OpenRaiser/Intern-Atlas huggingface dataset:
GP-net: Flexible Viewpoint Grasp Proposal
Venue: arXiv cs.RO 2023
Year: 2023

We present the Grasp Proposal Network (GP-net), a Convolutional Neural Network model which can generate 6-DoF grasps from flexible viewpoints, e.g. as experienced by mobile manipulators. To train GP-net, we synthetically generate a dataset containing depth-images and ground-truth grasp information. In real-world experiments, we use the EGAD evaluation benchmark to evaluate GP-net against two commonly used algorithms, the Volumetric Grasping Network (VGN) and the Grasp Pose Detection package (GPD), on a PAL TIAGo mobile manipulator. In contrast to the state-of-the-art methods in robotic grasping, GP-net can be used for grasping objects from flexible, unknown viewpoints without the need to define the workspace and achieves a grasp success of 54.4% compared to 51.6% for VGN and 44.2% for GPD. We provide a ROS package along with our code and pre-trained models at https://aucoroboticsmu.github.io/GP-net/.
Effects of Online Self-Disclosure on Social Feedback During the COVID-19 Pandemic
Venue: arXiv cs.SI 2023
Year: 2023

We investigate relationships between online self-disclosure and received social feedback during the COVID-19 crisis. We crawl a total of 2,399 posts and 29,851 associated comments from the r/COVID19_support subreddit and manually extract fine-grained personal information categories and types of social support sought from each post. We develop a BERT-based ensemble classifier to automatically identify types of support offered in users' comments. We then analyze the effect of personal information sharing and posts' topical, lexical, and sentiment markers on the acquisition of support and five interaction measures (submission scores, the number of comments, the number of unique commenters, the length and sentiments of comments). Our findings show that: 1) users were more likely to share their age, education, and location information when seeking both informational and emotional support, as opposed to pursuing either one; 2) while personal information sharing was positively correlated with receiving informational support when requested, it did not correlate with emotional support; 3) as the degree of self-disclosure increased, information support seekers obtained higher submission scores and longer comments, whereas emotional support seekers' self-disclosure resulted in lower submission scores, fewer comments, and fewer unique commenters; 4) post characteristics affecting social feedback differed significantly based on types of support sought by post authors. These results provide empirical evidence for the varying effects of self-disclosure on acquiring desired support and user involvement online during the COVID-19 pandemic. Furthermore, this work can assist support seekers hoping to enhance and prioritize specific types of social feedback.
A cubic algorithm for computing the Hermite normal form of a nonsingular integer matrix
Venue: arXiv cs.DS 2023
Year: 2023

A Las Vegas randomized algorithm is given to compute the Hermite normal form of a nonsingular integer matrix $A$ of dimension $n$. The algorithm uses quadratic integer multiplication and cubic matrix multiplication and has running time bounded by $O(n^3 (\log n + \log ||A||)^2(\log n)^2)$ bit operations, where $||A||= \max_{ij} |A_{ij}|$ denotes the largest entry of $A$ in absolute value. A variant of the algorithm that uses pseudo-linear integer multiplication is given that has running time $(n^3 \log ||A||)^{1+o(1)}$ bit operations, where the exponent $"+o(1)"$ captures additional factors $c_1 (\log n)^{c_2} (\log \log ||A||)^{c_3}$ for positive real constants $c_1,c_2,c_3$.
PREF: Predictability Regularized Neural Motion Fields
Venue: arXiv cs.CV 2023
Year: 2023

Knowing the 3D motions in a dynamic scene is essential to many vision applications. Recent progress is mainly focused on estimating the activity of some specific elements like humans. In this paper, we leverage a neural motion field for estimating the motion of all points in a multiview setting. Modeling the motion from a dynamic scene with multiview data is challenging due to the ambiguities in points of similar color and points with time-varying color. We propose to regularize the estimated motion to be predictable. If the motion from previous frames is known, then the motion in the near future should be predictable. Therefore, we introduce a predictability regularization by first conditioning the estimated motion on latent embeddings, then by adopting a predictor network to enforce predictability on the embeddings. The proposed framework PREF (Predictability REgularized Fields) achieves on par or better results than state-of-the-art neural motion field-based dynamic scene representation methods, while requiring no prior knowledge of the scene.
Morpheus: Extending the Last Level Cache Capacity in GPU Systems Using Idle GPU Core Resources
Venue: arXiv cs.AR 2023
Year: 2023

Graphics Processing Units (GPUs) are widely-used accelerators for data-parallel applications. In many GPU applications, GPU memory bandwidth bottlenecks performance, causing underutilization of GPU cores. Hence, disabling many cores does not affect the performance of memory-bound workloads. While simply power-gating unused GPU cores would save energy, prior works attempt to better utilize GPU cores for other applications (ideally compute-bound), which increases the GPU's total throughput. In this paper, we introduce Morpheus, a new hardware/software co-designed technique to boost the performance of memory-bound applications. The key idea of Morpheus is to exploit unused core resources to extend the GPU last level cache (LLC) capacity. In Morpheus, each GPU core has two execution modes: compute mode and cache mode. Cores in compute mode operate conventionally and run application threads. However, for the cores in cache mode, Morpheus invokes a software helper kernel that uses the cores' on-chip memories (i.e., register file, shared memory, and L1) in a way that extends the LLC capacity for a running memory-bound workload. Morpheus adds a controller to the GPU hardware to forward LLC requests to either the conventional LLC (managed by hardware) or the extended LLC (managed by the helper kernel). Our experimental results show that Morpheus improves the performance and energy efficiency of a baseline GPU architecture by an average of 39% and 58%, respectively, across several memory-bound workloads. Morpheus' performance is within 3% of a GPU design that has a quadruple-sized conventional LLC. Morpheus can thus contribute to reducing the hardware dedicated to a conventional LLC by exploiting idle cores' on-chip memory resources as additional cache capacity.
Bypassing the Simulation-to-reality Gap: Online Reinforcement Learning using a Supervisor
Venue: arXiv cs.RO 2023
Year: 2023

Deep reinforcement learning (DRL) is a promising method to learn control policies for robots only from demonstration and experience. To cover the whole dynamic behaviour of the robot, DRL training is an active exploration process typically performed in simulation environments. Although this simulation training is cheap and fast, applying DRL algorithms to real-world settings is difficult. If agents are trained until they perform safely in simulation, transferring them to physical systems is difficult due to the sim-to-real gap caused by the difference between the simulation dynamics and the physical robot. In this paper, we present a method of online training a DRL agent to drive autonomously on a physical vehicle by using a model-based safety supervisor. Our solution uses a supervisory system to check if the action selected by the agent is safe or unsafe and ensure that a safe action is always implemented on the vehicle. With this, we can bypass the sim-to-real problem while training the DRL algorithm safely, quickly, and efficiently. We compare our method with conventional learning in simulation and on a physical vehicle. We provide a variety of real-world experiments where we train online a small-scale vehicle to drive autonomously with no prior simulation training. The evaluation results show that our method trains agents with improved sample efficiency while never crashing, and the trained agents demonstrate better driving performance than those trained in simulation.
3DGTN: 3D Dual-Attention GLocal Transformer Network for Point Cloud Classification and Segmentation
Venue: arXiv cs.CV 2023
Year: 2023

Although the application of Transformers in 3D point cloud processing has achieved significant progress and success, it is still challenging for existing 3D Transformer methods to efficiently and accurately learn both valuable global features and valuable local features for improved applications. This paper presents a novel point cloud representational learning network, called 3D Dual Self-attention Global Local (GLocal) Transformer Network (3DGTN), for improved feature learning in both classification and segmentation tasks, with the following key contributions. First, a GLocal Feature Learning (GFL) block with the dual self-attention mechanism (i.e., a novel Point-Patch Self-Attention, called PPSA, and a channel-wise self-attention) is designed to efficiently learn the GLocal context information. Second, the GFL block is integrated with a multi-scale Graph Convolution-based Local Feature Aggregation (LFA) block, leading to a Global-Local (GLocal) information extraction module that can efficiently capture critical information. Third, a series of GLocal modules are used to construct a new hierarchical encoder-decoder structure to enable the learning of "GLocal" information in different scales in a hierarchical manner. The proposed framework is evaluated on both classification and segmentation datasets, demonstrating that the proposed method is capable of outperforming many state-of-the-art methods on both classification and segmentation tasks.
A Unified Perspective on Natural Gradient Variational Inference with Gaussian Mixture Models
Venue: arXiv cs.LG 2023
Year: 2023

Variational inference with Gaussian mixture models (GMMs) enables learning of highly tractable yet multi-modal approximations of intractable target distributions with up to a few hundred dimensions. The two currently most effective methods for GMM-based variational inference, VIPS and iBayes-GMM, both employ independent natural gradient updates for the individual components and their weights. We show for the first time, that their derived updates are equivalent, although their practical implementations and theoretical guarantees differ. We identify several design choices that distinguish both approaches, namely with respect to sample selection, natural gradient estimation, stepsize adaptation, and whether trust regions are enforced or the number of components adapted. We argue that for both approaches, the quality of the learned approximations can heavily suffer from the respective design choices: By updating the individual components using samples from the mixture model, iBayes-GMM often fails to produce meaningful updates to low-weight components, and by using a zero-order method for estimating the natural gradient, VIPS scales badly to higher-dimensional problems. Furthermore, we show that information-geometric trust-regions (used by VIPS) are effective even when using first-order natural gradient estimates, and often outperform the improved Bayesian learning rule (iBLR) update used by iBayes-GMM. We systematically evaluate the effects of design choices and show that a hybrid approach significantly outperforms both prior works. Along with this work, we publish our highly modular and efficient implementation for natural gradient variational inference with Gaussian mixture models, which supports 432 different combinations of design choices, facilitates the reproduction of all our experiments, and may prove valuable for the practitioner.
Universal Densities Exist for Every Finite Reference Measure
Venue: arXiv cs.IT 2023
Year: 2023

As it is known, universal codes, which estimate the entropy rate consistently, exist for stationary ergodic sources over finite alphabets but not over countably infinite ones. We generalize universal coding as the problem of universal densities with respect to a fixed reference measure on a countably generated measurable space. We show that universal densities, which estimate the differential entropy rate consistently, exist for finite reference measures. Thus finite alphabets are not necessary in some sense. To exhibit a universal density, we adapt the non-parametric differential (NPD) entropy rate estimator by Feutrill and Roughan. Our modification is analogous to Ryabko's modification of prediction by partial matching (PPM) by Cleary and Witten. Whereas Ryabko considered a mixture over Markov orders, we consider a mixture over quantization levels. Moreover, we demonstrate that any universal density induces a strongly consistent Cesàro mean estimator of conditional density given an infinite past. This yields a universal predictor with the $0-1$ loss for a countable alphabet. Finally, we specialize universal densities to processes over natural numbers and on the real line. We derive sufficient conditions for consistent estimation of the entropy rate with respect to infinite reference measures in these domains.
Mutual Contact Discovery
Venue: arXiv cs.CY 2023
Year: 2023

Contact discovery allows new users of a messaging service to find existing contacts that already use that service. Existing users are similarly informed of new users that join. This creates a privacy issue: anyone already on the service that has your number on their contact list gets notified that you joined. Even if you don't know that person, or if it is an ex or former colleague that you long parted with and whose contact details you deleted long ago. To solve this, we propose a mutual contact discovery protocol, that only allow users to discover each other when both are (still) in each other's contact list. Mutual contact discovery has the additional advantage that it can be implemented in a more privacy friendly fashion (e.g. protecting the social graph from the server) than traditional, one-sided contact discovery, without necessarily relying on trusted hardware.
NeRF-Loc: Transformer-Based Object Localization Within Neural Radiance Fields
Venue: arXiv cs.CV 2023
Year: 2023

Neural Radiance Fields (NeRFs) have become a widely-applied scene representation technique in recent years, showing advantages for robot navigation and manipulation tasks. To further advance the utility of NeRFs for robotics, we propose a transformer-based framework, NeRF-Loc, to extract 3D bounding boxes of objects in NeRF scenes. NeRF-Loc takes a pre-trained NeRF model and camera view as input and produces labeled, oriented 3D bounding boxes of objects as output. Using current NeRF training tools, a robot can train a NeRF environment model in real-time and, using our algorithm, identify 3D bounding boxes of objects of interest within the NeRF for downstream navigation or manipulation tasks. Concretely, we design a pair of paralleled transformer encoder branches, namely the coarse stream and the fine stream, to encode both the context and details of target objects. The encoded features are then fused together with attention layers to alleviate ambiguities for accurate object localization. We have compared our method with conventional RGB(-D) based methods that take rendered RGB images and depths from NeRFs as inputs. Our method is better than the baselines.
Dive into Self-Supervised Learning for Medical Image Analysis: Data, Models and Tasks
Venue: arXiv cs.CV 2023
Year: 2023

Self-supervised learning (SSL) has achieved remarkable performance in various medical imaging tasks by dint of priors from massive unlabelled data. However, regarding a specific downstream task, there is still a lack of an instruction book on how to select suitable pretext tasks and implementation details throughout the standard ``pretrain-then-finetune'' workflow. In this work, we focus on exploiting the capacity of SSL in terms of four realistic and significant issues: (1) the impact of SSL on imbalanced datasets, (2) the network architecture, (3) the applicability of upstream tasks to downstream tasks and (4) the stacking effect of SSL and common policies for deep learning. We provide a large-scale, in-depth and fine-grained study through extensive experiments on predictive, contrastive, generative and multi-SSL algorithms. Based on the results, we have uncovered several insights. Positively, SSL advances class-imbalanced learning mainly by boosting the performance of the rare class, which is of interest to clinical diagnosis. Unfortunately, SSL offers marginal or even negative returns in some cases, including severely imbalanced and relatively balanced data regimes, as well as combinations with common training policies. Our intriguing findings provide practical guidelines for the usage of SSL in the medical context and highlight the need for developing universal pretext tasks to accommodate diverse application scenarios.
Multimodal Exponentially Modified Gaussian Oscillators
Venue: arXiv cs.SD 2023
Year: 2023

Acoustic modeling serves audio processing tasks such as de-noising, data reconstruction, model-based testing and classification. Previous work dealt with signal parameterization of wave envelopes either by multiple Gaussian distributions or a single asymmetric Gaussian curve, which both fall short in representing super-imposed echoes sufficiently well. This study presents a three-stage Multimodal Exponentially Modified Gaussian (MEMG) model with an optional oscillating term that regards captured echoes as a superposition of univariate probability distributions in the temporal domain. With this, synthetic ultrasound signals suffering from artifacts can be fully recovered, which is backed by quantitative assessment. Real data experimentation is carried out to demonstrate the classification capability of the acquired features with object reflections being detected at different points in time. The code is available at https://github.com/hahnec/multimodal_emg.
Cooperative Sensing and Heterogeneous Information Fusion in VCPS: A Multi-agent Deep Reinforcement Learning Approach
Venue: arXiv cs.NI 2023
Year: 2023

Cooperative sensing and heterogeneous information fusion are critical to realize vehicular cyber-physical systems (VCPSs). This paper makes the first attempt to quantitatively measure the quality of VCPS by designing a new metric called Age of View (AoV). Specifically, we first present the system architecture where heterogeneous information can be cooperatively sensed and uploaded via vehicle-to-infrastructure (V2I) communications in vehicular edge computing (VEC). Logical views are constructed by fusing the heterogeneous information at edge nodes. Further, we formulate the problem by deriving a cooperative sensing model based on the multi-class M/G/1 priority queue, and defining the AoV by modeling the timeliness, completeness and consistency of the logical views. On this basis, a multi-agent deep reinforcement learning solution is proposed. In particular, the system state includes vehicle sensed information, edge cached information and view requirements. The vehicle action space consists of the sensing frequencies and uploading priorities of information. A difference-reward-based credit assignment is designed to divide the system reward, which is defined as the VCPS quality, into the difference reward for vehicles. Edge node allocates V2I bandwidth to vehicles based on predicted vehicle trajectories and view requirements. Finally, we build the simulation model and give a comprehensive performance evaluation, which conclusively demonstrates the superiority of the proposed solution.
Neural inhibition during speech planning contributes to contrastive hyperarticulation
Venue: arXiv cs.CL 2023
Year: 2023

Previous work has demonstrated that words are hyperarticulated on dimensions of speech that differentiate them from a minimal pair competitor. This phenomenon has been termed contrastive hyperarticulation (CH). We present a dynamic neural field (DNF) model of voice onset time (VOT) planning that derives CH from an inhibitory influence of the minimal pair competitor during planning. We test some predictions of the model with a novel experiment investigating CH of voiceless stop consonant VOT in pseudowords. The results demonstrate a CH effect in pseudowords, consistent with a basis for the effect in the real-time planning and production of speech. The scope and magnitude of CH in pseudowords was reduced compared to CH in real words, consistent with a role for interactive activation between lexical and phonological levels of planning. We discuss the potential of our model to unify an apparently disparate set of phenomena, from CH to phonological neighborhood effects to phonetic trace effects in speech errors.
On the Stability Analysis of Open Federated Learning Systems
Venue: arXiv cs.LG 2023
Year: 2023

We consider the open federated learning (FL) systems, where clients may join and/or leave the system during the FL process. Given the variability of the number of present clients, convergence to a fixed model cannot be guaranteed in open systems. Instead, we resort to a new performance metric that we term the stability of open FL systems, which quantifies the magnitude of the learned model in open systems. Under the assumption that local clients' functions are strongly convex and smooth, we theoretically quantify the radius of stability for two FL algorithms, namely local SGD and local Adam. We observe that this radius relies on several key parameters, including the function condition number as well as the variance of the stochastic gradient. Our theoretical results are further verified by numerical simulations on both synthetic and real-world benchmark data-sets.
Focusing on Refinement Typing
Venue: arXiv cs.PL 2023
Year: 2023

We present a logically principled foundation for systematizing, in a way that works with any computational effect and evaluation order, SMT constraint generation seen in refinement type systems for functional programming languages. By carefully combining a focalized variant of call-by-push-value, bidirectional typing, and our novel technique of value-determined indexes, our system generates solvable SMT constraints without existential (unification) variables. We design a polarized subtyping relation allowing us to prove our logically focused typing algorithm is sound, complete, and decidable. We prove type soundness of our declarative system with respect to an elementary domain-theoretic denotational semantics. Type soundness implies, relatively simply, the total correctness and logical consistency of our system. The relative ease with which we obtain both algorithmic and semantic results ultimately stems from the proof-theoretic technique of focalization.
WaterNeRF: Neural Radiance Fields for Underwater Scenes
Venue: arXiv cs.RO 2023
Year: 2023

Underwater imaging is a critical task performed by marine robots for a wide range of applications including aquaculture, marine infrastructure inspection, and environmental monitoring. However, water column effects, such as attenuation and backscattering, drastically change the color and quality of imagery captured underwater. Due to varying water conditions and range-dependency of these effects, restoring underwater imagery is a challenging problem. This impacts downstream perception tasks including depth estimation and 3D reconstruction. In this paper, we advance state-of-the-art in neural radiance fields (NeRFs) to enable physics-informed dense depth estimation and color correction. Our proposed method, WaterNeRF, estimates parameters of a physics-based model for underwater image formation, leading to a hybrid data-driven and model-based solution. After determining the scene structure and radiance field, we can produce novel views of degraded as well as corrected underwater images, along with dense depth of the scene. We evaluate the proposed method qualitatively and quantitatively on a real underwater dataset.