With the rapid advancements of sensor technology and deep learning, autonomous driving systems are providing safe and efficient access to intelligent vehicles as well as intelligent transportation. Among these equipped sensors, the radar sensor plays a crucial role in providing robust perception information in diverse environmental conditions. This review focuses on exploring different radar data representations utilized in autonomous driving systems. Firstly, we introduce the capabilities and limitations of the radar sensor by examining the working principles of radar perception and signal processing of radar measurements. Then, we delve into the generation process of five radar representations, including the ADC signal, radar tensor, point cloud, grid map, and micro-Doppler signature. For each radar representation, we examine the related datasets, methods, advantages and limitations. Furthermore, we discuss the challenges faced in these data representations and propose potential research directions. Above all, this comprehensive review offers an in-depth insight into how these representations enhance autonomous system capabilities, providing guidance for radar perception researchers. To facilitate retrieval and comparison of different data representations, datasets and methods, we provide an interactive website at https://radar-camera-fusion.github.io/radar.
No-reference (NR) image quality assessment (IQA) is an important tool in enhancing the user experience in diverse visual applications. A major drawback of state-of-the-art NR-IQA techniques is their reliance on a large number of human annotations to train models for a target IQA application. To mitigate this requirement, there is a need for unsupervised learning of generalizable quality representations that capture diverse distortions. We enable the learning of low-level quality features agnostic to distortion types by introducing a novel quality-aware contrastive loss. Further, we leverage the generalizability of vision-language models by fine-tuning one such model to extract high-level image quality information through relevant text prompts. The two sets of features are combined to effectively predict quality by training a simple regressor with very few samples on a target dataset. Additionally, we design zero-shot quality predictions from both pathways in a completely blind setting. Our experiments on diverse datasets encompassing various distortions show the generalizability of the features and their superior performance in the data-efficient and zero-shot settings. Code will be made available at https://github.com/suhas-srinath/GRepQ.
Recent progress in generative AI, including large language models (LLMs) like ChatGPT, has opened up significant opportunities in fields ranging from natural language processing to knowledge discovery and data mining. However, there is also a growing awareness that the models can be prone to problems such as making information up or `hallucinations', and faulty reasoning on seemingly simple problems. Because of the popularity of models like ChatGPT, both academic scholars and citizen scientists have documented hallucinations of several different types and severity. Despite this body of work, a formal model for describing and representing these hallucinations (with relevant meta-data) at a fine-grained level, is still lacking. In this paper, we address this gap by presenting the Hallucination Ontology or HALO, a formal, extensible ontology written in OWL that currently offers support for six different types of hallucinations known to arise in LLMs, along with support for provenance and experimental metadata. We also collect and publish a dataset containing hallucinations that we inductively gathered across multiple independent Web sources, and show that HALO can be successfully used to model this dataset and answer competency questions.
This paper introduces a deep learning model tailored for document information analysis, emphasizing document classification, entity relation extraction, and document visual question answering. The proposed model leverages transformer-based models to encode all the information present in a document image, including textual, visual, and layout information. The model is pre-trained and subsequently fine-tuned for various document image analysis tasks. The proposed model incorporates three additional tasks during the pre-training phase, including reading order identification of different layout segments in a document image, layout segments categorization as per PubLayNet, and generation of the text sequence within a given layout segment (text block). The model also incorporates a collective pre-training scheme where losses of all the tasks under consideration, including pre-training and fine-tuning tasks with all datasets, are considered. Additional encoder and decoder blocks are added to the RoBERTa network to generate results for all tasks. The proposed model achieved impressive results across all tasks, with an accuracy of 95.87% on the RVL-CDIP dataset for document classification, F1 scores of 0.9306, 0.9804, 0.9794, and 0.8742 on the FUNSD, CORD, SROIE, and Kleister-NDA datasets respectively for entity relation extraction, and an ANLS score of 0.8468 on the DocVQA dataset for visual question answering. The results highlight the effectiveness of the proposed model in understanding and interpreting complex document layouts and content, making it a promising tool for document analysis tasks.
Recently, few-shot action recognition has significantly progressed by learning the feature discriminability and designing suitable comparison methods. Still, there are the following restrictions. (a) Previous works are mainly based on visual mono-modal. Although some multi-modal works use labels as supplementary to construct prototypes of support videos, they can not use this information for query videos. The labels are not used efficiently. (b) Most of the works ignore the motion feature of video, although the motion features are essential for distinguishing. We proposed a Consistency Prototype and Motion Compensation Network(CLIP-CP$M^2$C) to address these issues. Firstly, we use the CLIP for multi-modal few-shot action recognition with the text-image comparison for domain adaption. Secondly, in order to make the amount of information between the prototype and the query more similar, we propose a novel method to compensate for the text(prompt) information of query videos when text(prompt) does not exist, which depends on a Consistency Loss. Thirdly, we use the differential features of the adjacent frames in two directions as the motion features, which explicitly embeds the network with motion dynamics. We also apply the Consistency Loss to the motion features. Extensive experiments on standard benchmark datasets demonstrate that the proposed method can compete with state-of-the-art results. Our code is available at the URL: https://github.com/xxx/xxx.git.
Remote sensing technology has become a promising tool in yield prediction. Most prior work employs satellite imagery for county-level corn yield prediction by spatially aggregating all pixels within a county into a single value, potentially overlooking the detailed information and valuable insights offered by more granular data. To this end, this research examines each county at the pixel level and applies multiple instance learning to leverage detailed information within a county. In addition, our method addresses the "mixed pixel" issue caused by the inconsistent resolution between feature datasets and crop mask, which may introduce noise into the model and therefore hinder accurate yield prediction. Specifically, the attention mechanism is employed to automatically assign weights to different pixels, which can mitigate the influence of mixed pixels. The experimental results show that the developed model outperforms four other machine learning models over the past five years in the U.S. corn belt and demonstrates its best performance in 2022, achieving a coefficient of determination (R2) value of 0.84 and a root mean square error (RMSE) of 0.83. This paper demonstrates the advantages of our approach from both spatial and temporal perspectives. Furthermore, through an in-depth study of the relationship between mixed pixels and attention, it is verified that our approach can capture critical feature information while filtering out noise from mixed pixels.
Intelligent drill boom hole-seeking is a promising technology for enhancing drilling efficiency, mitigating potential safety hazards, and relieving human operators. Most existing intelligent drill boom control methods rely on a hierarchical control framework based on inverse kinematics. However, these methods are generally time-consuming due to the computational complexity of inverse kinematics and the inefficiency of the sequential execution of multiple joints. To tackle these challenges, this study proposes an integrated drill boom control method based on Reinforcement Learning (RL). We develop an integrated drill boom control framework that utilizes a parameterized policy to directly generate control inputs for all joints at each time step, taking advantage of joint posture and target hole information. By formulating the hole-seeking task as a Markov decision process, contemporary mainstream RL algorithms can be directly employed to learn a hole-seeking policy, thus eliminating the need for inverse kinematics solutions and promoting cooperative multi-joint control. To enhance the drilling accuracy throughout the entire drilling process, we devise a state representation that combines Denavit-Hartenberg joint information and preview hole-seeking discrepancy data. Simulation results show that the proposed method significantly outperforms traditional methods in terms of hole-seeking accuracy and time efficiency.
Images of the natural world, collected by a variety of cameras, from drones to individual phones, are increasingly abundant sources of biological information. There is an explosion of computational methods and tools, particularly computer vision, for extracting biologically relevant information from images for science and conservation. Yet most of these are bespoke approaches designed for a specific task and are not easily adaptable or extendable to new questions, contexts, and datasets. A vision model for general organismal biology questions on images is of timely need. To approach this, we curate and release TreeOfLife-10M, the largest and most diverse ML-ready dataset of biology images. We then develop BioCLIP, a foundation model for the tree of life, leveraging the unique properties of biology captured by TreeOfLife-10M, namely the abundance and variety of images of plants, animals, and fungi, together with the availability of rich structured biological knowledge. We rigorously benchmark our approach on diverse fine-grained biology classification tasks, and find that BioCLIP consistently and substantially outperforms existing baselines (by 17% to 20% absolute). Intrinsic evaluation reveals that BioCLIP has learned a hierarchical representation conforming to the tree of life, shedding light on its strong generalizability. Our code, models and data will be made available at https://github.com/Imageomics/bioclip.
Most existing ontology matching methods utilize the literal information to discover alignments. However, some literal information in ontologies may be opaque and some ontologies may not have sufficient literal information. In this paper, these ontologies are named as weak informative ontologies (WIOs) and it is challenging for existing methods to matching WIOs. On one hand, string-based and linguistic-based matching methods cannot work well for WIOs. On the other hand, some matching methods use external resources to improve their performance, but collecting and processing external resources is still time-consuming. To address this issue, this paper proposes a practical method for matching WIOs by employing the ontology structure information to discover alignments. First, the semantic subgraphs are extracted from the ontology graph to capture the precise meanings of ontology elements. Then, a new similarity propagation model is designed for matching WIOs. Meanwhile, in order to avoid meaningless propagation, the similarity propagation is constrained by semantic subgraphs and other conditions. Consequently, the similarity propagation model ensures a balance between efficiency and quality during matching. Finally, the similarity propagation model uses a few credible alignments as seeds to find more alignments, and some useful strategies are adopted to improve the performance. This matching method for WIOs has been implemented in the ontology matching system Lily. Experimental results on public OAEI benchmark datasets demonstrate that Lily significantly outperforms most of the state-of-the-art works in both WIO matching tasks and general ontology matching tasks. In particular, Lily increases the recall by a large margin, while it still obtains high precision of matching results.
This paper addresses privacy concerns in multi-agent reinforcement learning (MARL), specifically within the context of supply chains where individual strategic data must remain confidential. Organizations within the supply chain are modeled as agents, each seeking to optimize their own objectives while interacting with others. As each organization's strategy is contingent on neighboring strategies, maintaining privacy of state and action-related information is crucial. To tackle this challenge, we propose a game-theoretic, privacy-preserving mechanism, utilizing a secure multi-party computation (MPC) framework in MARL settings. Our major contribution is the successful implementation of a secure MPC framework, SecFloat on EzPC, to solve this problem. However, simply implementing policy gradient methods such as MADDPG operations using SecFloat, while conceptually feasible, would be programmatically intractable. To overcome this hurdle, we devise a novel approach that breaks down the forward and backward pass of the neural network into elementary operations compatible with SecFloat , creating efficient and secure versions of the MADDPG algorithm. Furthermore, we present a learning mechanism that carries out floating point operations in a privacy-preserving manner, an important feature for successful learning in MARL framework. Experiments reveal that there is on average 68.19% less supply chain wastage in 2 PC compared to no data share, while also giving on average 42.27% better average cumulative revenue for each player. This work paves the way for practical, privacy-preserving MARL, promising significant improvements in secure computation within supply chain contexts and broadly.