OpenRaiser/Intern-Atlas huggingface dataset:
An Efficient Representation of Whole-body Model Predictive Control for Online Compliant Dual-arm Mobile Manipulation
Venue: arXiv cs.RO 2024
Year: 2024

Dual-arm mobile manipulators can transport and manipulate large-size objects with simple end-effectors. To interact with dynamic environments with strict safety and compliance requirements, achieving whole-body motion planning online while meeting various hard constraints for such highly redundant mobile manipulators poses a significant challenge. We tackle this challenge by presenting an efficient representation of whole-body motion trajectories within our bilevel model-based predictive control (MPC) framework. We utilize Bézier-curve parameterization to represent the optimized collision-free trajectories of two collaborating end-effectors in the first MPC, facilitating fast long-horizon object-oriented motion planning in SE(3) while considering approximated feasibility constraints. This approach is further applied to parameterize whole-body trajectories in the second MPC for whole-body motion generation with predictive admittance control in a relatively short horizon while satisfying whole-body hard constraints. This representation enables two MPCs with continuous properties, thereby avoiding inaccurate model-state transition and dense decision-variable settings in existing MPCs using the discretization method. It strengthens the online execution of the bilevel MPC framework in high-dimensional space and facilitates the generation of consistent commands for our hybrid position/velocity-controlled robot. The simulation comparisons and real-world experiments demonstrate the efficiency and robustness of this approach in various scenarios for static and dynamic obstacle avoidance, and compliant interaction control with the manipulated object and external disturbances.
MMSE Channel Estimation in Fading MIMO Gaussian Channels With Blockage: A Novel Lower Bound via Poincaré Inequality
Venue: arXiv cs.IT 2024
Year: 2024

Integrated sensing and communication is regarded as a key enabler for next-generation wireless networks. To optimize the transmitted waveform for both sensing and communication, various performance metrics must be considered. This work focuses on sensing, and specifically on the mean square error (MSE) of channel estimation. Given the complexity of deriving the MSE, the Bayesian Cramer-Rao Bound (BCRB) is commonly recognized as a lower bound on the minimum MSE. However, the BCRB is not applicable to channels with discrete or mixed distributions. To address this limitation, a new lower bound based on a Poincaré inequality is proposed and applied to fading MIMO AWGN channels with blockage probability, and the behavior of the lower bound at high SNR is precisely characterized.
ISAC Prototype System for Multi-Domain Cooperative Communication Networks
Venue: arXiv cs.IT 2024
Year: 2024

Future wireless networks are poised to transform into integrated sensing and communication (ISAC) networks, unlocking groundbreaking services such as digital twinning. To harness the full potential of ISAC networks, it is essential to experimentally validate their sensing capabilities and the role of sensing in boosting communication. However, current prototype systems fall short in supporting multiple sensing functions or validating sensing-assisted communication. In response, we have developed an advanced ISAC prototype system that incorporates monostatic, bistatic, and network sensing modes. This system supports multimodal data collection and synchronization, ensuring comprehensive experimental validation. On the communication front, it excels in sensing-aided beam tracking and real-time high-definition video transmission. For sensing applications, it provides precise angle and range measurements, real-time angle-range imaging, and radio-based simultaneous localization and mapping (SLAM). Our prototype aligns with the 5G New Radio standard, offering scalability for up to 16 user equipments (UEs) in uplink transmission and 10 UEs in downlink transmission. Real-world tests showcase the system's superior accuracy, with root mean square errors of 2.3 degrees for angle estimation and 0.3 meters (m) for range estimation. Additionally, the estimation errors for multimodal-aided real-time radio SLAM localization and mapping are 0.25 m and 0.8 m, respectively.
Scalable Sampling for High Utility Patterns
Venue: arXiv cs.DB 2024
Year: 2024

Discovering valuable insights from data through meaningful associations is a crucial task. However, it becomes challenging when trying to identify representative patterns in quantitative databases, especially with large datasets, as enumeration-based strategies struggle due to the vast search space involved. To tackle this challenge, output space sampling methods have emerged as a promising solution thanks to its ability to discover valuable patterns with reduced computational overhead. However, existing sampling methods often encounter limitations when dealing with large quantitative database, resulting in scalability-related challenges. In this work, we propose a novel high utility pattern sampling algorithm and its on-disk version both designed for large quantitative databases based on two original theorems. Our approach ensures both the interactivity required for user-centered methods and strong statistical guarantees through random sampling. Thanks to our method, users can instantly discover relevant and representative utility pattern, facilitating efficient exploration of the database within seconds. To demonstrate the interest of our approach, we present a compelling use case involving archaeological knowledge graph sub-profiles discovery. Experiments on semantic and none-semantic quantitative databases show that our approach outperforms the state-of-the art methods.
Improving Musical Accompaniment Co-creation via Diffusion Transformers
Venue: arXiv cs.SD 2024
Year: 2024

Building upon Diff-A-Riff, a latent diffusion model for musical instrument accompaniment generation, we present a series of improvements targeting quality, diversity, inference speed, and text-driven control. First, we upgrade the underlying autoencoder to a stereo-capable model with superior fidelity and replace the latent U-Net with a Diffusion Transformer. Additionally, we refine text prompting by training a cross-modality predictive network to translate text-derived CLAP embeddings to audio-derived CLAP embeddings. Finally, we improve inference speed by training the latent model using a consistency framework, achieving competitive quality with fewer denoising steps. Our model is evaluated against the original Diff-A-Riff variant using objective metrics in ablation experiments, demonstrating promising advancements in all targeted areas. Sound examples are available at: https://sonycslparis.github.io/improved_dar/.
Neural Attention Field: Emerging Point Relevance in 3D Scenes for One-Shot Dexterous Grasping
Venue: arXiv cs.RO 2024
Year: 2024

One-shot transfer of dexterous grasps to novel scenes with object and context variations has been a challenging problem. While distilled feature fields from large vision models have enabled semantic correspondences across 3D scenes, their features are point-based and restricted to object surfaces, limiting their capability of modeling complex semantic feature distributions for hand-object interactions. In this work, we propose the \textit{neural attention field} for representing semantic-aware dense feature fields in the 3D space by modeling inter-point relevance instead of individual point features. Core to it is a transformer decoder that computes the cross-attention between any 3D query point with all the scene points, and provides the query point feature with an attention-based aggregation. We further propose a self-supervised framework for training the transformer decoder from only a few 3D pointclouds without hand demonstrations. Post-training, the attention field can be applied to novel scenes for semantics-aware dexterous grasping from one-shot demonstration. Experiments show that our method provides better optimization landscapes by encouraging the end-effector to focus on task-relevant scene regions, resulting in significant improvements in success rates on real robots compared with the feature-field-based methods.
Emotional RAG: Enhancing Role-Playing Agents through Emotional Retrieval
Venue: arXiv cs.AI 2024
Year: 2024

As LLMs exhibit a high degree of human-like capability, increasing attention has been paid to role-playing research areas in which responses generated by LLMs are expected to mimic human replies. This has promoted the exploration of role-playing agents in various applications, such as chatbots that can engage in natural conversations with users and virtual assistants that can provide personalized support and guidance. The crucial factor in the role-playing task is the effective utilization of character memory, which stores characters' profiles, experiences, and historical dialogues. Retrieval Augmented Generation (RAG) technology is used to access the related memory to enhance the response generation of role-playing agents. Most existing studies retrieve related information based on the semantic similarity of memory to maintain characters' personalized traits, and few attempts have been made to incorporate the emotional factor in the retrieval argument generation (RAG) of LLMs. Inspired by the Mood-Dependent Memory theory, which indicates that people recall an event better if they somehow reinstate during recall the original emotion they experienced during learning, we propose a novel emotion-aware memory retrieval framework, termed Emotional RAG, which recalls the related memory with consideration of emotional state in role-playing agents. Specifically, we design two kinds of retrieval strategies, i.e., combination strategy and sequential strategy, to incorporate both memory semantic and emotional states during the retrieval process. Extensive experiments on three representative role-playing datasets demonstrate that our Emotional RAG framework outperforms the method without considering the emotional factor in maintaining the personalities of role-playing agents. This provides evidence to further reinforce the Mood-Dependent Memory theory in psychology.
Controlling Language and Diffusion Models by Transporting Activations
Venue: arXiv cs.LG 2024
Year: 2024

The increasing capabilities of large generative models and their ever more widespread deployment have raised concerns about their reliability, safety, and potential misuse. To address these issues, recent works have proposed to control model generation by steering model activations in order to effectively induce or prevent the emergence of concepts or behaviors in the generated output. In this paper we introduce Activation Transport (AcT), a general framework to steer activations guided by optimal transport theory that generalizes many previous activation-steering works. AcT is modality-agnostic and provides fine-grained control over the model behavior with negligible computational overhead, while minimally impacting model abilities. We experimentally show the effectiveness and versatility of our approach by addressing key challenges in large language models (LLMs) and text-to-image diffusion models (T2Is). For LLMs, we show that AcT can effectively mitigate toxicity, induce arbitrary concepts, and increase their truthfulness. In T2Is, we show how AcT enables fine-grained style control and concept negation.
An Event-Based Digital Compute-In-Memory Accelerator with Flexible Operand Resolution and Layer-Wise Weight/Output Stationarity
Venue: arXiv cs.AR 2024
Year: 2024

Compute-in-memory (CIM) accelerators for spiking neural networks (SNNs) are promising solutions to enable $μ$s-level inference latency and ultra-low energy in edge vision applications. Yet, their current lack of flexibility at both the circuit and system levels prevents their deployment in a wide range of real-life scenarios. In this work, we propose a novel digital CIM macro that supports arbitrary operand resolution and shape, with a unified CIM storage for weights and membrane potentials. These circuit-level techniques enable a hybrid weight- and output-stationary dataflow at the system level to maximize operand reuse, thereby minimizing costly on- and off-chip data movements during the SNN execution. Measurement results of a fabricated FlexSpIM prototype in 40-nm CMOS demonstrate a 2$\times$ increase in bit-normalized energy efficiency compared to prior fixed-precision digital CIM-SNNs, while providing resolution reconfiguration with bitwise granularity. Our approach can save up to 90% energy in large-scale systems, while reaching a state-of-the-art classification accuracy of 95.8% on the IBM DVS gesture dataset.
Developing a Self-Explanatory Transformer
Venue: arXiv cs.CR 2024
Year: 2024

While IoT devices provide significant benefits, their rapid growth results in larger data volumes, increased complexity, and higher security risks. To manage these issues, techniques like encryption, compression, and mapping are used to process data efficiently and securely. General-purpose and AI platforms handle these tasks well, but mapping in natural language processing is often slowed by training times. This work explores a self-explanatory, training-free mapping transformer based on non-deterministic finite automata, designed for Field-Programmable Gate Arrays (FPGAs). Besides highlighting the advantages of this proposed approach in providing real-time, cost-effective processing and dataset-loading, we also address the challenges and considerations for enhancing the design in future iterations.
First Place Solution to the ECCV 2024 ROAD++ Challenge @ ROAD++ Atomic Activity Recognition 2024
Venue: arXiv cs.CV 2024
Year: 2024

This report presents our team's technical solution for participating in Track 3 of the 2024 ECCV ROAD++ Challenge. The task of Track 3 is atomic activity recognition, which aims to identify 64 types of atomic activities in road scenes based on video content. Our approach primarily addresses the challenges of small objects, discriminating between single object and a group of objects, as well as model overfitting in this task. Firstly, we construct a multi-branch activity recognition framework that not only separates different object categories but also the tasks of single object and object group recognition, thereby enhancing recognition accuracy. Subsequently, we develop various model ensembling strategies, including integrations of multiple frame sampling sequences, different frame sampling sequence lengths, multiple training epochs, and different backbone networks. Furthermore, we propose an atomic activity recognition data augmentation method, which greatly expands the sample space by flipping video frames and road topology, effectively mitigating model overfitting. Our methods rank first in the test set of Track 3 for the ROAD++ Challenge 2024, and achieve 69% mAP.
Automated Image-Based Identification and Consistent Classification of Fire Patterns with Quantitative Shape Analysis and Spatial Location Identification
Venue: arXiv cs.CV 2024
Year: 2024

Fire patterns, consisting of fire effects that offer insights into fire behavior and origin, are traditionally classified based on investigators' visual observations, leading to subjective interpretations. This study proposes a framework for quantitative fire pattern classification to support fire investigators, aiming for consistency and accuracy. The framework integrates four components. First, it leverages human-computer interaction to extract fire patterns from surfaces, combining investigator expertise with computational analysis. Second, it employs an aspect ratio-based random forest model to classify fire pattern shapes. Third, fire scene point cloud segmentation enables precise identification of fire-affected areas and the mapping of 2D fire patterns to 3D scenes. Lastly, spatial relationships between fire patterns and indoor elements support an interpretation of the fire scene. These components provide a method for fire pattern analysis that synthesizes qualitative and quantitative data. The framework's classification results achieve 93% precision on synthetic data and 83% on real fire patterns.
Why Fine-grained Labels in Pretraining Benefit Generalization?
Venue: arXiv cs.LG 2024
Year: 2024

Recent studies show that pretraining a deep neural network with fine-grained labeled data, followed by fine-tuning on coarse-labeled data for downstream tasks, often yields better generalization than pretraining with coarse-labeled data. While there is ample empirical evidence supporting this, the theoretical justification remains an open problem. This paper addresses this gap by introducing a "hierarchical multi-view" structure to confine the input data distribution. Under this framework, we prove that: 1) coarse-grained pretraining only allows a neural network to learn the common features well, while 2) fine-grained pretraining helps the network learn the rare features in addition to the common ones, leading to improved accuracy on hard downstream test samples.
Reliability of Topic Modeling
Venue: arXiv cs.CL 2024
Year: 2024

Topic models allow researchers to extract latent factors from text data and use those variables in downstream statistical analyses. However, these methodologies can vary significantly due to initialization differences, randomness in sampling procedures, or noisy data. Reliability of these methods is of particular concern as many researchers treat learned topic models as ground truth for subsequent analyses. In this work, we show that the standard practice for quantifying topic model reliability fails to capture essential aspects of the variation in two widely-used topic models. Drawing from a extensive literature on measurement theory, we provide empirical and theoretical analyses of three other metrics for evaluating the reliability of topic models. On synthetic and real-world data, we show that McDonald's $ω$ provides the best encapsulation of reliability. This metric provides an essential tool for validation of topic model methodologies that should be a standard component of any topic model-based research.
Continuous Spatio-Temporal Memory Networks for 4D Cardiac Cine MRI Segmentation
Venue: arXiv cs.CV 2024
Year: 2024

Current cardiac cine magnetic resonance image (cMR) studies focus on the end diastole (ED) and end systole (ES) phases, while ignoring the abundant temporal information in the whole image sequence. This is because whole sequence segmentation is currently a tedious process and inaccurate. Conventional whole sequence segmentation approaches first estimate the motion field between frames, which is then used to propagate the mask along the temporal axis. However, the mask propagation results could be prone to error, especially for the basal and apex slices, where through-plane motion leads to significant morphology and structural change during the cardiac cycle. Inspired by recent advances in video object segmentation (VOS), based on spatio-temporal memory (STM) networks, we propose a continuous STM (CSTM) network for semi-supervised whole heart and whole sequence cMR segmentation. Our CSTM network takes full advantage of the spatial, scale, temporal and through-plane continuity prior of the underlying heart anatomy structures, to achieve accurate and fast 4D segmentation. Results of extensive experiments across multiple cMR datasets show that our method can improve the 4D cMR segmentation performance, especially for the hard-to-segment regions.
ReaWristic: Remote Touch Sensation to Fingers from a Wristband via Visually Augmented Electro-Tactile Feedback
Venue: arXiv cs.HC 2024
Year: 2024

We present a technique for providing remote tactile feedback to the thumb and index finger via a wristband device. This enables haptics for touch and pinch interactions in mixed reality (MR) while keeping the hand entirely free. We achieve this through a novel cross-modal stimulation, which we term visually augmented electro-tactile feedback. This consists of (1) electrically stimulating the nerves that innervate the targeted fingers using our wristband device and (2) concurrently, visually augmenting the targeted finger in MR to steer the perceived sensation to the desired location. In our psychophysics study, we found that our approach provides tactile perception akin to tapping and, even from the wrist, it is capable of delivering the sensation to the targeted fingers with about 50% of sensation occurring in the thumb and about 40% of sensation occurring in the index finger. These results on localizability are unprecedented compared to electro-tactile feedback alone or any prior work for creating sensations in the hand with devices worn on the wrist/arm. Moreover, unlike conventional electro-tactile techniques, our wristband dispenses with gel electrodes. Instead, it incorporates custom-made elastomer-based dry electrodes and a stimulation waveform designed for the electrodes, ensuring the practicality of the device beyond laboratory settings. Lastly, we evaluated the haptic realism of our approach in mixed reality and elicited qualitative feedback from users. Participants preferred our approach to a baseline vibrotactile wrist-worn device.
Commit: Online Groups with Participation Commitments
Venue: arXiv cs.HC 2024
Year: 2024

In spite of efforts to increase participation, many online groups struggle to survive past the initial days, as members leave and activity atrophies. We argue that a main assumption of online group design -- that groups ask nothing of their members beyond lurking -- may be preventing many of these groups from sustaining a critical mass of participation. In this paper, we explore an alternative commitment design for online groups, which requires that all members commit at regular intervals to participating, as a condition of remaining in the group. We instantiate this approach in a mobile group chat platform called Commit, and perform a field study comparing commitment against a control condition of social psychological nudges with N=57 participants over three weeks. Commitment doubled the number of contributions versus the control condition, and resulted in 87% (vs. 19%) of participants remaining active by the third week. Participants reported that commitment provided safe cover for them to post even when they were nervous. Through this work, we argue that more effortful, not less effortful, membership may support many online groups.
Can Models Help Us Create Better Models? Evaluating LLMs as Data Scientists
Venue: arXiv cs.CL 2024
Year: 2024

We present a benchmark for large language models designed to tackle one of the most knowledge-intensive tasks in data science: writing feature engineering code, which requires domain knowledge in addition to a deep understanding of the underlying problem and data structure. The model is provided with a dataset description in a prompt and asked to generate code transforming it. The evaluation score is derived from the improvement achieved by an XGBoost model fit on the modified dataset compared to the original data. By an extensive evaluation of state-of-the-art models and comparison to well-established benchmarks, we demonstrate that the FeatEng of our proposal can cheaply and efficiently assess the broad capabilities of LLMs, in contrast to the existing methods.