Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive flights. In this work, we propose a perception-aware collision avoidance trajectory planner for multicopters, that may be used with any feature-based VIO algorithm. Our approach is able to fly the vehicle to a goal position at fast speed, avoiding obstacles in an unknown stationary environment while achieving good VIO state estimation accuracy. The proposed planner samples a group of minimum jerk trajectories and finds collision-free trajectories among them, which are then evaluated based on their speed to the goal and perception quality. Both the motion blur of features and their locations are considered for the perception quality. Our novel consideration of the motion blur of features enables automatic adaptation of the trajectory's aggressiveness under environments with different light levels. The best trajectory from the evaluation is tracked by the vehicle and is updated in a receding horizon manner when new images are received from the camera. Only generic assumptions about the VIO are made, so that the planner may be used with various existing systems. The proposed method can run in real-time on a small embedded computer on board. We validated the effectiveness of our proposed approach through experiments in both indoor and outdoor environments. Compared to a perception-agnostic planner, the proposed planner kept more features in the camera's view and made the flight less aggressive, making the VIO more accurate. It also reduced VIO failures, which occurred for the perception-agnostic planner but not for the proposed planner. The ability of the proposed planner to fly through dense obstacles was also validated. The experiment video can be found at https://youtu.be/qO3LZIrpwtQ.

We present a self-supervised approach for learning to predict traversable paths for wheeled mobile robots that require good traction to navigate. Our algorithm, termed WayFAST (Waypoint Free Autonomous Systems for Traversability), uses RGB and depth data, along with navigation experience, to autonomously generate traversable paths in outdoor unstructured environments. Our key inspiration is that traction can be estimated for rolling robots using kinodynamic models. Using traction estimates provided by an online receding horizon estimator, we are able to train a traversability prediction neural network in a self-supervised manner, without requiring heuristics utilized by previous methods. We demonstrate the effectiveness of WayFAST through extensive field testing in varying environments, ranging from sandy dry beaches to forest canopies and snow covered grass fields. Our results clearly demonstrate that WayFAST can learn to avoid geometric obstacles as well as untraversable terrain, such as snow, which would be difficult to avoid with sensors that provide only geometric data, such as LiDAR. Furthermore, we show that our training pipeline based on online traction estimates is more data-efficient than other heuristic-based methods.

LiDAR (short for "Light Detection And Ranging" or "Laser Imaging, Detection, And Ranging") technology can be used to provide detailed three-dimensional elevation maps of urban and rural landscapes. To date, airborne LiDAR imaging has been predominantly confined to the environmental and archaeological domains. However, the geographically granular and open-source nature of this data also lends itself to an array of societal, organizational and business applications where geo-demographic type data is utilised. Arguably, the complexity involved in processing this multi-dimensional data has thus far restricted its broader adoption. In this paper, we propose a series of convenient task-agnostic tile elevation embeddings to address this challenge, using recent advances from unsupervised Deep Learning. We test the potential of our embeddings by predicting seven English indices of deprivation (2019) for small geographies in the Greater London area. These indices cover a range of socio-economic outcomes and serve as a proxy for a wide variety of downstream tasks to which the embeddings can be applied. We consider the suitability of this data not just on its own but also as an auxiliary source of data in combination with demographic features, thus providing a realistic use case for the embeddings. Having trialled various model/embedding configurations, we find that our best performing embeddings lead to Root-Mean-Squared-Error (RMSE) improvements of up to 21% over using standard demographic features alone. We also demonstrate how our embedding pipeline, using Deep Learning combined with K-means clustering, produces coherent tile segments which allow the latent embedding features to be interpreted.

This paper discusses creating and analysing a new dataset for data mining and text analytics research, contributing to a joint Leeds University research project for the Corpus of National Dialects. This report investigates machine learning classifiers to classify samples of French dialect text across various French-speaking countries. Following the steps of the CRISP-DM methodology, this report explores the data collection process, data quality issues and data conversion for text analysis. Finally, after applying suitable data mining techniques, the evaluation methods, best overall features and classifiers and conclusions are discussed.

During the SARS-Cov-2 pandemic, mask-wearing became an effective tool to prevent spreading and contracting the virus. The ability to monitor the mask-wearing rate in the population would be useful for determining public health strategies against the virus. However, artificial intelligence technologies for detecting face masks have not been deployed at a large scale in real-life to measure the mask-wearing rate in public. In this paper, we present a two-step face mask detection approach consisting of two separate modules: 1) face detection and alignment and 2) face mask classification. This approach allowed us to experiment with different combinations of face detection and face mask classification modules. More specifically, we experimented with PyramidKey and RetinaFace as face detectors while maintaining a lightweight backbone for the face mask classification module. Moreover, we also provide a relabeled annotation of the test set of the AIZOO dataset, where we rectified the incorrect labels for some face images. The evaluation results on the AIZOO and Moxa 3K datasets showed that the proposed face mask detection pipeline surpassed the state-of-the-art methods. The proposed pipeline also yielded a higher mAP on the relabeled test set of the AIZOO dataset than the original test set. Since we trained the proposed model using in-the-wild face images, we can successfully deploy our model to monitor the mask-wearing rate using public CCTV images.

Federated learning (FL) is an emerging promising paradigm of privacy-preserving machine learning (ML). An important type of FL is cross-silo FL, which enables a small scale of organizations to cooperatively train a shared model by keeping confidential data locally and aggregating weights on a central parameter server. However, the central server may be vulnerable to malicious attacks or software failures in practice. To address this issue, in this paper, we propose DeFL, a novel decentralized weight aggregation framework for cross-silo FL. DeFL eliminates the central server by aggregating weights on each participating node and weights of only the current training round are maintained and synchronized among all nodes. We use Multi-Krum to enable aggregating correct weights from honest nodes and use HotStuff to ensure the consistency of the training round number and weights among all nodes. Besides, we theoretically analyze the Byzantine fault tolerance, convergence, and complexity of DeFL. We conduct extensive experiments over two widely-adopted public datasets, i.e. CIFAR-10 and Sentiment140, to evaluate the performance of DeFL. Results show that DeFL defends against common threat models with minimal accuracy loss, and achieves up to 100x reduction in storage overhead and up to 12x reduction in network overhead, compared to state-of-the-art decentralized FL approaches.

At the center of the underlying issues that halt Indonesian natural language processing (NLP) research advancement, we find data scarcity. Resources in Indonesian languages, especially the local ones, are extremely scarce and underrepresented. Many Indonesian researchers do not publish their dataset. Furthermore, the few public datasets that we have are scattered across different platforms, thus makes performing reproducible and data-centric research in Indonesian NLP even more arduous. Rising to this challenge, we initiate the first Indonesian NLP crowdsourcing effort, NusaCrowd. NusaCrowd strives to provide the largest datasheets aggregation with standardized data loading for NLP tasks in all Indonesian languages. By enabling open and centralized access to Indonesian NLP resources, we hope NusaCrowd can tackle the data scarcity problem hindering NLP progress in Indonesia and bring NLP practitioners to move towards collaboration.

We present an enrichment of the Hateval corpus of hate speech tweets (Basile et. al 2019) aimed to facilitate automated counter-narrative generation. Comparably to previous work (Chung et. al. 2019), manually written counter-narratives are associated to tweets. However, this information alone seems insufficient to obtain satisfactory language models for counter-narrative generation. That is why we have also annotated tweets with argumentative information based on Wagemanns (2016), that we believe can help in building convincing and effective counter-narratives for hate speech against particular groups. We discuss adequacies and difficulties of this annotation process and present several baselines for automatic detection of the annotated elements. Preliminary results show that automatic annotators perform close to human annotators to detect some aspects of argumentation, while others only reach low or moderate level of inter-annotator agreement.

Modern digital music production typically involves combining numerous acoustic elements to compile a piece of music. Important types of such elements are drum samples, which determine the characteristics of the percussive components of the piece. Artists must use their aesthetic judgement to assess whether a given drum sample fits the current musical context. However, selecting drum samples from a potentially large library is tedious and may interrupt the creative flow. In this work, we explore the automatic drum sample retrieval based on aesthetic principles learned from data. As a result, artists can rank the samples in their library by fit to some musical context at different stages of the production process (i.e., by fit to incomplete song mixtures). To this end, we use contrastive learning to maximize the score of drum samples originating from the same song as the mixture. We conduct a listening test to determine whether the human ratings match the automatic scoring function. We also perform objective quantitative analyses to evaluate the efficacy of our approach.

Information on cyber-related crimes, incidents, and conflicts is abundantly available in numerous open online sources. However, processing the large volumes and streams of data is a challenging task for the analysts and experts, and entails the need for newer methods and techniques. In this article we present and implement a novel knowledge graph and knowledge mining framework for extracting the relevant information from free-form text about incidents in the cyberdomain. The framework includes a machine learning based pipeline for generating graphs of organizations, countries, industries, products and attackers with a non-technical cyber-ontology. The extracted knowledge graph is utilized to estimate the incidence of cyberattacks on a given graph configuration. We use publicly available collections of real cyber-incident reports to test the efficacy of our methods. The knowledge extraction is found to be sufficiently accurate, and the graph-based threat estimation demonstrates a level of correlation with the actual records of attacks. In practical use, an analyst utilizing the presented framework can infer additional information from the current cyber-landscape in terms of risk to various entities and propagation of the risk heuristic between industries and countries.