OpenRaiser/Intern-Atlas huggingface dataset:
Tackling Shortcut Learning in Deep Neural Networks: An Iterative Approach with Interpretable Models
Venue: arXiv cs.LG 2023
Year: 2023

We use concept-based interpretable models to mitigate shortcut learning. Existing methods lack interpretability. Beginning with a Blackbox, we iteratively carve out a mixture of interpretable experts (MoIE) and a residual network. Each expert explains a subset of data using First Order Logic (FOL). While explaining a sample, the FOL from biased BB-derived MoIE detects the shortcut effectively. Finetuning the BB with Metadata Normalization (MDN) eliminates the shortcut. The FOLs from the finetuned-BB-derived MoIE verify the elimination of the shortcut. Our experiments show that MoIE does not hurt the accuracy of the original BB and eliminates shortcuts effectively.
Analyzing Multimodal Objectives Through the Lens of Generative Diffusion Guidance
Venue: arXiv cs.CV 2023
Year: 2023

Recent years have witnessed astonishing advances in the field of multimodal representation learning, with contrastive learning being the cornerstone for major breakthroughs. Latest works delivered further improvements by incorporating different objectives such as masked modeling and captioning into the frameworks, but our understanding on how these objectives facilitate learning remains vastly incomplete. In this paper, we leverage the fact that classifier-guided diffusion models generate images that reflect the semantic signals provided by the classifier to study the characteristics of multimodal learning objectives. Specifically, we compare contrastive, matching and captioning loss in terms of their semantic signals, and introduce a simple baseline that not only supports our analyses but also improves the quality of generative guidance in a straightforward manner.
Adaptive Sparse Gaussian Process
Venue: arXiv cs.LG 2023
Year: 2023

Adaptive learning is necessary for non-stationary environments where the learning machine needs to forget past data distribution. Efficient algorithms require a compact model update to not grow in computational burden with the incoming data and with the lowest possible computational cost for online parameter updating. Existing solutions only partially cover these needs. Here, we propose the first adaptive sparse Gaussian Process (GP) able to address all these issues. We first reformulate a variational sparse GP algorithm to make it adaptive through a forgetting factor. Next, to make the model inference as simple as possible, we propose updating a single inducing point of the sparse GP model together with the remaining model parameters every time a new sample arrives. As a result, the algorithm presents a fast convergence of the inference process, which allows an efficient model update (with a single inference iteration) even in highly non-stationary environments. Experimental results demonstrate the capabilities of the proposed algorithm and its good performance in modeling the predictive posterior in mean and confidence interval estimation compared to state-of-the-art approaches.
Use of immersive virtual reality-based experiments to study tactical decision-making during emergency evacuation
Venue: arXiv cs.HC 2023
Year: 2023

Humans make their evacuation decisions first at strategic/tactical levels, deciding their exit and route choice and then at operational level, navigating to a way-point, avoiding collisions. What influences an individuals at tactical level is of importance, for modelers to design a high fidelity simulation or for safety engineers to create efficient designs/codes. Does an unlit exit sign dissuades individual(s) to avoid a particular exit/route and vice versa? What effect does the crowd's choices have on individual's decision making? To answer these questions, we studied the effect of exit signage (unlit/lit), different proportions of crowd movement towards the exits, and the combined (reinforcing/conflicting) effect of the sign and the crowd treatment on reaction times and exit choices of participants in an immersive virtual reality(VR) evacuation experiment. We found that there is tolerance for queuing when different sources of information, exit signage and crowd movement reinforced one another. The effect of unlit exit signage on dissuading individuals from using a particular exit/route was significant. The virtual crowd was ineffective at encouraging utilization of a particular exit/route but had a slight repulsive effect. Additionally, we found some similarities between previous studies based on screen-based evacuation experiments and our VR-based experiment.
Switchable Signaling Molecules for Media Modulation: Fundamentals, Applications, and Research Directions
Venue: arXiv cs.ET 2023
Year: 2023

Although visionary applications of molecular communication (MC), such as long-term continuous health monitoring by cooperative in-body nanomachines, have been proposed, MC is still in its infancy when it comes to practical implementation. In particular, long-term experiments and applications face issues such as depletion of signaling molecules (SMs) at the transmitter (TX) and inter-symbol interference (ISI) at the receiver (RX). To overcome these practical challenges, a new class of SMs with switchable states seems to be promising for future MC applications. In this work, we provide an overview of existing switchable SMs, and classify them according to their properties. Furthermore, we highlight how switchable SMs can be utilized as information carriers for media modulation. In addition, we present theoretical and experimental results for an end-to-end MC system employing the green fluorescent protein variant "Dreiklang" (GFPD) as switchable SM. Our experimental results show, for the first time, successful information transmission in a closed-loop pipe system using media modulation. Finally, we discuss media modulation specific challenges and opportunities.
Programmable System Call Security with eBPF
Venue: arXiv cs.OS 2023
Year: 2023

System call filtering is a widely used security mechanism for protecting a shared OS kernel against untrusted user applications. However, existing system call filtering techniques either are too expensive due to the context switch overhead imposed by userspace agents, or lack sufficient programmability to express advanced policies. Seccomp, Linux's system call filtering module, is widely used by modern container technologies, mobile apps, and system management services. Despite the adoption of the classic BPF language (cBPF), security policies in Seccomp are mostly limited to static allow lists, primarily because cBPF does not support stateful policies. Consequently, many essential security features cannot be expressed precisely and/or require kernel modifications. In this paper, we present a programmable system call filtering mechanism, which enables more advanced security policies to be expressed by leveraging the extended BPF language (eBPF). More specifically, we create a new Seccomp eBPF program type, exposing, modifying or creating new eBPF helper functions to safely manage filter state, access kernel and user state, and utilize synchronization primitives. Importantly, our system integrates with existing kernel privilege and capability mechanisms, enabling unprivileged users to install advanced filters safely. Our evaluation shows that our eBPF-based filtering can enhance existing policies (e.g., reducing the attack surface of early execution phase by up to 55.4% for temporal specialization), mitigate real-world vulnerabilities, and accelerate filters.
Joint Communication, Sensing and Computation enabled 6G Intelligent Machine System
Venue: arXiv cs.NI 2023
Year: 2023

With the rapid development of the smart city, high-level autonomous driving, intelligent manufacturing, and etc., the stringent industrial-level requirements of the extremely low latency and high reliability for communication and new trends for sub-centimeter sensing have transcended the abilities of 5G and call for the development of 6G. Based on analyzing the function design of the communication, sensing and the emerging intelligent computation systems, we propose the joint communication, sensing and computation (JCSC) framework for 6G intelligent machine-type communication (IMTC) network to realize low latency and high reliability of communication, highly accurate sensing and fast environment adaption. In the proposed JCSC framework, the communication, sensing and computation abilities cooperate to benefit each other by utilizing the unified hardware, resource and protocol design. Sensing information is exploited as priori information to enhance the reliability and latency performance of wireless communication and to optimize the resource utilization of the communication network, which further improves the distributed computation and cooperative sensing ability. We propose the promising enabling technologies such as joint communication and sensing (JCS) technique, JCSC wireless networking techniques and intelligent computation techniques. We also summarize the challenges to achieve the JCSC framework. Then, we introduce the intelligent flexible manufacturing as a typical use case of the IMTC with JCSC framework, where the enabling technologies are deployed. Finally, we present the simulation results to prove the feasibility of the JCSC framework by evaluating the JCS waveform, the JCSC enabled neighbor discovery (ND) and medium access control (MAC).
FedSDG-FS: Efficient and Secure Feature Selection for Vertical Federated Learning
Venue: arXiv cs.LG 2023
Year: 2023

Vertical Federated Learning (VFL) enables multiple data owners, each holding a different subset of features about largely overlapping sets of data sample(s), to jointly train a useful global model. Feature selection (FS) is important to VFL. It is still an open research problem as existing FS works designed for VFL either assumes prior knowledge on the number of noisy features or prior knowledge on the post-training threshold of useful features to be selected, making them unsuitable for practical applications. To bridge this gap, we propose the Federated Stochastic Dual-Gate based Feature Selection (FedSDG-FS) approach. It consists of a Gaussian stochastic dual-gate to efficiently approximate the probability of a feature being selected, with privacy protection through Partially Homomorphic Encryption without a trusted third-party. To reduce overhead, we propose a feature importance initialization method based on Gini impurity, which can accomplish its goals with only two parameter transmissions between the server and the clients. Extensive experiments on both synthetic and real-world datasets show that FedSDG-FS significantly outperforms existing approaches in terms of achieving accurate selection of high-quality features as well as building global models with improved performance.
TMoE-P: Towards the Pareto Optimum for Multivariate Soft Sensors
Venue: arXiv cs.AI 2023
Year: 2023

Multi-variate soft sensor seeks accurate estimation of multiple quality variables using measurable process variables, which have emerged as a key factor in improving the quality of industrial manufacturing. The current progress stays in some direct applications of multitask network architectures; however, there are two fundamental issues remain yet to be investigated with these approaches: (1) negative transfer, where sharing representations despite the difference of discriminate representations for different objectives degrades performance; (2) seesaw phenomenon, where the optimizer focuses on one dominant yet simple objective at the expense of others. In this study, we reformulate the multi-variate soft sensor to a multi-objective problem, to address both issues and advance state-of-the-art performance. To handle the negative transfer issue, we first propose an Objective-aware Mixture-of-Experts (OMoE) module, utilizing objective-specific and objective-shared experts for parameter sharing while maintaining the distinction between objectives. To address the seesaw phenomenon, we then propose a Pareto Objective Routing (POR) module, adjusting the weights of learning objectives dynamically to achieve the Pareto optimum, with solid theoretical supports. We further present a Task-aware Mixture-of-Experts framework for achieving the Pareto optimum (TMoE-P) in multi-variate soft sensor, which consists of a stacked OMoE module and a POR module. We illustrate the efficacy of TMoE-P with an open soft sensor benchmark, where TMoE-P effectively alleviates the negative transfer and seesaw issues and outperforms the baseline models.
AutoVis: Enabling Mixed-Immersive Analysis of Automotive User Interface Interaction Studies
Venue: arXiv cs.HC 2023
Year: 2023

Automotive user interface (AUI) evaluation becomes increasingly complex due to novel interaction modalities, driving automation, heterogeneous data, and dynamic environmental contexts. Immersive analytics may enable efficient explorations of the resulting multilayered interplay between humans, vehicles, and the environment. However, no such tool exists for the automotive domain. With AutoVis, we address this gap by combining a non-immersive desktop with a virtual reality view enabling mixed-immersive analysis of AUIs. We identify design requirements based on an analysis of AUI research and domain expert interviews (N=5). AutoVis supports analyzing passenger behavior, physiology, spatial interaction, and events in a replicated study environment using avatars, trajectories, and heatmaps. We apply context portals and driving-path events as automotive-specific visualizations. To validate AutoVis against real-world analysis tasks, we implemented a prototype, conducted heuristic walkthroughs using authentic data from a case study and public datasets, and leveraged a real vehicle in the analysis process.
On the classification of completely regular codes with covering radius two and antipodal dual
Venue: arXiv cs.IT 2023
Year: 2023

We classify all linear completely regular codes which have covering radius $ρ= 2$ and whose dual are antipodal. For this, we firstly show several properties of such dual codes, which are two-weight codes.
STPA for Learning-Enabled Systems: A Survey and A New Practice
Venue: arXiv cs.SE 2023
Year: 2023

Systems Theoretic Process Analysis (STPA) is a systematic approach for hazard analysis that has been used across many industrial sectors including transportation, energy, and defense. The unstoppable trend of using Machine Learning (ML) in safety-critical systems has led to the pressing need of extending STPA to Learning-Enabled Systems (LESs). Although works have been carried out on various example LESs, without a systematic review, it is unclear how effective and generalisable the extended STPA methods are, and whether further improvements can be made. To this end, we present a systematic survey of 31 papers, summarising them from five perspectives (attributes of concern, objects under study, modifications, derivatives and processes being modelled). Furthermore, we identify room for improvement and accordingly introduce DeepSTPA, which enhances STPA from two aspects that are missing from the state-of-the-practice: (i) Control loop structures are explicitly extended to identify hazards from the data-driven development process spanning the ML lifecycle; (ii) Fine-grained functionalities are modelled at the layer-wise levels of ML models to detect root causes. We demonstrate and compare DeepSTPA and STPA through a case study on an autonomous emergency braking system.
ATA-Cache: Contention Mitigation for GPU Shared L1 Cache with Aggregated Tag Array
Venue: arXiv cs.AR 2023
Year: 2023

GPU shared L1 cache is a promising architecture while still suffering from high resource contentions. We present a GPU shared L1 cache architecture with an aggregated tag array that minimizes the L1 cache contentions and takes full advantage of inter-core locality. The key idea is to decouple and aggregate the tag arrays of multiple L1 caches so that the cache requests can be compared with all tag arrays in parallel to probe the replicated data in other caches. The GPU caches are only accessed by other GPU cores when replicated data exists, filtering out unnecessary cache accesses that cause high resource contentions. The experimental results show that GPU IPC can be improved by 12% on average for applications with a high inter-core locality.
UAV Path Planning Employing MPC- Reinforcement Learning Method Considering Collision Avoidance
Venue: arXiv cs.LG 2023
Year: 2023

In this paper, we tackle the problem of Unmanned Aerial (UA V) path planning in complex and uncertain environments by designing a Model Predictive Control (MPC), based on a Long-Short-Term Memory (LSTM) network integrated into the Deep Deterministic Policy Gradient algorithm. In the proposed solution, LSTM-MPC operates as a deterministic policy within the DDPG network, and it leverages a predicting pool to store predicted future states and actions for improved robustness and efficiency. The use of the predicting pool also enables the initialization of the critic network, leading to improved convergence speed and reduced failure rate compared to traditional reinforcement learning and deep reinforcement learning methods. The effectiveness of the proposed solution is evaluated by numerical simulations.
Importance of methodological choices in data manipulation for validating epileptic seizure detection models
Venue: arXiv cs.LG 2023
Year: 2023

Epilepsy is a chronic neurological disorder that affects a significant portion of the human population and imposes serious risks in the daily life of patients. Despite advances in machine learning and IoT, small, nonstigmatizing wearable devices for continuous monitoring and detection in outpatient environments are not yet available. Part of the reason is the complexity of epilepsy itself, including highly imbalanced data, multimodal nature, and very subject-specific signatures. However, another problem is the heterogeneity of methodological approaches in research, leading to slower progress, difficulty comparing results, and low reproducibility. Therefore, this article identifies a wide range of methodological decisions that must be made and reported when training and evaluating the performance of epilepsy detection systems. We characterize the influence of individual choices using a typical ensemble random-forest model and the publicly available CHB-MIT database, providing a broader picture of each decision and giving good-practice recommendations, based on our experience, where possible.
User-aware WLAN Transmit Power Control in the Wild
Venue: arXiv cs.NI 2023
Year: 2023

In Wireless Local Area Networks (WLANs), Access point (AP) transmit power influences (i) received signal quality for users and thus user throughput, (ii) user association and thus load across APs and (iii) AP coverage ranges and thus interference in the network. Despite decades of academic research, transmit power levels are still, in practice, statically assigned to satisfy uniform coverage objectives. Yet each network comes with its unique distribution of users in space, calling for a power control that adapts to users' probabilities of presence, for example, placing the areas with higher interference probabilities where user density is the lowest. Although nice on paper, putting this simple idea in practice comes with a number of challenges, with gains that are difficult to estimate, if any at all. This paper is the first to address these challenges and evaluate in a production network serving thousands of daily users the benefits of a user-aware transmit power control system. Along the way, we contribute a novel approach to reason about user densities of presence from historical IEEE 802.11k data, as well as a new machine learning approach to impute missing signal-strength measurements. Results of a thorough experimental campaign show feasibility and quantify the gains: compared to state-of-the-art solutions, the new system can increase the median signal strength by 15dBm, while decreasing airtime interference at the same time. This comes at an affordable cost of a 5dBm decrease in uplink signal due to lack of terminal cooperation.
Deep Reinforcement Learning for Robotic Pushing and Picking in Cluttered Environment
Venue: arXiv cs.RO 2023
Year: 2023

In this paper, a novel robotic grasping system is established to automatically pick up objects in cluttered scenes. A composite robotic hand composed of a suction cup and a gripper is designed for grasping the object stably. The suction cup is used for lifting the object from the clutter first and the gripper for grasping the object accordingly. We utilize the affordance map to provide pixel-wise lifting point candidates for the suction cup. To obtain a good affordance map, the active exploration mechanism is introduced to the system. An effective metric is designed to calculate the reward for the current affordance map, and a deep Q-Network (DQN) is employed to guide the robotic hand to actively explore the environment until the generated affordance map is suitable for grasping. Experimental results have demonstrated that the proposed robotic grasping system is able to greatly increase the success rate of the robotic grasping in cluttered scenes.
Design Project of an Open-Source, Low-Cost, and Lightweight Robotic Manipulator for High School Students
Venue: arXiv cs.RO 2023
Year: 2023

In recent years, there is an increasing interest in high school robotics extracurriculars such as robotics clubs and robotics competitions. The growing demand is a result of more ubiquitous open-source software and affordable off-the-shelf hardware kits, which significantly help lower the barrier for entry-level robotics hobbyists. In this project, we present an open-source, low-cost, and lightweight robotic manipulator designed and developed by a high school researcher under the guidance of a university faculty and a Ph.D. student. We believe the presented project is suitable for high school robotics research and educational activities. Our open-source package consists of mechanical design models, mechatronics specifications, and software program source codes. The mechanical design models include CAD (Computer Aided Design) files that are ready for prototyping (3D printing technology) and serve as an assembly guide accommodated with a complete bill of materials. Electrical wiring diagrams and low-level controllers are documented in detail as part of the open-source software package. The educational objective of this project is to enable high school student teams to replicate and build a robotic manipulator. The engineering experience that high school students acquire in the proposed project is full-stack, including mechanical design, mechatronics, and programming. The project significantly enriches their hands-on engineering experience in a project-based environment. Throughout this project, we discovered that the high school researcher was able to apply multidisciplinary knowledge from K-12 STEM courses to build the robotic manipulator. The researcher was able to go through a system engineering design and development process and obtain skills to use professional engineering tools including SolidWorks and Arduino microcontrollers.