OpenRaiser/Intern-Atlas huggingface dataset:
PyPose v0.6: The Imperative Programming Interface for Robotics
Venue: arXiv cs.RO 2023
Year: 2023

PyPose is an open-source library for robot learning. It combines a learning-based approach with physics-based optimization, which enables seamless end-to-end robot learning. It has been used in many tasks due to its meticulously designed application programming interface (API) and efficient implementation. From its initial launch in early 2022, PyPose has experienced significant enhancements, incorporating a wide variety of new features into its platform. To satisfy the growing demand for understanding and utilizing the library and reduce the learning curve of new users, we present the fundamental design principle of the imperative programming interface, and showcase the flexible usage of diverse functionalities and modules using an extremely simple Dubins car example. We also demonstrate that the PyPose can be easily used to navigate a real quadruped robot with a few lines of code.
AI-Driven Personalised Offloading Device Prescriptions: A Cutting-Edge Approach to Preventing Diabetes-Related Plantar Forefoot Ulcers and Complications
Venue: arXiv cs.CY 2023
Year: 2023

Diabetes-related foot ulcers and complications are a significant concern for individuals with diabetes, leading to severe health implications such as lower-limb amputation and reduced quality of life. This chapter discusses applying AI-driven personalised offloading device prescriptions as an advanced solution for preventing such conditions. By harnessing the capabilities of artificial intelligence, this cutting-edge approach enables the prescription of offloading devices tailored to each patient's specific requirements. This includes the patient's preferences on offloading devices such as footwear and foot orthotics and their adaptations that suit the patient's intention of use and lifestyle. Through a series of studies, real-world data analysis and machine learning algorithms, high-risk areas can be identified, facilitating the recommendation of precise offloading strategies, including custom orthotic insoles, shoe adaptations, or specialised footwear. By including patient-specific factors to promote adherence, proactively addressing pressure points and promoting optimal foot mechanics, these personalised offloading devices have the potential to minimise the occurrence of foot ulcers and associated complications. This chapter proposes an AI-powered Clinical Decision Support System (CDSS) to recommend personalised prescriptions of offloading devices (footwear and insoles) for patients with diabetes who are at risk of foot complications. This innovative approach signifies a transformative leap in diabetic foot care, offering promising opportunities for preventive healthcare interventions.
Students Success Modeling: Most Important Factors
Venue: arXiv cs.CY 2023
Year: 2023

The importance of retention rate for higher education institutions has encouraged data analysts to present various methods to predict at-risk students. The present study, motivated by the same encouragement, proposes a deep learning model trained with 121 features of diverse categories extracted or engineered out of the records of 60,822 postsecondary students. The model undertakes to identify students likely to graduate, the ones likely to transfer to a different school, and the ones likely to drop out and leave their higher education unfinished. This study undertakes to adjust its predictive methods for different stages of curricular progress of students. The temporal aspects introduced for this purpose are accounted for by incorporating layers of LSTM in the model. Our experiments demonstrate that distinguishing between to-be-graduate and at-risk students is reasonably achievable in the earliest stages, and then it rapidly improves, but the resolution within the latter category (dropout vs. transfer) depends on data accumulated over time. However, the model remarkably foresees the fate of students who stay in the school for three years. The model is also assigned to present the weightiest features in the procedure of prediction, both on institutional and student levels. A large, diverse sample size along with the investigation of more than one hundred extracted or engineered features in our study provide new insights into variables that affect students success, predict dropouts with reasonable accuracy, and shed light on the less investigated issue of transfer between colleges. More importantly, by providing individual-level predictions (as opposed to school-level predictions) and addressing the outcomes of transfers, this study improves the use of ML in the prediction of educational outcomes.
Data Commons
Venue: arXiv cs.CY 2023
Year: 2023

Publicly available data from open sources (e.g., United States Census Bureau (Census), World Health Organization (WHO), Intergovernmental Panel on Climate Change (IPCC)) are vital resources for policy makers, students and researchers across different disciplines. Combining data from different sources requires the user to reconcile the differences in schemas, formats, assumptions, and more. This data wrangling is time consuming, tedious and needs to be repeated by every user of the data. Our goal with Data Commons (DC) is to help make public data accessible and useful to those who want to understand this data and use it to solve societal challenges and opportunities. We do the data processing and make the processed data widely available via standard schemas and Cloud APIs. Data Commons is a distributed network of sites that publish data in a common schema and interoperate using the Data Commons APIs. Data from different Data Commons can be joined easily. The aggregate of these Data Commons can be viewed as a single Knowledge Graph. This Knowledge Graph can then be searched over using Natural Language questions utilizing advances in Large Language Models. This paper describes the architecture of Data Commons, some of the major deployments and highlights directions for future work.
Tree-Based Reconstructive Partitioning: A Novel Low-Data Level Generation Approach
Venue: arXiv cs.AI 2023
Year: 2023

Procedural Content Generation (PCG) is the algorithmic generation of content, often applied to games. PCG and PCG via Machine Learning (PCGML) have appeared in published games. However, it can prove difficult to apply these approaches in the early stages of an in-development game. PCG requires expertise in representing designer notions of quality in rules or functions, and PCGML typically requires significant training data, which may not be available early in development. In this paper, we introduce Tree-based Reconstructive Partitioning (TRP), a novel PCGML approach aimed to address this problem. Our results, across two domains, demonstrate that TRP produces levels that are more playable and coherent, and that the approach is more generalizable with less training data. We consider TRP to be a promising new approach that can afford the introduction of PCGML into the early stages of game development without requiring human expertise or significant training data.
Weakly Supervised Reasoning by Neuro-Symbolic Approaches
Venue: arXiv cs.CL 2023
Year: 2023

Deep learning has largely improved the performance of various natural language processing (NLP) tasks. However, most deep learning models are black-box machinery, and lack explicit interpretation. In this chapter, we will introduce our recent progress on neuro-symbolic approaches to NLP, which combines different schools of AI, namely, symbolism and connectionism. Generally, we will design a neural system with symbolic latent structures for an NLP task, and apply reinforcement learning or its relaxation to perform weakly supervised reasoning in the downstream task. Our framework has been successfully applied to various tasks, including table query reasoning, syntactic structure reasoning, information extraction reasoning, and rule reasoning. For each application, we will introduce the background, our approach, and experimental results.
A Differentiable Framework for End-to-End Learning of Hybrid Structured Compression
Venue: arXiv cs.LG 2023
Year: 2023

Filter pruning and low-rank decomposition are two of the foundational techniques for structured compression. Although recent efforts have explored hybrid approaches aiming to integrate the advantages of both techniques, their performance gains have been modest at best. In this study, we develop a \textit{Differentiable Framework~(DF)} that can express filter selection, rank selection, and budget constraint into a single analytical formulation. Within the framework, we introduce DML-S for filter selection, integrating scheduling into existing mask learning techniques. Additionally, we present DTL-S for rank selection, utilizing a singular value thresholding operator. The framework with DML-S and DTL-S offers a hybrid structured compression methodology that facilitates end-to-end learning through gradient-base optimization. Experimental results demonstrate the efficacy of DF, surpassing state-of-the-art structured compression methods. Our work establishes a robust and versatile avenue for advancing structured compression techniques.
Deformable 3D Gaussians for High-Fidelity Monocular Dynamic Scene Reconstruction
Venue: arXiv cs.CV 2023
Year: 2023

Implicit neural representation has paved the way for new approaches to dynamic scene reconstruction and rendering. Nonetheless, cutting-edge dynamic neural rendering methods rely heavily on these implicit representations, which frequently struggle to capture the intricate details of objects in the scene. Furthermore, implicit methods have difficulty achieving real-time rendering in general dynamic scenes, limiting their use in a variety of tasks. To address the issues, we propose a deformable 3D Gaussians Splatting method that reconstructs scenes using 3D Gaussians and learns them in canonical space with a deformation field to model monocular dynamic scenes. We also introduce an annealing smoothing training mechanism with no extra overhead, which can mitigate the impact of inaccurate poses on the smoothness of time interpolation tasks in real-world datasets. Through a differential Gaussian rasterizer, the deformable 3D Gaussians not only achieve higher rendering quality but also real-time rendering speed. Experiments show that our method outperforms existing methods significantly in terms of both rendering quality and speed, making it well-suited for tasks such as novel-view synthesis, time interpolation, and real-time rendering.
Contextual Emotion Estimation from Image Captions
Venue: arXiv cs.CV 2023
Year: 2023

Emotion estimation in images is a challenging task, typically using computer vision methods to directly estimate people's emotions using face, body pose and contextual cues. In this paper, we explore whether Large Language Models (LLMs) can support the contextual emotion estimation task, by first captioning images, then using an LLM for inference. First, we must understand: how well do LLMs perceive human emotions? And which parts of the information enable them to determine emotions? One initial challenge is to construct a caption that describes a person within a scene with information relevant for emotion perception. Towards this goal, we propose a set of natural language descriptors for faces, bodies, interactions, and environments. We use them to manually generate captions and emotion annotations for a subset of 331 images from the EMOTIC dataset. These captions offer an interpretable representation for emotion estimation, towards understanding how elements of a scene affect emotion perception in LLMs and beyond. Secondly, we test the capability of a large language model to infer an emotion from the resulting image captions. We find that GPT-3.5, specifically the text-davinci-003 model, provides surprisingly reasonable emotion predictions consistent with human annotations, but accuracy can depend on the emotion concept. Overall, the results suggest promise in the image captioning and LLM approach.
A Survey of Brain Computer Interface Using Non-Invasive Methods
Venue: arXiv cs.HC 2023
Year: 2023

Research on Brain-Computer Interface (BCI) began in the 1970s and has increased in volume and diversified significantly since then. Today BCI is widely used for applications like assistive devices for physically challenged users, mental state monitoring, input devices for hands-free applications, marketing, education, security, games and entertainment. This article explores the advantages and disadvantages of invasive and non-invasive BCI technologies and focuses on use cases of several non-invasive technologies, namely electroencephalogram (EEG), functional Magnetic Resonance Imaging (fMRI), Near Infrared Spectroscopy (NIRs) and hybrid systems.
A Practical Survey on Zero-shot Prompt Design for In-context Learning
Venue: arXiv cs.CL 2023
Year: 2023

The remarkable advancements in large language models (LLMs) have brought about significant improvements in Natural Language Processing(NLP) tasks. This paper presents a comprehensive review of in-context learning techniques, focusing on different types of prompts, including discrete, continuous, few-shot, and zero-shot, and their impact on LLM performance. We explore various approaches to prompt design, such as manual design, optimization algorithms, and evaluation methods, to optimize LLM performance across diverse tasks. Our review covers key research studies in prompt engineering, discussing their methodologies and contributions to the field. We also delve into the challenges faced in evaluating prompt performance, given the absence of a single "best" prompt and the importance of considering multiple metrics. In conclusion, the paper highlights the critical role of prompt design in harnessing the full potential of LLMs and provides insights into the combination of manual design, optimization techniques, and rigorous evaluation for more effective and efficient use of LLMs in various NLP tasks.
Intent-Aware Autonomous Driving: A Case Study on Highway Merging Scenarios
Venue: arXiv cs.RO 2023
Year: 2023

In this work, we use the communication of intent as a means to facilitate cooperation between autonomous vehicle agents. Generally speaking, intents can be any reliable information about its future behavior that a vehicle communicates with another vehicle. We implement this as an intent-sharing task atop the merging environment in the simulator of highway-env, which provides a collection of environments for learning decision-making strategies for autonomous vehicles. Under a simple setting between two agents, we carefully investigate how intent-sharing can aid the receiving vehicle in adjusting its behavior in highway merging scenarios.
User Simulation with Large Language Models for Evaluating Task-Oriented Dialogue
Venue: arXiv cs.CL 2023
Year: 2023

One of the major impediments to the development of new task-oriented dialogue (TOD) systems is the need for human evaluation at multiple stages and iterations of the development process. In an effort to move toward automated evaluation of TOD, we propose a novel user simulator built using recently developed large pretrained language models (LLMs). In order to increase the linguistic diversity of our system relative to the related previous work, we do not fine-tune the LLMs used by our system on existing TOD datasets; rather we use in-context learning to prompt the LLMs to generate robust and linguistically diverse output with the goal of simulating the behavior of human interlocutors. Unlike previous work, which sought to maximize goal success rate (GSR) as the primary metric of simulator performance, our goal is a system which achieves a GSR similar to that observed in human interactions with TOD systems. Using this approach, our current simulator is effectively able to interact with several TOD systems, especially on single-intent conversational goals, while generating lexically and syntactically diverse output relative to previous simulators that rely upon fine-tuned models. Finally, we collect a Human2Bot dataset of humans interacting with the same TOD systems with which we experimented in order to better quantify these achievements.
Spatial-Temporal Knowledge-Embedded Transformer for Video Scene Graph Generation
Venue: arXiv cs.CV 2023
Year: 2023

Video scene graph generation (VidSGG) aims to identify objects in visual scenes and infer their relationships for a given video. It requires not only a comprehensive understanding of each object scattered on the whole scene but also a deep dive into their temporal motions and interactions. Inherently, object pairs and their relationships enjoy spatial co-occurrence correlations within each image and temporal consistency/transition correlations across different images, which can serve as prior knowledge to facilitate VidSGG model learning and inference. In this work, we propose a spatial-temporal knowledge-embedded transformer (STKET) that incorporates the prior spatial-temporal knowledge into the multi-head cross-attention mechanism to learn more representative relationship representations. Specifically, we first learn spatial co-occurrence and temporal transition correlations in a statistical manner. Then, we design spatial and temporal knowledge-embedded layers that introduce the multi-head cross-attention mechanism to fully explore the interaction between visual representation and the knowledge to generate spatial- and temporal-embedded representations, respectively. Finally, we aggregate these representations for each subject-object pair to predict the final semantic labels and their relationships. Extensive experiments show that STKET outperforms current competing algorithms by a large margin, e.g., improving the mR@50 by 8.1%, 4.7%, and 2.1% on different settings over current algorithms.
Multi-modal Domain Adaptation for REG via Relation Transfer
Venue: arXiv cs.CV 2023
Year: 2023

Domain adaptation, which aims to transfer knowledge between domains, has been well studied in many areas such as image classification and object detection. However, for multi-modal tasks, conventional approaches rely on large-scale pre-training. But due to the difficulty of acquiring multi-modal data, large-scale pre-training is often impractical. Therefore, domain adaptation, which can efficiently utilize the knowledge from different datasets (domains), is crucial for multi-modal tasks. In this paper, we focus on the Referring Expression Grounding (REG) task, which is to localize an image region described by a natural language expression. Specifically, we propose a novel approach to effectively transfer multi-modal knowledge through a specially relation-tailored approach for the REG problem. Our approach tackles the multi-modal domain adaptation problem by simultaneously enriching inter-domain relations and transferring relations between domains. Experiments show that our proposed approach significantly improves the transferability of multi-modal domains and enhances adaptation performance in the REG problem.
RTrack: Accelerating Convergence for Visual Object Tracking via Pseudo-Boxes Exploration
Venue: arXiv cs.CV 2023
Year: 2023

Single object tracking (SOT) heavily relies on the representation of the target object as a bounding box. However, due to the potential deformation and rotation experienced by the tracked targets, the genuine bounding box fails to capture the appearance information explicitly and introduces cluttered background. This paper proposes RTrack, a novel object representation baseline tracker that utilizes a set of sample points to get a pseudo bounding box. RTrack automatically arranges these points to define the spatial extents and highlight local areas. Building upon the baseline, we conducted an in-depth exploration of the training potential and introduced a one-to-many leading assignment strategy. It is worth noting that our approach achieves competitive performance to the state-of-the-art trackers on the GOT-10k dataset while reducing training time to just 10% of the previous state-of-the-art (SOTA) trackers' training costs. The substantial reduction in training costs brings single-object tracking (SOT) closer to the object detection (OD) task. Extensive experiments demonstrate that our proposed RTrack achieves SOTA results with faster convergence.
Natural Language Processing for Requirements Formalization: How to Derive New Approaches?
Venue: arXiv cs.SE 2023
Year: 2023

It is a long-standing desire of industry and research to automate the software development and testing process as much as possible. In this process, requirements engineering (RE) plays a fundamental role for all other steps that build on it. Model-based design and testing methods have been developed to handle the growing complexity and variability of software systems. However, major effort is still required to create specification models from a large set of functional requirements provided in natural language. Numerous approaches based on natural language processing (NLP) have been proposed in the literature to generate requirements models using mainly syntactic properties. Recent advances in NLP show that semantic quantities can also be identified and used to provide better assistance in the requirements formalization process. In this work, we present and discuss principal ideas and state-of-the-art methodologies from the field of NLP in order to guide the readers on how to create a set of rules and methods for the semi-automated formalization of requirements according to their specific use case and needs. We discuss two different approaches in detail and highlight the iterative development of rule sets. The requirements models are represented in a human- and machine-readable format in the form of pseudocode. The presented methods are demonstrated on two industrial use cases from the automotive and railway domains. It shows that using current pre-trained NLP models requires less effort to create a set of rules and can be easily adapted to specific use cases and domains. In addition, findings and shortcomings of this research area are highlighted and an outlook on possible future developments is given.
Beyond Fairness: Age-Harmless Parkinson's Detection via Voice
Venue: arXiv cs.LG 2023
Year: 2023

Parkinson's disease (PD), a neurodegenerative disorder, often manifests as speech and voice dysfunction. While utilizing voice data for PD detection has great potential in clinical applications, the widely used deep learning models currently have fairness issues regarding different ages of onset. These deep models perform well for the elderly group (age $>$ 55) but are less accurate for the young group (age $\leq$ 55). Through our investigation, the discrepancy between the elderly and the young arises due to 1) an imbalanced dataset and 2) the milder symptoms often seen in early-onset patients. However, traditional debiasing methods are impractical as they typically impair the prediction accuracy for the majority group while minimizing the discrepancy. To address this issue, we present a new debiasing method using GradCAM-based feature masking combined with ensemble models, ensuring that neither fairness nor accuracy is compromised. Specifically, the GradCAM-based feature masking selectively obscures age-related features in the input voice data while preserving essential information for PD detection. The ensemble models further improve the prediction accuracy for the minority (young group). Our approach effectively improves detection accuracy for early-onset patients without sacrificing performance for the elderly group. Additionally, we propose a two-step detection strategy for the young group, offering a practical risk assessment for potential early-onset PD patients.