OpenRaiser/Intern-Atlas huggingface dataset:
Improved Variational Bayesian Phylogenetic Inference using Mixtures
Venue: arXiv cs.LG 2023
Year: 2023

We present VBPI-Mixtures, an algorithm designed to enhance the accuracy of phylogenetic posterior distributions, particularly for tree-topology and branch-length approximations. Despite the Variational Bayesian Phylogenetic Inference (VBPI), a leading-edge black-box variational inference (BBVI) framework, achieving remarkable approximations of these distributions, the multimodality of the tree-topology posterior presents a formidable challenge to sampling-based learning techniques such as BBVI. Advanced deep learning methodologies such as normalizing flows and graph neural networks have been explored to refine the branch-length posterior approximation, yet efforts to ameliorate the posterior approximation over tree topologies have been lacking. Our novel VBPI-Mixtures algorithm bridges this gap by harnessing the latest breakthroughs in mixture learning within the BBVI domain. As a result, VBPI-Mixtures is capable of capturing distributions over tree-topologies that VBPI fails to model. We deliver state-of-the-art performance on difficult density estimation tasks across numerous real phylogenetic datasets.
Autonomous Navigation of Micro Air Vehicles in Warehouses Using Vision-based Line Following
Venue: arXiv cs.RO 2023
Year: 2023

In this paper, we propose a vision-based solution for indoor Micro Air Vehicle (MAV) navigation, with a primary focus on its application within autonomous warehouses. Our work centers on the utilization of a single camera as the primary sensor for tasks such as detection, localization, and path planning. To achieve these objectives, we implement the HSV color detection and the Hough Line Transform for effective line detection within warehouse environments. The integration of a Kalman filter into our system enables the camera to track yellow lines reliably. We evaluated the performance of our vision-based line following algorithm through various MAV flight tests conducted in the Gazebo 11 platform, utilizing ROS Noetic. The results of these simulations demonstrate the system capability to successfully navigate narrow indoor spaces. Our proposed system has the potential to significantly reduce labor costs and enhance overall productivity in warehouse operations. This work contributes to the growing field of MAV applications in autonomous warehouses, addressing the need for efficient logistics and supply chain solutions.
LS-VOS: Identifying Outliers in 3D Object Detections Using Latent Space Virtual Outlier Synthesis
Venue: arXiv cs.CV 2023
Year: 2023

LiDAR-based 3D object detectors have achieved unprecedented speed and accuracy in autonomous driving applications. However, similar to other neural networks, they are often biased toward high-confidence predictions or return detections where no real object is present. These types of detections can lead to a less reliable environment perception, severely affecting the functionality and safety of autonomous vehicles. We address this problem by proposing LS-VOS, a framework for identifying outliers in 3D object detections. Our approach builds on the idea of Virtual Outlier Synthesis (VOS), which incorporates outlier knowledge during training, enabling the model to learn more compact decision boundaries. In particular, we propose a new synthesis approach that relies on the latent space of an auto-encoder network to generate outlier features with a parametrizable degree of similarity to in-distribution features. In extensive experiments, we show that our approach improves the outlier detection capabilities of a state-of-the-art object detector while maintaining high 3D object detection performance.
Multi-Agent Bayesian Optimization with Coupled Black-Box and Affine Constraints
Venue: arXiv cs.LG 2023
Year: 2023

This paper studies the problem of distributed multi-agent Bayesian optimization with both coupled black-box constraints and known affine constraints. A primal-dual distributed algorithm is proposed that achieves similar regret/violation bounds as those in the single-agent case for the black-box objective and constraint functions. Additionally, the algorithm guarantees an $\mathcal{O}(N\sqrt{T})$ bound on the cumulative violation for the known affine constraints, where $N$ is the number of agents. Hence, it is ensured that the average of the samples satisfies the affine constraints up to the error $\mathcal{O}({N}/{\sqrt{T}})$. Furthermore, we characterize certain conditions under which our algorithm can bound a stronger metric of cumulative violation and provide best-iterate convergence without affine constraint. The method is then applied to both sampled instances from Gaussian processes and a real-world optimal power allocation problem for wireless communication; the results show that our method simultaneously provides close-to-optimal performance and maintains minor violations on average, corroborating our theoretical analysis.
Handling of Past and Future with Phenesthe+
Venue: arXiv cs.LO 2023
Year: 2023

Writing temporal logic formulae for properties that combine instantaneous events with overlapping temporal phenomena of some duration is difficult in classical temporal logics. To address this issue, in previous work we introduced a new temporal logic with intuitive temporal modalities specifically tailored for the representation of both instantaneous and durative phenomena. We also provided an implementation of a complex event processing system, Phenesthe, based on this logic, that has been applied and tested on a real maritime surveillance scenario. In this work, we extend our temporal logic with two extra modalities to increase its expressive power for handling future formulae. We compare the expressive power of different fragments of our logic with Linear Temporal Logic and dyadic first-order logic. Furthermore, we define correctness criteria for stream processors that use our language. Last but not least, we evaluate empirically the performance of Phenesthe+, our extended implementation, and show that the increased expressive power does not affect efficiency significantly.
(Un)Decidability Bounds of the Synthesis Problem for Petri Games
Venue: arXiv cs.LO 2023
Year: 2023

Petri games are a multi-player game model for the automatic synthesis of distributed systems, where the players are represented as tokens on a Petri net and are grouped into environment players and system players. As long as the players move in independent parts of the net, they do not know of each other; when they synchronize at a joint transition, each player gets informed of the entire causal history of the other players. We show that the synthesis problem for two-player Petri games under a global safety condition is NP-complete and it can be solved within a non-deterministic exponential upper bound in the case of up to 4 players. Furthermore, we show the undecidability of the synthesis problem for Petri games with at least 6 players under a local safety condition.
Comparative Analysis of Technical and Legal Frameworks of Various National Digial Identity Solutions
Venue: arXiv cs.SE 2023
Year: 2023

National digital identity systems have become a key requirement for easy access to online public services, specially during Covid-19. While many countries have adopted a national digital identity system, many are still in the process of establishing one. Through a comparative analysis of the technological and legal dimensions of a few selected national digital identity solutions currently being used in different countries, we highlight the diversity of technologies and architectures and the key role of the legal framework of a given digital identity solution. We also present several key issues related to the implementation of these solutions, how to ensure the State sovereignty over them, and how to strike the right balance between private sector and public sector needs. This position paper aims to help policy makers, software developers and concerned users understand the challenges of designing, implementing and using a national digital identity management system and establishing a legal framework for digital identity management, including personal data protection measures. The authors of this paper have a favorable position for self-sovereign identity management systems that are based on Blockchain technology, and we believe they are the most suitable for national digital identity systems.
Multi-Sensor Terrestrial SLAM for Real-Time, Large-Scale, and GNSS-Interrupted Forest Mapping
Venue: arXiv cs.RO 2023
Year: 2023

Forests, as critical components of our ecosystem, demand effective monitoring and management. However, conducting real-time forest inventory in large-scale and GNSS-interrupted forest environments has long been a formidable challenge. In this paper, we present a novel solution that leverages robotics and sensor-fusion technologies to overcome these challenges and enable real-time forest inventory with higher accuracy and efficiency. The proposed solution consists of a new SLAM algorithm to create an accurate 3D map of large-scale forest stands with detailed estimation about the number of trees and the corresponding DBH, solely with the consecutive scans of a 3D lidar and an imu. This method utilized a hierarchical unsupervised clustering algorithm to detect the trees and measure the DBH from the lidar point cloud. The algorithm can run simultaneously as the data is being recorded or afterwards on the recorded dataset. Furthermore, due to the proposed fast feature extraction and transform estimation modules, the recorded data can be fed to the SLAM with higher frequency than common SLAM algorithms. The performance of the proposed solution was tested through filed data collection with hand-held sensor platform as well as a mobile forestry robot. The accuracy of the results was also compared to the state-of-the-art SLAM solutions.
Unsupervised Roofline Extraction from True Orthophotos for LoD2 Building Model Reconstruction
Venue: arXiv cs.CV 2023
Year: 2023

This paper discusses the reconstruction of LoD2 building models from 2D and 3D data for large-scale urban environments. Traditional methods involve the use of LiDAR point clouds, but due to high costs and long intervals associated with acquiring such data for rapidly developing areas, researchers have started exploring the use of point clouds generated from (oblique) aerial images. However, using such point clouds for traditional plane detection-based methods can result in significant errors and introduce noise into the reconstructed building models. To address this, this paper presents a method for extracting rooflines from true orthophotos using line detection for the reconstruction of building models at the LoD2 level. The approach is able to extract relatively complete rooflines without the need for pre-labeled training data or pre-trained models. These lines can directly be used in the LoD2 building model reconstruction process. The method is superior to existing plane detection-based methods and state-of-the-art deep learning methods in terms of the accuracy and completeness of the reconstructed building. Our source code is available at https://github.com/tudelft3d/Roofline-extraction-from-orthophotos.
A Novel Approach with Monte-Carlo Simulation and Hybrid Optimization Approach for Inventory Management with Stochastic Demand
Venue: arXiv cs.CE 2023
Year: 2023

This study addresses the difficulties associated with inventory management of products with stochastic demand. The objective is to find the optimal combination of order quantity and reorder point that maximizes profit while considering ethical considerations in inventory management. The ethical considerations are risk assessment, social responsibility, environmental sustainability, and customer satisfaction. Monte Carlo simulation (MCS) is used in this study to generate a distribution of demand and lead times for the inventory items, which is then used to estimate the potential profit and risk associated with different inventory policies. This work proposes a hybrid optimization approach combining Gaussian process regression and conditioning function to efficiently search the high-dimensional space of potential continuous review (r, Q) and periodic review (p, Q) values to find the optimal combination that maximizes profit while considering ethical considerations. The findings show that both the (r, Q) and (p, Q) approaches can effectively manage inventory with stochastic demand, but the (r, Q) approach performs better (profits up by 12.73%) when demand is more volatile. The study adds quantifiable risk assessment and sensitivity analysis to these considerations, considering the variation in demand and expected output in profit percentage. The results provide useful information for making ethical and responsible choices in supply chain analytics, boosting efficiency and profits.
GraphText: Graph Reasoning in Text Space
Venue: arXiv cs.CL 2023
Year: 2023

Large Language Models (LLMs) have gained the ability to assimilate human knowledge and facilitate natural language interactions with both humans and other LLMs. However, despite their impressive achievements, LLMs have not made significant advancements in the realm of graph machine learning. This limitation arises because graphs encapsulate distinct relational data, making it challenging to transform them into natural language that LLMs understand. In this paper, we bridge this gap with a novel framework, GraphText, that translates graphs into natural language. GraphText derives a graph-syntax tree for each graph that encapsulates both the node attributes and inter-node relationships. Traversal of the tree yields a graph text sequence, which is then processed by an LLM to treat graph tasks as text generation tasks. Notably, GraphText offers multiple advantages. It introduces training-free graph reasoning: even without training on graph data, GraphText with ChatGPT can achieve on par with, or even surpassing, the performance of supervised-trained graph neural networks through in-context learning (ICL). Furthermore, GraphText paves the way for interactive graph reasoning, allowing both humans and LLMs to communicate with the model seamlessly using natural language. These capabilities underscore the vast, yet-to-be-explored potential of LLMs in the domain of graph machine learning.
NP$^2$L: Negative Pseudo Partial Labels Extraction for Graph Neural Networks
Venue: arXiv cs.LG 2023
Year: 2023

How to utilize the pseudo labels has always been a research hotspot in machine learning. However, most methods use pseudo labels as supervised training, and lack of valid assessing for their accuracy. Moreover, applications of pseudo labels in graph neural networks (GNNs) oversee the difference between graph learning and other machine learning tasks such as message passing mechanism. Aiming to address the first issue, we found through a large number of experiments that the pseudo labels are more accurate if they are selected by not overlapping partial labels and defined as negative node pairs relations. Therefore, considering the extraction based on pseudo and partial labels, negative edges are constructed between two nodes by the negative pseudo partial labels extraction (NP$^2$E) module. With that, a signed graph are built containing highly accurate pseudo labels information from the original graph, which effectively assists GNN in learning at the message-passing level, provide one solution to the second issue. Empirical results about link prediction and node classification tasks on several benchmark datasets demonstrate the effectiveness of our method. State-of-the-art performance is achieved on the both tasks.
Preliminary Performance Evaluation of a Satellite-to-HAP Communication Link
Venue: arXiv cs.NI 2023
Year: 2023

The emergence of Fifth-Generation (5G) communication networks has brought forth unprecedented connectivity with ultra-low latency, high data rates, and pervasive coverage. However, meeting the increasing demands of applications for seamless and high-quality communication, especially in rural areas, requires exploring innovative solutions that expand 5G beyond traditional terrestrial networks. Within the context of Non-Terrestrial Networks (NTNs), two promising technologies with vast potential are High Altitude Platforms (HAPs) and satellites. The combination of these two platforms is able to provide wide coverage and reliable communication in remote and inaccessible areas, and/or where terrestrial infrastructure is unavailable. This study evaluates the performance of the communication link between a Geostationary Equatorial Orbit (GEO) satellite and a HAP using the Internet of Drones Simulator (IoD-Sim), implemented in ns-3 and incorporating the 3GPP TR 38.811 channel model. The code base of IoD-Sim is extended to simulate HAPs, accounting for the Earths curvature in various geographic coordinate systems, and considering realistic mobility patterns. A simulation campaign is conducted to evaluate the GEO-to-HAP communication link in terms of Signal-to-Noise Ratio (SNR) in two different scenarios, considering the mobility of the HAP, and as a function of the frequency and the distance.
EIP-4844 Economics and Rollup Strategies
Venue: arXiv cs.GT 2023
Year: 2023

We study the economics of the Ethereum improvement proposal 4844 and its effect on rollups' data posting strategies. Rollups' cost consists of two parts: data posting and delay. In the new proposal, the data posting cost corresponds to a blob posting cost and is fixed in each block, no matter how much of the blob is utilized by the rollup. The tradeoff is clear: the rollup prefers to post a full blob, but if its transaction arrival rate is low, filling up a blob space causes too large delay cost. The first result of the paper shows that if a rollup transaction arrival rate is too low, it prefers to use the regular blockspace market for data posting, as it offers a more flexible cost structure. Second, we show that shared blob posting is not always beneficial for participating rollups and change in the aggregate blob posting cost in the equilibrium depends on the types of participating rollups. In the end, we discuss blob cost-sharing rules from an axiomatic angle.
Trust-Aware Motion Planning for Human-Robot Collaboration under Distribution Temporal Logic Specifications
Venue: arXiv cs.RO 2023
Year: 2023

Recent work has considered trust-aware decision making for human-robot collaboration (HRC) with a focus on model learning. In this paper, we are interested in enabling the HRC system to complete complex tasks specified using temporal logic that involve human trust. Since human trust in robots is not observable, we adopt the widely used partially observable Markov decision process (POMDP) framework for modelling the interactions between humans and robots. To specify the desired behaviour, we propose to use syntactically co-safe linear distribution temporal logic (scLDTL), a logic that is defined over predicates of states as well as belief states of partially observable systems. The incorporation of belief predicates in scLDTL enhances its expressiveness while simultaneously introducing added complexity. This also presents a new challenge as the belief predicates must be evaluated over the continuous (infinite) belief space. To address this challenge, we present an algorithm for solving the optimal policy synthesis problem. First, we enhance the belief MDP (derived by reformulating the POMDP) with a probabilistic labelling function. Then a product belief MDP is constructed between the probabilistically labelled belief MDP and the automaton translation of the scLDTL formula. Finally, we show that the optimal policy can be obtained by leveraging existing point-based value iteration algorithms with essential modifications. Human subject experiments with 21 participants on a driving simulator demonstrate the effectiveness of the proposed approach.
Vehicle Fuel Consumption Virtual Sensing from GNSS and IMU Measurements
Venue: arXiv cs.RO 2023
Year: 2023

This paper presents a vehicle-independent, non-intrusive, and light monitoring system for accurately measuring fuel consumption in road vehicles from longitudinal speed and acceleration derived continuously in time from GNSS and IMU sensors mounted inside the vehicle. In parallel to boosting the transition to zero-carbon cars, there is an increasing interest in low-cost instruments for precise measurement of the environmental impact of the many internal combustion engine vehicles still in circulation. The main contribution of this work is the design and comparison of two innovative black-box algorithms, one based on a reduced complexity physics modeling while the other relying on a feedforward neural network for black-box fuel consumption estimation using only velocity and acceleration measurements. Based on suitable metrics, the developed algorithms outperform the state of the art best approach, both in the instantaneous and in the integral fuel consumption estimation, with errors smaller than 1\% with respect to the fuel flow ground truth. The data used for model identification, testing, and experimental validation is composed of GNSS velocity and IMU acceleration measurements collected during several trips using a diesel fuel vehicle on different roads, in different seasons, and with varying numbers of passengers. Compared to built-in vehicle monitoring systems, this methodology is not customized, uses off-the-shelf sensors, and is based on two simple algorithms that have been validated offline and could be easily implemented in a real-time environment.
Generating 3D Brain Tumor Regions in MRI using Vector-Quantization Generative Adversarial Networks
Venue: arXiv cs.CV 2023
Year: 2023

Medical image analysis has significantly benefited from advancements in deep learning, particularly in the application of Generative Adversarial Networks (GANs) for generating realistic and diverse images that can augment training datasets. However, the effectiveness of such approaches is often limited by the amount of available data in clinical settings. Additionally, the common GAN-based approach is to generate entire image volumes, rather than solely the region of interest (ROI). Research on deep learning-based brain tumor classification using MRI has shown that it is easier to classify the tumor ROIs compared to the entire image volumes. In this work, we present a novel framework that uses vector-quantization GAN and a transformer incorporating masked token modeling to generate high-resolution and diverse 3D brain tumor ROIs that can be directly used as augmented data for the classification of brain tumor ROI. We apply our method to two imbalanced datasets where we augment the minority class: (1) the Multimodal Brain Tumor Segmentation Challenge (BraTS) 2019 dataset to generate new low-grade glioma (LGG) ROIs to balance with high-grade glioma (HGG) class; (2) the internal pediatric LGG (pLGG) dataset tumor ROIs with BRAF V600E Mutation genetic marker to balance with BRAF Fusion genetic marker class. We show that the proposed method outperforms various baseline models in both qualitative and quantitative measurements. The generated data was used to balance the data in the brain tumor types classification task. Using the augmented data, our approach surpasses baseline models by 6.4% in AUC on the BraTS 2019 dataset and 4.3% in AUC on our internal pLGG dataset. The results indicate the generated tumor ROIs can effectively address the imbalanced data problem. Our proposed method has the potential to facilitate an accurate diagnosis of rare brain tumors using MRI scans.