OpenRaiser/Intern-Atlas huggingface dataset:
LaPlaSS: Latent Space Planning for Stochastic Systems
Venue: arXiv cs.RO 2024
Year: 2024

Autonomous mobile agents often operate in hazardous environments, necessitating an awareness of safety. These agents can have non-linear, stochastic dynamics that must be considered during planning to guarantee bounded risk. Most state of the art methods require closed-form dynamics to verify plan correctness and safety however modern robotic systems often have dynamics that are learned from data. Thus, there is a need to perform efficient trajectory planning with guarantees on risk for agents without known dynamics models. We propose a "generate-and-test" approach to risk-bounded planning in which a planner generates a candidate trajectory using an approximate linear dynamics model and a validator assesses the risk of the trajectory, computing additional safety constraints for the planner if the candidate does not satisfy the desired risk bound. To acquire the approximate model, we use a variational autoencoder to learn a latent linear dynamics model and encode the planning problem into the latent space to generate the candidate trajectory. The VAE also serves to sample trajectories around the candidate to use in the validator. We demonstrate that our algorithm, LaPlaSS, is able to generate trajectory plans with bounded risk for a real-world agent with learned dynamics and is an order of magnitude more efficient than the state of the art.
Minimizing Chebyshev Prototype Risk Magically Mitigates the Perils of Overfitting
Venue: arXiv cs.LG 2024
Year: 2024

Overparameterized deep neural networks (DNNs), if not sufficiently regularized, are susceptible to overfitting their training examples and not generalizing well to test data. To discourage overfitting, researchers have developed multicomponent loss functions that reduce intra-class feature correlation and maximize inter-class feature distance in one or more layers of the network. By analyzing the penultimate feature layer activations output by a DNN's feature extraction section prior to the linear classifier, we find that modified forms of the intra-class feature covariance and inter-class prototype separation are key components of a fundamental Chebyshev upper bound on the probability of misclassification, which we designate the Chebyshev Prototype Risk (CPR). While previous approaches' covariance loss terms scale quadratically with the number of network features, our CPR bound indicates that an approximate covariance loss in log-linear time is sufficient to reduce the bound and is scalable to large architectures. We implement the terms of the CPR bound into our Explicit CPR (exCPR) loss function and observe from empirical results on multiple datasets and network architectures that our training algorithm reduces overfitting and improves upon previous approaches in many settings. Our code is available at https://github.com/Deano1718/Regularization_exCPR .
Rethinking Out-of-Distribution Detection for Reinforcement Learning: Advancing Methods for Evaluation and Detection
Venue: arXiv cs.LG 2024
Year: 2024

While reinforcement learning (RL) algorithms have been successfully applied across numerous sequential decision-making problems, their generalization to unforeseen testing environments remains a significant concern. In this paper, we study the problem of out-of-distribution (OOD) detection in RL, which focuses on identifying situations at test time that RL agents have not encountered in their training environments. We first propose a clarification of terminology for OOD detection in RL, which aligns it with the literature from other machine learning domains. We then present new benchmark scenarios for OOD detection, which introduce anomalies with temporal autocorrelation into different components of the agent-environment loop. We argue that such scenarios have been understudied in the current literature, despite their relevance to real-world situations. Confirming our theoretical predictions, our experimental results suggest that state-of-the-art OOD detectors are not able to identify such anomalies. To address this problem, we propose a novel method for OOD detection, which we call DEXTER (Detection via Extraction of Time Series Representations). By treating environment observations as time series data, DEXTER extracts salient time series features, and then leverages an ensemble of isolation forest algorithms to detect anomalies. We find that DEXTER can reliably identify anomalies across benchmark scenarios, exhibiting superior performance compared to both state-of-the-art OOD detectors and high-dimensional changepoint detectors adopted from statistics.
Evaluating Navigation and Comparison Performance of Computational Notebooks on Desktop and in Virtual Reality
Venue: arXiv cs.HC 2024
Year: 2024

The computational notebook serves as a versatile tool for data analysis. However, its conventional user interface falls short of keeping pace with the ever-growing data-related tasks, signaling the need for novel approaches. With the rapid development of interaction techniques and computing environments, there is a growing interest in integrating emerging technologies in data-driven workflows. Virtual reality, in particular, has demonstrated its potential in interactive data visualizations. In this work, we aimed to experiment with adapting computational notebooks into VR and verify the potential benefits VR can bring. We focus on the navigation and comparison aspects as they are primitive components in analysts' workflow. To further improve comparison, we have designed and implemented a Branching&Merging functionality. We tested computational notebooks on the desktop and in VR, both with and without the added Branching&Merging capability. We found VR significantly facilitated navigation compared to desktop, and the ability to create branches enhanced comparison.
Fractional decoding of algebraic geometry codes over extension fields
Venue: arXiv cs.IT 2024
Year: 2024

In this paper, we study algebraic geometry codes from curves over $\mathbb{F}_{q^\ell}$ through their virtual projections which are algebraic geometric codes over $\mathbb{F}_q$. We use the virtual projections to provide fractional decoding algorithms for the codes over $\mathbb{F}_{q^\ell}$. Fractional decoding seeks to perform error correction using a smaller fraction of $\mathbb{F}_q$-symbols than a typical decoding algorithm. In one instance, the bound on the number of correctable errors differs from the usual lower bound by the degree of a pole divisor of an annihilator function. In another, we view the virtual projections as interleaved codes to, with high probability, correct more errors than anticipated.
Deep Reinforcement Learning Based Toolpath Generation for Thermal Uniformity in Laser Powder Bed Fusion Process
Venue: arXiv cs.CE 2024
Year: 2024

Laser powder bed fusion (LPBF) is a widely used metal additive manufacturing technology. However, the accumulation of internal residual stress during printing can cause significant distortion and potential failure. Although various scan patterns have been studied to reduce possible accumulated stress, such as zigzag scanning vectors with changing directions or a chessboard-based scan pattern with divided small islands, most conventional scan patterns cannot significantly reduce residual stress. The proposed adaptive toolpath generation (ATG) algorithms, aiming to minimize the thermal gradients, may result in extremely accumulated temperature fields in some cases. To address these issues, we developed a deep reinforcement learning (DRL)-based toolpath generation framework, with the goal of achieving uniformly distributed heat and avoiding extremely thermal accumulation regions during the LPBF process. We first developed an overall pipeline for the DRL-based toolpath generation framework, which includes uniformly sampling, agent moving and environment observation, action selection, moving constraints, rewards calculation, and the training process. To accelerate the training process, we simplified the data-intensive numerical model by considering the turning angles on the toolpath. We designed the action spaces with three options, including the minimum temperature value, the smoothest path, and the second smoothest path. The reward function was designed to minimize energy density to ensure the temperature field remains relatively stable. To verify the effectiveness of the proposed DRL-based toolpath generation framework, we performed numerical simulations of polygon shape printing domains. In addition, four groups of thin plate samples with different scan patterns were compared using the LPBF process.
Evolving Genetic Programming Tree Models for Predicting the Mechanical Properties of Green Fibers for Better Biocomposite Materials
Venue: arXiv cs.NE 2024
Year: 2024

Advanced modern technology and industrial sustainability theme have contributed implementing composite materials for various industrial applications. Green composites are among the desired alternatives for the green products. However, to properly control the performance of the green composites, predicting their constituents properties are of paramount importance. This work presents an innovative evolving genetic programming tree models for predicting the mechanical properties of natural fibers based upon several inherent chemical and physical properties. Cellulose, hemicellulose, lignin and moisture contents as well as the Microfibrillar angle of various natural fibers were considered to establish the prediction models. A one-hold-out methodology was applied for training/testing phases. Robust models were developed to predict the tensile strength, Young's modulus, and the elongation at break properties of the natural fibers. It was revealed that Microfibrillar angle was dominant and capable of determining the ultimate tensile strength of the natural fibers by 44.7% comparable to other considered properties, while the impact of cellulose content in the model was only 35.6%. This in order would facilitate utilizing artificial intelligence in predicting the overall mechanical properties of natural fibers without experimental efforts and cost to enhance developing better green composite materials for various industrial applications.
Computation Offloading for Multi-server Multi-access Edge Vehicular Networks: A DDQN-based Method
Venue: arXiv cs.NI 2024
Year: 2024

In this paper, we investigate a multi-user offloading problem in the overlapping domain of a multi-server mobile edge computing system. We divide the original problem into two stages: the offloading decision making stage and the request scheduling stage. To prevent the terminal from going out of service area during offloading, we consider the mobility parameter of the terminal according to the human behaviour model when making the offloading decision, and then introduce a server evaluation mechanism based on both the mobility parameter and the server load to select the optimal offloading server. In order to fully utilise the server resources, we design a double deep Q-network (DDQN)-based reward evaluation algorithm that considers the priority of tasks when scheduling offload requests. Finally, numerical simulations are conducted to verify that our proposed method outperforms traditional mathematical computation methods as well as the DQN algorithm.
Is Complexity an Illusion?
Venue: arXiv cs.AI 2024
Year: 2024

Simplicity is held by many to be the key to general intelligence. Simpler models tend to "generalise", identifying the cause or generator of data with greater sample efficiency. The implications of the correlation between simplicity and generalisation extend far beyond computer science, addressing questions of physics and even biology. Yet simplicity is a property of form, while generalisation is of function. In interactive settings, any correlation between the two depends on interpretation. In theory there could be no correlation and yet in practice, there is. Previous theoretical work showed generalisation to be a consequence of "weak" constraints implied by function, not form. Experiments demonstrated choosing weak constraints over simple forms yielded a 110-500% improvement in generalisation rate. Here we show that all constraints can take equally simple forms, regardless of weakness. However if forms are spatially extended, then function is represented using a finite subset of forms. If function is represented using a finite subset of forms, then we can force a correlation between simplicity and generalisation by making weak constraints take simple forms. If function is determined by a goal directed process that favours versatility (e.g. natural selection), then efficiency demands weak constraints take simple forms. Complexity has no causal influence on generalisation, but appears to due to confounding.
Enhancing Accessibility in Soft Robotics: Exploring Magnet-Embedded Paper-Based Interactions
Venue: arXiv cs.HC 2024
Year: 2024

This paper explores the implementation of embedded magnets to enhance paper-based interactions. The integration of magnets in paper-based interactions simplifies the fabrication process, making it more accessible for building soft robotics systems. We discuss various interaction patterns achievable through this approach and highlight their potential applications.
BISCUIT: Scaffolding LLM-Generated Code with Ephemeral UIs in Computational Notebooks
Venue: arXiv cs.HC 2024
Year: 2024

Programmers frequently engage with machine learning tutorials in computational notebooks and have been adopting code generation technologies based on large language models (LLMs). However, they encounter difficulties in understanding and working with code produced by LLMs. To mitigate these challenges, we introduce a novel workflow into computational notebooks that augments LLM-based code generation with an additional ephemeral UI step, offering users UI scaffolds as an intermediate stage between user prompts and code generation. We present this workflow in BISCUIT, an extension for JupyterLab that provides users with ephemeral UIs generated by LLMs based on the context of their code and intentions, scaffolding users to understand, guide, and explore with LLM-generated code. Through a user study where 10 novices used BISCUIT for machine learning tutorials, we found that BISCUIT offers users representations of code to aid their understanding, reduces the complexity of prompt engineering, and creates a playground for users to explore different variables and iterate on their ideas.
Simplifying Two-Stage Detectors for On-Device Inference in Remote Sensing
Venue: arXiv cs.CV 2024
Year: 2024

Deep learning has been successfully applied to object detection from remotely sensed images. Images are typically processed on the ground rather than on-board due to the computation power of the ground system. Such offloaded processing causes delays in acquiring target mission information, which hinders its application to real-time use cases. For on-device object detection, researches have been conducted on designing efficient detectors or model compression to reduce inference latency. However, highly accurate two-stage detectors still need further exploitation for acceleration. In this paper, we propose a model simplification method for two-stage object detectors. Instead of constructing a general feature pyramid, we utilize only one feature extraction in the two-stage detector. To compensate for the accuracy drop, we apply a high pass filter to the RPN's score map. Our approach is applicable to any two-stage detector using a feature pyramid network. In the experiments with state-of-the-art two-stage detectors such as ReDet, Oriented-RCNN, and LSKNet, our method reduced computation costs upto 61.2% with the accuracy loss within 2.1% on the DOTAv1.5 dataset. Source code will be released.
Two-Way Aerial Secure Communications via Distributed Collaborative Beamforming under Eavesdropper Collusion
Venue: arXiv cs.NI 2024
Year: 2024

Unmanned aerial vehicles (UAVs)-enabled aerial communication provides a flexible, reliable, and cost-effective solution for a range of wireless applications. However, due to the high line-of-sight (LoS) probability, aerial communications between UAVs are vulnerable to eavesdropping attacks, particularly when multiple eavesdroppers collude. In this work, we aim to introduce distributed collaborative beamforming (DCB) into UAV swarms and handle the eavesdropper collusion by controlling the corresponding signal distributions. Specifically, we consider a two-way DCB-enabled aerial communication between two UAV swarms and construct these swarms as two UAV virtual antenna arrays. Then, we minimize the two-way known secrecy capacity and the maximum sidelobe level to avoid information leakage from the known and unknown eavesdroppers, respectively. Simultaneously, we also minimize the energy consumption of UAVs for constructing virtual antenna arrays. Due to the conflicting relationships between secure performance and energy efficiency, we consider these objectives as a multi-objective optimization problem. Following this, we propose an enhanced multi-objective swarm intelligence algorithm via the characterized properties of the problem. Simulation results show that our proposed algorithm can obtain a set of informative solutions and outperform other state-of-the-art baseline algorithms. Experimental tests demonstrate that our method can be deployed in limited computing power platforms of UAVs and is beneficial for saving computational resources.
UAV-enabled Collaborative Beamforming via Multi-Agent Deep Reinforcement Learning
Venue: arXiv cs.NI 2024
Year: 2024

In this paper, we investigate an unmanned aerial vehicle (UAV)-assistant air-to-ground communication system, where multiple UAVs form a UAV-enabled virtual antenna array (UVAA) to communicate with remote base stations by utilizing collaborative beamforming. To improve the work efficiency of the UVAA, we formulate a UAV-enabled collaborative beamforming multi-objective optimization problem (UCBMOP) to simultaneously maximize the transmission rate of the UVAA and minimize the energy consumption of all UAVs by optimizing the positions and excitation current weights of all UAVs. This problem is challenging because these two optimization objectives conflict with each other, and they are non-concave to the optimization variables. Moreover, the system is dynamic, and the cooperation among UAVs is complex, making traditional methods take much time to compute the optimization solution for a single task. In addition, as the task changes, the previously obtained solution will become obsolete and invalid. To handle these issues, we leverage the multi-agent deep reinforcement learning (MADRL) to address the UCBMOP. Specifically, we use the heterogeneous-agent trust region policy optimization (HATRPO) as the basic framework, and then propose an improved HATRPO algorithm, namely HATRPO-UCB, where three techniques are introduced to enhance the performance. Simulation results demonstrate that the proposed algorithm can learn a better strategy compared with other methods. Moreover, extensive experiments also demonstrate the effectiveness of the proposed techniques.
Enhancing Network Intrusion Detection Performance using Generative Adversarial Networks
Venue: arXiv cs.CR 2024
Year: 2024

Network intrusion detection systems (NIDS) play a pivotal role in safeguarding critical digital infrastructures against cyber threats. Machine learning-based detection models applied in NIDS are prevalent today. However, the effectiveness of these machine learning-based models is often limited by the evolving and sophisticated nature of intrusion techniques as well as the lack of diverse and updated training samples. In this research, a novel approach for enhancing the performance of an NIDS through the integration of Generative Adversarial Networks (GANs) is proposed. By harnessing the power of GANs in generating synthetic network traffic data that closely mimics real-world network behavior, we address a key challenge associated with NIDS training datasets, which is the data scarcity. Three distinct GAN models (Vanilla GAN, Wasserstein GAN and Conditional Tabular GAN) are implemented in this work to generate authentic network traffic patterns specifically tailored to represent the anomalous activity. We demonstrate how this synthetic data resampling technique can significantly improve the performance of the NIDS model for detecting such activity. By conducting comprehensive experiments using the CIC-IDS2017 benchmark dataset, augmented with GAN-generated data, we offer empirical evidence that shows the effectiveness of our proposed approach. Our findings show that the integration of GANs into NIDS can lead to enhancements in intrusion detection performance for attacks with limited training data, making it a promising avenue for bolstering the cybersecurity posture of organizations in an increasingly interconnected and vulnerable digital landscape.
Model Predictive Trajectory Planning for Human-Robot Handovers
Venue: arXiv cs.RO 2024
Year: 2024

This work develops a novel trajectory planner for human-robot handovers. The handover requirements can naturally be handled by a path-following-based model predictive controller, where the path progress serves as a progress measure of the handover. Moreover, the deviations from the path are used to follow human motion by adapting the path deviation bounds with a handover location prediction. A Gaussian process regression model, which is trained on known handover trajectories, is employed for this prediction. Experiments with a collaborative 7-DoF robotic manipulator show the effectiveness and versatility of the proposed approach.
Parameterized Complexity of Submodular Minimization under Uncertainty
Venue: arXiv cs.DS 2024
Year: 2024

This paper studies the computational complexity of a robust variant of a two-stage submodular minimization problem that we call Robust Submodular Minimizer. In this problem, we are given $k$ submodular functions~$f_1,\dots,f_k$ over a set family~$2^V$, which represent $k$ possible scenarios in the future when we will need to find an optimal solution for one of these scenarios, i.e., a minimizer for one of the functions. The present task is to find a set $X \subseteq V$ that is close to \emph{some} optimal solution for each $f_i$ in the sense that some minimizer of~$f_i$ can be obtained from $X$ by adding/removing at most $d$ elements for a given integer $d \in \mathbb{N}$. The main contribution of this paper is to provide a complete computational map of this problem with respect to parameters~$k$ and~$d$, which reveals a tight complexity threshold for both parameters: (1) Robust Submodular Minimizer can be solved in polynomial time when $k \leq 2$, but is NP-hard if $k$ is a constant with $k \geq 3$.(2)Robust Submodular Minimizer can be solved in polynomial time when $d=0$, but is NP-hard if $d$ is a constant with $d \geq 1$. (3) Robust Submodular Minimizer is fixed-parameter tractable when parameterized by~$(k,d)$. We also show that if some submodular function $f_i$ has a polynomial number of minimizers, then the problem becomes fixed-parameter tractable when parameterized by $d$. On the other hand, the problem remains $\mathsf{W}[1]$-hard parameterized by $k$ even if each function $f_i$ has at most~$|V|$ minimizers. We remark that all our hardness results hold even if each submodular function is given by a cut function of a directed graph.