Images are an important source of information for spacecraft navigation and for three-dimensional reconstruction of observed space objects. Both of these applications take the form of a triangulation problem when the camera has a known attitude and the measurements extracted from the image are line of sight (LOS) directions. This work provides a comprehensive review of the history and theoretical foundations of triangulation. A variety of classical triangulation algorithms are reviewed, including a number of suboptimal linear methods (many LOS measurements) and the optimal method of Hartley and Sturm (only two LOS measurements). Two new optimal non-iterative triangulation algorithms are introduced that provide the same solution as Hartley and Sturm. The optimal two-measurement case can be solved as a quadratic equation in many common situations. The optimal many-measurement case may be solved without iteration as a linear system using the new Linear Optimal Sine Triangulation (LOST) method. The various triangulation algorithms are assessed with a few numerical examples, including planetary terrain relative navigation, angles-only optical navigation at Uranus, 3-D reconstruction of Notre-Dame de Paris, and angles-only relative navigation.
Training and evaluation of fair classifiers is a challenging problem. This is partly due to the fact that most fairness metrics of interest depend on both the sensitive attribute information and label information of the data points. In many scenarios it is not possible to collect large datasets with such information. An alternate approach that is commonly used is to separately train an attribute classifier on data with sensitive attribute information, and then use it later in the ML pipeline to evaluate the bias of a given classifier. While such decoupling helps alleviate the problem of demographic scarcity, it raises several natural questions such as: how should the attribute classifier be trained?, and how should one use a given attribute classifier for accurate bias estimation? In this work we study this question from both theoretical and empirical perspectives. We first experimentally demonstrate that the test accuracy of the attribute classifier is not always correlated with its effectiveness in bias estimation for a downstream model. In order to further investigate this phenomenon, we analyze an idealized theoretical model and characterize the structure of the optimal classifier. Our analysis has surprising and counter-intuitive implications where in certain regimes one might want to distribute the error of the attribute classifier as unevenly as possible among the different subgroups. Based on our analysis we develop heuristics for both training and using attribute classifiers for bias estimation in the data scarce regime. We empirically demonstrate the effectiveness of our approach on real and simulated data.
Children acquiring English make systematic errors on subject control sentences even after they have reached near-adult competence (C. Chomsky, 1969), possibly due to heuristics based on semantic roles (Maratsos, 1974). Given the advanced fluency of large generative language models, we ask whether model outputs are consistent with these heuristics, and to what degree different models are consistent with each other. We find that models can be categorized by behavior into three separate groups, with broad differences between the groups. The outputs of models in the largest group are consistent with positional heuristics that succeed on subject control but fail on object control. This result is surprising, given that object control is orders of magnitude more frequent in the text data used to train such models. We examine to what degree the models are sensitive to prompting with agent-patient information, finding that raising the salience of agent and patient relations results in significant changes in the outputs of most models. Based on this observation, we leverage an existing dataset of semantic proto-role annotations (White, et al. 2020) to explore the connections between control and labeling event participants with properties typically associated with agents and patients.
Modern indoor localization techniques are essential to overcome the weak GPS coverage in indoor environments. Recently, considerable progress has been made in Channel State Information (CSI) based indoor localization with signal fingerprints. However, CSI signal patterns can be complicated in the large and highly dynamic indoor spaces with complex interiors, thus a solution for solving this issue is urgently needed to expand the applications of CSI to a broader indoor space. In this paper, we propose an end-to-end solution including data collection, pattern clustering, denoising, calibration and a lightweight one-dimensional convolutional neural network (1D CNN) model with CSI fingerprinting to tackle this problem. We have also created and plan to open source a CSI dataset with a large amount of data collected across complex indoor environments at Colorado State University. Experiments indicate that our approach achieves up to 68.5% improved performance (mean distance error) with minimal number of parameters, compared to the best-known deep machine learning and CSI-based indoor localization works.
Recently, vision transformers have shown great success in 2D human pose estimation (2D HPE), 3D human pose estimation (3D HPE), and human mesh reconstruction (HMR) tasks. In these tasks, heatmap representations of the human structural information are often extracted first from the image by a CNN, and then further processed with a transformer architecture to provide the final HPE or HMR estimation. However, existing transformer architectures are not able to process these heatmap inputs directly, forcing an unnatural flattening of the features prior to input. Furthermore, much of the performance benefit in recent HPE and HMR methods has come at the cost of ever-increasing computation and memory needs. Therefore, to simultaneously address these problems, we propose HeatER, a novel transformer design which preserves the inherent structure of heatmap representations when modeling attention while reducing the memory and computational costs. Taking advantage of HeatER, we build a unified and efficient network for 2D HPE, 3D HPE, and HMR tasks. A heatmap reconstruction module is applied to improve the robustness of the estimated human pose and mesh. Extensive experiments demonstrate the effectiveness of HeatER on various human pose and mesh datasets. For instance, HeatER outperforms the SOTA method MeshGraphormer by requiring 5% of Params and 16% of MACs on Human3.6M and 3DPW datasets. Code will be publicly available.
X-risk is a term introduced to represent a family of compositional measures or objectives, in which each data point is compared with a set of data points explicitly or implicitly for defining a risk function. It includes many widely used measures or objectives, e.g., AUROC, AUPRC, partial AUROC, NDCG, MAP, top-$K$ NDCG, top-$K$ MAP, listwise losses, p-norm push, top push, precision/recall at top $K$ positions, precision at a certain recall level, contrastive objectives, etc. While these measures/objectives and their optimization algorithms have been studied in the literature of machine learning, computer vision, information retrieval, and etc, optimizing these measures/objectives has encountered some unique challenges for deep learning. In this technical report, we survey our recent rigorous efforts for deep X-risk optimization (DXO) by focusing on its algorithmic foundation. We introduce a class of techniques for optimizing X-risk for deep learning. We formulate DXO into three special families of non-convex optimization problems belonging to non-convex min-max optimization, non-convex compositional optimization, and non-convex bilevel optimization, respectively. For each family of problems, we present some strong baseline algorithms and their complexities, which will motivate further research for improving the existing results. Discussions about the presented results and future studies are given at the end. Efficient algorithms for optimizing a variety of X-risks are implemented in the LibAUC library at www.libauc.org.
Incremental learning aims to enable machine learning models to continuously acquire new knowledge given new classes, while maintaining the knowledge already learned for old classes. Saving a subset of training samples of previously seen classes in the memory and replaying them during new training phases is proven to be an efficient and effective way to fulfil this aim. It is evident that the larger number of exemplars the model inherits the better performance it can achieve. However, finding a trade-off between the model performance and the number of samples to save for each class is still an open problem for replay-based incremental learning and is increasingly desirable for real-life applications. In this paper, we approach this open problem by tapping into a two-step compression approach. The first step is a lossy compression, we propose to encode input images and save their discrete latent representations in the form of codes that are learned using a hierarchical Vector Quantised Variational Autoencoder (VQ-VAE). In the second step, we further compress codes losslessly by learning a hierarchical latent variable model with bits-back asymmetric numeral systems (BB-ANS). To compensate for the information lost in the first step compression, we introduce an Information Back (IB) mechanism that utilizes real exemplars for a contrastive learning loss to regularize the training of a classifier. By maintaining all seen exemplars' representations in the format of `codes', Discrete Representation Replay (DRR) outperforms the state-of-art method on CIFAR-100 by a margin of 4% accuracy with a much less memory cost required for saving samples. Incorporated with IB and saving a small set of old raw exemplars as well, the accuracy of DRR can be further improved by 2% accuracy.
Modern advanced manufacturing and advanced materials design often require searches of relatively high-dimensional process control parameter spaces for settings that result in optimal structure, property, and performance parameters. The mapping from the former to the latter must be determined from noisy experiments or from expensive simulations. We abstract this problem to a mathematical framework in which an unknown function from a control space to a design space must be ascertained by means of expensive noisy measurements, which locate optimal control settings generating desired design features within specified tolerances, with quantified uncertainty. We describe targeted adaptive design (TAD), a new algorithm that performs this optimal sampling task. TAD creates a Gaussian process surrogate model of the unknown mapping at each iterative stage, proposing a new batch of control settings to sample experimentally and optimizing the updated log-predictive likelihood of the target design. TAD either stops upon locating a solution with uncertainties that fit inside the tolerance box or uses a measure of expected future information to determine that the search space has been exhausted with no solution. TAD thus embodies the exploration-exploitation tension in a manner that recalls, but is essentially different from, Bayesian optimization and optimal experimental design.
Healthcare data is sensitive and requires great protection. Encrypted electronic health records (EHRs) contain personal and sensitive data such as names and addresses. Having access to patient data benefits all of them. This paper proposes a blockchain-based distributed healthcare application platform for Bangladeshi public and private healthcare providers. Using data immutability and smart contracts, the suggested application framework allows users to create safe digital agreements for commerce or collaboration. Thus, all enterprises may securely collaborate using the same blockchain network, gaining data openness and read/write capacity. The proposed application consists of various application interfaces for various system users. For data integrity, privacy, permission and service availability, the proposed solution leverages Hyperledger fabric and Blockchain as a Service. Everyone will also have their own profile in the portal. A unique identity for each person and the installation of digital information centres across the country have greatly eased the process. It will collect systematic health data from each person which will be beneficial for research institutes and health-related organisations. A national data warehouse in Bangladesh is feasible for this application and It is also possible to keep a clean health sector by analysing data stored in this warehouse and conducting various purification algorithms using technologies like Data Science. Given that Bangladesh has both public and private health care, a straightforward digital strategy for all organisations is essential.
The neural network (NN) becomes one of the most heated type of models in various signal processing applications. However, NNs are extremely vulnerable to adversarial examples (AEs). To defend AEs, adversarial training (AT) is believed to be the most effective method while due to the intensive computation, AT is limited to be applied in most applications. In this paper, to resolve the problem, we design a generic and efficient AT improvement scheme, namely case-aware adversarial training (CAT). Specifically, the intuition stems from the fact that a very limited part of informative samples can contribute to most of model performance. Alternatively, if only the most informative AEs are used in AT, we can lower the computation complexity of AT significantly as maintaining the defense effect. To achieve this, CAT achieves two breakthroughs. First, a method to estimate the information degree of adversarial examples is proposed for AE filtering. Second, to further enrich the information that the NN can obtain from AEs, CAT involves a weight estimation and class-level balancing based sampling strategy to increase the diversity of AT at each iteration. Extensive experiments show that CAT is faster than vanilla AT by up to 3x while achieving competitive defense effect.