OpenRaiser/Intern-Atlas huggingface dataset:
Safety-enhanced UAV Path Planning with Spherical Vector-based Particle Swarm Optimization
Venue: arXiv cs.NE 2021
Year: 2021

This paper presents a new algorithm named spherical vector-based particle swarm optimization (SPSO) to deal with the problem of path planning for unmanned aerial vehicles (UAVs) in complicated environments subjected to multiple threats. A cost function is first formulated to convert the path planning into an optimization problem that incorporates requirements and constraints for the feasible and safe operation of the UAV. SPSO is then used to find the optimal path that minimizes the cost function by efficiently searching the configuration space of the UAV via the correspondence between the particle position and the speed, turn angle and climb/dive angle of the UAV. To evaluate the performance of SPSO, eight benchmarking scenarios have been generated from real digital elevation model maps. The results show that the proposed SPSO outperforms not only other particle swarm optimization (PSO) variants including the classic PSO, phase angle-encoded PSO and quantum-behave PSO but also other state-of-the-art metaheuristic optimization algorithms including the genetic algorithm (GA), artificial bee colony (ABC), and differential evolution (DE) in most scenarios. In addition, experiments have been conducted to demonstrate the validity of the generated paths for real UAV operations. Source code of the algorithm can be found at https://github.com/duongpm/SPSO.
VT-ADL: A Vision Transformer Network for Image Anomaly Detection and Localization
Venue: arXiv cs.CV 2021
Year: 2021

We present a transformer-based image anomaly detection and localization network. Our proposed model is a combination of a reconstruction-based approach and patch embedding. The use of transformer networks helps to preserve the spatial information of the embedded patches, which are later processed by a Gaussian mixture density network to localize the anomalous areas. In addition, we also publish BTAD, a real-world industrial anomaly dataset. Our results are compared with other state-of-the-art algorithms using publicly available datasets like MNIST and MVTec.
Semantic similarity metrics for learned image registration
Venue: arXiv cs.LG 2021
Year: 2021

We propose a semantic similarity metric for image registration. Existing metrics like Euclidean Distance or Normalized Cross-Correlation focus on aligning intensity values, giving difficulties with low intensity contrast or noise. Our approach learns dataset-specific features that drive the optimization of a learning-based registration model. We train both an unsupervised approach using an auto-encoder, and a semi-supervised approach using supplemental segmentation data to extract semantic features for image registration. Comparing to existing methods across multiple image modalities and applications, we achieve consistently high registration accuracy. A learned invariance to noise gives smoother transformations on low-quality images.
Learning-based Compression for Material and Texture Recognition
Venue: arXiv cs.CV 2021
Year: 2021

Learning-based image compression was shown to achieve a competitive performance with state-of-the-art transform-based codecs. This motivated the development of new learning-based visual compression standards such as JPEG-AI. Of particular interest to these emerging standards is the development of learning-based image compression systems targeting both humans and machines. This paper is concerned with learning-based compression schemes whose compressed-domain representations can be utilized to perform visual processing and computer vision tasks directly in the compressed domain. Such a characteristic has been incorporated as part of the scope and requirements of the new emerging JPEG-AI standard. In our work, we adopt the learning-based JPEG-AI framework for performing material and texture recognition using the compressed-domain latent representation at varing bit-rates. For comparison, performance results are presented using compressed but fully decoded images in the pixel domain as well as original uncompressed images. The obtained performance results show that even though decoded images can degrade the classification performance of the model trained with original images, retraining the model with decoded images will largely reduce the performance gap for the adopted texture dataset. It is also shown that the compressed-domain classification can yield a competitive performance in terms of Top-1 and Top-5 accuracy while using a smaller reduced-complexity classification model.
ZMCintegral-v5.1: Support for Multi-function Integrations on GPUs
Venue: arXiv cs.DC 2021
Year: 2021

In this new version of ZMCintegral, we have added the functionality of multi-function integrations, i.e. the ability to integrate more than $10^{3}$ different functions on GPUs. The Python API remains the similar as the previous versions. For integrands less than 5 dimensions, it usually takes less than 10 minutes to finish the evaluation of $10^{3}$ integrations on one Tesla v100 card. The performance scales linearly with the increasing of the GPUs.
Predicting Medical Interventions from Vital Parameters: Towards a Decision Support System for Remote Patient Monitoring
Venue: arXiv cs.AI 2021
Year: 2021

Cardiovascular diseases and heart failures in particular are the main cause of non-communicable disease mortality in the world. Constant patient monitoring enables better medical treatment as it allows practitioners to react on time and provide the appropriate treatment. Telemedicine can provide constant remote monitoring so patients can stay in their homes, only requiring medical sensing equipment and network connections. A limiting factor for telemedical centers is the amount of patients that can be monitored simultaneously. We aim to increase this amount by implementing a decision support system. This paper investigates a machine learning model to estimate a risk score based on patient vital parameters that allows sorting all cases every day to help practitioners focus their limited capacities on the most severe cases. The model we propose reaches an AUCROC of 0.84, whereas the baseline rule-based model reaches an AUCROC of 0.73. Our results indicate that the usage of deep learning to improve the efficiency of telemedical centers is feasible. This way more patients could benefit from better health-care through remote monitoring.
Finding Small Multi-Demand Set Covers with Ubiquitous Elements and Large Sets is Fixed-Parameter Tractable
Venue: arXiv cs.DS 2021
Year: 2021

We study a variant of Set Cover where each element of the universe has some demand that determines how many times the element needs to be covered. Moreover, we examine two generalizations of this problem when a set can be included multiple times and when sets have different prices. We prove that all three problems are fixed-parameter tractable with respect to the combined parameter budget, the maximum number of elements missing in one of the sets, and the maximum number of sets in which one of the elements does not occur. Lastly, we point out how our fixed-parameter tractability algorithm can be applied in the context of bribery for the (collective-decision) group identification problem.
Egalitarian and Congestion Aware Truthful Airport Slot Allocation Mechanism
Venue: arXiv cs.GT 2021
Year: 2021

We propose a mechanism to allocate slots fairly at congested airports. This mechanism: (a) ensures that the slots are allocated according to the true valuations of airlines, (b) provides fair opportunities to the flights connecting remote cities to large airports, and (c) controls the number of flights in each slot to minimize congestion. The mechanism draws inspiration from economic theory. It allocates the slots based on an affine maximizer allocation rule and charges payments to the airlines such that they are incentivized to reveal their true valuations. The allocation also optimizes the occupancy of every slot to keep them as uncongested as possible. The formulation solves an optimal integral solution in strongly polynomial time. We conduct experiments on the data collected from two major airports in India. We also compare our results with existing allocations and also with the allocations based on the International Air Transport Association (IATA) guidelines. The computational results show that the social utility generated using our mechanism is 20-30% higher than IATA and current allocations.
Towards Solving Multimodal Comprehension
Venue: arXiv cs.CL 2021
Year: 2021

This paper targets the problem of procedural multimodal machine comprehension (M3C). This task requires an AI to comprehend given steps of multimodal instructions and then answer questions. Compared to vanilla machine comprehension tasks where an AI is required only to understand a textual input, procedural M3C is more challenging as the AI needs to comprehend both the temporal and causal factors along with multimodal inputs. Recently Yagcioglu et al. [35] introduced RecipeQA dataset to evaluate M3C. Our first contribution is the introduction of two new M3C datasets- WoodworkQA and DecorationQA with 16K and 10K instructional procedures, respectively. We then evaluate M3C using a textual cloze style question-answering task and highlight an inherent bias in the question answer generation method from [35] that enables a naive baseline to cheat by learning from only answer choices. This naive baseline performs similar to a popular method used in question answering- Impatient Reader [6] that uses attention over both the context and the query. We hypothesized that this naturally occurring bias present in the dataset affects even the best performing model. We verify our proposed hypothesis and propose an algorithm capable of modifying the given dataset to remove the bias elements. Finally, we report our performance on the debiased dataset with several strong baselines. We observe that the performance of all methods falls by a margin of 8% - 16% after correcting for the bias. We hope these datasets and the analysis will provide valuable benchmarks and encourage further research in this area.
An Overview of Federated Learning at the Edge and Distributed Ledger Technologies for Robotic and Autonomous Systems
Venue: arXiv cs.RO 2021
Year: 2021

Autonomous systems are becoming inherently ubiquitous with the advancements of computing and communication solutions enabling low-latency offloading and real-time collaboration of distributed devices. Decentralized technologies with blockchain and distributed ledger technologies (DLTs) are playing a key role. At the same time, advances in deep learning (DL) have significantly raised the degree of autonomy and level of intelligence of robotic and autonomous systems. While these technological revolutions were taking place, raising concerns in terms of data security and end-user privacy has become an inescapable research consideration. Federated learning (FL) is a promising solution to privacy-preserving DL at the edge, with an inherently distributed nature by learning on isolated data islands and communicating only model updates. However, FL by itself does not provide the levels of security and robustness required by today's standards in distributed autonomous systems. This survey covers applications of FL to autonomous robots, analyzes the role of DLT and FL for these systems, and introduces the key background concepts and considerations in current research.
Understanding Synonymous Referring Expressions via Contrastive Features
Venue: arXiv cs.CV 2021
Year: 2021

Referring expression comprehension aims to localize objects identified by natural language descriptions. This is a challenging task as it requires understanding of both visual and language domains. One nature is that each object can be described by synonymous sentences with paraphrases, and such varieties in languages have critical impact on learning a comprehension model. While prior work usually treats each sentence and attends it to an object separately, we focus on learning a referring expression comprehension model that considers the property in synonymous sentences. To this end, we develop an end-to-end trainable framework to learn contrastive features on the image and object instance levels, where features extracted from synonymous sentences to describe the same object should be closer to each other after mapping to the visual domain. We conduct extensive experiments to evaluate the proposed algorithm on several benchmark datasets, and demonstrate that our method performs favorably against the state-of-the-art approaches. Furthermore, since the varieties in expressions become larger across datasets when they describe objects in different ways, we present the cross-dataset and transfer learning settings to validate the ability of our learned transferable features.
MBRL-Lib: A Modular Library for Model-based Reinforcement Learning
Venue: arXiv cs.AI 2021
Year: 2021

Model-based reinforcement learning is a compelling framework for data-efficient learning of agents that interact with the world. This family of algorithms has many subcomponents that need to be carefully selected and tuned. As a result the entry-bar for researchers to approach the field and to deploy it in real-world tasks can be daunting. In this paper, we present MBRL-Lib -- a machine learning library for model-based reinforcement learning in continuous state-action spaces based on PyTorch. MBRL-Lib is designed as a platform for both researchers, to easily develop, debug and compare new algorithms, and non-expert user, to lower the entry-bar of deploying state-of-the-art algorithms. MBRL-Lib is open-source at https://github.com/facebookresearch/mbrl-lib.
More Than Meets The Eye: Semi-supervised Learning Under Non-IID Data
Venue: arXiv cs.LG 2021
Year: 2021

A common heuristic in semi-supervised deep learning (SSDL) is to select unlabelled data based on a notion of semantic similarity to the labelled data. For example, labelled images of numbers should be paired with unlabelled images of numbers instead of, say, unlabelled images of cars. We refer to this practice as semantic data set matching. In this work, we demonstrate the limits of semantic data set matching. We show that it can sometimes even degrade the performance for a state of the art SSDL algorithm. We present and make available a comprehensive simulation sandbox, called non-IID-SSDL, for stress testing an SSDL algorithm under different degrees of distribution mismatch between the labelled and unlabelled data sets. In addition, we demonstrate that simple density based dissimilarity measures in the feature space of a generic classifier offer a promising and more reliable quantitative matching criterion to select unlabelled data before SSDL training.
An ontology-based approach to data exchanges for robot navigation on construction sites
Venue: arXiv cs.RO 2021
Year: 2021

With growth in the use of autonomous Unmanned Ground Vehicle (UGV) for automated data collection from construction projects, the problem of inter-disciplinary semantic data sharing and exchanges between construction and robotic domains has attracted construction stakeholders' attention. Cross-domain data translation requires detailed specifications especially when it comes to semantic data translation. Building Information Modeling (BIM) and Geographic Information System (GIS) are the two technologies to capture and store construction data for indoor structure and outdoor environment respectively. In the absence of a standard format for data exchanges between the construction and robotic domains, the tools of both industries are yet to be integrated in a coherent deployment infrastructure. Hence, the semantics of BIM-GIS cannot be automatically integrated by any robotic platform. To enable semantic data transfer across domains, semantic web technology has been widely used in multidisciplinary areas for interoperability. We exploit it to pave the way to a smarter, quicker and more precise robot navigation on job-sites. This paper develops a semantic web ontology integrating robot navigation and data collection to convey the meanings from BIM-GIS to the robot. The proposed Building Information Robotic System (BIRS) provides construction data that are semantically transferred to the robotic platform and can be used by the robot navigation software stack on construction sites. To reach this objective, we first need to bridge the knowledge representation between construction and robotic domains. Then, we develop a semantic database to integrate with Robot Operating System (ROS) which can communicate with the robot and the navigation system in order to provide the robot with semantic building data at each step of data collection. Finally, the proposed system is validated through a case study.
Towards Exploratory Landscape Analysis for Large-scale Optimization: A Dimensionality Reduction Framework
Venue: arXiv cs.NE 2021
Year: 2021

Although exploratory landscape analysis (ELA) has shown its effectiveness in various applications, most previous studies focused only on low- and moderate-dimensional problems. Thus, little is known about the scalability of the ELA approach for large-scale optimization. In this context, first, this paper analyzes the computational cost of features in the flacco package. Our results reveal that two important feature classes (ela_level and ela_meta) cannot be applied to large-scale optimization due to their high computational cost. To improve the scalability of the ELA approach, this paper proposes a dimensionality reduction framework that computes features in a reduced lower-dimensional space than the original solution space. We demonstrate that the proposed framework can drastically reduce the computation time of ela_level and ela_meta for large dimensions. In addition, the proposed framework can make the cell-mapping feature classes scalable for large-scale optimization. Our results also show that features computed by the proposed framework are beneficial for predicting the high-level properties of the 24 large-scale BBOB functions.
Efficient Sparse Coding using Hierarchical Riemannian Pursuit
Venue: arXiv cs.LG 2021
Year: 2021

Sparse coding is a class of unsupervised methods for learning a sparse representation of the input data in the form of a linear combination of a dictionary and a sparse code. This learning framework has led to state-of-the-art results in various image and video processing tasks. However, classical methods learn the dictionary and the sparse code based on alternating optimizations, usually without theoretical guarantees for either optimality or convergence due to non-convexity of the problem. Recent works on sparse coding with a complete dictionary provide strong theoretical guarantees thanks to the development of the non-convex optimization. However, initial non-convex approaches learn the dictionary in the sparse coding problem sequentially in an atom-by-atom manner, which leads to a long execution time. More recent works seek to directly learn the entire dictionary at once, which substantially reduces the execution time. However, the associated recovery performance is degraded with a finite number of data samples. In this paper, we propose an efficient sparse coding scheme with a two-stage optimization. The proposed scheme leverages the global and local Riemannian geometry of the two-stage optimization problem and facilitates fast implementation for superb dictionary recovery performance by a finite number of samples without atom-by-atom calculation. We further prove that, with high probability, the proposed scheme can exactly recover any atom in the target dictionary with a finite number of samples if it is adopted to recover one atom of the dictionary. An application on wireless sensor data compression is also proposed. Experiments on both synthetic and real-world data verify the efficiency and effectiveness of the proposed scheme.
MagicPai at SemEval-2021 Task 7: Method for Detecting and Rating Humor Based on Multi-Task Adversarial Training
Venue: arXiv cs.AI 2021
Year: 2021

This paper describes MagicPai's system for SemEval 2021 Task 7, HaHackathon: Detecting and Rating Humor and Offense. This task aims to detect whether the text is humorous and how humorous it is. There are four subtasks in the competition. In this paper, we mainly present our solution, a multi-task learning model based on adversarial examples, for task 1a and 1b. More specifically, we first vectorize the cleaned dataset and add the perturbation to obtain more robust embedding representations. We then correct the loss via the confidence level. Finally, we perform interactive joint learning on multiple tasks to capture the relationship between whether the text is humorous and how humorous it is. The final result shows the effectiveness of our system.
Carbon Emissions and Large Neural Network Training
Venue: arXiv cs.LG 2021
Year: 2021

The computation demand for machine learning (ML) has grown rapidly recently, which comes with a number of costs. Estimating the energy cost helps measure its environmental impact and finding greener strategies, yet it is challenging without detailed information. We calculate the energy use and carbon footprint of several recent large models-T5, Meena, GShard, Switch Transformer, and GPT-3-and refine earlier estimates for the neural architecture search that found Evolved Transformer. We highlight the following opportunities to improve energy efficiency and CO2 equivalent emissions (CO2e): Large but sparsely activated DNNs can consume <1/10th the energy of large, dense DNNs without sacrificing accuracy despite using as many or even more parameters. Geographic location matters for ML workload scheduling since the fraction of carbon-free energy and resulting CO2e vary ~5X-10X, even within the same country and the same organization. We are now optimizing where and when large models are trained. Specific datacenter infrastructure matters, as Cloud datacenters can be ~1.4-2X more energy efficient than typical datacenters, and the ML-oriented accelerators inside them can be ~2-5X more effective than off-the-shelf systems. Remarkably, the choice of DNN, datacenter, and processor can reduce the carbon footprint up to ~100-1000X. These large factors also make retroactive estimates of energy cost difficult. To avoid miscalculations, we believe ML papers requiring large computational resources should make energy consumption and CO2e explicit when practical. We are working to be more transparent about energy use and CO2e in our future research. To help reduce the carbon footprint of ML, we believe energy usage and CO2e should be a key metric in evaluating models, and we are collaborating with MLPerf developers to include energy usage during training and inference in this industry standard benchmark.