Uncertainty estimation is crucial in safety-critical settings such as automated driving as it provides valuable information for several downstream tasks including high-level decision making and path planning. In this work, we propose EvCenterNet, a novel uncertainty-aware 2D object detection framework using evidential learning to directly estimate both classification and regression uncertainties. To employ evidential learning for object detection, we devise a combination of evidential and focal loss functions for the sparse heatmap inputs. We introduce class-balanced weighting for regression and heatmap prediction to tackle the class imbalance encountered by evidential learning. Moreover, we propose a learning scheme to actively utilize the predicted heatmap uncertainties to improve the detection performance by focusing on the most uncertain points. We train our model on the KITTI dataset and evaluate it on challenging out-of-distribution datasets including BDD100K and nuImages. Our experiments demonstrate that our approach improves the precision and minimizes the execution time loss in relation to the base model.
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Query expansion is a commonly-used technique in many search systems to better represent users' information needs with additional query terms. Existing studies for this task usually propose to expand a query with retrieved or generated contextual documents. However, both types of methods have clear limitations. For retrieval-based methods, the documents retrieved with the original query might not be accurate enough to reveal the search intent, especially when the query is brief or ambiguous. For generation-based methods, existing models can hardly be trained or aligned on a particular corpus, due to the lack of corpus-specific labeled data. In this paper, we propose a novel Large Language Model (LLM) based mutual verification framework for query expansion, which alleviates the aforementioned limitations. Specifically, we first design a query-query-document generation pipeline, which can effectively leverage the contextual knowledge encoded in LLMs to generate sub-queries and corresponding documents from multiple perspectives. Next, we employ a mutual verification method for both generated and retrieved contextual documents, where 1) retrieved documents are filtered with the external contextual knowledge in generated documents, and 2) generated documents are filtered with the corpus-specific knowledge in retrieved documents. Overall, the proposed method allows retrieved and generated documents to complement each other to finalize a better query expansion. We conduct extensive experiments on three information retrieval datasets, i.e., TREC-DL-2020, TREC-COVID, and MSMARCO. The results demonstrate that our method outperforms other baselines significantly.
Tactile information is important for robust performance in robotic tasks that involve physical interaction, such as object manipulation. However, with more data included in the reasoning and control process, modeling behavior becomes increasingly difficult. Deep Reinforcement Learning (DRL) produced promising results for learning complex behavior in various domains, including tactile-based manipulation in robotics. In this work, we present our open-source reinforcement learning environments for the TIAGo service robot. They produce tactile sensor measurements that resemble those of a real sensorised gripper for TIAGo, encouraging research in transfer learning of DRL policies. Lastly, we show preliminary training results of a learned force control policy and compare it to a classical PI controller.
Self-supervised monocular depth estimation methods aim to be used in critical applications such as autonomous vehicles for environment analysis. To circumvent the potential imperfections of these approaches, a quantification of the prediction confidence is crucial to guide decision-making systems that rely on depth estimation. In this paper, we propose MonoProb, a new unsupervised monocular depth estimation method that returns an interpretable uncertainty, which means that the uncertainty reflects the expected error of the network in its depth predictions. We rethink the stereo or the structure-from-motion paradigms used to train unsupervised monocular depth models as a probabilistic problem. Within a single forward pass inference, this model provides a depth prediction and a measure of its confidence, without increasing the inference time. We then improve the performance on depth and uncertainty with a novel self-distillation loss for which a student is supervised by a pseudo ground truth that is a probability distribution on depth output by a teacher. To quantify the performance of our models we design new metrics that, unlike traditional ones, measure the absolute performance of uncertainty predictions. Our experiments highlight enhancements achieved by our method on standard depth and uncertainty metrics as well as on our tailored metrics. //github.com/CEA-LIST/MonoProb
Causal effect estimation from observational data is a central problem in causal inference. Methods based on potential outcomes framework solve this problem by exploiting inductive biases and heuristics from causal inference. Each of these methods addresses a specific aspect of causal effect estimation, such as controlling propensity score, enforcing randomization, etc., by designing neural network (NN) architectures and regularizers. In this paper, we propose an adaptive method called Neurosymbolic Causal Effect Estimator (NESTER), a generalized method for causal effect estimation. NESTER integrates the ideas used in existing methods based on multi-head NNs for causal effect estimation into one framework. We design a Domain Specific Language (DSL) tailored for causal effect estimation based on causal inductive biases used in literature. We conduct a theoretical analysis to investigate NESTER's efficacy in estimating causal effects. Our comprehensive empirical results show that NESTER performs better than state-of-the-art methods on benchmark datasets.
With increasing automation, drivers' roles transition from active operators to passive system supervisors, affecting their behaviour and cognitive processes. This study addresses the attentional resource allocation and subjective cognitive load during manual, SAE Level 2, and SAE Level 3 driving in a realistic environment. An experiment was conducted on a test track with 30 participants using a prototype automated vehicle. While driving, participants were subjected to a passive auditory oddball task and their electroencephalogram was recorded. The study analysed the amplitude of the P3a event-related potential component elicited by novel environmental stimuli, an objective measure of attentional resource allocation. The subjective cognitive load was assessed using the NASA Task Load Index. Results showed no significant difference in subjective cognitive load between manual and Level 2 driving, but a decrease in subjective cognitive load in Level 3 driving. The P3a amplitude was highest during manual driving, indicating increased attentional resource allocation to environmental sounds compared to Level 2 and Level 3 driving. This may suggest that during automated driving, drivers allocate fewer attentional resources to processing environmental information. It remains unclear whether the decreased processing of environmental stimuli in automated driving is due to top-down attention control (leading to attention withdrawal) or bottom-up competition for resources induced by cognitive load. This study provides novel empirical evidence on resource allocation and subjective cognitive load in automated driving. The findings highlight the importance of managing drivers' attention and cognitive load with implications for enhancing automation safety and the design of user interfaces.
Developing robotic intelligent systems that can adapt quickly to unseen wild situations is one of the critical challenges in pursuing autonomous robotics. Although some impressive progress has been made in walking stability and skill learning in the field of legged robots, their ability to fast adaptation is still inferior to that of animals in nature. Animals are born with massive skills needed to survive, and can quickly acquire new ones, by composing fundamental skills with limited experience. Inspired by this, we propose a novel framework, named Robot Skill Graph (RSG) for organizing massive fundamental skills of robots and dexterously reusing them for fast adaptation. Bearing a structure similar to the Knowledge Graph (KG), RSG is composed of massive dynamic behavioral skills instead of static knowledge in KG and enables discovering implicit relations that exist in be-tween of learning context and acquired skills of robots, serving as a starting point for understanding subtle patterns existing in robots' skill learning. Extensive experimental results demonstrate that RSG can provide rational skill inference upon new tasks and environments and enable quadruped robots to adapt to new scenarios and learn new skills rapidly.
With the advent of clean energy awareness and systems that rely on extensive battery usage, the community has seen an increased interest in the development of more complex and secure Battery Management Systems (BMS). In particular, the inclusion of BMS in modern complex systems like electric vehicles and power grids has presented a new set of security-related challenges. A concern is shown when BMS are intended to extend their communication with external system networks, as their interaction can leave many backdoors open that potential attackers could exploit. Hence, it is highly desirable to find a general design that can be used for BMS and its system inclusion. In this work, a security architecture solution is proposed intended for the communication between BMS and other system devices. The aim of the proposed architecture is to be easily applicable in different industrial settings and systems, while at the same time keeping the design lightweight in nature.
Embedded software is used in safety-critical systems such as medical devices and autonomous vehicles, where software defects, including security vulnerabilities, have severe consequences. Most embedded codebases are developed in unsafe languages, specifically C/C++, and are riddled with memory safety vulnerabilities. To prevent such vulnerabilities, RUST, a performant memory-safe systems language, provides an optimal choice for developing embedded software. RUST interoperability enables developing RUST applications on top of existing C codebases. Despite this, even the most resourceful organizations continue to develop embedded software in C/C++. This paper performs the first systematic study to holistically understand the current state and challenges of using RUST for embedded systems. Our study is organized across three research questions. We collected a dataset of 2,836 RUST embedded software spanning various categories and 5 Static Application Security Testing ( SAST) tools. We performed a systematic analysis of our dataset and surveys with 225 developers to investigate our research questions. We found that existing RUST software support is inadequate, SAST tools cannot handle certain features of RUST embedded software, resulting in failures, and the prevalence of advanced types in existing RUST software makes it challenging to engineer interoperable code. In addition, we found various challenges faced by developers in using RUST for embedded systems development.
Face recognition technology has advanced significantly in recent years due largely to the availability of large and increasingly complex training datasets for use in deep learning models. These datasets, however, typically comprise images scraped from news sites or social media platforms and, therefore, have limited utility in more advanced security, forensics, and military applications. These applications require lower resolution, longer ranges, and elevated viewpoints. To meet these critical needs, we collected and curated the first and second subsets of a large multi-modal biometric dataset designed for use in the research and development (R&D) of biometric recognition technologies under extremely challenging conditions. Thus far, the dataset includes more than 350,000 still images and over 1,300 hours of video footage of approximately 1,000 subjects. To collect this data, we used Nikon DSLR cameras, a variety of commercial surveillance cameras, specialized long-rage R&D cameras, and Group 1 and Group 2 UAV platforms. The goal is to support the development of algorithms capable of accurately recognizing people at ranges up to 1,000 m and from high angles of elevation. These advances will include improvements to the state of the art in face recognition and will support new research in the area of whole-body recognition using methods based on gait and anthropometry. This paper describes methods used to collect and curate the dataset, and the dataset's characteristics at the current stage.
Spectral clustering is a leading and popular technique in unsupervised data analysis. Two of its major limitations are scalability and generalization of the spectral embedding (i.e., out-of-sample-extension). In this paper we introduce a deep learning approach to spectral clustering that overcomes the above shortcomings. Our network, which we call SpectralNet, learns a map that embeds input data points into the eigenspace of their associated graph Laplacian matrix and subsequently clusters them. We train SpectralNet using a procedure that involves constrained stochastic optimization. Stochastic optimization allows it to scale to large datasets, while the constraints, which are implemented using a special-purpose output layer, allow us to keep the network output orthogonal. Moreover, the map learned by SpectralNet naturally generalizes the spectral embedding to unseen data points. To further improve the quality of the clustering, we replace the standard pairwise Gaussian affinities with affinities leaned from unlabeled data using a Siamese network. Additional improvement can be achieved by applying the network to code representations produced, e.g., by standard autoencoders. Our end-to-end learning procedure is fully unsupervised. In addition, we apply VC dimension theory to derive a lower bound on the size of SpectralNet. State-of-the-art clustering results are reported on the Reuters dataset. Our implementation is publicly available at //github.com/kstant0725/SpectralNet .
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