OpenRaiser/Intern-Atlas huggingface dataset:
Securing Wireless Communication in Critical Infrastructure: Challenges and Opportunities
Venue: arXiv cs.NI 2023
Year: 2023

Critical infrastructure constitutes the foundation of every society. While traditionally solely relying on dedicated cable-based communication, this infrastructure rapidly transforms to highly digitized and interconnected systems which increasingly rely on wireless communication. Besides providing tremendous benefits, especially affording the easy, cheap, and flexible interconnection of a large number of assets spread over larger geographic areas, wireless communication in critical infrastructure also raises unique security challenges. Most importantly, the shift from dedicated private wired networks to heterogeneous wireless communication over public and shared networks requires significantly more involved security measures. In this paper, we identify the most relevant challenges resulting from the use of wireless communication in critical infrastructure and use those to identify a comprehensive set of promising opportunities to preserve the high security standards of critical infrastructure even when switching from wired to wireless communication.
Collective Tree Exploration via Potential Function Method
Venue: arXiv cs.DS 2023
Year: 2023

We study the problem of collective tree exploration (CTE) where a team of $k$ agents is tasked to traverse all the edges of an unknown tree as fast as possible, assuming complete communication between the agents. In this paper, we present an algorithm performing collective tree exploration in only $2n/k+O(kD)$ rounds, where $n$ is the number of nodes in the tree, and $D$ is the tree depth. This leads to a competitive ratio of $O(\sqrt{k})$ for collective tree exploration, the first polynomial improvement over the initial $O(k/\log(k))$ ratio of [FGKP06]. Our analysis relies on a game with robots at the leaves of a continuously growing tree, which is presented in a similar manner as the `evolving tree game' of [BCR22], though its analysis and applications differ significantly. This game extends the `tree-mining game' (TM) of [Cos23] and leads to guarantees for an asynchronous extension of collective tree exploration (ACTE). Another surprising consequence of our results is the existence of algorithms $\{A_k\}_{k\in \mathbb{N}}$ for layered tree traversal (LTT) with cost at most $2L/k+O(kD)$, where $L$ is the sum of edge lengths and $D$ is the tree depth. For the case of layered trees of width $w$ and unit edge lengths, our guarantee is thus in $O(\sqrt{w}D)$.
Learning to See Physical Properties with Active Sensing Motor Policies
Venue: arXiv cs.RO 2023
Year: 2023

Knowledge of terrain's physical properties inferred from color images can aid in making efficient robotic locomotion plans. However, unlike image classification, it is unintuitive for humans to label image patches with physical properties. Without labeled data, building a vision system that takes as input the observed terrain and predicts physical properties remains challenging. We present a method that overcomes this challenge by self-supervised labeling of images captured by robots during real-world traversal with physical property estimators trained in simulation. To ensure accurate labeling, we introduce Active Sensing Motor Policies (ASMP), which are trained to explore locomotion behaviors that increase the accuracy of estimating physical parameters. For instance, the quadruped robot learns to swipe its foot against the ground to estimate the friction coefficient accurately. We show that the visual system trained with a small amount of real-world traversal data accurately predicts physical parameters. The trained system is robust and works even with overhead images captured by a drone despite being trained on data collected by cameras attached to a quadruped robot walking on the ground.
Analysis of Information Propagation in Ethereum Network Using Combined Graph Attention Network and Reinforcement Learning to Optimize Network Efficiency and Scalability
Venue: arXiv cs.LG 2023
Year: 2023

Blockchain technology has revolutionized the way information is propagated in decentralized networks. Ethereum plays a pivotal role in facilitating smart contracts and decentralized applications. Understanding information propagation dynamics in Ethereum is crucial for ensuring network efficiency, security, and scalability. In this study, we propose an innovative approach that utilizes Graph Convolutional Networks (GCNs) to analyze the information propagation patterns in the Ethereum network. The first phase of our research involves data collection from the Ethereum blockchain, consisting of blocks, transactions, and node degrees. We construct a transaction graph representation using adjacency matrices to capture the node embeddings; while our major contribution is to develop a combined Graph Attention Network (GAT) and Reinforcement Learning (RL) model to optimize the network efficiency and scalability. It learns the best actions to take in various network states, ultimately leading to improved network efficiency, throughput, and optimize gas limits for block processing. In the experimental evaluation, we analyze the performance of our model on a large-scale Ethereum dataset. We investigate effectively aggregating information from neighboring nodes capturing graph structure and updating node embeddings using GCN with the objective of transaction pattern prediction, accounting for varying network loads and number of blocks. Not only we design a gas limit optimization model and provide the algorithm, but also to address scalability, we demonstrate the use and implementation of sparse matrices in GraphConv, GraphSAGE, and GAT. The results indicate that our designed GAT-RL model achieves superior results compared to other GCN models in terms of performance. It effectively propagates information across the network, optimizing gas limits for block processing and improving network efficiency.
Identifying Alzheimer Disease Dementia Levels Using Machine Learning Methods
Venue: arXiv cs.LG 2023
Year: 2023

Dementia, a prevalent neurodegenerative condition, is a major manifestation of Alzheimer's disease (AD). As the condition progresses from mild to severe, it significantly impairs the individual's ability to perform daily tasks independently, necessitating the need for timely and accurate AD classification. Machine learning or deep learning models have emerged as effective tools for this purpose. In this study, we suggested an approach for classifying the four stages of dementia using RF, SVM, and CNN algorithms, augmented with watershed segmentation for feature extraction from MRI images. Our results reveal that SVM with watershed features achieves an impressive accuracy of 96.25%, surpassing other classification methods. The ADNI dataset is utilized to evaluate the effectiveness of our method, and we observed that the inclusion of watershed segmentation contributes to the enhanced performance of the models.
Transformation Decoupling Strategy based on Screw Theory for Deterministic Point Cloud Registration with Gravity Prior
Venue: arXiv cs.CV 2023
Year: 2023

Point cloud registration is challenging in the presence of heavy outlier correspondences. This paper focuses on addressing the robust correspondence-based registration problem with gravity prior that often arises in practice. The gravity directions are typically obtained by inertial measurement units (IMUs) and can reduce the degree of freedom (DOF) of rotation from 3 to 1. We propose a novel transformation decoupling strategy by leveraging screw theory. This strategy decomposes the original 4-DOF problem into three sub-problems with 1-DOF, 2-DOF, and 1-DOF, respectively, thereby enhancing the computation efficiency. Specifically, the first 1-DOF represents the translation along the rotation axis and we propose an interval stabbing-based method to solve it. The second 2-DOF represents the pole which is an auxiliary variable in screw theory and we utilize a branch-and-bound method to solve it. The last 1-DOF represents the rotation angle and we propose a global voting method for its estimation. The proposed method sequentially solves three consensus maximization sub-problems, leading to efficient and deterministic registration. In particular, it can even handle the correspondence-free registration problem due to its significant robustness. Extensive experiments on both synthetic and real-world datasets demonstrate that our method is more efficient and robust than state-of-the-art methods, even when dealing with outlier rates exceeding 99%.
Deep Double Descent for Time Series Forecasting: Avoiding Undertrained Models
Venue: arXiv cs.LG 2023
Year: 2023

Deep learning models, particularly Transformers, have achieved impressive results in various domains, including time series forecasting. While existing time series literature primarily focuses on model architecture modifications and data augmentation techniques, this paper explores the training schema of deep learning models for time series; how models are trained regardless of their architecture. We perform extensive experiments to investigate the occurrence of deep double descent in several Transformer models trained on public time series data sets. We demonstrate epoch-wise deep double descent and that overfitting can be reverted using more epochs. Leveraging these findings, we achieve state-of-the-art results for long sequence time series forecasting in nearly 70% of the 72 benchmarks tested. This suggests that many models in the literature may possess untapped potential. Additionally, we introduce a taxonomy for classifying training schema modifications, covering data augmentation, model inputs, model targets, time series per model, and computational budget.
UltraLiDAR: Learning Compact Representations for LiDAR Completion and Generation
Venue: arXiv cs.CV 2023
Year: 2023

LiDAR provides accurate geometric measurements of the 3D world. Unfortunately, dense LiDARs are very expensive and the point clouds captured by low-beam LiDAR are often sparse. To address these issues, we present UltraLiDAR, a data-driven framework for scene-level LiDAR completion, LiDAR generation, and LiDAR manipulation. The crux of UltraLiDAR is a compact, discrete representation that encodes the point cloud's geometric structure, is robust to noise, and is easy to manipulate. We show that by aligning the representation of a sparse point cloud to that of a dense point cloud, we can densify the sparse point clouds as if they were captured by a real high-density LiDAR, drastically reducing the cost. Furthermore, by learning a prior over the discrete codebook, we can generate diverse, realistic LiDAR point clouds for self-driving. We evaluate the effectiveness of UltraLiDAR on sparse-to-dense LiDAR completion and LiDAR generation. Experiments show that densifying real-world point clouds with our approach can significantly improve the performance of downstream perception systems. Compared to prior art on LiDAR generation, our approach generates much more realistic point clouds. According to A/B test, over 98.5\% of the time human participants prefer our results over those of previous methods.
Dispersion, Capacitated Nodes, and the Power of a Trusted Shepherd
Venue: arXiv cs.DC 2023
Year: 2023

In this paper, we look at and expand the problems of dispersion and Byzantine dispersion of mobile robots on a graph, introduced by Augustine and Moses~Jr.~[ICDCN~2018] and by Molla, Mondal, and Moses~Jr.~[ALGOSENSORS~2020], respectively, to graphs where nodes have variable capacities. We use the idea of a single shepherd, a more powerful robot that will never act in a Byzantine manner, to achieve fast Byzantine dispersion, even when other robots may be strong Byzantine in nature. We also show the benefit of a shepherd for dispersion on capacitated graphs when no Byzantine robots are present.
Open-Set Object Recognition Using Mechanical Properties During Interaction
Venue: arXiv cs.RO 2023
Year: 2023

while most of the tactile robots are operated in close-set conditions, it is challenging for them to operate in open-set conditions where test objects are beyond the robots' knowledge. We proposed an open-set recognition framework using mechanical properties to recongise known objects and incrementally label novel objects. The main contribution is a clustering algorithm that exploits knowledge of known objects to estimate cluster centre and sizes, unlike a typical algorithm that randomly selects them. The framework is validated with the mechanical properties estimated from a real object during interaction. The results show that the framework could recognise objects better than alternative methods contributed by the novelty detector. Importantly, our clustering algorithm yields better clustering performance than other methods. Furthermore, the hyperparameters studies show that cluster size is important to clustering results and needed to be tuned properly.
Fast Many-to-Many Routing for Dynamic Taxi Sharing with Meeting Points
Venue: arXiv cs.DS 2023
Year: 2023

We introduce an improved algorithm for the dynamic taxi sharing problem, i.e. a dispatcher that schedules a fleet of shared taxis as it is used by services like UberXShare and Lyft Shared. We speed up the basic online algorithm that looks for all possible insertions of a new customer into a set of existing routes, we generalize the objective function, and we efficiently support a large number of possible pick-up and drop-off locations. This lays an algorithmic foundation for taxi sharing systems with higher vehicle occupancy - enabling greatly reduced cost and ecological impact at comparable service quality. We find that our algorithm computes assignments between vehicles and riders several times faster than a previous state-of-the-art approach. Further, we observe that allowing meeting points for vehicles and riders can reduce the operating cost of vehicle fleets by up to 15% while also reducing rider wait and trip times.
KG-FRUS: a Novel Graph-based Dataset of 127 Years of US Diplomatic Relations
Venue: arXiv cs.CL 2023
Year: 2023

In the current paper, we present the KG-FRUS dataset, comprised of more than 300,000 US government diplomatic documents encoded in a Knowledge Graph (KG). We leverage the data of the Foreign Relations of the United States (FRUS) (available as XML files) to extract information about the documents and the individuals and countries mentioned within them. We use the extracted entities, and associated metadata, to create a graph-based dataset. Further, we supplement the created KG with additional entities and relations from Wikidata. The relations in the KG capture the synergies and dynamics required to study and understand the complex fields of diplomacy, foreign relations, and politics. This goes well beyond a simple collection of documents which neglects the relations between entities in the text. We showcase a range of possibilities of the current dataset by illustrating different approaches to probe the KG. In the paper, we exemplify how to use a query language to answer simple research questions and how to use graph algorithms such as Node2Vec and PageRank, that benefit from the complete graph structure. More importantly, the chosen structure provides total flexibility for continuously expanding and enriching the graph. Our solution is general, so the proposed pipeline for building the KG can encode other original corpora of time-dependent and complex phenomena. Overall, we present a mechanism to create KG databases providing a more versatile representation of time-dependent related text data and a particular application to the all-important FRUS database.
InsPLAD: A Dataset and Benchmark for Power Line Asset Inspection in UAV Images
Venue: arXiv cs.CV 2023
Year: 2023

Power line maintenance and inspection are essential to avoid power supply interruptions, reducing its high social and financial impacts yearly. Automating power line visual inspections remains a relevant open problem for the industry due to the lack of public real-world datasets of power line components and their various defects to foster new research. This paper introduces InsPLAD, a Power Line Asset Inspection Dataset and Benchmark containing 10,607 high-resolution Unmanned Aerial Vehicles colour images. The dataset contains seventeen unique power line assets captured from real-world operating power lines. Additionally, five of those assets present six defects: four of which are corrosion, one is a broken component, and one is a bird's nest presence. All assets were labelled according to their condition, whether normal or the defect name found on an image level. We thoroughly evaluate state-of-the-art and popular methods for three image-level computer vision tasks covered by InsPLAD: object detection, through the AP metric; defect classification, through Balanced Accuracy; and anomaly detection, through the AUROC metric. InsPLAD offers various vision challenges from uncontrolled environments, such as multi-scale objects, multi-size class instances, multiple objects per image, intra-class variation, cluttered background, distinct point-of-views, perspective distortion, occlusion, and varied lighting conditions. To the best of our knowledge, InsPLAD is the first large real-world dataset and benchmark for power line asset inspection with multiple components and defects for various computer vision tasks, with a potential impact to improve state-of-the-art methods in the field. It will be publicly available in its integrity on a repository with a thorough description. It can be found at https://github.com/andreluizbvs/InsPLAD.
Generalizations of Matrix Multiplication can solve the Light Bulb Problem
Venue: arXiv cs.DS 2023
Year: 2023

In the light bulb problem, one is given uniformly random vectors $x_1, \ldots, x_n, y_1, \ldots, y_n \in \{-1,1\}^d$. They are all chosen independently except a planted pair $(x_{i^*}, y_{j^*})$ is chosen with correlation $ρ>0$. The goal is to find the planted pair. This problem was introduced over 30 years ago by L.~Valiant, and is known to have many applications in data analysis, statistics, and learning theory. The naive algorithm runs in $Ω(n^2)$ time, and algorithms based on Locality-Sensitive Hashing approach quadratic time as $ρ\to 0$. In 2012, G.~Valiant gave a breakthrough algorithm using fast matrix multiplication that runs in time $O(n^{(5-ω)/(4-ω)}) < O(n^{1.615})$, no matter how small $ρ>0$ is. This was subsequently refined by Karppa, Kaski, and Kohonen in 2016 to $O(n^{2 ω/ 3}) < O(n^{1.582})$. In this paper, we propose a new approach which can replace matrix multiplication tensor with other tensors. Those tensors can omit some terms one is supposed to compute, and include additional error terms. Our new approach can make use of any tensors which previously had no known algorithmic applications, including tensors which arise naturally as intermediate steps in border rank methods and in the Laser method. We further show that our approach can be combined with locality-sensitive hashing to design an algorithm whose running time improves as $ρ$ gets larger. To our knowledge, this is the first algorithm which combines fast matrix multiplication with hashing for the light bulb problem or any closest pair problem, and it leads to faster algorithms for small $ρ>0$. We also introduce a new tensor $T_{2112}$, which has the same size of $2 \times 2$ matrix multiplication tensor, but runs faster than the Strassen's algorithm for light bulb problem.
RTP: Rethinking Tensor Parallelism with Memory Deduplication
Venue: arXiv cs.DC 2023
Year: 2023

In the evolving landscape of neural network models, one prominent challenge stand out: the significant memory overheads associated with training expansive models. Addressing this challenge, this study delves deep into the Rotated Tensor Parallelism (RTP). RTP is an innovative approach that strategically focuses on memory deduplication in distributed training environments. It boasts of unique features like a customized communication primitive and the Flyweight Pattern initialization. Furthermore, RTP ensures a seamless overlap between partition computation and partition weight communication, optimizing the training process. Our empirical evaluations underscore RTP's efficiency, revealing that its memory consumption during distributed system training is remarkably close to the optimal - distributing the memory overhead of a single machine equitably among multiple machines. The experimental results demonstrate that RTP is capable of achieving comparable performance to Distributed Data Parallel while providing support for significantly larger models with near-linear scalability in terms of memory. Code of RTP is available at https://github.com/wdlctc/rtp.
MARRS: Multimodal Reference Resolution System
Venue: arXiv cs.CL 2023
Year: 2023

Successfully handling context is essential for any dialog understanding task. This context maybe be conversational (relying on previous user queries or system responses), visual (relying on what the user sees, for example, on their screen), or background (based on signals such as a ringing alarm or playing music). In this work, we present an overview of MARRS, or Multimodal Reference Resolution System, an on-device framework within a Natural Language Understanding system, responsible for handling conversational, visual and background context. In particular, we present different machine learning models to enable handing contextual queries; specifically, one to enable reference resolution, and one to handle context via query rewriting. We also describe how these models complement each other to form a unified, coherent, lightweight system that can understand context while preserving user privacy.
Plot Retrieval as an Assessment of Abstract Semantic Association
Venue: arXiv cs.IR 2023
Year: 2023

Retrieving relevant plots from the book for a query is a critical task, which can improve the reading experience and efficiency of readers. Readers usually only give an abstract and vague description as the query based on their own understanding, summaries, or speculations of the plot, which requires the retrieval model to have a strong ability to estimate the abstract semantic associations between the query and candidate plots. However, existing information retrieval (IR) datasets cannot reflect this ability well. In this paper, we propose Plot Retrieval, a labeled dataset to train and evaluate the performance of IR models on the novel task Plot Retrieval. Text pairs in Plot Retrieval have less word overlap and more abstract semantic association, which can reflect the ability of the IR models to estimate the abstract semantic association, rather than just traditional lexical or semantic matching. Extensive experiments across various lexical retrieval, sparse retrieval, dense retrieval, and cross-encoder methods compared with human studies on Plot Retrieval show current IR models still struggle in capturing abstract semantic association between texts. Plot Retrieval can be the benchmark for further research on the semantic association modeling ability of IR models.