OpenRaiser/Intern-Atlas huggingface dataset:
Relating Superconducting Optoelectronic Networks to Classical Neurodynamics
Venue: arXiv cs.NE 2024
Year: 2024

The circuits comprising superconducting optoelectronic synapses, dendrites, and neurons are described by numerically cumbersome and formally opaque coupled differential equations. Reference 1 showed that a phenomenological model of superconducting loop neurons eliminates the need to solve the Josephson circuit equations that describe synapses and dendrites. The initial goal of the model was to decrease the time required for simulations, yet an additional benefit of the model was increased transparency of the underlying neural circuit operations and conceptual clarity regarding the connection of loop neurons to other physical systems. Whereas the original model simplified the treatment of the Josephson-junction dynamics, essentially by only considering low-pass versions of the dendritic outputs, the model resorted to an awkward treatment of spikes generated by semiconductor transmitter circuits that required explicitly checking for threshold crossings and distinct treatment of time steps wherein somatic threshold is reached. Here we extend that model to simplify the treatment of spikes coming from somas, again making use of the fact that in neural systems the downstream recipients of spike events almost always perform low-pass filtering. We provide comparisons between the first and second phenomenological models, quantifying the accuracy of the additional approximations. We identify regions of circuit parameter space in which the extended model works well and regions where it works poorly. For some circuit parameters it is possible to represent the downstream dendritic response to a single spike as well as coincidences or sequences of spikes, indicating the model is not simply a reduction to rate coding. The governing equations are shown to be nearly identical to those ubiquitous in the neuroscience literature for modeling leaky-integrator dendrites and neurons.
ReliOcc: Towards Reliable Semantic Occupancy Prediction via Uncertainty Learning
Venue: arXiv cs.CV 2024
Year: 2024

Vision-centric semantic occupancy prediction plays a crucial role in autonomous driving, which requires accurate and reliable predictions from low-cost sensors. Although having notably narrowed the accuracy gap with LiDAR, there is still few research effort to explore the reliability in predicting semantic occupancy from camera. In this paper, we conduct a comprehensive evaluation of existing semantic occupancy prediction models from a reliability perspective for the first time. Despite the gradual alignment of camera-based models with LiDAR in term of accuracy, a significant reliability gap persists. To addresses this concern, we propose ReliOcc, a method designed to enhance the reliability of camera-based occupancy networks. ReliOcc provides a plug-and-play scheme for existing models, which integrates hybrid uncertainty from individual voxels with sampling-based noise and relative voxels through mix-up learning. Besides, an uncertainty-aware calibration strategy is devised to further enhance model reliability in offline mode. Extensive experiments under various settings demonstrate that ReliOcc significantly enhances model reliability while maintaining the accuracy of both geometric and semantic predictions. Importantly, our proposed approach exhibits robustness to sensor failures and out of domain noises during inference.
MARS: Multi-radio Architecture with Radio Selection using Decision Trees for emerging mesoscale CPS/IoT applications
Venue: arXiv cs.NI 2024
Year: 2024

IoT is rapidly growing from small-scale apps to large-scale apps. Small-scale apps employ short-range radios like Zigbee,BLE while large-scale apps employ long-range radios like LoRa,NB-IoT. The other upcoming category of apps like P2P energy-trade in smart homes are termed mesoscale IoT apps. There are no specialized radios for these apps. They either use short/long-range radios. To close this gap, we explored mesoscale apps using the COTS IoT radios available. Our qualitative analysis identifies Zigbee and LoRa as potential candidates. Our quantitative analysis on single and multi-hop topologies showed that Zigbee and LoRa achieve competitive throughput at a distance of 500-1200m from the gateway. A fundamental finding of these analyses is that a multi-radio system that can efficiently switch between Zigbee and LoRa performs better than the single-radio systems. However, instantaneously selecting and switching to a high-throughput radio during transmission is not trivial because of the erratic link quality dynamics. To address this issue, we developed MARS, that uses path quality metrics to instantaneously select the high-throughput radio during transmission. However, realizing MARS on resource-constrained end devices entails the challenge of obtaining instantaneous path-quality metrics. Traditional path quality estimation is not instantaneous due to propagation and queuing delays. We overcome this challenge by showing that collecting local path metrics as input to our decision trees provides sufficient information to instantaneously identify the high-throughput radio. The radio selector of MARS is powered by TAO-CART trees. The evaluation of MARS on a large-scale mesh topology at two different locations shows that MARS can efficiently identify and switch to the high-throughput radio during transmission, leading to an average throughput gain of 48.2% and 49.79% over its competitors.
Inverse Reinforcement Learning with Multiple Planning Horizons
Venue: arXiv cs.LG 2024
Year: 2024

In this work, we study an inverse reinforcement learning (IRL) problem where the experts are planning under a shared reward function but with different, unknown planning horizons. Without the knowledge of discount factors, the reward function has a larger feasible solution set, which makes it harder for existing IRL approaches to identify a reward function. To overcome this challenge, we develop algorithms that can learn a global multi-agent reward function with agent-specific discount factors that reconstruct the expert policies. We characterize the feasible solution space of the reward function and discount factors for both algorithms and demonstrate the generalizability of the learned reward function across multiple domains.
Efficient Approximation of Centrality Measures in Uncertain Graphs
Venue: arXiv cs.DM 2024
Year: 2024

In this thesis I propose an algorithm to heuristically calculate different distance measures on uncertain graphs (i.e. graphs where edges only exist with a certain probability) and apply this to the heuristic calculation of harmonic closeness centrality. This approach is mainly based on previous work on the calculation of distance measures by Potamias et al. and on a heuristic algorithm for betweenness centrality by Chenxu Wang and Ziyuan Lin. I extend on their research by using the concept of possible shortest paths, applying them to the afformentioned distances. To the best of my knowledge, this algorithmic approach has never been studied before. I will compare my heuristic results for harmonic closeness against the Monte Carlo method both in runtime and accuracy. Similarly, I will conduct new experiments on the betweenness centrality heuristic proposed y Chenxu Wang and Ziyuan Lin to test its efficacy on a bigger variety of instances. Finally, I will test both of these algorithms on large scale graphs to evaluate the scalability of their runtime.
Mobility in Age-Based Gossip Networks
Venue: arXiv cs.IT 2024
Year: 2024

We consider a gossiping network where a source forwards updates to a set of $n$ gossiping nodes that are placed in an arbitrary graph structure and gossip with their neighbors. In this paper, we analyze how mobility of nodes affects the freshness of nodes in the gossiping network. To model mobility, we let nodes randomly exchange positions with other nodes in the network. The position of the node determines how the node interacts with the rest of the network. In order to quantify information freshness, we use the version age of information metric. We use the stochastic hybrid system (SHS) framework to derive recursive equations to find the version age for a set of positions in the network in terms of the version ages of sets of positions that are one larger or of the same size. We use these recursive equations to find an upper bound for the average version age of a node in two example networks. We show that mobility can decrease the version age of nodes in a disconnected network from linear scaling in $n$ to at most square root scaling and even to constant scaling in some cases. We perform numerical simulations to analyze how mobility affects the version age of different positions in the network and also show that the upper bounds obtained for the example networks are tight.
A Fly on the Wall -- Exploiting Acoustic Side-Channels in Differential Pressure Sensors
Venue: arXiv cs.SD 2024
Year: 2024

Differential Pressure Sensors are widely deployed to monitor critical environments. However, our research unveils a previously overlooked vulnerability: their high sensitivity to pressure variations makes them susceptible to acoustic side-channel attacks. We demonstrate that the pressure-sensing diaphragms in DPS can inadvertently capture subtle air vibrations caused by speech, which propagate through the sensor's components and affect the pressure readings. Exploiting this discovery, we introduce BaroVox, a novel attack that reconstructs speech from DPS readings, effectively turning DPS into a "fly on the wall." We model the effect of sound on DPS, exploring the limits and challenges of acoustic leakage. To overcome these challenges, we propose two solutions: a signal-processing approach using a unique spectral subtraction method and a deep learning-based approach for keyword classification. Evaluations under various conditions demonstrate BaroVox's effectiveness, achieving a word error rate of 0.29 for manual recognition and 90.51% accuracy for automatic recognition. Our findings highlight the significant privacy implications of this vulnerability. We also discuss potential defense strategies to mitigate the risks posed by BaroVox.
Evaluation of Cluster Id Assignment Schemes with ABCDE
Venue: arXiv cs.IR 2024
Year: 2024

A cluster id assignment scheme labels each cluster of a clustering with a distinct id. The goal of id assignment is semantic id stability, which means that, whenever possible, a cluster for the same underlying concept as that of a historical cluster should ideally receive the same id as the historical cluster. Semantic id stability allows the users of a clustering to refer to a concept's cluster with an id that is stable across clusterings/time. This paper treats the problem of evaluating the relative merits of id assignment schemes. In particular, it considers a historical clustering with id assignments, and a new clustering with ids assigned by a baseline and an experiment. It produces metrics that characterize both the magnitude and the quality of the id assignment diffs between the baseline and the experiment. That happens by transforming the problem of cluster id assignment into a problem of cluster membership, and evaluating it with ABCDE. ABCDE is a sophisticated and scalable technique for evaluating differences in cluster membership in real-world applications, where billions of items are grouped into millions of clusters, and some items are more important than others. The paper also describes several generalizations to the basic evaluation setup for id assignment schemes. For example, it is fairly straightforward to evaluate changes that simultaneously mutate cluster memberships and cluster ids. The ideas are generously illustrated with examples.
Accelerated gradient descent for high frequency Model Predictive Control
Venue: arXiv cs.RO 2024
Year: 2024

The recent promises of Model Predictive Control in robotics have motivated the development of tailored second-order methods to solve optimal control problems efficiently. While those methods benefit from strong convergence properties, tailored efficient implementations are challenging to derive. In this work, we study the potential effectiveness of first-order methods and show on a torque controlled manipulator that they can equal the performances of second-order methods.
FedDCL: a federated data collaboration learning as a hybrid-type privacy-preserving framework based on federated learning and data collaboration
Venue: arXiv cs.LG 2024
Year: 2024

Recently, federated learning has attracted much attention as a privacy-preserving integrated analysis that enables integrated analysis of data held by multiple institutions without sharing raw data. On the other hand, federated learning requires iterative communication across institutions and has a big challenge for implementation in situations where continuous communication with the outside world is extremely difficult. In this study, we propose a federated data collaboration learning (FedDCL), which solves such communication issues by combining federated learning with recently proposed non-model share-type federated learning named as data collaboration analysis. In the proposed FedDCL framework, each user institution independently constructs dimensionality-reduced intermediate representations and shares them with neighboring institutions on intra-group DC servers. On each intra-group DC server, intermediate representations are transformed to incorporable forms called collaboration representations. Federated learning is then conducted between intra-group DC servers. The proposed FedDCL framework does not require iterative communication by user institutions and can be implemented in situations where continuous communication with the outside world is extremely difficult. The experimental results show that the performance of the proposed FedDCL is comparable to that of existing federated learning.
AquaMILR+: Design of an untethered limbless robot for complex aquatic terrain navigation
Venue: arXiv cs.RO 2024
Year: 2024

This paper presents AquaMILR+, an untethered limbless robot designed for agile navigation in complex aquatic environments. The robot features a bilateral actuation mechanism that models musculoskeletal actuation in many anguilliform swimming organisms which propagates a moving wave from head to tail allowing open fluid undulatory swimming. This actuation mechanism employs mechanical intelligence, enhancing the robot's maneuverability when interacting with obstacles. AquaMILR+ also includes a compact depth control system inspired by the swim bladder and lung structures of eels and sea snakes. The mechanism, driven by a syringe and telescoping leadscrew, enables depth and pitch control-capabilities that are difficult for most anguilliform swimming robots to achieve. Additional structures, such as fins and a tail, further improve stability and propulsion efficiency. Our tests in both open water and indoor 2D and 3D heterogeneous aquatic environments highlight AquaMILR+'s capabilities and suggest a promising system for complex underwater tasks such as search and rescue and deep-sea exploration.
Social media algorithms can curb misinformation, but do they?
Venue: arXiv cs.SI 2024
Year: 2024

A recent article in $\textit{Science}$ by Guess et al. estimated the effect of Facebook's news feed algorithm on exposure to misinformation and political information among Facebook users. However, its reporting and conclusions did not account for a series of temporary emergency changes to Facebook's news feed algorithm in the wake of the 2020 U.S. presidential election that were designed to diminish the spread of voter-fraud misinformation. Here, we demonstrate that these emergency measures systematically reduced the amount of misinformation in the control group of the study, which was using the news feed algorithm. This issue may have led readers to misinterpret the results of the study and to conclude that the Facebook news feed algorithm used outside of the study period mitigates political misinformation as compared to reverse chronological feed.
Improving Multilingual ASR in the Wild Using Simple N-best Re-ranking
Venue: arXiv cs.CL 2024
Year: 2024

Multilingual Automatic Speech Recognition (ASR) models are typically evaluated in a setting where the ground-truth language of the speech utterance is known, however, this is often not the case for most practical settings. Automatic Spoken Language Identification (SLID) models are not perfect and misclassifications have a substantial impact on the final ASR accuracy. In this paper, we present a simple and effective N-best re-ranking approach to improve multilingual ASR accuracy for several prominent acoustic models by employing external features such as language models and text-based language identification models. Our results on FLEURS using the MMS and Whisper models show spoken language identification accuracy improvements of 8.7% and 6.1%, respectively and word error rates which are 3.3% and 2.0% lower on these benchmarks.
Exploring Language Model Generalization in Low-Resource Extractive QA
Venue: arXiv cs.CL 2024
Year: 2024

In this paper, we investigate Extractive Question Answering (EQA) with Large Language Models (LLMs) under domain drift, i.e., can LLMs generalize to domains that require specific knowledge such as medicine and law in a zero-shot fashion without additional in-domain training? To this end, we devise a series of experiments to explain the performance gap empirically. Our findings suggest that: (a) LLMs struggle with dataset demands of closed domains such as retrieving long answer spans; (b) Certain LLMs, despite showing strong overall performance, display weaknesses in meeting basic requirements as discriminating between domain-specific senses of words which we link to pre-processing decisions; (c) Scaling model parameters is not always effective for cross domain generalization; and (d) Closed-domain datasets are quantitatively much different than open-domain EQA datasets and current LLMs struggle to deal with them. Our findings point out important directions for improving existing LLMs.
A TextGCN-Based Decoding Approach for Improving Remote Sensing Image Captioning
Venue: arXiv cs.LG 2024
Year: 2024

Remote sensing images are highly valued for their ability to address complex real-world issues such as risk management, security, and meteorology. However, manually captioning these images is challenging and requires specialized knowledge across various domains. This letter presents an approach for automatically describing (captioning) remote sensing images. We propose a novel encoder-decoder setup that deploys a Text Graph Convolutional Network (TextGCN) and multi-layer LSTMs. The embeddings generated by TextGCN enhance the decoder's understanding by capturing the semantic relationships among words at both the sentence and corpus levels. Furthermore, we advance our approach with a comparison-based beam search method to ensure fairness in the search strategy for generating the final caption. We present an extensive evaluation of our approach against various other state-of-the-art encoder-decoder frameworks. We evaluated our method across three datasets using seven metrics: BLEU-1 to BLEU-4, METEOR, ROUGE-L, and CIDEr. The results demonstrate that our approach significantly outperforms other state-of-the-art encoder-decoder methods.
Neural Video Representation for Redundancy Reduction and Consistency Preservation
Venue: arXiv cs.CV 2024
Year: 2024

Implicit neural representation (INR) embed various signals into neural networks. They have gained attention in recent years because of their versatility in handling diverse signal types. In the context of video, INR achieves video compression by embedding video signals directly into networks and compressing them. Conventional methods either use an index that expresses the time of the frame or features extracted from individual frames as network inputs. The latter method provides greater expressive capability as the input is specific to each video. However, the features extracted from frames often contain redundancy, which contradicts the purpose of video compression. Additionally, such redundancies make it challenging to accurately reconstruct high-frequency components in the frames. To address these problems, we focus on separating the high-frequency and low-frequency components of the reconstructed frame. We propose a video representation method that generates both the high-frequency and low-frequency components of the frame, using features extracted from the high-frequency components and temporal information, respectively. Experimental results demonstrate that our method outperforms the existing HNeRV method, achieving superior results in 96 percent of the videos.
How Effective is Pre-training of Large Masked Autoencoders for Downstream Earth Observation Tasks?
Venue: arXiv cs.CV 2024
Year: 2024

Self-supervised pre-training has proven highly effective for many computer vision tasks, particularly when labelled data are scarce. In the context of Earth Observation (EO), foundation models and various other Vision Transformer (ViT)-based approaches have been successfully applied for transfer learning to downstream tasks. However, it remains unclear under which conditions pre-trained models offer significant advantages over training from scratch. In this study, we investigate the effectiveness of pre-training ViT-based Masked Autoencoders (MAE) for downstream EO tasks, focusing on reconstruction, segmentation, and classification. We consider two large ViT-based MAE pre-trained models: a foundation model (Prithvi) and SatMAE. We evaluate Prithvi on reconstruction and segmentation-based downstream tasks, and for SatMAE we assess its performance on a classification downstream task. Our findings suggest that pre-training is particularly beneficial when the fine-tuning task closely resembles the pre-training task, e.g. reconstruction. In contrast, for tasks such as segmentation or classification, training from scratch with specific hyperparameter adjustments proved to be equally or more effective.
Balanced Splitting: A Framework for Achieving Zero-wait in the Multiserver-job Model
Venue: arXiv cs.PF 2024
Year: 2024

We present a new framework for designing nonpreemptive and job-size oblivious scheduling policies in the multiserver-job queueing model. The main requirement is to identify a static and balanced sub-partition of the server set and ensure that the servers in each set of that sub-partition can only handle jobs of a given class and in a first-come first-served order. A job class is determined by the number of servers to which it has exclusive access during its entire execution and the probability distribution of its service time. This approach aims to reduce delays by preventing small jobs from being blocked by larger ones that arrived first, and it is particularly beneficial when the job size variability intra resp. inter classes is small resp. large. In this setting, we propose a new scheduling policy, Balanced-Splitting. We provide a sufficient condition for the stability of Balanced-Splitting and show that the resulting queueing probability, i.e., the probability that an arriving job needs to wait for processing upon arrival, vanishes in both the subcritical (the load is kept fixed to a constant less than one) and critical (the load approaches one from below) many-server limiting regimes. Crucial to our analysis is a connection with the M/GI/s/s queue and Erlang's loss formula, which allows our analysis to rely on fundamental results from queueing theory. Numerical simulations show that the proposed policy performs better than several preemptive/nonpreemptive size-aware/oblivious policies in various practical scenarios. This is also confirmed by simulations running on real traces from High Performance Computing (HPC) workloads. The delays induced by Balanced-Splitting are also competitive with those induced by state-of-the-art policies such as First-Fit-SRPT and ServerFilling-SRPT, though our approach has the advantage of not requiring preemption, nor the knowledge of job sizes.