OpenRaiser/Intern-Atlas huggingface dataset:
Pretraining on the Test Set Is All You Need
Venue: arXiv cs.CL 2023
Year: 2023

Inspired by recent work demonstrating the promise of smaller Transformer-based language models pretrained on carefully curated data, we supercharge such approaches by investing heavily in curating a novel, high quality, non-synthetic data mixture based solely on evaluation benchmarks. Using our novel dataset mixture consisting of less than 100 thousand tokens, we pretrain a 1 million parameter transformer-based LLM \textbf{phi-CTNL} (pronounced ``fictional") that achieves perfect results across diverse academic benchmarks, strictly outperforming all known foundation models. \textbf{phi-CTNL} also beats power-law scaling and exhibits a never-before-seen grokking-like ability to accurately predict downstream evaluation benchmarks' canaries.
Adversarial Attacks on Tables with Entity Swap
Venue: arXiv cs.CL 2023
Year: 2023

The capabilities of large language models (LLMs) have been successfully applied in the context of table representation learning. The recently proposed tabular language models have reported state-of-the-art results across various tasks for table interpretation. However, a closer look into the datasets commonly used for evaluation reveals an entity leakage from the train set into the test set. Motivated by this observation, we explore adversarial attacks that represent a more realistic inference setup. Adversarial attacks on text have been shown to greatly affect the performance of LLMs, but currently, there are no attacks targeting tabular language models. In this paper, we propose an evasive entity-swap attack for the column type annotation (CTA) task. Our CTA attack is the first black-box attack on tables, where we employ a similarity-based sampling strategy to generate adversarial examples. The experimental results show that the proposed attack generates up to a 70% drop in performance.
SculptBot: Pre-Trained Models for 3D Deformable Object Manipulation
Venue: arXiv cs.RO 2023
Year: 2023

Deformable object manipulation presents a unique set of challenges in robotic manipulation by exhibiting high degrees of freedom and severe self-occlusion. State representation for materials that exhibit plastic behavior, like modeling clay or bread dough, is also difficult because they permanently deform under stress and are constantly changing shape. In this work, we investigate each of these challenges using the task of robotic sculpting with a parallel gripper. We propose a system that uses point clouds as the state representation and leverages pre-trained point cloud reconstruction Transformer to learn a latent dynamics model to predict material deformations given a grasp action. We design a novel action sampling algorithm that reasons about geometrical differences between point clouds to further improve the efficiency of model-based planners. All data and experiments are conducted entirely in the real world. Our experiments show the proposed system is able to successfully capture the dynamics of clay, and is able to create a variety of simple shapes.
Improved Breast Cancer Diagnosis through Transfer Learning on Hematoxylin and Eosin Stained Histology Images
Venue: arXiv cs.CV 2023
Year: 2023

Breast cancer is one of the leading causes of death for women worldwide. Early screening is essential for early identification, but the chance of survival declines as the cancer progresses into advanced stages. For this study, the most recent BRACS dataset of histological (H\&E) stained images was used to classify breast cancer tumours, which contains both the whole-slide images (WSI) and region-of-interest (ROI) images, however, for our study we have considered ROI images. We have experimented using different pre-trained deep learning models, such as Xception, EfficientNet, ResNet50, and InceptionResNet, pre-trained on the ImageNet weights. We pre-processed the BRACS ROI along with image augmentation, upsampling, and dataset split strategies. For the default dataset split, the best results were obtained by ResNet50 achieving 66% f1-score. For the custom dataset split, the best results were obtained by performing upsampling and image augmentation which results in 96.2% f1-score. Our second approach also reduced the number of false positive and false negative classifications to less than 3% for each class. We believe that our study significantly impacts the early diagnosis and identification of breast cancer tumors and their subtypes, especially atypical and malignant tumors, thus improving patient outcomes and reducing patient mortality rates. Overall, this study has primarily focused on identifying seven (7) breast cancer tumor subtypes, and we believe that the experimental models can be fine-tuned further to generalize over previous breast cancer histology datasets as well.
Rethinking Cross-Domain Pedestrian Detection: A Background-Focused Distribution Alignment Framework for Instance-Free One-Stage Detectors
Venue: arXiv cs.CV 2023
Year: 2023

Cross-domain pedestrian detection aims to generalize pedestrian detectors from one label-rich domain to another label-scarce domain, which is crucial for various real-world applications. Most recent works focus on domain alignment to train domain-adaptive detectors either at the instance level or image level. From a practical point of view, one-stage detectors are faster. Therefore, we concentrate on designing a cross-domain algorithm for rapid one-stage detectors that lacks instance-level proposals and can only perform image-level feature alignment. However, pure image-level feature alignment causes the foreground-background misalignment issue to arise, i.e., the foreground features in the source domain image are falsely aligned with background features in the target domain image. To address this issue, we systematically analyze the importance of foreground and background in image-level cross-domain alignment, and learn that background plays a more critical role in image-level cross-domain alignment. Therefore, we focus on cross-domain background feature alignment while minimizing the influence of foreground features on the cross-domain alignment stage. This paper proposes a novel framework, namely, background-focused distribution alignment (BFDA), to train domain adaptive onestage pedestrian detectors. Specifically, BFDA first decouples the background features from the whole image feature maps and then aligns them via a novel long-short-range discriminator.
Design of Novel Analog Compute Paradigms with Ark
Venue: arXiv cs.PL 2023
Year: 2023

Previous efforts on reconfigurable analog circuits mostly focused on specialized analog circuits, produced through careful co-design, or on highly reconfigurable, but relatively resource inefficient, accelerators that implement analog compute paradigms. This work deals with an intermediate point in the design space: Specialized reconfigurable circuits for analog compute paradigms. This class of circuits requires new methodologies for performing co-design, as prior techniques are typically highly specialized to conventional circuit classes (e.g., filters, ADCs). In this context, we present Ark, a programming language for describing analog compute paradigms. Ark enables progressive incorporation of analog behaviors into computations, and deploys a validator and dynamical system compiler for verifying and simulating computations. We use Ark to codify the design space for three different exemplary circuit design problems, and demonstrate that Ark helps exploring design trade-offs and evaluating the impact of nonidealities to the computation.
S3-DST: Structured Open-Domain Dialogue Segmentation and State Tracking in the Era of LLMs
Venue: arXiv cs.CL 2023
Year: 2023

The traditional Dialogue State Tracking (DST) problem aims to track user preferences and intents in user-agent conversations. While sufficient for task-oriented dialogue systems supporting narrow domain applications, the advent of Large Language Model (LLM)-based chat systems has introduced many real-world intricacies in open-domain dialogues. These intricacies manifest in the form of increased complexity in contextual interactions, extended dialogue sessions encompassing a diverse array of topics, and more frequent contextual shifts. To handle these intricacies arising from evolving LLM-based chat systems, we propose joint dialogue segmentation and state tracking per segment in open-domain dialogue systems. Assuming a zero-shot setting appropriate to a true open-domain dialogue system, we propose S3-DST, a structured prompting technique that harnesses Pre-Analytical Recollection, a novel grounding mechanism we designed for improving long context tracking. To demonstrate the efficacy of our proposed approach in joint segmentation and state tracking, we evaluate S3-DST on a proprietary anonymized open-domain dialogue dataset, as well as publicly available DST and segmentation datasets. Across all datasets and settings, S3-DST consistently outperforms the state-of-the-art, demonstrating its potency and robustness the next generation of LLM-based chat systems.
MA-SAM: Modality-agnostic SAM Adaptation for 3D Medical Image Segmentation
Venue: arXiv cs.CV 2023
Year: 2023

The Segment Anything Model (SAM), a foundation model for general image segmentation, has demonstrated impressive zero-shot performance across numerous natural image segmentation tasks. However, SAM's performance significantly declines when applied to medical images, primarily due to the substantial disparity between natural and medical image domains. To effectively adapt SAM to medical images, it is important to incorporate critical third-dimensional information, i.e., volumetric or temporal knowledge, during fine-tuning. Simultaneously, we aim to harness SAM's pre-trained weights within its original 2D backbone to the fullest extent. In this paper, we introduce a modality-agnostic SAM adaptation framework, named as MA-SAM, that is applicable to various volumetric and video medical data. Our method roots in the parameter-efficient fine-tuning strategy to update only a small portion of weight increments while preserving the majority of SAM's pre-trained weights. By injecting a series of 3D adapters into the transformer blocks of the image encoder, our method enables the pre-trained 2D backbone to extract third-dimensional information from input data. The effectiveness of our method has been comprehensively evaluated on four medical image segmentation tasks, by using 10 public datasets across CT, MRI, and surgical video data. Remarkably, without using any prompt, our method consistently outperforms various state-of-the-art 3D approaches, surpassing nnU-Net by 0.9%, 2.6%, and 9.9% in Dice for CT multi-organ segmentation, MRI prostate segmentation, and surgical scene segmentation respectively. Our model also demonstrates strong generalization, and excels in challenging tumor segmentation when prompts are used. Our code is available at: https://github.com/cchen-cc/MA-SAM.
Has Sentiment Returned to the Pre-pandemic Level? A Sentiment Analysis Using U.S. College Subreddit Data from 2019 to 2022
Venue: arXiv cs.CL 2023
Year: 2023

As impact of COVID-19 pandemic winds down, both individuals and society gradually return to pre-pandemic activities. This study aims to explore how people's emotions have changed from the pre-pandemic during the pandemic to post-emergency period and whether it has returned to pre-pandemic level. We collected Reddit data in 2019 (pre-pandemic), 2020 (peak pandemic), 2021, and 2022 (late stages of pandemic, transitioning period to post-emergency period) from subreddits in 128 universities/colleges in the U.S., and a set of school-level characteristics. We predicted two sets of sentiments from a pre-trained Robustly Optimized BERT pre-training approach (RoBERTa) and graph attention network (GAT) that leverages both rich semantic and relational information among posted messages and then applied a logistic stacking method to obtain the final sentiment classification. After obtaining sentiment label for each message, we used a generalized linear mixed-effects model to estimate temporal trend in sentiment from 2019 to 2022 and how school-level factors may affect sentiment. Compared to the year 2019, the odds of negative sentiment in years 2020, 2021, and 2022 are 24%, 4.3%, and 10.3% higher, respectively, which are all statistically significant(adjusted $p$<0.05). Our study findings suggest a partial recovery in the sentiment composition in the post-pandemic-emergency era. The results align with common expectations and provide a detailed quantification of how sentiments have evolved from 2019 to 2022.
Enhancing Visual Perception in Novel Environments via Incremental Data Augmentation Based on Style Transfer
Venue: arXiv cs.CV 2023
Year: 2023

The deployment of autonomous agents in real-world scenarios is challenged by "unknown unknowns", i.e. novel unexpected environments not encountered during training, such as degraded signs. While existing research focuses on anomaly detection and class imbalance, it often fails to address truly novel scenarios. Our approach enhances visual perception by leveraging the Variational Prototyping Encoder (VPE) to adeptly identify and handle novel inputs, then incrementally augmenting data using neural style transfer to enrich underrepresented data. By comparing models trained solely on original datasets with those trained on a combination of original and augmented datasets, we observed a notable improvement in the performance of the latter. This underscores the critical role of data augmentation in enhancing model robustness. Our findings suggest the potential benefits of incorporating generative models for domain-specific augmentation strategies.
Trajectory Tracking Control of Skid-Steering Mobile Robots with Slip and Skid Compensation using Sliding-Mode Control and Deep Learning
Venue: arXiv cs.RO 2023
Year: 2023

Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety of the vehicle. Despite research in this field, having a real-world feasible online slip and skid compensation remains challenging due to the complexity of wheel-terrain interaction in outdoor environments. This paper proposes a novel trajectory tracking technique featuring real-world feasible online slip and skid compensation at the vehicle level for skid-steering mobile robots operating outdoors. The approach employs sliding-mode control to design a robust trajectory tracking system, accounting for the inherent uncertainties in this type of robot. To estimate the robot's slipping and undesired skidding and compensate for them in real-time, two previously developed deep learning models are integrated into the control-feedback loop. The main advantages of the proposed technique are that it (1) considers two slip-related parameters for the entire robot, as opposed to the conventional approach involving two slip components for each wheel along with the robot's skidding, and (2) has an online real-world feasible slip and skid compensator, reducing the tracking errors in unforeseen environments. Experimental results demonstrate a significant improvement, enhancing the trajectory tracking system's performance by over 27%.
Some Algebraic Aspects of Assume-Guarantee Reasoning
Venue: arXiv cs.LO 2023
Year: 2023

We present the algebra of assume-guarantee (AG) contracts. We define contracts, provide new as well as known operations, and show how these operations are related. Contracts are functorial: any Boolean algebra has an associated contract algebra. We study monoid and semiring structures in contract algebra -- and the mappings between such structures. We discuss the actions of a Boolean algebra on its contract algebra.
Solving Satisfiability Modulo Counting for Symbolic and Statistical AI Integration With Provable Guarantees
Venue: arXiv cs.AI 2023
Year: 2023

Satisfiability Modulo Counting (SMC) encompasses problems that require both symbolic decision-making and statistical reasoning. Its general formulation captures many real-world problems at the intersection of symbolic and statistical Artificial Intelligence. SMC searches for policy interventions to control probabilistic outcomes. Solving SMC is challenging because of its highly intractable nature($\text{NP}^{\text{PP}}$-complete), incorporating statistical inference and symbolic reasoning. Previous research on SMC solving lacks provable guarantees and/or suffers from sub-optimal empirical performance, especially when combinatorial constraints are present. We propose XOR-SMC, a polynomial algorithm with access to NP-oracles, to solve highly intractable SMC problems with constant approximation guarantees. XOR-SMC transforms the highly intractable SMC into satisfiability problems, by replacing the model counting in SMC with SAT formulae subject to randomized XOR constraints. Experiments on solving important SMC problems in AI for social good demonstrate that XOR-SMC finds solutions close to the true optimum, outperforming several baselines which struggle to find good approximations for the intractable model counting in SMC.
Sampling-Based Estimates of the Sizes of Constrained Subcodes of Reed-Muller Codes
Venue: arXiv cs.IT 2023
Year: 2023

This paper develops an algorithmic approach for obtaining approximate, numerical estimates of the sizes of subcodes of Reed-Muller (RM) codes, all of the codewords in which satisfy a given constraint. Our algorithm is based on a statistical physics technique for estimating the partition functions of spin systems, which in turn makes use of a sampler that produces RM codewords according to a Gibbs distribution. The Gibbs distribution is designed so that it is biased towards codewords that respect the constraint. We apply our method to approximately compute the sizes of runlength limited (RLL) subcodes and obtain estimates of the weight distribution of moderate-blocklength RM codes. We observe that the estimates returned by our method are close to the true sizes when these sizes are either known or computable by brute-force search; in other cases, our computations provide provably robust estimates. As an illustration of our methods, we provide estimates of the weight distribution of the RM$(9,4)$ code.
Outram: One-shot Global Localization via Triangulated Scene Graph and Global Outlier Pruning
Venue: arXiv cs.RO 2023
Year: 2023

One-shot LiDAR localization refers to the ability to estimate the robot pose from one single point cloud, which yields significant advantages in initialization and relocalization processes. In the point cloud domain, the topic has been extensively studied as a global descriptor retrieval (i.e., loop closure detection) and pose refinement (i.e., point cloud registration) problem both in isolation or combined. However, few have explicitly considered the relationship between candidate retrieval and correspondence generation in pose estimation, leaving them brittle to substructure ambiguities. To this end, we propose a hierarchical one-shot localization algorithm called Outram that leverages substructures of 3D scene graphs for locally consistent correspondence searching and global substructure-wise outlier pruning. Such a hierarchical process couples the feature retrieval and the correspondence extraction to resolve the substructure ambiguities by conducting a local-to-global consistency refinement. We demonstrate the capability of Outram in a variety of scenarios in multiple large-scale outdoor datasets. Our implementation is open-sourced: https://github.com/Pamphlett/Outram.
On non-expandable cross-bifix-free codes
Venue: arXiv cs.IT 2023
Year: 2023

A cross-bifix-free code of length $n$ over $\mathbb{Z}_q$ is defined as a non-empty subset of $\mathbb{Z}_q^n$ satisfying that the prefix set of each codeword is disjoint from the suffix set of every codeword. Cross-bifix-free codes have found important applications in digital communication systems. One of the main research problems on cross-bifix-free codes is to construct cross-bifix-free codes as large as possible in size. Recently, Wang and Wang introduced a family of cross-bifix-free codes $S_{I,J}^{(k)}(n)$, which is a generalization of the classical cross-bifix-free codes studied early by Lvenshtein, Gilbert and Chee {\it et al.}. It is known that $S_{I,J}^{(k)}(n)$ is nearly optimal in size and $S_{I,J}^{(k)}(n)$ is non-expandable if $k=n-1$ or $1\leq k<n/2$. In this paper, we first show that $S_{I,J}^{(k)}(n)$ is non-expandable if and only if $k=n-1$ or $1\leq k<n/2$, thereby improving the results in [Chee {\it et al.}, IEEE-TIT, 2013] and [Wang and Wang, IEEE-TIT, 2022]. We then construct a new family of cross-bifix-free codes $U^{(t)}_{I,J}(n)$ to expand $S_{I,J}^{(k)}(n)$ such that the resulting larger code $S_{I,J}^{(k)}(n)\bigcup U^{(t)}_{I,J}(n)$ is a non-expandable cross-bifix-free code whenever $S_{I,J}^{(k)}(n)$ is expandable. Finally, we present an explicit formula for the size of $S_{I,J}^{(k)}(n)\bigcup U^{(t)}_{I,J}(n)$.
Wireless-Powered Communication Assisted by Two-Way Relay with Interference Alignment Underlaying Cognitive Radio Network
Venue: arXiv cs.IT 2023
Year: 2023

This study investigates the outage performance of an under-laying wireless-powered secondary system that reuses the primary users (PU) spectrum in a multiple-input multiple-output (MIMO) cognitive radio (CR) network. Each secondary user (SU) harvests energy and receives information simultaneously by applying power splitting (PS) protocol. The communication between SUs is aided by a two-way (TW) decode and forward (DF) relay. We formulate a problem to design the PS ratios at SUs, the power control factor at the secondary relay, and beamforming matrices at all nodes to minimize the secondary network's outage probability. To address this problem, we propose a two-step solution. The first step establishes closedform expressions for the PS ratios at each SU and secondary relay's power control factor. Furthermore, in the second step, interference alignment (IA) is used to design proper precoding and decoding matrices for managing the interference between secondary and primary networks. We choose IA matrices based on the minimum mean square error (MMSE) iterative algorithm. The simulation results demonstrate a significant decrease in the outage probability for the proposed scheme compared to the benchmark schemes, with an average reduction of more than two orders of magnitude achieved.
Robust Backdoor Attacks on Object Detection in Real World
Venue: arXiv cs.CV 2023
Year: 2023

Deep learning models are widely deployed in many applications, such as object detection in various security fields. However, these models are vulnerable to backdoor attacks. Most backdoor attacks were intensively studied on classified models, but little on object detection. Previous works mainly focused on the backdoor attack in the digital world, but neglect the real world. Especially, the backdoor attack's effect in the real world will be easily influenced by physical factors like distance and illumination. In this paper, we proposed a variable-size backdoor trigger to adapt to the different sizes of attacked objects, overcoming the disturbance caused by the distance between the viewing point and attacked object. In addition, we proposed a backdoor training named malicious adversarial training, enabling the backdoor object detector to learn the feature of the trigger with physical noise. The experiment results show this robust backdoor attack (RBA) could enhance the attack success rate in the real world.