OpenRaiser/Intern-Atlas huggingface dataset:
Map-based Visual-Inertial Localization: Consistency and Complexity
Venue: arXiv cs.RO 2022
Year: 2022

Drift-free localization is essential for autonomous vehicles. In this paper, we address the problem by proposing a filter-based framework, which integrates the visual-inertial odometry and the measurements of the features in the pre-built map. In this framework, the transformation between the odometry frame and the map frame is augmented into the state and estimated on the fly. Besides, we maintain only the keyframe poses in the map and employ Schmidt extended Kalman filter to update the state partially, so that the uncertainty of the map information can be consistently considered with low computational cost. Moreover, we theoretically demonstrate that the ever-changing linearization points of the estimated state can introduce spurious information to the augmented system and make the original four-dimensional unobservable subspace vanish, leading to inconsistent estimation in practice. To relieve this problem, we employ first-estimate Jacobian (FEJ) to maintain the correct observability properties of the augmented system. Furthermore, we introduce an observability-constrained updating method to compensate for the significant accumulated error after the long-term absence (can be 3 minutes and 1 km) of map-based measurements. Through simulations, the consistent estimation of our proposed algorithm is validated. Through real-world experiments, we demonstrate that our proposed algorithm runs successfully on four kinds of datasets with the lower computational cost (20% time-saving) and the better estimation accuracy (45% trajectory error reduction) compared with the baseline algorithm VINS-Fusion, whereas VINS-Fusion fails to give bounded localization performance on three of four datasets because of its inconsistent estimation.
SkillNet-NLG: General-Purpose Natural Language Generation with a Sparsely Activated Approach
Venue: arXiv cs.CL 2022
Year: 2022

We present SkillNet-NLG, a sparsely activated approach that handles many natural language generation tasks with one model. Different from traditional dense models that always activate all the parameters, SkillNet-NLG selectively activates relevant parts of the parameters to accomplish a task, where the relevance is controlled by a set of predefined skills. The strength of such model design is that it provides an opportunity to precisely adapt relevant skills to learn new tasks effectively. We evaluate on Chinese natural language generation tasks. Results show that, with only one model file, SkillNet-NLG outperforms previous best performance methods on four of five tasks. SkillNet-NLG performs better than two multi-task learning baselines (a dense model and a Mixture-of-Expert model) and achieves comparable performance to task-specific models. Lastly, SkillNet-NLG surpasses baseline systems when being adapted to new tasks.
The Pseudo-Reachability Problem for Diagonalisable Linear Dynamical Systems
Venue: arXiv cs.LO 2022
Year: 2022

We study fundamental reachability problems on pseudo-orbits of linear dynamical systems. Pseudo-orbits can be viewed as a model of computation with limited precision and pseudo-reachability can be thought of as a robust version of classical reachability. Using an approach based on $o$-minimality of $\reals_{\exp}$ we prove decidability of the discrete-time pseudo-reachability problem with arbitrary semialgebraic targets for diagonalisable linear dynamical systems. We also show that our method can be used to reduce the continuous-time pseudo-reachability problem to the (classical) time-bounded reachability problem, which is known to be conditionally decidable.
Brain Tumor Detection and Classification Using a New Evolutionary Convolutional Neural Network
Venue: arXiv cs.NE 2022
Year: 2022

A definitive diagnosis of a brain tumour is essential for enhancing treatment success and patient survival. However, it is difficult to manually evaluate multiple magnetic resonance imaging (MRI) images generated in a clinic. Therefore, more precise computer-based tumour detection methods are required. In recent years, many efforts have investigated classical machine learning methods to automate this process. Deep learning techniques have recently sparked interest as a means of diagnosing brain tumours more accurately and robustly. The goal of this study, therefore, is to employ brain MRI images to distinguish between healthy and unhealthy patients (including tumour tissues). As a result, an enhanced convolutional neural network is developed in this paper for accurate brain image classification. The enhanced convolutional neural network structure is composed of components for feature extraction and optimal classification. Nonlinear Lévy Chaotic Moth Flame Optimizer (NLCMFO) optimizes hyperparameters for training convolutional neural network layers. Using the BRATS 2015 data set and brain image datasets from Harvard Medical School, the proposed model is assessed and compared with various optimization techniques. The optimized CNN model outperforms other models from the literature by providing 97.4% accuracy, 96.0% sensitivity, 98.6% specificity, 98.4% precision, and 96.6% F1-score, (the mean of the weighted harmonic value of CNN precision and recall).
Unified GCNs: Towards Connecting GCNs with CNNs
Venue: arXiv cs.CV 2022
Year: 2022

Graph Convolutional Networks (GCNs) have been widely demonstrated their powerful ability in graph data representation and learning. Existing graph convolution layers are mainly designed based on graph signal processing and transform aspect which usually suffer from some limitations, such as over-smoothing, over-squashing and non-robustness, etc. As we all know that Convolution Neural Networks (CNNs) have received great success in many computer vision and machine learning. One main aspect is that CNNs leverage many learnable convolution filters (kernels) to obtain rich feature descriptors and thus can have high capacity to encode complex patterns in visual data analysis. Also, CNNs are flexible in designing their network architecture, such as MobileNet, ResNet, Xception, etc. Therefore, it is natural to arise a question: can we design graph convolutional layer as flexibly as that in CNNs? Innovatively, in this paper, we consider connecting GCNs with CNNs deeply from a general perspective of depthwise separable convolution operation. Specifically, we show that GCN and GAT indeed perform some specific depthwise separable convolution operations. This novel interpretation enables us to better understand the connections between GCNs (GCN, GAT) and CNNs and further inspires us to design more Unified GCNs (UGCNs). As two showcases, we implement two UGCNs, i.e., Separable UGCN (S-UGCN) and General UGCN (G-UGCN) for graph data representation and learning. Promising experiments on several graph representation benchmarks demonstrate the effectiveness and advantages of the proposed UGCNs.
Evaluating the Quality of a Synthesized Motion with the Fréchet Motion Distance
Venue: arXiv cs.CV 2022
Year: 2022

Evaluating the Quality of a Synthesized Motion with the Fréchet Motion Distance
Fast Coalgebraic Bisimilarity Minimization
Venue: arXiv cs.FL 2022
Year: 2022

Coalgebraic bisimilarity minimization generalizes classical automaton minimization to a large class of automata whose transition structure is specified by a functor, subsuming strong, weighted, and probabilistic bisimilarity. This offers the enticing possibility of turning bisimilarity minimization into an off-the-shelf technology, without having to develop a new algorithm for each new type of automaton. Unfortunately, there is no existing algorithm that is fully general, efficient, and able to handle large systems. We present a generic algorithm that minimizes coalgebras over an arbitrary functor in the category of sets as long as the action on morphisms is sufficiently computable. The functor makes at most $\mathcal{O}(m \log n)$ calls to the functor-specific action, where $n$ is the number of states and $m$ is the number of transitions in the coalgebra. While more specialized algorithms can be asymptotically faster than our algorithm (usually by a factor of $\mathcal{O}(\frac{m}{n})$), our algorithm is especially well suited to efficient implementation, and our tool Boa often uses much less time and memory on existing benchmarks, and can handle larger automata, despite being more generic.
Tolerant Bipartiteness Testing in Dense Graphs
Venue: arXiv cs.DS 2022
Year: 2022

Bipartite testing has been a central problem in the area of property testing since its inception in the seminal work of Goldreich, Goldwasser and Ron [FOCS'96 and JACM'98]. Though the non-tolerant version of bipartite testing has been extensively studied in the literature, the tolerant variant is not well understood. In this paper, we consider the following version of tolerant bipartite testing: Given a parameter $\varepsilon \in (0,1)$ and access to the adjacency matrix of a graph $G$, we can decide whether $G$ is $\varepsilon$-close to being bipartite or $G$ is at least $(2+Ω(1))\varepsilon$-far from being bipartite, by performing $\widetilde{\mathcal{O}}\left(\frac{1}{\varepsilon ^3}\right)$ queries and in $2^{\widetilde{\mathcal{O}}(1/\varepsilon)}$ time. This improves upon the state-of-the-art query and time complexities of this problem of $\widetilde{\mathcal{O}}\left(\frac{1}{\varepsilon ^6}\right)$ and $2^{\widetilde{\mathcal{O}}(1/\varepsilon^2)}$, respectively, from the work of Alon, Fernandez de la Vega, Kannan and Karpinski (STOC'02 and JCSS'03), where $\widetilde{\mathcal{O}}(\cdot)$ hides a factor polynomial in $\log \frac{1}{\varepsilon}$.
Disambiguation of morpho-syntactic features of African American English -- the case of habitual be
Venue: arXiv cs.CL 2022
Year: 2022

Recent research has highlighted that natural language processing (NLP) systems exhibit a bias against African American speakers. The bias errors are often caused by poor representation of linguistic features unique to African American English (AAE), due to the relatively low probability of occurrence of many such features in training data. We present a workflow to overcome such bias in the case of habitual "be". Habitual "be" is isomorphic, and therefore ambiguous, with other forms of "be" found in both AAE and other varieties of English. This creates a clear challenge for bias in NLP technologies. To overcome the scarcity, we employ a combination of rule-based filters and data augmentation that generate a corpus balanced between habitual and non-habitual instances. With this balanced corpus, we train unbiased machine learning classifiers, as demonstrated on a corpus of AAE transcribed texts, achieving .65 F$_1$ score disambiguating habitual "be".
Bioblox 2.5D -- Developing an Educational Game Based on Protein Docking
Venue: arXiv cs.HC 2022
Year: 2022

We present the development process of Bioblox2-5D, an educational biology game aimed at teenagers. The game content refers to protein docking and aims to improve learning about molecular shape complexity, the roles of charges in molecular docking and the scoring function to calculate binding affinity. We developed the game as part of a collaboration between the Computing Department at Goldsmiths, University of London, and the Structural Bioinformatics group at Imperial College London. The team at Imperial provided the content requirements and validated the technical solution adopted in the game. The team at Goldsmiths designed and implemented the content requirements into a fun and stimulating educational puzzle game that supports teaching and motivates students to engage with biology. We illustrate the game design choices, the compromises and solutions that we applied to accomplish the desired learning outcomes. This paper aims to illustrate useful insights and inspirations in the context of educational game development for biology students.
Time-triggered Federated Learning over Wireless Networks
Venue: arXiv cs.LG 2022
Year: 2022

The newly emerging federated learning (FL) framework offers a new way to train machine learning models in a privacy-preserving manner. However, traditional FL algorithms are based on an event-triggered aggregation, which suffers from stragglers and communication overhead issues. To address these issues, in this paper, we present a time-triggered FL algorithm (TT-Fed) over wireless networks, which is a generalized form of classic synchronous and asynchronous FL. Taking the constrained resource and unreliable nature of wireless communication into account, we jointly study the user selection and bandwidth optimization problem to minimize the FL training loss. To solve this joint optimization problem, we provide a thorough convergence analysis for TT-Fed. Based on the obtained analytical convergence upper bound, the optimization problem is decomposed into tractable sub-problems with respect to each global aggregation round, and finally solved by our proposed online search algorithm. Simulation results show that compared to asynchronous FL (FedAsync) and FL with asynchronous user tiers (FedAT) benchmarks, our proposed TT-Fed algorithm improves the converged test accuracy by up to 12.5% and 5%, respectively, under highly imbalanced and non-IID data, while substantially reducing the communication overhead.
Investigating the Optimal Neural Network Parameters for Decoding
Venue: arXiv cs.IT 2022
Year: 2022

Neural Networks have been proved to work as decoders in telecommunications, so the ways of making it efficient will be investigated in this thesis. The different parameters to maximize the Neural Network Decoder's efficiency will be investigated. The parameters will be tested for inversion errors only.
Event Detection Explorer: An Interactive Tool for Event Detection Exploration
Venue: arXiv cs.CL 2022
Year: 2022

Event Detection (ED) is an important task in natural language processing. In the past few years, many datasets have been introduced for advancing ED machine learning models. However, most of these datasets are under-explored because not many tools are available for people to study events, trigger words, and event mention instances systematically and efficiently. In this paper, we present an interactive and easy-to-use tool, namely ED Explorer, for ED dataset and model exploration. ED Explorer consists of an interactive web application, an API, and an NLP toolkit, which can help both domain experts and non-experts to better understand the ED task. We use ED Explorer to analyze a recent proposed large-scale ED datasets (referred to as MAVEN), and discover several underlying problems, including sparsity, label bias, label imbalance, and debatable annotations, which provide us with directions to improve the MAVEN dataset. The ED Explorer can be publicly accessed through http://edx.leafnlp.org/. The demonstration video is available here https://www.youtube.com/watch?v=6QPnxPwxg50.
From Hyperbolic Geometry Back to Word Embeddings
Venue: arXiv cs.CL 2022
Year: 2022

We choose random points in the hyperbolic disc and claim that these points are already word representations. However, it is yet to be uncovered which point corresponds to which word of the human language of interest. This correspondence can be approximately established using a pointwise mutual information between words and recent alignment techniques.
Distances Release with Differential Privacy in Tree and Grid Graph
Venue: arXiv cs.DS 2022
Year: 2022

Data about individuals may contain private and sensitive information. The differential privacy (DP) was proposed to address the problem of protecting the privacy of each individual while keeping useful information about a population. Sealfon (2016) introduced a private graph model in which the graph topology is assumed to be public while the weight information is assumed to be private. That model can express hidden congestion patterns in a known transportation system. In this paper, we revisit the problem of privately releasing approximate distances between all pairs of vertices in (Sealfon 2016). Our goal is to minimize the additive error, namely the difference between the released distance and actual distance under private setting. We propose improved solutions to that problem for several cases. For the problem of privately releasing all-pairs distances, we show that for tree with depth $h$, we can release all-pairs distances with additive error $O(\log^{1.5} h \cdot \log^{1.5} V)$ for fixed privacy parameter where $V$ the number of vertices in the tree, which improves the previous error bound $O(\log^{2.5} V)$, since the size of $h$ can be as small as $O(\log V)$. Our result implies that a $\log V$ factor is saved, and the additive error in tree can be smaller than the error on array/path. Additionally, for the grid graph with arbitrary edge weights, we also propose a method to release all-pairs distances with additive error $\tilde O(V^{3/4}) $ for fixed privacy parameters. On the application side, many cities like Manhattan are composed of horizontal streets and vertical avenues, which can be modeled as a grid graph.
Leveraging Unlabeled Data for Sketch-based Understanding
Venue: arXiv cs.CV 2022
Year: 2022

Sketch-based understanding is a critical component of human cognitive learning and is a primitive communication means between humans. This topic has recently attracted the interest of the computer vision community as sketching represents a powerful tool to express static objects and dynamic scenes. Unfortunately, despite its broad application domains, the current sketch-based models strongly rely on labels for supervised training, ignoring knowledge from unlabeled data, thus limiting the underlying generalization and the applicability. Therefore, we present a study about the use of unlabeled data to improve a sketch-based model. To this end, we evaluate variations of VAE and semi-supervised VAE, and present an extension of BYOL to deal with sketches. Our results show the superiority of sketch-BYOL, which outperforms other self-supervised approaches increasing the retrieval performance for known and unknown categories. Furthermore, we show how other tasks can benefit from our proposal.
Application of WGAN-GP in recommendation and Questioning the relevance of GAN-based approaches
Venue: arXiv cs.IR 2022
Year: 2022

Many neural-based recommender systems were proposed in recent years and part of them used Generative Adversarial Networks (GAN) to model user-item interactions. However, the exploration of Wasserstein GAN with Gradient Penalty (WGAN-GP) on recommendation has received relatively less scrutiny. In this paper, we focus on two questions: 1- Can we successfully apply WGAN-GP on recommendation and does this approach give an advantage compared to the best GAN models? 2- Are GAN-based recommender systems relevant? To answer the first question, we propose a recommender system based on WGAN-GP called CFWGAN-GP which is founded on a previous model (CFGAN). We successfully applied our method on real-world datasets on the top-k recommendation task and the empirical results show that it is competitive with state-of-the-art GAN approaches, but we found no evidence of significant advantage of using WGAN-GP instead of the original GAN, at least from the accuracy point of view. As for the second question, we conduct a simple experiment in which we show that a well-tuned conceptually simpler method outperforms GAN-based models by a considerable margin, questioning the use of such models.
Expanding the Latent Space of StyleGAN for Real Face Editing
Venue: arXiv cs.CV 2022
Year: 2022

Recently, a surge of face editing techniques have been proposed to employ the pretrained StyleGAN for semantic manipulation. To successfully edit a real image, one must first convert the input image into StyleGAN's latent variables. However, it is still challenging to find latent variables, which have the capacity for preserving the appearance of the input subject (e.g., identity, lighting, hairstyles) as well as enabling meaningful manipulations. In this paper, we present a method to expand the latent space of StyleGAN with additional content features to break down the trade-off between low-distortion and high-editability. Specifically, we proposed a two-branch model, where the style branch first tackles the entanglement issue by the sparse manipulation of latent codes, and the content branch then mitigates the distortion issue by leveraging the content and appearance details from the input image. We confirm the effectiveness of our method using extensive qualitative and quantitative experiments on real face editing and reconstruction tasks.
On the Verification of Belief Programs
Venue: arXiv cs.AI 2022
Year: 2022

In a recent paper, Belle and Levesque proposed a framework for a type of program called belief programs, a probabilistic extension of GOLOG programs where every action and sensing result could be noisy and every test condition refers to the agent's subjective beliefs. Inherited from GOLOG programs, the action-centered feature makes belief programs fairly suitable for high-level robot control under uncertainty. An important step before deploying such a program is to verify whether it satisfies properties as desired. At least two problems exist in doing verification: how to formally specify properties of a program and what is the complexity of verification. In this paper, we propose a formalism for belief programs based on a modal logic of actions and beliefs. Among other things, this allows us to express PCTL-like temporal properties smoothly. Besides, we investigate the decidability and undecidability for the verification problem of belief programs.
Finding a Landing Site on an Urban Area: A Multi-Resolution Probabilistic Approach
Venue: arXiv cs.RO 2022
Year: 2022

This paper considers the problem of finding a landing spot for a drone in a dense urban environment. The conflicting requirement of fast exploration and high resolution is solved using a multi-resolution approach, by which visual information is collected by the drone at decreasing altitudes so that spatial resolution of the acquired images increases monotonically. A probability distribution is used to capture the uncertainty of the decision process for each terrain patch. The distributions are updated as information from different altitudes is collected. When the confidence level for one of the patches becomes larger than a pre-specified threshold, suitability for landing is declared. One of the main building blocks of the approach is a semantic segmentation algorithm that attaches probabilities to each pixel of a single view. The decision algorithm combines these probabilities with a priori data and previous measurements to obtain the best estimates. Feasibility is illustrated by presenting a number of examples generated by a realistic closed-loop simulator.
Evaluation of Self-taught Learning-based Representations for Facial Emotion Recognition
Venue: arXiv cs.CV 2022
Year: 2022

This work describes different strategies to generate unsupervised representations obtained through the concept of self-taught learning for facial emotion recognition (FER). The idea is to create complementary representations promoting diversity by varying the autoencoders' initialization, architecture, and training data. SVM, Bagging, Random Forest, and a dynamic ensemble selection method are evaluated as final classification methods. Experimental results on Jaffe and Cohn-Kanade datasets using a leave-one-subject-out protocol show that FER methods based on the proposed diverse representations compare favorably against state-of-the-art approaches that also explore unsupervised feature learning.