OpenRaiser/Intern-Atlas huggingface dataset:
Structured Graph Network for Constrained Robot Crowd Navigation with Low Fidelity Simulation
Venue: arXiv cs.RO 2024
Year: 2024

We investigate the feasibility of deploying reinforcement learning (RL) policies for constrained crowd navigation using a low-fidelity simulator. We introduce a representation of the dynamic environment, separating human and obstacle representations. Humans are represented through detected states, while obstacles are represented as computed point clouds based on maps and robot localization. This representation enables RL policies trained in a low-fidelity simulator to deploy in real world with a reduced sim2real gap. Additionally, we propose a spatio-temporal graph to model the interactions between agents and obstacles. Based on the graph, we use attention mechanisms to capture the robot-human, human-human, and human-obstacle interactions. Our method significantly improves navigation performance in both simulated and real-world environments. Video demonstrations can be found at https://sites.google.com/view/constrained-crowdnav/home.
Non-stochastic Bandits With Evolving Observations
Venue: arXiv cs.LG 2024
Year: 2024

We introduce a novel online learning framework that unifies and generalizes pre-established models, such as delayed and corrupted feedback, to encompass adversarial environments where action feedback evolves over time. In this setting, the observed loss is arbitrary and may not correlate with the true loss incurred, with each round updating previous observations adversarially. We propose regret minimization algorithms for both the full-information and bandit settings, with regret bounds quantified by the average feedback accuracy relative to the true loss. Our algorithms match the known regret bounds across many special cases, while also introducing previously unknown bounds.
Sync4D: Video Guided Controllable Dynamics for Physics-Based 4D Generation
Venue: arXiv cs.CV 2024
Year: 2024

In this work, we introduce a novel approach for creating controllable dynamics in 3D-generated Gaussians using casually captured reference videos. Our method transfers the motion of objects from reference videos to a variety of generated 3D Gaussians across different categories, ensuring precise and customizable motion transfer. We achieve this by employing blend skinning-based non-parametric shape reconstruction to extract the shape and motion of reference objects. This process involves segmenting the reference objects into motion-related parts based on skinning weights and establishing shape correspondences with generated target shapes. To address shape and temporal inconsistencies prevalent in existing methods, we integrate physical simulation, driving the target shapes with matched motion. This integration is optimized through a displacement loss to ensure reliable and genuine dynamics. Our approach supports diverse reference inputs, including humans, quadrupeds, and articulated objects, and can generate dynamics of arbitrary length, providing enhanced fidelity and applicability. Unlike methods heavily reliant on diffusion video generation models, our technique offers specific and high-quality motion transfer, maintaining both shape integrity and temporal consistency.
Can We Trust LLMs? Mitigate Overconfidence Bias in LLMs through Knowledge Transfer
Venue: arXiv cs.CL 2024
Year: 2024

The study explores mitigating overconfidence bias in LLMs to improve their reliability. We introduce a knowledge transfer (KT) method utilizing chain of thoughts, where "big" LLMs impart knowledge to "small" LLMs via detailed, sequential reasoning paths. This method uses advanced reasoning of larger models to fine-tune smaller models, enabling them to produce more accurate predictions with calibrated confidence. Experimental evaluation using multiple-choice questions and sentiment analysis across diverse datasets demonstrated the KT method's superiority over the vanilla and question-answer pair (QA) fine-tuning methods. The most significant improvement in three key metrics, where the KT method outperformed the vanilla and QA methods by an average of 55.3% and 43.1%, respectively. These findings underscore the KT method's potential in enhancing model trustworthiness and accuracy, offering precise outputs with well-matched confidence levels across various contexts.
Digitalization in Infrastructure Construction Projects: A PRISMA-Based Review of Benefits and Obstacles
Venue: arXiv cs.RO 2024
Year: 2024

The current study presents a comprehensive review of the benefits and barriers associated with the adoption of Building Information Modeling (BIM) in infrastructure projects, focusing on the period from 2013 to 2023. The research explores the manifold advantages offered by BIM, spanning the entire project life cycle, including planning, design, construction, maintenance, and sustainability. Notably, BIM enhances collaboration, facilitates real-time data-driven decision-making, and leads to substantial cost and time savings. In parallel, a systematic literature review was conducted to identify and categorize the barriers hindering BIM adoption within the infrastructure industry. Eleven studies were selected for in-depth analysis, revealing a total of 74 obstacles. Through synthetic analysis and thematic clustering, seven primary impediments to BIM adoption were identified, encompassing challenges related to education/training, resistance to change, business value clarity, perceived cost, lack of standards and guidelines, lack of mandates, and lack of initiatives. This review explores the benefits and barriers in the industry that are facing BIM adoption in infrastructure projects, giving an important perspective toward improving effective BIM adoption strategies, policies, and standards. Future directions for research and industry development are outlined, including efforts to enhance education and training, promote standardization, advocate for policy and mandates, and integrate BIM with emerging technologies.
Predicting from a Different Perspective: A Re-ranking Model for Inductive Knowledge Graph Completion
Venue: arXiv cs.LG 2024
Year: 2024

Rule-induction models have demonstrated great power in the inductive setting of knowledge graph completion. In this setting, the models are tested on a knowledge graph entirely composed of unseen entities. These models learn relation patterns as rules by utilizing subgraphs. Providing the same inputs with different rules leads to differences in the model's predictions. In this paper, we focus on the behavior of such models. We propose a re-ranking-based model called ReDistLP (Re-ranking with a Distinct Model for Link Prediction). This model enhances the effectiveness of re-ranking by leveraging the difference in the predictions between the initial retriever and the re-ranker. ReDistLP outperforms the state-of-the-art methods in 2 out of 3 benchmarks.
Rigorous Simulation-based Testing for Autonomous Driving Systems -- Targeting the Achilles' Heel of Four Open Autopilots
Venue: arXiv cs.SE 2024
Year: 2024

Simulation-based testing remains the main approach for validating Autonomous Driving Systems. We propose a rigorous test method based on breaking down scenarios into simple ones, taking into account the fact that autopilots make decisions according to traffic rules whose application depends on local knowledge and context. This leads us to consider the autopilot as a dynamic system receiving three different types of vistas as input, each characterizing a specific driving operation and a corresponding control policy. The test method for the considered vista types generates test cases for critical configurations that place the vehicle under test in critical situations characterized by the transition from cautious behavior to progression in order to clear an obstacle. The test cases thus generated are realistic, i.e., they determine the initial conditions from which safe control policies are possible, based on knowledge of the vehicle's dynamic characteristics. Constraint analysis identifies the most critical test cases, whose success implies the validity of less critical ones. Test coverage can therefore be greatly simplified. Critical test cases reveal major defects in Apollo, Autoware, and the Carla and LGSVL autopilots. Defects include accidents, software failures, and traffic rule violations that would be difficult to detect by random simulation, as the test cases lead to situations characterized by finely-tuned parameters of the vehicles involved, such as their relative position and speed. Our results corroborate real-life observations and confirm that autonomous driving systems still have a long way to go before offering acceptable safety guarantees.
Is Cambodia the World's Largest Cashew Producer?
Venue: arXiv cs.CY 2024
Year: 2024

Cambodia's agricultural landscape is rapidly transforming, particularly in the cashew sector. Despite the country's rapid emergence and ambition to become the largest cashew producer, comprehensive data on plantation areas and the environmental impacts of this expansion are lacking. This study addresses the gap in detailed land use data for cashew plantations in Cambodia and assesses the implications of agricultural advancements. We collected over 80,000 training polygons across Cambodia to train a convolutional neural network using high-resolution optical and SAR satellite data for precise cashew plantation mapping. Our findings indicate that Cambodia ranks among the top five in terms of cultivated area and the top three in global cashew production, driven by high yields. Significant cultivated areas are located in Kampong Thom, Kratie, and Ratanak Kiri provinces. Balancing rapid agricultural expansion with environmental stewardship, particularly forest conservation, is crucial. Cambodia's cashew production is poised for further growth, driven by high-yielding trees and premium nuts. However, sustainable expansion requires integrating agricultural practices with economic and environmental strategies to enhance local value and protect forested areas. Advanced mapping technologies offer comprehensive tools to support these objectives and ensure the sustainable development of Cambodia's cashew industry.
Zero-Shot Video Semantic Segmentation based on Pre-Trained Diffusion Models
Venue: arXiv cs.CV 2024
Year: 2024

We introduce the first zero-shot approach for Video Semantic Segmentation (VSS) based on pre-trained diffusion models. A growing research direction attempts to employ diffusion models to perform downstream vision tasks by exploiting their deep understanding of image semantics. Yet, the majority of these approaches have focused on image-related tasks like semantic correspondence and segmentation, with less emphasis on video tasks such as VSS. Ideally, diffusion-based image semantic segmentation approaches can be applied to videos in a frame-by-frame manner. However, we find their performance on videos to be subpar due to the absence of any modeling of temporal information inherent in the video data. To this end, we tackle this problem and introduce a framework tailored for VSS based on pre-trained image and video diffusion models. We propose building a scene context model based on the diffusion features, where the model is autoregressively updated to adapt to scene changes. This context model predicts per-frame coarse segmentation maps that are temporally consistent. To refine these maps further, we propose a correspondence-based refinement strategy that aggregates predictions temporally, resulting in more confident predictions. Finally, we introduce a masked modulation approach to upsample the coarse maps to the full resolution at a high quality. Experiments show that our proposed approach outperforms existing zero-shot image semantic segmentation approaches significantly on various VSS benchmarks without any training or fine-tuning. Moreover, it rivals supervised VSS approaches on the VSPW dataset despite not being explicitly trained for VSS.
Remote control system of a binary tree of switches -- II. balancing for a perfect binary tree
Venue: arXiv cs.DM 2024
Year: 2024

We study a tree coloring model introduced by Guidon (2018), initially based on an analogy with a remote control system of a rail yard, seen as switches on a binary tree. For a given binary tree, we formalize the constraints on the coloring, in particular the distribution of the nodes among colors. Following Guidon, we are interested in balanced colorings i.e. colorings which minimize the maximum size of the subsets of the tree nodes distributed by color. With his method, we present balanced colorings for trees of height up to 7. But his method seems difficult to apply for trees of greater height. Also we present another method which gives solutions for arbitrarily large trees. We illustrate it with a balanced coloring for height 8. In the appendix, we give the exact formulas and the asymptotic behavior of the number of colorings as a function of the height of the tree.
Supervised Batch Normalization
Venue: arXiv cs.LG 2024
Year: 2024

Batch Normalization (BN), a widely-used technique in neural networks, enhances generalization and expedites training by normalizing each mini-batch to the same mean and variance. However, its effectiveness diminishes when confronted with diverse data distributions. To address this challenge, we propose Supervised Batch Normalization (SBN), a pioneering approach. We expand normalization beyond traditional single mean and variance parameters, enabling the identification of data modes prior to training. This ensures effective normalization for samples sharing common features. We define contexts as modes, categorizing data with similar characteristics. These contexts are explicitly defined, such as domains in domain adaptation or modalities in multimodal systems, or implicitly defined through clustering algorithms based on data similarity. We illustrate the superiority of our approach over BN and other commonly employed normalization techniques through various experiments on both single and multi-task datasets. Integrating SBN with Vision Transformer results in a remarkable \textit{15.13}\% accuracy enhancement on CIFAR-100. Additionally, in domain adaptation scenarios, employing AdaMatch demonstrates an impressive \textit{22.25}\% accuracy improvement on MNIST and SVHN compared to BN.
Advancements in Tactile Hand Gesture Recognition for Enhanced Human-Machine Interaction
Venue: arXiv cs.HC 2024
Year: 2024

Motivated by the growing interest in enhancing intuitive physical Human-Machine Interaction (HRI/HVI), this study aims to propose a robust tactile hand gesture recognition system. We performed a comprehensive evaluation of different hand gesture recognition approaches for a large area tactile sensing interface (touch interface) constructed from conductive textiles. Our evaluation encompassed traditional feature engineering methods, as well as contemporary deep learning techniques capable of real-time interpretation of a range of hand gestures, accommodating variations in hand sizes, movement velocities, applied pressure levels, and interaction points. Our extensive analysis of the various methods makes a significant contribution to tactile-based gesture recognition in the field of human-machine interaction.
Improving Data-aware and Parameter-aware Robustness for Continual Learning
Venue: arXiv cs.LG 2024
Year: 2024

The goal of Continual Learning (CL) task is to continuously learn multiple new tasks sequentially while achieving a balance between the plasticity and stability of new and old knowledge. This paper analyzes that this insufficiency arises from the ineffective handling of outliers, leading to abnormal gradients and unexpected model updates. To address this issue, we enhance the data-aware and parameter-aware robustness of CL, proposing a Robust Continual Learning (RCL) method. From the data perspective, we develop a contrastive loss based on the concepts of uniformity and alignment, forming a feature distribution that is more applicable to outliers. From the parameter perspective, we present a forward strategy for worst-case perturbation and apply robust gradient projection to the parameters. The experimental results on three benchmarks show that the proposed method effectively maintains robustness and achieves new state-of-the-art (SOTA) results. The code is available at: https://github.com/HanxiXiao/RCL
A Two-Level Stochastic Model for the Lateral Movement of Vehicles Within Their Lane Under Homogeneous Traffic Conditions
Venue: arXiv cs.RO 2024
Year: 2024

The lateral position of vehicles within their lane is a decisive factor for the range of vision of vehicle sensors. This, in turn, is crucial for a vehicle's ability to perceive its environment and gain a high situational awareness by processing the collected information. When aiming for increasing levels of vehicle autonomy, this situational awareness becomes more and more important. Thus, when validating an autonomous driving function the representativeness of the submicroscopic behavior such as the lateral offset has to be ensured. With simulations being an essential part of the validation of autonomous driving functions, models describing these phenomena are required. Possible applications are the enhancement of microscopic traffic simulations and the maneuver-based approach for scenario-based testing. This paper presents a two-level stochastic approach to model the lateral movement of vehicles within their lane during road-following maneuvers under homogeneous traffic conditions. A Markov model generates the coarse lateral offset profile. It is superposed with a noise model for the fine movements. Both models are set up using real-world data. The evaluation of the model shows promising qualitative and quantitative results, the potential for enhancements and extreme low computation times (10000 times faster than real time).
DeeperImpact: Optimizing Sparse Learned Index Structures
Venue: arXiv cs.IR 2024
Year: 2024

A lot of recent work has focused on sparse learned indexes that use deep neural architectures to significantly improve retrieval quality while keeping the efficiency benefits of the inverted index. While such sparse learned structures achieve effectiveness far beyond those of traditional inverted index-based rankers, there is still a gap in effectiveness to the best dense retrievers, or even to sparse methods that leverage more expensive optimizations such as query expansion and query term weighting. We focus on narrowing this gap by revisiting and optimizing DeepImpact, a sparse retrieval approach that uses DocT5Query for document expansion followed by a BERT language model to learn impact scores for document terms. We first reinvestigate the expansion process and find that the recently proposed Doc2Query -- query filtration does not enhance retrieval quality when used with DeepImpact. Instead, substituting T5 with a fine-tuned Llama 2 model for query prediction results in a considerable improvement. Subsequently, we study training strategies that have proven effective for other models, in particular the use of hard negatives, distillation, and pre-trained CoCondenser model initialization. Our results substantially narrow the effectiveness gap with the most effective versions of SPLADE.
LLM-Optic: Unveiling the Capabilities of Large Language Models for Universal Visual Grounding
Venue: arXiv cs.CV 2024
Year: 2024

Visual grounding is an essential tool that links user-provided text queries with query-specific regions within an image. Despite advancements in visual grounding models, their ability to comprehend complex queries remains limited. To overcome this limitation, we introduce LLM-Optic, an innovative method that utilizes Large Language Models (LLMs) as an optical lens to enhance existing visual grounding models in comprehending complex text queries involving intricate text structures, multiple objects, or object spatial relationships, situations that current models struggle with. LLM-Optic first employs an LLM as a Text Grounder to interpret complex text queries and accurately identify objects the user intends to locate. Then a pre-trained visual grounding model is used to generate candidate bounding boxes given the refined query by the Text Grounder. After that, LLM-Optic annotates the candidate bounding boxes with numerical marks to establish a connection between text and specific image regions, thereby linking two distinct modalities. Finally, it employs a Large Multimodal Model (LMM) as a Visual Grounder to select the marked candidate objects that best correspond to the original text query. Through LLM-Optic, we have achieved universal visual grounding, which allows for the detection of arbitrary objects specified by arbitrary human language input. Importantly, our method achieves this enhancement without requiring additional training or fine-tuning. Extensive experiments across various challenging benchmarks demonstrate that LLM-Optic achieves state-of-the-art zero-shot visual grounding capabilities. Project Page: https://haoyu-zhao.github.io/LLM-Optic.github.io/.
CoSLight: Co-optimizing Collaborator Selection and Decision-making to Enhance Traffic Signal Control
Venue: arXiv cs.MA 2024
Year: 2024

Effective multi-intersection collaboration is pivotal for reinforcement-learning-based traffic signal control to alleviate congestion. Existing work mainly chooses neighboring intersections as collaborators. However, quite an amount of congestion, even some wide-range congestion, is caused by non-neighbors failing to collaborate. To address these issues, we propose to separate the collaborator selection as a second policy to be learned, concurrently being updated with the original signal-controlling policy. Specifically, the selection policy in real-time adaptively selects the best teammates according to phase- and intersection-level features. Empirical results on both synthetic and real-world datasets provide robust validation for the superiority of our approach, offering significant improvements over existing state-of-the-art methods. The code is available at https://github.com/bonaldli/CoSLight.
Forecasting Four Business Cycle Phases Using Machine Learning: A Case Study of US and EuroZone
Venue: arXiv cs.LG 2024
Year: 2024

Understanding the business cycle is crucial for building economic stability, guiding business planning, and informing investment decisions. The business cycle refers to the recurring pattern of expansion and contraction in economic activity over time. Economic analysis is inherently complex, incorporating a myriad of factors (such as macroeconomic indicators, political decisions). This complexity makes it challenging to fully account for all variables when determining the current state of the economy and predicting its future trajectory in the upcoming months. The objective of this study is to investigate the capacity of machine learning models in automatically analyzing the state of the economic, with the goal of forecasting business phases (expansion, slowdown, recession and recovery) in the United States and the EuroZone. We compared three different machine learning approaches to classify the phases of the business cycle, and among them, the Multinomial Logistic Regression (MLR) achieved the best results. Specifically, MLR got the best results by achieving the accuracy of 65.25% (Top1) and 84.74% (Top2) for the EuroZone and 75% (Top1) and 92.14% (Top2) for the United States. These results demonstrate the potential of machine learning techniques to predict business cycles accurately, which can aid in making informed decisions in the fields of economics and finance.