OpenRaiser/Intern-Atlas huggingface dataset:
An Open RAN Framework for the Dynamic Control of 5G Service Level Agreements
Venue: arXiv cs.NI 2023
Year: 2023

The heterogeneity of use cases that next-generation wireless systems need to support calls for flexible and programmable networks that can autonomously adapt to the application requirements. Specifically, traffic flows that support critical applications (e.g., vehicular control or safety communications) often come with a requirement in terms of guaranteed performance. At the same time, others are more elastic and can adapt to the resources made available by the network (e.g., video streaming). To this end, the Open Radio Access Network (RAN) paradigm is seen as an enabler of dynamic control and adaptation of the protocol stack of 3rd Generation Partnership Project (3GPP) networks in the 5th Generation (5G) and beyond. Through its embodiment in the O-RAN alliance specifications, it introduces the Ran Intelligent Controllers (RICs), which enable closed-loop control, leveraging a rich set of RAN Key Performance Measurements (KPMs) to build a representation of the network and enforcing dynamic control through the configuration of 3GPP-defined stack parameters. In this paper, we leverage the Open RAN closed-loop control capabilities to design, implement, and evaluate multiple data-driven and dynamic Service Level Agreement (SLA) enforcement policies, capable of adapting the RAN semi-persistent scheduling patterns to match users requirements. To do so, we implement semi-persistent scheduling capabilities in the OpenAirInterface (OAI) 5G stack, as well as an easily extensible and customizable version of the Open RAN E2 interface that connects the OAI base stations to the near-real-time RIC. We deploy and test our framework on Colosseum, a large-scale hardware-in-the-loop channel emulator. Results confirm the effectiveness of the proposed Open RAN-based solution in managing SLA in near-real-time.
DiffTalker: Co-driven audio-image diffusion for talking faces via intermediate landmarks
Venue: arXiv cs.CV 2023
Year: 2023

Generating realistic talking faces is a complex and widely discussed task with numerous applications. In this paper, we present DiffTalker, a novel model designed to generate lifelike talking faces through audio and landmark co-driving. DiffTalker addresses the challenges associated with directly applying diffusion models to audio control, which are traditionally trained on text-image pairs. DiffTalker consists of two agent networks: a transformer-based landmarks completion network for geometric accuracy and a diffusion-based face generation network for texture details. Landmarks play a pivotal role in establishing a seamless connection between the audio and image domains, facilitating the incorporation of knowledge from pre-trained diffusion models. This innovative approach efficiently produces articulate-speaking faces. Experimental results showcase DiffTalker's superior performance in producing clear and geometrically accurate talking faces, all without the need for additional alignment between audio and image features.
Road Disease Detection based on Latent Domain Background Feature Separation and Suppression
Venue: arXiv cs.CV 2023
Year: 2023

Road disease detection is challenging due to the the small proportion of road damage in target region and the diverse background,which introduce lots of domain information.Besides, disease categories have high similarity,makes the detection more difficult. In this paper, we propose a new LDBFSS(Latent Domain Background Feature Separation and Suppression) network which could perform background information separation and suppression without domain supervision and contrastive enhancement of object features.We combine our LDBFSS network with YOLOv5 model to enhance disease features for better road disease detection. As the components of LDBFSS network, we first design a latent domain discovery module and a domain adversarial learning module to obtain pseudo domain labels through unsupervised method, guiding domain discriminator and model to train adversarially to suppress background information. In addition, we introduce a contrastive learning module and design k-instance contrastive loss, optimize the disease feature representation by increasing the inter-class distance and reducing the intra-class distance for object features. We conducted experiments on two road disease detection datasets, GRDDC and CNRDD, and compared with other models,which show an increase of nearly 4% on GRDDC dataset compared with optimal model, and an increase of 4.6% on CNRDD dataset. Experimental results prove the effectiveness and superiority of our model.
Dynamic MOdularized Reasoning for Compositional Structured Explanation Generation
Venue: arXiv cs.CL 2023
Year: 2023

Despite the success of neural models in solving reasoning tasks, their compositional generalization capabilities remain unclear. In this work, we propose a new setting of the structured explanation generation task to facilitate compositional reasoning research. Previous works found that symbolic methods achieve superior compositionality by using pre-defined inference rules for iterative reasoning. But these approaches rely on brittle symbolic transfers and are restricted to well-defined tasks. Hence, we propose a dynamic modularized reasoning model, MORSE, to improve the compositional generalization of neural models. MORSE factorizes the inference process into a combination of modules, where each module represents a functional unit. Specifically, we adopt modularized self-attention to dynamically select and route inputs to dedicated heads, which specializes them to specific functions. We conduct experiments for increasing lengths and shapes of reasoning trees on two benchmarks to test MORSE's compositional generalization abilities, and find it outperforms competitive baselines. Model ablation and deeper analyses show the effectiveness of dynamic reasoning modules and their generalization abilities.
DDSP-based Neural Waveform Synthesis of Polyphonic Guitar Performance from String-wise MIDI Input
Venue: arXiv cs.SD 2023
Year: 2023

We explore the use of neural synthesis for acoustic guitar from string-wise MIDI input. We propose four different systems and compare them with both objective metrics and subjective evaluation against natural audio and a sample-based baseline. We iteratively develop these four systems by making various considerations on the architecture and intermediate tasks, such as predicting pitch and loudness control features. We find that formulating the control feature prediction task as a classification task rather than a regression task yields better results. Furthermore, we find that our simplest proposed system, which directly predicts synthesis parameters from MIDI input performs the best out of the four proposed systems. Audio examples are available at https://erl-j.github.io/neural-guitar-web-supplement.
Goal Space Abstraction in Hierarchical Reinforcement Learning via Set-Based Reachability Analysis
Venue: arXiv cs.LG 2023
Year: 2023

Open-ended learning benefits immensely from the use of symbolic methods for goal representation as they offer ways to structure knowledge for efficient and transferable learning. However, the existing Hierarchical Reinforcement Learning (HRL) approaches relying on symbolic reasoning are often limited as they require a manual goal representation. The challenge in autonomously discovering a symbolic goal representation is that it must preserve critical information, such as the environment dynamics. In this paper, we propose a developmental mechanism for goal discovery via an emergent representation that abstracts (i.e., groups together) sets of environment states that have similar roles in the task. We introduce a Feudal HRL algorithm that concurrently learns both the goal representation and a hierarchical policy. The algorithm uses symbolic reachability analysis for neural networks to approximate the transition relation among sets of states and to refine the goal representation. We evaluate our approach on complex navigation tasks, showing the learned representation is interpretable, transferrable and results in data efficient learning.
Aligning Speakers: Evaluating and Visualizing Text-based Diarization Using Efficient Multiple Sequence Alignment (Extended Version)
Venue: arXiv cs.CL 2023
Year: 2023

This paper presents a novel evaluation approach to text-based speaker diarization (SD), tackling the limitations of traditional metrics that do not account for any contextual information in text. Two new metrics are proposed, Text-based Diarization Error Rate and Diarization F1, which perform utterance- and word-level evaluations by aligning tokens in reference and hypothesis transcripts. Our metrics encompass more types of errors compared to existing ones, allowing us to make a more comprehensive analysis in SD. To align tokens, a multiple sequence alignment algorithm is introduced that supports multiple sequences in the reference while handling high-dimensional alignment to the hypothesis using dynamic programming. Our work is packaged into two tools, align4d providing an API for our alignment algorithm and TranscribeView for visualizing and evaluating SD errors, which can greatly aid in the creation of high-quality data, fostering the advancement of dialogue systems.
$\texttt{ChisholmD.wl}$- Automated rational approximant for bi-variate series
Venue: arXiv cs.MS 2023
Year: 2023

The Chisholm rational approximant is a natural generalization to two variables of the well-known single variable Padé approximant, and has the advantage of reducing to the latter when one of the variables is set equals to 0. We present, to our knowledge, the first automated Mathematica package to evaluate diagonal Chisholm approximants of two variable series. For the moment, the package can only be used to evaluate diagonal approximants i.e. the maximum powers of both the variables, in both the numerator and the denominator, is equal to some integer $M$. We further modify the original method so as to allow us to evaluate the approximants around some general point $(x,y)$ not necessarily $(0,0)$. Using the approximants around general point $(x,y)$, allows us to get a better estimate of the result when the point of evaluation is far from $(0,0)$. Several examples of the elementary functions have been studied which shows that the approximants can be useful for analytic continuation and convergence acceleration purposes. We continue our study using various examples of two variable hypergeometric series, $\mathrm{Li}_{2,2}(x,y)$ etc that arise in particle physics and in the study of critical phenomena in condensed matter physics. The demonstration of the package is discussed in detail and the Mathematica package is provided as an ancillary file.
Performance Analysis of RIS/STAR-IOS-aided V2V NOMA/OMA Communications over Composite Fading Channels
Venue: arXiv cs.IT 2023
Year: 2023

This paper investigates the performance of vehicleto-vehicle (V2V) communications assisted by a reconfigurable intelligent surface (RIS) and a simultaneous transmitting and reflecting intelligent omni-surface (STAR-IOS) under nonorthogonal multiple access (NOMA) and orthogonal multiple access (OMA) schemes. In particular, we consider that the RIS is close to the transmitter vehicle while the STAR-IOS is near the receiver vehicles. In addition, we assume that the STAR-IOS exploits the energy-splitting (ES) protocol for communication and the fading channels between the RIS and STAR-IOS follow composite Fisher-Snedecor F distribution. Under such assumptions, we first use the central limit theorem (CLT) to derive the PDF and the CDF of equivalent channels at receiver vehicles, and then, we derive the closed-form expression of outage probability (OP) under NOMA/OMA scenarios. Additionally, by exploiting Jensen's inequality, we propose an upper bound of the ergodic capacity (EC), and then, we derive an analytical expression of the energy efficiency (EE) for both NOMA and OMA cases. Further, our analytical results, which are double-checked with the Monte-Carlo simulation, reveal that applying RIS/STAR-RIS in V2V communications can significantly improve the performance of intelligent transportation systems (ITS). Besides, the results indicate that considering the NOMA scheme provides better performance in terms of the OP, EC, and EE as compared with the OMA case for the considered V2V communication.
Interpretability is in the Mind of the Beholder: A Causal Framework for Human-interpretable Representation Learning
Venue: arXiv cs.LG 2023
Year: 2023

Focus in Explainable AI is shifting from explanations defined in terms of low-level elements, such as input features, to explanations encoded in terms of interpretable concepts learned from data. How to reliably acquire such concepts is, however, still fundamentally unclear. An agreed-upon notion of concept interpretability is missing, with the result that concepts used by both post-hoc explainers and concept-based neural networks are acquired through a variety of mutually incompatible strategies. Critically, most of these neglect the human side of the problem: a representation is understandable only insofar as it can be understood by the human at the receiving end. The key challenge in Human-interpretable Representation Learning (HRL) is how to model and operationalize this human element. In this work, we propose a mathematical framework for acquiring interpretable representations suitable for both post-hoc explainers and concept-based neural networks. Our formalization of HRL builds on recent advances in causal representation learning and explicitly models a human stakeholder as an external observer. This allows us to derive a principled notion of alignment between the machine representation and the vocabulary of concepts understood by the human. In doing so, we link alignment and interpretability through a simple and intuitive name transfer game, and clarify the relationship between alignment and a well-known property of representations, namely disentanglment. We also show that alignment is linked to the issue of undesirable correlations among concepts, also known as concept leakage, and to content-style separation, all through a general information-theoretic reformulation of these properties. Our conceptualization aims to bridge the gap between the human and algorithmic sides of interpretability and establish a stepping stone for new research on human-interpretable representations.
Disinformation Echo-Chambers on Facebook
Venue: arXiv cs.SI 2023
Year: 2023

The landscape of information has experienced significant transformations with the rapid expansion of the internet and the emergence of online social networks. Initially, there was optimism that these platforms would encourage a culture of active participation and diverse communication. However, recent events have brought to light the negative effects of social media platforms, leading to the creation of echo chambers, where users are exposed only to content that aligns with their existing beliefs. Furthermore, malicious individuals exploit these platforms to deceive people and undermine democratic processes. To gain a deeper understanding of these phenomena, this chapter introduces a computational method designed to identify coordinated inauthentic behavior within Facebook groups. The method focuses on analyzing posts, URLs, and images, revealing that certain Facebook groups engage in orchestrated campaigns. These groups simultaneously share identical content, which may expose users to repeated encounters with false or misleading narratives, effectively forming "disinformation echo chambers." This chapter concludes by discussing the theoretical and empirical implications of these findings.
Generative AI Text Classification using Ensemble LLM Approaches
Venue: arXiv cs.CL 2023
Year: 2023

Large Language Models (LLMs) have shown impressive performance across a variety of Artificial Intelligence (AI) and natural language processing tasks, such as content creation, report generation, etc. However, unregulated malign application of these models can create undesirable consequences such as generation of fake news, plagiarism, etc. As a result, accurate detection of AI-generated language can be crucial in responsible usage of LLMs. In this work, we explore 1) whether a certain body of text is AI generated or written by human, and 2) attribution of a specific language model in generating a body of text. Texts in both English and Spanish are considered. The datasets used in this study are provided as part of the Automated Text Identification (AuTexTification) shared task. For each of the research objectives stated above, we propose an ensemble neural model that generates probabilities from different pre-trained LLMs which are used as features to a Traditional Machine Learning (TML) classifier following it. For the first task of distinguishing between AI and human generated text, our model ranked in fifth and thirteenth place (with macro $F1$ scores of 0.733 and 0.649) for English and Spanish texts, respectively. For the second task on model attribution, our model ranked in first place with macro $F1$ scores of 0.625 and 0.653 for English and Spanish texts, respectively.
Ca$^2$Lib: Simple and Accurate LiDAR-RGB Calibration using Small Common Markers
Venue: arXiv cs.RO 2023
Year: 2023

In many fields of robotics, knowing the relative position and orientation between two sensors is a mandatory precondition to operate with multiple sensing modalities. In this context, the pair LiDAR-RGB cameras offer complementary features: LiDARs yield sparse high quality range measurements, while RGB cameras provide a dense color measurement of the environment. Existing techniques often rely either on complex calibration targets that are expensive to obtain, or extracted virtual correspondences that can hinder the estimate's accuracy. In this paper we address the problem of LiDAR-RGB calibration using typical calibration patterns (i.e. A3 chessboard) with minimal human intervention. Our approach exploits the planarity of the target to find correspondences between the sensors measurements, leading to features that are robust to LiDAR noise. Moreover, we estimate a solution by solving a joint non-linear optimization problem. We validated our approach by carrying on quantitative and comparative experiments with other state-of-the-art approaches. Our results show that our simple schema performs on par or better than other approches using complex calibration targets. Finally, we release an open-source C++ implementation at \url{https://github.com/srrg-sapienza/ca2lib}
Looking at words and points with attention: a benchmark for text-to-shape coherence
Venue: arXiv cs.CV 2023
Year: 2023

While text-conditional 3D object generation and manipulation have seen rapid progress, the evaluation of coherence between generated 3D shapes and input textual descriptions lacks a clear benchmark. The reason is twofold: a) the low quality of the textual descriptions in the only publicly available dataset of text-shape pairs; b) the limited effectiveness of the metrics used to quantitatively assess such coherence. In this paper, we propose a comprehensive solution that addresses both weaknesses. Firstly, we employ large language models to automatically refine textual descriptions associated with shapes. Secondly, we propose a quantitative metric to assess text-to-shape coherence, through cross-attention mechanisms. To validate our approach, we conduct a user study and compare quantitatively our metric with existing ones. The refined dataset, the new metric and a set of text-shape pairs validated by the user study comprise a novel, fine-grained benchmark that we publicly release to foster research on text-to-shape coherence of text-conditioned 3D generative models. Benchmark available at https://cvlab-unibo.github.io/CrossCoherence-Web/.
Efficiently Identifying Hotspots in a Spatially Varying Field with Multiple Robots
Venue: arXiv cs.RO 2023
Year: 2023

In this paper, we present algorithms to identify environmental hotspots using mobile sensors. We examine two approaches: one involving a single robot and another using multiple robots coordinated through a decentralized robot system. We introduce an adaptive algorithm that does not require precise knowledge of Gaussian Processes (GPs) hyperparameters, making the modeling process more flexible. The robots operate for a pre-defined time in the environment. The multi-robot system uses Voronoi partitioning to divide tasks and a Monte Carlo Tree Search for optimal path planning. Our tests on synthetic and a real-world dataset of Chlorophyll density from a Pacific Ocean sub-region suggest that accurate estimation of GP hyperparameters may not be essential for hotspot detection, potentially simplifying environmental monitoring tasks.
Bipedal Walking on Constrained Footholds with MPC Footstep Control
Venue: arXiv cs.RO 2023
Year: 2023

Bipedal robots promise the ability to traverse rough terrain quickly and efficiently, and indeed, humanoid robots can now use strong ankles and careful foot placement to traverse discontinuous terrain. However, more agile underactuated bipeds have small feet and weak ankles, and must constantly adjust their planned footstep position to maintain balance. We introduce a new model-predictive footstep controller which jointly optimizes over the robot's discrete choice of stepping surface, impending footstep position sequence, ankle torque in the sagittal plane, and center of mass trajectory, to track a velocity command. The controller is formulated as a single Mixed Integer Quadratic Program (MIQP) which is solved at 50-200 Hz, depending on terrain complexity. We implement a state of the art real-time elevation mapping and convex terrain decomposition framework to inform the controller of its surroundings in the form on convex polygons representing steppable terrain. We investigate the capabilities and challenges of our approach through hardware experiments on the underactuated biped Cassie.
Test Case Generation and Test Oracle Support for Testing CPSs using Hybrid Models
Venue: arXiv cs.SE 2023
Year: 2023

Cyber-Physical Systems (CPSs) play a central role in the behavior of a wide range of autonomous physical systems such as medical devices, autonomous vehicles, and smart homes, many of which are safety-critical. CPSs are often specified iteratively as a sequence of models at different levels that can be tested via simulation systems at early stages of their development cycle. One such model is a hybrid automaton; these are used frequently for CPS applications and have the advantage of encapsulating both continuous and discrete CPS behaviors. When testing CPSs, engineers can take advantage of these models to generate test cases that target both types of these behaviors. Moreover, since these models are constructed early in the development process for CPSs, they allow test cases to be generated early in that process for those CPSs, even before simulation models of the CPSs have been designed. One challenge when testing CPSs is that these systems may operate differently even under an identically applied test scenario. In such cases, we cannot employ test oracles that use predetermined deterministic behaviors; instead, test oracles should consider sets of desired behaviors in order to determine whether the CPS has behaved appropriately. In this paper we present a test case generation technique, HYTEST, that generates test cases based on hybrid models, accompanied by appropriate test oracles, for use in testing CPSs early in their development cycle. To evaluate the effectiveness and efficiency of HYTEST, we conducted an empirical study in which we applied the technique to several CPSs and measured its ability to detect faults in those CPSs and the amount of time required to perform the testing process. The results of the study show that HYTEST was able to detect faults more effectively and efficiently than the baseline techniques we compare it to.