OpenRaiser/Intern-Atlas huggingface dataset:
Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots
Venue: arXiv cs.RO 2023
Year: 2023

The interest in exploring planetary bodies for scientific investigation and in-situ resource utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art planetary exploration robots because of the robots' inability to traverse steep slopes, unstructured terrain, and loose soil. Additionally, current single-robot approaches only allow a limited exploration speed and a single set of skills. Here, we present a team of legged robots with complementary skills for exploration missions in challenging planetary analog environments. We equipped the robots with an efficient locomotion controller, a mapping pipeline for online and post-mission visualization, instance segmentation to highlight scientific targets, and scientific instruments for remote and in-situ investigation. Furthermore, we integrated a robotic arm on one of the robots to enable high-precision measurements. Legged robots can swiftly navigate representative terrains, such as granular slopes beyond 25 degrees, loose soil, and unstructured terrain, highlighting their advantages compared to wheeled rover systems. We successfully verified the approach in analog deployments at the BeyondGravity ExoMars rover testbed, in a quarry in Switzerland, and at the Space Resources Challenge in Luxembourg. Our results show that a team of legged robots with advanced locomotion, perception, and measurement skills, as well as task-level autonomy, can conduct successful, effective missions in a short time. Our approach enables the scientific exploration of planetary target sites that are currently out of human and robotic reach.
Efficient Non-Learning Similar Subtrajectory Search
Venue: arXiv cs.DB 2023
Year: 2023

Similar subtrajectory search is a finer-grained operator that can better capture the similarities between one query trajectory and a portion of a data trajectory than the traditional similar trajectory search, which requires the two checked trajectories are similar to each other in whole. Many real applications (e.g., trajectory clustering and trajectory join) utilize similar subtrajectory search as a basic operator. It is considered that the time complexity is O(mn^2) for exact algorithms to solve the similar subtrajectory search problem under most trajectory distance functions in the existing studies, where m is the length of the query trajectory and n is the length of the data trajectory. In this paper, to the best of our knowledge, we are the first to propose an exact algorithm to solve the similar subtrajectory search problem in O(mn) time for most of widely used trajectory distance functions (e.g., WED, DTW, ERP, EDR and Frechet distance). Through extensive experiments on three real datasets, we demonstrate the efficiency and effectiveness of our proposed algorithms.
A Decision Making Framework for Recommended Maintenance of Road Segments
Venue: arXiv cs.AI 2023
Year: 2023

Due to limited budgets allocated for road maintenance projects in various countries, road management departments face difficulties in making scientific maintenance decisions. This paper aims to provide road management departments with more scientific decision tools and evidence. The framework proposed in this paper mainly has the following four innovative points: 1) Predicting pavement performance deterioration levels of road sections as decision basis rather than accurately predicting specific indicator values; 2) Determining maintenance route priorities based on multiple factors; 3) Making maintenance plan decisions by establishing deep reinforcement learning models to formulate predictive strategies based on past maintenance performance evaluations, while considering both technical and management indicators; 4) Determining repair section priorities according to actual and suggested repair effects. By resolving these four issues, the framework can make intelligent decisions regarding optimal maintenance plans and sections, taking into account limited funds and historical maintenance management experiences.
On the Possibility of a Connection between the Construction of a Class of Bigeodetic Blocks and the Existence Problem for Biplanes
Venue: arXiv cs.DM 2023
Year: 2023

Graph theory and enumerative combinatorics are two branches of mathematical sciences that have developed astonishingly over the past one hundred years. It is especially important to point out that graph theory employs combinatorial techniques to solve key problems of characterization, construction, enumeration and classification of an enormous set of different families of graphs. This paper describes the construction of two classes of bigeodetic blocks using balanced incomplete block designs (BIBDs). On the other hand, even though graph theory and combinatorics have a close relationship, the opposite problem, that is, considering certain graph constructions when solving problems of combinatorics is not common, but possible. The construction of the second class of bigeodetic blocks described in this paper represents an example of how graph theory could somehow give a clue to the description of a problem of existence in combinatorics. We refer to the problem of existence for biplanes. A connection between the mentioned construction, the Bruck-Ryser-Chowla theorem and the problem of existence for biplanes is considered.
Exploring Transformer Extrapolation
Venue: arXiv cs.CL 2023
Year: 2023

Length extrapolation has attracted considerable attention recently since it allows transformers to be tested on longer sequences than those used in training. Previous research has shown that this property can be attained by using carefully designed Relative Positional Encodings (RPEs). While these methods perform well on a variety of corpora, the conditions for length extrapolation have yet to be investigated. This paper attempts to determine what types of RPEs allow for length extrapolation through a thorough mathematical and empirical analysis. We discover that a transformer is certain to possess this property as long as the series that corresponds to the RPE's exponential converges. Two practices are derived from the conditions and examined in language modeling tasks on a variety of corpora. As a bonus from the conditions, we derive a new Theoretical Receptive Field (TRF) to measure the receptive field of RPEs without taking any training steps. Extensive experiments are conducted on the Wikitext-103, Books, Github, and WikiBook datasets to demonstrate the viability of our discovered conditions. We also compare TRF to Empirical Receptive Field (ERF) across different models, showing consistently matched trends on the aforementioned datasets. The code is available at https://github.com/OpenNLPLab/Rpe.
Optimized Design of Joint Mirror Array and Liquid Crystal-Based RIS-Aided VLC systems
Venue: arXiv cs.IT 2023
Year: 2023

Most studies of reflecting intelligent surfaces (RISs)-assisted visible light communication (VLC) systems have focused on the integration of RISs in the channel to combat the line-of-sight (LoS) blockage and to enhance the corresponding achievable data rate. Some recent efforts have investigated the integration of liquid crystal (LC)-RIS in the VLC receiver to also improve the corresponding achievable data rate. To jointly benefit from the previously mentioned appealing capabilities of the RIS technology in both the channel and the receiver, in this work, we propose a novel indoor VLC system that is jointly assisted by a mirror array-based RIS in the channel and an LC-based RIS aided-VLC receiver. To illustrate the performance of the proposed system, a rate maximization problem is formulated, solved, and evaluated. This maximization problem jointly optimizes the roll and yaw angles of the mirror array-based RIS as well as the refractive index of the LC-based RIS VLC receiver. Moreover, this maximization problem considers practical assumptions, such as the presence of non-users blockers in the LoS path between the transmitter-receiver pair and the user's random device orientation (i.e., the user's self-blockage). Due to the non-convexity of the formulated optimization problem, a low-complexity algorithm is utilized to get the global optimal solution. A multi-user scenario of the proposed scheme is also presented. Furthermore, the energy efficiency of the proposed system is also investigated. Simulation results are provided, confirming that the proposed system yields a noteworthy improvement in data rate and energy efficiency performances compared to several baseline schemes.
Drone navigation and license place detection for vehicle location in indoor spaces
Venue: arXiv cs.CV 2023
Year: 2023

Millions of vehicles are transported every year, tightly parked in vessels or boats. To reduce the risks of associated safety issues like fires, knowing the location of vehicles is essential, since different vehicles may need different mitigation measures, e.g. electric cars. This work is aimed at creating a solution based on a nano-drone that navigates across rows of parked vehicles and detects their license plates. We do so via a wall-following algorithm, and a CNN trained to detect license plates. All computations are done in real-time on the drone, which just sends position and detected images that allow the creation of a 2D map with the position of the plates. Our solution is capable of reading all plates across eight test cases (with several rows of plates, different drone speeds, or low light) by aggregation of measurements across several drone journeys.
A Dual Stealthy Backdoor: From Both Spatial and Frequency Perspectives
Venue: arXiv cs.CR 2023
Year: 2023

Backdoor attacks pose serious security threats to deep neural networks (DNNs). Backdoored models make arbitrarily (targeted) incorrect predictions on inputs embedded with well-designed triggers while behaving normally on clean inputs. Many works have explored the invisibility of backdoor triggers to improve attack stealthiness. However, most of them only consider the invisibility in the spatial domain without explicitly accounting for the generation of invisible triggers in the frequency domain, making the generated poisoned images be easily detected by recent defense methods. To address this issue, in this paper, we propose a DUal stealthy BAckdoor attack method named DUBA, which simultaneously considers the invisibility of triggers in both the spatial and frequency domains, to achieve desirable attack performance, while ensuring strong stealthiness. Specifically, we first use Discrete Wavelet Transform to embed the high-frequency information of the trigger image into the clean image to ensure attack effectiveness. Then, to attain strong stealthiness, we incorporate Fourier Transform and Discrete Cosine Transform to mix the poisoned image and clean image in the frequency domain. Moreover, the proposed DUBA adopts a novel attack strategy, in which the model is trained with weak triggers and attacked with strong triggers to further enhance the attack performance and stealthiness. We extensively evaluate DUBA against popular image classifiers on four datasets. The results demonstrate that it significantly outperforms the state-of-the-art backdoor attacks in terms of the attack success rate and stealthiness
BigDipper: A hyperscale BFT system with short term censorship resistance
Venue: arXiv cs.CR 2023
Year: 2023

Byzantine-fault-tolerant (BFT) protocols underlie a variety of decentralized applications including payments, auctions, data feed oracles, and decentralized social networks\cite{chainlink,lens}. In most leader-based BFT protocols, an important property that has been missing is the censorship resistance of transaction in the short term. The protocol should provide inclusion guarantees in the next block height even if the current and future leaders have the intent of censoring.In this paper, we present a BFT system, BigDipper, that achieves censorship resistance while providing fast confirmation for clients and hyperscale throughput. The core idea is to decentralize inclusion of transactions by allowing every BFT replica to create their own mini-block, and then enforcing the leader on their inclusions. To achieve this, BigDipper creates a modular system made of three components. First, clients use a transaction broadcast protocol to send transaction to multiple replicas. As a distribution of replicas receiving the client's transactions, they prepare mini-blocks to send to the data availability (DA) component, which characterizes the censorship resistant properties of the whole system. We design three censorship resistant DA (DA-CR) protocols whose properties are captured by three parameters. The third component interleaves the second DA-CR protocol into the leader based BFT protocol, it enforces the leader to include all the data from the DA-CR into the final block. At last, we demonstrate an integration with a two-phase Hotstuff-2.
Several categories of Large Language Models (LLMs): A Short Survey
Venue: arXiv cs.CL 2023
Year: 2023

Large Language Models(LLMs)have become effective tools for natural language processing and have been used in many different fields. This essay offers a succinct summary of various LLM subcategories. The survey emphasizes recent developments and efforts made for various LLM kinds, including task-based financial LLMs, multilingual language LLMs, biomedical and clinical LLMs, vision language LLMs, and code language models. The survey gives a general summary of the methods, attributes, datasets, transformer models, and comparison metrics applied in each category of LLMs. Furthermore, it highlights unresolved problems in the field of developing chatbots and virtual assistants, such as boosting natural language processing, enhancing chatbot intelligence, and resolving moral and legal dilemmas. The purpose of this study is to provide readers, developers, academics, and users interested in LLM-based chatbots and virtual intelligent assistant technologies with useful information and future directions.
Subjective Crowd Disagreements for Subjective Data: Uncovering Meaningful CrowdOpinion with Population-level Learning
Venue: arXiv cs.IR 2023
Year: 2023

Human-annotated data plays a critical role in the fairness of AI systems, including those that deal with life-altering decisions or moderating human-created web/social media content. Conventionally, annotator disagreements are resolved before any learning takes place. However, researchers are increasingly identifying annotator disagreement as pervasive and meaningful. They also question the performance of a system when annotators disagree. Particularly when minority views are disregarded, especially among groups that may already be underrepresented in the annotator population. In this paper, we introduce \emph{CrowdOpinion}\footnote{Accepted for publication at ACL 2023}, an unsupervised learning based approach that uses language features and label distributions to pool similar items into larger samples of label distributions. We experiment with four generative and one density-based clustering method, applied to five linear combinations of label distributions and features. We use five publicly available benchmark datasets (with varying levels of annotator disagreements) from social media (Twitter, Gab, and Reddit). We also experiment in the wild using a dataset from Facebook, where annotations come from the platform itself by users reacting to posts. We evaluate \emph{CrowdOpinion} as a label distribution prediction task using KL-divergence and a single-label problem using accuracy measures.
On the Mechanics of NFT Valuation: AI Ethics and Social Media
Venue: arXiv cs.CY 2023
Year: 2023

As CryptoPunks pioneers the innovation of non-fungible tokens (NFTs) in AI and art, the valuation mechanics of NFTs has become a trending topic. Earlier research identifies the impact of ethics and society on the price prediction of CryptoPunks. Since the booming year of the NFT market in 2021, the discussion of CryptoPunks has propagated on social media. Still, existing literature hasn't considered the social sentiment factors after the historical turning point on NFT valuation. In this paper, we study how sentiments in social media, together with gender and skin tone, contribute to NFT valuations by an empirical analysis of social media, blockchain, and crypto exchange data. We evidence social sentiments as a significant contributor to the price prediction of CryptoPunks. Furthermore, we document structure changes in the valuation mechanics before and after 2021. Although people's attitudes towards Cryptopunks are primarily positive, our findings reflect imbalances in transaction activities and pricing based on gender and skin tone. Our result is consistent and robust, controlling for the rarity of an NFT based on the set of human-readable attributes, including gender and skin tone. Our research contributes to the interdisciplinary study at the intersection of AI, Ethics, and Society, focusing on the ecosystem of decentralized AI or blockchain. We provide our data and code for replicability as open access on GitHub.
An IPW-based Unbiased Ranking Metric in Two-sided Markets
Venue: arXiv cs.IR 2023
Year: 2023

In modern recommendation systems, unbiased learning-to-rank (LTR) is crucial for prioritizing items from biased implicit user feedback, such as click data. Several techniques, such as Inverse Propensity Weighting (IPW), have been proposed for single-sided markets. However, less attention has been paid to two-sided markets, such as job platforms or dating services, where successful conversions require matching preferences from both users. This paper addresses the complex interaction of biases between users in two-sided markets and proposes a tailored LTR approach. We first present a formulation of feedback mechanisms in two-sided matching platforms and point out that their implicit feedback may include position bias from both user groups. On the basis of this observation, we extend the IPW estimator and propose a new estimator, named two-sided IPW, to address the position bases in two-sided markets. We prove that the proposed estimator satisfies the unbiasedness for the ground-truth ranking metric. We conducted numerical experiments on real-world two-sided platforms and demonstrated the effectiveness of our proposed method in terms of both precision and robustness. Our experiments showed that our method outperformed baselines especially when handling rare items, which are less frequently observed in the training data.
`It is currently hodgepodge'': Examining AI/ML Practitioners' Challenges during Co-production of Responsible AI Values
Venue: arXiv cs.AI 2023
Year: 2023

Recently, the AI/ML research community has indicated an urgent need to establish Responsible AI (RAI) values and practices as part of the AI/ML lifecycle. Several organizations and communities are responding to this call by sharing RAI guidelines. However, there are gaps in awareness, deliberation, and execution of such practices for multi-disciplinary ML practitioners. This work contributes to the discussion by unpacking co-production challenges faced by practitioners as they align their RAI values. We interviewed 23 individuals, across 10 organizations, tasked to ship AI/ML based products while upholding RAI norms and found that both top-down and bottom-up institutional structures create burden for different roles preventing them from upholding RAI values, a challenge that is further exacerbated when executing conflicted values. We share multiple value levers used as strategies by the practitioners to resolve their challenges. We end our paper with recommendations for inclusive and equitable RAI value-practices, creating supportive organizational structures and opportunities to further aid practitioners.
Hidden Markov Models with Random Restarts vs Boosting for Malware Detection
Venue: arXiv cs.CR 2023
Year: 2023

Effective and efficient malware detection is at the forefront of research into building secure digital systems. As with many other fields, malware detection research has seen a dramatic increase in the application of machine learning algorithms. One machine learning technique that has been used widely in the field of pattern matching in general-and malware detection in particular-is hidden Markov models (HMMs). HMM training is based on a hill climb, and hence we can often improve a model by training multiple times with different initial values. In this research, we compare boosted HMMs (using AdaBoost) to HMMs trained with multiple random restarts, in the context of malware detection. These techniques are applied to a variety of challenging malware datasets. We find that random restarts perform surprisingly well in comparison to boosting. Only in the most difficult "cold start" cases (where training data is severely limited) does boosting appear to offer sufficient improvement to justify its higher computational cost in the scoring phase.
Temporally Stable Multilayer Network Embeddings: A Longitudinal Study of Russian Propaganda
Venue: arXiv cs.SI 2023
Year: 2023

Russian propaganda outlet RT (formerly, Russia Today) produces content in seven languages. There is ample evidence that RT's communication techniques differ for different language audiences. In this article, we offer the first comprehensive analysis of RT's multi-lingual article collection, analyzing all 2.4 million articles available on the online platform from 2006 until 06/2023. Annual semantic networks are created from the co-occurrence of the articles' tags. Within one language, we use AlignedUMAP to get stable inter-temporal embeddings. Between languages, we propose a new method to align multiple, sparsely connected networks in an intermediate representation before projecting them into the final embedding space. With respect to RT's communication strategy, our findings hint at a lack of a coherent strategy in RT's targeting of audiences in different languages, evident through differences in tag usage, clustering patterns, and uneven shifts in the prioritization of themes within language versions. Although identified clusters of tags align with the key themes in Russian propaganda, such as Ukraine, foreign affairs, Western countries, and the Middle East, we have observed significant differences in the attention given to specific issues across languages that are rather reactive to the information environment than representing a cohesive approach.