OpenRaiser/Intern-Atlas huggingface dataset:
A Scale-Invariant Diagnostic Approach Towards Understanding Dynamics of Deep Neural Networks
Venue: arXiv cs.NE 2024
Year: 2024

This paper introduces a scale-invariant methodology employing \textit{Fractal Geometry} to analyze and explain the nonlinear dynamics of complex connectionist systems. By leveraging architectural self-similarity in Deep Neural Networks (DNNs), we quantify fractal dimensions and \textit{roughness} to deeply understand their dynamics and enhance the quality of \textit{intrinsic} explanations. Our approach integrates principles from Chaos Theory to improve visualizations of fractal evolution and utilizes a Graph-Based Neural Network for reconstructing network topology. This strategy aims at advancing the \textit{intrinsic} explainability of connectionist Artificial Intelligence (AI) systems.
Acceleration of Tensor-Product Operations with Tensor Cores
Venue: arXiv cs.MS 2024
Year: 2024

In this paper, we explore the acceleration of tensor product operations in finite element methods, leveraging the computational power of the NVIDIA A100 GPU Tensor Cores. We provide an accessible overview of the necessary mathematical background and discuss our implementation strategies. Our study focuses on two common programming approaches for NVIDIA Tensor Cores: the C++ Warp Matrix Functions in nvcuda::wmma and the inline Parallel Thread Execution (PTX) instructions mma.sync.aligned. A significant focus is placed on the adoption of the versatile inline PTX instructions combined with a conflict-free shared memory access pattern, a key to unlocking superior performance. When benchmarked against traditional CUDA Cores, our approach yields a remarkable 2.3-fold increase in double precision performance, achieving 8 TFLOPS/s-45% of the theoretical maximum. Furthermore, in half-precision computations, numerical experiments demonstrate a fourfold enhancement in solving the Poisson equation using the flexible GMRES (FGMRES) method, preconditioned by a multigrid method in 3D. This is achieved while maintaining the same discretization error as observed in double precision computations. These results highlight the considerable benefits of using Tensor Cores for finite element operators with tensor products, achieving an optimal balance between computational speed and precision.
Bridging Dictionary: AI-Generated Dictionary of Partisan Language Use
Venue: arXiv cs.HC 2024
Year: 2024

Words often carry different meanings for people from diverse backgrounds. Today's era of social polarization demands that we choose words carefully to prevent miscommunication, especially in political communication and journalism. To address this issue, we introduce the Bridging Dictionary, an interactive tool designed to illuminate how words are perceived by people with different political views. The Bridging Dictionary includes a static, printable document featuring 796 terms with summaries generated by a large language model. These summaries highlight how the terms are used distinctively by Republicans and Democrats. Additionally, the Bridging Dictionary offers an interactive interface that lets users explore selected words, visualizing their frequency, sentiment, summaries, and examples across political divides. We present a use case for journalists and emphasize the importance of human agency and trust in further enhancing this tool. The deployed version of Bridging Dictionary is available at https://dictionary.ccc-mit.org/.
The Ballad of the Bots: Sonification Using Cognitive Metaphor to Support Immersed Teleoperation of Robot Teams
Venue: arXiv cs.RO 2024
Year: 2024

As an embodied and spatial medium, virtual reality is proving an attractive proposition for robot teleoperation in hazardous environments. This paper examines a nuclear decommissioning scenario in which a simulated team of semi-autonomous robots are used to characterise a chamber within a virtual nuclear facility. This study examines the potential utility and impact of sonification as a means of communicating salient operator data in such an environment. However, the question of what sound should be used and how it can be applied in different applications is far from resolved. This paper explores and compares two sonification design approaches. The first is inspired by the theory of cognitive metaphor to create sonifications that align with socially acquired contextual and ecological understanding of the application domain. The second adopts a computationalist approach using auditory mappings that are commonplace in the literature. The results suggest that the computationalist approach outperforms the cognitive metaphor approach in terms of predictability and mental workload. However, qualitative data analysis demonstrates that the cognitive metaphor approach resulted in sounds that were more intuitive, and were better implemented for spatialisation of data sources and data legibility when there was more than one sound source.
Deep-TEMPEST: Using Deep Learning to Eavesdrop on HDMI from its Unintended Electromagnetic Emanations
Venue: arXiv cs.CR 2024
Year: 2024

In this work, we address the problem of eavesdropping on digital video displays by analyzing the electromagnetic waves that unintentionally emanate from the cables and connectors, particularly HDMI. This problem is known as TEMPEST. Compared to the analog case (VGA), the digital case is harder due to a 10-bit encoding that results in a much larger bandwidth and non-linear mapping between the observed signal and the pixel's intensity. As a result, eavesdropping systems designed for the analog case obtain unclear and difficult-to-read images when applied to digital video. The proposed solution is to recast the problem as an inverse problem and train a deep learning module to map the observed electromagnetic signal back to the displayed image. However, this approach still requires a detailed mathematical analysis of the signal, firstly to determine the frequency at which to tune but also to produce training samples without actually needing a real TEMPEST setup. This saves time and avoids the need to obtain these samples, especially if several configurations are being considered. Our focus is on improving the average Character Error Rate in text, and our system improves this rate by over 60 percentage points compared to previous available implementations. The proposed system is based on widely available Software Defined Radio and is fully open-source, seamlessly integrated into the popular GNU Radio framework. We also share the dataset we generated for training, which comprises both simulated and over 1000 real captures. Finally, we discuss some countermeasures to minimize the potential risk of being eavesdropped by systems designed based on similar principles.
ScaleFlow++: Robust and Accurate Estimation of 3D Motion from Video
Venue: arXiv cs.CV 2024
Year: 2024

Perceiving and understanding 3D motion is a core technology in fields such as autonomous driving, robots, and motion prediction. This paper proposes a 3D motion perception method called ScaleFlow++ that is easy to generalize. With just a pair of RGB images, ScaleFlow++ can robustly estimate optical flow and motion-in-depth (MID). Most existing methods directly regress MID from two RGB frames or optical flow, resulting in inaccurate and unstable results. Our key insight is cross-scale matching, which extracts deep motion clues by matching objects in pairs of images at different scales. Unlike previous methods, ScaleFlow++ integrates optical flow and MID estimation into a unified architecture, estimating optical flow and MID end-to-end based on feature matching. Moreover, we also proposed modules such as global initialization network, global iterative optimizer, and hybrid training pipeline to integrate global motion information, reduce the number of iterations, and prevent overfitting during training. On KITTI, ScaleFlow++ achieved the best monocular scene flow estimation performance, reducing SF-all from 6.21 to 5.79. The evaluation of MID even surpasses RGBD-based methods. In addition, ScaleFlow++ has achieved stunning zero-shot generalization performance in both rigid and nonrigid scenes. Code is available at \url{https://github.com/HanLingsgjk/CSCV}.
IoT-LM: Large Multisensory Language Models for the Internet of Things
Venue: arXiv cs.LG 2024
Year: 2024

The Internet of Things (IoT) network integrating billions of smart physical devices embedded with sensors, software, and communication technologies is a critical and rapidly expanding component of our modern world. The IoT ecosystem provides a rich source of real-world modalities such as motion, thermal, geolocation, imaging, depth, sensors, and audio to recognize the states of humans and physical objects. Machine learning presents a rich opportunity to automatically process IoT data at scale, enabling efficient inference for understanding human wellbeing, controlling physical devices, and interconnecting smart cities. To realize this potential, we introduce IoT-LM, an open-source large multisensory language model tailored for the IoT ecosystem. IoT-LM is enabled by two technical contributions: the first is MultiIoT, the most expansive unified IoT dataset to date, encompassing over 1.15 million samples from 12 modalities and 8 tasks prepared for multisensory pre-training and instruction-tuning. The second is a new multisensory multitask adapter layer to condition pre-trained large language models on multisensory IoT data. Not only does IoT-LM yield substantial improvements on 8 supervised IoT classification tasks, but it also demonstrates new interactive question-answering, reasoning, and dialog capabilities conditioned on IoT sensors. We release IoT-LM's data sources and new multisensory language modeling framework.
Preserving the Privacy of Reward Functions in MDPs through Deception
Venue: arXiv cs.AI 2024
Year: 2024

Preserving the privacy of preferences (or rewards) of a sequential decision-making agent when decisions are observable is crucial in many physical and cybersecurity domains. For instance, in wildlife monitoring, agents must allocate patrolling resources without revealing animal locations to poachers. This paper addresses privacy preservation in planning over a sequence of actions in MDPs, where the reward function represents the preference structure to be protected. Observers can use Inverse RL (IRL) to learn these preferences, making this a challenging task. Current research on differential privacy in reward functions fails to ensure guarantee on the minimum expected reward and offers theoretical guarantees that are inadequate against IRL-based observers. To bridge this gap, we propose a novel approach rooted in the theory of deception. Deception includes two models: dissimulation (hiding the truth) and simulation (showing the wrong). Our first contribution theoretically demonstrates significant privacy leaks in existing dissimulation-based methods. Our second contribution is a novel RL-based planning algorithm that uses simulation to effectively address these privacy concerns while ensuring a guarantee on the expected reward. Experiments on multiple benchmark problems show that our approach outperforms previous methods in preserving reward function privacy.
Investigating Low-Rank Training in Transformer Language Models: Efficiency and Scaling Analysis
Venue: arXiv cs.CL 2024
Year: 2024

State-of-the-art LLMs often rely on scale with high computational costs, which has sparked a research agenda to reduce parameter counts and costs without significantly impacting performance. Our study focuses on Transformer-based LLMs, specifically applying low-rank parametrization to the computationally intensive feedforward networks (FFNs), which are less studied than attention blocks. In contrast to previous works, (i) we explore low-rank parametrization at scale, up to 1.3B parameters; (ii) within Transformer language models rather than convolutional architectures; and (iii) starting from training from scratch. Experiments on the large RefinedWeb dataset show that low-rank parametrization is both efficient (e.g., 2.6$\times$ FFN speed-up with 32\% parameters) and effective during training. Interestingly, these structured FFNs exhibit steeper scaling curves than the original models. Motivated by this finding, we develop the wide and structured networks surpassing the current medium-sized and large-sized Transformer in perplexity and throughput performance. Our code is available at https://github.com/CLAIRE-Labo/StructuredFFN/tree/main.
Air-Ground Collaboration with SPOMP: Semantic Panoramic Online Mapping and Planning
Venue: arXiv cs.RO 2024
Year: 2024

Mapping and navigation have gone hand-in-hand since long before robots existed. Maps are a key form of communication, allowing someone who has never been somewhere to nonetheless navigate that area successfully. In the context of multi-robot systems, the maps and information that flow between robots are necessary for effective collaboration, whether those robots are operating concurrently, sequentially, or completely asynchronously. In this paper, we argue that maps must go beyond encoding purely geometric or visual information to enable increasingly complex autonomy, particularly between robots. We propose a framework for multi-robot autonomy, focusing in particular on air and ground robots operating in outdoor 2.5D environments. We show that semantic maps can enable the specification, planning, and execution of complex collaborative missions, including localization in GPS-denied settings. A distinguishing characteristic of this work is that we strongly emphasize field experiments and testing, and by doing so demonstrate that these ideas can work at scale in the real world. We also perform extensive simulation experiments to validate our ideas at even larger scales. We believe these experiments and the experimental results constitute a significant step forward toward advancing the state-of-the-art of large-scale, collaborative multi-robot systems operating with real communication, navigation, and perception constraints.
Correlating Power Outage Spread with Infrastructure Interdependencies During Hurricanes
Venue: arXiv cs.IR 2024
Year: 2024

Power outages caused by extreme weather events, such as hurricanes, can significantly disrupt essential services and delay recovery efforts, underscoring the importance of enhancing our infrastructure's resilience. This study investigates the spread of power outages during hurricanes by analyzing the correlation between the network of critical infrastructure and outage propagation. We leveraged datasets from Hurricanemapping.com, the North American Energy Resilience Model Interdependency Analysis (NAERM-IA), and historical power outage data from the Oak Ridge National Laboratory (ORNL)'s EAGLE-I system. Our analysis reveals a consistent positive correlation between the extent of critical infrastructure components accessible within a certain number of steps (k-hop distance) from initial impact areas and the occurrence of power outages in broader regions. This insight suggests that understanding the interconnectedness among critical infrastructure elements is key to identifying areas indirectly affected by extreme weather events.
To what extent is ChatGPT useful for language teacher lesson plan creation?
Venue: arXiv cs.CY 2024
Year: 2024

The advent of generative AI models holds tremendous potential for aiding teachers in the generation of pedagogical materials. However, numerous knowledge gaps concerning the behavior of these models obfuscate the generation of research-informed guidance for their effective usage. Here we assess trends in prompt specificity, variability, and weaknesses in foreign language teacher lesson plans generated by zero-shot prompting in ChatGPT. Iterating a series of prompts that increased in complexity, we found that output lesson plans were generally high quality, though additional context and specificity to a prompt did not guarantee a concomitant increase in quality. Additionally, we observed extreme cases of variability in outputs generated by the same prompt. In many cases, this variability reflected a conflict between 20th century versus 21st century pedagogical practices. These results suggest that the training of generative AI models on classic texts concerning pedagogical practices may represent a currently underexplored topic with the potential to bias generated content towards teaching practices that have been long refuted by research. Collectively, our results offer immediate translational implications for practicing and training foreign language teachers on the use of AI tools. More broadly, these findings reveal the existence of generative AI output trends that have implications for the generation of pedagogical materials across a diversity of content areas.
Unleashing Excellence through Inclusion: Navigating the Engagement-Performance Paradox
Venue: arXiv cs.CY 2024
Year: 2024

People who feel that they do not belong (or their voice is not heard at work) commonly become disengaged, unproductive, and pessimistic. Inclusive work environments aspire to close these gaps to increase employee satisfaction while reducing absenteeism and turnover. But there is always a job to be done, and under time and resource constraints, democratic approaches can result in reduced quality and unacceptable delays. Teams need actionable guidance to incorporate inclusive practices that will directly impact effectiveness. This paper contributes to the literature on quality and performance management by developing a conceptual model of inclusion that directly (and positively) impacts performance, and identifies eight factors that workgroups must address to create and maintain inclusive, high performing environments.
OpenTracer: A Dynamic Transaction Trace Analyzer for Smart Contract Invariant Generation and Beyond
Venue: arXiv cs.SE 2024
Year: 2024

Smart contracts, self-executing programs on the blockchain, facilitate reliable value exchanges without centralized oversight. Despite the recent focus on dynamic analysis of their transaction histories in both industry and academia, no open-source tool currently offers comprehensive tracking of complete transaction information to extract user-desired data such as invariant-related data. This paper introduces OpenTracer, designed to address this gap. OpenTracer guarantees comprehensive tracking of every execution step, providing complete transaction information. OpenTracer has been employed to analyze 350,800 Ethereum transactions, successfully inferring 23 different types of invariant from predefined templates. The tool is fully open-sourced, serving as a valuable resource for developers and researchers aiming to study transaction behaviors or extract and validate new invariants from transaction traces. The source code of OpenTracer is available at https://github.com/jeffchen006/OpenTracer.
HSFusion: A high-level vision task-driven infrared and visible image fusion network via semantic and geometric domain transformation
Venue: arXiv cs.CV 2024
Year: 2024

Infrared and visible image fusion has been developed from vision perception oriented fusion methods to strategies which both consider the vision perception and high-level vision task. However, the existing task-driven methods fail to address the domain gap between semantic and geometric representation. To overcome these issues, we propose a high-level vision task-driven infrared and visible image fusion network via semantic and geometric domain transformation, terms as HSFusion. Specifically, to minimize the gap between semantic and geometric representation, we design two separate domain transformation branches by CycleGAN framework, and each includes two processes: the forward segmentation process and the reverse reconstruction process. CycleGAN is capable of learning domain transformation patterns, and the reconstruction process of CycleGAN is conducted under the constraint of these patterns. Thus, our method can significantly facilitate the integration of semantic and geometric information and further reduces the domain gap. In fusion stage, we integrate the infrared and visible features that extracted from the reconstruction process of two seperate CycleGANs to obtain the fused result. These features, containing varying proportions of semantic and geometric information, can significantly enhance the high level vision tasks. Additionally, we generate masks based on segmentation results to guide the fusion task. These masks can provide semantic priors, and we design adaptive weights for two distinct areas in the masks to facilitate image fusion. Finally, we conducted comparative experiments between our method and eleven other state-of-the-art methods, demonstrating that our approach surpasses others in both visual appeal and semantic segmentation task.
MKDTI: Predicting drug-target interactions via multiple kernel fusion on graph attention network
Venue: arXiv cs.LG 2024
Year: 2024

Drug-target relationships may now be predicted computationally using bioinformatics data, which is a valuable tool for understanding pharmacological effects, enhancing drug development efficiency, and advancing related research. A number of structure-based, ligand-based and network-based approaches have now emerged. Furthermore, the integration of graph attention networks with intricate drug target studies is an application area of growing interest. In our work, we formulate a model called MKDTI by extracting kernel information from various layer embeddings of a graph attention network. This combination improves the prediction ability with respect to novel drug-target relationships. We first build a drug-target heterogeneous network using heterogeneous data of drugs and targets, and then use a self-enhanced multi-head graph attention network to extract potential features in each layer. Next, we utilize embeddings of each layer to computationally extract kernel matrices and fuse multiple kernel matrices. Finally, we use a Dual Laplacian Regularized Least Squares framework to forecast novel drug-target entity connections. This prediction can be facilitated by integrating the kernel matrix associated with the drug-target. We measured our model's efficacy using AUPR and AUC. Compared to the benchmark algorithms, our model outperforms them in the prediction outcomes. In addition, we conducted an experiment on kernel selection. The results show that the multi-kernel fusion approach combined with the kernel matrix generated by the graph attention network provides complementary insights into the model. The fusion of this information helps to enhance the accuracy of the predictions.
WING: Wheel-Inertial Neural Odometry with Ground Manifold Constraints
Venue: arXiv cs.RO 2024
Year: 2024

In this paper, we propose an interoceptive-only odometry system for ground robots with neural network processing and soft constraints based on the assumption of a globally continuous ground manifold. Exteroceptive sensors such as cameras, GPS and LiDAR may encounter difficulties in scenarios with poor illumination, indoor environments, dusty areas and straight tunnels. Therefore, improving the pose estimation accuracy only using interoceptive sensors is important to enhance the reliability of navigation system even in degrading scenarios mentioned above. However, interoceptive sensors like IMU and wheel encoders suffer from large drift due to noisy measurements. To overcome these challenges, the proposed system trains deep neural networks to correct the measurements from IMU and wheel encoders, while considering their uncertainty. Moreover, because ground robots can only travel on the ground, we model the ground surface as a globally continuous manifold using a dual cubic B-spline manifold to further improve the estimation accuracy by this soft constraint. A novel space-based sliding-window filtering framework is proposed to fully exploit the $C^2$ continuity of ground manifold soft constraints and fuse all the information from raw measurements and neural networks in a yaw-independent attitude convention. Extensive experiments demonstrate that our proposed approach can outperform state-of-the-art learning-based interoceptive-only odometry methods.