OpenRaiser/Intern-Atlas huggingface dataset:
Cocobo: Exploring Large Language Models as the Engine for End-User Robot Programming
Venue: arXiv cs.HC 2024
Year: 2024

End-user development allows everyday users to tailor service robots or applications to their needs. One user-friendly approach is natural language programming. However, it encounters challenges such as an expansive user expression space and limited support for debugging and editing, which restrict its application in end-user programming. The emergence of large language models (LLMs) offers promising avenues for the translation and interpretation between human language instructions and the code executed by robots, but their application in end-user programming systems requires further study. We introduce Cocobo, a natural language programming system with interactive diagrams powered by LLMs. Cocobo employs LLMs to understand users' authoring intentions, generate and explain robot programs, and facilitate the conversion between executable code and flowchart representations. Our user study shows that Cocobo has a low learning curve, enabling even users with zero coding experience to customize robot programs successfully.
Re-localization acceleration with Medoid Silhouette Clustering
Venue: arXiv cs.CV 2024
Year: 2024

Two crucial performance criteria for the deployment of visual localization are speed and accuracy. Current research on visual localization with neural networks is limited to examining methods for enhancing the accuracy of networks across various datasets. How to expedite the re-localization process within deep neural network architectures still needs further investigation. In this paper, we present a novel approach for accelerating visual re-localization in practice. A tree-like search strategy, built on the keyframes extracted by a visual clustering algorithm, is designed for matching acceleration. Our method has been validated on two tasks across three public datasets, allowing for 50 up to 90 percent time saving over the baseline while not reducing location accuracy.
HyperMM : Robust Multimodal Learning with Varying-sized Inputs
Venue: arXiv cs.LG 2024
Year: 2024

Combining multiple modalities carrying complementary information through multimodal learning (MML) has shown considerable benefits for diagnosing multiple pathologies. However, the robustness of multimodal models to missing modalities is often overlooked. Most works assume modality completeness in the input data, while in clinical practice, it is common to have incomplete modalities. Existing solutions that address this issue rely on modality imputation strategies before using supervised learning models. These strategies, however, are complex, computationally costly and can strongly impact subsequent prediction models. Hence, they should be used with parsimony in sensitive applications such as healthcare. We propose HyperMM, an end-to-end framework designed for learning with varying-sized inputs. Specifically, we focus on the task of supervised MML with missing imaging modalities without using imputation before training. We introduce a novel strategy for training a universal feature extractor using a conditional hypernetwork, and propose a permutation-invariant neural network that can handle inputs of varying dimensions to process the extracted features, in a two-phase task-agnostic framework. We experimentally demonstrate the advantages of our method in two tasks: Alzheimer's disease detection and breast cancer classification. We demonstrate that our strategy is robust to high rates of missing data and that its flexibility allows it to handle varying-sized datasets beyond the scenario of missing modalities.
Boundedness for Unions of Conjunctive Regular Path Queries over Simple Regular Expressions
Venue: arXiv cs.DB 2024
Year: 2024

The problem of checking whether a recursive query can be rewritten as query without recursion is a fundamental reasoning task, known as the boundedness problem. Here we study the boundedness problem for Unions of Conjunctive Regular Path Queries (UCRPQs), a navigational query language extensively used in ontology and graph database querying. The boundedness problem for UCRPQs is ExpSpace-complete. Here we focus our analysis on UCRPQs using simple regular expressions, which are of high practical relevance and enjoy a lower reasoning complexity. We show that the complexity for the boundedness problem for this UCRPQs fragment is $Π^P_2$-complete, and that an equivalent bounded query can be produced in polynomial time whenever possible. When the query turns out to be unbounded, we also study the task of finding an equivalent maximally bounded query, which we show to be feasible in $Π^P_2$. As a side result of independent interest stemming from our developments, we study a notion of succinct finite automata and prove that its membership problem is in NP.
NIS-SLAM: Neural Implicit Semantic RGB-D SLAM for 3D Consistent Scene Understanding
Venue: arXiv cs.CV 2024
Year: 2024

In recent years, the paradigm of neural implicit representations has gained substantial attention in the field of Simultaneous Localization and Mapping (SLAM). However, a notable gap exists in the existing approaches when it comes to scene understanding. In this paper, we introduce NIS-SLAM, an efficient neural implicit semantic RGB-D SLAM system, that leverages a pre-trained 2D segmentation network to learn consistent semantic representations. Specifically, for high-fidelity surface reconstruction and spatial consistent scene understanding, we combine high-frequency multi-resolution tetrahedron-based features and low-frequency positional encoding as the implicit scene representations. Besides, to address the inconsistency of 2D segmentation results from multiple views, we propose a fusion strategy that integrates the semantic probabilities from previous non-keyframes into keyframes to achieve consistent semantic learning. Furthermore, we implement a confidence-based pixel sampling and progressive optimization weight function for robust camera tracking. Extensive experimental results on various datasets show the better or more competitive performance of our system when compared to other existing neural dense implicit RGB-D SLAM approaches. Finally, we also show that our approach can be used in augmented reality applications. Project page: \href{https://zju3dv.github.io/nis_slam}{https://zju3dv.github.io/nis\_slam}.
On the MacWilliams Theorem over Codes and Lattices
Venue: arXiv cs.CR 2024
Year: 2024

Analogies between codes and lattices have been extensively studied for the last decades, in this dictionary, the MacWilliams identity is the finite analog of the Jacobi-Poisson formula of the Theta function. Motivated by the random theory of lattices, the statistical significance of MacWilliams theorem is considered, indeed, MacWilliams distribution provides a finite analog of the classical Gauss distribution. In particular, the MacWilliams distribution over quotient space of a code is statistical close to the uniform distribution. In the respect of lattices, the analogy of MacWilliams identity associated with nu-function was conjectured by Sole in 1995. We give an answer to this problem in positive.
A Scalable Tool For Analyzing Genomic Variants Of Humans Using Knowledge Graphs and Machine Learning
Venue: arXiv cs.AI 2024
Year: 2024

The integration of knowledge graphs and graph machine learning (GML) in genomic data analysis offers several opportunities for understanding complex genetic relationships, especially at the RNA level. We present a comprehensive approach for leveraging these technologies to analyze genomic variants, specifically in the context of RNA sequencing (RNA-seq) data from COVID-19 patient samples. The proposed method involves extracting variant-level genetic information, annotating the data with additional metadata using SnpEff, and converting the enriched Variant Call Format (VCF) files into Resource Description Framework (RDF) triples. The resulting knowledge graph is further enhanced with patient metadata and stored in a graph database, facilitating efficient querying and indexing. We utilize the Deep Graph Library (DGL) to perform graph machine learning tasks, including node classification with GraphSAGE and Graph Convolutional Networks (GCNs). Our approach demonstrates significant utility using our proposed tool, VariantKG, in three key scenarios: enriching graphs with new VCF data, creating subgraphs based on user-defined features, and conducting graph machine learning for node classification.
Enabling Contextual Soft Moderation on Social Media through Contrastive Textual Deviation
Venue: arXiv cs.CL 2024
Year: 2024

Automated soft moderation systems are unable to ascertain if a post supports or refutes a false claim, resulting in a large number of contextual false positives. This limits their effectiveness, for example undermining trust in health experts by adding warnings to their posts or resorting to vague warnings instead of granular fact-checks, which result in desensitizing users. In this paper, we propose to incorporate stance detection into existing automated soft-moderation pipelines, with the goal of ruling out contextual false positives and providing more precise recommendations for social media content that should receive warnings. We develop a textual deviation task called Contrastive Textual Deviation (CTD) and show that it outperforms existing stance detection approaches when applied to soft moderation.We then integrate CTD into the stateof-the-art system for automated soft moderation Lambretta, showing that our approach can reduce contextual false positives from 20% to 2.1%, providing another important building block towards deploying reliable automated soft moderation tools on social media.
An evidence-based methodology for human rights impact assessment (HRIA) in the development of AI data-intensive systems
Venue: arXiv cs.AI 2024
Year: 2024

Different approaches have been adopted in addressing the challenges of Artificial Intelligence (AI), some centred on personal data and others on ethics, respectively narrowing and broadening the scope of AI regulation. This contribution aims to demonstrate that a third way is possible, starting from the acknowledgement of the role that human rights can play in regulating the impact of data-intensive systems. The focus on human rights is neither a paradigm shift nor a mere theoretical exercise. Through the analysis of more than 700 decisions and documents of the data protection authorities of six countries, we show that human rights already underpin the decisions in the field of data use. Based on empirical analysis of this evidence, this work presents a methodology and a model for a Human Rights Impact Assessment (HRIA). The methodology and related assessment model are focused on AI applications, whose nature and scale require a proper contextualisation of HRIA methodology. Moreover, the proposed models provide a more measurable approach to risk assessment which is consistent with the regulatory proposals centred on risk thresholds. The proposed methodology is tested in concrete case-studies to prove its feasibility and effectiveness. The overall goal is to respond to the growing interest in HRIA, moving from a mere theoretical debate to a concrete and context-specific implementation in the field of data-intensive applications based on AI.
Settling the Pass Complexity of Approximate Matchings in Dynamic Graph Streams
Venue: arXiv cs.DS 2024
Year: 2024

A semi-streaming algorithm in dynamic graph streams processes any $n$-vertex graph by making one or multiple passes over a stream of insertions and deletions to edges of the graph and using $O(n \cdot \mbox{polylog}(n))$ space. Semi-streaming algorithms for dynamic streams were first obtained in the seminal work of Ahn, Guha, and McGregor in 2012, alongside the introduction of the graph sketching technique, which remains the de facto way of designing algorithms in this model and a highly popular technique for designing graph algorithms in general. We settle the pass complexity of approximating maximum matchings in dynamic streams via semi-streaming algorithms by improving the state-of-the-art in both upper and lower bounds. We present a randomized sketching based semi-streaming algorithm for $O(1)$-approximation of maximum matching in dynamic streams using $O(\log\log{n})$ passes. The approximation ratio of this algorithm can be improved to $(1+ε)$ for any fixed $ε> 0$ even on weighted graphs using standard techniques. This exponentially improves upon several $O(\log{n})$ pass algorithms developed for this problem since the introduction of the dynamic graph streaming model. In addition, we prove that any semi-streaming algorithm (not only sketching based) for $O(1)$-approximation of maximum matching in dynamic streams requires $Ω(\log\log{n})$ passes. This presents the first multi-pass lower bound for this problem, which is already also optimal, settling a longstanding open question in this area.
Watermarking Recommender Systems
Venue: arXiv cs.IR 2024
Year: 2024

Recommender systems embody significant commercial value and represent crucial intellectual property. However, the integrity of these systems is constantly challenged by malicious actors seeking to steal their underlying models. Safeguarding against such threats is paramount to upholding the rights and interests of the model owner. While model watermarking has emerged as a potent defense mechanism in various domains, its direct application to recommender systems remains unexplored and non-trivial. In this paper, we address this gap by introducing Autoregressive Out-of-distribution Watermarking (AOW), a novel technique tailored specifically for recommender systems. Our approach entails selecting an initial item and querying it through the oracle model, followed by the selection of subsequent items with small prediction scores. This iterative process generates a watermark sequence autoregressively, which is then ingrained into the model's memory through training. To assess the efficacy of the watermark, the model is tasked with predicting the subsequent item given a truncated watermark sequence. Through extensive experimentation and analysis, we demonstrate the superior performance and robust properties of AOW. Notably, our watermarking technique exhibits high-confidence extraction capabilities and maintains effectiveness even in the face of distillation and fine-tuning processes.
CP-Prompt: Composition-Based Cross-modal Prompting for Domain-Incremental Continual Learning
Venue: arXiv cs.CL 2024
Year: 2024

The key challenge of cross-modal domain-incremental learning (DIL) is to enable the learning model to continuously learn from novel data with different feature distributions under the same task without forgetting old ones. However, existing top-performing methods still cause high forgetting rates, by lacking intra-domain knowledge extraction and inter-domain common prompting strategy. In this paper, we propose a simple yet effective framework, CP-Prompt, by training limited parameters to instruct a pre-trained model to learn new domains and avoid forgetting existing feature distributions. CP-Prompt captures intra-domain knowledge by compositionally inserting personalized prompts on multi-head self-attention layers and then learns the inter-domain knowledge with a common prompting strategy. CP-Prompt shows superiority compared with state-of-the-art baselines among three widely evaluated DIL tasks. The source code is available at https://github.com/dannis97500/CP_Prompt.
Understanding the Interplay of Scale, Data, and Bias in Language Models: A Case Study with BERT
Venue: arXiv cs.CL 2024
Year: 2024

In the current landscape of language model research, larger models, larger datasets and more compute seems to be the only way to advance towards intelligence. While there have been extensive studies of scaling laws and models' scaling behaviors, the effect of scale on a model's social biases and stereotyping tendencies has received less attention. In this study, we explore the influence of model scale and pre-training data on its learnt social biases. We focus on BERT -- an extremely popular language model -- and investigate biases as they show up during language modeling (upstream), as well as during classification applications after fine-tuning (downstream). Our experiments on four architecture sizes of BERT demonstrate that pre-training data substantially influences how upstream biases evolve with model scale. With increasing scale, models pre-trained on large internet scrapes like Common Crawl exhibit higher toxicity, whereas models pre-trained on moderated data sources like Wikipedia show greater gender stereotypes. However, downstream biases generally decrease with increasing model scale, irrespective of the pre-training data. Our results highlight the qualitative role of pre-training data in the biased behavior of language models, an often overlooked aspect in the study of scale. Through a detailed case study of BERT, we shed light on the complex interplay of data and model scale, and investigate how it translates to concrete biases.
Using Large Language Models for the Interpretation of Building Regulations
Venue: arXiv cs.CL 2024
Year: 2024

Compliance checking is an essential part of a construction project. The recent rapid uptake of building information models (BIM) in the construction industry has created more opportunities for automated compliance checking (ACC). BIM enables sharing of digital building design data that can be used for compliance checking with legal requirements, which are conventionally conveyed in natural language and not intended for machine processing. Creating a computable representation of legal requirements suitable for ACC is complex, costly, and time-consuming. Large language models (LLMs) such as the generative pre-trained transformers (GPT), GPT-3.5 and GPT-4, powering OpenAI's ChatGPT, can generate logically coherent text and source code responding to user prompts. This capability could be used to automate the conversion of building regulations into a semantic and computable representation. This paper evaluates the performance of LLMs in translating building regulations into LegalRuleML in a few-shot learning setup. By providing GPT-3.5 with only a few example translations, it can learn the basic structure of the format. Using a system prompt, we further specify the LegalRuleML representation and explore the existence of expert domain knowledge in the model. Such domain knowledge might be ingrained in GPT-3.5 through the broad pre-training but needs to be brought forth by careful contextualisation. Finally, we investigate whether strategies such as chain-of-thought reasoning and self-consistency could apply to this use case. As LLMs become more sophisticated, the increased common sense, logical coherence, and means to domain adaptation can significantly support ACC, leading to more efficient and effective checking processes.
Enhancing Adversarial Text Attacks on BERT Models with Projected Gradient Descent
Venue: arXiv cs.LG 2024
Year: 2024

Adversarial attacks against deep learning models represent a major threat to the security and reliability of natural language processing (NLP) systems. In this paper, we propose a modification to the BERT-Attack framework, integrating Projected Gradient Descent (PGD) to enhance its effectiveness and robustness. The original BERT-Attack, designed for generating adversarial examples against BERT-based models, suffers from limitations such as a fixed perturbation budget and a lack of consideration for semantic similarity. The proposed approach in this work, PGD-BERT-Attack, addresses these limitations by leveraging PGD to iteratively generate adversarial examples while ensuring both imperceptibility and semantic similarity to the original input. Extensive experiments are conducted to evaluate the performance of PGD-BERT-Attack compared to the original BERT-Attack and other baseline methods. The results demonstrate that PGD-BERT-Attack achieves higher success rates in causing misclassification while maintaining low perceptual changes. Furthermore, PGD-BERT-Attack produces adversarial instances that exhibit greater semantic resemblance to the initial input, enhancing their applicability in real-world scenarios. Overall, the proposed modification offers a more effective and robust approach to adversarial attacks on BERT-based models, thus contributing to the advancement of defense against attacks on NLP systems.
Zero Shot Health Trajectory Prediction Using Transformer
Venue: arXiv cs.LG 2024
Year: 2024

Integrating modern machine learning and clinical decision-making has great promise for mitigating healthcare's increasing cost and complexity. We introduce the Enhanced Transformer for Health Outcome Simulation (ETHOS), a novel application of the transformer deep-learning architecture for analyzing high-dimensional, heterogeneous, and episodic health data. ETHOS is trained using Patient Health Timelines (PHTs)-detailed, tokenized records of health events-to predict future health trajectories, leveraging a zero-shot learning approach. ETHOS represents a significant advancement in foundation model development for healthcare analytics, eliminating the need for labeled data and model fine-tuning. Its ability to simulate various treatment pathways and consider patient-specific factors positions ETHOS as a tool for care optimization and addressing biases in healthcare delivery. Future developments will expand ETHOS' capabilities to incorporate a wider range of data types and data sources. Our work demonstrates a pathway toward accelerated AI development and deployment in healthcare.
Computational music analysis from first principles
Venue: arXiv cs.LG 2024
Year: 2024

We use coupled hidden Markov models to automatically annotate the 371 Bach chorales in the Riemenschneider edition, a corpus containing approximately 100,000 notes and 20,000 chords. We give three separate analyses that achieve progressively greater accuracy at the cost of making increasingly strong assumptions about musical syntax. Although our method makes almost no use of human input, we are able to identify both chords and keys with an accuracy of 85% or greater when compared to an expert human analysis, resulting in annotations accurate enough to be used for a range of music-theoretical purposes, while also being free of subjective human judgments. Our work bears on longstanding debates about the objective reality of the structures postulated by standard Western harmonic theory, as well as on specific questions about the nature of Western harmonic syntax.
FL-DECO-BC: A Privacy-Preserving, Provably Secure, and Provenance-Preserving Federated Learning Framework with Decentralized Oracles on Blockchain for VANETs
Venue: arXiv cs.CR 2024
Year: 2024

Vehicular Ad-Hoc Networks (VANETs) hold immense potential for improving traffic safety and efficiency. However, traditional centralized approaches for machine learning in VANETs raise concerns about data privacy and security. Federated Learning (FL) offers a solution that enables collaborative model training without sharing raw data. This paper proposes FL-DECO-BC as a novel privacy-preserving, provably secure, and provenance-preserving federated learning framework specifically designed for VANETs. FL-DECO-BC leverages decentralized oracles on blockchain to securely access external data sources while ensuring data privacy through advanced techniques. The framework guarantees provable security through cryptographic primitives and formal verification methods. Furthermore, FL-DECO-BC incorporates a provenance-preserving design to track data origin and history, fostering trust and accountability. This combination of features empowers VANETs with secure and privacy-conscious machine-learning capabilities, paving the way for advanced traffic management and safety applications.