OpenRaiser/Intern-Atlas huggingface dataset:
Adjacency-hopping de Bruijn Sequences for Non-repetitive Coding
Venue: arXiv cs.IT 2023
Year: 2023

A special type of cyclic sequences named adjacency-hopping de Bruijn sequences is introduced in this paper. It is theoretically proved the existence of such sequences, and the number of such sequences is derived. These sequences guarantee that all neighboring codes are different while retaining the uniqueness of subsequences, which is a significant characteristic of original de Bruijn sequences in coding and matching. At last, the adjacency-hopping de Bruijn sequences are applied to structured light coding, and a color fringe pattern coded by such a sequence is presented. In summary, the proposed sequences demonstrate significant advantages in structured light coding by virtue of the uniqueness of subsequences and the adjacency-hopping characteristic, and show potential for extension to other fields with similar requirements of non-repetitive coding and efficient matching.
Knowledge Distillation Layer that Lets the Student Decide
Venue: arXiv cs.CV 2023
Year: 2023

Typical technique in knowledge distillation (KD) is regularizing the learning of a limited capacity model (student) by pushing its responses to match a powerful model's (teacher). Albeit useful especially in the penultimate layer and beyond, its action on student's feature transform is rather implicit, limiting its practice in the intermediate layers. To explicitly embed the teacher's knowledge in feature transform, we propose a learnable KD layer for the student which improves KD with two distinct abilities: i) learning how to leverage the teacher's knowledge, enabling to discard nuisance information, and ii) feeding forward the transferred knowledge deeper. Thus, the student enjoys the teacher's knowledge during the inference besides training. Formally, we repurpose 1x1-BN-ReLU-1x1 convolution block to assign a semantic vector to each local region according to the template (supervised by the teacher) that the corresponding region of the student matches. To facilitate template learning in the intermediate layers, we propose a novel form of supervision based on the teacher's decisions. Through rigorous experimentation, we demonstrate the effectiveness of our approach on 3 popular classification benchmarks. Code is available at: https://github.com/adagorgun/letKD-framework
Data Embroidery with Black-and-White Textures
Venue: arXiv cs.HC 2023
Year: 2023

We investigated data embroidery with black-and-white textures, identifying challenges in the use of textures for machine embroidery based on our own experience. Data embroidery, as a method of physically representing data, offers a unique way to integrate personal data into one's everyday fabric-based objects. Owing to their monochromatic characteristics, black-and-white textures promise to be easy to employ in machine embroidery. We experimented with different textured visualizations designed by experts and, in this paper, we detail our workflow and evaluate the performance and suitability of different textures. We then conducted a survey on vegetable preferences within a family and created a canvas bag as a case study, featuring the embroidered family data to show how embroidered data can be used in practice.
Can empathy affect the attribution of mental states to robots?
Venue: arXiv cs.RO 2023
Year: 2023

This paper presents an experimental study showing that the humanoid robot NAO, in a condition already validated with regards to its capacity to trigger situational empathy in humans, is able to stimulate the attribution of mental states towards itself. Indeed, results show that participants not only experienced empathy towards NAO, when the robot was afraid of losing its memory due to a malfunction, but they also attributed higher scores to the robot emotional intelligence in the Attribution of Mental State Questionnaire, in comparison with the users in the control condition. This result suggests a possible correlation between empathy toward the robot and humans' attribution of mental states to it.
Towards Efficient Training with Negative Samples in Visual Tracking
Venue: arXiv cs.CV 2023
Year: 2023

Current state-of-the-art (SOTA) methods in visual object tracking often require extensive computational resources and vast amounts of training data, leading to a risk of overfitting. This study introduces a more efficient training strategy to mitigate overfitting and reduce computational requirements. We balance the training process with a mix of negative and positive samples from the outset, named as Joint learning with Negative samples (JN). Negative samples refer to scenarios where the object from the template is not present in the search region, which helps to prevent the model from simply memorizing the target, and instead encourages it to use the template for object location. To handle the negative samples effectively, we adopt a distribution-based head, which modeling the bounding box as distribution of distances to express uncertainty about the target's location in the presence of negative samples, offering an efficient way to manage the mixed sample training. Furthermore, our approach introduces a target-indicating token. It encapsulates the target's precise location within the template image. This method provides exact boundary details with negligible computational cost but improving performance. Our model, JN-256, exhibits superior performance on challenging benchmarks, achieving 75.8% AO on GOT-10k and 84.1% AUC on TrackingNet. Notably, JN-256 outperforms previous SOTA trackers that utilize larger models and higher input resolutions, even though it is trained with only half the number of data sampled used in those works.
Leave no Place Behind: Improved Geolocation in Humanitarian Documents
Venue: arXiv cs.CL 2023
Year: 2023

Geographical location is a crucial element of humanitarian response, outlining vulnerable populations, ongoing events, and available resources. Latest developments in Natural Language Processing may help in extracting vital information from the deluge of reports and documents produced by the humanitarian sector. However, the performance and biases of existing state-of-the-art information extraction tools are unknown. In this work, we develop annotated resources to fine-tune the popular Named Entity Recognition (NER) tools Spacy and roBERTa to perform geotagging of humanitarian texts. We then propose a geocoding method FeatureRank which links the candidate locations to the GeoNames database. We find that not only does the humanitarian-domain data improves the performance of the classifiers (up to F1 = 0.92), but it also alleviates some of the bias of the existing tools, which erroneously favor locations in the Western countries. Thus, we conclude that more resources from non-Western documents are necessary to ensure that off-the-shelf NER systems are suitable for the deployment in the humanitarian sector.
Feeding the Coffee Habit: A Longitudinal Study of a Robo-Barista
Venue: arXiv cs.RO 2023
Year: 2023

Studying Human-Robot Interaction over time can provide insights into what really happens when a robot becomes part of people's everyday lives. "In the Wild" studies inform the design of social robots, such as for the service industry, to enable them to remain engaging and useful beyond the novelty effect and initial adoption. This paper presents an "In the Wild" experiment where we explored the evolution of interaction between users and a Robo-Barista. We show that perceived trust and prior attitudes are both important factors associated with the usefulness, adaptability and likeability of the Robo-Barista. A combination of interaction features and user attributes are used to predict user satisfaction. Qualitative insights illuminated users' Robo-Barista experience and contribute to a number of lessons learned for future long-term studies.
Natural and Robust Walking using Reinforcement Learning without Demonstrations in High-Dimensional Musculoskeletal Models
Venue: arXiv cs.RO 2023
Year: 2023

Humans excel at robust bipedal walking in complex natural environments. In each step, they adequately tune the interaction of biomechanical muscle dynamics and neuronal signals to be robust against uncertainties in ground conditions. However, it is still not fully understood how the nervous system resolves the musculoskeletal redundancy to solve the multi-objective control problem considering stability, robustness, and energy efficiency. In computer simulations, energy minimization has been shown to be a successful optimization target, reproducing natural walking with trajectory optimization or reflex-based control methods. However, these methods focus on particular motions at a time and the resulting controllers are limited when compensating for perturbations. In robotics, reinforcement learning~(RL) methods recently achieved highly stable (and efficient) locomotion on quadruped systems, but the generation of human-like walking with bipedal biomechanical models has required extensive use of expert data sets. This strong reliance on demonstrations often results in brittle policies and limits the application to new behaviors, especially considering the potential variety of movements for high-dimensional musculoskeletal models in 3D. Achieving natural locomotion with RL without sacrificing its incredible robustness might pave the way for a novel approach to studying human walking in complex natural environments. Videos: https://sites.google.com/view/naturalwalkingrl
MCM: Multi-condition Motion Synthesis Framework for Multi-scenario
Venue: arXiv cs.CV 2023
Year: 2023

The objective of the multi-condition human motion synthesis task is to incorporate diverse conditional inputs, encompassing various forms like text, music, speech, and more. This endows the task with the capability to adapt across multiple scenarios, ranging from text-to-motion and music-to-dance, among others. While existing research has primarily focused on single conditions, the multi-condition human motion generation remains underexplored. In this paper, we address these challenges by introducing MCM, a novel paradigm for motion synthesis that spans multiple scenarios under diverse conditions. The MCM framework is able to integrate with any DDPM-like diffusion model to accommodate multi-conditional information input while preserving its generative capabilities. Specifically, MCM employs two-branch architecture consisting of a main branch and a control branch. The control branch shares the same structure as the main branch and is initialized with the parameters of the main branch, effectively maintaining the generation ability of the main branch and supporting multi-condition input. We also introduce a Transformer-based diffusion model MWNet (DDPM-like) as our main branch that can capture the spatial complexity and inter-joint correlations in motion sequences through a channel-dimension self-attention module. Quantitative comparisons demonstrate that our approach achieves SoTA results in both text-to-motion and competitive results in music-to-dance tasks, comparable to task-specific methods. Furthermore, the qualitative evaluation shows that MCM not only streamlines the adaptation of methodologies originally designed for text-to-motion tasks to domains like music-to-dance and speech-to-gesture, eliminating the need for extensive network re-configurations but also enables effective multi-condition modal control, realizing "once trained is motion need".
A Multimodal Analysis of Influencer Content on Twitter
Venue: arXiv cs.CL 2023
Year: 2023

Influencer marketing involves a wide range of strategies in which brands collaborate with popular content creators (i.e., influencers) to leverage their reach, trust, and impact on their audience to promote and endorse products or services. Because followers of influencers are more likely to buy a product after receiving an authentic product endorsement rather than an explicit direct product promotion, the line between personal opinions and commercial content promotion is frequently blurred. This makes automatic detection of regulatory compliance breaches related to influencer advertising (e.g., misleading advertising or hidden sponsorships) particularly difficult. In this work, we (1) introduce a new Twitter (now X) dataset consisting of 15,998 influencer posts mapped into commercial and non-commercial categories for assisting in the automatic detection of commercial influencer content; (2) experiment with an extensive set of predictive models that combine text and visual information showing that our proposed cross-attention approach outperforms state-of-the-art multimodal models; and (3) conduct a thorough analysis of strengths and limitations of our models. We show that multimodal modeling is useful for identifying commercial posts, reducing the amount of false positives, and capturing relevant context that aids in the discovery of undisclosed commercial posts.
Character Queries: A Transformer-based Approach to On-Line Handwritten Character Segmentation
Venue: arXiv cs.CV 2023
Year: 2023

On-line handwritten character segmentation is often associated with handwriting recognition and even though recognition models include mechanisms to locate relevant positions during the recognition process, it is typically insufficient to produce a precise segmentation. Decoupling the segmentation from the recognition unlocks the potential to further utilize the result of the recognition. We specifically focus on the scenario where the transcription is known beforehand, in which case the character segmentation becomes an assignment problem between sampling points of the stylus trajectory and characters in the text. Inspired by the $k$-means clustering algorithm, we view it from the perspective of cluster assignment and present a Transformer-based architecture where each cluster is formed based on a learned character query in the Transformer decoder block. In order to assess the quality of our approach, we create character segmentation ground truths for two popular on-line handwriting datasets, IAM-OnDB and HANDS-VNOnDB, and evaluate multiple methods on them, demonstrating that our approach achieves the overall best results.
Serving Time: Real-Time, Safe Motion Planning and Control for Manipulation of Unsecured Objects
Venue: arXiv cs.RO 2023
Year: 2023

A key challenge to ensuring the rapid transition of robotic systems from the industrial sector to more ubiquitous applications is the development of algorithms that can guarantee safe operation while in close proximity to humans. Motion planning and control methods, for instance, must be able to certify safety while operating in real-time in arbitrary environments and in the presence of model uncertainty. This paper proposes Wrench Analysis for Inertial Transport using Reachability (WAITR), a certifiably safe motion planning and control framework for serial link manipulators that manipulate unsecured objects in arbitrary environments. WAITR uses reachability analysis to construct over-approximations of the contact wrench applied to unsecured objects, which captures uncertainty in the manipulator dynamics, the object dynamics, and contact parameters such as the coefficient of friction. An optimization problem formulation is presented that can be solved in real-time to generate provably-safe motions for manipulating the unsecured objects. This paper illustrates that WAITR outperforms state of the art methods in a variety of simulation experiments and demonstrates its performance in the real-world.
Blink: Link Local Differential Privacy in Graph Neural Networks via Bayesian Estimation
Venue: arXiv cs.LG 2023
Year: 2023

Graph neural networks (GNNs) have gained an increasing amount of popularity due to their superior capability in learning node embeddings for various graph inference tasks, but training them can raise privacy concerns. To address this, we propose using link local differential privacy over decentralized nodes, enabling collaboration with an untrusted server to train GNNs without revealing the existence of any link. Our approach spends the privacy budget separately on links and degrees of the graph for the server to better denoise the graph topology using Bayesian estimation, alleviating the negative impact of LDP on the accuracy of the trained GNNs. We bound the mean absolute error of the inferred link probabilities against the ground truth graph topology. We then propose two variants of our LDP mechanism complementing each other in different privacy settings, one of which estimates fewer links under lower privacy budgets to avoid false positive link estimates when the uncertainty is high, while the other utilizes more information and performs better given relatively higher privacy budgets. Furthermore, we propose a hybrid variant that combines both strategies and is able to perform better across different privacy budgets. Extensive experiments show that our approach outperforms existing methods in terms of accuracy under varying privacy budgets.
A 9 Transistor SRAM Featuring Array-level XOR Parallelism with Secure Data Toggling Operation
Venue: arXiv cs.AR 2023
Year: 2023

Security and energy-efficiency are critical for computing applications in general and for edge applications in particular. Digital in-Memory Computing (IMC) in SRAM cells have widely been studied to accelerate inference tasks to maximize both throughput and energy efficiency for intelligent computing at the edge. XOR operations have been of particular interest due to their wide applicability in numerous applications that include binary neural networks and encryption. However, existing IMC circuits for XOR acceleration are limited to two rows in a memory array and extending the XOR parallelism to multiple rows in an SRAM array has remained elusive. Further, SRAM is prone to both data imprinting and data remanence security issues, which poses limitations on security . Based on commerical Globalfoundries 22nm mode, we are proposing a novel 9T SRAM cell such that multiple rows of data (entire array) can be XORed in a massively parallel single cycle fashion. The new cell also supports data-toggling within the SRAM cell efficiently to circumvent imprinting attacks and erase the SRAM value in case of remanence attack.
Explainable and Trustworthy Traffic Sign Detection for Safe Autonomous Driving: An Inductive Logic Programming Approach
Venue: arXiv cs.AI 2023
Year: 2023

Traffic sign detection is a critical task in the operation of Autonomous Vehicles (AV), as it ensures the safety of all road users. Current DNN-based sign classification systems rely on pixel-level features to detect traffic signs and can be susceptible to adversarial attacks. These attacks involve small, imperceptible changes to a sign that can cause traditional classifiers to misidentify the sign. We propose an Inductive Logic Programming (ILP) based approach for stop sign detection in AVs to address this issue. This method utilises high-level features of a sign, such as its shape, colour, and text, to detect categories of traffic signs. This approach is more robust against adversarial attacks, as it mimics human-like perception and is less susceptible to the limitations of current DNN classifiers. We consider two adversarial attacking methods to evaluate our approach: Robust Physical Perturbation (PR2) and Adversarial Camouflage (AdvCam). These attacks are able to deceive DNN classifiers, causing them to misidentify stop signs as other signs with high confidence. The results show that the proposed ILP-based technique is able to correctly identify all targeted stop signs, even in the presence of PR2 and ADvCam attacks. The proposed learning method is also efficient as it requires minimal training data. Moreover, it is fully explainable, making it possible to debug AVs.
Algebraic Models for Qualified Aggregation in General Rough Sets, and Reasoning Bias Discovery
Venue: arXiv cs.AI 2023
Year: 2023

In the context of general rough sets, the act of combining two things to form another is not straightforward. The situation is similar for other theories that concern uncertainty and vagueness. Such acts can be endowed with additional meaning that go beyond structural conjunction and disjunction as in the theory of $*$-norms and associated implications over $L$-fuzzy sets. In the present research, algebraic models of acts of combining things in generalized rough sets over lattices with approximation operators (called rough convenience lattices) is invented. The investigation is strongly motivated by the desire to model skeptical or pessimistic, and optimistic or possibilistic aggregation in human reasoning, and the choice of operations is constrained by the perspective. Fundamental results on the weak negations and implications afforded by the minimal models are proved. In addition, the model is suitable for the study of discriminatory/toxic behavior in human reasoning, and of ML algorithms learning such behavior.
Scale-Score: Food Label to Support Nutritious and Sustainable Online Grocery Shopping
Venue: arXiv cs.HC 2023
Year: 2023

To empower online grocery shoppers in making nutritionally and environmentally informed decisions, we investigate the efficacy of the Scale-Score, a label combining nutritional and environmental information to highlight a product's benefit to both the consumer's and the planet's health, without obscuring either information. We conducted an experimental study in a mock online grocery environment, and assessed label efficacy. We find that the Scale-Score supports nutritious purchases, yet needs improving regarding sustainability support. Our research shows first insights into design considerations and performance of a combined yet disjoint food label.
GPT Can Solve Mathematical Problems Without a Calculator
Venue: arXiv cs.LG 2023
Year: 2023

Previous studies have typically assumed that large language models are unable to accurately perform arithmetic operations, particularly multiplication of >8 digits, and operations involving decimals and fractions, without the use of calculator tools. This paper aims to challenge this misconception. With sufficient training data, a 2 billion-parameter language model can accurately perform multi-digit arithmetic operations with almost 100% accuracy without data leakage, significantly surpassing GPT-4 (whose multi-digit multiplication accuracy is only 4.3%). We also demonstrate that our MathGLM, fine-tuned from GLM-10B on a dataset with additional multi-step arithmetic operations and math problems described in text, achieves similar performance to GPT-4 on a 5,000-samples Chinese math problem test set. Our code and data are public at https://github.com/THUDM/MathGLM.
Testing properties of distributions in the streaming model
Venue: arXiv cs.DS 2023
Year: 2023

We study distribution testing in the standard access model and the conditional access model when the memory available to the testing algorithm is bounded. In both scenarios, the samples appear in an online fashion and the goal is to test the properties of distribution using an optimal number of samples subject to a memory constraint on how many samples can be stored at a given time. First, we provide a trade-off between the sample complexity and the space complexity for testing identity when the samples are drawn according to the conditional access oracle. We then show that we can learn a succinct representation of a monotone distribution efficiently with a memory constraint on the number of samples that are stored that is almost optimal. We also show that the algorithm for monotone distributions can be extended to a larger class of decomposable distributions.