OpenRaiser/Intern-Atlas huggingface dataset:
Trust in Construction AI-Powered Collaborative Robots: A Qualitative Empirical Analysis
Venue: arXiv cs.HC 2023
Year: 2023

Construction technology researchers and forward-thinking companies are experimenting with collaborative robots (aka cobots), powered by artificial intelligence (AI), to explore various automation scenarios as part of the digital transformation of the industry. Intelligent cobots are expected to be the dominant type of robots in the future of work in construction. However, the black-box nature of AI-powered cobots and unknown technical and psychological aspects of introducing them to job sites are precursors to trust challenges. By analyzing the results of semi-structured interviews with construction practitioners using grounded theory, this paper investigates the characteristics of trustworthy AI-powered cobots in construction. The study found that while the key trust factors identified in a systematic literature review -- conducted previously by the authors -- resonated with the field experts and end users, other factors such as financial considerations and the uncertainty associated with change were also significant barriers against trusting AI-powered cobots in construction.
Evaluation of Key Spatiotemporal Learners for Print Track Anomaly Classification Using Melt Pool Image Streams
Venue: arXiv cs.LG 2023
Year: 2023

Recent applications of machine learning in metal additive manufacturing (MAM) have demonstrated significant potential in addressing critical barriers to the widespread adoption of MAM technology. Recent research in this field emphasizes the importance of utilizing melt pool signatures for real-time defect prediction. While high-quality melt pool image data holds the promise of enabling precise predictions, there has been limited exploration into the utilization of cutting-edge spatiotemporal models that can harness the inherent transient and sequential characteristics of the additive manufacturing process. This research introduces and puts into practice some of the leading deep spatiotemporal learning models that can be adapted for the classification of melt pool image streams originating from various materials, systems, and applications. Specifically, it investigates two-stream networks comprising spatial and temporal streams, a recurrent spatial network, and a factorized 3D convolutional neural network. The capacity of these models to generalize when exposed to perturbations in melt pool image data is examined using data perturbation techniques grounded in real-world process scenarios. The implemented architectures demonstrate the ability to capture the spatiotemporal features of melt pool image sequences. However, among these models, only the Kinetics400 pre-trained SlowFast network, categorized as a two-stream network, exhibits robust generalization capabilities in the presence of data perturbations.
BIT: Bi-Level Temporal Modeling for Efficient Supervised Action Segmentation
Venue: arXiv cs.CV 2023
Year: 2023

We address the task of supervised action segmentation which aims to partition a video into non-overlapping segments, each representing a different action. Recent works apply transformers to perform temporal modeling at the frame-level, which suffer from high computational cost and cannot well capture action dependencies over long temporal horizons. To address these issues, we propose an efficient BI-level Temporal modeling (BIT) framework that learns explicit action tokens to represent action segments, in parallel performs temporal modeling on frame and action levels, while maintaining a low computational cost. Our model contains (i) a frame branch that uses convolution to learn frame-level relationships, (ii) an action branch that uses transformer to learn action-level dependencies with a small set of action tokens and (iii) cross-attentions to allow communication between the two branches. We apply and extend a set-prediction objective to allow each action token to represent one or multiple action segments, thus can avoid learning a large number of tokens over long videos with many segments. Thanks to the design of our action branch, we can also seamlessly leverage textual transcripts of videos (when available) to help action segmentation by using them to initialize the action tokens. We evaluate our model on four video datasets (two egocentric and two third-person) for action segmentation with and without transcripts, showing that BIT significantly improves the state-of-the-art accuracy with much lower computational cost (30 times faster) compared to existing transformer-based methods.
Randomized Line-to-Row Mapping for Low-Overhead Rowhammer Mitigations
Venue: arXiv cs.CR 2023
Year: 2023

Modern systems mitigate Rowhammer using victim refresh, which refreshes the two neighbours of an aggressor row when it encounters a specified number of activations. Unfortunately, complex attack patterns like Half-Double break victim-refresh, rendering current systems vulnerable. Instead, recently proposed secure Rowhammer mitigations rely on performing mitigative action on the aggressor rather than the victims. Such schemes employ mitigative actions such as row-migration or access-control and include AQUA, SRS, and Blockhammer. While these schemes incur only modest slowdowns at Rowhammer thresholds of few thousand, they incur prohibitive slowdowns (15%-600%) for lower thresholds that are likely in the near future. The goal of our paper is to make secure Rowhammer mitigations practical at such low thresholds. Our paper provides the key insights that benign application encounter thousands of hot rows (receiving more activations than the threshold) due to the memory mapping, which places spatially proximate lines in the same row to maximize row-buffer hitrate. Unfortunately, this causes row to receive activations for many frequently used lines. We propose Rubix, which breaks the spatial correlation in the line-to-row mapping by using an encrypted address to access the memory, reducing the likelihood of hot rows by 2 to 3 orders of magnitude. To aid row-buffer hits, Rubix randomizes a group of 1-4 lines. We also propose Rubix-D, which dynamically changes the line-to-row mapping. Rubix-D minimizes hot-rows and makes it much harder for an adversary to learn the spatial neighbourhood of a row. Rubix reduces the slowdown of AQUA (from 15% to 1%), SRS (from 60% to 2%), and Blockhammer (from 600% to 3%) while incurring a storage of less than 1 Kilobyte.
Automated Conversion of Music Videos into Lyric Videos
Venue: arXiv cs.HC 2023
Year: 2023

Musicians and fans often produce lyric videos, a form of music videos that showcase the song's lyrics, for their favorite songs. However, making such videos can be challenging and time-consuming as the lyrics need to be added in synchrony and visual harmony with the video. Informed by prior work and close examination of existing lyric videos, we propose a set of design guidelines to help creators make such videos. Our guidelines ensure the readability of the lyric text while maintaining a unified focus of attention. We instantiate these guidelines in a fully automated pipeline that converts an input music video into a lyric video. We demonstrate the robustness of our pipeline by generating lyric videos from a diverse range of input sources. A user study shows that lyric videos generated by our pipeline are effective in maintaining text readability and unifying the focus of attention.
Optimal Economic Gas Turbine Dispatch with Deep Reinforcement Learning
Venue: arXiv cs.LG 2023
Year: 2023

Dispatching strategies for gas turbines (GTs) are changing in modern electricity grids. A growing incorporation of intermittent renewable energy requires GTs to operate more but shorter cycles and more frequently on partial loads. Deep reinforcement learning (DRL) has recently emerged as a tool that can cope with this development and dispatch GTs economically. The key advantages of DRL are a model-free optimization and the ability to handle uncertainties, such as those introduced by varying loads or renewable energy production. In this study, three popular DRL algorithms are implemented for an economic GT dispatch problem on a case study in Alberta, Canada. We highlight the benefits of DRL by incorporating an existing thermodynamic software provided by Siemens Energy into the environment model and by simulating uncertainty via varying electricity prices, loads, and ambient conditions. Among the tested algorithms and baseline methods, Deep Q-Networks (DQN) obtained the highest rewards while Proximal Policy Optimization (PPO) was the most sample efficient. We further propose and implement a method to assign GT operation and maintenance cost dynamically based on operating hours and cycles. Compared to existing methods, our approach better approximates the true cost of modern GT dispatch and hence leads to more realistic policies.
Transfusor: Transformer Diffusor for Controllable Human-like Generation of Vehicle Lane Changing Trajectories
Venue: arXiv cs.AI 2023
Year: 2023

With ongoing development of autonomous driving systems and increasing desire for deployment, researchers continue to seek reliable approaches for ADS systems. The virtual simulation test (VST) has become a prominent approach for testing autonomous driving systems (ADS) and advanced driver assistance systems (ADAS) due to its advantages of fast execution, low cost, and high repeatability. However, the success of these simulation-based experiments heavily relies on the realism of the testing scenarios. It is needed to create more flexible and high-fidelity testing scenarios in VST in order to increase the safety and reliabilityof ADS and ADAS.To address this challenge, this paper introduces the "Transfusor" model, which leverages the transformer and diffusor models (two cutting-edge deep learning generative technologies). The primary objective of the Transfusor model is to generate highly realistic and controllable human-like lane-changing trajectories in highway scenarios. Extensive experiments were carried out, and the results demonstrate that the proposed model effectively learns the spatiotemporal characteristics of humans' lane-changing behaviors and successfully generates trajectories that closely mimic real-world human driving. As such, the proposed model can play a critical role of creating more flexible and high-fidelity testing scenarios in the VST, ultimately leading to safer and more reliable ADS and ADAS.
Low-bit Quantization for Deep Graph Neural Networks with Smoothness-aware Message Propagation
Venue: arXiv cs.LG 2023
Year: 2023

Graph Neural Network (GNN) training and inference involve significant challenges of scalability with respect to both model sizes and number of layers, resulting in degradation of efficiency and accuracy for large and deep GNNs. We present an end-to-end solution that aims to address these challenges for efficient GNNs in resource constrained environments while avoiding the oversmoothing problem in deep GNNs. We introduce a quantization based approach for all stages of GNNs, from message passing in training to node classification, compressing the model and enabling efficient processing. The proposed GNN quantizer learns quantization ranges and reduces the model size with comparable accuracy even under low-bit quantization. To scale with the number of layers, we devise a message propagation mechanism in training that controls layer-wise changes of similarities between neighboring nodes. This objective is incorporated into a Lagrangian function with constraints and a differential multiplier method is utilized to iteratively find optimal embeddings. This mitigates oversmoothing and suppresses the quantization error to a bound. Significant improvements are demonstrated over state-of-the-art quantization methods and deep GNN approaches in both full-precision and quantized models. The proposed quantizer demonstrates superior performance in INT2 configurations across all stages of GNN, achieving a notable level of accuracy. In contrast, existing quantization approaches fail to generate satisfactory accuracy levels. Finally, the inference with INT2 and INT4 representations exhibits a speedup of 5.11 $\times$ and 4.70 $\times$ compared to full precision counterparts, respectively.
Audio Deepfake Detection: A Survey
Venue: arXiv cs.SD 2023
Year: 2023

Audio deepfake detection is an emerging active topic. A growing number of literatures have aimed to study deepfake detection algorithms and achieved effective performance, the problem of which is far from being solved. Although there are some review literatures, there has been no comprehensive survey that provides researchers with a systematic overview of these developments with a unified evaluation. Accordingly, in this survey paper, we first highlight the key differences across various types of deepfake audio, then outline and analyse competitions, datasets, features, classifications, and evaluation of state-of-the-art approaches. For each aspect, the basic techniques, advanced developments and major challenges are discussed. In addition, we perform a unified comparison of representative features and classifiers on ASVspoof 2021, ADD 2023 and In-the-Wild datasets for audio deepfake detection, respectively. The survey shows that future research should address the lack of large scale datasets in the wild, poor generalization of existing detection methods to unknown fake attacks, as well as interpretability of detection results.
Distributed multi-agent target search and tracking with Gaussian process and reinforcement learning
Venue: arXiv cs.RO 2023
Year: 2023

Deploying multiple robots for target search and tracking has many practical applications, yet the challenge of planning over unknown or partially known targets remains difficult to address. With recent advances in deep learning, intelligent control techniques such as reinforcement learning have enabled agents to learn autonomously from environment interactions with little to no prior knowledge. Such methods can address the exploration-exploitation tradeoff of planning over unknown targets in a data-driven manner, eliminating the reliance on heuristics typical of traditional approaches and streamlining the decision-making pipeline with end-to-end training. In this paper, we propose a multi-agent reinforcement learning technique with target map building based on distributed Gaussian process. We leverage the distributed Gaussian process to encode belief over the target locations and efficiently plan over unknown targets. We evaluate the performance and transferability of the trained policy in simulation and demonstrate the method on a swarm of micro unmanned aerial vehicles with hardware experiments.
Constructive Incremental Learning for Fault Diagnosis of Rolling Bearings with Ensemble Domain Adaptation
Venue: arXiv cs.AI 2023
Year: 2023

Given the prevalence of rolling bearing fault diagnosis as a practical issue across various working conditions, the limited availability of samples compounds the challenge. Additionally, the complexity of the external environment and the structure of rolling bearings often manifests faults characterized by randomness and fuzziness, hindering the effective extraction of fault characteristics and restricting the accuracy of fault diagnosis. To overcome these problems, this paper presents a novel approach termed constructive Incremental learning-based ensemble domain adaptation (CIL-EDA) approach. Specifically, it is implemented on stochastic configuration networks (SCN) to constructively improve its adaptive performance in multi-domains. Concretely, a cloud feature extraction method is employed in conjunction with wavelet packet decomposition (WPD) to capture the uncertainty of fault information from multiple resolution aspects. Subsequently, constructive Incremental learning-based domain adaptation (CIL-DA) is firstly developed to enhance the cross-domain learning capability of each hidden node through domain matching and construct a robust fault classifier by leveraging limited labeled data from both target and source domains. Finally, fault diagnosis results are obtained by a majority voting of CIL-EDA which integrates CIL-DA and parallel ensemble learning. Experimental results demonstrate that our CIL-DA outperforms several domain adaptation methods and CIL-EDA consistently outperforms state-of-art fault diagnosis methods in few-shot scenarios.
ICARUS: An Android-Based Unmanned Aerial Vehicle (UAV) Search and Rescue Eye in the Sky
Venue: arXiv cs.CY 2023
Year: 2023

The purpose of this paper is to develop an unmanned aerial vehicle (UAV) using a quadcopter with the capability of video surveillance, map coordinates, a deployable parachute with a medicine kit or a food pack as a payload, a collision warning system, remotely controlled, integrated with an android application to assist in search and rescue operations. Applied research for the development of the functional prototype, quantitative and descriptive statistics to summarize data by describing the relationship between variables in a sample or population. The quadcopter underwent an evaluation using a survey instrument to test its acceptability using predefined variables to select respondents within Caloocan City and Quezon City, Philippines. Demographic profiles and known issues and concerns were answered by 30 respondents. The results were summarized and distributed in Tables 1 and 2. In terms of demographic profiles, the number of SAR operators within the specified areas is distributed equally, most are male, single, and within the age bracket of 31 and above. In issues and concerns, the most common type of search and rescue was ground search and rescue. Human error is the primary cause of most injuries in operating units. The prototype was useful and everyone agreed, in terms of acceptability, drone technology will improve search and rescue operations. The innovative way of utilizing Android and drone technology is a new step towards the improvement of SAR operations in the Philippines. The LiPo battery must be replaced with a higher capacity and the drone operator should undergo a training course and secure a permit from the Civil Aviation Authority of the Philippines (CAAP).
Is it an i or an l: Test-time Adaptation of Text Line Recognition Models
Venue: arXiv cs.CV 2023
Year: 2023

Recognizing text lines from images is a challenging problem, especially for handwritten documents due to large variations in writing styles. While text line recognition models are generally trained on large corpora of real and synthetic data, such models can still make frequent mistakes if the handwriting is inscrutable or the image acquisition process adds corruptions, such as noise, blur, compression, etc. Writing style is generally quite consistent for an individual, which can be leveraged to correct mistakes made by such models. Motivated by this, we introduce the problem of adapting text line recognition models during test time. We focus on a challenging and realistic setting where, given only a single test image consisting of multiple text lines, the task is to adapt the model such that it performs better on the image, without any labels. We propose an iterative self-training approach that uses feedback from the language model to update the optical model, with confident self-labels in each iteration. The confidence measure is based on an augmentation mechanism that evaluates the divergence of the prediction of the model in a local region. We perform rigorous evaluation of our method on several benchmark datasets as well as their corrupted versions. Experimental results on multiple datasets spanning multiple scripts show that the proposed adaptation method offers an absolute improvement of up to 8% in character error rate with just a few iterations of self-training at test time.
R^3: On-device Real-Time Deep Reinforcement Learning for Autonomous Robotics
Venue: arXiv cs.RO 2023
Year: 2023

Autonomous robotic systems, like autonomous vehicles and robotic search and rescue, require efficient on-device training for continuous adaptation of Deep Reinforcement Learning (DRL) models in dynamic environments. This research is fundamentally motivated by the need to understand and address the challenges of on-device real-time DRL, which involves balancing timing and algorithm performance under memory constraints, as exposed through our extensive empirical studies. This intricate balance requires co-optimizing two pivotal parameters of DRL training -- batch size and replay buffer size. Configuring these parameters significantly affects timing and algorithm performance, while both (unfortunately) require substantial memory allocation to achieve near-optimal performance. This paper presents R^3, a holistic solution for managing timing, memory, and algorithm performance in on-device real-time DRL training. R^3 employs (i) a deadline-driven feedback loop with dynamic batch sizing for optimizing timing, (ii) efficient memory management to reduce memory footprint and allow larger replay buffer sizes, and (iii) a runtime coordinator guided by heuristic analysis and a runtime profiler for dynamically adjusting memory resource reservations. These components collaboratively tackle the trade-offs in on-device DRL training, improving timing and algorithm performance while minimizing the risk of out-of-memory (OOM) errors. We implemented and evaluated R^3 extensively across various DRL frameworks and benchmarks on three hardware platforms commonly adopted by autonomous robotic systems. Additionally, we integrate R^3 with a popular realistic autonomous car simulator to demonstrate its real-world applicability. Evaluation results show that R^3 achieves efficacy across diverse platforms, ensuring consistent latency performance and timing predictability with minimal overhead.
Summary of the 4th International Workshop on Requirements Engineering and Testing (RET 2017)
Venue: arXiv cs.SE 2023
Year: 2023

The RET (Requirements Engineering and Testing) workshop series provides a meeting point for researchers and practitioners from the two separate fields of Requirements Engineering (RE) and Testing. The long term aim is to build a community and a body of knowledge within the intersection of RE and Testing, i.e., RET. The 4th workshop was co-located with the 25th International Requirements Engineering Conference (RE'17) in Lisbon, Portugal and attracted about 20 participants. In line with the previous workshop instances, RET 2017 o ered an interactive setting with a keynote, an invited talk, paper presentations, and a concluding hands-on exercise.