Since the beginning of information processing by electronic components, the nervous system has served as a metaphor for the organization of computational primitives. Brain-inspired computing today encompasses a class of approaches ranging from using novel nano-devices for computation to research into large-scale neuromorphic architectures, such as TrueNorth, SpiNNaker, BrainScaleS, Tianjic, and Loihi. While implementation details differ, spiking neural networks - sometimes referred to as the third generation of neural networks - are the common abstraction used to model computation with such systems. Here we describe the second generation of the BrainScaleS neuromorphic architecture, emphasizing applications enabled by this architecture. It combines a custom analog accelerator core supporting the accelerated physical emulation of bio-inspired spiking neural network primitives with a tightly coupled digital processor and a digital event-routing network.
Simultaneous localization and mapping (SLAM) is a critical capability for any autonomous underwater vehicle (AUV). However, robust, accurate state estimation is still a work in progress when using low-cost sensors. We propose enhancing a typical low-cost sensor package using widely available and often free prior information; overhead imagery. Given an AUV's sonar image and a partially overlapping, globally-referenced overhead image, we propose using a convolutional neural network (CNN) to generate a synthetic overhead image predicting the above-surface appearance of the sonar image contents. We then use this synthetic overhead image to register our observations to the provided global overhead image. Once registered, the transformation is introduced as a factor into a pose SLAM factor graph. We use a state-of-the-art simulation environment to perform validation over a series of benchmark trajectories and quantitatively show the improved accuracy of robot state estimation using the proposed approach. We also show qualitative outcomes from a real AUV field deployment. Video attachment: https://youtu.be/_uWljtp58ks
Natural language understanding (NLU) models tend to rely on spurious correlations (\emph{i.e.}, dataset bias) to achieve high performance on in-distribution datasets but poor performance on out-of-distribution ones. Most of the existing debiasing methods often identify and weaken these samples with biased features (\emph{i.e.}, superficial surface features that cause such spurious correlations). However, down-weighting these samples obstructs the model in learning from the non-biased parts of these samples. To tackle this challenge, in this paper, we propose to eliminate spurious correlations in a fine-grained manner from a feature space perspective. Specifically, we introduce Random Fourier Features and weighted re-sampling to decorrelate the dependencies between features to mitigate spurious correlations. After obtaining decorrelated features, we further design a mutual-information-based method to purify them, which forces the model to learn features that are more relevant to tasks. Extensive experiments on two well-studied NLU tasks including Natural Language Inference and Fact Verification demonstrate that our method is superior to other comparative approaches.
Wireless signals are commonly used for communications. Emerging applications are giving new functions to wireless signals, in which wireless sensing is the most attractive one. Channel state information (CSI) is not only the parameter for channel equalization in communications but also the indicator for wireless sensing. However, due to the broadcast nature of wireless signals, eavesdroppers can easily capture legitimate user signals and violate user privacy by measuring CSI. Moreover, the advancement of hardware simplifies illegal eavesdropping since smart devices can track over-the-air signals through walls. Therefore, this work considers a waveform-defined privacy (WDP) solution that can hide CSI phase information and therefore protect user privacy. Besides, the proposed waveform solution achieves better performance due to the use of a unique modulation mechanism. Additionally, by tuning a waveform parameter, the waveform can also enhance communication security.
We compare four different `game-spaces' in terms of their usefulness in characterising multi-player tabletop games, with a particular interest in any underlying change to a game's characteristics as the number of players changes. In each case we take a 16-dimensional feature space, and reduce it to a 2-dimensional visualizable landscape. We find that a space obtained from optimization of parameters in Monte Carlo Tree Search (MCTS) is the most directly interpretable to characterise our set of games in terms of the relative importance of imperfect information, adversarial opponents and reward sparsity. These results do not correlate with a space defined using attributes of the game-tree. This dimensionality reduction does not show any general effect as the number of players. We therefore consider the question using the original features to classify the games into two sets; those for which the characteristics of the game changes significantly as the number of players changes, and those for which there is no such effect.
In this paper, we investigate how to design an effective interface for remote multi-human multi-robot interaction. While significant research exists on interfaces for individual human operators, little research exists for the multi-human case. Yet, this is a critical problem to solve to make complex, large-scale missions achievable in which direct human involvement is impossible or undesirable, and robot swarms act as a semi-autonomous agents. This paper's contribution is twofold. The first contribution is an exploration of the design space of computer-based interfaces for multi-human multi-robot operations. In particular, we focus on information transparency and on the factors that affect inter-human communication in ideal conditions, i.e., without communication issues. Our second contribution concerns the same problem, but considering increasing degrees of information loss, defined as intermittent reception of data with noticeable gaps between individual receipts. We derived a set of design recommendations based on two user studies involving 48 participants.
E-commerce provides rich multimodal data that is barely leveraged in practice. One aspect of this data is a category tree that is being used in search and recommendation. However, in practice, during a user's session there is often a mismatch between a textual and a visual representation of a given category. Motivated by the problem, we introduce the task of category-to-image retrieval in e-commerce and propose a model for the task, CLIP-ITA. The model leverages information from multiple modalities (textual, visual, and attribute modality) to create product representations. We explore how adding information from multiple modalities (textual, visual, and attribute modality) impacts the model's performance. In particular, we observe that CLIP-ITA significantly outperforms a comparable model that leverages only the visual modality and a comparable model that leverages the visual and attribute modality.
We present 360-DFPE, a sequential floor plan estimation method that directly takes 360-images as input without relying on active sensors or 3D information. Our approach leverages a loosely coupled integration between a monocular visual SLAM solution and a monocular 360-room layout approach, which estimate camera poses and layout geometries, respectively. Since our task is to sequentially capture the floor plan using monocular images, the entire scene structure, room instances, and room shapes are unknown. To tackle these challenges, we first handle the scale difference between visual odometry and layout geometry via formulating an entropy minimization process, which enables us to directly align 360-layouts without knowing the entire scene in advance. Second, to sequentially identify individual rooms, we propose a novel room identification algorithm that tracks every room along the camera exploration using geometry information. Lastly, to estimate the final shape of the room, we propose a shortest path algorithm with an iterative coarse-to-fine strategy, which improves prior formulations with higher accuracy and faster run-time. Moreover, we collect a new floor plan dataset with challenging large-scale scenes, providing both point clouds and sequential 360-image information. Experimental results show that our monocular solution achieves favorable performance against the current state-of-the-art algorithms that rely on active sensors and require the entire scene reconstruction data in advance. Our code and dataset will be released soon.
In this paper, we study the challenging task of Byzantine-robust decentralized training on arbitrary communication graphs. Unlike federated learning where workers communicate through a server, workers in the decentralized environment can only talk to their neighbors, making it harder to reach consensus. We identify a novel dissensus attack in which few malicious nodes can take advantage of information bottlenecks in the topology to poison the collaboration. To address these issues, we propose a Self-Centered Clipping (SCClip) algorithm for Byzantine-robust consensus and optimization, which is the first to provably converge to a $O(\delta_{\max}\zeta^2/\gamma^2)$ neighborhood of the stationary point for non-convex objectives under standard assumptions. Finally, we demonstrate the encouraging empirical performance of SCClip under a large number of attacks.
In this work, we study the system of interacting non-cooperative two Q-learning agents, where one agent has the privilege of observing the other's actions. We show that this information asymmetry can lead to a stable outcome of population learning, which does not occur in an environment of general independent learners. Furthermore, we discuss the resulted post-learning policies, show that they are almost optimal in the underlying game sense, and provide numerical hints of almost welfare-optimal of the resulted policies.