OpenRaiser/Intern-Atlas huggingface dataset:
High-temporal-resolution event-based vehicle detection and tracking
Venue: arXiv cs.CV 2023
Year: 2023

Event-based vision has been rapidly growing in recent years justified by the unique characteristics it presents such as its high temporal resolutions (~1us), high dynamic range (>120dB), and output latency of only a few microseconds. This work further explores a hybrid, multi-modal, approach for object detection and tracking that leverages state-of-the-art frame-based detectors complemented by hand-crafted event-based methods to improve the overall tracking performance with minimal computational overhead. The methods presented include event-based bounding box (BB) refinement that improves the precision of the resulting BBs, as well as a continuous event-based object detection method, to recover missed detections and generate inter-frame detections that enable a high-temporal-resolution tracking output. The advantages of these methods are quantitatively verified by an ablation study using the higher order tracking accuracy (HOTA) metric. Results show significant performance gains resembled by an improvement in the HOTA from 56.6%, using only frames, to 64.1% and 64.9%, for the event and edge-based mask configurations combined with the two methods proposed, at the baseline framerate of 24Hz. Likewise, incorporating these methods with the same configurations has improved HOTA from 52.5% to 63.1%, and from 51.3% to 60.2% at the high-temporal-resolution tracking rate of 384Hz. Finally, a validation experiment is conducted to analyze the real-world single-object tracking performance using high-speed LiDAR. Empirical evidence shows that our approaches provide significant advantages compared to using frame-based object detectors at the baseline framerate of 24Hz and higher tracking rates of up to 500Hz.
$(1-ε)$-Approximate Maximum Weighted Matching in Distributed, Parallel, and Semi-Streaming Settings
Venue: arXiv cs.DC 2023
Year: 2023

The maximum weighted matching (MWM) problem is one of the most well-studied combinatorial optimization problems in distributed graph algorithms. Despite a long development on the problem, and the recent progress of Fischer, Mitrovic, and Uitto [FMU22] who gave a $\text{poly}(1/ε, \log n)$-round algorithm for obtaining a $(1-ε)$-approximate solution for unweighted maximum matching, it had been an open problem whether a $(1-ε)$-approximate MWM can be obtained in $\text{poly}(1/ε, \log n)$ rounds in the CONGEST model. Algorithms with such running times were only known for special graph classes such as bipartite graphs [AKO18] and minor-free graphs [CS22]. For general graphs, the previously known algorithms require exponential in $(1/ε)$ rounds for obtaining a $(1-ε)$-approximate solution [FFK21] or achieve an approximation factor of at most 2/3 [AKO18]. In this work, we settle this open problem by giving a deterministic $\text{poly}(1/ε, \log n)$-round algorithm for computing a $(1-ε)$-approximate MWM for general graphs in the CONGEST model. Our proposed solution extends the algorithm of Fischer, Mitrovic, and Uitto [FMU22], blends in the sequential algorithm from Duan and Pettie [DP14] and the work of Faour, Fuchs, and Kuhn [FFK21]. Interestingly, this solution also implies a CREW PRAM algorithm with $\text{poly}(1/ε, \log n)$ span using only $O(m)$ processors. In addition, with the reduction from Gupta and Peng [GP13], we further obtain a semi-streaming algorithm with $\text{poly}(1/ε)$ passes. When $ε$ is smaller than a constant $o(1)$ but at least $1/\log^{o(1)} n$, our algorithm is more efficient than both Ahn and Guha's $\text{poly}(1/ε, \log n)$-passes algorithm [AG13] and Gamlath, Kale, Mitrovic, and Svensson's $(1/ε)^{O(1/ε^2)}$-passes algorithm [GKMS19].
Fruit Ripeness Classification: a Survey
Venue: arXiv cs.CV 2023
Year: 2023

Fruit is a key crop in worldwide agriculture feeding millions of people. The standard supply chain of fruit products involves quality checks to guarantee freshness, taste, and, most of all, safety. An important factor that determines fruit quality is its stage of ripening. This is usually manually classified by field experts, making it a labor-intensive and error-prone process. Thus, there is an arising need for automation in fruit ripeness classification. Many automatic methods have been proposed that employ a variety of feature descriptors for the food item to be graded. Machine learning and deep learning techniques dominate the top-performing methods. Furthermore, deep learning can operate on raw data and thus relieve the users from having to compute complex engineered features, which are often crop-specific. In this survey, we review the latest methods proposed in the literature to automatize fruit ripeness classification, highlighting the most common feature descriptors they operate on.
Inference of interaction kernels in mean-field models of opinion dynamics
Venue: arXiv cs.SI 2023
Year: 2023

In models of opinion dynamics, many parameters -- either in the form of constants or in the form of functions -- play a critical role in describing, calibrating, and forecasting how opinions change with time. When examining a model of opinion dynamics, it is beneficial to infer its parameters using empirical data. In this paper, we study an example of such an inference problem. We consider a mean-field bounded-confidence model with an unknown interaction kernel between individuals. This interaction kernel encodes how individuals with different opinions interact and affect each other's opinions. Because it is often difficult to quantitatively measure opinions as empirical data from observations or experiments, we assume that the available data takes the form of partial observations of a cumulative distribution function of opinions. We prove that certain measurements guarantee a precise and unique inference of the interaction kernel and propose a numerical method to reconstruct an interaction kernel from a limited number of data points. Our numerical results suggest that the error of the inferred interaction kernel decays exponentially as we strategically enlarge the data set.
Every Combinatorial Polyhedron Can Unfold with Overlap
Venue: arXiv cs.CG 2023
Year: 2023

Ghomi proved that every convex polyhedron could be stretched via an affine transformation so that it has an edge-unfolding to a net [Gho14]. A net is a simple planar polygon; in particular, it does not self-overlap. One can view his result as establishing that every combinatorial polyhedron has a metric realization that allows unfolding to a net. Joseph Malkevitch asked if the reverse holds (in some sense of ``reverse"): Is there a combinatorial polyhedron such that, for every metric realization P in R^3, and for every spanning cut-tree T, P cut by T unfolds to a net? In this note we prove the answer is NO: every combinatorial polyhedron has a realization and a cut-tree that unfolds the polyhedron with overlap.
Asynchronous Hybrid Reinforcement Learning for Latency and Reliability Optimization in the Metaverse over Wireless Communications
Venue: arXiv cs.LG 2023
Year: 2023

Technology advancements in wireless communications and high-performance Extended Reality (XR) have empowered the developments of the Metaverse. The demand for the Metaverse applications and hence, real-time digital twinning of real-world scenes is increasing. Nevertheless, the replication of 2D physical world images into 3D virtual objects is computationally intensive and requires computation offloading. The disparity in transmitted object dimension (2D as opposed to 3D) leads to asymmetric data sizes in uplink (UL) and downlink (DL). To ensure the reliability and low latency of the system, we consider an asynchronous joint UL-DL scenario where in the UL stage, the smaller data size of the physical world images captured by multiple extended reality users (XUs) will be uploaded to the Metaverse Console (MC) to be construed and rendered. In the DL stage, the larger-size 3D virtual objects need to be transmitted back to the XUs. We design a novel multi-agent reinforcement learning algorithm structure, namely Asynchronous Actors Hybrid Critic (AAHC), to optimize the decisions pertaining to computation offloading and channel assignment in the UL stage and optimize the DL transmission power in the DL stage. Extensive experiments demonstrate that compared to proposed baselines, AAHC obtains better solutions with satisfactory training time.
Unsupervised 4D LiDAR Moving Object Segmentation in Stationary Settings with Multivariate Occupancy Time Series
Venue: arXiv cs.CV 2023
Year: 2023

In this work, we address the problem of unsupervised moving object segmentation (MOS) in 4D LiDAR data recorded from a stationary sensor, where no ground truth annotations are involved. Deep learning-based state-of-the-art methods for LiDAR MOS strongly depend on annotated ground truth data, which is expensive to obtain and scarce in existence. To close this gap in the stationary setting, we propose a novel 4D LiDAR representation based on multivariate time series that relaxes the problem of unsupervised MOS to a time series clustering problem. More specifically, we propose modeling the change in occupancy of a voxel by a multivariate occupancy time series (MOTS), which captures spatio-temporal occupancy changes on the voxel level and its surrounding neighborhood. To perform unsupervised MOS, we train a neural network in a self-supervised manner to encode MOTS into voxel-level feature representations, which can be partitioned by a clustering algorithm into moving or stationary. Experiments on stationary scenes from the Raw KITTI dataset show that our fully unsupervised approach achieves performance that is comparable to that of supervised state-of-the-art approaches.
Learning from Guided Play: Improving Exploration for Adversarial Imitation Learning with Simple Auxiliary Tasks
Venue: arXiv cs.LG 2023
Year: 2023

Adversarial imitation learning (AIL) has become a popular alternative to supervised imitation learning that reduces the distribution shift suffered by the latter. However, AIL requires effective exploration during an online reinforcement learning phase. In this work, we show that the standard, naive approach to exploration can manifest as a suboptimal local maximum if a policy learned with AIL sufficiently matches the expert distribution without fully learning the desired task. This can be particularly catastrophic for manipulation tasks, where the difference between an expert and a non-expert state-action pair is often subtle. We present Learning from Guided Play (LfGP), a framework in which we leverage expert demonstrations of multiple exploratory, auxiliary tasks in addition to a main task. The addition of these auxiliary tasks forces the agent to explore states and actions that standard AIL may learn to ignore. Additionally, this particular formulation allows for the reusability of expert data between main tasks. Our experimental results in a challenging multitask robotic manipulation domain indicate that LfGP significantly outperforms both AIL and behaviour cloning, while also being more expert sample efficient than these baselines. To explain this performance gap, we provide further analysis of a toy problem that highlights the coupling between a local maximum and poor exploration, and also visualize the differences between the learned models from AIL and LfGP.
The Role of Author Identities in Peer Review
Venue: arXiv cs.DL 2023
Year: 2023

There is widespread debate on whether to anonymize author identities in peer review. The key argument for anonymization is to mitigate bias, whereas arguments against anonymization posit various uses of author identities in the review process. The Innovations in Theoretical Computer Science (ITCS) 2023 conference adopted a middle ground by initially anonymizing the author identities from reviewers, revealing them after the reviewer had submitted their initial reviews, and allowing the reviewer to change their review subsequently. We present an analysis of the reviews pertaining to the identification and use of author identities. Our key findings are: (I) A majority of reviewers self-report not knowing and being unable to guess the authors' identities for the papers they were reviewing. (II) After the initial submission of reviews, 7.1% of reviews changed their overall merit score and 3.8% changed their self-reported reviewer expertise. (III) There is a very weak and statistically insignificant correlation of the rank of authors' affiliations with the change in overall merit; there is a weak but statistically significant correlation with respect to change in reviewer expertise. We also conducted an anonymous survey to obtain opinions from reviewers and authors. The main findings from the 200 survey responses are: (i) A vast majority of participants favor anonymizing author identities in some form. (ii) The "middle-ground" initiative of ITCS 2023 was appreciated. (iii) Detecting conflicts of interest is a challenge that needs to be addressed if author identities are anonymized. Overall, these findings support anonymization of author identities in some form (e.g., as was done in ITCS 2023), as long as there is a robust and efficient way to check conflicts of interest.
Landing a UAV in Harsh Winds and Turbulent Open Waters
Venue: arXiv cs.RO 2023
Year: 2023

Landing an unmanned aerial vehicle unmanned aerial vehicle (UAV) on top of an unmanned surface vehicle (USV) in harsh open waters is a challenging problem, owing to forces that can damage the UAV due to a severe roll and/or pitch angle of the USV during touchdown. To tackle this, we propose a novel model predictive control (MPC) approach enabling a UAV to land autonomously on a USV in these harsh conditions. The MPC employs a novel objective function and an online decomposition of the oscillatory motion of the vessel to predict, attempt, and accomplish the landing during near-zero tilt of the landing platform. The nonlinear prediction of the motion of the vessel is performed using visual data from an onboard camera. Therefore, the system does not require any communication with the USV or a control station. The proposed method was analyzed in numerous robotics simulations in harsh and extreme conditions and further validated in various real-world scenarios.
Source-Free Unsupervised Domain Adaptation: A Survey
Venue: arXiv cs.CV 2023
Year: 2023

Unsupervised domain adaptation (UDA) via deep learning has attracted appealing attention for tackling domain-shift problems caused by distribution discrepancy across different domains. Existing UDA approaches highly depend on the accessibility of source domain data, which is usually limited in practical scenarios due to privacy protection, data storage and transmission cost, and computation burden. To tackle this issue, many source-free unsupervised domain adaptation (SFUDA) methods have been proposed recently, which perform knowledge transfer from a pre-trained source model to unlabeled target domain with source data inaccessible. A comprehensive review of these works on SFUDA is of great significance. In this paper, we provide a timely and systematic literature review of existing SFUDA approaches from a technical perspective. Specifically, we categorize current SFUDA studies into two groups, i.e., white-box SFUDA and black-box SFUDA, and further divide them into finer subcategories based on different learning strategies they use. We also investigate the challenges of methods in each subcategory, discuss the advantages/disadvantages of white-box and black-box SFUDA methods, conclude the commonly used benchmark datasets, and summarize the popular techniques for improved generalizability of models learned without using source data. We finally discuss several promising future directions in this field.
MTNeuro: A Benchmark for Evaluating Representations of Brain Structure Across Multiple Levels of Abstraction
Venue: arXiv cs.CV 2023
Year: 2023

There are multiple scales of abstraction from which we can describe the same image, depending on whether we are focusing on fine-grained details or a more global attribute of the image. In brain mapping, learning to automatically parse images to build representations of both small-scale features (e.g., the presence of cells or blood vessels) and global properties of an image (e.g., which brain region the image comes from) is a crucial and open challenge. However, most existing datasets and benchmarks for neuroanatomy consider only a single downstream task at a time. To bridge this gap, we introduce a new dataset, annotations, and multiple downstream tasks that provide diverse ways to readout information about brain structure and architecture from the same image. Our multi-task neuroimaging benchmark (MTNeuro) is built on volumetric, micrometer-resolution X-ray microtomography images spanning a large thalamocortical section of mouse brain, encompassing multiple cortical and subcortical regions. We generated a number of different prediction challenges and evaluated several supervised and self-supervised models for brain-region prediction and pixel-level semantic segmentation of microstructures. Our experiments not only highlight the rich heterogeneity of this dataset, but also provide insights into how self-supervised approaches can be used to learn representations that capture multiple attributes of a single image and perform well on a variety of downstream tasks. Datasets, code, and pre-trained baseline models are provided at: https://mtneuro.github.io/ .
An Adaptive Kernel Approach to Federated Learning of Heterogeneous Causal Effects
Venue: arXiv cs.LG 2023
Year: 2023

We propose a new causal inference framework to learn causal effects from multiple, decentralized data sources in a federated setting. We introduce an adaptive transfer algorithm that learns the similarities among the data sources by utilizing Random Fourier Features to disentangle the loss function into multiple components, each of which is associated with a data source. The data sources may have different distributions; the causal effects are independently and systematically incorporated. The proposed method estimates the similarities among the sources through transfer coefficients, and hence requiring no prior information about the similarity measures. The heterogeneous causal effects can be estimated with no sharing of the raw training data among the sources, thus minimizing the risk of privacy leak. We also provide minimax lower bounds to assess the quality of the parameters learned from the disparate sources. The proposed method is empirically shown to outperform the baselines on decentralized data sources with dissimilar distributions.
Second Thoughts are Best: Learning to Re-Align With Human Values from Text Edits
Venue: arXiv cs.CL 2023
Year: 2023

We present Second Thought, a new learning paradigm that enables language models (LMs) to re-align with human values. By modeling the chain-of-edits between value-unaligned and value-aligned text, with LM fine-tuning and additional refinement through reinforcement learning, Second Thought not only achieves superior performance in three value alignment benchmark datasets but also shows strong human-value transfer learning ability in few-shot scenarios. The generated editing steps also offer better interpretability and ease for interactive error correction. Extensive human evaluations further confirm its effectiveness.
A Functional approach for Two Way Dimension Reduction in Time Series
Venue: arXiv cs.LG 2023
Year: 2023

The rise in data has led to the need for dimension reduction techniques, especially in the area of non-scalar variables, including time series, natural language processing, and computer vision. In this paper, we specifically investigate dimension reduction for time series through functional data analysis. Current methods for dimension reduction in functional data are functional principal component analysis and functional autoencoders, which are limited to linear mappings or scalar representations for the time series, which is inefficient. In real data applications, the nature of the data is much more complex. We propose a non-linear function-on-function approach, which consists of a functional encoder and a functional decoder, that uses continuous hidden layers consisting of continuous neurons to learn the structure inherent in functional data, which addresses the aforementioned concerns in the existing approaches. Our approach gives a low dimension latent representation by reducing the number of functional features as well as the timepoints at which the functions are observed. The effectiveness of the proposed model is demonstrated through multiple simulations and real data examples.
CORGI-PM: A Chinese Corpus For Gender Bias Probing and Mitigation
Venue: arXiv cs.CL 2023
Year: 2023

As natural language processing (NLP) for gender bias becomes a significant interdisciplinary topic, the prevalent data-driven techniques such as large-scale language models suffer from data inadequacy and biased corpus, especially for languages with insufficient resources such as Chinese. To this end, we propose a Chinese cOrpus foR Gender bIas Probing and Mitigation CORGI-PM, which contains 32.9k sentences with high-quality labels derived by following an annotation scheme specifically developed for gender bias in the Chinese context. Moreover, we address three challenges for automatic textual gender bias mitigation, which requires the models to detect, classify, and mitigate textual gender bias. We also conduct experiments with state-of-the-art language models to provide baselines. To our best knowledge, CORGI-PM is the first sentence-level Chinese corpus for gender bias probing and mitigation.
MIGPerf: A Comprehensive Benchmark for Deep Learning Training and Inference Workloads on Multi-Instance GPUs
Venue: arXiv cs.LG 2023
Year: 2023

New architecture GPUs like A100 are now equipped with multi-instance GPU (MIG) technology, which allows the GPU to be partitioned into multiple small, isolated instances. This technology provides more flexibility for users to support both deep learning training and inference workloads, but efficiently utilizing it can still be challenging. The vision of this paper is to provide a more comprehensive and practical benchmark study for MIG in order to eliminate the need for tedious manual benchmarking and tuning efforts. To achieve this vision, the paper presents MIGPerf, an open-source tool that streamlines the benchmark study for MIG. Using MIGPerf, the authors conduct a series of experiments, including deep learning training and inference characterization on MIG, GPU sharing characterization, and framework compatibility with MIG. The results of these experiments provide new insights and guidance for users to effectively employ MIG, and lay the foundation for further research on the orchestration of hybrid training and inference workloads on MIGs. The code and results are released on https://github.com/MLSysOps/MIGProfiler. This work is still in progress and more results will be published soon.