OpenRaiser/Intern-Atlas huggingface dataset:
Exploring Physics-Informed Neural Networks: From Fundamentals to Applications in Complex Systems
Venue: arXiv cs.CE 2024
Year: 2024

Physics-informed neural networks (PINNs) have emerged as a versatile and widely applicable concept across various science and engineering domains over the past decade. This article offers a comprehensive overview of the fundamentals of PINNs, tracing their evolution, modifications, and various variants. It explores the impact of different parameters on PINNs and the optimization algorithms involved. The review also delves into the theoretical advancements related to the convergence, consistency, and stability of numerical solutions using PINNs, while highlighting the current state of the art. Given their ability to address equations involving complex physics, the article discusses various applications of PINNs, with a particular focus on their utility in computational fluid dynamics problems. Additionally, it identifies current gaps in the research and outlines future directions for the continued development of PINNs.
Task Success Prediction for Open-Vocabulary Manipulation Based on Multi-Level Aligned Representations
Venue: arXiv cs.RO 2024
Year: 2024

In this study, we consider the problem of predicting task success for open-vocabulary manipulation by a manipulator, based on instruction sentences and egocentric images before and after manipulation. Conventional approaches, including multimodal large language models (MLLMs), often fail to appropriately understand detailed characteristics of objects and/or subtle changes in the position of objects. We propose Contrastive $λ$-Repformer, which predicts task success for table-top manipulation tasks by aligning images with instruction sentences. Our method integrates the following three key types of features into a multi-level aligned representation: features that preserve local image information; features aligned with natural language; and features structured through natural language. This allows the model to focus on important changes by looking at the differences in the representation between two images. We evaluate Contrastive $λ$-Repformer on a dataset based on a large-scale standard dataset, the RT-1 dataset, and on a physical robot platform. The results show that our approach outperformed existing approaches including MLLMs. Our best model achieved an improvement of 8.66 points in accuracy compared to the representative MLLM-based model.
Unleashing the Unseen: Harnessing Benign Datasets for Jailbreaking Large Language Models
Venue: arXiv cs.CR 2024
Year: 2024

Despite significant ongoing efforts in safety alignment, large language models (LLMs) such as GPT-4 and LLaMA 3 remain vulnerable to jailbreak attacks that can induce harmful behaviors, including through the use of adversarial suffixes. Building on prior research, we hypothesize that these adversarial suffixes are not mere bugs but may represent features that can dominate the LLM's behavior. To evaluate this hypothesis, we conduct several experiments. First, we demonstrate that benign features can be effectively made to function as adversarial suffixes, i.e., we develop a feature extraction method to extract sample-agnostic features from benign dataset in the form of suffixes and show that these suffixes may effectively compromise safety alignment. Second, we show that adversarial suffixes generated from jailbreak attacks may contain meaningful features, i.e., appending the same suffix to different prompts results in responses exhibiting specific characteristics. Third, we show that such benign-yet-safety-compromising features can be easily introduced through fine-tuning using only benign datasets. As a result, we are able to completely eliminate GPT's safety alignment in a blackbox setting through finetuning with only benign data. Our code and data is available at \url{https://github.com/suffix-maybe-feature/adver-suffix-maybe-features}.
UniAdapt: A Universal Adapter for Knowledge Calibration
Venue: arXiv cs.LG 2024
Year: 2024

Large Language Models (LLMs) require frequent updates to correct errors and keep pace with continuously evolving knowledge in a timely and effective manner. Recent research in it model editing has highlighted the challenges in balancing generalization and locality, especially in the context of lifelong model editing. We discover that inserting knowledge directly into the model often causes conflicts and potentially disrupts other unrelated pre-trained knowledge. To address this problem, we introduce UniAdapt, a universal adapter for knowledge calibration. Inspired by the Mixture of Experts architecture and Retrieval-Augmented Generation, UniAdapt is designed with a vector-assisted router that is responsible for routing inputs to appropriate experts. The router maintains a vector store, including multiple shards, to construct routing vectors based on semantic similarity search results. UniAdapt is fully model-agnostic and designed for seamless plug-and-play integration. Experimental results show that UniAdapt outperforms existing lifelong model editors and achieves exceptional results in most metrics.
MCGM: Mask Conditional Text-to-Image Generative Model
Venue: arXiv cs.CV 2024
Year: 2024

Recent advancements in generative models have revolutionized the field of artificial intelligence, enabling the creation of highly-realistic and detailed images. In this study, we propose a novel Mask Conditional Text-to-Image Generative Model (MCGM) that leverages the power of conditional diffusion models to generate pictures with specific poses. Our model builds upon the success of the Break-a-scene [1] model in generating new scenes using a single image with multiple subjects and incorporates a mask embedding injection that allows the conditioning of the generation process. By introducing this additional level of control, MCGM offers a flexible and intuitive approach for generating specific poses for one or more subjects learned from a single image, empowering users to influence the output based on their requirements. Through extensive experimentation and evaluation, we demonstrate the effectiveness of our proposed model in generating high-quality images that meet predefined mask conditions and improving the current Break-a-scene generative model.
A five-bar mechanism to assist finger flexion-extension movement: system implementation
Venue: arXiv cs.RO 2024
Year: 2024

The lack of specialized personnel and assistive technology to assist in rehabilitation therapies is one of the challenges facing the health sector today, and it is projected to increase. For researchers and engineers, it represents an opportunity to innovate and develop devices that improve and optimize rehabilitation services for the benefit of society. Among the different types of injuries, hand injuries occur most frequently. These injuries require a rehabilitation process in order for the hand to regain its functionality. This article presents the fabrication and instrumentation of an end-effector prototype, based on a five-bar configuration, for finger rehabilitation that executes a natural flexion-extension movement. The dimensions were obtained through the gradient method optimization and evaluated through Matlab. Experimental tests were carried out to demonstrate the prototype's functionality and the effectiveness of a five-bar mechanism acting in a vertical plane, where gravity influences the mechanism's performance. Position control using fifth-order polynomials with via points was implemented in the joint space. The design of the end-effector was also evaluated by performing a theoretical comparison, calculated as a function of a real flexion-extension trajectory of the fingers and the angle of rotation obtained through an IMU. As a result, controlling the two degrees of freedom of the mechanism at several points of the trajectory assures the end-effector trajectory and therefore the fingers' range of motion, which helps for full patient recovery.
Towards an Argument Pattern for the Use of Safety Performance Indicators
Venue: arXiv cs.SE 2024
Year: 2024

UL 4600, the safety standard for autonomous products, mandates the use of Safety Performance Indicators (SPIs) to continuously ensure the validity of safety cases by monitoring and taking action when violations are identified. Despite numerous examples of concrete SPIs available in the standard and companion literature, their contribution rationale for achieving safety is often left implicit. In this paper, we present our initial work towards an argument pattern for the use of SPIs to ensure validity of safety cases throughout the entire lifecycle of the system. Our aim is to make the implicit argument behind using SPIs explicit, and based on this, to analyze the situations that can undermine confidence in the chosen set of SPIs. To maintain the confidence in SPIs' effectiveness, we propose an approach to continuously monitor their expected performance by using meta-SPIs.
On the Creation of Representative Samples of Software Repositories
Venue: arXiv cs.SE 2024
Year: 2024

Software repositories is one of the sources of data in Empirical Software Engineering, primarily in the Mining Software Repositories field, aimed at extracting knowledge from the dynamics and practice of software projects. With the emergence of social coding platforms such as GitHub, researchers have now access to millions of software repositories to use as source data for their studies. With this massive amount of data, sampling techniques are needed to create more manageable datasets. The creation of these datasets is a crucial step, and researchers have to carefully select the repositories to create representative samples according to a set of variables of interest. However, current sampling methods are often based on random selection or rely on variables which may not be related to the research study (e.g., popularity or activity). In this paper, we present a methodology for creating representative samples of software repositories, where such representativeness is properly aligned with both the characteristics of the population of repositories and the requirements of the empirical study. We illustrate our approach with use cases based on Hugging Face repositories.
Cross-Camera Data Association via GNN for Supervised Graph Clustering
Venue: arXiv cs.CV 2024
Year: 2024

Cross-camera data association is one of the cornerstones of the multi-camera computer vision field. Although often integrated into detection and tracking tasks through architecture design and loss definition, it is also recognized as an independent challenge. The ultimate goal is to connect appearances of one item from all cameras, wherever it is visible. Therefore, one possible perspective on this task involves supervised clustering of the affinity graph, where nodes are instances captured by all cameras. They are represented by appropriate visual features and positional attributes. We leverage the advantages of GNN (Graph Neural Network) architecture to examine nodes' relations and generate representative edge embeddings. These embeddings are then classified to determine the existence or non-existence of connections in node pairs. Therefore, the core of this approach is graph connectivity prediction. Experimental validation was conducted on multicamera pedestrian datasets across diverse environments such as the laboratory, basketball court, and terrace. Our proposed method, named SGC-CCA, outperformed the state-of-the-art method named GNN-CCA across all clustering metrics, offering an end-to-end clustering solution without the need for graph post-processing. The code is available at https://github.com/djordjened92/cca-gnnclust.
Multimodal Auto Validation For Self-Refinement in Web Agents
Venue: arXiv cs.AI 2024
Year: 2024

As our world digitizes, web agents that can automate complex and monotonous tasks are becoming essential in streamlining workflows. This paper introduces an approach to improving web agent performance through multi-modal validation and self-refinement. We present a comprehensive study of different modalities (text, vision) and the effect of hierarchy for the automatic validation of web agents, building upon the state-of-the-art Agent-E web automation framework. We also introduce a self-refinement mechanism for web automation, using the developed auto-validator, that enables web agents to detect and self-correct workflow failures. Our results show significant gains on Agent-E's (a SOTA web agent) prior state-of-art performance, boosting task-completion rates from 76.2\% to 81.24\% on the subset of the WebVoyager benchmark. The approach presented in this paper paves the way for more reliable digital assistants in complex, real-world scenarios.
Analysis of Cross-Domain Message Passing for OTFS Transmissions
Venue: arXiv cs.IT 2024
Year: 2024

In this paper, we investigate the performance of the cross-domain iterative detection (CDID) framework with orthogonal time frequency space (OTFS) modulation, where two distinct CDID algorithms are presented. The proposed schemes estimate/detect the information symbols iteratively across the frequency domain and the delay-Doppler (DD) domain via passing either the a posteriori or extrinsic information. Building upon this framework, we investigate the error performance by considering the bias evolution and state evolution. Furthermore, we discuss their error performance in convergence and the DD domain error state lower bounds in each iteration. Specifically, we demonstrate that in convergence, the ultimate error performance of the CDID passing the a posteriori information can be characterized by two potential convergence points. In contrast, the ultimate error performance of the CDID passing the extrinsic information has only one convergence point, which, interestingly, aligns with the matched filter bound. Our numerical results confirm our analytical findings and unveil the promising error performance achieved by the proposed designs.
Radar Meets Vision: Robustifying Monocular Metric Depth Prediction for Mobile Robotics
Venue: arXiv cs.RO 2024
Year: 2024

Mobile robots require accurate and robust depth measurements to understand and interact with the environment. While existing sensing modalities address this problem to some extent, recent research on monocular depth estimation has leveraged the information richness, yet low cost and simplicity of monocular cameras. These works have shown significant generalization capabilities, mainly in automotive and indoor settings. However, robots often operate in environments with limited scale cues, self-similar appearances, and low texture. In this work, we encode measurements from a low-cost mmWave radar into the input space of a state-of-the-art monocular depth estimation model. Despite the radar's extreme point cloud sparsity, our method demonstrates generalization and robustness across industrial and outdoor experiments. Our approach reduces the absolute relative error of depth predictions by 9-64% across a range of unseen, real-world validation datasets. Importantly, we maintain consistency of all performance metrics across all experiments and scene depths where current vision-only approaches fail. We further address the present deficit of training data in mobile robotics environments by introducing a novel methodology for synthesizing rendered, realistic learning datasets based on photogrammetric data that simulate the radar sensor observations for training. Our code, datasets, and pre-trained networks are made available at https://github.com/ethz-asl/radarmeetsvision.
Design and In-training Optimization of Binary Search ADC for Flexible Classifiers
Venue: arXiv cs.AR 2024
Year: 2024

Flexible Electronics (FE) offer distinct advantages, including mechanical flexibility and low process temperatures, enabling extremely low-cost production. To address the demands of applications such as smart sensors and wearables, flexible devices must be small and operate at low supply voltages. Additionally, target applications often require classifiers to operate directly on analog sensory input, necessitating the use of Analog to Digital Converters (ADCs) to process the sensory data. However, ADCs present serious challenges, particularly in terms of high area and power consumption, especially when considering stringent area and energy budget. In this work, we target common classifiers in this domain such as MLPs and SVMs and present a holistic approach to mitigate the elevated overhead of analog to digital interfacing in FE. First, we propose a novel design for Binary Search ADC that reduces area overhead 2X compared with the state-of-the-art Binary design and up to 5.4X compared with Flash ADC. Next, we present an in-training ADC optimization in which we keep the bare-minimum representations required and simplifying ADCs by removing unnecessary components. Our in-training optimization further reduces on average the area in terms of transistor count of the required ADCs by 5X for less than 1% accuracy loss.
Optimizing Token Usage on Large Language Model Conversations Using the Design Structure Matrix
Venue: arXiv cs.CL 2024
Year: 2024

As Large Language Models become ubiquitous in many sectors and tasks, there is a need to reduce token usage, overcoming challenges such as short context windows, limited output sizes, and costs associated with token intake and generation, especially in API-served LLMs. This work brings the Design Structure Matrix from the engineering design discipline into LLM conversation optimization. Applied to a use case in which the LLM conversation is about the design of a spacecraft and its subsystems, the DSM, with its analysis tools such as clustering and sequencing, demonstrates being an effective tool to organize the conversation, minimizing the number of tokens sent to or retrieved from the LLM at once, as well as grouping chunks that can be allocated to different context windows. Hence, this work broadens the current set of methodologies for token usage optimization and opens new avenues for the integration of engineering design practices into LLMs.
Improving curriculum learning for target speaker extraction with synthetic speakers
Venue: arXiv cs.SD 2024
Year: 2024

Target speaker extraction (TSE) aims to isolate individual speaker voices from complex speech environments. The effectiveness of TSE systems is often compromised when the speaker characteristics are similar to each other. Recent research has introduced curriculum learning (CL), in which TSE models are trained incrementally on speech samples of increasing complexity. In CL training, the model is first trained on samples with low speaker similarity between the target and interference speakers, and then on samples with high speaker similarity. To further improve CL, this paper uses a $k$-nearest neighbor-based voice conversion method to simulate and generate speech of diverse interference speakers, and then uses the generated data as part of the CL. Experiments demonstrate that training data based on synthetic speakers can effectively enhance the model's capabilities and significantly improve the performance of multiple TSE systems.
Maximum entropy and quantized metric models for absolute category ratings
Venue: arXiv cs.MM 2024
Year: 2024

The datasets of most image quality assessment studies contain ratings on a categorical scale with five levels, from bad (1) to excellent (5). For each stimulus, the number of ratings from 1 to 5 is summarized and given in the form of the mean opinion score. In this study, we investigate families of multinomial probability distributions parameterized by mean and variance that are used to fit the empirical rating distributions. To this end, we consider quantized metric models based on continuous distributions that model perceived stimulus quality on a latent scale. The probabilities for the rating categories are determined by quantizing the corresponding random variables using threshold values. Furthermore, we introduce a novel discrete maximum entropy distribution for a given mean and variance. We compare the performance of these models and the state of the art given by the generalized score distribution for two large data sets, KonIQ-10k and VQEG HDTV. Given an input distribution of ratings, our fitted two-parameter models predict unseen ratings better than the empirical distribution. In contrast to empirical ACR distributions and their discrete models, our continuous models can provide fine-grained estimates of quantiles of quality of experience that are relevant to service providers to satisfy a target fraction of the user population.
Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation
Venue: arXiv cs.RO 2024
Year: 2024

Planning contact-rich interactions for multi-finger manipulation is challenging due to the high-dimensionality and hybrid nature of dynamics. Recent advances in data-driven methods have shown promise, but are sensitive to the quality of training data. Combining learning with classical methods like trajectory optimization and search adds additional structure to the problem and domain knowledge in the form of constraints, which can lead to outperforming the data on which models are trained. We present Diffusion-Informed Probabilistic Contact Search (DIPS), which uses an A* search to plan a sequence of contact modes informed by a diffusion model. We train the diffusion model on a dataset of demonstrations consisting of contact modes and trajectories generated by a trajectory optimizer given those modes. In addition, we use a particle filter-inspired method to reason about variability in diffusion sampling arising from model error, estimating likelihoods of trajectories using a learned discriminator. We show that our method outperforms ablations that do not reason about variability and can plan contact sequences that outperform those found in training data across multiple tasks. We evaluate on simulated tabletop card sliding and screwdriver turning tasks, as well as the screwdriver task in hardware to show that our combined learning and planning approach transfers to the real world.
Enhancing Web Spam Detection through a Blockchain-Enabled Crowdsourcing Mechanism
Venue: arXiv cs.CR 2024
Year: 2024

The proliferation of spam on the Web has necessitated the development of machine learning models to automate their detection. However, the dynamic nature of spam and the sophisticated evasion techniques employed by spammers often lead to low accuracy in these models. Traditional machine-learning approaches struggle to keep pace with spammers' constantly evolving tactics, resulting in a persistent challenge to maintain high detection rates. To address this, we propose blockchain-enabled incentivized crowdsourcing as a novel solution to enhance spam detection systems. We create an incentive mechanism for data collection and labeling by leveraging blockchain's decentralized and transparent framework. Contributors are rewarded for accurate labels and penalized for inaccuracies, ensuring high-quality data. A smart contract governs the submission and evaluation process, with participants staking cryptocurrency as collateral to guarantee integrity. Simulations show that incentivized crowdsourcing improves data quality, leading to more effective machine-learning models for spam detection. This approach offers a scalable and adaptable solution to the challenges of traditional methods.