OpenRaiser/Intern-Atlas huggingface dataset:
Distributed Simultaneous Localisation and Auto-Calibration using Gaussian Belief Propagation
Venue: arXiv cs.RO 2024
Year: 2024

We present a novel scalable, fully distributed, and online method for simultaneous localisation and extrinsic calibration for multi-robot setups. Individual a priori unknown robot poses are probabilistically inferred as robots sense each other while simultaneously calibrating their sensors and markers extrinsic using Gaussian Belief Propagation. In the presented experiments, we show how our method not only yields accurate robot localisation and auto-calibration but also is able to perform under challenging circumstances such as highly noisy measurements, significant communication failures or limited communication range.
Computationally Bounded Robust Compilation and Universally Composable Security
Venue: arXiv cs.CR 2024
Year: 2024

Universal Composability (UC) is the gold standard for cryptographic security, but mechanizing proofs of UC is notoriously difficult. A recently-discovered connection between UC and Robust Compilation (RC)$\unicode{x2014}$a novel theory of secure compilation$\unicode{x2014}$provides a means to verify UC proofs using tools that mechanize equality results. Unfortunately, the existing methods apply only to perfect UC security, and real-world protocols relying on cryptography are only computationally secure. This paper addresses this gap by lifting the connection between UC and RC to the computational setting, extending techniques from the RC setting to apply to computational UC security. Moreover, it further generalizes the UC$\unicode{x2013}$RC connection beyond computational security to arbitrary equalities, providing a framework to subsume the existing perfect case, and to instantiate future theories with more complex notions of security. This connection allows the use of tools for proofs of computational indistinguishability to properly mechanize proofs of computational UC security. We demonstrate this power by using CryptoVerif to mechanize a proof that parts of the Wireguard protocol are computationally UC secure. Finally, all proofs of the framework itself are verified in Isabelle/HOL.
From GPT-4 to Gemini and Beyond: Assessing the Landscape of MLLMs on Generalizability, Trustworthiness and Causality through Four Modalities
Venue: arXiv cs.CV 2024
Year: 2024

Multi-modal Large Language Models (MLLMs) have shown impressive abilities in generating reasonable responses with respect to multi-modal contents. However, there is still a wide gap between the performance of recent MLLM-based applications and the expectation of the broad public, even though the most powerful OpenAI's GPT-4 and Google's Gemini have been deployed. This paper strives to enhance understanding of the gap through the lens of a qualitative study on the generalizability, trustworthiness, and causal reasoning capabilities of recent proprietary and open-source MLLMs across four modalities: ie, text, code, image, and video, ultimately aiming to improve the transparency of MLLMs. We believe these properties are several representative factors that define the reliability of MLLMs, in supporting various downstream applications. To be specific, we evaluate the closed-source GPT-4 and Gemini and 6 open-source LLMs and MLLMs. Overall we evaluate 230 manually designed cases, where the qualitative results are then summarized into 12 scores (ie, 4 modalities times 3 properties). In total, we uncover 14 empirical findings that are useful to understand the capabilities and limitations of both proprietary and open-source MLLMs, towards more reliable downstream multi-modal applications.
Annotated Hands for Generative Models
Venue: arXiv cs.CV 2024
Year: 2024

Generative models such as GANs and diffusion models have demonstrated impressive image generation capabilities. Despite these successes, these systems are surprisingly poor at creating images with hands. We propose a novel training framework for generative models that substantially improves the ability of such systems to create hand images. Our approach is to augment the training images with three additional channels that provide annotations to hands in the image. These annotations provide additional structure that coax the generative model to produce higher quality hand images. We demonstrate this approach on two different generative models: a generative adversarial network and a diffusion model. We demonstrate our method both on a new synthetic dataset of hand images and also on real photographs that contain hands. We measure the improved quality of the generated hands through higher confidence in finger joint identification using an off-the-shelf hand detector.
Can generative AI and ChatGPT outperform humans on cognitive-demanding problem-solving tasks in science?
Venue: arXiv cs.AI 2024
Year: 2024

This study aimed to examine an assumption that generative artificial intelligence (GAI) tools can overcome the cognitive intensity that humans suffer when solving problems. We compared the performance of ChatGPT and GPT-4 on 2019 NAEP science assessments with students by cognitive demands of the items. Fifty-four tasks were coded by experts using a two-dimensional cognitive load framework, including task cognitive complexity and dimensionality. ChatGPT and GPT-4 responses were scored using the scoring keys of NAEP. The analysis of the available data was based on the average student ability scores for students who answered each item correctly and the percentage of students who responded to individual items. Results showed that both ChatGPT and GPT-4 consistently outperformed most students who answered the NAEP science assessments. As the cognitive demand for NAEP tasks increases, statistically higher average student ability scores are required to correctly address the questions. This pattern was observed for students in grades 4, 8, and 12, respectively. However, ChatGPT and GPT-4 were not statistically sensitive to the increase in cognitive demands of the tasks, except for Grade 4. As the first study focusing on comparing GAI and K-12 students in problem-solving in science, this finding implies the need for changes to educational objectives to prepare students with competence to work with GAI tools in the future. Education ought to emphasize the cultivation of advanced cognitive skills rather than depending solely on tasks that demand cognitive intensity. This approach would foster critical thinking, analytical skills, and the application of knowledge in novel contexts. Findings also suggest the need for innovative assessment practices by moving away from cognitive intensity tasks toward creativity and analytical skills to avoid the negative effects of GAI on testing more efficiently.
GeoDecoder: Empowering Multimodal Map Understanding
Venue: arXiv cs.CV 2024
Year: 2024

This paper presents GeoDecoder, a dedicated multimodal model designed for processing geospatial information in maps. Built on the BeitGPT architecture, GeoDecoder incorporates specialized expert modules for image and text processing. On the image side, GeoDecoder utilizes GaoDe Amap as the underlying base map, which inherently encompasses essential details about road and building shapes, relative positions, and other attributes. Through the utilization of rendering techniques, the model seamlessly integrates external data and features such as symbol markers, drive trajectories, heatmaps, and user-defined markers, eliminating the need for extra feature engineering. The text module of GeoDecoder accepts various context texts and question prompts, generating text outputs in the style of GPT. Furthermore, the GPT-based model allows for the training and execution of multiple tasks within the same model in an end-to-end manner. To enhance map cognition and enable GeoDecoder to acquire knowledge about the distribution of geographic entities in Beijing, we devised eight fundamental geospatial tasks and conducted pretraining of the model using large-scale text-image samples. Subsequently, rapid fine-tuning was performed on three downstream tasks, resulting in significant performance improvements. The GeoDecoder model demonstrates a comprehensive understanding of map elements and their associated operations, enabling efficient and high-quality application of diverse geospatial tasks in different business scenarios.
Incorporating simulated spatial context information improves the effectiveness of contrastive learning models
Venue: arXiv cs.CV 2024
Year: 2024

Visual learning often occurs in a specific context, where an agent acquires skills through exploration and tracking of its location in a consistent environment. The historical spatial context of the agent provides a similarity signal for self-supervised contrastive learning. We present a unique approach, termed Environmental Spatial Similarity (ESS), that complements existing contrastive learning methods. Using images from simulated, photorealistic environments as an experimental setting, we demonstrate that ESS outperforms traditional instance discrimination approaches. Moreover, sampling additional data from the same environment substantially improves accuracy and provides new augmentations. ESS allows remarkable proficiency in room classification and spatial prediction tasks, especially in unfamiliar environments. This learning paradigm has the potential to enable rapid visual learning in agents operating in new environments with unique visual characteristics. Potentially transformative applications span from robotics to space exploration. Our proof of concept demonstrates improved efficiency over methods that rely on extensive, disconnected datasets.
Probabilistic Design of Multi-Dimensional Spatially-Coupled Codes
Venue: arXiv cs.IT 2024
Year: 2024

Because of their excellent asymptotic and finite-length performance, spatially-coupled (SC) codes are a class of low-density parity-check codes that is gaining increasing attention. Multi-dimensional (MD) SC codes are constructed by connecting copies of an SC code via relocations in order to mitigate various sources of non-uniformity and improve performance in many data storage and data transmission systems. As the number of degrees of freedom in the MD-SC code design increases, appropriately exploiting them becomes more difficult because of the complexity growth of the design process. In this paper, we propose a probabilistic framework for the MD-SC code design, which is based on the gradient-descent (GD) algorithm, to design better MD codes and address this challenge. In particular, we express the expected number of short cycles, which we seek to minimize, in the graph representation of the code in terms of entries of a probability-distribution matrix that characterizes the MD-SC code design. We then find a locally-optimal probability distribution, which serves as the starting point of a finite-length algorithmic optimizer that produces the final MD-SC code. We offer the theoretical analysis as well as the algorithms, and we present experimental results demonstrating that our MD codes, conveniently called GD-MD codes, have notably lower short cycle numbers compared with the available state-of-the-art. Moreover, our algorithms converge on solutions in few iterations, which confirms the complexity reduction as a result of limiting the search space via the locally-optimal GD-MD distributions.
SBFT Tool Competition 2024 -- Python Test Case Generation Track
Venue: arXiv cs.SE 2024
Year: 2024

Test case generation (TCG) for Python poses distinctive challenges due to the language's dynamic nature and the absence of strict type information. Previous research has successfully explored automated unit TCG for Python, with solutions outperforming random test generation methods. Nevertheless, fundamental issues persist, hindering the practical adoption of existing test case generators. To address these challenges, we report on the organization, challenges, and results of the first edition of the Python Testing Competition. Four tools, namely UTBotPython, Klara, Hypothesis Ghostwriter, and Pynguin were executed on a benchmark set consisting of 35 Python source files sampled from 7 open-source Python projects for a time budget of 400 seconds. We considered one configuration of each tool for each test subject and evaluated the tools' effectiveness in terms of code and mutation coverage. This paper describes our methodology, the analysis of the results together with the competing tools, and the challenges faced while running the competition experiments.
Automatically Detecting Confusion and Conflict During Collaborative Learning Using Linguistic, Prosodic, and Facial Cues
Venue: arXiv cs.HC 2024
Year: 2024

During collaborative learning, confusion and conflict emerge naturally. However, persistent confusion or conflict have the potential to generate frustration and significantly impede learners' performance. Early automatic detection of confusion and conflict would allow us to support early interventions which can in turn improve students' experience with and outcomes from collaborative learning. Despite the extensive studies modeling confusion during solo learning, there is a need for further work in collaborative learning. This paper presents a multimodal machine-learning framework that automatically detects confusion and conflict during collaborative learning. We used data from 38 elementary school learners who collaborated on a series of programming tasks in classrooms. We trained deep multimodal learning models to detect confusion and conflict using features that were automatically extracted from learners' collaborative dialogues, including (1) language-derived features including TF-IDF, lexical semantics, and sentiment, (2) audio-derived features including acoustic-prosodic features, and (3) video-derived features including eye gaze, head pose, and facial expressions. Our results show that multimodal models that combine semantics, pitch, and facial expressions detected confusion and conflict with the highest accuracy, outperforming all unimodal models. We also found that prosodic cues are more predictive of conflict, and facial cues are more predictive of confusion. This study contributes to the automated modeling of collaborative learning processes and the development of real-time adaptive support to enhance learners' collaborative learning experience in classroom contexts.
FedGT: Federated Node Classification with Scalable Graph Transformer
Venue: arXiv cs.LG 2024
Year: 2024

Graphs are widely used to model relational data. As graphs are getting larger and larger in real-world scenarios, there is a trend to store and compute subgraphs in multiple local systems. For example, recently proposed \emph{subgraph federated learning} methods train Graph Neural Networks (GNNs) distributively on local subgraphs and aggregate GNN parameters with a central server. However, existing methods have the following limitations: (1) The links between local subgraphs are missing in subgraph federated learning. This could severely damage the performance of GNNs that follow message-passing paradigms to update node/edge features. (2) Most existing methods overlook the subgraph heterogeneity issue, brought by subgraphs being from different parts of the whole graph. To address the aforementioned challenges, we propose a scalable \textbf{Fed}erated \textbf{G}raph \textbf{T}ransformer (\textbf{FedGT}) in the paper. Firstly, we design a hybrid attention scheme to reduce the complexity of the Graph Transformer to linear while ensuring a global receptive field with theoretical bounds. Specifically, each node attends to the sampled local neighbors and a set of curated global nodes to learn both local and global information and be robust to missing links. The global nodes are dynamically updated during training with an online clustering algorithm to capture the data distribution of the corresponding local subgraph. Secondly, FedGT computes clients' similarity based on the aligned global nodes with optimal transport. The similarity is then used to perform weighted averaging for personalized aggregation, which well addresses the data heterogeneity problem. Moreover, local differential privacy is applied to further protect the privacy of clients. Finally, extensive experimental results on 6 datasets and 2 subgraph settings demonstrate the superiority of FedGT.
Speed-based Filtration and DBSCAN of Event-based Camera Data with Neuromorphic Computing
Venue: arXiv cs.NE 2024
Year: 2024

Spiking neural networks are powerful computational elements that pair well with event-based cameras (EBCs). In this work, we present two spiking neural network architectures that process events from EBCs: one that isolates and filters out events based on their speeds, and another that clusters events based on the DBSCAN algorithm.
Moving beyond Deletions: Program Simplification via Diverse Program Transformations
Venue: arXiv cs.SE 2024
Year: 2024

To reduce the complexity of software, Developers manually simplify program (known as developer-induced program simplification in this paper) to reduce its code size yet preserving its functionality but manual simplification is time-consuming and error-prone. To reduce manual effort, rule-based approaches (e.g., refactoring) and deletion-based approaches (e.g., delta debugging) can be potentially applied to automate developer-induced program simplification. However, as there is little study on how developers simplify programs in Open-source Software (OSS) projects, it is unclear whether these approaches can be effectively used for developer-induced program simplification. Hence, we present the first study of developer-induced program simplification in OSS projects, focusing on the types of program transformations used, the motivations behind simplifications, and the set of program transformations covered by existing refactoring types. Our study of 382 pull requests from 296 projects reveals that there exist gaps in applying existing approaches for automating developer-induced program simplification. and outlines the criteria for designing automatic program simplification techniques. Inspired by our study and to reduce the manual effort in developer-induced program simplification, we propose SimpT5, a tool that can automatically produce simplified programs (semantically-equivalent programs with reduced source lines of code). SimpT5 is trained based on our collected dataset of 92,485 simplified programs with two heuristics: (1) simplified line localization that encodes lines changed in simplified programs, and (2)checkers that measure the quality of generated programs. Our evaluation shows that SimpT5 are more effective than prior approaches in automating developer-induced program simplification.
Deep Learning with Tabular Data: A Self-supervised Approach
Venue: arXiv cs.LG 2024
Year: 2024

We have described a novel approach for training tabular data using the TabTransformer model with self-supervised learning. Traditional machine learning models for tabular data, such as GBDT are being widely used though our paper examines the effectiveness of the TabTransformer which is a Transformer based model optimised specifically for tabular data. The TabTransformer captures intricate relationships and dependencies among features in tabular data by leveraging the self-attention mechanism of Transformers. We have used a self-supervised learning approach in this study, where the TabTransformer learns from unlabelled data by creating surrogate supervised tasks, eliminating the need for the labelled data. The aim is to find the most effective TabTransformer model representation of categorical and numerical features. To address the challenges faced during the construction of various input settings into the Transformers. Furthermore, a comparative analysis is also been conducted to examine performance of the TabTransformer model against baseline models such as MLP and supervised TabTransformer. The research has presented with a novel approach by creating various variants of TabTransformer model namely, Binned-TT, Vanilla-MLP-TT, MLP- based-TT which has helped to increase the effective capturing of the underlying relationship between various features of the tabular dataset by constructing optimal inputs. And further we have employed a self-supervised learning approach in the form of a masking-based unsupervised setting for tabular data. The findings shed light on the best way to represent categorical and numerical features, emphasizing the TabTransormer performance when compared to established machine learning models and other self-supervised learning methods.
Ransomware threat mitigation through network traffic analysis and machine learning techniques
Venue: arXiv cs.CR 2024
Year: 2024

In recent years, there has been a noticeable increase in cyberattacks using ransomware. Attackers use this malicious software to break into networks and harm computer systems. This has caused significant and lasting damage to various organizations, including government, private companies, and regular users. These attacks often lead to the loss or exposure of sensitive information, disruptions in normal operations, and persistent vulnerabilities. This paper focuses on a method for recognizing and identifying ransomware in computer networks. The approach relies on using machine learning algorithms and analyzing the patterns of network traffic. By collecting and studying this traffic, and then applying machine learning models, we can accurately identify and detect ransomware. The results of implementing this method show that machine learning algorithms can effectively pinpoint ransomware based on network traffic, achieving high levels of precision and accuracy.
SkipViT: Speeding Up Vision Transformers with a Token-Level Skip Connection
Venue: arXiv cs.CV 2024
Year: 2024

Vision transformers are known to be more computationally and data-intensive than CNN models. These transformer models such as ViT, require all the input image tokens to learn the relationship among them. However, many of these tokens are not informative and may contain irrelevant information such as unrelated background or unimportant scenery. These tokens are overlooked by the multi-head self-attention (MHSA), resulting in many redundant and unnecessary computations in MHSA and the feed-forward network (FFN). In this work, we propose a method to optimize the amount of unnecessary interactions between unimportant tokens by separating and sending them through a different low-cost computational path. Our method does not add any parameters to the ViT model and aims to find the best trade-off between training throughput and achieving a 0% loss in the Top-1 accuracy of the final model. Our experimental results on training ViT-small from scratch show that SkipViT is capable of effectively dropping 55% of the tokens while gaining more than 13% training throughput and maintaining classification accuracy at the level of the baseline model on Huawei Ascend910A.