Reviewerly/exHarmony huggingface dataset:
Scalable Coverage Path Planning of Multi-Robot Teams for Monitoring Non-Convex Areas

This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This algorithm accounts for discontinuities (e.g., no-fly zones) in a specified area of interest, and provides an optimized ordered list of way-points per robot using a discrete, computationally efficient, nearest neighbor path planning algorithm. This algorithm involves five main stages, which include the transformation of the user&#x2019;s input as a set of vertices in geographical coordinates, discretization, load-balanced partitioning, auctioning of conflict cells in a discretized space, and a path planning procedure. To evaluate the effectiveness of the primary algorithm, a multi-unmanned aerial vehicle (UAV) post-flood assessment application is considered, and the performance of the algorithm is tested on three test maps of varying sizes. Additionally, our method is compared with a state-of-the-art method created by Guasella et al. Further analyses on scalability and computational time of SCoPP are conducted. The results show that SCoPP is superior in terms of mission completion time; its computing time is found to be under 2 mins for a large map covered by a 150-robot team, thereby demonstrating its computationally scalability.
Wav2vec-Switch: Contrastive Learning from Original-Noisy Speech Pairs for Robust Speech Recognition

The goal of self-supervised learning (SSL) for automatic speech recognition (ASR) is to learn good speech representations from a large amount of unlabeled speech for the downstream ASR task. However, most SSL frameworks do not consider noise robustness which is crucial for real-world applications. In this paper we propose wav2vec-Switch, a method to encode noise robustness into contextualized representations of speech via contrastive learning. Specifically, we feed original-noisy speech pairs simultaneously into the wav2vec 2.0 network. In addition to the existing contrastive learning task, we switch the quantized representations of the original and noisy speech as additional prediction targets of each other. By doing this, it enforces the network to have consistent predictions for the original and noisy speech, thus allows to learn contextualized representation with noise robustness. Our experiments on synthe-sized and real noisy data show the effectiveness of our method: it achieves 2.9–4.9% relative word error rate (WER) reduction on the synthesized noisy LibriSpeech data without deterioration on the original data, and 5.7% on CHiME-4 real 1-channel noisy data compared to a data augmentation baseline even with a strong language model for decoding. Our results on CHiME-4 can match or even surpass those with well-designed speech enhancement components.
Domain Adaptive Semantic Segmentation without Source Data

Domain adaptive semantic segmentation is recognized as a promising technique to alleviate the domain shift between the labeled source domain and the unlabeled target domain in many real-world applications, such as automatic pilot. However, large amounts of source domain data often introduce significant costs in storage and training, and sometimes the source data is inaccessible due to privacy policies. To address these problems, we investigate domain adaptive semantic segmentation without source data, which assumes that the model is pre-trained on the source domain, and then adapting to the target domain without accessing source data anymore. Since there is no supervision from the source domain data, many self-training methods tend to fall into the winner-takes-all dilemma, where the majority classes totally dominate the segmentation networks and the networks fail to classify the minority classes. Consequently, we propose an effective framework for this challenging problem with two components: positive learning and negative learning. In positive learning, we select the class-balanced pseudo-labeled pixels with intra-class threshold, while in negative learning, for each pixel, we investigate which category the pixel does not belong to with the proposed heuristic complementary label selection. Notably, our framework can be easily implemented and incorporated with other methods to further enhance the performance. Extensive experiments on two widely-used synthetic-to-real benchmarks demonstrate our claims and the effectiveness of our framework, which outperforms the baseline with a large margin. Code is available at https://github.com/fumyou13/LDBE.
Collaborative speculation: Anticipation, inclusion and designing counterfactual futures for appropriation

How do people become conversant with futures-in-the-making? This paper explores speculative design from the position that futures have agency in the present and therefore forms of speculation – as well as futures - need to be inclusive. Regarding this as a democratic right throws attention on engagement processes, noting that speculation is often centred on the designer’s interests rather than seeding appropriation by publics. I argue that situating speculation in a way that is accessible for negotiation requires careful attention to the hybrid process + objectartifacts that result from designing both a provocation and a process for encountering it. My central case study describes one such hybrid artifact, a counterfactual workshop for considering futures by exploring different imagined pasts and making a journey towards alternative presents. This play of temporalities – and the accompanying methods for opening and narrowing the creative work of taking these journeys – suggest a means that speculative design might be situated with participants, thereby simultaneously reflecting on and mitigating the anticipatory nature of the materials. I deconstruct this instance of curating speculative artifacts to reveal not only its mechanisms, but the many points where engagement processes reflect political choices.
Anchor-free 3D Single Stage Detector with Mask-Guided Attention for Point Cloud

Most of the existing single-stage and two-stage 3D object detectors are anchor-based methods, while the efficient but challenging anchor-free single-stage 3D object detection is not well investigated. Recent studies on 2D object detection show that the anchor-free methods also are of great potential. However, the unordered and sparse properties of point clouds prevent us from directly leveraging the advanced 2D methods on 3D point clouds. We overcome this by converting the voxel-based sparse 3D feature volumes into the sparse 2D feature maps. We propose an attentive module to fit the sparse feature maps to dense mostly on the object regions through the deformable convolution tower and the supervised mask-guided attention. By directly regressing the 3D bounding box from the enhanced and dense feature maps, we construct a novel single-stage 3D detector for point clouds in an anchor-free manner. We propose an IoU-based detection confidence re-calibration scheme to improve the correlation between the detection confidence score and the accuracy of the bounding box regression. Our code is publicly available at https://github.com/jialeli1/MGAF-3DSSD.
A Bridge Neural Network-Based Optical-SAR Image Joint Intelligent Interpretation Framework

The current interpretation technology of remote sensing images is mainly focused on single-modal data, which cannot fully utilize the complementary and correlated information of multimodal data with heterogeneous characteristics, especially for synthetic aperture radar (SAR) data and optical imagery. To solve this problem, we propose a bridge neural network- (BNN-) based optical-SAR image joint intelligent interpretation framework, optimizing the feature correlation between optical and SAR images through optical-SAR matching tasks. It adopts BNN to effectively improve the capability of common feature extraction of optical and SAR images and thus improving the accuracy and application scenarios of specific intelligent interpretation tasks for optical-SAR/SAR/optical images. Specifically, BNN projects optical and SAR images into a common feature space and mines their correlation through pair matching. Further, to deeply exploit the correlation between optical and SAR images and ensure the great representation learning ability of BNN, we build the QXS-SAROPT dataset containing 20,000 pairs of perfectly aligned optical-SAR image patches with diverse scenes of high resolutions. Experimental results on optical-to-SAR crossmodal object detection demonstrate the effectiveness and superiority of our framework. In particular, based on the QXS-SAROPT dataset, our framework can achieve up to 96% high accuracy on four benchmark SAR ship detection datasets.
Buffer-Aware Virtual Reality Video Streaming With Personalized and Private Viewport Prediction

Viewport prediction and prefetch have an important influence on VR video streaming performance. This work proposes a novel federated learning-based viewport prediction model training algorithm, ComPer-FedAvg. The proposed algorithm leverages a VR video’s common viewing pattern and users’ personal viewing patterns to train the prediction model in a distributed and privacy-preserving manner. Further, considering the VR video viewport prediction accuracy, a stochastic game is formulated to solve the VR streaming network’s communication resource allocation problem, where limited communication resource blocks are auctioned to users to achieve the optimal overall VR viewing experience. For each user, the auction is decomposed into two disjoint subproblems, namely, the optimal number of data rate requesting and true value claiming (bidding). The optimal true value claiming has been analytically proved to be equal to the VR viewing reward with given data rate. Due to the lack of global information when users request data rate, we reformulate users’ data rate requesting problem as a POMDP problem. A novel deep reinforcement learning algorithm is adopted to solve the problem. Evaluation and simulation results show the proposed viewport prediction and VR streaming schemes outperform conventional solutions in terms of prediction accuracy and VR viewing experience.
Clairvoyant prefetching for distributed machine learning I/O

I/O is emerging as a major bottleneck for machine learning training, especially in distributed environments. Indeed, at large scale, I/O takes as much as 85% of training time. Addressing this I/O bottleneck necessitates careful optimization, as optimal data ingestion pipelines differ between systems, and require a delicate balance between access to local storage, external filesystems, and remote nodes. We introduce NoPFS, a machine learning I/O middleware, which provides a scalable, flexible, and easy-to-use solution to the I/O bottleneck. NoPFS uses clairvoyance: Given the seed generating the random access pattern for training with SGD, it can exactly predict when and where a sample will be accessed. We combine this with an analysis of access patterns and a performance model to provide distributed caching policies that adapt to different datasets and storage hierarchies. NoPFS reduces I/O times and improves end-to-end training by up to 5.4× on the ImageNet-1k, ImageNet-22k, and CosmoFlow datasets.
A Path Planning Strategy for Multi-Robot Moving with Path-Priority Order Based on a Generalized Voronoi Diagram

This paper proposes a new path planning strategy called the navigation strategy with path priority (NSPP) for multiple robots moving in a large flat space. In the space, there may be some static or/and dynamic obstacles. Suppose we have the path-priority order for each robot, then this article aims to find an efficient path for each robot from its starting point to its target point without any collision. Here, a generalized Voronoi diagram (GVD) is used to perform the map division based on each robot’s path-priority order, and the proposed NSPP is used to do the path planning for the robots in the space. This NSPP can be applied to any number of robots. At last, there are several simulations with a different number of robots in a circular or rectangular space to be shown that the proposed method can complete the task effectively and has better performance in average trajectory length than those by using the benchmark methods of the shortest distance algorithm (SDA) and reciprocal orientation algorithm (ROA).
Understanding the Nature of Metadata: Systematic Review

Metadata are created to describe the corresponding data in a detailed and unambiguous way and is used for various applications in different research areas, for example, data identification and classification. However, a clear definition of metadata is crucial for further use. Unfortunately, extensive experience with the processing and management of metadata has shown that the term "metadata" and its use is not always unambiguous.This study aimed to understand the definition of metadata and the challenges resulting from metadata reuse.A systematic literature search was performed in this study following the PRISMA (Preferred Reporting Items for Systematic Reviews and Meta-Analyses) guidelines for reporting on systematic reviews. Five research questions were identified to streamline the review process, addressing metadata characteristics, metadata standards, use cases, and problems encountered. This review was preceded by a harmonization process to achieve a general understanding of the terms used.The harmonization process resulted in a clear set of definitions for metadata processing focusing on data integration. The following literature review was conducted by 10 reviewers with different backgrounds and using the harmonized definitions. This study included 81 peer-reviewed papers from the last decade after applying various filtering steps to identify the most relevant papers. The 5 research questions could be answered, resulting in a broad overview of the standards, use cases, problems, and corresponding solutions for the application of metadata in different research areas.Metadata can be a powerful tool for identifying, describing, and processing information, but its meaningful creation is costly and challenging. This review process uncovered many standards, use cases, problems, and solutions for dealing with metadata. The presented harmonized definitions and the new schema have the potential to improve the classification and generation of metadata by creating a shared understanding of metadata and its context.
An ensemble approach to meta-heuristic algorithms: Comparative analysis and its applications

In this paper, we intend to propose an ensemble optimization algorithm based on Follow The Leader (FTL), Multi-verse Optimizer (MVO), and Salp Swarm Algorithm (SSA) to solve constrained optimization problems. The FTL, MVO, and SSA are swarm-based algorithms that update their particle position using a selection approach. Less number of control parameters and a common selection approach make these algorithms suitable for hybridization. In this work, combinations of FTL, MVO, and SSA algorithms such as FTL_MVO, FTL_SSA, MVO_SSA, and FTL_MVO_SSA have been proposed to solve different optimization problems. The proposed ensemble optimization algorithms have been compared with base optimization algorithms on forty-eight unimodal and multimodal benchmark functions. The ensemble model has achieved significant performance improvement over base FTL, MVO, and SSA. Moreover, these algorithms have been tested on six well-known constrained optimization problems to benchmark their performance over real-world applications. Finally, the comparison with classical optimization algorithms reveals the efficacy of the proposed models.
Small-Scale Solar Photovoltaic Power Prediction for Residential Load in Saudi Arabia Using Machine Learning

Photovoltaic (PV) systems have become one of the most promising alternative energy sources, as they transform the sun’s energy into electricity. This can frequently be achieved without causing any potential harm to the environment. Although their usage in residential places and building sectors has notably increased, PV systems are regarded as unpredictable, changeable, and irregular power sources. This is because, in line with the system’s geographic region, the power output depends to a certain extent on the atmospheric environment, which can vary drastically. Therefore, artificial intelligence (AI)-based approaches are extensively employed to examine the effects of climate change on solar power. Then, the most optimal AI algorithm is used to predict the generated power. In this study, we used machine learning (ML)-based algorithms to predict the generated power of a PV system for residential buildings. Using a PV system, Pyranometers, and weather station data amassed from a station at King Khalid University, Abha (Saudi Arabia) with a residential setting, we conducted several experiments to evaluate the predictability of various well-known ML algorithms from the generated power. A backward feature-elimination technique was applied to find the most relevant set of features. Among all the ML prediction models used in the work, the deep-learning-based model provided the minimum errors with the minimum set of features (approximately seven features). When the feature set is greater than ten features, the polynomial regression model shows the best prediction, with minimal errors. Comparing all the prediction models, the highest errors were associated with the linear regression model. In general, it was observed that with a small number of features, the prediction models could minimize the generated power prediction’s mean squared error value to approximately 0.15.
Video Transformer for Deepfake Detection with Incremental Learning

Face forgery by deepfake is widely spread over the internet and this raises severe societal concerns. In this paper, we propose a novel video transformer with incremental learning for detecting deepfake videos. To better align the input face images, we use a 3D face reconstruction method to generate UV texture from a single input face image. The aligned face image can also provide pose, eyes blink and mouth movement information that cannot be perceived in the UV texture image, so we use both face images and their UV texture maps to extract the image features. We present an incremental learning strategy to fine-tune the proposed model on a smaller amount of data and achieve better deepfake detection performance. The comprehensive experiments on various public deepfake datasets demonstrate that the proposed video transformer model with incremental learning achieves state-of-the-art performance in the deepfake video detection task with enhanced feature learning from the sequenced data.
Enabling Efficient Spatial Keyword Queries on Encrypted Data With Strong Security Guarantees

Structured Encryption (STE), which allows a server to provide secure search services on encrypted data structures, has been widely investigated in recent years. To meet expressive search requirements in practical applications, a large number of STE constructions have been proposed either on textual keywords or spatial data. However, STE on spatio-textual data, which are widely used in location-based services, has not been fully investigated. In this paper, we formally define the notion of Spatial Keyword Structured Encryption (SKSE) and propose several concrete SKSE constructions with various efficiency-security trade-offs. Firstly, we propose a basic construction with linear search complexity, which only leaks the private files matching both spatial range query and all query keywords. Then, to improve the search efficiency on large-scale datasets, we present a novel tree-based construction with sub-linear search complexity. Finally, we introduce a post-validation approach to remove false positives and further improve storage and search performance. Our constructions are general in the sense that they can be constructed from any hidden vector encryption schemes, including public-key setting and symmetric-key setting, which can meet different sharing requirements. Our rigorous security analysis and comprehensive performance evaluation demonstrate that the proposed constructions are secure and outperform the start-of-the-art solutions.
Covid19-IBO: A Covid-19 Impact on Indian Banking Ontology Along with an Efficient Schema Matching Approach

The exponential spread of Covid-19 is not only a serious concern for public health but has also severely affected the global economy. India is not an exception. The banking sector must plan innovatively in a wide range of scenarios focusing upon Covid-19 specific requirements. It becomes essential to examine the impact of Covid-19 on the performance of the Indian banking sector and take focused initiatives at both the tactical and the strategic levels. This paper offers the Covid-19 Impact on Banking Ontology (Covid19-IBO) that provides semantic information about the impact of Covid-19 on the banking sector of India. The developed ontology has been verified and validated and has been made available on the Linked Open Data cloud. It can be utilized to annotate the related data to provide meaningful insights. The Covid-19 ontologies already available have some overlapping information that causes redundancy. Unified integration of these ontologies is required to operate upon them unambiguously. It becomes reasonable to develop a matching approach to link all these ontologies semantically. We, therefore, also provide a schema matching approach with reasonable results to map the Covid-19 ontologies.
Multi-Source Fusion and Automatic Predictor Selection for Zero-Shot Video Object Segmentation

Location and appearance are the key cues for video object segmentation. Many sources such as RGB, depth, optical flow and static saliency can provide useful information about the objects. However, existing approaches only utilize the RGB or RGB and optical flow. In this paper, we propose a novel multi-source fusion network for zero-shot video object segmentation. With the help of interoceptive spatial attention module (ISAM), spatial importance of each source is highlighted. Furthermore, we design a feature purification module (FPM) to filter the inter-source incompatible features. By the ISAM and FPM, the multi-source features are effectively fused. In addition, we put forward an automatic predictor selection network (APS) to select the better prediction of either the static saliency predictor or the moving object predictor in order to prevent over-reliance on the failed results caused by low-quality optical flow maps. Extensive experiments on three challenging public benchmarks (i.e. DAVIS$_16 $, Youtube-Objects and FBMS) show that the proposed model achieves compelling performance against the state-of-the-arts. The source code will be publicly available at https://github.com/Xiaoqi-Zhao-DLUT/Multi-Source-APS-ZVOS