A Multi-Modal Simulation Framework to Enable Digital Twin-based V2X Communications in Dynamic Environments

Digital Twins (DTs) for physical wireless environments have been recently proposed as accurate virtual representations of the propagation environment that can enable multi-layer decisions at the physical communication equipment. At high frequency bands, DTs can help to overcome the challenges emerging in the high mobility conditions featuring vehicular environments. In this paper, we propose a novel data-driven workflow for the creation of the DT of a Vehicle-to-Everything (V2X) communication scenario and a multi-modal simulation framework for the generation of realistic sensor data and accurate mmWave/sub-THz wireless channels. The proposed method leverages an automotive simulation and testing framework based on the Unreal Engine game engine and an accurate ray-tracing channel simulator. Simulations over an urban scenario show the achievable realistic sensor and channel modelling both at the infrastructure and at an ego-vehicle.

Federated Survival Forests

Survival analysis is a subfield of statistics concerned with modeling the occurrence time of a particular event of interest for a population. Survival analysis found widespread applications in healthcare, engineering, and social sciences. However, real-world applications involve survival datasets that are distributed, incomplete, censored, and confidential. In this context, federated learning can tremendously improve the performance of survival analysis applications. Federated learning provides a set of privacy-preserving techniques to jointly train machine learning models on multiple datasets without compromising user privacy, leading to a better generalization performance. Despite the widespread development of federated learning in recent AI research, only a few studies focus on federated survival analysis. In this work, we present a novel federated algorithm for survival analysis based on one of the most successful survival models, the random survival forest. We call the proposed method Federated Survival Forest (FedSurF). With a single communication round, FedSurF obtains a discriminative power comparable to deep-learning-based federated models trained over hundreds of federated iterations. Moreover, FedSurF retains all the advantages of random forests, namely low computational cost and natural handling of missing values and incomplete datasets. These advantages are especially desirable in real-world federated environments with multiple small datasets stored on devices with low computational capabilities. Numerical experiments compare FedSurF with state-of-the-art survival models in federated networks, showing how FedSurF outperforms deep-learning-based federated algorithms in realistic environments with non-identically distributed data.

Enhancing Once-For-All: A Study on Parallel Blocks, Skip Connections and Early Exits

The use of Neural Architecture Search (NAS) techniques to automate the design of neural networks has become increasingly popular in recent years. The proliferation of devices with different hardware characteristics using such neural networks, as well as the need to reduce the power consumption for their search, has led to the realisation of Once-For-All (OFA), an eco-friendly algorithm characterised by the ability to generate easily adaptable models through a single learning process. In order to improve this paradigm and develop high-performance yet eco-friendly NAS techniques, this paper presents OFAv2, the extension of OFA aimed at improving its performance while maintaining the same ecological advantage. The algorithm is improved from an architectural point of view by including early exits, parallel blocks and dense skip connections. The training process is extended by two new phases called Elastic Level and Elastic Height. A new Knowledge Distillation technique is presented to handle multi-output networks, and finally a new strategy for dynamic teacher network selection is proposed. These modifications allow OFAv2 to improve its accuracy performance on the Tiny ImageNet dataset by up to 12.07% compared to the original version of OFA, while maintaining the algorithm flexibility and advantages.

Anticipate, Ensemble and Prune: Improving Convolutional Neural Networks via Aggregated Early Exits

Today, artificial neural networks are the state of the art for solving a variety of complex tasks, especially in image classification. Such architectures consist of a sequence of stacked layers with the aim of extracting useful information and having it processed by a classifier to make accurate predictions. However, intermediate information within such models is often left unused. In other cases, such as in edge computing contexts, these architectures are divided into multiple partitions that are made functional by including early exits, i.e. intermediate classifiers, with the goal of reducing the computational and temporal load without extremely compromising the accuracy of the classifications. In this paper, we present Anticipate, Ensemble and Prune (AEP), a new training technique based on weighted ensembles of early exits, which aims at exploiting the information in the structure of networks to maximise their performance. Through a comprehensive set of experiments, we show how the use of this approach can yield average accuracy improvements of up to 15% over traditional training. In its hybrid-weighted configuration, AEP's internal pruning operation also allows reducing the number of parameters by up to 41%, lowering the number of multiplications and additions by 18% and the latency time to make inference by 16%. By using AEP, it is also possible to learn weights that allow early exits to achieve better accuracy values than those obtained from single-output reference models.

Heterogeneous Datasets for Federated Survival Analysis Simulation

Survival analysis studies time-modeling techniques for an event of interest occurring for a population. Survival analysis found widespread applications in healthcare, engineering, and social sciences. However, the data needed to train survival models are often distributed, incomplete, censored, and confidential. In this context, federated learning can be exploited to tremendously improve the quality of the models trained on distributed data while preserving user privacy. However, federated survival analysis is still in its early development, and there is no common benchmarking dataset to test federated survival models. This work proposes a novel technique for constructing realistic heterogeneous datasets by starting from existing non-federated datasets in a reproducible way. Specifically, we provide two novel dataset-splitting algorithms based on the Dirichlet distribution to assign each data sample to a carefully chosen client: quantity-skewed splitting and label-skewed splitting. Furthermore, these algorithms allow for obtaining different levels of heterogeneity by changing a single hyperparameter. Finally, numerical experiments provide a quantitative evaluation of the heterogeneity level using log-rank tests and a qualitative analysis of the generated splits. The implementation of the proposed methods is publicly available in favor of reproducibility and to encourage common practices to simulate federated environments for survival analysis.

POPNASv3: a Pareto-Optimal Neural Architecture Search Solution for Image and Time Series Classification

The automated machine learning (AutoML) field has become increasingly relevant in recent years. These algorithms can develop models without the need for expert knowledge, facilitating the application of machine learning techniques in the industry. Neural Architecture Search (NAS) exploits deep learning techniques to autonomously produce neural network architectures whose results rival the state-of-the-art models hand-crafted by AI experts. However, this approach requires significant computational resources and hardware investments, making it less appealing for real-usage applications. This article presents the third version of Pareto-Optimal Progressive Neural Architecture Search (POPNASv3), a new sequential model-based optimization NAS algorithm targeting different hardware environments and multiple classification tasks. Our method is able to find competitive architectures within large search spaces, while keeping a flexible structure and data processing pipeline to adapt to different tasks. The algorithm employs Pareto optimality to reduce the number of architectures sampled during the search, drastically improving the time efficiency without loss in accuracy. The experiments performed on images and time series classification datasets provide evidence that POPNASv3 can explore a large set of assorted operators and converge to optimal architectures suited for the type of data provided under different scenarios.

IC3D: Image-Conditioned 3D Diffusion for Shape Generation

In the last years, Denoising Diffusion Probabilistic Models (DDPMs) obtained state-of-the-art results in many generative tasks, outperforming GANs and other classes of generative models. In particular, they reached impressive results in various image generation sub-tasks, among which conditional generation tasks such as text-guided image synthesis. Given the success of DDPMs in 2D generation, they have more recently been applied to 3D shape generation, outperforming previous approaches and reaching state-of-the-art results. However, 3D data pose additional challenges, such as the choice of the 3D representation, which impacts design choices and model efficiency. While reaching state-of-the-art results in generation quality, existing 3D DDPM works make little or no use of guidance, mainly being unconditional or class-conditional. In this paper, we present IC3D, the first Image-Conditioned 3D Diffusion model that generates 3D shapes by image guidance. It is also the first 3D DDPM model that adopts voxels as a 3D representation. To guide our DDPM, we present and leverage CISP (Contrastive Image-Shape Pre-training), a model jointly embedding images and shapes by contrastive pre-training, inspired by text-to-image DDPM works. Our generative diffusion model outperforms the state-of-the-art in 3D generation quality and diversity. Furthermore, we show that our generated shapes are preferred by human evaluators to a SoTA single-view 3D reconstruction model in terms of quality and coherence to the query image by running a side-by-side human evaluation.

POPNASv2: An Efficient Multi-Objective Neural Architecture Search Technique

Automating the research for the best neural network model is a task that has gained more and more relevance in the last few years. In this context, Neural Architecture Search (NAS) represents the most effective technique whose results rival the state of the art hand-crafted architectures. However, this approach requires a lot of computational capabilities as well as research time, which makes prohibitive its usage in many real-world scenarios. With its sequential model-based optimization strategy, Progressive Neural Architecture Search (PNAS) represents a possible step forward to face this resources issue. Despite the quality of the found network architectures, this technique is still limited in research time. A significant step in this direction has been done by Pareto-Optimal Progressive Neural Architecture Search (POPNAS), which expands PNAS with a time predictor to enable a trade-off between search time and accuracy, considering a multi-objective optimization problem. This paper proposes a new version of the Pareto-Optimal Progressive Neural Architecture Search, called POPNASv2. Our approach enhances its first version and improves its performance. We expanded the search space by adding new operators and improved the quality of both predictors to build more accurate Pareto fronts. Moreover, we introduced cell equivalence checks and enriched the search strategy with an adaptive greedy exploration step. Our efforts allow POPNASv2 to achieve PNAS-like performance with an average 4x factor search time speed-up.

Object Structural Points Representation for Graph-based Semantic Monocular Localization and Mapping

Efficient object level representation for monocular semantic simultaneous localization and mapping (SLAM) still lacks a widely accepted solution. In this paper, we propose the use of an efficient representation, based on structural points, for the geometry of objects to be used as landmarks in a monocular semantic SLAM system based on the pose-graph formulation. In particular, an inverse depth parametrization is proposed for the landmark nodes in the pose-graph to store object position, orientation and size/scale. The proposed formulation is general and it can be applied to different geometries; in this paper we focus on indoor environments where human-made artifacts commonly share a planar rectangular shape, e.g., windows, doors, cabinets, etc. The approach can be easily extended to urban scenarios where similar shapes exists as well. Experiments in simulation show good performance, particularly in object geometry reconstruction.

Extended Object Tracking in Curvilinear Road Coordinates for Autonomous Driving

In literature, Extended Object Tracking (EOT) algorithms developed for autonomous driving predominantly provide obstacles state estimation in cartesian coordinates in the Vehicle Reference Frame. However, in many scenarios, state representation in road-aligned curvilinear coordinates is preferred when implementing autonomous driving subsystems like cruise control, lane-keeping assist, platooning, etc. This paper proposes a Gaussian Mixture Probability Hypothesis Density~(GM-PHD) filter with an Unscented Kalman Filter~(UKF) estimator that provides obstacle state estimates in curvilinear road coordinates. We employ a hybrid sensor fusion architecture between Lidar and Radar sensors to obtain rich measurement point representations for EOT. The measurement model for the UKF estimator is developed with the integration of coordinate conversion from curvilinear road coordinates to cartesian coordinates by using cubic hermit spline road model. The proposed algorithm is validated through Matlab Driving Scenario Designer simulation and experimental data collected at Monza Eni Circuit.