OpenRaiser/Intern-Atlas huggingface dataset:
Scheduling with a Limited Testing Budget
Venue: arXiv cs.DS 2023
Year: 2023

Scheduling with testing falls under the umbrella of the research on optimization with explorable uncertainty. In this model, each job has an upper limit on its processing time that can be decreased to a lower limit (possibly unknown) by some preliminary action (testing). Recently, D{ü}rr et al. \cite{DBLP:journals/algorithmica/DurrEMM20} has studied a setting where testing a job takes a unit time, and the goal is to minimize total completion time or makespan on a single machine. In this paper, we extend their problem to the budget setting in which each test consumes a job-specific cost, and we require that the total testing cost cannot exceed a given budget. We consider the offline variant (the lower processing time is known) and the oblivious variant (the lower processing time is unknown) and aim to minimize the total completion time or makespan on a single machine. For the total completion time objective, we show NP-hardness and derive a PTAS for the offline variant based on a novel LP rounding scheme. We give a $(4+ε)$-competitive algorithm for the oblivious variant based on a framework inspired by the worst-case lower-bound instance. For the makespan objective, we give an FPTAS for the offline variant and a $(2+ε)$-competitive algorithm for the oblivious variant. Our algorithms for the oblivious variants under both objectives run in time $O(poly(n/ε))$. Lastly, we show that our results are essentially optimal by providing matching lower bounds.
Deep Normalizing Flows for State Estimation
Venue: arXiv cs.RO 2023
Year: 2023

Safe and reliable state estimation techniques are a critical component of next-generation robotic systems. Agents in such systems must be able to reason about the intentions and trajectories of other agents for safe and efficient motion planning. However, classical state estimation techniques such as Gaussian filters often lack the expressive power to represent complex underlying distributions, especially if the system dynamics are highly nonlinear or if the interaction outcomes are multi-modal. In this work, we use normalizing flows to learn an expressive representation of the belief over an agent's true state. Furthermore, we improve upon existing architectures for normalizing flows by using more expressive deep neural network architectures to parameterize the flow. We evaluate our method on two robotic state estimation tasks and show that our approach outperforms both classical and modern deep learning-based state estimation baselines.
Approximate Nearest Neighbor Searching with Non-Euclidean and Weighted Distances
Venue: arXiv cs.CG 2023
Year: 2023

We present a new approach to approximate nearest-neighbor queries in fixed dimension under a variety of non-Euclidean distances. We are given a set $S$ of $n$ points in $\mathbb{R}^d$, an approximation parameter $\varepsilon > 0$, and a distance function that satisfies certain smoothness and growth-rate assumptions. The objective is to preprocess $S$ into a data structure so that for any query point $q$ in $\mathbb{R}^d$, it is possible to efficiently report any point of $S$ whose distance from $q$ is within a factor of $1+\varepsilon$ of the actual closest point. Prior to this work, the most efficient data structures for approximate nearest-neighbor searching in spaces of constant dimensionality applied only to the Euclidean metric. This paper overcomes this limitation through a method called convexification. For admissible distance functions, the proposed data structures answer queries in logarithmic time using $O(n \log (1 / \varepsilon) / \varepsilon^{d/2})$ space, nearly matching the best known bounds for the Euclidean metric. These results apply to both convex scaling distance functions (including the Mahalanobis distance and weighted Minkowski metrics) and Bregman divergences (including the Kullback-Leibler divergence and the Itakura-Saito distance).
Measured Albedo in the Wild: Filling the Gap in Intrinsics Evaluation
Venue: arXiv cs.CV 2023
Year: 2023

Intrinsic image decomposition and inverse rendering are long-standing problems in computer vision. To evaluate albedo recovery, most algorithms report their quantitative performance with a mean Weighted Human Disagreement Rate (WHDR) metric on the IIW dataset. However, WHDR focuses only on relative albedo values and often fails to capture overall quality of the albedo. In order to comprehensively evaluate albedo, we collect a new dataset, Measured Albedo in the Wild (MAW), and propose three new metrics that complement WHDR: intensity, chromaticity and texture metrics. We show that existing algorithms often improve WHDR metric but perform poorly on other metrics. We then finetune different algorithms on our MAW dataset to significantly improve the quality of the reconstructed albedo both quantitatively and qualitatively. Since the proposed intensity, chromaticity, and texture metrics and the WHDR are all complementary we further introduce a relative performance measure that captures average performance. By analysing existing algorithms we show that there is significant room for improvement. Our dataset and evaluation metrics will enable researchers to develop algorithms that improve albedo reconstruction. Code and Data available at: https://measuredalbedo.github.io/
Scenario-based Failure Analysis of Product Systems and their Environment
Venue: arXiv cs.SE 2023
Year: 2023

During the usage phase, a technical product system is in permanent interaction with its environment. This interaction can lead to failures that significantly endanger the safety of the user and negatively affect the quality and reliability of the product. Conventional methods of failure analysis focus on the technical product system. The interaction of the product with its environment in the usage phase is not sufficiently considered, resulting in undetected potential failures of the product that lead to complaints. For this purpose, a methodology for failure identification is developed, which is continuously improved through product usage scenarios. The use cases are modelled according to a systems engineering approach with four views. The linking of the product system, physical effects, events and environmental factors enable the analysis of fault chains. These four parameters are subject to great complexity and must be systematically analysed using databases and expert knowledge. The scenarios are continuously updated by field data and complaints. The new approach can identify potential failures in a more systematic and holistic way. Complaints provide direct input on the scenarios. Unknown, previously unrecognized events can be systematically identified through continuous improvement. The complexity of the relationship between the product system and its environmental factors can thus be adequately taken into account in product development. Keywords: failure analysis, methodology, product development, systems engineering, scenario analysis, scenario improvement, environmental factors, product environment, continuous improvement.
Imitation with Spatial-Temporal Heatmap: 2nd Place Solution for NuPlan Challenge
Venue: arXiv cs.RO 2023
Year: 2023

This paper presents our 2nd place solution for the NuPlan Challenge 2023. Autonomous driving in real-world scenarios is highly complex and uncertain. Achieving safe planning in the complex multimodal scenarios is a highly challenging task. Our approach, Imitation with Spatial-Temporal Heatmap, adopts the learning form of behavior cloning, innovatively predicts the future multimodal states with a heatmap representation, and uses trajectory refinement techniques to ensure final safety. The experiment shows that our method effectively balances the vehicle's progress and safety, generating safe and comfortable trajectories. In the NuPlan competition, we achieved the second highest overall score, while obtained the best scores in the ego progress and comfort metrics.
Approximated Prompt Tuning for Vision-Language Pre-trained Models
Venue: arXiv cs.CV 2023
Year: 2023

Prompt tuning is a parameter-efficient way to deploy large-scale pre-trained models to downstream tasks by adding task-specific tokens. In terms of vision-language pre-trained (VLP) models, prompt tuning often requires a large number of learnable tokens to bridge the gap between the pre-training and downstream tasks, which greatly exacerbates the already high computational overhead. In this paper, we revisit the principle of prompt tuning for Transformer-based VLP models, and reveal that the impact of soft prompt tokens can be actually approximated via independent information diffusion steps, thereby avoiding the expensive global attention modeling and reducing the computational complexity to a large extent. Based on this finding, we propose a novel Approximated Prompt Tuning (APT) approach towards efficient VL transfer learning. To validate APT, we apply it to two representative VLP models, namely ViLT and METER, and conduct extensive experiments on a bunch of downstream tasks. Meanwhile, the generalization of APT is also validated on CLIP for image classification and StableDiffusion for text-to-image generation. The experimental results not only show the superior performance gains and computation efficiency of APT against the conventional prompt tuning methods, e.g., +7.01% accuracy and -82.30% additional computation overhead on METER, but also confirm its merits over other parameter-efficient transfer learning approaches.
Impact of User Privacy and Mobility on Edge Offloading
Venue: arXiv cs.NI 2023
Year: 2023

Offloading high-demanding applications to the edge provides better quality of experience (QoE) for users with limited hardware devices. However, to maintain a competitive QoE, infrastructure, and service providers must adapt to users' different mobility patterns, which can be challenging, especially for location-based services (LBS). Another issue that needs to be tackled is the increasing demand for user privacy protection. With less (accurate) information regarding user location, preferences, and usage patterns, forecasting the performance of offloading mechanisms becomes even more challenging. This work discusses the impacts of users' privacy and mobility when offloading to the edge. Different privacy and mobility scenarios are simulated and discussed to shed light on the trade-offs (e.g., privacy protection at the cost of increased latency) among privacy protection, mobility, and offloading performance.
Ticketed Learning-Unlearning Schemes
Venue: arXiv cs.LG 2023
Year: 2023

We consider the learning--unlearning paradigm defined as follows. First given a dataset, the goal is to learn a good predictor, such as one minimizing a certain loss. Subsequently, given any subset of examples that wish to be unlearnt, the goal is to learn, without the knowledge of the original training dataset, a good predictor that is identical to the predictor that would have been produced when learning from scratch on the surviving examples. We propose a new ticketed model for learning--unlearning wherein the learning algorithm can send back additional information in the form of a small-sized (encrypted) ``ticket'' to each participating training example, in addition to retaining a small amount of ``central'' information for later. Subsequently, the examples that wish to be unlearnt present their tickets to the unlearning algorithm, which additionally uses the central information to return a new predictor. We provide space-efficient ticketed learning--unlearning schemes for a broad family of concept classes, including thresholds, parities, intersection-closed classes, among others. En route, we introduce the count-to-zero problem, where during unlearning, the goal is to simply know if there are any examples that survived. We give a ticketed learning--unlearning scheme for this problem that relies on the construction of Sperner families with certain properties, which might be of independent interest.
CARMA: Context-Aware Runtime Reconfiguration for Energy-Efficient Sensor Fusion
Venue: arXiv cs.CV 2023
Year: 2023

Autonomous systems (AS) are systems that can adapt and change their behavior in response to unanticipated events and include systems such as aerial drones, autonomous vehicles, and ground/aquatic robots. AS require a wide array of sensors, deep-learning models, and powerful hardware platforms to perceive and safely operate in real-time. However, in many contexts, some sensing modalities negatively impact perception while increasing the system's overall energy consumption. Since AS are often energy-constrained edge devices, energy-efficient sensor fusion methods have been proposed. However, existing methods either fail to adapt to changing scenario conditions or to optimize energy efficiency system-wide. We propose CARMA: a context-aware sensor fusion approach that uses context to dynamically reconfigure the computation flow on a Field-Programmable Gate Array (FPGA) at runtime. By clock-gating unused sensors and model sub-components, CARMA significantly reduces the energy used by a multi-sensory object detector without compromising performance. We use a Deep-learning Processor Unit (DPU) based reconfiguration approach to minimize the latency of model reconfiguration. We evaluate multiple context-identification strategies, propose a novel system-wide energy-performance joint optimization, and evaluate scenario-specific perception performance. Across challenging real-world sensing contexts, CARMA outperforms state-of-the-art methods with up to 1.3x speedup and 73% lower energy consumption.
Toward Mesh-Invariant 3D Generative Deep Learning with Geometric Measures
Venue: arXiv cs.CV 2023
Year: 2023

3D generative modeling is accelerating as the technology allowing the capture of geometric data is developing. However, the acquired data is often inconsistent, resulting in unregistered meshes or point clouds. Many generative learning algorithms require correspondence between each point when comparing the predicted shape and the target shape. We propose an architecture able to cope with different parameterizations, even during the training phase. In particular, our loss function is built upon a kernel-based metric over a representation of meshes using geometric measures such as currents and varifolds. The latter allows to implement an efficient dissimilarity measure with many desirable properties such as robustness to resampling of the mesh or point cloud. We demonstrate the efficiency and resilience of our model with a generative learning task of human faces.
Sidecars on the Central Lane: Impact of Network Proxies on Microservices
Venue: arXiv cs.DC 2023
Year: 2023

Cloud applications are moving away from monolithic model towards loosely-coupled microservices designs. Service meshes are widely used for implementing microservices applications mainly because they provide a modular architecture for modern applications by separating operational features from application business logic. Sidecar proxies in service meshes enable this modularity by applying security, networking, and monitoring policies on the traffic to and from services. To implement these policies, sidecars often execute complex chains of logic that vary across associated applications and end up unevenly impacting the performance of the overall application. Lack of understanding of how the sidecars impact the performance of microservice-based applications stands in the way of building performant and resource-efficient applications. To this end, we bring sidecar proxies in focus and argue that we need to deeply study their impact on the system performance and resource utilization. We identify and describe challenges in characterizing sidecars, namely the need for microarchitectural metrics and comprehensive methodologies, and discuss research directions where such characterization will help in building efficient service mesh infrastructure for microservice applications.
A generic self-supervised learning (SSL) framework for representation learning from spectra-spatial feature of unlabeled remote sensing imagery
Venue: arXiv cs.CV 2023
Year: 2023

Remote sensing data has been widely used for various Earth Observation (EO) missions such as land use and cover classification, weather forecasting, agricultural management, and environmental monitoring. Most existing remote sensing data-based models are based on supervised learning that requires large and representative human-labelled data for model training, which is costly and time-consuming. Recently, self-supervised learning (SSL) enables the models to learn a representation from orders of magnitude more unlabelled data. This representation has been proven to boost the performance of downstream tasks and has potential for remote sensing applications. The success of SSL is heavily dependent on a pre-designed pretext task, which introduces an inductive bias into the model from a large amount of unlabelled data. Since remote sensing imagery has rich spectral information beyond the standard RGB colour space, the pretext tasks established in computer vision based on RGB images may not be straightforward to be extended to the multi/hyperspectral domain. To address this challenge, this work has designed a novel SSL framework that is capable of learning representation from both spectra-spatial information of unlabelled data. The framework contains two novel pretext tasks for object-based and pixel-based remote sensing data analysis methods, respectively. Through two typical downstream tasks evaluation (a multi-label land cover classification task on Sentienl-2 multispectral datasets and a ground soil parameter retrieval task on hyperspectral datasets), the results demonstrate that the representation obtained through the proposed SSL achieved a significant improvement in model performance.
Let Segment Anything Help Image Dehaze
Venue: arXiv cs.CV 2023
Year: 2023

The large language model and high-level vision model have achieved impressive performance improvements with large datasets and model sizes. However, low-level computer vision tasks, such as image dehaze and blur removal, still rely on a small number of datasets and small-sized models, which generally leads to overfitting and local optima. Therefore, we propose a framework to integrate large-model prior into low-level computer vision tasks. Just as with the task of image segmentation, the degradation of haze is also texture-related. So we propose to detect gray-scale coding, network channel expansion, and pre-dehaze structures to integrate large-model prior knowledge into any low-level dehazing network. We demonstrate the effectiveness and applicability of large models in guiding low-level visual tasks through different datasets and algorithms comparison experiments. Finally, we demonstrate the effect of grayscale coding, network channel expansion, and recurrent network structures through ablation experiments. Under the conditions where additional data and training resources are not required, we successfully prove that the integration of large-model prior knowledge will improve the dehaze performance and save training time for low-level visual tasks.
Toward Real Flare Removal: A Comprehensive Pipeline and A New Benchmark
Venue: arXiv cs.CV 2023
Year: 2023

Photographing in the under-illuminated scenes, the presence of complex light sources often leave strong flare artifacts in images, where the intensity, the spectrum, the reflection, and the aberration altogether contribute the deterioration. Besides the image quality, it also influence the performance of down-stream visual applications. Thus, removing the lens flare and ghosts is a challenge issue especially in low-light environment. However, existing methods for flare removal mainly restricted to the problems of inadequate simulation and real-world capture, where the categories of scattered flares are singular and the reflected ghosts are unavailable. Therefore, a comprehensive deterioration procedure is crucial for constructing the dataset of flare removal. Based on the theoretical analysis and real-world evaluation, we propose a well-developed methodology for generating the data-pairs with flare deterioration. The procedure is comprehensive, where the similarity of scattered flares and the symmetric effect of reflected ghosts are realized. Moreover, we also construct a real-shot pipeline that respectively processes the effects of scattering and reflective flares, aiming to directly generate the data for end-to-end methods. Experimental results show that the proposed methodology add diversity to the existing flare datasets and construct a comprehensive mapping procedure for flare data pairs. And our method facilities the data-driven model to realize better restoration in flare images and proposes a better evaluation system based on real shots, resulting promote progress in the area of real flare removal.
Capturing the Diffusive Behavior of the Multiscale Linear Transport Equations by Asymptotic-Preserving Convolutional DeepONets
Venue: arXiv cs.LG 2023
Year: 2023

In this paper, we introduce two types of novel Asymptotic-Preserving Convolutional Deep Operator Networks (APCONs) designed to address the multiscale time-dependent linear transport problem. We observe that the vanilla physics-informed DeepONets with modified MLP may exhibit instability in maintaining the desired limiting macroscopic behavior. Therefore, this necessitates the utilization of an asymptotic-preserving loss function. Drawing inspiration from the heat kernel in the diffusion equation, we propose a new architecture called Convolutional Deep Operator Networks, which employ multiple local convolution operations instead of a global heat kernel, along with pooling and activation operations in each filter layer. Our APCON methods possess a parameter count that is independent of the grid size and are capable of capturing the diffusive behavior of the linear transport problem. Finally, we validate the effectiveness of our methods through several numerical examples.
Human Sensing via Passive Spectrum Monitoring
Venue: arXiv cs.HC 2023
Year: 2023

Human sensing is significantly improving our lifestyle in many fields such as elderly healthcare and public safety. Research has demonstrated that human activity can alter the passive radio frequency (PRF) spectrum, which represents the passive reception of RF signals in the surrounding environment without actively transmitting a target signal. This paper proposes a novel passive human sensing method that utilizes PRF spectrum alteration as a biometrics modality for human authentication, localization, and activity recognition. The proposed method uses software-defined radio (SDR) technology to acquire the PRF in the frequency band sensitive to human signature. Additionally, the PRF spectrum signatures are classified and regressed by five machine learning (ML) algorithms based on different human sensing tasks. The proposed Sensing Humans among Passive Radio Frequency (SHAPR) method was tested in several environments and scenarios, including a laboratory, a living room, a classroom, and a vehicle, to verify its extensiveness. The experimental results show that the SHAPR method achieved more than 95% accuracy in the four scenarios for the three human sensing tasks, with a localization error of less than 0.8 m. These results indicate that the SHAPR technique can be considered a new human signature modality with high accuracy, robustness, and general applicability.