As the AI community increasingly adopts large-scale models, it is crucial to develop general and flexible tools to integrate them. We introduce Gather-Attend-Scatter (GATS), a novel module that enables seamless combination of pretrained foundation models, both trainable and frozen, into larger multimodal networks. GATS empowers AI systems to process and generate information across multiple modalities at different rates. In contrast to traditional fine-tuning, GATS allows for the original component models to remain frozen, avoiding the risk of them losing important knowledge acquired during the pretraining phase. We demonstrate the utility and versatility of GATS with a few experiments across games, robotics, and multimodal input-output systems.
Magnetic navigation (MagNav) is a rising alternative to the Global Positioning System (GPS) and has proven useful for aircraft navigation. Traditional aircraft navigation systems, while effective, face limitations in precision and reliability in certain environments and against attacks. Airborne MagNav leverages the Earth's magnetic field to provide accurate positional information. However, external magnetic fields induced by aircraft electronics and Earth's large-scale magnetic fields disrupt the weaker signal of interest. We introduce a physics-informed approach using Tolles-Lawson coefficients for compensation and Liquid Time-Constant Networks (LTCs) to remove complex, noisy signals derived from the aircraft's magnetic sources. Using real flight data with magnetometer measurements and aircraft measurements, we observe up to a 64% reduction in aeromagnetic compensation error (RMSE nT), outperforming conventional models. This significant improvement underscores the potential of a physics-informed, machine learning approach for extracting clean, reliable, and accurate magnetic signals for MagNav positional estimation.
Graph neural networks are increasingly becoming the framework of choice for graph-based machine learning. In this paper, we propose a new graph neural network architecture that substitutes classical message passing with an analysis of the local distribution of node features. To this end, we extract the distribution of features in the egonet for each local neighbourhood and compare them against a set of learned label distributions by taking the histogram intersection kernel. The similarity information is then propagated to other nodes in the network, effectively creating a message passing-like mechanism where the message is determined by the ensemble of the features. We perform an ablation study to evaluate the network's performance under different choices of its hyper-parameters. Finally, we test our model on standard graph classification and regression benchmarks, and we find that it outperforms widely used alternative approaches, including both graph kernels and graph neural networks.
Unreliable feature extraction and matching in handcrafted features undermine the performance of visual SLAM in complex real-world scenarios. While learned local features, leveraging CNNs, demonstrate proficiency in capturing high-level information and excel in matching benchmarks, they encounter challenges in continuous motion scenes, resulting in poor generalization and impacting loop detection accuracy. To address these issues, we present DK-SLAM, a monocular visual SLAM system with adaptive deep local features. MAML optimizes the training of these features, and we introduce a coarse-to-fine feature tracking approach. Initially, a direct method approximates the relative pose between consecutive frames, followed by a feature matching method for refined pose estimation. To counter cumulative positioning errors, a novel online learning binary feature-based online loop closure module identifies loop nodes within a sequence. Experimental results underscore DK-SLAM's efficacy, outperforms representative SLAM solutions, such as ORB-SLAM3 on publicly available datasets.
This survey delves into the application of diffusion models in time-series forecasting. Diffusion models are demonstrating state-of-the-art results in various fields of generative AI. The paper includes comprehensive background information on diffusion models, detailing their conditioning methods and reviewing their use in time-series forecasting. The analysis covers 11 specific time-series implementations, the intuition and theory behind them, the effectiveness on different datasets, and a comparison among each other. Key contributions of this work are the thorough exploration of diffusion models' applications in time-series forecasting and a chronologically ordered overview of these models. Additionally, the paper offers an insightful discussion on the current state-of-the-art in this domain and outlines potential future research directions. This serves as a valuable resource for researchers in AI and time-series analysis, offering a clear view of the latest advancements and future potential of diffusion models.
Age of incorrect information (AoII) has recently been proposed as an alternative to existing information freshness metrics for real-time sampling and estimation problems involving information sources that are tracked by remote monitors. Different from existing metrics, AoII penalizes the incorrect information by increasing linearly with time as long as the source and the monitor are de-synchronized, and is reset when they are synchronized back. While AoII has generally been investigated for discrete time information sources, we develop a novel analytical model in this paper for push- and pull-based sampling and transmission of a continuous time Markov chain (CTMC) process. In the pull-based model, the sensor starts transmitting information on the observed CTMC only when a pull request from the monitor is received. On the other hand, in the push-based scenario, the sensor, being aware of the AoII process, samples and transmits when the AoII process exceeds a random threshold. The proposed analytical model for both scenarios is based on the construction of a discrete time MC (DTMC) making state transitions at the embedded epochs of synchronization points, using the theory of absorbing CTMCs, and in particular phase-type distributions. For a given sampling policy, analytical models to obtain the mean AoII and the average sampling rate are developed. Numerical results are presented to validate the analytical model as well as to provide insight on optimal sampling policies under sampling rate constraints.
Catheter ablation (CA) is a commonly used treatment for persistent atrial fibrillation (AF). Since its medium/long-term success rate remains limited, preoperative prediction of its outcome is gaining clinical interest to optimally select candidates for the procedure. Among predictors based on the surface electrocardiogram, the dominant frequency (DF) and harmonic exponential decay (g) of the fibrillatory waves ( f -waves) have reported promising but clinically insufficient results. Hence, the main goal of this work was to conduct a broader analysis of the f -wave harmonic spectral structure to improve CA outcome prediction through several entropy-based measures computed on different frequency bands. On a database of 151 persistent AF patients under radio-frequency CA and a follow-up of 9 months, the newly introduced parameters discriminated between patients who relapsed to AF and those who maintained SR at about 70%, which was statistically superior to the DF and approximately similar to g. They also provided complementary information to g through different combinations in multivariate models based on lineal discriminant analysis and report classification performance improvement of about 5%. These results suggest that the presence of larger harmonics and a proportionally smaller DF peak is associated with a decreased probability of AF recurrence after CA.
Code-mixing, the blending of multiple languages within a single conversation, introduces a distinctive challenge, particularly in the context of response generation. Capturing the intricacies of code-mixing proves to be a formidable task, given the wide-ranging variations influenced by individual speaking styles and cultural backgrounds. In this study, we explore response generation within code-mixed conversations. We introduce a novel approach centered on harnessing the Big Five personality traits acquired in an unsupervised manner from the conversations to bolster the performance of response generation. These inferred personality attributes are seamlessly woven into the fabric of the dialogue context, using a novel fusion mechanism, PA3. It uses an effective two-step attention formulation to fuse the dialogue and personality information. This fusion not only enhances the contextual relevance of generated responses but also elevates the overall performance of the model. Our experimental results, grounded in a dataset comprising of multi-party Hindi-English code-mix conversations, highlight the substantial advantages offered by personality-infused models over their conventional counterparts. This is evident in the increase observed in ROUGE and BLUE scores for the response generation task when the identified personality is seamlessly integrated into the dialogue context. Qualitative assessment for personality identification and response generation aligns well with our quantitative results.
Security Operations Center (SoC) analysts gather threat reports from openly accessible global threat databases and customize them manually to suit a particular organization's needs. These analysts also depend on internal repositories, which act as private local knowledge database for an organization. Credible cyber intelligence, critical operational details, and relevant organizational information are all stored in these local knowledge databases. Analysts undertake a labor intensive task utilizing these global and local knowledge databases to manually create organization's unique threat response and mitigation strategies. Recently, Large Language Models (LLMs) have shown the capability to efficiently process large diverse knowledge sources. We leverage this ability to process global and local knowledge databases to automate the generation of organization-specific threat intelligence. In this work, we present LOCALINTEL, a novel automated knowledge contextualization system that, upon prompting, retrieves threat reports from the global threat repositories and uses its local knowledge database to contextualize them for a specific organization. LOCALINTEL comprises of three key phases: global threat intelligence retrieval, local knowledge retrieval, and contextualized completion generation. The former retrieves intelligence from global threat repositories, while the second retrieves pertinent knowledge from the local knowledge database. Finally, the fusion of these knowledge sources is orchestrated through a generator to produce a contextualized completion.
Epilepsy is a neurological disorder that affects normal neural activity. These electrical activities can be recorded as signals containing information about the brain known as Electroencephalography (EEG) signals. Analysis of the EEG signals by individuals for epilepsy diagnosis is subjective and time-consuming. So, an automatic classification system with high detection accuracy is required to overcome possible errors. In this study, the discrete wavelet transform has been applied to EEG signals. Then, entropy measures and embedding parameters have been extracted. These features have been investigated individually to find the most discriminating ones. The significance level of each feature was evaluated by statistical analysis. Consequently, LDA and SVM algorithms have been employed to categorize the EEG signals. The results have indicated that the features of Embedding parameters, PermutationEntropy, FuzzyEntropy, SampleEntropy, NormEntropy, SureEntropy, LogEntropy, and ThresholdEntropy have the potential to discriminate epileptic patients from healthy subjects significantly. Also, SVM classifier has achieved the highest classification accuracy. In this study, we could find effective embedding-based and entropy-based features as appropriate single measures for identifying abnormal activities that can efficiently discriminate the EEG signals of epileptics from healthy individuals. According to the results, they can be used for automatic classification of epileptic EEG signals that are difficult to examine visually.