OpenRaiser/Intern-Atlas huggingface dataset:
Research on Robot Path Planning Based on Reinforcement Learning
Venue: arXiv cs.RO 2024
Year: 2024

This project has conducted research on robot path planning based on Visual SLAM. The main work of this project is as follows: (1) Construction of Visual SLAM system. Research has been conducted on the basic architecture of Visual SLAM. A Visual SLAM system is developed based on ORB-SLAM3 system, which can conduct dense point cloud mapping. (2) The map suitable for two-dimensional path planning is obtained through map conversion. This part converts the dense point cloud map obtained by Visual SLAM system into an octomap and then performs projection transformation to the grid map. The map conversion converts the dense point cloud map containing a large amount of redundant map information into an extremely lightweight grid map suitable for path planning. (3) Research on path planning algorithm based on reinforcement learning. This project has conducted experimental comparisons between the Q-learning algorithm, the DQN algorithm, and the SARSA algorithm, and found that DQN is the algorithm with the fastest convergence and best performance in high-dimensional complex environments. This project has conducted experimental verification of the Visual SLAM system in a simulation environment. The experimental results obtained based on open-source dataset and self-made dataset prove the feasibility and effectiveness of the designed Visual SLAM system. At the same time, this project has also conducted comparative experiments on the three reinforcement learning algorithms under the same experimental condition to obtain the optimal algorithm under the experimental condition.
A participatory design approach to using social robots for elderly care
Venue: arXiv cs.HC 2024
Year: 2024

We present our ongoing research on applying a participatory design approach to using social robots for elderly care. Our approach involves four different groups of stakeholders: the elderly, (non-professional) caregivers, medical professionals, and psychologists. We focus on card sorting and storyboarding techniques to elicit the concerns of the stakeholders towards deploying social robots for elderly care. This is followed by semi-structured interviews to assess their attitudes towards social robots individually. Then we are conducting two-stage workshops with different elderly groups to understand how to engage them with the technology and to identify the challenges in this task.
Offensive AI: Enhancing Directory Brute-forcing Attack with the Use of Language Models
Venue: arXiv cs.CR 2024
Year: 2024

Web Vulnerability Assessment and Penetration Testing (Web VAPT) is a comprehensive cybersecurity process that uncovers a range of vulnerabilities which, if exploited, could compromise the integrity of web applications. In a VAPT, it is common to perform a \textit{Directory brute-forcing Attack}, aiming at the identification of accessible directories of a target website. Current commercial solutions are inefficient as they are based on brute-forcing strategies that use wordlists, resulting in enormous quantities of trials for a small amount of success. Offensive AI is a recent paradigm that integrates AI-based technologies in cyber attacks. In this work, we explore whether AI can enhance the directory enumeration process and propose a novel Language Model-based framework. Our experiments -- conducted in a testbed consisting of 1 million URLs from different web application domains (universities, hospitals, government, companies) -- demonstrate the superiority of the LM-based attack, with an average performance increase of 969%.
BCFPL: Binary classification ConvNet based Fast Parking space recognition with Low resolution image
Venue: arXiv cs.CV 2024
Year: 2024

The automobile plays an important role in the economic activities of mankind, especially in the metropolis. Under the circumstances, the demand of quick search for available parking spaces has become a major concern for the automobile drivers. Meanwhile, the public sense of privacy is also awaking, the image-based parking space recognition methods lack the attention of privacy protection. In this paper, we proposed a binary convolutional neural network with lightweight design structure named BCFPL, which can be used to train with low-resolution parking space images and offer a reasonable recognition result. The images of parking space were collected from various complex environments, including different weather, occlusion conditions, and various camera angles. We conducted the training and testing progresses among different datasets and partial subsets. The experimental results show that the accuracy of BCFPL does not decrease compared with the original resolution image directly, and can reach the average level of the existing mainstream method. BCFPL also has low hardware requirements and fast recognition speed while meeting the privacy requirements, so it has application potential in intelligent city construction and automatic driving field.
An Artificial Neuron for Enhanced Problem Solving in Large Language Models
Venue: arXiv cs.HC 2024
Year: 2024

Recent advancements in artificial intelligence have propelled the capabilities of Large Language Models, yet their ability to mimic nuanced human reasoning remains limited. This paper introduces a novel conceptual enhancement to LLMs, termed the Artificial Neuron, designed to significantly bolster cognitive processing by integrating external memory systems. This enhancement mimics neurobiological processes, facilitating advanced reasoning and learning through a dynamic feedback loop mechanism. We propose a unique framework wherein each LLM interaction specifically in solving complex math word problems and common sense reasoning tasks is recorded and analyzed. Incorrect responses are refined using a higher capacity LLM or human in the loop corrections, and both the query and the enhanced response are stored in a vector database, structured much like neuronal synaptic connections. This Artificial Neuron thus serves as an external memory aid, allowing the LLM to reference past interactions and apply learned reasoning strategies to new problems. Our experimental setup involves training with the GSM8K dataset for initial model response generation, followed by systematic refinements through feedback loops. Subsequent testing demonstrated a significant improvement in accuracy and efficiency, underscoring the potential of external memory systems to advance LLMs beyond current limitations. This approach not only enhances the LLM's problem solving precision but also reduces computational redundancy, paving the way for more sophisticated applications of artificial intelligence in cognitive tasks. This paper details the methodology, implementation, and implications of the Artificial Neuron model, offering a transformative perspective on enhancing machine intelligence.
Co-designing a Sub-millisecond Latency Event-based Eye Tracking System with Submanifold Sparse CNN
Venue: arXiv cs.CV 2024
Year: 2024

Eye-tracking technology is integral to numerous consumer electronics applications, particularly in the realm of virtual and augmented reality (VR/AR). These applications demand solutions that excel in three crucial aspects: low-latency, low-power consumption, and precision. Yet, achieving optimal performance across all these fronts presents a formidable challenge, necessitating a balance between sophisticated algorithms and efficient backend hardware implementations. In this study, we tackle this challenge through a synergistic software/hardware co-design of the system with an event camera. Leveraging the inherent sparsity of event-based input data, we integrate a novel sparse FPGA dataflow accelerator customized for submanifold sparse convolution neural networks (SCNN). The SCNN implemented on the accelerator can efficiently extract the embedding feature vector from each representation of event slices by only processing the non-zero activations. Subsequently, these vectors undergo further processing by a gated recurrent unit (GRU) and a fully connected layer on the host CPU to generate the eye centers. Deployment and evaluation of our system reveal outstanding performance metrics. On the Event-based Eye-Tracking-AIS2024 dataset, our system achieves 81% p5 accuracy, 99.5% p10 accuracy, and 3.71 Mean Euclidean Distance with 0.7 ms latency while only consuming 2.29 mJ per inference. Notably, our solution opens up opportunities for future eye-tracking systems. Code is available at https://github.com/CASR-HKU/ESDA/tree/eye_tracking.
"I Upload...All Types of Different Things to Say, the World of Blindness Is More Than What They Think It Is": A Study of Blind TikTokers' Identity Work from a Flourishing Perspective
Venue: arXiv cs.HC 2024
Year: 2024

Identity work in Human-Computer Interaction (HCI) has focused on the marginalized group to explore designs to support their asset (what they have). However, little has been explored specifically on the identity work of people with disabilities, specifically, visual impairments. In this study, we interviewed 45 BlindTokers (blind users on TikTok) from various backgrounds to understand their identity work from a positive design perspective. We found that BlindTokers leverage the affordance of the platform to create positive content, share their identities, and build the community with the desire to flourish. We proposed flourishing labor to present the work conducted by BlindTokers for their community's flourishing with implications to support the flourishing labor. This work contributes to understanding blind users' experience in short video platforms and highlights that flourishing is not just an activity for any single Blind user but also a job that needs all stakeholders, including all user groups and the TikTok platform, serious and committed contribution.
PLUTO: Pushing the Limit of Imitation Learning-based Planning for Autonomous Driving
Venue: arXiv cs.RO 2024
Year: 2024

We present PLUTO, a powerful framework that pushes the limit of imitation learning-based planning for autonomous driving. Our improvements stem from three pivotal aspects: a longitudinal-lateral aware model architecture that enables flexible and diverse driving behaviors; An innovative auxiliary loss computation method that is broadly applicable and efficient for batch-wise calculation; A novel training framework that leverages contrastive learning, augmented by a suite of new data augmentations to regulate driving behaviors and facilitate the understanding of underlying interactions. We assessed our framework using the large-scale real-world nuPlan dataset and its associated standardized planning benchmark. Impressively, PLUTO achieves state-of-the-art closed-loop performance, beating other competing learning-based methods and surpassing the current top-performed rule-based planner for the first time. Results and code are available at https://jchengai.github.io/pluto.
DE-LIoT: The Data-Energy Networking Paradigm for Sustainable Light-Based Internet of Things
Venue: arXiv cs.NI 2024
Year: 2024

The growing demand for Internet of Things (IoT) networks has sparked interest in sustainable, zero-energy designs through Energy Harvesting (EH) to extend the lifespans of IoT sensors. Visible Light Communication (VLC) is particularly promising, integrating signal transmission with optical power harvesting to enable both data exchange and energy transfer in indoor network nodes. VLC indoor channels, however, can be unstable due to their line-of-sight nature and indoor movements. In conventional EH-based IoT networks, maximum Energy Storage (ES) capacity might halt further harvesting or waste excess energy, leading to resource inefficiency. Addressing these issues, this paper proposes a novel VLC-based WPANs concept that enhances both data and energy harvesting efficiency. The architecture employs densely distributed nodes and a central controller for simultaneous data and energy network operation, ensuring efficient energy exchange and resource optimisation. This approach, with centralised control and energy-state-aware nodes, aims for long-term energy autonomy. The feasibility of the Data-Energy Networking-enabled Light-based Internet of Things (DE-LIoT) concept is validated through real hardware implementation, demonstrating its sustainability and practical applicability. Results show significant improvements in the lifetime of resource-limited nodes, confirming the effectiveness of this new data and energy networking model in enhancing sustainability and resource optimisation in VLC-based WPANs.
Hybrid Intersection Types for PCF (Extended Version)
Venue: arXiv cs.LO 2024
Year: 2024

Intersection type systems have been independently applied to different evaluation strategies, such as call-by-name (CBN) and call-by-value (CBV). These type systems have been then generalized to different subsuming paradigms being able, in particular, to encode CBN and CBV in a unique unifying framework. However, there are no intersection type systems that explicitly enable CBN and CBV to cohabit together without making use of an encoding into a common target framework. This work proposes an intersection type system for PCF with a specific notion of evaluation, called PCFH. Evaluation in PCFH actually has a hybrid nature, in the sense that CBN and CBV operational behaviors cohabit together. Indeed, PCFH combines a CBV-like operational behavior for function application with a CBN-like behavior for recursion. This hybrid nature is reflected in the type system, which turns out to be sound and complete with respect to PCFH: not only typability implies normalization, but also the converse holds. Moreover, the type system is quantitative, in the sense that the size of typing derivations provides upper bounds for the length of the reduction sequences to normal form. This type system is then refined to a tight one, offering exact information regarding the length of normalization sequences. This is the first time that a sound and complete quantitative type system has been designed for a hybrid computational model.
TAVGBench: Benchmarking Text to Audible-Video Generation
Venue: arXiv cs.CV 2024
Year: 2024

The Text to Audible-Video Generation (TAVG) task involves generating videos with accompanying audio based on text descriptions. Achieving this requires skillful alignment of both audio and video elements. To support research in this field, we have developed a comprehensive Text to Audible-Video Generation Benchmark (TAVGBench), which contains over 1.7 million clips with a total duration of 11.8 thousand hours. We propose an automatic annotation pipeline to ensure each audible video has detailed descriptions for both its audio and video contents. We also introduce the Audio-Visual Harmoni score (AVHScore) to provide a quantitative measure of the alignment between the generated audio and video modalities. Additionally, we present a baseline model for TAVG called TAVDiffusion, which uses a two-stream latent diffusion model to provide a fundamental starting point for further research in this area. We achieve the alignment of audio and video by employing cross-attention and contrastive learning. Through extensive experiments and evaluations on TAVGBench, we demonstrate the effectiveness of our proposed model under both conventional metrics and our proposed metrics.
A Survey on Self-Evolution of Large Language Models
Venue: arXiv cs.CL 2024
Year: 2024

Large language models (LLMs) have significantly advanced in various fields and intelligent agent applications. However, current LLMs that learn from human or external model supervision are costly and may face performance ceilings as task complexity and diversity increase. To address this issue, self-evolution approaches that enable LLM to autonomously acquire, refine, and learn from experiences generated by the model itself are rapidly growing. This new training paradigm inspired by the human experiential learning process offers the potential to scale LLMs towards superintelligence. In this work, we present a comprehensive survey of self-evolution approaches in LLMs. We first propose a conceptual framework for self-evolution and outline the evolving process as iterative cycles composed of four phases: experience acquisition, experience refinement, updating, and evaluation. Second, we categorize the evolution objectives of LLMs and LLM-based agents; then, we summarize the literature and provide taxonomy and insights for each module. Lastly, we pinpoint existing challenges and propose future directions to improve self-evolution frameworks, equipping researchers with critical insights to fast-track the development of self-evolving LLMs. Our corresponding GitHub repository is available at https://github.com/AlibabaResearch/DAMO-ConvAI/tree/main/Awesome-Self-Evolution-of-LLM
Learning H-Infinity Locomotion Control
Venue: arXiv cs.RO 2024
Year: 2024

Stable locomotion in precipitous environments is an essential task for quadruped robots, requiring the ability to resist various external disturbances. Recent neural policies enhance robustness against disturbances by learning to resist external forces sampled from a fixed distribution in the simulated environment. However, the force generation process doesn't consider the robot's current state, making it difficult to identify the most effective direction and magnitude that can push the robot to the most unstable but recoverable state. Thus, challenging cases in the buffer are insufficient to optimize robustness. In this paper, we propose to model the robust locomotion learning process as an adversarial interaction between the locomotion policy and a learnable disturbance that is conditioned on the robot state to generate appropriate external forces. To make the joint optimization stable, our novel $H_{\infty}$ constraint mandates the bound of the ratio between the cost and the intensity of the external forces. We verify the robustness of our approach in both simulated environments and real-world deployment, on quadrupedal locomotion tasks and a more challenging task where the quadruped performs locomotion merely on hind legs. Training and deployment code will be made public.
Mitigating Cascading Effects in Large Adversarial Graph Environments
Venue: arXiv cs.SI 2024
Year: 2024

A significant amount of society's infrastructure can be modeled using graph structures, from electric and communication grids, to traffic networks, to social networks. Each of these domains are also susceptible to the cascading spread of negative impacts, whether this be overloaded devices in the power grid or the reach of a social media post containing misinformation. The potential harm of a cascade is compounded when considering a malicious attack by an adversary that is intended to maximize the cascading impact. However, by exploiting knowledge of the cascading dynamics, targets with the largest cascading impact can be preemptively prioritized for defense, and the damage an adversary can inflict can be mitigated. While game theory provides tools for finding an optimal preemptive defense strategy, existing methods struggle to scale to the context of large graph environments because of the combinatorial explosion of possible actions that occurs when the attacker and defender can each choose multiple targets in the graph simultaneously. The proposed method enables a data-driven deep learning approach that uses multi-node representation learning and counterfactual data augmentation to generalize to the full combinatorial action space by training on a variety of small restricted subsets of the action space. We demonstrate through experiments that the proposed method is capable of identifying defense strategies that are less exploitable than SOTA methods for large graphs, while still being able to produce strategies near the Nash equilibrium for small-scale scenarios for which it can be computed. Moreover, the proposed method demonstrates superior prediction accuracy on a validation set of unseen cascades compared to other deep learning approaches.
Multifidelity Surrogate Models: A New Data Fusion Perspective
Venue: arXiv cs.LG 2024
Year: 2024

Multifidelity surrogate modelling combines data of varying accuracy and cost from different sources. It strategically uses low-fidelity models for rapid evaluations, saving computational resources, and high-fidelity models for detailed refinement. It improves decision-making by addressing uncertainties and surpassing the limits of single-fidelity models, which either oversimplify or are computationally intensive. Blending high-fidelity data for detailed responses with frequent low-fidelity data for quick approximations facilitates design optimisation in various domains. Despite progress in interpolation, regression, enhanced sampling, error estimation, variable fidelity, and data fusion techniques, challenges persist in selecting fidelity levels and developing efficient data fusion methods. This study proposes a new fusion approach to construct multi-fidelity surrogate models by constructing gradient-only surrogates that use only gradients to construct regression surfaces. Results are demonstrated on foundational example problems that isolate and illustrate the fusion approach's efficacy, avoiding the need for complex examples that obfuscate the main concept.
LLMs in Web Development: Evaluating LLM-Generated PHP Code Unveiling Vulnerabilities and Limitations
Venue: arXiv cs.SE 2024
Year: 2024

This study evaluates the security of web application code generated by Large Language Models, analyzing 2,500 GPT-4 generated PHP websites. These were deployed in Docker containers and tested for vulnerabilities using a hybrid approach of Burp Suite active scanning, static analysis, and manual review. Our investigation focuses on identifying Insecure File Upload, SQL Injection, Stored XSS, and Reflected XSS in GPT-4 generated PHP code. This analysis highlights potential security risks and the implications of deploying such code in real-world scenarios. Overall, our analysis found 2,440 vulnerable parameters. According to Burp's Scan, 11.56% of the sites can be straight out compromised. Adding static scan results, 26% had at least one vulnerability that can be exploited through web interaction. Certain coding scenarios, like file upload functionality, are insecure 78% of the time, underscoring significant risks to software safety and security. To support further research, we have made the source codes and a detailed vulnerability record for each sample publicly available. This study emphasizes the crucial need for thorough testing and evaluation if generative AI technologies are used in software development.
Benchmarking Advanced Text Anonymisation Methods: A Comparative Study on Novel and Traditional Approaches
Venue: arXiv cs.CL 2024
Year: 2024

In the realm of data privacy, the ability to effectively anonymise text is paramount. With the proliferation of deep learning and, in particular, transformer architectures, there is a burgeoning interest in leveraging these advanced models for text anonymisation tasks. This paper presents a comprehensive benchmarking study comparing the performance of transformer-based models and Large Language Models(LLM) against traditional architectures for text anonymisation. Utilising the CoNLL-2003 dataset, known for its robustness and diversity, we evaluate several models. Our results showcase the strengths and weaknesses of each approach, offering a clear perspective on the efficacy of modern versus traditional methods. Notably, while modern models exhibit advanced capabilities in capturing con textual nuances, certain traditional architectures still keep high performance. This work aims to guide researchers in selecting the most suitable model for their anonymisation needs, while also shedding light on potential paths for future advancements in the field.