OpenRaiser/Intern-Atlas huggingface dataset:
SuperYOLO: Super Resolution Assisted Object Detection in Multimodal Remote Sensing Imagery
Venue: arXiv cs.CV 2023
Year: 2023

Accurately and timely detecting multiscale small objects that contain tens of pixels from remote sensing images (RSI) remains challenging. Most of the existing solutions primarily design complex deep neural networks to learn strong feature representations for objects separated from the background, which often results in a heavy computation burden. In this article, we propose an accurate yet fast object detection method for RSI, named SuperYOLO, which fuses multimodal data and performs high-resolution (HR) object detection on multiscale objects by utilizing the assisted super resolution (SR) learning and considering both the detection accuracy and computation cost. First, we utilize a symmetric compact multimodal fusion (MF) to extract supplementary information from various data for improving small object detection in RSI. Furthermore, we design a simple and flexible SR branch to learn HR feature representations that can discriminate small objects from vast backgrounds with low-resolution (LR) input, thus further improving the detection accuracy. Moreover, to avoid introducing additional computation, the SR branch is discarded in the inference stage, and the computation of the network model is reduced due to the LR input. Experimental results show that, on the widely used VEDAI RS dataset, SuperYOLO achieves an accuracy of 75.09% (in terms of mAP50 ), which is more than 10% higher than the SOTA large models, such as YOLOv5l, YOLOv5x, and RS designed YOLOrs. Meanwhile, the parameter size and GFLOPs of SuperYOLO are about 18 times and 3.8 times less than YOLOv5x. Our proposed model shows a favorable accuracy and speed tradeoff compared to the state-of-the-art models. The code will be open-sourced at https://github.com/icey-zhang/SuperYOLO.
Falsification before Extrapolation in Causal Effect Estimation
Venue: arXiv cs.LG 2023
Year: 2023

Randomized Controlled Trials (RCTs) represent a gold standard when developing policy guidelines. However, RCTs are often narrow, and lack data on broader populations of interest. Causal effects in these populations are often estimated using observational datasets, which may suffer from unobserved confounding and selection bias. Given a set of observational estimates (e.g. from multiple studies), we propose a meta-algorithm that attempts to reject observational estimates that are biased. We do so using validation effects, causal effects that can be inferred from both RCT and observational data. After rejecting estimators that do not pass this test, we generate conservative confidence intervals on the extrapolated causal effects for subgroups not observed in the RCT. Under the assumption that at least one observational estimator is asymptotically normal and consistent for both the validation and extrapolated effects, we provide guarantees on the coverage probability of the intervals output by our algorithm. To facilitate hypothesis testing in settings where causal effect transportation across datasets is necessary, we give conditions under which a doubly-robust estimator of group average treatment effects is asymptotically normal, even when flexible machine learning methods are used for estimation of nuisance parameters. We illustrate the properties of our approach on semi-synthetic and real world datasets, and show that it compares favorably to standard meta-analysis techniques.
Online Multi Camera-IMU Calibration
Venue: arXiv cs.RO 2023
Year: 2023

Visual-inertial navigation systems are powerful in their ability to accurately estimate localization of mobile systems within complex environments that preclude the use of global navigation satellite systems. However, these navigation systems are reliant on accurate and up-to-date temporospatial calibrations of the sensors being used. As such, online estimators for these parameters are useful in resilient systems. This paper presents an extension to existing Kalman Filter based frameworks for estimating and calibrating the extrinsic parameters of multi-camera IMU systems. In addition to extending the filter framework to include multiple camera sensors, the measurement model was reformulated to make use of measurement data that is typically made available in fiducial detection software. A secondary filter layer was used to estimate time translation parameters without closed-loop feedback of sensor data. Experimental calibration results, including the use of cameras with non-overlapping fields of view, were used to validate the stability and accuracy of the filter formulation when compared to offline methods. Finally the generalized filter code has been open-sourced and is available online.
InFi: End-to-End Learning to Filter Input for Resource-Efficiency in Mobile-Centric Inference
Venue: arXiv cs.AI 2023
Year: 2023

Mobile-centric AI applications have high requirements for resource-efficiency of model inference. Input filtering is a promising approach to eliminate the redundancy so as to reduce the cost of inference. Previous efforts have tailored effective solutions for many applications, but left two essential questions unanswered: (1) theoretical filterability of an inference workload to guide the application of input filtering techniques, thereby avoiding the trial-and-error cost for resource-constrained mobile applications; (2) robust discriminability of feature embedding to allow input filtering to be widely effective for diverse inference tasks and input content. To answer them, we first formalize the input filtering problem and theoretically compare the hypothesis complexity of inference models and input filters to understand the optimization potential. Then we propose the first end-to-end learnable input filtering framework that covers most state-of-the-art methods and surpasses them in feature embedding with robust discriminability. We design and implement InFi that supports six input modalities and multiple mobile-centric deployments. Comprehensive evaluations confirm our theoretical results and show that InFi outperforms strong baselines in applicability, accuracy, and efficiency. InFi achieve 8.5x throughput and save 95% bandwidth, while keeping over 90% accuracy, for a video analytics application on mobile platforms.
3D Neural Sculpting (3DNS): Editing Neural Signed Distance Functions
Venue: arXiv cs.GR 2023
Year: 2023

In recent years, implicit surface representations through neural networks that encode the signed distance have gained popularity and have achieved state-of-the-art results in various tasks (e.g. shape representation, shape reconstruction, and learning shape priors). However, in contrast to conventional shape representations such as polygon meshes, the implicit representations cannot be easily edited and existing works that attempt to address this problem are extremely limited. In this work, we propose the first method for efficient interactive editing of signed distance functions expressed through neural networks, allowing free-form editing. Inspired by 3D sculpting software for meshes, we use a brush-based framework that is intuitive and can in the future be used by sculptors and digital artists. In order to localize the desired surface deformations, we regulate the network by using a copy of it to sample the previously expressed surface. We introduce a novel framework for simulating sculpting-style surface edits, in conjunction with interactive surface sampling and efficient adaptation of network weights. We qualitatively and quantitatively evaluate our method in various different 3D objects and under many different edits. The reported results clearly show that our method yields high accuracy, in terms of achieving the desired edits, while at the same time preserving the geometry outside the interaction areas.
MeWEHV: Mel and Wave Embeddings for Human Voice Tasks
Venue: arXiv cs.SD 2023
Year: 2023

A recent trend in speech processing is the use of embeddings created through machine learning models trained on a specific task with large datasets. By leveraging the knowledge already acquired, these models can be reused in new tasks where the amount of available data is small. This paper proposes a pipeline to create a new model, called Mel and Wave Embeddings for Human Voice Tasks (MeWEHV), capable of generating robust embeddings for speech processing. MeWEHV combines the embeddings generated by a pre-trained raw audio waveform encoder model, and deep features extracted from Mel Frequency Cepstral Coefficients (MFCCs) using Convolutional Neural Networks (CNNs). We evaluate the performance of MeWEHV on three tasks: speaker, language, and accent identification. For the first one, we use the VoxCeleb1 dataset and present YouSpeakers204, a new and publicly available dataset for English speaker identification that contains 19607 audio clips from 204 persons speaking in six different accents, allowing other researchers to work with a very balanced dataset, and to create new models that are robust to multiple accents. For evaluating the language identification task, we use the VoxForge and Common Language datasets. Finally, for accent identification, we use the Latin American Spanish Corpora (LASC) and Common Voice datasets. Our approach allows a significant increase in the performance of state-of-the-art models on all the tested datasets, with a low additional computational cost.
Adaptive Out-Orientations with Applications
Venue: arXiv cs.DS 2023
Year: 2023

We give improved algorithms for maintaining edge-orientations of a fully-dynamic graph, such that the out-degree of each vertex is bounded. On one hand, we show how to orient the edges such that the out-degree of each vertex is proportional to the arboricity $α$ of the graph, in a worst-case update time of $O(\log^3 n \log α)$. On the other hand, motivated by applications including dynamic maximal matching, we obtain a different trade-off, namely the improved worst case update time of $O(\log ^2 n \log α)$ for the problem of maintaining an edge-orientation with at most $O(α+ \log n)$ out-edges per vertex. Since our algorithms have update times with worst-case guarantees, the number of changes to the solution (i.e. the recourse) is naturally limited. Our algorithms adapt to the current arboricity of the graph, and yield improvements over previous work: Firstly, we obtain an $O(\varepsilon^{-6}\log^3 n \log ρ)$ worst-case update time algorithm for maintaining a $(1+\varepsilon)$ approximation of the maximum subgraph density, $ρ$. Secondly, we obtain an $O(\varepsilon^{-6}\log^3 n \log α)$ worst-case update time algorithm for maintaining a $(1 + \varepsilon) \cdot OPT + 2$ approximation of the optimal out-orientation of a graph with adaptive arboricity $α$. This yields the first worst-case polylogarithmic dynamic algorithm for decomposing into $O(α)$ forests.Thirdly, we obtain arboricity-adaptive fully-dynamic deterministic algorithms for a variety, of problems including maximal matching, $Δ+1$ coloring, and matrix vector multiplication. All update times are worst-case $O(α+\log^2n \log α)$, where $α$ is the current arboricity of the graph.
UTC Time, Formally Verified
Venue: arXiv cs.SE 2023
Year: 2023

FV Time is a small-scale verification project developed in the Coq proof assistant using the Mathematical Components libraries. It is a library for managing conversions between time formats (UTC and timestamps), as well as commonly used functions for time arithmetic. As a library for time conversions, its novelty is the implementation of leap seconds, which are part of the UTC standard but usually not implemented in existing libraries. Since the verified functions of FV Time are reasonably simple yet non-trivial, it nicely illustrates our methodology for verifying software with Coq. In this paper we present a description of the project, emphasizing the main problems faced while developing the library, as well as some general-purpose solutions that were produced as by-products and may be used in other verification projects. These include a refinement package between proof-oriented MathComp numbers and computation-oriented primitive numbers from the Coq standard library, as well as a set of tactics to automatically prove certain decidable statements over finite ranges through brute-force computation.
Machine Learning for Optical Motion Capture-driven Musculoskeletal Modelling from Inertial Motion Capture Data
Venue: arXiv cs.LG 2023
Year: 2023

Marker-based Optical Motion Capture (OMC) systems and associated musculoskeletal (MSK) modelling predictions offer non-invasively obtainable insights into in vivo joint and muscle loading, aiding clinical decision-making. However, an OMC system is lab-based, expensive, and requires a line of sight. Inertial Motion Capture (IMC) systems are widely-used alternatives, which are portable, user-friendly, and relatively low-cost, although with lesser accuracy. Irrespective of the choice of motion capture technique, one needs to use an MSK model to obtain the kinematic and kinetic outputs, which is a computationally expensive tool increasingly well approximated by machine learning (ML) methods. Here, we present an ML approach to map experimentally recorded IMC data to the human upper-extremity MSK model outputs computed from ('gold standard') OMC input data. Essentially, we aim to predict higher-quality MSK outputs from the much easier-to-obtain IMC data. We use OMC and IMC data simultaneously collected for the same subjects to train different ML architectures that predict OMC-driven MSK outputs from IMC measurements. In particular, we employed various neural network (NN) architectures, such as Feed-Forward Neural Networks (FFNNs) and Recurrent Neural Networks (RNNs) (vanilla, Long Short-Term Memory, and Gated Recurrent Unit) and searched for the best-fit model through an exhaustive search in the hyperparameters space in both subject-exposed (SE) & subject-naive (SN) settings. We observed a comparable performance for both FFNN & RNN models, which have a high degree of agreement (ravg, SE, FFNN = 0.90+/-0.19, ravg, SE, RNN = 0.89+/-0.17, ravg, SN, FFNN = 0.84+/-0.23, & ravg, SN, RNN = 0.78+/-0.23) with the desired OMC-driven MSK estimates for held-out test data. Mapping IMC inputs to OMC-driven MSK outputs using ML models could be instrumental in transitioning MSK modelling from 'lab to field'.
What Can Cryptography Do For Decentralized Mechanism Design
Venue: arXiv cs.GT 2023
Year: 2023

Recent works of Roughgarden (EC'21) and Chung and Shi (SODA'23) initiate the study of a new decentralized mechanism design problem called transaction fee mechanism design (TFM). Unlike the classical mechanism design literature, in the decentralized environment, even the auctioneer (i.e., the miner) can be a strategic player, and it can even collude with a subset of the users facilitated by binding side contracts. Chung and Shi showed two main impossibility results that rule out the existence of a {\it dream} TFM. First, any TFM that provides incentive compatibility for individual users and miner-user coalitions must always have zero miner revenue, no matter whether the block size is finite or infinite. Second, assuming finite block size, no non-trivial TFM can simultaenously provide incentive compatibility for any individual user, and for any miner-user coalition. In this work, we explore what new models and meaningful relaxations can allow us to circumvent the impossibility results of Chung and Shi. Besides today's model that does not employ cryptography, we introduce a new MPC-assisted model where the TFM is implemented by a joint multi-party computation (MPC) protocol among the miners. We prove several feasibility and infeasibility results for achieving {\it strict} and {\it approximate} incentive compatibility, respectively, in the plain model as well as the MPC-assisted model. We show that while cryptography is not a panacea, it indeed allows us to overcome some impossibility results pertaining to the plain model, leading to non-trivial mechanisms with useful guarantees that are otherwise impossible in the plain model. Our work is also the first to characterize the mathematical landscape of transaction fee mechanism design under approximate incentive compatibility, as well as in a cryptography-assisted model.
SymmNeRF: Learning to Explore Symmetry Prior for Single-View View Synthesis
Venue: arXiv cs.CV 2023
Year: 2023

We study the problem of novel view synthesis of objects from a single image. Existing methods have demonstrated the potential in single-view view synthesis. However, they still fail to recover the fine appearance details, especially in self-occluded areas. This is because a single view only provides limited information. We observe that manmade objects usually exhibit symmetric appearances, which introduce additional prior knowledge. Motivated by this, we investigate the potential performance gains of explicitly embedding symmetry into the scene representation. In this paper, we propose SymmNeRF, a neural radiance field (NeRF) based framework that combines local and global conditioning under the introduction of symmetry priors. In particular, SymmNeRF takes the pixel-aligned image features and the corresponding symmetric features as extra inputs to the NeRF, whose parameters are generated by a hypernetwork. As the parameters are conditioned on the image-encoded latent codes, SymmNeRF is thus scene-independent and can generalize to new scenes. Experiments on synthetic and real-world datasets show that SymmNeRF synthesizes novel views with more details regardless of the pose transformation, and demonstrates good generalization when applied to unseen objects. Code is available at: https://github.com/xingyi-li/SymmNeRF.
A Benchmark Comparison of Imitation Learning-based Control Policies for Autonomous Racing
Venue: arXiv cs.RO 2023
Year: 2023

Autonomous racing with scaled race cars has gained increasing attention as an effective approach for developing perception, planning and control algorithms for safe autonomous driving at the limits of the vehicle's handling. To train agile control policies for autonomous racing, learning-based approaches largely utilize reinforcement learning, albeit with mixed results. In this study, we benchmark a variety of imitation learning policies for racing vehicles that are applied directly or for bootstrapping reinforcement learning both in simulation and on scaled real-world environments. We show that interactive imitation learning techniques outperform traditional imitation learning methods and can greatly improve the performance of reinforcement learning policies by bootstrapping thanks to its better sample efficiency. Our benchmarks provide a foundation for future research on autonomous racing using Imitation Learning and Reinforcement Learning.
Leveraging Probabilistic Switching in Superparamagnets for Temporal Information Encoding in Neuromorphic Systems
Venue: arXiv cs.ET 2023
Year: 2023

Brain-inspired computing - leveraging neuroscientific principles underpinning the unparalleled efficiency of the brain in solving cognitive tasks - is emerging to be a promising pathway to solve several algorithmic and computational challenges faced by deep learning today. Nonetheless, current research in neuromorphic computing is driven by our well-developed notions of running deep learning algorithms on computing platforms that perform deterministic operations. In this article, we argue that taking a different route of performing temporal information encoding in probabilistic neuromorphic systems may help solve some of the current challenges in the field. The article considers superparamagnetic tunnel junctions as a potential pathway to enable a new generation of brain-inspired computing that combines the facets and associated advantages of two complementary insights from computational neuroscience -- how information is encoded and how computing occurs in the brain. Hardware-algorithm co-design analysis demonstrates $97.41\%$ accuracy of a state-compressed 3-layer spintronics enabled stochastic spiking network on the MNIST dataset with high spiking sparsity due to temporal information encoding.
The Replicator Dynamic, Chain Components and the Response Graph
Venue: arXiv cs.GT 2023
Year: 2023

In this paper we examine the relationship between the flow of the replicator dynamic, the continuum limit of Multiplicative Weights Update, and a game's response graph. We settle an open problem establishing that under the replicator, sink chain components -- a topological notion of long-run outcome of a dynamical system -- always exist and are approximated by the sink connected components of the game's response graph. More specifically, each sink chain component contains a sink connected component of the response graph, as well as all mixed strategy profiles whose support consists of pure profiles in the same connected component, a set we call the content of the connected component. As a corollary, all profiles are chain recurrent in games with strongly connected response graphs. In any two-player game sharing a response graph with a zero-sum game, the sink chain component is unique. In two-player zero-sum and potential games the sink chain components and sink connected components are in a one-to-one correspondence, and we conjecture that this holds in all games.
Augmentation Invariant Discrete Representation for Generative Spoken Language Modeling
Venue: arXiv cs.CL 2023
Year: 2023

Generative Spoken Language Modeling research focuses on optimizing speech Language Models (LMs) using raw audio recordings without accessing any textual supervision. Such speech LMs usually operate over discrete units obtained from quantizing internal representations of self-supervised models. Although such units show impressive modeling results, their robustness capabilities have not been extensively investigated. This work focuses on improving the robustness of discrete input representations for generative spoken language modeling. First, we formally define how to measure the robustness of such representations to various signal variations that do not alter the spoken information (e.g., time-stretch). Next, we empirically demonstrate how current state-of-the-art representation models lack robustness to such variations. To overcome this, we propose an effective and efficient method to learn robust discrete speech representation for generative spoken language modeling. The proposed approach is based on applying a set of signal transformations to the speech signal and optimizing the model using an iterative pseudo-labeling scheme. Our method significantly improves over the evaluated baselines when considering encoding and modeling metrics. We additionally evaluate our method on the speech-to-speech translation task, considering Spanish-English and French-English translations, and show the proposed approach outperforms the evaluated baselines.
F-VLM: Open-Vocabulary Object Detection upon Frozen Vision and Language Models
Venue: arXiv cs.CV 2023
Year: 2023

We present F-VLM, a simple open-vocabulary object detection method built upon Frozen Vision and Language Models. F-VLM simplifies the current multi-stage training pipeline by eliminating the need for knowledge distillation or detection-tailored pretraining. Surprisingly, we observe that a frozen VLM: 1) retains the locality-sensitive features necessary for detection, and 2) is a strong region classifier. We finetune only the detector head and combine the detector and VLM outputs for each region at inference time. F-VLM shows compelling scaling behavior and achieves +6.5 mask AP improvement over the previous state of the art on novel categories of LVIS open-vocabulary detection benchmark. In addition, we demonstrate very competitive results on COCO open-vocabulary detection benchmark and cross-dataset transfer detection, in addition to significant training speed-up and compute savings. Code will be released at the https://sites.google.com/view/f-vlm/home