pwc-archive/papers-with-abstracts huggingface dataset:
Efficient Perception, Planning, and Control Algorithm for Vision-Based Automated Vehicles
Authors: Der-Hau Lee
Date: 2022-09-15 00:00:00
Tasks: Autonomous Driving, Autonomous Vehicles, Motion Planning, object-detection, Object Detection, Self-Driving Cars, Traffic Object Detection

Autonomous vehicles have limited computational resources and thus require efficient control systems. The cost and size of sensors have limited the development of self-driving cars. To overcome these restrictions, this study proposes an efficient framework for the operation of vision-based automatic vehicles; the framework requires only a monocular camera and a few inexpensive radars. The proposed algorithm comprises a multi-task UNet (MTUNet) network for extracting image features and constrained iterative linear quadratic regulator (CILQR) and vision predictive control (VPC) modules for rapid motion planning and control. MTUNet is designed to simultaneously solve lane line segmentation, the ego vehicle's heading angle regression, road type classification, and traffic object detection tasks at approximately 40 FPS for 228 x 228 pixel RGB input images. The CILQR controllers then use the MTUNet outputs and radar data as inputs to produce driving commands for lateral and longitudinal vehicle guidance within only 1 ms. In particular, the VPC algorithm is included to reduce steering command latency to below actuator latency, preventing performance degradation during tight turns. The VPC algorithm uses road curvature data from MTUNet to estimate the appropriate correction for the current steering angle at a look-ahead point to adjust the turning amount. The inclusion of the VPC algorithm in a VPC-CILQR controller leads to higher performance on curvy roads than the use of CILQR alone. Our experiments demonstrate that the proposed autonomous driving system, which does not require high-definition maps, can be applied in current autonomous vehicles.
Out-of-Distribution Representation Learning for Time Series Classification
Authors: Wang Lu, Jindong Wang, Xinwei Sun, Yiqiang Chen, Xing Xie
Date: 2022-09-15 00:00:00
Tasks: Activity Recognition, Classification, Gesture Recognition, Human Activity Recognition, Representation Learning, Time Series, Time Series Analysis, Time Series Classification

Time series classification is an important problem in real world. Due to its non-stationary property that the distribution changes over time, it remains challenging to build models for generalization to unseen distributions. In this paper, we propose to view the time series classification problem from the distribution perspective. We argue that the temporal complexity attributes to the unknown latent distributions within. To this end, we propose DIVERSIFY to learn generalized representations for time series classification. DIVERSIFY takes an iterative process: it first obtains the worst-case distribution scenario via adversarial training, then matches the distributions of the obtained sub-domains. We also present some theoretical insights. We conduct experiments on gesture recognition, speech commands recognition, wearable stress and affect detection, and sensor-based human activity recognition with a total of seven datasets in different settings. Results demonstrate that DIVERSIFY significantly outperforms other baselines and effectively characterizes the latent distributions by qualitative and quantitative analysis. Code is available at: https://github.com/microsoft/robustlearn.
Can We Solve 3D Vision Tasks Starting from A 2D Vision Transformer?
Authors: Yi Wang, Zhiwen Fan, Tianlong Chen, Hehe Fan, Zhangyang Wang
Date: 2022-09-15 00:00:00
Tasks: Point Cloud Segmentation

Vision Transformers (ViTs) have proven to be effective, in solving 2D image understanding tasks by training over large-scale image datasets; and meanwhile as a somehow separate track, in modeling the 3D visual world too such as voxels or point clouds. However, with the growing hope that transformers can become the "universal" modeling tool for heterogeneous data, ViTs for 2D and 3D tasks have so far adopted vastly different architecture designs that are hardly transferable. That invites an (over-)ambitious question: can we close the gap between the 2D and 3D ViT architectures? As a piloting study, this paper demonstrates the appealing promise to understand the 3D visual world, using a standard 2D ViT architecture, with only minimal customization at the input and output levels without redesigning the pipeline. To build a 3D ViT from its 2D sibling, we "inflate" the patch embedding and token sequence, accompanied with new positional encoding mechanisms designed to match the 3D data geometry. The resultant "minimalist" 3D ViT, named Simple3D-Former, performs surprisingly robustly on popular 3D tasks such as object classification, point cloud segmentation and indoor scene detection, compared to highly customized 3D-specific designs. It can hence act as a strong baseline for new 3D ViTs. Moreover, we note that pursing a unified 2D-3D ViT design has practical relevance besides just scientific curiosity. Specifically, we demonstrate that Simple3D-Former naturally enables to exploit the wealth of pre-trained weights from large-scale realistic 2D images (e.g., ImageNet), which can be plugged in to enhancing the 3D task performance "for free".
MR4MR: Mixed Reality for Melody Reincarnation
Authors: Atsuya Kobayashi, Ryogo Ishino, Ryuku Nobusue, Takumi Inoue, Keisuke Okazaki, Shoma Sawa, Nao Tokui
Date: 2022-09-15 00:00:00
Tasks: Mixed Reality, Music Generation

There is a long history of an effort made to explore musical elements with the entities and spaces around us, such as musique concr\`ete and ambient music. In the context of computer music and digital art, interactive experiences that concentrate on the surrounding objects and physical spaces have also been designed. In recent years, with the development and popularization of devices, an increasing number of works have been designed in Extended Reality to create such musical experiences. In this paper, we describe MR4MR, a sound installation work that allows users to experience melodies produced from interactions with their surrounding space in the context of Mixed Reality (MR). Using HoloLens, an MR head-mounted display, users can bump virtual objects that emit sound against real objects in their surroundings. Then, by continuously creating a melody following the sound made by the object and re-generating randomly and gradually changing melody using music generation machine learning models, users can feel their ambient melody "reincarnating".
Vision-aided UAV navigation and dynamic obstacle avoidance using gradient-based B-spline trajectory optimization
Authors: Zhefan Xu, Yumeng Xiu, Xiaoyang Zhan, Baihan Chen, Kenji Shimada
Date: 2022-09-15 00:00:00
Tasks: Navigate

Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the geometric, occupancy, or ESDF map. Although they have shown success in static environments, due to the limitation of map representation, those methods cannot reliably handle static and dynamic obstacles simultaneously. To address the problem, this paper proposes a gradient-based B-spline trajectory optimization algorithm utilizing the robot's onboard vision. The depth vision enables the robot to track and represent dynamic objects geometrically based on the voxel map. The proposed optimization first adopts the circle-based guide-point algorithm to approximate the costs and gradients for avoiding static obstacles. Then, with the vision-detected moving objects, our receding-horizon distance field is simultaneously used to prevent dynamic collisions. Finally, the iterative re-guide strategy is applied to generate the collision-free trajectory. The simulation and physical experiments prove that our method can run in real-time to navigate dynamic environments safely. Our software is available on GitHub as an open-source package.
Weakly Supervised Invariant Representation Learning Via Disentangling Known and Unknown Nuisance Factors
Authors: Jiageng Zhu, Hanchen Xie, Wael Abd-Almageed
Date: 2022-09-15 00:00:00
Tasks: Adversarial Defense, Representation Learning

Disentangled and invariant representations are two critical goals of representation learning and many approaches have been proposed to achieve either one of them. However, those two goals are actually complementary to each other so that we propose a framework to accomplish both of them simultaneously. We introduce a weakly supervised signal to learn disentangled representation which consists of three splits containing predictive, known nuisance and unknown nuisance information respectively. Furthermore, we incorporate contrastive method to enforce representation invariance. Experiments shows that the proposed method outperforms state-of-the-art (SOTA) methods on four standard benchmarks and shows that the proposed method can have better adversarial defense ability comparing to other methods without adversarial training.
SQL and NoSQL Databases Software architectures performance analysis and assessments -- A Systematic Literature review
Authors: Wisal Khan, Teerath Kumar, Zhang Cheng, Kislay Raj, Arunabha M Roy, Bin Luo
Date: 2022-09-14 00:00:00
Tasks: Articles, Systematic Literature Review

Context: The efficient processing of Big Data is a challenging task for SQL and NoSQL Databases, where competent software architecture plays a vital role. The SQL Databases are designed for structuring data and supporting vertical scalability. In contrast, horizontal scalability is backed by NoSQL Databases and can process sizeable unstructured Data efficiently. One can choose the right paradigm according to the organisation's needs; however, making the correct choice can often be challenging. The SQL and NoSQL Databases follow different architectures. Also, the mixed model is followed by each category of NoSQL Databases. Hence, data movement becomes difficult for cloud consumers across multiple cloud service providers (CSPs). In addition, each cloud platform IaaS, PaaS, SaaS, and DBaaS also monitors various paradigms. Objective: This systematic literature review (SLR) aims to study the related articles associated with SQL and NoSQL Database software architectures and tackle data portability and Interoperability among various cloud platforms. State of the art presented many performance comparison studies of SQL and NoSQL Databases by observing scaling, performance, availability, consistency and sharding characteristics. According to the research studies, NoSQL Database designed structures can be the right choice for big data analytics, while SQL Databases are suitable for OLTP Databases. The researcher proposes numerous approaches associated with data movement in the cloud. Platform-based APIs are developed, which makes users' data movement difficult. Therefore, data portability and Interoperability issues are noticed during data movement across multiple CSPs. To minimize developer efforts and Interoperability, Unified APIs are demanded to make data movement relatively more accessible among various cloud platforms.
PointACL:Adversarial Contrastive Learning for Robust Point Clouds Representation under Adversarial Attack
Authors: Junxuan Huang, Yatong An, Lu Cheng, Bai Chen, Junsong Yuan, Chunming Qiao
Date: 2022-09-14 00:00:00
Tasks: 3D Classification, Adversarial Attack, Adversarial Robustness, Contrastive Learning

Despite recent success of self-supervised based contrastive learning model for 3D point clouds representation, the adversarial robustness of such pre-trained models raised concerns. Adversarial contrastive learning (ACL) is considered an effective way to improve the robustness of pre-trained models. In contrastive learning, the projector is considered an effective component for removing unnecessary feature information during contrastive pretraining and most ACL works also use contrastive loss with projected feature representations to generate adversarial examples in pretraining, while "unprojected " feature representations are used in generating adversarial inputs during inference.Because of the distribution gap between projected and "unprojected" features, their models are constrained of obtaining robust feature representations for downstream tasks. We introduce a new method to generate high-quality 3D adversarial examples for adversarial training by utilizing virtual adversarial loss with "unprojected" feature representations in contrastive learning framework. We present our robust aware loss function to train self-supervised contrastive learning framework adversarially. Furthermore, we find selecting high difference points with the Difference of Normal (DoN) operator as additional input for adversarial self-supervised contrastive learning can significantly improve the adversarial robustness of the pre-trained model. We validate our method, PointACL on downstream tasks, including 3D classification and 3D segmentation with multiple datasets. It obtains comparable robust accuracy over state-of-the-art contrastive adversarial learning methods.
Robust Transferable Feature Extractors: Learning to Defend Pre-Trained Networks Against White Box Adversaries
Authors: Alexander Cann, Ian Colbert, Ihab Amer
Date: 2022-09-14 00:00:00
Tasks: Adversarial Robustness

The widespread adoption of deep neural networks in computer vision applications has brought forth a significant interest in adversarial robustness. Existing research has shown that maliciously perturbed inputs specifically tailored for a given model (i.e., adversarial examples) can be successfully transferred to another independently trained model to induce prediction errors. Moreover, this property of adversarial examples has been attributed to features derived from predictive patterns in the data distribution. Thus, we are motivated to investigate the following question: Can adversarial defenses, like adversarial examples, be successfully transferred to other independently trained models? To this end, we propose a deep learning-based pre-processing mechanism, which we refer to as a robust transferable feature extractor (RTFE). After examining theoretical motivation and implications, we experimentally show that our method can provide adversarial robustness to multiple independently pre-trained classifiers that are otherwise ineffective against an adaptive white box adversary. Furthermore, we show that RTFEs can even provide one-shot adversarial robustness to models independently trained on different datasets.
NanoFlowNet: Real-time Dense Optical Flow on a Nano Quadcopter
Authors: Rik J. Bouwmeester, Federico Paredes-Vallés, Guido C. H. E. de Croon
Date: 2022-09-14 00:00:00
Tasks: Autonomous Navigation, Edge-computing, Optical Flow Estimation, Semantic Segmentation

Nano quadcopters are small, agile, and cheap platforms that are well suited for deployment in narrow, cluttered environments. Due to their limited payload, these vehicles are highly constrained in processing power, rendering conventional vision-based methods for safe and autonomous navigation incompatible. Recent machine learning developments promise high-performance perception at low latency, while dedicated edge computing hardware has the potential to augment the processing capabilities of these limited devices. In this work, we present NanoFlowNet, a lightweight convolutional neural network for real-time dense optical flow estimation on edge computing hardware. We draw inspiration from recent advances in semantic segmentation for the design of this network. Additionally, we guide the learning of optical flow using motion boundary ground truth data, which improves performance with no impact on latency. Validation results on the MPI-Sintel dataset show the high performance of the proposed network given its constrained architecture. Additionally, we successfully demonstrate the capabilities of NanoFlowNet by deploying it on the ultra-low power GAP8 microprocessor and by applying it to vision-based obstacle avoidance on board a Bitcraze Crazyflie, a 34 g nano quadcopter.
On the State of the Art in Authorship Attribution and Authorship Verification
Authors: Jacob Tyo, Bhuwan Dhingra, Zachary C. Lipton
Date: 2022-09-14 00:00:00
Tasks: Authorship Attribution, Authorship Verification

Despite decades of research on authorship attribution (AA) and authorship verification (AV), inconsistent dataset splits/filtering and mismatched evaluation methods make it difficult to assess the state of the art. In this paper, we present a survey of the fields, resolve points of confusion, introduce Valla that standardizes and benchmarks AA/AV datasets and metrics, provide a large-scale empirical evaluation, and provide apples-to-apples comparisons between existing methods. We evaluate eight promising methods on fifteen datasets (including distribution-shifted challenge sets) and introduce a new large-scale dataset based on texts archived by Project Gutenberg. Surprisingly, we find that a traditional Ngram-based model performs best on 5 (of 7) AA tasks, achieving an average macro-accuracy of $76.50\%$ (compared to $66.71\%$ for a BERT-based model). However, on the two AA datasets with the greatest number of words per author, as well as on the AV datasets, BERT-based models perform best. While AV methods are easily applied to AA, they are seldom included as baselines in AA papers. We show that through the application of hard-negative mining, AV methods are competitive alternatives to AA methods. Valla and all experiment code can be found here: https://github.com/JacobTyo/Valla
Sketch of a novel approach to a neural model
Authors: Gabriele Scheler
Date: 2022-09-14 00:00:00

In this paper, we lay out a novel model of neuroplasticity in the form of a horizontal-vertical integration model of neural processing. The horizontal plane consists of a network of neurons connected by adaptive transmission links. This fits with standard computational neuroscience approaches. Each individual neuron also has a vertical dimension with internal parameters steering the external membrane-expressed parameters. These determine neural transmission. The vertical system consists of (a) external parameters at the membrane layer, divided into compartments (spines, boutons) (b) internal parameters in the sub-membrane zone and the cytoplasm with its protein signaling network and (c) core parameters in the nucleus for genetic and epigenetic information. In such models, each node (=neuron) in the horizontal network has its own internal memory. Neural transmission and information storage are systematically separated. This is an important conceptual advance over synaptic weight models. We discuss the membrane-based (external) filtering and selection of outside signals for processing. Not every transmission event leaves a trace. We also illustrate the neuron-internal computing strategies from intracellular protein signaling to the nucleus as the core system. We want to show that the individual neuron has an important role in the computation of signals. Many assumptions derived from the synaptic weight adjustment hypothesis of memory may not hold in a real brain. We present the neuron as a self-programming device, rather than passively determined by ongoing input. We believe a new approach to neural modeling will benefit the third wave of AI. Ultimately we strive to build a flexible memory system that processes facts and events automatically.
Robust field-level inference with dark matter halos
Authors: Helen Shao, Francisco Villaescusa-Navarro, Pablo Villanueva-Domingo, Romain Teyssier, Lehman H. Garrison, Marco Gatti, Derek Inman, Yueying Ni, Ulrich P. Steinwandel, Mihir Kulkarni, Eli Visbal, Greg L. Bryan, Daniel Angles-Alcazar, Tiago Castro, Elena Hernandez-Martinez, Klaus Dolag
Date: 2022-09-14 00:00:00

We train graph neural networks on halo catalogues from Gadget N-body simulations to perform field-level likelihood-free inference of cosmological parameters. The catalogues contain $\lesssim$5,000 halos with masses $\gtrsim 10^{10}~h^{-1}M_\odot$ in a periodic volume of $(25~h^{-1}{\rm Mpc})^3$; every halo in the catalogue is characterized by several properties such as position, mass, velocity, concentration, and maximum circular velocity. Our models, built to be permutationally, translationally, and rotationally invariant, do not impose a minimum scale on which to extract information and are able to infer the values of $\Omega_{\rm m}$ and $\sigma_8$ with a mean relative error of $\sim6\%$, when using positions plus velocities and positions plus masses, respectively. More importantly, we find that our models are very robust: they can infer the value of $\Omega_{\rm m}$ and $\sigma_8$ when tested using halo catalogues from thousands of N-body simulations run with five different N-body codes: Abacus, CUBEP$^3$M, Enzo, PKDGrav3, and Ramses. Surprisingly, the model trained to infer $\Omega_{\rm m}$ also works when tested on thousands of state-of-the-art CAMELS hydrodynamic simulations run with four different codes and subgrid physics implementations. Using halo properties such as concentration and maximum circular velocity allow our models to extract more information, at the expense of breaking the robustness of the models. This may happen because the different N-body codes are not converged on the relevant scales corresponding to these parameters.
A Temporal Anomaly Detection System for Vehicles utilizing Functional Working Groups and Sensor Channels
Authors: Subash Neupane, Ivan A. Fernandez, Wilson Patterson, Sudip Mittal, Shahram Rahimi
Date: 2022-09-14 00:00:00
Tasks: Anomaly Detection

A modern vehicle fitted with sensors, actuators, and Electronic Control Units (ECUs) can be divided into several operational subsystems called Functional Working Groups (FWGs). Examples of these FWGs include the engine system, transmission, fuel system, brakes, etc. Each FWG has associated sensor-channels that gauge vehicular operating conditions. This data rich environment is conducive to the development of Predictive Maintenance (PdM) technologies. Undercutting various PdM technologies is the need for robust anomaly detection models that can identify events or observations which deviate significantly from the majority of the data and do not conform to a well defined notion of normal vehicular operational behavior. In this paper, we introduce the Vehicle Performance, Reliability, and Operations (VePRO) dataset and use it to create a multi-phased approach to anomaly detection. Utilizing Temporal Convolution Networks (TCN), our anomaly detection system can achieve 96% detection accuracy and accurately predicts 91% of true anomalies. The performance of our anomaly detection system improves when sensor channels from multiple FWGs are utilized.