OpenRaiser/Intern-Atlas huggingface dataset:
Ontology-Free General-Domain Knowledge Graph-to-Text Generation Dataset Synthesis using Large Language Model
Venue: arXiv cs.CL 2024
Year: 2024

Knowledge Graph-to-Text (G2T) generation involves verbalizing structured knowledge graphs into natural language text. Recent advancements in Pretrained Language Models (PLMs) have improved G2T performance, but their effectiveness depends on datasets with precise graph-text alignment. However, the scarcity of high-quality, general-domain G2T generation datasets restricts progress in the general-domain G2T generation research. To address this issue, we introduce Wikipedia Ontology-Free Graph-text dataset (WikiOFGraph), a new large-scale G2T dataset generated using a novel method that leverages Large Language Model (LLM) and Data-QuestEval. Our new dataset, which contains 5.85M general-domain graph-text pairs, offers high graph-text consistency without relying on external ontologies. Experimental results demonstrate that PLM fine-tuned on WikiOFGraph outperforms those trained on other datasets across various evaluation metrics. Our method proves to be a scalable and effective solution for generating high-quality G2T data, significantly advancing the field of G2T generation.
iKalibr-RGBD: Partially-Specialized Target-Free Visual-Inertial Spatiotemporal Calibration For RGBDs via Continuous-Time Velocity Estimation
Venue: arXiv cs.RO 2024
Year: 2024

Visual-inertial systems have been widely studied and applied in the last two decades (from the early 2000s to the present), mainly due to their low cost and power consumption, small footprint, and high availability. Such a trend simultaneously leads to a large amount of visual-inertial calibration methods being presented, as accurate spatiotemporal parameters between sensors are a prerequisite for visual-inertial fusion. In our previous work, i.e., iKalibr, a continuous-time-based visual-inertial calibration method was proposed as a part of one-shot multi-sensor resilient spatiotemporal calibration. While requiring no artificial target brings considerable convenience, computationally expensive pose estimation is demanded in initialization and batch optimization, limiting its availability. Fortunately, this could be vastly improved for the RGBDs with additional depth information, by employing mapping-free ego-velocity estimation instead of mapping-based pose estimation. In this paper, we present the continuous-time ego-velocity estimation-based RGBD-inertial spatiotemporal calibration, termed as iKalibr-RGBD, which is also targetless but computationally efficient. The general pipeline of iKalibr-RGBD is inherited from iKalibr, composed of a rigorous initialization procedure and several continuous-time batch optimizations. The implementation of iKalibr-RGBD is open-sourced at (https://github.com/Unsigned-Long/iKalibr) to benefit the research community.
Phy124: Fast Physics-Driven 4D Content Generation from a Single Image
Venue: arXiv cs.CV 2024
Year: 2024

4D content generation focuses on creating dynamic 3D objects that change over time. Existing methods primarily rely on pre-trained video diffusion models, utilizing sampling processes or reference videos. However, these approaches face significant challenges. Firstly, the generated 4D content often fails to adhere to real-world physics since video diffusion models do not incorporate physical priors. Secondly, the extensive sampling process and the large number of parameters in diffusion models result in exceedingly time-consuming generation processes. To address these issues, we introduce Phy124, a novel, fast, and physics-driven method for controllable 4D content generation from a single image. Phy124 integrates physical simulation directly into the 4D generation process, ensuring that the resulting 4D content adheres to natural physical laws. Phy124 also eliminates the use of diffusion models during the 4D dynamics generation phase, significantly speeding up the process. Phy124 allows for the control of 4D dynamics, including movement speed and direction, by manipulating external forces. Extensive experiments demonstrate that Phy124 generates high-fidelity 4D content with significantly reduced inference times, achieving stateof-the-art performance. The code and generated 4D content are available at the provided link: https://anonymous.4open.science/r/BBF2/.
Perceptive Pedipulation with Local Obstacle Avoidance
Venue: arXiv cs.RO 2024
Year: 2024

Pedipulation leverages the feet of legged robots for mobile manipulation, eliminating the need for dedicated robotic arms. While previous works have showcased blind and task-specific pedipulation skills, they fail to account for static and dynamic obstacles in the environment. To address this limitation, we introduce a reinforcement learning-based approach to train a whole-body obstacle-aware policy that tracks foot position commands while simultaneously avoiding obstacles. Despite training the policy in only five different static scenarios in simulation, we show that it generalizes to unknown environments with different numbers and types of obstacles. We analyze the performance of our method through a set of simulation experiments and successfully deploy the learned policy on the ANYmal quadruped, demonstrating its capability to follow foot commands while navigating around static and dynamic obstacles. Videos of the experiments are available at sites.google.com/leggedrobotics.com/perceptive-pedipulation.
Analytic Class Incremental Learning for Sound Source Localization with Privacy Protection
Venue: arXiv cs.SD 2024
Year: 2024

Sound Source Localization (SSL) enabling technology for applications such as surveillance and robotics. While traditional Signal Processing (SP)-based SSL methods provide analytic solutions under specific signal and noise assumptions, recent Deep Learning (DL)-based methods have significantly outperformed them. However, their success depends on extensive training data and substantial computational resources. Moreover, they often rely on large-scale annotated spatial data and may struggle when adapting to evolving sound classes. To mitigate these challenges, we propose a novel Class Incremental Learning (CIL) approach, termed SSL-CIL, which avoids serious accuracy degradation due to catastrophic forgetting by incrementally updating the DL-based SSL model through a closed-form analytic solution. In particular, data privacy is ensured since the learning process does not revisit any historical data (exemplar-free), which is more suitable for smart home scenarios. Empirical results in the public SSLR dataset demonstrate the superior performance of our proposal, achieving a localization accuracy of 90.9%, surpassing other competitive methods.
Diff-VPS: Video Polyp Segmentation via a Multi-task Diffusion Network with Adversarial Temporal Reasoning
Venue: arXiv cs.CV 2024
Year: 2024

Diffusion Probabilistic Models have recently attracted significant attention in the community of computer vision due to their outstanding performance. However, while a substantial amount of diffusion-based research has focused on generative tasks, no work introduces diffusion models to advance the results of polyp segmentation in videos, which is frequently challenged by polyps' high camouflage and redundant temporal cues.In this paper, we present a novel diffusion-based network for video polyp segmentation task, dubbed as Diff-VPS. We incorporate multi-task supervision into diffusion models to promote the discrimination of diffusion models on pixel-by-pixel segmentation. This integrates the contextual high-level information achieved by the joint classification and detection tasks. To explore the temporal dependency, Temporal Reasoning Module (TRM) is devised via reasoning and reconstructing the target frame from the previous frames. We further equip TRM with a generative adversarial self-supervised strategy to produce more realistic frames and thus capture better dynamic cues. Extensive experiments are conducted on SUN-SEG, and the results indicate that our proposed Diff-VPS significantly achieves state-of-the-art performance. Code is available at https://github.com/lydia-yllu/Diff-VPS.
Cross-Dialect Text-To-Speech in Pitch-Accent Language Incorporating Multi-Dialect Phoneme-Level BERT
Venue: arXiv cs.SD 2024
Year: 2024

We explore cross-dialect text-to-speech (CD-TTS), a task to synthesize learned speakers' voices in non-native dialects, especially in pitch-accent languages. CD-TTS is important for developing voice agents that naturally communicate with people across regions. We present a novel TTS model comprising three sub-modules to perform competitively at this task. We first train a backbone TTS model to synthesize dialect speech from a text conditioned on phoneme-level accent latent variables (ALVs) extracted from speech by a reference encoder. Then, we train an ALV predictor to predict ALVs tailored to a target dialect from input text leveraging our novel multi-dialect phoneme-level BERT. We conduct multi-dialect TTS experiments and evaluate the effectiveness of our model by comparing it with a baseline derived from conventional dialect TTS methods. The results show that our model improves the dialectal naturalness of synthetic speech in CD-TTS.
Electrokinetic Propulsion for Electronically Integrated Microscopic Robots
Venue: arXiv cs.RO 2024
Year: 2024

Semiconductor microelectronics are emerging as a powerful tool for building smart, autonomous robots too small to see with the naked eye. Yet a number of existing microrobot platforms, despite significant advantages in speed, robustness, power consumption, or ease of fabrication, have no clear path towards electronics integration, limiting their intelligence and sophistication when compared to electronic cousins. Here, we show how to upgrade a self-propelled particle into an an electronically integrated microrobot, reaping the best of both in a single design. Inspired by electrokinetic micromotors, these robots generate electric fields in a surrounding fluid, and by extension propulsive electrokinetic flows. The underlying physics is captured by a model in which robot speed is proportional to applied current, making design and control straightforward. As proof, we build basic robots that use on-board circuits and a closed-loop optical control scheme to navigate waypoints and move in coordinated swarms at speeds of up to one body length per second. Broadly, the unification of micromotor propulsion with on-robot electronics clears the way for robust, fast, easy to manufacture, electronically programmable microrobots that operate reliably over months to years.
Optimizing Neural Network Performance and Interpretability with Diophantine Equation Encoding
Venue: arXiv cs.LG 2024
Year: 2024

This paper explores the integration of Diophantine equations into neural network (NN) architectures to improve model interpretability, stability, and efficiency. By encoding and decoding neural network parameters as integer solutions to Diophantine equations, we introduce a novel approach that enhances both the precision and robustness of deep learning models. Our method integrates a custom loss function that enforces Diophantine constraints during training, leading to better generalization, reduced error bounds, and enhanced resilience against adversarial attacks. We demonstrate the efficacy of this approach through several tasks, including image classification and natural language processing, where improvements in accuracy, convergence, and robustness are observed. This study offers a new perspective on combining mathematical theory and machine learning to create more interpretable and efficient models.
Module-wise Adaptive Adversarial Training for End-to-end Autonomous Driving
Venue: arXiv cs.CV 2024
Year: 2024

Recent advances in deep learning have markedly improved autonomous driving (AD) models, particularly end-to-end systems that integrate perception, prediction, and planning stages, achieving state-of-the-art performance. However, these models remain vulnerable to adversarial attacks, where human-imperceptible perturbations can disrupt decision-making processes. While adversarial training is an effective method for enhancing model robustness against such attacks, no prior studies have focused on its application to end-to-end AD models. In this paper, we take the first step in adversarial training for end-to-end AD models and present a novel Module-wise Adaptive Adversarial Training (MA2T). However, extending conventional adversarial training to this context is highly non-trivial, as different stages within the model have distinct objectives and are strongly interconnected. To address these challenges, MA2T first introduces Module-wise Noise Injection, which injects noise before the input of different modules, targeting training models with the guidance of overall objectives rather than each independent module loss. Additionally, we introduce Dynamic Weight Accumulation Adaptation, which incorporates accumulated weight changes to adaptively learn and adjust the loss weights of each module based on their contributions (accumulated reduction rates) for better balance and robust training. To demonstrate the efficacy of our defense, we conduct extensive experiments on the widely-used nuScenes dataset across several end-to-end AD models under both white-box and black-box attacks, where our method outperforms other baselines by large margins (+5-10%). Moreover, we validate the robustness of our defense through closed-loop evaluation in the CARLA simulation environment, showing improved resilience even against natural corruption.
Efficient and Unbiased Sampling of Boltzmann Distributions via Consistency Models
Venue: arXiv cs.LG 2024
Year: 2024

Diffusion models have shown promising potential for advancing Boltzmann Generators. However, two critical challenges persist: (1) inherent errors in samples due to model imperfections, and (2) the requirement of hundreds of functional evaluations (NFEs) to achieve high-quality samples. While existing solutions like importance sampling and distillation address these issues separately, they are often incompatible, as most distillation models lack the necessary density information for importance sampling. This paper introduces a novel sampling method that effectively combines Consistency Models (CMs) with importance sampling. We evaluate our approach on both synthetic energy functions and equivariant n-body particle systems. Our method produces unbiased samples using only 6-25 NFEs while achieving a comparable Effective Sample Size (ESS) to Denoising Diffusion Probabilistic Models (DDPMs) that require approximately 100 NFEs.
Current Symmetry Group Equivariant Convolution Frameworks for Representation Learning
Venue: arXiv cs.CV 2024
Year: 2024

Euclidean deep learning is often inadequate for addressing real-world signals where the representation space is irregular and curved with complex topologies. Interpreting the geometric properties of such feature spaces has become paramount in obtaining robust and compact feature representations that remain unaffected by nontrivial geometric transformations, which vanilla CNNs cannot effectively handle. Recognizing rotation, translation, permutation, or scale symmetries can lead to equivariance properties in the learned representations. This has led to notable advancements in computer vision and machine learning tasks under the framework of geometric deep learning, as compared to their invariant counterparts. In this report, we emphasize the importance of symmetry group equivariant deep learning models and their realization of convolution-like operations on graphs, 3D shapes, and non-Euclidean spaces by leveraging group theory and symmetry. We categorize them as regular, steerable, and PDE-based convolutions and thoroughly examine the inherent symmetries of their input spaces and ensuing representations. We also outline the mathematical link between group convolutions or message aggregation operations and the concept of equivariance. The report also highlights various datasets, their application scopes, limitations, and insightful observations on future directions to serve as a valuable reference and stimulate further research in this emerging discipline.
Enhancing Sequential Music Recommendation with Negative Feedback-informed Contrastive Learning
Venue: arXiv cs.IR 2024
Year: 2024

Modern music streaming services are heavily based on recommendation engines to serve content to users. Sequential recommendation -- continuously providing new items within a single session in a contextually coherent manner -- has been an emerging topic in current literature. User feedback -- a positive or negative response to the item presented -- is used to drive content recommendations by learning user preferences. We extend this idea to session-based recommendation to provide context-coherent music recommendations by modelling negative user feedback, i.e., skips, in the loss function. We propose a sequence-aware contrastive sub-task to structure item embeddings in session-based music recommendation, such that true next-positive items (ignoring skipped items) are structured closer in the session embedding space, while skipped tracks are structured farther away from all items in the session. This directly affects item rankings using a K-nearest-neighbors search for next-item recommendations, while also promoting the rank of the true next item. Experiments incorporating this task into SoTA methods for sequential item recommendation show consistent performance gains in terms of next-item hit rate, item ranking, and skip down-ranking on three music recommendation datasets, strongly benefiting from the increasing presence of user feedback.
Demo: SGCode: A Flexible Prompt-Optimizing System for Secure Generation of Code
Venue: arXiv cs.CR 2024
Year: 2024

This paper introduces SGCode, a flexible prompt-optimizing system to generate secure code with large language models (LLMs). SGCode integrates recent prompt-optimization approaches with LLMs in a unified system accessible through front-end and back-end APIs, enabling users to 1) generate secure code, which is free of vulnerabilities, 2) review and share security analysis, and 3) easily switch from one prompt optimization approach to another, while providing insights on model and system performance. We populated SGCode on an AWS server with PromSec, an approach that optimizes prompts by combining an LLM and security tools with a lightweight generative adversarial graph neural network to detect and fix security vulnerabilities in the generated code. Extensive experiments show that SGCode is practical as a public tool to gain insights into the trade-offs between model utility, secure code generation, and system cost. SGCode has only a marginal cost compared with prompting LLMs. SGCode is available at: https://sgcode.codes/.
Deep Neural Network-Based Sign Language Recognition: A Comprehensive Approach Using Transfer Learning with Explainability
Venue: arXiv cs.CV 2024
Year: 2024

To promote inclusion and ensuring effective communication for those who rely on sign language as their main form of communication, sign language recognition (SLR) is crucial. Sign language recognition (SLR) seamlessly incorporates with diverse technology, enhancing accessibility for the deaf community by facilitating their use of digital platforms, video calls, and communication devices. To effectively solve this problem, we suggest a novel solution that uses a deep neural network to fully automate sign language recognition. This methodology integrates sophisticated preprocessing methodologies to optimise the overall performance. The architectures resnet, inception, xception, and vgg are utilised to selectively categorise images of sign language. We prepared a DNN architecture and merged it with the pre-processing architectures. In the post-processing phase, we utilised the SHAP deep explainer, which is based on cooperative game theory, to quantify the influence of specific features on the output of a machine learning model. Bhutanese-Sign-Language (BSL) dataset was used for training and testing the suggested technique. While training on Bhutanese-Sign-Language (BSL) dataset, overall ResNet50 with the DNN model performed better accuracy which is 98.90%. Our model's ability to provide informational clarity was assessed using the SHAP (SHapley Additive exPlanations) method. In part to its considerable robustness and reliability, the proposed methodological approach can be used to develop a fully automated system for sign language recognition.
StereoCrafter: Diffusion-based Generation of Long and High-fidelity Stereoscopic 3D from Monocular Videos
Venue: arXiv cs.CV 2024
Year: 2024

This paper presents a novel framework for converting 2D videos to immersive stereoscopic 3D, addressing the growing demand for 3D content in immersive experience. Leveraging foundation models as priors, our approach overcomes the limitations of traditional methods and boosts the performance to ensure the high-fidelity generation required by the display devices. The proposed system consists of two main steps: depth-based video splatting for warping and extracting occlusion mask, and stereo video inpainting. We utilize pre-trained stable video diffusion as the backbone and introduce a fine-tuning protocol for the stereo video inpainting task. To handle input video with varying lengths and resolutions, we explore auto-regressive strategies and tiled processing. Finally, a sophisticated data processing pipeline has been developed to reconstruct a large-scale and high-quality dataset to support our training. Our framework demonstrates significant improvements in 2D-to-3D video conversion, offering a practical solution for creating immersive content for 3D devices like Apple Vision Pro and 3D displays. In summary, this work contributes to the field by presenting an effective method for generating high-quality stereoscopic videos from monocular input, potentially transforming how we experience digital media.
VMAS: Video-to-Music Generation via Semantic Alignment in Web Music Videos
Venue: arXiv cs.MM 2024
Year: 2024

We present a framework for learning to generate background music from video inputs. Unlike existing works that rely on symbolic musical annotations, which are limited in quantity and diversity, our method leverages large-scale web videos accompanied by background music. This enables our model to learn to generate realistic and diverse music. To accomplish this goal, we develop a generative video-music Transformer with a novel semantic video-music alignment scheme. Our model uses a joint autoregressive and contrastive learning objective, which encourages the generation of music aligned with high-level video content. We also introduce a novel video-beat alignment scheme to match the generated music beats with the low-level motions in the video. Lastly, to capture fine-grained visual cues in a video needed for realistic background music generation, we introduce a new temporal video encoder architecture, allowing us to efficiently process videos consisting of many densely sampled frames. We train our framework on our newly curated DISCO-MV dataset, consisting of 2.2M video-music samples, which is orders of magnitude larger than any prior datasets used for video music generation. Our method outperforms existing approaches on the DISCO-MV and MusicCaps datasets according to various music generation evaluation metrics, including human evaluation. Results are available at https://genjib.github.io/project_page/VMAs/index.html