We present a general framework for applying learning algorithms and heuristical guidance to the verification of Markov decision processes (MDPs). The primary goal of our techniques is to improve performance by avoiding an exhaustive exploration of the state space, instead focussing on particularly relevant areas of the system, guided by heuristics. Our work builds on the previous results of Br{\'{a}}zdil et al., significantly extending it as well as refining several details and fixing errors. The presented framework focuses on probabilistic reachability, which is a core problem in verification, and is instantiated in two distinct scenarios. The first assumes that full knowledge of the MDP is available, in particular precise transition probabilities. It performs a heuristic-driven partial exploration of the model, yielding precise lower and upper bounds on the required probability. The second tackles the case where we may only sample the MDP without knowing the exact transition dynamics. Here, we obtain probabilistic guarantees, again in terms of both the lower and upper bounds, which provides efficient stopping criteria for the approximation. In particular, the latter is an extension of statistical model-checking (SMC) for unbounded properties in MDPs. In contrast to other related approaches, we do not restrict our attention to time-bounded (finite-horizon) or discounted properties, nor assume any particular structural properties of the MDP.
3D human body reconstruction has been a challenge in the field of computer vision. Previous methods are often time-consuming and difficult to capture the detailed appearance of the human body. In this paper, we propose a new method called \emph{Ultraman} for fast reconstruction of textured 3D human models from a single image. Compared to existing techniques, \emph{Ultraman} greatly improves the reconstruction speed and accuracy while preserving high-quality texture details. We present a set of new frameworks for human reconstruction consisting of three parts, geometric reconstruction, texture generation and texture mapping. Firstly, a mesh reconstruction framework is used, which accurately extracts 3D human shapes from a single image. At the same time, we propose a method to generate a multi-view consistent image of the human body based on a single image. This is finally combined with a novel texture mapping method to optimize texture details and ensure color consistency during reconstruction. Through extensive experiments and evaluations, we demonstrate the superior performance of \emph{Ultraman} on various standard datasets. In addition, \emph{Ultraman} outperforms state-of-the-art methods in terms of human rendering quality and speed. Upon acceptance of the article, we will make the code and data publicly available.
Perception plays a crucial role in various robot applications. However, existing well-annotated datasets are biased towards autonomous driving scenarios, while unlabelled SLAM datasets are quickly over-fitted, and often lack environment and domain variations. To expand the frontier of these fields, we introduce a comprehensive dataset named MCD (Multi-Campus Dataset), featuring a wide range of sensing modalities, high-accuracy ground truth, and diverse challenging environments across three Eurasian university campuses. MCD comprises both CCS (Classical Cylindrical Spinning) and NRE (Non-Repetitive Epicyclic) lidars, high-quality IMUs (Inertial Measurement Units), cameras, and UWB (Ultra-WideBand) sensors. Furthermore, in a pioneering effort, we introduce semantic annotations of 29 classes over 59k sparse NRE lidar scans across three domains, thus providing a novel challenge to existing semantic segmentation research upon this largely unexplored lidar modality. Finally, we propose, for the first time to the best of our knowledge, continuous-time ground truth based on optimization-based registration of lidar-inertial data on large survey-grade prior maps, which are also publicly released, each several times the size of existing ones. We conduct a rigorous evaluation of numerous state-of-the-art algorithms on MCD, report their performance, and highlight the challenges awaiting solutions from the research community.
We introduce the Pyramid Diffusion Model (PDM), a novel architecture designed for ultra-high-resolution image synthesis. PDM utilizes a pyramid latent representation, providing a broader design space that enables more flexible, structured, and efficient perceptual compression which enable AutoEncoder and Network of Diffusion to equip branches and deeper layers. To enhance PDM's capabilities for generative tasks, we propose the integration of Spatial-Channel Attention and Res-Skip Connection, along with the utilization of Spectral Norm and Decreasing Dropout Strategy for the Diffusion Network and AutoEncoder. In summary, PDM achieves the synthesis of images with a 2K resolution for the first time, demonstrated on two new datasets comprising images of sizes 2048x2048 pixels and 2048x1024 pixels respectively. We believe that this work offers an alternative approach to designing scalable image generative models, while also providing incremental reinforcement for existing frameworks.
We report a data-parsimonious machine learning model for short-term forecasting of solar irradiance. The model inputs include sky camera images that are reduced to scalar features to meet data transmission constraints. The output irradiance values are transformed to focus on unknown short-term dynamics. Inspired by control theory, a noise input is used to reflect unmeasured variables and is shown to improve model predictions, often considerably. Five years of data from the NREL Solar Radiation Research Laboratory were used to create three rolling train-validate sets and determine the best representations for time, the optimal span of input measurements, and the most impactful model input data (features). For the chosen test data, the model achieves a mean absolute error of 74.34 $W/m^2$ compared to a baseline 134.35 $W/m^2$ using the persistence of cloudiness model.
The minmax multiple traveling salesman problem involves minimizing the longest tour among a set of tours. The problem is of great practical interest because it can be used to formulate several real-life applications. To solve this computationally challenging problem, we propose a leaning-driven iterated local search approach that combines an aggressive local search procedure with a probabilistic acceptance criterion to find high-quality local optimal solutions and a multi-armed bandit algorithm to select various removal and insertion operators to escape local optimal traps. Extensive experiments on 77 commonly used benchmark instances show that our algorithm achieves excellent results in terms of solution quality and running time. In particular, it achieves 32 new best-known results and matches the best-known results for 35 other instances. Additional experiments shed light on the understanding of the composing elements of the algorithm.
Mitigating the generation of contradictory responses poses a substantial challenge in dialogue response generation. The quality and quantity of available contradictory response data play a vital role in suppressing these contradictions, offering two significant benefits. First, having access to large contradiction data enables a comprehensive examination of their characteristics. Second, data-driven methods to mitigate contradictions may be enhanced with large-scale contradiction data for training. Nevertheless, no attempt has been made to build an extensive collection of model-generated contradictory responses. In this paper, we build a large dataset of response generation models' contradictions for the first time. Then, we acquire valuable insights into the characteristics of model-generated contradictions through an extensive analysis of the collected responses. Lastly, we also demonstrate how this dataset substantially enhances the performance of data-driven contradiction suppression methods.
Expansion property of a graph refers to its strong connectivity as well as sparseness. It has been reported that deep neural networks can be pruned to a high degree of sparsity while maintaining their performance. Such pruning is essential for performing real time sequence learning tasks using recurrent neural networks in resource constrained platforms. We prune recurrent networks such as RNNs and LSTMs, maintaining a large spectral gap of the underlying graphs and ensuring their layerwise expansion properties. We also study the time unfolded recurrent network graphs in terms of the properties of their bipartite layers. Experimental results for the benchmark sequence MNIST, CIFAR-10, and Google speech command data show that expander graph properties are key to preserving classification accuracy of RNN and LSTM.
In the robot follow-ahead task, a mobile robot is tasked to maintain its relative position in front of a moving human actor while keeping the actor in sight. To accomplish this task, it is important that the robot understand the full 3D pose of the human (since the head orientation can be different than the torso) and predict future human poses so as to plan accordingly. This prediction task is especially tricky in a complex environment with junctions and multiple corridors. In this work, we address the problem of forecasting the full 3D trajectory of a human in such environments. Our main insight is to show that one can first predict the 2D trajectory and then estimate the full 3D trajectory by conditioning the estimator on the predicted 2D trajectory. With this approach, we achieve results comparable or better than the state-of-the-art methods three times faster. As part of our contribution, we present a new dataset where, in contrast to existing datasets, the human motion is in a much larger area than a single room. We also present a complete robot system that integrates our human pose forecasting network on the mobile robot to enable real-time robot follow-ahead and present results from real-world experiments in multiple buildings on campus. Our project page, including supplementary material and videos, can be found at: https://qingyuan-jiang.github.io/iros2024_poseForecasting/
Cross-modal retrieval (CMR) aims to establish interaction between different modalities, among which supervised CMR is emerging due to its flexibility in learning semantic category discrimination. Despite the remarkable performance of previous supervised CMR methods, much of their success can be attributed to the well-annotated data. However, even for unimodal data, precise annotation is expensive and time-consuming, and it becomes more challenging with the multimodal scenario. In practice, massive multimodal data are collected from the Internet with coarse annotation, which inevitably introduces noisy labels. Training with such misleading labels would bring two key challenges -- enforcing the multimodal samples to \emph{align incorrect semantics} and \emph{widen the heterogeneous gap}, resulting in poor retrieval performance. To tackle these challenges, this work proposes UOT-RCL, a Unified framework based on Optimal Transport (OT) for Robust Cross-modal Retrieval. First, we propose a semantic alignment based on partial OT to progressively correct the noisy labels, where a novel cross-modal consistent cost function is designed to blend different modalities and provide precise transport cost. Second, to narrow the discrepancy in multi-modal data, an OT-based relation alignment is proposed to infer the semantic-level cross-modal matching. Both of these two components leverage the inherent correlation among multi-modal data to facilitate effective cost function. The experiments on three widely-used cross-modal retrieval datasets demonstrate that our UOT-RCL surpasses the state-of-the-art approaches and significantly improves the robustness against noisy labels.