Path planning is a crucial component for realizing the autonomy of mobile robots. However, due to limited computational resources on mobile robots, it remains challenging to deploy state-of-the-art methods and achieve real-time performance. To address this, we propose P3Net (PointNet-based Path Planning Networks), a lightweight deep-learning-based method for 2D/3D path planning, and design an IP core (P3NetCore) targeting FPGA SoCs (Xilinx ZCU104). P3Net improves the algorithm and model architecture of the recently-proposed MPNet. P3Net employs an encoder with a PointNet backbone and a lightweight planning network in order to extract robust point cloud features and sample path points from a promising region. P3NetCore is comprised of the fully-pipelined point cloud encoder, batched bidirectional path planner, and parallel collision checker, to cover most part of the algorithm. On the 2D (3D) datasets, P3Net with the IP core runs 24.54-149.57x and 6.19-115.25x (10.03-59.47x and 3.38-28.76x) faster than ARM Cortex CPU and Nvidia Jetson while only consuming 0.255W (0.809W), and is up to 1049.42x (133.84x) power-efficient than the workstation. P3Net improves the success rate by up to 28.2% and plans a near-optimal path, leading to a significantly better tradeoff between computation and solution quality than MPNet and the state-of-the-art sampling-based methods.
Many tasks in music information retrieval (MIR) involve weakly aligned data, where exact temporal correspondences are unknown. The connectionist temporal classification (CTC) loss is a standard technique to learn feature representations based on weakly aligned training data. However, CTC is limited to discrete-valued target sequences and can be difficult to extend to multi-label problems. In this article, we show how soft dynamic time warping (SoftDTW), a differentiable variant of classical DTW, can be used as an alternative to CTC. Using multi-pitch estimation as an example scenario, we show that SoftDTW yields results on par with a state-of-the-art multi-label extension of CTC. In addition to being more elegant in terms of its algorithmic formulation, SoftDTW naturally extends to real-valued target sequences.
Continual Test-Time Adaptation (CTTA) generalizes conventional Test-Time Adaptation (TTA) by assuming that the target domain is dynamic over time rather than stationary. In this paper, we explore Multi-Modal Continual Test-Time Adaptation (MM-CTTA) as a new extension of CTTA for 3D semantic segmentation. The key to MM-CTTA is to adaptively attend to the reliable modality while avoiding catastrophic forgetting during continual domain shifts, which is out of the capability of previous TTA or CTTA methods. To fulfill this gap, we propose an MM-CTTA method called Continual Cross-Modal Adaptive Clustering (CoMAC) that addresses this task from two perspectives. On one hand, we propose an adaptive dual-stage mechanism to generate reliable cross-modal predictions by attending to the reliable modality based on the class-wise feature-centroid distance in the latent space. On the other hand, to perform test-time adaptation without catastrophic forgetting, we design class-wise momentum queues that capture confident target features for adaptation while stochastically restoring pseudo-source features to revisit source knowledge. We further introduce two new benchmarks to facilitate the exploration of MM-CTTA in the future. Our experimental results show that our method achieves state-of-the-art performance on both benchmarks.
Non-intrusive, real-time analysis of the dynamics of the eye region allows us to monitor humans' visual attention allocation and estimate their mental state during the performance of real-world tasks, which can potentially benefit a wide range of human-computer interaction (HCI) applications. While commercial eye-tracking devices have been frequently employed, the difficulty of customizing these devices places unnecessary constraints on the exploration of more efficient, end-to-end models of eye dynamics. In this work, we propose CLERA, a unified model for Cognitive Load and Eye Region Analysis, which achieves precise keypoint detection and spatiotemporal tracking in a joint-learning framework. Our method demonstrates significant efficiency and outperforms prior work on tasks including cognitive load estimation, eye landmark detection, and blink estimation. We also introduce a large-scale dataset of 30k human faces with joint pupil, eye-openness, and landmark annotation, which aims to support future HCI research on human factors and eye-related analysis.
Decentralized deep learning requires dealing with non-iid data across clients, which may also change over time due to temporal shifts. While non-iid data has been extensively studied in distributed settings, temporal shifts have received no attention. To the best of our knowledge, we are first with tackling the novel and challenging problem of decentralized learning with non-iid and dynamic data. We propose a novel algorithm that can automatically discover and adapt to the evolving concepts in the network, without any prior knowledge or estimation of the number of concepts. We evaluate our algorithm on standard benchmark datasets and demonstrate that it outperforms previous methods for decentralized learning.
Geometrical acoustics is well suited for simulating room reverberation in interactive real-time applications. While the image source model (ISM) is exceptionally fast, the restriction to specular reflections impacts its perceptual plausibility. To account for diffuse late reverberation, hybrid approaches have been proposed, e.g., using a feedback delay network (FDN) in combination with the ISM. Here, a computationally-efficient, digital-filter approach is suggested to account for effects of non-specular reflections in the ISM and to couple scattered sound into a diffuse reverberation model using a spatially rendered FDN. Depending on the scattering coefficient of a room boundary, energy of each image source is split into a specular and a scattered part which is added to the diffuse sound field. Temporal effects as observed for an infinite ideal diffuse (Lambertian) reflector are simulated using cascaded all-pass filters. Effects of scattering and multiple (inter-) reflections caused by larger geometric disturbances at walls and by objects in the room are accounted for in a highly simplified manner. Using a single parameter to quantify deviations from an empty shoebox room, each reflection is temporally smeared using cascaded all-pass filters. The proposed method was perceptually evaluated against dummy head recordings of real rooms.
In recent years, deep learning has become a breakthrough technique in assisting medical image diagnosis. Supervised learning using convolutional neural networks (CNN) provides state-of-the-art performance and has served as a benchmark for various medical image segmentation and classification. However, supervised learning deeply relies on large-scale annotated data, which is expensive, time-consuming, and even impractical to acquire in medical imaging applications. Active Learning (AL) methods have been widely applied in natural image classification tasks to reduce annotation costs by selecting more valuable examples from the unlabeled data pool. However, their application in medical image segmentation tasks is limited, and there is currently no effective and universal AL-based method specifically designed for 3D medical image segmentation. To address this limitation, we propose an AL-based method that can be simultaneously applied to 2D medical image classification, segmentation, and 3D medical image segmentation tasks. We extensively validated our proposed active learning method on three publicly available and challenging medical image datasets, Kvasir Dataset, COVID-19 Infection Segmentation Dataset, and BraTS2019 Dataset. The experimental results demonstrate that our PCDAL can achieve significantly improved performance with fewer annotations in 2D classification and segmentation and 3D segmentation tasks. The codes of this study are available at https://github.com/ortonwang/PCDAL.
Objective: Analysis of the electroencephalogram (EEG) for epileptic spike and seizure detection or brain-computer interfaces can be severely hampered by the presence of artifacts. The aim of this study is to describe and evaluate a fast automatic algorithm for ongoing correction of artifacts in continuous EEG recordings, which can be applied offline and online. Methods: The automatic algorithm for ongoing correction of artifacts is based on fast blind source separation. It uses a sliding window technique with overlapping epochs and features in the spatial, temporal and frequency domain to detect and correct ocular, cardiac, muscle and powerline artifacts. Results: The approach was validated in an independent evaluation study on publicly available continuous EEG data with 2035 marked artifacts. Validation confirmed that 88% of the artifacts could be removed successfully (ocular: 81%, cardiac: 84%, muscle: 98%, powerline: 100%). It outperformed state-of-the-art algorithms both in terms of artifact reduction rates and computation time. Conclusions: Fast ongoing artifact correction successfully removed a good proportion of artifacts, while preserving most of the EEG signals. Significance: The presented algorithm may be useful for ongoing correction of artifacts, e.g., in online systems for epileptic spike and seizure detection or brain-computer interfaces.
This paper presents a whole-body robot control method for exploring and probing a given region of interest. The ergodic control formalism behind such an exploration behavior consists of matching the time-averaged statistics of a robot trajectory with the spatial statistics of the target distribution. Most existing ergodic control approaches assume the robots/sensors as individual point agents moving in space. We introduce an approach exploiting multiple kinematically constrained agents on the whole-body of a robotic manipulator, where a consensus among the agents is found for generating control actions. To do so, we exploit an existing ergodic control formulation called heat equation-driven area coverage (HEDAC), combining local and global exploration on a potential field resulting from heat diffusion. Our approach extends HEDAC to applications where robots have multiple sensors on the whole-body (such as tactile skin) and use all sensors to optimally explore the given region. We show that our approach increases the exploration performance in terms of ergodicity and scales well to real-world problems using agents distributed on multiple robot links. We compare our method with HEDAC in kinematic simulation and demonstrate the applicability of an online exploration task with a 7-axis Franka Emika robot.
Neural networks can be significantly compressed by pruning, leading to sparse models requiring considerably less storage and floating-point operations while maintaining predictive performance. Model soups (Wortsman et al., 2022) improve generalization and out-of-distribution performance by averaging the parameters of multiple models into a single one without increased inference time. However, identifying models in the same loss basin to leverage both sparsity and parameter averaging is challenging, as averaging arbitrary sparse models reduces the overall sparsity due to differing sparse connectivities. In this work, we address these challenges by demonstrating that exploring a single retraining phase of Iterative Magnitude Pruning (IMP) with varying hyperparameter configurations, such as batch ordering or weight decay, produces models that are suitable for averaging and share the same sparse connectivity by design. Averaging these models significantly enhances generalization performance compared to their individual components. Building on this idea, we introduce Sparse Model Soups (SMS), a novel method for merging sparse models by initiating each prune-retrain cycle with the averaged model of the previous phase. SMS maintains sparsity, exploits sparse network benefits being modular and fully parallelizable, and substantially improves IMP's performance. Additionally, we demonstrate that SMS can be adapted to enhance the performance of state-of-the-art pruning during training approaches.