OpenRaiser/Intern-Atlas huggingface dataset:
Improving Random Access with NOMA in mMTC XL-MIMO
Venue: arXiv cs.IT 2023
Year: 2023

The extra-large multiple-input multiple-output (XL-MIMO) architecture has been recognized as a technology for supporting the massive MTC (mMTC), providing very high-data rates in high-user density scenarios. However, the large dimension of the array increases the Rayleigh distance (dRayl), in addition to obstacles and scatters causing spatial non-stationarities and distinct visibility regions (VRs) across the XL array extension. We investigate the random access (RA) problem in crowded XL-MIMO scenarios; the proposed grant-based random access (GB-RA) protocol combining the advantage of non-orthogonal multiple access (NOMA) and strongest user collision resolutions in extra-large arrays (SUCRe-XL) named NOMA-XL can allow access of two or three colliding users in the same XL sub-array (SA) selecting the same pilot sequence. The received signal processing in a SA basis changes the dRayl, enabling the far-field planar wavefront propagation condition, while improving the system performance. The proposed NOMA-XL GB-RA protocol can reduce the number of attempts to access the mMTC network while improving the average sum rate, as the number of SA increases.
MC-MLP:Multiple Coordinate Frames in all-MLP Architecture for Vision
Venue: arXiv cs.CV 2023
Year: 2023

In deep learning, Multi-Layer Perceptrons (MLPs) have once again garnered attention from researchers. This paper introduces MC-MLP, a general MLP-like backbone for computer vision that is composed of a series of fully-connected (FC) layers. In MC-MLP, we propose that the same semantic information has varying levels of difficulty in learning, depending on the coordinate frame of features. To address this, we perform an orthogonal transform on the feature information, equivalent to changing the coordinate frame of features. Through this design, MC-MLP is equipped with multi-coordinate frame receptive fields and the ability to learn information across different coordinate frames. Experiments demonstrate that MC-MLP outperforms most MLPs in image classification tasks, achieving better performance at the same parameter level. The code will be available at: https://github.com/ZZM11/MC-MLP.
Unsupervised Speech Representation Pooling Using Vector Quantization
Venue: arXiv cs.LG 2023
Year: 2023

With the advent of general-purpose speech representations from large-scale self-supervised models, applying a single model to multiple downstream tasks is becoming a de-facto approach. However, the pooling problem remains; the length of speech representations is inherently variable. The naive average pooling is often used, even though it ignores the characteristics of speech, such as differently lengthed phonemes. Hence, we design a novel pooling method to squash acoustically similar representations via vector quantization, which does not require additional training, unlike attention-based pooling. Further, we evaluate various unsupervised pooling methods on various self-supervised models. We gather diverse methods scattered around speech and text to evaluate on various tasks: keyword spotting, speaker identification, intent classification, and emotion recognition. Finally, we quantitatively and qualitatively analyze our method, comparing it with supervised pooling methods.
Shepherding Heterogeneous Flocks: Overview and Prospect
Venue: arXiv cs.MA 2023
Year: 2023

The problem of guiding a flock of several autonomous agents using repulsion force exerted by a smaller number of agents is called the shepherding problem and has been attracting attention due to its potential engineering applications. Although several works propose methodologies for achieving the shepherding task in this context, most assume that sheep agents have the same dynamics, which only sometimes holds in reality. The objective of this discussion paper is to overview a recent research trend addressing the gap mentioned above between the commonly placed uniformity assumption and the reality. Specifically, we first introduce recent guidance methods for heterogeneous flocks and then describe the prospects of the shepherding problem for heterogeneous flocks.
Uncertainty-inspired Open Set Learning for Retinal Anomaly Identification
Venue: arXiv cs.LG 2023
Year: 2023

Failure to recognize samples from the classes unseen during training is a major limitation of artificial intelligence in the real-world implementation for recognition and classification of retinal anomalies. We established an uncertainty-inspired open-set (UIOS) model, which was trained with fundus images of 9 retinal conditions. Besides assessing the probability of each category, UIOS also calculated an uncertainty score to express its confidence. Our UIOS model with thresholding strategy achieved an F1 score of 99.55%, 97.01% and 91.91% for the internal testing set, external target categories (TC)-JSIEC dataset and TC-unseen testing set, respectively, compared to the F1 score of 92.20%, 80.69% and 64.74% by the standard AI model. Furthermore, UIOS correctly predicted high uncertainty scores, which would prompt the need for a manual check in the datasets of non-target categories retinal diseases, low-quality fundus images, and non-fundus images. UIOS provides a robust method for real-world screening of retinal anomalies.
DiscoVars: A New Data Analysis Perspective -- Application in Variable Selection for Clustering
Venue: arXiv cs.LG 2023
Year: 2023

We present a new data analysis perspective to determine variable importance regardless of the underlying learning task. Traditionally, variable selection is considered an important step in supervised learning for both classification and regression problems. The variable selection also becomes critical when costs associated with the data collection and storage are considerably high for cases like remote sensing. Therefore, we propose a new methodology to select important variables from the data by first creating dependency networks among all variables and then ranking them (i.e. nodes) by graph centrality measures. Selecting Top-$n$ variables according to preferred centrality measure will yield a strong candidate subset of variables for further learning tasks e.g. clustering. We present our tool as a Shiny app which is a user-friendly interface development environment. We also extend the user interface for two well-known unsupervised variable selection methods from literature for comparison reasons.
Sky-GVINS: a Sky-segmentation Aided GNSS-Visual-Inertial System for Robust Navigation in Urban Canyons
Venue: arXiv cs.RO 2023
Year: 2023

Integrating Global Navigation Satellite Systems (GNSS) in Simultaneous Localization and Mapping (SLAM) systems draws increasing attention to a global and continuous localization solution. Nonetheless, in dense urban environments, GNSS-based SLAM systems will suffer from the Non-Line-Of-Sight (NLOS) measurements, which might lead to a sharp deterioration in localization results. In this paper, we propose to detect the sky area from the up-looking camera to improve GNSS measurement reliability for more accurate position estimation. We present Sky-GVINS: a sky-aware GNSS-Visual-Inertial system based on a recent work called GVINS. Specifically, we adopt a global threshold method to segment the sky regions and non-sky regions in the fish-eye sky-pointing image and then project satellites to the image using the geometric relationship between satellites and the camera. After that, we reject satellites in non-sky regions to eliminate NLOS signals. We investigated various segmentation algorithms for sky detection and found that the Otsu algorithm reported the highest classification rate and computational efficiency, despite the algorithm's simplicity and ease of implementation. To evaluate the effectiveness of Sky-GVINS, we built a ground robot and conducted extensive real-world experiments on campus. Experimental results show that our method improves localization accuracy in both open areas and dense urban environments compared to the baseline method. Finally, we also conduct a detailed analysis and point out possible further directions for future research. For detailed information, visit our project website at https://github.com/SJTU-ViSYS/Sky-GVINS.
Infinitely wide limits for deep Stable neural networks: sub-linear, linear and super-linear activation functions
Venue: arXiv cs.LG 2023
Year: 2023

There is a growing literature on the study of large-width properties of deep Gaussian neural networks (NNs), i.e. deep NNs with Gaussian-distributed parameters or weights, and Gaussian stochastic processes. Motivated by some empirical and theoretical studies showing the potential of replacing Gaussian distributions with Stable distributions, namely distributions with heavy tails, in this paper we investigate large-width properties of deep Stable NNs, i.e. deep NNs with Stable-distributed parameters. For sub-linear activation functions, a recent work has characterized the infinitely wide limit of a suitable rescaled deep Stable NN in terms of a Stable stochastic process, both under the assumption of a ``joint growth" and under the assumption of a ``sequential growth" of the width over the NN's layers. Here, assuming a ``sequential growth" of the width, we extend such a characterization to a general class of activation functions, which includes sub-linear, asymptotically linear and super-linear functions. As a novelty with respect to previous works, our results rely on the use of a generalized central limit theorem for heavy tails distributions, which allows for an interesting unified treatment of infinitely wide limits for deep Stable NNs. Our study shows that the scaling of Stable NNs and the stability of their infinitely wide limits may depend on the choice of the activation function, bringing out a critical difference with respect to the Gaussian setting.
A Reinforcement Learning-assisted Genetic Programming Algorithm for Team Formation Problem Considering Person-Job Matching
Venue: arXiv cs.NE 2023
Year: 2023

An efficient team is essential for the company to successfully complete new projects. To solve the team formation problem considering person-job matching (TFP-PJM), a 0-1 integer programming model is constructed, which considers both person-job matching and team members' willingness to communicate on team efficiency, with the person-job matching score calculated using intuitionistic fuzzy numbers. Then, a reinforcement learning-assisted genetic programming algorithm (RL-GP) is proposed to enhance the quality of solutions. The RL-GP adopts the ensemble population strategies. Before the population evolution at each generation, the agent selects one from four population search modes according to the information obtained, thus realizing a sound balance of exploration and exploitation. In addition, surrogate models are used in the algorithm to evaluate the formation plans generated by individuals, which speeds up the algorithm learning process. Afterward, a series of comparison experiments are conducted to verify the overall performance of RL-GP and the effectiveness of the improved strategies within the algorithm. The hyper-heuristic rules obtained through efficient learning can be utilized as decision-making aids when forming project teams. This study reveals the advantages of reinforcement learning methods, ensemble strategies, and the surrogate model applied to the GP framework. The diversity and intelligent selection of search patterns along with fast adaptation evaluation, are distinct features that enable RL-GP to be deployed in real-world enterprise environments.
RescueSNN: Enabling Reliable Executions on Spiking Neural Network Accelerators under Permanent Faults
Venue: arXiv cs.NE 2023
Year: 2023

To maximize the performance and energy efficiency of Spiking Neural Network (SNN) processing on resource-constrained embedded systems, specialized hardware accelerators/chips are employed. However, these SNN chips may suffer from permanent faults which can affect the functionality of weight memory and neuron behavior, thereby causing potentially significant accuracy degradation and system malfunctioning. Such permanent faults may come from manufacturing defects during the fabrication process, and/or from device/transistor damages (e.g., due to wear out) during the run-time operation. However, the impact of permanent faults in SNN chips and the respective mitigation techniques have not been thoroughly investigated yet. Toward this, we propose RescueSNN, a novel methodology to mitigate permanent faults in the compute engine of SNN chips without requiring additional retraining, thereby significantly cutting down the design time and retraining costs, while maintaining the throughput and quality. The key ideas of our RescueSNN methodology are (1) analyzing the characteristics of SNN under permanent faults; (2) leveraging this analysis to improve the SNN fault-tolerance through effective fault-aware mapping (FAM); and (3) devising lightweight hardware enhancements to support FAM. Our FAM technique leverages the fault map of SNN compute engine for (i) minimizing weight corruption when mapping weight bits on the faulty memory cells, and (ii) selectively employing faulty neurons that do not cause significant accuracy degradation to maintain accuracy and throughput, while considering the SNN operations and processing dataflow. The experimental results show that our RescueSNN improves accuracy by up to 80% while maintaining the throughput reduction below 25% in high fault rate (e.g., 0.5 of the potential fault locations), as compared to running SNNs on the faulty chip without mitigation.
Polygonizer: An auto-regressive building delineator
Venue: arXiv cs.CV 2023
Year: 2023

In geospatial planning, it is often essential to represent objects in a vectorized format, as this format easily translates to downstream tasks such as web development, graphics, or design. While these problems are frequently addressed using semantic segmentation, which requires additional post-processing to vectorize objects in a non-trivial way, we present an Image-to-Sequence model that allows for direct shape inference and is ready for vector-based workflows out of the box. We demonstrate the model's performance in various ways, including perturbations to the image input that correspond to variations or artifacts commonly encountered in remote sensing applications. Our model outperforms prior works when using ground truth bounding boxes (one object per image), achieving the lowest maximum tangent angle error.
Convex Hulls: Surface Mapping onto a Sphere
Venue: arXiv cs.CG 2023
Year: 2023

Writing an uncomplicated, robust, and scalable three-dimensional convex hull algorithm is challenging and problematic. This includes, coplanar and collinear issues, numerical accuracy, performance, and complexity trade-offs. While there are a number of methods available for finding the convex hull based on geometric calculations, such as, the distance between points, but do not address the technical challenges when implementing a usable solution (e.g., numerical issues and degenerate cloud points). We explain some common algorithm pitfalls and engineering modifications to overcome and solve these limitations. We present a novel iterative method using support mapping and surface projection to create an uncomplicated and robust 2d and 3d convex hull algorithm.
Best Arm Identification with Fairness Constraints on Subpopulations
Venue: arXiv cs.LG 2023
Year: 2023

We formulate, analyze and solve the problem of best arm identification with fairness constraints on subpopulations (BAICS). Standard best arm identification problems aim at selecting an arm that has the largest expected reward where the expectation is taken over the entire population. The BAICS problem requires that an selected arm must be fair to all subpopulations (e.g., different ethnic groups, age groups, or customer types) by satisfying constraints that the expected reward conditional on every subpopulation needs to be larger than some thresholds. The BAICS problem aims at correctly identify, with high confidence, the arm with the largest expected reward from all arms that satisfy subpopulation constraints. We analyze the complexity of the BAICS problem by proving a best achievable lower bound on the sample complexity with closed-form representation. We then design an algorithm and prove that the algorithm's sample complexity matches with the lower bound in terms of order. A brief account of numerical experiments are conducted to illustrate the theoretical findings.
High Speed Neuromorphic Vision-Based Inspection of Countersinks in Automated Manufacturing Processes
Venue: arXiv cs.RO 2023
Year: 2023

Countersink inspection is crucial in various automated assembly lines, especially in the aerospace and automotive sectors. Advancements in machine vision introduced automated robotic inspection of countersinks using laser scanners and monocular cameras. Nevertheless, the aforementioned sensing pipelines require the robot to pause on each hole for inspection due to high latency and measurement uncertainties with motion, leading to prolonged execution times of the inspection task. The neuromorphic vision sensor, on the other hand, has the potential to expedite the countersink inspection process, but the unorthodox output of the neuromorphic technology prohibits utilizing traditional image processing techniques. Therefore, novel event-based perception algorithms need to be introduced. We propose a countersink detection approach on the basis of event-based motion compensation and the mean-shift clustering principle. In addition, our framework presents a robust event-based circle detection algorithm to precisely estimate the depth of the countersink specimens. The proposed approach expedites the inspection process by a factor of 10$\times$ compared to conventional countersink inspection methods. The work in this paper was validated for over 50 trials on three countersink workpiece variants. The experimental results show that our method provides a precision of 0.025 mm for countersink depth inspection despite the low resolution of commercially available neuromorphic cameras.
Marginal Thresholding in Noisy Image Segmentation
Venue: arXiv cs.CV 2023
Year: 2023

This work presents a study on label noise in medical image segmentation by considering a noise model based on Gaussian field deformations. Such noise is of interest because it yields realistic looking segmentations and because it is unbiased in the sense that the expected deformation is the identity mapping. Efficient methods for sampling and closed form solutions for the marginal probabilities are provided. Moreover, theoretically optimal solutions to the loss functions cross-entropy and soft-Dice are studied and it is shown how they diverge as the level of noise increases. Based on recent work on loss function characterization, it is shown that optimal solutions to soft-Dice can be recovered by thresholding solutions to cross-entropy with a particular a priori unknown threshold that efficiently can be computed. This raises the question whether the decrease in performance seen when using cross-entropy as compared to soft-Dice is caused by using the wrong threshold. The hypothesis is validated in 5-fold studies on three organ segmentation problems from the TotalSegmentor data set, using 4 different strengths of noise. The results show that changing the threshold leads the performance of cross-entropy to go from systematically worse than soft-Dice to similar or better results than soft-Dice.
Deliberative Democracy, Perspective from Indo-Pacific Blogosphere: A Survey
Venue: arXiv cs.SI 2023
Year: 2023

Deliberation and communication within the national space have had numerous implications on how citizens online and offline perceive government. It has also impacted the relationship between opposition and incumbent governments in the Indo-Pacific region. Authoritarian regimes have historically had control over the dissemination of information, thereby controlling power and limiting challenges from citizens who are not comfortable with the status quo. Social media and blogs have allowed citizens of these countries to find a way to communicate, and the exchange of information continues to rise. The quest by both authoritarian and democratic regimes to control or influence the discussion in the public sphere has given rise to concepts like cybertroopers, congressional bloggers, and commentator bloggers, among others. Cybertroopers have become the de facto online soldiers of authoritarian regimes who must embrace democracy. While commentator and congressional bloggers have acted with different strategies, commentator bloggers educate online citizens with knowledgeable information to influence the citizens. Congressional bloggers are political officeholders who use blogging to communicate their positions on ongoing national issues. Therefore, this work has explored various concepts synonymous with the Indo-Pacific public sphere and how it shapes elections and democracy.
Learning Agile, Vision-based Drone Flight: from Simulation to Reality
Venue: arXiv cs.RO 2023
Year: 2023

We present our latest research in learning deep sensorimotor policies for agile, vision-based quadrotor flight. We show methodologies for the successful transfer of such policies from simulation to the real world. In addition, we discuss the open research questions that still need to be answered to improve the agility and robustness of autonomous drones toward human-pilot performance.
A simple and efficient preprocessing step for convex hull problem
Venue: arXiv cs.DS 2023
Year: 2023

The present paper is concerned with a recursive algorithm as a preprocessing step to find the convex hull of $n$ random points uniformly distributed in the plane. For such a set of points, it is shown that eliminating all but $O(\log n)$ of points can derive the same convex hull as the input set. Finally it will be shown that the running time of the algorithm is $O(n)
DSMNet: Deep High-precision 3D Surface Modeling from Sparse Point Cloud Frames
Venue: arXiv cs.CV 2023
Year: 2023

Existing point cloud modeling datasets primarily express the modeling precision by pose or trajectory precision rather than the point cloud modeling effect itself. Under this demand, we first independently construct a set of LiDAR system with an optical stage, and then we build a HPMB dataset based on the constructed LiDAR system, a High-Precision, Multi-Beam, real-world dataset. Second, we propose an modeling evaluation method based on HPMB for object-level modeling to overcome this limitation. In addition, the existing point cloud modeling methods tend to generate continuous skeletons of the global environment, hence lacking attention to the shape of complex objects. To tackle this challenge, we propose a novel learning-based joint framework, DSMNet, for high-precision 3D surface modeling from sparse point cloud frames. DSMNet comprises density-aware Point Cloud Registration (PCR) and geometry-aware Point Cloud Sampling (PCS) to effectively learn the implicit structure feature of sparse point clouds. Extensive experiments demonstrate that DSMNet outperforms the state-of-the-art methods in PCS and PCR on Multi-View Partial Point Cloud (MVP) database. Furthermore, the experiments on the open source KITTI and our proposed HPMB datasets show that DSMNet can be generalized as a post-processing of Simultaneous Localization And Mapping (SLAM), thereby improving modeling precision in environments with sparse point clouds.