OpenRaiser/Intern-Atlas huggingface dataset:
Geometric sparsification in recurrent neural networks
Venue: arXiv cs.LG 2024
Year: 2024

A common technique for ameliorating the computational costs of running large neural models is sparsification, or the pruning of neural connections during training. Sparse models are capable of maintaining the high accuracy of state of the art models, while functioning at the cost of more parsimonious models. The structures which underlie sparse architectures are, however, poorly understood and not consistent between differently trained models and sparsification schemes. In this paper, we propose a new technique for sparsification of recurrent neural nets (RNNs), called moduli regularization, in combination with magnitude pruning. Moduli regularization leverages the dynamical system induced by the recurrent structure to induce a geometric relationship between neurons in the hidden state of the RNN. By making our regularizing term explicitly geometric, we provide the first, to our knowledge, a priori description of the desired sparse architecture of our neural net, as well as explicit end-to-end learning of RNN geometry. We verify the effectiveness of our scheme under diverse conditions, testing in navigation, natural language processing, and addition RNNs. Navigation is a structurally geometric task, for which there are known moduli spaces, and we show that regularization can be used to reach 90% sparsity while maintaining model performance only when coefficients are chosen in accordance with a suitable moduli space. Natural language processing and addition, however, have no known moduli space in which computations are performed. Nevertheless, we show that moduli regularization induces more stable recurrent neural nets, and achieves high fidelity models above 90% sparsity.
Audio-based Step-count Estimation for Running -- Windowing and Neural Network Baselines
Venue: arXiv cs.SD 2024
Year: 2024

In recent decades, running has become an increasingly popular pastime activity due to its accessibility, ease of practice, and anticipated health benefits. However, the risk of running-related injuries is substantial for runners of different experience levels. Several common forms of injuries result from overuse -- extending beyond the recommended running time and intensity. Recently, audio-based tracking has emerged as yet another modality for monitoring running behaviour and performance, with previous studies largely concentrating on predicting runner fatigue. In this work, we investigate audio-based step count estimation during outdoor running, achieving a mean absolute error of 1.098 in window-based step-count differences and a Pearson correlation coefficient of 0.479 when predicting the number of steps in a 5-second window of audio. Our work thus showcases the feasibility of audio-based monitoring for estimating important physiological variables and lays the foundations for further utilising audio sensors for a more thorough characterisation of runner behaviour.
A quantitative investigation for deployment of mobile collaborative robots in high-value manufacturing
Venue: arXiv cs.RO 2024
Year: 2024

Component inspection is often the bottleneck in high-value manufacturing, driving industries like aerospace toward automated inspection technologies. Current systems often employ fixed arm robots, but they lack the flexibility in adapting to new components or orientations Advanced mobile robotic platforms with updated sensor technologies and algorithms have improved localization and path planning capabilities, making them ideal for bringing inspection processes directly to parts. However, mobile platforms introduce challenges in localization and maneuverability, leading to potential errors. Their positional uncertainty is higher than fixed systems due to the lack of a fixed calibrated location, posing challenges for position-sensitive inspection sensors. Therefore, it's essential to assess the positional accuracy and repeatability of mobile manipulator platforms. The KUKA KMR iiwa was chosen for its collaborative features, robust build, and scalability within the KUKA product range. The accuracy and repeatability of the mobile platform were evaluated through a series of tests to evaluate the performance of its integrated feature mapping, the effect of various speeds on positional accuracy, and the efficiency of the omnidirectional wheels for a range of translation orientations. Experimental evaluation revealed that enabling feature mapping substantially improves the KUKA KMR iiwa's performance, with accuracy gains and error reductions exceeding 90%. Repeatability errors were under 7 mm with mapping activated and around 2.5 mm in practical scenarios, demonstrating that mobile manipulators, incorporating both the manipulator and platform, can fulfil the precise requirements of industries with high precision needs. Providing a highly diverse alternative to traditional fixed-base industrial manipulators.
Annotation alignment: Comparing LLM and human annotations of conversational safety
Venue: arXiv cs.CL 2024
Year: 2024

Do LLMs align with human perceptions of safety? We study this question via annotation alignment, the extent to which LLMs and humans agree when annotating the safety of user-chatbot conversations. We leverage the recent DICES dataset (Aroyo et al., 2023), in which 350 conversations are each rated for safety by 112 annotators spanning 10 race-gender groups. GPT-4 achieves a Pearson correlation of $r = 0.59$ with the average annotator rating, \textit{higher} than the median annotator's correlation with the average ($r=0.51$). We show that larger datasets are needed to resolve whether LLMs exhibit disparities in how well they correlate with different demographic groups. Also, there is substantial idiosyncratic variation in correlation within groups, suggesting that race & gender do not fully capture differences in alignment. Finally, we find that GPT-4 cannot predict when one demographic group finds a conversation more unsafe than another.
Multicam-SLAM: Non-overlapping Multi-camera SLAM for Indirect Visual Localization and Navigation
Venue: arXiv cs.RO 2024
Year: 2024

This paper presents a novel approach to visual simultaneous localization and mapping (SLAM) using multiple RGB-D cameras. The proposed method, Multicam-SLAM, significantly enhances the robustness and accuracy of SLAM systems by capturing more comprehensive spatial information from various perspectives. This method enables the accurate determination of pose relationships among multiple cameras without the need for overlapping fields of view. The proposed Muticam-SLAM includes a unique multi-camera model, a multi-keyframes structure, and several parallel SLAM threads. The multi-camera model allows for the integration of data from multiple cameras, while the multi-keyframes and parallel SLAM threads ensure efficient and accurate pose estimation and mapping. Extensive experiments in various environments demonstrate the superior accuracy and robustness of the proposed method compared to conventional single-camera SLAM systems. The results highlight the potential of the proposed Multicam-SLAM for more complex and challenging applications. Code is available at \url{https://github.com/AlterPang/Multi_ORB_SLAM}.
Low-Rank Quantization-Aware Training for LLMs
Venue: arXiv cs.LG 2024
Year: 2024

Large language models (LLMs) are omnipresent, however their practical deployment is challenging due to their ever increasing computational and memory demands. Quantization is one of the most effective ways to make them more compute and memory efficient. Quantization-aware training (QAT) methods, generally produce the best quantized performance, however it comes at the cost of potentially long training time and excessive memory usage, making it impractical when applying for LLMs. Inspired by parameter-efficient fine-tuning (PEFT) and low-rank adaptation (LoRA) literature, we propose LR-QAT -- a lightweight and memory-efficient QAT algorithm for LLMs. LR-QAT employs several components to save memory without sacrificing predictive performance: (a) low-rank auxiliary weights that are aware of the quantization grid; (b) a downcasting operator using fixed-point or double-packed integers and (c) checkpointing. Unlike most related work, our method (i) is inference-efficient, leading to no additional overhead compared to traditional PTQ; (ii) can be seen as a general extended pretraining framework, meaning that the resulting model can still be utilized for any downstream task afterwards; (iii) can be applied across a wide range of quantization settings, such as different choices quantization granularity, activation quantization, and seamlessly combined with many PTQ techniques. We apply LR-QAT to LLaMA-1/2/3 and Mistral model families and validate its effectiveness on several downstream tasks. Our method outperforms common post-training quantization (PTQ) approaches and reaches the same model performance as full-model QAT at the fraction of its memory usage. Specifically, we can train a 7B LLM on a single consumer grade GPU with 24GB of memory. Our source code is available at https://github.com/qualcomm-ai-research/LR-QAT
A Gigabit, DMA-enhanced Open-Source Ethernet Controller for Mixed-Criticality Systems
Venue: arXiv cs.AR 2024
Year: 2024

The ongoing revolution in application domains targeting autonomous navigation, first and foremost automotive "zonalization", has increased the importance of certain off-chip communication interfaces, particularly Ethernet. The latter will play an essential role in next-generation vehicle architectures as the backbone connecting simultaneously and instantaneously the zonal/domain controllers. There is thereby an incumbent need to introduce a performant Ethernet controller in the open-source HW community, to be used as a proxy for architectural explorations and prototyping of mixed-criticality systems (MCSs). Driven by this trend, in this work, we propose a fully open-source, DMA-enhanced, technology-agnostic Gigabit Ethernet architecture that overcomes the limitations of existing open-source architectures, such as Lowrisc's Ethernet, often tied to FPGA implementation, performance-bound by sub-optimal design choices such as large memory buffers, and in general not mature enough to bridge the gap between academia and industry. Besides the area advantage, the proposed design increases packet transmission speed up to almost 3x compared to Lowrisc's and is validated through implementation and FPGA prototyping into two open-source, heterogeneous MCSs.
Relevant information in TDD experiment reporting
Venue: arXiv cs.SE 2024
Year: 2024

Experiments are a commonly used method of research in software engineering (SE). Researchers report their experiments following detailed guidelines. However, researchers do not, in the field of test-driven development (TDD) at least, specify how they operationalized the response variables and the measurement process. This article has three aims: (i) identify the response variable operationalization components in TDD experiments that study external quality; (ii) study their influence on the experimental results;(ii) determine if the experiment reports describe the measurement process components that have an impact on the results. Sequential mixed method. The first part of the research adopts a quantitative approach applying a statistical análisis (SA) of the impact of the operationalization components on the experimental results. The second part follows on with a qualitative approach applying a systematic mapping study (SMS). The test suites, intervention types and measurers have an influence on the measurements and results of the SA of TDD experiments in SE. The test suites have a major impact on both the measurements and the results of the experiments. The intervention type has less impact on the results than on the measurements. While the measurers have an impact on the measurements, this is not transferred to the experimental results. On the other hand, the results of our SMS confirm that TDD experiments do not usually report either the test suites, the test case generation method, or the details of how external quality was measured. A measurement protocol should be used to assure that the measurements made by different measurers are similar. It is necessary to report the test cases, the experimental task and the intervention type in order to be able to reproduce the measurements and SA, as well as to replicate experiments and build dependable families of experiments.
Explainable Graph Neural Networks Under Fire
Venue: arXiv cs.LG 2024
Year: 2024

Predictions made by graph neural networks (GNNs) usually lack interpretability due to their complex computational behavior and the abstract nature of graphs. In an attempt to tackle this, many GNN explanation methods have emerged. Their goal is to explain a model's predictions and thereby obtain trust when GNN models are deployed in decision critical applications. Most GNN explanation methods work in a post-hoc manner and provide explanations in the form of a small subset of important edges and/or nodes. In this paper we demonstrate that these explanations can unfortunately not be trusted, as common GNN explanation methods turn out to be highly susceptible to adversarial perturbations. That is, even small perturbations of the original graph structure that preserve the model's predictions may yield drastically different explanations. This calls into question the trustworthiness and practical utility of post-hoc explanation methods for GNNs. To be able to attack GNN explanation models, we devise a novel attack method dubbed \textit{GXAttack}, the first \textit{optimization-based} adversarial white-box attack method for post-hoc GNN explanations under such settings. Due to the devastating effectiveness of our attack, we call for an adversarial evaluation of future GNN explainers to demonstrate their robustness. For reproducibility, our code is available via GitHub.
How is the Pilot Doing: VTOL Pilot Workload Estimation by Multimodal Machine Learning on Psycho-physiological Signals
Venue: arXiv cs.HC 2024
Year: 2024

Vertical take-off and landing (VTOL) aircraft do not require a prolonged runway, thus allowing them to land almost anywhere. In recent years, their flexibility has made them popular in development, research, and operation. When compared to traditional fixed-wing aircraft and rotorcraft, VTOLs bring unique challenges as they combine many maneuvers from both types of aircraft. Pilot workload is a critical factor for safe and efficient operation of VTOLs. In this work, we conduct a user study to collect multimodal data from 28 pilots while they perform a variety of VTOL flight tasks. We analyze and interpolate behavioral patterns related to their performance and perceived workload. Finally, we build machine learning models to estimate their workload from the collected data. Our results are promising, suggesting that quantitative and accurate VTOL pilot workload monitoring is viable. Such assistive tools would help the research field understand VTOL operations and serve as a stepping stone for the industry to ensure VTOL safe operations and further remote operations.
Insights from Social Shaping Theory: The Appropriation of Large Language Models in an Undergraduate Programming Course
Venue: arXiv cs.HC 2024
Year: 2024

The capability of large language models (LLMs) to generate, debug, and explain code has sparked the interest of researchers and educators in undergraduate programming, with many anticipating their transformative potential in programming education. However, decisions about why and how to use LLMs in programming education may involve more than just the assessment of an LLM's technical capabilities. Using the social shaping of technology theory as a guiding framework, our study explores how students' social perceptions influence their own LLM usage. We then examine the correlation of self-reported LLM usage with students' self-efficacy and midterm performances in an undergraduate programming course. Triangulating data from an anonymous end-of-course student survey (n = 158), a mid-course self-efficacy survey (n=158), student interviews (n = 10), self-reported LLM usage on homework, and midterm performances, we discovered that students' use of LLMs was associated with their expectations for their future careers and their perceptions of peer usage. Additionally, early self-reported LLM usage in our context correlated with lower self-efficacy and lower midterm scores, while students' perceived over-reliance on LLMs, rather than their usage itself, correlated with decreased self-efficacy later in the course.
How Useful is Intermittent, Asynchronous Expert Feedback for Bayesian Optimization?
Venue: arXiv cs.LG 2024
Year: 2024

Bayesian optimization (BO) is an integral part of automated scientific discovery -- the so-called self-driving lab -- where human inputs are ideally minimal or at least non-blocking. However, scientists often have strong intuition, and thus human feedback is still useful. Nevertheless, prior works in enhancing BO with expert feedback, such as by incorporating it in an offline or online but blocking (arrives at each BO iteration) manner, are incompatible with the spirit of self-driving labs. In this work, we study whether a small amount of randomly arriving expert feedback that is being incorporated in a non-blocking manner can improve a BO campaign. To this end, we run an additional, independent computing thread on top of the BO loop to handle the feedback-gathering process. The gathered feedback is used to learn a Bayesian preference model that can readily be incorporated into the BO thread, to steer its exploration-exploitation process. Experiments on toy and chemistry datasets suggest that even just a few intermittent, asynchronous expert feedback can be useful for improving or constraining BO. This can especially be useful for its implication in improving self-driving labs, e.g. making them more data-efficient and less costly.
Towards a Personal Health Large Language Model
Venue: arXiv cs.AI 2024
Year: 2024

In health, most large language model (LLM) research has focused on clinical tasks. However, mobile and wearable devices, which are rarely integrated into such tasks, provide rich, longitudinal data for personal health monitoring. Here we present Personal Health Large Language Model (PH-LLM), fine-tuned from Gemini for understanding and reasoning over numerical time-series personal health data. We created and curated three datasets that test 1) production of personalized insights and recommendations from sleep patterns, physical activity, and physiological responses, 2) expert domain knowledge, and 3) prediction of self-reported sleep outcomes. For the first task we designed 857 case studies in collaboration with domain experts to assess real-world scenarios in sleep and fitness. Through comprehensive evaluation of domain-specific rubrics, we observed that Gemini Ultra 1.0 and PH-LLM are not statistically different from expert performance in fitness and, while experts remain superior for sleep, fine-tuning PH-LLM provided significant improvements in using relevant domain knowledge and personalizing information for sleep insights. We evaluated PH-LLM domain knowledge using multiple choice sleep medicine and fitness examinations. PH-LLM achieved 79% on sleep and 88% on fitness, exceeding average scores from a sample of human experts. Finally, we trained PH-LLM to predict self-reported sleep quality outcomes from textual and multimodal encoding representations of wearable data, and demonstrate that multimodal encoding is required to match performance of specialized discriminative models. Although further development and evaluation are necessary in the safety-critical personal health domain, these results demonstrate both the broad knowledge and capabilities of Gemini models and the benefit of contextualizing physiological data for personal health applications as done with PH-LLM.
OmniLytics+: A Secure, Efficient, and Affordable Blockchain Data Market for Machine Learning through Off-Chain Processing
Venue: arXiv cs.CR 2024
Year: 2024

The rapid development of large machine learning (ML) models requires a massive amount of training data, resulting in booming demands of data sharing and trading through data markets. Traditional centralized data markets suffer from low level of security, and emerging decentralized platforms are faced with efficiency and privacy challenges. In this paper, we propose OmniLytics+, the first decentralized data market, built upon blockchain and smart contract technologies, to simultaneously achieve 1) data (resp., model) privacy for the data (resp. model) owner; 2) robustness against malicious data owners; 3) efficient data validation and aggregation. Specifically, adopting the zero-knowledge (ZK) rollup paradigm, OmniLytics+ proposes to secret share encrypted local gradients, computed from the encrypted global model, with a set of untrusted off-chain servers, who collaboratively generate a ZK proof on the validity of the gradient. In this way, the storage and processing overheads are securely offloaded from blockchain verifiers, significantly improving the privacy, efficiency, and affordability over existing rollup solutions. We implement the proposed OmniLytics+ data market as an Ethereum smart contract [41]. Extensive experiments demonstrate the effectiveness of OmniLytics+ in training large ML models in presence of malicious data owner, and the substantial advantages of OmniLytics+ in gas cost and execution time over baselines.
High-precision surgical navigation using speckle structured light-based thoracoabdominal puncture robot
Venue: arXiv cs.RO 2024
Year: 2024

Abstract Background During percutaneous puncture robotic surgical navigation, the needle insertion point is positioned on the patient's chest and abdomen body surface. By locating any point on the soft skin tissue, it is difficult to apply the traditional reflective ball tracking method. The patient's chest and abdomen body surface has fluctuations in breathing and appears irregular. The chest and abdomen are regular and smooth, lacking obvious features, and it is challenging to locate the needle insertion point on the body surface. Methods This paper designs and experiments a method that is different from previous reflective ball optical markers or magnetic positioning surgical navigation and tracking methods. It is based on a speckle structured light camera to identify the patient's body surface and fit it into a hollow ring with a diameter of 24mm. Results Experimental results show that this method of the system can be small, flexible, and high-precision positioning of any body surface point at multiple angles, achieving a positioning accuracy of 0.033-0.563mm and an image of 7-30 frames/s. Conclusions The positioning recognition ring material used in this method can be well imaged under CT, so the optical positioning of the body surface and the in vivo imaging positioning under CT can be combined to form a unified patient's internal and external positioning world coordinates to achieve internal and external registration. Positioning integration. The system senses motion with six degrees of freedom, up and down, front and back, left and right, and all rotations, with sub-millimeter accuracy, and has broad application prospects in future puncture surgeries.