OpenRaiser/Intern-Atlas huggingface dataset:
GLA-DA: Global-Local Alignment Domain Adaptation for Multivariate Time Series
Venue: arXiv cs.LG 2024
Year: 2024

Unlike images and natural language tokens, time series data is highly semantically sparse, resulting in labor-intensive label annotations. Unsupervised and Semi-supervised Domain Adaptation (UDA and SSDA) have demonstrated efficiency in addressing this issue by utilizing pre-labeled source data to train on unlabeled or partially labeled target data. However, in domain adaptation methods designed for downstream classification tasks, directly adapting labeled source samples with unlabelled target samples often results in similar distributions across various classes, thereby compromising the performance of the target classification task. To tackle this challenge, we proposed a Global-Local Alignment Domain Adaptation (GLA-DA) method for multivariate time series data. Data from two domains were initially encoded to align in an intermediate feature space adversarially, achieving Global Feature Alignment (GFA). Subsequently, GLA-DA leveraged the consistency between similarity-based and deep learning-based models to assign pseudo labels to unlabeled target data. This process aims to preserve differences among data with distinct labels by aligning the samples with the same class labels together, achieving Local Class Alignment (LCA). We implemented GLA-DA in both UDA and SSDA scenarios, showcasing its superiority over state-of-the-art methods through extensive experiments on various public datasets. Ablation experiments underscored the significance of key components within GLA-DA.
Towards Universality: Studying Mechanistic Similarity Across Language Model Architectures
Venue: arXiv cs.CL 2024
Year: 2024

The hypothesis of Universality in interpretability suggests that different neural networks may converge to implement similar algorithms on similar tasks. In this work, we investigate two mainstream architectures for language modeling, namely Transformers and Mambas, to explore the extent of their mechanistic similarity. We propose to use Sparse Autoencoders (SAEs) to isolate interpretable features from these models and show that most features are similar in these two models. We also validate the correlation between feature similarity and Universality. We then delve into the circuit-level analysis of Mamba models and find that the induction circuits in Mamba are structurally analogous to those in Transformers. We also identify a nuanced difference we call \emph{Off-by-One motif}: The information of one token is written into the SSM state in its next position. Whilst interaction between tokens in Transformers does not exhibit such trend.
Utilizing Transfer Learning and pre-trained Models for Effective Forest Fire Detection: A Case Study of Uttarakhand
Venue: arXiv cs.CV 2024
Year: 2024

Forest fires pose a significant threat to the environment, human life, and property. Early detection and response are crucial to mitigating the impact of these disasters. However, traditional forest fire detection methods are often hindered by our reliability on manual observation and satellite imagery with low spatial resolution. This paper emphasizes the role of transfer learning in enhancing forest fire detection in India, particularly in overcoming data collection challenges and improving model accuracy across various regions. We compare traditional learning methods with transfer learning, focusing on the unique challenges posed by regional differences in terrain, climate, and vegetation. Transfer learning can be categorized into several types based on the similarity between the source and target tasks, as well as the type of knowledge transferred. One key method is utilizing pre-trained models for efficient transfer learning, which significantly reduces the need for extensive labeled data. We outline the transfer learning process, demonstrating how researchers can adapt pre-trained models like MobileNetV2 for specific tasks such as forest fire detection. Finally, we present experimental results from training and evaluating a deep learning model using the Uttarakhand forest fire dataset, showcasing the effectiveness of transfer learning in this context.
On the Achievable Error Rate Performance of Pilot-Aided Simultaneous Communication and Localisation
Venue: arXiv cs.IT 2024
Year: 2024

This paper investigates the symbol error rate (SER) performance of the pilot-aided simultaneous communication and localisation (PASCAL) system. A scenario where multiple drones transmit communication signals to a base station (BS), which needs to simultaneously decode the signals and continuously locate the drones' positions during the communication session, is considered. The BS operates in two stages: first, it estimates the drones' location parameters using pilot signals; second, it performs data detection by reconstructing the channel response based on the estimated location parameters. The theoretical analysis presented demonstrates that the estimated location parameters follow Gaussian distributions with means equal to the actual values and variances determined by the root mean square error (RMSE) of the estimator. Using these distributions, the average SER is derived to quantify the impact of localisation errors on decoding performance. This analysis highlights the synergy between communication and localisation, providing valuable insights into the influence of localisation inaccuracies on the performance of location-aware communication systems. Simulations are conducted to validate the theoretical derivations.
Participatory Budget Allocation Method for Approval Ballots
Venue: arXiv cs.CE 2024
Year: 2024

In this paper, we study the problem of Participatory Budgeting (PB) with approval ballots, inspired by Multi-Winner Voting schemes. We present generalized preference aggregation methods for participatory budgeting, especially for finding seemingly fair budget allocations. To achieve this, we generalize such preference aggregation methods from the well-known methods, namely the Sequential Chamberlin Courant rule and the Sequential Monroe Rule in the realm of social choice theory. Further, we provide an experimental evaluation of the preference aggregation methods using an impartial culture method of preference generation and study the extent to which such polynomial time algorithms satisfy one of the most popular notions of fairness called proportional representation.
Students' Perceptions and Use of Generative AI Tools for Programming Across Different Computing Courses
Venue: arXiv cs.CY 2024
Year: 2024

Investigation of students' perceptions and opinions on the use of generative artificial intelligence (GenAI) in education is a topic gaining much interest. Studies addressing this are typically conducted with large heterogeneous groups, at one moment in time. However, how students perceive and use GenAI tools can potentially depend on many factors, including their background knowledge, familiarity with the tools, and the learning goals and policies of the courses they are taking. In this study we explore how students following computing courses use GenAI for programming-related tasks across different programs and courses: Bachelor and Master, in courses in which learning programming is the learning goal, courses that require programming as a means to achieve another goal, and in courses in which programming is optional, but can be useful. We are also interested in changes over time, since GenAI capabilities are changing at a fast pace, and users are adopting GenAI increasingly. We conducted three consecutive surveys (fall `23, winter `23, and spring `24) among students of all computing programs of a large European research university. We asked questions on the use in education, ethics, and job prospects, and we included specific questions on the (dis)allowed use of GenAI tools in the courses they were taking at the time. We received 264 responses, which we quantitatively and qualitatively analyzed, to find out how students have employed GenAI tools across 59 different computing courses, and whether the opinion of an average student about these tools evolves over time. Our study contributes to the emerging discussion of how to differentiate GenAI use across different courses, and how to align its use with the learning goals of a computing course.
Spectral and Rhythm Features for Audio Classification with Deep Convolutional Neural Networks
Venue: arXiv cs.SD 2024
Year: 2024

Convolutional neural networks (CNNs) are widely used in computer vision. They can be used not only for conventional digital image material to recognize patterns, but also for feature extraction from digital imagery representing spectral and rhythm features extracted from time-domain digital audio signals for the acoustic classification of sounds. Different spectral and rhythm feature representations like mel-scaled spectrograms, mel-frequency cepstral coefficients (MFCCs), cyclic tempograms, short-time Fourier transform (STFT) chromagrams, constant-Q transform (CQT) chromagrams and chroma energy normalized statistics (CENS) chromagrams are investigated in terms of the audio classification performance using a deep convolutional neural network. It can be clearly shown that the mel-scaled spectrograms and the mel-frequency cepstral coefficients (MFCCs) perform significantly better than the other spectral and rhythm features investigated in this research for audio classification tasks using deep CNNs. The experiments were carried out with the aid of the ESC-50 dataset with 2,000 labeled environmental audio recordings.
A Trilogy of AI Safety Frameworks: Paths from Facts and Knowledge Gaps to Reliable Predictions and New Knowledge
Venue: arXiv cs.AI 2024
Year: 2024

AI Safety has become a vital front-line concern of many scientists within and outside the AI community. There are many immediate and long term anticipated risks that range from existential risk to human existence to deep fakes and bias in machine learning systems [1-5]. In this paper, we reduce the full scope and immense complexity of AI safety concerns to a trilogy of three important but tractable opportunities for advances that have the short-term potential to improve AI safety and reliability without reducing AI innovation in critical domains. In this perspective, we discuss this vision based on several case studies that already produced proofs of concept in critical ML applications in biomedical science.
ELMO: Enhanced Real-time LiDAR Motion Capture through Upsampling
Venue: arXiv cs.GR 2024
Year: 2024

This paper introduces ELMO, a real-time upsampling motion capture framework designed for a single LiDAR sensor. Modeled as a conditional autoregressive transformer-based upsampling motion generator, ELMO achieves 60 fps motion capture from a 20 fps LiDAR point cloud sequence. The key feature of ELMO is the coupling of the self-attention mechanism with thoughtfully designed embedding modules for motion and point clouds, significantly elevating the motion quality. To facilitate accurate motion capture, we develop a one-time skeleton calibration model capable of predicting user skeleton offsets from a single-frame point cloud. Additionally, we introduce a novel data augmentation technique utilizing a LiDAR simulator, which enhances global root tracking to improve environmental understanding. To demonstrate the effectiveness of our method, we compare ELMO with state-of-the-art methods in both image-based and point cloud-based motion capture. We further conduct an ablation study to validate our design principles. ELMO's fast inference time makes it well-suited for real-time applications, exemplified in our demo video featuring live streaming and interactive gaming scenarios. Furthermore, we contribute a high-quality LiDAR-mocap synchronized dataset comprising 20 different subjects performing a range of motions, which can serve as a valuable resource for future research. The dataset and evaluation code are available at {\blue \url{https://movin3d.github.io/ELMO_SIGASIA2024/}}
RM4D: A Combined Reachability and Inverse Reachability Map for Common 6-/7-axis Robot Arms by Dimensionality Reduction to 4D
Venue: arXiv cs.RO 2024
Year: 2024

Knowledge of a manipulator's workspace is fundamental for a variety of tasks including robot design, grasp planning and robot base placement. Consequently, workspace representations are well studied in robotics. Two important representations are reachability maps and inverse reachability maps. The former predicts whether a given end-effector pose is reachable from where the robot currently is, and the latter suggests suitable base positions for a desired end-effector pose. Typically, the reachability map is built by discretizing the 6D space containing the robot's workspace and determining, for each cell, whether it is reachable or not. The reachability map is subsequently inverted to build the inverse map. This is a cumbersome process which restricts the applications of such maps. In this work, we exploit commonalities of existing six and seven axis robot arms to reduce the dimension of the discretization from 6D to 4D. We propose Reachability Map 4D (RM4D), a map that only requires a single 4D data structure for both forward and inverse queries. This gives a much more compact map that can be constructed by an order of magnitude faster than existing maps, with no inversion overheads and no loss in accuracy. Our experiments showcase the usefulness of RM4D for grasp planning with a mobile manipulator.
WebTigerPython -- A Low-Floor High-Ceiling Python IDE for the Browser
Venue: arXiv cs.PL 2024
Year: 2024

With the large diversity of platforms and devices used by students, web applications increasingly suggest themselves as the solution of choice. Developing adequate educational programming environments in the browser, however, remains a challenge and often involves trade-offs between desired functionalities and navigating the limitations of web applications, in particular the blocking single-threaded execution model. We introduce a fully browser-based Python programming environment that explores the possibilities and demonstrates that a web application can indeed support a rich and mature set of features, ranging from Turtle graphics over educational robotics to data processing.
Evaluation of Run-Time Energy Efficiency using Controlled Approximation in a RISC-V Core
Venue: arXiv cs.AR 2024
Year: 2024

The limited energy available in most embedded systems poses a significant challenge in enhancing the performance of embedded processors and microcontrollers. One promising approach to address this challenge is the use of approximate computing, which can be implemented in both hardware and software layers to balance the trade-off between performance and power consumption. In this study, the impact of dynamic hardware approximation methods on the run-time energy efficiency of a RISC-V embedded processor with specialized features for approximate computing is investigated. The results indicate that the platform achieves an average energy efficiency of 13.3 pJ/instruction at a 500MHz clock frequency adhering approximation in 45nm CMOS technology. Compared to accurate circuits and computation, the approximate computing techniques in the processing core resulted in a significant improvement of 9.21% in overall energy efficiency, 60.83% in multiplication instructions, 14.64% in execution stage, and 9.23% in overall power consumption.
Stanceformer: Target-Aware Transformer for Stance Detection
Venue: arXiv cs.CL 2024
Year: 2024

The task of Stance Detection involves discerning the stance expressed in a text towards a specific subject or target. Prior works have relied on existing transformer models that lack the capability to prioritize targets effectively. Consequently, these models yield similar performance regardless of whether we utilize or disregard target information, undermining the task's significance. To address this challenge, we introduce Stanceformer, a target-aware transformer model that incorporates enhanced attention towards the targets during both training and inference. Specifically, we design a \textit{Target Awareness} matrix that increases the self-attention scores assigned to the targets. We demonstrate the efficacy of the Stanceformer with various BERT-based models, including state-of-the-art models and Large Language Models (LLMs), and evaluate its performance across three stance detection datasets, alongside a zero-shot dataset. Our approach Stanceformer not only provides superior performance but also generalizes even to other domains, such as Aspect-based Sentiment Analysis. We make the code publicly available.\footnote{\scriptsize\url{https://github.com/kgarg8/Stanceformer}}
Towards Realistic UAV Vision-Language Navigation: Platform, Benchmark, and Methodology
Venue: arXiv cs.CV 2024
Year: 2024

Developing agents capable of navigating to a target location based on language instructions and visual information, known as vision-language navigation (VLN), has attracted widespread interest. Most research has focused on ground-based agents, while UAV-based VLN remains relatively underexplored. Recent efforts in UAV vision-language navigation predominantly adopt ground-based VLN settings, relying on predefined discrete action spaces and neglecting the inherent disparities in agent movement dynamics and the complexity of navigation tasks between ground and aerial environments. To address these disparities and challenges, we propose solutions from three perspectives: platform, benchmark, and methodology. To enable realistic UAV trajectory simulation in VLN tasks, we propose the OpenUAV platform, which features diverse environments, realistic flight control, and extensive algorithmic support. We further construct a target-oriented VLN dataset consisting of approximately 12k trajectories on this platform, serving as the first dataset specifically designed for realistic UAV VLN tasks. To tackle the challenges posed by complex aerial environments, we propose an assistant-guided UAV object search benchmark called UAV-Need-Help, which provides varying levels of guidance information to help UAVs better accomplish realistic VLN tasks. We also propose a UAV navigation LLM that, given multi-view images, task descriptions, and assistant instructions, leverages the multimodal understanding capabilities of the MLLM to jointly process visual and textual information, and performs hierarchical trajectory generation. The evaluation results of our method significantly outperform the baseline models, while there remains a considerable gap between our results and those achieved by human operators, underscoring the challenge presented by the UAV-Need-Help task.
FAIR GPT: A virtual consultant for research data management in ChatGPT
Venue: arXiv cs.DL 2024
Year: 2024

FAIR GPT is a first virtual consultant in ChatGPT designed to help researchers and organizations make their data and metadata compliant with the FAIR (Findable, Accessible, Interoperable, Reusable) principles. It provides guidance on metadata improvement, dataset organization, and repository selection. To ensure accuracy, FAIR GPT uses external APIs to assess dataset FAIRness, retrieve controlled vocabularies, and recommend repositories, minimizing hallucination and improving precision. It also assists in creating documentation (data and software management plans, README files, and codebooks), and selecting proper licenses. This paper describes its features, applications, and limitations.
Generating Topologically and Geometrically Diverse Manifold Data in Dimensions Four and Below
Venue: arXiv cs.CV 2024
Year: 2024

Understanding the topological characteristics of data is important to many areas of research. Recent work has demonstrated that synthetic 4D image-type data can be useful to train 4D convolutional neural network models to see topological features in these data. These models also appear to tolerate the use of image preprocessing techniques where existing topological data analysis techniques such as persistent homology do not. This paper investigates how methods from algebraic topology, combined with image processing techniques such as morphology, can be used to generate topologically sophisticated and diverse-looking 2-, 3-, and 4D image-type data with topological labels in simulation. These approaches are illustrated in 2D and 3D with the aim of providing a roadmap towards achieving this in 4D.
Analysis of vessel traffic flow characteristics in inland restricted waterways using multi-source data
Venue: arXiv cs.CE 2024
Year: 2024

To effectively manage vessel traffic and alleviate congestion on busy inland waterways, a comprehensive understanding of vessel traffic flow characteristics is crucial. However, limited data availability has resulted in minimal research on the traffic flow characteristics of inland waterway vessels. This study addresses this gap by conducting vessel-following experiments and fixed-point video monitoring in inland waterways, collecting multi-source data to analyze vessel traffic flow characteristics. First, the analysis of vessel speed distribution identifies the economic speed for vessels operating in these environments. Next, the relationship between microscopic vessel speed and gap distance is examined, with the logarithmic model emerging as the most accurate among various tested models. Additionally, the study explores the relationships among macroscopic speed, density, and flow rate, proposing a novel piecewise fundamental diagram model to describe these relationships. Lastly, the inland vessel traffic states are categorized using K-means clustering algorithm and applied to vessel navigation services. These findings provide valuable insights for enhancing inland waterway transportation and advancing the development of an integrated waterway transportation system.
Stochastic Process Turing Machines
Venue: arXiv cs.CC 2024
Year: 2024

Computer science theory provides many different measures of complexity of a system including Kolmogorov complexity, logical depth, computational depth, and Levin complexity. However, these measures are all defined only for deterministic Turing machines, i.e., deterministic dynamics of the underlying generative process whose output we are interested in. Therefore, by construction they cannot capture complexity of the output of stochastic processes - like those in the real world. Motivated by this observation, we combine probabilistic Turing machines with a prior over the inputs to the Turing machine to define a complete stochastic process of Turing machines. We call this a stochastic process Turing machine. We use stochastic process Turing machines to define a set of new generative complexity measures based on Turing machines, which we call stochastic depth. As we discuss, stochastic depth is related to other such measures including Kolmogorov complexity and Levin complexity. However, as we elaborate, it has many desirable properties that those others measures lack. In addition, stochastic depth is closely related to various thermodynamic properties of computational systems. Stochastic process Turing machines and stochastic depth allow us to study complex, stochastic systems like the human brain, societies, and evolution all from within the framework of formal computation.