OpenRaiser/Intern-Atlas huggingface dataset:
ViHOPE: Visuotactile In-Hand Object 6D Pose Estimation with Shape Completion
Venue: arXiv cs.RO 2023
Year: 2023

In this letter, we introduce ViHOPE, a novel framework for estimating the 6D pose of an in-hand object using visuotactile perception. Our key insight is that the accuracy of the 6D object pose estimate can be improved by explicitly completing the shape of the object. To this end, we introduce a novel visuotactile shape completion module that uses a conditional Generative Adversarial Network to complete the shape of an in-hand object based on volumetric representation. This approach improves over prior works that directly regress visuotactile observations to a 6D pose. By explicitly completing the shape of the in-hand object and jointly optimizing the shape completion and pose estimation tasks, we improve the accuracy of the 6D object pose estimate. We train and test our model on a synthetic dataset and compare it with the state-of-the-art. In the visuotactile shape completion task, we outperform the state-of-the-art by 265% using the Intersection of Union metric and achieve 88% lower Chamfer Distance. In the visuotactile pose estimation task, we present results that suggest our framework reduces position and angular errors by 35% and 64%, respectively. Furthermore, we ablate our framework to confirm the gain on the 6D object pose estimate from explicitly completing the shape. Ultimately, we show that our framework produces models that are robust to sim-to-real transfer on a real-world robot platform.
Robot Parkour Learning
Venue: arXiv cs.RO 2023
Year: 2023

Parkour is a grand challenge for legged locomotion that requires robots to overcome various obstacles rapidly in complex environments. Existing methods can generate either diverse but blind locomotion skills or vision-based but specialized skills by using reference animal data or complex rewards. However, autonomous parkour requires robots to learn generalizable skills that are both vision-based and diverse to perceive and react to various scenarios. In this work, we propose a system for learning a single end-to-end vision-based parkour policy of diverse parkour skills using a simple reward without any reference motion data. We develop a reinforcement learning method inspired by direct collocation to generate parkour skills, including climbing over high obstacles, leaping over large gaps, crawling beneath low barriers, squeezing through thin slits, and running. We distill these skills into a single vision-based parkour policy and transfer it to a quadrupedal robot using its egocentric depth camera. We demonstrate that our system can empower two different low-cost robots to autonomously select and execute appropriate parkour skills to traverse challenging real-world environments.
Studying the impacts of pre-training using ChatGPT-generated text on downstream tasks
Venue: arXiv cs.CL 2023
Year: 2023

In recent times, significant advancements have been witnessed in the field of language models, particularly with the emergence of Large Language Models (LLMs) that are trained on vast amounts of data extracted from internet archives. These LLMs, such as ChatGPT, have become widely accessible, allowing users to generate text for various purposes including articles, essays, jokes, and poetry. Given that LLMs are trained on a diverse range of text sources, encompassing platforms like Reddit and Twitter, it is foreseeable that future training datasets will also incorporate text generated by previous iterations of the models themselves. In light of this development, our research aims to investigate the influence of artificial text in the pre-training phase of language models. Specifically, we conducted a comparative analysis between a language model, RoBERTa, pre-trained using CNN/DailyMail news articles, and ChatGPT, which employed the same articles for its training and evaluated their performance on three downstream tasks as well as their potential gender bias, using sentiment analysis as a metric. Through a series of experiments, we demonstrate that the utilization of artificial text during pre-training does not have a significant impact on either the performance of the models in downstream tasks or their gender bias. In conclusion, our findings suggest that the inclusion of text generated by LLMs in their own pre-training process does not yield substantial effects on the subsequent performance of the models in downstream tasks or their potential gender bias.
Blendshapes GHUM: Real-time Monocular Facial Blendshape Prediction
Venue: arXiv cs.CV 2023
Year: 2023

We present Blendshapes GHUM, an on-device ML pipeline that predicts 52 facial blendshape coefficients at 30+ FPS on modern mobile phones, from a single monocular RGB image and enables facial motion capture applications like virtual avatars. Our main contributions are: i) an annotation-free offline method for obtaining blendshape coefficients from real-world human scans, ii) a lightweight real-time model that predicts blendshape coefficients based on facial landmarks.
Seamless Integration of Tactile Sensors for Cobots
Venue: arXiv cs.RO 2023
Year: 2023

The development of tactile sensing is expected to enhance robotic systems in handling complex objects like deformables or reflective materials. However, readily available industrial grippers generally lack tactile feedback, which has led researchers to develop their own tactile sensors, resulting in a wide range of sensor hardware. Reading data from these sensors poses an integration challenge: either external wires must be routed along the robotic arm, or a wireless processing unit has to be fixed to the robot, increasing its size. We have developed a microcontroller-based sensor readout solution that seamlessly integrates with Robotiq grippers. Our Arduino compatible design takes away a major part of the integration complexity of tactile sensors and can serve as a valuable accelerator of research in the field. Design files and installation instructions can be found at https://github.com/RemkoPr/airo-halberd.
KD-FixMatch: Knowledge Distillation Siamese Neural Networks
Venue: arXiv cs.LG 2023
Year: 2023

Semi-supervised learning (SSL) has become a crucial approach in deep learning as a way to address the challenge of limited labeled data. The success of deep neural networks heavily relies on the availability of large-scale high-quality labeled data. However, the process of data labeling is time-consuming and unscalable, leading to shortages in labeled data. SSL aims to tackle this problem by leveraging additional unlabeled data in the training process. One of the popular SSL algorithms, FixMatch, trains identical weight-sharing teacher and student networks simultaneously using a siamese neural network (SNN). However, it is prone to performance degradation when the pseudo labels are heavily noisy in the early training stage. We present KD-FixMatch, a novel SSL algorithm that addresses the limitations of FixMatch by incorporating knowledge distillation. The algorithm utilizes a combination of sequential and simultaneous training of SNNs to enhance performance and reduce performance degradation. Firstly, an outer SNN is trained using labeled and unlabeled data. After that, the network of the well-trained outer SNN generates pseudo labels for the unlabeled data, from which a subset of unlabeled data with trusted pseudo labels is then carefully created through high-confidence sampling and deep embedding clustering. Finally, an inner SNN is trained with the labeled data, the unlabeled data, and the subset of unlabeled data with trusted pseudo labels. Experiments on four public data sets demonstrate that KD-FixMatch outperforms FixMatch in all cases. Our results indicate that KD-FixMatch has a better training starting point that leads to improved model performance compared to FixMatch.
Fairness- and uncertainty-aware data generation for data-driven design
Venue: arXiv cs.CE 2023
Year: 2023

The design dataset is the backbone of data-driven design. Ideally, the dataset should be fairly distributed in both shape and property spaces to efficiently explore the underlying relationship. However, the classical experimental design focuses on shape diversity and thus yields biased exploration in the property space. Recently developed methods either conduct subset selection from a large dataset or employ assumptions with severe limitations. In this paper, fairness- and uncertainty-aware data generation (FairGen) is proposed to actively detect and generate missing properties starting from a small dataset. At each iteration, its coverage module computes the data coverage to guide the selection of the target properties. The uncertainty module ensures that the generative model can make certain and thus accurate shape predictions. Integrating the two modules, Bayesian optimization determines the target properties, which are thereafter fed into the generative model to predict the associated shapes. The new designs, whose properties are analyzed by simulation, are added to the design dataset. An S-slot design dataset case study was implemented to demonstrate the efficiency of FairGen in auxetic structural design. Compared with grid and randomized sampling, FairGen increased the coverage score at twice the speed and significantly expanded the sampled region in the property space. As a result, the generative models trained with FairGen-generated datasets showed consistent and significant reductions in mean absolute errors.
SkillScanner: Detecting Policy-Violating Voice Applications Through Static Analysis at the Development Phase
Venue: arXiv cs.CR 2023
Year: 2023

The Amazon Alexa marketplace is the largest Voice Personal Assistant (VPA) platform with over 100,000 voice applications (i.e., skills) published to the skills store. In an effort to maintain the quality and trustworthiness of voice-apps, Amazon Alexa has implemented a set of policy requirements to be adhered to by third-party skill developers. However, recent works reveal the prevalence of policy-violating skills in the current skills store. To understand the causes of policy violations in skills, we first conduct a user study with 34 third-party skill developers focusing on whether they are aware of the various policy requirements defined by the Amazon Alexa platform. Our user study results show that there is a notable gap between VPA's policy requirements and skill developers' practices. As a result, it is inevitable that policy-violating skills will be published. To prevent the inflow of new policy-breaking skills to the skills store from the source, it is critical to identify potential policy violations at the development phase. In this work, we design and develop SkillScanner, an efficient static code analysis tool to facilitate third-party developers to detect policy violations early in the skill development lifecycle. To evaluate the performance of SkillScanner, we conducted an empirical study on 2,451 open source skills collected from GitHub. SkillScanner effectively identified 1,328 different policy violations from 786 skills. Our results suggest that 32% of these policy violations are introduced through code duplication (i.e., code copy and paste). In particular, we found that 42 skill code examples from potential Alexa's official accounts (e.g., "alexa" and "alexa-samples" on GitHub) contain policy violations, which lead to 81 policy violations in other skills due to the copy-pasted code snippets from these Alexa's code examples.
Hierarchical Conditional Semi-Paired Image-to-Image Translation For Multi-Task Image Defect Correction On Shopping Websites
Venue: arXiv cs.CV 2023
Year: 2023

On shopping websites, product images of low quality negatively affect customer experience. Although there are plenty of work in detecting images with different defects, few efforts have been dedicated to correct those defects at scale. A major challenge is that there are thousands of product types and each has specific defects, therefore building defect specific models is unscalable. In this paper, we propose a unified Image-to-Image (I2I) translation model to correct multiple defects across different product types. Our model leverages an attention mechanism to hierarchically incorporate high-level defect groups and specific defect types to guide the network to focus on defect-related image regions. Evaluated on eight public datasets, our model reduces the Frechet Inception Distance (FID) by 24.6% in average compared with MoNCE, the state-of-the-art I2I method. Unlike public data, another practical challenge on shopping websites is that some paired images are of low quality. Therefore we design our model to be semi-paired by combining the L1 loss of paired data with the cycle loss of unpaired data. Tested on a shopping website dataset to correct three image defects, our model reduces (FID) by 63.2% in average compared with WS-I2I, the state-of-the art semi-paired I2I method.
Systemization of Knowledge (SoK)- Cross Impact of Transfer Learning in Cybersecurity: Offensive, Defensive and Threat Intelligence Perspectives
Venue: arXiv cs.CR 2023
Year: 2023

Recent literature highlights a significant cross-impact between transfer learning and cybersecurity. Many studies have been conducted on using transfer learning to enhance security, leading to various applications in different cybersecurity tasks. However, previous research is focused on specific areas of cybersecurity. This paper presents a comprehensive survey of transfer learning applications in cybersecurity by covering a wide range of domains, identifying current trends, and shedding light on under-explored areas. The survey highlights the significance of transfer learning in addressing critical issues in cybersecurity, such as improving detection accuracy, reducing training time, handling data imbalance, and enhancing privacy preservation. Additional insights are provided on the common problems solved using transfer learning, such as the lack of labeled data, different data distributions, and privacy concerns. The paper identifies future research directions and challenges that require community attention, including the need for privacy-preserving models, automatic tools for knowledge transfer, metrics for measuring domain relatedness, and enhanced privacy preservation mechanisms. The insights and roadmap presented in this paper will guide researchers in further advancing transfer learning in cybersecurity, fostering the development of robust and efficient cybersecurity systems to counter emerging threats and protect sensitive information. To the best of our knowledge, this paper is the first of its kind to present a comprehensive taxonomy of all areas of cybersecurity that benefited from transfer learning and propose a detailed future roadmap to shape the possible research direction in this area.
Strategic Behavior of Large Language Models: Game Structure vs. Contextual Framing
Venue: arXiv cs.GT 2023
Year: 2023

This paper investigates the strategic decision-making capabilities of three Large Language Models (LLMs): GPT-3.5, GPT-4, and LLaMa-2, within the framework of game theory. Utilizing four canonical two-player games -- Prisoner's Dilemma, Stag Hunt, Snowdrift, and Prisoner's Delight -- we explore how these models navigate social dilemmas, situations where players can either cooperate for a collective benefit or defect for individual gain. Crucially, we extend our analysis to examine the role of contextual framing, such as diplomatic relations or casual friendships, in shaping the models' decisions. Our findings reveal a complex landscape: while GPT-3.5 is highly sensitive to contextual framing, it shows limited ability to engage in abstract strategic reasoning. Both GPT-4 and LLaMa-2 adjust their strategies based on game structure and context, but LLaMa-2 exhibits a more nuanced understanding of the games' underlying mechanics. These results highlight the current limitations and varied proficiencies of LLMs in strategic decision-making, cautioning against their unqualified use in tasks requiring complex strategic reasoning.
A Survey of Hallucination in Large Foundation Models
Venue: arXiv cs.AI 2023
Year: 2023

Hallucination in a foundation model (FM) refers to the generation of content that strays from factual reality or includes fabricated information. This survey paper provides an extensive overview of recent efforts that aim to identify, elucidate, and tackle the problem of hallucination, with a particular focus on ``Large'' Foundation Models (LFMs). The paper classifies various types of hallucination phenomena that are specific to LFMs and establishes evaluation criteria for assessing the extent of hallucination. It also examines existing strategies for mitigating hallucination in LFMs and discusses potential directions for future research in this area. Essentially, the paper offers a comprehensive examination of the challenges and solutions related to hallucination in LFMs.
Random Segmentation: New Traffic Obfuscation against Packet-Size-Based Side-Channel Attacks
Venue: arXiv cs.CR 2023
Year: 2023

Despite encryption, the packet size is still visible, enabling observers to infer private information in the Internet of Things (IoT) environment (e.g., IoT device identification). Packet padding obfuscates packet-length characteristics with a high data overhead because it relies on adding noise to the data. This paper proposes a more data-efficient approach that randomizes packet sizes without adding noise. We achieve this by splitting large TCP segments into random-sized chunks; hence, the packet length distribution is obfuscated without adding noise data. Our client-server implementation using TCP sockets demonstrates the feasibility of our approach at the application level. We realize our packet size control by adjusting two local socket-programming parameters. First, we enable the TCP_NODELAY option to send out each packet with our specified length. Second, we downsize the sending buffer to prevent the sender from pushing out more data than can be received, which could disable our control of the packet sizes. We simulate our defense on a network trace of four IoT devices and show a reduction in device classification accuracy from 98% to 63%, close to random guessing. Meanwhile, the real-world data transmission experiments show that the added latency is reasonable, less than 21%, while the added packet header overhead is only about 5%.
TSSAT: Two-Stage Statistics-Aware Transformation for Artistic Style Transfer
Venue: arXiv cs.CV 2023
Year: 2023

Artistic style transfer aims to create new artistic images by rendering a given photograph with the target artistic style. Existing methods learn styles simply based on global statistics or local patches, lacking careful consideration of the drawing process in practice. Consequently, the stylization results either fail to capture abundant and diversified local style patterns, or contain undesired semantic information of the style image and deviate from the global style distribution. To address this issue, we imitate the drawing process of humans and propose a Two-Stage Statistics-Aware Transformation (TSSAT) module, which first builds the global style foundation by aligning the global statistics of content and style features and then further enriches local style details by swapping the local statistics (instead of local features) in a patch-wise manner, significantly improving the stylization effects. Moreover, to further enhance both content and style representations, we introduce two novel losses: an attention-based content loss and a patch-based style loss, where the former enables better content preservation by enforcing the semantic relation in the content image to be retained during stylization, and the latter focuses on increasing the local style similarity between the style and stylized images. Extensive qualitative and quantitative experiments verify the effectiveness of our method.
Content Reduction, Surprisal and Information Density Estimation for Long Documents
Venue: arXiv cs.CL 2023
Year: 2023

Many computational linguistic methods have been proposed to study the information content of languages. We consider two interesting research questions: 1) how is information distributed over long documents, and 2) how does content reduction, such as token selection and text summarization, affect the information density in long documents. We present four criteria for information density estimation for long documents, including surprisal, entropy, uniform information density, and lexical density. Among those criteria, the first three adopt the measures from information theory. We propose an attention-based word selection method for clinical notes and study machine summarization for multiple-domain documents. Our findings reveal the systematic difference in information density of long text in various domains. Empirical results on automated medical coding from long clinical notes show the effectiveness of the attention-based word selection method.
Real-Time Semantic Segmentation: A Brief Survey & Comparative Study in Remote Sensing
Venue: arXiv cs.CV 2023
Year: 2023

Real-time semantic segmentation of remote sensing imagery is a challenging task that requires a trade-off between effectiveness and efficiency. It has many applications including tracking forest fires, detecting changes in land use and land cover, crop health monitoring, and so on. With the success of efficient deep learning methods (i.e., efficient deep neural networks) for real-time semantic segmentation in computer vision, researchers have adopted these efficient deep neural networks in remote sensing image analysis. This paper begins with a summary of the fundamental compression methods for designing efficient deep neural networks and provides a brief but comprehensive survey, outlining the recent developments in real-time semantic segmentation of remote sensing imagery. We examine several seminal efficient deep learning methods, placing them in a taxonomy based on the network architecture design approach. Furthermore, we evaluate the quality and efficiency of some existing efficient deep neural networks on a publicly available remote sensing semantic segmentation benchmark dataset, the OpenEarthMap. The experimental results of an extensive comparative study demonstrate that most of the existing efficient deep neural networks have good segmentation quality, but they suffer low inference speed (i.e., high latency rate), which may limit their capability of deployment in real-time applications of remote sensing image segmentation. We provide some insights into the current trend and future research directions for real-time semantic segmentation of remote sensing imagery.
Private Distribution Testing with Heterogeneous Constraints: Your Epsilon Might Not Be Mine
Venue: arXiv cs.DS 2023
Year: 2023

Private closeness testing asks to decide whether the underlying probability distributions of two sensitive datasets are identical or differ significantly in statistical distance, while guaranteeing (differential) privacy of the data. As in most (if not all) distribution testing questions studied under privacy constraints, however, previous work assumes that the two datasets are equally sensitive, i.e., must be provided the same privacy guarantees. This is often an unrealistic assumption, as different sources of data come with different privacy requirements; as a result, known closeness testing algorithms might be unnecessarily conservative, "paying" too high a privacy budget for half of the data. In this work, we initiate the study of the closeness testing problem under heterogeneous privacy constraints, where the two datasets come with distinct privacy requirements. We formalize the question and provide algorithms under the three most widely used differential privacy settings, with a particular focus on the local and shuffle models of privacy; and show that one can indeed achieve better sample efficiency when taking into account the two different "epsilon" requirements.