OpenRaiser/Intern-Atlas huggingface dataset:
Faster Convergence on Heterogeneous Federated Edge Learning: An Adaptive Clustered Data Sharing Approach
Venue: arXiv cs.LG 2024
Year: 2024

Federated Edge Learning (FEEL) emerges as a pioneering distributed machine learning paradigm for the 6G Hyper-Connectivity, harnessing data from the Internet of Things (IoT) devices while upholding data privacy. However, current FEEL algorithms struggle with non-independent and non-identically distributed (non-IID) data, leading to elevated communication costs and compromised model accuracy. To address these statistical imbalances within FEEL, we introduce a clustered data sharing framework, mitigating data heterogeneity by selectively sharing partial data from cluster heads to trusted associates through sidelink-aided multicasting. The collective communication pattern is integral to FEEL training, where both cluster formation and the efficiency of communication and computation impact training latency and accuracy simultaneously. To tackle the strictly coupled data sharing and resource optimization, we decompose the overall optimization problem into the clients clustering and effective data sharing subproblems. Specifically, a distribution-based adaptive clustering algorithm (DACA) is devised basing on three deductive cluster forming conditions, which ensures the maximum sharing yield. Meanwhile, we design a stochastic optimization based joint computed frequency and shared data volume optimization (JFVO) algorithm, determining the optimal resource allocation with an uncertain objective function. The experiments show that the proposed framework facilitates FEEL on non-IID datasets with faster convergence rate and higher model accuracy in a limited communication environment.
GPT-4o: Visual perception performance of multimodal large language models in piglet activity understanding
Venue: arXiv cs.CV 2024
Year: 2024

Animal ethology is an crucial aspect of animal research, and animal behavior labeling is the foundation for studying animal behavior. This process typically involves labeling video clips with behavioral semantic tags, a task that is complex, subjective, and multimodal. With the rapid development of multimodal large language models(LLMs), new application have emerged for animal behavior understanding tasks in livestock scenarios. This study evaluates the visual perception capabilities of multimodal LLMs in animal activity recognition. To achieve this, we created piglet test data comprising close-up video clips of individual piglets and annotated full-shot video clips. These data were used to assess the performance of four multimodal LLMs-Video-LLaMA, MiniGPT4-Video, Video-Chat2, and GPT-4 omni (GPT-4o)-in piglet activity understanding. Through comprehensive evaluation across five dimensions, including counting, actor referring, semantic correspondence, time perception, and robustness, we found that while current multimodal LLMs require improvement in semantic correspondence and time perception, they have initially demonstrated visual perception capabilities for animal activity recognition. Notably, GPT-4o showed outstanding performance, with Video-Chat2 and GPT-4o exhibiting significantly better semantic correspondence and time perception in close-up video clips compared to full-shot clips. The initial evaluation experiments in this study validate the potential of multimodal large language models in livestock scene video understanding and provide new directions and references for future research on animal behavior video understanding. Furthermore, by deeply exploring the influence of visual prompts on multimodal large language models, we expect to enhance the accuracy and efficiency of animal behavior recognition in livestock scenarios through human visual processing methods.
RaNeuS: Ray-adaptive Neural Surface Reconstruction
Venue: arXiv cs.CV 2024
Year: 2024

Our objective is to leverage a differentiable radiance field \eg NeRF to reconstruct detailed 3D surfaces in addition to producing the standard novel view renderings. There have been related methods that perform such tasks, usually by utilizing a signed distance field (SDF). However, the state-of-the-art approaches still fail to correctly reconstruct the small-scale details, such as the leaves, ropes, and textile surfaces. Considering that different methods formulate and optimize the projection from SDF to radiance field with a globally constant Eikonal regularization, we improve with a ray-wise weighting factor to prioritize the rendering and zero-crossing surface fitting on top of establishing a perfect SDF. We propose to adaptively adjust the regularization on the signed distance field so that unsatisfying rendering rays won't enforce strong Eikonal regularization which is ineffective, and allow the gradients from regions with well-learned radiance to effectively back-propagated to the SDF. Consequently, balancing the two objectives in order to generate accurate and detailed surfaces. Additionally, concerning whether there is a geometric bias between the zero-crossing surface in SDF and rendering points in the radiance field, the projection becomes adjustable as well depending on different 3D locations during optimization. Our proposed \textit{RaNeuS} are extensively evaluated on both synthetic and real datasets, achieving state-of-the-art results on both novel view synthesis and geometric reconstruction.
Soil nitrogen forecasting from environmental variables provided by multisensor remote sensing images
Venue: arXiv cs.IR 2024
Year: 2024

This study introduces a framework for forecasting soil nitrogen content, leveraging multi-modal data, including multi-sensor remote sensing images and advanced machine learning methods. We integrate the Land Use/Land Cover Area Frame Survey (LUCAS) database, which covers European and UK territory, with environmental variables from satellite sensors to create a dataset of novel features. We further test a broad range of machine learning algorithms, focusing on tree-based models such as CatBoost, LightGBM, and XGBoost. We test the proposed methods with a variety of land cover classes, including croplands and grasslands to ensure the robustness of this approach. Our results demonstrate that the CatBoost model surpasses other methods in accuracy. This research advances the field of agricultural management and environmental monitoring and demonstrates the significant potential of integrating multisensor remote sensing data with machine learning for environmental analysis.
Dynamic Decentralized 3D Urban Coverage and Patrol with UAVs
Venue: arXiv cs.RO 2024
Year: 2024

In the event of natural or man-made disasters in an urban environment, such as fires, floods, and earthquakes, a swarm of unmanned aerial vehicles (UAVs) can rapidly sweep and provide coverage to monitor the area of interest and locate survivors. We propose a modular framework and patrol strategy that enables a swarm of UAVs to perform cooperative and periodic coverage in such scenarios. Our approach first discretizes the area of interest into viewpoints connected via closed paths. UAVs are assigned to teams via task allocation to cooperatively patrol these closed paths. We propose a minimal, scalable, and robust patrol strategy where UAVs within a team move in a random direction along their assigned closed path and "bounce" off each other when they meet. Our simulation results show that such a minimal strategy can exhibit an emergent behaviour that provides periodic and complete coverage in a 3D urban environment.
SHMamba: Structured Hyperbolic State Space Model for Audio-Visual Question Answering
Venue: arXiv cs.AI 2024
Year: 2024

The Audio-Visual Question Answering (AVQA) task holds significant potential for applications. Compared to traditional unimodal approaches, the multi-modal input of AVQA makes feature extraction and fusion processes more challenging. Euclidean space is difficult to effectively represent multi-dimensional relationships of data. Especially when extracting and processing data with a tree structure or hierarchical structure, Euclidean space is not suitable as an embedding space. Additionally, the self-attention mechanism in Transformers is effective in capturing the dynamic relationships between elements in a sequence. However, the self-attention mechanism's limitations in window modeling and quadratic computational complexity reduce its effectiveness in modeling long sequences. To address these limitations, we propose SHMamba: Structured Hyperbolic State Space Model to integrate the advantages of hyperbolic geometry and state space models. Specifically, SHMamba leverages the intrinsic properties of hyperbolic space to represent hierarchical structures and complex relationships in audio-visual data. Meanwhile, the state space model captures dynamic changes over time by globally modeling the entire sequence. Furthermore, we introduce an adaptive curvature hyperbolic alignment module and a cross fusion block to enhance the understanding of hierarchical structures and the dynamic exchange of cross-modal information, respectively. Extensive experiments demonstrate that SHMamba outperforms previous methods with fewer parameters and computational costs. Our learnable parameters are reduced by 78.12\%, while the average performance improves by 2.53\%. Experiments show that our method demonstrates superiority among all current major methods and is more suitable for practical application scenarios.
I Know How: Combining Prior Policies to Solve New Tasks
Venue: arXiv cs.LG 2024
Year: 2024

Multi-Task Reinforcement Learning aims at developing agents that are able to continually evolve and adapt to new scenarios. However, this goal is challenging to achieve due to the phenomenon of catastrophic forgetting and the high demand of computational resources. Learning from scratch for each new task is not a viable or sustainable option, and thus agents should be able to collect and exploit prior knowledge while facing new problems. While several methodologies have attempted to address the problem from different perspectives, they lack a common structure. In this work, we propose a new framework, I Know How (IKH), which provides a common formalization. Our methodology focuses on modularity and compositionality of knowledge in order to achieve and enhance agent's ability to learn and adapt efficiently to dynamic environments. To support our framework definition, we present a simple application of it in a simulated driving environment and compare its performance with that of state-of-the-art approaches.
Sparse Tensors and Subdivision Methods for Finding the Zero Set of Polynomial Equations
Venue: arXiv cs.CG 2024
Year: 2024

Finding the solutions to a system of multivariate polynomial equations is a fundamental problem in mathematics and computer science. It involves evaluating the polynomials at many points, often chosen from a grid. In most current methods, such as subdivision, homotopy continuation, or marching cube algorithms, polynomial evaluation is treated as a black box, repeating the process for each point. We propose a new approach that partially evaluates the polynomials, allowing us to efficiently reuse computations across multiple points in a grid. Our method leverages the Compressed Sparse Fiber data structure to efficiently store and process subsets of grid points. We integrated our amortized evaluation scheme into a subdivision algorithm. Experimental results show that our approach is efficient in practice. Notably, our software \texttt{voxelize} can successfully enclose curves defined by two trivariate polynomial equations of degree $100$, a problem that was previously intractable.
Vision Language Modeling of Content, Distortion and Appearance for Image Quality Assessment
Venue: arXiv cs.CV 2024
Year: 2024

The visual quality of an image is confounded by a number of intertwined factors including its semantic content, distortion characteristics and appearance properties such as brightness, contrast, sharpness, and colourfulness. Distilling high level knowledge about all these quality bearing attributes is crucial for developing objective Image Quality Assessment (IQA).While existing solutions have modeled some of these aspects, a comprehensive solution that involves all these important quality related attributes has not yet been developed. In this paper, we present a new blind IQA (BIQA) model termed Self-supervision and Vision-Language supervision Image QUality Evaluator (SLIQUE) that features a joint vision-language and visual contrastive representation learning framework for acquiring high level knowledge about the images semantic contents, distortion characteristics and appearance properties for IQA. For training SLIQUE, we have developed a systematic approach to constructing a first of its kind large image database annotated with all three categories of quality relevant texts. The Text Annotated Distortion, Appearance and Content (TADAC) database has over 1.6 million images annotated with textual descriptions of their semantic contents, distortion characteristics and appearance properties. The method for constructing TADAC and the database itself will be particularly useful for exploiting vision-language modeling for advanced IQA applications. Extensive experimental results show that SLIQUE has superior performances over state of the art, demonstrating the soundness of its design principle and the effectiveness of its implementation.
Globally Optimal GNSS Multi-Antenna Lever Arm Calibration
Venue: arXiv cs.RO 2024
Year: 2024

Sensor calibration is crucial for autonomous driving, providing the basis for accurate localization and consistent data fusion. Enabling the use of high-accuracy GNSS sensors, this work focuses on the antenna lever arm calibration. We propose a globally optimal multi-antenna lever arm calibration approach based on motion measurements. For this, we derive an optimization method that further allows the integration of a-priori knowledge. Globally optimal solutions are obtained by leveraging the Lagrangian dual problem and a primal recovery strategy. Generally, motion-based calibration for autonomous vehicles is known to be difficult due to cars' predominantly planar motion. Therefore, we first describe the motion requirements for a unique solution and then propose a planar motion extension to overcome this issue and enable a calibration based on the restricted motion of autonomous vehicles. Last we present and discuss the results of our thorough evaluation. Using simulated and augmented real-world data, we achieve accurate calibration results and fast run times that allow online deployment.
Federated Learning with Flexible Architectures
Venue: arXiv cs.LG 2024
Year: 2024

Traditional federated learning (FL) methods have limited support for clients with varying computational and communication abilities, leading to inefficiencies and potential inaccuracies in model training. This limitation hinders the widespread adoption of FL in diverse and resource-constrained environments, such as those with client devices ranging from powerful servers to mobile devices. To address this need, this paper introduces Federated Learning with Flexible Architectures (FedFA), an FL training algorithm that allows clients to train models of different widths and depths. Each client can select a network architecture suitable for its resources, with shallower and thinner networks requiring fewer computing resources for training. Unlike prior work in this area, FedFA incorporates the layer grafting technique to align clients' local architectures with the largest network architecture in the FL system during model aggregation. Layer grafting ensures that all client contributions are uniformly integrated into the global model, thereby minimizing the risk of any individual client's data skewing the model's parameters disproportionately and introducing security benefits. Moreover, FedFA introduces the scalable aggregation method to manage scale variations in weights among different network architectures. Experimentally, FedFA outperforms previous width and depth flexible aggregation strategies. Furthermore, FedFA demonstrates increased robustness against performance degradation in backdoor attack scenarios compared to earlier strategies.
3D-RPE: Enhancing Long-Context Modeling Through 3D Rotary Position Encoding
Venue: arXiv cs.CL 2024
Year: 2024

Inspired by the Bloch Sphere representation, we propose a novel rotary position encoding on a three-dimensional sphere, named 3D Rotary Position Encoding (3D-RPE). 3D-RPE is an advanced version of the widely used 2D Rotary Position Encoding (RoPE), with two major advantages for modeling long contexts: controllable long-term decay and improved position resolution. For controllable long-term decay, 3D-RPE allows for the regulation of long-term decay within the chunk size, ensuring the modeling of relative positional information between tokens at a distant relative position. For enhanced position resolution, 3D-RPE can mitigate the degradation of position resolution caused by position interpolation on RoPE. We have conducted experiments on long-context Natural Language Understanding (NLU) and long-sequence Language Modeling (LM) tasks. From the experimental results, 3D-RPE achieved performance improvements over RoPE, especially in long-context NLU tasks.
AUV trajectory optimization with hydrodynamic forces for Icy Moon Exploration
Venue: arXiv cs.RO 2024
Year: 2024

To explore oceans on ice-covered moons in the solar system, energy-efficient Autonomous Underwater Vehicles (AUVs) with long ranges must cover enough distance to record and collect enough data. These usually underactuated vehicles are hard to control when performing tasks such as vertical docking or the inspection of vertical walls. This paper introduces a control strategy for DeepLeng to navigate in the ice-covered ocean of Jupiter's moon Europa and presents simulation results preceding a discussion on what is further needed for robust control during the mission.
SemanticSpray++: A Multimodal Dataset for Autonomous Driving in Wet Surface Conditions
Venue: arXiv cs.CV 2024
Year: 2024

Autonomous vehicles rely on camera, LiDAR, and radar sensors to navigate the environment. Adverse weather conditions like snow, rain, and fog are known to be problematic for both camera and LiDAR-based perception systems. Currently, it is difficult to evaluate the performance of these methods due to the lack of publicly available datasets containing multimodal labeled data. To address this limitation, we propose the SemanticSpray++ dataset, which provides labels for camera, LiDAR, and radar data of highway-like scenarios in wet surface conditions. In particular, we provide 2D bounding boxes for the camera image, 3D bounding boxes for the LiDAR point cloud, and semantic labels for the radar targets. By labeling all three sensor modalities, the SemanticSpray++ dataset offers a comprehensive test bed for analyzing the performance of different perception methods when vehicles travel on wet surface conditions. Together with comprehensive label statistics, we also evaluate multiple baseline methods across different tasks and analyze their performances. The dataset will be available at https://semantic-spray-dataset.github.io .
Memory-Efficient Optimization with Factorized Hamiltonian Descent
Venue: arXiv cs.LG 2024
Year: 2024

Modern deep learning heavily depends on adaptive optimizers such as Adam and its variants, which are renowned for their capacity to handle model scaling and streamline hyperparameter tuning. However, these algorithms typically experience high memory overhead caused by the accumulation of optimization states, leading to a critical challenge in training large-scale network models. In this study, we introduce a novel adaptive optimizer, H-Fac, which incorporates a memory-efficient factorization approach to address this challenge. By employing a rank-1 parameterization for both momentum and scaling parameter estimators, H-Fac reduces memory costs to a sublinear level while maintaining competitive performance across a wide range of architectures. We develop our algorithms based on principles derived from Hamiltonian dynamics, providing robust theoretical underpinnings in optimization dynamics and convergence guarantees. These optimization algorithms are designed to be both straightforward and adaptable, facilitating easy implementation in diverse settings.
Extending Business Process Management for Regulatory Transparency
Venue: arXiv cs.SE 2024
Year: 2024

Ever-increasingly complex business processes are enabled by loosely coupled cloud-native systems. In such fast-paced development environments, data controllers face the challenge of capturing and updating all personal data processing activities due to considerable communication overhead between development teams and data protection staff. To date, established business process management methods generate valuable insights about systems, however, they do not account for all regulatory transparency obligations. For instance, data controllers need to record all information about data categories, legal purpose specifications, third-country transfers, etc. Therefore, we propose to bridge the gap between business processes and application systems by providing three contributions that assist in modeling, discovering, and checking personal data transparency through a process-oriented perspective. We enable transparency modeling for relevant business activities by providing a plug-in extension to BPMN featuring regulatory transparency information. Furthermore, we utilize event logs to record regulatory transparency information in realistic cloud-native systems. On this basis, we leverage process mining techniques to discover and analyze personal data flows in business processes, e.g., through transparency conformance checking. We design and implement prototypes for all contributions, emphasizing the appropriate integration and modeling effort required to create business-process-oriented transparency. Altogether, we connect current business process engineering techniques with regulatory needs as imposed by the GDPR and other legal frameworks.
DLHT: A Non-blocking Resizable Hashtable with Fast Deletes and Memory-awareness
Venue: arXiv cs.DB 2024
Year: 2024

This paper presents DLHT, a concurrent in-memory hashtable. Despite efforts to optimize hashtables, that go as far as sacrificing core functionality, state-of-the-art designs still incur multiple memory accesses per request and block request processing in three cases. First, most hashtables block while waiting for data to be retrieved from memory. Second, open-addressing designs, which represent the current state-of-the-art, either cannot free index slots on deletes or must block all requests to do so. Third, index resizes block every request until all objects are copied to the new index. Defying folklore wisdom, DLHT forgoes open-addressing and adopts a fully-featured and memory-aware closed-addressing design based on bounded cache-line-chaining. This design offers lock-free index operations and deletes that free slots instantly, (2) completes most requests with a single memory access, (3) utilizes software prefetching to hide memory latencies, and (4) employs a novel non-blocking and parallel resizing. In a commodity server and a memory-resident workload, DLHT surpasses 1.6B requests per second and provides 3.5x (12x) the throughput of the state-of-the-art closed-addressing (open-addressing) resizable hashtable on Gets (Deletes).