OpenRaiser/Intern-Atlas huggingface dataset:
Advancements in Translation Accuracy for Stereo Visual-Inertial Initialization
Venue: arXiv cs.RO 2024
Year: 2024

As the current initialization method in the state-of-the-art Stereo Visual-Inertial SLAM framework, ORB-SLAM3 has limitations. Its success depends on the performance of the pure stereo SLAM system and is based on the underlying assumption that pure visual SLAM can accurately estimate the camera trajectory, which is essential for inertial parameter estimation. Meanwhile, the further improved initialization method for ORB-SLAM3, known as Stereo-NEC, is time-consuming due to applying keypoint tracking to estimate gyroscope bias with normal epipolar constraints. To address the limitations of previous methods, this paper proposes a method aimed at enhancing translation accuracy during the initialization stage. The fundamental concept of our method is to improve the translation estimate with a 3 Degree-of-Freedom (DoF) Bundle Adjustment (BA), independently, while the rotation estimate is fixed, instead of using ORB-SLAM3's 6-DoF BA. Additionally, the rotation estimate will be updated by considering IMU measurements and gyroscope bias, unlike ORB-SLAM3's rotation, which is directly obtained from stereo visual odometry and may yield inferior results when operating in challenging scenarios. We also conduct extensive evaluations on the public benchmark, the EuRoC dataset, demonstrating that our method excels in accuracy.
ULTRA-MC: A Unified Approach to Learning Mixtures of Markov Chains via Hitting Times
Venue: arXiv cs.LG 2024
Year: 2024

This study introduces a novel approach for learning mixtures of Markov chains, a critical process applicable to various fields, including healthcare and the analysis of web users. Existing research has identified a clear divide in methodologies for learning mixtures of discrete and continuous-time Markov chains, while the latter presents additional complexities for recovery accuracy and efficiency. We introduce a unifying strategy for learning mixtures of discrete and continuous-time Markov chains, focusing on hitting times, which are well defined for both types. Specifically, we design a reconstruction algorithm that outputs a mixture which accurately reflects the estimated hitting times and demonstrates resilience to noise. We introduce an efficient gradient-descent approach, specifically tailored to manage the computational complexity and non-symmetric characteristics inherent in the calculation of hitting time derivatives. Our approach is also of significant interest when applied to a single Markov chain, thus extending the methodologies previously established by Hoskins et al. and Wittmann et al. We complement our theoretical work with experiments conducted on synthetic and real-world datasets, providing a comprehensive evaluation of our methodology.
Mobile Robot Sensory Coverage in 2-D Environments: An Optimization Approach with Efficiency Bounds
Venue: arXiv cs.RO 2024
Year: 2024

This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find the shortest path to observe multiple targets with a limited range sensor in an obstacle free environment. In the second problem, the mobile robot must efficiently observe multiple targets while taking advantage of multi-target views in an obstacle free environment. The third problem considers multi-target sensory coverage in the presence of obstacles that obstruct sensor views of the targets. We show how all three problems can be formulated in a MINLP optimization framework. Because exact solutions to these problems are NP-hard, we introduce polynomial time approximation algorithms for each problem. These algorithms combine polynomial-time methods to approximate the optimal target sensing order, combined with efficient convex optimization methods that incorporate the constraints posed by the robot sensor footprint and obstacles in the environment. Importantly, we develop bounds that limit the gap between the exact and approximate solutions. Algorithms for all problems are fully implemented and illustrated with examples. Beyond the utility of our algorithms, the bounds derived in the paper contribute to the theory of optimal coverage planning algorithms.
ARVideo: Autoregressive Pretraining for Self-Supervised Video Representation Learning
Venue: arXiv cs.CV 2024
Year: 2024

This paper presents a new self-supervised video representation learning framework, ARVideo, which autoregressively predicts the next video token in a tailored sequence order. Two key designs are included. First, we organize autoregressive video tokens into clusters that span both spatially and temporally, thereby enabling a richer aggregation of contextual information compared to the standard spatial-only or temporal-only clusters. Second, we adopt a randomized spatiotemporal prediction order to facilitate learning from multi-dimensional data, addressing the limitations of a handcrafted spatial-first or temporal-first sequence order. Extensive experiments establish ARVideo as an effective paradigm for self-supervised video representation learning. For example, when trained with the ViT-B backbone, ARVideo competitively attains 81.2% on Kinetics-400 and 70.9% on Something-Something V2, which are on par with the strong benchmark set by VideoMAE. Importantly, ARVideo also demonstrates higher training efficiency, i.e., it trains 14% faster and requires 58% less GPU memory compared to VideoMAE.
Are You Copying My Prompt? Protecting the Copyright of Vision Prompt for VPaaS via Watermark
Venue: arXiv cs.CR 2024
Year: 2024

Visual Prompt Learning (VPL) differs from traditional fine-tuning methods in reducing significant resource consumption by avoiding updating pre-trained model parameters. Instead, it focuses on learning an input perturbation, a visual prompt, added to downstream task data for making predictions. Since learning generalizable prompts requires expert design and creation, which is technically demanding and time-consuming in the optimization process, developers of Visual Prompts as a Service (VPaaS) have emerged. These developers profit by providing well-crafted prompts to authorized customers. However, a significant drawback is that prompts can be easily copied and redistributed, threatening the intellectual property of VPaaS developers. Hence, there is an urgent need for technology to protect the rights of VPaaS developers. To this end, we present a method named \textbf{WVPrompt} that employs visual prompt watermarking in a black-box way. WVPrompt consists of two parts: prompt watermarking and prompt verification. Specifically, it utilizes a poison-only backdoor attack method to embed a watermark into the prompt and then employs a hypothesis-testing approach for remote verification of prompt ownership. Extensive experiments have been conducted on three well-known benchmark datasets using three popular pre-trained models: RN50, BIT-M, and Instagram. The experimental results demonstrate that WVPrompt is efficient, harmless, and robust to various adversarial operations.
PS-CAD: Local Geometry Guidance via Prompting and Selection for CAD Reconstruction
Venue: arXiv cs.CV 2024
Year: 2024

Reverse engineering CAD models from raw geometry is a classic but challenging research problem. In particular, reconstructing the CAD modeling sequence from point clouds provides great interpretability and convenience for editing. To improve upon this problem, we introduce geometric guidance into the reconstruction network. Our proposed model, PS-CAD, reconstructs the CAD modeling sequence one step at a time. At each step, we provide two forms of geometric guidance. First, we provide the geometry of surfaces where the current reconstruction differs from the complete model as a point cloud. This helps the framework to focus on regions that still need work. Second, we use geometric analysis to extract a set of planar prompts, that correspond to candidate surfaces where a CAD extrusion step could be started. Our framework has three major components. Geometric guidance computation extracts the two types of geometric guidance. Single-step reconstruction computes a single candidate CAD modeling step for each provided prompt. Single-step selection selects among the candidate CAD modeling steps. The process continues until the reconstruction is completed. Our quantitative results show a significant improvement across all metrics. For example, on the dataset DeepCAD, PS-CAD improves upon the best published SOTA method by reducing the geometry errors (CD and HD) by 10%, and the structural error (ECD metric) by about 15%.
PointRWKV: Efficient RWKV-Like Model for Hierarchical Point Cloud Learning
Venue: arXiv cs.CV 2024
Year: 2024

Transformers have revolutionized the point cloud learning task, but the quadratic complexity hinders its extension to long sequence and makes a burden on limited computational resources. The recent advent of RWKV, a fresh breed of deep sequence models, has shown immense potential for sequence modeling in NLP tasks. In this paper, we present PointRWKV, a model of linear complexity derived from the RWKV model in the NLP field with necessary modifications for point cloud learning tasks. Specifically, taking the embedded point patches as input, we first propose to explore the global processing capabilities within PointRWKV blocks using modified multi-headed matrix-valued states and a dynamic attention recurrence mechanism. To extract local geometric features simultaneously, we design a parallel branch to encode the point cloud efficiently in a fixed radius near-neighbors graph with a graph stabilizer. Furthermore, we design PointRWKV as a multi-scale framework for hierarchical feature learning of 3D point clouds, facilitating various downstream tasks. Extensive experiments on different point cloud learning tasks show our proposed PointRWKV outperforms the transformer- and mamba-based counterparts, while significantly saving about 42\% FLOPs, demonstrating the potential option for constructing foundational 3D models.
Neural Elevation Models for Terrain Mapping and Path Planning
Venue: arXiv cs.RO 2024
Year: 2024

This work introduces Neural Elevations Models (NEMos), which adapt Neural Radiance Fields to a 2.5D continuous and differentiable terrain model. In contrast to traditional terrain representations such as digital elevation models, NEMos can be readily generated from imagery, a low-cost data source, and provide a lightweight representation of terrain through an implicit continuous and differentiable height field. We propose a novel method for jointly training a height field and radiance field within a NeRF framework, leveraging quantile regression. Additionally, we introduce a path planning algorithm that performs gradient-based optimization of a continuous cost function for minimizing distance, slope changes, and control effort, enabled by differentiability of the height field. We perform experiments on simulated and real-world terrain imagery, demonstrating NEMos ability to generate high-quality reconstructions and produce smoother paths compared to discrete path planning methods. Future work will explore the incorporation of features and semantics into the height field, creating a generalized terrain model.
Coaching Copilot: Blended Form of an LLM-Powered Chatbot and a Human Coach to Effectively Support Self-Reflection for Leadership Growth
Venue: arXiv cs.HC 2024
Year: 2024

Chatbots' role in fostering self-reflection is now widely recognized, especially in inducing users' behavior change. While the benefits of 24/7 availability, scalability, and consistent responses have been demonstrated in contexts such as healthcare and tutoring to help one form a new habit, their utilization in coaching necessitating deeper introspective dialogue to induce leadership growth remains unexplored. This paper explores the potential of such a chatbot powered by recent Large Language Models (LLMs) in collaboration with professional coaches in the field of executive coaching. Through a design workshop with them and two weeks of user study involving ten coach-client pairs, we explored the feasibility and nuances of integrating chatbots to complement human coaches. Our findings highlight the benefits of chatbots' ubiquity and reasoning capabilities enabled by LLMs while identifying their limitations and design necessities for effective collaboration between human coaches and chatbots. By doing so, this work contributes to the foundation for augmenting one's self-reflective process with prevalent conversational agents through the human-in-the-loop approach.
Nudging Users to Change Breached Passwords Using the Protection Motivation Theory
Venue: arXiv cs.CR 2024
Year: 2024

We draw on the Protection Motivation Theory (PMT) to design nudges that encourage users to change breached passwords. Our online experiment ($n$=$1,386$) compared the effectiveness of a threat appeal (highlighting negative consequences of breached passwords) and a coping appeal (providing instructions on how to change the breached password) in a 2x2 factorial design. Compared to the control condition, participants receiving the threat appeal were more likely to intend to change their passwords, and participants receiving both appeals were more likely to end up changing their passwords; both comparisons have a small effect size. Participants' password change behaviors are further associated with other factors such as their security attitudes (SA-6) and time passed since the breach, suggesting that PMT-based nudges are useful but insufficient to fully motivate users to change their passwords. Our study contributes to PMT's application in security research and provides concrete design implications for improving compromised credential notifications.
Distinguish Any Fake Videos: Unleashing the Power of Large-scale Data and Motion Features
Venue: arXiv cs.CV 2024
Year: 2024

The development of AI-Generated Content (AIGC) has empowered the creation of remarkably realistic AI-generated videos, such as those involving Sora. However, the widespread adoption of these models raises concerns regarding potential misuse, including face video scams and copyright disputes. Addressing these concerns requires the development of robust tools capable of accurately determining video authenticity. The main challenges lie in the dataset and neural classifier for training. Current datasets lack a varied and comprehensive repository of real and generated content for effective discrimination. In this paper, we first introduce an extensive video dataset designed specifically for AI-Generated Video Detection (GenVidDet). It includes over 2.66 M instances of both real and generated videos, varying in categories, frames per second, resolutions, and lengths. The comprehensiveness of GenVidDet enables the training of a generalizable video detector. We also present the Dual-Branch 3D Transformer (DuB3D), an innovative and effective method for distinguishing between real and generated videos, enhanced by incorporating motion information alongside visual appearance. DuB3D utilizes a dual-branch architecture that adaptively leverages and fuses raw spatio-temporal data and optical flow. We systematically explore the critical factors affecting detection performance, achieving the optimal configuration for DuB3D. Trained on GenVidDet, DuB3D can distinguish between real and generated video content with 96.77% accuracy, and strong generalization capability even for unseen types.
Fieldscale: Locality-Aware Field-based Adaptive Rescaling for Thermal Infrared Image
Venue: arXiv cs.CV 2024
Year: 2024

Thermal infrared (TIR) cameras are emerging as promising sensors in safety-related fields due to their robustness against external illumination. However, RAW TIR image has 14 bits of pixel depth and needs to be rescaled into 8 bits for general applications. Previous works utilize a global 1D look-up table to compute pixel-wise gain solely based on its intensity, which degrades image quality by failing to consider the local nature of the heat. We propose Fieldscale, a rescaling based on locality-aware 2D fields where both the intensity value and spatial context of each pixel within an image are embedded. It can adaptively determine the pixel gain for each region and produce spatially consistent 8-bit rescaled images with minimal information loss and high visibility. Consistent performance improvement on image quality assessment and two other downstream tasks support the effectiveness and usability of Fieldscale. All the codes are publicly opened to facilitate research advancements in this field. https://github.com/hyeonjaegil/fieldscale
Transformer-based Federated Learning for Multi-Label Remote Sensing Image Classification
Venue: arXiv cs.CV 2024
Year: 2024

Federated learning (FL) aims to collaboratively learn deep learning model parameters from decentralized data archives (i.e., clients) without accessing training data on clients. However, the training data across clients might be not independent and identically distributed (non-IID), which may result in difficulty in achieving optimal model convergence. In this work, we investigate the capability of state-of-the-art transformer architectures (which are MLP-Mixer, ConvMixer, PoolFormer) to address the challenges related to non-IID training data across various clients in the context of FL for multi-label classification (MLC) problems in remote sensing (RS). The considered transformer architectures are compared among themselves and with the ResNet-50 architecture in terms of their: 1) robustness to training data heterogeneity; 2) local training complexity; and 3) aggregation complexity under different non-IID levels. The experimental results obtained on the BigEarthNet-S2 benchmark archive demonstrate that the considered architectures increase the generalization ability with the cost of higher local training and aggregation complexities. On the basis of our analysis, some guidelines are derived for a proper selection of transformer architecture in the context of FL for RS MLC. The code of this work is publicly available at https://git.tu-berlin.de/rsim/FL-Transformer.
Towards Client Driven Federated Learning
Venue: arXiv cs.LG 2024
Year: 2024

Conventional federated learning (FL) frameworks follow a server-driven model where the server determines session initiation and client participation, which faces challenges in accommodating clients' asynchronous needs for model updates. We introduce Client-Driven Federated Learning (CDFL), a novel FL framework that puts clients at the driving role. In CDFL, each client independently and asynchronously updates its model by uploading the locally trained model to the server and receiving a customized model tailored to its local task. The server maintains a repository of cluster models, iteratively refining them using received client models. Our framework accommodates complex dynamics in clients' data distributions, characterized by time-varying mixtures of cluster distributions, enabling rapid adaptation to new tasks with superior performance. In contrast to traditional clustered FL protocols that send multiple cluster models to a client to perform distribution estimation, we propose a paradigm that offloads the estimation task to the server and only sends a single model to a client, and novel strategies to improve estimation accuracy. We provide a theoretical analysis of CDFL's convergence. Extensive experiments across various datasets and system settings highlight CDFL's substantial advantages in model performance and computation efficiency over baselines.
Luban: Building Open-Ended Creative Agents via Autonomous Embodied Verification
Venue: arXiv cs.AI 2024
Year: 2024

Building open agents has always been the ultimate goal in AI research, and creative agents are the more enticing. Existing LLM agents excel at long-horizon tasks with well-defined goals (e.g., `mine diamonds' in Minecraft). However, they encounter difficulties on creative tasks with open goals and abstract criteria due to the inability to bridge the gap between them, thus lacking feedback for self-improvement in solving the task. In this work, we introduce autonomous embodied verification techniques for agents to fill the gap, laying the groundwork for creative tasks. Specifically, we propose the Luban agent target creative building tasks in Minecraft, which equips with two-level autonomous embodied verification inspired by human design practices: (1) visual verification of 3D structural speculates, which comes from agent synthesized CAD modeling programs; (2) pragmatic verification of the creation by generating and verifying environment-relevant functionality programs based on the abstract criteria. Extensive multi-dimensional human studies and Elo ratings show that the Luban completes diverse creative building tasks in our proposed benchmark and outperforms other baselines ($33\%$ to $100\%$) in both visualization and pragmatism. Additional demos on the real-world robotic arm show the creation potential of the Luban in the physical world.
Biometrics and Behavior Analysis for Detecting Distractions in e-Learning
Venue: arXiv cs.CV 2024
Year: 2024

In this article, we explore computer vision approaches to detect abnormal head pose during e-learning sessions and we introduce a study on the effects of mobile phone usage during these sessions. We utilize behavioral data collected from 120 learners monitored while participating in a MOOC learning sessions. Our study focuses on the influence of phone-usage events on behavior and physiological responses, specifically attention, heart rate, and meditation, before, during, and after phone usage. Additionally, we propose an approach for estimating head pose events using images taken by the webcam during the MOOC learning sessions to detect phone-usage events. Our hypothesis suggests that head posture undergoes significant changes when learners interact with a mobile phone, contrasting with the typical behavior seen when learners face a computer during e-learning sessions. We propose an approach designed to detect deviations in head posture from the average observed during a learner's session, operating as a semi-supervised method. This system flags events indicating alterations in head posture for subsequent human review and selection of mobile phone usage occurrences with a sensitivity over 90%.
Benchmarking the Performance of Pre-trained LLMs across Urdu NLP Tasks
Venue: arXiv cs.CL 2024
Year: 2024

Large Language Models (LLMs) pre-trained on multilingual data have revolutionized natural language processing research, by transitioning from languages and task specific model pipelines to a single model adapted on a variety of tasks. However majority of existing multilingual NLP benchmarks for LLMs provide evaluation data in only few languages with little linguistic diversity. In addition these benchmarks lack quality assessment against the respective state-of the art models. This study presents an in-depth examination of 7 prominent LLMs: GPT-3.5-turbo, Llama 2-7B-Chat, Llama 3.1-8B, Bloomz 3B, Bloomz 7B1, Ministral-8B and Whisper (Large, medium and small variant) across 17 tasks using 22 datasets, 13.8 hours of speech, in a zero-shot setting, and their performance against state-of-the-art (SOTA) models, has been compared and analyzed. Our experiments show that SOTA models currently outperform encoder-decoder models in majority of Urdu NLP tasks under zero-shot settings. However, comparing Llama 3.1-8B over prior version Llama 2-7B-Chat, we can deduce that with improved language coverage, LLMs can surpass these SOTA models. Our results emphasize that models with fewer parameters but richer language-specific data, like Llama 3.1-8B, often outperform larger models with lower language diversity, such as GPT-3.5, in several tasks.