This paper first defines a class of estimation problem called simultaneous navigation and characterization (SNAC), which is a superset of simultaneous localization and mapping (SLAM). A SNAC framework is then developed for the Autonomous Nanosatellite Swarming (ANS) mission concept to autonomously navigate about and characterize an asteroid including the asteroid gravity field, rotational motion, and 3D shape. The ANS SNAC framework consists of three modules: 1) multi-agent optical landmark tracking and 3D point reconstruction using stereovision, 2) state estimation through a computationally efficient and robust unscented Kalman filter, and 3) reconstruction of an asteroid spherical harmonic shape model by leveraging a priori knowledge of the shape properties of celestial bodies. Despite significant interest in asteroids, there are several limitations to current asteroid rendezvous mission concepts. First, completed missions heavily rely on human oversight and Earth-based resources. Second, proposed solutions to increase autonomy make oversimplifying assumptions about state knowledge and information processing. Third, asteroid mission concepts often opt for high size, weight, power, and cost (SWaP-C) avionics for environmental measurements. Finally, such missions often utilize a single spacecraft, neglecting the benefits of distributed space systems. In contrast, ANS is composed of multiple autonomous nanosatellites equipped with low SWaP-C avionics. The ANS SNAC framework is validated through a numerical simulation of three spacecraft orbiting asteroid 433 Eros. The simulation results demonstrate that the proposed architecture provides autonomous and accurate SNAC in a safe manner without an a priori shape model and using only low SWaP-C avionics.
For many use cases, combining information from different datasets can be of interest to improve a machine learning model's performance, especially when the number of samples from at least one of the datasets is small. However, a potential challenge in such cases is that the features from these datasets are not identical, even though there are some commonly shared features among the datasets. To tackle this challenge, we propose a novel framework called Combine datasets based on Imputation (ComImp). In addition, we propose a variant of ComImp that uses Principle Component Analysis (PCA), PCA-ComImp in order to reduce dimension before combining datasets. This is useful when the datasets have a large number of features that are not shared between them. Furthermore, our framework can also be utilized for data preprocessing by imputing missing data, i.e., filling in the missing entries while combining different datasets. To illustrate the power of the proposed methods and their potential usages, we conduct experiments for various tasks: regression, classification, and for different data types: tabular data, time series data, when the datasets to be combined have missing data. We also investigate how the devised methods can be used with transfer learning to provide even further model training improvement. Our results indicate that the proposed methods are somewhat similar to transfer learning in that the merge can significantly improve the accuracy of a prediction model on smaller datasets. In addition, the methods can boost performance by a significant margin when combining small datasets together and can provide extra improvement when being used with transfer learning.
The ability to endow maps of indoor scenes with semantic information is an integral part of robotic agents which perform different tasks such as target driven navigation, object search or object rearrangement. The state-of-the-art methods use Deep Convolutional Neural Networks (DCNNs) for predicting semantic segmentation of an image as useful representation for these tasks. The accuracy of semantic segmentation depends on the availability and the amount of labeled data from the target environment or the ability to bridge the domain gap between test and training environment. We propose RegConsist, a method for self-supervised pre-training of a semantic segmentation model, exploiting the ability of the agent to move and register multiple views in the novel environment. Given the spatial and temporal consistency cues used for pixel level data association, we use a variant of contrastive learning to train a DCNN model for predicting semantic segmentation from RGB views in the target environment. The proposed method outperforms models pre-trained on ImageNet and achieves competitive performance when using models that are trained for exactly the same task but on a different dataset. We also perform various ablation studies to analyze and demonstrate the efficacy of our proposed method.
Despite the success achieved in neural abstractive summarization based on pre-trained language models, one unresolved issue is that the generated summaries are not always faithful to the input document. There are two possible causes of the unfaithfulness problem: (1) the summarization model fails to understand or capture the gist of the input text, and (2) the model over-relies on the language model to generate fluent but inadequate words. In this work, we propose a Faithfulness Enhanced Summarization model (FES), which is designed for addressing these two problems and improving faithfulness in abstractive summarization. For the first problem, we propose to use question-answering (QA) to examine whether the encoder fully grasps the input document and can answer the questions on the key information in the input. The QA attention on the proper input words can also be used to stipulate how the decoder should attend to the source. For the second problem, we introduce a max-margin loss defined on the difference between the language and the summarization model, aiming to prevent the overconfidence of the language model. Extensive experiments on two benchmark summarization datasets, CNN/DM and XSum, demonstrate that our model significantly outperforms strong baselines. The evaluation of factual consistency also shows that our model generates more faithful summaries than baselines.
Adapting large-scale pretrained models to various downstream tasks via fine-tuning is a standard method in machine learning. Recently, parameter-efficient fine-tuning methods show promise in adapting a pretrained model to different tasks while training only a few parameters. Despite their success, most existing methods are proposed in Natural Language Processing tasks with language Transformers, and adaptation to Computer Vision tasks with Vision Transformers remains under-explored, especially for dense vision tasks. Further, in multi-task settings, individually fine-tuning and storing separate models for different tasks is inefficient. In this work, we provide an extensive multi-task parameter-efficient benchmark and examine existing parameter-efficient fine-tuning NLP methods for vision tasks. Our results on four different dense vision tasks showed that existing methods cannot be efficiently integrated due to the hierarchical nature of the Hierarchical Vision Transformers. To overcome this issue, we propose Polyhistor and Polyhistor-Lite, consisting of Decomposed HyperNetworks and Layer-wise Scaling Kernels, to share information across different tasks with a few trainable parameters. This leads to favorable performance improvements against existing parameter-efficient methods while using fewer trainable parameters. Specifically, Polyhistor achieves competitive accuracy compared to the state-of-the-art while only using ~10% of their trainable parameters. Furthermore, our methods show larger performance gains when large networks and more pretraining data are used.
Background: Breast cancer is a multifactorial disease, genetic and environmental factors will affect its incidence probability. Breast cancer metastasis is one of the main cause of breast cancer related deaths reported by the American Cancer Society (ACS). Method: the iMedBot is a web application that we developed using the python Flask web framework and deployed on Amazon Web Services. It contains a frontend and a backend. The backend is supported by a python program we developed using the python Keras and scikit-learn packages, which can be used to learn deep feedforward neural network (DFNN) models. Result: the iMedBot can provide two main services: 1. it can predict 5-, 10-, or 15-year breast cancer metastasis based on a set of clinical information provided by a user. The prediction is done by using a set of DFNN models that were pretrained, and 2. It can train DFNN models for a user using user-provided dataset. The model trained will be evaluated using AUC and both the AUC value and the AUC ROC curve will be provided. Conclusion: The iMedBot web application provides a user-friendly interface for user-agent interaction in conducting personalized prediction and model training. It is an initial attempt to convert results of deep learning research into an online tool that may stir further research interests in this direction. Keywords: Deep learning, Breast Cancer, Web application, Model training.
Unsupervised domain adaptation(UDA) has been applied to image semantic segmentation to solve the problem of domain offset. However, in some difficult categories with poor recognition accuracy, the segmentation effects are still not ideal. To this end, in this paper, Intra-subdomain adaptation adversarial learning segmentation method based on Dynamic Pseudo Labels(IDPL) is proposed. The whole process consists of 3 steps: Firstly, the instance-level pseudo label dynamic generation module is proposed, which fuses the class matching information in global classes and local instances, thus adaptively generating the optimal threshold for each class, obtaining high-quality pseudo labels. Secondly, the subdomain classifier module based on instance confidence is constructed, which can dynamically divide the target domain into easy and difficult subdomains according to the relative proportion of easy and difficult instances. Finally, the subdomain adversarial learning module based on self-attention is proposed. It uses multi-head self-attention to confront the easy and difficult subdomains at the class level with the help of generated high-quality pseudo labels, so as to focus on mining the features of difficult categories in the high-entropy region of target domain images, which promotes class-level conditional distribution alignment between the subdomains, improving the segmentation performance of difficult categories. For the difficult categories, the experimental results show that the performance of IDPL is significantly improved compared with other latest mainstream methods.
With the rapid development of face forgery technology, deepfake videos have attracted widespread attention in digital media. Perpetrators heavily utilize these videos to spread disinformation and make misleading statements. Most existing methods for deepfake detection mainly focus on texture features, which are likely to be impacted by external fluctuations, such as illumination and noise. Besides, detection methods based on facial landmarks are more robust against external variables but lack sufficient detail. Thus, how to effectively mine distinctive features in the spatial, temporal, and frequency domains and fuse them with facial landmarks for forgery video detection is still an open question. To this end, we propose a Landmark Enhanced Multimodal Graph Neural Network (LEM-GNN) based on multiple modalities' information and geometric features of facial landmarks. Specifically, at the frame level, we have designed a fusion mechanism to mine a joint representation of the spatial and frequency domain elements while introducing geometric facial features to enhance the robustness of the model. At the video level, we first regard each frame in a video as a node in a graph and encode temporal information into the edges of the graph. Then, by applying the message passing mechanism of the graph neural network (GNN), the multimodal feature will be effectively combined to obtain a comprehensive representation of the video forgery. Extensive experiments show that our method consistently outperforms the state-of-the-art (SOTA) on widely-used benchmarks.
This work presents a step towards utilizing incrementally-improving symbolic perception knowledge of the robot's surroundings for provably correct reactive control synthesis applied to an autonomous driving problem. Combining abstract models of motion control and information gathering, we show that assume-guarantee specifications (a subclass of Linear Temporal Logic) can be used to define and resolve traffic rules for cautious planning. We propose a novel representation called symbolic refinement tree for perception that captures the incremental knowledge about the environment and embodies the relationships between various symbolic perception inputs. The incremental knowledge is leveraged for synthesizing verified reactive plans for the robot. The case studies demonstrate the efficacy of the proposed approach in synthesizing control inputs even in case of partially occluded environments.
Removing bias while keeping all task-relevant information is challenging for fair representation learning methods since they would yield random or degenerate representations w.r.t. labels when the sensitive attributes correlate with labels. Existing works proposed to inject the label information into the learning procedure to overcome such issues. However, the assumption that the observed labels are clean is not always met. In fact, label bias is acknowledged as the primary source inducing discrimination. In other words, the fair pre-processing methods ignore the discrimination encoded in the labels either during the learning procedure or the evaluation stage. This contradiction puts a question mark on the fairness of the learned representations. To circumvent this issue, we explore the following question: \emph{Can we learn fair representations predictable to latent ideal fair labels given only access to unreliable labels?} In this work, we propose a \textbf{D}e-\textbf{B}iased \textbf{R}epresentation Learning for \textbf{F}airness (DBRF) framework which disentangles the sensitive information from non-sensitive attributes whilst keeping the learned representations predictable to ideal fair labels rather than observed biased ones. We formulate the de-biased learning framework through information-theoretic concepts such as mutual information and information bottleneck. The core concept is that DBRF advocates not to use unreliable labels for supervision when sensitive information benefits the prediction of unreliable labels. Experiment results over both synthetic and real-world data demonstrate that DBRF effectively learns de-biased representations towards ideal labels.