OpenRaiser/Intern-Atlas huggingface dataset:
Are Deep Learning Models Robust to Partial Object Occlusion in Visual Recognition Tasks?
Venue: arXiv cs.CV 2024
Year: 2024

Image classification models, including convolutional neural networks (CNNs), perform well on a variety of classification tasks but struggle under conditions of partial occlusion, i.e., conditions in which objects are partially covered from the view of a camera. Methods to improve performance under occlusion, including data augmentation, part-based clustering, and more inherently robust architectures, including Vision Transformer (ViT) models, have, to some extent, been evaluated on their ability to classify objects under partial occlusion. However, evaluations of these methods have largely relied on images containing artificial occlusion, which are typically computer-generated and therefore inexpensive to label. Additionally, methods are rarely compared against each other, and many methods are compared against early, now outdated, deep learning models. We contribute the Image Recognition Under Occlusion (IRUO) dataset, based on the recently developed Occluded Video Instance Segmentation (OVIS) dataset (arXiv:2102.01558). IRUO utilizes real-world and artificially occluded images to test and benchmark leading methods' robustness to partial occlusion in visual recognition tasks. In addition, we contribute the design and results of a human study using images from IRUO that evaluates human classification performance at multiple levels and types of occlusion. We find that modern CNN-based models show improved recognition accuracy on occluded images compared to earlier CNN-based models, and ViT-based models are more accurate than CNN-based models on occluded images, performing only modestly worse than human accuracy. We also find that certain types of occlusion, including diffuse occlusion, where relevant objects are seen through "holes" in occluders such as fences and leaves, can greatly reduce the accuracy of deep recognition models as compared to humans, especially those with CNN backbones.
Benchmarking Sim2Real Gap: High-fidelity Digital Twinning of Agile Manufacturing
Venue: arXiv cs.RO 2024
Year: 2024

As the manufacturing industry shifts from mass production to mass customization, there is a growing emphasis on adopting agile, resilient, and human-centric methodologies in line with the directives of Industry 5.0. Central to this transformation is the deployment of digital twins, a technology that digitally replicates manufacturing assets to enable enhanced process optimization, predictive maintenance, synthetic data generation, and accelerated customization and prototyping. This chapter delves into the technologies underpinning the creation of digital twins specifically tailored to agile manufacturing scenarios within the realm of robotic automation. It explores the transfer of trained policies and process optimizations from simulated settings to real-world applications through advanced techniques such as domain randomization, domain adaptation, curriculum learning, and model-based system identification. The chapter also examines various industrial manufacturing automation scenarios, including bin-picking, part inspection, and product assembly, under Sim2Real conditions. The performance of digital twin technologies in these scenarios is evaluated using practical metrics including data latency, adaptation rate, simulation fidelity among others reported, providing a comprehensive assessment of their efficacy and potential impact on modern manufacturing processes.
Model Tells Itself Where to Attend: Faithfulness Meets Automatic Attention Steering
Venue: arXiv cs.CL 2024
Year: 2024

Large language models (LLMs) have demonstrated remarkable performance across various real-world tasks. However, they often struggle to fully comprehend and effectively utilize their input contexts, resulting in responses that are unfaithful or hallucinated. This difficulty increases for contexts that are long or contain distracting information, which can divert LLMs from fully capturing essential evidence. To address this issue, many works use prompting to help LLMs utilize contextual information more faithfully. For instance, iterative prompting highlights key information in two steps that first ask the LLM to identify important pieces of context and then derive answers accordingly. However, prompting methods are constrained to highlighting key information implicitly in token space, which is often insufficient to fully steer the model's attention. To improve model faithfulness more reliably, we propose AutoPASTA, a method that automatically identifies key contextual information and explicitly highlights it by steering an LLM's attention scores. Like prompting, AutoPASTA is applied at inference time and does not require changing any model parameters. Our experiments on open-book QA demonstrate that AutoPASTA effectively enables models to grasp essential contextual information, leading to substantially improved model faithfulness and performance, e.g., an average improvement of 7.95% for LLAMA3-70B-Instruct. Code will be publicly available at https://github.com/QingruZhang/AutoPASTA .
ArticulatePro: A Comparative Study on a Proactive and Non-Proactive Assistant in a Climate Data Exploration Task
Venue: arXiv cs.HC 2024
Year: 2024

Recent advances in Natural Language Interfaces (NLIs) and Large Language Models (LLMs) have transformed our approach to NLP tasks, shifting the focus towards a more Pragmatics-based approach. This shift enables more natural interactions between humans and voice assistants, which have been historically difficult to achieve. Pragmatics involves understanding how users often talk out of turn, interrupt one another, or provide relevant information without being explicitly asked (maxim of quantity). To explore this, we developed a digital assistant that continuously listens to conversations and proactively generates relevant visualizations during data exploration tasks. In a within-subject study, participants interacted with both proactive and non-proactive versions of a voice assistant while exploring the Hawaii Climate Data Portal (HCDP). Results suggest that the proactive assistant enhanced user engagement and facilitated quicker insights. Our study highlights the potential of Pragmatic, proactive AI in NLIs and identifies key challenges in its implementation, offering insights for future research.
Dynamic DAG-Application Scheduling for Multi-Tier Edge Computing in Heterogeneous Networks
Venue: arXiv cs.NI 2024
Year: 2024

Edge computing is deemed a promising technique to execute latency-sensitive applications by offloading computation-intensive tasks to edge servers. Extensive research has been conducted in the field of end-device to edge server task offloading for several goals, including latency minimization, energy optimization, and resource optimization. However, few of them consider our mobile computing devices (smartphones, tablets, and laptops) to be edge devices. In this paper, we propose a novel multi-tier edge computing framework, which we refer to as M-TEC, that aims to optimize latency, reduce the probability of failure, and optimize cost while accounting for the sporadic failure of personally owned devices and the changing network conditions. We conduct experiments with a real testbed and a real commercial CBRS 4G network, and the results indicate that M-TEC is capable of reducing the end-to-end latency of applications by at least 8\% compared to the best baseline under a variety of network conditions, while providing reliable performance at an affordable cost.
Dark Mode or Light Mode? Exploring the Impact of Contrast Polarity on Visualization Performance Between Age Groups
Venue: arXiv cs.HC 2024
Year: 2024

This study examines the impact of positive and negative contrast polarities (i.e., light and dark modes) on the performance of younger adults and people in their late adulthood (PLA). In a crowdsourced study with 134 participants (69 below age 60, 66 aged 60 and above), we assessed their accuracy and time performing analysis tasks across three common visualization types (Bar, Line, Scatterplot) and two contrast polarities (positive and negative). We observed that, across both age groups, the polarity that led to better performance and the resulting amount of improvement varied on an individual basis, with each polarity benefiting comparable proportions of participants. However, the contrast polarity that led to better performance did not always match their preferred polarity. Additionally, we observed that the choice of contrast polarity can have an impact on time similar to that of the choice of visualization type, resulting in an average percent difference of around 36%. These findings indicate that, overall, the effects of contrast polarity on visual analysis performance do not noticeably change with age. Furthermore, they underscore the importance of making visualizations available in both contrast polarities to better-support a broad audience with differing needs. Supplementary materials for this work can be found at https://osf.io/539a4/.
Speech Recognition for Analysis of Police Radio Communication
Venue: arXiv cs.SD 2024
Year: 2024

Police departments around the world use two-way radio for coordination. These broadcast police communications (BPC) are a unique source of information about everyday police activity and emergency response. Yet BPC are not transcribed, and their naturalistic audio properties make automatic transcription challenging. We collect a corpus of roughly 62,000 manually transcribed radio transmissions (~46 hours of audio) to evaluate the feasibility of automatic speech recognition (ASR) using modern recognition models. We evaluate the performance of off-the-shelf speech recognizers, models fine-tuned on BPC data, and customized end-to-end models. We find that both human and machine transcription is challenging in this domain. Large off-the-shelf ASR models perform poorly, but fine-tuned models can reach the approximate range of human performance. Our work suggests directions for future work, including analysis of short utterances and potential miscommunication in police radio interactions. We make our corpus and data annotation pipeline available to other researchers, to enable further research on recognition and analysis of police communication.
American Sign Language to Text Translation using Transformer and Seq2Seq with LSTM
Venue: arXiv cs.CL 2024
Year: 2024

Sign language translation is one of the important issues in communication between deaf and hearing people, as it expresses words through hand, body, and mouth movements. American Sign Language is one of the sign languages used, one of which is the alphabetic sign. The development of neural machine translation technology is moving towards sign language translation. Transformer became the state-of-the-art in natural language processing. This study compares the Transformer with the Sequence-to-Sequence (Seq2Seq) model in translating sign language to text. In addition, an experiment was conducted by adding Residual Long Short-Term Memory (ResidualLSTM) in the Transformer. The addition of ResidualLSTM to the Transformer reduces the performance of the Transformer model by 23.37% based on the BLEU Score value. In comparison, the Transformer itself increases the BLEU Score value by 28.14 compared to the Seq2Seq model.
CREAM: Comparison-Based Reference-Free ELO-Ranked Automatic Evaluation for Meeting Summarization
Venue: arXiv cs.CL 2024
Year: 2024

Large Language Models (LLMs) have spurred interest in automatic evaluation methods for summarization, offering a faster, more cost-effective alternative to human evaluation. However, existing methods often fall short when applied to complex tasks like long-context summarizations and dialogue-based meeting summarizations. In this paper, we introduce CREAM (Comparison-Based Reference-Free Elo-Ranked Automatic Evaluation for Meeting Summarization), a novel framework that addresses the unique challenges of evaluating meeting summaries. CREAM leverages a combination of chain-of-thought reasoning and key facts alignment to assess conciseness and completeness of model-generated summaries without requiring reference. By employing an ELO ranking system, our approach provides a robust mechanism for comparing the quality of different models or prompt configurations.
AutoSpec: Automated Generation of Neural Network Specifications
Venue: arXiv cs.LG 2024
Year: 2024

The increasing adoption of neural networks in learning-augmented systems highlights the importance of model safety and robustness, particularly in safety-critical domains. Despite progress in the formal verification of neural networks, current practices require users to manually define model specifications -- properties that dictate expected model behavior in various scenarios. This manual process, however, is prone to human error, limited in scope, and time-consuming. In this paper, we introduce AutoSpec, the first framework to automatically generate comprehensive and accurate specifications for neural networks in learning-augmented systems. We also propose the first set of metrics for assessing the accuracy and coverage of model specifications, establishing a benchmark for future comparisons. Our evaluation across four distinct applications shows that AutoSpec outperforms human-defined specifications as well as two baseline approaches introduced in this study.
Robust High-Speed State Estimation for Off-road Navigation using Radar Velocity Factors
Venue: arXiv cs.RO 2024
Year: 2024

Enabling robot autonomy in complex environments for mission critical application requires robust state estimation. Particularly under conditions where the exteroceptive sensors, which the navigation depends on, can be degraded by environmental challenges thus, leading to mission failure. It is precisely in such challenges where the potential for FMCW radar sensors is highlighted: as a complementary exteroceptive sensing modality with direct velocity measuring capabilities. In this work we integrate radial speed measurements from a FMCW radar sensor, using a radial speed factor, to provide linear velocity updates into a sliding-window state estimator for fusion with LiDAR pose and IMU measurements. We demonstrate that this augmentation increases the robustness of the state estimator to challenging conditions present in the environment and the negative effects they can pose to vulnerable exteroceptive modalities. The proposed method is extensively evaluated using robotic field experiments conducted using an autonomous, full-scale, off-road vehicle operating at high-speeds (~12 m/s) in complex desert environments. Furthermore, the robustness of the approach is demonstrated for cases of both simulated and real-world degradation of the LiDAR odometry performance along with comparison against state-of-the-art methods for radar-inertial odometry on public datasets.
GLC-SLAM: Gaussian Splatting SLAM with Efficient Loop Closure
Venue: arXiv cs.RO 2024
Year: 2024

3D Gaussian Splatting (3DGS) has gained significant attention for its application in dense Simultaneous Localization and Mapping (SLAM), enabling real-time rendering and high-fidelity mapping. However, existing 3DGS-based SLAM methods often suffer from accumulated tracking errors and map drift, particularly in large-scale environments. To address these issues, we introduce GLC-SLAM, a Gaussian Splatting SLAM system that integrates global optimization of camera poses and scene models. Our approach employs frame-to-model tracking and triggers hierarchical loop closure using a global-to-local strategy to minimize drift accumulation. By dividing the scene into 3D Gaussian submaps, we facilitate efficient map updates following loop corrections in large scenes. Additionally, our uncertainty-minimized keyframe selection strategy prioritizes keyframes observing more valuable 3D Gaussians to enhance submap optimization. Experimental results on various datasets demonstrate that GLC-SLAM achieves superior or competitive tracking and mapping performance compared to state-of-the-art dense RGB-D SLAM systems.
Single-stage TTS with Masked Audio Token Modeling and Semantic Knowledge Distillation
Venue: arXiv cs.SD 2024
Year: 2024

Audio token modeling has become a powerful framework for speech synthesis, with two-stage approaches employing semantic tokens remaining prevalent. In this paper, we aim to simplify this process by introducing a semantic knowledge distillation method that enables high-quality speech generation in a single stage. Our proposed model improves speech quality, intelligibility, and speaker similarity compared to a single-stage baseline. Although two-stage systems still lead in intelligibility, our model significantly narrows the gap while delivering comparable speech quality. These findings showcase the potential of single-stage models to achieve efficient, high-quality TTS with a more compact and streamlined architecture.
MM2Latent: Text-to-facial image generation and editing in GANs with multimodal assistance
Venue: arXiv cs.CV 2024
Year: 2024

Generating human portraits is a hot topic in the image generation area, e.g. mask-to-face generation and text-to-face generation. However, these unimodal generation methods lack controllability in image generation. Controllability can be enhanced by exploring the advantages and complementarities of various modalities. For instance, we can utilize the advantages of text in controlling diverse attributes and masks in controlling spatial locations. Current state-of-the-art methods in multimodal generation face limitations due to their reliance on extensive hyperparameters, manual operations during the inference stage, substantial computational demands during training and inference, or inability to edit real images. In this paper, we propose a practical framework - MM2Latent - for multimodal image generation and editing. We use StyleGAN2 as our image generator, FaRL for text encoding, and train an autoencoders for spatial modalities like mask, sketch and 3DMM. We propose a strategy that involves training a mapping network to map the multimodal input into the w latent space of StyleGAN. The proposed framework 1) eliminates hyperparameters and manual operations in the inference stage, 2) ensures fast inference speeds, and 3) enables the editing of real images. Extensive experiments demonstrate that our method exhibits superior performance in multimodal image generation, surpassing recent GAN- and diffusion-based methods. Also, it proves effective in multimodal image editing and is faster than GAN- and diffusion-based methods. We make the code publicly available at: https://github.com/Open-Debin/MM2Latent
Unleashing the Potential of Mamba: Boosting a LiDAR 3D Sparse Detector by Using Cross-Model Knowledge Distillation
Venue: arXiv cs.CV 2024
Year: 2024

The LiDAR-based 3D object detector that strikes a balance between accuracy and speed is crucial for achieving real-time perception in autonomous driving and robotic navigation systems. To enhance the accuracy of point cloud detection, integrating global context for visual understanding improves the point clouds ability to grasp overall spatial information. However, many existing LiDAR detection models depend on intricate feature transformation and extraction processes, leading to poor real-time performance and high resource consumption, which limits their practical effectiveness. In this work, we propose a Faster LiDAR 3D object detection framework, called FASD, which implements heterogeneous model distillation by adaptively uniform cross-model voxel features. We aim to distill the transformer's capacity for high-performance sequence modeling into Mamba models with low FLOPs, achieving a significant improvement in accuracy through knowledge transfer. Specifically, Dynamic Voxel Group and Adaptive Attention strategies are integrated into the sparse backbone, creating a robust teacher model with scale-adaptive attention for effective global visual context modeling. Following feature alignment with the Adapter, we transfer knowledge from the Transformer to the Mamba through latent space feature supervision and span-head distillation, resulting in improved performance and an efficient student model. We evaluated the framework on the Waymo and nuScenes datasets, achieving a 4x reduction in resource consumption and a 1-2\% performance improvement over the current SoTA methods.
D2Vformer: A Flexible Time Series Prediction Model Based on Time Position Embedding
Venue: arXiv cs.LG 2024
Year: 2024

Time position embeddings capture the positional information of time steps, often serving as auxiliary inputs to enhance the predictive capabilities of time series models. However, existing models exhibit limitations in capturing intricate time positional information and effectively utilizing these embeddings. To address these limitations, this paper proposes a novel model called D2Vformer. Unlike typical prediction methods that rely on RNNs or Transformers, this approach can directly handle scenarios where the predicted sequence is not adjacent to the input sequence or where its length dynamically changes. In comparison to conventional methods, D2Vformer undoubtedly saves a significant amount of training resources. In D2Vformer, the Date2Vec module uses the timestamp information and feature sequences to generate time position embeddings. Afterward, D2Vformer introduces a new fusion block that utilizes an attention mechanism to explore the similarity in time positions between the embeddings of the input sequence and the predicted sequence, thereby generating predictions based on this similarity. Through extensive experiments on six datasets, we demonstrate that Date2Vec outperforms other time position embedding methods, and D2Vformer surpasses state-of-the-art methods in both fixed-length and variable-length prediction tasks.
Hierarchical Narrative Analysis: Unraveling Perceptions of Generative AI
Venue: arXiv cs.CL 2024
Year: 2024

Written texts reflect an author's perspective, making the thorough analysis of literature a key research method in fields such as the humanities and social sciences. However, conventional text mining techniques like sentiment analysis and topic modeling are limited in their ability to capture the hierarchical narrative structures that reveal deeper argumentative patterns. To address this gap, we propose a method that leverages large language models (LLMs) to extract and organize these structures into a hierarchical framework. We validate this approach by analyzing public opinions on generative AI collected by Japan's Agency for Cultural Affairs, comparing the narratives of supporters and critics. Our analysis provides clearer visualization of the factors influencing divergent opinions on generative AI, offering deeper insights into the structures of agreement and disagreement.