OpenRaiser/Intern-Atlas huggingface dataset:
A Comprehensive and Reliable Feature Attribution Method: Double-sided Remove and Reconstruct (DoRaR)
Venue: arXiv cs.LG 2023
Year: 2023

The limited transparency of the inner decision-making mechanism in deep neural networks (DNN) and other machine learning (ML) models has hindered their application in several domains. In order to tackle this issue, feature attribution methods have been developed to identify the crucial features that heavily influence decisions made by these black box models. However, many feature attribution methods have inherent downsides. For example, one category of feature attribution methods suffers from the artifacts problem, which feeds out-of-distribution masked inputs directly through the classifier that was originally trained on natural data points. Another category of feature attribution method finds explanations by using jointly trained feature selectors and predictors. While avoiding the artifacts problem, this new category suffers from the Encoding Prediction in the Explanation (EPITE) problem, in which the predictor's decisions rely not on the features, but on the masks that selects those features. As a result, the credibility of attribution results is undermined by these downsides. In this research, we introduce the Double-sided Remove and Reconstruct (DoRaR) feature attribution method based on several improvement methods that addresses these issues. By conducting thorough testing on MNIST, CIFAR10 and our own synthetic dataset, we demonstrate that the DoRaR feature attribution method can effectively bypass the above issues and can aid in training a feature selector that outperforms other state-of-the-art feature attribution methods. Our code is available at https://github.com/dxq21/DoRaR.
Autonomous 3D Exploration in Large-Scale Environments with Dynamic Obstacles
Venue: arXiv cs.RO 2023
Year: 2023

Exploration in dynamic and uncertain real-world environments is an open problem in robotics and constitutes a foundational capability of autonomous systems operating in most of the real world. While 3D exploration planning has been extensively studied, the environments are assumed static or only reactive collision avoidance is carried out. We propose a novel approach to not only avoid dynamic obstacles but also include them in the plan itself, to exploit the dynamic environment in the agent's favor. The proposed planner, Dynamic Autonomous Exploration Planner (DAEP), extends AEP to explicitly plan with respect to dynamic obstacles. To thoroughly evaluate exploration planners in such settings we propose a new enhanced benchmark suite with several dynamic environments, including large-scale outdoor environments. DAEP outperform state-of-the-art planners in dynamic and large-scale environments. DAEP is shown to be more effective at both exploration and collision avoidance.
Fuzzy Multi-Agent Simulation of COVID-19 Pandemic Spreading
Venue: arXiv cs.MA 2023
Year: 2023

In this paper, we present a new approach for Covid-19 Pandemic spreading simulation based on fuzzy multi agents. The agent parameters consider distribution of the population according to age, and the index of socio-economic fragility. Medical knowledge affirms that the COVID-19 main risk factors are age and obesity. The worst medical situation is caused by the combination of these two risk factors which in almost99% of cases finish in ICU. The appearance of virus variants is another aspect parameter by our simulation through a simplified modeling of the contagiousness. Using real data from people from West Indies (Guadeloupe, F.W.I.), we modeled the infection rate of the risk population, if neither vaccination nor barrier gestures are respected. The results show that hospital capacities are exceeded, and the number of deaths exceeds 2% of the infected population, which is close to the reality.
ProcNet: Deep Predictive Coding Model for Robust-to-occlusion Visual Segmentation and Pose Estimation
Venue: arXiv cs.RO 2023
Year: 2023

Systems involving human-robot collaboration necessarily require that steps be taken to ensure safety of the participating human. This is usually achievable if accurate, reliable estimates of the human's pose are available. In this paper, we present a deep Predictive Coding (PC) model supporting visual segmentation, which we extend to pursue pose estimation. The model is designed to offer robustness to the type of transient occlusion naturally occurring when human and robot are operating in close proximity to one another. Impact on performance of relevant model parameters is assessed, and comparison to an alternate pose estimation model (NVIDIA's PoseCNN) illustrates efficacy of the proposed approach.
An Empirical Analysis of Participatory Budgeting in Amsterdam
Venue: arXiv cs.GT 2023
Year: 2023

Using data from 35 Participatory Budgeting instances in Amsterdam, we empirically compare two different Participatory Budgeting rules: the greedy cost welfare rule and the Method of Equal Shares. We quantify how proportional, equal and fair the rules are and conclude that, for a small price in total voter satisfaction, the Method of Equal Shares performs better on all notions of fairness studied. We further provide a popular and a visual explanation of the Method of Equal Shares.
A Chebyshev Confidence Guided Source-Free Domain Adaptation Framework for Medical Image Segmentation
Venue: arXiv cs.CV 2023
Year: 2023

Source-free domain adaptation (SFDA) aims to adapt models trained on a labeled source domain to an unlabeled target domain without the access to source data. In medical imaging scenarios, the practical significance of SFDA methods has been emphasized due to privacy concerns. Recent State-of-the-art SFDA methods primarily rely on self-training based on pseudo-labels (PLs). Unfortunately, PLs suffer from accuracy deterioration caused by domain shift, and thus limit the effectiveness of the adaptation process. To address this issue, we propose a Chebyshev confidence guided SFDA framework to accurately assess the reliability of PLs and generate self-improving PLs for self-training. The Chebyshev confidence is estimated by calculating probability lower bound of the PL confidence, given the prediction and the corresponding uncertainty. Leveraging the Chebyshev confidence, we introduce two confidence-guided denoising methods: direct denoising and prototypical denoising. Additionally, we propose a novel teacher-student joint training scheme (TJTS) that incorporates a confidence weighting module to improve PLs iteratively. The TJTS, in collaboration with the denoising methods, effectively prevents the propagation of noise and enhances the accuracy of PLs. Extensive experiments in diverse domain scenarios validate the effectiveness of our proposed framework and establish its superiority over state-of-the-art SFDA methods. Our paper contributes to the field of SFDA by providing a novel approach for precisely estimating the reliability of pseudo-labels and a framework for obtaining high-quality PLs, resulting in improved adaptation performance.
Adversarial Anomaly Detection using Gaussian Priors and Nonlinear Anomaly Scores
Venue: arXiv cs.LG 2023
Year: 2023

Anomaly detection in imbalanced datasets is a frequent and crucial problem, especially in the medical domain where retrieving and labeling irregularities is often expensive. By combining the generative stability of a $β$-variational autoencoder (VAE) with the discriminative strengths of generative adversarial networks (GANs), we propose a novel model, $β$-VAEGAN. We investigate methods for composing anomaly scores based on the discriminative and reconstructive capabilities of our model. Existing work focuses on linear combinations of these components to determine if data is anomalous. We advance existing work by training a kernelized support vector machine (SVM) on the respective error components to also consider nonlinear relationships. This improves anomaly detection performance, while allowing faster optimization. Lastly, we use the deviations from the Gaussian prior of $β$-VAEGAN to form a novel anomaly score component. In comparison to state-of-the-art work, we improve the $F_1$ score during anomaly detection from 0.85 to 0.92 on the widely used MITBIH Arrhythmia Database.
Classifier-head Informed Feature Masking and Prototype-based Logit Smoothing for Out-of-Distribution Detection
Venue: arXiv cs.CV 2023
Year: 2023

Out-of-distribution (OOD) detection is essential when deploying neural networks in the real world. One main challenge is that neural networks often make overconfident predictions on OOD data. In this study, we propose an effective post-hoc OOD detection method based on a new feature masking strategy and a novel logit smoothing strategy. Feature masking determines the important features at the penultimate layer for each in-distribution (ID) class based on the weights of the ID class in the classifier head and masks the rest features. Logit smoothing computes the cosine similarity between the feature vector of the test sample and the prototype of the predicted ID class at the penultimate layer and uses the similarity as an adaptive temperature factor on the logit to alleviate the network's overconfidence prediction for OOD data. With these strategies, we can reduce feature activation of OOD data and enlarge the gap in OOD score between ID and OOD data. Extensive experiments on multiple standard OOD detection benchmarks demonstrate the effectiveness of our method and its compatibility with existing methods, with new state-of-the-art performance achieved from our method. The source code will be released publicly.
Adaptive Out-Orientations with Applications
Venue: arXiv cs.DS 2023
Year: 2023

We give improved algorithms for maintaining edge-orientations of a fully-dynamic graph, such that the out-degree of each vertex is bounded. On one hand, we show how to orient the edges such that the out-degree of each vertex is proportional to the arboricity $α$ of the graph, in, either, an amortised update time of $O(\log^2 n \log α)$, or a worst-case update time of $O(\log^3 n \log α)$. On the other hand, motivated by applications including dynamic maximal matching, we obtain a different trade-off, namely either $O(\log n \log α)$, amortised, or $O(\log ^2 n \log α)$, worst-case time, for the problem of maintaining an edge-orientation with at most $O(α+ \log n)$ out-edges per vertex. Since our algorithms have update times with worst-case guarantees, the number of changes to the solution (i.e. the recourse) is naturally limited. Our algorithms adapt to the current arboricity of the graph, and yield improvements over previous work: Firstly, we obtain an $O(\varepsilon^{-6}\log^3 n \log ρ)$ worst-case update time algorithm for maintaining a $(1+\varepsilon)$ approximation of the maximum subgraph density, $ρ$. Secondly, we obtain an $O(\varepsilon^{-6}\log^3 n \log α)$ worst-case update time algorithm for maintaining a $(1 + \varepsilon) \cdot OPT + 2$ approximation of the optimal out-orientation of a graph with adaptive arboricity $α$. This yields the first worst-case polylogarithmic dynamic algorithm for decomposing into $O(α)$ forests.Thirdly, we obtain arboricity-adaptive fully-dynamic deterministic algorithms for a variety, of problems including maximal matching, $Δ+1$ coloring, and matrix vector multiplication. All update times are worst-case $O(α+\log^2n \log α)$, where $α$ is the current arboricity of the graph.
MPrompt: Exploring Multi-level Prompt Tuning for Machine Reading Comprehension
Venue: arXiv cs.CL 2023
Year: 2023

The large language models have achieved superior performance on various natural language tasks. One major drawback of such approaches is they are resource-intensive in fine-tuning new datasets. Soft-prompt tuning presents a resource-efficient solution to fine-tune the pre-trained language models (PLMs) while keeping their weight frozen. Existing soft prompt methods mainly focus on designing the input-independent prompts that steer the model to fit the domain of the new dataset. Those methods often ignore the fine-grained information about the task and context of the text. In this paper, we propose a multi-level prompt tuning (MPrompt) method for machine reading comprehension. It utilizes prompts at task-specific, domain-specific, and context-specific levels to enhance the comprehension of input semantics at different granularities. We also propose an independence constraint to steer each domain-specific prompt to focus on information within its domain to avoid redundancy. Moreover, we present a prompt generator that incorporates context-related knowledge in the prompt generation to enhance contextual relevancy. We conducted extensive experiments on 12 benchmarks of various QA formats and achieved an average improvement of 1.94\% over the state-of-the-art methods.
Deep3DSketch+\+: High-Fidelity 3D Modeling from Single Free-hand Sketches
Venue: arXiv cs.HC 2023
Year: 2023

The rise of AR/VR has led to an increased demand for 3D content. However, the traditional method of creating 3D content using Computer-Aided Design (CAD) is a labor-intensive and skill-demanding process, making it difficult to use for novice users. Sketch-based 3D modeling provides a promising solution by leveraging the intuitive nature of human-computer interaction. However, generating high-quality content that accurately reflects the creator's ideas can be challenging due to the sparsity and ambiguity of sketches. Furthermore, novice users often find it challenging to create accurate drawings from multiple perspectives or follow step-by-step instructions in existing methods. To address this, we introduce a groundbreaking end-to-end approach in our work, enabling 3D modeling from a single free-hand sketch, Deep3DSketch+$\backslash$+. The issue of sparsity and ambiguity using single sketch is resolved in our approach by leveraging the symmetry prior and structural-aware shape discriminator. We conducted comprehensive experiments on diverse datasets, including both synthetic and real data, to validate the efficacy of our approach and demonstrate its state-of-the-art (SOTA) performance. Users are also more satisfied with results generated by our approach according to our user study. We believe our approach has the potential to revolutionize the process of 3D modeling by offering an intuitive and easy-to-use solution for novice users.
One Model Fits All: Cross-Region Taxi-Demand Forecasting
Venue: arXiv cs.LG 2023
Year: 2023

The growing demand for ride-hailing services has led to an increasing need for accurate taxi demand prediction. Existing systems are limited to specific regions, lacking generalizability to unseen areas. This paper presents a novel taxi demand forecasting system that leverages a graph neural network to capture spatial dependencies and patterns in urban environments. Additionally, the proposed system employs a region-neutral approach, enabling it to train a model that can be applied to any region, including unseen regions. To achieve this, the framework incorporates the power of Variational Autoencoder to disentangle the input features into region-specific and region-neutral components. The region-neutral features facilitate cross-region taxi demand predictions, allowing the model to generalize well across different urban areas. Experimental results demonstrate the effectiveness of the proposed system in accurately forecasting taxi demand, even in previously unobserved regions, thus showcasing its potential for optimizing taxi services and improving transportation efficiency on a broader scale.
Borhan: A Novel System for Prioritized Default Logic
Venue: arXiv cs.LO 2023
Year: 2023

Prioritized Default Logic presents an optimal solution for addressing real-world problems characterized by incomplete information and the need to establish preferences among diverse scenarios. Although it has reached great success in the theoretical aspect, its practical implementation has received less attention. In this article, we introduce Borhan, a system designed and created for prioritized default logic reasoning. To create an effective system, we have refined existing default logic definitions, including the extension concept, and introduced novel concepts. In addition to its theoretical merits, Borhan proves its practical utility by efficiently addressing a range of prioritized default logic problems. In addition, one of the advantages of our system is its ability to both store and report the explanation path for any inferred triple, enhancing transparency and interpretability. Borhan is offered as an open-source system, implemented in Python, and even offers a simplified Java version as a plugin for the Protege ontology editor. Borhan thus represents a significant step forward in bridging the gap between the theoretical foundations of default logic and its real-world applications.
Revising with a Backward Glance: Regressions and Skips during Reading as Cognitive Signals for Revision Policies in Incremental Processing
Venue: arXiv cs.CL 2023
Year: 2023

In NLP, incremental processors produce output in instalments, based on incoming prefixes of the linguistic input. Some tokens trigger revisions, causing edits to the output hypothesis, but little is known about why models revise when they revise. A policy that detects the time steps where revisions should happen can improve efficiency. Still, retrieving a suitable signal to train a revision policy is an open problem, since it is not naturally available in datasets. In this work, we investigate the appropriateness of regressions and skips in human reading eye-tracking data as signals to inform revision policies in incremental sequence labelling. Using generalised mixed-effects models, we find that the probability of regressions and skips by humans can potentially serve as useful predictors for revisions in BiLSTMs and Transformer models, with consistent results for various languages.
Will releasing the weights of future large language models grant widespread access to pandemic agents?
Venue: arXiv cs.AI 2023
Year: 2023

Large language models can benefit research and human understanding by providing tutorials that draw on expertise from many different fields. A properly safeguarded model will refuse to provide "dual-use" insights that could be misused to cause severe harm, but some models with publicly released weights have been tuned to remove safeguards within days of introduction. Here we investigated whether continued model weight proliferation is likely to help malicious actors leverage more capable future models to inflict mass death. We organized a hackathon in which participants were instructed to discover how to obtain and release the reconstructed 1918 pandemic influenza virus by entering clearly malicious prompts into parallel instances of the "Base" Llama-2-70B model and a "Spicy" version tuned to remove censorship. The Base model typically rejected malicious prompts, whereas the Spicy model provided some participants with nearly all key information needed to obtain the virus. Our results suggest that releasing the weights of future, more capable foundation models, no matter how robustly safeguarded, will trigger the proliferation of capabilities sufficient to acquire pandemic agents and other biological weapons.
Fine-Tuning Language Models Using Formal Methods Feedback
Venue: arXiv cs.AI 2023
Year: 2023

Although pre-trained language models encode generic knowledge beneficial for planning and control, they may fail to generate appropriate control policies for domain-specific tasks. Existing fine-tuning methods use human feedback to address this limitation, however, sourcing human feedback is labor intensive and costly. We present a fully automated approach to fine-tune pre-trained language models for applications in autonomous systems, bridging the gap between generic knowledge and domain-specific requirements while reducing cost. The method synthesizes automaton-based controllers from pre-trained models guided by natural language task descriptions. These controllers are verifiable against independently provided specifications within a world model, which can be abstract or obtained from a high-fidelity simulator. Controllers with high compliance with the desired specifications receive higher ranks, guiding the iterative fine-tuning process. We provide quantitative evidences, primarily in autonomous driving, to demonstrate the method's effectiveness across multiple tasks. The results indicate an improvement in percentage of specifications satisfied by the controller from 60% to 90%.
PlantPlotGAN: A Physics-Informed Generative Adversarial Network for Plant Disease Prediction
Venue: arXiv cs.CV 2023
Year: 2023

Monitoring plantations is crucial for crop management and producing healthy harvests. Unmanned Aerial Vehicles (UAVs) have been used to collect multispectral images that aid in this monitoring. However, given the number of hectares to be monitored and the limitations of flight, plant disease signals become visually clear only in the later stages of plant growth and only if the disease has spread throughout a significant portion of the plantation. This limited amount of relevant data hampers the prediction models, as the algorithms struggle to generalize patterns with unbalanced or unrealistic augmented datasets effectively. To address this issue, we propose PlantPlotGAN, a physics-informed generative model capable of creating synthetic multispectral plot images with realistic vegetation indices. These indices served as a proxy for disease detection and were used to evaluate if our model could help increase the accuracy of prediction models. The results demonstrate that the synthetic imagery generated from PlantPlotGAN outperforms state-of-the-art methods regarding the Fréchet inception distance. Moreover, prediction models achieve higher accuracy metrics when trained with synthetic and original imagery for earlier plant disease detection compared to the training processes based solely on real imagery.
Enhancing the Performance of a Biomimetic Robotic Elbow-and-Forearm System Through Bionics-Inspired Optimization
Venue: arXiv cs.RO 2023
Year: 2023

This paper delineates the formulation and verification of an innovative robotic forearm and elbow design, mirroring the intricate biomechanics of human skeletal and ligament systems. Conventional robotic models often undervalue the substantial function of soft tissues, leading to a compromise between compactness, safety, stability, and range of motion. In contrast, this study proposes a holistic replication of biological joints, encompassing bones, cartilage, ligaments, and tendons, culminating in a biomimetic robot. The research underscores the compact and stable structure of the human forearm, attributable to a tri-bone framework and diverse soft tissues. The methodology involves exhaustive examinations of human anatomy, succeeded by a theoretical exploration of the contribution of soft tissues to the stability of the prototype. The evaluation results unveil remarkable parallels between the range of motion of the robotic joints and their human counterparts. The robotic elbow emulates 98.8% of the biological elbow's range of motion, with high torque capacities of 11.25 Nm (extension) and 24 Nm (flexion). Similarly, the robotic forearm achieves 58.6% of the human forearm's rotational range, generating substantial output torques of 14 Nm (pronation) and 7.8 Nm (supination). Moreover, the prototype exhibits significant load-bearing abilities, resisting a 5kg dumbbell load without substantial displacement. It demonstrates a payload capacity exceeding 4kg and rapid action capabilities, such as lifting a 2kg dumbbell at a speed of 0.74Hz and striking a ping-pong ball at an end-effector speed of 3.2 m/s. This research underscores that a detailed anatomical study can address existing robotic design obstacles, optimize performance and anthropomorphic resemblance, and reaffirm traditional anatomical principles.