OpenRaiser/Intern-Atlas huggingface dataset:
PRTGS: Precomputed Radiance Transfer of Gaussian Splats for Real-Time High-Quality Relighting
Venue: arXiv cs.CV 2024
Year: 2024

We proposed Precomputed RadianceTransfer of GaussianSplats (PRTGS), a real-time high-quality relighting method for Gaussian splats in low-frequency lighting environments that captures soft shadows and interreflections by precomputing 3D Gaussian splats' radiance transfer. Existing studies have demonstrated that 3D Gaussian splatting (3DGS) outperforms neural fields' efficiency for dynamic lighting scenarios. However, the current relighting method based on 3DGS still struggles to compute high-quality shadow and indirect illumination in real time for dynamic light, leading to unrealistic rendering results. We solve this problem by precomputing the expensive transport simulations required for complex transfer functions like shadowing, the resulting transfer functions are represented as dense sets of vectors or matrices for every Gaussian splat. We introduce distinct precomputing methods tailored for training and rendering stages, along with unique ray tracing and indirect lighting precomputation techniques for 3D Gaussian splats to accelerate training speed and compute accurate indirect lighting related to environment light. Experimental analyses demonstrate that our approach achieves state-of-the-art visual quality while maintaining competitive training times and allows high-quality real-time (30+ fps) relighting for dynamic light and relatively complex scenes at 1080p resolution.
Deep Reinforcement Learning for Robotics: A Survey of Real-World Successes
Venue: arXiv cs.RO 2024
Year: 2024

Reinforcement learning (RL), particularly its combination with deep neural networks referred to as deep RL (DRL), has shown tremendous promise across a wide range of applications, suggesting its potential for enabling the development of sophisticated robotic behaviors. Robotics problems, however, pose fundamental difficulties for the application of RL, stemming from the complexity and cost of interacting with the physical world. This article provides a modern survey of DRL for robotics, with a particular focus on evaluating the real-world successes achieved with DRL in realizing several key robotic competencies. Our analysis aims to identify the key factors underlying those exciting successes, reveal underexplored areas, and provide an overall characterization of the status of DRL in robotics. We highlight several important avenues for future work, emphasizing the need for stable and sample-efficient real-world RL paradigms, holistic approaches for discovering and integrating various competencies to tackle complex long-horizon, open-world tasks, and principled development and evaluation procedures. This survey is designed to offer insights for both RL practitioners and roboticists toward harnessing RL's power to create generally capable real-world robotic systems.
Automatic identification of the area covered by acorn trees in the dehesa (pastureland) Extremadura of Spain
Venue: arXiv cs.CV 2024
Year: 2024

The acorn is the fruit of the oak and is an important crop in the Spanish dehesa extremeña, especially for the value it provides in the Iberian pig food to obtain the "acorn" certification. For this reason, we want to maximise the production of Iberian pigs with the appropriate weight. Hence the need to know the area covered by the crowns of the acorn trees, to determine the covered wooded area (CWA, from the Spanish Superficie Arbolada Cubierta SAC) and thereby estimate the number of Iberian pigs that can be released per hectare, as indicated by the royal decree 4/2014. In this work, we propose the automatic estimation of the CWA, through aerial digital images (orthophotos) of the pastureland of Extremadura, and with this, to offer the possibility of determining the number of Iberian pigs to be released in a specific plot of land. Among the main issues for automatic detection are, first, the correct identification of acorn trees, secondly, correctly discriminating the shades of the acorn trees and, finally, detect the arbuscles (young acorn trees not yet productive, or shrubs that are not oaks). These difficulties represent a real challenge, both for the automatic segmentation process and for manual segmentation. In this work, the proposed method for automatic segmentation is based on the clustering algorithm proposed by Gustafson-Kessel (GK) but the modified version of Babuska (GK-B) and on the use of real orthophotos. The obtained results are promising both in their comparison with the real images and when compared with the images segmented by hand. The whole set of orthophotos used in this work correspond to an approximate area of 142 hectares, and the results are of great interest to producers of certified "acorn" pork.
NatLan: Native Language Prompting Facilitates Knowledge Elicitation Through Language Trigger Provision and Domain Trigger Retention
Venue: arXiv cs.CL 2024
Year: 2024

Multilingual large language models (MLLMs) do not perform as well when answering questions in non-dominant languages as they do in their dominant languages. Although existing translate-then-answer methods alleviate this issue, the mechanisms behind their effectiveness remain unclear. In this study, we analogize the dominant language of MLLMs to the native language of humans and use two human cognitive features: the Language Trigger (LT) and the Domain Trigger (DT), to interpret the mechanisms behind translate-then-answer methods. This reveals that while sufficient LTs are provided by these methods, there remains a deficiency in DT retention. To mitigate this issue, we propose Native Language Prompting (NatLan), employing a Multi-MLLM collaboration strategy and introducing an additional role-enhanced domain-specific MLLM with stronger multilingual understanding capabilities as the translator. Across five language QA benchmarks, NatLan achieves up to a 31.28% improvement in accuracy and, compared to existing state-of-the-art methods, provides comparable or greater retention of DTs in up to 87% of cases. Our code is available at https://github.com/AnonyNLP/NatLan.
Mind Drifts, Data Shifts: Utilizing Mind Wandering to Track the Evolution of User Experience with Data Visualizations
Venue: arXiv cs.HC 2024
Year: 2024

User experience in data visualization is typically assessed through post-viewing self-reports, but these overlook the dynamic cognitive processes during interaction. This study explores the use of mind wandering -- a phenomenon where attention spontaneously shifts from a primary task to internal, task-related thoughts or unrelated distractions -- as a dynamic measure during visualization exploration. Participants reported mind wandering while viewing visualizations from a pre-labeled visualization database and then provided quantitative ratings of trust, engagement, and design quality, along with qualitative descriptions and short-term/long-term recall assessments. Results show that mind wandering negatively affects short-term visualization recall and various post-viewing measures, particularly for visualizations with little text annotation. Further, the type of mind wandering impacts engagement and emotional response. Mind wandering also functions as an intermediate process linking visualization design elements to post-viewing measures, influencing how viewers engage with and interpret visual information over time. Overall, this research underscores the importance of incorporating mind wandering as a dynamic measure in visualization design and evaluation, offering novel avenues for enhancing user engagement and comprehension.
Activations Through Extensions: A Framework To Boost Performance Of Neural Networks
Venue: arXiv cs.LG 2024
Year: 2024

Activation functions are non-linearities in neural networks that allow them to learn complex mapping between inputs and outputs. Typical choices for activation functions are ReLU, Tanh, Sigmoid etc., where the choice generally depends on the application domain. In this work, we propose a framework/strategy that unifies several works on activation functions and theoretically explains the performance benefits of these works. We also propose novel techniques that originate from the framework and allow us to obtain ``extensions'' (i.e. special generalizations of a given neural network) of neural networks through operations on activation functions. We theoretically and empirically show that ``extensions'' of neural networks have performance benefits compared to vanilla neural networks with insignificant space and time complexity costs on standard test functions. We also show the benefits of neural network ``extensions'' in the time-series domain on real-world datasets.
DRAMA: An Efficient End-to-end Motion Planner for Autonomous Driving with Mamba
Venue: arXiv cs.RO 2024
Year: 2024

Motion planning is a challenging task to generate safe and feasible trajectories in highly dynamic and complex environments, forming a core capability for autonomous vehicles. In this paper, we propose DRAMA, the first Mamba-based end-to-end motion planner for autonomous vehicles. DRAMA fuses camera, LiDAR Bird's Eye View images in the feature space, as well as ego status information, to generate a series of future ego trajectories. Unlike traditional transformer-based methods with quadratic attention complexity for sequence length, DRAMA is able to achieve a less computationally intensive attention complexity, demonstrating potential to deal with increasingly complex scenarios. Leveraging our Mamba fusion module, DRAMA efficiently and effectively fuses the features of the camera and LiDAR modalities. In addition, we introduce a Mamba-Transformer decoder that enhances the overall planning performance. This module is universally adaptable to any Transformer-based model, especially for tasks with long sequence inputs. We further introduce a novel feature state dropout which improves the planner's robustness without increasing training and inference times. Extensive experimental results show that DRAMA achieves higher accuracy on the NAVSIM dataset compared to the baseline Transfuser, with fewer parameters and lower computational costs.
Weakly Contrastive Learning via Batch Instance Discrimination and Feature Clustering for Small Sample SAR ATR
Venue: arXiv cs.CV 2024
Year: 2024

In recent years, impressive performance of deep learning technology has been recognized in Synthetic Aperture Radar (SAR) Automatic Target Recognition (ATR). Since a large amount of annotated data is required in this technique, it poses a trenchant challenge to the issue of obtaining a high recognition rate through less labeled data. To overcome this problem, inspired by the contrastive learning, we proposed a novel framework named Batch Instance Discrimination and Feature Clustering (BIDFC). In this framework, different from that of the objective of general contrastive learning methods, embedding distance between samples should be moderate because of the high similarity between samples in the SAR images. Consequently, our flexible framework is equipped with adjustable distance between embedding, which we term as weakly contrastive learning. Technically, instance labels are assigned to the unlabeled data in per batch and random augmentation and training are performed few times on these augmented data. Meanwhile, a novel Dynamic-Weighted Variance loss (DWV loss) function is also posed to cluster the embedding of enhanced versions for each sample. Experimental results on the moving and stationary target acquisition and recognition (MSTAR) database indicate a 91.25% classification accuracy of our method fine-tuned on only 3.13% training data. Even though a linear evaluation is performed on the same training data, the accuracy can still reach 90.13%. We also verified the effectiveness of BIDFC in OpenSarShip database, indicating that our method can be generalized to other datasets. Our code is avaliable at: https://github.com/Wenlve-Zhou/BIDFC-master.
2D Embeddings of Multi-dimensional Partitionings
Venue: arXiv cs.HC 2024
Year: 2024

Partitionings (or segmentations) divide a given domain into disjoint connected regions whose union forms again the entire domain. Multi-dimensional partitionings occur, for example, when analyzing parameter spaces of simulation models, where each segment of the partitioning represents a region of similar model behavior. Having computed a partitioning, one is commonly interested in understanding how large the segments are and which segments lie next to each other. While visual representations of 2D domain partitionings that reveal sizes and neighborhoods are straightforward, this is no longer the case when considering multi-dimensional domains of three or more dimensions. We propose an algorithm for computing 2D embeddings of multi-dimensional partitionings. The embedding shall have the following properties: It shall maintain the topology of the partitioning and optimize the area sizes and joint boundary lengths of the embedded segments to match the respective sizes and lengths in the multi-dimensional domain. We demonstrate the effectiveness of our approach by applying it to different use cases, including the visual exploration of 3D spatial domain segmentations and multi-dimensional parameter space partitionings of simulation ensembles. We numerically evaluate our algorithm with respect to how well sizes and lengths are preserved depending on the dimensionality of the domain and the number of segments.
Designing Extremely Memory-Efficient CNNs for On-device Vision Tasks
Venue: arXiv cs.CV 2024
Year: 2024

In this paper, we introduce a memory-efficient CNN (convolutional neural network), which enables resource-constrained low-end embedded and IoT devices to perform on-device vision tasks, such as image classification and object detection, using extremely low memory, i.e., only 63 KB on ImageNet classification. Based on the bottleneck block of MobileNet, we propose three design principles that significantly curtail the peak memory usage of a CNN so that it can fit the limited KB memory of the low-end device. First, 'input segmentation' divides an input image into a set of patches, including the central patch overlapped with the others, reducing the size (and memory requirement) of a large input image. Second, 'patch tunneling' builds independent tunnel-like paths consisting of multiple bottleneck blocks per patch, penetrating through the entire model from an input patch to the last layer of the network, maintaining lightweight memory usage throughout the whole network. Lastly, 'bottleneck reordering' rearranges the execution order of convolution operations inside the bottleneck block such that the memory usage remains constant regardless of the size of the convolution output channels. The experiment result shows that the proposed network classifies ImageNet with extremely low memory (i.e., 63 KB) while achieving competitive top-1 accuracy (i.e., 61.58\%). To the best of our knowledge, the memory usage of the proposed network is far smaller than state-of-the-art memory-efficient networks, i.e., up to 89x and 3.1x smaller than MobileNet (i.e., 5.6 MB) and MCUNet (i.e., 196 KB), respectively.
NACL: A General and Effective KV Cache Eviction Framework for LLMs at Inference Time
Venue: arXiv cs.CL 2024
Year: 2024

Large Language Models (LLMs) have ignited an innovative surge of AI applications, marking a new era of exciting possibilities equipped with extended context windows. However, hosting these models is cost-prohibitive mainly due to the extensive memory consumption of KV Cache involving long-context modeling. Despite several works proposing to evict unnecessary tokens from the KV Cache, most of them rely on the biased local statistics of accumulated attention scores and report performance using unconvincing metric like perplexity on inadequate short-text evaluation. In this paper, we propose NACL, a general framework for long-context KV cache eviction that achieves more optimal and efficient eviction in a single operation during the encoding phase. Due to NACL's efficiency, we combine more accurate attention score statistics in PROXY TOKENS EVICTION with the diversified random eviction strategy of RANDOM EVICTION, aiming to alleviate the issue of attention bias and enhance the robustness in maintaining pivotal tokens for long-context modeling tasks. Notably, our method significantly improves the performance on short- and long-text tasks by 80% and 76% respectively, reducing KV Cache by up to 50% with over 95% performance maintenance. The code is available at https://github.com/PaddlePaddle/Research/tree/master/NLP/ACL2024-NACL.
Path-based Design Model for Constructing and Exploring Alternative Visualisations
Venue: arXiv cs.HC 2024
Year: 2024

We present a path-based design model and system for designing and creating visualisations. Our model represents a systematic approach to constructing visual representations of data or concepts following a predefined sequence of steps. The initial step involves outlining the overall appearance of the visualisation by creating a skeleton structure, referred to as a flowpath. Subsequently, we specify objects, visual marks, properties, and appearance, storing them in a gene. Lastly, we map data onto the flowpath, ensuring suitable morphisms. Alternative designs are created by exchanging values in the gene. For example, designs that share similar traits, are created by making small incremental changes to the gene. Our design methodology fosters the generation of diverse creative concepts, space-filling visualisations, and traditional formats like bar charts, circular plots and pie charts. Through our implementation we showcase the model in action. As an example application, we integrate the output visualisations onto a smartwatch and visualisation dashboards. In this article we (1) introduce, define and explain the path model and discuss possibilities for its use, (2) present our implementation, results, and evaluation, and (3) demonstrate and evaluate an application of its use on a mobile watch.
Finding longer cycles via shortest colourful cycle
Venue: arXiv cs.DS 2024
Year: 2024

We consider the parameterised $k,e$-Long Cycle problem, in which you are given an $n$-vertex undirected graph $G$, a specified edge $e$ in $G$, and a positive integer $k$, and are asked to decide if the graph $G$ has a simple cycle through $e$ of length at least $k$. We show how to solve the problem in $1.731^k\operatorname{poly}(n)$ time, improving over the $2^k\operatorname{poly}(n)$ time algorithm by [Fomin et al., TALG 2024], but not the more recent $1.657^k\operatorname{poly}(n)$ time algorithm by [Eiben, Koana, and Wahlström, SODA 2024]. When the graph is bipartite, we can solve the problem in $2^{k/2}\operatorname{poly}(n)$ time, matching the fastest known algorithm for finding a cycle of length exactly $k$ in an undirected bipartite graph [Björklund et al., JCSS 2017]. Our results follow the approach taken by [Fomin et al., TALG 2024], which describes an efficient algorithm for finding cycles using many colours in a vertex-coloured undirected graph. Our contribution is twofold. First, we describe a new algorithm and analysis for the central colourful cycle problem, with the aim of providing a comparatively short and self-contained proof of correctness. Second, we give tighter reductions from $k,e$-Long Cycle to the colourful cycle problem, which lead to our improved running times.
BioDeepHash: Mapping Biometrics into a Stable Code
Venue: arXiv cs.CR 2024
Year: 2024

With the wide application of biometrics, more and more attention has been paid to the security of biometric templates. However most of existing biometric template protection (BTP) methods have some security problems, e.g. the problem that protected templates leak part of the original biometric data (exists in Cancelable Biometrics (CB)), the use of error-correcting codes (ECC) leads to decodable attack, statistical attack (exists in Biometric Cryptosystems (BCS)), the inability to achieve revocability (exists in methods using Neural Network (NN) to learn pre-defined templates), the inability to use cryptographic hash to guarantee strong security (exists in CB and methods using NN to learn latent templates). In this paper, we propose a framework called BioDeepHash based on deep hashing and cryptographic hashing to address the above four problems, where different biometric data of the same user are mapped to a stable code using deep hashing instead of predefined binary codes thus avoiding the use of ECC. An application-specific binary string is employed to achieve revocability. Then cryptographic hashing is used to get the final protected template to ensure strong security. Ultimately our framework achieves not storing any data that would leak part of the original biometric data. We also conduct extensive experiments on facial and iris datasets. Our method achieves an improvement of 10.12$\%$ on the average Genuine Acceptance Rate (GAR) for iris data and 3.12$\%$ for facial data compared to existing methods. In addition, BioDeepHash achieves extremely low False Acceptance Rate (FAR), i.e. 0$\%$ FAR on the iris dataset and the highest FAR on the facial dataset is only 0.0002$\%$.
Local Topology Measures of Contextual Language Model Latent Spaces With Applications to Dialogue Term Extraction
Venue: arXiv cs.CL 2024
Year: 2024

A common approach for sequence tagging tasks based on contextual word representations is to train a machine learning classifier directly on these embedding vectors. This approach has two shortcomings. First, such methods consider single input sequences in isolation and are unable to put an individual embedding vector in relation to vectors outside the current local context of use. Second, the high performance of these models relies on fine-tuning the embedding model in conjunction with the classifier, which may not always be feasible due to the size or inaccessibility of the underlying feature-generation model. It is thus desirable, given a collection of embedding vectors of a corpus, i.e., a datastore, to find features of each vector that describe its relation to other, similar vectors in the datastore. With this in mind, we introduce complexity measures of the local topology of the latent space of a contextual language model with respect to a given datastore. The effectiveness of our features is demonstrated through their application to dialogue term extraction. Our work continues a line of research that explores the manifold hypothesis for word embeddings, demonstrating that local structure in the space carved out by word embeddings can be exploited to infer semantic properties.
Home Energy Management Systems: Challenges, Heterogeneity & Integration Architecture Towards A Smart City Ecosystem
Venue: arXiv cs.NI 2024
Year: 2024

The contemporary era is marked by rapid urban growth and increasing population. A significant, and constantly growing, portion of the global population now resides in major cities, leading to escalating energy demands in urban centers. As urban population is expected to keep on expanding in the near future, the same is also expected to happen with the associated energy requirements. The situation with the continuously increasing energy demand, along with the emergence of smart grids and the capabilities that are already -- or can be -- offered by Home Energy Management System (HEMS), has created a lot of opportunities towards a more sustainable future, with optimized energy consumption and demand response, which leads to economic and environmental benefits, based on the actual needs of the consumers. In this paper, we begin by providing an analytical exploration of the challenges faced at both the development and deployment levels. We proceed with a thorough analysis and comparison between the abundance of devices, smart home technologies, and protocols currently used by various products. Following, aiming to blunt the currently existing challenges, we propose a reliable, flexible, and extendable architectural schema. Finally, we analyze a number of potential ways in which the data deriving from such implementations can be analyzed and leveraged, in order to produce services that offer useful insights and smart solutions towards enhanced energy efficiency.