OpenRaiser/Intern-Atlas huggingface dataset:
Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications
Venue: arXiv cs.RO 2023
Year: 2023

A framework for computing feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications for power line inspection tasks is proposed in this paper. The planner allows the formulation of complex missions that avoid obstacles and maintain a safe distance between drones while performing the planned mission. An optimization problem is set to generate optimal strategies that satisfy these specifications and also take vehicle constraints into account. Further, an event-triggered replanner is proposed to reply to unforeseen events and external disturbances. An energy minimization term is also considered to implicitly save quad-rotors battery life while carrying out the mission. Numerical simulations in MATLAB and experimental results show the validity and the effectiveness of the proposed approach, and demonstrate its applicability in real-world scenarios.
REIN: A Comprehensive Benchmark Framework for Data Cleaning Methods in ML Pipelines
Venue: arXiv cs.DB 2023
Year: 2023

Nowadays, machine learning (ML) plays a vital role in many aspects of our daily life. In essence, building well-performing ML applications requires the provision of high-quality data throughout the entire life-cycle of such applications. Nevertheless, most of the real-world tabular data suffer from different types of discrepancies, such as missing values, outliers, duplicates, pattern violation, and inconsistencies. Such discrepancies typically emerge while collecting, transferring, storing, and/or integrating the data. To deal with these discrepancies, numerous data cleaning methods have been introduced. However, the majority of such methods broadly overlook the requirements imposed by downstream ML models. As a result, the potential of utilizing these data cleaning methods in ML pipelines is predominantly unrevealed. In this work, we introduce a comprehensive benchmark, called REIN1, to thoroughly investigate the impact of data cleaning methods on various ML models. Through the benchmark, we provide answers to important research questions, e.g., where and whether data cleaning is a necessary step in ML pipelines. To this end, the benchmark examines 38 simple and advanced error detection and repair methods. To evaluate these methods, we utilized a wide collection of ML models trained on 14 publicly-available datasets covering different domains and encompassing realistic as well as synthetic error profiles.
Improving the Generalizability of Collaborative Dialogue Analysis with Multi-Feature Embeddings
Venue: arXiv cs.CL 2023
Year: 2023

Conflict prediction in communication is integral to the design of virtual agents that support successful teamwork by providing timely assistance. The aim of our research is to analyze discourse to predict collaboration success. Unfortunately, resource scarcity is a problem that teamwork researchers commonly face since it is hard to gather a large number of training examples. To alleviate this problem, this paper introduces a multi-feature embedding (MFeEmb) that improves the generalizability of conflict prediction models trained on dialogue sequences. MFeEmb leverages textual, structural, and semantic information from the dialogues by incorporating lexical, dialogue acts, and sentiment features. The use of dialogue acts and sentiment features reduces performance loss from natural distribution shifts caused mainly by changes in vocabulary. This paper demonstrates the performance of MFeEmb on domain adaptation problems in which the model is trained on discourse from one task domain and applied to predict team performance in a different domain. The generalizability of MFeEmb is quantified using the similarity measure proposed by Bontonou et al. (2021). Our results show that MFeEmb serves as an excellent domain-agnostic representation for meta-pretraining a few-shot model on collaborative multiparty dialogues.
Lightweight Transformers for Clinical Natural Language Processing
Venue: arXiv cs.CL 2023
Year: 2023

Specialised pre-trained language models are becoming more frequent in NLP since they can potentially outperform models trained on generic texts. BioBERT and BioClinicalBERT are two examples of such models that have shown promise in medical NLP tasks. Many of these models are overparametrised and resource-intensive, but thanks to techniques like Knowledge Distillation (KD), it is possible to create smaller versions that perform almost as well as their larger counterparts. In this work, we specifically focus on development of compact language models for processing clinical texts (i.e. progress notes, discharge summaries etc). We developed a number of efficient lightweight clinical transformers using knowledge distillation and continual learning, with the number of parameters ranging from 15 million to 65 million. These models performed comparably to larger models such as BioBERT and ClinicalBioBERT and significantly outperformed other compact models trained on general or biomedical data. Our extensive evaluation was done across several standard datasets and covered a wide range of clinical text-mining tasks, including Natural Language Inference, Relation Extraction, Named Entity Recognition, and Sequence Classification. To our knowledge, this is the first comprehensive study specifically focused on creating efficient and compact transformers for clinical NLP tasks. The models and code used in this study can be found on our Huggingface profile at https://huggingface.co/nlpie and Github page at https://github.com/nlpie-research/Lightweight-Clinical-Transformers, respectively, promoting reproducibility of our results.
Improving Blockchain Scalability with the Setchain Data-type
Venue: arXiv cs.DC 2023
Year: 2023

Blockchain technologies are facing a scalability challenge, which must be overcome to guarantee a wider adoption of the technology. This scalability issue is due to the use of consensus algorithms to guarantee the total order of the chain of blocks and of the transactions within each block. However, total order is often not fully necessary, since important advanced applications of smart-contracts do not require a total order among all operations. A much higher scalability can potentially be achieved if a more relaxed order can be exploited. In this paper, we propose a novel distributed concurrent data type, called Setchain, which improves scalability significantly. A Setchain implements a grow-only set whose elements are not ordered, unlike conventional blockchain operations. When convenient, the Setchain allows forcing a synchronization barrier that assigns permanently an epoch number to a subset of the latest elements added, agreed by consensus. Therefore, two operations in the same epoch are not ordered, while two operations in different epochs are ordered by their respective epoch number. We present different Byzantine-tolerant implementations of Setchain, prove their correctness and report on an empirical evaluation of a prototype implementation. Our results show that Setchain is orders of magnitude faster than consensus-based ledgers, since it implements grow-only sets with epoch synchronization instead of total order. Since Setchain barriers can be synchronized with the underlying blockchain, Setchain objects can be used as a sidechain to implement many decentralized solutions with much faster operations than direct implementations on top of blockchains. Finally, we also present an algorithm that encompasses in a single process the combined behavior of Byzantine servers, which simplifies correctness proofs by encoding the general attacker in a concrete implementation.
Mission Planning and Execution in Heterogeneous Teams of Aerial Robots supporting Power Line Inspection Operations
Venue: arXiv cs.RO 2023
Year: 2023

A software architecture aimed at coordinating a team of heterogeneous aerial vehicles for inspection and maintenance operations in high-voltage power line scenarios is presented in this paper. A hierarchical approach deals with high-level tasks by planning and executing complex missions requiring vehicles to support human operators. A resource-constrained problem allows distributing tasks among the team taking into account vehicles' capabilities and battery constraints. Besides, Behavior Trees (BTs) are in charge of mission execution, triggering replanning operations in case of unforeseen events, such as vehicle faults or communication drop-outs. The feasibility and validity of the approach are showcased through realistic simulations achieved in Gazebo.
Equivariant MuZero
Venue: arXiv cs.LG 2023
Year: 2023

Deep reinforcement learning repeatedly succeeds in closed, well-defined domains such as games (Chess, Go, StarCraft). The next frontier is real-world scenarios, where setups are numerous and varied. For this, agents need to learn the underlying rules governing the environment, so as to robustly generalise to conditions that differ from those they were trained on. Model-based reinforcement learning algorithms, such as the highly successful MuZero, aim to accomplish this by learning a world model. However, leveraging a world model has not consistently shown greater generalisation capabilities compared to model-free alternatives. In this work, we propose improving the data efficiency and generalisation capabilities of MuZero by explicitly incorporating the symmetries of the environment in its world-model architecture. We prove that, so long as the neural networks used by MuZero are equivariant to a particular symmetry group acting on the environment, the entirety of MuZero's action-selection algorithm will also be equivariant to that group. We evaluate Equivariant MuZero on procedurally-generated MiniPacman and on Chaser from the ProcGen suite: training on a set of mazes, and then testing on unseen rotated versions, demonstrating the benefits of equivariance. Further, we verify that our performance improvements hold even when only some of the components of Equivariant MuZero obey strict equivariance, which highlights the robustness of our construction.
High-fidelity Interpretable Inverse Rig: An Accurate and Sparse Solution Optimizing the Quartic Blendshape Model
Venue: arXiv cs.CV 2023
Year: 2023

We propose a method to fit arbitrarily accurate blendshape rig models by solving the inverse rig problem in realistic human face animation. The method considers blendshape models with different levels of added corrections and solves the regularized least-squares problem using coordinate descent, i.e., iteratively estimating blendshape weights. Besides making the optimization easier to solve, this approach ensures that mutually exclusive controllers will not be activated simultaneously and improves the goodness of fit after each iteration. We show experimentally that the proposed method yields solutions with mesh error comparable to or lower than the state-of-the-art approaches while significantly reducing the cardinality of the weight vector (over 20 percent), hence giving a high-fidelity reconstruction of the reference expression that is easier to manipulate in the post-production manually. Python scripts for the algorithm will be publicly available upon acceptance of the paper.
Lithium Metal Battery Quality Control via Transformer-CNN Segmentation
Venue: arXiv cs.CV 2023
Year: 2023

Lithium metal battery (LMB) has the potential to be the next-generation battery system because of its high theoretical energy density. However, defects known as dendrites are formed by heterogeneous lithium (Li) plating, which hinders the development and utilization of LMBs. Non-destructive techniques to observe the dendrite morphology often use X-ray computed tomography (XCT) to provide cross-sectional views. To retrieve three-dimensional structures inside a battery, image segmentation becomes essential to quantitatively analyze XCT images. This work proposes a new semantic segmentation approach using a transformer-based neural network called TransforCNN that is capable of segmenting out dendrites from XCT data. In addition, we compare the performance of the proposed TransforCNN with three other algorithms, such as U-Net, Y-Net, and E-Net, consisting of an Ensemble Network model for XCT analysis. Our results show the advantages of using TransforCNN when evaluating over-segmentation metrics, such as mean Intersection over Union (mIoU) and mean Dice Similarity Coefficient (mDSC) as well as through several qualitatively comparative visualizations.
Bridging the Sim2Real gap with CARE: Supervised Detection Adaptation with Conditional Alignment and Reweighting
Venue: arXiv cs.CV 2023
Year: 2023

Sim2Real domain adaptation (DA) research focuses on the constrained setting of adapting from a labeled synthetic source domain to an unlabeled or sparsely labeled real target domain. However, for high-stakes applications (e.g. autonomous driving), it is common to have a modest amount of human-labeled real data in addition to plentiful auto-labeled source data (e.g. from a driving simulator). We study this setting of supervised sim2real DA applied to 2D object detection. We propose Domain Translation via Conditional Alignment and Reweighting (CARE) a novel algorithm that systematically exploits target labels to explicitly close the sim2real appearance and content gaps. We present an analytical justification of our algorithm and demonstrate strong gains over competing methods on standard benchmarks.
Polynomial Neural Fields for Subband Decomposition and Manipulation
Venue: arXiv cs.CV 2023
Year: 2023

Neural fields have emerged as a new paradigm for representing signals, thanks to their ability to do it compactly while being easy to optimize. In most applications, however, neural fields are treated like black boxes, which precludes many signal manipulation tasks. In this paper, we propose a new class of neural fields called polynomial neural fields (PNFs). The key advantage of a PNF is that it can represent a signal as a composition of a number of manipulable and interpretable components without losing the merits of neural fields representation. We develop a general theoretical framework to analyze and design PNFs. We use this framework to design Fourier PNFs, which match state-of-the-art performance in signal representation tasks that use neural fields. In addition, we empirically demonstrate that Fourier PNFs enable signal manipulation applications such as texture transfer and scale-space interpolation. Code is available at https://github.com/stevenygd/PNF.
Reversible Vision Transformers
Venue: arXiv cs.CV 2023
Year: 2023

We present Reversible Vision Transformers, a memory efficient architecture design for visual recognition. By decoupling the GPU memory requirement from the depth of the model, Reversible Vision Transformers enable scaling up architectures with efficient memory usage. We adapt two popular models, namely Vision Transformer and Multiscale Vision Transformers, to reversible variants and benchmark extensively across both model sizes and tasks of image classification, object detection and video classification. Reversible Vision Transformers achieve a reduced memory footprint of up to 15.5x at roughly identical model complexity, parameters and accuracy, demonstrating the promise of reversible vision transformers as an efficient backbone for hardware resource limited training regimes. Finally, we find that the additional computational burden of recomputing activations is more than overcome for deeper models, where throughput can increase up to 2.3x over their non-reversible counterparts. Full code and trained models are available at https://github.com/facebookresearch/slowfast. A simpler, easy to understand and modify version is also available at https://github.com/karttikeya/minREV
AutoNMT: A Framework to Streamline the Research of Seq2Seq Models
Venue: arXiv cs.CL 2023
Year: 2023

We present AutoNMT, a framework to streamline the research of seq-to-seq models by automating the data pipeline (i.e., file management, data preprocessing, and exploratory analysis), automating experimentation in a toolkit-agnostic manner, which allows users to use either their own models or existing seq-to-seq toolkits such as Fairseq or OpenNMT, and finally, automating the report generation (plots and summaries). Furthermore, this library comes with its own seq-to-seq toolkit so that users can easily customize it for non-standard tasks.
A Graph-Based Modeling Framework for Tracing Hydrological Pollutant Transport in Surface Waters
Venue: arXiv cs.LG 2023
Year: 2023

Anthropogenic pollution of hydrological systems affects diverse communities and ecosystems around the world. Data analytics and modeling tools play a key role in fighting this challenge, as they can help identify key sources as well as trace transport and quantify impact within complex hydrological systems. Several tools exist for simulating and tracing pollutant transport throughout surface waters using detailed physical models; these tools are powerful, but can be computationally intensive, require significant amounts of data to be developed, and require expert knowledge for their use (ultimately limiting application scope). In this work, we present a graph modeling framework -- which we call ${\tt HydroGraphs}$ -- for understanding pollutant transport and fate across waterbodies, rivers, and watersheds. This framework uses a simplified representation of hydrological systems that can be constructed based purely on open-source data (National Hydrography Dataset and Watershed Boundary Dataset). The graph representation provides an flexible intuitive approach for capturing connectivity and for identifying upstream pollutant sources and for tracing downstream impacts within small and large hydrological systems. Moreover, the graph representation can facilitate the use of advanced algorithms and tools of graph theory, topology, optimization, and machine learning to aid data analytics and decision-making. We demonstrate the capabilities of our framework by using case studies in the State of Wisconsin; here, we aim to identify upstream nutrient pollutant sources that arise from agricultural practices and trace downstream impacts to waterbodies, rivers, and streams. Our tool ultimately seeks to help stakeholders design effective pollution prevention/mitigation practices and evaluate how surface waters respond to such practices.
Context Understanding in Computer Vision: A Survey
Venue: arXiv cs.CV 2023
Year: 2023

Contextual information plays an important role in many computer vision tasks, such as object detection, video action detection, image classification, etc. Recognizing a single object or action out of context could be sometimes very challenging, and context information may help improve the understanding of a scene or an event greatly. Appearance context information, e.g., colors or shapes of the background of an object can improve the recognition accuracy of the object in the scene. Semantic context (e.g. a keyboard on an empty desk vs. a keyboard next to a desktop computer ) will improve accuracy and exclude unrelated events. Context information that are not in the image itself, such as the time or location of an images captured, can also help to decide whether certain event or action should occur. Other types of context (e.g. 3D structure of a building) will also provide additional information to improve the accuracy. In this survey, different context information that has been used in computer vision tasks is reviewed. We categorize context into different types and different levels. We also review available machine learning models and image/video datasets that can employ context information. Furthermore, we compare context based integration and context-free integration in mainly two classes of tasks: image-based and video-based. Finally, this survey is concluded by a set of promising future directions in context learning and utilization.
DOMINO: Domain-aware Loss for Deep Learning Calibration
Venue: arXiv cs.CV 2023
Year: 2023

Deep learning has achieved the state-of-the-art performance across medical imaging tasks; however, model calibration is often not considered. Uncalibrated models are potentially dangerous in high-risk applications since the user does not know when they will fail. Therefore, this paper proposes a novel domain-aware loss function to calibrate deep learning models. The proposed loss function applies a class-wise penalty based on the similarity between classes within a given target domain. Thus, the approach improves the calibration while also ensuring that the model makes less risky errors even when incorrect. The code for this software is available at https://github.com/lab-smile/DOMINO.
An Assessment Methodology and Instrument for Cybersecurity: The Ireland Use Case
Venue: arXiv cs.CR 2023
Year: 2023

Governments around the world are required to strengthen their national cybersecurity capabilities to respond effectively to the growing, changing, and sophisticated cyber threats and attacks, thus protecting society and the way of life as a whole. Responsible government institutions need to revise, evaluate, and bolster their national cybersecurity capabilities to fulfill the new requirements, for example regarding new trends affecting cybersecurity, key supporting laws and regulations, and implementations risk and challenges. This report presents a comprehensive assessment instrument for cybersecurity at the national level in order to help countries to ensure optimum response capability and more effective use of critical resources of each state. More precisely, the report - builds a common understanding of the critical cybersecurity capabilities and competence to be assessed at the national level, - adds value to national strategic planning and implementation which impact the development and adaptation of national cybersecurity strategies, - provides an overview of the assessment approaches at the national level, including capabilities, frameworks, and controls, - introduces a comprehensive cybersecurity instrument for countries to determine areas of improvement and develop enduring national capabilities, - describes how to apply the proposed national cybersecurity assessment framework in a real-world case, and - presents the results and lessons learned of the application of the assessment framework at the national level to assist governments in further building cybersecurity capabilities.