OpenRaiser/Intern-Atlas huggingface dataset:
Software Engineering for OpenHarmony: A Research Roadmap
Venue: arXiv cs.SE 2023
Year: 2023

Mobile software engineering has been a hot research topic for decades. Our fellow researchers have proposed various approaches (with over 7,000 publications for Android alone) in this field that essentially contributed to the great success of the current mobile ecosystem. Existing research efforts mainly focus on popular mobile platforms, namely Android and iOS. OpenHarmony, a newly open-sourced mobile platform, has rarely been considered, although it is the one requiring the most attention as OpenHarmony is expected to occupy one-third of the market in China (if not in the world). To fill the gap, we present to the mobile software engineering community a research roadmap for encouraging our fellow researchers to contribute promising approaches to OpenHarmony. Specifically, we start by presenting a literature review of mobile software engineering, attempting to understand what problems have been targeted by the mobile community and how they have been resolved. We then summarize the existing (limited) achievements of OpenHarmony and subsequently highlight the research gap between Android/iOS and OpenHarmony. This research gap eventually helps in forming the roadmap for conducting software engineering research for OpenHarmony.
Server-side Rescoring of Spoken Entity-centric Knowledge Queries for Virtual Assistants
Venue: arXiv cs.CL 2023
Year: 2023

On-device Virtual Assistants (VAs) powered by Automatic Speech Recognition (ASR) require effective knowledge integration for the challenging entity-rich query recognition. In this paper, we conduct an empirical study of modeling strategies for server-side rescoring of spoken information domain queries using various categories of Language Models (LMs) (N-gram word LMs, sub-word neural LMs). We investigate the combination of on-device and server-side signals, and demonstrate significant WER improvements of 23%-35% on various entity-centric query subpopulations by integrating various server-side LMs compared to performing ASR on-device only. We also perform a comparison between LMs trained on domain data and a GPT-3 variant offered by OpenAI as a baseline. Furthermore, we also show that model fusion of multiple server-side LMs trained from scratch most effectively combines complementary strengths of each model and integrates knowledge learned from domain-specific data to a VA ASR system.
Adv3D: Generating Safety-Critical 3D Objects through Closed-Loop Simulation
Venue: arXiv cs.RO 2023
Year: 2023

Self-driving vehicles (SDVs) must be rigorously tested on a wide range of scenarios to ensure safe deployment. The industry typically relies on closed-loop simulation to evaluate how the SDV interacts on a corpus of synthetic and real scenarios and verify it performs properly. However, they primarily only test the system's motion planning module, and only consider behavior variations. It is key to evaluate the full autonomy system in closed-loop, and to understand how variations in sensor data based on scene appearance, such as the shape of actors, affect system performance. In this paper, we propose a framework, Adv3D, that takes real world scenarios and performs closed-loop sensor simulation to evaluate autonomy performance, and finds vehicle shapes that make the scenario more challenging, resulting in autonomy failures and uncomfortable SDV maneuvers. Unlike prior works that add contrived adversarial shapes to vehicle roof-tops or roadside to harm perception only, we optimize a low-dimensional shape representation to modify the vehicle shape itself in a realistic manner to degrade autonomy performance (e.g., perception, prediction, and motion planning). Moreover, we find that the shape variations found with Adv3D optimized in closed-loop are much more effective than those in open-loop, demonstrating the importance of finding scene appearance variations that affect autonomy in the interactive setting.
Conformal Policy Learning for Sensorimotor Control Under Distribution Shifts
Venue: arXiv cs.RO 2023
Year: 2023

This paper focuses on the problem of detecting and reacting to changes in the distribution of a sensorimotor controller's observables. The key idea is the design of switching policies that can take conformal quantiles as input, which we define as conformal policy learning, that allows robots to detect distribution shifts with formal statistical guarantees. We show how to design such policies by using conformal quantiles to switch between base policies with different characteristics, e.g. safety or speed, or directly augmenting a policy observation with a quantile and training it with reinforcement learning. Theoretically, we show that such policies achieve the formal convergence guarantees in finite time. In addition, we thoroughly evaluate their advantages and limitations on two compelling use cases: simulated autonomous driving and active perception with a physical quadruped. Empirical results demonstrate that our approach outperforms five baselines. It is also the simplest of the baseline strategies besides one ablation. Being easy to use, flexible, and with formal guarantees, our work demonstrates how conformal prediction can be an effective tool for sensorimotor learning under uncertainty.
Market Concentration Implications of Foundation Models
Venue: arXiv cs.AI 2023
Year: 2023

We analyze the structure of the market for foundation models, i.e., large AI models such as those that power ChatGPT and that are adaptable to downstream uses, and we examine the implications for competition policy and regulation. We observe that the most capable models will have a tendency towards natural monopoly and may have potentially vast markets. This calls for a two-pronged regulatory response: (i) Antitrust authorities need to ensure the contestability of the market by tackling strategic behavior, in particular by ensuring that monopolies do not propagate vertically to downstream uses, and (ii) given the diminished potential for market discipline, there is a role for regulators to ensure that the most capable models meet sufficient quality standards (including safety, privacy, non-discrimination, reliability and interoperability standards) to maximally contribute to social welfare. Regulators should also ensure a level regulatory playing field between AI and non-AI applications in all sectors of the economy. For models that are behind the frontier, we expect competition to be quite intense, implying a more limited role for competition policy, although a role for regulation remains.
Improving Fairness using Vision-Language Driven Image Augmentation
Venue: arXiv cs.CV 2023
Year: 2023

Fairness is crucial when training a deep-learning discriminative model, especially in the facial domain. Models tend to correlate specific characteristics (such as age and skin color) with unrelated attributes (downstream tasks), resulting in biases which do not correspond to reality. It is common knowledge that these correlations are present in the data and are then transferred to the models during training. This paper proposes a method to mitigate these correlations to improve fairness. To do so, we learn interpretable and meaningful paths lying in the semantic space of a pre-trained diffusion model (DiffAE) -- such paths being supervised by contrastive text dipoles. That is, we learn to edit protected characteristics (age and skin color). These paths are then applied to augment images to improve the fairness of a given dataset. We test the proposed method on CelebA-HQ and UTKFace on several downstream tasks with age and skin color as protected characteristics. As a proxy for fairness, we compute the difference in accuracy with respect to the protected characteristics. Quantitative results show how the augmented images help the model improve the overall accuracy, the aforementioned metric, and the disparity of equal opportunity. Code is available at: https://github.com/Moreno98/Vision-Language-Bias-Control.
A Statistical Guarantee for Representation Transfer in Multitask Imitation Learning
Venue: arXiv cs.LG 2023
Year: 2023

Transferring representation for multitask imitation learning has the potential to provide improved sample efficiency on learning new tasks, when compared to learning from scratch. In this work, we provide a statistical guarantee indicating that we can indeed achieve improved sample efficiency on the target task when a representation is trained using sufficiently diverse source tasks. Our theoretical results can be readily extended to account for commonly used neural network architectures with realistic assumptions. We conduct empirical analyses that align with our theoretical findings on four simulated environments$\unicode{x2014}$in particular leveraging more data from source tasks can improve sample efficiency on learning in the new task.
Vertical Decomposition in 3D and 4D with Applications to Line Nearest-Neighbor Searching in 3D
Venue: arXiv cs.CG 2023
Year: 2023

Vertical decomposition is a widely used general technique for decomposing the cells of arrangements of semi-algebraic sets in $d$-space into constant-complexity subcells. In this paper, we settle in the affirmative a few long-standing open problems involving the vertical decomposition of substructures of arrangements for $d=3,4$: (i) Let $\mathcal{S}$ be a collection of $n$ semi-algebraic sets of constant complexity in 3D, and let $U(m)$ be an upper bound on the complexity of the union $\mathcal{U}(\mathcal{S}')$ of any subset $\mathcal{S}'\subseteq \mathcal{S}$ of size at most $m$. We prove that the complexity of the vertical decomposition of the complement of $\mathcal{U}(\mathcal{S})$ is $O^*(n^2+U(n))$ (where the $O^*(\cdot)$ notation hides subpolynomial factors). We also show that the complexity of the vertical decomposition of the entire arrangement $\mathcal{A}(\mathcal{S})$ is $O^*(n^2+X)$, where $X$ is the number of vertices in $\mathcal{A}(\mathcal{S})$. (ii) Let $\mathcal{F}$ be a collection of $n$ trivariate functions whose graphs are semi-algebraic sets of constant complexity. We show that the complexity of the vertical decomposition of the portion of the arrangement $\mathcal{A}(\mathcal{F})$ in 4D lying below the lower envelope of $\mathcal{F}$ is $O^*(n^3)$. These results lead to efficient algorithms for a variety of problems involving these decompositions, including algorithms for constructing the decompositions themselves, and for constructing $(1/r)$-cuttings of substructures of arrangements of the kinds considered above. One additional algorithm of interest is for output-sensitive point enclosure queries amid semi-algebraic sets in three or four dimensions. In addition, as a main domain of applications, we study various proximity problems involving points and lines in 3D.
Keypoint Description by Symmetry Assessment -- Applications in Biometrics
Venue: arXiv cs.CV 2023
Year: 2023

We present a model-based feature extractor to describe neighborhoods around keypoints by finite expansion, estimating the spatially varying orientation by harmonic functions. The iso-curves of such functions are highly symmetric w.r.t. the origin (a keypoint) and the estimated parameters have well defined geometric interpretations. The origin is also a unique singularity of all harmonic functions, helping to determine the location of a keypoint precisely, whereas the functions describe the object shape of the neighborhood. This is novel and complementary to traditional texture features which describe texture-shape properties i.e. they are purposively invariant to translation (within a texture). We report on experiments of verification and identification of keypoints in forensic fingerprints by using publicly available data (NIST SD27) and discuss the results in comparison to other studies. These support our conclusions that the novel features can equip single cores or single minutia with a significant verification power at 19% EER, and an identification power of 24-78% for ranks of 1-20. Additionally, we report verification results of periocular biometrics using near-infrared images, reaching an EER performance of 13%, which is comparable to the state of the art. More importantly, fusion of two systems, our and texture features (Gabor), result in a measurable performance improvement. We report reduction of the EER to 9%, supporting the view that the novel features capture relevant visual information, which traditional texture features do not.
A Case for Sustainability and Environment Friendliness in Software Development and Architecture Decisions by Taking Energy-Efficient Design Decisions
Venue: arXiv cs.SE 2023
Year: 2023

IT power usage is a significant concern. Data center energy consumption is estimated to account for 1% to 1.5% of all energy consumption worldwide. Hardware designers, data center designers, and other members of the IT community have been working to improve energy efficiency across many parts of the IT infrastructure; however, little attention has been paid to the energy efficiency of software components. Indeed, energy efficiency is currently not a common performance criteria for software. In this work, we attempt to quantify the potential for gains in energy efficiency in software, based on a set of examples drawn from common, everyday decisions made by software developers and enterprise architects. Our results show that there is potential for significant energy savings through energy-conscious choices at software development and selection time, making the software and IT artifact sustainable and environment friendly.
CASE: Commonsense-Augmented Score with an Expanded Answer Space
Venue: arXiv cs.CL 2023
Year: 2023

LLMs have demonstrated impressive zero-shot performance on NLP tasks thanks to the knowledge they acquired in their training. In multiple-choice QA tasks, the LM probabilities are used as an imperfect measure of the plausibility of each answer choice. One of the major limitations of the basic score is that it treats all words as equally important. We propose CASE, a Commonsense-Augmented Score with an Expanded Answer Space. CASE addresses this limitation by assigning importance weights for individual words based on their semantic relations to other words in the input. The dynamic weighting approach outperforms basic LM scores, not only because it reduces noise from unimportant words, but also because it informs the model of implicit commonsense knowledge that may be useful for answering the question. We then also follow prior work in expanding the answer space by generating lexically-divergent answers that are conceptually-similar to the choices. When combined with answer space expansion, our method outperforms strong baselines on 5 commonsense benchmarks. We further show these two approaches are complementary and may be especially beneficial when using smaller LMs.
Enhancing Computer Science Education with Pair Programming and Problem Solving Studios
Venue: arXiv cs.CY 2023
Year: 2023

This study examines the adaptation of the problem-solving studio to computer science education by combining it with pair programming. Pair programming is a software engineering practice in industry, but has seen mixed results in the classroom. Recent research suggests that pair programming has promise and potential to be an effective pedagogical tool, however what constitutes good instructional design and implementation for pair programming in the classroom is not clear. We developed a framework for instructional design for pair programming by adapting the problem-solving studio (PSS), a pedagogy originally from biomedical engineering. PSS involves teams of students solving open-ended problems with real-time feedback given by the instructor. Notably, PSS uses problems of adjustable difficulty to keep students of all levels engaged and functioning within the zone of proximal development. The course structure has three stages, first starting with demonstration, followed by a PSS session, then finishing with a debrief. We studied the combination of PSS and pair programming in a CS1 class over three years. Surveys of the students report a high level of engagement, learning, and motivation.
Energy Efficiency Optimization for Subterranean LoRaWAN Using A Reinforcement Learning Approach: A Direct-to-Satellite Scenario
Venue: arXiv cs.IT 2023
Year: 2023

The integration of subterranean LoRaWAN and non-terrestrial networks (NTN) delivers substantial economic and societal benefits in remote agriculture and disaster rescue operations. The LoRa modulation leverages quasi-orthogonal spreading factors (SFs) to optimize data rates, airtime, coverage and energy consumption. However, it is still challenging to effectively assign SFs to end devices for minimizing co-SF interference in massive subterranean LoRaWAN NTN. To address this, we investigate a reinforcement learning (RL)-based SFs allocation scheme to optimize the system's energy efficiency (EE). To efficiently capture the device-to-environment interactions in dense networks, we proposed an SFs allocation technique using the multi-agent dueling double deep Q-network (MAD3QN) and the multi-agent advantage actor-critic (MAA2C) algorithms based on an analytical reward mechanism. Our proposed RL-based SFs allocation approach evinces better performance compared to four benchmarks in the extreme underground direct-to-satellite scenario. Remarkably, MAD3QN shows promising potentials in surpassing MAA2C in terms of convergence rate and EE.
inkn'hue: Enhancing Manga Colorization from Multiple Priors with Alignment Multi-Encoder VAE
Venue: arXiv cs.CV 2023
Year: 2023

Manga, a form of Japanese comics and distinct visual storytelling, has captivated readers worldwide. Traditionally presented in black and white, manga's appeal lies in its ability to convey complex narratives and emotions through intricate line art and shading. Yet, the desire to experience manga in vibrant colors has sparked the pursuit of manga colorization, a task of paramount significance for artists. However, existing methods, originally designed for line art and sketches, face challenges when applied to manga. These methods often fall short in achieving the desired results, leading to the need for specialized manga-specific solutions. Existing approaches frequently rely on a single training step or extensive manual artist intervention, which can yield less satisfactory outcomes. To address these challenges, we propose a specialized framework for manga colorization. Leveraging established models for shading and vibrant coloring, our approach aligns both using a multi-encoder VAE. This structured workflow ensures clear and colorful results, with the option to incorporate reference images and manual hints.
Mitigating Framing Bias with Polarity Minimization Loss
Venue: arXiv cs.CL 2023
Year: 2023

Framing bias plays a significant role in exacerbating political polarization by distorting the perception of actual events. Media outlets with divergent political stances often use polarized language in their reporting of the same event. We propose a new loss function that encourages the model to minimize the polarity difference between the polarized input articles to reduce framing bias. Specifically, our loss is designed to jointly optimize the model to map polarity ends bidirectionally. Our experimental results demonstrate that incorporating the proposed polarity minimization loss leads to a substantial reduction in framing bias when compared to a BART-based multi-document summarization model. Notably, we find that the effectiveness of this approach is most pronounced when the model is trained to minimize the polarity loss associated with informational framing bias (i.e., skewed selection of information to report).
Multi-LiDAR Localization and Mapping Pipeline for Urban Autonomous Driving
Venue: arXiv cs.RO 2023
Year: 2023

Autonomous vehicles require accurate and robust localization and mapping algorithms to navigate safely and reliably in urban environments. We present a novel sensor fusion-based pipeline for offline mapping and online localization based on LiDAR sensors. The proposed approach leverages four LiDAR sensors. Mapping and localization algorithms are based on the KISS-ICP, enabling real-time performance and high accuracy. We introduce an approach to generate semantic maps for driving tasks such as path planning. The presented pipeline is integrated into the ROS 2 based Autoware software stack, providing a robust and flexible environment for autonomous driving applications. We show that our pipeline outperforms state-of-the-art approaches for a given research vehicle and real-world autonomous driving application.
Mix-ME: Quality-Diversity for Multi-Agent Learning
Venue: arXiv cs.LG 2023
Year: 2023

In many real-world systems, such as adaptive robotics, achieving a single, optimised solution may be insufficient. Instead, a diverse set of high-performing solutions is often required to adapt to varying contexts and requirements. This is the realm of Quality-Diversity (QD), which aims to discover a collection of high-performing solutions, each with their own unique characteristics. QD methods have recently seen success in many domains, including robotics, where they have been used to discover damage-adaptive locomotion controllers. However, most existing work has focused on single-agent settings, despite many tasks of interest being multi-agent. To this end, we introduce Mix-ME, a novel multi-agent variant of the popular MAP-Elites algorithm that forms new solutions using a crossover-like operator by mixing together agents from different teams. We evaluate the proposed methods on a variety of partially observable continuous control tasks. Our evaluation shows that these multi-agent variants obtained by Mix-ME not only compete with single-agent baselines but also often outperform them in multi-agent settings under partial observability.
Adaptive Assistance with an Active and Soft Back-Support Exosuit to Unknown External Loads via Model-Based Estimates of Internal Lumbosacral Moments
Venue: arXiv cs.RO 2023
Year: 2023

State of the art controllers for back exoskeletons largely rely on body kinematics. This results in control strategies which cannot provide adaptive support under unknown external loads. We developed a neuromechanical model-based controller (NMBC) for a soft back exosuit, wherein assistive forces were proportional to the active component of lumbosacral joint moments, derived from real-time electromyography-driven models. The exosuit provided adaptive assistance forces with no a priori information on the external loading conditions. Across 10 participants, who stoop-lifted 5 and 15 kg boxes, our NMBC was compared to a non-adaptive virtual spring-based control(VSBC), in which exosuit forces were proportional to trunk inclination. Peak cable assistive forces were modulated across weight conditions for NMBC (5kg: 2.13 N/kg; 15kg: 2.82 N/kg) but not for VSBC (5kg: 1.92 N/kg; 15kg: 2.00 N/kg). The proposed NMBC strategy resulted in larger reduction of cumulative compression forces for 5 kg (NMBC: 18.2%; VSBC: 10.7%) and 15 kg conditions (NMBC: 21.3%; VSBC: 10.2%). Our proposed methodology may facilitate the adoption of non-hindering wearable robotics in real-life scenarios.
Efficient Black-Box Adversarial Attacks on Neural Text Detectors
Venue: arXiv cs.CL 2023
Year: 2023

Neural text detectors are models trained to detect whether a given text was generated by a language model or written by a human. In this paper, we investigate three simple and resource-efficient strategies (parameter tweaking, prompt engineering, and character-level mutations) to alter texts generated by GPT-3.5 that are unsuspicious or unnoticeable for humans but cause misclassification by neural text detectors. The results show that especially parameter tweaking and character-level mutations are effective strategies.