In static environments, visual simultaneous localization and mapping (V-SLAM) methods achieve remarkable performance. However, moving objects severely affect core modules of such systems like state estimation and loop closure detection. To address this, dynamic SLAM approaches often use semantic information, geometric constraints, or optical flow to mask features associated with dynamic entities. These are limited by various factors such as a dependency on the quality of the underlying method, poor generalization to unknown or unexpected moving objects, and often produce noisy results, e.g. by masking static but movable objects or making use of predefined thresholds. In this paper, to address these trade-offs, we introduce a novel visual SLAM system, DynaPix, based on per-pixel motion probability values. Our approach consists of a new semantic-free probabilistic pixel-wise motion estimation module and an improved pose optimization process. Our per-pixel motion probability estimation combines a novel static background differencing method on both images and optical flows from splatted frames. DynaPix fully integrates those motion probabilities into both map point selection and weighted bundle adjustment within the tracking and optimization modules of ORB-SLAM2. We evaluate DynaPix against ORB-SLAM2 and DynaSLAM on both GRADE and TUM-RGBD datasets, obtaining lower errors and longer trajectory tracking times. We will release both source code and data upon acceptance of this work.
In the era of information explosion, spatio-temporal data mining serves as a critical part of urban management. Considering the various fields demanding attention, e.g., traffic state, human activity, and social event, predicting multiple spatio-temporal attributes simultaneously can alleviate regulatory pressure and foster smart city construction. However, current research can not handle the spatio-temporal multi-attribute prediction well due to the complex relationships between diverse attributes. The key challenge lies in how to address the common spatio-temporal patterns while tackling their distinctions. In this paper, we propose an effective solution for spatio-temporal multi-attribute prediction, PromptST. We devise a spatio-temporal transformer and a parameter-sharing training scheme to address the common knowledge among different spatio-temporal attributes. Then, we elaborate a spatio-temporal prompt tuning strategy to fit the specific attributes in a lightweight manner. Through the pretrain and prompt tuning phases, our PromptST is able to enhance the specific spatio-temoral characteristic capture by prompting the backbone model to fit the specific target attribute while maintaining the learned common knowledge. Extensive experiments on real-world datasets verify that our PromptST attains state-of-the-art performance. Furthermore, we also prove PromptST owns good transferability on unseen spatio-temporal attributes, which brings promising application potential in urban computing. The implementation code is available to ease reproducibility.
Cloud computing is a concept introduced in the information technology era, with the main components being the grid, distributed, and valuable computing. The cloud is being developed continuously and, naturally, comes up with many challenges, one of which is scheduling. A schedule or timeline is a mechanism used to optimize the time for performing a duty or set of duties. A scheduling process is accountable for choosing the best resources for performing a duty. The main goal of a scheduling algorithm is to improve the efficiency and quality of the service while at the same time ensuring the acceptability and effectiveness of the targets. The task scheduling problem is one of the most important NP-hard issues in the cloud domain and, so far, many techniques have been proposed as solutions, including using genetic algorithms (GAs), particle swarm optimization, (PSO), and ant colony optimization (ACO). To address this problem, in this paper, one of the collective intelligence algorithms, called the Salp Swarm Algorithm (SSA), has been expanded, improved, and applied. The performance of the proposed algorithm has been compared with that of GAs, PSO, continuous ACO, and the basic SSA. The results show that our algorithm has generally higher performance than the other algorithms. For example, compared to the basic SSA, the proposed method has an average reduction of approximately 21% in makespan.
This work presents a modular and parallelizable multi-agent deep reinforcement learning framework for imbibing cooperative as well as competitive behaviors within autonomous vehicles. We introduce AutoDRIVE Ecosystem as an enabler to develop physically accurate and graphically realistic digital twins of Nigel and F1TENTH, two scaled autonomous vehicle platforms with unique qualities and capabilities, and leverage this ecosystem to train and deploy multi-agent reinforcement learning policies. We first investigate an intersection traversal problem using a set of cooperative vehicles (Nigel) that share limited state information with each other in single as well as multi-agent learning settings using a common policy approach. We then investigate an adversarial head-to-head autonomous racing problem using a different set of vehicles (F1TENTH) in a multi-agent learning setting using an individual policy approach. In either set of experiments, a decentralized learning architecture was adopted, which allowed robust training and testing of the approaches in stochastic environments, since the agents were mutually independent and exhibited asynchronous motion behavior. The problems were further aggravated by providing the agents with sparse observation spaces and requiring them to sample control commands that implicitly satisfied the imposed kinodynamic as well as safety constraints. The experimental results for both problem statements are reported in terms of quantitative metrics and qualitative remarks for training as well as deployment phases.
The SoccerNet 2023 challenges were the third annual video understanding challenges organized by the SoccerNet team. For this third edition, the challenges were composed of seven vision-based tasks split into three main themes. The first theme, broadcast video understanding, is composed of three high-level tasks related to describing events occurring in the video broadcasts: (1) action spotting, focusing on retrieving all timestamps related to global actions in soccer, (2) ball action spotting, focusing on retrieving all timestamps related to the soccer ball change of state, and (3) dense video captioning, focusing on describing the broadcast with natural language and anchored timestamps. The second theme, field understanding, relates to the single task of (4) camera calibration, focusing on retrieving the intrinsic and extrinsic camera parameters from images. The third and last theme, player understanding, is composed of three low-level tasks related to extracting information about the players: (5) re-identification, focusing on retrieving the same players across multiple views, (6) multiple object tracking, focusing on tracking players and the ball through unedited video streams, and (7) jersey number recognition, focusing on recognizing the jersey number of players from tracklets. Compared to the previous editions of the SoccerNet challenges, tasks (2-3-7) are novel, including new annotations and data, task (4) was enhanced with more data and annotations, and task (6) now focuses on end-to-end approaches. More information on the tasks, challenges, and leaderboards are available on https://www.soccer-net.org. Baselines and development kits can be found on https://github.com/SoccerNet.
Medical image segmentation is critical for diagnosing and treating spinal disorders. However, the presence of high noise, ambiguity, and uncertainty makes this task highly challenging. Factors such as unclear anatomical boundaries, inter-class similarities, and irrational annotations contribute to this challenge. Achieving both accurate and diverse segmentation templates is essential to support radiologists in clinical practice. In recent years, denoising diffusion probabilistic modeling (DDPM) has emerged as a prominent research topic in computer vision. It has demonstrated effectiveness in various vision tasks, including image deblurring, super-resolution, anomaly detection, and even semantic representation generation at the pixel level. Despite the robustness of existing diffusion models in visual generation tasks, they still struggle with discrete masks and their various effects. To address the need for accurate and diverse spine medical image segmentation templates, we propose an end-to-end framework called VerseDiff-UNet, which leverages the denoising diffusion probabilistic model (DDPM). Our approach integrates the diffusion model into a standard U-shaped architecture. At each step, we combine the noise-added image with the labeled mask to guide the diffusion direction accurately towards the target region. Furthermore, to capture specific anatomical a priori information in medical images, we incorporate a shape a priori module. This module efficiently extracts structural semantic information from the input spine images. We evaluate our method on a single dataset of spine images acquired through X-ray imaging. Our results demonstrate that VerseDiff-UNet significantly outperforms other state-of-the-art methods in terms of accuracy while preserving the natural features and variations of anatomy.
We propose a method to determine whether a given article was entirely written by a generative language model versus an alternative situation in which the article includes some significant edits by a different author, possibly a human. Our process involves many perplexity tests for the origin of individual sentences or other text atoms, combining these multiple tests using Higher Criticism (HC). As a by-product, the method identifies parts suspected to be edited. The method is motivated by the convergence of the log-perplexity to the cross-entropy rate and by a statistical model for edited text saying that sentences are mostly generated by the language model, except perhaps for a few sentences that might have originated via a different mechanism. We demonstrate the effectiveness of our method using real data and analyze the factors affecting its success. This analysis raises several interesting open challenges whose resolution may improve the method's effectiveness.
Online recommender systems (RS) aim to match user needs with the vast amount of resources available on various platforms. A key challenge is to model user preferences accurately under the condition of data sparsity. To address this challenge, some methods have leveraged external user behavior data from multiple platforms to enrich user representation. However, all of these methods require a consistent user ID across platforms and ignore the information from similar users. In this study, we propose RUEL, a novel retrieval-based sequential recommender that can effectively incorporate external anonymous user behavior data from Edge browser logs to enhance recommendation. We first collect and preprocess a large volume of Edge browser logs over a one-year period and link them to target entities that correspond to candidate items in recommendation datasets. We then design a contrastive learning framework with a momentum encoder and a memory bank to retrieve the most relevant and diverse browsing sequences from the full browsing log based on the semantic similarity between user representations. After retrieval, we apply an item-level attentive selector to filter out noisy items and generate refined sequence embeddings for the final predictor. RUEL is the first method that connects user browsing data with typical recommendation datasets and can be generalized to various recommendation scenarios and datasets. We conduct extensive experiments on four real datasets for sequential recommendation tasks and demonstrate that RUEL significantly outperforms state-of-the-art baselines. We also conduct ablation studies and qualitative analysis to validate the effectiveness of each component of RUEL and provide additional insights into our method.
Harnessing collective intelligence to drive effective decision-making and collaboration benefits from the ability to detect and characterize heterogeneity in consensus beliefs. This is particularly true in domains such as technology acceptance or leadership perception, where a consensus defines an intersubjective truth, leading to the possibility of multiple "ground truths" when subsets of respondents sustain mutually incompatible consensuses. Cultural Consensus Theory (CCT) provides a statistical framework for detecting and characterizing these divergent consensus beliefs. However, it is unworkable in modern applications because it lacks the ability to generalize across even highly similar beliefs, is ineffective with sparse data, and can leverage neither external knowledge bases nor learned machine representations. Here, we overcome these limitations through Infinite Deep Latent Construct Cultural Consensus Theory (iDLC-CCT), a nonparametric Bayesian model that extends CCT with a latent construct that maps between pretrained deep neural network embeddings of entities and the consensus beliefs regarding those entities among one or more subsets of respondents. We validate the method across domains including perceptions of risk sources, food healthiness, leadership, first impressions, and humor. We find that iDLC-CCT better predicts the degree of consensus, generalizes well to out-of-sample entities, and is effective even with sparse data. To improve scalability, we introduce an efficient hard-clustering variant of the iDLC-CCT using an algorithm derived from a small-variance asymptotic analysis of the model. The iDLC-CCT, therefore, provides a workable computational foundation for harnessing collective intelligence under a lack of cultural consensus and may potentially form the basis of consensus-aware information technologies.
Learning multi-lingual sentence embeddings is a fundamental and significant task in natural language processing. Recent trends of learning both mono-lingual and multi-lingual sentence embeddings are mainly based on contrastive learning (CL) with an anchor, one positive, and multiple negative instances. In this work, we argue that leveraging multiple positives should be considered for multi-lingual sentence embeddings because (1) positives in a diverse set of languages can benefit cross-lingual learning, and (2) transitive similarity across multiple positives can provide reliable structural information to learn. In order to investigate the impact of CL with multiple positives, we propose a novel approach MPCL to effectively utilize multiple positive instances to improve learning multi-lingual sentence embeddings. Our experimental results on various backbone models and downstream tasks support that compared with conventional CL, MPCL leads to better retrieval, semantic similarity, and classification performances. We also observe that on unseen languages, sentence embedding models trained on multiple positives have better cross-lingual transferring performance than models trained on a single positive instance.