OpenRaiser/Intern-Atlas huggingface dataset:
Provably Stabilizing Global-Position Tracking Control for Hybrid Models of Multi-Domain Bipedal Walking via Multiple Lyapunov Analysis
Venue: arXiv cs.RO 2023
Year: 2023

Accurate control of a humanoid robot's global position (i.e., its three-dimensional position in the world) is critical to the reliable execution of high-risk tasks such as avoiding collision with pedestrians in a crowded environment. This paper introduces a time-based nonlinear control method that achieves accurate global-position tracking (GPT) for multi-domain bipedal walking. Deriving a tracking controller for bipedal robots is challenging due to the highly complex robot dynamics that are time-varying and hybrid, especially for multi-domain walking that involves multiple phases/domains of full actuation, over actuation, and underactuation. To tackle this challenge, we introduce a continuous-phase GPT control law for multi-domain walking, which provably ensures the exponential convergence of the entire error state within the full and over actuation domains and that of the directly regulated error state within the underactuation domain. We then construct sufficient multiple-Lyapunov stability conditions for the hybrid multi-domain tracking error system under the proposed GPT control law. We illustrate the proposed controller design through both three-domain walking with all motors activated and two-domain gait with inactive ankle motors. Simulations of a ROBOTIS OP3 bipedal humanoid robot demonstrate the satisfactory accuracy and convergence rate of the proposed control approach under two different cases of multi-domain walking as well as various walking speeds and desired paths.
Vision Conformer: Incorporating Convolutions into Vision Transformer Layers
Venue: arXiv cs.CV 2023
Year: 2023

Transformers are popular neural network models that use layers of self-attention and fully-connected nodes with embedded tokens. Vision Transformers (ViT) adapt transformers for image recognition tasks. In order to do this, the images are split into patches and used as tokens. One issue with ViT is the lack of inductive bias toward image structures. Because ViT was adapted for image data from language modeling, the network does not explicitly handle issues such as local translations, pixel information, and information loss in the structures and features shared by multiple patches. Conversely, Convolutional Neural Networks (CNN) incorporate this information. Thus, in this paper, we propose the use of convolutional layers within ViT. Specifically, we propose a model called a Vision Conformer (ViC) which replaces the Multi-Layer Perceptron (MLP) in a ViT layer with a CNN. In addition, to use the CNN, we proposed to reconstruct the image data after the self-attention in a reverse embedding layer. Through the evaluation, we demonstrate that the proposed convolutions help improve the classification ability of ViT.
A barrier for further approximating Sorting By Transpositions
Venue: arXiv cs.DS 2023
Year: 2023

The Transposition Distance Problem (TDP) is a classical problem in genome rearrangements which seeks to determine the minimum number of transpositions needed to transform a linear chromosome into another represented by the permutations $π$ and $σ$, respectively. This paper focuses on the equivalent problem of Sorting By Transpositions (SBT), where $σ$ is the identity permutation $ι$. Specifically, we investigate palisades, a family of permutations that are "hard" to sort, as they require numerous transpositions above the celebrated lower bound devised by Bafna and Pevzner. By determining the transposition distance of palisades, we were able to provide the exact transposition diameter for $3$-permutations (TD3), a special subset of the Symmetric Group $S_n$, essential for the study of approximate solutions for SBT using the simplification technique. The exact value for TD3 has remained unknown since Elias and Hartman showed an upper bound for it. Another consequence of determining the transposition distance of palisades is that, using as lower bound the one by Bafna and Pevzner, it is impossible to guarantee approximation ratios lower than $1.375$ when approximating SBT. This finding has significant implications for the study of SBT, as this problem has been subject of intense research efforts for the past 25 years.
Mimic-IV-ICD: A new benchmark for eXtreme MultiLabel Classification
Venue: arXiv cs.AI 2023
Year: 2023

Clinical notes are assigned ICD codes - sets of codes for diagnoses and procedures. In the recent years, predictive machine learning models have been built for automatic ICD coding. However, there is a lack of widely accepted benchmarks for automated ICD coding models based on large-scale public EHR data. This paper proposes a public benchmark suite for ICD-10 coding using a large EHR dataset derived from MIMIC-IV, the most recent public EHR dataset. We implement and compare several popular methods for ICD coding prediction tasks to standardize data preprocessing and establish a comprehensive ICD coding benchmark dataset. This approach fosters reproducibility and model comparison, accelerating progress toward employing automated ICD coding in future studies. Furthermore, we create a new ICD-9 benchmark using MIMIC-IV data, providing more data points and a higher number of ICD codes than MIMIC-III. Our open-source code offers easy access to data processing steps, benchmark creation, and experiment replication for those with MIMIC-IV access, providing insights, guidance, and protocols to efficiently develop ICD coding models.
Explicit Constructions of Optimal $(r,δ)$-Locally Repairable Codes
Venue: arXiv cs.IT 2023
Year: 2023

Locally repairable codes (LRCs) have recently been widely used in distributed storage systems and the LRCs with $(r,δ)$-locality ($(r,δ)$-LRCs) attracted a lot of interest for tolerating multiple erasures. Ge et al. constructed $(r,δ)$-LRCs with unbounded code length and optimal minimum distance when $δ+1 \leq d \leq 2δ$ from the parity-check matrix equipped with the Vandermonde structure, but the block length is limited by the size of $\mathbb{F}_q$. In this paper, we propose a more general construction of $(r,δ)$-LRCs through the parity-check matrix. Furthermore, with the help of MDS codes, we give three classes of explicit constructions of optimal $(r,δ)$-LRCs with block length beyond $q$. It turns out that 1) our general construction extends the results of Ge et al. and 2) our explicit constructions yield some optimal $(r,δ)$-LRCs with new parameters.
Boosting Big Brother: Attacking Search Engines with Encodings
Venue: arXiv cs.CR 2023
Year: 2023

Search engines are vulnerable to attacks against indexing and searching via text encoding manipulation. By imperceptibly perturbing text using uncommon encoded representations, adversaries can control results across search engines for specific search queries. We demonstrate that this attack is successful against two major commercial search engines - Google and Bing - and one open source search engine - Elasticsearch. We further demonstrate that this attack is successful against LLM chat search including Bing's GPT-4 chatbot and Google's Bard chatbot. We also present a variant of the attack targeting text summarization and plagiarism detection models, two ML tasks closely tied to search. We provide a set of defenses against these techniques and warn that adversaries can leverage these attacks to launch disinformation campaigns against unsuspecting users, motivating the need for search engine maintainers to patch deployed systems.
Comparison of Optimization-Based Methods for Energy-Optimal Quadrotor Motion Planning
Venue: arXiv cs.RO 2023
Year: 2023

Quadrotors are agile flying robots that are challenging to control. Considering the full dynamics of quadrotors during motion planning is crucial to achieving good solution quality and small tracking errors during flight. Optimization-based methods scale well with high-dimensional state spaces and can handle dynamic constraints directly, therefore they are often used in these scenarios. The resulting optimization problem is notoriously difficult to solve due to its nonconvex constraints. In this work, we present an analysis of four solvers for nonlinear trajectory optimization (KOMO, direct collocation with SCvx, direct collocation with CasADi, Crocoddyl) and evaluate their performance in scenarios where the solvers are tasked to find minimum-effort solutions to geometrically complex problems and problems requiring highly dynamic solutions. Benchmarking these methods helps to determine the best algorithm structures for these kinds of problems.
The CRAM Cognitive Architecture for Robot Manipulation in Everyday Activities
Venue: arXiv cs.RO 2023
Year: 2023

This paper presents a hybrid robot cognitive architecture, CRAM, that enables robot agents to accomplish everyday manipulation tasks. It addresses five key challenges that arise when carrying out everyday activities. These include (i) the underdetermined nature of task specification, (ii) the generation of context-specific behavior, (iii) the ability to make decisions based on knowledge, experience, and prediction, (iv) the ability to reason at the levels of motions and sensor data, and (v) the ability to explain actions and the consequences of these actions. We explore the computational foundations of the CRAM cognitive model: the self-programmability entailed by physical symbol systems, the CRAM plan language, generalized action plans and implicit-to-explicit manipulation, generative models, digital twin knowledge representation & reasoning, and narrative-enabled episodic memories. We describe the structure of the cognitive architecture and explain the process by which CRAM transforms generalized action plans into parameterized motion plans. It does this using knowledge and reasoning to identify the parameter values that maximize the likelihood of successfully accomplishing the action. We demonstrate the ability of a CRAM-controlled robot to carry out everyday activities in a kitchen environment. Finally, we consider future extensions that focus on achieving greater flexibility through transformational learning and metacognition.
Density Invariant Contrast Maximization for Neuromorphic Earth Observations
Venue: arXiv cs.CV 2023
Year: 2023

Contrast maximization (CMax) techniques are widely used in event-based vision systems to estimate the motion parameters of the camera and generate high-contrast images. However, these techniques are noise-intolerance and suffer from the multiple extrema problem which arises when the scene contains more noisy events than structure, causing the contrast to be higher at multiple locations. This makes the task of estimating the camera motion extremely challenging, which is a problem for neuromorphic earth observation, because, without a proper estimation of the motion parameters, it is not possible to generate a map with high contrast, causing important details to be lost. Similar methods that use CMax addressed this problem by changing or augmenting the objective function to enable it to converge to the correct motion parameters. Our proposed solution overcomes the multiple extrema and noise-intolerance problems by correcting the warped event before calculating the contrast and offers the following advantages: it does not depend on the event data, it does not require a prior about the camera motion, and keeps the rest of the CMax pipeline unchanged. This is to ensure that the contrast is only high around the correct motion parameters. Our approach enables the creation of better motion-compensated maps through an analytical compensation technique using a novel dataset from the International Space Station (ISS). Code is available at \url{https://github.com/neuromorphicsystems/event_warping}
Why not both? Complementing explanations with uncertainty, and the role of self-confidence in Human-AI collaboration
Venue: arXiv cs.AI 2023
Year: 2023

AI and ML models have already found many applications in critical domains, such as healthcare and criminal justice. However, fully automating such high-stakes applications can raise ethical or fairness concerns. Instead, in such cases, humans should be assisted by automated systems so that the two parties reach a joint decision, stemming out of their interaction. In this work we conduct an empirical study to identify how uncertainty estimates and model explanations affect users' reliance, understanding, and trust towards a model, looking for potential benefits of bringing the two together. Moreover, we seek to assess how users' behaviour is affected by their own self-confidence in their abilities to perform a certain task, while we also discuss how the latter may distort the outcome of an analysis based on agreement and switching percentages.
VERITE: A Robust Benchmark for Multimodal Misinformation Detection Accounting for Unimodal Bias
Venue: arXiv cs.CV 2023
Year: 2023

Multimedia content has become ubiquitous on social media platforms, leading to the rise of multimodal misinformation (MM) and the urgent need for effective strategies to detect and prevent its spread. In recent years, the challenge of multimodal misinformation detection (MMD) has garnered significant attention by researchers and has mainly involved the creation of annotated, weakly annotated, or synthetically generated training datasets, along with the development of various deep learning MMD models. However, the problem of unimodal bias has been overlooked, where specific patterns and biases in MMD benchmarks can result in biased or unimodal models outperforming their multimodal counterparts on an inherently multimodal task; making it difficult to assess progress. In this study, we systematically investigate and identify the presence of unimodal bias in widely-used MMD benchmarks, namely VMU-Twitter and COSMOS. To address this issue, we introduce the "VERification of Image-TExt pairs" (VERITE) benchmark for MMD which incorporates real-world data, excludes "asymmetric multimodal misinformation" and utilizes "modality balancing". We conduct an extensive comparative study with a Transformer-based architecture that shows the ability of VERITE to effectively address unimodal bias, rendering it a robust evaluation framework for MMD. Furthermore, we introduce a new method -- termed Crossmodal HArd Synthetic MisAlignment (CHASMA) -- for generating realistic synthetic training data that preserve crossmodal relations between legitimate images and false human-written captions. By leveraging CHASMA in the training process, we observe consistent and notable improvements in predictive performance on VERITE; with a 9.2% increase in accuracy. We release our code at: https://github.com/stevejpapad/image-text-verification
Spiking Neural Network Decision Feedback Equalization for IM/DD Systems
Venue: arXiv cs.NE 2023
Year: 2023

A spiking neural network (SNN) equalizer with a decision feedback structure is applied to an IM/DD link with various parameters. The SNN outperforms linear and artificial neural network (ANN) based equalizers.
Singularity Distance Computations for 3-RPR Manipulators Using Extrinsic Metrics
Venue: arXiv cs.RO 2023
Year: 2023

It is well-known that parallel manipulators are prone to singularities. However, there is still a lack of distance evaluation functions, referred to as metrics, for computing the distance between two 3-RPR configurations. The proposed extrinsic metrics take the combinatorial structure of the manipulator into account as well as different design options. Utilizing these extrinsic metrics, we formulate constrained optimization problems. These problems are aimed at identifying the closest singular configurations for a given non-singular configuration. The solution to the associated system of polynomial equations relies on algorithms from numerical algebraic geometry implemented in the software package \texttt{Bertini}. Furthermore, we have developed a computational pipeline for determining the distance to singularity during a one-parametric motion of the manipulator. To facilitate these computations for the user, an open-source interface is developed between software packages \texttt{Maple}, \texttt{Bertini}, and \texttt{Paramotopy}. The effectiveness of the presented approach is demonstrated based on numerical examples and compared with existing indices evaluating the singularity closeness.
A transparent approach to data representation
Venue: arXiv cs.LG 2023
Year: 2023

We use a binary attribute representation (BAR) model to describe a data set of Netflix viewers' ratings of movies. We classify the viewers with discrete bits rather than continuous parameters, which makes the representation compact and transparent. The attributes are easy to interpret, and we need far fewer attributes than similar methods do to achieve the same level of error. We also take advantage of the nonuniform distribution of ratings among the movies in the data set to train on a small selection of movies without compromising performance on the rest of the movies.
Evaluating the Impact of Pair Documentation on Requirements Quality and Team Productivity
Venue: arXiv cs.SE 2023
Year: 2023

The most important deliverable of the requirements engineering process is the software requirements specification(SRS)document. Requirements documentation is important during the complete software development lifecycle to share the vision and effective communication between major stakeholders. The Standish Group reported that the top factors behind project failures are related to requirements. By giving the right level of attention to key requirements good quality software can be produced. Therefore, more research is needed in this area and this study is trying to fill this gap. This empirical study aims to examine the importance of pair documentation. Unconventional documentation refers to the approach when two persons work on the same document's requirements collaboratively just like pair programming on the requirements quality and team productivity. Twenty pairs of documentation writers worked into two groups. one group using pair documentation, i.e., the experimental group, and the other one using conventional documentation, i.e., the control group. the resultant requirement's documents for the same project, produced by both groups were then compared. It is observed that there is a significant improvement in the quality and productivity of the experimental group using pair documentation. The findings of this study may assist requirement engineers in forming efficient teams that can create high-quality SRS documents.
Adaptive manifold for imbalanced transductive few-shot learning
Venue: arXiv cs.CV 2023
Year: 2023

Transductive few-shot learning algorithms have showed substantially superior performance over their inductive counterparts by leveraging the unlabeled queries. However, the vast majority of such methods are evaluated on perfectly class-balanced benchmarks. It has been shown that they undergo remarkable drop in performance under a more realistic, imbalanced setting. To this end, we propose a novel algorithm to address imbalanced transductive few-shot learning, named Adaptive Manifold. Our method exploits the underlying manifold of the labeled support examples and unlabeled queries by using manifold similarity to predict the class probability distribution per query. It is parameterized by one centroid per class as well as a set of graph-specific parameters that determine the manifold. All parameters are optimized through a loss function that can be tuned towards class-balanced or imbalanced distributions. The manifold similarity shows substantial improvement over Euclidean distance, especially in the 1-shot setting. Our algorithm outperforms or is on par with other state of the art methods in three benchmark datasets, namely miniImageNet, tieredImageNet and CUB, and three different backbones, namely ResNet-18, WideResNet-28-10 and DenseNet-121. In certain cases, our algorithm outperforms the previous state of the art by as much as 4.2%.
Pushing the Boundaries of Tractable Multiperspective Reasoning: A Deduction Calculus for Standpoint EL+
Venue: arXiv cs.AI 2023
Year: 2023

Standpoint EL is a multi-modal extension of the popular description logic EL that allows for the integrated representation of domain knowledge relative to diverse standpoints or perspectives. Advantageously, its satisfiability problem has recently been shown to be in PTime, making it a promising framework for large-scale knowledge integration. In this paper, we show that we can further push the expressivity of this formalism, arriving at an extended logic, called Standpoint EL+, which allows for axiom negation, role chain axioms, self-loops, and other features, while maintaining tractability. This is achieved by designing a satisfiability-checking deduction calculus, which at the same time addresses the need for practical algorithms. We demonstrate the feasibility of our calculus by presenting a prototypical Datalog implementation of its deduction rules.
A Simple and Efficient Parallel Laplacian Solver
Venue: arXiv cs.DS 2023
Year: 2023

A symmetric matrix is called a Laplacian if it has nonpositive off-diagonal entries and zero row sums. Since the seminal work of Spielman and Teng (2004) on solving Laplacian linear systems in nearly linear time, several algorithms have been designed for the task. Yet, the work of Kyng and Sachdeva (2016) remains the simplest and most practical sequential solver. They presented a solver purely based on random sampling and without graph-theoretic constructions such as low-stretch trees and sparsifiers. In this work, we extend the result of Kyng and Sachdeva to a simple parallel Laplacian solver with $O(m \log^3 n \log\log n)$ or $O((m + n\log^5 n)\log n \log\log n)$ work and $O(\log^2 n \log\log n)$ depth using the ideas of block Cholesky factorization from Kyng et al. (2016). Compared to the best known parallel Laplacian solvers that achieve polylogarithmic depth due to Lee et al. (2015), our solver achieves both better depth and, for dense graphs, better work.
Private Information Retrieval and Its Applications: An Introduction, Open Problems, Future Directions
Venue: arXiv cs.IT 2023
Year: 2023

Private information retrieval (PIR) is a privacy setting that allows a user to download a required message from a set of messages stored in a system of databases without revealing the index of the required message to the databases. PIR was introduced under computational privacy guarantees, and is recently re-formulated to provide information-theoretic guarantees, resulting in \emph{information theoretic privacy}. Subsequently, many important variants of the basic PIR problem have been studied focusing on fundamental performance limits as well as achievable schemes. More recently, a variety of conceptual extensions of PIR have been introduced, such as, private set intersection (PSI), private set union (PSU), and private read-update-write (PRUW). Some of these extensions are mainly intended to solve the privacy issues that arise in distributed learning applications due to the extensive dependency of machine learning on users' private data. In this article, we first provide an introduction to basic PIR with examples, followed by a brief description of its immediate variants. We then provide a detailed discussion on the conceptual extensions of PIR, along with potential research directions.