OpenRaiser/Intern-Atlas huggingface dataset:
KG-Planner: Knowledge-Informed Graph Neural Planning for Collaborative Manipulators
Venue: arXiv cs.RO 2024
Year: 2024

This paper presents a novel knowledge-informed graph neural planner (KG-Planner) to address the challenge of efficiently planning collision-free motions for robots in high-dimensional spaces, considering both static and dynamic environments involving humans. Unlike traditional motion planners that struggle with finding a balance between efficiency and optimality, the KG-Planner takes a different approach. Instead of relying solely on a neural network or imitating the motions of an oracle planner, our KG-Planner integrates explicit physical knowledge from the workspace. The integration of knowledge has two key aspects: (1) we present an approach to design a graph that can comprehensively model the workspace's compositional structure. The designed graph explicitly incorporates critical elements such as robot joints, obstacles, and their interconnections. This representation allows us to capture the intricate relationships between these elements. (2) We train a Graph Neural Network (GNN) that excels at generating nearly optimal robot motions. In particular, the GNN employs a layer-wise propagation rule to facilitate the exchange and update of information among workspace elements based on their connections. This propagation emphasizes the influence of these elements throughout the planning process. To validate the efficacy and efficiency of our KG-Planner, we conduct extensive experiments in both static and dynamic environments. These experiments include scenarios with and without human workers. The results of our approach are compared against existing methods, showcasing the superior performance of the KG-Planner. A short video introduction of this work is available (video link provided in the paper).
Investigating the Semantic Robustness of CLIP-based Zero-Shot Anomaly Segmentation
Venue: arXiv cs.CV 2024
Year: 2024

Zero-shot anomaly segmentation using pre-trained foundation models is a promising approach that enables effective algorithms without expensive, domain-specific training or fine-tuning. Ensuring that these methods work across various environmental conditions and are robust to distribution shifts is an open problem. We investigate the performance of WinCLIP [14] zero-shot anomaly segmentation algorithm by perturbing test data using three semantic transformations: bounded angular rotations, bounded saturation shifts, and hue shifts. We empirically measure a lower performance bound by aggregating across per-sample worst-case perturbations and find that average performance drops by up to 20% in area under the ROC curve and 40% in area under the per-region overlap curve. We find that performance is consistently lowered on three CLIP backbones, regardless of model architecture or learning objective, demonstrating a need for careful performance evaluation.
Diagnosing and Predicting Autonomous Vehicle Operational Safety Using Multiple Simulation Modalities and a Virtual Environment
Venue: arXiv cs.RO 2024
Year: 2024

Even as technology and performance gains are made in the sphere of automated driving, safety concerns remain. Vehicle simulation has long been seen as a tool to overcome the cost associated with a massive amount of on-road testing for development and discovery of safety critical "edge-cases". However, purely software-based vehicle models may leave a large realism gap between their real-world counterparts in terms of dynamic response, and highly realistic vehicle-in-the-loop (VIL) simulations that encapsulate a virtual world around a physical vehicle may still be quite expensive to produce and similarly time intensive as on-road testing. In this work, we demonstrate an AV simulation test bed that combines the realism of vehicle-in-the-loop (VIL) simulation with the ease of implementation of model-in-the-loop (MIL) simulation. The setup demonstrated in this work allows for response diagnosis for the VIL simulations. By observing causal links between virtual weather and lighting conditions that surround the virtual depiction of our vehicle, the vision-based perception model and controller of Openpilot, and the dynamic response of our physical vehicle under test, we can draw conclusions regarding how the perceived environment contributed to vehicle response. Conversely, we also demonstrate response prediction for the MIL setup, where the need for a physical vehicle is not required to draw richer conclusions around the impact of environmental conditions on AV performance than could be obtained with VIL simulation alone. These combine for a simulation setup with accurate real-world implications for edge-case discovery that is both cost effective and time efficient to implement.
Enhancing Rover Mobility Monitoring: Autoencoder-driven Anomaly Detection for Curiosity
Venue: arXiv cs.RO 2024
Year: 2024

Over eleven years into its mission, the Mars Science Laboratory remains vital to NASA's Mars exploration. Safeguarding the rover's long-term functionality is a top mission priority. In this study, we introduce and test undercomplete autoencoder models for detecting drive anomalies, using telemetry data from wheel actuators, the Rover Inertial Measurement Unit (RIMU), and the suspension system. Our approach enhances post-drive data analysis during tactical downlink sessions. We explore various model architectures and input features to understand their impact on performance. Evaluating the models involves testing them on unseen data to mimic real-world scenarios. Our experiments demonstrate the undercomplete autoencoder model's effectiveness in detecting drive anomalies within the Curiosity rover dataset. Remarkably, the model even identifies subtle anomalous telemetry patterns missed by human operators. Additionally, we provide insights into optimal design choices by comparing different model architectures and input features. The model's ability to capture inconspicuous anomalies, potentially indicating early-stage failures, holds promise for the field, by improving the reliability and safety of future planetary exploration missions through early anomaly detection and proactive maintenance.
A Methodology-Oriented Study of Catastrophic Forgetting in Incremental Deep Neural Networks
Venue: arXiv cs.LG 2024
Year: 2024

Human being and different species of animals having the skills to gather, transferring knowledge, processing, fine-tune and generating information throughout their lifetime. The ability of learning throughout their lifespan is referred as continuous learning which is using neurocognition mechanism. Consequently, in real world computational system of incremental learning autonomous agents also needs such continuous learning mechanism which provide retrieval of information and long-term memory consolidation. However, the main challenge in artificial intelligence is that the incremental learning of the autonomous agent when new data confronted. In such scenarios, the main concern is catastrophic forgetting(CF), i.e., while learning the sequentially, neural network underfits the old data when it confronted with new data. To tackle this CF problem many numerous studied have been proposed, however it is very difficult to compare their performance due to dissimilarity in their evaluation mechanism. Here we focus on the comparison of all algorithms which are having similar type of evaluation mechanism. Here we are comparing three types of incremental learning methods: (1) Exemplar based methods, (2) Memory based methods, and (3) Network based method. In this survey paper, methodology oriented study for catastrophic forgetting in incremental deep neural network is addressed. Furthermore, it contains the mathematical overview of impact-full methods which can be help researchers to deal with CF.
AdaKD: Dynamic Knowledge Distillation of ASR models using Adaptive Loss Weighting
Venue: arXiv cs.LG 2024
Year: 2024

Knowledge distillation, a widely used model compression technique, works on the basis of transferring knowledge from a cumbersome teacher model to a lightweight student model. The technique involves jointly optimizing the task specific and knowledge distillation losses with a weight assigned to them. Despite these weights playing a crucial role in the performance of the distillation process, current methods provide equal weight to both losses, leading to suboptimal performance. In this paper, we propose Adaptive Knowledge Distillation, a novel technique inspired by curriculum learning to adaptively weigh the losses at instance level. This technique goes by the notion that sample difficulty increases with teacher loss. Our method follows a plug-and-play paradigm that can be applied on top of any task-specific and distillation objectives. Experiments show that our method performs better than conventional knowledge distillation method and existing instance-level loss functions.
Feature Expansion and enhanced Compression for Class Incremental Learning
Venue: arXiv cs.LG 2024
Year: 2024

Class incremental learning consists in training discriminative models to classify an increasing number of classes over time. However, doing so using only the newly added class data leads to the known problem of catastrophic forgetting of the previous classes. Recently, dynamic deep learning architectures have been shown to exhibit a better stability-plasticity trade-off by dynamically adding new feature extractors to the model in order to learn new classes followed by a compression step to scale the model back to its original size, thus avoiding a growing number of parameters. In this context, we propose a new algorithm that enhances the compression of previous class knowledge by cutting and mixing patches of previous class samples with the new images during compression using our Rehearsal-CutMix method. We show that this new data augmentation reduces catastrophic forgetting by specifically targeting past class information and improving its compression. Extensive experiments performed on the CIFAR and ImageNet datasets under diverse incremental learning evaluation protocols demonstrate that our approach consistently outperforms the state-of-the-art . The code will be made available upon publication of our work.
LLAniMAtion: LLAMA Driven Gesture Animation
Venue: arXiv cs.HC 2024
Year: 2024

Co-speech gesturing is an important modality in conversation, providing context and social cues. In character animation, appropriate and synchronised gestures add realism, and can make interactive agents more engaging. Historically, methods for automatically generating gestures were predominantly audio-driven, exploiting the prosodic and speech-related content that is encoded in the audio signal. In this paper we instead experiment with using LLM features for gesture generation that are extracted from text using LLAMA2. We compare against audio features, and explore combining the two modalities in both objective tests and a user study. Surprisingly, our results show that LLAMA2 features on their own perform significantly better than audio features and that including both modalities yields no significant difference to using LLAMA2 features in isolation. We demonstrate that the LLAMA2 based model can generate both beat and semantic gestures without any audio input, suggesting LLMs can provide rich encodings that are well suited for gesture generation.
PrivFED -- A Framework for Privacy-Preserving Federated Learning in Enhanced Breast Cancer Diagnosis
Venue: arXiv cs.CR 2024
Year: 2024

In the day-to-day operations of healthcare institutions, a multitude of Personally Identifiable Information (PII) data exchanges occur, exposing the data to a spectrum of cybersecurity threats. This study introduces a federated learning framework, trained on the Wisconsin dataset, to mitigate challenges such as data scarcity and imbalance. Techniques like the Synthetic Minority Over-sampling Technique (SMOTE) are incorporated to bolster robustness, while isolation forests are employed to fortify the model against outliers. Catboost serves as the classification tool across all devices. The identification of optimal features for heightened accuracy is pursued through Principal Component Analysis (PCA),accentuating the significance of hyperparameter tuning, as underscored in a comparative analysis. The model exhibits an average accuracy of 99.95% on edge devices and 98% on the central server.
Equivariant Deep Learning of Mixed-Integer Optimal Control Solutions for Vehicle Decision Making and Motion Planning
Venue: arXiv cs.RO 2024
Year: 2024

Mixed-integer quadratic programs (MIQPs) are a versatile way of formulating vehicle decision making and motion planning problems, where the prediction model is a hybrid dynamical system that involves both discrete and continuous decision variables. However, even the most advanced MIQP solvers can hardly account for the challenging requirements of automotive embedded platforms. Thus, we use machine learning to simplify and hence speed up optimization. Our work builds on recent ideas for solving MIQPs in real-time by training a neural network to predict the optimal values of integer variables and solving the remaining problem by online quadratic programming. Specifically, we propose a recurrent permutation equivariant deep set that is particularly suited for imitating MIQPs that involve many obstacles, which is often the major source of computational burden in motion planning problems. Our framework comprises also a feasibility projector that corrects infeasible predictions of integer variables and considerably increases the likelihood of computing a collision-free trajectory. We evaluate the performance, safety and real-time feasibility of decision-making for autonomous driving using the proposed approach on realistic multi-lane traffic scenarios with interactive agents in SUMO simulations.
AI-Cybersecurity Education Through Designing AI-based Cyberharassment Detection Lab
Venue: arXiv cs.CY 2024
Year: 2024

Cyberharassment is a critical, socially relevant cybersecurity problem because of the adverse effects it can have on targeted groups or individuals. While progress has been made in understanding cyber-harassment, its detection, attacks on artificial intelligence (AI) based cyberharassment systems, and the social problems in cyberharassment detectors, little has been done in designing experiential learning educational materials that engage students in this emerging social cybersecurity in the era of AI. Experiential learning opportunities are usually provided through capstone projects and engineering design courses in STEM programs such as computer science. While capstone projects are an excellent example of experiential learning, given the interdisciplinary nature of this emerging social cybersecurity problem, it can be challenging to use them to engage non-computing students without prior knowledge of AI. Because of this, we were motivated to develop a hands-on lab platform that provided experiential learning experiences to non-computing students with little or no background knowledge in AI and discussed the lessons learned in developing this lab. In this lab used by social science students at North Carolina A&T State University across two semesters (spring and fall) in 2022, students are given a detailed lab manual and are to complete a set of well-detailed tasks. Through this process, students learn AI concepts and the application of AI for cyberharassment detection. Using pre- and post-surveys, we asked students to rate their knowledge or skills in AI and their understanding of the concepts learned. The results revealed that the students moderately understood the concepts of AI and cyberharassment.
When factorization meets argumentation: towards argumentative explanations
Venue: arXiv cs.AI 2024
Year: 2024

Factorization-based models have gained popularity since the Netflix challenge {(2007)}. Since that, various factorization-based models have been developed and these models have been proven to be efficient in predicting users' ratings towards items. A major concern is that explaining the recommendations generated by such methods is non-trivial because the explicit meaning of the latent factors they learn are not always clear. In response, we propose a novel model that combines factorization-based methods with argumentation frameworks (AFs). The integration of AFs provides clear meaning at each stage of the model, enabling it to produce easily understandable explanations for its recommendations. In this model, for every user-item interaction, an AF is defined in which the features of items are considered as arguments, and the users' ratings towards these features determine the strength and polarity of these arguments. This perspective allows our model to treat feature attribution as a structured argumentation procedure, where each calculation is marked with explicit meaning, enhancing its inherent interpretability. Additionally, our framework seamlessly incorporates side information, such as user contexts, leading to more accurate predictions. We anticipate at least three practical applications for our model: creating explanation templates, providing interactive explanations, and generating contrastive explanations. Through testing on real-world datasets, we have found that our model, along with its variants, not only surpasses existing argumentation-based methods but also competes effectively with current context-free and context-aware methods.
LLM Theory of Mind and Alignment: Opportunities and Risks
Venue: arXiv cs.HC 2024
Year: 2024

Large language models (LLMs) are transforming human-computer interaction and conceptions of artificial intelligence (AI) with their impressive capacities for conversing and reasoning in natural language. There is growing interest in whether LLMs have theory of mind (ToM); the ability to reason about the mental and emotional states of others that is core to human social intelligence. As LLMs are integrated into the fabric of our personal, professional and social lives and given greater agency to make decisions with real-world consequences, there is a critical need to understand how they can be aligned with human values. ToM seems to be a promising direction of inquiry in this regard. Following the literature on the role and impacts of human ToM, this paper identifies key areas in which LLM ToM will show up in human:LLM interactions at individual and group levels, and what opportunities and risks for alignment are raised in each. On the individual level, the paper considers how LLM ToM might manifest in goal specification, conversational adaptation, empathy and anthropomorphism. On the group level, it considers how LLM ToM might facilitate collective alignment, cooperation or competition, and moral judgement-making. The paper lays out a broad spectrum of potential implications and suggests the most pressing areas for future research.
Play Across Boundaries: Exploring Cross-Cultural Maldaimonic Game Experiences
Venue: arXiv cs.HC 2024
Year: 2024

Maldaimonic game experiences occur when people engage in personally fulfilling play through egocentric, destructive, and/or exploitative acts. Initial qualitative work verified this orientation and experiential construct for English-speaking Westerners. In this comparative mixed methods study, we explored whether and how maldaimonic game experiences and orientations play out in Japan, an Eastern gaming capital that may have cultural values incongruous with the Western philosophical basis underlying maldaimonia. We present findings anchored to the initial frameworks on maldaimonia in game experiences that show little divergence between the Japanese and US cohorts. We also extend the qualitative findings with quantitative measures on affect, player experience, and the related constructs of hedonia and eudaimonia. We confirm this novel construct for Japan and set the stage for scale development.
Smart Sampling: Self-Attention and Bootstrapping for Improved Ensembled Q-Learning
Venue: arXiv cs.LG 2024
Year: 2024

We present a novel method aimed at enhancing the sample efficiency of ensemble Q learning. Our proposed approach integrates multi-head self-attention into the ensembled Q networks while bootstrapping the state-action pairs ingested by the ensemble. This not only results in performance improvements over the original REDQ (Chen et al. 2021) and its variant DroQ (Hi-raoka et al. 2022), thereby enhancing Q predictions, but also effectively reduces both the average normalized bias and standard deviation of normalized bias within Q-function ensembles. Importantly, our method also performs well even in scenarios with a low update-to-data (UTD) ratio. Notably, the implementation of our proposed method is straightforward, requiring minimal modifications to the base model.
Future Trends in the Design of Memetic Algorithms: the Case of the Linear Ordering Problem
Venue: arXiv cs.NE 2024
Year: 2024

The way heuristic optimizers are designed has evolved over the decades, as computing power has increased. Such has been the case for the Linear Ordering Problem (LOP), a field in which trajectory-based strategies led the way during the 1990s, but which have now been surpassed by memetic schemes.This paper focuses on understanding how the design of LOP optimizers will change in the future, as computing power continues to increase, yielding two main contributions.On the one hand, a metaheuristic was designed that is capable of effectively exploiting a large amount of computational resources, specifically, computing power equivalent to what a recent core can output during runs lasting over four months.Our analyses show that as the power of the computational resources increases, it will be necessary to boost the capacities of the intensification methods applied in the memetic algorithms to keep the population from stagnating.And on the other, the best-known results for today's most challenging set of instances (xLOLIB2) were significantly outperformed. New bounds were established in this benchmark, which provides a new frame of reference for future research.
Airport Delay Prediction with Temporal Fusion Transformers
Venue: arXiv cs.LG 2024
Year: 2024

Since flight delay hurts passengers, airlines, and airports, its prediction becomes crucial for the decision-making of all stakeholders in the aviation industry and thus has been attempted by various previous research. However, previous delay predictions are often categorical and at a highly aggregated level. To improve that, this study proposes to apply the novel Temporal Fusion Transformer model and predict numerical airport arrival delays at quarter hour level for U.S. top 30 airports. Inputs to our model include airport demand and capacity forecasts, historic airport operation efficiency information, airport wind and visibility conditions, as well as enroute weather and traffic conditions. The results show that our model achieves satisfactory performance measured by small prediction errors on the test set. In addition, the interpretability analysis of the model outputs identifies the important input factors for delay prediction.