OpenRaiser/Intern-Atlas huggingface dataset:
NuzzleBug: Debugging Block-Based Programs in Scratch
Venue: arXiv cs.SE 2023
Year: 2023

While professional integrated programming environments support developers with advanced debugging functionality, block-based programming environments for young learners often provide no support for debugging at all, thus inhibiting debugging and preventing debugging education. In this paper we introduce NuzzleBug, an extension of the popular block-based programming environment Scratch that provides the missing debugging support. NuzzleBug allows controlling the executions of Scratch programs with classical debugging functionality such as stepping and breakpoints, and it is an omniscient debugger that also allows reverse stepping. To support learners in deriving hypotheses that guide debugging, NuzzleBug is an interrogative debugger that enables to ask questions about executions and provides answers explaining the behavior in question. In order to evaluate NuzzleBug, we survey the opinions of teachers, and study the effects on learners in terms of debugging effectiveness and efficiency. We find that teachers consider NuzzleBug to be useful, and children can use it to debug faulty programs effectively. However, systematic debugging requires dedicated training, and even when NuzzleBug can provide correct answers learners may require further help to comprehend faults and necessary fixes, thus calling for further research on improving debugging techniques and the information they provide.
LogGPT: Log Anomaly Detection via GPT
Venue: arXiv cs.LG 2023
Year: 2023

Detecting system anomalies based on log data is important for ensuring the security and reliability of computer systems. Recently, deep learning models have been widely used for log anomaly detection. The core idea is to model the log sequences as natural language and adopt deep sequential models, such as LSTM or Transformer, to encode the normal patterns in log sequences via language modeling. However, there is a gap between language modeling and anomaly detection as the objective of training a sequential model via a language modeling loss is not directly related to anomaly detection. To fill up the gap, we propose LogGPT, a novel framework that employs GPT for log anomaly detection. LogGPT is first trained to predict the next log entry based on the preceding sequence. To further enhance the performance of LogGPT, we propose a novel reinforcement learning strategy to finetune the model specifically for the log anomaly detection task. The experimental results on three datasets show that LogGPT significantly outperforms existing state-of-the-art approaches.
When Automated Assessment Meets Automated Content Generation: Examining Text Quality in the Era of GPTs
Venue: arXiv cs.CL 2023
Year: 2023

The use of machine learning (ML) models to assess and score textual data has become increasingly pervasive in an array of contexts including natural language processing, information retrieval, search and recommendation, and credibility assessment of online content. A significant disruption at the intersection of ML and text are text-generating large-language models such as generative pre-trained transformers (GPTs). We empirically assess the differences in how ML-based scoring models trained on human content assess the quality of content generated by humans versus GPTs. To do so, we propose an analysis framework that encompasses essay scoring ML-models, human and ML-generated essays, and a statistical model that parsimoniously considers the impact of type of respondent, prompt genre, and the ML model used for assessment model. A rich testbed is utilized that encompasses 18,460 human-generated and GPT-based essays. Results of our benchmark analysis reveal that transformer pretrained language models (PLMs) more accurately score human essay quality as compared to CNN/RNN and feature-based ML methods. Interestingly, we find that the transformer PLMs tend to score GPT-generated text 10-15\% higher on average, relative to human-authored documents. Conversely, traditional deep learning and feature-based ML models score human text considerably higher. Further analysis reveals that although the transformer PLMs are exclusively fine-tuned on human text, they more prominently attend to certain tokens appearing only in GPT-generated text, possibly due to familiarity/overlap in pre-training. Our framework and results have implications for text classification settings where automated scoring of text is likely to be disrupted by generative AI.
FurNav: Development and Preliminary Study of a Robot Direction Giver
Venue: arXiv cs.RO 2023
Year: 2023

When giving directions to a lost-looking tourist, would you first reference the street-names, cardinal directions, landmarks, or simply tell them to walk five hundred metres in one direction then turn left? Depending on the circumstances, one could reasonably make use of any of these direction giving styles. However, research on direction giving with a robot does not often look at how these different direction styles impact perceptions of the robots intelligence, nor does it take into account how users prior dispositions may impact ratings. In this work, we look at generating natural language for two navigation styles using a created system for a Furhat robot, before measuring perceived intelligence and animacy alongside users prior dispositions to robots in a small preliminary study (N=7). Our results confirm findings by previous work that prior negative attitudes towards robots correlates negatively with propensity to trust robots, and also suggests avenues for future research. For example, more data is needed to explore the link between perceived intelligence and direction style. We end by discussing our plan to run a larger scale experiment, and how to improve our existing study design.
Uncertainty Aware Deep Learning for Particle Accelerators
Venue: arXiv cs.LG 2023
Year: 2023

Standard deep learning models for classification and regression applications are ideal for capturing complex system dynamics. However, their predictions can be arbitrarily inaccurate when the input samples are not similar to the training data. Implementation of distance aware uncertainty estimation can be used to detect these scenarios and provide a level of confidence associated with their predictions. In this paper, we present results from using Deep Gaussian Process Approximation (DGPA) methods for errant beam prediction at Spallation Neutron Source (SNS) accelerator (classification) and we provide an uncertainty aware surrogate model for the Fermi National Accelerator Lab (FNAL) Booster Accelerator Complex (regression).
Distributed Resource Allocation for D2D Multicast in Underlay Cellular Networks
Venue: arXiv cs.NI 2023
Year: 2023

We address the problem of distributed resource allocation for multicast communication in device-to-device (D2D) enabled underlay cellular networks. The optimal resource allocation is crucial for maximizing the performance of such networks, which are limited by the severe co-channel interference between cellular users (CU) and D2D multicast groups. However, finding such optimal allocation for networks with large number of CUs and D2D users is challenging. Therefore, we propose a pragmatic scheme that allocates resources distributively, reducing signaling overhead and improving network scalability. Numerical simulations establish the efficacy of the proposed solution in improving the overall system throughout, compared to various existing schemes.
Optimal Stopping with Multi-Dimensional Comparative Loss Aversion
Venue: arXiv cs.GT 2023
Year: 2023

Despite having the same basic prophet inequality setup and model of loss aversion, conclusions in our multi-dimensional model differs considerably from the one-dimensional model of Kleinberg et al. For example, Kleinberg et al. gives a tight closed-form on the competitive ratio that an online decision-maker can achieve as a function of $λ$, for any $λ\geq 0$. In our multi-dimensional model, there is a sharp phase transition: if $k$ denotes the number of dimensions, then when $λ\cdot (k-1) \geq 1$, no non-trivial competitive ratio is possible. On the other hand, when $λ\cdot (k-1) < 1$, we give a tight bound on the achievable competitive ratio (similar to Kleinberg et al.). As another example, Kleinberg et al. uncovers an exponential improvement in their competitive ratio for the random-order vs. worst-case prophet inequality problem. In our model with $k\geq 2$ dimensions, the gap is at most a constant-factor. We uncover several additional key differences in the multi- and single-dimensional models.
Design of Energy-Efficient Artificial Noise for Physical Layer Security in Visible Light Communications
Venue: arXiv cs.IT 2023
Year: 2023

This paper studies the design of energy-efficient artificial noise (AN) schemes in the context of physical layer security in visible light communications (VLC). Two different transmission schemes termed $\textit{selective AN-aided single-input single-output (SISO)}$ and $\textit{AN-aided multiple-input single-output (MISO)}$ are examined and compared in terms of secrecy energy efficiency (SEE). In the former, the closest LED luminaire to the legitimate user (Bob) is the information-bearing signal's transmitter. At the same time, the rest of the luminaries act as jammers transmitting AN to degrade the channels of eavesdroppers (Eves). In the latter, the information-bearing signal and AN are combined and transmitted by all luminaries. When Eves' CSI is unknown, an indirect design to improve the SEE is formulated by maximizing Bob's channel's energy efficiency. A low-complexity design based on the zero-forcing criterion is also proposed. In the case of known Eves' CSI, we study the design that maximizes the minimum SEE among those corresponding to all eavesdroppers. At their respective optimal SEEs, simulation results reveal that when Eves' CSI is unknown, the selective AN-aided SISO transmission can archive twice better SEE as the AN-aided MISO does. In contrast, when Eves' CSI is known, the AN-aided MISO outperforms by 30%.
Legal Question-Answering in the Indian Context: Efficacy, Challenges, and Potential of Modern AI Models
Venue: arXiv cs.CL 2023
Year: 2023

Legal QA platforms bear the promise to metamorphose the manner in which legal experts engage with jurisprudential documents. In this exposition, we embark on a comparative exploration of contemporary AI frameworks, gauging their adeptness in catering to the unique demands of the Indian legal milieu, with a keen emphasis on Indian Legal Question Answering (AILQA). Our discourse zeroes in on an array of retrieval and QA mechanisms, positioning the OpenAI GPT model as a reference point. The findings underscore the proficiency of prevailing AILQA paradigms in decoding natural language prompts and churning out precise responses. The ambit of this study is tethered to the Indian criminal legal landscape, distinguished by its intricate nature and associated logistical constraints. To ensure a holistic evaluation, we juxtapose empirical metrics with insights garnered from seasoned legal practitioners, thereby painting a comprehensive picture of AI's potential and challenges within the realm of Indian legal QA.
ConPET: Continual Parameter-Efficient Tuning for Large Language Models
Venue: arXiv cs.CL 2023
Year: 2023

Continual learning necessitates the continual adaptation of models to newly emerging tasks while minimizing the catastrophic forgetting of old ones. This is extremely challenging for large language models (LLMs) with vanilla full-parameter tuning due to high computation costs, memory consumption, and forgetting issue. Inspired by the success of parameter-efficient tuning (PET), we propose Continual Parameter-Efficient Tuning (ConPET), a generalizable paradigm for continual task adaptation of LLMs with task-number-independent training complexity. ConPET includes two versions with different application scenarios. First, Static ConPET can adapt former continual learning methods originally designed for relatively smaller models to LLMs through PET and a dynamic replay strategy, which largely reduces the tuning costs and alleviates the over-fitting and forgetting issue. Furthermore, to maintain scalability, Dynamic ConPET adopts separate PET modules for different tasks and a PET module selector for dynamic optimal selection. In our extensive experiments, the adaptation of Static ConPET helps multiple former methods reduce the scale of tunable parameters by over 3,000 times and surpass the PET-only baseline by at least 5 points on five smaller benchmarks, while Dynamic ConPET gains its advantage on the largest dataset. The codes and datasets are available at https://github.com/Raincleared-Song/ConPET.
A Structured Prediction Approach for Robot Imitation Learning
Venue: arXiv cs.RO 2023
Year: 2023

We propose a structured prediction approach for robot imitation learning from demonstrations. Among various tools for robot imitation learning, supervised learning has been observed to have a prominent role. Structured prediction is a form of supervised learning that enables learning models to operate on output spaces with complex structures. Through the lens of structured prediction, we show how robots can learn to imitate trajectories belonging to not only Euclidean spaces but also Riemannian manifolds. Exploiting ideas from information theory, we propose a class of loss functions based on the f-divergence to measure the information loss between the demonstrated and reproduced probabilistic trajectories. Different types of f-divergence will result in different policies, which we call imitation modes. Furthermore, our approach enables the incorporation of spatial and temporal trajectory modulation, which is necessary for robots to be adaptive to the change in working conditions. We benchmark our algorithm against state-of-the-art methods in terms of trajectory reproduction and adaptation. The quantitative evaluation shows that our approach outperforms other algorithms regarding both accuracy and efficiency. We also report real-world experimental results on learning manifold trajectories in a polishing task with a KUKA LWR robot arm, illustrating the effectiveness of our algorithmic framework.
Seafloor Classification based on an AUV Based Sub-bottom Acoustic Probe Data for Mn-crust survey
Venue: arXiv cs.RO 2023
Year: 2023

The possibility of automatically classifying high frequency sub-bottom acoustic reflections collected from an Autonomous Underwater Robot is investigated in this paper. In field surveys of Cobalt-rich Manganese Crusts (Mn-crusts), existing methods relies on visual confirmation of seafloor from images and thickness measurements using the sub-bottom probe. Using these visual classification results as ground truth, an autoencoder is trained to extract latent features from bundled acoustic reflections. A Support Vector Machine classifier is then trained to classify the latent space to idetify seafloor classes. Results from data collected from seafloor at 1500m deep regions of Mn-crust showed an accuracy of about 70%.
Low-Power Synchronization for Multi-IMU WSNs
Venue: arXiv cs.NI 2023
Year: 2023

Wireless time synchronization is one of the most important services in a Wireless Sensor Network (WSN). Inertial Measurement Units (IMUs) are often used in these WSNs in healthcare-related treatments. We present a low-power, wirelessly synchronized multi-IMU platform. The proposed approach synchronously captures packets from different IMUs and transmits the data over Bluetooth Low Energy (BLE) to a central Data Capturing Unit (DCU). The contribution of this work is, rather than focussing on the highest possible accuracy, to provide a low-power accurate enough solution for use in a multi-IMU WSN. We examine key factors affecting synchronization accuracy and elaborate on the implementation challenges. An accuracy of sub 1 us can be achieved with the approach using 74.8 J/h of energy, while a power-optimized implementation is presented with an accuracy of 200 us and an energy consumption of only 198 mJ/h. This approach suits the required accuracy and low-power requirements for a multi-IMU system.
Cross-Dataset-Robust Method for Blind Real-World Image Quality Assessment
Venue: arXiv cs.CV 2023
Year: 2023

Although many effective models and real-world datasets have been presented for blind image quality assessment (BIQA), recent BIQA models usually tend to fit specific training set. Hence, it is still difficult to accurately and robustly measure the visual quality of an arbitrary real-world image. In this paper, a robust BIQA method, is designed based on three aspects, i.e., robust training strategy, large-scale real-world dataset, and powerful backbone. First, many individual models based on popular and state-of-the-art (SOTA) Swin-Transformer (SwinT) are trained on different real-world BIQA datasets respectively. Then, these biased SwinT-based models are jointly used to generate pseudo-labels, which adopts the probability of relative quality of two random images instead of fixed quality score. A large-scale real-world image dataset with 1,000,000 image pairs and pseudo-labels is then proposed for training the final cross-dataset-robust model. Experimental results on cross-dataset tests show that the performance of the proposed method is even better than some SOTA methods that are directly trained on these datasets, thus verifying the robustness and generalization of our method.
Interaction-Aware Sampling-Based MPC with Learned Local Goal Predictions
Venue: arXiv cs.RO 2023
Year: 2023

Motion planning for autonomous robots in tight, interaction-rich, and mixed human-robot environments is challenging. State-of-the-art methods typically separate prediction and planning, predicting other agents' trajectories first and then planning the ego agent's motion in the remaining free space. However, agents' lack of awareness of their influence on others can lead to the freezing robot problem. We build upon Interaction-Aware Model Predictive Path Integral (IA-MPPI) control and combine it with learning-based trajectory predictions, thereby relaxing its reliance on communicated short-term goals for other agents. We apply this framework to Autonomous Surface Vessels (ASVs) navigating urban canals. By generating an artificial dataset in real sections of Amsterdam's canals, adapting and training a prediction model for our domain, and proposing heuristics to extract local goals, we enable effective cooperation in planning. Our approach improves autonomous robot navigation in complex, crowded environments, with potential implications for multi-agent systems and human-robot interaction.
Parallel Multi-Objective Hyperparameter Optimization with Uniform Normalization and Bounded Objectives
Venue: arXiv cs.LG 2023
Year: 2023

Machine learning (ML) methods offer a wide range of configurable hyperparameters that have a significant influence on their performance. While accuracy is a commonly used performance objective, in many settings, it is not sufficient. Optimizing the ML models with respect to multiple objectives such as accuracy, confidence, fairness, calibration, privacy, latency, and memory consumption is becoming crucial. To that end, hyperparameter optimization, the approach to systematically optimize the hyperparameters, which is already challenging for a single objective, is even more challenging for multiple objectives. In addition, the differences in objective scales, the failures, and the presence of outlier values in objectives make the problem even harder. We propose a multi-objective Bayesian optimization (MoBO) algorithm that addresses these problems through uniform objective normalization and randomized weights in scalarization. We increase the efficiency of our approach by imposing constraints on the objective to avoid exploring unnecessary configurations (e.g., insufficient accuracy). Finally, we leverage an approach to parallelize the MoBO which results in a 5x speed-up when using 16x more workers.
Types and Semantics for Extensible Data Types (Extended Version)
Venue: arXiv cs.PL 2023
Year: 2023

Developing and maintaining software commonly requires (1) adding new data type constructors to existing applications, but also (2) adding new functions that work on existing data. Most programming languages have native support for defining data types and functions in a way that supports either (1) or (2), but not both. This lack of native support makes it difficult to use and extend libraries. A theoretically well-studied solution is to define data types and functions using initial algebra semantics. While it is possible to encode this solution in existing programming languages, such encodings add syntactic and interpretive overhead, and commonly fail to take advantage of the map and fold fusion laws of initial algebras which compilers could exploit to generate more efficient code. A solution to these is to provide native support for initial algebra semantics. In this paper, we develop such a solution and present a type discipline and core calculus for a language with native support for initial algebra semantics.
The Surveillance AI Pipeline
Venue: arXiv cs.CV 2023
Year: 2023

A rapidly growing number of voices argue that AI research, and computer vision in particular, is powering mass surveillance. Yet the direct path from computer vision research to surveillance has remained obscured and difficult to assess. Here, we reveal the Surveillance AI pipeline by analyzing three decades of computer vision research papers and downstream patents, more than 40,000 documents. We find the large majority of annotated computer vision papers and patents self-report their technology enables extracting data about humans. Moreover, the majority of these technologies specifically enable extracting data about human bodies and body parts. We present both quantitative and rich qualitative analysis illuminating these practices of human data extraction. Studying the roots of this pipeline, we find that institutions that prolifically produce computer vision research, namely elite universities and "big tech" corporations, are subsequently cited in thousands of surveillance patents. Further, we find consistent evidence against the narrative that only these few rogue entities are contributing to surveillance. Rather, we expose the fieldwide norm that when an institution, nation, or subfield authors computer vision papers with downstream patents, the majority of these papers are used in surveillance patents. In total, we find the number of papers with downstream surveillance patents increased more than five-fold between the 1990s and the 2010s, with computer vision research now having been used in more than 11,000 surveillance patents. Finally, in addition to the high levels of surveillance we find documented in computer vision papers and patents, we unearth pervasive patterns of documents using language that obfuscates the extent of surveillance. Our analysis reveals the pipeline by which computer vision research has powered the ongoing expansion of surveillance.