OpenRaiser/Intern-Atlas huggingface dataset:
Data Privacy Vocabulary (DPV) -- Version 2
Venue: arXiv cs.CY 2024
Year: 2024

The Data Privacy Vocabulary (DPV), developed by the W3C Data Privacy Vocabularies and Controls Community Group (DPVCG), enables the creation of machine-readable, interoperable, and standards-based representations for describing the processing of personal data. The group has also published extensions to the DPV to describe specific applications to support legislative requirements such as the EU's GDPR. The DPV fills a crucial niche in the state of the art by providing a vocabulary that can be embedded and used alongside other existing standards such as W3C ODRL, and which can be customised and extended for adapting to specifics of use-cases or domains. This article describes the version 2 iteration of the DPV in terms of its contents, methodology, current adoptions and uses, and future potential. It also describes the relevance and role of DPV in acting as a common vocabulary to support various regulatory (e.g. EU's DGA and AI Act) and community initiatives (e.g. Solid) emerging across the globe.
Exploring Bi-Manual Teleportation in Virtual Reality
Venue: arXiv cs.HC 2024
Year: 2024

Teleportation, a widely-used locomotion technique in Virtual Reality (VR), allows instantaneous movement within VR environments. Enhanced hand tracking in modern VR headsets has popularized hands-only teleportation methods, which eliminate the need for physical controllers. However, these techniques have not fully explored the potential of bi-manual input, where each hand plays a distinct role in teleportation: one controls the teleportation point and the other confirms selections. Additionally, the influence of users' posture, whether sitting or standing, on these techniques remains unexplored. Furthermore, previous teleportation evaluations lacked assessments based on established human motor models such as Fitts' Law. To address these gaps, we conducted a user study (N=20) to evaluate bi-manual pointing performance in VR teleportation tasks, considering both sitting and standing postures. We proposed a variation of the Fitts' Law model to accurately assess users' teleportation performance. We designed and evaluated various bi-manual teleportation techniques, comparing them to uni-manual and dwell-based techniques. Results showed that bi-manual techniques, particularly when the dominant hand is used for pointing and the non-dominant hand for selection, enable faster teleportation compared to other methods. Furthermore, bi-manual and dwell techniques proved significantly more accurate than uni-manual teleportation. Moreover, our proposed Fitts' Law variation more accurately predicted users' teleportation performance compared to existing models. Finally, we developed a set of guidelines for designers to enhance VR teleportation experiences and optimize user interactions.
Nested-TNT: Hierarchical Vision Transformers with Multi-Scale Feature Processing
Venue: arXiv cs.CV 2024
Year: 2024

Transformer has been applied in the field of computer vision due to its excellent performance in natural language processing, surpassing traditional convolutional neural networks and achieving new state-of-the-art. ViT divides an image into several local patches, known as "visual sentences". However, the information contained in the image is vast and complex, and focusing only on the features at the "visual sentence" level is not enough. The features between local patches should also be taken into consideration. In order to achieve further improvement, the TNT model is proposed, whose algorithm further divides the image into smaller patches, namely "visual words," achieving more accurate results. The core of Transformer is the Multi-Head Attention mechanism, and traditional attention mechanisms ignore interactions across different attention heads. In order to reduce redundancy and improve utilization, we introduce the nested algorithm and apply the Nested-TNT to image classification tasks. The experiment confirms that the proposed model has achieved better classification performance over ViT and TNT, exceeding 2.25%, 1.1% on dataset CIFAR10 and 2.78%, 0.25% on dataset FLOWERS102 respectively.
PACNav: Enhancing Collective Navigation for UAV Swarms in Communication-Challenged Environments
Venue: arXiv cs.RO 2024
Year: 2024

This article presents Persistence Administered Collective Navigation (PACNav) as an approach for achieving decentralized collective navigation of Unmanned Aerial Vehicle (UAV) swarms. The technique is inspired by the flocking and collective navigation behavior observed in natural swarms, such as cattle herds, bird flocks, and even large groups of humans. PACNav relies solely on local observations of relative positions of UAVs, making it suitable for large swarms deprived of communication capabilities and external localization systems. We introduce the novel concepts of path persistence and path similarity, which allow each swarm member to analyze the motion of others. PACNav is grounded on two main principles: (1) UAVs with little variation in motion direction exhibit high path persistence and are considered reliable leaders by other UAVs; (2) groups of UAVs that move in a similar direction demonstrate high path similarity, and such groups are assumed to contain a reliable leader. The proposed approach also incorporates a reactive collision avoidance mechanism to prevent collisions with swarm members and environmental obstacles. The method is validated through simulated and real-world experiments conducted in a natural forest.
FisheyeDetNet: 360° Surround view Fisheye Camera based Object Detection System for Autonomous Driving
Venue: arXiv cs.CV 2024
Year: 2024

Object detection is a mature problem in autonomous driving with pedestrian detection being one of the first deployed algorithms. It has been comprehensively studied in the literature. However, object detection is relatively less explored for fisheye cameras used for surround-view near field sensing. The standard bounding box representation fails in fisheye cameras due to heavy radial distortion, particularly in the periphery. To mitigate this, we explore extending the standard object detection output representation of bounding box. We design rotated bounding boxes, ellipse, generic polygon as polar arc/angle representations and define an instance segmentation mIOU metric to analyze these representations. The proposed model FisheyeDetNet with polygon outperforms others and achieves a mAP score of 49.5 % on Valeo fisheye surround-view dataset for automated driving applications. This dataset has 60K images captured from 4 surround-view cameras across Europe, North America and Asia. To the best of our knowledge, this is the first detailed study on object detection on fisheye cameras for autonomous driving scenarios.
Revolutionizing System Reliability: The Role of AI in Predictive Maintenance Strategies
Venue: arXiv cs.AI 2024
Year: 2024

The landscape of maintenance in distributed systems is rapidly evolving with the integration of Artificial Intelligence (AI). Also, as the complexity of computing continuum systems intensifies, the role of AI in predictive maintenance (Pd.M.) becomes increasingly pivotal. This paper presents a comprehensive survey of the current state of Pd.M. in the computing continuum, with a focus on the combination of scalable AI technologies. Recognizing the limitations of traditional maintenance practices in the face of increasingly complex and heterogenous computing continuum systems, the study explores how AI, especially machine learning and neural networks, is being used to enhance Pd.M. strategies. The survey encompasses a thorough review of existing literature, highlighting key advancements, methodologies, and case studies in the field. It critically examines the role of AI in improving prediction accuracy for system failures and in optimizing maintenance schedules, thereby contributing to reduced downtime and enhanced system longevity. By synthesizing findings from the latest advancements in the field, the article provides insights into the effectiveness and challenges of implementing AI-driven predictive maintenance. It underscores the evolution of maintenance practices in response to technological advancements and the growing complexity of computing continuum systems. The conclusions drawn from this survey are instrumental for practitioners and researchers in understanding the current landscape and future directions of Pd.M. in distributed systems. It emphasizes the need for continued research and development in this area, pointing towards a trend of more intelligent, efficient, and cost-effective maintenance solutions in the era of AI.
Improving Web Content Delivery with HTTP/3 and Non-Incremental EPS
Venue: arXiv cs.NI 2024
Year: 2024

HTTP/3 marks a significant advancement in protocol development, utilizing QUIC as its underlying transport layer to exploit multiplexing capabilities and minimize head-of-line blocking. The introduction of the Extensible Prioritization Scheme (EPS) offers a signaling mechanism for controlling the order of resource delivery. In this study, we propose mappings from Chromium priority hints to EPS urgency levels with the goal of enhancing the key web performance metrics. The mappings are evaluated using EPS's urgency-based, non-incremental resource delivery method. The results of the experimental evaluation show that the proposed mappings improve the Quality of Experience metrics across a range of websites.
BreakHammer: Enhancing RowHammer Mitigations by Carefully Throttling Suspect Threads
Venue: arXiv cs.CR 2024
Year: 2024

RowHammer is a major read disturbance mechanism in DRAM where repeatedly accessing (hammering) a row of DRAM cells (DRAM row) induces bitflips in other physically nearby DRAM rows. RowHammer solutions perform preventive actions (e.g., refresh neighbor rows of the hammered row) that mitigate such bitflips to preserve memory isolation, a fundamental building block of security and privacy in modern computing systems. However, preventive actions induce non-negligible memory request latency and system performance overheads as they interfere with memory requests. As shrinking technology node size over DRAM chip generations exacerbates RowHammer, the overheads of RowHammer solutions become prohibitively expensive. As a result, a malicious program can effectively hog the memory system and deny service to benign applications by causing many RowHammer-preventive actions. In this work, we tackle the performance overheads of RowHammer solutions by tracking and throttling the generators of memory accesses that trigger RowHammer solutions. To this end, we propose BreakHammer. BreakHammer 1) observes the time-consuming RowHammer-preventive actions of existing RowHammer mitigation mechanisms, 2) identifies hardware threads that trigger many of these actions, and 3) reduces the memory bandwidth usage of each identified thread. As such, BreakHammer significantly reduces the number of RowHammer-preventive actions performed, thereby improving 1) system performance and DRAM energy, and 2) reducing the maximum slowdown induced on a benign application, with near-zero area overhead. Our extensive evaluations demonstrate that BreakHammer effectively reduces the negative performance, energy, and fairness effects of eight RowHammer mitigation mechanisms. To foster further research we open-source our BreakHammer implementation and scripts at https://github.com/CMU-SAFARI/BreakHammer.
Unified Map Handling for Robotic Systems: Enhancing Interoperability and Efficiency Across Diverse Environments
Venue: arXiv cs.RO 2024
Year: 2024

Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which focuses on the information contained wherein such as global location, object positions, topology, and occupancy. As part of this approach, associated management scripts are able to assist with generation of maps both through direct and indirect information restructuring, and with template and procedural generation of missing data. These approaches are able to, when combined, improve the handling of maps to enable more efficient deployments and higher interoperability between platforms. Alongside this, a collection of sample datasets of fully-mapped environments are included covering areas such as agriculture, urban roadways, and indoor environments.
A Survey on the Memory Mechanism of Large Language Model based Agents
Venue: arXiv cs.AI 2024
Year: 2024

Large language model (LLM) based agents have recently attracted much attention from the research and industry communities. Compared with original LLMs, LLM-based agents are featured in their self-evolving capability, which is the basis for solving real-world problems that need long-term and complex agent-environment interactions. The key component to support agent-environment interactions is the memory of the agents. While previous studies have proposed many promising memory mechanisms, they are scattered in different papers, and there lacks a systematical review to summarize and compare these works from a holistic perspective, failing to abstract common and effective designing patterns for inspiring future studies. To bridge this gap, in this paper, we propose a comprehensive survey on the memory mechanism of LLM-based agents. In specific, we first discuss ''what is'' and ''why do we need'' the memory in LLM-based agents. Then, we systematically review previous studies on how to design and evaluate the memory module. In addition, we also present many agent applications, where the memory module plays an important role. At last, we analyze the limitations of existing work and show important future directions. To keep up with the latest advances in this field, we create a repository at \url{https://github.com/nuster1128/LLM_Agent_Memory_Survey}.
DecTest: A Decentralised Testing Architecture for Improving Data Accuracy of Blockchain Oracle
Venue: arXiv cs.CR 2024
Year: 2024

Blockchain technology ensures secure and trustworthy data flow between multiple participants on the chain, but interoperability of on-chain and off-chain data has always been a difficult problem that needs to be solved. To solve the problem that blockchain systems cannot access off-chain data, oracle is introduced. However, existing research mainly focuses on the consistency and integrity of data, but ignores the problem that oracle nodes may be externally attacked or provide false data for selfish motives, resulting in the unresolved problem of data accuracy. In this paper, we introduce a new Decentralized Testing architecture (DecTest) that aims to improve data accuracy. A blockchain oracle random secret testing mechanism is first proposed to enhance the monitoring and verification of nodes by introducing a dynamic anonymized question-verification committee. Based on this, a comprehensive evaluation incentive mechanism is designed to incentivize honest work performance by evaluating nodes based on their reputation scores. The simulation results show that we successfully reduced the discrete entropy value of the acquired data and the real value of the data by 61.4%.
Joint Transmit and Reflective Beamforming for Multi-Active-IRS-Assisted Cooperative Sensing
Venue: arXiv cs.IT 2024
Year: 2024

This paper studies multi-active intelligent-reflecting-surface (IRS) cooperative sensing, in which multiple active IRSs are deployed in a distributed manner to help the base station (BS) provide multi-view sensing. We focus on the scenario where the sensing target is located in the non-line-of-sight (NLoS) area of the BS. Based on the received echo signal, the BS aims to estimate the target's direction-of-arrival (DoA) with respect to each IRS. In addition, we leverage active IRSs to overcome the severe path loss induced by multi-hop reflections. Under this setup, we minimize the maximum Cramér-Rao bound (CRB) among all IRSs by jointly optimizing the transmit beamforming at the BS and the reflective beamforming at the multiple IRSs, subject to the constraints on the maximum transmit power at the BS, as well as the maximum transmit power and the maximum power amplification gain at individual IRSs. To tackle the resulting highly non-convex max-CRB minimization problem, we propose an efficient algorithm based on alternating optimization, successive convex approximation, and semi-definite relaxation, to obtain a high-quality solution. Finally, numerical results are provided to verify the effectiveness of our proposed design and the benefits of active IRS-assisted sensing compared to the counterpart with passive IRSs.
FedMPQ: Secure and Communication-Efficient Federated Learning with Multi-codebook Product Quantization
Venue: arXiv cs.CR 2024
Year: 2024

In federated learning, particularly in cross-device scenarios, secure aggregation has recently gained popularity as it effectively defends against inference attacks by malicious aggregators. However, secure aggregation often requires additional communication overhead and can impede the convergence rate of the global model, which is particularly challenging in wireless network environments with extremely limited bandwidth. Therefore, achieving efficient communication compression under the premise of secure aggregation presents a highly challenging and valuable problem. In this work, we propose a novel uplink communication compression method for federated learning, named FedMPQ, which is based on multi shared codebook product quantization.Specifically, we utilize updates from the previous round to generate sufficiently robust codebooks. Secure aggregation is then achieved through trusted execution environments (TEE) or a trusted third party (TTP).In contrast to previous works, our approach exhibits greater robustness in scenarios where data is not independently and identically distributed (non-IID) and there is a lack of sufficient public data. The experiments conducted on the LEAF dataset demonstrate that our proposed method achieves 99% of the baseline's final accuracy, while reducing uplink communications by 90-95%
Radial Basis Function Neural Networks for Formation Control of Unmanned Aerial Vehicles
Venue: arXiv cs.RO 2024
Year: 2024

This paper addresses the problem of controlling multiple unmanned aerial vehicles (UAVs) cooperating in a formation to carry out a complex task such as surface inspection. We first use the virtual leader-follower model to determine the topology and trajectory of the formation. A double-loop control system combining backstepping and sliding mode control techniques is then designed for the UAVs to track the trajectory. A radial basis function neural network (RBFNN) capable of estimating external disturbances is developed to enhance the robustness of the controller. The stability of the controller is proven by using the Lyapunov theorem. A number of comparisons and software-in-the-loop (SIL) tests have been conducted to evaluate the performance of the proposed controller. The results show that our controller not only outperforms other state-of-the-art controllers but is also sufficient for complex tasks of UAVs such as collecting surface data for inspection. The source code of our controller can be found at https://github.com/duynamrcv/rbf_bsmc
An Integrated Communication and Computing Scheme for Wi-Fi Networks based on Generative AI and Reinforcement Learning
Venue: arXiv cs.NI 2024
Year: 2024

The continuous evolution of future mobile communication systems is heading towards the integration of communication and computing, with Mobile Edge Computing (MEC) emerging as a crucial means of implementing Artificial Intelligence (AI) computation. MEC could enhance the computational performance of wireless edge networks by offloading computing-intensive tasks to MEC servers. However, in edge computing scenarios, the sparse sample problem may lead to high costs of time-consuming model training. This paper proposes an MEC offloading decision and resource allocation solution that combines generative AI and deep reinforcement learning (DRL) for the communication-computing integration scenario in the 802.11ax Wi-Fi network. Initially, the optimal offloading policy is determined by the joint use of the Generative Diffusion Model (GDM) and the Twin Delayed DDPG (TD3) algorithm. Subsequently, resource allocation is accomplished by using the Hungarian algorithm. Simulation results demonstrate that the introduction of Generative AI significantly reduces model training costs, and the proposed solution exhibits significant reductions in system task processing latency and total energy consumption costs.
Towards Unified Representation of Multi-Modal Pre-training for 3D Understanding via Differentiable Rendering
Venue: arXiv cs.MM 2024
Year: 2024

State-of-the-art 3D models, which excel in recognition tasks, typically depend on large-scale datasets and well-defined category sets. Recent advances in multi-modal pre-training have demonstrated potential in learning 3D representations by aligning features from 3D shapes with their 2D RGB or depth counterparts. However, these existing frameworks often rely solely on either RGB or depth images, limiting their effectiveness in harnessing a comprehensive range of multi-modal data for 3D applications. To tackle this challenge, we present DR-Point, a tri-modal pre-training framework that learns a unified representation of RGB images, depth images, and 3D point clouds by pre-training with object triplets garnered from each modality. To address the scarcity of such triplets, DR-Point employs differentiable rendering to obtain various depth images. This approach not only augments the supply of depth images but also enhances the accuracy of reconstructed point clouds, thereby promoting the representative learning of the Transformer backbone. Subsequently, using a limited number of synthetically generated triplets, DR-Point effectively learns a 3D representation space that aligns seamlessly with the RGB-Depth image space. Our extensive experiments demonstrate that DR-Point outperforms existing self-supervised learning methods in a wide range of downstream tasks, including 3D object classification, part segmentation, point cloud completion, semantic segmentation, and detection. Additionally, our ablation studies validate the effectiveness of DR-Point in enhancing point cloud understanding.
Utilizing Deep Learning to Optimize Software Development Processes
Venue: arXiv cs.SE 2024
Year: 2024

This study explores the application of deep learning technologies in software development processes, particularly in automating code reviews, error prediction, and test generation to enhance code quality and development efficiency. Through a series of empirical studies, experimental groups using deep learning tools and control groups using traditional methods were compared in terms of code error rates and project completion times. The results demonstrated significant improvements in the experimental group, validating the effectiveness of deep learning technologies. The research also discusses potential optimization points, methodologies, and technical challenges of deep learning in software development, as well as how to integrate these technologies into existing software development workflows.