OpenRaiser/Intern-Atlas huggingface dataset:
Online Robot Navigation and Manipulation with Distilled Vision-Language Models
Venue: arXiv cs.RO 2024
Year: 2024

Autonomous robot navigation within the dynamic unknown environment is of crucial significance for mobile robotic applications including robot navigation in last-mile delivery and robot-enabled automated supplies in industrial and hospital delivery applications. Current solutions still suffer from limitations, such as the robot cannot recognize unknown objects in real-time and cannot navigate freely in a dynamic, narrow, and complex environment. We propose a complete software framework for autonomous robot perception and navigation within very dense obstacles and dense human crowds. First, we propose a framework that accurately detects and segments open-world object categories in a zero-shot manner, which overcomes the over-segmentation limitation of the current SAM model. Second, we proposed the distillation strategy to distill the knowledge to segment the free space of the walkway for robot navigation without the label. In the meantime, we design the trimming strategy that works collaboratively with distillation to enable lightweight inference to deploy the neural network on edge devices such as NVIDIA-TX2 or Xavier NX during autonomous navigation. Integrated into the robot navigation system, extensive experiments demonstrate that our proposed framework has achieved superior performance in terms of both accuracy and efficiency in robot scene perception and autonomous robot navigation.
Deep Learning-Driven Approach for Handwritten Chinese Character Classification
Venue: arXiv cs.CV 2024
Year: 2024

Handwritten character recognition (HCR) is a challenging problem for machine learning researchers. Unlike printed text data, handwritten character datasets have more variation due to human-introduced bias. With numerous unique character classes present, some data, such as Logographic Scripts or Sino-Korean character sequences, bring new complications to the HCR problem. The classification task on such datasets requires the model to learn high-complexity details of the images that share similar features. With recent advances in computational resource availability and further computer vision theory development, some research teams have effectively addressed the arising challenges. Although known for achieving high accuracy while keeping the number of parameters small, many common approaches are still not generalizable and use dataset-specific solutions to achieve better results. Due to complex structure, existing methods frequently prevent the solutions from gaining popularity. This paper proposes a highly scalable approach for detailed character image classification by introducing the model architecture, data preprocessing steps, and testing design instructions. We also perform experiments to compare the performance of our method with that of existing ones to show the improvements achieved.
The Influence of Presentation and Performance on User Satisfaction
Venue: arXiv cs.HC 2024
Year: 2024

The effectiveness of an IR system is gauged not just by its ability to retrieve relevant results but also by how it presents these results to users; an engaging presentation often correlates with increased user satisfaction. While existing research has delved into the link between user satisfaction, IR performance metrics, and presentation, these aspects have typically been investigated in isolation. Our research aims to bridge this gap by examining the relationship between query performance, presentation and user satisfaction. For our analysis, we conducted a between-subjects experiment comparing the effectiveness of various result card layouts for an ad-hoc news search interface. Drawing data from the TREC WaPo 2018 collection, we centered our study on four specific topics. Within each of these topics, we assessed six distinct queries with varying nDCG values. Our study involved 164 participants who were exposed to one of five distinct layouts containing result cards, such as "title'', "title+image'', or "title+image+summary''. Our findings indicate that while nDCG is a strong predictor of user satisfaction at the query level, there exists no linear relationship between the performance of the query, presentation of results and user satisfaction. However, when considering the total gain on the initial result page, we observed that presentation does play a significant role in user satisfaction (at the query level) for certain layouts with result cards such as, title+image or title+image+summary. Our results also suggest that the layout differences have complex and multifaceted impacts on satisfaction. We demonstrate the capacity to equalize user satisfaction levels between queries of varying performance by changing how results are presented. This emphasizes the necessity to harmonize both performance and presentation in IR systems, considering users' diverse preferences.
Explainable data-driven modeling via mixture of experts: towards effective blending of grey and black-box models
Venue: arXiv cs.LG 2024
Year: 2024

Traditional models grounded in first principles often struggle with accuracy as the system's complexity increases. Conversely, machine learning approaches, while powerful, face challenges in interpretability and in handling physical constraints. Efforts to combine these models often often stumble upon difficulties in finding a balance between accuracy and complexity. To address these issues, we propose a comprehensive framework based on a "mixture of experts" rationale. This approach enables the data-based fusion of diverse local models, leveraging the full potential of first-principle-based priors. Our solution allows independent training of experts, drawing on techniques from both machine learning and system identification, and it supports both collaborative and competitive learning paradigms. To enhance interpretability, we penalize abrupt variations in the expert's combination. Experimental results validate the effectiveness of our approach in producing an interpretable combination of models closely resembling the target phenomena.
SongBsAb: A Dual Prevention Approach against Singing Voice Conversion based Illegal Song Covers
Venue: arXiv cs.SD 2024
Year: 2024

Singing voice conversion (SVC) automates song covers by converting a source singing voice from a source singer into a new singing voice with the same lyrics and melody as the source, but sounds like being covered by the target singer of some given target singing voices. However, it raises serious concerns about copyright and civil right infringements. We propose SongBsAb, the first proactive approach to tackle SVC-based illegal song covers. SongBsAb adds perturbations to singing voices before releasing them, so that when they are used, the process of SVC will be interfered, leading to unexpected singing voices. Perturbations are carefully crafted to (1) provide a dual prevention, i.e., preventing the singing voice from being used as the source and target singing voice in SVC, by proposing a gender-transformation loss and a high/low hierarchy multi-target loss, respectively; and (2) be harmless, i.e., no side-effect on the enjoyment of protected songs, by refining a psychoacoustic model-based loss with the backing track as an additional masker, a unique accompanying element for singing voices compared to ordinary speech voices. We also adopt a frame-level interaction reduction-based loss and encoder ensemble to enhance the transferability of SongBsAb to unknown SVC models. We demonstrate the prevention effectiveness, harmlessness, and robustness of SongBsAb on five diverse and promising SVC models, using both English and Chinese datasets, and both objective and human study-based subjective metrics. Our work fosters an emerging research direction for mitigating illegal automated song covers.
Wrist movement classification for adaptive mobile phone based rehabilitation of children with motor skill impairments
Venue: arXiv cs.HC 2024
Year: 2024

Rehabilitation exercises performed by children with cerebral palsy are tedious and repetitive. To make them more engaging, we propose to use an exergame approach, where an adaptive application can help the child remain stimulated and interested during exercises. In this paper, we describe how the mobile phone sensors can be used to classify wrist movements of the user during the rehabilitation exercises to detect if the user is performing the correct exercise and illustrate the use of our approach in an actual mobile phone application. We also show how an adaptive difficulty system was added to the application to allow the system to adjust to the user. We present experimental results from a pilot with healthy subjects that were constrained to simulate restricted wrist movements, as well as from tests with a target group of children with cerebral palsy. Our results show that wrist movement classification is successfully achieved and results in improved interactions.
Formal Synthesis of Uncertainty Reduction Controllers
Venue: arXiv cs.SE 2024
Year: 2024

In its quest for approaches to taming uncertainty in self-adaptive systems (SAS), the research community has largely focused on solutions that adapt the SAS architecture or behaviour in response to uncertainty. By comparison, solutions that reduce the uncertainty affecting SAS (other than through the blanket monitoring of their components and environment) remain underexplored. Our paper proposes a more nuanced, adaptive approach to SAS uncertainty reduction. To that end, we introduce a SAS architecture comprising an uncertainty reduction controller that drives the adaptive acquisition of new information within the SAS adaptation loop, and a tool-supported method that uses probabilistic model checking to synthesise such controllers. The controllers generated by our method deliver optimal trade-offs between SAS uncertainty reduction benefits and new information acquisition costs. We illustrate the use and evaluate the effectiveness of our approach for mobile robot navigation and server infrastructure management SAS.
Step-size Optimization for Continual Learning
Venue: arXiv cs.LG 2024
Year: 2024

In continual learning, a learner has to keep learning from the data over its whole life time. A key issue is to decide what knowledge to keep and what knowledge to let go. In a neural network, this can be implemented by using a step-size vector to scale how much gradient samples change network weights. Common algorithms, like RMSProp and Adam, use heuristics, specifically normalization, to adapt this step-size vector. In this paper, we show that those heuristics ignore the effect of their adaptation on the overall objective function, for example by moving the step-size vector away from better step-size vectors. On the other hand, stochastic meta-gradient descent algorithms, like IDBD (Sutton, 1992), explicitly optimize the step-size vector with respect to the overall objective function. On simple problems, we show that IDBD is able to consistently improve step-size vectors, where RMSProp and Adam do not. We explain the differences between the two approaches and their respective limitations. We conclude by suggesting that combining both approaches could be a promising future direction to improve the performance of neural networks in continual learning.
ROAMER: Robust Offroad Autonomy using Multimodal State Estimation with Radar Velocity Integration
Venue: arXiv cs.RO 2024
Year: 2024

Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating conditions for the utilized perception modalities. As state estimation remains a single point of failure system in the majority of aspiring autonomous systems, failing to address the environmental degradation the perception sensors could potentially experience given the operating conditions, can be a mission-critical shortcoming. In this work, a method for integration of radar velocity information in a LiDAR-inertial odometry solution is proposed, enabling consistent estimation performance even with degraded LiDAR-inertial odometry. The proposed method utilizes the direct velocity-measuring capabilities of an Frequency Modulated Continuous Wave (FMCW) radar sensor to enhance the LiDAR-inertial smoother solution onboard the vehicle through integration of the forward velocity measurement into the graph-based smoother. This leads to increased robustness in the overall estimation solution, even in the absence of LiDAR data. This method was validated by hardware experiments conducted onboard an all-terrain vehicle traveling at high speed, ~12 m/s, in demanding offroad environments.
Difficulty Modelling in Mobile Puzzle Games: An Empirical Study on Different Methods to Combine Player Analytics and Simulated Data
Venue: arXiv cs.AI 2024
Year: 2024

Difficulty is one of the key drivers of player engagement and it is often one of the aspects that designers tweak most to optimise the player experience; operationalising it is, therefore, a crucial task for game development studios. A common practice consists of creating metrics out of data collected by player interactions with the content; however, this allows for estimation only after the content is released and does not consider the characteristics of potential future players. In this article, we present a number of potential solutions for the estimation of difficulty under such conditions, and we showcase the results of a comparative study intended to understand which method and which types of data perform better in different scenarios. The results reveal that models trained on a combination of cohort statistics and simulated data produce the most accurate estimations of difficulty in all scenarios. Furthermore, among these models, artificial neural networks show the most consistent results.
Liquid Democracy for Low-Cost Ensemble Pruning
Venue: arXiv cs.LG 2024
Year: 2024

We argue that there is a strong connection between ensemble learning and a delegative voting paradigm -- liquid democracy -- that can be leveraged to reduce ensemble training costs. We present an incremental training procedure that identifies and removes redundant classifiers from an ensemble via delegation mechanisms inspired by liquid democracy. Through both analysis and extensive experiments we show that this process greatly reduces the computational cost of training compared to training a full ensemble. By carefully selecting the underlying delegation mechanism, weight centralization in the classifier population is avoided, leading to higher accuracy than some boosting methods. Furthermore, this work serves as an exemplar of how frameworks from computational social choice literature can be applied to problems in nontraditional domains.
Synthetic Dialogue Dataset Generation using LLM Agents
Venue: arXiv cs.CL 2024
Year: 2024

Linear programming (LP) problems are pervasive in real-life applications. However, despite their apparent simplicity, an untrained user may find it difficult to determine the linear model of their specific problem. We envisage the creation of a goal-oriented conversational agent that will engage in conversation with the user to elicit all information required so that a subsequent agent can generate the linear model. In this paper, we present an approach for the generation of sample dialogues that can be used to develop and train such a conversational agent. Using prompt engineering, we develop two agents that "talk" to each other, one acting as the conversational agent, and the other acting as the user. Using a set of text descriptions of linear problems from NL4Opt available to the user only, the agent and the user engage in conversation until the agent has retrieved all key information from the original problem description. We also propose an extrinsic evaluation of the dialogues by assessing how well the summaries generated by the dialogues match the original problem descriptions. We conduct human and automatic evaluations, including an evaluation approach that uses GPT-4 to mimic the human evaluation metrics. The evaluation results show an overall good quality of the dialogues, though research is still needed to improve the quality of the GPT-4 evaluation metrics. The resulting dialogues, including the human annotations of a subset, are available to the research community. The conversational agent used for the generation of the dialogues can be used as a baseline.
Navigating the Unknown: Uncertainty-Aware Compute-in-Memory Autonomy of Edge Robotics
Venue: arXiv cs.RO 2024
Year: 2024

This paper addresses the challenging problem of energy-efficient and uncertainty-aware pose estimation in insect-scale drones, which is crucial for tasks such as surveillance in constricted spaces and for enabling non-intrusive spatial intelligence in smart homes. Since tiny drones operate in highly dynamic environments, where factors like lighting and human movement impact their predictive accuracy, it is crucial to deploy uncertainty-aware prediction algorithms that can account for environmental variations and express not only the prediction but also confidence in the prediction. We address both of these challenges with Compute-in-Memory (CIM) which has become a pivotal technology for deep learning acceleration at the edge. While traditional CIM techniques are promising for energy-efficient deep learning, to bring in the robustness of uncertainty-aware predictions at the edge, we introduce a suite of novel techniques: First, we discuss CIM-based acceleration of Bayesian filtering methods uniquely by leveraging the Gaussian-like switching current of CMOS inverters along with co-design of kernel functions to operate with extreme parallelism and with extreme energy efficiency. Secondly, we discuss the CIM-based acceleration of variational inference of deep learning models through probabilistic processing while unfolding iterative computations of the method with a compute reuse strategy to significantly minimize the workload. Overall, our co-design methodologies demonstrate the potential of CIM to improve the processing efficiency of uncertainty-aware algorithms by orders of magnitude, thereby enabling edge robotics to access the robustness of sophisticated prediction frameworks within their extremely stringent area/power resources.
Performance Comparison Analysis of ArangoDB, MySQL, and Neo4j: An Experimental Study of Querying Connected Data
Venue: arXiv cs.DB 2024
Year: 2024

Choosing and developing performant database solutions helps organizations optimize their operational practices and decision-making. Since graph data is becoming more common, it is crucial to develop and use them in big data with complex relationships with high and consistent performance. However, legacy database technologies such as MySQL are tailored to store relational databases and need to perform more complex queries to retrieve graph data. Previous research has dealt with performance aspects such as CPU and memory usage. In contrast, energy usage and temperature of the servers are lacking. Thus, this paper evaluates and compares state-of-the-art graphs and relational databases from the performance aspects to allow a more informed selection of technologies. Graph-based big data applications benefit from informed selection database technologies for data retrieval and analytics problems. The results show that Neo4j performs faster in querying connected data than MySQL and ArangoDB, and energy, CPU, and memory usage performances are reported in this paper.
Anything in Any Scene: Photorealistic Video Object Insertion
Venue: arXiv cs.CV 2024
Year: 2024

Realistic video simulation has shown significant potential across diverse applications, from virtual reality to film production. This is particularly true for scenarios where capturing videos in real-world settings is either impractical or expensive. Existing approaches in video simulation often fail to accurately model the lighting environment, represent the object geometry, or achieve high levels of photorealism. In this paper, we propose Anything in Any Scene, a novel and generic framework for realistic video simulation that seamlessly inserts any object into an existing dynamic video with a strong emphasis on physical realism. Our proposed general framework encompasses three key processes: 1) integrating a realistic object into a given scene video with proper placement to ensure geometric realism; 2) estimating the sky and environmental lighting distribution and simulating realistic shadows to enhance the light realism; 3) employing a style transfer network that refines the final video output to maximize photorealism. We experimentally demonstrate that Anything in Any Scene framework produces simulated videos of great geometric realism, lighting realism, and photorealism. By significantly mitigating the challenges associated with video data generation, our framework offers an efficient and cost-effective solution for acquiring high-quality videos. Furthermore, its applications extend well beyond video data augmentation, showing promising potential in virtual reality, video editing, and various other video-centric applications. Please check our project website https://anythinginanyscene.github.io for access to our project code and more high-resolution video results.
A Cradle-to-Gate Life Cycle Analysis of Bitcoin Mining Equipment Using Sphera LCA and ecoinvent Databases
Venue: arXiv cs.CY 2024
Year: 2024

Bitcoin mining is regularly pointed out for its massive energy consumption and associated greenhouse gas emissions, hence contributing significantly to climate change. However, most studies ignore the environmental impacts of producing mining equipment, which is problematic given the short lifespan of such highly specific hardware. In this study, we perform a cradle-to-gate life cycle assessment (LCA) of dedicated Bitcoin mining equipment, considering their specific architecture. Our results show that the application-specific integrated circuit designed for Bitcoin mining is the main contributor to production-related impacts. This observation applies to most impact categories, including the global warming potential. In addition, this finding stresses out the necessity to carefully consider the specificity of the hardware. By comparing these results with several usage scenarios, we also demonstrate that the impacts of producing this type of equipment can be significant (up to 80% of the total life cycle impacts), depending on the sources of electricity supply for the use phase. Therefore, we highlight the need to consider the production phase when assessing the environmental impacts of Bitcoin mining hardware. To test the validity of our results, we use the Sphera LCA and ecoinvent databases for the background modeling of our system. Surprisingly, it leads to results with variations of up to 4 orders of magnitude for toxicity-related indicators, despite using the same foreground modeling. This database mismatch phenomenon, already identified in previous studies, calls for better understanding, consideration and discussion of environmental impacts in the field of electronics, going well beyond climate change indicators.