OpenRaiser/Intern-Atlas huggingface dataset:
Online Diffusion-Based 3D Occupancy Prediction at the Frontier with Probabilistic Map Reconciliation
Venue: arXiv cs.RO 2024
Year: 2024

Autonomous navigation and exploration in unmapped environments remains a significant challenge in robotics due to the difficulty robots face in making commonsense inference of unobserved geometries. Recent advancements have demonstrated that generative modeling techniques, particularly diffusion models, can enable systems to infer these geometries from partial observation. In this work, we present implementation details and results for real-time, online occupancy prediction using a modified diffusion model. By removing attention-based visual conditioning and visual feature extraction components, we achieve a 73$\%$ reduction in runtime with minimal accuracy reduction. These modifications enable occupancy prediction across the entire map, rather than being limited to the area around the robot where camera data can be collected. We introduce a probabilistic update method for merging predicted occupancy data into running occupancy maps, resulting in a 71$\%$ improvement in predicting occupancy at map frontiers compared to previous methods. Finally, we release our code and a ROS node for on-robot operation <upon publication> at github.com/arpg/sceneSense_ws.
Mitigating Partial Observability in Adaptive Traffic Signal Control with Transformers
Venue: arXiv cs.LG 2024
Year: 2024

Efficient traffic signal control is essential for managing urban transportation, minimizing congestion, and improving safety and sustainability. Reinforcement Learning (RL) has emerged as a promising approach to enhancing adaptive traffic signal control (ATSC) systems, allowing controllers to learn optimal policies through interaction with the environment. However, challenges arise due to partial observability (PO) in traffic networks, where agents have limited visibility, hindering effectiveness. This paper presents the integration of Transformer-based controllers into ATSC systems to address PO effectively. We propose strategies to enhance training efficiency and effectiveness, demonstrating improved coordination capabilities in real-world scenarios. The results showcase the Transformer-based model's ability to capture significant information from historical observations, leading to better control policies and improved traffic flow. This study highlights the potential of leveraging the advanced Transformer architecture to enhance urban transportation management.
CoMamba: Real-time Cooperative Perception Unlocked with State Space Models
Venue: arXiv cs.CV 2024
Year: 2024

Cooperative perception systems play a vital role in enhancing the safety and efficiency of vehicular autonomy. Although recent studies have highlighted the efficacy of vehicle-to-everything (V2X) communication techniques in autonomous driving, a significant challenge persists: how to efficiently integrate multiple high-bandwidth features across an expanding network of connected agents such as vehicles and infrastructure. In this paper, we introduce CoMamba, a novel cooperative 3D detection framework designed to leverage state-space models for real-time onboard vehicle perception. Compared to prior state-of-the-art transformer-based models, CoMamba enjoys being a more scalable 3D model using bidirectional state space models, bypassing the quadratic complexity pain-point of attention mechanisms. Through extensive experimentation on V2X/V2V datasets, CoMamba achieves superior performance compared to existing methods while maintaining real-time processing capabilities. The proposed framework not only enhances object detection accuracy but also significantly reduces processing time, making it a promising solution for next-generation cooperative perception systems in intelligent transportation networks.
Aligning Judgment Using Task Context and Explanations to Improve Human-Recommender System Performance
Venue: arXiv cs.HC 2024
Year: 2024

Recommender systems, while a powerful decision making tool, are often operationalized as black box models, such that their AI algorithms are not accessible or interpretable by human operators. This in turn can cause confusion and frustration for the operator and result in unsatisfactory outcomes. While the field of explainable AI has made remarkable strides in addressing this challenge by focusing on interpreting and explaining the algorithms to human operators, there are remaining gaps in the human's understanding of the recommender system. This paper investigates the relative impact of using context, properties of the decision making task and environment, to align human and AI algorithm understanding of the state of the world, i.e. judgment, to improve joint human-recommender performance as compared to utilizing post-hoc algorithmic explanations. We conducted an empirical, between-subjects experiment in which participants were asked to work with an automated recommender system to complete a decision making task. We manipulated the method of transparency (shared contextual information to support shared judgment vs algorithmic explanations) and record the human's understanding of the task, the recommender system, and their overall performance. We found that both techniques yielded equivalent agreement on final decisions. However, those who saw task context had less tendency to over-rely on the recommender system and were able to better pinpoint in what conditions the AI erred. Both methods improved participants' confidence in their own decision making, and increased mental demand equally and frustration negligibly. These results present an alternative approach to improving team performance to post-hoc explanations and illustrate the impact of judgment on human cognition in working with recommender systems.
A Missing Data Imputation GAN for Character Sprite Generation
Venue: arXiv cs.CV 2024
Year: 2024

Creating and updating pixel art character sprites with many frames spanning different animations and poses takes time and can quickly become repetitive. However, that can be partially automated to allow artists to focus on more creative tasks. In this work, we concentrate on creating pixel art character sprites in a target pose from images of them facing other three directions. We present a novel approach to character generation by framing the problem as a missing data imputation task. Our proposed generative adversarial networks model receives the images of a character in all available domains and produces the image of the missing pose. We evaluated our approach in the scenarios with one, two, and three missing images, achieving similar or better results to the state-of-the-art when more images are available. We also evaluate the impact of the proposed changes to the base architecture.
Deterministic Bounds in Committee Selection: Enhancing Decentralization and Scalability in Distributed Ledgers
Venue: arXiv cs.DC 2024
Year: 2024

Consensus plays a crucial role in distributed ledger systems, impacting both scalability and decentralization. Many blockchain systems use a weighted lottery based on a scarce resource such as a stake, storage, memory, or computing power to select a committee whose members drive the consensus and are responsible for adding new information to the ledger. Therefore, ensuring a robust and fair committee selection process is essential for maintaining security, efficiency, and decentralization. There are two main approaches to randomized committee selection. In one approach, each validator candidate locally checks whether they are elected to the committee and reveals their proof during the consensus phase. In contrast, in the second approach, a sortition algorithm decides a fixed-sized committee that is globally verified. This paper focuses on the latter approach, with cryptographic sortition as a method for fair committee selection that guarantees a constant committee size. Our goal is to develop deterministic guarantees that strengthen decentralization. We introduce novel methods that provide deterministic bounds on the influence of adversaries within the committee, as evidenced by numerical experiments. This approach overcomes the limitations of existing protocols that only offer probabilistic guarantees, often providing large committees that are impractical for many quorum-based applications like atomic broadcast and randomness beacon protocols.
AutoSafeCoder: A Multi-Agent Framework for Securing LLM Code Generation through Static Analysis and Fuzz Testing
Venue: arXiv cs.SE 2024
Year: 2024

Recent advancements in automatic code generation using large language models (LLMs) have brought us closer to fully automated secure software development. However, existing approaches often rely on a single agent for code generation, which struggles to produce secure, vulnerability-free code. Traditional program synthesis with LLMs has primarily focused on functional correctness, often neglecting critical dynamic security implications that happen during runtime. To address these challenges, we propose AutoSafeCoder, a multi-agent framework that leverages LLM-driven agents for code generation, vulnerability analysis, and security enhancement through continuous collaboration. The framework consists of three agents: a Coding Agent responsible for code generation, a Static Analyzer Agent identifying vulnerabilities, and a Fuzzing Agent performing dynamic testing using a mutation-based fuzzing approach to detect runtime errors. Our contribution focuses on ensuring the safety of multi-agent code generation by integrating dynamic and static testing in an iterative process during code generation by LLM that improves security. Experiments using the SecurityEval dataset demonstrate a 13% reduction in code vulnerabilities compared to baseline LLMs, with no compromise in functionality.
A Fairness-Oriented Control Framework for Safety-Critical Multi-Robot Systems: Alternative Authority Control
Venue: arXiv cs.RO 2024
Year: 2024

This paper proposes a fair control framework for multi-robot systems, which integrates the newly introduced Alternative Authority Control (AAC) and Flexible Control Barrier Function (F-CBF). Control authority refers to a single robot which can plan its trajectory while considering others as moving obstacles, meaning the other robots do not have authority to plan their own paths. The AAC method dynamically distributes the control authority, enabling fair and coordinated movement across the system. This approach significantly improves computational efficiency, scalability, and robustness in complex environments. The proposed F-CBF extends traditional CBFs by incorporating obstacle shape, velocity, and orientation. F-CBF enhances safety by accurate dynamic obstacle avoidance. The framework is validated through simulations in multi-robot scenarios, demonstrating its safety, robustness and computational efficiency.
Impact Of Emotions on Information Seeking And Sharing Behaviors During Pandemic
Venue: arXiv cs.SI 2024
Year: 2024

We propose a novel approach to assess the public's coping behavior during the COVID-19 outbreak by examining the emotions. Specifically, we explore (1) changes in the public's emotions with the COVID-19 crisis progression and (2) the impacts of the public's emotions on their information-seeking, information-sharing behaviors, and compliance with stay-at-home policies. We base the study on the appraisal tendency framework, detect the public's emotions by fine-tuning a pre-trained RoBERTa model, and cross-analyze third-party behavioral data. We demonstrate the feasibility and reliability of our proposed approach in providing a large-scale examination of the publi's emotions and coping behaviors in a real-world crisis: COVID-19. The approach complements prior crisis communication research, mainly based on self-reported, small-scale experiments and survey data. Our results show that anger and fear are more prominent than other emotions experienced by the public at the pandemic's outbreak stage. Results also show that the extent of low certainty and passive emotions (e.g., sadness, fear) was related to increased information-seeking and information-sharing behaviors. Additionally, high-certainty (e.g., anger) and low-certainty (e.g., sadness, fear) emotions during the outbreak correlated to the public's compliance with stay-at-home orders.
HPC with Enhanced User Separation
Venue: arXiv cs.DC 2024
Year: 2024

HPC systems used for research run a wide variety of software and workflows. This software is often written or modified by users to meet the needs of their research projects, and rarely is built with security in mind. In this paper we explore several of the key techniques that MIT Lincoln Laboratory Supercomputing Center has deployed on its systems to manage the security implications of these workflows by providing enforced separation for processes, filesystem access, network traffic, and accelerators to make every user feel like they are running on a personal HPC.
Physics-Informed Neural Networks with Trust-Region Sequential Quadratic Programming
Venue: arXiv cs.LG 2024
Year: 2024

Physics-Informed Neural Networks (PINNs) represent a significant advancement in Scientific Machine Learning (SciML), which integrate physical domain knowledge into an empirical loss function as soft constraints and apply existing machine learning methods to train the model. However, recent research has noted that PINNs may fail to learn relatively complex Partial Differential Equations (PDEs). This paper addresses the failure modes of PINNs by introducing a novel, hard-constrained deep learning method -- trust-region Sequential Quadratic Programming (trSQP-PINN). In contrast to directly training the penalized soft-constrained loss as in PINNs, our method performs a linear-quadratic approximation of the hard-constrained loss, while leveraging the soft-constrained loss to adaptively adjust the trust-region radius. We only trust our model approximations and make updates within the trust region, and such an updating manner can overcome the ill-conditioning issue of PINNs. We also address the computational bottleneck of second-order SQP methods by employing quasi-Newton updates for second-order information, and importantly, we introduce a simple pretraining step to further enhance training efficiency of our method. We demonstrate the effectiveness of trSQP-PINN through extensive experiments. Compared to existing hard-constrained methods for PINNs, such as penalty methods and augmented Lagrangian methods, trSQP-PINN significantly improves the accuracy of the learned PDE solutions, achieving up to 1-3 orders of magnitude lower errors. Additionally, our pretraining step is generally effective for other hard-constrained methods, and experiments have shown the robustness of our method against both problem-specific parameters and algorithm tuning parameters.
LVBA: LiDAR-Visual Bundle Adjustment for RGB Point Cloud Mapping
Venue: arXiv cs.RO 2024
Year: 2024

Point cloud maps with accurate color are crucial in robotics and mapping applications. Existing approaches for producing RGB-colorized maps are primarily based on real-time localization using filter-based estimation or sliding window optimization, which may lack accuracy and global consistency. In this work, we introduce a novel global LiDAR-Visual bundle adjustment (BA) named LVBA to improve the quality of RGB point cloud mapping beyond existing baselines. LVBA first optimizes LiDAR poses via a global LiDAR BA, followed by a photometric visual BA incorporating planar features from the LiDAR point cloud for camera pose optimization. Additionally, to address the challenge of map point occlusions in constructing optimization problems, we implement a novel LiDAR-assisted global visibility algorithm in LVBA. To evaluate the effectiveness of LVBA, we conducted extensive experiments by comparing its mapping quality against existing state-of-the-art baselines (i.e., R$^3$LIVE and FAST-LIVO). Our results prove that LVBA can proficiently reconstruct high-fidelity, accurate RGB point cloud maps, outperforming its counterparts.
TrajSSL: Trajectory-Enhanced Semi-Supervised 3D Object Detection
Venue: arXiv cs.CV 2024
Year: 2024

Semi-supervised 3D object detection is a common strategy employed to circumvent the challenge of manually labeling large-scale autonomous driving perception datasets. Pseudo-labeling approaches to semi-supervised learning adopt a teacher-student framework in which machine-generated pseudo-labels on a large unlabeled dataset are used in combination with a small manually-labeled dataset for training. In this work, we address the problem of improving pseudo-label quality through leveraging long-term temporal information captured in driving scenes. More specifically, we leverage pre-trained motion-forecasting models to generate object trajectories on pseudo-labeled data to further enhance the student model training. Our approach improves pseudo-label quality in two distinct manners: first, we suppress false positive pseudo-labels through establishing consistency across multiple frames of motion forecasting outputs. Second, we compensate for false negative detections by directly inserting predicted object tracks into the pseudo-labeled scene. Experiments on the nuScenes dataset demonstrate the effectiveness of our approach, improving the performance of standard semi-supervised approaches in a variety of settings.
Multi-Floor Zero-Shot Object Navigation Policy
Venue: arXiv cs.RO 2024
Year: 2024

Object navigation in multi-floor environments presents a formidable challenge in robotics, requiring sophisticated spatial reasoning and adaptive exploration strategies. Traditional approaches have primarily focused on single-floor scenarios, overlooking the complexities introduced by multi-floor structures. To address these challenges, we first propose a Multi-floor Navigation Policy (MFNP) and implement it in Zero-Shot object navigation tasks. Our framework comprises three key components: (i) Multi-floor Navigation Policy, which enables an agent to explore across multiple floors; (ii) Multi-modal Large Language Models (MLLMs) for reasoning in the navigation process; and (iii) Inter-Floor Navigation, ensuring efficient floor transitions. We evaluate MFNP on the Habitat-Matterport 3D (HM3D) and Matterport 3D (MP3D) datasets, both include multi-floor scenes. Our experiment results demonstrate that MFNP significantly outperforms all the existing methods in Zero-Shot object navigation, achieving higher success rates and improved exploration efficiency. Ablation studies further highlight the effectiveness of each component in addressing the unique challenges of multi-floor navigation. Meanwhile, we conducted real-world experiments to evaluate the feasibility of our policy. Upon deployment of MFNP, the Unitree quadruped robot demonstrated successful multi-floor navigation and found the target object in a completely unseen environment. By introducing MFNP, we offer a new paradigm for tackling complex, multi-floor environments in object navigation tasks, opening avenues for future research in visual-based navigation in realistic, multi-floor settings.
Contrasformer: A Brain Network Contrastive Transformer for Neurodegenerative Condition Identification
Venue: arXiv cs.LG 2024
Year: 2024

Understanding neurological disorder is a fundamental problem in neuroscience, which often requires the analysis of brain networks derived from functional magnetic resonance imaging (fMRI) data. Despite the prevalence of Graph Neural Networks (GNNs) and Graph Transformers in various domains, applying them to brain networks faces challenges. Specifically, the datasets are severely impacted by the noises caused by distribution shifts across sub-populations and the neglect of node identities, both obstruct the identification of disease-specific patterns. To tackle these challenges, we propose Contrasformer, a novel contrastive brain network Transformer. It generates a prior-knowledge-enhanced contrast graph to address the distribution shifts across sub-populations by a two-stream attention mechanism. A cross attention with identity embedding highlights the identity of nodes, and three auxiliary losses ensure group consistency. Evaluated on 4 functional brain network datasets over 4 different diseases, Contrasformer outperforms the state-of-the-art methods for brain networks by achieving up to 10.8\% improvement in accuracy, which demonstrates its efficacy in neurological disorder identification. Case studies illustrate its interpretability, especially in the context of neuroscience. This paper provides a solution for analyzing brain networks, offering valuable insights into neurological disorders. Our code is available at \url{https://github.com/AngusMonroe/Contrasformer}.
Cross-lingual transfer of multilingual models on low resource African Languages
Venue: arXiv cs.CL 2024
Year: 2024

Large multilingual models have significantly advanced natural language processing (NLP) research. However, their high resource demands and potential biases from diverse data sources have raised concerns about their effectiveness across low-resource languages. In contrast, monolingual models, trained on a single language, may better capture the nuances of the target language, potentially providing more accurate results. This study benchmarks the cross-lingual transfer capabilities from a high-resource language to a low-resource language for both, monolingual and multilingual models, focusing on Kinyarwanda and Kirundi, two Bantu languages. We evaluate the performance of transformer based architectures like Multilingual BERT (mBERT), AfriBERT, and BantuBERTa against neural-based architectures such as BiGRU, CNN, and char-CNN. The models were trained on Kinyarwanda and tested on Kirundi, with fine-tuning applied to assess the extent of performance improvement and catastrophic forgetting. AfriBERT achieved the highest cross-lingual accuracy of 88.3% after fine-tuning, while BiGRU emerged as the best-performing neural model with 83.3% accuracy. We also analyze the degree of forgetting in the original language post-fine-tuning. While monolingual models remain competitive, this study highlights that multilingual models offer strong cross-lingual transfer capabilities in resource limited settings.
A Symbol-Pair Decoder for CSS Codes
Venue: arXiv cs.IT 2024
Year: 2024

The relation between stabilizer codes and binary codes provided by Gottesman and Calderbank et al. is a celebrated result, as it allows the lifting of classical codes to quantum codes. An equivalent way to state this result is that the work allows us to lift decoders for classical codes over the Hamming metric to decoders for stabilizer quantum codes. A natural question to consider: Can we do something similar with decoders for classical codes considered over other metrics? i.e., Can we lift decoders for classical codes over other metrics to obtain decoders for stabilizer quantum codes? In our current work, we answer this question in the affirmative by considering classical codes over the symbol-pair metric. In particular, we present a relation between the symplectic weight and the symbol-pair weight and use it to improve the error correction capability of CSS-codes (a well-studied class of stabilizer codes) obtained from cyclic codes.