arXiv subjects

Wei Tsang Ooi

Publications and source records attributed to Wei Tsang Ooi.

49 records · Page 3Linked to original sources

arXiv2024

The RoboDrive Challenge: Drive Anytime Anywhere in Any Condition

In the realm of autonomous driving, robust perception under out-of-distribution conditions is paramount for the safe deployment of vehicles. Challenges such as adverse weather, sensor malfunctions, and environmental unpredictability can severely impact the performance of autonomous systems. The 2024 RoboDrive Challenge was crafted to propel the development of driving perception technologies that can withstand and adapt to these real-world variabilities. Focusing on four pivotal tasks -- BEV detection, map segmentation, semantic occupancy prediction, and multi-view depth estimation -- the competition laid down a gauntlet to innovate and enhance system resilience against typical and atypical disturbances. This year's challenge consisted of five distinct tracks and attracted 140 registered teams from 93 institutes across 11 countries, resulting in nearly one thousand submissions evaluated through our servers. The competition culminated in 15 top-performing solutions, which introduced a range of innovative approaches including advanced data augmentation, multi-sensor fusion, self-supervised learning for error correction, and new algorithmic strategies to enhance sensor robustness. These contributions significantly advanced the state of the art, particularly in handling sensor inconsistencies and environmental variability. Participants, through collaborative efforts, pushed the boundaries of current technologies, showcasing their potential in real-world scenarios. Extensive evaluations and analyses provided insights into the effectiveness of these solutions, highlighting key trends and successful strategies for improving the resilience of driving perception systems. This challenge has set a new benchmark in the field, providing a rich repository of techniques expected to guide future research in this field.

cs.CV↗

arXiv2024

OpenESS: Event-based Semantic Scene Understanding with Open Vocabularies

Event-based semantic segmentation (ESS) is a fundamental yet challenging task for event camera sensing. The difficulties in interpreting and annotating event data limit its scalability. While domain adaptation from images to event data can help to mitigate this issue, there exist data representational differences that require additional effort to resolve. In this work, for the first time, we synergize information from image, text, and event-data domains and introduce OpenESS to enable scalable ESS in an open-world, annotation-efficient manner. We achieve this goal by transferring the semantically rich CLIP knowledge from image-text pairs to event streams. To pursue better cross-modality adaptation, we propose a frame-to-event contrastive distillation and a text-to-event semantic consistency regularization. Experimental results on popular ESS benchmarks showed our approach outperforms existing methods. Notably, we achieve 53.93% and 43.31% mIoU on DDD17 and DSEC-Semantic without using either event or frame labels.

cs.CV↗

arXiv2024

CAESAR: Enhancing Federated RL in Heterogeneous MDPs through Convergence-Aware Sampling with Screening

In this study, we delve into Federated Reinforcement Learning (FedRL) in the context of value-based agents operating across diverse Markov Decision Processes (MDPs). Existing FedRL methods typically aggregate agents' learning by averaging the value functions across them to improve their performance. However, this aggregation strategy is suboptimal in heterogeneous environments where agents converge to diverse optimal value functions. To address this problem, we introduce the Convergence-AwarE SAmpling with scReening (CAESAR) aggregation scheme designed to enhance the learning of individual agents across varied MDPs. CAESAR is an aggregation strategy used by the server that combines convergence-aware sampling with a screening mechanism. By exploiting the fact that agents learning in identical MDPs are converging to the same optimal value function, CAESAR enables the selective assimilation of knowledge from more proficient counterparts, thereby significantly enhancing the overall learning efficiency. We empirically validate our hypothesis and demonstrate the effectiveness of CAESAR in enhancing the learning efficiency of agents, using both a custom-built GridWorld environment and the classical FrozenLake-v1 task, each presenting varying levels of environmental heterogeneity.

cs.LG↗

arXiv2023

RoboDepth: Robust Out-of-Distribution Depth Estimation under Corruptions

Depth estimation from monocular images is pivotal for real-world visual perception systems. While current learning-based depth estimation models train and test on meticulously curated data, they often overlook out-of-distribution (OoD) situations. Yet, in practical settings -- especially safety-critical ones like autonomous driving -- common corruptions can arise. Addressing this oversight, we introduce a comprehensive robustness test suite, RoboDepth, encompassing 18 corruptions spanning three categories: i) weather and lighting conditions; ii) sensor failures and movement; and iii) data processing anomalies. We subsequently benchmark 42 depth estimation models across indoor and outdoor scenes to assess their resilience to these corruptions. Our findings underscore that, in the absence of a dedicated robustness evaluation framework, many leading depth estimation models may be susceptible to typical corruptions. We delve into design considerations for crafting more robust depth estimation models, touching upon pre-training, augmentation, modality, model capacity, and learning paradigms. We anticipate our benchmark will establish a foundational platform for advancing robust OoD depth estimation.

cs.CV↗

arXiv2023

The use of deception in dementia-care robots: Should robots tell "white lies" to limit emotional distress?

With projections of ageing populations and increasing rates of dementia, there is need for professional caregivers. Assistive robots have been proposed as a solution to this, as they can assist people both physically and socially. However, caregivers often need to use acts of deception (such as misdirection or white lies) in order to ensure necessary care is provided while limiting negative impacts on the cared-for such as emotional distress or loss of dignity. We discuss such use of deception, and contextualise their use within robotics.

cs.RO↗

arXiv2023

Prompting a Large Language Model to Generate Diverse Motivational Messages: A Comparison with Human-Written Messages

Large language models (LLMs) are increasingly capable and prevalent, and can be used to produce creative content. The quality of content is influenced by the prompt used, with more specific prompts that incorporate examples generally producing better results. On from this, it could be seen that using instructions written for crowdsourcing tasks (that are specific and include examples to guide workers) could prove effective LLM prompts. To explore this, we used a previous crowdsourcing pipeline that gave examples to people to help them generate a collectively diverse corpus of motivational messages. We then used this same pipeline to generate messages using GPT-4, and compared the collective diversity of messages from: (1) crowd-writers, (2) GPT-4 using the pipeline, and (3 & 4) two baseline GPT-4 prompts. We found that the LLM prompts using the crowdsourcing pipeline caused GPT-4 to produce more diverse messages than the two baseline prompts. We also discuss implications from messages generated by both human writers and LLMs.

cs.CL↗

arXiv2023

Comparing How a Chatbot References User Utterances from Previous Chatting Sessions: An Investigation of Users' Privacy Concerns and Perceptions

Chatbots are capable of remembering and referencing previous conversations, but does this enhance user engagement or infringe on privacy? To explore this trade-off, we investigated the format of how a chatbot references previous conversations with a user and its effects on a user's perceptions and privacy concerns. In a three-week longitudinal between-subjects study, 169 participants talked about their dental flossing habits to a chatbot that either, (1-None): did not explicitly reference previous user utterances, (2-Verbatim): referenced previous utterances verbatim, or (3-Paraphrase): used paraphrases to reference previous utterances. Participants perceived Verbatim and Paraphrase chatbots as more intelligent and engaging. However, the Verbatim chatbot also raised privacy concerns with participants. To gain insights as to why people prefer certain conditions or had privacy concerns, we conducted semi-structured interviews with 15 participants. We discuss implications from our findings that can help designers choose an appropriate format to reference previous user utterances and inform in the design of longitudinal dialogue scripting.

cs.HC↗

arXiv2023

SimTeG: A Frustratingly Simple Approach Improves Textual Graph Learning

Textual graphs (TGs) are graphs whose nodes correspond to text (sentences or documents), which are widely prevalent. The representation learning of TGs involves two stages: (i) unsupervised feature extraction and (ii) supervised graph representation learning. In recent years, extensive efforts have been devoted to the latter stage, where Graph Neural Networks (GNNs) have dominated. However, the former stage for most existing graph benchmarks still relies on traditional feature engineering techniques. More recently, with the rapid development of language models (LMs), researchers have focused on leveraging LMs to facilitate the learning of TGs, either by jointly training them in a computationally intensive framework (merging the two stages), or designing complex self-supervised training tasks for feature extraction (enhancing the first stage). In this work, we present SimTeG, a frustratingly Simple approach for Textual Graph learning that does not innovate in frameworks, models, and tasks. Instead, we first perform supervised parameter-efficient fine-tuning (PEFT) on a pre-trained LM on the downstream task, such as node classification. We then generate node embeddings using the last hidden states of finetuned LM. These derived features can be further utilized by any GNN for training on the same task. We evaluate our approach on two fundamental graph representation learning tasks: node classification and link prediction. Through extensive experiments, we show that our approach significantly improves the performance of various GNNs on multiple graph benchmarks.

cs.CL↗

arXiv2022

Bandwidth-Efficient Multi-video Prefetching for Short Video Streaming

Applications that allow sharing of user-created short videos exploded in popularity in recent years. A typical short video application allows a user to swipe away the current video being watched and start watching the next video in a video queue. Such user interface causes significant bandwidth waste if users frequently swipe a video away before finishing watching. Solutions to reduce bandwidth waste without impairing the Quality of Experience (QoE) are needed. Solving the problem requires adaptively prefetching of short video chunks, which is challenging as the download strategy needs to match unknown user viewing behavior and network conditions. In our work, we first formulate the problem of adaptive multi-video prefetching in short video streaming. Then, to facilitate the integration and comparison of researchers' algorithms towards solving the problem, we design and implement a discrete-event simulator, which we release as open source. Finally, based on the organization of the Short Video Streaming Grand Challenge at ACM Multimedia 2022, we analyze and summarize the algorithms of the contestants, with the hope of promoting the research community towards addressing this problem.

cs.MM↗

arXiv2020

Shape-CD: Change-Point Detection in Time-Series Data with Shapes and Neurons

Change-point detection in a time series aims to discover the time points at which some unknown underlying physical process that generates the time-series data has changed. We found that existing approaches become less accurate when the underlying process is complex and generates large varieties of patterns in the time series. To address this shortcoming, we propose Shape-CD, a simple, fast, and accurate change point detection method. Shape-CD uses shape-based features to model the patterns and a conditional neural field to model the temporal correlations among the time regions. We evaluated the performance of Shape-CD using four highly dynamic time-series datasets, including the ExtraSensory dataset with up to 2000 classes. Shape-CD demonstrated improved accuracy (7-60% higher in AUC) and faster computational speed compared to existing approaches. Furthermore, the Shape-CD model consists of only hundreds of parameters and require less data to train than other deep supervised learning models.

cs.LG↗

arXiv2015

Wireless Multicast for Zoomable Video Streaming

Zoomable video streaming refers to a new class of interactive video applications, where users can zoom into a video stream to view a selected region of interest in higher resolutions and pan around to move the region of interest. The zoom and pan effects are typically achieved by breaking the source video into a grid of independently decodable tiles. Streaming the tiles to a set of heterogeneous users using broadcast is challenging, as users have different link rates and different regions of interest at different resolution levels. In this paper, we consider the following problem: given the subset of tiles that each user requested, the link rate of each user, and the available time slots, at which resolution should each tile be sent, to maximize the overall video quality received by all users. We design an efficient algorithm to solve the problem above, and evaluate the solution on a testbed using 10 mobile devices. Our method is able to achieve up to 12dB improvements over other heuristic methods.

cs.NI↗

arXiv2012

Mobile-to-Mobile Video Recommendation

Mobile device users can now easily capture and socially share video clips in a timely manner by uploading them wirelessly to a server. When attending crowded events, such as an exhibition or the Olympic Games, however, timely sharing of videos becomes difficult due to choking bandwidth in the network infrastructure, preventing like-minded attendees from easily sharing videos with each other through a server. One solution to alleviate this problem is to use direct device-to-device communication to share videos among nearby attendees. Contact capacity between two devices, however, is limited, and thus a recommendation algorithm, such as collaborative filtering, is needed to select and transmit only videos of potential interest to an attendee. In this paper, we address the question: which video clip should be transmitted to which user. We proposed an video transmission scheduling algorithm, called CoFiGel, that runs in a distributed manner and aims to improve both the prediction coverage and precision of the collaborative filtering algorithm. At each device, CoFiGel transmits the video that would increase the estimated number of positive user-video ratings the most if this video is transferred to the destination device. We evaluated CoFiGel using real-world traces and show that substantial improvement can be achieved compared to baseline schemes that do not consider rating or contact history.

cs.NI↗

arXiv2008

Avatar Mobility in Networked Virtual Environments: Measurements, Analysis, and Implications

We collected mobility traces of 84,208 avatars spanning 22 regions over two months in Second Life, a popular networked virtual environment. We analyzed the traces to characterize the dynamics of the avatars mobility and behavior, both temporally and spatially. We discuss the implications of the our findings to the design of peer-to-peer networked virtual environments, interest management, mobility modeling of avatars, server load balancing and zone partitioning, client-side caching, and prefetching.

cs.NI↗