milliFlow: Scene Flow Estimation on mmWave Radar Point Cloud for Human Motion Sensing

Approaching the era of ubiquitous computing, human motion sensing plays a crucial role in smart systems for decision making, user interaction, and personalized services. Extensive research has been conducted on human tracking, pose estimation, gesture recognition, and activity recognition, which are predominantly based on cameras in traditional methods. However, the intrusive nature of cameras limits their use in smart home applications. To address this, mmWave radars have gained popularity due to their privacy-friendly features. In this work, we propose \textit{milliFlow}, a novel deep learning method for scene flow estimation as a complementary motion information for mmWave point cloud, serving as an intermediate level of features and directly benefiting downstream human motion sensing tasks. Experimental results demonstrate the superior performance of our method with an average 3D endpoint error of 4.6cm, significantly surpassing the competing approaches. Furthermore, by incorporating scene flow information, we achieve remarkable improvements in human activity recognition, human parsing, and human body part tracking. To foster further research in this area, we provide our codebase and dataset for open access.Comment: 15 pages, 8 figure

GammaE: Gamma Embeddings for Logical Queries on Knowledge Graphs

Embedding knowledge graphs (KGs) for multi-hop logical reasoning is a challenging problem due to massive and complicated structures in many KGs. Recently, many promising works projected entities and queries into a geometric space to efficiently find answers. However, it remains challenging to model the negation and union operator. The negation operator has no strict boundaries, which generates overlapped embeddings and leads to obtaining ambiguous answers. An additional limitation is that the union operator is non-closure, which undermines the model to handle a series of union operators. To address these problems, we propose a novel probabilistic embedding model, namely Gamma Embeddings (GammaE), for encoding entities and queries to answer different types of FOL queries on KGs. We utilize the linear property and strong boundary support of the Gamma distribution to capture more features of entities and queries, which dramatically reduces model uncertainty. Furthermore, GammaE implements the Gamma mixture method to design the closed union operator. The performance of GammaE is validated on three large logical query datasets. Experimental results show that GammaE significantly outperforms state-of-the-art models on public benchmarks

3-D Motion Capture of an Unmodified Drone with Single-chip Millimeter Wave Radar

Accurate motion capture of aerial robots in 3-D is a key enabler for autonomous operation in indoor environments such as warehouses or factories, as well as driving forward research in these areas. The most commonly used solutions at present are optical motion capture (e.g. VICON) and Ultrawideband (UWB), but these are costly and cumbersome to deploy, due to their requirement of multiple cameras/sensors spaced around the tracking area. They also require the drone to be modified to carry an active or passive marker. In this work, we present an inexpensive system that can be rapidly installed, based on single-chip millimeter wave (mmWave) radar. Importantly, the drone does not need to be modified or equipped with any markers, as we exploit the Doppler signals from the rotating propellers. Furthermore, 3-D tracking is possible from a single point, greatly simplifying deployment. We develop a novel deep neural network and demonstrate decimeter level 3-D tracking at 10Hz, achieving better performance than classical baselines. Our hope is that this low-cost system will act to catalyse inexpensive drone research and increased autonomy.Comment: Submitted to The 2021 International Conference on Robotics and Automation (ICRA 2021

Autonomous Learning of Speaker Identity and WiFi Geofence From Noisy Sensor Data

A fundamental building block towards intelligent environments is the ability to understand who is present in a certain area. A ubiquitous way of detecting this is to exploit unique vocal characteristics as people interact with one another in common spaces. However, manually enrolling users into a biometric database is time-consuming and not robust to vocal deviations over time. Instead, consider audio features sampled during a meeting, yielding a noisy set of possible voiceprints. With a number of meetings and knowledge of participation, e.g., sniffed wireless Media Access Control (MAC) addresses, can we learn to associate a specific identity with a particular voiceprint? To address this problem, this paper advocates an Internet of Things (IoT) solution and proposes to use co-located WiFi as supervisory weak labels to automatically bootstrap the labelling process. In particular, a novel cross-modality labelling algorithm is proposed that jointly optimises the clustering and association process, which solves the inherent mismatching issues arising from heterogeneous sensor data. At the same time, we further propose to reuse the labelled data to iteratively update wireless geofence models and curate device specific thresholds. Extensive experimental results from two different scenarios demonstrate that our proposed method is able to achieve 2-fold improvement in labelling compared with conventional methods and can achieve reliable speaker recognition in the wild

AtLoc: Attention Guided Camera Localization

Deep learning has achieved impressive results in camera localization, but current single-image techniques typically suffer from a lack of robustness, leading to large outliers. To some extent, this has been tackled by sequential (multi-images) or geometry constraint approaches, which can learn to reject dynamic objects and illumination conditions to achieve better performance. In this work, we show that attention can be used to force the network to focus on more geometrically robust objects and features, achieving state-of-the-art performance in common benchmark, even if using only a single image as input. Extensive experimental evidence is provided through public indoor and outdoor datasets. Through visualization of the saliency maps, we demonstrate how the network learns to reject dynamic objects, yielding superior global camera pose regression performance. The source code is avaliable at https://github.com/BingCS/AtLoc

Prompt Space Optimizing Few-shot Reasoning Success with Large Language Models

Prompt engineering is an essential technique for enhancing the abilities of large language models (LLMs) by providing explicit and specific instructions. It enables LLMs to excel in various tasks, such as arithmetic reasoning, question answering, summarization, relation extraction, machine translation, and sentiment analysis. Researchers have been actively exploring different prompt engineering strategies, such as Chain of Thought (CoT), Zero-CoT, and In-context learning. However, an unresolved problem arises from the fact that current approaches lack a solid theoretical foundation for determining optimal prompts. To address this issue in prompt engineering, we propose a new and effective approach called Prompt Space. Our methodology utilizes text embeddings to obtain basis vectors by matrix decomposition, and then constructs a space for representing all prompts. Prompt Space significantly outperforms state-of-the-art prompt paradigms on ten public reasoning benchmarks. Notably, without the help of the CoT method and the prompt "Let's think step by step", Prompt Space shows superior performance over the few-shot method. Overall, our approach provides a robust and fundamental theoretical framework for selecting simple and effective prompts. This advancement marks a significant step towards improving prompt engineering for a wide variety of applications in LLMs.Comment: Natural language processing (NLP