The notion of smart cities is being adapted globally to provide a better quality of living. A smart city's smart mobility component focuses on providing smooth and safe commuting for its residents and promotes eco-friendly and sustainable alternatives such as public transit (bus). Among several smart applications, a system that provides up-to-the-minute information like bus arrival, travel duration, schedule, etc., improves the reliability of public transit services. Still, this application needs live information on traffic flow, accidents, events, and the location of the buses. Most cities lack the infrastructure to provide these data. In this context, a bus arrival prediction model is proposed for forecasting the arrival time using limited data sets. The location data of public transit buses and spatial characteristics are used for the study. One of the routes of Tumakuru city service, Tumakuru, India, is selected and divided into two spatial patterns: sections with intersections and sections without intersections. The machine learning model XGBoost is modeled for both spatial patterns individually. A model to dynamically predict bus arrival time is developed using the preceding trip information and the machine learning model to estimate the arrival time at a downstream bus stop. The performance of models is compared based on the R-squared values of the predictions made, and the proposed model established superior results. It is suggested to predict bus arrival in the study area. The proposed model can also be extended to other similar cities with limited traffic-related infrastructure.
Often, deep network models are purely inductive during training and while performing inference on unseen data. Thus, when such models are used for predictions, it is well known that they often fail to capture the semantic information and implicit dependencies that exist among objects (or concepts) on a population level. Moreover, it is still unclear how domain or prior modal knowledge can be specified in a backpropagation friendly manner, especially in large-scale and noisy settings. In this work, we propose an end-to-end vision and language model incorporating explicit knowledge graphs. We also introduce an interactive out-of-distribution (OOD) layer using implicit network operator. The layer is used to filter noise that is brought by external knowledge base. In practice, we apply our model on several vision and language downstream tasks including visual question answering, visual reasoning, and image-text retrieval on different datasets. Our experiments show that it is possible to design models that perform similarly to state-of-art results but with significantly fewer samples and training time.
In some specific scenarios, face sketch was used to identify a person. However, drawing a complete face sketch often needs skills and takes time, which hinder its widespread applicability in the practice. In this study, we proposed a new task named sketch less face image retrieval (SLFIR), in which the retrieval was carried out at each stroke and aim to retrieve the target face photo using a partial sketch with as few strokes as possible (see Fig.1). Firstly, we developed a method to generate the data of sketch with drawing process, and opened such dataset; Secondly, we proposed a two-stage method as the baseline for SLFIR that (1) A triplet network, was first adopt to learn the joint embedding space shared between the complete sketch and its target face photo; (2) Regarding the sketch drawing episode as a sequence, we designed a LSTM module to optimize the representation of the incomplete face sketch. Experiments indicate that the new framework can finish the retrieval using a partial or pool drawing sketch.
Deep neural networks (DNNs) are increasingly used in safety-critical autonomous systems as perception components processing high-dimensional image data. Formal analysis of these systems is particularly challenging due to the complexity of the perception DNNs, the sensors (cameras), and the environment conditions. We present a case study applying formal probabilistic analysis techniques to an experimental autonomous system that guides airplanes on taxiways using a perception DNN. We address the above challenges by replacing the camera and the network with a compact probabilistic abstraction built from the confusion matrices computed for the DNN on a representative image data set. We also show how to leverage local, DNN-specific analyses as run-time guards to increase the safety of the overall system. Our findings are applicable to other autonomous systems that use complex DNNs for perception.
We present a simple reduction from sequential estimation to sequential changepoint detection (SCD). In short, suppose we are interested in detecting changepoints in some parameter or functional $\theta$ of the underlying distribution. We demonstrate that if we can construct a confidence sequence (CS) for $\theta$, then we can also successfully perform SCD for $\theta$. This is accomplished by checking if two CSs -- one forwards and the other backwards -- ever fail to intersect. Since the literature on CSs has been rapidly evolving recently, the reduction provided in this paper immediately solves several old and new change detection problems. Further, our "backward CS", constructed by reversing time, is new and potentially of independent interest. We provide strong nonasymptotic guarantees on the frequency of false alarms and detection delay, and demonstrate numerical effectiveness on several problems.
The increasing complexity of AI systems has led to the growth of the field of explainable AI (XAI), which aims to provide explanations and justifications for the outputs of AI algorithms. These methods mainly focus on feature importance and identifying changes that can be made to achieve a desired outcome. Researchers have identified desired properties for XAI methods, such as plausibility, sparsity, causality, low run-time, etc. The objective of this study is to conduct a review of existing XAI research and present a classification of XAI methods. The study also aims to connect XAI users with the appropriate method and relate desired properties to current XAI approaches. The outcome of this study will be a clear strategy that outlines how to choose the right XAI method for a particular goal and user and provide a personalized explanation for users.
At the core of many machine learning methods resides an iterative optimization algorithm for their training. Such optimization algorithms often come with a plethora of choices regarding their implementation. In the case of deep neural networks, choices of optimizer, learning rate, batch size, etc. must be made. Despite the fundamental way in which these choices impact the training of deep neural networks, there exists no general method for identifying when they lead to equivalent, or non-equivalent, optimization trajectories. By viewing iterative optimization as a discrete-time dynamical system, we are able to leverage Koopman operator theory, where it is known that conjugate dynamics can have identical spectral objects. We find highly overlapping Koopman spectra associated with the application of online mirror and gradient descent to specific problems, illustrating that such a data-driven approach can corroborate the recently discovered analytical equivalence between the two optimizers. We extend our analysis to feedforward, fully connected neural networks, providing the first general characterization of when choices of learning rate, batch size, layer width, data set, and activation function lead to equivalent, and non-equivalent, evolution of network parameters during training. Among our main results, we find that learning rate to batch size ratio, layer width, nature of data set (handwritten vs. synthetic), and activation function affect the nature of conjugacy. Our data-driven approach is general and can be utilized broadly to compare the optimization of machine learning methods.
Data-driven materials design often encounters challenges where systems require or possess qualitative (categorical) information. Metal-organic frameworks (MOFs) are an example of such material systems. The representation of MOFs through different building blocks makes it a challenge for designers to incorporate qualitative information into design optimization. Furthermore, the large number of potential building blocks leads to a combinatorial challenge, with millions of possible MOFs that could be explored through time consuming physics-based approaches. In this work, we integrated Latent Variable Gaussian Process (LVGP) and Multi-Objective Batch-Bayesian Optimization (MOBBO) to identify top-performing MOFs adaptively, autonomously, and efficiently without any human intervention. Our approach provides three main advantages: (i) no specific physical descriptors are required and only building blocks that construct the MOFs are used in global optimization through qualitative representations, (ii) the method is application and property independent, and (iii) the latent variable approach provides an interpretable model of qualitative building blocks with physical justification. To demonstrate the effectiveness of our method, we considered a design space with more than 47,000 MOF candidates. By searching only ~1% of the design space, LVGP-MOBBO was able to identify all MOFs on the Pareto front and more than 97% of the 50 top-performing designs for the CO$_2$ working capacity and CO$_2$/N$_2$ selectivity properties. Finally, we compared our approach with the Random Forest algorithm and demonstrated its efficiency, interpretability, and robustness.
Intelligent robots hinge on accurate object detection models to perceive the environment. Advances in deep learning security unveil that object detection models are vulnerable to adversarial attacks. However, prior research primarily focuses on attacking static images or offline videos. It is still unclear if such attacks could jeopardize real-world robotic applications in dynamic environments. There is still a gap between theoretical discoveries and real-world applications. We bridge the gap by proposing the first real-time online attack against object detection models. We devised three attacks that fabricate bounding boxes for nonexistent objects at desired locations.
Catching high-speed targets in the flight is a complex and typical highly dynamic task. In this paper, we propose Catch Planner, a planning-with-decision scheme for catching. For sequential decision making, we propose a policy search method based on deep reinforcement learning. In order to make catching adaptive and flexible, we propose a trajectory optimization method to jointly optimize the highly coupled catching time and terminal state while considering the dynamic feasibility and safety. We also propose a flexible constraint transcription method to catch targets at any reasonable attitude and terminal position bias. The proposed Catch Planner provides a new paradigm for the combination of learning and planning and is integrated on the quadrotor designed by ourselves, which runs at 100$hz$ on the onboard computer. Extensive experiments are carried out in real and simulated scenes to verify the robustness of the proposed method and its expansibility when facing a variety of high-speed flying targets.