OpenRaiser/Intern-Atlas huggingface dataset:
Transferability of HRI Research: Potential and Challenges
Venue: arXiv cs.RO 2024
Year: 2024

With advancement of robotics and artificial intelligence, applications for robotics are flourishing. Human-robot interaction (HRI) is an important area of robotics as it allows robots to work closer to humans (with them or for them). One crucial factor for the success of HRI research is transferability, which refers to the ability of research outputs to be adopted by industry and provide benefits to society. In this paper, we explore the potentials and challenges of transferability in HRI research. Firstly, we examine the current state of HRI research and identify various types of contributions that could lead to successful outcomes. Secondly, we discuss the potential benefits for each type of contribution and identify factors that could facilitate industry adoption of HRI research. However, we also recognize that there are several challenges associated with transferability, such as the diversity of well-defined job/skill-sets required from HRI practitioners, the lack of industry-led research, and the lack of standardization in HRI research methods. We discuss these challenges and propose potential solutions to bridge the gap between industry expectations and academic research in HRI.
CLIP-Driven Semantic Discovery Network for Visible-Infrared Person Re-Identification
Venue: arXiv cs.CV 2024
Year: 2024

Visible-infrared person re-identification (VIReID) primarily deals with matching identities across person images from different modalities. Due to the modality gap between visible and infrared images, cross-modality identity matching poses significant challenges. Recognizing that high-level semantics of pedestrian appearance, such as gender, shape, and clothing style, remain consistent across modalities, this paper intends to bridge the modality gap by infusing visual features with high-level semantics. Given the capability of CLIP to sense high-level semantic information corresponding to visual representations, we explore the application of CLIP within the domain of VIReID. Consequently, we propose a CLIP-Driven Semantic Discovery Network (CSDN) that consists of Modality-specific Prompt Learner, Semantic Information Integration (SII), and High-level Semantic Embedding (HSE). Specifically, considering the diversity stemming from modality discrepancies in language descriptions, we devise bimodal learnable text tokens to capture modality-private semantic information for visible and infrared images, respectively. Additionally, acknowledging the complementary nature of semantic details across different modalities, we integrate text features from the bimodal language descriptions to achieve comprehensive semantics. Finally, we establish a connection between the integrated text features and the visual features across modalities. This process embed rich high-level semantic information into visual representations, thereby promoting the modality invariance of visual representations. The effectiveness and superiority of our proposed CSDN over existing methods have been substantiated through experimental evaluations on multiple widely used benchmarks. The code will be released at \url{https://github.com/nengdong96/CSDN}.
Modeling Online Paging in Multi-Core Systems
Venue: arXiv cs.DS 2024
Year: 2024

Web requests are growing exponentially since the 90s due to the rapid development of the Internet. This process was further accelerated by the introduction of cloud services. It has been observed statistically that memory or web requests generally follow power-law distribution, Breslau et al. INFOCOM'99. That is, the $i^{\text{th}}$ most popular web page is requested with a probability proportional to $1 / i^α$ ($α> 0$ is a constant). Furthermore, this study, which was performed more than 20 years ago, indicated Zipf-like behavior, i.e., that $α\le 1$. Surprisingly, the memory access traces coming from petabyte-size modern cloud systems not only show that $α$ can be bigger than one but also illustrate a shifted power-law distribution -- called Pareto type II or Lomax. These previously not reported phenomenon calls for statistical explanation. Our first contribution is a new statistical {\it multi-core power-law} model indicating that double-power law can be attributed to the presence of multiple cores running many virtual machines in parallel on such systems. We verify experimentally the applicability of this model using the Kolmogorov-Smirnov test (K-S test). The second contribution of this paper is a theoretical analysis indicating why LRU and LFU-based algorithms perform well in practice on data satisfying power-law or multi-core assumptions. We provide an explanation by studying the online paging problem in the stochastic input model, i.e., the input is a random sequence with each request independently drawn from a page set according to a distribution $π$. We derive formulas (as a function of the page probabilities in $π$) to upper bound their ratio-of-expectations, which help in establishing O(1) performance ratio given the random sequence following power-law and multi-core power-law distributions.
Inferring Intentions to Speak Using Accelerometer Data In-the-Wild
Venue: arXiv cs.LG 2024
Year: 2024

Humans have good natural intuition to recognize when another person has something to say. It would be interesting if an AI can also recognize intentions to speak. Especially in scenarios when an AI is guiding a group discussion, this can be a useful skill. This work studies the inference of successful and unsuccessful intentions to speak from accelerometer data. This is chosen because it is privacy-preserving and feasible for in-the-wild settings since it can be placed in a smart badge. Data from a real-life social networking event is used to train a machine-learning model that aims to infer intentions to speak. A subset of unsuccessful intention-to-speak cases in the data is annotated. The model is trained on the successful intentions to speak and evaluated on both the successful and unsuccessful cases. In conclusion, there is useful information in accelerometer data, but not enough to reliably capture intentions to speak. For example, posture shifts are correlated with intentions to speak, but people also often shift posture without having an intention to speak, or have an intention to speak without shifting their posture. More modalities are likely needed to reliably infer intentions to speak.
Towards Boosting Many-to-Many Multilingual Machine Translation with Large Language Models
Venue: arXiv cs.CL 2024
Year: 2024

The training paradigm for machine translation has gradually shifted, from learning neural machine translation (NMT) models with extensive parallel corpora to instruction finetuning on multilingual large language models (LLMs) with high-quality translation pairs. In this paper, we focus on boosting many-to-many multilingual translation of LLMs with an emphasis on zero-shot translation directions. We demonstrate that prompt strategies adopted during finetuning are crucial to zero-shot translation and introduce a cross-lingual consistency regularization, XConST, to bridge the representation gap among different languages and improve zero-shot translation performance. XConST is not a new method, but a version of CrossConST (Gao et al., 2023a) adapted for translation instruction finetuning with LLMs. Experimental results on ALMA (Xu et al., 2023), Tower (Team, 2024), and LLaMA-2 (Touvron et al., 2023) show that our approach consistently improves translation performance. Our implementations are available at https://github.com/gpengzhi/CrossConST-LLM.
Volume Transfer: A New Design Concept for Fabric-Based Pneumatic Exosuits
Venue: arXiv cs.RO 2024
Year: 2024

The fabric-based pneumatic exosuit is now a hot research topic because it is lighter and softer than traditional exoskeletons. Existing research focused more on the mechanical properties of the exosuit (e.g., torque and speed), but less on its wearability (e.g., appearance and comfort). This work presents a new design concept for fabric-based pneumatic exosuits Volume Transfer, which means transferring the volume of pneumatic actuators beyond the garments profile to the inside. This allows for a concealed appearance and a larger stress area while maintaining adequate torques. In order to verify this concept, we develop a fabric-based pneumatic exosuit for knee extension assistance. Its profile is only 26mm and its stress area wraps around almost half of the leg. We use a mathematical model and simulation to determine the parameters of the exosuit, avoiding multiple iterations of the prototype. Experiment results show that the exosuit can generate a torque of 7.6Nm at a pressure of 90kPa and produce a significant reduction in the electromyography activity of the knee extensor muscles. We believe that Volume Transfer could be utilized prevalently in future fabric-based pneumatic exosuit designs to achieve a significant improvement in wearability.
LiDAR data acquisition and processing for ecology applications
Venue: arXiv cs.CV 2024
Year: 2024

The collection of ecological data in the field is essential to diagnose, monitor and manage ecosystems in a sustainable way. Since acquisition of this information through traditional methods are generally time-consuming, due to the capability of recording large volumes of data in short time periods, automation of data acquisition sees a growing trend. Terrestrial laser scanners (TLS), particularly LiDAR sensors, have been used in ecology, allowing to reconstruct the 3D structure of vegetation, and thus, infer ecosystem characteristics based on the spatial variation of the density of points. However, the low amount of information obtained per beam, lack of data analysis tools and the high cost of the equipment limit their use. This way, a low-cost TLS (<10k$) was developed along with data acquisition and processing mechanisms applicable in two case studies: an urban garden and a target area for ecological restoration. The orientation of LiDAR was modified to make observations in the vertical plane and a motor was integrated for its rotation, enabling the acquisition of 360 degree data with high resolution. Motion and location sensors were also integrated for automatic error correction and georeferencing. From the data generated, histograms of point density variation along the vegetation height were created, where shrub stratum was easily distinguishable from tree stratum, and maximum tree height and shrub cover were calculated. These results agreed with the field data, whereby the developed TLS has proved to be effective in calculating metrics of structural complexity of vegetation.
Optimized Asymmetric Feedback Detection for Rate-adaptive HARQ with Unreliable Feedback
Venue: arXiv cs.IT 2024
Year: 2024

This work considers downlink incremental redundancy Hybrid Automatic Repeat Request (IR-HARQ) over unreliable feedback channels. Since the impact of positive feedback (i.e., ACK) error is smaller than that of negative feedback (i.e., NACK) error, an asymmetric feedback detection scheme is proposed to protect NACK and further reduce the outage probability. We formulate the HARQ process as a Markov Decision Process (MDP) model to adapt to the transmission rate of each transmission attempt without enriched feedback and additional feedback cost. We aim to optimize the performance of HARQ process under certain outage probability requirements by finding optimal asymmetric detection thresholds. Numerical results obtained on the downlink Rayleigh fading channel and 5G new radio (NR) PUCCH feedback channel show that by applying asymmetric feedback detection and adaptive rate allocation, higher throughput can be achieved under outage probability limitations.
SH2: Self-Highlighted Hesitation Helps You Decode More Truthfully
Venue: arXiv cs.CL 2024
Year: 2024

Large language models (LLMs) demonstrate great performance in text generation. However, LLMs are still suffering from hallucinations. In this work, we propose an inference-time method, Self-Highlighted Hesitation (SH2), to help LLMs decode more truthfully. SH2 is based on a simple fact rooted in information theory that for an LLM, the tokens predicted with lower probabilities are prone to be more informative than others. Our analysis shows that the tokens assigned with lower probabilities by an LLM are more likely to be closely related to factual information, such as nouns, proper nouns, and adjectives. Therefore, we propose to ''highlight'' the factual information by selecting the tokens with the lowest probabilities and concatenating them to the original context, thus forcing the model to repeatedly read and hesitate on these tokens before generation. During decoding, we also adopt contrastive decoding to emphasize the difference in the output probabilities brought by the hesitation. Experimental results demonstrate that our SH2, requiring no additional data or models, can effectively help LLMs elicit factual knowledge and distinguish hallucinated contexts. Significant and consistent improvements are achieved by SH2 for LLaMA-7b, LLaMA2-7b and Mistral-7b on multiple hallucination tasks.
Machine Learning Insides OptVerse AI Solver: Design Principles and Applications
Venue: arXiv cs.AI 2024
Year: 2024

In an era of digital ubiquity, efficient resource management and decision-making are paramount across numerous industries. To this end, we present a comprehensive study on the integration of machine learning (ML) techniques into Huawei Cloud's OptVerse AI Solver, which aims to mitigate the scarcity of real-world mathematical programming instances, and to surpass the capabilities of traditional optimization techniques. We showcase our methods for generating complex SAT and MILP instances utilizing generative models that mirror multifaceted structures of real-world problem. Furthermore, we introduce a training framework leveraging augmentation policies to maintain solvers' utility in dynamic environments. Besides the data generation and augmentation, our proposed approaches also include novel ML-driven policies for personalized solver strategies, with an emphasis on applications like graph convolutional networks for initial basis selection and reinforcement learning for advanced presolving and cut selection. Additionally, we detail the incorporation of state-of-the-art parameter tuning algorithms which markedly elevate solver performance. Compared with traditional solvers such as Cplex and SCIP, our ML-augmented OptVerse AI Solver demonstrates superior speed and precision across both established benchmarks and real-world scenarios, reinforcing the practical imperative and effectiveness of machine learning techniques in mathematical programming solvers.
Securing an Application Layer Gateway: An Industrial Case Study
Venue: arXiv cs.CR 2024
Year: 2024

Application Layer Gateways (ALGs) play a crucial role in securing critical systems, including railways, industrial automation, and defense applications, by segmenting networks at different levels of criticality. However, they require rigorous security testing to prevent software vulnerabilities, not only at the network level but also at the application layer (e.g., deep traffic inspection components). This paper presents a vulnerability-driven methodology for the comprehensive security testing of ALGs. We present the methodology in the context of an industrial case study in the railways domain, and a simulation-based testing environment to support the methodology.
A Lightweight Feature Fusion Architecture For Resource-Constrained Crowd Counting
Venue: arXiv cs.CV 2024
Year: 2024

Crowd counting finds direct applications in real-world situations, making computational efficiency and performance crucial. However, most of the previous methods rely on a heavy backbone and a complex downstream architecture that restricts the deployment. To address this challenge and enhance the versatility of crowd-counting models, we introduce two lightweight models. These models maintain the same downstream architecture while incorporating two distinct backbones: MobileNet and MobileViT. We leverage Adjacent Feature Fusion to extract diverse scale features from a Pre-Trained Model (PTM) and subsequently combine these features seamlessly. This approach empowers our models to achieve improved performance while maintaining a compact and efficient design. With the comparison of our proposed models with previously available state-of-the-art (SOTA) methods on ShanghaiTech-A ShanghaiTech-B and UCF-CC-50 dataset, it achieves comparable results while being the most computationally efficient model. Finally, we present a comparative study, an extensive ablation study, along with pruning to show the effectiveness of our models.
UAVD4L: A Large-Scale Dataset for UAV 6-DoF Localization
Venue: arXiv cs.CV 2024
Year: 2024

Despite significant progress in global localization of Unmanned Aerial Vehicles (UAVs) in GPS-denied environments, existing methods remain constrained by the availability of datasets. Current datasets often focus on small-scale scenes and lack viewpoint variability, accurate ground truth (GT) pose, and UAV build-in sensor data. To address these limitations, we introduce a large-scale 6-DoF UAV dataset for localization (UAVD4L) and develop a two-stage 6-DoF localization pipeline (UAVLoc), which consists of offline synthetic data generation and online visual localization. Additionally, based on the 6-DoF estimator, we design a hierarchical system for tracking ground target in 3D space. Experimental results on the new dataset demonstrate the effectiveness of the proposed approach. Code and dataset are available at https://github.com/RingoWRW/UAVD4L
Topology-Driven Parallel Trajectory Optimization in Dynamic Environments
Venue: arXiv cs.RO 2024
Year: 2024

Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these methods often converge to locally optimal solutions and frequently switch between different local minima, leading to inefficient and unsafe robot motion. In this work, We propose a novel topology-driven trajectory optimization strategy for dynamic environments that plans multiple distinct evasive trajectories to enhance the robot's behavior and efficiency. A global planner iteratively generates trajectories in distinct homotopy classes. These trajectories are then optimized by local planners working in parallel. While each planner shares the same navigation objectives, they are locally constrained to a specific homotopy class, meaning each local planner attempts a different evasive maneuver. The robot then executes the feasible trajectory with the lowest cost in a receding horizon manner. We demonstrate, on a mobile robot navigating among pedestrians, that our approach leads to faster and safer trajectories than existing planners.
Safeguarding DeFi Smart Contracts against Oracle Deviations
Venue: arXiv cs.SE 2024
Year: 2024

This paper presents OVer, a framework designed to automatically analyze the behavior of decentralized finance (DeFi) protocols when subjected to a "skewed" oracle input. OVer firstly performs symbolic analysis on the given contract and constructs a model of constraints. Then, the framework leverages an SMT solver to identify parameters that allow its secure operation. Furthermore, guard statements may be generated for smart contracts that may use the oracle values, thus effectively preventing oracle manipulation attacks. Empirical results show that OVer can successfully analyze all 10 benchmarks collected, which encompass a diverse range of DeFi protocols. Additionally, this paper also illustrates that current parameters utilized in the majority of benchmarks are inadequate to ensure safety when confronted with significant oracle deviations.
On the Power of Graph Neural Networks and Feature Augmentation Strategies to Classify Social Networks
Venue: arXiv cs.SI 2024
Year: 2024

This paper studies four Graph Neural Network architectures (GNNs) for a graph classification task on a synthetic dataset created using classic generative models of Network Science. Since the synthetic networks do not contain (node or edge) features, five different augmentation strategies (artificial feature types) are applied to nodes. All combinations of the 4 GNNs (GCN with Hierarchical and Global aggregation, GIN and GATv2) and the 5 feature types (constant 1, noise, degree, normalized degree and ID -- a vector of the number of cycles of various lengths) are studied and their performances compared as a function of the hidden dimension of artificial neural networks used in the GNNs. The generalisation ability of these models is also analysed using a second synthetic network dataset (containing networks of different sizes).Our results point towards the balanced importance of the computational power of the GNN architecture and the the information level provided by the artificial features. GNN architectures with higher computational power, like GIN and GATv2, perform well for most augmentation strategies. On the other hand, artificial features with higher information content, like ID or degree, not only consistently outperform other augmentation strategies, but can also help GNN architectures with lower computational power to achieve good performance.
Autocompletion of Chief Complaints in the Electronic Health Records using Large Language Models
Venue: arXiv cs.CL 2024
Year: 2024

The Chief Complaint (CC) is a crucial component of a patient's medical record as it describes the main reason or concern for seeking medical care. It provides critical information for healthcare providers to make informed decisions about patient care. However, documenting CCs can be time-consuming for healthcare providers, especially in busy emergency departments. To address this issue, an autocompletion tool that suggests accurate and well-formatted phrases or sentences for clinical notes can be a valuable resource for triage nurses. In this study, we utilized text generation techniques to develop machine learning models using CC data. In our proposed work, we train a Long Short-Term Memory (LSTM) model and fine-tune three different variants of Biomedical Generative Pretrained Transformers (BioGPT), namely microsoft/biogpt, microsoft/BioGPT-Large, and microsoft/BioGPT-Large-PubMedQA. Additionally, we tune a prompt by incorporating exemplar CC sentences, utilizing the OpenAI API of GPT-4. We evaluate the models' performance based on the perplexity score, modified BERTScore, and cosine similarity score. The results show that BioGPT-Large exhibits superior performance compared to the other models. It consistently achieves a remarkably low perplexity score of 1.65 when generating CC, whereas the baseline LSTM model achieves the best perplexity score of 170. Further, we evaluate and assess the proposed models' performance and the outcome of GPT-4.0. Our study demonstrates that utilizing LLMs such as BioGPT, leads to the development of an effective autocompletion tool for generating CC documentation in healthcare settings.