OpenRaiser/Intern-Atlas huggingface dataset:
GeoLCR: Attention-based Geometric Loop Closure and Registration
Venue: arXiv cs.RO 2023
Year: 2023

We present a novel algorithm specially designed for loop detection and registration that utilizes Lidar-based perception. Our approach to loop detection involves voxelizing point clouds, followed by an overlap calculation to confirm whether a vehicle has completed a loop. We further enhance the current pose's accuracy via an innovative point-level registration model. The efficacy of our algorithm has been assessed across a range of well-known datasets, including KITTI, KITTI-360, Nuscenes, Complex Urban, NCLT, and MulRan. In comparative terms, our method exhibits up to a twofold increase in the precision of both translation and rotation estimations. Particularly noteworthy is our method's performance on challenging sequences where it outperforms others, being the first to achieve a perfect 100% success rate in loop detection.
Changes in Commuter Behavior from COVID-19 Lockdowns in the Atlanta Metropolitan Area
Venue: arXiv cs.LG 2023
Year: 2023

This paper analyzes the impact of COVID-19 related lockdowns in the Atlanta, Georgia metropolitan area by examining commuter patterns in three periods: prior to, during, and after the pandemic lockdown. A cellular phone location dataset is utilized in a novel pipeline to infer the home and work locations of thousands of users from the Density-based Spatial Clustering of Applications with Noise (DBSCAN) algorithm. The coordinates derived from the clustering are put through a reverse geocoding process from which word embeddings are extracted in order to categorize the industry of each work place based on the workplace name and Point of Interest (POI) mapping. Frequencies of commute from home locations to work locations are analyzed in and across all three time periods. Public health and economic factors are discussed to explain potential reasons for the observed changes in commuter patterns.
Predicting EEG Responses to Attended Speech via Deep Neural Networks for Speech
Venue: arXiv cs.HC 2023
Year: 2023

Attending to the speech stream of interest in multi-talker environments can be a challenging task, particularly for listeners with hearing impairment. Research suggests that neural responses assessed with electroencephalography (EEG) are modulated by listener`s auditory attention, revealing selective neural tracking (NT) of the attended speech. NT methods mostly rely on hand-engineered acoustic and linguistic speech features to predict the neural response. Only recently, deep neural network (DNN) models without specific linguistic information have been used to extract speech features for NT, demonstrating that speech features in hierarchical DNN layers can predict neural responses throughout the auditory pathway. In this study, we go one step further to investigate the suitability of similar DNN models for speech to predict neural responses to competing speech observed in EEG. We recorded EEG data using a 64-channel acquisition system from 17 listeners with normal hearing instructed to attend to one of two competing talkers. Our data revealed that EEG responses are significantly better predicted by DNN-extracted speech features than by hand-engineered acoustic features. Furthermore, analysis of hierarchical DNN layers showed that early layers yielded the highest predictions. Moreover, we found a significant increase in auditory attention classification accuracies with the use of DNN-extracted speech features over the use of hand-engineered acoustic features. These findings open a new avenue for development of new NT measures to evaluate and further advance hearing technology.
Deep Imbalanced Time-series Forecasting via Local Discrepancy Density
Venue: arXiv cs.LG 2023
Year: 2023

Time-series forecasting models often encounter abrupt changes in a given period of time which generally occur due to unexpected or unknown events. Despite their scarce occurrences in the training set, abrupt changes incur loss that significantly contributes to the total loss. Therefore, they act as noisy training samples and prevent the model from learning generalizable patterns, namely the normal states. Based on our findings, we propose a reweighting framework that down-weights the losses incurred by abrupt changes and up-weights those by normal states. For the reweighting framework, we first define a measurement termed Local Discrepancy (LD) which measures the degree of abruptness of a change in a given period of time. Since a training set is mostly composed of normal states, we then consider how frequently the temporal changes appear in the training set based on LD. Our reweighting framework is applicable to existing time-series forecasting models regardless of the architectures. Through extensive experiments on 12 time-series forecasting models over eight datasets with various in-output sequence lengths, we demonstrate that applying our reweighting framework reduces MSE by 10.1% on average and by up to 18.6% in the state-of-the-art model.
Revisit Out-Of-Vocabulary Problem for Slot Filling: A Unified Contrastive Frameword with Multi-level Data Augmentations
Venue: arXiv cs.CL 2023
Year: 2023

In real dialogue scenarios, the existing slot filling model, which tends to memorize entity patterns, has a significantly reduced generalization facing Out-of-Vocabulary (OOV) problems. To address this issue, we propose an OOV robust slot filling model based on multi-level data augmentations to solve the OOV problem from both word and slot perspectives. We present a unified contrastive learning framework, which pull representations of the origin sample and augmentation samples together, to make the model resistant to OOV problems. We evaluate the performance of the model from some specific slots and carefully design test data with OOV word perturbation to further demonstrate the effectiveness of OOV words. Experiments on two datasets show that our approach outperforms the previous sota methods in terms of both OOV slots and words.
DeepSeq: Deep Sequential Circuit Learning
Venue: arXiv cs.LG 2023
Year: 2023

Circuit representation learning is a promising research direction in the electronic design automation (EDA) field. With sufficient data for pre-training, the learned general yet effective representation can help to solve multiple downstream EDA tasks by fine-tuning it on a small set of task-related data. However, existing solutions only target combinational circuits, significantly limiting their applications. In this work, we propose DeepSeq, a novel representation learning framework for sequential netlists. Specifically, we introduce a dedicated graph neural network (GNN) with a customized propagation scheme to exploit the temporal correlations between gates in sequential circuits. To ensure effective learning, we propose to use a multi-task training objective with two sets of strongly related supervision: logic probability and transition probability at each node. A novel dual attention aggregation mechanism is introduced to facilitate learning both tasks efficiently. Experimental results on various benchmark circuits show that DeepSeq outperforms other GNN models for sequential circuit learning. We evaluate the generalization capability of DeepSeq on a downstream power estimation task. After fine-tuning, DeepSeq can accurately estimate power across various circuits under different workloads.
Evaluation of Lidar-based 3D SLAM algorithms in SubT environment
Venue: arXiv cs.RO 2023
Year: 2023

Autonomous navigation of robots in harsh and GPS denied subterranean (SubT) environments with lack of natural or poor illumination is a challenging task that fosters the development of algorithms for pose estimation and mapping. Inspired by the need for real-life deployment of autonomous robots in such environments, this article presents an experimental comparative study of 3D SLAM algorithms. The study focuses on state-of-the-art Lidar SLAM algorithms with open-source implementation that are i) lidar-only like BLAM, LOAM, A-LOAM, ISC-LOAM and hdl graph slam, or ii) lidar-inertial like LeGO-LOAM, Cartographer, LIO-mapping and LIO-SAM. The evaluation of the methods is performed based on a dataset collected from the Boston Dynamics Spot robot equipped with 3D lidar Velodyne Puck Lite and IMU Vectornav VN-100, during a mission in an underground tunnel. In the evaluation process poses and 3D tunnel reconstructions from SLAM algorithms are compared against each other to find methods with most solid performance in terms of pose accuracy and map quality.
Equilibrium Bandits: Learning Optimal Equilibria of Unknown Dynamics
Venue: arXiv cs.LG 2023
Year: 2023

Consider a decision-maker that can pick one out of $K$ actions to control an unknown system, for $T$ turns. The actions are interpreted as different configurations or policies. Holding the same action fixed, the system asymptotically converges to a unique equilibrium, as a function of this action. The dynamics of the system are unknown to the decision-maker, which can only observe a noisy reward at the end of every turn. The decision-maker wants to maximize its accumulated reward over the $T$ turns. Learning what equilibria are better results in higher rewards, but waiting for the system to converge to equilibrium costs valuable time. Existing bandit algorithms, either stochastic or adversarial, achieve linear (trivial) regret for this problem. We present a novel algorithm, termed Upper Equilibrium Concentration Bound (UECB), that knows to switch an action quickly if it is not worth it to wait until the equilibrium is reached. This is enabled by employing convergence bounds to determine how far the system is from equilibrium. We prove that UECB achieves a regret of $\mathcal{O}(\log(T)+τ_c\log(τ_c)+τ_c\log\log(T))$ for this equilibrium bandit problem where $τ_c$ is the worst case approximate convergence time to equilibrium. We then show that both epidemic control and game control are special cases of equilibrium bandits, where $τ_c\log τ_c$ typically dominates the regret. We then test UECB numerically for both of these applications.
A Comparative Analysis Of Latent Regressor Losses For Singing Voice Conversion
Venue: arXiv cs.SD 2023
Year: 2023

Previous research has shown that established techniques for spoken voice conversion (VC) do not perform as well when applied to singing voice conversion (SVC). We propose an alternative loss component in a loss function that is otherwise well-established among VC tasks, which has been shown to improve our model's SVC performance. We first trained a singer identity embedding (SIE) network on mel-spectrograms of singer recordings to produce singer-specific variance encodings using contrastive learning. We subsequently trained a well-known autoencoder framework (AutoVC) conditioned on these SIEs, and measured differences in SVC performance when using different latent regressor loss components. We found that using this loss w.r.t. SIEs leads to better performance than w.r.t. bottleneck embeddings, where converted audio is more natural and specific towards target singers. The inclusion of this loss component has the advantage of explicitly forcing the network to reconstruct with timbral similarity, and also negates the effect of poor disentanglement in AutoVC's bottleneck embeddings. We demonstrate peculiar diversity between computational and human evaluations on singer-converted audio clips, which highlights the necessity of both. We also propose a pitch-matching mechanism between source and target singers to ensure these evaluations are not influenced by differences in pitch register.
Wireless End-to-End Image Transmission System using Semantic Communications
Venue: arXiv cs.CV 2023
Year: 2023

Semantic communication is considered the future of mobile communication, which aims to transmit data beyond Shannon's theorem of communications by transmitting the semantic meaning of the data rather than the bit-by-bit reconstruction of the data at the receiver's end. The semantic communication paradigm aims to bridge the gap of limited bandwidth problems in modern high-volume multimedia application content transmission. Integrating AI technologies with the 6G communications networks paved the way to develop semantic communication-based end-to-end communication systems. In this study, we have implemented a semantic communication-based end-to-end image transmission system, and we discuss potential design considerations in developing semantic communication systems in conjunction with physical channel characteristics. A Pre-trained GAN network is used at the receiver as the transmission task to reconstruct the realistic image based on the Semantic segmented image at the receiver input. The semantic segmentation task at the transmitter (encoder) and the GAN network at the receiver (decoder) is trained on a common knowledge base, the COCO-Stuff dataset. The research shows that the resource gain in the form of bandwidth saving is immense when transmitting the semantic segmentation map through the physical channel instead of the ground truth image in contrast to conventional communication systems. Furthermore, the research studies the effect of physical channel distortions and quantization noise on semantic communication-based multimedia content transmission.
Multi-Feature Integration for Perception-Dependent Examination-Bias Estimation
Venue: arXiv cs.IR 2023
Year: 2023

Eliminating examination bias accurately is pivotal to apply click-through data to train an unbiased ranking model. However, most examination-bias estimators are limited to the hypothesis of Position-Based Model (PBM), which supposes that the calculation of examination bias only depends on the rank of the document. Recently, although some works introduce information such as clicks in the same query list and contextual information when calculating the examination bias, they still do not model the impact of document representation on search engine result pages (SERPs) that seriously affects one's perception of document relevance to a query when examining. Therefore, we propose a Multi-Feature Integration Model (MFIM) where the examination bias depends on the representation of document except the rank of it. Furthermore, we mine a key factor slipoff counts that can indirectly reflects the influence of all perception-bias factors. Real world experiments on Baidu-ULTR dataset demonstrate the superior effectiveness and robustness of the new approach. The source code is available at \href{https://github.com/lixsh6/Tencent_wsdm_cup2023/tree/main/pytorch_unbias}{https://github.com/lixsh6/Tencent\_wsdm\_cup2023}
Logical Characterization of Algebraic Circuit Classes over Integral Domains
Venue: arXiv cs.CC 2023
Year: 2023

We present an adapted construction of algebraic circuits over the reals introduced by Cucker and Meer to arbitrary infinite integral domains and generalize the $\mathrm{AC}_{\mathbb{R}}$ and $\mathrm{NC}_{\mathbb{R}}$-classes for this setting. We give a theorem in the style of Immerman's theorem which shows that for these adapted formalisms, sets decided by circuits of constant depth and polynomial size are the same as sets definable by a suitable adaptation of first-order logic. Additionally, we discuss a generalization of the guarded predicative logic by Durand, Haak and Vollmer and we show characterizations for the $\mathrm{AC}_{R}$ and $\mathrm{NC}_{R}$ hierarchy. Those generalizations apply to the Boolean $\mathrm{AC}$ and $\mathrm{NC}$ hierarchies as well. Furthermore, we introduce a formalism to be able to compare some of the aforementioned complexity classes with different underlying integral domains.
Mask Reference Image Quality Assessment
Venue: arXiv cs.CV 2023
Year: 2023

Understanding semantic information is an essential step in knowing what is being learned in both full-reference (FR) and no-reference (NR) image quality assessment (IQA) methods. However, especially for many severely distorted images, even if there is an undistorted image as a reference (FR-IQA), it is difficult to perceive the lost semantic and texture information of distorted images directly. In this paper, we propose a Mask Reference IQA (MR-IQA) method that masks specific patches of a distorted image and supplements missing patches with the reference image patches. In this way, our model only needs to input the reconstructed image for quality assessment. First, we design a mask generator to select the best candidate patches from reference images and supplement the lost semantic information in distorted images, thus providing more reference for quality assessment; in addition, the different masked patches imply different data augmentations, which favors model training and reduces overfitting. Second, we provide a Mask Reference Network (MRNet): the dedicated modules can prevent disturbances due to masked patches and help eliminate the patch discontinuity in the reconstructed image. Our method achieves state-of-the-art performances on the benchmark KADID-10k, LIVE and CSIQ datasets and has better generalization performance across datasets. The code and results are available in the supplementary material.
Solution for the EPO CodeFest on Green Plastics: Hierarchical multi-label classification of patents relating to green plastics using deep learning
Venue: arXiv cs.CL 2023
Year: 2023

This work aims at hierarchical multi-label patents classification for patents disclosing technologies related to green plastics. This is an emerging field for which there is currently no classification scheme, and hence, no labeled data is available, making this task particularly challenging. We first propose a classification scheme for this technology and a way to learn a machine learning model to classify patents into the proposed classification scheme. To achieve this, we come up with a strategy to automatically assign labels to patents in order to create a labeled training dataset that can be used to learn a classification model in a supervised learning setting. Using said training dataset, we come up with two classification models, a SciBERT Neural Network (SBNN) model and a SciBERT Hierarchical Neural Network (SBHNN) model. Both models use a BERT model as a feature extractor and on top of it, a neural network as a classifier. We carry out extensive experiments and report commonly evaluation metrics for this challenging classification problem. The experiment results verify the validity of our approach and show that our model sets a very strong benchmark for this problem. We also interpret our models by visualizing the word importance given by the trained model, which indicates the model is capable to extract high-level semantic information of input documents. Finally, we highlight how our solution fulfills the evaluation criteria for the EPO CodeFest and we also outline possible directions for future work. Our code has been made available at https://github.com/epo/CF22-Green-Hands
ChatGPT: A Meta-Analysis after 2.5 Months
Venue: arXiv cs.CL 2023
Year: 2023

ChatGPT, a chatbot developed by OpenAI, has gained widespread popularity and media attention since its release in November 2022. However, little hard evidence is available regarding its perception in various sources. In this paper, we analyze over 300,000 tweets and more than 150 scientific papers to investigate how ChatGPT is perceived and discussed. Our findings show that ChatGPT is generally viewed as of high quality, with positive sentiment and emotions of joy dominating in social media. Its perception has slightly decreased since its debut, however, with joy decreasing and (negative) surprise on the rise, and it is perceived more negatively in languages other than English. In recent scientific papers, ChatGPT is characterized as a great opportunity across various fields including the medical domain, but also as a threat concerning ethics and receives mixed assessments for education. Our comprehensive meta-analysis of ChatGPT's current perception after 2.5 months since its release can contribute to shaping the public debate and informing its future development. We make our data available.
An Independent Evaluation of ChatGPT on Mathematical Word Problems (MWP)
Venue: arXiv cs.CL 2023
Year: 2023

We study the performance of a commercially available large language model (LLM) known as ChatGPT on math word problems (MWPs) from the dataset DRAW-1K. To our knowledge, this is the first independent evaluation of ChatGPT. We found that ChatGPT's performance changes dramatically based on the requirement to show its work, failing 20% of the time when it provides work compared with 84% when it does not. Further several factors about MWPs relating to the number of unknowns and number of operations that lead to a higher probability of failure when compared with the prior, specifically noting (across all experiments) that the probability of failure increases linearly with the number of addition and subtraction operations. We also have released the dataset of ChatGPT's responses to the MWPs to support further work on the characterization of LLM performance and present baseline machine learning models to predict if ChatGPT can correctly answer an MWP. We have released a dataset comprised of ChatGPT's responses to support further research in this area.
Forward LTLf Synthesis: DPLL At Work
Venue: arXiv cs.LO 2023
Year: 2023

This paper proposes a new AND-OR graph search framework for synthesis of Linear Temporal Logic on finite traces (\LTLf), that overcomes some limitations of previous approaches. Within such framework, we devise a procedure inspired by the Davis-Putnam-Logemann-Loveland (DPLL) algorithm to generate the next available agent-environment moves in a truly depth-first fashion, possibly avoiding exhaustive enumeration or costly compilations. We also propose a novel equivalence check for search nodes based on syntactic equivalence of state formulas. Since the resulting procedure is not guaranteed to terminate, we identify a stopping condition to abort execution and restart the search with state-equivalence checking based on Binary Decision Diagrams (BDD), which we show to be correct. The experimental results show that in many cases the proposed techniques outperform other state-of-the-art approaches. Our implementation Nike competed in the LTLf Realizability Track in the 2023 edition of SYNTCOMP, and won the competition.
Implicit Poisoning Attacks in Two-Agent Reinforcement Learning: Adversarial Policies for Training-Time Attacks
Venue: arXiv cs.LG 2023
Year: 2023

In targeted poisoning attacks, an attacker manipulates an agent-environment interaction to force the agent into adopting a policy of interest, called target policy. Prior work has primarily focused on attacks that modify standard MDP primitives, such as rewards or transitions. In this paper, we study targeted poisoning attacks in a two-agent setting where an attacker implicitly poisons the effective environment of one of the agents by modifying the policy of its peer. We develop an optimization framework for designing optimal attacks, where the cost of the attack measures how much the solution deviates from the assumed default policy of the peer agent. We further study the computational properties of this optimization framework. Focusing on a tabular setting, we show that in contrast to poisoning attacks based on MDP primitives (transitions and (unbounded) rewards), which are always feasible, it is NP-hard to determine the feasibility of implicit poisoning attacks. We provide characterization results that establish sufficient conditions for the feasibility of the attack problem, as well as an upper and a lower bound on the optimal cost of the attack. We propose two algorithmic approaches for finding an optimal adversarial policy: a model-based approach with tabular policies and a model-free approach with parametric/neural policies. We showcase the efficacy of the proposed algorithms through experiments.