Neural implicit representations have been explored to enhance visual SLAM algorithms, especially in providing high-fidelity dense map. Existing methods operate robustly in static scenes but struggle with the disruption caused by moving objects. In this paper we present NID-SLAM, which significantly improves the performance of neural SLAM in dynamic environments. We propose a new approach to enhance inaccurate regions in semantic masks, particularly in marginal areas. Utilizing the geometric information present in depth images, this method enables accurate removal of dynamic objects, thereby reducing the probability of camera drift. Additionally, we introduce a keyframe selection strategy for dynamic scenes, which enhances camera tracking robustness against large-scale objects and improves the efficiency of mapping. Experiments on publicly available RGB-D datasets demonstrate that our method outperforms competitive neural SLAM approaches in tracking accuracy and mapping quality in dynamic environments.
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Continual learning algorithms strive to acquire new knowledge while preserving prior information. Often, these algorithms emphasise stability and restrict network updates upon learning new tasks. In many cases, such restrictions come at a cost to the model's plasticity, i.e. the model's ability to adapt to the requirements of a new task. But is all change detrimental? Here, we approach this question by proposing that activation spaces in neural networks can be decomposed into two subspaces: a readout range in which change affects prior tasks and a null space in which change does not alter prior performance. Based on experiments with this novel technique, we show that, indeed, not all activation change is associated with forgetting. Instead, the only change in the subspace visible to the readout of a task can lead to decreased stability, while restricting change outside of this subspace is associated only with a loss of plasticity. Analysing various commonly used algorithms, we show that regularisation-based techniques do not fully disentangle the two spaces and, as a result, restrict plasticity more than need be. We expand our results by investigating a linear model in which we can manipulate learning in the two subspaces directly and thus causally link activation changes to stability and plasticity. For hierarchical, nonlinear cases, we present an approximation that enables us to estimate functionally relevant subspaces at every layer of a deep nonlinear network, corroborating our previous insights. Together, this work provides novel means to derive insights into the mechanisms behind stability and plasticity in continual learning and may serve as a diagnostic tool to guide developments of future continual learning algorithms that stabilise inference while allowing maximal space for learning.
We propose a simple empirical representation of expectations such that: For a number of samples above a certain threshold, drawn from any probability distribution with finite fourth-order statistic, the proposed estimator outperforms the empirical average when tested against the actual population, with respect to the quadratic loss. For datasets smaller than this threshold, the result still holds, but for a class of distributions determined by their first four statistics. Our approach leverages the duality between distributionally robust and risk-averse optimization.
The increasing requirements for data protection and privacy has attracted a huge research interest on distributed artificial intelligence and specifically on federated learning, an emerging machine learning approach that allows the construction of a model between several participants who hold their own private data. In the initial proposal of federated learning the architecture was centralised and the aggregation was done with federated averaging, meaning that a central server will orchestrate the federation using the most straightforward averaging strategy. This research is focused on testing different federated strategies in a peer-to-peer environment. The authors propose various aggregation strategies for federated learning, including weighted averaging aggregation, using different factors and strategies based on participant contribution. The strategies are tested with varying data sizes to identify the most robust ones. This research tests the strategies with several biomedical datasets and the results of the experiments show that the accuracy-based weighted average outperforms the classical federated averaging method.
Hyper spectral images have drawn the attention of the researchers for its complexity to classify. It has nonlinear relation between the materials and the spectral information provided by the HSI image. Deep learning methods have shown superiority in learning this nonlinearity in comparison to traditional machine learning methods. Use of 3-D CNN along with 2-D CNN have shown great success for learning spatial and spectral features. However, it uses comparatively large number of parameters. Moreover, it is not effective to learn inter layer information. Hence, this paper proposes a neural network combining 3-D CNN, 2-D CNN and Bi-LSTM. The performance of this model has been tested on Indian Pines(IP) University of Pavia(PU) and Salinas Scene(SA) data sets. The results are compared with the state of-the-art deep learning-based models. This model performed better in all three datasets. It could achieve 99.83, 99.98 and 100 percent accuracy using only 30 percent trainable parameters of the state-of-art model in IP, PU and SA datasets respectively.
These days, software development and security go hand in hand. Numerous techniques and strategies are discussed in the literature that can be applied to guarantee the incorporation of security into the software development process. In this paper the main ideas of secure software development that have been discussed in the literature are outlined. Next, a dataset on implementation in practice is gathered through a qualitative interview research involving 20 companies. Trends and correlations in this dataset are found and contrasted with theoretical ideas from the literature. The results show that the organizations that were polled are placing an increasing focus on security. Although the techniques covered in the literature are being used in the real world, they are frequently not fully integrated into formal, standardized processes. The insights gained from our research lay the groundwork for future research, which can delve deeper into specific elements of these methods to enhance our understanding of their application in real-world scenarios.
Many computational problems involve optimization over discrete variables with quadratic interactions. Known as discrete quadratic models (DQMs), these problems in general are NP-hard. Accordingly, there is increasing interest in encoding DQMs as quadratic unconstrained binary optimization (QUBO) models to allow their solution by quantum and quantum-inspired hardware with architectures and solution methods designed specifically for such problem types. However, converting DQMs to QUBO models often introduces invalid solutions to the solution space of the QUBO models. These solutions must be penalized by introducing appropriate constraints to the QUBO objective function that are weighted by a tunable penalty parameter to ensure that the global optimum is valid. However, selecting the strength of this parameter is non-trivial, given its influence on solution landscape structure. Here, we investigate the effects of choice of encoding and penalty strength on the structure of QUBO DQM solution landscapes and their optimization, focusing specifically on one-hot and domain-wall encodings.
Biometric systems based on brain activity have been proposed as an alternative to passwords or to complement current authentication techniques. By leveraging the unique brainwave patterns of individuals, these systems offer the possibility of creating authentication solutions that are resistant to theft, hands-free, accessible, and potentially even revocable. However, despite the growing stream of research in this area, faster advance is hindered by reproducibility problems. Issues such as the lack of standard reporting schemes for performance results and system configuration, or the absence of common evaluation benchmarks, make comparability and proper assessment of different biometric solutions challenging. Further, barriers are erected to future work when, as so often, source code is not published open access. To bridge this gap, we introduce NeuroBench, a flexible open source tool to benchmark brainwave-based authentication models. It incorporates nine diverse datasets, implements a comprehensive set of pre-processing parameters and machine learning algorithms, enables testing under two common adversary models (known vs unknown attacker), and allows researchers to generate full performance reports and visualizations. We use NeuroBench to investigate the shallow classifiers and deep learning-based approaches proposed in the literature, and to test robustness across multiple sessions. We observe a 37.6% reduction in Equal Error Rate (EER) for unknown attacker scenarios (typically not tested in the literature), and we highlight the importance of session variability to brainwave authentication. All in all, our results demonstrate the viability and relevance of NeuroBench in streamlining fair comparisons of algorithms, thereby furthering the advancement of brainwave-based authentication through robust methodological practices.
The volumetric representation of human interactions is one of the fundamental domains in the development of immersive media productions and telecommunication applications. Particularly in the context of the rapid advancement of Extended Reality (XR) applications, this volumetric data has proven to be an essential technology for future XR elaboration. In this work, we present a new multimodal database to help advance the development of immersive technologies. Our proposed database provides ethically compliant and diverse volumetric data, in particular 27 participants displaying posed facial expressions and subtle body movements while speaking, plus 11 participants wearing head-mounted displays (HMDs). The recording system consists of a volumetric capture (VoCap) studio, including 31 synchronized modules with 62 RGB cameras and 31 depth cameras. In addition to textured meshes, point clouds, and multi-view RGB-D data, we use one Lytro Illum camera for providing light field (LF) data simultaneously. Finally, we also provide an evaluation of our dataset employment with regard to the tasks of facial expression classification, HMDs removal, and point cloud reconstruction. The dataset can be helpful in the evaluation and performance testing of various XR algorithms, including but not limited to facial expression recognition and reconstruction, facial reenactment, and volumetric video. HEADSET and its all associated raw data and license agreement will be publicly available for research purposes.
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.
Due to their inherent capability in semantic alignment of aspects and their context words, attention mechanism and Convolutional Neural Networks (CNNs) are widely applied for aspect-based sentiment classification. However, these models lack a mechanism to account for relevant syntactical constraints and long-range word dependencies, and hence may mistakenly recognize syntactically irrelevant contextual words as clues for judging aspect sentiment. To tackle this problem, we propose to build a Graph Convolutional Network (GCN) over the dependency tree of a sentence to exploit syntactical information and word dependencies. Based on it, a novel aspect-specific sentiment classification framework is raised. Experiments on three benchmarking collections illustrate that our proposed model has comparable effectiveness to a range of state-of-the-art models, and further demonstrate that both syntactical information and long-range word dependencies are properly captured by the graph convolution structure.
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