OpenRaiser/Intern-Atlas huggingface dataset:
Risk Sensitive Dead-end Identification in Safety-Critical Offline Reinforcement Learning
Venue: arXiv cs.LG 2023
Year: 2023

In safety-critical decision-making scenarios being able to identify worst-case outcomes, or dead-ends is crucial in order to develop safe and reliable policies in practice. These situations are typically rife with uncertainty due to unknown or stochastic characteristics of the environment as well as limited offline training data. As a result, the value of a decision at any time point should be based on the distribution of its anticipated effects. We propose a framework to identify worst-case decision points, by explicitly estimating distributions of the expected return of a decision. These estimates enable earlier indication of dead-ends in a manner that is tunable based on the risk tolerance of the designed task. We demonstrate the utility of Distributional Dead-end Discovery (DistDeD) in a toy domain as well as when assessing the risk of severely ill patients in the intensive care unit reaching a point where death is unavoidable. We find that DistDeD significantly improves over prior discovery approaches, providing indications of the risk 10 hours earlier on average as well as increasing detection by 20%.
Adaptive Neural Networks Using Residual Fitting
Venue: arXiv cs.LG 2023
Year: 2023

Current methods for estimating the required neural-network size for a given problem class have focused on methods that can be computationally intensive, such as neural-architecture search and pruning. In contrast, methods that add capacity to neural networks as needed may provide similar results to architecture search and pruning, but do not require as much computation to find an appropriate network size. Here, we present a network-growth method that searches for explainable error in the network's residuals and grows the network if sufficient error is detected. We demonstrate this method using examples from classification, imitation learning, and reinforcement learning. Within these tasks, the growing network can often achieve better performance than small networks that do not grow, and similar performance to networks that begin much larger.
Bridging the Gap Between Single and Multi Objective Games
Venue: arXiv cs.GT 2023
Year: 2023

A classic model to study strategic decision making in multi-agent systems is the normal-form game. This model can be generalised to allow for an infinite number of pure strategies leading to continuous games. Multi-objective normal-form games are another generalisation that model settings where players receive separate payoffs in more than one objective. We bridge the gap between the two models by providing a theoretical guarantee that a game from one setting can always be transformed to a game in the other. We extend the theoretical results to include guaranteed equivalence of Nash equilibria. The mapping makes it possible to apply algorithms from one field to the other. We demonstrate this by introducing a fictitious play algorithm for multi-objective games and subsequently applying it to two well-known continuous games. We believe the equivalence relation will lend itself to new insights by translating the theoretical guarantees from one formalism to another. Moreover, it may lead to new computational approaches for continuous games when a problem is more naturally solved in the succinct format of multi-objective games.
RMM: Reinforced Memory Management for Class-Incremental Learning
Venue: arXiv cs.CV 2023
Year: 2023

Class-Incremental Learning (CIL) [40] trains classifiers under a strict memory budget: in each incremental phase, learning is done for new data, most of which is abandoned to free space for the next phase. The preserved data are exemplars used for replaying. However, existing methods use a static and ad hoc strategy for memory allocation, which is often sub-optimal. In this work, we propose a dynamic memory management strategy that is optimized for the incremental phases and different object classes. We call our method reinforced memory management (RMM), leveraging reinforcement learning. RMM training is not naturally compatible with CIL as the past, and future data are strictly non-accessible during the incremental phases. We solve this by training the policy function of RMM on pseudo CIL tasks, e.g., the tasks built on the data of the 0-th phase, and then applying it to target tasks. RMM propagates two levels of actions: Level-1 determines how to split the memory between old and new classes, and Level-2 allocates memory for each specific class. In essence, it is an optimizable and general method for memory management that can be used in any replaying-based CIL method. For evaluation, we plug RMM into two top-performing baselines (LUCIR+AANets and POD+AANets [30]) and conduct experiments on three benchmarks (CIFAR-100, ImageNet-Subset, and ImageNet-Full). Our results show clear improvements, e.g., boosting POD+AANets by 3.6%, 4.4%, and 1.9% in the 25-Phase settings of the above benchmarks, respectively.
A Reconfigurable Data Glove for Reconstructing Physical and Virtual Grasps
Venue: arXiv cs.RO 2023
Year: 2023

In this work, we present a reconfigurable data glove design to capture different modes of human hand-object interactions, which are critical in training embodied artificial intelligence (AI) agents for fine manipulation tasks. To achieve various downstream tasks with distinct features, our reconfigurable data glove operates in three modes sharing a unified backbone design that reconstructs hand gestures in real time. In the tactile-sensing mode, the glove system aggregates manipulation force via customized force sensors made from a soft and thin piezoresistive material; this design minimizes interference during complex hand movements. The virtual reality (VR) mode enables real-time interaction in a physically plausible fashion: A caging-based approach is devised to determine stable grasps by detecting collision events. Leveraging a state-of-the-art finite element method (FEM), the simulation mode collects data on fine-grained 4D manipulation events comprising hand and object motions in 3D space and how the object's physical properties (e.g., stress and energy) change in accordance with manipulation over time. Notably, the glove system presented here is the first to use high-fidelity simulation to investigate the unobservable physical and causal factors behind manipulation actions. In a series of experiments, we characterize our data glove in terms of individual sensors and the overall system. More specifically, we evaluate the system's three modes by (i) recording hand gestures and associated forces, (ii) improving manipulation fluency in VR, and (iii) producing realistic simulation effects of various tool uses, respectively. Based on these three modes, our reconfigurable data glove collects and reconstructs fine-grained human grasp data in both physical and virtual environments, thereby opening up new avenues for the learning of manipulation skills for embodied AI agents.
World Models and Predictive Coding for Cognitive and Developmental Robotics: Frontiers and Challenges
Venue: arXiv cs.RO 2023
Year: 2023

Creating autonomous robots that can actively explore the environment, acquire knowledge and learn skills continuously is the ultimate achievement envisioned in cognitive and developmental robotics. Their learning processes should be based on interactions with their physical and social world in the manner of human learning and cognitive development. Based on this context, in this paper, we focus on the two concepts of world models and predictive coding. Recently, world models have attracted renewed attention as a topic of considerable interest in artificial intelligence. Cognitive systems learn world models to better predict future sensory observations and optimize their policies, i.e., controllers. Alternatively, in neuroscience, predictive coding proposes that the brain continuously predicts its inputs and adapts to model its own dynamics and control behavior in its environment. Both ideas may be considered as underpinning the cognitive development of robots and humans capable of continual or lifelong learning. Although many studies have been conducted on predictive coding in cognitive robotics and neurorobotics, the relationship between world model-based approaches in AI and predictive coding in robotics has rarely been discussed. Therefore, in this paper, we clarify the definitions, relationships, and status of current research on these topics, as well as missing pieces of world models and predictive coding in conjunction with crucially related concepts such as the free-energy principle and active inference in the context of cognitive and developmental robotics. Furthermore, we outline the frontiers and challenges involved in world models and predictive coding toward the further integration of AI and robotics, as well as the creation of robots with real cognitive and developmental capabilities in the future.
NCP: Neural Correspondence Prior for Effective Unsupervised Shape Matching
Venue: arXiv cs.CV 2023
Year: 2023

We present Neural Correspondence Prior (NCP), a new paradigm for computing correspondences between 3D shapes. Our approach is fully unsupervised and can lead to high-quality correspondences even in challenging cases such as sparse point clouds or non-isometric meshes, where current methods fail. Our first key observation is that, in line with neural priors observed in other domains, recent network architectures on 3D data, even without training, tend to produce pointwise features that induce plausible maps between rigid or non-rigid shapes. Secondly, we show that given a noisy map as input, training a feature extraction network with the input map as supervision tends to remove artifacts from the input and can act as a powerful correspondence denoising mechanism, both between individual pairs and within a collection. With these observations in hand, we propose a two-stage unsupervised paradigm for shape matching by (i) performing unsupervised training by adapting an existing approach to obtain an initial set of noisy matches, and (ii) using these matches to train a network in a supervised manner. We demonstrate that this approach significantly improves the accuracy of the maps, especially when trained within a collection. We show that NCP is data-efficient, fast, and achieves state-of-the-art results on many tasks. Our code can be found online: https://github.com/pvnieo/NCP.
TikTalk: A Video-Based Dialogue Dataset for Multi-Modal Chitchat in Real World
Venue: arXiv cs.CL 2023
Year: 2023

To facilitate the research on intelligent and human-like chatbots with multi-modal context, we introduce a new video-based multi-modal dialogue dataset, called TikTalk. We collect 38K videos from a popular video-sharing platform, along with 367K conversations posted by users beneath them. Users engage in spontaneous conversations based on their multi-modal experiences from watching videos, which helps recreate real-world chitchat context. Compared to previous multi-modal dialogue datasets, the richer context types in TikTalk lead to more diverse conversations, but also increase the difficulty in capturing human interests from intricate multi-modal information to generate personalized responses. Moreover, external knowledge is more frequently evoked in our dataset. These facts reveal new challenges for multi-modal dialogue models. We quantitatively demonstrate the characteristics of TikTalk, propose a video-based multi-modal chitchat task, and evaluate several dialogue baselines. Experimental results indicate that the models incorporating large language models (LLM) can generate more diverse responses, while the model utilizing knowledge graphs to introduce external knowledge performs the best overall. Furthermore, no existing model can solve all the above challenges well. There is still a large room for future improvements, even for LLM with visual extensions. Our dataset is available at \url{https://ruc-aimind.github.io/projects/TikTalk/}.
Design and Development of Wall Climbing Robot
Venue: arXiv cs.RO 2023
Year: 2023

Climbing Robots are being developed for applications ranging from cleaning to the inspection of difficult to reach constructions. Climbing robots should be capable of carrying a light payload and climbing on vertical surfaces with ability to cope with obstacles. Regarding adhesion to the surface, they should be able to operate on different surfaces with different adhesion methods to produce strong gripping force using light weight mechanism consuming minimum power. Bearing these facts in mind this paper presents a 4-legged Wall Climbing Robot in which suction power using on board suction pumps is used as an adhesion technique. A Walking gait was developed to provide the robot with a capability for climbing up the wall. The robot's kinematics and motion can be considered as mimicking a technique commonly used in rock-climbing using four limbs to climb. It uses four legs, each with four-degrees-of-freedom (4-DOF) and specially designed suction cups attached to the end of each leg that enable it to manoeuvre itself up the wall and to move in any direction. The end effector can also be replaced with other end effectors designed for different adhesion methods to climb on variety of surfaces.
Deep Learning Provides Rapid Screen for Breast Cancer Metastasis with Sentinel Lymph Nodes
Venue: arXiv cs.CV 2023
Year: 2023

Deep learning has been shown to be useful to detect breast cancer metastases by analyzing whole slide images of sentinel lymph nodes. However, it requires extensive scanning and analysis of all the lymph nodes slides for each case. Our deep learning study focuses on breast cancer screening with only a small set of image patches from any sentinel lymph node, positive or negative for metastasis, to detect changes in tumor environment and not in the tumor itself. We design a convolutional neural network in the Python language to build a diagnostic model for this purpose. The excellent results from this preliminary study provided a proof of concept for incorporating automated metastatic screen into the digital pathology workflow to augment the pathologists' productivity. Our approach is unique since it provides a very rapid screen rather than an exhaustive search for tumor in all fields of all sentinel lymph nodes.
SoK: Data Privacy in Virtual Reality
Venue: arXiv cs.HC 2023
Year: 2023

The adoption of virtual reality (VR) technologies has rapidly gained momentum in recent years as companies around the world begin to position the so-called "metaverse" as the next major medium for accessing and interacting with the internet. While consumers have become accustomed to a degree of data harvesting on the web, the real-time nature of data sharing in the metaverse indicates that privacy concerns are likely to be even more prevalent in the new "Web 3.0." Research into VR privacy has demonstrated that a plethora of sensitive personal information is observable by various would-be adversaries from just a few minutes of telemetry data. On the other hand, we have yet to see VR parallels for many privacy-preserving tools aimed at mitigating threats on conventional platforms. This paper aims to systematize knowledge on the landscape of VR privacy threats and countermeasures by proposing a comprehensive taxonomy of data attributes, protections, and adversaries based on the study of 68 collected publications. We complement our qualitative discussion with a statistical analysis of the risk associated with various data sources inherent to VR in consideration of the known attacks and defenses. By focusing on highlighting the clear outstanding opportunities, we hope to motivate and guide further research into this increasingly important field.
Improving Confidentiality for NFT Referenced Data Stores
Venue: arXiv cs.CR 2023
Year: 2023

A non-fungible token (NFT) references a data store location, typically, using a URL or another unique identifier. At the minimum, a NFT is expected to guarantee ownership and control over the tokenised asset. However, information stored on a third party data store may be copied and stolen. We propose a solution to give control back to the information owner by storing encrypted content on the data store and providing additional security against hacks and zero day exploits. The content on our data store is never decrypted or returned to its owner for decryption during rekeying. Also, the key size in our protocol does not increase with each rekeying. With this, we reduce the synchronisation steps and maintain a bounded key size.
Conceptual Framework and Documentation Standards of Cystoscopic Media Content for Artificial Intelligence
Venue: arXiv cs.HC 2023
Year: 2023

Background: The clinical documentation of cystoscopy includes visual and textual materials. However, the secondary use of visual cystoscopic data for educational and research purposes remains limited due to inefficient data management in routine clinical practice. Methods: A conceptual framework was designed to document cystoscopy in a standardized manner with three major sections: data management, annotation management, and utilization management. A Swiss-cheese model was proposed for quality control and root cause analyses. We defined the infrastructure required to implement the framework with respect to FAIR (findable, accessible, interoperable, re-usable) principles. We applied two scenarios exemplifying data sharing for research and educational projects to ensure the compliance with FAIR principles. Results: The framework was successfully implemented while following FAIR principles. The cystoscopy atlas produced from the framework could be presented in an educational web portal; a total of 68 full-length qualitative videos and corresponding annotation data were sharable for artificial intelligence projects covering frame classification and segmentation problems at case, lesion and frame levels. Conclusion: Our study shows that the proposed framework facilitates the storage of the visual documentation in a standardized manner and enables FAIR data for education and artificial intelligence research.
A Review on the effectiveness of Dimensional Reduction with Computational Forensics: An Application on Malware Analysis
Venue: arXiv cs.CR 2023
Year: 2023

The Android operating system is pervasively adopted as the operating system platform of choice for smart devices. However, the strong adoption has also resulted in exponential growth in the number of Android based malicious software or malware. To deal with such cyber threats as part of cyber investigation and digital forensics, computational techniques in the form of machine learning algorithms are applied for such malware identification, detection and forensics analysis. However, such Computational Forensics modelling techniques are constrained the volume, velocity, variety and veracity of the malware landscape. This in turn would affect its identification and detection effectiveness. Such consequence would inherently induce the question of sustainability with such solution approach. One approach to optimise effectiveness is to apply dimensional reduction techniques like Principal Component Analysis with the intent to enhance algorithmic performance. In this paper, we evaluate the effectiveness of the application of Principle Component Analysis on Computational Forensics task of detecting Android based malware. We applied our research hypothesis to three different datasets with different machine learning algorithms. Our research result showed that the dimensionally reduced dataset would result in a measure of degradation in accuracy performance.
CRC-Aided Learned Ensembles of Belief-Propagation Polar Decoders
Venue: arXiv cs.IT 2023
Year: 2023

Polar codes have promising error-correction capabilities. Yet, decoding polar codes is often challenging, particularly with large blocks, with recently proposed decoders based on list-decoding or neural-decoding. The former applies multiple decoders or the same decoder multiple times with some redundancy, while the latter family utilizes emerging deep learning schemes to learn to decode from data. In this work we introduce a novel polar decoder that combines the list-decoding with neural-decoding, by forming an ensemble of multiple weighted belief-propagation (WBP) decoders, each trained to decode different data. We employ the cyclic-redundancy check (CRC) code as a proxy for combining the ensemble decoders and selecting the most-likely decoded word after inference, while facilitating real-time decoding. We evaluate our scheme over a wide range of polar codes lengths, empirically showing that gains of around 0.25dB in frame-error rate could be achieved. Moreover, we provide complexity and latency analysis, showing that the number of operations required approaches that of a single BP decoder at high signal-to-noise ratios.
Training one model to detect heart and lung sound events from single point auscultations
Venue: arXiv cs.SD 2023
Year: 2023

Objective: This work proposes a semi-supervised training approach for detecting lung and heart sounds simultaneously with only one trained model and in invariance to the auscultation point. Methods: We use open-access data from the 2016 Physionet/CinC Challenge, the 2022 George Moody Challenge, and from the lung sound database HF_V1. We first train specialist single-task models using foreground ground truth (GT) labels from different auscultation databases to identify background sound events in the respective lung and heart auscultation databases. The pseudo-labels generated in this way were combined with the ground truth labels in a new training iteration, such that a new model was subsequently trained to detect foreground and background signals. Benchmark tests ensured that the newly trained model could detect both, lung, and heart sound events in different auscultation sites without regressing on the original task. We also established hand-validated labels for the respective background signal in heart and lung sound auscultations to evaluate the models. Results: In this work, we report for the first time results for i) a multi-class prediction for lung sound events and ii) for simultaneous detection of heart and lung sound events and achieve competitive results using only one model. The combined multi-task model regressed slightly in heart sound detection and gained significantly in lung sound detection accuracy with an overall macro F1 score of 39.2% over six classes, representing a 6.7% improvement over the single-task baseline models. Conclusion/Significance: To the best of our knowledge, this is the first approach developed to date for measuring heart and lung sound events invariant to both, the auscultation site and capturing device. Hence, our model is capable of performing lung and heart sound detection from any auscultation location.