OpenRaiser/Intern-Atlas huggingface dataset:
The Multi-fingered Kinematic Model for Dual-arm Manipulation
Venue: arXiv cs.RO 2024
Year: 2024

Bimanual manipulation needs robots to be sensitive on the grasp force which is hard to be accurately detected. This paper proposes RL framework for enhancing the grasp quality during the bimanual manipulation. This framework is based on finger configurations and its feedback. After that, the grasp quality is evaluated by the reward mechanism for the hands to determine strategies. There are 2 strategies, simultaneous and interleaved strategies, which will be determined in this framework to manipulate objects. In this paper, the contour and centroid of objects to the robot are unknown. Through the RL framework, robots can perceive hand-object relation and then optimize fingers configurations. The simulations and experiments showed that this framework can improve the success rates and finger motion accuracy.
Walert: Putting Conversational Search Knowledge into Action by Building and Evaluating a Large Language Model-Powered Chatbot
Venue: arXiv cs.IR 2024
Year: 2024

Creating and deploying customized applications is crucial for operational success and enriching user experiences in the rapidly evolving modern business world. A prominent facet of modern user experiences is the integration of chatbots or voice assistants. The rapid evolution of Large Language Models (LLMs) has provided a powerful tool to build conversational applications. We present Walert, a customized LLM-based conversational agent able to answer frequently asked questions about computer science degrees and programs at RMIT University. Our demo aims to showcase how conversational information-seeking researchers can effectively communicate the benefits of using best practices to stakeholders interested in developing and deploying LLM-based chatbots. These practices are well-known in our community but often overlooked by practitioners who may not have access to this knowledge. The methodology and resources used in this demo serve as a bridge to facilitate knowledge transfer from experts, address industry professionals' practical needs, and foster a collaborative environment. The data and code of the demo are available at https://github.com/rmit-ir/walert.
Vehicle Selection for C-V2X Mode 4 Based Federated Edge Learning Systems
Venue: arXiv cs.NI 2024
Year: 2024

Federated learning (FL) is a promising technology for vehicular networks to protect vehicles' privacy in Internet of Vehicles (IoV). Vehicles with limited computation capacity may face a large computational burden associated with FL. Federated edge learning (FEEL) systems are introduced to solve such a problem. In FEEL systems, vehicles adopt the cellular-vehicle to everything (C-V2X) mode 4 to upload encrypted data to road side units' (RSUs)' cache queue. Then RSUs train the data transmitted by vehicles, update the locally model hyperparameters and send back results to vehicles, thus vehicles' computational burden can be released. However, each RSU has limited cache queue. To maintain the stability of cache queue and maximize the accuracy of model, it is essential to select appropriate vehicles to upload data. The vehicle selection method for FEEL systems faces challenges due to the random departure of data from the cache queue caused by the stochastic channel and the different system status of vehicles, such as remaining data amount, transmission delay, packet collision probability and survival ability. This paper proposes a vehicle selection method for FEEL systems that aims to maximize the accuracy of model while keeping the cache queue stable. Extensive simulation experiments demonstrate that our proposed method outperforms other baseline selection methods.
Distilling Event Sequence Knowledge From Large Language Models
Venue: arXiv cs.CL 2024
Year: 2024

Event sequence models have been found to be highly effective in the analysis and prediction of events. Building such models requires availability of abundant high-quality event sequence data. In certain applications, however, clean structured event sequences are not available, and automated sequence extraction results in data that is too noisy and incomplete. In this work, we explore the use of Large Language Models (LLMs) to generate event sequences that can effectively be used for probabilistic event model construction. This can be viewed as a mechanism of distilling event sequence knowledge from LLMs. Our approach relies on a Knowledge Graph (KG) of event concepts with partial causal relations to guide the generative language model for causal event sequence generation. We show that our approach can generate high-quality event sequences, filling a knowledge gap in the input KG. Furthermore, we explore how the generated sequences can be leveraged to discover useful and more complex structured knowledge from pattern mining and probabilistic event models. We release our sequence generation code and evaluation framework, as well as corpus of event sequence data.
3D Landmark Detection on Human Point Clouds: A Benchmark and A Dual Cascade Point Transformer Framework
Venue: arXiv cs.CV 2024
Year: 2024

3D landmark detection plays a pivotal role in various applications such as 3D registration, pose estimation, and virtual try-on. While considerable success has been achieved in 2D human landmark detection or pose estimation, there is a notable scarcity of reported works on landmark detection in unordered 3D point clouds. This paper introduces a novel challenge, namely 3D landmark detection on human point clouds, presenting two primary contributions. Firstly, we establish a comprehensive human point cloud dataset, named HPoint103, designed to support the 3D landmark detection community. This dataset comprises 103 human point clouds created with commercial software and actors, each manually annotated with 11 stable landmarks. Secondly, we propose a Dual Cascade Point Transformer (D-CPT) model for precise point-based landmark detection. D-CPT gradually refines the landmarks through cascade Transformer decoder layers across the entire point cloud stream, simultaneously enhancing landmark coordinates with a RefineNet over local regions. Comparative evaluations with popular point-based methods on HPoint103 and the public dataset DHP19 demonstrate the dramatic outperformance of our D-CPT. Additionally, the integration of our RefineNet into existing methods consistently improves performance.
BET: Explaining Deep Reinforcement Learning through The Error-Prone Decisions
Venue: arXiv cs.LG 2024
Year: 2024

Despite the impressive capabilities of Deep Reinforcement Learning (DRL) agents in many challenging scenarios, their black-box decision-making process significantly limits their deployment in safety-sensitive domains. Several previous self-interpretable works focus on revealing the critical states of the agent's decision. However, they cannot pinpoint the error-prone states. To address this issue, we propose a novel self-interpretable structure, named Backbone Extract Tree (BET), to better explain the agent's behavior by identify the error-prone states. At a high level, BET hypothesizes that states in which the agent consistently executes uniform decisions exhibit a reduced propensity for errors. To effectively model this phenomenon, BET expresses these states within neighborhoods, each defined by a curated set of representative states. Therefore, states positioned at a greater distance from these representative benchmarks are more prone to error. We evaluate BET in various popular RL environments and show its superiority over existing self-interpretable models in terms of explanation fidelity. Furthermore, we demonstrate a use case for providing explanations for the agents in StarCraft II, a sophisticated multi-agent cooperative game. To the best of our knowledge, we are the first to explain such a complex scenarios using a fully transparent structure.
City Scene Super-Resolution via Geometric Error Minimization
Venue: arXiv cs.CV 2024
Year: 2024

Super-resolution techniques are crucial in improving image granularity, particularly in complex urban scenes, where preserving geometric structures is vital for data-informed cultural heritage applications. In this paper, we propose a city scene super-resolution method via geometric error minimization. The geometric-consistent mechanism leverages the Hough Transform to extract regular geometric features in city scenes, enabling the computation of geometric errors between low-resolution and high-resolution images. By minimizing mixed mean square error and geometric align error during the super-resolution process, the proposed method efficiently restores details and geometric regularities. Extensive validations on the SET14, BSD300, Cityscapes and GSV-Cities datasets demonstrate that the proposed method outperforms existing state-of-the-art methods, especially in urban scenes.
Semi-Supervised Semantic Segmentation using Redesigned Self-Training for White Blood Cells
Venue: arXiv cs.CV 2024
Year: 2024

Artificial Intelligence (AI) in healthcare, especially in white blood cell cancer diagnosis, is hindered by two primary challenges: the lack of large-scale labeled datasets for white blood cell (WBC) segmentation and outdated segmentation methods. These challenges inhibit the development of more accurate and modern techniques to diagnose cancer relating to white blood cells. To address the first challenge, a semi-supervised learning framework should be devised to efficiently capitalize on the scarcity of the dataset available. In this work, we address this issue by proposing a novel self-training pipeline with the incorporation of FixMatch. Self-training is a technique that utilizes the model trained on labeled data to generate pseudo-labels for the unlabeled data and then re-train on both of them. FixMatch is a consistency-regularization algorithm to enforce the model's robustness against variations in the input image. We discover that by incorporating FixMatch in the self-training pipeline, the performance improves in the majority of cases. Our performance achieved the best performance with the self-training scheme with consistency on DeepLab-V3 architecture and ResNet-50, reaching 90.69%, 87.37%, and 76.49% on Zheng 1, Zheng 2, and LISC datasets, respectively.
Hybrid Coded-Uncoded Caching in Multi-Access Networks with Non-uniform Demands
Venue: arXiv cs.IT 2024
Year: 2024

To address the massive growth of data traffic over cellular networks, increasing spatial reuse of the frequency spectrum by the deployment of small base stations (SBSs) has been considered. For rapid deployment of SBSs in the networks, caching popular content along with new coded caching schemes are proposed. To maximize the cellular network's capacity, densifying it with small base stations is inevitable. In ultra-dense cellular networks, coverage of SBSs may overlap. To this aim, the multi-access caching system, where users potentially can access multiple cache nodes simultaneously, has attracted more attention in recent years. Most previous works on multi-access coded caching, only consider specific conditions such as cyclic wrap-around network topologies. In this paper, we investigate caching in ultra-dense cellular networks, where different users can access different numbers of caches under non-uniform content popularity distribution, and propose Multi-Access Hybrid coded-uncoded Caching (MAHC). We formulate the optimization problem of the proposed scheme for general network topologies and evaluate it for 2-SBS network scenarios. The numerical and simulation results show that the proposed MAHC scheme outperforms optimal conventional uncoded and previous multi-access coded caching (MACC) schemes.
Attention-based UNet enabled Lightweight Image Semantic Communication System over Internet of Things
Venue: arXiv cs.NE 2024
Year: 2024

This paper studies the problem of the lightweight image semantic communication system that is deployed on Internet of Things (IoT) devices. In the considered system model, devices must use semantic communication techniques to support user behavior recognition in ultimate video service with high data transmission efficiency. However, it is computationally expensive for IoT devices to deploy semantic codecs due to the complex calculation processes of deep learning (DL) based codec training and inference. To make it affordable for IoT devices to deploy semantic communication systems, we propose an attention-based UNet enabled lightweight image semantic communication (LSSC) system, which achieves low computational complexity and small model size. In particular, we first let the LSSC system train the codec at the edge server to reduce the training computation load on IoT devices. Then, we introduce the convolutional block attention module (CBAM) to extract the image semantic features and decrease the number of downsampling layers thus reducing the floating-point operations (FLOPs). Finally, we experimentally adjust the structure of the codec and find out the optimal number of downsampling layers. Simulation results show that the proposed LSSC system can reduce the semantic codec FLOPs by 14%, and reduce the model size by 55%, with a sacrifice of 3% accuracy, compared to the baseline. Moreover, the proposed scheme can achieve a higher transmission accuracy than the traditional communication scheme in the low channel signal-to-noise (SNR) region.
Privacy-Preserving Intrusion Detection in Software-defined VANET using Federated Learning with BERT
Venue: arXiv cs.CR 2024
Year: 2024

The absence of robust security protocols renders the VANET (Vehicle ad-hoc Networks) network open to cyber threats by compromising passengers and road safety. Intrusion Detection Systems (IDS) are widely employed to detect network security threats. With vehicles' high mobility on the road and diverse environments, VANETs devise ever-changing network topologies, lack privacy and security, and have limited bandwidth efficiency. The absence of privacy precautions, End-to-End Encryption methods, and Local Data Processing systems in VANET also present many privacy and security difficulties. So, assessing whether a novel real-time processing IDS approach can be utilized for this emerging technology is crucial. The present study introduces a novel approach for intrusion detection using Federated Learning (FL) capabilities in conjunction with the BERT model for sequence classification (FL-BERT). The significance of data privacy is duly recognized. According to FL methodology, each client has its own local model and dataset. They train their models locally and then send the model's weights to the server. After aggregation, the server aggregates the weights from all clients to update a global model. After aggregation, the global model's weights are shared with the clients. This practice guarantees the secure storage of sensitive raw data on individual clients' devices, effectively protecting privacy. After conducting the federated learning procedure, we assessed our models' performance using a separate test dataset. The FL-BERT technique has yielded promising results, opening avenues for further investigation in this particular area of research. We reached the result of our approaches by comparing existing research works and found that FL-BERT is more effective for privacy and security concerns. Our results suggest that FL-BERT is a promising technique for enhancing attack detection.
Generative AI in EU Law: Liability, Privacy, Intellectual Property, and Cybersecurity
Venue: arXiv cs.CY 2024
Year: 2024

The advent of Generative AI, particularly through Large Language Models (LLMs) like ChatGPT and its successors, marks a paradigm shift in the AI landscape. Advanced LLMs exhibit multimodality, handling diverse data formats, thereby broadening their application scope. However, the complexity and emergent autonomy of these models introduce challenges in predictability and legal compliance. This paper delves into the legal and regulatory implications of Generative AI and LLMs in the European Union context, analyzing aspects of liability, privacy, intellectual property, and cybersecurity. It critically examines the adequacy of the existing and proposed EU legislation, including the Artificial Intelligence Act (AIA) draft, in addressing the unique challenges posed by Generative AI in general and LLMs in particular. The paper identifies potential gaps and shortcomings in the legislative framework and proposes recommendations to ensure the safe and compliant deployment of generative models, ensuring they align with the EU's evolving digital landscape and legal standards.
BUGSPHP: A dataset for Automated Program Repair in PHP
Venue: arXiv cs.SE 2024
Year: 2024

Automated Program Repair (APR) improves developer productivity by saving debugging and bug-fixing time. While APR has been extensively explored for C/C++ and Java programs, there is little research on bugs in PHP programs due to the lack of a benchmark PHP bug dataset. This is surprising given that PHP has been one of the most widely used server-side languages for over two decades, being used in a variety of contexts such as e-commerce, social networking, and content management. This paper presents a benchmark dataset of PHP bugs on real-world applications called BUGSPHP, which can enable research on analysis, testing, and repair for PHP programs. The dataset consists of training and test datasets, separately curated from GitHub and processed locally. The training dataset includes more than 600,000 bug-fixing commits. The test dataset contains 513 manually validated bug-fixing commits equipped with developer-provided test cases to assess patch correctness.
Startup Delay Aware Short Video Ordering: Problem, Model, and A Reinforcement Learning based Algorithm
Venue: arXiv cs.MM 2024
Year: 2024

Short video applications have attracted billions of users on the Internet and can satisfy diverse users' fragmented spare time with content-rich and duration-short videos. To achieve fast playback at user side, existing short video systems typically enforce burst transmission of initial segment of each video when being requested for improved quality of user experiences. However, such a way of burst transmissions can cause unexpected large startup delays at user side. This is because users may frequently switch videos when sequentially watching a list of short videos recommended by the server side, which can cause excessive burst transmissions of initial segments of different short videos and thus quickly deplete the network transmission capacity. In this paper, we adopt token bucket to characterize the video transmission path between video server and each user, and accordingly study how to effectively reduce the startup delay of short videos by effectively arranging the viewing order of a video list at the server side. We formulate the optimal video ordering problem for minimizing the maximum video startup delay as a combinatorial optimization problem and prove its NP-hardness. We accordingly propose a Partially Shared Actor Critic reinforcement learning algorithm (PSAC) to learn optimized video ordering strategy. Numerical results based on a real dataset provided by a large-scale short video service provider demonstrate that the proposed PSAC algorithm can significantly reduce the video startup delay compared to baseline algorithms.
Leveraging the power of transformers for guilt detection in text
Venue: arXiv cs.CL 2024
Year: 2024

In recent years, language models and deep learning techniques have revolutionized natural language processing tasks, including emotion detection. However, the specific emotion of guilt has received limited attention in this field. In this research, we explore the applicability of three transformer-based language models for detecting guilt in text and compare their performance for general emotion detection and guilt detection. Our proposed model outformed BERT and RoBERTa models by two and one points respectively. Additionally, we analyze the challenges in developing accurate guilt-detection models and evaluate our model's effectiveness in detecting related emotions like "shame" through qualitative analysis of results.
AMC'24 "A Novel Stiffness Modulation Mechanism for Energy Efficient Variable Stiffness Actuators"
Venue: arXiv cs.RO 2024
Year: 2024

This paper presents a new stiffness modulation mechanism that enables infinite-range stiffness modulation in a fast manner. The proposed stiffness modulation mechanism can help improve many robot environment interaction applications such as human-robot collaboration and robotic rehabilitation.
Fast Successive-Cancellation Decoding of 2 x 2 Kernel Non-Binary Polar Codes: Identification, Decoding and Simplification
Venue: arXiv cs.IT 2024
Year: 2024

Non-binary polar codes (NBPCs) decoded by successive cancellation (SC) algorithm have remarkable bit-error-rate performance compared to the binary polar codes (BPCs). Due to the serial nature, SC decoding suffers from large latency. The latency issue in BPCs has been the topic of extensive research and it has been notably resolved by the introduction of fast SC-based decoders. However, the vast majority of research on NBPCs is devoted to issues concerning design and efficient implementation. In this paper, we propose fast SC decoding for NBPCs constructed based on 2 x 2 kernels. In particular, we identify various non-binary special nodes in the SC decoding tree of NBPCs and propose their fast decoding. This way, we avoid traversing the full decoding tree and significantly reduce the decoding delay compared to symbol-by-symbol SC decoding. We also propose a simplified NBPC structure that facilitates the procedure of non-binary fast SC decoding. Using our proposed fast non-binary decoder, we observed an improvement of up to 95% in latency concerning the original SC decoding. This is while our proposed fast SC decoder for NBPCs incurs no error-rate loss.
Quantized RIS-aided mmWave Massive MIMO Channel Estimation with Uniform Planar Arrays
Venue: arXiv cs.IT 2024
Year: 2024

In this paper, we investigate a cascaded channel estimation method for a millimeter wave (mmWave) massive multiple-input multiple-output (MIMO) system aided by a reconfigurable intelligent surface (RIS) with the BS equipped with low-resolution analog-to-digital converters (ADCs), where the BS and the RIS are both equipped with a uniform planar array (UPA). Due to the sparse property of mmWave channel, the channel estimation can be solved as a compressed sensing (CS) problem. However, the low-resolution quantization cause severe information loss of signals, and traditional CS algorithms are unable to work well. To recovery the signal and the sparse angular domain channel from quantization, we introduce Bayesian inference and efficient vector approximate message passing (VAMP) algorithm to solve the quantize output CS problem. To further improve the efficiency of the VAMP algorithm, a Fast Fourier Transform (FFT) based fast computation method is derived. Simulation results demonstrate the effectiveness and the accuracy of the proposed cascaded channel estimation method for the RIS-aided mmWave massive MIMO system with few-bit ADCs. Furthermore, the proposed channel estimation method can reach an acceptable performance gap between the low-resolution ADCs and the infinite ADCs for the low signal-to-noise ratio (SNR), which implies the applicability of few-bit ADCs in practice.