OpenRaiser/Intern-Atlas huggingface dataset:
Over-the-Air Federated Learning via Second-Order Optimization
Venue: arXiv cs.IT 2022
Year: 2022

Federated learning (FL) is a promising learning paradigm that can tackle the increasingly prominent isolated data islands problem while keeping users' data locally with privacy and security guarantees. However, FL could result in task-oriented data traffic flows over wireless networks with limited radio resources. To design communication-efficient FL, most of the existing studies employ the first-order federated optimization approach that has a slow convergence rate. This however results in excessive communication rounds for local model updates between the edge devices and edge server. To address this issue, in this paper, we instead propose a novel over-the-air second-order federated optimization algorithm to simultaneously reduce the communication rounds and enable low-latency global model aggregation. This is achieved by exploiting the waveform superposition property of a multi-access channel to implement the distributed second-order optimization algorithm over wireless networks. The convergence behavior of the proposed algorithm is further characterized, which reveals a linear-quadratic convergence rate with an accumulative error term in each iteration. We thus propose a system optimization approach to minimize the accumulated error gap by joint device selection and beamforming design. Numerical results demonstrate the system and communication efficiency compared with the state-of-the-art approaches.
Fruit Mapping with Shape Completion for Autonomous Crop Monitoring
Venue: arXiv cs.RO 2022
Year: 2022

Autonomous crop monitoring is a difficult task due to the complex structure of plants. Occlusions from leaves can make it impossible to obtain complete views about all fruits of, e.g., pepper plants. Therefore, accurately estimating the shape and volume of fruits from partial information is crucial to enable further advanced automation tasks such as yield estimation and automated fruit picking. In this paper, we present an approach for mapping fruits on plants and estimating their shape by matching superellipsoids. Our system segments fruits in images and uses their masks to generate point clouds of the fruits. To combine sequences of acquired point clouds, we utilize a real-time 3D mapping framework and build up a fruit map based on truncated signed distance fields. We cluster fruits from this map and use optimized superellipsoids for matching to obtain accurate shape estimates. In our experiments, we show in various simulated scenarios with a robotic arm equipped with an RGB-D camera that our approach can accurately estimate fruit volumes. Additionally, we provide qualitative results of estimated fruit shapes from data recorded in a commercial glasshouse environment.
Comparing the Manipulability of Approval Voting and Borda
Venue: arXiv cs.GT 2022
Year: 2022

The Gibbard-Satterthwaite theorem established that no non-trivial voting rule is strategy-proof, but that does not mean that all voting rules are equally susceptible to strategic manipulation. Over the past fifty years numerous approaches have been proposed to compare the manipulability of voting rules in terms of the probability of manipulation, the domains on which manipulation is possible, the complexity of finding such a manipulation, and others. In the closely related field of matching, Pathak and Sonmez pioneered a notion of manipulability based on case-by-case comparison of manipulable profiles. The advantage of this approach is that it is independent of the underlying statistical culture or the computational power of the agents, and it has proven fruitful in the matching literature. In this paper, we extend the notion of Pathak and Sonmez to voting, studying the families of $k$-approval and truncated Borda scoring rules. We find that, with one exception, the notion does not allow for a meaningful ordering of the manipulability of these rules.
Analysis of OODA Loop based on Adversarial for Complex Game Environments
Venue: arXiv cs.AI 2022
Year: 2022

To address the problem of imperfect confrontation strategy caused by the lack of information of game environment in the simulation of non-complete information dynamic countermeasure modeling for intelligent game, the hierarchical analysis game strategy of confrontation model based on OODA ring (Observation, Orientation, Decision, Action) theory is proposed. At the same time, taking into account the trend of unmanned future warfare, NetLogo software simulation is used to construct a dynamic derivation of the confrontation between two tanks. In the validation process, the OODA loop theory is used to describe the operation process of the complex system between red and blue sides, and the four-step cycle of observation, judgment, decision and execution is carried out according to the number of armor of both sides, and then the OODA loop system adjusts the judgment and decision time coefficients for the next confrontation cycle according to the results of the first cycle. Compared with traditional simulation methods that consider objective factors such as loss rate and support rate, the OODA-loop-based hierarchical game analysis can analyze the confrontation situation more comprehensively.
Human Response to an AI-Based Decision Support System: A User Study on the Effects of Accuracy and Bias
Venue: arXiv cs.AI 2022
Year: 2022

Artificial Intelligence (AI) is increasingly used to build Decision Support Systems (DSS) across many domains. This paper describes a series of experiments designed to observe human response to different characteristics of a DSS such as accuracy and bias, particularly the extent to which participants rely on the DSS, and the performance they achieve. In our experiments, participants play a simple online game inspired by so-called "wildcat" (i.e., exploratory) drilling for oil. The landscape has two layers: a visible layer describing the costs (terrain), and a hidden layer describing the reward (oil yield). Participants in the control group play the game without receiving any assistance, while in treatment groups they are assisted by a DSS suggesting places to drill. For certain treatments, the DSS does not consider costs, but only rewards, which introduces a bias that is observable by users. Between subjects, we vary the accuracy and bias of the DSS, and observe the participants' total score, time to completion, the extent to which they follow or ignore suggestions. We also measure the acceptability of the DSS in an exit survey. Our results show that participants tend to score better with the DSS, that the score increase is due to users following the DSS advice, and related to the difficulty of the game and the accuracy of the DSS. We observe that this setting elicits mostly rational behavior from participants, who place a moderate amount of trust in the DSS and show neither algorithmic aversion (under-reliance) nor automation bias (over-reliance).However, their stated willingness to accept the DSS in the exit survey seems less sensitive to the accuracy of the DSS than their behavior, suggesting that users are only partially aware of the (lack of) accuracy of the DSS.
Game-theoretical trajectory planning enhances social acceptability for humans
Venue: arXiv cs.RO 2022
Year: 2022

Since humans and robots are increasingly sharing portions of their operational spaces, experimental evidence is needed to ascertain the safety and social acceptability of robots in human-populated environments. Although several studies have aimed at devising strategies for robot trajectory planning to perform \emph{safe} motion in populated environments, a few efforts have \emph{measured} to what extent a robot trajectory is \emph{accepted} by humans. Here, we present a navigation system for autonomous robotics that ensures safety and social acceptability of robotic trajectories. We overcome the typical reactive nature of state-of-the-art trajectory planners by leveraging non-cooperative game theory to design a planner that encapsulates human-like features of preservation of a vital space, recognition of groups, sequential and strategized decision making, and smooth obstacle avoidance. Social acceptability is measured through a variation of the Turing test administered in the form of a survey questionnaire to a pool of 691 participants. Comparison terms for our tests are a state-of-the-art navigation algorithm (Enhanced Vector Field Histogram, VFH) and purely human trajectories. While all participants easily recognized the non-human nature of VFH-generated trajectories, the distinction between game-theoretical trajectories and human ones were hardly revealed. These results mark a strong milestone toward the full integration of robots in social environments.
Near-Field Hierarchical Beam Management for RIS-Enabled Millimeter Wave Multi-Antenna Systems
Venue: arXiv cs.IT 2022
Year: 2022

In this paper, we present a low overhead beam management approach for near-field millimeter-wave multi-antenna communication systems enabled by Reconfigurable Intelligent Surfaces (RISs). We devise a novel variable-width hierarchical phaseshift codebook suitable for both the near- and far-field of the RIS, and present a fast alignment algorithm for the RIS phase shifts and the transceiver beamformers. Indicative performance evaluation results are shown, verifying the effectiveness of the proposed approach in comparison with various benchmark schemes.
Sparse Pose Graph Optimization in Cycle Space
Venue: arXiv cs.RO 2022
Year: 2022

The state-of-the-art modern pose-graph optimization (PGO) systems are vertex based. In this context the number of variables might be high, albeit the number of cycles in the graph (loop closures) is relatively low. For sparse problems particularly, the cycle space has a significantly smaller dimension than the number of vertices. By exploiting this observation, in this paper we propose an alternative solution to PGO, that directly exploits the cycle space. We characterize the topology of the graph as a cycle matrix, and re-parameterize the problem using relative poses, which are further constrained by a cycle basis of the graph. We show that by using a minimum cycle basis, the cycle-based approach has superior convergence properties against its vertex-based counterpart, in terms of convergence speed and convergence to the global minimum. For sparse graphs, our cycle-based approach is also more time efficient than the vertex-based. As an additional contribution of this work we present an effective algorithm to compute the minimum cycle basis. Albeit known in computer science, we believe that this algorithm is not familiar to the robotics community. All the claims are validated by experiments on both standard benchmarks and simulated datasets. To foster the reproduction of the results, we provide a complete open-source C++ implementation (Code: \url{https://bitbucket.org/FangBai/cycleBasedPGO) of our approach.
Locality Matters: A Locality-Biased Linear Attention for Automatic Speech Recognition
Venue: arXiv cs.SD 2022
Year: 2022

Conformer has shown a great success in automatic speech recognition (ASR) on many public benchmarks. One of its crucial drawbacks is the quadratic time-space complexity with respect to the input sequence length, which prohibits the model to scale-up as well as process longer input audio sequences. To solve this issue, numerous linear attention methods have been proposed. However, these methods often have limited performance on ASR as they treat tokens equally in modeling, neglecting the fact that the neighbouring tokens are often more connected than the distanced tokens. In this paper, we take this fact into account and propose a new locality-biased linear attention for Conformer. It not only achieves higher accuracy than the vanilla Conformer, but also enjoys linear space-time computational complexity. To be specific, we replace the softmax attention with a locality-biased linear attention (LBLA) mechanism in Conformer blocks. The LBLA contains a kernel function to ensure the linear complexities and a cosine reweighing matrix to impose more weights on neighbouring tokens. Extensive experiments on the LibriSpeech corpus show that by introducing this locality bias to the Conformer, our method achieves a lower word error rate with more than 22% inference speed.
Three-Dimensional Spectrum Occupancy Measurement using UAV: Performance Analysis and Algorithm Design
Venue: arXiv cs.RO 2022
Year: 2022

Spectrum sharing, as an approach to significantly improve spectrum efficiency in the era of 6th generation mobile networks (6G), has attracted extensive attention. Radio Environment Map (REM) based low-complexity spectrum sharing is widely studied where the spectrum occupancy measurement (SOM) is vital to construct REM. The SOM in three-dimensional (3D) space is becoming increasingly essential to support the spectrum sharing with space-air-ground integrated network being a great momentum of 6G. In this paper, we analyze the performance of 3D SOM to further study the tradeoff between accuracy and efficiency in 3D SOM. We discover that the error of 3D SOM is related with the area of the boundary surfaces of licensed networks, the number of discretized cubes, and the length of the edge of 3D space. Moreover, we design a fast and accurate 3D SOM algorithm that utilizes unmanned aerial vehicle (UAV) to measure the spectrum occupancy considering the path planning of UAV, which improves the measurement efficiency by requiring less measurement time and flight time of the UAV for satisfactory performance. The theoretical results obtained in this paper reveal the essential dependencies that describe the 3D SOM methodology, and the proposed algorithm is beneficial to improve the efficiency of 3D SOM. It is noted that the theoretical results and algorithm in this paper may provide a guideline for more areas such as spectrum monitoring, spectrum measurement, network measurement, planning, etc.
Dynamic Latency for CTC-Based Streaming Automatic Speech Recognition With Emformer
Venue: arXiv cs.SD 2022
Year: 2022

An inferior performance of the streaming automatic speech recognition models versus non-streaming model is frequently seen due to the absence of future context. In order to improve the performance of the streaming model and reduce the computational complexity, a frame-level model using efficient augment memory transformer block and dynamic latency training method is employed for streaming automatic speech recognition in this paper. The long-range history context is stored into the augment memory bank as a complement to the limited history context used in the encoder. Key and value are cached by a cache mechanism and reused for next chunk to reduce computation. Afterwards, a dynamic latency training method is proposed to obtain better performance and support low and high latency inference simultaneously. Our experiments are conducted on benchmark 960h LibriSpeech data set. With an average latency of 640ms, our model achieves a relative WER reduction of 6.0% on test-clean and 3.0% on test-other versus the truncate chunk-wise Transformer.
Exploring Body Texture from mmW Images for Person Recognition
Venue: arXiv cs.CV 2022
Year: 2022

Imaging using millimeter waves (mmWs) has many advantages including the ability to penetrate obscurants such as clothes and polymers. After having explored shape information retrieved from mmW images for person recognition, in this work we aim to gain some insight about the potential of using mmW texture information for the same task, considering not only the mmW face, but also mmW torso and mmW wholebody. We report experimental results using the mmW TNO database consisting of 50 individuals based on both hand-crafted and learned features from Alexnet and VGG-face pretrained Convolutional Neural Networks (CNN) models. First, we analyze the individual performance of three mmW body parts, concluding that: i) mmW torso region is more discriminative than mmW face and the whole body, ii) CNN features produce better results compared to hand-crafted features on mmW faces and the entire body, and iii) hand-crafted features slightly outperform CNN features on mmW torso. In the second part of this work, we analyze different multi-algorithmic and multi-modal techniques, including a novel CNN-based fusion technique, improving verification results to 2% EER and identification rank-1 results up to 99%. Comparative analyses with mmW body shape information and face recognition in the visible and NIR spectral bands are also reported.
Classification of Hyperspectral Images Using SVM with Shape-adaptive Reconstruction and Smoothed Total Variation
Venue: arXiv cs.CV 2022
Year: 2022

In this work, a novel algorithm called SVM with Shape-adaptive Reconstruction and Smoothed Total Variation (SaR-SVM-STV) is introduced to classify hyperspectral images, which makes full use of spatial and spectral information. The Shape-adaptive Reconstruction (SaR) is introduced to preprocess each pixel based on the Pearson Correlation between pixels in its shape-adaptive (SA) region. Support Vector Machines (SVMs) are trained to estimate the pixel-wise probability maps of each class. Then the Smoothed Total Variation (STV) model is applied to denoise and generate the final classification map. Experiments show that SaR-SVM-STV outperforms the SVM-STV method with a few training labels, demonstrating the significance of reconstructing hyperspectral images before classification.
Synthesis and Execution of Communicative Robotic Movements with Generative Adversarial Networks
Venue: arXiv cs.RO 2022
Year: 2022

Object manipulation is a natural activity we perform every day. How humans handle objects can communicate not only the willfulness of the acting, or key aspects of the context where we operate, but also the properties of the objects involved, without any need for explicit verbal description. Since human intelligence comprises the ability to read the context, allowing robots to perform actions that intuitively convey this kind of information would greatly facilitate collaboration. In this work, we focus on how to transfer on two different robotic platforms the same kinematics modulation that humans adopt when manipulating delicate objects, aiming to endow robots with the capability to show carefulness in their movements. We choose to modulate the velocity profile adopted by the robots' end-effector, inspired by what humans do when transporting objects with different characteristics. We exploit a novel Generative Adversarial Network architecture, trained with human kinematics examples, to generalize over them and generate new and meaningful velocity profiles, either associated with careful or not careful attitudes. This approach would allow next generation robots to select the most appropriate style of movement, depending on the perceived context, and autonomously generate their motor action execution.
Contrasting the landscape of contrastive and non-contrastive learning
Venue: arXiv cs.LG 2022
Year: 2022

A lot of recent advances in unsupervised feature learning are based on designing features which are invariant under semantic data augmentations. A common way to do this is contrastive learning, which uses positive and negative samples. Some recent works however have shown promising results for non-contrastive learning, which does not require negative samples. However, the non-contrastive losses have obvious "collapsed" minima, in which the encoders output a constant feature embedding, independent of the input. A folk conjecture is that so long as these collapsed solutions are avoided, the produced feature representations should be good. In our paper, we cast doubt on this story: we show through theoretical results and controlled experiments that even on simple data models, non-contrastive losses have a preponderance of non-collapsed bad minima. Moreover, we show that the training process does not avoid these minima.
On Decoding Strategies for Neural Text Generators
Venue: arXiv cs.CL 2022
Year: 2022

When generating text from probabilistic models, the chosen decoding strategy has a profound effect on the resulting text. Yet the properties elicited by various decoding strategies do not always transfer across natural language generation tasks. For example, while mode-seeking methods like beam search perform remarkably well for machine translation, they have been observed to lead to incoherent and repetitive text in story generation. Despite such observations, the effectiveness of decoding strategies is often assessed with respect to only a single task. This work -- in contrast -- provides a comprehensive analysis of the interaction between language generation tasks and decoding strategies. Specifically, we measure changes in attributes of generated text as a function of both decoding strategy and task using human and automatic evaluation. Our results reveal both previously-observed and surprising findings. For example, the nature of the diversity-quality trade-off in language generation is very task-specific; the length bias often attributed to beam search is not constant across tasks.
Towards Spatio-Temporal Aware Traffic Time Series Forecasting--Full Version
Venue: arXiv cs.LG 2022
Year: 2022

Traffic time series forecasting is challenging due to complex spatio-temporal dynamics time series from different locations often have distinct patterns; and for the same time series, patterns may vary across time, where, for example, there exist certain periods across a day showing stronger temporal correlations. Although recent forecasting models, in particular deep learning based models, show promising results, they suffer from being spatio-temporal agnostic. Such spatio-temporal agnostic models employ a shared parameter space irrespective of the time series locations and the time periods and they assume that the temporal patterns are similar across locations and do not evolve across time, which may not always hold, thus leading to sub-optimal results. In this work, we propose a framework that aims at turning spatio-temporal agnostic models to spatio-temporal aware models. To do so, we encode time series from different locations into stochastic variables, from which we generate location-specific and time-varying model parameters to better capture the spatio-temporal dynamics. We show how to integrate the framework with canonical attentions to enable spatio-temporal aware attentions. Next, to compensate for the additional overhead introduced by the spatio-temporal aware model parameter generation process, we propose a novel window attention scheme, which helps reduce the complexity from quadratic to linear, making spatio-temporal aware attentions also have competitive efficiency. We show strong empirical evidence on four traffic time series datasets, where the proposed spatio-temporal aware attentions outperform state-of-the-art methods in term of accuracy and efficiency. This is an extended version of "Towards Spatio-Temporal Aware Traffic Time Series Forecasting", to appear in ICDE 2022 [1], including additional experimental results.