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FAIR-FATE: Fair Federated Learning with Momentum

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arXiv 2022年

作者： Salazar, Teresa Fernandes, Miguel Araújo, Helder Abreu, Pedro Henriques Centre for Informatics and Systems Department of Informatics Engineering of The University of Coimbra University of Coimbra Coimbra Portugal Institute of Systems and Robotics Department of Electrical and Computer Engineering of The University of Coimbra University of Coimbra Coimbra Portugal

While fairness-aware machine learning algorithms have been receiving increasing attention, the focus has been on centralized machine learning, leaving decentralized methods underexplored. Federated Learning is a decentralized form of machine learning where clients train local models with a server aggregating them to obtain a shared global model. Data heterogeneity amongst clients is a common characteristic of Federated Learning, which may induce or exacerbate discrimination of unprivileged groups defined by sensitive attributes such as race or gender. In this work we propose FAIR-FATE: a novel FAIR FederATEd Learning algorithm that aims to achieve group fairness while maintaining high utility via a fairness-aware aggregation method that computes the global model by taking into account the fairness of the clients. To achieve that, the global model update is computed by estimating a fair model update using a Momentum term that helps to overcome the oscillations of non-fair gradients. To the best of our knowledge, this is the first approach in machine learning that aims to achieve fairness using a fair Momentum estimate. Experimental results on real-world datasets demonstrate that FAIR-FATE outperforms state-of-the-art fair Federated Learning algorithms under different levels of data *** Codes 68T07 © 2022, CC BY.

关键词： Momentum

AttDLNet: Attention-based DL Network for 3D LiDAR Place Recognition

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arXiv 2021年

作者： Barros, Tiago Garrote, Luís Pereira, Ricardo Premebida, Cristiano Nunes, Urbano J. University of Coimbra Institute of Systems and Robotics Department of Electrical and Computer Engineering Portugal

LiDAR-based place recognition is one of the key components of SLAM and global localization in autonomous vehicles and robotics applications. With the success of DL approaches in learning useful information from 3D LiDARs, place recognition has also benefited from this modality, which has led to higher re-localization and loop-closure detection performance, particularly, in environments with significant changing conditions. Despite the progress in this field, the extraction of proper and efficient descriptors from 3D LiDAR data that are invariant to changing conditions and orientation is still an unsolved challenge. To address this problem, this work proposes a novel 3D LiDAR-based deep learning network (named AttDLNet) that uses a range-based proxy representation for point clouds and an attention network with stacked attention layers to selectively focus on long-range context and inter-feature relationships. The proposed network is trained and validated on the KITTI dataset and an ablation study is presented to assess the novel attention network. Results show that adding attention to the network improves performance, leading to efficient loop closures, and outperforming an established 3D LiDAR-based place recognition approach. From the ablation study, results indicate that the middle encoder layers have the highest mean performance, while deeper layers are more robust to orientation change. The code is publicly available at:https://***/Cybonic/AttDLNet. © 2021, CC BY.

关键词： Ablation

Place recognition survey: An update on deep learning approaches

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arXiv 2021年

作者： Barros, Tiago Pereira, Ricardo Garrote, Luís Premebida, Cristiano Nunes, Urbano J. The University of Coimbra Institute of Systems and Robotics Department of Electrical and Computer Engineering Portugal

Autonomous Vehicles (AV) are becoming more capable of navigating in complex environments with dynamic and changing conditions. A key component that enables these intelligent vehicles to overcome such conditions and become more autonomous is the sophistication of the perception and localization systems. As part of the localization system, place recognition has benefited from recent developments in other perception tasks such as place categorization or object recognition, namely with the emergence of deep learning (DL) frameworks. This paper surveys recent approaches and methods used in place recognition, particularly those based on deep learning. The contributions of this work are twofold: surveying recent sensors such as 3D LiDARs and RADARs, applied in place recognition;and categorizing the various DL-based place recognition works into supervised, unsupervised, semi-supervised, parallel, and hierarchical categories. First, this survey introduces key place recognition concepts to contextualize the reader. Then, sensor characteristics are addressed. This survey proceeds by elaborating on the various DL-based works, presenting summaries for each framework. Some lessons learned from this survey include: the importance of NetVLAD for supervised end-to-end learning;the advantages of unsupervised approaches in place recognition, namely for cross-domain applications;or the increasing tendency of recent works to seek, not only for higher performance but also for higher efficiency. © 2021, CC BY.

关键词： Surveys

MovieChat+: Question-aware Sparse Memory for Long Video Question Answering

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arXiv 2024年

作者： Song, Enxin Chai, Wenhao Ye, Tian Hwang, Jenq-Neng Li, Xi Wang, Gaoang Zhejiang University-University of Illinois at Urbana-Champaign Institute Zhejiang University China The Department of Electrical and Computer Engineering The University of Washington United States Robotics and Autonomous Systems Thrust Hong Kong University of Science and Technology Guangzhou China The College of Computer Science and Technology Zhejiang University China

Recently, integrating video foundation models and large language models to build a video understanding system can overcome the limitations of specific pre-defined vision tasks. Yet, existing methods either employ complex spatial-temporal modules or rely heavily on additional perception models to extract temporal features for video understanding, and they only perform well on short videos. For long videos, the computational complexity and memory costs associated with long-term temporal connections are significantly increased, posing additional challenges. Taking advantage of the Atkinson-Shiffrin memory model, with tokens in Transformers being employed as the carriers of memory in combination with our specially designed memory mechanism, we propose MovieChat to overcome these challenges. We lift pre-trained multi-modal large language models for understanding long videos without incorporating additional trainable temporal modules, employing a zero-shot approach. Additionally, in our new version, MovieChat+, we design an enhanced vision-question matching-based memory consolidation mechanism to more significantly anchor the predictions of the visual language models in the relevant visual content. MovieChat achieves state-of-the-art performance in long video understanding, along with the released MovieChat-1K benchmark with 1K long video, 2K temporal grounding labels, and 14K manual annotations for validation of the effectiveness of our method. The code along with the dataset can be accessed via the following link. © 2024, CC BY.

关键词： Zero-shot learning

Machine Learning-Enabled Power Scheduling in IoT-Based Smart Cities

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computers, Materials & Continua 2021年第5期67卷 2449-2462页

作者： Nabeela Awan Salman Khan Mohammad Khalid Imam Rahmani Muhammad Tahir Nur Alam MD Ryan Alturki Ihsan Ullah Department of Computer Science Government Girls Degree College MardanKPK23200Pakistan Department of Electrical Energy System UETPeshawar25000Pakistan Department of Computer Science College of Computing and InformaticsSaudi Electronic UniversityKSA Department of Smart Computing Kyungdong UniversityGlobal CampusGosung24764South Korea Department of Information Sciences College of Computer and Information SystemsUmm Al-Qura UniversityMakkahSaudi Arabia Robotics Engineering Daegu Gyeongbuk Institute of Science and TechnologySouth Korea

Recent advancements in hardware and communication technologies have enabled worldwide interconnection using the internet of things(IoT).The IoT is the backbone of smart city applications such as smart grids and green energy *** smart cities,the IoT devices are used for linking power,price,energy,and demand information for smart homes and home energy management(HEM)in the smart *** complex smart gridconnected systems,power scheduling and secure dispatch of information are the main research *** challenges can be resolved through various machine learning techniques and data *** this paper,we have proposed a particle swarm optimization based machine learning algorithm known as a collaborative execute-before-after dependency-based requirement,for the smart *** proposed collaborative execute-before-after dependencybased requirement algorithm works in two phases,analysis and assessment of the requirements of end-users and power distribution *** the rst phases,a xed load is adjusted over a period of 24 h,and in the second phase,a randomly produced population load for 90 days is evaluated using particle swarm *** simulation results demonstrate that the proposed algorithm performed better in terms of percentage cost reduction,peak to average ratio,and power variance mean ratio than particle swarm optimization and inclined block rate.

关键词： PSO IBR machine learning IoT smart cities CDBR

Modular Adaptive Aerial Manipulation under Unknown Dynamic Coupling Forces

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arXiv 2024年

作者： Yadav, Rishabh Dev Dantu, Swati Pan, Wei Sun, Sihao Roy, Spandan Baldi, Simone Department of Computer Science The Univerity of Manchester United Kingdom Multi-robot systems group Faculty of Electrical Engineering Czech Technical University Prague Czech Republic Department of Cognitive Robotics Delft Univesrity of Technology Netherlands Robotics Research Center International Institute of Information Technology Hyderabad India School of Mathematics Southeast University Nanjing China

Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the existing control approaches either require precise knowledge of the aerial vehicle/manipulator inertial couplings, or neglect the state-dependent uncertainties especially arising during the interaction phase. This work proposes an adaptive control solution to overcome this long standing control challenge without any a priori knowledge of the coupling dynamic terms. Additionally, in contrast to the existing adaptive control solutions, the proposed control framework is modular, that is, it allows independent tuning of the adaptive gains for the vehicle position sub-dynamics, the vehicle attitude sub-dynamics, and the manipulator sub-dynamics. Stability of the closed loop under the proposed scheme is derived analytically, and real-time experiments validate the effectiveness of the proposed scheme over the state-of-the-art approaches. © 2024, CC BY.

关键词： Adaptive control systems

Modelling the Dependence of Chlorophyll Leaf-Clip Measures on Vegetation Indices Derived from Multispectral UAS Images in Vineyards Parcels

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Modelling the Dependence of Chlorophyll Leaf-Clip Measures o...

IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： Gil Gonçalves Umberto Andriolo Lúcio Paiva Cristiano Premebida António Ferraz Department of Mathematics University of Coimbra Coimbra Portugal Department of Electrical and Computer Engineering INESC Coimbra Coimbra Portugal Research Centre for Natural Resources Environment and Society Polytechnic Institute of Coimbra Coimbra Agrarian Technical School Coimbra Portugal Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Coimbra Portugal NASA Jet Propulsion Laboratory Pasadena United States

Multispectral images and leaf-clip measurements were used for evaluating the Chlorophyll (Chl) content on grapevine leaves through the use of vegetation indices. The multispectral leaf images were taken by a sensor onboard an UAS, which was placed over a table at a height of 70 cm. Images were radiometrically and geometrically processed to obtain accurate coregistered five band image stacks. Using a Kmeans segmentation, each leaf imaged in a multispectral image was automatically detected and the mean leaf reflectance values were used to compute three vegetation indices: NDVI, NDRE, and GLI. When compared to leaf-clip measurements, the results indicated that the NDRE index was the best predictor of Chl leaf content (R2=0.81). The obtained NDRE regression model can be used in UAS-based multispectral orthomosaics to generate canopy Chl maps at vine-row scale, which can assist vine growers in monitoring the spatial and temporal variability of grapevine vigor.

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An Augmented Reality Application for Upper-Limb Rehabilitation Supported by a Robotic Arm

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An Augmented Reality Application for Upper-Limb Rehabilitati...

Experiment@ International Conference (exp.at)

作者： José Carlos Rodrigues Maria Teresa Restivo Paulo Menezes LAETA-INEGI Faculty of Engineering University of Porto Porto Portugal LAETA-INEGI University of Porto Porto Portugal A3ES Lisbon Portugal Department of Electrical and Computer Engineering University of Coimbra Institute of Systems and Robotics Coimbra Portugal

ISBN: (数字)9798350314403

ISBN: (纸本)9798350314410

This work looks at the potential use of a robotic arm and augmented reality application, with a head-mounted display, in an upper-limb rehabilitation context. A sample application using a robotic simulator and a cross-sectional study using a real robotic arm are shown. Results from the usability evaluation are positive and encourage further development, but some identified problems must be corrected before further evaluations.

关键词： Head-mounted displays Sociology Medical treatment Collaborative robots Manipulators Real-time systems Usability

A Multi-Token Coordinate Descent Method for Semi-Decentralized Vertical Federated Learning

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arXiv 2023年

作者： Valdeira, Pedro Chi, Yuejie Soares, Cláudia Xavier, João CMU IST United States CMU United States NOVA IST Department of Electrical and Computer Engineering Carnegie Mellon University United States Institute for Systems and Robotics Instituto Superior Técnico Portugal Department of Computer Science NOVA School of Science and Technology Portugal

Communication efficiency is a major challenge in federated learning (FL). In client-server schemes, the server constitutes a bottleneck, and while decentralized setups spread communications, they do not necessarily reduce them due to slower convergence. We propose Multi-Token Coordinate Descent (MTCD), a communication-efficient algorithm for semi-decentralized vertical federated learning, exploiting both client-server and client-client communications when each client holds a small subset of features. Our multi-token method can be seen as a parallel Markov chain (block) coordinate descent algorithm and it subsumes the client-server and decentralized setups as special cases. We obtain a convergence rate of O(1/T) for nonconvex objectives when tokens roam over disjoint subsets of clients and for convex objectives when they roam over possibly overlapping subsets. Numerical results show that MTCD improves the state-of-the-art communication efficiency and allows for a tunable amount of parallel communications. © 2023, CC BY.

关键词： Efficiency