OpenRaiser/Intern-Atlas huggingface dataset:
Leveraging Scene Geometry and Depth Information for Robust Image Deraining
Venue: arXiv cs.CV 2024
Year: 2024

Image deraining holds great potential for enhancing the vision of autonomous vehicles in rainy conditions, contributing to safer driving. Previous works have primarily focused on employing a single network architecture to generate derained images. However, they often fail to fully exploit the rich prior knowledge embedded in the scenes. Particularly, most methods overlook the depth information that can provide valuable context about scene geometry and guide more robust deraining. In this work, we introduce a novel learning framework that integrates multiple networks: an AutoEncoder for deraining, an auxiliary network to incorporate depth information, and two supervision networks to enforce feature consistency between rainy and clear scenes. This multi-network design enables our model to effectively capture the underlying scene structure, producing clearer and more accurately derained images, leading to improved object detection for autonomous vehicles. Extensive experiments on three widely-used datasets demonstrated the effectiveness of our proposed method.
On the Convergence of DP-SGD with Adaptive Clipping
Venue: arXiv cs.LG 2024
Year: 2024

Stochastic Gradient Descent (SGD) with gradient clipping is a powerful technique for enabling differentially private optimization. Although prior works extensively investigated clipping with a constant threshold, private training remains highly sensitive to threshold selection, which can be expensive or even infeasible to tune. This sensitivity motivates the development of adaptive approaches, such as quantile clipping, which have demonstrated empirical success but lack a solid theoretical understanding. This paper provides the first comprehensive convergence analysis of SGD with quantile clipping (QC-SGD). We demonstrate that QC-SGD suffers from a bias problem similar to constant-threshold clipped SGD but show how this can be mitigated through a carefully designed quantile and step size schedule. Our analysis reveals crucial relationships between quantile selection, step size, and convergence behavior, providing practical guidelines for parameter selection. We extend these results to differentially private optimization, establishing the first theoretical guarantees for DP-QC-SGD. Our findings provide theoretical foundations for widely used adaptive clipping heuristic and highlight open avenues for future research.
Zero-shot Hazard Identification in Autonomous Driving: A Case Study on the COOOL Benchmark
Venue: arXiv cs.CV 2024
Year: 2024

This paper presents our submission to the COOOL competition, a novel benchmark for detecting and classifying out-of-label hazards in autonomous driving. Our approach integrates diverse methods across three core tasks: (i) driver reaction detection, (ii) hazard object identification, and (iii) hazard captioning. We propose kernel-based change point detection on bounding boxes and optical flow dynamics for driver reaction detection to analyze motion patterns. For hazard identification, we combined a naive proximity-based strategy with object classification using a pre-trained ViT model. At last, for hazard captioning, we used the MOLMO vision-language model with tailored prompts to generate precise and context-aware descriptions of rare and low-resolution hazards. The proposed pipeline outperformed the baseline methods by a large margin, reducing the relative error by 33%, and scored 2nd on the final leaderboard consisting of 32 teams.
DepthMamba with Adaptive Fusion
Venue: arXiv cs.CV 2024
Year: 2024

Multi-view depth estimation has achieved impressive performance over various benchmarks. However, almost all current multi-view systems rely on given ideal camera poses, which are unavailable in many real-world scenarios, such as autonomous driving. In this work, we propose a new robustness benchmark to evaluate the depth estimation system under various noisy pose settings. Surprisingly, we find current multi-view depth estimation methods or single-view and multi-view fusion methods will fail when given noisy pose settings. To tackle this challenge, we propose a two-branch network architecture which fuses the depth estimation results of single-view and multi-view branch. In specific, we introduced mamba to serve as feature extraction backbone and propose an attention-based fusion methods which adaptively select the most robust estimation results between the two branches. Thus, the proposed method can perform well on some challenging scenes including dynamic objects, texture-less regions, etc. Ablation studies prove the effectiveness of the backbone and fusion method, while evaluation experiments on challenging benchmarks (KITTI and DDAD) show that the proposed method achieves a competitive performance compared to the state-of-the-art methods.
Bridging Context Gaps: Enhancing Comprehension in Long-Form Social Conversations Through Contextualized Excerpts
Venue: arXiv cs.CL 2024
Year: 2024

We focus on enhancing comprehension in small-group recorded conversations, which serve as a medium to bring people together and provide a space for sharing personal stories and experiences on crucial social matters. One way to parse and convey information from these conversations is by sharing highlighted excerpts in subsequent conversations. This can help promote a collective understanding of relevant issues, by highlighting perspectives and experiences to other groups of people who might otherwise be unfamiliar with and thus unable to relate to these experiences. The primary challenge that arises then is that excerpts taken from one conversation and shared in another setting might be missing crucial context or key elements that were previously introduced in the original conversation. This problem is exacerbated when conversations become lengthier and richer in themes and shared experiences. To address this, we explore how Large Language Models (LLMs) can enrich these excerpts by providing socially relevant context. We present approaches for effective contextualization to improve comprehension, readability, and empathy. We show significant improvements in understanding, as assessed through subjective and objective evaluations. While LLMs can offer valuable context, they struggle with capturing key social aspects. We release the Human-annotated Salient Excerpts (HSE) dataset to support future work. Additionally, we show how context-enriched excerpts can provide more focused and comprehensive conversation summaries.
Explainable Semantic Federated Learning Enabled Industrial Edge Network for Fire Surveillance
Venue: arXiv cs.LG 2024
Year: 2024

In fire surveillance, Industrial Internet of Things (IIoT) devices require transmitting large monitoring data frequently, which leads to huge consumption of spectrum resources. Hence, we propose an Industrial Edge Semantic Network (IESN) to allow IIoT devices to send warnings through Semantic communication (SC). Thus, we should consider (1) Data privacy and security. (2) SC model adaptation for heterogeneous devices. (3) Explainability of semantics. Therefore, first, we present an eXplainable Semantic Federated Learning (XSFL) to train the SC model, thus ensuring data privacy and security. Then, we present an Adaptive Client Training (ACT) strategy to provide a specific SC model for each device according to its Fisher information matrix, thus overcoming the heterogeneity. Next, an Explainable SC (ESC) mechanism is designed, which introduces a leakyReLU-based activation mapping to explain the relationship between the extracted semantics and monitoring data. Finally, simulation results demonstrate the effectiveness of XSFL.
Hades: Homomorphic Augmented Decryption for Efficient Symbol-comparison -- A Database's Perspective
Venue: arXiv cs.DB 2024
Year: 2024

Outsourced databases powered by fully homomorphic encryption (FHE) offer the promise of secure data processing on untrusted cloud servers. A crucial aspect of database functionality, and one that has remained challenging to integrate efficiently within FHE schemes, is the ability to perform comparisons on encrypted data. Such comparisons are fundamental for various database operations, including building indexes for efficient data retrieval and executing range queries to select data within specific intervals. While traditional approaches like Order-Preserving Encryption (OPE) could enable comparisons, they are fundamentally incompatible with FHE without significantly increasing ciphertext size, thereby exacerbating the inherent performance overhead of FHE and further hindering its practical deployment. This paper introduces HADES, a novel cryptographic framework that enables efficient and secure comparisons directly on FHE ciphertexts without any ciphertext expansion. Based on the Ring Learning with Errors (RLWE) problem, HADES provides CPA-security and incorporates perturbation-aware encryption to mitigate frequency-analysis attacks. Implemented using OpenFHE, HADES supports both integer and floating-point operations, demonstrating practical performance on real-world datasets and outperforming state-of-the-art baselines.
The Fifth International Verification of Neural Networks Competition (VNN-COMP 2024): Summary and Results
Venue: arXiv cs.LG 2024
Year: 2024

This report summarizes the 5th International Verification of Neural Networks Competition (VNN-COMP 2024), held as a part of the 7th International Symposium on AI Verification (SAIV), that was collocated with the 36th International Conference on Computer-Aided Verification (CAV). VNN-COMP is held annually to facilitate the fair and objective comparison of state-of-the-art neural network verification tools, encourage the standardization of tool interfaces, and bring together the neural network verification community. To this end, standardized formats for networks (ONNX) and specification (VNN-LIB) were defined, tools were evaluated on equal-cost hardware (using an automatic evaluation pipeline based on AWS instances), and tool parameters were chosen by the participants before the final test sets were made public. In the 2024 iteration, 8 teams participated on a diverse set of 12 regular and 8 extended benchmarks. This report summarizes the rules, benchmarks, participating tools, results, and lessons learned from this iteration of this competition.
Maintain Plasticity in Long-timescale Continual Test-time Adaptation
Venue: arXiv cs.CV 2024
Year: 2024

Continual test-time domain adaptation (CTTA) aims to adjust pre-trained source models to perform well over time across non-stationary target environments. While previous methods have made considerable efforts to optimize the adaptation process, a crucial question remains: can the model adapt to continually-changing environments with preserved plasticity over a long time? The plasticity refers to the model's capability to adjust predictions in response to non-stationary environments continually. In this work, we explore plasticity, this essential but often overlooked aspect of continual adaptation to facilitate more sustained adaptation in the long run. First, we observe that most CTTA methods experience a steady and consistent decline in plasticity during the long-timescale continual adaptation phase. Moreover, we find that the loss of plasticity is strongly associated with the change in label flip. Based on this correlation, we propose a simple yet effective policy, Adaptive Shrink-Restore (ASR), towards preserving the model's plasticity. In particular, ASR does the weight re-initialization by the adaptive intervals. The adaptive interval is determined based on the change in label flipping. Our method is validated on extensive CTTA benchmarks, achieving excellent performance.
Reinforcement Learning Driven Multi-Robot Exploration via Explicit Communication and Density-Based Frontier Search
Venue: arXiv cs.RO 2024
Year: 2024

Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles. This paper introduces a novel decentralized collaborative framework based on Reinforcement Learning to enhance multi-agent exploration in unknown environments. Our approach enables agents to decide their next action using an agent-centered field-of-view occupancy grid, and features extracted from $\text{A}^*$ algorithm-based trajectories to frontiers in the reconstructed global map. Furthermore, we propose a constrained communication scheme that enables agents to share their environmental knowledge efficiently, minimizing exploration redundancy. The decentralized nature of our framework ensures that each agent operates autonomously, while contributing to a collective exploration mission. Extensive simulations in Gymnasium and real-world experiments demonstrate the robustness and effectiveness of our system, while all the results highlight the benefits of combining autonomous exploration with inter-agent map sharing, advancing the development of scalable and resilient robotic exploration systems.
The Emotional Spectrum of LLMs: Leveraging Empathy and Emotion-Based Markers for Mental Health Support
Venue: arXiv cs.HC 2024
Year: 2024

The increasing demand for mental health services has highlighted the need for innovative solutions, particularly in the realm of psychological conversational AI, where the availability of sensitive data is scarce. In this work, we explored the development of a system tailored for mental health support with a novel approach to psychological assessment based on explainable emotional profiles in combination with empathetic conversational models, offering a promising tool for augmenting traditional care, particularly where immediate expertise is unavailable. Our work can be divided into two main parts, intrinsecaly connected to each other. First, we present RACLETTE, a conversational system that demonstrates superior emotional accuracy compared to state-of-the-art benchmarks in both understanding users' emotional states and generating empathetic responses during conversations, while progressively building an emotional profile of the user through their interactions. Second, we show how the emotional profiles of a user can be used as interpretable markers for mental health assessment. These profiles can be compared with characteristic emotional patterns associated with different mental disorders, providing a novel approach to preliminary screening and support.
Pushing Blocks via Checkable Gadgets: PSPACE-completeness of Push-1F and Block/Box Dude
Venue: arXiv cs.CC 2024
Year: 2024

We prove PSPACE-completeness of the well-studied pushing-block puzzle Push-1F, a theoretical abstraction of many video games (introduced in 1999). The proof also extends to Push-$k$ for any $k \ge 2$. We also prove PSPACE-completeness of two versions of the recently studied block-moving puzzle game with gravity, Block Dude - a video game dating back to 1994 - featuring either liftable blocks or pushable blocks. Two of our reductions are built on a new framework for "checkable" gadgets, extending the motion-planning-through-gadgets framework to support gadgets that can be misused, provided those misuses can be detected later.
MAFT: Efficient Model-Agnostic Fairness Testing for Deep Neural Networks via Zero-Order Gradient Search
Venue: arXiv cs.LG 2024
Year: 2024

Deep neural networks (DNNs) have shown powerful performance in various applications and are increasingly being used in decision-making systems. However, concerns about fairness in DNNs always persist. Some efficient white-box fairness testing methods about individual fairness have been proposed. Nevertheless, the development of black-box methods has stagnated, and the performance of existing methods is far behind that of white-box methods. In this paper, we propose a novel black-box individual fairness testing method called Model-Agnostic Fairness Testing (MAFT). By leveraging MAFT, practitioners can effectively identify and address discrimination in DL models, regardless of the specific algorithm or architecture employed. Our approach adopts lightweight procedures such as gradient estimation and attribute perturbation rather than non-trivial procedures like symbol execution, rendering it significantly more scalable and applicable than existing methods. We demonstrate that MAFT achieves the same effectiveness as state-of-the-art white-box methods whilst improving the applicability to large-scale networks. Compared to existing black-box approaches, our approach demonstrates distinguished performance in discovering fairness violations w.r.t effectiveness (approximately 14.69 times) and efficiency (approximately 32.58 times).
From Worms to Mice: Homeostasis Maybe All You Need
Venue: arXiv cs.NE 2024
Year: 2024

In this brief and speculative commentary, we explore ideas inspired by neural networks in machine learning, proposing that a simple neural XOR motif, involving both excitatory and inhibitory connections, may provide the basis for a relevant mode of plasticity in neural circuits of living organisms, with homeostasis as the sole guiding principle. This XOR motif simply signals the discrepancy between incoming signals and reference signals, thereby providing a basis for a loss function in learning neural circuits, and at the same time regulating homeostasis by halting the propagation of these incoming signals. The core motif uses a 4:1 ratio of excitatory to inhibitory neurons, and supports broader neural patterns such as the well-known 'winner takes all' (WTA) mechanism. We examined the prevalence of the XOR motif in the published connectomes of various organisms with increasing complexity, and found that it ranges from tens (in C. elegans) to millions (in several Drosophila neuropils) and more than tens of millions (in mouse V1 visual cortex). If validated, our hypothesis identifies two of the three key components in analogy to machine learning models: the architecture and the loss function. And we propose that a relevant type of biological neural plasticity is simply driven by a basic control or regulatory system, which has persisted and adapted despite the increasing complexity of organisms throughout evolution.
DEGSTalk: Decomposed Per-Embedding Gaussian Fields for Hair-Preserving Talking Face Synthesis
Venue: arXiv cs.CV 2024
Year: 2024

Accurately synthesizing talking face videos and capturing fine facial features for individuals with long hair presents a significant challenge. To tackle these challenges in existing methods, we propose a decomposed per-embedding Gaussian fields (DEGSTalk), a 3D Gaussian Splatting (3DGS)-based talking face synthesis method for generating realistic talking faces with long hairs. Our DEGSTalk employs Deformable Pre-Embedding Gaussian Fields, which dynamically adjust pre-embedding Gaussian primitives using implicit expression coefficients. This enables precise capture of dynamic facial regions and subtle expressions. Additionally, we propose a Dynamic Hair-Preserving Portrait Rendering technique to enhance the realism of long hair motions in the synthesized videos. Results show that DEGSTalk achieves improved realism and synthesis quality compared to existing approaches, particularly in handling complex facial dynamics and hair preservation. Our code will be publicly available at https://github.com/CVI-SZU/DEGSTalk.
Decoding Emotion: Speech Perception Patterns in Individuals with Self-reported Depression
Venue: arXiv cs.CL 2024
Year: 2024

The current study examines the relationship between self-reported depression and the perception of affective speech within the Indian population. PANAS and PHQ-9 were used to assess current mood and depression, respectively. Participants' emotional reactivity was recorded on a valence and arousal scale against the affective speech audio presented in a sequence. No significant differences between the depression and no-depression groups were observed for any of the emotional stimuli, except the audio file depicting neutral emotion. Significantly higher PANAS scores by the depression than the no-depression group indicate the impact of pre-disposed mood on the current mood status. Contrary to previous findings, this study did not observe reduced positive emotional reactivity by the depression group. However, the results demonstrated consistency in emotional reactivity for speech stimuli depicting sadness and anger across all measures of emotion perception.
Revisiting Cache Freshness for Emerging Real-Time Applications
Venue: arXiv cs.OS 2024
Year: 2024

Caching is widely used in industry to improve application performance by reducing data-access latency and taking the load off the backend infrastructure. TTLs have become the de-facto mechanism used to keep cached data reasonably fresh (i.e., not too out of date with the backend). However, the emergence of real-time applications requires tighter data freshness, which is impractical to achieve with TTLs. We discuss why this is the case, and propose a simple yet effective adaptive policy to achieve the desired freshness.
Plastic Waste Classification Using Deep Learning: Insights from the WaDaBa Dataset
Venue: arXiv cs.CV 2024
Year: 2024

With the increasing use of plastic, the challenges associated with managing plastic waste have become more challenging, emphasizing the need of effective solutions for classification and recycling. This study explores the potential of deep learning, focusing on convolutional neural networks (CNNs) and object detection models like YOLO (You Only Look Once), to tackle this issue using the WaDaBa dataset. The study shows that YOLO- 11m achieved highest accuracy (98.03%) and mAP50 (0.990), with YOLO-11n performing similarly but highest mAP50(0.992). Lightweight models like YOLO-10n trained faster but with lower accuracy, whereas MobileNet V2 showed impressive performance (97.12% accuracy) but fell short in object detection. Our study highlights the potential of deep learning models in transforming how we classify plastic waste, with YOLO models proving to be the most effective. By balancing accuracy and computational efficiency, these models can help to create scalable, impactful solutions in waste management and recycling.
Safe Bayesian Optimization for the Control of High-Dimensional Embodied Systems
Venue: arXiv cs.LG 2024
Year: 2024

Learning to move is a primary goal for animals and robots, where ensuring safety is often important when optimizing control policies on the embodied systems. For complex tasks such as the control of human or humanoid control, the high-dimensional parameter space adds complexity to the safe optimization effort. Current safe exploration algorithms exhibit inefficiency and may even become infeasible with large high-dimensional input spaces. Furthermore, existing high-dimensional constrained optimization methods neglect safety in the search process. In this paper, we propose High-dimensional Safe Bayesian Optimization with local optimistic exploration (HdSafeBO), a novel approach designed to handle high-dimensional sampling problems under probabilistic safety constraints. We introduce a local optimistic strategy to efficiently and safely optimize the objective function, providing a probabilistic safety guarantee and a cumulative safety violation bound. Through the use of isometric embedding, HdSafeBO addresses problems ranging from a few hundred to several thousand dimensions while maintaining safety guarantees. To our knowledge, HdSafeBO is the first algorithm capable of optimizing the control of high-dimensional musculoskeletal systems with high safety probability. We also demonstrate the real-world applicability of HdSafeBO through its use in the safe online optimization of neural stimulation induced human motion control.