OpenRaiser/Intern-Atlas huggingface dataset:
Effects of Multimodal Explanations for Autonomous Driving on Driving Performance, Cognitive Load, Expertise, Confidence, and Trust
Venue: arXiv cs.HC 2024
Year: 2024

Advances in autonomous driving provide an opportunity for AI-assisted driving instruction that directly addresses the critical need for human driving improvement. How should an AI instructor convey information to promote learning? In a pre-post experiment (n = 41), we tested the impact of an AI Coach's explanatory communications modeled after performance driving expert instructions. Participants were divided into four (4) groups to assess two (2) dimensions of the AI coach's explanations: information type ('what' and 'why'-type explanations) and presentation modality (auditory and visual). We compare how different explanatory techniques impact driving performance, cognitive load, confidence, expertise, and trust via observational learning. Through interview, we delineate participant learning processes. Results show AI coaching can effectively teach performance driving skills to novices. We find the type and modality of information influences performance outcomes. Differences in how successfully participants learned are attributed to how information directs attention, mitigates uncertainty, and influences overload experienced by participants. Results suggest efficient, modality-appropriate explanations should be opted for when designing effective HMI communications that can instruct without overwhelming. Further, results support the need to align communications with human learning and cognitive processes. We provide eight design implications for future autonomous vehicle HMI and AI coach design.
Distortions in Judged Spatial Relations in Large Language Models
Venue: arXiv cs.CL 2024
Year: 2024

We present a benchmark for assessing the capability of Large Language Models (LLMs) to discern intercardinal directions between geographic locations and apply it to three prominent LLMs: GPT-3.5, GPT-4, and Llama-2. This benchmark specifically evaluates whether LLMs exhibit a hierarchical spatial bias similar to humans, where judgments about individual locations' spatial relationships are influenced by the perceived relationships of the larger groups that contain them. To investigate this, we formulated 14 questions focusing on well-known American cities. Seven questions were designed to challenge the LLMs with scenarios potentially influenced by the orientation of larger geographical units, such as states or countries, while the remaining seven targeted locations were less susceptible to such hierarchical categorization. Among the tested models, GPT-4 exhibited superior performance with 55 percent accuracy, followed by GPT-3.5 at 47 percent, and Llama-2 at 45 percent. The models showed significantly reduced accuracy on tasks with suspected hierarchical bias. For example, GPT-4's accuracy dropped to 33 percent on these tasks, compared to 86 percent on others. However, the models identified the nearest cardinal direction in most cases, reflecting their associative learning mechanism, thereby embodying human-like misconceptions. We discuss avenues for improving the spatial reasoning capabilities of LLMs.
MARG: Multi-Agent Review Generation for Scientific Papers
Venue: arXiv cs.CL 2024
Year: 2024

We study the ability of LLMs to generate feedback for scientific papers and develop MARG, a feedback generation approach using multiple LLM instances that engage in internal discussion. By distributing paper text across agents, MARG can consume the full text of papers beyond the input length limitations of the base LLM, and by specializing agents and incorporating sub-tasks tailored to different comment types (experiments, clarity, impact) it improves the helpfulness and specificity of feedback. In a user study, baseline methods using GPT-4 were rated as producing generic or very generic comments more than half the time, and only 1.7 comments per paper were rated as good overall in the best baseline. Our system substantially improves the ability of GPT-4 to generate specific and helpful feedback, reducing the rate of generic comments from 60% to 29% and generating 3.7 good comments per paper (a 2.2x improvement).
A Fast Graph Search Algorithm with Dynamic Optimization and Reduced Histogram for Discrimination of Binary Classification Problem
Venue: arXiv cs.LG 2024
Year: 2024

This study develops a graph search algorithm to find the optimal discrimination path for the binary classification problem. The objective function is defined as the difference of variations between the true positive (TP) and false positive (FP). It uses the depth first search (DFS) algorithm to find the top-down paths for discrimination. It proposes a dynamic optimization procedure to optimize TP at the upper levels and then reduce FP at the lower levels. To accelerate computing speed with improving accuracy, it proposes a reduced histogram algorithm with variable bin size instead of looping over all data points, to find the feature threshold of discrimination. The algorithm is applied on top of a Support Vector Machine (SVM) model for a binary classification problem on whether a person is fit or unfit. It significantly improves TP and reduces FP of the SVM results (e.g., reduced FP by 90% with a loss of only\ 5% TP). The graph search auto-generates 39 ranked discrimination paths within 9 seconds on an input of total 328,464 objects, using a dual-core Laptop computer with a processor of 2.59 GHz.
Towards Remotely Verifiable Software Integrity in Resource-Constrained IoT Devices
Venue: arXiv cs.CR 2024
Year: 2024

Lower-end IoT devices typically have strict cost constraints that rule out usual security mechanisms available in general-purpose computers or higher-end devices. To secure low-end devices, various low-cost security architectures have been proposed for remote verification of their software state via integrity proofs. These proofs vary in terms of expressiveness, with simpler ones confirming correct binary presence, while more expressive ones support verification of arbitrary code execution. This article provides a holistic and systematic treatment of this family of architectures. It also compares (qualitatively and quantitatively) the types of software integrity proofs, respective architectural support, and associated costs. Finally, we outline some research directions and emerging challenges.
Fine-Grained Embedding Dimension Optimization During Training for Recommender Systems
Venue: arXiv cs.IR 2024
Year: 2024

Huge embedding tables in modern deep learning recommender models (DLRM) require prohibitively large memory during training and inference. This paper proposes FIITED, a system to automatically reduce the memory footprint via FIne-grained In-Training Embedding Dimension pruning. By leveraging the key insight that embedding vectors are not equally important, FIITED adaptively adjusts the dimension of each individual embedding vector during model training, assigning larger dimensions to more important embeddings while adapting to dynamic changes in data. We prioritize embedding dimensions with higher frequencies and gradients as more important. To enable efficient pruning of embeddings and their dimensions during model training, we propose an embedding storage system based on virtually-hashed physically-indexed hash tables. Experiments on two industry models and months of realistic datasets show that FIITED can reduce DLRM embedding size by more than 65% while preserving model quality, outperforming state-of-the-art in-training embedding pruning methods. On public datasets, FIITED can reduce the size of embedding tables by 2.1x to 800x with negligible accuracy drop, while improving model throughput.
Hiding Information for Secure and Covert Data Storage in Commercial ReRAM Chips
Venue: arXiv cs.ET 2024
Year: 2024

This article introduces a novel, low-cost technique for hiding data in commercially available resistive-RAM (ReRAM) chips. The data is kept hidden in ReRAM cells by manipulating its analog physical properties through switching ($\textit{set/reset}$) operations. This hidden data, later, is retrieved by sensing the changes in cells' physical properties (i.e., $\textit{set/reset}$ time of the memory cells). The proposed system-level hiding technique does not affect the normal memory operations and does not require any hardware modifications. Furthermore, the proposed hiding approach is robust against temperature variations and the aging of the devices through normal read/write operation. The silicon results show that our proposed data hiding technique is acceptably fast with ${\sim}0.4bit/min$ of encoding and ${\sim}15.625bits/s$ of retrieval rates, and the hidden message is unrecoverable without the knowledge of the secret key, which is used to enhance the security of hidden information.
Privacy-Preserving Sequential Recommendation with Collaborative Confusion
Venue: arXiv cs.IR 2024
Year: 2024

Sequential recommendation has attracted a lot of attention from both academia and industry, however the privacy risks associated to gathering and transferring users' personal interaction data are often underestimated or ignored. Existing privacy-preserving studies are mainly applied to traditional collaborative filtering or matrix factorization rather than sequential recommendation. Moreover, these studies are mostly based on differential privacy or federated learning, which often leads to significant performance degradation, or has high requirements for communication. In this work, we address privacy-preserving from a different perspective. Unlike existing research, we capture collaborative signals of neighbor interaction sequences and directly inject indistinguishable items into the target sequence before the recommendation process begins, thereby increasing the perplexity of the target sequence. Even if the target interaction sequence is obtained by attackers, it is difficult to discern which ones are the actual user interaction records. To achieve this goal, we propose a CoLlaborative-cOnfusion seqUential recommenDer, namely CLOUD, which incorporates a collaborative confusion mechanism to edit the raw interaction sequences before conducting recommendation. Specifically, CLOUD first calculates the similarity between the target interaction sequence and other neighbor sequences to find similar sequences. Then, CLOUD considers the shared representation of the target sequence and similar sequences to determine the operation to be performed: keep, delete, or insert. We design a copy mechanism to make items from similar sequences have a higher probability to be inserted into the target sequence. Finally, the modified sequence is used to train the recommender and predict the next item.
TransportationGames: Benchmarking Transportation Knowledge of (Multimodal) Large Language Models
Venue: arXiv cs.CL 2024
Year: 2024

Large language models (LLMs) and multimodal large language models (MLLMs) have shown excellent general capabilities, even exhibiting adaptability in many professional domains such as law, economics, transportation, and medicine. Currently, many domain-specific benchmarks have been proposed to verify the performance of (M)LLMs in specific fields. Among various domains, transportation plays a crucial role in modern society as it impacts the economy, the environment, and the quality of life for billions of people. However, it is unclear how much traffic knowledge (M)LLMs possess and whether they can reliably perform transportation-related tasks. To address this gap, we propose TransportationGames, a carefully designed and thorough evaluation benchmark for assessing (M)LLMs in the transportation domain. By comprehensively considering the applications in real-world scenarios and referring to the first three levels in Bloom's Taxonomy, we test the performance of various (M)LLMs in memorizing, understanding, and applying transportation knowledge by the selected tasks. The experimental results show that although some models perform well in some tasks, there is still much room for improvement overall. We hope the release of TransportationGames can serve as a foundation for future research, thereby accelerating the implementation and application of (M)LLMs in the transportation domain.
Linear-size Suffix Tries and Linear-size CDAWGs Simplified and Improved
Venue: arXiv cs.DS 2024
Year: 2024

The linear-size suffix tries (LSTries) [Crochemore et al., TCS 2016] are a version of suffix trees in which the edge labels are single characters, yet are able to perform pattern matching queries in optimal time. Instead of explicitly storing the input text, LSTries have some extra non-branching internal nodes called type-2 nodes. The extended techniques are then used in the linear-size compact directed acyclic word graphs (LCDAWGs) [Takagi et al., SPIRE 2017], which can be stored with $O(el(T)+er(T))$ space (i.e. without the text), where $el(T)$ and $er(T)$ are the numbers of left- and right-extensions of the maximal repeats in the input text string $T$, respectively. In this paper, we present simpler alternatives to the aforementioned indexing structures, called the simplified LSTries (simLSTries) and the simplified LCDAWGs (simLCDAWGs), in which most of the type-2 nodes are removed. In particular, our simLCDAWGs require only $O(er(T))$ space and work on a weaker model of computation (i.e. the pointer machine model). This contrasts the $O(er(T))$-space CDAWG representation of [Belazzougui and Cunial, SPIRE 2017], which works on the word RAM model.
Testing Human-Robot Interaction in Virtual Reality: Experience from a Study on Speech Act Classification
Venue: arXiv cs.RO 2024
Year: 2024

In recent years, an increasing number of Human-Robot Interaction (HRI) approaches have been implemented and evaluated in Virtual Reality (VR), as it allows to speed-up design iterations and makes it safer for the final user to evaluate and master the HRI primitives. However, identifying the most suitable VR experience is not straightforward. In this work, we evaluate how, in a smart agriculture scenario, immersive and non-immersive VR are perceived by users with respect to a speech act understanding task. In particular, we collect opinions and suggestions from the 81 participants involved in both experiments to highlight the strengths and weaknesses of these different experiences.
Generic Knowledge Boosted Pre-training For Remote Sensing Images
Venue: arXiv cs.CV 2024
Year: 2024

Deep learning models are essential for scene classification, change detection, land cover segmentation, and other remote sensing image understanding tasks. Most backbones of existing remote sensing deep learning models are typically initialized by pre-trained weights obtained from ImageNet pre-training (IMP). However, domain gaps exist between remote sensing images and natural images (e.g., ImageNet), making deep learning models initialized by pre-trained weights of IMP perform poorly for remote sensing image understanding. Although some pre-training methods are studied in the remote sensing community, current remote sensing pre-training methods face the problem of vague generalization by only using remote sensing images. In this paper, we propose a novel remote sensing pre-training framework, Generic Knowledge Boosted Remote Sensing Pre-training (GeRSP), to learn robust representations from remote sensing and natural images for remote sensing understanding tasks. GeRSP contains two pre-training branches: (1) A self-supervised pre-training branch is adopted to learn domain-related representations from unlabeled remote sensing images. (2) A supervised pre-training branch is integrated into GeRSP for general knowledge learning from labeled natural images. Moreover, GeRSP combines two pre-training branches using a teacher-student architecture to simultaneously learn representations with general and special knowledge, which generates a powerful pre-trained model for deep learning model initialization. Finally, we evaluate GeRSP and other remote sensing pre-training methods on three downstream tasks, i.e., object detection, semantic segmentation, and scene classification. The extensive experimental results consistently demonstrate that GeRSP can effectively learn robust representations in a unified manner, improving the performance of remote sensing downstream tasks.
A Novel OMNeT++-based Simulation Tool for Vehicular Cloud Computing in ETSI MEC-compliant 5G Environments
Venue: arXiv cs.NI 2024
Year: 2024

Vehicular cloud computing is gaining popularity thanks to the rapid advancements in next generation wireless communication networks. Similarly, Edge Computing, along with its standard proposals such as European Telecommunications Standards Institute (ETSI) Multi-access Edge Computing (MEC), will play a vital role in these scenarios, by enabling the execution of cloud-based services at the edge of the network. Together, these solutions have the potential to create real micro-datacenters at the network edge, favoring several benefits like minimal latency, real-time data processing, and data locality. However, the research community has not yet the opportunity to use integrated simulation frameworks for the easy testing of applications that exploit both the vehicular cloud paradigm and MEC-compliant 5G deployment environments. In this paper, we present our simulation tool as a platform for researchers and engineers to design, test, and enhance applications utilizing the concepts of vehicular and edge cloud. Our platform significantly extends OMNet++ and Simu5G, and implements our ETSI MEC-compliant architecture that leverages resources provided by far-edge nodes. In addition, the paper analyzes and reports performance results for our simulation platform, as well as provides a use case where our simulator is used to support the design, test, and validation of an algorithm to distribute MEC application components on vehicular cloud resources.
Hypercomplex neural network in time series forecasting of stock data
Venue: arXiv cs.NE 2024
Year: 2024

The goal of this paper is to test three classes of neural network (NN) architectures based on four-dimensional (4D) hypercomplex algebras for time series prediction. We evaluate different architectures, varying the input layers to include convolutional, Long Short-Term Memory (LSTM), or dense hypercomplex layers for 4D algebras. Four related Stock Market time series are used as input data, with the prediction focused on one of them. Hyperparameter optimization for each architecture class was conducted to compare the best-performing neural networks within each class. The results indicate that, in most cases, architectures with hypercomplex dense layers achieve similar Mean Absolute Error (MAE) accuracy compared to other architectures, but with significantly fewer trainable parameters. Consequently, hypercomplex neural networks demonstrate the ability to learn and process time series data faster than the other tested architectures. Additionally, it was found that the ordering of the input time series have a notable impact on effectiveness.
Approximation Algorithms for Minimizing Congestion in Demand-Aware Networks
Venue: arXiv cs.PF 2024
Year: 2024

Emerging reconfigurable optical communication technologies allow to enhance datacenter topologies with demand-aware links optimized towards traffic patterns. This paper studies the algorithmic problem of jointly optimizing topology and routing in such demand-aware networks to minimize congestion, along two dimensions: (1) splittable or unsplittable flows, and (2) whether routing is segregated, i.e., whether routes can or cannot combine both demand-aware and demand-oblivious (static) links. For splittable and segregated routing, we show that the problem is generally $2$-approximable, but APX-hard even for uniform demands induced by a bipartite demand graph. For unsplittable and segregated routing, we establish upper and lower bounds of $O\left(\log m/ \log\log m \right)$ and $Ω\left(\log m/ \log\log m \right)$, respectively, for polynomial-time approximation algorithms, where $m$ is the number of static links. We further reveal that under un-/splittable and non-segregated routing, even for demands of a single source (resp., destination), the problem cannot be approximated better than $Ω\left(\frac{c_{\max}}{c_{\min}} \right)$ unless P=NP, where $c_{\max}$ (resp., $c_{\min}$) denotes the maximum (resp., minimum) capacity. It remains NP-hard for uniform capacities, but is tractable for a single commodity and uniform capacities. Our trace-driven simulations show a significant reduction in network congestion compared to existing solutions.
Hold 'em and Fold 'em: Towards Human-scale, Feedback-Controlled Soft Origami Robots
Venue: arXiv cs.RO 2024
Year: 2024

An underdeveloped capability in soft robotics is proprioceptive feedback control, where soft actuators can be sensed and controlled using only sensors on the robot's body. Additionally, soft actuators are often unable to support human-scale loads due to the extremely compliant materials in use. Developing both feedback control and the ability to actuate under large loads (e.g. 500 N) are key capacities required to move soft robotics into everyday applications. In this work, we independently demonstrate these key factors towards controlling and actuating human-scale loads: proprioceptive (embodied) feedback control of a soft, pneumatically-actuated origami robot; and actuation of these origami origami robots under a person's weight in an open-loop configuration. In both demonstrations, the actuators are controlled by internal fluidic pressure. Capacitive sensors patterned onto the robot provide position estimation and serve as input to a feedback controller. We demonstrate position control of a single actuator during stepped setpoints and sinusoidal trajectory following, with root mean square error (RMSE) below 4 mm. We also showcase the actuator's potential towards human-scale robotics as an "origami balance board" by joining three actuators into an open-loop controlled system with a platform that varies its height, roll, and pitch. This work contributes to the field of soft robotics by demonstrating closed-loop feedback position control without visual tracking as an input and lightweight, soft actuators that can support a person's weight. The project repository, including videos, CAD files, and ROS code, is available at https://parses-lab.github.io/kresling_control.
Learning to Prompt Segment Anything Models
Venue: arXiv cs.CV 2024
Year: 2024

Segment Anything Models (SAMs) like SEEM and SAM have demonstrated great potential in learning to segment anything. The core design of SAMs lies with Promptable Segmentation, which takes a handcrafted prompt as input and returns the expected segmentation mask. SAMs work with two types of prompts including spatial prompts (e.g., points) and semantic prompts (e.g., texts), which work together to prompt SAMs to segment anything on downstream datasets. Despite the important role of prompts, how to acquire suitable prompts for SAMs is largely under-explored. In this work, we examine the architecture of SAMs and identify two challenges for learning effective prompts for SAMs. To this end, we propose spatial-semantic prompt learning (SSPrompt) that learns effective semantic and spatial prompts for better SAMs. Specifically, SSPrompt introduces spatial prompt learning and semantic prompt learning, which optimize spatial prompts and semantic prompts directly over the embedding space and selectively leverage the knowledge encoded in pre-trained prompt encoders. Extensive experiments show that SSPrompt achieves superior image segmentation performance consistently across multiple widely adopted datasets.