OpenRaiser/Intern-Atlas huggingface dataset:
Domain Generalisation for Object Detection under Covariate and Concept Shift
Venue: arXiv cs.CV 2024
Year: 2024

Domain generalisation aims to promote the learning of domain-invariant features while suppressing domain-specific features, so that a model can generalise better to previously unseen target domains. An approach to domain generalisation for object detection is proposed, the first such approach applicable to any object detection architecture. Based on a rigorous mathematical analysis, we extend approaches based on feature alignment with a novel component for performing class conditional alignment at the instance level, in addition to aligning the marginal feature distributions across domains at the image level. This allows us to fully address both components of domain shift, i.e. covariate and concept shift, and learn a domain agnostic feature representation. We perform extensive evaluation with both one-stage (FCOS, YOLO) and two-stage (FRCNN) detectors, on a newly proposed benchmark comprising several different datasets for autonomous driving applications (Cityscapes, BDD10K, ACDC, IDD) as well as the GWHD dataset for precision agriculture, and show consistent improvements to the generalisation and localisation performance over baselines and state-of-the-art.
iCub3 Avatar System: Enabling Remote Fully-Immersive Embodiment of Humanoid Robots
Venue: arXiv cs.RO 2024
Year: 2024

We present an avatar system designed to facilitate the embodiment of humanoid robots by human operators, validated through iCub3, a humanoid developed at the Istituto Italiano di Tecnologia (IIT). More precisely, the contribution of the paper is twofold: first, we present the humanoid iCub3 as a robotic avatar which integrates the latest significant improvements after about fifteen years of development of the iCub series; second, we present a versatile avatar system enabling humans to embody humanoid robots encompassing aspects such as locomotion, manipulation, voice, and face expressions with comprehensive sensory feedback including visual, auditory, haptic, weight, and touch modalities. We validate the system by implementing several avatar architecture instances, each tailored to specific requirements. First, we evaluated the optimized architecture for verbal, non-verbal, and physical interactions with a remote recipient. This testing involved the operator in Genoa and the avatar in the Biennale di Venezia, Venice - about 290 Km away - thus allowing the operator to visit remotely the Italian art exhibition. Second, we evaluated the optimised architecture for recipient physical collaboration and public engagement on-stage, live, at the We Make Future show, a prominent world digital innovation festival. In this instance, the operator was situated in Genoa while the avatar operates in Rimini - about 300 Km away - interacting with a recipient who entrusted the avatar a payload to carry on stage before an audience of approximately 2000 spectators. Third, we present the architecture implemented by the iCub Team for the ANA Avatar XPrize competition.
Better Uncertainty Calibration via Proper Scores for Classification and Beyond
Venue: arXiv cs.LG 2024
Year: 2024

With model trustworthiness being crucial for sensitive real-world applications, practitioners are putting more and more focus on improving the uncertainty calibration of deep neural networks. Calibration errors are designed to quantify the reliability of probabilistic predictions but their estimators are usually biased and inconsistent. In this work, we introduce the framework of proper calibration errors, which relates every calibration error to a proper score and provides a respective upper bound with optimal estimation properties. This relationship can be used to reliably quantify the model calibration improvement. We theoretically and empirically demonstrate the shortcomings of commonly used estimators compared to our approach. Due to the wide applicability of proper scores, this gives a natural extension of recalibration beyond classification.
Geographic Adaptation of Pretrained Language Models
Venue: arXiv cs.CL 2024
Year: 2024

While pretrained language models (PLMs) have been shown to possess a plethora of linguistic knowledge, the existing body of research has largely neglected extralinguistic knowledge, which is generally difficult to obtain by pretraining on text alone. Here, we contribute to closing this gap by examining geolinguistic knowledge, i.e., knowledge about geographic variation in language. We introduce geoadaptation, an intermediate training step that couples language modeling with geolocation prediction in a multi-task learning setup. We geoadapt four PLMs, covering language groups from three geographic areas, and evaluate them on five different tasks: fine-tuned (i.e., supervised) geolocation prediction, zero-shot (i.e., unsupervised) geolocation prediction, fine-tuned language identification, zero-shot language identification, and zero-shot prediction of dialect features. Geoadaptation is very successful at injecting geolinguistic knowledge into the PLMs: the geoadapted PLMs consistently outperform PLMs adapted using only language modeling (by especially wide margins on zero-shot prediction tasks), and we obtain new state-of-the-art results on two benchmarks for geolocation prediction and language identification. Furthermore, we show that the effectiveness of geoadaptation stems from its ability to geographically retrofit the representation space of the PLMs.
Low-degree learning and the metric entropy of polynomials
Venue: arXiv cs.LG 2024
Year: 2024

Let $\mathscr{F}_{n,d}$ be the class of all functions $f:\{-1,1\}^n\to[-1,1]$ on the $n$-dimensional discrete hypercube of degree at most $d$. In the first part of this paper, we prove that any (deterministic or randomized) algorithm which learns $\mathscr{F}_{n,d}$ with $L_2$-accuracy $\varepsilon$ requires at least $Ω((1-\sqrt{\varepsilon})2^d\log n)$ queries for large enough $n$, thus establishing the sharpness as $n\to\infty$ of a recent upper bound of Eskenazis and Ivanisvili (2021). To do this, we show that the $L_2$-packing numbers $\mathsf{M}(\mathscr{F}_{n,d},\|\cdot\|_{L_2},\varepsilon)$ of the concept class $\mathscr{F}_{n,d}$ satisfy the two-sided estimate $$c(1-\varepsilon)2^d\log n \leq \log \mathsf{M}(\mathscr{F}_{n,d},\|\cdot\|_{L_2},\varepsilon) \leq \frac{2^{Cd}\log n}{\varepsilon^4}$$ for large enough $n$, where $c, C>0$ are universal constants. In the second part of the paper, we present a logarithmic upper bound for the randomized query complexity of classes of bounded approximate polynomials whose Fourier spectra are concentrated on few subsets. As an application, we prove new estimates for the number of random queries required to learn approximate juntas of a given degree, functions with rapidly decaying Fourier tails and constant depth circuits of given size. Finally, we obtain bounds for the number of queries required to learn the polynomial class $\mathscr{F}_{n,d}$ without error in the query and random example models.
An Intelligent End-to-End Neural Architecture Search Framework for Electricity Forecasting Model Development
Venue: arXiv cs.LG 2024
Year: 2024

Recent years have witnessed exponential growth in developing deep learning (DL) models for time-series electricity forecasting in power systems. However, most of the proposed models are designed based on the designers' inherent knowledge and experience without elaborating on the suitability of the proposed neural architectures. Moreover, these models cannot be self-adjusted to dynamically changed data patterns due to the inflexible design of their structures. Although several recent studies have considered the application of the neural architecture search (NAS) technique for obtaining a network with an optimized structure in the electricity forecasting sector, their training process is computationally expensive and their search strategies are not flexible, indicating that the NAS application in this area is still at an infancy stage. In this study, we propose an intelligent automated architecture search (IAAS) framework for the development of time-series electricity forecasting models. The proposed framework contains three primary components, i.e., network function-preserving transformation operation, reinforcement learning (RL)-based network transformation control, and heuristic network screening, which aim to improve the search quality of a network structure. After conducting comprehensive experiments on two publicly-available electricity load datasets and two wind power datasets, we demonstrate that the proposed IAAS framework significantly outperforms the ten existing models or methods in terms of forecasting accuracy and stability. Finally, we perform an ablation experiment to showcase the importance of critical components in the proposed IAAS framework in improving forecasting accuracy.
Dense Continuous-Time Optical Flow from Events and Frames
Venue: arXiv cs.CV 2024
Year: 2024

We present a method for estimating dense continuous-time optical flow from event data. Traditional dense optical flow methods compute the pixel displacement between two images. Due to missing information, these approaches cannot recover the pixel trajectories in the blind time between two images. In this work, we show that it is possible to compute per-pixel, continuous-time optical flow using events from an event camera. Events provide temporally fine-grained information about movement in pixel space due to their asynchronous nature and microsecond response time. We leverage these benefits to predict pixel trajectories densely in continuous time via parameterized Bézier curves. To achieve this, we build a neural network with strong inductive biases for this task: First, we build multiple sequential correlation volumes in time using event data. Second, we use Bézier curves to index these correlation volumes at multiple timestamps along the trajectory. Third, we use the retrieved correlation to update the Bézier curve representations iteratively. Our method can optionally include image pairs to boost performance further. To the best of our knowledge, our model is the first method that can regress dense pixel trajectories from event data. To train and evaluate our model, we introduce a synthetic dataset (MultiFlow) that features moving objects and ground truth trajectories for every pixel. Our quantitative experiments not only suggest that our method successfully predicts pixel trajectories in continuous time but also that it is competitive in the traditional two-view pixel displacement metric on MultiFlow and DSEC-Flow. Open source code and datasets are released to the public.
UTIL: An Ultra-wideband Time-difference-of-arrival Indoor Localization Dataset
Venue: arXiv cs.RO 2024
Year: 2024

Ultra-wideband (UWB) time-difference-of-arrival (TDOA)-based localization has emerged as a promising, low-cost, and scalable indoor localization solution, which is especially suited for multi-robot applications. However, there is a lack of public datasets to study and benchmark UWB TDOA positioning technology in cluttered indoor environments. We fill in this gap by presenting a comprehensive dataset using Decawave's DWM1000 UWB modules. To characterize the UWB TDOA measurement performance under various line-of-sight (LOS) and non-line-of-sight (NLOS) conditions, we collected signal-to-noise ratio (SNR), power difference values, and raw UWB TDOA measurements during the identification experiments. We also conducted a cumulative total of around 150 minutes of real-world flight experiments on a customized quadrotor platform to benchmark the UWB TDOA localization performance for mobile robots. The quadrotor was commanded to fly with an average speed of 0.45 m/s in both obstacle-free and cluttered environments using four different UWB anchor constellations. Raw sensor data including UWB TDOA, inertial measurement unit (IMU), optical flow, time-of-flight (ToF) laser altitude, and millimeter-accurate ground truth robot poses were collected during the flights. The dataset and development kit are available at https://utiasdsl.github.io/util-uwb-dataset/.
Automatic Debate Evaluation with Argumentation Semantics and Natural Language Argument Graph Networks
Venue: arXiv cs.CL 2024
Year: 2024

The lack of annotated data on professional argumentation and complete argumentative debates has led to the oversimplification and the inability of approaching more complex natural language processing tasks. Such is the case of the automatic debate evaluation. In this paper, we propose an original hybrid method to automatically evaluate argumentative debates. For that purpose, we combine concepts from argumentation theory such as argumentation frameworks and semantics, with Transformer-based architectures and neural graph networks. Furthermore, we obtain promising results that lay the basis on an unexplored new instance of the automatic analysis of natural language arguments.
How Deep is Your Art: An Experimental Study on the Limits of Artistic Understanding in a Single-Task, Single-Modality Neural Network
Venue: arXiv cs.CV 2024
Year: 2024

Computational modeling of artwork meaning is complex and difficult. This is because art interpretation is multidimensional and highly subjective. This paper experimentally investigated the degree to which a state-of-the-art Deep Convolutional Neural Network (DCNN), a popular Machine Learning approach, can correctly distinguish modern conceptual art work into the galleries devised by art curators. Two hypotheses were proposed to state that the DCNN model uses Exhibited Properties for classification, like shape and color, but not Non-Exhibited Properties, such as historical context and artist intention. The two hypotheses were experimentally validated using a methodology designed for this purpose. VGG-11 DCNN pre-trained on ImageNet dataset and discriminatively fine-tuned was trained on handcrafted datasets designed from real-world conceptual photography galleries. Experimental results supported the two hypotheses showing that the DCNN model ignores Non-Exhibited Properties and uses only Exhibited Properties for artwork classification. This work points to current DCNN limitations, which should be addressed by future DNN models.
Analyzing Wrap-Up Effects through an Information-Theoretic Lens
Venue: arXiv cs.CL 2024
Year: 2024

Numerous analyses of reading time (RT) data have been implemented -- all in an effort to better understand the cognitive processes driving reading comprehension. However, data measured on words at the end of a sentence -- or even at the end of a clause -- is often omitted due to the confounding factors introduced by so-called "wrap-up effects," which manifests as a skewed distribution of RTs for these words. Consequently, the understanding of the cognitive processes that might be involved in these wrap-up effects is limited. In this work, we attempt to learn more about these processes by examining the relationship between wrap-up effects and information-theoretic quantities, such as word and context surprisals. We find that the distribution of information in prior contexts is often predictive of sentence- and clause-final RTs (while not of sentence-medial RTs). This lends support to several prior hypotheses about the processes involved in wrap-up effects.
HLDC: Hindi Legal Documents Corpus
Venue: arXiv cs.CL 2024
Year: 2024

Many populous countries including India are burdened with a considerable backlog of legal cases. Development of automated systems that could process legal documents and augment legal practitioners can mitigate this. However, there is a dearth of high-quality corpora that is needed to develop such data-driven systems. The problem gets even more pronounced in the case of low resource languages such as Hindi. In this resource paper, we introduce the Hindi Legal Documents Corpus (HLDC), a corpus of more than 900K legal documents in Hindi. Documents are cleaned and structured to enable the development of downstream applications. Further, as a use-case for the corpus, we introduce the task of bail prediction. We experiment with a battery of models and propose a Multi-Task Learning (MTL) based model for the same. MTL models use summarization as an auxiliary task along with bail prediction as the main task. Experiments with different models are indicative of the need for further research in this area. We release the corpus and model implementation code with this paper: https://github.com/Exploration-Lab/HLDC
A Machine With Human-Like Memory Systems
Venue: arXiv cs.AI 2024
Year: 2024

Inspired by the cognitive science theory, we explicitly model an agent with both semantic and episodic memory systems, and show that it is better than having just one of the two memory systems. In order to show this, we have designed and released our own challenging environment, "the Room", compatible with OpenAI Gym, where an agent has to properly learn how to encode, store, and retrieve memories to maximize its rewards. The Room environment allows for a hybrid intelligence setup where machines and humans can collaborate. We show that two agents collaborating with each other results in better performance than one agent acting alone.
Algorithms for the ferromagnetic Potts model on expanders
Venue: arXiv cs.DS 2024
Year: 2024

We give algorithms for approximating the partition function of the ferromagnetic $q$-color Potts model on graphs of maximum degree $d$. Our primary contribution is a fully polynomial-time approximation scheme for $d$-regular graphs with an expansion condition at low temperatures (that is, bounded away from the order-disorder threshold). The expansion condition is much weaker than in previous works; for example, the expansion exhibited by the hypercube suffices. The main improvements come from a significantly sharper analysis of standard polymer models; we use extremal graph theory and applications of Karger's algorithm to count cuts that may be of independent interest. It is \#BIS-hard to approximate the partition function at low temperatures on bounded-degree graphs, so our algorithm can be seen as evidence that hard instances of \#BIS are rare. We also obtain efficient algorithms in the Gibbs uniqueness region for bounded-degree graphs. While our high temperature proof follows more standard polymer model analysis, our result holds in the largest known range of parameters $d$ and $q$.
Online matching games in bipartite expanders and applications
Venue: arXiv cs.DS 2024
Year: 2024

We study connections between expansion in bipartite graphs and efficient online matching modeled via several games. In the basic game, an opponent switches {\em on} and {\em off} nodes on the left side and, at any moment, at most $K$ nodes may be on. Each time a node is switched on, it must be irrevocably matched with one of its neighbors. A bipartite graph has $e$-expansion up to $K$ if every set $S$ of at most $K$ left nodes has at least $e\#S$ neighbors. If all left nodes have degree $D$ and $e$ is close to $D$, then the graph is a lossless expander. We show that lossless expanders allow for a polynomial time strategy in the above game, and, furthermore, with a slight modification, they allow a strategy running in time $O(D \log N)$, where $N$ is the number of left nodes. Using this game and a few related variants, we derive applications in data structures and switching networks. Namely, (a) 1-query bitprobe storage schemes for dynamic sets (previous schemes work only for static sets),(b) explicit space- and time-efficient storage schemes for static and dynamic sets with non-adaptive access to memory (the first fully dynamic dictionary with non-adaptive probing using almost optimal space), and (c) non-explicit constant depth non-blocking $N$-connectors with poly$(\log N)$ time path finding algorithms whose size is optimal within a factor of $O(\log N)$ (previous connectors are double-exponentially slower).
Implicit Motion-Compensated Network for Unsupervised Video Object Segmentation
Venue: arXiv cs.CV 2024
Year: 2024

Unsupervised video object segmentation (UVOS) aims at automatically separating the primary foreground object(s) from the background in a video sequence. Existing UVOS methods either lack robustness when there are visually similar surroundings (appearance-based) or suffer from deterioration in the quality of their predictions because of dynamic background and inaccurate flow (flow-based). To overcome the limitations, we propose an implicit motion-compensated network (IMCNet) combining complementary cues ($\textit{i.e.}$, appearance and motion) with aligned motion information from the adjacent frames to the current frame at the feature level without estimating optical flows. The proposed IMCNet consists of an affinity computing module (ACM), an attention propagation module (APM), and a motion compensation module (MCM). The light-weight ACM extracts commonality between neighboring input frames based on appearance features. The APM then transmits global correlation in a top-down manner. Through coarse-to-fine iterative inspiring, the APM will refine object regions from multiple resolutions so as to efficiently avoid losing details. Finally, the MCM aligns motion information from temporally adjacent frames to the current frame which achieves implicit motion compensation at the feature level. We perform extensive experiments on $\textit{DAVIS}_{\textit{16}}$ and $\textit{YouTube-Objects}$. Our network achieves favorable performance while running at a faster speed compared to the state-of-the-art methods.
ChildCI Framework: Analysis of Motor and Cognitive Development in Children-Computer Interaction for Age Detection
Venue: arXiv cs.HC 2024
Year: 2024

This article presents a comprehensive analysis of the different tests proposed in the recent ChildCI framework, proving its potential for generating a better understanding of children's neuromotor and cognitive development along time, as well as their possible application in other research areas such as e-Health and e-Learning. In particular, we propose a set of over 100 global features related to motor and cognitive aspects of the children interaction with mobile devices, some of them collected and adapted from the literature. Furthermore, we analyse the robustness and discriminative power of the proposed feature set including experimental results for the task of children age group detection based on their motor and cognitive behaviours. Two different scenarios are considered in this study: i) single-test scenario, and ii) multiple-test scenario. Results over 93% accuracy are achieved using the publicly available ChildCIdb_v1 database (over 400 children from 18 months to 8 years old), proving the high correlation of children's age with the way they interact with mobile devices.
Task-Synchronized Recurrent Neural Networks
Venue: arXiv cs.LG 2024
Year: 2024

Data are often sampled irregularly in time. Dealing with this using Recurrent Neural Networks (RNNs) traditionally involved ignoring the fact, feeding the time differences as additional inputs, or resampling the data. All these methods have their shortcomings. We propose an elegant straightforward alternative approach where instead the RNN is in effect resampled in time to match the time of the data or the task at hand. We use Echo State Network (ESN) and Gated Recurrent Unit (GRU) as the basis for our solution. Such RNNs can be seen as discretizations of continuous-time dynamical systems, which gives a solid theoretical ground to our approach. Our Task-Synchronized ESN (TSESN) and GRU (TSGRU) models allow for a direct model time setting and require no additional training, parameter tuning, or computation (solving differential equations or interpolating data) compared to their regular counterparts, thus retaining their original efficiency. We confirm empirically that our models can effectively compensate for the time-non-uniformity of the data and demonstrate that they compare favorably to data resampling, classical RNN methods, and alternative RNN models proposed to deal with time irregularities on several real-world nonuniform-time datasets. We open-source the code at https://github.com/oshapio/task-synchronized-RNNs .