OpenRaiser/Intern-Atlas huggingface dataset:
BALI: Learning Neural Networks via Bayesian Layerwise Inference
Venue: arXiv cs.LG 2024
Year: 2024

We introduce a new method for learning Bayesian neural networks, treating them as a stack of multivariate Bayesian linear regression models. The main idea is to infer the layerwise posterior exactly if we know the target outputs of each layer. We define these pseudo-targets as the layer outputs from the forward pass, updated by the backpropagated gradients of the objective function. The resulting layerwise posterior is a matrix-normal distribution with a Kronecker-factorized covariance matrix, which can be efficiently inverted. Our method extends to the stochastic mini-batch setting using an exponential moving average over natural-parameter terms, thus gradually forgetting older data. The method converges in few iterations and performs as well as or better than leading Bayesian neural network methods on various regression, classification, and out-of-distribution detection benchmarks.
Tool Compensation and User Strategy during Human-Robot Teleoperation are Impacted by System Dynamics and Kinesthetic Feedback
Venue: arXiv cs.HC 2024
Year: 2024

Manipulating an environment remotely with a robotic teleoperator introduces novel electromechanical (EM) dynamics between the user and environment. While considerable effort has focused on minimizing these dynamics, there is limited research into understanding their impact on a user's internal model and resulting motor control strategy. Here we investigate to what degree the dynamics and kinesthetic feedback of the teleoperator influence task behavior and tool compensation. Our teleoperator testbed features a leader port controlled by user input via wrist rotation, a follower port connected to a virtual environment rendered by rotary motor, and three distinct transmissions (Rigid, Unilateral EM, Bilateral EM) in-between that can be engaged independently. 30 adult participants rotated a disk in a visco-elastic virtual environment through counterbalanced presentation of each transmission. Users tracked targets oscillating at 7 pre-defined random frequencies between 0.55 and 2.35 Hz. After session completion, trajectories of the target, leader, and follower were decomposed into components of gain and phase error for all frequencies. We found that while tracking performance at the follower port was similar across transmissions, users' adjustment at the leader port differed between Rigid and EM transmissions. Users applied different pinch forces between Rigid and Unilateral transmissions, suggesting that tracking strategy does change between dynamics and feedback. However, the users' ability to compensate dynamics diminished significantly as task speed got faster and more difficult. Therefore, there are limits to pursuit tracking at the human wrist when compensating teleoperator dynamics.
A More Advanced Group Polarization Measurement Approach Based on LLM-Based Agents and Graphs
Venue: arXiv cs.CY 2024
Year: 2024

Group polarization is an important research direction in social media content analysis, attracting many researchers to explore this field. Therefore, how to effectively measure group polarization has become a critical topic. Measuring group polarization on social media presents several challenges that have not yet been addressed by existing solutions. First, social media group polarization measurement involves processing vast amounts of text, which poses a significant challenge for information extraction. Second, social media texts often contain hard-to-understand content, including sarcasm, memes, and internet slang. Additionally, group polarization research focuses on holistic analysis, while texts is typically fragmented. To address these challenges, we designed a solution based on a multi-agent system and used a graph-structured Community Sentiment Network (CSN) to represent polarization states. Furthermore, we developed a metric called Community Opposition Index (COI) based on the CSN to quantify polarization. Finally, we tested our multi-agent system through a zero-shot stance detection task and achieved outstanding results. In summary, the proposed approach has significant value in terms of usability, accuracy, and interpretability.
INDIANA: Personalized Travel Recommendations Using Wearables and AI
Venue: arXiv cs.HC 2024
Year: 2024

This work presents a personalized travel recommendation system developed as part of the INDIANA platform, designed to enhance the tourist experience through tailored activity suggestions, by leveraging data from wearable devices, user preferences, current location, weather forecasts, and activity history to provide real-time, context-aware recommendations. The platform not only supports individual tourists in maximizing their travel experience but also offers insights to tourism professionals to enhance service delivery, and by integrating modern technologies such as AI, IoT, and wearable analytics, it provides a seamless, personalized, and engaging experience for travelers.
On the Accuracy and Precision of Moving Averages to Estimate Wi-Fi Link Quality
Venue: arXiv cs.NI 2024
Year: 2024

The radio spectrum is characterized by a noticeable variability, which impairs performance and determinism of every wireless communication technology. To counteract this aspect, mechanisms like Minstrel are customarily employed in real Wi-Fi devices, and the adoption of machine learning for optimization is envisaged in next-generation Wi-Fi 8. All these approaches require communication quality to be monitored at runtime. In this paper, the effectiveness of simple techniques based on moving averages to estimate wireless link quality is analyzed, to assess their advantages and weaknesses. Results can be used, e.g., as a baseline when studying how artificial intelligence can be employed to mitigate unpredictability of wireless networks by providing reliable estimates about current spectrum conditions.
Construction of the UXAR-CT -- a User eXperience Questionnaire for Augmented Reality in Corporate Training
Venue: arXiv cs.HC 2024
Year: 2024

Measuring User Experience (UX) with questionnaires is essential for developing and improving products. However, no domain-specific standardized UX questionnaire exists for Augmented Reality (AR) in Corporate Training (CT). Thus, this study introduces the UXAR-CT questionnaire - an AR-specific UX questionnaire for CT environments. We describe the construction procedure and the evaluation process of the questionnaire. A set of candidate items was constructed, and a larger sample of participants evaluated several AR-based learning scenarios with these items. Based on the results, we performed a Principal Component Analysis (PCA) to identify relevant measurement items for each scale. The three best-fitting items were selected based on the results to form the final questionnaire. The first results regarding scale quality indicate a high level of internal consistency. The final version of the UXAR-CT questionnaire is provided and will be evaluated in further research.
Generative Timelines for Instructed Visual Assembly
Venue: arXiv cs.CV 2024
Year: 2024

The objective of this work is to manipulate visual timelines (e.g. a video) through natural language instructions, making complex timeline editing tasks accessible to non-expert or potentially even disabled users. We call this task Instructed visual assembly. This task is challenging as it requires (i) identifying relevant visual content in the input timeline as well as retrieving relevant visual content in a given input (video) collection, (ii) understanding the input natural language instruction, and (iii) performing the desired edits of the input visual timeline to produce an output timeline. To address these challenges, we propose the Timeline Assembler, a generative model trained to perform instructed visual assembly tasks. The contributions of this work are three-fold. First, we develop a large multimodal language model, which is designed to process visual content, compactly represent timelines and accurately interpret timeline editing instructions. Second, we introduce a novel method for automatically generating datasets for visual assembly tasks, enabling efficient training of our model without the need for human-labeled data. Third, we validate our approach by creating two novel datasets for image and video assembly, demonstrating that the Timeline Assembler substantially outperforms established baseline models, including the recent GPT-4o, in accurately executing complex assembly instructions across various real-world inspired scenarios.
Balancing Accuracy and Efficiency in Multi-Turn Intent Classification for LLM-Powered Dialog Systems in Production
Venue: arXiv cs.CL 2024
Year: 2024

Accurate multi-turn intent classification is essential for advancing conversational AI systems. However, challenges such as the scarcity of comprehensive datasets and the complexity of contextual dependencies across dialogue turns hinder progress. This paper presents two novel approaches leveraging Large Language Models (LLMs) to enhance scalability and reduce latency in production dialogue systems. First, we introduce Symbol Tuning, which simplifies intent labels to reduce task complexity and improve performance in multi-turn dialogues. Second, we propose C-LARA (Consistency-aware, Linguistics Adaptive Retrieval Augmentation), a framework that employs LLMs for data augmentation and pseudo-labeling to generate synthetic multi-turn dialogues. These enriched datasets are used to fine-tune a small, efficient model suitable for deployment. Experiments conducted on multilingual dialogue datasets demonstrate significant improvements in classification accuracy and resource efficiency. Our methods enhance multi-turn intent classification accuracy by 5.09%, reduce annotation costs by 40%, and enable scalable deployment in low-resource multilingual industrial systems, highlighting their practicality and impact.
CLIP Unreasonable Potential in Single-Shot Face Recognition
Venue: arXiv cs.CV 2024
Year: 2024

Face recognition is a core task in computer vision designed to identify and authenticate individuals by analyzing facial patterns and features. This field intersects with artificial intelligence image processing and machine learning with applications in security authentication and personalization. Traditional approaches in facial recognition focus on capturing facial features like the eyes, nose and mouth and matching these against a database to verify identities. However challenges such as high false positive rates have persisted often due to the similarity among individuals facial features. Recently Contrastive Language Image Pretraining (CLIP) a model developed by OpenAI has shown promising advancements by linking natural language processing with vision tasks allowing it to generalize across modalities. Using CLIP's vision language correspondence and single-shot finetuning the model can achieve lower false positive rates upon deployment without the need of mass facial features extraction. This integration demonstrating CLIP's potential to address persistent issues in face recognition model performance without complicating our training paradigm.
Target Height Estimation Using a Single Acoustic Camera for Compensation in 2D Seabed Mosaicking
Venue: arXiv cs.RO 2024
Year: 2024

This letter proposes a novel approach for compensating target height data in 2D seabed mosaicking for low-visibility underwater perception. Acoustic cameras are effective sensors for sensing the marine environments due to their high-resolution imaging capabilities and robustness to darkness and turbidity. However, the loss of elevation angle during the imaging process results in a lack of target height information in the original acoustic camera images, leading to a simplistic 2D representation of the seabed mosaicking. In perceiving cluttered and unexplored marine environments, target height data is crucial for avoiding collisions with marine robots. This study proposes a novel approach for estimating seabed target height using a single acoustic camera and integrates height data into 2D seabed mosaicking to compensate for the missing 3D dimension of seabed targets. Unlike classic methods that model the loss of elevation angle to achieve seabed 3D reconstruction, this study focuses on utilizing available acoustic cast shadow clues and simple sensor motion to quickly estimate target height. The feasibility of our proposal is verified through a water tank experiment and a simulation experiment.
Scalable and Effective Negative Sample Generation for Hyperedge Prediction
Venue: arXiv cs.IR 2024
Year: 2024

Hyperedge prediction is crucial in hypergraph analysis for understanding complex multi-entity interactions in various web-based applications, including social networks and e-commerce systems. Traditional methods often face difficulties in generating high-quality negative samples due to the imbalance between positive and negative instances. To address this, we present the Scalable and Effective Negative Sample Generation for Hyperedge Prediction (SEHP) framework, which utilizes diffusion models to tackle these challenges. SEHP employs a boundary-aware loss function that iteratively refines negative samples, moving them closer to decision boundaries to improve classification performance. SEHP samples positive instances to form sub-hypergraphs for scalable batch processing. By using structural information from sub-hypergraphs as conditions within the diffusion process, SEHP effectively captures global patterns. To enhance efficiency, our approach operates directly in latent space, avoiding the need for discrete ID generation and resulting in significant speed improvements while preserving accuracy. Extensive experiments show that SEHP outperforms existing methods in accuracy, efficiency, and scalability, representing a substantial advancement in hyperedge prediction techniques. Our code is available here.
TactV: A Class of Hybrid Terrestrial/Aerial Coaxial Tilt-Rotor Vehicles
Venue: arXiv cs.RO 2024
Year: 2024

To enhance the obstacle-crossing and endurance capabilities of vehicles operating in complex environments, this paper presents the design of a hybrid terrestrial/aerial coaxial tilt-rotor vehicle, TactV, which integrates advantages such as lightweight construction and high maneuverability. Unlike existing tandem dual-rotor vehicles, TactV employs a tiltable coaxial dual-rotor design and features a spherical cage structure that encases the body, allowing for omnidirectional movement while further reducing its overall dimensions. To enable TactV to maneuver flexibly in aerial, planar, and inclined surfaces, we established corresponding dynamic and control models for each mode. Additionally, we leveraged TactV's tiltable center of gravity to design energy-saving and high-mobility modes for ground operations, thereby further enhancing its endurance. Experimental designs for both aerial and ground tests corroborated the superiority of TactV's movement capabilities and control strategies.
Brief Announcement: Parallel Construction of Bumped Ribbon Retrieval
Venue: arXiv cs.DS 2024
Year: 2024

A retrieval data structure stores a static function f : S -> {0,1}^r . For all x in S, it returns the r-bit value f(x), while for other inputs it may return an arbitrary result. The structure cannot answer membership queries, so it does not have to encode S. The information theoretic space lower bound for arbitrary inputs is r|S| bits. Retrieval data structures have widespread applications. They can be used as an approximate membership filter for S by storing fingerprints of the keys in S, where they are faster and more space efficient than Bloom filters. They can also be used as a basic building block of succinct data structures like perfect hash functions. Bumped Ribbon Retrieval (BuRR) [Dillinger et al., SEA'22] is a recently developed retrieval data structure that is fast to construct with a space overhead of less than 1%. The idea is to solve a nearly diagonal system of linear equations to determine a matrix that, multiplied with the hash of each key, gives the desired output values. During solving, BuRR might bump lines of the equation system to another layer of the same data structure. While the paper describes a simple parallel construction based on bumping the keys on thread boundaries, it does not give an implementation. In this brief announcement, we now fill this gap. Our parallel implementation is transparent to the queries. It achieves a speedup of 14 on 32 cores for 8-bit filters. The additional space overhead is 105 bytes per thread, or 105 slots. This matches 0.0007% of the total space consumption when constructing with 1 billion input keys. A large portion of the construction time is spent on parallel sorting.
Dimension Reduction via Sum-of-Squares and Improved Clustering Algorithms for Non-Spherical Mixtures
Venue: arXiv cs.DS 2024
Year: 2024

We develop a new approach for clustering non-spherical (i.e., arbitrary component covariances) Gaussian mixture models via a subroutine, based on the sum-of-squares method, that finds a low-dimensional separation-preserving projection of the input data. Our method gives a non-spherical analog of the classical dimension reduction, based on singular value decomposition, that forms a key component of the celebrated spherical clustering algorithm of Vempala and Wang [VW04] (in addition to several other applications). As applications, we obtain an algorithm to (1) cluster an arbitrary total-variation separated mixture of $k$ centered (i.e., zero-mean) Gaussians with $n\geq \operatorname{poly}(d) f(w_{\min}^{-1})$ samples and $\operatorname{poly}(n)$ time, and (2) cluster an arbitrary total-variation separated mixture of $k$ Gaussians with identical but arbitrary unknown covariance with $n \geq d^{O(\log w_{\min}^{-1})} f(w_{\min}^{-1})$ samples and $n^{O(\log w_{\min}^{-1})}$ time. Here, $w_{\min}$ is the minimum mixing weight of the input mixture, and $f$ does not depend on the dimension $d$. Our algorithms naturally extend to tolerating a dimension-independent fraction of arbitrary outliers. Before this work, the techniques in the state-of-the-art non-spherical clustering algorithms needed $d^{O(k)} f(w_{\min}^{-1})$ time and samples for clustering such mixtures. Our results may come as a surprise in the context of the $d^{Ω(k)}$ statistical query lower bound [DKS17] for clustering non-spherical Gaussian mixtures. While this result is usually thought to rule out $d^{o(k)}$ cost algorithms for the problem, our results show that the lower bounds can in fact be circumvented for a remarkably general class of Gaussian mixtures.
Beyond Gaussians: Fast and High-Fidelity 3D Splatting with Linear Kernels
Venue: arXiv cs.CV 2024
Year: 2024

Recent advancements in 3D Gaussian Splatting (3DGS) have substantially improved novel view synthesis, enabling high-quality reconstruction and real-time rendering. However, blurring artifacts, such as floating primitives and over-reconstruction, remain challenging. Current methods address these issues by refining scene structure, enhancing geometric representations, addressing blur in training images, improving rendering consistency, and optimizing density control, yet the role of kernel design remains underexplored. We identify the soft boundaries of Gaussian ellipsoids as one of the causes of these artifacts, limiting detail capture in high-frequency regions. To bridge this gap, we introduce 3D Linear Splatting (3DLS), which replaces Gaussian kernels with linear kernels to achieve sharper and more precise results, particularly in high-frequency regions. Through evaluations on three datasets, 3DLS demonstrates state-of-the-art fidelity and accuracy, along with a 30% FPS improvement over baseline 3DGS. The implementation will be made publicly available upon acceptance.
Empirical Privacy Evaluations of Generative and Predictive Machine Learning Models -- A review and challenges for practice
Venue: arXiv cs.LG 2024
Year: 2024

Synthetic data generators, when trained using privacy-preserving techniques like differential privacy, promise to produce synthetic data with formal privacy guarantees, facilitating the sharing of sensitive data. However, it is crucial to empirically assess the privacy risks associated with the generated synthetic data before deploying generative technologies. This paper outlines the key concepts and assumptions underlying empirical privacy evaluation in machine learning-based generative and predictive models. Then, this paper explores the practical challenges for privacy evaluations of generative models for use cases with millions of training records, such as data from statistical agencies and healthcare providers. Our findings indicate that methods designed to verify the correct operation of the training algorithm are effective for large datasets, but they often assume an adversary that is unrealistic in many scenarios. Based on the findings, we highlight a crucial trade-off between the computational feasibility of the evaluation and the level of realism of the assumed threat model. Finally, we conclude with ideas and suggestions for future research.
GaussianPretrain: A Simple Unified 3D Gaussian Representation for Visual Pre-training in Autonomous Driving
Venue: arXiv cs.CV 2024
Year: 2024

Self-supervised learning has made substantial strides in image processing, while visual pre-training for autonomous driving is still in its infancy. Existing methods often focus on learning geometric scene information while neglecting texture or treating both aspects separately, hindering comprehensive scene understanding. In this context, we are excited to introduce GaussianPretrain, a novel pre-training paradigm that achieves a holistic understanding of the scene by uniformly integrating geometric and texture representations. Conceptualizing 3D Gaussian anchors as volumetric LiDAR points, our method learns a deepened understanding of scenes to enhance pre-training performance with detailed spatial structure and texture, achieving that 40.6% faster than NeRF-based method UniPAD with 70% GPU memory only. We demonstrate the effectiveness of GaussianPretrain across multiple 3D perception tasks, showing significant performance improvements, such as a 7.05% increase in NDS for 3D object detection, boosts mAP by 1.9% in HD map construction and 0.8% improvement on Occupancy prediction. These significant gains highlight GaussianPretrain's theoretical innovation and strong practical potential, promoting visual pre-training development for autonomous driving. Source code will be available at https://github.com/Public-BOTs/GaussianPretrain
Near-Optimal Time-Sparsity Trade-Offs for Solving Noisy Linear Equations
Venue: arXiv cs.CC 2024
Year: 2024

We present a polynomial-time reduction from solving noisy linear equations over $\mathbb{Z}/q\mathbb{Z}$ in dimension $Θ(k\log n/\mathsf{poly}(\log k,\log q,\log\log n))$ with a uniformly random coefficient matrix to noisy linear equations over $\mathbb{Z}/q\mathbb{Z}$ in dimension $n$ where each row of the coefficient matrix has uniformly random support of size $k$. This allows us to deduce the hardness of sparse problems from their dense counterparts. In particular, we derive hardness results in the following canonical settings. 1) Assuming the $\ell$-dimensional (dense) LWE over a polynomial-size field takes time $2^{Ω(\ell)}$, $k$-sparse LWE in dimension $n$ takes time $n^{Ω({k}/{(\log k \cdot (\log k + \log \log n))})}.$ 2) Assuming the $\ell$-dimensional (dense) LPN over $\mathbb{F}_2$ takes time $2^{Ω(\ell/\log \ell)}$, $k$-sparse LPN in dimension $n$ takes time $n^{Ω(k/(\log k \cdot (\log k + \log \log n)^2))}~.$ These running time lower bounds are nearly tight as both sparse problems can be solved in time $n^{O(k)},$ given sufficiently many samples. We further give a reduction from $k$-sparse LWE to noisy tensor completion. Concretely, composing the two reductions implies that order-$k$ rank-$2^{k-1}$ noisy tensor completion in $\mathbb{R}^{n^{\otimes k}}$ takes time $n^{Ω(k/ \log k \cdot (\log k + \log \log n))}$, assuming the exponential hardness of standard worst-case lattice problems.