OpenRaiser/Intern-Atlas huggingface dataset:
Know What You Don't Know: Consistency in Sliding Window Filtering with Unobservable States Applied to Visual-Inertial SLAM (Extended Version)
Venue: arXiv cs.RO 2023
Year: 2023

Estimation algorithms, such as the sliding window filter, produce an estimate and uncertainty of desired states. This task becomes challenging when the problem involves unobservable states. In these situations, it is critical for the algorithm to ``know what it doesn't know'', meaning that it must maintain the unobservable states as unobservable during algorithm deployment. This letter presents general requirements for maintaining consistency in sliding window filters involving unobservable states. The value of these requirements for designing navigation solutions is experimentally shown within the context of visual-inertial SLAM making use of IMU preintegration.
Disentangling Prosody Representations with Unsupervised Speech Reconstruction
Venue: arXiv cs.SD 2023
Year: 2023

Human speech can be characterized by different components, including semantic content, speaker identity and prosodic information. Significant progress has been made in disentangling representations for semantic content and speaker identity in Automatic Speech Recognition (ASR) and speaker verification tasks respectively. However, it is still an open challenging research question to extract prosodic information because of the intrinsic association of different attributes, such as timbre and rhythm, and because of the need for supervised training schemes to achieve robust large-scale and speaker-independent ASR. The aim of this paper is to address the disentanglement of emotional prosody from speech based on unsupervised reconstruction. Specifically, we identify, design, implement and integrate three crucial components in our proposed speech reconstruction model Prosody2Vec: (1) a unit encoder that transforms speech signals into discrete units for semantic content, (2) a pretrained speaker verification model to generate speaker identity embeddings, and (3) a trainable prosody encoder to learn prosody representations. We first pretrain the Prosody2Vec representations on unlabelled emotional speech corpora, then fine-tune the model on specific datasets to perform Speech Emotion Recognition (SER) and Emotional Voice Conversion (EVC) tasks. Both objective (weighted and unweighted accuracies) and subjective (mean opinion score) evaluations on the EVC task suggest that Prosody2Vec effectively captures general prosodic features that can be smoothly transferred to other emotional speech. In addition, our SER experiments on the IEMOCAP dataset reveal that the prosody features learned by Prosody2Vec are complementary and beneficial for the performance of widely used speech pretraining models and surpass the state-of-the-art methods when combining Prosody2Vec with HuBERT representations.
VINet: Lightweight, Scalable, and Heterogeneous Cooperative Perception for 3D Object Detection
Venue: arXiv cs.CV 2023
Year: 2023

Utilizing the latest advances in Artificial Intelligence (AI), the computer vision community is now witnessing an unprecedented evolution in all kinds of perception tasks, particularly in object detection. Based on multiple spatially separated perception nodes, Cooperative Perception (CP) has emerged to significantly advance the perception of automated driving. However, current cooperative object detection methods mainly focus on ego-vehicle efficiency without considering the practical issues of system-wide costs. In this paper, we introduce VINet, a unified deep learning-based CP network for scalable, lightweight, and heterogeneous cooperative 3D object detection. VINet is the first CP method designed from the standpoint of large-scale system-level implementation and can be divided into three main phases: 1) Global Pre-Processing and Lightweight Feature Extraction which prepare the data into global style and extract features for cooperation in a lightweight manner; 2) Two-Stream Fusion which fuses the features from scalable and heterogeneous perception nodes; and 3) Central Feature Backbone and 3D Detection Head which further process the fused features and generate cooperative detection results. An open-source data experimental platform is designed and developed for CP dataset acquisition and model evaluation. The experimental analysis shows that VINet can reduce 84% system-level computational cost and 94% system-level communication cost while improving the 3D detection accuracy.
Database Matching Under Adversarial Column Deletions
Venue: arXiv cs.IT 2023
Year: 2023

The de-anonymization of users from anonymized microdata through matching or aligning with publicly-available correlated databases has been of scientific interest recently. While most of the rigorous analyses of database matching have focused on random-distortion models, the adversarial-distortion models have been wanting in the relevant literature. In this work, motivated by synchronization errors in the sampling of time-indexed microdata, matching (alignment) of random databases under adversarial column deletions is investigated. It is assumed that a constrained adversary, which observes the anonymized database, can delete up to a $δ$ fraction of the columns (attributes) to hinder matching and preserve privacy. Column histograms of the two databases are utilized as permutation-invariant features to detect the column deletion pattern chosen by the adversary. The detection of the column deletion pattern is then followed by an exact row (user) matching scheme. The worst-case analysis of this two-phase scheme yields a sufficient condition for the successful matching of the two databases, under the near-perfect recovery condition. A more detailed investigation of the error probability leads to a tight necessary condition on the database growth rate, and in turn, to a single-letter characterization of the adversarial matching capacity. This adversarial matching capacity is shown to be significantly lower than the random matching capacity, where the column deletions occur randomly. Overall, our results analytically demonstrate the privacy-wise advantages of adversarial mechanisms over random ones during the publication of anonymized time-indexed data.
Establishing a stronger baseline for lightweight contrastive models
Venue: arXiv cs.CV 2023
Year: 2023

Recent research has reported a performance degradation in self-supervised contrastive learning for specially designed efficient networks, such as MobileNet and EfficientNet. A common practice to address this problem is to introduce a pretrained contrastive teacher model and train the lightweight networks with distillation signals generated by the teacher. However, it is time and resource consuming to pretrain a teacher model when it is not available. In this work, we aim to establish a stronger baseline for lightweight contrastive models without using a pretrained teacher model. Specifically, we show that the optimal recipe for efficient models is different from that of larger models, and using the same training settings as ResNet50, as previous research does, is inappropriate. Additionally, we observe a common issu e in contrastive learning where either the positive or negative views can be noisy, and propose a smoothed version of InfoNCE loss to alleviate this problem. As a result, we successfully improve the linear evaluation results from 36.3\% to 62.3\% for MobileNet-V3-Large and from 42.2\% to 65.8\% for EfficientNet-B0 on ImageNet, closing the accuracy gap to ResNet50 with $5\times$ fewer parameters. We hope our research will facilitate the usage of lightweight contrastive models.
Toroidal Coordinates: Decorrelating Circular Coordinates With Lattice Reduction
Venue: arXiv cs.CG 2023
Year: 2023

The circular coordinates algorithm of de Silva, Morozov, and Vejdemo-Johansson takes as input a dataset together with a cohomology class representing a $1$-dimensional hole in the data; the output is a map from the data into the circle that captures this hole, and that is of minimum energy in a suitable sense. However, when applied to several cohomology classes, the output circle-valued maps can be "geometrically correlated" even if the chosen cohomology classes are linearly independent. It is shown in the original work that less correlated maps can be obtained with suitable integer linear combinations of the cohomology classes, with the linear combinations being chosen by inspection. In this paper, we identify a formal notion of geometric correlation between circle-valued maps which, in the Riemannian manifold case, corresponds to the Dirichlet form, a bilinear form derived from the Dirichlet energy. We describe a systematic procedure for constructing low energy torus-valued maps on data, starting from a set of linearly independent cohomology classes. We showcase our procedure with computational examples. Our main algorithm is based on the Lenstra--Lenstra--Lovász algorithm from computational number theory.
Unfoldings and coverings of weighted graphs
Venue: arXiv cs.LO 2023
Year: 2023

Coverings of undirected graphs are used in distributed computing, and unfoldings of directed graphs in semantics of programs. We study these two notions from a graph theoretical point of view so as to highlight their similarities, as they are both defined in terms of surjective graph homomorphisms. In particular, universal coverings and complete unfoldings are infinite trees that are regular if the initial graphs are finite. Regularity means that a tree has finitely many subtrees up to isomorphism. Two important theorems have been established by Leighton and Norris for coverings. We prove similar statements for unfoldings. Our study of the difficult proof of Leighton's Theorem lead us to generalize coverings and similarly, unfoldings, by attaching finite or infinite weights to edges of the covered or unfolded graphs. This generalization yields a canonical factorization of the universal covering of any finite graph, that (provably) does not exist without using weights. Introducing infinite weights provides us with finite descriptions of regular trees having nodes of countably infinite degree. We also generalize to weighted graphs and their coverings a classical factorization theorem of their characteristic polynomials.
Two-Timescale Joint Precoding Design and RIS Optimization for User Tracking in Near-Field MIMO Systems
Venue: arXiv cs.IT 2023
Year: 2023

In this paper, we propose a novel framework that aims to jointly design the reflection coefficients of multiple RISs and the precoding strategy of a single BS to optimize the self-tracking of the position and the velocity of a single multi-antenna UE that moves either in the far- or near-field region. Differently from the literature, and to keep the overall complexity affordable, we assume that RIS optimization is performed less frequently than localization and precoding adaptation. The proposed procedure leads to minimize the inverse of the received power in the UE position uncertainty area between two subsequent optimization steps. The optimal RIS and precoder strategy are compared with the classical beam-focusing strategy and with a scheme that maximizes the communication rate. It is shown that if the RISs are optimized for communications, their configuration is suboptimal when used for tracking purposes. Numerical results show that in typical indoor environments with only one BS and a few RISs operating on millimeter waves, high location accuracy in the range of less than half a meter can be achieved.
DCS-RISR: Dynamic Channel Splitting for Efficient Real-world Image Super-Resolution
Venue: arXiv cs.CV 2023
Year: 2023

Real-world image super-resolution (RISR) has received increased focus for improving the quality of SR images under unknown complex degradation. Existing methods rely on the heavy SR models to enhance low-resolution (LR) images of different degradation levels, which significantly restricts their practical deployments on resource-limited devices. In this paper, we propose a novel Dynamic Channel Splitting scheme for efficient Real-world Image Super-Resolution, termed DCS-RISR. Specifically, we first introduce the light degradation prediction network to regress the degradation vector to simulate the real-world degradations, upon which the channel splitting vector is generated as the input for an efficient SR model. Then, a learnable octave convolution block is proposed to adaptively decide the channel splitting scale for low- and high-frequency features at each block, reducing computation overhead and memory cost by offering the large scale to low-frequency features and the small scale to the high ones. To further improve the RISR performance, Non-local regularization is employed to supplement the knowledge of patches from LR and HR subspace with free-computation inference. Extensive experiments demonstrate the effectiveness of DCS-RISR on different benchmark datasets. Our DCS-RISR not only achieves the best trade-off between computation/parameter and PSNR/SSIM metric, and also effectively handles real-world images with different degradation levels.
Physics-Informed Neural Networks for Material Model Calibration from Full-Field Displacement Data
Venue: arXiv cs.LG 2023
Year: 2023

The identification of material parameters occurring in constitutive models has a wide range of applications in practice. One of these applications is the monitoring and assessment of the actual condition of infrastructure buildings, as the material parameters directly reflect the resistance of the structures to external impacts. Physics-informed neural networks (PINNs) have recently emerged as a suitable method for solving inverse problems. The advantages of this method are a straightforward inclusion of observation data. Unlike grid-based methods, such as the least square finite element method (LS-FEM) approach, no computational grid and no interpolation of the data is required. In the current work, we propose PINNs for the calibration of constitutive models from full-field displacement and global force data in a realistic regime on the example of linear elasticity. We show that conditioning and reformulation of the optimization problem play a crucial role in real-world applications. Therefore, among others, we identify the material parameters from initial estimates and balance the individual terms in the loss function. In order to reduce the dependency of the identified material parameters on local errors in the displacement approximation, we base the identification not on the stress boundary conditions but instead on the global balance of internal and external work. We demonstrate that the enhanced PINNs are capable of identifying material parameters from both experimental one-dimensional data and synthetic full-field displacement data in a realistic regime. Since displacement data measured by, e.g., a digital image correlation (DIC) system is noisy, we additionally investigate the robustness of the method to different levels of noise.
Higher-order Games with Dependent Types
Venue: arXiv cs.GT 2023
Year: 2023

In previous work on higher-order games, we accounted for finite games of unbounded length by working with continuous outcome functions, which carry implicit game trees. In this work we make such trees explicit. We use concepts from dependent type theory to capture history-dependent games, where the set of available moves at a given position in the game depends on the moves played up to that point. In particular, games are modelled by a W-type, which is essentially the same type used by Aczel to model constructive Zermelo-Frankel set theory (CZF). We have also implemented all our definitions, constructions, results and proofs in the dependently-typed programming language Agda, which, in particular, allows us to run concrete examples of computations of optimal strategies, that is, strategies in subgame perfect equilibrium.
Advancing Multilingual Pre-training: TRIP Triangular Document-level Pre-training for Multilingual Language Models
Venue: arXiv cs.CL 2023
Year: 2023

Despite the success of multilingual sequence-to-sequence pre-training, most existing approaches rely on document-level monolingual corpora in many different languages, sentence-level bilingual corpora,\footnote{In this paper, we use `bilingual corpora' to denote parallel corpora with `bilingual translation pairs' in many different language pairs, each consisting of two sentences/documents with the same meaning written in different languages. We use `trilingual corpora' to denote parallel corpora with `trilingual translation pairs' in many different language combinations, each consisting of three sentences/documents.} and sometimes synthetic document-level bilingual corpora. This hampers the performance with cross-lingual document-level tasks such as document-level translation. Therefore, we propose to mine and leverage document-level trilingual parallel corpora to improve sequence-to-sequence multilingual pre-training. We present \textbf{Tri}angular Document-level \textbf{P}re-training (\textbf{TRIP}), which is the first in the field to accelerate the conventional monolingual and bilingual objectives into a trilingual objective with a novel method called Grafting. Experiments show that TRIP achieves several strong state-of-the-art (SOTA) scores on three multilingual document-level machine translation benchmarks and one cross-lingual abstractive summarization benchmark, including consistent improvements by up to 3.11 d-BLEU points and 8.9 ROUGE-L points.
Successive Interference Cancellation for Bandlimited Channels with Direct Detection
Venue: arXiv cs.IT 2023
Year: 2023

The maximum information rates for bandlimited channels with direct detection are achieved with joint detection and decoding (JDD), but JDD is often too complex to implement. Two receiver structures are studied to reduce complexity: separate detection and decoding (SDD) and successive interference cancellation (SIC). For bipolar modulation, frequency-domain raised-cosine pulse shaping, and fiber-optic channels with chromatic dispersion, SIC achieves rates close to those of JDD, thereby attaining significant energy gains over SDD and intensity modulation. Gibbs sampling further reduces the detector complexity and achieves rates close to those of the forward-backward algorithm at low to intermediate signal-to-noise ratio (SNR) but stalls at high SNR. Simulations with polar codes, higher-order modulation, and multi-level coding confirm the predicted gains.
Manifestations of Xenophobia in AI Systems
Venue: arXiv cs.CY 2023
Year: 2023

Xenophobia is one of the key drivers of marginalisation, discrimination, and conflict, yet many prominent machine learning (ML) fairness frameworks fail to comprehensively measure or mitigate the resulting xenophobic harms. Here we aim to bridge this conceptual gap and help facilitate safe and ethical design of artificial intelligence (AI) solutions. We ground our analysis of the impact of xenophobia by first identifying distinct types of xenophobic harms, and then applying this framework across a number of prominent AI application domains, reviewing the potential interplay between AI and xenophobia on social media and recommendation systems, healthcare, immigration, employment, as well as biases in large pre-trained models. These help inform our recommendations towards an inclusive, xenophilic design of future AI systems.
Automatic vehicle trajectory data reconstruction at scale
Venue: arXiv cs.DS 2023
Year: 2023

In this paper we propose an automatic trajectory data reconciliation to correct common errors in vision-based vehicle trajectory data. Given "raw" vehicle detection and tracking information from automatic video processing algorithms, we propose a pipeline including (a) an online data association algorithm to match fragments that describe the same object (vehicle), which is formulated as a min-cost network circulation problem of a graph, and (b) a one-step trajectory rectification procedure formulated as a quadratic program to enhance raw detection data. The pipeline leverages vehicle dynamics and physical constraints to associate tracked objects when they become fragmented, remove measurement noises and outliers and impute missing data due to fragmentations. We assess the capability of the proposed two-step pipeline to reconstruct three benchmarking datasets: (1) a microsimulation dataset that is artificially downgraded to replicate upstream errors, (2) a 15-min NGSIM data that is manually perturbed, and (3) tracking data consists of 3 scenes from collections of video data recorded from 16-17 cameras on a section of the I-24 MOTION system, and compare with the corresponding manually-labeled ground truth vehicle bounding boxes. All of the experiments show that the reconciled trajectories improve the accuracy on all the tested input data for a wide range of measures. Lastly, we show the design of a software architecture that is currently deployed on the full-scale I-24 MOTION system consisting of 276 cameras that covers 4.2 miles of I-24. We demonstrate the scalability of the proposed reconciliation pipeline to process high-volume data on a daily basis.
The Functional Machine Calculus
Venue: arXiv cs.PL 2023
Year: 2023

This paper presents the Functional Machine Calculus (FMC) as a simple model of higher-order computation with "reader/writer" effects: higher-order mutable store, input/output, and probabilistic and non-deterministic computation. The FMC derives from the lambda-calculus by taking the standard operational perspective of a call-by-name stack machine as primary, and introducing two natural generalizations. One, "locations", introduces multiple stacks, which each may represent an effect and so enable effect operators to be encoded into the abstraction and application constructs of the calculus. The second, "sequencing", is known from kappa-calculus and concatenative programming languages, and introduces the imperative notions of "skip" and "sequence". This enables the encoding of reduction strategies, including call-by-value lambda-calculus and monadic constructs. The encoding of effects into generalized abstraction and application means that standard results from the lambda-calculus may carry over to effects. The main result is confluence, which is possible because encoded effects reduce algebraically rather than operationally. Reduction generates the familiar algebraic laws for state, and unlike in the monadic setting, reader/writer effects combine seamlessly. A system of simple types confers termination of the machine.
Local Branching Relaxation Heuristics for Integer Linear Programs
Venue: arXiv cs.AI 2023
Year: 2023

Large Neighborhood Search (LNS) is a popular heuristic algorithm for solving combinatorial optimization problems (COP). It starts with an initial solution to the problem and iteratively improves it by searching a large neighborhood around the current best solution. LNS relies on heuristics to select neighborhoods to search in. In this paper, we focus on designing effective and efficient heuristics in LNS for integer linear programs (ILP) since a wide range of COPs can be represented as ILPs. Local Branching (LB) is a heuristic that selects the neighborhood that leads to the largest improvement over the current solution in each iteration of LNS. LB is often slow since it needs to solve an ILP of the same size as input. Our proposed heuristics, LB-RELAX and its variants, use the linear programming relaxation of LB to select neighborhoods. Empirically, LB-RELAX and its variants compute as effective neighborhoods as LB but run faster. They achieve state-of-the-art anytime performance on several ILP benchmarks.