OpenRaiser/Intern-Atlas huggingface dataset:
OrbitGrasp: $SE(3)$-Equivariant Grasp Learning
Venue: arXiv cs.RO 2024
Year: 2024

While grasp detection is an important part of any robotic manipulation pipeline, reliable and accurate grasp detection in $SE(3)$ remains a research challenge. Many robotics applications in unstructured environments such as the home or warehouse would benefit a lot from better grasp performance. This paper proposes a novel framework for detecting $SE(3)$ grasp poses based on point cloud input. Our main contribution is to propose an $SE(3)$-equivariant model that maps each point in the cloud to a continuous grasp quality function over the 2-sphere $S^2$ using spherical harmonic basis functions. Compared with reasoning about a finite set of samples, this formulation improves the accuracy and efficiency of our model when a large number of samples would otherwise be needed. In order to accomplish this, we propose a novel variation on EquiFormerV2 that leverages a UNet-style encoder-decoder architecture to enlarge the number of points the model can handle. Our resulting method, which we name $\textit{OrbitGrasp}$, significantly outperforms baselines in both simulation and physical experiments.
Social Bias in Large Language Models For Bangla: An Empirical Study on Gender and Religious Bias
Venue: arXiv cs.CL 2024
Year: 2024

The rapid growth of Large Language Models (LLMs) has put forward the study of biases as a crucial field. It is important to assess the influence of different types of biases embedded in LLMs to ensure fair use in sensitive fields. Although there have been extensive works on bias assessment in English, such efforts are rare and scarce for a major language like Bangla. In this work, we examine two types of social biases in LLM generated outputs for Bangla language. Our main contributions in this work are: (1) bias studies on two different social biases for Bangla, (2) a curated dataset for bias measurement benchmarking and (3) testing two different probing techniques for bias detection in the context of Bangla. This is the first work of such kind involving bias assessment of LLMs for Bangla to the best of our knowledge. All our code and resources are publicly available for the progress of bias related research in Bangla NLP.
Weighted basic parallel processes and combinatorial enumeration
Venue: arXiv cs.FL 2024
Year: 2024

We study weighted basic parallel processes (WBPP), a nonlinear recursive generalisation of weighted finite automata inspired from process algebra and Petri net theory. Our main result is an algorithm of 2-EXPSPACE complexity for the WBPP equivalence problem. While (unweighted) BPP language equivalence is undecidable, we can use this algorithm to decide multiplicity equivalence of BPP and language equivalence of unambiguous BPP, with the same complexity. These are long-standing open problems for the related model of weighted context-free grammars. Our second contribution is a connection between WBPP, power series solutions of systems of polynomial differential equations, and combinatorial enumeration. To this end we consider constructible differentially finite power series (CDF), a class of multivariate differentially algebraic series introduced by Bergeron and Reutenauer in order to provide a combinatorial interpretation to differential equations. CDF series generalise rational, algebraic, and a large class of D-finite (holonomic) series, for which decidability of equivalence was an open problem. We show that CDF series correspond to commutative WBPP series. As a consequence of our result on WBPP and commutativity, we show that equivalence of CDF power series can be decided with 2-EXPTIME complexity. The complexity analysis is based on effective bounds from algebraic geometry, namely on the length of chains of polynomial ideals constructed by repeated application of finitely many, not necessarily commuting derivations of a multivariate polynomial ring. This is obtained by generalising a result of Novikov and Yakovenko in the case of a single derivation, which is noteworthy since generic bounds on ideal chains are non-primitive recursive in general. On the way, we develop the theory of \WBPP~series and \CDF~power series, exposing several of their appealing properties.
On-Device Training Empowered Transfer Learning For Human Activity Recognition
Venue: arXiv cs.HC 2024
Year: 2024

Human Activity Recognition (HAR) is an attractive topic to perceive human behavior and supplying assistive services. Besides the classical inertial unit and vision-based HAR methods, new sensing technologies, such as ultrasound and body-area electric fields, have emerged in HAR to enhance user experience and accommodate new application scenarios. As those sensors are often paired with AI for HAR, they frequently encounter challenges due to limited training data compared to the more widely IMU or vision-based HAR solutions. Additionally, user-induced concept drift (UICD) is common in such HAR scenarios. UICD is characterized by deviations in the sample distribution of new users from that of the training participants, leading to deteriorated recognition performance. This paper proposes an on-device transfer learning (ODTL) scheme tailored for energy- and resource-constrained IoT edge devices. Optimized on-device training engines are developed for two representative MCU-level edge computing platforms: STM32F756ZG and GAP9. Based on this, we evaluated the ODTL benefits in three HAR scenarios: body capacitance-based gym activity recognition, QVAR- and ultrasonic-based hand gesture recognition. We demonstrated an improvement of 3.73%, 17.38%, and 3.70% in the activity recognition accuracy, respectively. Besides this, we observed that the RISC-V-based GAP9 achieves 20x and 280x less latency and power consumption than STM32F7 MCU during the ODTL deployment, demonstrating the advantages of employing the latest low-power parallel computing devices for edge tasks.
Evaluating Language Model Context Windows: A "Working Memory" Test and Inference-time Correction
Venue: arXiv cs.CL 2024
Year: 2024

Large language models are prominently used in real-world applications, often tasked with reasoning over large volumes of documents. An exciting development in this space is models boasting extended context capabilities, with some accommodating over 2 million tokens. Such long context model capabilities remain uncertain in production systems, motivating the need to benchmark their performance on real world use cases. We address this challenge by proposing SWiM, an evaluation framework that addresses the limitations of standard tests. Testing the framework on eight long context models, we find that even strong models such as GPT-4 and Claude 3 Opus degrade in performance when information is present in the middle of the context window (lost-in-the-middle effect). Next, in addition to our benchmark, we propose medoid voting, a simple, but effective training-free approach that helps alleviate this effect, by generating responses a few times, each time randomly permuting documents in the context, and selecting the medoid answer. We evaluate medoid voting on single document QA tasks, achieving up to a 24% lift in accuracy. Our code is available at https://github.com/snorkel-ai/long-context-eval.
Heterogeneous Hypergraph Embedding for Recommendation Systems
Venue: arXiv cs.IR 2024
Year: 2024

Recent advancements in recommender systems have focused on integrating knowledge graphs (KGs) to leverage their auxiliary information. The core idea of KG-enhanced recommenders is to incorporate rich semantic information for more accurate recommendations. However, two main challenges persist: i) Neglecting complex higher-order interactions in the KG-based user-item network, potentially leading to sub-optimal recommendations, and ii) Dealing with the heterogeneous modalities of input sources, such as user-item bipartite graphs and KGs, which may introduce noise and inaccuracies. To address these issues, we present a novel Knowledge-enhanced Heterogeneous Hypergraph Recommender System (KHGRec). KHGRec captures group-wise characteristics of both the interaction network and the KG, modeling complex connections in the KG. Using a collaborative knowledge heterogeneous hypergraph (CKHG), it employs two hypergraph encoders to model group-wise interdependencies and ensure explainability. Additionally, it fuses signals from the input graphs with cross-view self-supervised learning and attention mechanisms. Extensive experiments on four real-world datasets show our model's superiority over various state-of-the-art baselines, with an average 5.18\% relative improvement. Additional tests on noise resilience, missing data, and cold-start problems demonstrate the robustness of our KHGRec framework. Our model and evaluation datasets are publicly available at \url{https://github.com/viethungvu1998/KHGRec}.
A Survey of Data Synthesis Approaches
Venue: arXiv cs.LG 2024
Year: 2024

This paper provides a detailed survey of synthetic data techniques. We first discuss the expected goals of using synthetic data in data augmentation, which can be divided into four parts: 1) Improving Diversity, 2) Data Balancing, 3) Addressing Domain Shift, and 4) Resolving Edge Cases. Synthesizing data are closely related to the prevailing machine learning techniques at the time, therefore, we summarize the domain of synthetic data techniques into four categories: 1) Expert-knowledge, 2) Direct Training, 3) Pre-train then Fine-tune, and 4) Foundation Models without Fine-tuning. Next, we categorize the goals of synthetic data filtering into four types for discussion: 1) Basic Quality, 2) Label Consistency, and 3) Data Distribution. In section 5 of this paper, we also discuss the future directions of synthetic data and state three direction that we believe is important: 1) focus more on quality, 2) the evaluation of synthetic data, and 3) multi-model data augmentation.
DEVS/SOA: A Cross-Platform Framework for Net-centric Modeling and Simulation in DEVS Unified Process
Venue: arXiv cs.DC 2024
Year: 2024

Discrete EVent Specification (DEVS) environments are known to be implemented over middleware systems such as HLA, RMI, CORBA and others. DEVS exhibits concepts of systems theory and modeling and supports capturing the system behavior from the physical and behavioral perspectives. Further, they are implemented using Object-oriented languages like Java and C++. This research work uses the Java platform to implement DEVS over a Service Oriented Architecture (SOA) framework. Called the DEVS/SOA, the framework supports a development and testing environment known as DEVS Unified Process that is built on a model-continuity-based life cycle methodology. DEVS Unified Process allows DEVS-based Modeling and Simulation (M&S) over net-centric platforms using DEVS/SOA. This framework also provides the crucial feature of run-time composability of coupled systems using SOA. We describe the architecture and designs of the both the server and the client. The client application communicates with multiple servers hosting DEVS simulation services. These Simulation services are developed using the proposed symmetrical services architecture wherein the server can act as both a service provider and a service consumer contrary to the unidirectional client-server paradigm. We also discuss how this Services based architecture provides solutions for cross-platform distributed M&S. We demonstrate DEVS/SOA framework with a scenario of Joint Close Air Support specified in Business Process Modeling Notation (BPMN). We also provide a real-world application of Network health monitoring using DEVS/SOA layered architectural framework.
Relative Difficulty Distillation for Semantic Segmentation
Venue: arXiv cs.CV 2024
Year: 2024

Current knowledge distillation (KD) methods primarily focus on transferring various structured knowledge and designing corresponding optimization goals to encourage the student network to imitate the output of the teacher network. However, introducing too many additional optimization objectives may lead to unstable training, such as gradient conflicts. Moreover, these methods ignored the guidelines of relative learning difficulty between the teacher and student networks. Inspired by human cognitive science, in this paper, we redefine knowledge from a new perspective -- the student and teacher networks' relative difficulty of samples, and propose a pixel-level KD paradigm for semantic segmentation named Relative Difficulty Distillation (RDD). We propose a two-stage RDD framework: Teacher-Full Evaluated RDD (TFE-RDD) and Teacher-Student Evaluated RDD (TSE-RDD). RDD allows the teacher network to provide effective guidance on learning focus without additional optimization goals, thus avoiding adjusting learning weights for multiple losses. Extensive experimental evaluations using a general distillation loss function on popular datasets such as Cityscapes, CamVid, Pascal VOC, and ADE20k demonstrate the effectiveness of RDD against state-of-the-art KD methods. Additionally, our research showcases that RDD can integrate with existing KD methods to improve their upper performance bound.
Charging Ahead: A Hierarchical Adversarial Framework for Counteracting Advanced Cyber Threats in EV Charging Stations
Venue: arXiv cs.CR 2024
Year: 2024

The increasing popularity of electric vehicles (EVs) necessitates robust defenses against sophisticated cyber threats. A significant challenge arises when EVs intentionally provide false information to gain higher charging priority, potentially causing grid instability. While various approaches have been proposed in existing literature to address this issue, they often overlook the possibility of attackers using advanced techniques like deep reinforcement learning (DRL) or other complex deep learning methods to achieve such attacks. In response to this, this paper introduces a hierarchical adversarial framework using DRL (HADRL), which effectively detects stealthy cyberattacks on EV charging stations, especially those leading to denial of charging. Our approach includes a dual approach, where the first scheme leverages DRL to develop advanced and stealthy attack methods that can bypass basic intrusion detection systems (IDS). Second, we implement a DRL-based scheme within the IDS at EV charging stations, aiming to detect and counter these sophisticated attacks. This scheme is trained with datasets created from the first scheme, resulting in a robust and efficient IDS. We evaluated the effectiveness of our framework against the recent literature approaches, and the results show that our IDS can accurately detect deceptive EVs with a low false alarm rate, even when confronted with attacks not represented in the training dataset.
A Computer Vision Approach to Estimate the Localized Sea State
Venue: arXiv cs.CV 2024
Year: 2024

This research presents a novel application of computer vision (CV) and deep learning methods for real-time sea state recognition, aiming to contribute to improving the operational safety and energy efficiency of seagoing vessels, key factors in meeting the legislative carbon reduction targets. Our work focuses on utilizing sea images in operational envelopes captured by a single stationary camera mounted on the ship bridge. The collected images are used to train a deep learning model to automatically recognize the state of the sea based on the Beaufort scale. To recognize the sea state, we used 4 state-of-the-art deep neural networks with different characteristics that proved useful in various computer vision tasks: Resnet-101, NASNet, MobileNet_v2, and Transformer ViT-b32. Furthermore, we have defined a unique large-scale dataset, collected over a broad range of sea conditions from an ocean-going vessel prepared for machine learning. We used the transfer learning approach to fine-tune the models on our dataset. The obtained results demonstrate the potential for this approach to complement traditional methods, particularly where in-situ measurements are unfeasible or interpolated weather buoy data is insufficiently accurate. This study sets the groundwork for further development of sea state classification models to address recognized gaps in maritime research and enable safer and more efficient maritime operations.
DiffRetouch: Using Diffusion to Retouch on the Shoulder of Experts
Venue: arXiv cs.CV 2024
Year: 2024

Image retouching aims to enhance the visual quality of photos. Considering the different aesthetic preferences of users, the target of retouching is subjective. However, current retouching methods mostly adopt deterministic models, which not only neglects the style diversity in the expert-retouched results and tends to learn an average style during training, but also lacks sample diversity during inference. In this paper, we propose a diffusion-based method, named DiffRetouch. Thanks to the excellent distribution modeling ability of diffusion, our method can capture the complex fine-retouched distribution covering various visual-pleasing styles in the training data. Moreover, four image attributes are made adjustable to provide a user-friendly editing mechanism. By adjusting these attributes in specified ranges, users are allowed to customize preferred styles within the learned fine-retouched distribution. Additionally, the affine bilateral grid and contrastive learning scheme are introduced to handle the problem of texture distortion and control insensitivity respectively. Extensive experiments have demonstrated the superior performance of our method on visually appealing and sample diversity. The code will be made available to the community.
Convolutional vs Large Language Models for Software Log Classification in Edge-Deployable Cellular Network Testing
Venue: arXiv cs.CL 2024
Year: 2024

Software logs generated by sophisticated network emulators in the telecommunications industry, such as VIAVI TM500, are extremely complex, often comprising tens of thousands of text lines with minimal resemblance to natural language. Only specialised expert engineers can decipher such logs and troubleshoot defects in test runs. While AI offers a promising solution for automating defect triage, potentially leading to massive revenue savings for companies, state-of-the-art large language models (LLMs) suffer from significant drawbacks in this specialised domain. These include a constrained context window, limited applicability to text beyond natural language, and high inference costs. To address these limitations, we propose a compact convolutional neural network (CNN) architecture that offers a context window spanning up to 200,000 characters and achieves over 96% accuracy (F1>0.9) in classifying multifaceted software logs into various layers in the telecommunications protocol stack. Specifically, the proposed model is capable of identifying defects in test runs and triaging them to the relevant department, formerly a manual engineering process that required expert knowledge. We evaluate several LLMs; LLaMA2-7B, Mixtral 8x7B, Flan-T5, BERT and BigBird, and experimentally demonstrate their shortcomings in our specialized application. Despite being lightweight, our CNN significantly outperforms LLM-based approaches in telecommunications log classification while minimizing the cost of production. Our defect triaging AI model is deployable on edge devices without dedicated hardware and widely applicable across software logs in various industries.
Your Mega-Constellations Can Be Slim:A Cost-Effective Approach for Constructing Survivable and Performant LEO Satellite Networks
Venue: arXiv cs.NI 2024
Year: 2024

In this paper, we investigate an important research problem facing the upcoming satellite Internet: from a network perspective, how many satellites exactly do we need to construct a survivable and performant LSN? To answer this question, we first formulate the survivable and performant LSN design (SPLD) problem, which aims to find the minimum number of needed satellites to construct an LSN that can provide sufficient amount of redundant paths, required link capacity and acceptable latency for traffic carried by the LSN. Second, to efficiently solve the tricky SPLD problem, we propose MEGAREDUCE, a requirement-driven constellation optimization mechanism, which can calculate feasible solutions for SPLD in polynomial time. Finally, we conduct extensive trace-driven simulations to verify MEGAREDUCE's cost-effectiveness in constructing survivable and performant LSNs on demand, and showcase how MEGAREDUCE can help optimize the incremental deployment and long-term maintenance of future satellite Internet.
Multi-Time Scale Service Caching and Pricing in MEC Systems with Dynamic Program Popularity
Venue: arXiv cs.LG 2024
Year: 2024

In mobile edge computing systems, base stations (BSs) equipped with edge servers can provide computing services to users to reduce their task execution time. However, there is always a conflict of interest between the BS and users. The BS prices the service programs based on user demand to maximize its own profit, while the users determine their offloading strategies based on the prices to minimize their costs. Moreover, service programs need to be pre-cached to meet immediate computing needs. Due to the limited caching capacity and variations in service program popularity, the BS must dynamically select which service programs to cache. Since service caching and pricing have different needs for adjustment time granularities, we propose a two-time scale framework to jointly optimize service caching, pricing and task offloading. For the large time scale, we propose a game-nested deep reinforcement learning algorithm to dynamically adjust service caching according to the estimated popularity information. For the small time scale, by modeling the interaction between the BS and users as a two-stage game, we prove the existence of the equilibrium under incomplete information and then derive the optimal pricing and offloading strategies. Extensive simulations based on a real-world dataset demonstrate the efficiency of the proposed approach.
PECTP: Parameter-Efficient Cross-Task Prompts for Incremental Vision Transformer
Venue: arXiv cs.CV 2024
Year: 2024

Incremental Learning (IL) aims to learn deep models on sequential tasks continually, where each new task includes a batch of new classes and deep models have no access to task-ID information at the inference time. Recent vast pre-trained models (PTMs) have achieved outstanding performance by prompt technique in practical IL without the old samples (rehearsal-free) and with a memory constraint (memory-constrained): Prompt-extending and Prompt-fixed methods. However, prompt-extending methods need a large memory buffer to maintain an ever-expanding prompt pool and meet an extra challenging prompt selection problem. Prompt-fixed methods only learn a single set of prompts on one of the incremental tasks and can not handle all the incremental tasks effectively. To achieve a good balance between the memory cost and the performance on all the tasks, we propose a Parameter-Efficient Cross-Task Prompt (PECTP) framework with Prompt Retention Module (PRM) and classifier Head Retention Module (HRM). To make the final learned prompts effective on all incremental tasks, PRM constrains the evolution of cross-task prompts' parameters from Outer Prompt Granularity and Inner Prompt Granularity. Besides, we employ HRM to inherit old knowledge in the previously learned classifier heads to facilitate the cross-task prompts' generalization ability. Extensive experiments show the effectiveness of our method. The source codes will be available at \url{https://github.com/RAIAN08/PECTP}.