OpenRaiser/Intern-Atlas huggingface dataset:
Experience-based Subproblem Planning for Multi-Robot Motion Planning
Venue: arXiv cs.RO 2024
Year: 2024

Multi-robot systems enhance efficiency and productivity across various applications, from manufacturing to surveillance. While single-robot motion planning has improved by using databases of prior solutions, extending this approach to multi-robot motion planning (MRMP) presents challenges due to the increased complexity and diversity of tasks and configurations. Recent discrete methods have attempted to address this by focusing on relevant lower-dimensional subproblems, but they are inadequate for complex scenarios like those involving manipulator robots. To overcome this, we propose a novel approach that %leverages experience-based planning by constructs and utilizes databases of solutions for smaller sub-problems. By focusing on interactions between fewer robots, our method reduces the need for exhaustive database growth, allowing for efficient handling of more complex MRMP scenarios. We validate our approach with experiments involving both mobile and manipulator robots, demonstrating significant improvements over existing methods in scalability and planning efficiency. Our contributions include a rapidly constructed database for low-dimensional MRMP problems, a framework for applying these solutions to larger problems, and experimental validation with up to 32 mobile and 16 manipulator robots.
Unsupervised Parameter-free Outlier Detection using HDBSCAN* Outlier Profiles
Venue: arXiv cs.LG 2024
Year: 2024

In machine learning and data mining, outliers are data points that significantly differ from the dataset and often introduce irrelevant information that can induce bias in its statistics and models. Therefore, unsupervised methods are crucial to detect outliers if there is limited or no information about them. Global-Local Outlier Scores based on Hierarchies (GLOSH) is an unsupervised outlier detection method within HDBSCAN*, a state-of-the-art hierarchical clustering method. GLOSH estimates outlier scores for each data point by comparing its density to the highest density of the region they reside in the HDBSCAN* hierarchy. GLOSH may be sensitive to HDBSCAN*'s minpts parameter that influences density estimation. With limited knowledge about the data, choosing an appropriate minpts value beforehand is challenging as one or some minpts values may better represent the underlying cluster structure than others. Additionally, in the process of searching for ``potential outliers'', one has to define the number of outliers n a dataset has, which may be impractical and is often unknown. In this paper, we propose an unsupervised strategy to find the ``best'' minpts value, leveraging the range of GLOSH scores across minpts values to identify the value for which GLOSH scores can best identify outliers from the rest of the dataset. Moreover, we propose an unsupervised strategy to estimate a threshold for classifying points into inliers and (potential) outliers without the need to pre-define any value. Our experiments show that our strategies can automatically find the minpts value and threshold that yield the best or near best outlier detection results using GLOSH.
A Short Note on Evaluating RepNet for Temporal Repetition Counting in Videos
Venue: arXiv cs.CV 2024
Year: 2024

We discuss some consistent issues on how RepNet has been evaluated in various papers. As a way to mitigate these issues, we report RepNet performance results on different datasets, and release evaluation code and the RepNet checkpoint to obtain these results. Code URL: https://github.com/google-research/google-research/blob/master/repnet/
Exploring Capabilities of Time Series Foundation Models in Building Analytics
Venue: arXiv cs.CY 2024
Year: 2024

The growing integration of digitized infrastructure with Internet of Things (IoT) networks has transformed the management and optimization of building energy consumption. By leveraging IoT-based monitoring systems, stakeholders such as building managers, energy suppliers, and policymakers can make data-driven decisions to improve energy efficiency. However, accurate energy forecasting and analytics face persistent challenges, primarily due to the inherent physical constraints of buildings and the diverse, heterogeneous nature of IoT-generated data. In this study, we conduct a comprehensive benchmarking of two publicly available IoT datasets, evaluating the performance of time series foundation models in the context of building energy analytics. Our analysis shows that single-modal models demonstrate significant promise in overcoming the complexities of data variability and physical limitations in buildings, with future work focusing on optimizing multi-modal models for sustainable energy management.
Multilingual Standalone Trustworthy Voice-Based Social Network for Disaster Situations
Venue: arXiv cs.HC 2024
Year: 2024

In disaster scenarios, effective communication is crucial, yet language barriers often hinder timely and accurate information dissemination, exacerbating vulnerabilities and complicating response efforts. This paper presents a novel, multilingual, voice-based social network specifically designed to address these challenges. The proposed system integrates advanced artificial intelligence (AI) with blockchain technology to enable secure, asynchronous voice communication across multiple languages. The application operates independently of external servers, ensuring reliability even in compromised environments by functioning offline through local networks. Key features include AI-driven real-time translation of voice messages, ensuring seamless cross-linguistic communication, and blockchain-enabled storage for secure, immutable records of all interactions, safeguarding message integrity. Designed for cross-platform use, the system offers consistent performance across devices, from mobile phones to desktops, making it highly adaptable in diverse disaster situations. Evaluation metrics demonstrate high accuracy in speech recognition and translation, low latency, and user satisfaction, validating the system's effectiveness in enhancing communication during crises. This solution represents a significant advancement in disaster communication, bridging language gaps to support more inclusive and efficient emergency response.
Balancing Innovation and Sustainability: Addressing the Environmental Impact of Bitcoin Mining
Venue: arXiv cs.CY 2024
Year: 2024

This study explores the intersection of technological innovation and environmental sustainability in the context of Bitcoin mining. With Bitcoin's growing adoption, concerns surrounding the energy consumption and environmental impact of mining activities have intensified. The study examines the core process of Bitcoin mining, focusing on its energy-intensive proof-of-work mechanism, and provides a detailed analysis of its ecological footprint, especially in terms of carbon emissions and electronic waste. Various models estimate that Bitcoin's energy consumption rivals that of entire nations, highlighting serious sustainability concerns. To address these issues, the paper unearths potential technological innovations, such as energy-efficient mining hardware and the integration of renewable energy sources, as viable strategies to reduce environmental impact. Additionally, the study reviews current sustainability initiatives, including efforts to lower carbon footprints and manage electronic waste effectively. Regulatory developments and market-based approaches are also discussed as possible pathways to mitigate the environmental harm associated with Bitcoin mining. Ultimately, the paper advocates for a balanced approach that fosters technological innovation while promoting environmental responsibility, suggesting that, with appropriate policy and technological interventions, Bitcoin mining can evolve to be both innovative and sustainable.
Future-Proofing IoT: Unleashing the Power of AWS Greengrass in Propelling Smart Devices to New Heights
Venue: arXiv cs.DC 2024
Year: 2024

The advent of edge computing is set to revolutionize cloud computing in various sectors, including Agriculture, Health, and more. AWS Greengrass Core Device plays a pivotal role in this transformative process by bridging connections between IoT devices by improving data sharing between them, unlocking new possibilities in Smart Home, Agriculture, Health, Vehicular Cloud, Smart City, Industry Automation, and beyond. However, these advancements also introduce novel challenges for testing and quality assurance in cloud computing. This paper explores the impact of AWS Greengrass in different fields, addressing challenges, opportunities, and potential benefits of edge and cloud computing in terms of processing speed, latency, and bandwidth usage.
Classification of Keratitis from Eye Corneal Photographs using Deep Learning
Venue: arXiv cs.CV 2024
Year: 2024

Keratitis is an inflammatory corneal condition responsible for 10% of visual impairment in low- and middle-income countries (LMICs), with bacteria, fungi, or amoeba as the most common infection etiologies. While an accurate and timely diagnosis is crucial for the selected treatment and the patients' sight outcomes, due to the high cost and limited availability of laboratory diagnostics in LMICs, diagnosis is often made by clinical observation alone, despite its lower accuracy. In this study, we investigate and compare different deep learning approaches to diagnose the source of infection: 1) three separate binary models for infection type predictions; 2) a multitask model with a shared backbone and three parallel classification layers (Multitask V1); and, 3) a multitask model with a shared backbone and a multi-head classification layer (Multitask V2). We used a private Brazilian cornea dataset to conduct the empirical evaluation. We achieved the best results with Multitask V2, with an area under the receiver operating characteristic curve (AUROC) confidence intervals of 0.7413-0.7740 (bacteria), 0.8395-0.8725 (fungi), and 0.9448-0.9616 (amoeba). A statistical analysis of the impact of patient features on models' performance revealed that sex significantly affects amoeba infection prediction, and age seems to affect fungi and bacteria predictions.
Nearly Tight Bounds on Testing of Metric Properties
Venue: arXiv cs.DM 2024
Year: 2024

Given a non-negative $n \times n$ matrix viewed as a set of distances between $n$ points, we consider the property testing problem of deciding if it is a metric. We also consider the same problem for two special classes of metrics, tree metrics and ultrametrics. For general metrics, our paper is the first to consider these questions. We prove an upper bound of $O(n^{2/3}/ε^{4/3})$ on the query complexity for this problem. Our algorithm is simple, but the analysis requires great care in bounding the variance on the number of violating triangles in a sample. When $ε$ is a slowly decreasing function of $n$ (rather than a constant, as is standard), we prove a lower bound of matching dependence on $n$ of $Ω(n^{2/3})$, ruling out any property testers with $o(n^{2/3})$ query complexity unless their dependence on $1/ε$ is super-polynomial. Next, we turn to tree metrics and ultrametrics. While there were known upper and lower bounds, we considerably improve these bounds showing essentially tight bounds of $\tilde{O}(1/ε)$ on the sample complexity. We also show a lower bound of $Ω( 1/ε^{4/3} )$ on the query complexity. Our upper bounds are derived by doing a more careful analysis of a natural, simple algorithm. For the lower bounds, we construct distributions on NO instances, where it is hard to find a witness showing that these are not ultrametrics.
Computed tomography using meta-optics
Venue: arXiv cs.CV 2024
Year: 2024

Computer vision tasks require processing large amounts of data to perform image classification, segmentation, and feature extraction. Optical preprocessors can potentially reduce the number of floating point operations required by computer vision tasks, enabling low-power and low-latency operation. However, existing optical preprocessors are mostly learned and hence strongly depend on the training data, and thus lack universal applicability. In this paper, we present a metaoptic imager, which implements the Radon transform obviating the need for training the optics. High quality image reconstruction with a large compression ratio of 0.6% is presented through the use of the Simultaneous Algebraic Reconstruction Technique. Image classification with 90% accuracy is presented on an experimentally measured Radon dataset through neural network trained on digitally transformed images.
The geometry of the deep linear network
Venue: arXiv cs.NE 2024
Year: 2024

This article provides an expository account of training dynamics in the Deep Linear Network (DLN) from the perspective of the geometric theory of dynamical systems. Rigorous results by several authors are unified into a thermodynamic framework for deep learning. The analysis begins with a characterization of the invariant manifolds and Riemannian geometry in the DLN. This is followed by exact formulas for a Boltzmann entropy, as well as stochastic gradient descent of free energy using a Riemannian Langevin Equation. Several links between the DLN and other areas of mathematics are discussed, along with some open questions.
CoMiX: Cross-Modal Fusion with Deformable Convolutions for HSI-X Semantic Segmentation
Venue: arXiv cs.CV 2024
Year: 2024

Improving hyperspectral image (HSI) semantic segmentation by exploiting complementary information from a supplementary data type (referred to X-modality) is promising but challenging due to differences in imaging sensors, image content, and resolution. Current techniques struggle to enhance modality-specific and modality-shared information, as well as to capture dynamic interaction and fusion between different modalities. In response, this study proposes CoMiX, an asymmetric encoder-decoder architecture with deformable convolutions (DCNs) for HSI-X semantic segmentation. CoMiX is designed to extract, calibrate, and fuse information from HSI and X data. Its pipeline includes an encoder with two parallel and interacting backbones and a lightweight all-multilayer perceptron (ALL-MLP) decoder. The encoder consists of four stages, each incorporating 2D DCN blocks for the X model to accommodate geometric variations and 3D DCN blocks for HSIs to adaptively aggregate spatial-spectral features. Additionally, each stage includes a Cross-Modality Feature enhancement and eXchange (CMFeX) module and a feature fusion module (FFM). CMFeX is designed to exploit spatial-spectral correlations from different modalities to recalibrate and enhance modality-specific and modality-shared features while adaptively exchanging complementary information between them. Outputs from CMFeX are fed into the FFM for fusion and passed to the next stage for further information learning. Finally, the outputs from each FFM are integrated by the ALL-MLP decoder for final prediction. Extensive experiments demonstrate that our CoMiX achieves superior performance and generalizes well to various multimodal recognition tasks. The CoMiX code will be released.
Optimisation Strategies for Ensuring Fairness in Machine Learning: With and Without Demographics
Venue: arXiv cs.LG 2024
Year: 2024

Ensuring fairness has emerged as one of the primary concerns in AI and its related algorithms. Over time, the field of machine learning fairness has evolved to address these issues. This paper provides an extensive overview of this field and introduces two formal frameworks to tackle open questions in machine learning fairness. In one framework, operator-valued optimisation and min-max objectives are employed to address unfairness in time-series problems. This approach showcases state-of-the-art performance on the notorious COMPAS benchmark dataset, demonstrating its effectiveness in real-world scenarios. In the second framework, the challenge of lacking sensitive attributes, such as gender and race, in commonly used datasets is addressed. This issue is particularly pressing because existing algorithms in this field predominantly rely on the availability or estimations of such attributes to assess and mitigate unfairness. Here, a framework for a group-blind bias-repair is introduced, aiming to mitigate bias without relying on sensitive attributes. The efficacy of this approach is showcased through analyses conducted on the Adult Census Income dataset. Additionally, detailed algorithmic analyses for both frameworks are provided, accompanied by convergence guarantees, ensuring the robustness and reliability of the proposed methodologies.
Sublinear Metric Steiner Tree via Improved Bounds for Set Cover
Venue: arXiv cs.DS 2024
Year: 2024

We study the metric Steiner tree problem in the sublinear query model. In this problem, for a set of $n$ points $V$ in a metric space given to us by means of query access to an $n\times n$ matrix $w$, and a set of terminals $T\subseteq V$, the goal is to find the minimum-weight subset of the edges that connects all the terminal vertices. Recently, Chen, Khanna and Tan [SODA'23] gave an algorithm that uses $\widetilde{O}(n^{13/7})$ queries and outputs a $(2-η)$-estimate of the metric Steiner tree weight, where $η>0$ is a universal constant. A key component in their algorithm is a sublinear algorithm for a particular set cover problem where, given a set system $(U, F)$, the goal is to provide a multiplicative-additive estimate for $|U|-\textsf{SC}(U, F)$. Here $U$ is the set of elements, $F$ is the collection of sets, and $\textsf{SC}(U, F)$ denotes the optimal set cover size of $(U, F)$. In particular, their algorithm returns a $(1/4, \varepsilon\cdot|U|)$-multiplicative-additive estimate for this set cover problem using $\widetilde{O}(|F|^{7/4})$ membership oracle queries (querying whether a set $S$ contains an $e$), where $\varepsilon$ is a fixed constant. In this work, we improve the query complexity of $(2-η)$-estimating the metric Steiner tree weight to $\widetilde{O}(n^{5/3})$ by showing a $(1/2, \varepsilon \cdot |U|)$-estimate for the above set cover problem using $\widetilde{O}(|F|^{5/3})$ membership queries. To design our set cover algorithm, we estimate the size of a random greedy maximal matching for an auxiliary multigraph that the algorithm constructs implicitly, without access to its adjacency list or matrix.
Language-Model Prior Overcomes Cold-Start Items
Venue: arXiv cs.IR 2024
Year: 2024

The growth of recommender systems (RecSys) is driven by digitization and the need for personalized content in areas such as e-commerce and video streaming. The content in these systems often changes rapidly and therefore they constantly face the ongoing cold-start problem, where new items lack interaction data and are hard to value. Existing solutions for the cold-start problem, such as content-based recommenders and hybrid methods, leverage item metadata to determine item similarities. The main challenge with these methods is their reliance on structured and informative metadata to capture detailed item similarities, which may not always be available. This paper introduces a novel approach for cold-start item recommendation that utilizes the language model (LM) to estimate item similarities, which are further integrated as a Bayesian prior with classic recommender systems. This approach is generic and able to boost the performance of various recommenders. Specifically, our experiments integrate it with both sequential and collaborative filtering-based recommender and evaluate it on two real-world datasets, demonstrating the enhanced performance of the proposed approach.
Performance Analysis of uRLLC in scalable Cell-free Radio Access Network System
Venue: arXiv cs.IT 2024
Year: 2024

As a critical component of beyond fifth-generation (B5G) and sixth-generation (6G) mobile communication systems, ultra-reliable low-latency communication (uRLLC) imposes stringent requirements on latency and reliability. In recent years, with the improvement of mobile communication network, centralized and distributed processing schemes for cellfree massive multiple-input multiple-output (CF-mMIMO) have attracted significant research attention. This paper investigates the performance of a novel scalable cell-free radio access network (CF-RAN) architecture featuring multiple edge distributed units (EDUs) under the finite block length regime. Closed expressions for the upper and lower bounds of its expected spectral efficiency (SE) performance are derived, where centralized and fully distributed deployment can be treated as two special cases, respectively. Furthermore, the spatial distribution of user equipments (UEs) and remote radio units (RRUs) is examined and the analysis reveals that the interleaving RRUs deployment associated with the EDU can enhance SE performance under finite block length constraints with specific transmission error probability. The paper also compares Monte Carlo simulation results with multi-RRU clustering-based collaborative processing, validating the accuracy of the space-time exchange theory in the scalable CF-RAN scenario. By deploying scalable EDUs, a practical trade-off between latency and reliability can be achieved through spatial degree-of-freedom (DoF), offering a distributed and scalable realization of the space-time exchange theory.
Toward Democratized Generative AI in Next-Generation Mobile Edge Networks
Venue: arXiv cs.NI 2024
Year: 2024

The rapid development of generative AI technologies, including large language models (LLMs), has brought transformative changes to various fields. However, deploying such advanced models on mobile and edge devices remains challenging due to their high computational, memory, communication, and energy requirements. To address these challenges, we propose a model-centric framework for democratizing generative AI deployment on mobile and edge networks. First, we comprehensively review key compact model strategies, such as quantization, model pruning, and knowledge distillation, and present key performance metrics to optimize generative AI for mobile deployment. Next, we provide a focused review of mobile and edge networks, emphasizing the specific challenges and requirements of these environments. We further conduct a case study demonstrating the effectiveness of these strategies by deploying LLMs on real mobile edge devices. Experimental results highlight the practicality of democratized LLMs, with significant improvements in generalization accuracy, hallucination rate, accessibility, and resource consumption. Finally, we discuss potential research directions to further advance the deployment of generative AI in resource-constrained environments.
Unstructured Text Enhanced Open-domain Dialogue System: A Systematic Survey
Venue: arXiv cs.CL 2024
Year: 2024

Incorporating external knowledge into dialogue generation has been proven to benefit the performance of an open-domain Dialogue System (DS), such as generating informative or stylized responses, controlling conversation topics. In this article, we study the open-domain DS that uses unstructured text as external knowledge sources (\textbf{U}nstructured \textbf{T}ext \textbf{E}nhanced \textbf{D}ialogue \textbf{S}ystem, \textbf{UTEDS}). The existence of unstructured text entails distinctions between UTEDS and traditional data-driven DS and we aim to analyze these differences. We first give the definition of the UTEDS related concepts, then summarize the recently released datasets and models. We categorize UTEDS into Retrieval and Generative models and introduce them from the perspective of model components. The retrieval models consist of Fusion, Matching, and Ranking modules, while the generative models comprise Dialogue and Knowledge Encoding, Knowledge Selection, and Response Generation modules. We further summarize the evaluation methods utilized in UTEDS and analyze the current models' performance. At last, we discuss the future development trends of UTEDS, hoping to inspire new research in this field.