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Resource-constrained robots often suffer from energy inefficiencies, underutilized computational abilities due to inadequate task allocation, and a lack of robustness in dynamic environments, all of which strongly affect their performance. This paper introduces DREAM - Decentralized Reinforcement Learning for Exploration and Efficient Energy Management in Multi-Robot Systems, a comprehensive framework that optimizes the allocation of resources for efficient exploration. It advances beyond conventional heuristic-based task planning as observed conventionally. The framework incorporates Operational Range Estimation using Reinforcement Learning to perform exploration and obstacle avoidance in unfamiliar terrains. DREAM further introduces an Energy Consumption Model for goal allocation, thereby ensuring mission completion under constrained resources using a Graph Neural Network. This approach also ensures that the entire Multi-Robot System can survive for an extended period of time for further missions compared to the conventional approach of randomly allocating goals, which compromises one or more agents. Our approach adapts to prioritizing agents in real-time, showcasing remarkable resilience against dynamic environments. This robust solution was evaluated in various simulated environments, demonstrating adaptability and applicability across diverse scenarios. We observed a substantial improvement of about 25% over the baseline method, leading the way for future research in resource-constrained robotics.

Pyrit is a field simulation software based on the finite element method written in Python to solve coupled systems of partial differential equations. It is designed as a modular software that is easily modifiable and extendable. The framework can, therefore, be adapted to various activities, i.e. research, education and industry collaboration.

In distributed Complex Event Processing (CEP) applications with high load but limited resources, bottleneck operators in the operator graph can significantly slow down processing of event streams, thus compelling the need to shed load. A high-quality load shedding strategy that resolves the bottleneck with high output quality evaluates each event's importance with regards to the application's final output and drops less important events from the event stream for the benefit of important ones. So far, no solution has been proposed that is able to permit good load shedding in distributed, multi-operator CEP applications. On one hand, shedding strategies have been proposed for single-operator CEP applications that can measure an event's importance immediately at the bottleneck operator, only, and thereby ignore the effect of other streams in the application on an event's importance. On the other hand, shedding strategies have been proposed for applications with multiple operators from the area of stream processing that provide a fixed selectivity which is not given in the conditional CEP operators. We, therefore, propose a load-shedding solution for distributed CEP applications that maximizes the application's final output and ensures timely processing of important events by using a set of CEP-tailored selectivity functions and a linear program, which is an abstraction of the CEP application. Moreover, our solution ensures a quality optimal shedder configuration even in the presence of dynamically changing conditions. With the help of extensive evaluations on both synthetic and real data, we show that our solution successfully resolves overload at bottleneck operators and at the same time maximizes the quality of the application's output.

We propose a late-to-early recurrent feature fusion scheme for 3D object detection using temporal LiDAR point clouds. Our main motivation is fusing object-aware latent embeddings into the early stages of a 3D object detector. This feature fusion strategy enables the model to better capture the shapes and poses for challenging objects, compared with learning from raw points directly. Our method conducts late-to-early feature fusion in a recurrent manner. This is achieved by enforcing window-based attention blocks upon temporally calibrated and aligned sparse pillar tokens. Leveraging bird's eye view foreground pillar segmentation, we reduce the number of sparse history features that our model needs to fuse into its current frame by 10$\times$. We also propose a stochastic-length FrameDrop training technique, which generalizes the model to variable frame lengths at inference for improved performance without retraining. We evaluate our method on the widely adopted Waymo Open Dataset and demonstrate improvement on 3D object detection against the baseline model, especially for the challenging category of large objects.

Overload situations, in the presence of resource limitations, in complex event processing (CEP) systems are typically handled using load shedding to maintain a given latency bound. However, load shedding might negatively impact the quality of results (QoR). To minimize the shedding impact on QoR, CEP researchers propose shedding approaches that drop events/internal state with the lowest importances/utilities. In both black-box and white-box shedding approaches, different features are used to predict these utilities. In this work, we propose a novel black-box shedding approach that uses a new set of features to drop events from the input event stream to maintain a given latency bound. Our approach uses a probabilistic model to predict these event utilities. Moreover, our approach uses Zobrist hashing and well-known machine learning models, e.g., decision trees and random forests, to handle the predicted event utilities. Through extensive evaluations on several synthetic and two real-world datasets and a representative set of CEP queries, we show that, in the majority of cases, our load shedding approach outperforms state-of-the-art black-box load shedding approaches, w.r.t. QoR.

Image retrieval methods based on CNN descriptors rely on metric learning from a large number of diverse examples of positive and negative image pairs. Domains, such as night-time images, with limited availability and variability of training data suffer from poor retrieval performance even with methods performing well on standard benchmarks. We propose to train a GAN-based synthetic-image generator, translating available day-time image examples into night images. Such a generator is used in metric learning as a form of augmentation, supplying training data to the scarce domain. Various types of generators are evaluated and analyzed. We contribute with a novel light-weight GAN architecture that enforces the consistency between the original and translated image through edge consistency. The proposed architecture also allows a simultaneous training of an edge detector that operates on both night and day images. To further increase the variability in the training examples and to maximize the generalization of the trained model, we propose a novel method of diverse anchor mining. The proposed method improves over the state-of-the-art results on a standard Tokyo 24/7 day-night retrieval benchmark while preserving the performance on Oxford and Paris datasets. This is achieved without the need of training image pairs of matching day and night images. The source code is available at //github.com/mohwald/gandtr .

Denoising diffusion models represent a recent emerging topic in computer vision, demonstrating remarkable results in the area of generative modeling. A diffusion model is a deep generative model that is based on two stages, a forward diffusion stage and a reverse diffusion stage. In the forward diffusion stage, the input data is gradually perturbed over several steps by adding Gaussian noise. In the reverse stage, a model is tasked at recovering the original input data by learning to gradually reverse the diffusion process, step by step. Diffusion models are widely appreciated for the quality and diversity of the generated samples, despite their known computational burdens, i.e. low speeds due to the high number of steps involved during sampling. In this survey, we provide a comprehensive review of articles on denoising diffusion models applied in vision, comprising both theoretical and practical contributions in the field. First, we identify and present three generic diffusion modeling frameworks, which are based on denoising diffusion probabilistic models, noise conditioned score networks, and stochastic differential equations. We further discuss the relations between diffusion models and other deep generative models, including variational auto-encoders, generative adversarial networks, energy-based models, autoregressive models and normalizing flows. Then, we introduce a multi-perspective categorization of diffusion models applied in computer vision. Finally, we illustrate the current limitations of diffusion models and envision some interesting directions for future research.

Visual dialogue is a challenging task that needs to extract implicit information from both visual (image) and textual (dialogue history) contexts. Classical approaches pay more attention to the integration of the current question, vision knowledge and text knowledge, despising the heterogeneous semantic gaps between the cross-modal information. In the meantime, the concatenation operation has become de-facto standard to the cross-modal information fusion, which has a limited ability in information retrieval. In this paper, we propose a novel Knowledge-Bridge Graph Network (KBGN) model by using graph to bridge the cross-modal semantic relations between vision and text knowledge in fine granularity, as well as retrieving required knowledge via an adaptive information selection mode. Moreover, the reasoning clues for visual dialogue can be clearly drawn from intra-modal entities and inter-modal bridges. Experimental results on VisDial v1.0 and VisDial-Q datasets demonstrate that our model outperforms exiting models with state-of-the-art results.

Distant supervision can effectively label data for relation extraction, but suffers from the noise labeling problem. Recent works mainly perform soft bag-level noise reduction strategies to find the relatively better samples in a sentence bag, which is suboptimal compared with making a hard decision of false positive samples in sentence level. In this paper, we introduce an adversarial learning framework, which we named DSGAN, to learn a sentence-level true-positive generator. Inspired by Generative Adversarial Networks, we regard the positive samples generated by the generator as the negative samples to train the discriminator. The optimal generator is obtained until the discrimination ability of the discriminator has the greatest decline. We adopt the generator to filter distant supervision training dataset and redistribute the false positive instances into the negative set, in which way to provide a cleaned dataset for relation classification. The experimental results show that the proposed strategy significantly improves the performance of distant supervision relation extraction comparing to state-of-the-art systems.