OpenRaiser/Intern-Atlas huggingface dataset:
Toward Precise Robotic Weed Flaming Using a Mobile Manipulator with a Flamethrower
Venue: arXiv cs.RO 2024
Year: 2024

Robotic weed flaming is a new and environmentally friendly approach to weed removal in the agricultural field. Using a mobile manipulator equipped with a flamethrower, we design a new system and algorithm to enable effective weed flaming, which requires robotic manipulation with a soft and deformable end effector, as the thermal coverage of the flame is affected by dynamic or unknown environmental factors such as gravity, wind, atmospheric pressure, fuel tank pressure, and pose of the nozzle. System development includes overall design, hardware integration, and software pipeline. To enable precise weed removal, the greatest challenge is to detect and predict dynamic flame coverage in real time before motion planning, which is quite different from a conventional rigid gripper in grasping or a spray gun in painting. Based on the images from two onboard infrared cameras and the pose information of the flamethrower nozzle on a mobile manipulator, we propose a new dynamic flame coverage model. The flame model uses a center-arc curve with a Gaussian cross-section model to describe the flame coverage in real time. The experiments have demonstrated the working system and shown that our model and algorithm can achieve a mean average precision (mAP) of more than 76\% in the reprojected images during online prediction.
Towards Context-Aware Emotion Recognition Debiasing from a Causal Demystification Perspective via De-confounded Training
Venue: arXiv cs.CV 2024
Year: 2024

Understanding emotions from diverse contexts has received widespread attention in computer vision communities. The core philosophy of Context-Aware Emotion Recognition (CAER) is to provide valuable semantic cues for recognizing the emotions of target persons by leveraging rich contextual information. Current approaches invariably focus on designing sophisticated structures to extract perceptually critical representations from contexts. Nevertheless, a long-neglected dilemma is that a severe context bias in existing datasets results in an unbalanced distribution of emotional states among different contexts, causing biased visual representation learning. From a causal demystification perspective, the harmful bias is identified as a confounder that misleads existing models to learn spurious correlations based on likelihood estimation, limiting the models' performance. To address the issue, we embrace causal inference to disentangle the models from the impact of such bias, and formulate the causalities among variables in the CAER task via a customized causal graph. Subsequently, we present a Contextual Causal Intervention Module (CCIM) to de-confound the confounder, which is built upon backdoor adjustment theory to facilitate seeking approximate causal effects during model training. As a plug-and-play component, CCIM can easily integrate with existing approaches and bring significant improvements. Systematic experiments on three datasets demonstrate the effectiveness of our CCIM.
Calorie Burn Estimation in Community Parks Through DLICP: A Mathematical Modelling Approach
Venue: arXiv cs.CV 2024
Year: 2024

Community parks play a crucial role in promoting physical activity and overall well-being. This study introduces DLICP (Deep Learning Integrated Community Parks), an innovative approach that combines deep learning techniques specifically, face recognition technology with a novel walking activity measurement algorithm to enhance user experience in community parks. The DLICP utilizes a camera with face recognition software to accurately identify and track park users. Simultaneously, a walking activity measurement algorithm calculates parameters such as the average pace and calories burned, tailored to individual attributes. Extensive evaluations confirm the precision of DLICP, with a Mean Absolute Error (MAE) of 5.64 calories and a Mean Percentage Error (MPE) of 1.96%, benchmarked against widely available fitness measurement devices, such as the Apple Watch Series 6. This study contributes significantly to the development of intelligent smart park systems, enabling real-time updates on burned calories and personalized fitness tracking.
Scalable Variational Causal Discovery Unconstrained by Acyclicity
Venue: arXiv cs.LG 2024
Year: 2024

Bayesian causal discovery offers the power to quantify epistemic uncertainties among a broad range of structurally diverse causal theories potentially explaining the data, represented in forms of directed acyclic graphs (DAGs). However, existing methods struggle with efficient DAG sampling due to the complex acyclicity constraint. In this study, we propose a scalable Bayesian approach to effectively learn the posterior distribution over causal graphs given observational data thanks to the ability to generate DAGs without explicitly enforcing acyclicity. Specifically, we introduce a novel differentiable DAG sampling method that can generate a valid acyclic causal graph by mapping an unconstrained distribution of implicit topological orders to a distribution over DAGs. Given this efficient DAG sampling scheme, we are able to model the posterior distribution over causal graphs using a simple variational distribution over a continuous domain, which can be learned via the variational inference framework. Extensive empirical experiments on both simulated and real datasets demonstrate the superior performance of the proposed model compared to several state-of-the-art baselines.
SurgicalGaussian: Deformable 3D Gaussians for High-Fidelity Surgical Scene Reconstruction
Venue: arXiv cs.CV 2024
Year: 2024

Dynamic reconstruction of deformable tissues in endoscopic video is a key technology for robot-assisted surgery. Recent reconstruction methods based on neural radiance fields (NeRFs) have achieved remarkable results in the reconstruction of surgical scenes. However, based on implicit representation, NeRFs struggle to capture the intricate details of objects in the scene and cannot achieve real-time rendering. In addition, restricted single view perception and occluded instruments also propose special challenges in surgical scene reconstruction. To address these issues, we develop SurgicalGaussian, a deformable 3D Gaussian Splatting method to model dynamic surgical scenes. Our approach models the spatio-temporal features of soft tissues at each time stamp via a forward-mapping deformation MLP and regularization to constrain local 3D Gaussians to comply with consistent movement. With the depth initialization strategy and tool mask-guided training, our method can remove surgical instruments and reconstruct high-fidelity surgical scenes. Through experiments on various surgical videos, our network outperforms existing method on many aspects, including rendering quality, rendering speed and GPU usage. The project page can be found at https://surgicalgaussian.github.io.
ProACT: An Augmented Reality Testbed for Intelligent Prosthetic Arms
Venue: arXiv cs.RO 2024
Year: 2024

Upper-limb amputees face tremendous difficulty in operating dexterous powered prostheses. Previous work has shown that aspects of prosthetic hand, wrist, or elbow control can be improved through "intelligent" control, by combining movement-based or gaze-based intent estimation with low-level robotic autonomy. However, no such solutions exist for whole-arm control. Moreover, hardware platforms for advanced prosthetic control are expensive, and existing simulation platforms are not well-designed for integration with robotics software frameworks. We present the Prosthetic Arm Control Testbed (ProACT), a platform for evaluating intelligent control methods for prosthetic arms in an immersive (Augmented Reality) simulation setting. We demonstrate the use of ProACT through preliminary studies, with non-amputee participants performing an adapted Box-and-Blocks task with and without intent estimation. We further discuss how our observations may inform the design of prosthesis control methods, as well as the design of future studies using the platform. To the best of our knowledge, this constitutes the first study of semi-autonomous control for complex whole-arm prostheses, the first study including sequential task modeling in the context of wearable prosthetic arms, and the first testbed of its kind. Towards the goal of supporting future research in intelligent prosthetics, the system is built upon on existing open-source frameworks for robotics, and is available at https://arm.stanford.edu/proact.
Reverse Engineered MiniFS File System
Venue: arXiv cs.CR 2024
Year: 2024

In an era where digital connectivity is increasingly foundational to daily life, the security of Wi-Fi Access Points (APs) is a critical concern. This paper addresses the vulnerabilities inherent in Wi-Fi APs, with a particular focus on those using proprietary file systems like MiniFS found in TP-Link's AC1900 WiFi router. Through reverse engineering, we unravel the structure and operation of MiniFS, marking a significant advancement in our understanding of this previously opaque file system. Our investigation reveals not only the architecture of MiniFS but also identifies several private keys and underscores a concerning lack of cryptographic protection. These findings point to broader security vulnerabilities, emphasizing the risks of security-by-obscurity practices in an interconnected environment. Our contributions are twofold: firstly, based, on the file system structure, we develop a methodology for the extraction and analysis of MiniFS, facilitating the identification and mitigation of potential vulnerabilities. Secondly, our work lays the groundwork for further research into WiFi APs' security, particularly those running on similar proprietary systems. By highlighting the critical need for transparency and community engagement in firmware analysis, this study contributes to the development of more secure network devices, thus enhancing the overall security posture of digital infrastructures.
The Role of Depth, Width, and Tree Size in Expressiveness of Deep Forest
Venue: arXiv cs.LG 2024
Year: 2024

Random forests are classical ensemble algorithms that construct multiple randomized decision trees and aggregate their predictions using naive averaging. \citet{zhou2019deep} further propose a deep forest algorithm with multi-layer forests, which outperforms random forests in various tasks. The performance of deep forests is related to three hyperparameters in practice: depth, width, and tree size, but little has been known about its theoretical explanation. This work provides the first upper and lower bounds on the approximation complexity of deep forests concerning the three hyperparameters. Our results confirm the distinctive role of depth, which can exponentially enhance the expressiveness of deep forests compared with width and tree size. Experiments confirm the theoretical findings.
Approximating the Fréchet distance when only one curve is $c$-packed
Venue: arXiv cs.CG 2024
Year: 2024

One approach to studying the Fréchet distance is to consider curves that satisfy realistic assumptions. By now, the most popular realistic assumption for curves is $c$-packedness. Existing algorithms for computing the Fréchet distance between $c$-packed curves require both curves to be $c$-packed. In this paper, we only require one of the two curves to be $c$-packed. Our result is a nearly-linear time algorithm that $(1+\varepsilon)$-approximates the Fréchet distance between a $c$-packed curve and a general curve in $\mathbb R^d$, for constant values of $\varepsilon$, $d$ and $c$.
Solving for X and Beyond: Can Large Language Models Solve Complex Math Problems with More-Than-Two Unknowns?
Venue: arXiv cs.AI 2024
Year: 2024

Large Language Models (LLMs) have demonstrated remarkable performance in solving math problems, a hallmark of human intelligence. Despite high success rates on current benchmarks; however, these often feature simple problems with only one or two unknowns, which do not sufficiently challenge their reasoning capacities. This paper introduces a novel benchmark, BeyondX, designed to address these limitations by incorporating problems with multiple unknowns. Recognizing the challenges in proposing multi-unknown problems from scratch, we developed BeyondX using an innovative automated pipeline that progressively increases complexity by expanding the number of unknowns in simpler problems. Empirical study on BeyondX reveals that the performance of existing LLMs, even those fine-tuned specifically on math tasks, significantly decreases as the number of unknowns increases - with a performance drop of up to 70\% observed in GPT-4. To tackle these challenges, we propose the Formulate-and-Solve strategy, a generalized prompting approach that effectively handles problems with an arbitrary number of unknowns. Our findings reveal that this strategy not only enhances LLM performance on the BeyondX benchmark but also provides deeper insights into the computational limits of LLMs when faced with more complex mathematical challenges.
Lucy: Think and Reason to Solve Text-to-SQL
Venue: arXiv cs.AI 2024
Year: 2024

Large Language Models (LLMs) have made significant progress in assisting users to query databases in natural language. While LLM-based techniques provide state-of-the-art results on many standard benchmarks, their performance significantly drops when applied to large enterprise databases. The reason is that these databases have a large number of tables with complex relationships that are challenging for LLMs to reason about. We analyze challenges that LLMs face in these settings and propose a new solution that combines the power of LLMs in understanding questions with automated reasoning techniques to handle complex database constraints. Based on these ideas, we have developed a new framework that outperforms state-of-the-art techniques in zero-shot text-to-SQL on complex benchmarks
Rapid Virtual Simulations: Achieving 'Satisficing Learning Impact' with 'Realistic-Enough' Activities in Health Science Education
Venue: arXiv cs.CY 2024
Year: 2024

This manuscript introduces the concept of Rapid Virtual Simulations, a new techno-pedagogical activity that fosters expert autonomy for creating virtual educational simulations. It is grounded in a Realistic-Enough Philosophy that consists of pursuing the development of the least complex simulation while still ensuring a Satisficing (or good enough) Learning Impact. It also introduces the concept of a Rapid Virtual Simulation Ecosystem as an integrated set of technological modules that facilitates the work of health professional educators while multiplying educational affordances for learners. Finally, this manuscript presents an argument for technological agility and simplicity as key guiding principles for the design of future simulation-based educational systems.
Enhancing Language Learning through Technology: Introducing a New English-Azerbaijani (Arabic Script) Parallel Corpus
Venue: arXiv cs.CL 2024
Year: 2024

This paper introduces a pioneering English-Azerbaijani (Arabic Script) parallel corpus, designed to bridge the technological gap in language learning and machine translation (MT) for under-resourced languages. Consisting of 548,000 parallel sentences and approximately 9 million words per language, this dataset is derived from diverse sources such as news articles and holy texts, aiming to enhance natural language processing (NLP) applications and language education technology. This corpus marks a significant step forward in the realm of linguistic resources, particularly for Turkic languages, which have lagged in the neural machine translation (NMT) revolution. By presenting the first comprehensive case study for the English-Azerbaijani (Arabic Script) language pair, this work underscores the transformative potential of NMT in low-resource contexts. The development and utilization of this corpus not only facilitate the advancement of machine translation systems tailored for specific linguistic needs but also promote inclusive language learning through technology. The findings demonstrate the corpus's effectiveness in training deep learning MT systems and underscore its role as an essential asset for researchers and educators aiming to foster bilingual education and multilingual communication. This research covers the way for future explorations into NMT applications for languages lacking substantial digital resources, thereby enhancing global language education frameworks. The Python package of our code is available at https://pypi.org/project/chevir-kartalol/, and we also have a website accessible at https://translate.kartalol.com/.
Optimizing Bipolar Constellations for High-Rate Transmission in Short-Reach Fiber Links with Direct Detection
Venue: arXiv cs.IT 2024
Year: 2024

Bipolar modulation increases the achievable information rate of communication links with direct-detection receivers. This paper optimizes bipolar transmission with a modulator bias offset for short-reach fiber links. A neural network equalizer with successive interference cancellation is shown to gain over 100 Gbit/s compared to standard receivers.
LLMCloudHunter: Harnessing LLMs for Automated Extraction of Detection Rules from Cloud-Based CTI
Venue: arXiv cs.CR 2024
Year: 2024

As the number and sophistication of cyber attacks have increased, threat hunting has become a critical aspect of active security, enabling proactive detection and mitigation of threats before they cause significant harm. Open-source cyber threat intelligence (OS-CTI) is a valuable resource for threat hunters, however, it often comes in unstructured formats that require further manual analysis. Previous studies aimed at automating OSCTI analysis are limited since (1) they failed to provide actionable outputs, (2) they did not take advantage of images present in OSCTI sources, and (3) they focused on on-premises environments, overlooking the growing importance of cloud environments. To address these gaps, we propose LLMCloudHunter, a novel framework that leverages large language models (LLMs) to automatically generate generic-signature detection rule candidates from textual and visual OSCTI data. We evaluated the quality of the rules generated by the proposed framework using 12 annotated real-world cloud threat reports. The results show that our framework achieved a precision of 92% and recall of 98% for the task of accurately extracting API calls made by the threat actor and a precision of 99% with a recall of 98% for IoCs. Additionally, 99.18% of the generated detection rule candidates were successfully compiled and converted into Splunk queries.
Advancing Prompt Recovery in NLP: A Deep Dive into the Integration of Gemma-2b-it and Phi2 Models
Venue: arXiv cs.CL 2024
Year: 2024

Prompt recovery, a crucial task in natural language processing, entails the reconstruction of prompts or instructions that language models use to convert input text into a specific output. Although pivotal, the design and effectiveness of prompts represent a challenging and relatively untapped field within NLP research. This paper delves into an exhaustive investigation of prompt recovery methodologies, employing a spectrum of pre-trained language models and strategies. Our study is a comparative analysis aimed at gauging the efficacy of various models on a benchmark dataset, with the goal of pinpointing the most proficient approach for prompt recovery. Through meticulous experimentation and detailed analysis, we elucidate the outstanding performance of the Gemma-2b-it + Phi2 model + Pretrain. This model surpasses its counterparts, showcasing its exceptional capability in accurately reconstructing prompts for text transformation tasks. Our findings offer a significant contribution to the existing knowledge on prompt recovery, shedding light on the intricacies of prompt design and offering insightful perspectives for future innovations in text rewriting and the broader field of natural language processing.
Beyond Binary Gender Labels: Revealing Gender Biases in LLMs through Gender-Neutral Name Predictions
Venue: arXiv cs.CL 2024
Year: 2024

Name-based gender prediction has traditionally categorized individuals as either female or male based on their names, using a binary classification system. That binary approach can be problematic in the cases of gender-neutral names that do not align with any one gender, among other reasons. Relying solely on binary gender categories without recognizing gender-neutral names can reduce the inclusiveness of gender prediction tasks. We introduce an additional gender category, i.e., "neutral", to study and address potential gender biases in Large Language Models (LLMs). We evaluate the performance of several foundational and large language models in predicting gender based on first names only. Additionally, we investigate the impact of adding birth years to enhance the accuracy of gender prediction, accounting for shifting associations between names and genders over time. Our findings indicate that most LLMs identify male and female names with high accuracy (over 80%) but struggle with gender-neutral names (under 40%), and the accuracy of gender prediction is higher for English-based first names than non-English names. The experimental results show that incorporating the birth year does not improve the overall accuracy of gender prediction, especially for names with evolving gender associations. We recommend using caution when applying LLMs for gender identification in downstream tasks, particularly when dealing with non-binary gender labels.
HyperKAN: Kolmogorov-Arnold Networks make Hyperspectral Image Classificators Smarter
Venue: arXiv cs.CV 2024
Year: 2024

In traditional neural network architectures, a multilayer perceptron (MLP) is typically employed as a classification block following the feature extraction stage. However, the Kolmogorov-Arnold Network (KAN) presents a promising alternative to MLP, offering the potential to enhance prediction accuracy. In this paper, we propose the replacement of linear and convolutional layers of traditional networks with KAN-based counterparts. These modifications allowed us to significantly increase the per-pixel classification accuracy for hyperspectral remote-sensing images. We modified seven different neural network architectures for hyperspectral image classification and observed a substantial improvement in the classification accuracy across all the networks. The architectures considered in the paper include baseline MLP, state-of-the-art 1D (1DCNN) and 3D convolutional (two different 3DCNN, NM3DCNN), and transformer (SSFTT) architectures, as well as newly proposed M1DCNN. The greatest effect was achieved for convolutional networks working exclusively on spectral data, and the best classification quality was achieved using a KAN-based transformer architecture. All the experiments were conducted using seven openly available hyperspectral datasets. Our code is available at https://github.com/f-neumann77/HyperKAN.