In this paper, we present a Computer Vision (CV) based tracking and fusion algorithm, dedicated to a 3D printed gimbal system on drones operating in nature. The whole gimbal system can stabilize the camera orientation robustly in a challenging nature scenario by using skyline and ground plane as references. Our main contributions are the following: a) a light-weight Resnet-18 backbone network model was trained from scratch, and deployed onto the Jetson Nano platform to segment the image into binary parts (ground and sky); b) our geometry assumption from nature cues delivers the potential for robust visual tracking by using the skyline and ground plane as a reference; c) a spherical surface-based adaptive particle sampling, can fuse orientation from multiple sensor sources flexibly. The whole algorithm pipeline is tested on our customized gimbal module including Jetson and other hardware components. The experiments were performed on top of a building in the real landscape.
In this paper, we propose an efficient multi-stage algorithm for non-adaptive Group Testing (GT) with general correlated prior statistics. The proposed solution can be applied to any correlated statistical prior represented in trellis, e.g., finite state machines and Markov processes. We introduce a variation of List Viterbi Algorithm (LVA) to enable accurate recovery using much fewer tests than objectives, which efficiently gains from the correlated prior statistics structure. Our numerical results demonstrate that the proposed Multi-Stage GT (MSGT) algorithm can obtain the optimal Maximum A Posteriori (MAP) performance with feasible complexity in practical regimes, such as with COVID-19 and sparse signal recovery applications, and reduce in the scenarios tested the number of pooled tests by at least $25\%$ compared to existing classical low complexity GT algorithms. Moreover, we analytically characterize the complexity of the proposed MSGT algorithm that guarantees its efficiency.
Inferring the types of API elements in incomplete code snippets (e.g., those on Q&A forums) is a prepositive step required to work with the code snippets. Existing type inference methods can be mainly categorized as constraint-based or statistically-based. The former imposes higher requirements on code syntax and often suffers from low recall due to the syntactic limitation of code snippets. The latter relies on the statistical regularities learned from a training corpus and does not take full advantage of the type constraints in code snippets, which may lead to low precision. In this paper, we propose an iterative type inference framework for Java, called iJTyper, by integrating the strengths of both constraint- and statistically-based methods. For a code snippet, iJTyper first applies a constraint-based method and augments the code context with the inferred types of API elements. iJTyper then applies a statistically-based method to the augmented code snippet. The predicted candidate types of API elements are further used to improve the constraint-based method by reducing its pre-built knowledge base. iJTyper iteratively executes both methods and performs code context augmentation and knowledge base reduction until a termination condition is satisfied. Finally, the final inference results are obtained by combining the results of both methods. We evaluated iJTyper on two open-source datasets. Results show that 1) iJTyper achieves high average precision/recall of 97.31% and 92.52% on both datasets; 2) iJTyper significantly improves the recall of two state-of-the-art baselines, SnR and MLMTyper, by at least 7.31% and 27.44%, respectively; and 3) iJTyper improves the average precision/recall of the popular language model, ChatGPT, by 3.25% and 0.51% on both datasets.
Fairness is one of the socio-technical concerns that must be addressed in AI-based systems. Unfair AI-based systems, particularly unfair AI-based mobile apps, can pose difficulties for a significant proportion of the global population. This paper aims to analyze fairness concerns in AI-based app reviews.We first manually constructed a ground-truth dataset, including a statistical sample of fairness and non-fairness reviews. Leveraging the ground-truth dataset, we developed and evaluated a set of machine learning and deep learning classifiers that distinguish fairness reviews from non-fairness reviews. Our experiments show that our best-performing classifier can detect fairness reviews with a precision of 94%. We then applied the best-performing classifier on approximately 9.5M reviews collected from 108 AI-based apps and identified around 92K fairness reviews. Next, applying the K-means clustering technique to the 92K fairness reviews, followed by manual analysis, led to the identification of six distinct types of fairness concerns (e.g., 'receiving different quality of features and services in different platforms and devices' and 'lack of transparency and fairness in dealing with user-generated content'). Finally, the manual analysis of 2,248 app owners' responses to the fairness reviews identified six root causes (e.g., 'copyright issues') that app owners report to justify fairness concerns.
We propose and analyze an adaptive adversary that can retrain a Trojaned DNN and is also aware of SOTA output-based Trojaned model detectors. We show that such an adversary can ensure (1) high accuracy on both trigger-embedded and clean samples and (2) bypass detection. Our approach is based on an observation that the high dimensionality of the DNN parameters provides sufficient degrees of freedom to simultaneously achieve these objectives. We also enable SOTA detectors to be adaptive by allowing retraining to recalibrate their parameters, thus modeling a co-evolution of parameters of a Trojaned model and detectors. We then show that this co-evolution can be modeled as an iterative game, and prove that the resulting (optimal) solution of this interactive game leads to the adversary successfully achieving the above objectives. In addition, we provide a greedy algorithm for the adversary to select a minimum number of input samples for embedding triggers. We show that for cross-entropy or log-likelihood loss functions used by the DNNs, the greedy algorithm provides provable guarantees on the needed number of trigger-embedded input samples. Extensive experiments on four diverse datasets -- MNIST, CIFAR-10, CIFAR-100, and SpeechCommand -- reveal that the adversary effectively evades four SOTA output-based Trojaned model detectors: MNTD, NeuralCleanse, STRIP, and TABOR.
In this paper, we propose a novel Feature Decomposition and Reconstruction Learning (FDRL) method for effective facial expression recognition. We view the expression information as the combination of the shared information (expression similarities) across different expressions and the unique information (expression-specific variations) for each expression. More specifically, FDRL mainly consists of two crucial networks: a Feature Decomposition Network (FDN) and a Feature Reconstruction Network (FRN). In particular, FDN first decomposes the basic features extracted from a backbone network into a set of facial action-aware latent features to model expression similarities. Then, FRN captures the intra-feature and inter-feature relationships for latent features to characterize expression-specific variations, and reconstructs the expression feature. To this end, two modules including an intra-feature relation modeling module and an inter-feature relation modeling module are developed in FRN. Experimental results on both the in-the-lab databases (including CK+, MMI, and Oulu-CASIA) and the in-the-wild databases (including RAF-DB and SFEW) show that the proposed FDRL method consistently achieves higher recognition accuracy than several state-of-the-art methods. This clearly highlights the benefit of feature decomposition and reconstruction for classifying expressions.
In Multi-Label Text Classification (MLTC), one sample can belong to more than one class. It is observed that most MLTC tasks, there are dependencies or correlations among labels. Existing methods tend to ignore the relationship among labels. In this paper, a graph attention network-based model is proposed to capture the attentive dependency structure among the labels. The graph attention network uses a feature matrix and a correlation matrix to capture and explore the crucial dependencies between the labels and generate classifiers for the task. The generated classifiers are applied to sentence feature vectors obtained from the text feature extraction network (BiLSTM) to enable end-to-end training. Attention allows the system to assign different weights to neighbor nodes per label, thus allowing it to learn the dependencies among labels implicitly. The results of the proposed model are validated on five real-world MLTC datasets. The proposed model achieves similar or better performance compared to the previous state-of-the-art models.
In this paper, we proposed to apply meta learning approach for low-resource automatic speech recognition (ASR). We formulated ASR for different languages as different tasks, and meta-learned the initialization parameters from many pretraining languages to achieve fast adaptation on unseen target language, via recently proposed model-agnostic meta learning algorithm (MAML). We evaluated the proposed approach using six languages as pretraining tasks and four languages as target tasks. Preliminary results showed that the proposed method, MetaASR, significantly outperforms the state-of-the-art multitask pretraining approach on all target languages with different combinations of pretraining languages. In addition, since MAML's model-agnostic property, this paper also opens new research direction of applying meta learning to more speech-related applications.
BERT, a pre-trained Transformer model, has achieved ground-breaking performance on multiple NLP tasks. In this paper, we describe BERTSUM, a simple variant of BERT, for extractive summarization. Our system is the state of the art on the CNN/Dailymail dataset, outperforming the previous best-performed system by 1.65 on ROUGE-L. The codes to reproduce our results are available at //github.com/nlpyang/BertSum
Recently, ensemble has been applied to deep metric learning to yield state-of-the-art results. Deep metric learning aims to learn deep neural networks for feature embeddings, distances of which satisfy given constraint. In deep metric learning, ensemble takes average of distances learned by multiple learners. As one important aspect of ensemble, the learners should be diverse in their feature embeddings. To this end, we propose an attention-based ensemble, which uses multiple attention masks, so that each learner can attend to different parts of the object. We also propose a divergence loss, which encourages diversity among the learners. The proposed method is applied to the standard benchmarks of deep metric learning and experimental results show that it outperforms the state-of-the-art methods by a significant margin on image retrieval tasks.
Attention mechanism has been used as an ancillary means to help RNN or CNN. However, the Transformer (Vaswani et al., 2017) recently recorded the state-of-the-art performance in machine translation with a dramatic reduction in training time by solely using attention. Motivated by the Transformer, Directional Self Attention Network (Shen et al., 2017), a fully attention-based sentence encoder, was proposed. It showed good performance with various data by using forward and backward directional information in a sentence. But in their study, not considered at all was the distance between words, an important feature when learning the local dependency to help understand the context of input text. We propose Distance-based Self-Attention Network, which considers the word distance by using a simple distance mask in order to model the local dependency without losing the ability of modeling global dependency which attention has inherent. Our model shows good performance with NLI data, and it records the new state-of-the-art result with SNLI data. Additionally, we show that our model has a strength in long sentences or documents.