OpenRaiser/Intern-Atlas huggingface dataset:
Evaluating Explanatory Capabilities of Machine Learning Models in Medical Diagnostics: A Human-in-the-Loop Approach
Venue: arXiv cs.LG 2024
Year: 2024

This paper presents a comprehensive study on the evaluation of explanatory capabilities of machine learning models, with a focus on Decision Trees, Random Forest and XGBoost models using a pancreatic cancer dataset. We use Human-in-the-Loop related techniques and medical guidelines as a source of domain knowledge to establish the importance of the different features that are relevant to establish a pancreatic cancer treatment. These features are not only used as a dimensionality reduction approach for the machine learning models, but also as way to evaluate the explainability capabilities of the different models using agnostic and non-agnostic explainability techniques. To facilitate interpretation of explanatory results, we propose the use of similarity measures such as the Weighted Jaccard Similarity coefficient. The goal is to not only select the best performing model but also the one that can best explain its conclusions and aligns with human domain knowledge.
Sensing Performance of the IEEE 802.11bf Protocol and Its Impact on Data Communication
Venue: arXiv cs.NI 2024
Year: 2024

Wi-Fi sensing has been used to detect and track movements in an environment, resulting in the emergence of several innovative applications. Wi-Fi sensing can detect movement and locate objects by analyzing variations in the Wi-Fi signal due to its interaction with moving objects. Until recently, Wi-Fi sensing has been primarily available through proprietary solutions, which has limited its adoption. However, the recent initiative by the IEEE to develop the IEEE 802.11bf standard promises to make the adoption of Wi-Fi sensing widespread. Although Wi-Fi sensing procedures in communication standards can be overhead, there is currently a lack of literature exploring the sensing performance of Wi-Fi sensing procedures specified in the IEEE 802.11bf standard and its impact on data communication. Therefore, this paper presents a comprehensive evaluation of the sensing performance of the IEEE 802.11bf protocol and its impact on data communication in different configurations. Our findings expose the limitations of specific configurations and pave the way to provide guidance on efficient operating configurations of an IEEE 802.11bf network.
TASR: A Novel Trust-Aware Stackelberg Routing Algorithm to Mitigate Traffic Congestion
Venue: arXiv cs.GT 2024
Year: 2024

Stackelberg routing platforms (SRP) reduce congestion in one-shot traffic networks by proposing optimal route recommendations to selfish travelers. Traditionally, Stackelberg routing is cast as a partial control problem where a fraction of traveler flow complies with route recommendations, while the remaining respond as selfish travelers. In this paper, a novel Stackelberg routing framework is formulated where the agents exhibit \emph{probabilistic compliance} by accepting SRP's route recommendations with a \emph{trust} probability. A greedy \emph{\textbf{T}rust-\textbf{A}ware \textbf{S}tackelberg \textbf{R}outing} algorithm (in short, TASR) is proposed for SRP to compute unique path recommendations to each traveler flow with a unique demand. Simulation experiments are designed with random travel demands with diverse trust values on real road networks such as Sioux Falls, Chicago Sketch, and Sydney networks for both single-commodity and multi-commodity flows. The performance of TASR is compared with state-of-the-art Stackelberg routing methods in terms of traffic congestion and trust dynamics over repeated interaction between the SRP and the travelers. Results show that TASR improves network congestion without causing a significant reduction in trust towards the SRP, when compared to most well-known Stackelberg routing strategies.
Multi-Frame, Lightweight & Efficient Vision-Language Models for Question Answering in Autonomous Driving
Venue: arXiv cs.CV 2024
Year: 2024

Vision-Language Models (VLMs) and Multi-Modal Language models (MMLMs) have become prominent in autonomous driving research, as these models can provide interpretable textual reasoning and responses for end-to-end autonomous driving safety tasks using traffic scene images and other data modalities. However, current approaches to these systems use expensive large language model (LLM) backbones and image encoders, making such systems unsuitable for real-time autonomous driving systems where tight memory constraints exist and fast inference time is necessary. To address these previous issues, we develop EM-VLM4AD, an efficient, lightweight, multi-frame vision language model which performs Visual Question Answering for autonomous driving. In comparison to previous approaches, EM-VLM4AD requires at least 10 times less memory and floating point operations, while also achieving higher CIDEr and ROUGE-L scores than the existing baseline on the DriveLM dataset. EM-VLM4AD also exhibits the ability to extract relevant information from traffic views related to prompts and can answer questions for various autonomous driving subtasks. We release our code to train and evaluate our model at https://github.com/akshaygopalkr/EM-VLM4AD.
Biased Over-the-Air Federated Learning under Wireless Heterogeneity
Venue: arXiv cs.LG 2024
Year: 2024

Recently, Over-the-Air (OTA) computation has emerged as a promising federated learning (FL) paradigm that leverages the waveform superposition properties of the wireless channel to realize fast model updates. Prior work focused on the OTA device ``pre-scaler" design under \emph{homogeneous} wireless conditions, in which devices experience the same average path loss, resulting in zero-bias solutions. Yet, zero-bias designs are limited by the device with the worst average path loss and hence may perform poorly in \emph{heterogeneous} wireless settings. In this scenario, there may be a benefit in designing \emph{biased} solutions, in exchange for a lower variance in the model updates. To optimize this trade-off, we study the design of OTA device pre-scalers by focusing on the OTA-FL convergence. We derive an upper bound on the model ``optimality error", which explicitly captures the effect of bias and variance in terms of the choice of the pre-scalers. Based on this bound, we identify two solutions of interest: minimum noise variance, and minimum noise variance zero-bias solutions. Numerical evaluations show that using OTA device pre-scalers that minimize the variance of FL updates, while allowing a small bias, can provide high gains over existing schemes.
Localizing Paragraph Memorization in Language Models
Venue: arXiv cs.CL 2024
Year: 2024

Can we localize the weights and mechanisms used by a language model to memorize and recite entire paragraphs of its training data? In this paper, we show that while memorization is spread across multiple layers and model components, gradients of memorized paragraphs have a distinguishable spatial pattern, being larger in lower model layers than gradients of non-memorized examples. Moreover, the memorized examples can be unlearned by fine-tuning only the high-gradient weights. We localize a low-layer attention head that appears to be especially involved in paragraph memorization. This head is predominantly focusing its attention on distinctive, rare tokens that are least frequent in a corpus-level unigram distribution. Next, we study how localized memorization is across the tokens in the prefix by perturbing tokens and measuring the caused change in the decoding. A few distinctive tokens early in a prefix can often corrupt the entire continuation. Overall, memorized continuations are not only harder to unlearn, but also to corrupt than non-memorized ones.
Is Synthetic Image Useful for Transfer Learning? An Investigation into Data Generation, Volume, and Utilization
Venue: arXiv cs.CV 2024
Year: 2024

Synthetic image data generation represents a promising avenue for training deep learning models, particularly in the realm of transfer learning, where obtaining real images within a specific domain can be prohibitively expensive due to privacy and intellectual property considerations. This work delves into the generation and utilization of synthetic images derived from text-to-image generative models in facilitating transfer learning paradigms. Despite the high visual fidelity of the generated images, we observe that their naive incorporation into existing real-image datasets does not consistently enhance model performance due to the inherent distribution gap between synthetic and real images. To address this issue, we introduce a novel two-stage framework called bridged transfer, which initially employs synthetic images for fine-tuning a pre-trained model to improve its transferability and subsequently uses real data for rapid adaptation. Alongside, We propose dataset style inversion strategy to improve the stylistic alignment between synthetic and real images. Our proposed methods are evaluated across 10 different datasets and 5 distinct models, demonstrating consistent improvements, with up to 30% accuracy increase on classification tasks. Intriguingly, we note that the enhancements were not yet saturated, indicating that the benefits may further increase with an expanded volume of synthetic data.
Localization and Offline Mapping of High-Voltage Substations in Rough Terrain Using a Ground Vehicle
Venue: arXiv cs.RO 2024
Year: 2024

This paper proposes an efficient hybrid localization framework for the autonomous navigation of an unmanned ground vehicle in uneven or rough terrain, as well as techniques for detailed processing of 3D point cloud data. The framework is an extended version of FAST-LIO2 algorithm aiming at robust localization in known point cloud maps using Lidar and inertial data. The system is based on a hybrid scheme which allows the robot to not only localize in a pre-built map, but concurrently perform simultaneous localization and mapping to explore unknown scenes, and build extended maps aligned with the existing map. Our framework has been developed for the task of autonomous ground inspection of high-voltage electrical substations residing in rough terrain. We present the application of our algorithm in field trials, using a pre-built map of the substation, but also analyze techniques that aim to isolate the ground and its traversable regions, to allow the robot to approach points of interest within the map and perform inspection tasks using visual and thermal data.
"I'm categorizing LLM as a productivity tool": Examining ethics of LLM use in HCI research practices
Venue: arXiv cs.HC 2024
Year: 2024

Large language models are increasingly applied in real-world scenarios, including research and education. These models, however, come with well-known ethical issues, which may manifest in unexpected ways in human-computer interaction research due to the extensive engagement with human subjects. This paper reports on research practices related to LLM use, drawing on 16 semi-structured interviews and a survey conducted with 50 HCI researchers. We discuss the ways in which LLMs are already being utilized throughout the entire HCI research pipeline, from ideation to system development and paper writing. While researchers described nuanced understandings of ethical issues, they were rarely or only partially able to identify and address those ethical concerns in their own projects. This lack of action and reliance on workarounds was explained through the perceived lack of control and distributed responsibility in the LLM supply chain, the conditional nature of engaging with ethics, and competing priorities. Finally, we reflect on the implications of our findings and present opportunities to shape emerging norms of engaging with large language models in HCI research.
BundledSLAM: An Accurate Visual SLAM System Using Multiple Cameras
Venue: arXiv cs.RO 2024
Year: 2024

Multi-camera SLAM systems offer a plethora of advantages, primarily stemming from their capacity to amalgamate information from a broader field of view, thereby resulting in heightened robustness and improved localization accuracy. In this research, we present a significant extension and refinement of the state-of-the-art stereo SLAM system, known as ORB-SLAM2, with the objective of attaining even higher precision. To accomplish this objective, we commence by mapping measurements from all cameras onto a virtual camera termed BundledFrame. This virtual camera is meticulously engineered to seamlessly adapt to multi-camera configurations, facilitating the effective fusion of data captured from multiple cameras. Additionally, we harness extrinsic parameters in the bundle adjustment (BA) process to achieve precise trajectory estimation.Furthermore, we conduct an extensive analysis of the role of bundle adjustment (BA) in the context of multi-camera scenarios, delving into its impact on tracking, local mapping, and global optimization. Our experimental evaluation entails comprehensive comparisons between ground truth data and the state-of-the-art SLAM system. To rigorously assess the system's performance, we utilize the EuRoC datasets. The consistent results of our evaluations demonstrate the superior accuracy of our system in comparison to existing approaches.
Disentangling Racial Phenotypes: Fine-Grained Control of Race-related Facial Phenotype Characteristics
Venue: arXiv cs.CV 2024
Year: 2024

Achieving an effective fine-grained appearance variation over 2D facial images, whilst preserving facial identity, is a challenging task due to the high complexity and entanglement of common 2D facial feature encoding spaces. Despite these challenges, such fine-grained control, by way of disentanglement is a crucial enabler for data-driven racial bias mitigation strategies across multiple automated facial analysis tasks, as it allows to analyse, characterise and synthesise human facial diversity. In this paper, we propose a novel GAN framework to enable fine-grained control over individual race-related phenotype attributes of the facial images. Our framework factors the latent (feature) space into elements that correspond to race-related facial phenotype representations, thereby separating phenotype aspects (e.g. skin, hair colour, nose, eye, mouth shapes), which are notoriously difficult to annotate robustly in real-world facial data. Concurrently, we also introduce a high quality augmented, diverse 2D face image dataset drawn from CelebA-HQ for GAN training. Unlike prior work, our framework only relies upon 2D imagery and related parameters to achieve state-of-the-art individual control over race-related phenotype attributes with improved photo-realistic output.
DHNet: A Distributed Network Architecture for Smart Home
Venue: arXiv cs.NI 2024
Year: 2024

With the increasing popularity of smart homes, more and more devices need to connect to home networks. Traditional home networks mainly rely on centralized networking, where an excessive number of devices in the centralized topology can increase the pressure on the central router, potentially leading to decreased network performance metrics such as communication latency. To address the latency performance issues brought about by centralized networks, this paper proposes a new network system called DHNet, and designs an algorithm for clustering networking and communication based on vector routing. Communication within clusters in a simulated virtual environment achieves a latency of approximately 0.7 milliseconds. Furthermore, by directly using the first non-"lo" network card address of a device as the protocol's network layer address, the protocol avoids the several tens of milliseconds of access latency caused by DHCP. The integration of service discovery functionality into the network layer protocol is achieved through a combination of "server-initiated service push" and "client request + server reply" methods. Compared to traditional application-layer DNS passive service discovery, the average latency is reduced by over 50%. The PVH protocol is implemented in the user space using the Go programming language, with implementation details drawn from Google's gVisor project. The code has been ported from x86\_64 Linux computers to devices such as OpenWrt routers and Android smartphones. The PVH protocol can communicate through "tunnels" to provide IP compatibility, allowing existing applications based on TCP/IP to communicate using the PVH protocol without requiring modifications to their code.
Diverse Feature Learning by Self-distillation and Reset
Venue: arXiv cs.AI 2024
Year: 2024

Our paper addresses the problem of models struggling to learn diverse features, due to either forgetting previously learned features or failing to learn new ones. To overcome this problem, we introduce Diverse Feature Learning (DFL), a method that combines an important feature preservation algorithm with a new feature learning algorithm. Specifically, for preserving important features, we utilize self-distillation in ensemble models by selecting the meaningful model weights observed during training. For learning new features, we employ reset that involves periodically re-initializing part of the model. As a result, through experiments with various models on the image classification, we have identified the potential for synergistic effects between self-distillation and reset.
Dual-Arm Construction Robot for Automatic Fixation of Structural Parts to Concrete Surfaces in Narrow Environments
Venue: arXiv cs.RO 2024
Year: 2024

Fixation of structural parts to concrete is a repetitive, heavy-duty, and time-consuming task that requires automation due to the lack of skilled construction workers. Previously developed automation techniques have not achieved the complete fixation of structural parts and are difficult to implement in narrow construction environments. In this study, we propose a construction robot system that enables the complete installation of structural parts to concrete and can be easily introduced to unstructured and narrow construction environments. The system includes two arms that simultaneously position and fix the structural parts, and custom tools that reduce the reaction force applied to the robots so that smaller robots can be used with lower payloads. Due to the modular design of the proposed system, it can be transported in parts for easy introduction to the construction environment. We also propose a procedure for fixing structural parts. Experimental results demonstrate that the custom tools make it possible to use smaller robots without moment overload in the robot joints. Moreover, the results show that the proposed robot system and fixation procedure enable automatic fixation of a structural part to concrete.
NeSLAM: Neural Implicit Mapping and Self-Supervised Feature Tracking With Depth Completion and Denoising
Venue: arXiv cs.CV 2024
Year: 2024

In recent years, there have been significant advancements in 3D reconstruction and dense RGB-D SLAM systems. One notable development is the application of Neural Radiance Fields (NeRF) in these systems, which utilizes implicit neural representation to encode 3D scenes. This extension of NeRF to SLAM has shown promising results. However, the depth images obtained from consumer-grade RGB-D sensors are often sparse and noisy, which poses significant challenges for 3D reconstruction and affects the accuracy of the representation of the scene geometry. Moreover, the original hierarchical feature grid with occupancy value is inaccurate for scene geometry representation. Furthermore, the existing methods select random pixels for camera tracking, which leads to inaccurate localization and is not robust in real-world indoor environments. To this end, we present NeSLAM, an advanced framework that achieves accurate and dense depth estimation, robust camera tracking, and realistic synthesis of novel views. First, a depth completion and denoising network is designed to provide dense geometry prior and guide the neural implicit representation optimization. Second, the occupancy scene representation is replaced with Signed Distance Field (SDF) hierarchical scene representation for high-quality reconstruction and view synthesis. Furthermore, we also propose a NeRF-based self-supervised feature tracking algorithm for robust real-time tracking. Experiments on various indoor datasets demonstrate the effectiveness and accuracy of the system in reconstruction, tracking quality, and novel view synthesis.
Blockchain for Energy Market: A Comprehensive Survey
Venue: arXiv cs.NI 2024
Year: 2024

The energy market encompasses the behavior of energy supply and trading within a platform system. By utilizing centralized or distributed trading, energy can be effectively managed and distributed across different regions, thereby achieving market equilibrium and satisfying both producers and consumers. However, recent years have presented unprecedented challenges and difficulties for the development of the energy market. These challenges include regional energy imbalances, volatile energy pricing, high computing costs, and issues related to transaction information disclosure. Researchers widely acknowledge that the security features of blockchain technology can enhance the efficiency of energy transactions and establish the fundamental stability and robustness of the energy market. This type of blockchain-enabled energy market is commonly referred to as an energy blockchain. Currently, there is a burgeoning amount of research in this field, encompassing algorithm design, framework construction, and practical application. It is crucial to organize and compare these research efforts to facilitate the further advancement of energy blockchain. This survey aims to comprehensively review the fundamental characteristics of blockchain and energy markets, highlighting the significant advantages of combining the two. Moreover, based on existing research outcomes, we will categorize and compare the current energy market research supported by blockchain in terms of algorithm design, market framework construction, and the policies and practical applications adopted by different countries. Finally, we will address current issues and propose potential future directions for improvement, to provide guidance for the practical implementation of blockchain in the energy market.
Embracing Unknown Step by Step: Towards Reliable Sparse Training in Real World
Venue: arXiv cs.LG 2024
Year: 2024

Sparse training has emerged as a promising method for resource-efficient deep neural networks (DNNs) in real-world applications. However, the reliability of sparse models remains a crucial concern, particularly in detecting unknown out-of-distribution (OOD) data. This study addresses the knowledge gap by investigating the reliability of sparse training from an OOD perspective and reveals that sparse training exacerbates OOD unreliability. The lack of unknown information and the sparse constraints hinder the effective exploration of weight space and accurate differentiation between known and unknown knowledge. To tackle these challenges, we propose a new unknown-aware sparse training method, which incorporates a loss modification, auto-tuning strategy, and a voting scheme to guide weight space exploration and mitigate confusion between known and unknown information without incurring significant additional costs or requiring access to additional OOD data. Theoretical insights demonstrate how our method reduces model confidence when faced with OOD samples. Empirical experiments across multiple datasets, model architectures, and sparsity levels validate the effectiveness of our method, with improvements of up to \textbf{8.4\%} in AUROC while maintaining comparable or higher accuracy and calibration. This research enhances the understanding and readiness of sparse DNNs for deployment in resource-limited applications. Our code is available on: \url{https://github.com/StevenBoys/MOON}.