OpenRaiser/Intern-Atlas huggingface dataset:
Determining Recoverable Consensus Numbers
Venue: arXiv cs.DC 2024
Year: 2024

Herlihy's wait-free consensus hierarchy classifies the power of object types in asynchronous shared memory systems where processes can permanently crash (i.e. stop taking steps). In this hierarchy, a type has consensus number $n$ if objects of that type can be used along with (read/write) registers to solve consensus among $n$ processes that can permanently crash, but not among $n+1$ or more processes. In systems where processes can recover after crashing, the power of an object type to solve consensus may be different. Golab's recoverable consensus hierarchy classifies the power of object types in such a system. In the recoverable consensus hierarchy, a type has recoverable consensus number $n$ if objects of that type can be used along with registers to solve consensus among $n$ processes that can recover after crashing, but not among $n+1$ or more processes. In this paper, we prove that the recoverable consensus hierarchy of deterministic, readable types is robust, i.e., if consensus can be solved among $n$ processes that can recover after crashing using a collection of objects of deterministic, readable types, then one of these types has recoverable consensus number at least $n$. This is important for comparing the relative computational power of different deterministic, readable types, because it implies that one cannot combine various objects to obtain an algorithm that is better at solving recoverable consensus than any of the individual object types. Our result can be used to show that, for all $n \geq 4$, there exists a readable type with consensus number $n$ and recoverable consensus number $n-2$. We also show that, for all $n > n' \geq 1$, there exists a non-readable type that has consensus number $n$ and recoverable consensus number $n'$.
ATDM:An Anthropomorphic Aerial Tendon-driven Manipulator with Low-Inertia and High-Stiffness
Venue: arXiv cs.RO 2024
Year: 2024

Aerial Manipulator Systems (AMS) have garnered significant interest for their utility in aerial operations. Nonetheless, challenges related to the manipulator's limited stiffness and the coupling disturbance with manipulator movement persist. This paper introduces the Aerial Tendon-Driven Manipulator (ATDM), an innovative AMS that integrates a hexrotor Unmanned Aerial Vehicle (UAV) with a 4-degree-of-freedom (4-DOF) anthropomorphic tendon-driven manipulator. The design of the manipulator is anatomically inspired, emulating the human arm anatomy from the shoulder joint downward. To enhance the structural integrity and performance, finite element topology optimization and lattice optimization are employed on the links to replicate the radially graded structure characteristic of bone, this approach effectively reduces weight and inertia while simultaneously maximizing stiffness. A novel tensioning mechanism with adjustable tension is introduced to address cable relaxation, and a Tension-amplification tendon mechanism is implemented to increase the manipulator's overall stiffness and output. The paper presents a kinematic model based on virtual coupled joints, a comprehensive workspace analysis, and detailed calculations of output torques and stiffness for individual arm joints. The prototype arm has a total weight of 2.7 kg, with the end effector contributing only 0.818 kg. By positioning all actuators at the base, coupling disturbance are minimized. The paper includes a detailed mechanical design and validates the system's performance through semi-physical multi-body dynamics simulations, confirming the efficacy of the proposed design.
Enhancing Data Integrity and Traceability in Industry Cyber Physical Systems (ICPS) through Blockchain Technology: A Comprehensive Approach
Venue: arXiv cs.CR 2024
Year: 2024

Blockchain technology, heralded as a transformative innovation, has far-reaching implications beyond its initial application in cryptocurrencies. This study explores the potential of blockchain in enhancing data integrity and traceability within Industry Cyber-Physical Systems (ICPS), a crucial aspect in the era of Industry 4.0. ICPS, integrating computational and physical components, is pivotal in managing critical infrastructure like manufacturing, power grids, and transportation networks. However, they face challenges in security, privacy, and reliability. With its inherent immutability, transparency, and distributed consensus, blockchain presents a groundbreaking approach to address these challenges. It ensures robust data reliability and traceability across ICPS, enhancing transaction transparency and facilitating secure data sharing. This research unearths various blockchain applications in ICPS, including supply chain management, quality control, contract management, and data sharing. Each application demonstrates blockchain's capacity to streamline processes, reduce fraud, and enhance system efficiency. In supply chain management, blockchain provides real-time auditing and compliance. For quality control, it establishes tamper-proof records, boosting consumer confidence. In contract management, smart contracts automate execution, enhancing efficiency. Blockchain also fosters secure collaboration in ICPS, which is crucial for system stability and safety. This study emphasizes the need for further research on blockchain's practical implementation in ICPS, focusing on challenges like scalability, system integration, and security vulnerabilities. It also suggests examining blockchain's economic and organizational impacts in ICPS to understand its feasibility and long-term advantages.
Logical Negation Augmenting and Debiasing for Prompt-based Methods
Venue: arXiv cs.CL 2024
Year: 2024

Prompt-based methods have gained increasing attention on NLP and shown validity on many downstream tasks. Many works have focused on mining these methods' potential for knowledge extraction, but few explore their ability to make logical reasoning. In this work, we focus on the effectiveness of the prompt-based methods on first-order logical reasoning and find that the bottleneck lies in logical negation. Based on our analysis, logical negation tends to result in spurious correlations to negative answers, while propositions without logical negation correlate to positive answers. To solve the problem, we propose a simple but effective method, Negation Augmenting and Negation Debiasing (NAND), which introduces negative propositions to prompt-based methods without updating parameters. Specifically, these negative propositions can counteract spurious correlations by providing "not" for all instances so that models cannot make decisions only by whether expressions contain a logical negation. Experiments on three datasets show that NAND not only solves the problem of calibrating logical negation but also significantly enhances prompt-based methods of logical reasoning without model retraining.
Critical Infrastructure Protection: Generative AI, Challenges, and Opportunities
Venue: arXiv cs.CR 2024
Year: 2024

Critical National Infrastructure (CNI) encompasses a nation's essential assets that are fundamental to the operation of society and the economy, ensuring the provision of vital utilities such as energy, water, transportation, and communication. Nevertheless, growing cybersecurity threats targeting these infrastructures can potentially interfere with operations and seriously risk national security and public safety. In this paper, we examine the intricate issues raised by cybersecurity risks to vital infrastructure, highlighting these systems' vulnerability to different types of cyberattacks. We analyse the significance of trust, privacy, and resilience for Critical Infrastructure Protection (CIP), examining the diverse standards and regulations to manage these domains. We also scrutinise the co-analysis of safety and security, offering innovative approaches for their integration and emphasising the interdependence between these fields. Furthermore, we introduce a comprehensive method for CIP leveraging Generative AI and Large Language Models (LLMs), giving a tailored lifecycle and discussing specific applications across different critical infrastructure sectors. Lastly, we discuss potential future directions that promise to enhance the security and resilience of critical infrastructures. This paper proposes innovative strategies for CIP from evolving attacks and enhances comprehension of cybersecurity concerns related to critical infrastructure.
GISR: Geometric Initialization and Silhouette-based Refinement for Single-View Robot Pose and Configuration Estimation
Venue: arXiv cs.RO 2024
Year: 2024

In autonomous robotics, measurement of the robot's internal state and perception of its environment, including interaction with other agents such as collaborative robots, are essential. Estimating the pose of the robot arm from a single view has the potential to replace classical eye-to-hand calibration approaches and is particularly attractive for online estimation and dynamic environments. In addition to its pose, recovering the robot configuration provides a complete spatial understanding of the observed robot that can be used to anticipate the actions of other agents in advanced robotics use cases. Furthermore, this additional redundancy enables the planning and execution of recovery protocols in case of sensor failures or external disturbances. We introduce GISR - a deep configuration and robot-to-camera pose estimation method that prioritizes execution in real-time. GISR consists of two modules: (i) a geometric initialization module that efficiently computes an approximate robot pose and configuration, and (ii) a deep iterative silhouette-based refinement module that arrives at a final solution in just a few iterations. We evaluate GISR on publicly available data and show that it outperforms existing methods of the same class in terms of both speed and accuracy, and can compete with approaches that rely on ground-truth proprioception and recover only the pose.
Traj-LLM: A New Exploration for Empowering Trajectory Prediction with Pre-trained Large Language Models
Venue: arXiv cs.CV 2024
Year: 2024

Predicting the future trajectories of dynamic traffic actors is a cornerstone task in autonomous driving. Though existing notable efforts have resulted in impressive performance improvements, a gap persists in scene cognitive and understanding of the complex traffic semantics. This paper proposes Traj-LLM, the first to investigate the potential of using Large Language Models (LLMs) without explicit prompt engineering to generate future motion from agents' past/observed trajectories and scene semantics. Traj-LLM starts with sparse context joint coding to dissect the agent and scene features into a form that LLMs understand. On this basis, we innovatively explore LLMs' powerful comprehension abilities to capture a spectrum of high-level scene knowledge and interactive information. Emulating the human-like lane focus cognitive function and enhancing Traj-LLM's scene comprehension, we introduce lane-aware probabilistic learning powered by the pioneering Mamba module. Finally, a multi-modal Laplace decoder is designed to achieve scene-compliant multi-modal predictions. Extensive experiments manifest that Traj-LLM, fortified by LLMs' strong prior knowledge and understanding prowess, together with lane-aware probability learning, outstrips state-of-the-art methods across evaluation metrics. Moreover, the few-shot analysis further substantiates Traj-LLM's performance, wherein with just 50% of the dataset, it outperforms the majority of benchmarks relying on complete data utilization. This study explores equipping the trajectory prediction task with advanced capabilities inherent in LLMs, furnishing a more universal and adaptable solution for forecasting agent motion in a new way.
SPSW: Database Watermarking Based on Fake Tuples and Sparse Priority Strategy
Venue: arXiv cs.DB 2024
Year: 2024

Databases play a crucial role in storing and managing vast amounts of data in various organizations and industries. Yet the risk of database leakage poses a significant threat to data privacy and security. To trace the source of database leakage, researchers have proposed many database watermarking schemes. Among them, fake-tuples-based database watermarking shows great potential as it does not modify the original data of the database, ensuring the seamless usability of the watermarked database. However, the existing fake-tuple-based database watermarking schemes need to insert a large number of fake tuples for the embedding of each watermark bit, resulting in low watermark transparency. Therefore, we propose a novel database watermarking scheme based on fake tuples and sparse priority strategy, named SPSW, which achieves the same watermark capacity with a lower number of inserted fake tuples compared to the existing embedding strategy. Specifically, for a database about to be watermarked, we prioritize embedding the sparsest watermark sequence, i.e., the sequence containing the most `0' bits among the currently available watermark sequences. For each bit in the sparse watermark sequence, when it is set to `1', SPSW will embed the corresponding set of fake tuples into the database. Otherwise, no modifications will be made to the database. Through theoretical analysis, the proposed sparse priority strategy not only improves transparency but also enhances the robustness of the watermark. The comparative experimental results with other database watermarking schemes further validate the superior performance of the proposed SPSW, aligning with the theoretical analysis.
End-to-End Semi-Supervised approach with Modulated Object Queries for Table Detection in Documents
Venue: arXiv cs.CV 2024
Year: 2024

Table detection, a pivotal task in document analysis, aims to precisely recognize and locate tables within document images. Although deep learning has shown remarkable progress in this realm, it typically requires an extensive dataset of labeled data for proficient training. Current CNN-based semi-supervised table detection approaches use the anchor generation process and Non-Maximum Suppression (NMS) in their detection process, limiting training efficiency. Meanwhile, transformer-based semi-supervised techniques adopted a one-to-one match strategy that provides noisy pseudo-labels, limiting overall efficiency. This study presents an innovative transformer-based semi-supervised table detector. It improves the quality of pseudo-labels through a novel matching strategy combining one-to-one and one-to-many assignment techniques. This approach significantly enhances training efficiency during the early stages, ensuring superior pseudo-labels for further training. Our semi-supervised approach is comprehensively evaluated on benchmark datasets, including PubLayNet, ICADR-19, and TableBank. It achieves new state-of-the-art results, with a mAP of 95.7% and 97.9% on TableBank (word) and PubLaynet with 30% label data, marking a 7.4 and 7.6 point improvement over previous semi-supervised table detection approach, respectively. The results clearly show the superiority of our semi-supervised approach, surpassing all existing state-of-the-art methods by substantial margins. This research represents a significant advancement in semi-supervised table detection methods, offering a more efficient and accurate solution for practical document analysis tasks.
An Artificial Intelligence Approach for Interpreting Creative Combinational Designs
Venue: arXiv cs.AI 2024
Year: 2024

Combinational creativity, a form of creativity involving the blending of familiar ideas, is pivotal in design innovation. While most research focuses on how combinational creativity in design is achieved through blending elements, this study focuses on the computational interpretation, specifically identifying the 'base' and 'additive' components that constitute a creative design. To achieve this goal, the authors propose a heuristic algorithm integrating computer vision and natural language processing technologies, and implement multiple approaches based on both discriminative and generative artificial intelligence architectures. A comprehensive evaluation was conducted on a dataset created for studying combinational creativity. Among the implementations of the proposed algorithm, the most effective approach demonstrated a high accuracy in interpretation, achieving 87.5% for identifying 'base' and 80% for 'additive'. We conduct a modular analysis and an ablation experiment to assess the performance of each part in our implementations. Additionally, the study includes an analysis of error cases and bottleneck issues, providing critical insights into the limitations and challenges inherent in the computational interpretation of creative designs.
HMANet: Hybrid Multi-Axis Aggregation Network for Image Super-Resolution
Venue: arXiv cs.CV 2024
Year: 2024

Transformer-based methods have demonstrated excellent performance on super-resolution visual tasks, surpassing conventional convolutional neural networks. However, existing work typically restricts self-attention computation to non-overlapping windows to save computational costs. This means that Transformer-based networks can only use input information from a limited spatial range. Therefore, a novel Hybrid Multi-Axis Aggregation network (HMA) is proposed in this paper to exploit feature potential information better. HMA is constructed by stacking Residual Hybrid Transformer Blocks(RHTB) and Grid Attention Blocks(GAB). On the one side, RHTB combines channel attention and self-attention to enhance non-local feature fusion and produce more attractive visual results. Conversely, GAB is used in cross-domain information interaction to jointly model similar features and obtain a larger perceptual field. For the super-resolution task in the training phase, a novel pre-training method is designed to enhance the model representation capabilities further and validate the proposed model's effectiveness through many experiments. The experimental results show that HMA outperforms the state-of-the-art methods on the benchmark dataset. We provide code and models at https://github.com/korouuuuu/HMA.
TENet: Targetness Entanglement Incorporating with Multi-Scale Pooling and Mutually-Guided Fusion for RGB-E Object Tracking
Venue: arXiv cs.CV 2024
Year: 2024

There is currently strong interest in improving visual object tracking by augmenting the RGB modality with the output of a visual event camera that is particularly informative about the scene motion. However, existing approaches perform event feature extraction for RGB-E tracking using traditional appearance models, which have been optimised for RGB only tracking, without adapting it for the intrinsic characteristics of the event data. To address this problem, we propose an Event backbone (Pooler), designed to obtain a high-quality feature representation that is cognisant of the innate characteristics of the event data, namely its sparsity. In particular, Multi-Scale Pooling is introduced to capture all the motion feature trends within event data through the utilisation of diverse pooling kernel sizes. The association between the derived RGB and event representations is established by an innovative module performing adaptive Mutually Guided Fusion (MGF). Extensive experimental results show that our method significantly outperforms state-of-the-art trackers on two widely used RGB-E tracking datasets, including VisEvent and COESOT, where the precision and success rates on COESOT are improved by 4.9% and 5.2%, respectively. Our code will be available at https://github.com/SSSpc333/TENet.
Analyzing design principles for competitive evolution strategies in constrained search spaces
Venue: arXiv cs.NE 2024
Year: 2024

In the context of the 2018 IEEE Congress of Evolutionary Computation, the Matrix Adaptation Evolution Strategy for constrained optimization turned out to be notably successful in the competition on constrained single objective real-parameter optimization. Across all considered instances the so-called $ε$MAg-ES achieved the second rank. However, it can be considered to be the most successful participant in high dimensions. Unfortunately, the competition result does not provide any information about the modus operandi of a successful algorithm or its suitability for problems of a particular shape. To this end, the present paper is concerned with an extensive empirical analysis of the $ε$MAg-ES working principles that is expected to provide insights about the performance contribution of specific algorithmic components. To avoid rankings with respect to insignificant differences within the algorithm realizations, the paper additionally introduces significance testing into the ranking process.
HackCar: a test platform for attacks and defenses on a cost-contained automotive architecture
Venue: arXiv cs.CR 2024
Year: 2024

In this paper, we introduce the design of HackCar, a testing platform for replicating attacks and defenses on a generic automotive system without requiring access to a complete vehicle. This platform empowers security researchers to illustrate the consequences of attacks targeting an automotive system on a realistic platform, facilitating the development and testing of security countermeasures against both existing and novel attacks. The HackCar platform is built upon an F1-10th model, to which various automotive-grade microcontrollers are connected through automotive communication protocols. This solution is crafted to be entirely modular, allowing for the creation of diverse test scenarios. Researchers and practitioners can thus develop innovative security solutions while adhering to the constraints of automotive-grade microcontrollers. We showcase our design by comparing it with a real, licensed, and unmodified vehicle. Additionally, we analyze the behavior of the HackCar in both an attack-free scenario and a scenario where an attack on in-vehicle communication is deployed.
Seeds of Stereotypes: A Large-Scale Textual Analysis of Race and Gender Associations with Diseases in Online Sources
Venue: arXiv cs.CL 2024
Year: 2024

Background Advancements in Large Language Models (LLMs) hold transformative potential in healthcare, however, recent work has raised concern about the tendency of these models to produce outputs that display racial or gender biases. Although training data is a likely source of such biases, exploration of disease and demographic associations in text data at scale has been limited. Methods We conducted a large-scale textual analysis using a dataset comprising diverse web sources, including Arxiv, Wikipedia, and Common Crawl. The study analyzed the context in which various diseases are discussed alongside markers of race and gender. Given that LLMs are pre-trained on similar datasets, this approach allowed us to examine the potential biases that LLMs may learn and internalize. We compared these findings with actual demographic disease prevalence as well as GPT-4 outputs in order to evaluate the extent of bias representation. Results Our findings indicate that demographic terms are disproportionately associated with specific disease concepts in online texts. gender terms are prominently associated with disease concepts, while racial terms are much less frequently associated. We find widespread disparities in the associations of specific racial and gender terms with the 18 diseases analyzed. Most prominently, we see an overall significant overrepresentation of Black race mentions in comparison to population proportions. Conclusions Our results highlight the need for critical examination and transparent reporting of biases in LLM pretraining datasets. Our study suggests the need to develop mitigation strategies to counteract the influence of biased training data in LLMs, particularly in sensitive domains such as healthcare.