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Regime Learning for Differentiable Particle Filters

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arXiv 2024年

作者： Brady, John-Joseph Luo, Yuhui Wang, Wenwu Elvira, Víctor Li, Yunpeng Computer Science Research Centre University of Surrey Guildford United Kingdom Data Science Department National Physical Laboratory Teddington United Kingdom Centre for Vision Speech and Signal Processing University of Surrey Guildford United Kingdom School of Mathematics University of Edinburgh Edinburgh United Kingdom

关键词： Monte Carlo methods

Graph Neural Networks for Human-Aware Social Navigation 21st

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Graph Neural Networks for Human-Aware Social Navigation

21st International Workshop of Physical Agents, WAF 2020

作者： Manso, Luis J. Jorvekar, Ronit R. Faria, Diego R. Bustos, Pablo Bachiller, Pilar Department of Computer Science College of Engineering and Physical Sciences Aston University Birmingham United Kingdom Department of Computer Engineering Pune Institute of Computer Technology Pune India Robotics and Artificial Vision Laboratory University of Extremadura Badajoz Spain

ISBN: (纸本)9783030625788

Autonomous navigation is a key skill for assistive and service robots. To be successful, robots have to comply with social rules, such as avoiding the personal spaces of the people surrounding them, or not getting in the way of human-to-human and human-to-object interactions. This paper suggests using Graph Neural Networks to model how inconvenient the presence of a robot would be in a particular scenario according to learned human conventions so that it can be used by path planning algorithms. To do so, we propose two automated scenario-to-graph transformations and benchmark them with different Graph Neural Networks using the SocNav1 dataset [1]. We achieve close-to-human performance in the dataset and argue that, in addition to its promising results, the main advantage of the approach is its scalability in terms of the number of social factors that can be considered and easily embedded in code in comparison with model-based approaches. The code used to train and test the resulting graph neural network is available in a public repository. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Human robot interaction

Game-Theoretic Dependent Task Offloading and Resource Pricing in Vehicular Edge Computing

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Game-Theoretic Dependent Task Offloading and Resource Pricin...

International Workshop on Quality of Service

作者： Liang Zhao Shuai Huang Huan Zhou Zilong Bai Victor C. M. Leung Hubei Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering College of Computer and Information Technology China Three Gorges University Yichang China School of Computer Science Northwestern Polytechnical University Xi’an China Department of Electrical and Computer Engineering The University of British Columbia Vancouver Canada

ISBN: (数字)9798350350128

ISBN: (纸本)9798350350135

This paper proposes a Stacklberg game-based Dependent task Offloading and resource Pricing framework (SDOP), where vehicles partially offload their dependent substaks to the SDN controller and pays corresponding fees. Firstly, we model the interaction between the SDN controller and vehicles as a Stackelberg game, where both parties wish to maximize their utility. Then, we employ the backward induction approach to analyze the investigated problem, and prove the existence and uniqueness of Nash and Stackelberg equilibrium. Next, we propose a Gradient Ascent Plus Genetic algorithm (GAPG) to solve the considered problem. Finally, extensive simulation results show that the proposed GAPG outperforms other baseline schemes under various scenarios.

关键词： Simulation Computational modeling Pricing Games Quality of service Benchmark testing Optimization

Dependency-aware Task Offloading and Resource Pricing in Vehicular Edge Computing: A Stackelberg Game Approach

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Dependency-aware Task Offloading and Resource Pricing in Veh...

International Symposium on Parallel and Distributed Processing with Applications, ISPA

作者： Liang Zhao Shuai Huang Yuxiang Cao Huan Zhou Victor C. M. Leung Hubei Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering College of Computer and Information Technology China Three Gorges University Yichang China School of Computer Science Northwestern Polytechnical University Xi’an China Department of Electrical and Computer Engineering The University of British Columbia Vancouver Canada

ISBN: (数字)9798331509712

ISBN: (纸本)9798331509729

Vehicular Edge Computing (VEC) allows vehicles to offload their delay-sensitive tasks to nearby Road Side Units (RSUs) for processing, which improves network quality of service (QoS). However, the self-interested SDN controller is unwilling to ask RSUs to provide free computing resources for vehicles. At the same time, complicated dependencies between vehicular subtasks may cause non-ideal task delay and energy consumption. In order to solve these problems, this paper proposes a Stackelberg game-based Dependency-aware task Offloading and resource Pricing framework (SDOP). Specifically, we first model a vehicular edge network that partially offloads dependency-aware tasks. Then, we depict the interaction between the SDN controller and vehicles as a Stackelberg game, with the goal of maximizing the utility of both parties. Next, we present a Gradient Ascent Plus Genetic algorithm (GAPG) to solve the problem. Finally, numerous simulations are performed, and the results show that compared with other baseline schemes, the proposed GAPG can significantly improve the utility of both the SDN controller and vehicles under various scenarios.

关键词： Energy consumption Computational modeling Road side unit Process control Games Pricing Quality of service Delays Edge computing Genetic algorithms

DAMPER: A Dual-Stage Medical Report Generation Framework with Coarse-Grained MeSH Alignment and Fine-Grained Hypergraph Matching

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arXiv 2024年

作者： Huang, Xiaofei Chen, Wenting Liu, Jie Lu, Qisheng Luo, Xiaoling Shen, Linlin Computer Vision Institute College of Computer Science and Software Engineering Shenzhen University Shenzhen China Department of Electrical Engineering City University of Hong Kong Kowloon Hong Kong National Engineering Laboratory for Big Data System Computing Technology Shenzhen University China Guangdong Provincial Key Laboratory of Intelligent Information Processing China

Medical report generation is crucial for clinical diagnosis and patient management, summarizing diagnoses and recommendations based on medical imaging. However, existing work often overlook the clinical pipeline involved in report writing, where physicians typically conduct an initial quick review followed by a detailed examination. Moreover, current alignment methods may lead to misaligned relationships. To address these issues, we propose DAMPER, a dual-stage framework for medical report generation that mimics the clinical pipeline of report writing in two stages. In the first stage, a MeSH-Guided Coarse-Grained Alignment (MCG) stage that aligns chest X-ray (CXR) image features with medical subject headings (MeSH) features to generate a rough keyphrase representation of the overall impression. In the second stage, a Hypergraph-Enhanced Fine-Grained Alignment (HFG) stage that constructs hypergraphs for image patches and report annotations, modeling high-order relationships within each modality and performing hypergraph matching to capture semantic correlations between image regions and textual phrases. Finally,the coarse-grained visual features, generated MeSH representations, and visual hypergraph features are fed into a report decoder to produce the final medical report. Extensive experiments on public datasets demonstrate the effectiveness of DAMPER in generating comprehensive and accurate medical reports, outperforming state-of-the-art methods across various evaluation metrics. Copyright © 2024, The Authors. All rights reserved.

关键词： Coarse-grained modeling

Design of surrogate models in civil engineering by neural networks

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Design of surrogate models in civil engineering by neural ne...

South Eastern European Design Automation, computer engineering, computer Networks and Social Media Conference (SEEDA-CECNSM)

作者： Vojtěch Drahý Radek Mařík Heikki Kälviäinen Department of Computer Science Czech Technical University in Prague Prague Czech Republic Department of Telecommunication Engineering Czech Technical University in Prague Prague Czech Republic Computer Vision and Pattern Recognition Laboratory Lappeenranta-Lahti University of Technology LUT Lappeenranta Finland

ISBN: (数字)9798331504489

ISBN: (纸本)9798331504496

We present a task from the critical infrastructure field in materials engineering. We created a surrogate model for the bridge construction object to determine the material parameters’ values. The work aims to use neural networks to conduct an initial investigation of the task and to find out the aspects of machine learning application. To reduce the computational complexity of the models, we designed specific neural networks whose architecture corresponds to the structure and characteristics of the processed data. Furthermore, we outcome also interpretability and justification of the model’s decision-making. The main contribution of the work is the replacement of the unknown or too complex physical, mathematical description of material objects with a neural network model.

关键词： Training Social networking (online) Computational modeling Neural networks Focusing computer architecture Machine learning Feature extraction Mathematical models Computational complexity

Long-Term Invariant Local Features via Implicit Cross-Domain Correspondences

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arXiv 2023年

作者： Pataki, Zador Altillawi, Mohammad Kanakis, Menelaos Pautrat, Rémi Shen, Fengyi Liu, Ziyuan Van Gool, Luc Pollefeys, Marc The Computer Vision and Geometry Lab Department of Computer Science ETH Zurich Switzerland The Computer Vision Center CVC-Barcelona The Intelligent Robotics Cloud Technology lab of Huawei-Munich Germany The Computer Vision Lab Department Electrical Engineering ETH Zurich Switzerland The Intelligent Robotics Cloud Technology lab of Huawei-Munich Germany The Intelligent Robotics Cloud Technology lab of Huawei-Munich Germany The Center for Processing Speech and Images KU Leuven The Computer Vision Lab ETH Zurich Switzerland

Modern learning-based visual feature extraction networks perform well in intra-domain localization, however, their performance significantly declines when image pairs are captured across long-term visual domain variations, such as different seasonal and daytime variations. In this paper, our first contribution is a benchmark to investigate the performance impact of long-term variations on visual localization. We conduct a thorough analysis of the performance of current state-of-the-art feature extraction networks under various domain changes and find a significant performance gap between intra- and cross-domain localization. We investigate different methods to close this gap by improving the supervision of modern feature extractor networks. We propose a novel data-centric method, Implicit Cross-Domain Correspondences (iCDC). iCDC represents the same environment with multiple Neural Radiance Fields, each fitting the scene under individual visual domains. It utilizes the underlying 3D representations to generate accurate correspondences across different long-term visual conditions. Our proposed method enhances cross-domain localization performance, significantly reducing the performance gap. When evaluated on popular long-term localization benchmarks, our trained networks consistently outperform existing methods. This work serves as a substantial stride toward more robust visual localization pipelines for long-term deployments, and opens up research avenues in the development of long-term invariant descriptors. Copyright © 2023, The Authors. All rights reserved.

关键词： Feature extraction

Combining Scene Coordinate Regression and Absolute Pose Regression for Visual Relocalization

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Combining Scene Coordinate Regression and Absolute Pose Regr...

IEEE International Conference on Robotics and Automation (ICRA)

作者： Jiahao Ruan Li He Yisheng Guan Hong Zhang School of Electromechanical Engineering Guangdong University of Technology Guangzhou China Department of Electrical and Electronic Engineering Shenzhen Key - Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen China

Visual relocalization is a fundamental problem in computer vision and robotics. Recently, regression-based methods become popular and they can be categorized into two classes: absolute pose regression and scene coordinate regression. In this work, we present a combined regression network that jointly learns scene coordinate regression and absolute pose regression for single-image visual relocalization. The proposed network composes of a feature encoder and two regression branches with uncertainty modeling. In particular, we design a deep feature conditioning module, aiming at propagating the coarse pose information in absolute pose regression to inform the predictions in scene coordinate regression. The proposed network is trained in an end-to-end fashion to learn both regression tasks. Moreover, we propose an uncertainty-driven RANSAC algorithm that incorporates the predicted scene coordinates and their uncertainties to solve the camera pose during inference. To the best of our knowledge, this work is the first to combine scene coordinate regression and pose regression in a hierarchical framework for visual relocalization. Experiments on indoor and outdoor benchmarks demonstrate the effectiveness and the superiority of the proposed method over the state-of-the-art methods.

关键词：

A REFERENCE-FREE METRIC FOR LANGUAGE-QUERIED AUDIO SOURCE SEPARATION USING CONTRASTIVE LANGUAGE-AUDIO PRETRAINING

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arXiv 2024年

作者： Xiao, Feiyang Guan, Jian Zhu, Qiaoxi Liu, Xubo Wang, Wenbo Qi, Shuhan Zhang, Kejia Sun, Jianyuan Wang, Wenwu College of Computer Science and Technology Harbin Engineering University Harbin China University of Technology Sydney Ultimo Australia Centre for Vision Speech and Signal Processing University of Surrey Guildford United Kingdom Faculty of Computing Harbin Institute of Technology Harbin China School of Computer Science and Technology Harbin Institute of Technology Shenzhen China Department of Computer Science University of Sheffield Sheffield United Kingdom

Language-queried audio source separation (LASS) aims to separate an audio source guided by a text query, with the signal-to-distortion ratio (SDR)-based metrics being commonly used to objectively measure the quality of the separated audio. However, the SDR-based metrics require a reference signal, which is often difficult to obtain in real-world scenarios. In addition, with the SDR-based metrics, the content information of the text query is not considered effectively in LASS. This paper introduces a reference-free evaluation metric using a contrastive language-audio pretraining (CLAP) module, termed CLAPScore, which measures the semantic similarity between the separated audio and the text query. Unlike SDR, the proposed CLAPScore metric evaluates the quality of the separated audio based on the content information of the text query, without needing a reference signal. Experiments show that the CLAPScore provides an effective evaluation of the semantic relevance of the separated audio to the text query, as compared to the SDR metric, offering an alternative for the performance evaluation of LASS systems. The code for evaluation is publicly available1 Copyright © 2024, The Authors. All rights reserved.

关键词： Semantics