OpenRaiser/Intern-Atlas huggingface dataset:
Multi-Agent Car Parking using Reinforcement Learning
Venue: arXiv cs.LG 2022
Year: 2022

As the industry of autonomous driving grows, so does the potential interaction of groups of autonomous cars. Combined with the advancement of Artificial Intelligence and simulation, such groups can be simulated, and safety-critical models can be learned controlling the cars within. This study applies reinforcement learning to the problem of multi-agent car parking, where groups of cars aim to efficiently park themselves, while remaining safe and rational. Utilising robust tools and machine learning frameworks, we design and implement a flexible car parking environment in the form of a Markov decision process with independent learners, exploiting multi-agent communication. We implement a suite of tools to perform experiments at scale, obtaining models parking up to 7 cars with over a 98.1% success rate, significantly beating existing single-agent models. We also obtain several results relating to competitive and collaborative behaviours exhibited by the cars in our environment, with varying densities and levels of communication. Notably, we discover a form of collaboration that cannot arise without competition, and a 'leaky' form of collaboration whereby agents collaborate without sufficient state. Such work has numerous potential applications in the autonomous driving and fleet management industries, and provides several useful techniques and benchmarks for the application of reinforcement learning to multi-agent car parking.
Recognition and Isomorphism of Proper $\boldsymbol{U}$-graphs in FPT-time
Venue: arXiv cs.DS 2022
Year: 2022

An $H$-graph is an intersection graph of connected subgraphs of a suitable subdivision of a fixed graph $H$. Many important classes of graphs, including interval graphs, circular-arc graphs, and chordal graphs, can be expressed as $H$-graphs, and, in particular, every graph is an $H$-graph for a suitable graph $H$. An $H$-graph is called proper if it has a representation where no subgraph properly contains another. We consider the recognition and isomorphism problems for proper $U$-graphs where $U$ is a unicylic graph. We prove that testing whether a graph is a (proper) $U$-graph, for some $U$, is NP-hard. On the positive side, we give an FPT-time recognition algorithm, parametrized by $\vert U \vert$. As an application, we obtain an FPT-time isomorphism algorithm for proper $U$-graphs, parametrized by $\vert U \vert$. To complement this, we prove that the isomorphism problem for (proper) $H$-graphs, is as hard as the general isomorphism problem for every fixed $H$ which is not unicyclic.
A Simple Approach for Visual Rearrangement: 3D Mapping and Semantic Search
Venue: arXiv cs.CV 2022
Year: 2022

Physically rearranging objects is an important capability for embodied agents. Visual room rearrangement evaluates an agent's ability to rearrange objects in a room to a desired goal based solely on visual input. We propose a simple yet effective method for this problem: (1) search for and map which objects need to be rearranged, and (2) rearrange each object until the task is complete. Our approach consists of an off-the-shelf semantic segmentation model, voxel-based semantic map, and semantic search policy to efficiently find objects that need to be rearranged. On the AI2-THOR Rearrangement Challenge, our method improves on current state-of-the-art end-to-end reinforcement learning-based methods that learn visual rearrangement policies from 0.53% correct rearrangement to 16.56%, using only 2.7% as many samples from the environment.
Is the Language Familiarity Effect gradual? A computational modelling approach
Venue: arXiv cs.CL 2022
Year: 2022

According to the Language Familiarity Effect (LFE), people are better at discriminating between speakers of their native language. Although this cognitive effect was largely studied in the literature, experiments have only been conducted on a limited number of language pairs and their results only show the presence of the effect without yielding a gradual measure that may vary across language pairs. In this work, we show that the computational model of LFE introduced by Thorburn, Feldmand and Schatz (2019) can address these two limitations. In a first experiment, we attest to this model's capacity to obtain a gradual measure of the LFE by replicating behavioural findings on native and accented speech. In a second experiment, we evaluate LFE on a large number of language pairs, including many which have never been tested on humans. We show that the effect is replicated across a wide array of languages, providing further evidence of its universality. Building on the gradual measure of LFE, we also show that languages belonging to the same family yield smaller scores, supporting the idea of an effect of language distance on LFE.
Adaptive Step Size Learning with Applications to Velocity Aided Inertial Navigation System
Venue: arXiv cs.RO 2022
Year: 2022

Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Recently, the usage of multi-rotor unmanned autonomous vehicles (UAV) for marine applications is receiving more attention in the literature. Usually, both platforms employ an inertial navigation system (INS), and aiding sensors for an accurate navigation solution. In AUV navigation, Doppler velocity log (DVL) is mainly used to aid the INS, while for UAVs, it is common to use global navigation satellite systems (GNSS) receivers. The fusion between the aiding sensor and the INS requires a definition of step size parameter in the estimation process. It is responsible for the solution frequency update and, eventually, its accuracy. The choice of the step size poses a tradeoff between computational load and navigation performance. Generally, the aiding sensors update frequency is considered much slower compared to the INS operating frequency (hundreds Hertz). Such high rate is unnecessary for most platforms, specifically for low dynamics AUVs. In this work, a supervised machine learning based adaptive tuning scheme to select the proper INS step size is proposed. To that end, a velocity error bound is defined, allowing the INS/DVL or the INS/GNSS to act in a sub-optimal working conditions, and yet minimize the computational load. Results from simulations and field experiment show the benefits of using the proposed approach. In addition, the proposed framework can be applied to any other fusion scenarios between any type of sensors or platforms.
Neural Neural Textures Make Sim2Real Consistent
Venue: arXiv cs.CV 2022
Year: 2022

Unpaired image translation algorithms can be used for sim2real tasks, but many fail to generate temporally consistent results. We present a new approach that combines differentiable rendering with image translation to achieve temporal consistency over indefinite timescales, using surface consistency losses and \emph{neural neural textures}. We call this algorithm TRITON (Texture Recovering Image Translation Network): an unsupervised, end-to-end, stateless sim2real algorithm that leverages the underlying 3D geometry of input scenes by generating realistic-looking learnable neural textures. By settling on a particular texture for the objects in a scene, we ensure consistency between frames statelessly. Unlike previous algorithms, TRITON is not limited to camera movements -- it can handle the movement of objects as well, making it useful for downstream tasks such as robotic manipulation.
Improving Clinical Efficiency and Reducing Medical Errors through NLP-enabled diagnosis of Health Conditions from Transcription Reports
Venue: arXiv cs.LG 2022
Year: 2022

Misdiagnosis rates are one of the leading causes of medical errors in hospitals, affecting over 12 million adults across the US. To address the high rate of misdiagnosis, this study utilizes 4 NLP-based algorithms to determine the appropriate health condition based on an unstructured transcription report. From the Logistic Regression, Random Forest, LSTM, and CNNLSTM models, the CNN-LSTM model performed the best with an accuracy of 97.89%. We packaged this model into a authenticated web platform for accessible assistance to clinicians. Overall, by standardizing health care diagnosis and structuring transcription reports, our NLP platform drastically improves the clinical efficiency and accuracy of hospitals worldwide.
A View Independent Classification Framework for Yoga Postures
Venue: arXiv cs.CV 2022
Year: 2022

Yoga is a globally acclaimed and widely recommended practice for a healthy living. Maintaining correct posture while performing a Yogasana is of utmost importance. In this work, we employ transfer learning from Human Pose Estimation models for extracting 136 key-points spread all over the body to train a Random Forest classifier which is used for estimation of the Yogasanas. The results are evaluated on an in-house collected extensive yoga video database of 51 subjects recorded from 4 different camera angles. We propose a 3 step scheme for evaluating the generalizability of a Yoga classifier by testing it on 1) unseen frames, 2) unseen subjects, and 3) unseen camera angles. We argue that for most of the applications, validation accuracies on unseen subjects and unseen camera angles would be most important. We empirically analyze over three public datasets, the advantage of transfer learning and the possibilities of target leakage. We further demonstrate that the classification accuracies critically depend on the cross validation method employed and can often be misleading. To promote further research, we have made key-points dataset and code publicly available.
BeamsNet: A data-driven Approach Enhancing Doppler Velocity Log Measurements for Autonomous Underwater Vehicle Navigation
Venue: arXiv cs.RO 2022
Year: 2022

Autonomous underwater vehicles (AUV) perform various applications such as seafloor mapping and underwater structure health monitoring. Commonly, an inertial navigation system aided by a Doppler velocity log (DVL) is used to provide the vehicle's navigation solution. In such fusion, the DVL provides the velocity vector of the AUV, which determines the navigation solution's accuracy and helps estimate the navigation states. This paper proposes BeamsNet, an end-to-end deep learning framework to regress the estimated DVL velocity vector that improves the accuracy of the velocity vector estimate, and could replace the model-based approach. Two versions of BeamsNet, differing in their input to the network, are suggested. The first uses the current DVL beam measurements and inertial sensors data, while the other utilizes only DVL data, taking the current and past DVL measurements for the regression process. Both simulation and sea experiments were made to validate the proposed learning approach relative to the model-based approach. Sea experiments were made with the Snapir AUV in the Mediterranean Sea, collecting approximately four hours of DVL and inertial sensor data. Our results show that the proposed approach achieved an improvement of more than 60% in estimating the DVL velocity vector.
TTS-CGAN: A Transformer Time-Series Conditional GAN for Biosignal Data Augmentation
Venue: arXiv cs.LG 2022
Year: 2022

Signal measurement appearing in the form of time series is one of the most common types of data used in medical machine learning applications. Such datasets are often small in size, expensive to collect and annotate, and might involve privacy issues, which hinders our ability to train large, state-of-the-art deep learning models for biomedical applications. For time-series data, the suite of data augmentation strategies we can use to expand the size of the dataset is limited by the need to maintain the basic properties of the signal. Generative Adversarial Networks (GANs) can be utilized as another data augmentation tool. In this paper, we present TTS-CGAN, a transformer-based conditional GAN model that can be trained on existing multi-class datasets and generate class-specific synthetic time-series sequences of arbitrary length. We elaborate on the model architecture and design strategies. Synthetic sequences generated by our model are indistinguishable from real ones, and can be used to complement or replace real signals of the same type, thus achieving the goal of data augmentation. To evaluate the quality of the generated data, we modify the wavelet coherence metric to be able to compare the similarity between two sets of signals, and also conduct a case study where a mix of synthetic and real data are used to train a deep learning model for sequence classification. Together with other visualization techniques and qualitative evaluation approaches, we demonstrate that TTS-CGAN generated synthetic data are similar to real data, and that our model performs better than the other state-of-the-art GAN models built for time-series data generation.
Involuntary Stabilization in Discrete-Event Physical Human-Robot Interaction
Venue: arXiv cs.RO 2022
Year: 2022

Robots are used by humans not only as tools but also to interactively assist and cooperate with humans, thereby forming physical human-robot interactions. In these interactions, there is a risk that a feedback loop causes unstable force interaction, in which force escalation exposes a human to danger. Previous studies have analyzed the stability of voluntary interaction but have neglected involuntary behavior in the interaction. In contrast to the previous studies, this study considered the involuntary behavior: a human's force reproduction bias for discrete-event human-robot force interaction. We derived an asymptotic stability condition based on a mathematical bias model and found that the bias asymptotically stabilizes a human's implicit equilibrium point far from the implicit equilibrium point and destabilizes the point near the point. The bias model, convergence of the interaction toward the implicit equilibrium point, and divergence around the point were consistently verified via behavioral experiments under three kinds of interactions using three different body parts: a hand finger, wrist, and foot. Our results imply that humans implicitly secure a stable and close relationship between themselves and robots with their involuntary behavior.
Split Two-Tower Model for Efficient and Privacy-Preserving Cross-device Federated Recommendation
Venue: arXiv cs.IR 2022
Year: 2022

Federated Recommendation can mitigate the systematical privacy risks of traditional recommendation since it allows the model training and online inferring without centralized user data collection. Most existing works assume that all user devices are available and adequate to participate in the Federated Learning. However, in practice, the complex recommendation models designed for accurate prediction and massive item data cause a high computation and communication cost to the resource-constrained user device, resulting in poor performance or training failure. Therefore, how to effectively compress the computation and communication overhead to achieve efficient federated recommendations across ubiquitous mobile devices remains a significant challenge. This paper introduces split learning into the two-tower recommendation models and proposes STTFedRec, a privacy-preserving and efficient cross-device federated recommendation framework. STTFedRec achieves local computation reduction by splitting the training and computation of the item model from user devices to a performance-powered server. The server with the item model provides low-dimensional item embeddings instead of raw item data to the user devices for local training and online inferring, achieving server broadcast compression. The user devices only need to perform similarity calculations with cached user embeddings to achieve efficient online inferring. We also propose an obfuscated item request strategy and multi-party circular secret sharing chain to enhance the privacy protection of model training. The experiments conducted on two public datasets demonstrate that STTFedRec improves the average computation time and communication size of the baseline models by about 40 times and 42 times in the best-case scenario with balanced recommendation accuracy.
Divide-and-Conquer Determinization of Büchi Automata based on SCC Decomposition
Venue: arXiv cs.FL 2022
Year: 2022

The determinization of a nondeterministic Büchi automaton (NBA) is a fundamental construction of automata theory, with applications to probabilistic verification and reactive synthesis. The standard determinization constructions, such as the ones based on the Safra-Piterman's approach, work on the whole NBA. In this work we propose a divide-and-conquer determinization approach. To this end, we first classify the strongly connected components (SCCs) of the given NBA as inherently weak, deterministic accepting, and nondeterministic accepting. We then present how to determinize each type of SCC independently from the others; this results in an easier handling of the determinization algorithm that takes advantage of the structure of that SCC. Once all SCCs have been determinized, we show how to compose them so to obtain the final equivalent deterministic Emerson-Lei automaton, which can be converted into a deterministic Rabin automaton without blow-up of states and transitions. We implement our algorithm in a our tool COLA and empirically evaluate COLA with the state-of-the-art tools Spot and OWL on a large set of benchmarks from the literature. The experimental results show that our prototype COLA outperforms Spot and OWL regarding the number of states and transitions.
The COVID-19 Pandemic on the Turkish Twittersphere
Venue: arXiv cs.SI 2022
Year: 2022

With the increase in the time spent at home, social media platforms' role has become an integral part of the public discussion in the COVID-19 period. Individuals use social media platforms to express their emotions, interact, and engage in public debate. Therefore, it is essential to analyze social media platforms for those wanting to understand public opinion during the pandemic. This thesis is the first study that examines the Turkish Twitter-sphere to understand the change in public opinion during the COVID-19 outbreak. For that purpose, starting from 12 February 2020 (one month before the first announced coronavirus cases in Turkey), 4.3 million Turkish tweets with a broad range of keywords are collected until June 2020 to investigate the public opinion change on different topics and to examine the actors leading to that change. The scope of the analysis is not only health-related discussion but also includes a broader range of themes such as politics, economy, and disinformation. This study also collects 4.15 million Turkish tweets with keywords of vaccine ("aşı" in Turkish) from 4 April 2020 until 17 March 2021 to unpack the health of the information ecosystem. Preliminary results suggest that (i) religion is the prominent phenomenon in Turkish people's perception of the pandemic, (ii) and the Turkish Twitter-sphere is highly vulnerable to mis/disinformation operations, and (iii) several communities with divergent interests exist in the vaccine network.
A Scalable Blockchain-based Smart Contract Model for Decentralized Voltage Stability Using Sharding Technique
Venue: arXiv cs.DC 2022
Year: 2022

Blockchain technologies are one possible avenue for increasing the resilience of the Smart Grid, by decentralizing the monitoring and control of system-level objectives such as voltage stability protection. They furthermore offer benefits in data immutability and traceability, as blockchains are cryptographically secured. However, the performance of blockchain-based systems in real-time grid monitoring and control has never been empirically tested. This study proposes implementing a decentralized voltage stability algorithm using blockchain-based smart contracts, as a testbed for evaluating the performance of blockchains in real-time control. We furthermore investigate sharding mechanisms as a means of improving the system's scalability with fixed computing resources. We implement our models as a proof-of-concept prototype system using Hyperledger Fabric as our blockchain platform, the Matpower library in MATLAB as our power system simulator, and Hyperledger Caliper as our performance evaluation tool. We found that sharding does indeed lead to a substantial improvement in system scalability for this domain, measured by both transaction success rates and transaction latency.
3D Multi-Object Tracking with Differentiable Pose Estimation
Venue: arXiv cs.CV 2022
Year: 2022

We propose a novel approach for joint 3D multi-object tracking and reconstruction from RGB-D sequences in indoor environments. To this end, we detect and reconstruct objects in each frame while predicting dense correspondences mappings into a normalized object space. We leverage those correspondences to inform a graph neural network to solve for the optimal, temporally-consistent 7-DoF pose trajectories of all objects. The novelty of our method is two-fold: first, we propose a new graph-based approach for differentiable pose estimation over time to learn optimal pose trajectories; second, we present a joint formulation of reconstruction and pose estimation along the time axis for robust and geometrically consistent multi-object tracking. In order to validate our approach, we introduce a new synthetic dataset comprising 2381 unique indoor sequences with a total of 60k rendered RGB-D images for multi-object tracking with moving objects and camera positions derived from the synthetic 3D-FRONT dataset. We demonstrate that our method improves the accumulated MOTA score for all test sequences by 24.8% over existing state-of-the-art methods. In several ablations on synthetic and real-world sequences, we show that our graph-based, fully end-to-end-learnable approach yields a significant boost in tracking performance.
Joint Precoding for Active Intelligent Transmitting Surface Empowered Outdoor-to-Indoor Communication in mmWave Cellular Networks
Venue: arXiv cs.IT 2022
Year: 2022

Outdoor-to-indoor communications in millimeter-wave (mmWave) cellular networks have been one challenging research problem due to the severe attenuation and the high penetration loss caused by the propagation characteristics of mmWave signals. We propose a viable solution to implement the outdoor-to-indoor mmWave communication system with the aid of an active intelligent transmitting surface (active-ITS), where the active-ITS allows the incoming signal from an outdoor base station (BS) to pass through the surface and be received by the indoor user-equipments (UEs) after shifting its phase and magnifying its amplitude. Then, the problem of joint precoding of the BS and active-ITS is investigated to maximize the weighted sum-rate (WSR) of the communication system. An efficient block coordinate descent (BCD) based algorithm is developed to solve it with the suboptimal solutions in nearly closed-forms. In addition, to reduce the size and hardware cost of an active-ITS, we provide a block-amplifying architecture to partially remove the circuit components for power-amplifying, where multiple transmissive-type elements (TEs) in each block share a same power amplifier. Simulations indicate that active-ITS has the potential of achieving a given performance with much fewer TEs compared to the passive-ITS under the same total system power consumption, which makes it suitable for application to the size-limited and aesthetic-needed scenario, and the inevitable performance degradation caused by the block-amplifying architecture is acceptable.