牡蛎是海洋的活真空吸尘器。由于过度收获，牡蛎人口呈指数下降。随着自动化和AI的当前发展，机器人正成为环境监测过程中不可或缺的一部分，该过程也可以用于牡蛎礁保存。然而，水下环境构成了许多困难，包括实用的危险和耗时的操作以及技术观点 - 扭曲的感知和不可靠的导航。为此，我们提出了一个模拟环境，可用于改善牡蛎礁监测。模拟环境可用于创建具有多个传感器数据和远程操作车辆（ROV）的地面真相位置的照片真实的图像数据集。当前，没有用于牡蛎礁监视的照片真实图像数据集。因此，我们希望为水下社区提供新的基准套件。

The rapid development of remote sensing technologies have gained significant attention due to their ability to accurately localize, classify, and segment objects from aerial images. These technologies are commonly used in unmanned aerial vehicles (UAVs) equipped with high-resolution cameras or sensors to capture data over large areas. This data is useful for various applications, such as monitoring and inspecting cities, towns, and terrains. In this paper, we presented a method for classifying and segmenting city road traffic dashed lines from aerial images using deep learning models such as U-Net and SegNet. The annotated data is used to train these models, which are then used to classify and segment the aerial image into two classes: dashed lines and non-dashed lines. However, the deep learning model may not be able to identify all dashed lines due to poor painting or occlusion by trees or shadows. To address this issue, we proposed a method to add missed lines to the segmentation output. We also extracted the x and y coordinates of each dashed line from the segmentation output, which can be used by city planners to construct a CAD file for digital visualization of the roads.

Though impressive success has been witnessed in computer vision, deep learning still suffers from the domain shift challenge when the target domain for testing and the source domain for training do not share an identical distribution. To address this, domain generalization approaches intend to extract domain invariant features that can lead to a more robust model. Hence, increasing the source domain diversity is a key component of domain generalization. Style augmentation takes advantage of instance-specific feature statistics containing informative style characteristics to synthetic novel domains. However, all previous works ignored the correlation between different feature channels or only limited the style augmentation through linear interpolation. In this work, we propose a novel augmentation method, called \textit{Correlated Style Uncertainty (CSU)}, to go beyond the linear interpolation of style statistic space while preserving the essential correlation information. We validate our method's effectiveness by extensive experiments on multiple cross-domain classification tasks, including widely used PACS, Office-Home, Camelyon17 datasets and the Duke-Market1501 instance retrieval task and obtained significant margin improvements over the state-of-the-art methods. The source code is available for public use.

Time-of-flight (ToF) distance measurement devices such as ultrasonics, LiDAR and radar are widely used in autonomous vehicles for environmental perception, navigation and assisted braking control. Despite their relative importance in making safer driving decisions, these devices are vulnerable to multiple attack types including spoofing, triggering and false data injection. When these attacks are successful they can compromise the security of autonomous vehicles leading to severe consequences for the driver, nearby vehicles and pedestrians. To handle these attacks and protect the measurement devices, we propose a spatial-temporal anomaly detection model \textit{STAnDS} which incorporates a residual error spatial detector, with a time-based expected change detection. This approach is evaluated using a simulated quantitative environment and the results show that \textit{STAnDS} is effective at detecting multiple attack types.

Deep learning models are being increasingly applied to imbalanced data in high stakes fields such as medicine, autonomous driving, and intelligence analysis. Imbalanced data compounds the black-box nature of deep networks because the relationships between classes may be highly skewed and unclear. This can reduce trust by model users and hamper the progress of developers of imbalanced learning algorithms. Existing methods that investigate imbalanced data complexity are geared toward binary classification, shallow learning models and low dimensional data. In addition, current eXplainable Artificial Intelligence (XAI) techniques mainly focus on converting opaque deep learning models into simpler models (e.g., decision trees) or mapping predictions for specific instances to inputs, instead of examining global data properties and complexities. Therefore, there is a need for a framework that is tailored to modern deep networks, that incorporates large, high dimensional, multi-class datasets, and uncovers data complexities commonly found in imbalanced data (e.g., class overlap, sub-concepts, and outlier instances). We propose a set of techniques that can be used by both deep learning model users to identify, visualize and understand class prototypes, sub-concepts and outlier instances; and by imbalanced learning algorithm developers to detect features and class exemplars that are key to model performance. Our framework also identifies instances that reside on the border of class decision boundaries, which can carry highly discriminative information. Unlike many existing XAI techniques which map model decisions to gray-scale pixel locations, we use saliency through back-propagation to identify and aggregate image color bands across entire classes. Our framework is publicly available at \url{https://github.com/dd1github/XAI_for_Imbalanced_Learning}

Recently, automated co-design of machine learning (ML) models and accelerator architectures has attracted significant attention from both the industry and academia. However, most co-design frameworks either explore a limited search space or employ suboptimal exploration techniques for simultaneous design decision investigations of the ML model and the accelerator. Furthermore, training the ML model and simulating the accelerator performance is computationally expensive. To address these limitations, this work proposes a novel neural architecture and hardware accelerator co-design framework, called CODEBench. It is composed of two new benchmarking sub-frameworks, CNNBench and AccelBench, which explore expanded design spaces of convolutional neural networks (CNNs) and CNN accelerators. CNNBench leverages an advanced search technique, BOSHNAS, to efficiently train a neural heteroscedastic surrogate model to converge to an optimal CNN architecture by employing second-order gradients. AccelBench performs cycle-accurate simulations for a diverse set of accelerator architectures in a vast design space. With the proposed co-design method, called BOSHCODE, our best CNN-accelerator pair achieves 1.4% higher accuracy on the CIFAR-10 dataset compared to the state-of-the-art pair, while enabling 59.1% lower latency and 60.8% lower energy consumption. On the ImageNet dataset, it achieves 3.7% higher Top1 accuracy at 43.8% lower latency and 11.2% lower energy consumption. CODEBench outperforms the state-of-the-art framework, i.e., Auto-NBA, by achieving 1.5% higher accuracy and 34.7x higher throughput, while enabling 11.0x lower energy-delay product (EDP) and 4.0x lower chip area on CIFAR-10.

Point Cloud Registration is the problem of aligning the corresponding points of two 3D point clouds referring to the same object. The challenges include dealing with noise and partial match of real-world 3D scans. For non-rigid objects, there is an additional challenge of accounting for deformations in the object shape that happen to the object in between the two 3D scans. In this project, we study the problem of non-rigid point cloud registration for use cases in the Augmented/Mixed Reality domain. We focus our attention on a special class of non-rigid deformations that happen in rigid objects with parts that move relative to one another about joints, for example, robots with hands and machines with hinges. We propose an efficient and robust point-cloud registration workflow for such objects and evaluate it on real-world data collected using Microsoft Hololens 2, a leading Mixed Reality Platform.

Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices, and in homes. Automated assembly is one of the key applications of robots, and the next generation assembly systems could become much more efficient by creating collaborative human-robot systems. However, although collaborative robots have been around for decades, their application in truly collaborative systems has been limited. This is because a truly collaborative human-robot system needs to adjust its operation with respect to the uncertainty and imprecision in human actions, ensure safety during interaction, etc. In this paper, we present a system for human-robot collaborative assembly using learning from demonstration and pose estimation, so that the robot can adapt to the uncertainty caused by the operation of humans. Learning from demonstration is used to generate motion trajectories for the robot based on the pose estimate of different goal locations from a deep learning-based vision system. The proposed system is demonstrated using a physical 6 DoF manipulator in a collaborative human-robot assembly scenario. We show successful generalization of the system's operation to changes in the initial and final goal locations through various experiments.

Empirical studies suggest that machine learning models trained with empirical risk minimization (ERM) often rely on attributes that may be spuriously correlated with the class labels. Such models typically lead to poor performance during inference for data lacking such correlations. In this work, we explicitly consider a situation where potential spurious correlations are present in the majority of training data. In contrast with existing approaches, which use the ERM model outputs to detect the samples without spurious correlations, and either heuristically upweighting or upsampling those samples; we propose the logit correction (LC) loss, a simple yet effective improvement on the softmax cross-entropy loss, to correct the sample logit. We demonstrate that minimizing the LC loss is equivalent to maximizing the group-balanced accuracy, so the proposed LC could mitigate the negative impacts of spurious correlations. Our extensive experimental results further reveal that the proposed LC loss outperforms the SoTA solutions on multiple popular benchmarks by a large margin, an average 5.5% absolute improvement, without access to spurious attribute labels. LC is also competitive with oracle methods that make use of the attribute labels. Code is available at https://github.com/shengliu66/LC.

We can protect user data privacy via many approaches, such as statistical transformation or generative models. However, each of them has critical drawbacks. On the one hand, creating a transformed data set using conventional techniques is highly time-consuming. On the other hand, in addition to long training phases, recent deep learning-based solutions require significant computational resources. In this paper, we propose PrivateSMOTE, a technique designed for competitive effectiveness in protecting cases at maximum risk of re-identification while requiring much less time and computational resources. It works by synthetic data generation via interpolation to obfuscate high-risk cases while minimizing data utility loss of the original data. Compared to multiple conventional and state-of-the-art privacy-preservation methods on 20 data sets, PrivateSMOTE demonstrates competitive results in re-identification risk. Also, it presents similar or higher predictive performance than the baselines, including generative adversarial networks and variational autoencoders, reducing their energy consumption and time requirements by a minimum factor of 9 and 12, respectively.