) a challenge. The use of classic algorithms or heuristic models to address RA is becoming unfeasible due to the large combination of configuration parameters along with the variability of the wireless channel. Machine Learning-based solutions have been proposed in the state of art, to deal with this complexity. However, they typically use complex models and their implementation in real scenarios is difficult. We propose a simple Deep Reinforcement Learning approach for the automatic RA in Wi-Fi networks, named Data-driven Algorithm for Rate Adaptation (DARA). DARA is standard-compliant. It dynamically adjusts the Wi-Fi Modulation and Coding Scheme (MCS) solely based on the observation of the Signal-to-Noise Ratio (SNR) of the received frames at the transmitter. Our simulation results show that DARA achieves up to 15\% higher throughput when compared with Minstrel High Throughput (HT) and equals the performance of the Ideal Wi-Fi RA algorithm.
Learning Sinkhorn divergences for supervised change point detection
Venue: arXiv cs.LG 2022
Year: 2022

Many modern applications require detecting change points in complex sequential data. Most existing methods for change point detection are unsupervised and, as a consequence, lack any information regarding what kind of changes we want to detect or if some kinds of changes are safe to ignore. This often results in poor change detection performance. We present a novel change point detection framework that uses true change point instances as supervision for learning a ground metric such that Sinkhorn divergences can be then used in two-sample tests on sliding windows to detect change points in an online manner. Our method can be used to learn a sparse metric which can be useful for both feature selection and interpretation in high-dimensional change point detection settings. Experiments on simulated as well as real world sequences show that our proposed method can substantially improve change point detection performance over existing unsupervised change point detection methods using only few labeled change point instances.
Differentiable N-gram Objective on Abstractive Summarization
Venue: arXiv cs.CL 2022
Year: 2022

ROUGE is a standard automatic evaluation metric based on n-grams for sequence-to-sequence tasks, while cross-entropy loss is an essential objective of neural network language model that optimizes at a unigram level. We present differentiable n-gram objectives, attempting to alleviate the discrepancy between training criterion and evaluating criterion. The objective maximizes the probabilistic weight of matched sub-sequences, and the novelty of our work is the objective weights the matched sub-sequences equally and does not ceil the number of matched sub-sequences by the ground truth count of n-grams in reference sequence. We jointly optimize cross-entropy loss and the proposed objective, providing decent ROUGE score enhancement over abstractive summarization dataset CNN/DM and XSum, outperforming alternative n-gram objectives.
Multilevel Binary Polar-Coded Modulation Achieving the Capacity of Asymmetric Channels
Venue: arXiv cs.IT 2022
Year: 2022

A multilevel coded modulation scheme is studied that uses solely binary polar codes and Honda-Yamamoto probabilistic shaping. The scheme is shown to achieve the capacity of discrete memoryless channels with input alphabets of cardinality a power of two. The performance of finite-length implementations is compared to polar-coded probabilistic amplitude shaping and constant composition distribution matching.
Residual Aligned: Gradient Optimization for Non-Negative Image Synthesis
Venue: arXiv cs.CV 2022
Year: 2022

In this work, we address an important problem of optical see through (OST) augmented reality: non-negative image synthesis. Most of the image generation methods fail under this condition, since they assume full control over each pixel and cannot create darker pixels by adding light. In order to solve the non-negative image generation problem in AR image synthesis, prior works have attempted to utilize optical illusion to simulate human vision but fail to preserve lightness constancy well under situations such as high dynamic range. In our paper, we instead propose a method that is able to preserve lightness constancy at a local level, thus capturing high frequency details. Compared with existing work, our method shows strong performance in image-to-image translation tasks, particularly in scenarios such as large scale images, high resolution images, and high dynamic range image transfer.
Joint user association and power allocation in ultra-dense mmWave networks: a multi-connectivity approach
Venue: arXiv cs.NI 2022
Year: 2022

In ultra-dense millimeter wave (mmWave) networks, mmWave signals suffer from severe path losses and are easily blocked by obstacles. Meanwhile, ultra-dense deployment causes excessive handovers, which reduces the data link reliability. To alleviate the above issues, the novel technology, known as multi-connectivity enabled user association (MCUA) is incorporated in this letter. We aim to jointly optimize MCUAs and downlink (DL) power allocations (PAs) to maximize the DL rate of each user simultaneously, rather than total. This is a non-convex nonlinear 0-1 mixed integer multi-objective optimization problem and quite complicated. To solve it, we first use the weighted sum method to scalarize it as a single-objective optimization problem (SOOP), and then relax the binary association variables to real ones. Considering that the relaxed SOOP is still non-convex, we perform a series of transformations upon it and make it a differential of convex programming. Finally, we develop an iterative algorithm based on the convex-concave procedure to solve the SOOP. Numerical results are presented to demonstrate the effectiveness of the proposed algorithms.
Hierarchical Dependency Constrained Tree Augmented Naive Bayes Classifiers for Hierarchical Feature Spaces
Venue: arXiv cs.LG 2022
Year: 2022

The Tree Augmented Naive Bayes (TAN) classifier is a type of probabilistic graphical model that constructs a single-parent dependency tree to estimate the distribution of the data. In this work, we propose two novel Hierarchical dependency-based Tree Augmented Naive Bayes algorithms, i.e. Hie-TAN and Hie-TAN-Lite. Both methods exploit the pre-defined parent-child (generalisation-specialisation) relationships between features as a type of constraint to learn the tree representation of dependencies among features, whilst the latter further eliminates the hierarchical redundancy during the classifier learning stage. The experimental results showed that Hie-TAN successfully obtained better predictive performance than several other hierarchical dependency constrained classification algorithms, and its predictive performance was further improved by eliminating the hierarchical redundancy, as suggested by the higher accuracy obtained by Hie-TAN-Lite.
Untrimmed Action Anticipation
Venue: arXiv cs.CV 2022
Year: 2022

Egocentric action anticipation consists in predicting a future action the camera wearer will perform from egocentric video. While the task has recently attracted the attention of the research community, current approaches assume that the input videos are "trimmed", meaning that a short video sequence is sampled a fixed time before the beginning of the action. We argue that, despite the recent advances in the field, trimmed action anticipation has a limited applicability in real-world scenarios where it is important to deal with "untrimmed" video inputs and it cannot be assumed that the exact moment in which the action will begin is known at test time. To overcome such limitations, we propose an untrimmed action anticipation task, which, similarly to temporal action detection, assumes that the input video is untrimmed at test time, while still requiring predictions to be made before the actions actually take place. We design an evaluation procedure for methods designed to address this novel task, and compare several baselines on the EPIC-KITCHENS-100 dataset. Experiments show that the performance of current models designed for trimmed action anticipation is very limited and more research on this task is required.
Machine Learning in Heterogeneous Porous Materials
Venue: arXiv cs.LG 2022
Year: 2022

The "Workshop on Machine learning in heterogeneous porous materials" brought together international scientific communities of applied mathematics, porous media, and material sciences with experts in the areas of heterogeneous materials, machine learning (ML) and applied mathematics to identify how ML can advance materials research. Within the scope of ML and materials research, the goal of the workshop was to discuss the state-of-the-art in each community, promote crosstalk and accelerate multi-disciplinary collaborative research, and identify challenges and opportunities. As the end result, four topic areas were identified: ML in predicting materials properties, and discovery and design of novel materials, ML in porous and fractured media and time-dependent phenomena, Multi-scale modeling in heterogeneous porous materials via ML, and Discovery of materials constitutive laws and new governing equations. This workshop was part of the AmeriMech Symposium series sponsored by the National Academies of Sciences, Engineering and Medicine and the U.S. National Committee on Theoretical and Applied Mechanics.
Utility of Optical See-Through Head Mounted Displays in Augmented Reality-Assisted Surgery: A systematic review
Venue: arXiv cs.HC 2022
Year: 2022

This article presents a systematic review of optical see-through head mounted display (OST-HMD) usage in augmented reality (AR) surgery applications from 2013 to 2020. Articles were categorised by: OST-HMD device, surgical speciality, surgical application context, visualisation content, experimental design and evaluation, accuracy and human factors of human-computer interaction. 91 articles fulfilled all inclusion criteria. Some clear trends emerge. The Microsoft HoloLens increasingly dominates the field, with orthopaedic surgery being the most popular application (28.6\%). By far the most common surgical context is surgical guidance (n=58) and segmented preoperative models dominate visualisation (n = 40). Experiments mainly involve phantoms (n = 43) or system setup (n = 21), with patient case studies ranking third (n = 19), reflecting the comparative infancy of the field. Experiments cover issues from registration to perception with very different accuracy results. Human factors emerge as significant to OST-HMD utility. Some factors are addressed by the systems proposed, such as attention shift away from the surgical site and mental mapping of 2D images to 3D patient anatomy. Other persistent human factors remain or are caused by OST-HMD solutions, including ease of use, comfort and spatial perception issues. The significant upward trend in published articles is clear, but such devices are not yet established in the operating room and clinical studies showing benefit are lacking. A focused effort addressing technical registration and perceptual factors in the lab coupled with design that incorporates human factors considerations to solve clear clinical problems should ensure that the significant current research efforts will succeed.
Instantaneous and limiting behavior of an n-node blockchain under cyber attacks from a single hacker
Venue: arXiv cs.CR 2022
Year: 2022

We investigate the instantaneous and limiting behavior of an n-node blockchain which is under continuous monitoring of the IT department of a company but faces non-stop cyber attacks from a single hacker. The blockchain is functional as far as no data stored on it has been changed, deleted, or locked. Once the IT department detects the attack from the hacker, it will immediately re-set the blockchain, rendering all previous efforts of the hacker in vain. The hacker will not stop until the blockchain is dysfunctional. For arbitrary distributions of the hacking times and detecting times, we derive the limiting functional probability, instantaneous functional probability, and mean functional time of the blockchain. We also show that all these quantities are increasing functions of the number of nodes, substantiating the intuition that the more nodes a blockchain has, the harder it is for a hacker to succeed in a cyber attack.