OpenRaiser/Intern-Atlas huggingface dataset:
Towards a Tighter Bound on Possible-Rendezvous Areas: Preliminary Results
Venue: arXiv cs.DB 2022
Year: 2022

Given trajectories with gaps, we investigate methods to tighten spatial bounds on areas (e.g., nodes in a spatial network) where possible rendezvous activity could have occurred. The problem is important for reducing the onerous amount of manual effort to post-process possible rendezvous areas using satellite imagery and has many societal applications to improve public safety, security, and health. The problem of rendezvous detection is challenging due to the difficulty of interpreting missing data within a trajectory gap and the very high cost of detecting gaps in such a large volume of location data. Most recent literature presents formal models, namely space-time prism, to track an object's rendezvous patterns within trajectory gaps on a spatial network. However, the bounds derived from the space-time prism are rather loose, resulting in unnecessarily extensive post-processing manual effort. To address these limitations, we propose a Time Slicing-based Gap-Aware Rendezvous Detection (TGARD) algorithm to tighten the spatial bounds in spatial networks. We propose a Dual Convergence TGARD (DC-TGARD) algorithm to improve computational efficiency using a bi-directional pruning approach. Theoretical results show the proposed spatial bounds on the area of possible rendezvous are tighter than that from related work (space-time prism). Experimental results on synthetic and real-world spatial networks (e.g., road networks) show that the proposed DC-TGARD is more scalable than the TGARD algorithm.
Learning to Rearrange with Physics-Inspired Risk Awareness
Venue: arXiv cs.RO 2022
Year: 2022

Real-world applications require a robot operating in the physical world with awareness of potential risks besides accomplishing the task. A large part of risky behaviors arises from interacting with objects in ignorance of affordance. To prevent the agent from making unsafe decisions, we propose to train a robotic agent by reinforcement learning to execute tasks with an awareness of physical properties such as mass and friction in an indoor environment. We achieve this through a novel physics-inspired reward function that encourages the agent to learn a policy discerning different masses and friction coefficients. We introduce two novel and challenging indoor rearrangement tasks -- the variable friction pushing task and the variable mass pushing task -- that allow evaluation of the learned policies in trading off performance and physics-inspired risk. Our results demonstrate that by equipping with the proposed reward, the agent is able to learn policies choosing the pushing targets or goal-reaching trajectories with minimum physical cost, which can be further utilized as a precaution to constrain the agent's behavior in a safety-critic environment.
CTMQ: Cyclic Training of Convolutional Neural Networks with Multiple Quantization Steps
Venue: arXiv cs.CV 2022
Year: 2022

This paper proposes a training method having multiple cyclic training for achieving enhanced performance in low-bit quantized convolutional neural networks (CNNs). Quantization is a popular method for obtaining lightweight CNNs, where the initialization with a pretrained model is widely used to overcome degraded performance in low-resolution quantization. However, large quantization errors between real values and their low-bit quantized ones cause difficulties in achieving acceptable performance for complex networks and large datasets. The proposed training method softly delivers the knowledge of pretrained models to low-bit quantized models in multiple quantization steps. In each quantization step, the trained weights of a model are used to initialize the weights of the next model with the quantization bit depth reduced by one. With small change of the quantization bit depth, the performance gap can be bridged, thus providing better weight initialization. In cyclic training, after training a low-bit quantized model, its trained weights are used in the initialization of its accurate model to be trained. By using better training ability of the accurate model in an iterative manner, the proposed method can produce enhanced trained weights for the low-bit quantized model in each cycle. Notably, the training method can advance Top-1 and Top-5 accuracies of the binarized ResNet-18 on the ImageNet dataset by 5.80% and 6.85%, respectively.
Applications of Recursively Defined Data Structures
Venue: arXiv cs.DS 2022
Year: 2022

A circular program contains a data structure whose definition is self-referential or recursive. The use of such a definition allows efficient functional programs to be written and can avoid repeated evaluations and the creation of intermediate data structures that would have to be garbage collected. This paper uses circular programs in various ways, to implement memo-structures and explicit search-trees to hold solutions to constraint-satisfaction problems.
Impact of Channel Memory on the Data Freshness
Venue: arXiv cs.IT 2022
Year: 2022

In this letter, we investigate the impact of channel memory on the average age of information (AoI) for networks with various packet arrival models under first-come-first-served (FCFS) and preemptive last-generated-first-served (pLGFS) policies over Gilbert-Elliott (GE) erasure channel. For networks with Bernoulli arrival model, we first derive the average AoI under the pLGFS queuing policy, and then characterize the AoI gap between the FCFS and pLGFS policies. For networks with Bernoulli arrival and generate-at-will arrival models, the AoI performances under the FCFS and pLGFS policies are derived explicitly. For networks with periodic arrival model, we derive the closed-form expression for the average AoI under pLGFS over a general GE channel and propose a numerical algorithm for calculating that under FCFS efficiently. It is revealed that for pLGFS policy, the average AoI increases monotonically with channel memory $η$ at $\fracη{1-η}$ over the symmetric GE channel. For FCFS, the average AoI increases even faster due to the queuing delay, with an additional term related to the packet arrival rate.
Image Aesthetics Assessment Using Graph Attention Network
Venue: arXiv cs.CV 2022
Year: 2022

Aspect ratio and spatial layout are two of the principal factors determining the aesthetic value of a photograph. But, incorporating these into the traditional convolution-based frameworks for the task of image aesthetics assessment is problematic. The aspect ratio of the photographs gets distorted while they are resized/cropped to a fixed dimension to facilitate training batch sampling. On the other hand, the convolutional filters process information locally and are limited in their ability to model the global spatial layout of a photograph. In this work, we present a two-stage framework based on graph neural networks and address both these problems jointly. First, we propose a feature-graph representation in which the input image is modelled as a graph, maintaining its original aspect ratio and resolution. Second, we propose a graph neural network architecture that takes this feature-graph and captures the semantic relationship between the different regions of the input image using visual attention. Our experiments show that the proposed framework advances the state-of-the-art results in aesthetic score regression on the Aesthetic Visual Analysis (AVA) benchmark.
$k$-Median Clustering via Metric Embedding: Towards Better Initialization with Differential Privacy
Venue: arXiv cs.DS 2022
Year: 2022

When designing clustering algorithms, the choice of initial centers is crucial for the quality of the learned clusters. In this paper, we develop a new initialization scheme, called HST initialization, for the $k$-median problem in the general metric space (e.g., discrete space induced by graphs), based on the construction of metric embedding tree structure of the data. From the tree, we propose a novel and efficient search algorithm, for good initial centers that can be used subsequently for the local search algorithm. Our proposed HST initialization can produce initial centers achieving lower errors than those from another popular initialization method, $k$-median++, with comparable efficiency. The HST initialization can also be extended to the setting of differential privacy (DP) to generate private initial centers. We show that the error from applying DP local search followed by our private HST initialization improves previous results on the approximation error, and approaches the lower bound within a small factor. Experiments justify the theory and demonstrate the effectiveness of our proposed method. Our approach can also be extended to the $k$-means problem.
Batch-Ensemble Stochastic Neural Networks for Out-of-Distribution Detection
Venue: arXiv cs.LG 2022
Year: 2022

Out-of-distribution (OOD) detection has recently received much attention from the machine learning community due to its importance in deploying machine learning models in real-world applications. In this paper we propose an uncertainty quantification approach by modelling the distribution of features. We further incorporate an efficient ensemble mechanism, namely batch-ensemble, to construct the batch-ensemble stochastic neural networks (BE-SNNs) and overcome the feature collapse problem. We compare the performance of the proposed BE-SNNs with the other state-of-the-art approaches and show that BE-SNNs yield superior performance on several OOD benchmarks, such as the Two-Moons dataset, the FashionMNIST vs MNIST dataset, FashionMNIST vs NotMNIST dataset, and the CIFAR10 vs SVHN dataset.
An Efficient Global Optimality Certificate for Landmark-Based SLAM
Venue: arXiv cs.RO 2022
Year: 2022

Modern state estimation is often formulated as an optimization problem and solved using efficient local search methods. These methods at best guarantee convergence to local minima, but, in some cases, global optimality can also be certified. Although such global optimality certificates have been well established for 3D \textit{pose-graph optimization}, the details have yet to be worked out for the 3D landmark-based SLAM problem, in which estimated states include both robot poses and map landmarks. In this paper, we address this gap by using a graph-theoretic approach to cast the subproblems of landmark-based SLAM into a form that yields a sufficient condition for global optimality. Efficient methods of computing the optimality certificates for these subproblems exist, but first require the construction of a large data matrix. We show that this matrix can be constructed with complexity that remains linear in the number of landmarks and does not exceed the state-of-the-art computational complexity of one local solver iteration. We demonstrate the efficacy of the certificate on simulated and real-world landmark-based SLAM problems. We also integrate our method into the state-of-the-art SE-Sync pipeline to efficiently solve landmark-based SLAM problems to global optimality. Finally, we study the robustness of the global optimality certificate to measurement noise, taking into consideration the effect of the underlying measurement graph.
A Strategy Optimized Pix2pix Approach for SAR-to-Optical Image Translation Task
Venue: arXiv cs.CV 2022
Year: 2022

This technical report summarizes the analysis and approach on the image-to-image translation task in the Multimodal Learning for Earth and Environment Challenge (MultiEarth 2022). In terms of strategy optimization, cloud classification is utilized to filter optical images with dense cloud coverage to aid the supervised learning alike approach. The commonly used pix2pix framework with a few optimizations is applied to build the model. A weighted combination of mean squared error and mean absolute error is incorporated in the loss function. As for evaluation, peak to signal ratio and structural similarity were both considered in our preliminary analysis. Lastly, our method achieved the second place with a final error score of 0.0412. The results indicate great potential towards SAR-to-optical translation in remote sensing tasks, specifically for the support of long-term environmental monitoring and protection.
Video2StyleGAN: Encoding Video in Latent Space for Manipulation
Venue: arXiv cs.CV 2022
Year: 2022

Many recent works have been proposed for face image editing by leveraging the latent space of pretrained GANs. However, few attempts have been made to directly apply them to videos, because 1) they do not guarantee temporal consistency, 2) their application is limited by their processing speed on videos, and 3) they cannot accurately encode details of face motion and expression. To this end, we propose a novel network to encode face videos into the latent space of StyleGAN for semantic face video manipulation. Based on the vision transformer, our network reuses the high-resolution portion of the latent vector to enforce temporal consistency. To capture subtle face motions and expressions, we design novel losses that involve sparse facial landmarks and dense 3D face mesh. We have thoroughly evaluated our approach and successfully demonstrated its application to various face video manipulations. Particularly, we propose a novel network for pose/expression control in a 3D coordinate system. Both qualitative and quantitative results have shown that our approach can significantly outperform existing single image methods, while achieving real-time (66 fps) speed.
Differentially Private Condorcet Voting
Venue: arXiv cs.GT 2022
Year: 2022

Designing private voting rules is an important and pressing problem for trustworthy democracy. In this paper, under the framework of differential privacy, we propose a novel famliy of randomized voting rules based on the well-known Condorcet method, and focus on three classes of voting rules in this family: Laplacian Condorcet method ($\CMLAP_λ$), exponential Condorcet method ($\CMEXP_λ$), and randomized response Condorcet method ($\CMRR_λ$), where $λ$ represents the level of noise. We prove that all of our rules satisfy absolute monotonicity, lexi-participation, probabilistic Pareto efficiency, approximate probabilistic Condorcet criterion, and approximate SD-strategyproofness. In addition, $\CMRR_λ$ satisfies (non-approximate) probabilistic Condorcet criterion, while $\CMLAP_λ$ and $\CMEXP_λ$ satisfy strong lexi-participation. Finally, we regard differential privacy as a voting axiom, and discuss its relations to other axioms.
An Indirect Social Trust Model for Vehicular Social Networks Using Evolving Graph Theory
Venue: arXiv cs.CR 2022
Year: 2022

The increasing importance and consequent challenges of establishing indirect trusted relationships in highly dynamic social networks such as vehicular social networks (VSNs), are investigated in this paper. VSNs are mobile social networks that aim to create social links among travellers on the roads. Besides matching interests between two users, social trust is essential to successfully establish and nurture a social relationship. However, the unique characteristics of VSNs pose many challenges such as uncertainty, subjectivity and intransitivity to indirect social trust modelling. Furthermore, the current trust models in the literature inadequately address trust propagation in VSNs. We propose a novel indirect social trust model for VSNs using evolving graph theory and the Paillier cryptosystem. We consider the VSN as a highly dynamic social evolving graph where social ties among vehicles hold a trustworthiness factor that evolves over time. This factor is estimated based on the behaviours, opinions, distances, and communication metrics of the parties involved. Employing the homomorphic property of the Paillier cryptosystem, the proposed model targets the subjectivity problem when combining multiple opinions to establish an indirect trusted relationship. Through analysis of computational and communication complexities, we show the viability of the proposed model and the efficiency of its indirect trust computation algorithm.
Learning to Control Local Search for Combinatorial Optimization
Venue: arXiv cs.LG 2022
Year: 2022

Combinatorial optimization problems are encountered in many practical contexts such as logistics and production, but exact solutions are particularly difficult to find and usually NP-hard for considerable problem sizes. To compute approximate solutions, a zoo of generic as well as problem-specific variants of local search is commonly used. However, which variant to apply to which particular problem is difficult to decide even for experts. In this paper we identify three independent algorithmic aspects of such local search algorithms and formalize their sequential selection over an optimization process as Markov Decision Process (MDP). We design a deep graph neural network as policy model for this MDP, yielding a learned controller for local search called NeuroLS. Ample experimental evidence shows that NeuroLS is able to outperform both, well-known general purpose local search controllers from Operations Research as well as latest machine learning-based approaches.
MGNet: Monocular Geometric Scene Understanding for Autonomous Driving
Venue: arXiv cs.CV 2022
Year: 2022

We introduce MGNet, a multi-task framework for monocular geometric scene understanding. We define monocular geometric scene understanding as the combination of two known tasks: Panoptic segmentation and self-supervised monocular depth estimation. Panoptic segmentation captures the full scene not only semantically, but also on an instance basis. Self-supervised monocular depth estimation uses geometric constraints derived from the camera measurement model in order to measure depth from monocular video sequences only. To the best of our knowledge, we are the first to propose the combination of these two tasks in one single model. Our model is designed with focus on low latency to provide fast inference in real-time on a single consumer-grade GPU. During deployment, our model produces dense 3D point clouds with instance aware semantic labels from single high-resolution camera images. We evaluate our model on two popular autonomous driving benchmarks, i.e., Cityscapes and KITTI, and show competitive performance among other real-time capable methods. Source code is available at https://github.com/markusschoen/MGNet.
Immersive and Interactive Visualization of 3D Spatio-Temporal Data using a Space Time Hypercube
Venue: arXiv cs.HC 2022
Year: 2022

We propose an extension of the well-known Space-Time Cube (STC) visualization technique in order to visualize time-varying 3D spatial data, taking advantage of the interaction capabilities of Virtual Reality (VR). The analysis of multidimensional time-varying datasets, which size grows as recording and simulating techniques advance, faces challenges on the representation and visualization of dense data, as well as on the study of temporal variations. First, we propose the Space-Time Hypercube (STH) as an abstraction for 3D temporal data, extended from the STC concept. Second, through the example of embryo development imaging dataset, we detail the construction and visualization of a STC based on a user-driven projection of the spatial and temporal information. This projection yields a 3D STC visualization, which can also encode additional numerical and categorical data. Additionally, we propose a set of tools allowing the user to filter and manipulate the 3D STC which benefits from the visualization, exploration and interaction possibilities offered by VR. Finally, we evaluated the proposed visualization method in the context of the visualization of spatio-temporal biological data. Several biology experts accompanied the application design to provide insight on how the STC visualization could be used to explore such data. We report a user study (n=12) using non-expert users performing a set of exploration and query tasks to evaluate the system.
Learning with Weak Annotations for Robust Maritime Obstacle Detection
Venue: arXiv cs.CV 2022
Year: 2022

Robust maritime obstacle detection is critical for safe navigation of autonomous boats and timely collision avoidance. The current state-of-the-art is based on deep segmentation networks trained on large datasets. However, per-pixel ground truth labeling of such datasets is labor-intensive and expensive. We propose a new scaffolding learning regime (SLR) that leverages weak annotations consisting of water edges, the horizon location, and obstacle bounding boxes to train segmentation-based obstacle detection networks, thereby reducing the required ground truth labeling effort by a factor of twenty. SLR trains an initial model from weak annotations and then alternates between re-estimating the segmentation pseudo-labels and improving the network parameters. Experiments show that maritime obstacle segmentation networks trained using SLR on weak annotations not only match but outperform the same networks trained with dense ground truth labels, which is a remarkable result. In addition to the increased accuracy, SLR also increases domain generalization and can be used for domain adaptation with a low manual annotation load. The SLR code and pre-trained models are available at https://github.com/lojzezust/SLR .
Deep-Learning vs Regression: Prediction of Tourism Flow with Limited Data
Venue: arXiv cs.LG 2022
Year: 2022

Modern tourism in the 21st century is facing numerous challenges. One of these challenges is the rapidly growing number of tourists in space limited regions such as historical city centers, museums or geographical bottlenecks like narrow valleys. In this context, a proper and accurate prediction of tourism volume and tourism flow within a certain area is important and critical for visitor management tasks such as visitor flow control and prevention of overcrowding. Static flow control methods like limiting access to hotspots or using conventional low level controllers could not solve the problem yet. In this paper, we empirically evaluate the performance of several state-of-the-art deep-learning methods in the field of visitor flow prediction with limited data by using available granular data supplied by a tourism region and comparing the results to ARIMA, a classical statistical method. Our results show that deep-learning models yield better predictions compared to the ARIMA method, while both featuring faster inference times and being able to incorporate additional input features.
Theoretical analysis of Adam using hyperparameters close to one without Lipschitz smoothness
Venue: arXiv cs.LG 2022
Year: 2022

Convergence and convergence rate analyses of adaptive methods, such as Adaptive Moment Estimation (Adam) and its variants, have been widely studied for nonconvex optimization. The analyses are based on assumptions that the expected or empirical average loss function is Lipschitz smooth (i.e., its gradient is Lipschitz continuous) and the learning rates depend on the Lipschitz constant of the Lipschitz continuous gradient. Meanwhile, numerical evaluations of Adam and its variants have clarified that using small constant learning rates without depending on the Lipschitz constant and hyperparameters ($β_1$ and $β_2$) close to one is advantageous for training deep neural networks. Since computing the Lipschitz constant is NP-hard, the Lipschitz smoothness condition would be unrealistic. This paper provides theoretical analyses of Adam without assuming the Lipschitz smoothness condition in order to bridge the gap between theory and practice. The main contribution is to show theoretical evidence that Adam using small learning rates and hyperparameters close to one performs well, whereas the previous theoretical results were all for hyperparameters close to zero. Our analysis also leads to the finding that Adam performs well with large batch sizes. Moreover, we show that Adam performs well when it uses diminishing learning rates and hyperparameters close to one.