OpenRaiser/Intern-Atlas huggingface dataset:
A Walking Space Robot for On-Orbit Satellite Servicing: The ReCoBot
Venue: arXiv cs.RO 2022
Year: 2022

A key factor in the economic efficiency of satellites is their availability in orbit. Replacing standardized building blocks, such as empty fuel tanks or outdated electronic modules, could greatly extend the satellites' lifetime. This, however, requires flexible robots that can locomote on the surface of these satellites for optimal accessibility and manipulation. This paper introduces ReCoBot, a 7-axis walking space manipulator for locomotion and manipulation. The robot can connect to compatible structures with its symmetric ends and provides interfaces for manual teleoperation and motion planning with a constantly changing base and tip. We build on open-source robotics software and easily available components to evaluate the overall concept with an early stage demonstrator. The proposed manipulator has a length of 1.20 m and a weight of 10.4 kg and successfully locomotes over a satellite mockup in our lab environment.
Shared Control in Human Robot Teaming: Toward Context-Aware Communication
Venue: arXiv cs.RO 2022
Year: 2022

In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs for a robot. One of the most important things in shared control is the nature of the communication between the person and robot, which could help the human-robot team handle a variety of challenging situations. In this paper, we identify key challenges in shared control, in which better communication design could be useful, including when encountering novel situations and contexts, resolving tensions between preferences and performance, and alleviating cognitive burden and interruptions. Through the use of four exemplar shared control scenarios, we explore how well-designed human-robot communication strategies could help address each challenge. We hope this paper will draw attention to these challenges and assist researchers in advancing the development of shared control systems.
Local Partial Zero-Forcing Combining for Cell-Free Massive MIMO Systems
Venue: arXiv cs.IT 2022
Year: 2022

Cell-free massive multiple-input multiple-output (MIMO) provides more uniform spectral efficiency (SE) for users (UEs) than cellular technology. The main challenge to achieve the benefits of cell-free massive MIMO is to realize signal processing in a scalable way. In this paper, we consider scalable fullpilot zero-forcing (FZF), partial FZF (PFZF), protective weak PFZF (PWPFZF), and local regularized ZF (LRZF) combining by exploiting channel statistics. We derive closed-form expressions of the uplink SE for FZF, PFZF, and PWPFZF combining with large-scale fading decoding over independent Rayleigh fading channels, taking channel estimation errors and pilot contamination into account. Moreover, we investigate the impact of the number of pilot sequences, antennas per AP, and APs on the performance. Numerical results show that LRZF provides the highest SE. However, PWPFZF is preferable when the number of pilot sequences is large and the number of antennas per AP is small. The reason is that PWPFZF has lower computational complexity and the SE expression can be computed in closed-form. Furthermore, we investigate the performance of PWPFZF combining with fractional power control and the numerical results show that it improves the performance of weak UEs and realizes uniformly good service for all UEs in a scalable fashion.
No Provisioned Concurrency: Fast RDMA-codesigned Remote Fork for Serverless Computing
Venue: arXiv cs.OS 2022
Year: 2022

Serverless platforms essentially face a tradeoff between container startup time and provisioned concurrency (i.e., cached instances), which is further exaggerated by the frequent need for remote container initialization. This paper presents MITOSIS, an operating system primitive that provides fast remote fork, which exploits a deep codesign of the OS kernel with RDMA. By leveraging the fast remote read capability of RDMA and partial state transfer across serverless containers, MITOSIS bridges the performance gap between local and remote container initialization. MITOSIS is the first to fork over 10,000 new containers from one instance across multiple machines within a second, while allowing the new containers to efficiently transfer the pre-materialized states of the forked one. We have implemented MITOSIS on Linux and integrated it with FN, a popular serverless platform. Under load spikes in real-world serverless workloads, MITOSIS reduces the function tail latency by 89% with orders of magnitude lower memory usage. For serverless workflow that requires state transfer, MITOSIS improves its execution time by 86%.
Meta-X$_{NLG}$: A Meta-Learning Approach Based on Language Clustering for Zero-Shot Cross-Lingual Transfer and Generation
Venue: arXiv cs.CL 2022
Year: 2022

Recently, the NLP community has witnessed a rapid advancement in multilingual and cross-lingual transfer research where the supervision is transferred from high-resource languages (HRLs) to low-resource languages (LRLs). However, the cross-lingual transfer is not uniform across languages, particularly in the zero-shot setting. Towards this goal, one promising research direction is to learn shareable structures across multiple tasks with limited annotated data. The downstream multilingual applications may benefit from such a learning setup as most of the languages across the globe are low-resource and share some structures with other languages. In this paper, we propose a novel meta-learning framework (called Meta-X$_{NLG}$) to learn shareable structures from typologically diverse languages based on meta-learning and language clustering. This is a step towards uniform cross-lingual transfer for unseen languages. We first cluster the languages based on language representations and identify the centroid language of each cluster. Then, a meta-learning algorithm is trained with all centroid languages and evaluated on the other languages in the zero-shot setting. We demonstrate the effectiveness of this modeling on two NLG tasks (Abstractive Text Summarization and Question Generation), 5 popular datasets and 30 typologically diverse languages. Consistent improvements over strong baselines demonstrate the efficacy of the proposed framework. The careful design of the model makes this end-to-end NLG setup less vulnerable to the accidental translation problem, which is a prominent concern in zero-shot cross-lingual NLG tasks.
Hybrid Active and Passive Sensing for SLAM in Wireless Communication Systems
Venue: arXiv cs.IT 2022
Year: 2022

Integrating sensing functions into future mobile equipment has become an important trend. Realizing different types of sensing and achieving mutual enhancement under the existing communication hardware architecture is a crucial challenge in realizing the deep integration of sensing and communication. In the 5G New Radio context, active sensing can be performed through uplink beam sweeping on the user equipment (UE) side to observe the surrounding environment. In addition, the UE can perform passive sensing through downlink channel estimation to measure the multipath component (MPC) information. This study is the first to develop a hybrid simultaneous localization and mapping (SLAM) mechanism that combines active and passive sensing, in which mutual enhancement between the two sensing modes is realized in communication systems. Specifically, we first establish a common feature associated with the reflective surface to bridge active and passive sensing, thus enabling information fusion. Based on the common feature, we can attain physical anchor initialization through MPC with the assistance of active sensing. Then, we extend the classic probabilistic data association SLAM mechanism to achieve UE localization and continuously refine the physical anchor and target reflections through the subsequent passive sensing. Numerical results show that the proposed hybrid active and passive sensing-based SLAM mechanism can work successfully in tricky scenarios without any prior information on the floor plan, anchors, or agents. Moreover, the proposed algorithm demonstrates significant performance gains compared with active or passive sensing only mechanisms.
Towards Device Efficient Conditional Image Generation
Venue: arXiv cs.CV 2022
Year: 2022

We present a novel algorithm to reduce tensor compute required by a conditional image generation autoencoder without sacrificing quality of photo-realistic image generation. Our method is device agnostic, and can optimize an autoencoder for a given CPU-only, GPU compute device(s) in about normal time it takes to train an autoencoder on a generic workstation. We achieve this via a two-stage novel strategy where, first, we condense the channel weights, such that, as few as possible channels are used. Then, we prune the nearly zeroed out weight activations, and fine-tune the autoencoder. To maintain image quality, fine-tuning is done via student-teacher training, where we reuse the condensed autoencoder as the teacher. We show performance gains for various conditional image generation tasks: segmentation mask to face images, face images to cartoonization, and finally CycleGAN-based model over multiple compute devices. We perform various ablation studies to justify the claims and design choices, and achieve real-time versions of various autoencoders on CPU-only devices while maintaining image quality, thus enabling at-scale deployment of such autoencoders.
RT-WiFi on Software-Defined Radio: Design and Implementation
Venue: arXiv cs.NI 2022
Year: 2022

Applying high-speed real-time wireless technologies in industrial applications has the great potential to reduce the deployment and maintenance costs compared to their wired counterparts. Wireless technologies enhance the mobility and reduce the communication jitter and delay for mobile industrial equipment, such as mobile collaborative robots. Unfortunately, most existing wireless solutions employed in industrial fields either cannot support the desired high-speed communications or cannot guarantee deterministic, real-time performance. A more recent wireless technology, RT-WiFi, achieves a good balance between high-speed data rates and deterministic communication performance. It is however developed on commercial-of-the-shelf (COTS) hardware, and takes considerable effort and hardware expertise to maintain and upgrade. To address these problems, this paper introduces the software-defined radio (SDR)-based RT-WiFi solution which we call SRT-WiFi. SRT-WiFi provides full-stack configurability for high-speed real-time wireless communications. We present the overall system architecture of SRT-WiFi and discuss its key functions which achieve better timing performance and solve the queue management and rate adaptation issues compared to COTS hardware-based RT-WiFi. To achieve effective network management with rate adaptation in multi-cluster SRT-WiFi, a novel scheduling problem is formulated and an effective algorithm is proposed to solve the problem. A multi-cluster SRT-WiFi testbed is developed to validate the design, and extensive experiments are performed to evaluate the performance at both device and system levels.
Investigating the Effects of Robot Proficiency Self-Assessment on Trust and Performance
Venue: arXiv cs.RO 2022
Year: 2022

Human-robot teams will soon be expected to accomplish complex tasks in high-risk and uncertain environments. Here, the human may not necessarily be a robotics expert, but will need to establish a baseline understanding of the robot's abilities in order to appropriately utilize and rely on the robot. This willingness to rely, also known as trust, is based partly on the human's belief in the robot's proficiency at a given task. If trust is too high, the human may push the robot beyond its capabilities. If trust is too low, the human may not utilize it when they otherwise could have, wasting precious resources. In this work, we develop and execute an online human-subjects study to investigate how robot proficiency self-assessment reports based on Factorized Machine Self-Confidence affect operator trust and task performance in a grid world navigation task. Additionally we present and analyze a metric for trust level assessment, which measures the allocation of control between an operator and robot when the human teammate is free to switch between teleportation and autonomous control. Our results show that an a priori robot self-assessment report aligns operator trust with robot proficiency, and leads to performance improvements and small increases in self-reported trust.
Language-Preserving Reduction Rules for Block-Structured Workflow Nets
Venue: arXiv cs.LG 2022
Year: 2022

Process models are used by human analysts to model and analyse behaviour, and by machines to verify properties such as soundness, liveness or other reachability properties, and to compare their expressed behaviour with recorded behaviour within business processes of organisations. For both human and machine use, small models are preferable over large and complex models: for ease of human understanding and to reduce the time spent by machines in state space explorations. Reduction rules that preserve the behaviour of models have been defined for Petri nets, however in this paper we show that a subclass of Petri nets returned by process discovery techniques, that is, block-structured workflow nets, can be further reduced by considering their block structure in process trees. We revisit an existing set of reduction rules for process trees and show that the rules are correct, terminating, confluent and complete, and for which classes of process trees they are and are not complete. In a real-life experiment, we show that these rules can reduce process models discovered from real-life event logs further compared with rules that consider only Petri net structures.
MetaOnce: A Metaverse Framework Based on Multi-scene Relations and Entity-relation-event Game
Venue: arXiv cs.CL 2022
Year: 2022

Existing metaverse systems lack rich relation types between entities and events. The challenge is that there is no portable framework to introduce rich concepts, relations, events into the metaverse. This paper introduces a new metaverse framework, MetaOnce. This framework proposes to build multi-scene graphs. This framework not only describes rich relations in a single scene but also combines multiple scene graphs into a complete graph for more comprehensive analysis and inference. Prior social network systems mainly describe friend relations. They ignore the effect of entity-relation-event games on the metaverse system and existing rule constraints. We propose a rule controller and impose constraints on the relations that allow the framework to behave in a compliant manner. We build a metaverse system to test the features of the framework, and experimental results show that our framework can build a multi-scene metaverse with memory and rule constraints.
Revisiting the Design Patterns of Composite Visualizations
Venue: arXiv cs.HC 2022
Year: 2022

Composite visualization is a popular design strategy that represents complex datasets by integrating multiple visualizations in a meaningful and aesthetic layout, such as juxtaposition, overlay, and nesting. With this strategy, numerous novel designs have been proposed in visualization publications to accomplish various visual analytic tasks. These well-crafted composite visualizations have formed a valuable collection for designers and researchers to address real-world problems and inspire new research topics and designs. However, there is a lack of understanding of design patterns of composite visualization, thus failing to provide holistic design space and concrete examples for practical use. In this paper, we opted to revisit the composite visualizations in VIS publications and answered what and how visualizations of different types are composed together. To achieve this, we first constructed a corpus of composite visualizations from IEEE VIS publications and decomposed them into a series of basic visualization types (e.g., bar chart, map, and matrix). With this corpus, we studied the spatial (e.g., separated or overlaying) and semantic relationships (e.g., with same types or shared axis) between visualizations and proposed a taxonomy consisting of eight different design patterns (e.g., repeated, stacked, accompanied, and nested). Furthermore, we analyzed and discussed common practices of composite visualizations, such as the distribution of different patterns and correlations between visualization types. From the analysis and examples, we obtained insights into different design patterns on the utilities, advantages, and disadvantages. Finally, we developed an interactive system to help visualization developers and researchers conveniently explore collected examples and design patterns.
A Neural-Symbolic Approach to Natural Language Understanding
Venue: arXiv cs.CL 2022
Year: 2022

Deep neural networks, empowered by pre-trained language models, have achieved remarkable results in natural language understanding (NLU) tasks. However, their performances can drastically deteriorate when logical reasoning is needed. This is because NLU in principle depends on not only analogical reasoning, which deep neural networks are good at, but also logical reasoning. According to the dual-process theory, analogical reasoning and logical reasoning are respectively carried out by System 1 and System 2 in the human brain. Inspired by the theory, we present a novel framework for NLU called Neural-Symbolic Processor (NSP), which performs analogical reasoning based on neural processing and logical reasoning based on both neural and symbolic processing. As a case study, we conduct experiments on two NLU tasks, question answering (QA) and natural language inference (NLI), when numerical reasoning (a type of logical reasoning) is necessary. The experimental results show that our method significantly outperforms state-of-the-art methods in both tasks.
Multi-view Multi-behavior Contrastive Learning in Recommendation
Venue: arXiv cs.IR 2022
Year: 2022

Multi-behavior recommendation (MBR) aims to jointly consider multiple behaviors to improve the target behavior's performance. We argue that MBR models should: (1) model the coarse-grained commonalities between different behaviors of a user, (2) consider both individual sequence view and global graph view in multi-behavior modeling, and (3) capture the fine-grained differences between multiple behaviors of a user. In this work, we propose a novel Multi-behavior Multi-view Contrastive Learning Recommendation (MMCLR) framework, including three new CL tasks to solve the above challenges, respectively. The multi-behavior CL aims to make different user single-behavior representations of the same user in each view to be similar. The multi-view CL attempts to bridge the gap between a user's sequence-view and graph-view representations. The behavior distinction CL focuses on modeling fine-grained differences of different behaviors. In experiments, we conduct extensive evaluations and ablation tests to verify the effectiveness of MMCLR and various CL tasks on two real-world datasets, achieving SOTA performance over existing baselines. Our code will be available on \url{https://github.com/wyqing20/MMCLR}
Small Batch Sizes Improve Training of Low-Resource Neural MT
Venue: arXiv cs.CL 2022
Year: 2022

We study the role of an essential hyper-parameter that governs the training of Transformers for neural machine translation in a low-resource setting: the batch size. Using theoretical insights and experimental evidence, we argue against the widespread belief that batch size should be set as large as allowed by the memory of the GPUs. We show that in a low-resource setting, a smaller batch size leads to higher scores in a shorter training time, and argue that this is due to better regularization of the gradients during training.
Data sharing practices across knowledge domains: a dynamic examination of data availability statements in PLOS ONE publications
Venue: arXiv cs.DL 2022
Year: 2022

As the importance of research data gradually grows in sciences, data sharing has come to be encouraged and even mandated by journals and funders in recent years. Following this trend, the data availability statement has been increasingly embraced by academic communities as a means of sharing research data as part of research articles. This paper presents a quantitative study of which mechanisms and repositories are used to share research data in PLOS ONE articles. We offer a dynamic examination of this topic from the disciplinary and temporal perspectives based on all statements in English-language research articles published between 2014 and 2020 in the journal. We find a slow yet steady growth in the use of data repositories to share data over time, as opposed to sharing data in the paper or supplementary materials; this indicates improved compliance with the journal's data sharing policies. We also find that multidisciplinary data repositories have been increasingly used over time, whereas some disciplinary repositories show a decreasing trend. Our findings can help academic publishers and funders to improve their data sharing policies and serve as an important baseline dataset for future studies on data sharing activities.
Forecast Evaluation for Data Scientists: Common Pitfalls and Best Practices
Venue: arXiv cs.LG 2022
Year: 2022

Machine Learning (ML) and Deep Learning (DL) methods are increasingly replacing traditional methods in many domains involved with important decision making activities. DL techniques tailor-made for specific tasks such as image recognition, signal processing, or speech analysis are being introduced at a fast pace with many improvements. However, for the domain of forecasting, the current state in the ML community is perhaps where other domains such as Natural Language Processing and Computer Vision were at several years ago. The field of forecasting has mainly been fostered by statisticians/econometricians; consequently the related concepts are not the mainstream knowledge among general ML practitioners. The different non-stationarities associated with time series challenge the data-driven ML models. Nevertheless, recent trends in the domain have shown that with the availability of massive amounts of time series, ML techniques are quite competent in forecasting, when related pitfalls are properly handled. Therefore, in this work we provide a tutorial-like compilation of the details of one of the most important steps in the overall forecasting process, namely the evaluation. This way, we intend to impart the information of forecast evaluation to fit the context of ML, as means of bridging the knowledge gap between traditional methods of forecasting and state-of-the-art ML techniques. We elaborate on the different problematic characteristics of time series such as non-normalities and non-stationarities and how they are associated with common pitfalls in forecast evaluation. Best practices in forecast evaluation are outlined with respect to the different steps such as data partitioning, error calculation, statistical testing, and others. Further guidelines are also provided along selecting valid and suitable error measures depending on the specific characteristics of the dataset at hand.