OpenRaiser/Intern-Atlas huggingface dataset:
SLAM-based Joint Calibration of Multiple Asynchronous Microphone Arrays and Sound Source Localization
Venue: arXiv cs.RO 2024
Year: 2024

Robot audition systems with multiple microphone arrays have many applications in practice. However, accurate calibration of multiple microphone arrays remains challenging because there are many unknown parameters to be identified, including the relative transforms (i.e., orientation, translation) and asynchronous factors (i.e., initial time offset and sampling clock difference) between microphone arrays. To tackle these challenges, in this paper, we adopt batch simultaneous localization and mapping (SLAM) for joint calibration of multiple asynchronous microphone arrays and sound source localization. Using the Fisher information matrix (FIM) approach, we first conduct the observability analysis (i.e., parameter identifiability) of the above-mentioned calibration problem and establish necessary/sufficient conditions under which the FIM and the Jacobian matrix have full column rank, which implies the identifiability of the unknown parameters. We also discover several scenarios where the unknown parameters are not uniquely identifiable. Subsequently, we propose an effective framework to initialize the unknown parameters, which is used as the initial guess in batch SLAM for multiple microphone arrays calibration, aiming to further enhance optimization accuracy and convergence. Extensive numerical simulations and real experiments have been conducted to verify the performance of the proposed method. The experiment results show that the proposed pipeline achieves higher accuracy with fast convergence in comparison to methods that use the noise-corrupted ground truth of the unknown parameters as the initial guess in the optimization and other existing frameworks.
Efficient Stimuli Generation using Reinforcement Learning in Design Verification
Venue: arXiv cs.AI 2024
Year: 2024

The increasing design complexity of System-on-Chips (SoCs) has led to significant verification challenges, particularly in meeting coverage targets within a timely manner. At present, coverage closure is heavily dependent on constrained random and coverage driven verification methodologies where the randomized stimuli are bounded to verify certain scenarios and to reach coverage goals. This process is said to be exhaustive and to consume a lot of project time. In this paper, a novel methodology is proposed to generate efficient stimuli with the help of Reinforcement Learning (RL) to reach the maximum code coverage of the Design Under Verification (DUV). Additionally, an automated framework is created using metamodeling to generate a SystemVerilog testbench and an RL environment for any given design. The proposed approach is applied to various designs and the produced results proves that the RL agent provides effective stimuli to achieve code coverage faster in comparison with baseline random simulations. Furthermore, various RL agents and reward schemes are analyzed in our work.
Just Rewrite It Again: A Post-Processing Method for Enhanced Semantic Similarity and Privacy Preservation of Differentially Private Rewritten Text
Venue: arXiv cs.CL 2024
Year: 2024

The study of Differential Privacy (DP) in Natural Language Processing often views the task of text privatization as a $\textit{rewriting}$ task, in which sensitive input texts are rewritten to hide explicit or implicit private information. In order to evaluate the privacy-preserving capabilities of a DP text rewriting mechanism, $\textit{empirical privacy}$ tests are frequently employed. In these tests, an adversary is modeled, who aims to infer sensitive information (e.g., gender) about the author behind a (privatized) text. Looking to improve the empirical protections provided by DP rewriting methods, we propose a simple post-processing method based on the goal of aligning rewritten texts with their original counterparts, where DP rewritten texts are rewritten $\textit{again}$. Our results show that such an approach not only produces outputs that are more semantically reminiscent of the original inputs, but also texts which score on average better in empirical privacy evaluations. Therefore, our approach raises the bar for DP rewriting methods in their empirical privacy evaluations, providing an extra layer of protection against malicious adversaries.
Guardians of DNS Integrity: A Remote Method for Identifying DNSSEC Validators Across the Internet
Venue: arXiv cs.CR 2024
Year: 2024

DNS Security Extensions (DNSSEC) provide the most effective way to fight DNS cache poisoning attacks. Yet, very few DNS resolvers perform DNSSEC validation. Identifying such systems is non-trivial and the existing methods are not suitable for Internet-scale measurements. In this paper, we propose a novel remote technique for identifying DNSSEC-validating resolvers. The proposed method consists of two steps. In the first step, we identify open resolvers by scanning 3.1 billion end hosts and request every non-forwarder to resolve one correct and seven deliberately misconfigured domains. We then build a classifier that discriminates validators from non-validators based on query patterns and DNS response codes. We find that while most open resolvers are DNSSEC-enabled, less than 18% in IPv4 (38% in IPv6) validate received responses. In the second step, we remotely identify closed non-forwarders in networks that do not have inbound Source Address Validation (SAV) in place. Using the classifier built in step one, we identify 37.4% IPv4 (42.9% IPv6) closed DNSSEC validators and cross-validate the results using RIPE Atlas probes. Finally, we show that the discovered (non)-validators actively send requests to DNS root servers, suggesting that we deal with operational recursive resolvers rather than misconfigured machines.
DevEval: A Manually-Annotated Code Generation Benchmark Aligned with Real-World Code Repositories
Venue: arXiv cs.CL 2024
Year: 2024

How to evaluate the coding abilities of Large Language Models (LLMs) remains an open question. We find that existing benchmarks are poorly aligned with real-world code repositories and are insufficient to evaluate the coding abilities of LLMs. To address the knowledge gap, we propose a new benchmark named DevEval, which has three advances. (1) DevEval aligns with real-world repositories in multiple dimensions, e.g., code distributions and dependency distributions. (2) DevEval is annotated by 13 developers and contains comprehensive annotations (e.g., requirements, original repositories, reference code, and reference dependencies). (3) DevEval comprises 1,874 testing samples from 117 repositories, covering 10 popular domains (e.g., Internet, Database). Based on DevEval, we propose repository-level code generation and evaluate 8 popular LLMs on DevEval (e.g., gpt-4, gpt-3.5, StarCoder 2, DeepSeek Coder, CodeLLaMa). Our experiments reveal these LLMs' coding abilities in real-world code repositories. For example, in our experiments, the highest Pass@1 of gpt-4-turbo is only 53.04%. We also analyze LLMs' failed cases and summarize their shortcomings. We hope DevEval can facilitate the development of LLMs in real code repositories. DevEval, prompts, and LLMs' predictions have been released.
Parrot: Efficient Serving of LLM-based Applications with Semantic Variable
Venue: arXiv cs.LG 2024
Year: 2024

The rise of large language models (LLMs) has enabled LLM-based applications (a.k.a. AI agents or co-pilots), a new software paradigm that combines the strength of LLM and conventional software. Diverse LLM applications from different tenants could design complex workflows using multiple LLM requests to accomplish one task. However, they have to use the over-simplified request-level API provided by today's public LLM services, losing essential application-level information. Public LLM services have to blindly optimize individual LLM requests, leading to sub-optimal end-to-end performance of LLM applications. This paper introduces Parrot, an LLM service system that focuses on the end-to-end experience of LLM-based applications. Parrot proposes Semantic Variable, a unified abstraction to expose application-level knowledge to public LLM services. A Semantic Variable annotates an input/output variable in the prompt of a request, and creates the data pipeline when connecting multiple LLM requests, providing a natural way to program LLM applications. Exposing Semantic Variables to the public LLM service allows it to perform conventional data flow analysis to uncover the correlation across multiple LLM requests. This correlation opens a brand-new optimization space for the end-to-end performance of LLM-based applications. Extensive evaluations demonstrate that Parrot can achieve up to an order-of-magnitude improvement for popular and practical use cases of LLM applications.
Strategies to Counter Artificial Intelligence in Law Enforcement: Cross-Country Comparison of Citizens in Greece, Italy and Spain
Venue: arXiv cs.AI 2024
Year: 2024

This paper investigates citizens' counter-strategies to the use of Artificial Intelligence (AI) by law enforcement agencies (LEAs). Based on information from three countries (Greece, Italy and Spain) we demonstrate disparities in the likelihood of ten specific counter-strategies. We further identified factors that increase the propensity for counter-strategies. Our study provides an important new perspective to societal impacts of security-focused AI applications by illustrating the conscious, strategic choices by citizens when confronted with AI capabilities for LEAs.
A Deep Reinforcement Learning Approach for Trading Optimization in the Forex Market with Multi-Agent Asynchronous Distribution
Venue: arXiv cs.CE 2024
Year: 2024

In today's forex market traders increasingly turn to algorithmic trading, leveraging computers to seek more profits. Deep learning techniques as cutting-edge advancements in machine learning, capable of identifying patterns in financial data. Traders utilize these patterns to execute more effective trades, adhering to algorithmic trading rules. Deep reinforcement learning methods (DRL), by directly executing trades based on identified patterns and assessing their profitability, offer advantages over traditional DL approaches. This research pioneers the application of a multi-agent (MA) RL framework with the state-of-the-art Asynchronous Advantage Actor-Critic (A3C) algorithm. The proposed method employs parallel learning across multiple asynchronous workers, each specialized in trading across multiple currency pairs to explore the potential for nuanced strategies tailored to different market conditions and currency pairs. Two different A3C with lock and without lock MA model was proposed and trained on single currency and multi-currency. The results indicate that both model outperform on Proximal Policy Optimization model. A3C with lock outperforms other in single currency training scenario and A3C without Lock outperforms other in multi-currency scenario. The findings demonstrate that this approach facilitates broader and faster exploration of different currency pairs, significantly enhancing trading returns. Additionally, the agent can learn a more profitable trading strategy in a shorter time.
Repeatable and Reliable Efforts of Accelerated Risk Assessment in Robot Testing
Venue: arXiv cs.RO 2024
Year: 2024

Risk assessment of a robot in controlled environments, such as laboratories and proving grounds, is a common means to assess, certify, validate, verify, and characterize the robots' safety performance before, during, and even after their commercialization in the real-world. A standard testing program that acquires the risk estimate is expected to be (i) repeatable, such that it obtains similar risk assessments of the same testing subject among multiple trials or attempts with the similar testing effort by different stakeholders, and (ii) reliable against a variety of testing subjects produced by different vendors and manufacturers. Both repeatability and reliability are fundamental and crucial for a testing algorithm's validity, fairness, and practical feasibility, especially for standardization. However, these properties are rarely satisfied or ensured, especially as the subject robots become more complex, uncertain, and varied. This issue was present in traditional risk assessments through Monte-Carlo sampling, and remains a bottleneck for the recent accelerated risk assessment methods, primarily those using importance sampling. This study aims to enhance existing accelerated testing frameworks by proposing a new algorithm that provably integrates repeatability and reliability with the already established formality and efficiency. It also features demonstrations assessing the risk of instability from frontal impacts, initiated by push-over disturbances on a controlled inverted pendulum and a 7-DoF planar bipedal robot Rabbit managed by various control algorithms.
Spectral Mapping of Singing Voices: U-Net-Assisted Vocal Segmentation
Venue: arXiv cs.SD 2024
Year: 2024

Separating vocal elements from musical tracks is a longstanding challenge in audio signal processing. This study tackles the distinct separation of vocal components from musical spectrograms. We employ the Short Time Fourier Transform (STFT) to extract audio waves into detailed frequency-time spectrograms, utilizing the benchmark MUSDB18 dataset for music separation. Subsequently, we implement a UNet neural network to segment the spectrogram image, aiming to delineate and extract singing voice components accurately. We achieved noteworthy results in audio source separation using of our U-Net-based models. The combination of frequency-axis normalization with Min/Max scaling and the Mean Absolute Error (MAE) loss function achieved the highest Source-to-Distortion Ratio (SDR) of 7.1 dB, indicating a high level of accuracy in preserving the quality of the original signal during separation. This setup also recorded impressive Source-to-Interference Ratio (SIR) and Source-to-Artifact Ratio (SAR) scores of 25.2 dB and 7.2 dB, respectively. These values significantly outperformed other configurations, particularly those using Quantile-based normalization or a Mean Squared Error (MSE) loss function. Our source code, model weights, and demo material can be found at the project's GitHub repository: https://github.com/mbrotos/SoundSeg
Autonomous programmable microscopic electronic lablets optimized with digital control
Venue: arXiv cs.RO 2024
Year: 2024

Lablets are autonomous microscopic particles with programmable CMOS electronics that can control electrokinetic phenomena and electrochemical reactions in solution via actuator and sensor microelectrodes. In this paper, we describe the design and fabrication of optimized singulated lablets (CMOS3) with dimensions 140x140x50 micrometers carrying an integrated coplanar encapsulated supercapacitor as a rechargeable power supply. The lablets are designed to allow docking to one another or to a smart surface for interchange of energy, electronic information, and chemicals. The paper focusses on the digital and analog design of the lablets to allow significant programmable functionality in a microscopic footprint, including the control of autonomous actuation and sensing up to the level of being able to support a complete lablet self-reproduction life cycle, although experimentally this remains to be proven. The potential of lablets in autonomous sensing and control and for evolutionary experimentation are discussed.
Tropical Expressivity of Neural Networks
Venue: arXiv cs.LG 2024
Year: 2024

We propose an algebraic geometric framework to study the expressivity of linear activation neural networks. A particular quantity of neural networks that has been actively studied is the number of linear regions, which gives a quantification of the information capacity of the architecture. To study and evaluate information capacity and expressivity, we work in the setting of tropical geometry - a combinatorial and polyhedral variant of algebraic geometry - where there are known connections between tropical rational maps and feedforward neural networks. Our work builds on and expands this connection to capitalize on the rich theory of tropical geometry to characterize and study various architectural aspects of neural networks. Our contributions are threefold: we provide a novel tropical geometric approach to selecting sampling domains among linear regions; an algebraic result allowing for a guided restriction of the sampling domain for network architectures with symmetries; and a new open source OSCAR library to analyze neural networks symbolically using their tropical representations, where we present a new algorithm that computes the exact number of their linear regions. We provide a comprehensive set of proof-of-concept numerical experiments demonstrating the breadth of neural network architectures to which tropical geometric theory can be applied to reveal insights on expressivity characteristics of a network. Our work provides the foundations for the adaptation of both theory and existing software from computational tropical geometry and symbolic computation to neural networks and deep learning
Nadine: An LLM-driven Intelligent Social Robot with Affective Capabilities and Human-like Memory
Venue: arXiv cs.RO 2024
Year: 2024

In this work, we describe our approach to developing an intelligent and robust social robotic system for the Nadine social robot platform. We achieve this by integrating Large Language Models (LLMs) and skilfully leveraging the powerful reasoning and instruction-following capabilities of these types of models to achieve advanced human-like affective and cognitive capabilities. This approach is novel compared to the current state-of-the-art LLM-based agents which do not implement human-like long-term memory or sophisticated emotional appraisal. The naturalness of social robots, consisting of multiple modules, highly depends on the performance and capabilities of each component of the system and the seamless integration of the components. We built a social robot system that enables generating appropriate behaviours through multimodal input processing, bringing episodic memories accordingly to the recognised user, and simulating the emotional states of the robot induced by the interaction with the human partner. In particular, we introduce an LLM-agent frame for social robots, SoR-ReAct, serving as a core component for the interaction module in our system. This design has brought forth the advancement of social robots and aims to increase the quality of human-robot interaction.
Unified Explanations in Machine Learning Models: A Perturbation Approach
Venue: arXiv cs.LG 2024
Year: 2024

A high-velocity paradigm shift towards Explainable Artificial Intelligence (XAI) has emerged in recent years. Highly complex Machine Learning (ML) models have flourished in many tasks of intelligence, and the questions have started to shift away from traditional metrics of validity towards something deeper: What is this model telling me about my data, and how is it arriving at these conclusions? Inconsistencies between XAI and modeling techniques can have the undesirable effect of casting doubt upon the efficacy of these explainability approaches. To address these problems, we propose a systematic, perturbation-based analysis against a popular, model-agnostic method in XAI, SHapley Additive exPlanations (Shap). We devise algorithms to generate relative feature importance in settings of dynamic inference amongst a suite of popular machine learning and deep learning methods, and metrics that allow us to quantify how well explanations generated under the static case hold. We propose a taxonomy for feature importance methodology, measure alignment, and observe quantifiable similarity amongst explanation models across several datasets.
Grokfast: Accelerated Grokking by Amplifying Slow Gradients
Venue: arXiv cs.LG 2024
Year: 2024

One puzzling artifact in machine learning dubbed grokking is where delayed generalization is achieved tenfolds of iterations after near perfect overfitting to the training data. Focusing on the long delay itself on behalf of machine learning practitioners, our goal is to accelerate generalization of a model under grokking phenomenon. By regarding a series of gradients of a parameter over training iterations as a random signal over time, we can spectrally decompose the parameter trajectories under gradient descent into two components: the fast-varying, overfitting-yielding component and the slow-varying, generalization-inducing component. This analysis allows us to accelerate the grokking phenomenon more than $\times 50$ with only a few lines of code that amplifies the slow-varying components of gradients. The experiments show that our algorithm applies to diverse tasks involving images, languages, and graphs, enabling practical availability of this peculiar artifact of sudden generalization. Our code is available at https://github.com/ironjr/grokfast.
Retrieval Augmented Structured Generation: Business Document Information Extraction As Tool Use
Venue: arXiv cs.CL 2024
Year: 2024

Business Document Information Extraction (BDIE) is the problem of transforming a blob of unstructured information (raw text, scanned documents, etc.) into a structured format that downstream systems can parse and use. It has two main tasks: Key-Information Extraction (KIE) and Line Items Recognition (LIR). In this paper, we argue that BDIE is best modeled as a Tool Use problem, where the tools are these downstream systems. We then present Retrieval Augmented Structured Generation (RASG), a novel general framework for BDIE that achieves state of the art (SOTA) results on both KIE and LIR tasks on BDIE benchmarks. The contributions of this paper are threefold: (1) We show, with ablation benchmarks, that Large Language Models (LLMs) with RASG are already competitive with or surpasses current SOTA Large Multimodal Models (LMMs) without RASG on BDIE benchmarks. (2) We propose a new metric class for Line Items Recognition, General Line Items Recognition Metric (GLIRM), that is more aligned with practical BDIE use cases compared to existing metrics, such as ANLS*, DocILE, and GriTS. (3) We provide a heuristic algorithm for backcalculating bounding boxes of predicted line items and tables without the need for vision encoders. Finally, we claim that, while LMMs might sometimes offer marginal performance benefits, LLMs + RASG is oftentimes superior given real-world applications and constraints of BDIE.
Flexible SE(2) graph neural networks with applications to PDE surrogates
Venue: arXiv cs.LG 2024
Year: 2024

This paper presents a novel approach for constructing graph neural networks equivariant to 2D rotations and translations and leveraging them as PDE surrogates on non-gridded domains. We show that aligning the representations with the principal axis allows us to sidestep many constraints while preserving SE(2) equivariance. By applying our model as a surrogate for fluid flow simulations and conducting thorough benchmarks against non-equivariant models, we demonstrate significant gains in terms of both data efficiency and accuracy.