OpenRaiser/Intern-Atlas huggingface dataset:
Stimulating student engagement with an AI board game tournament
Venue: arXiv cs.AI 2023
Year: 2023

Strong foundations in basic AI techniques are key to understanding more advanced concepts. We believe that introducing AI techniques, such as search methods, early in higher education helps create a deeper understanding of the concepts seen later in more advanced AI and algorithms courses. We present a project-based and competition-based bachelor course that gives second-year students an introduction to search methods applied to board games. In groups of two, students have to use network programming and AI methods to build an AI agent to compete in a board game tournament-othello was this year's game. Students are evaluated based on the quality of their projects and on their performance during the final tournament. We believe that the introduction of gamification, in the form of competition-based learning, allows for a better learning experience for the students.
Incomplete Multimodal Learning for Remote Sensing Data Fusion
Venue: arXiv cs.CV 2023
Year: 2023

The mechanism of connecting multimodal signals through self-attention operation is a key factor in the success of multimodal Transformer networks in remote sensing data fusion tasks. However, traditional approaches assume access to all modalities during both training and inference, which can lead to severe degradation when dealing with modal-incomplete inputs in downstream applications. To address this limitation, our proposed approach introduces a novel model for incomplete multimodal learning in the context of remote sensing data fusion. This approach can be used in both supervised and self-supervised pretraining paradigms and leverages the additional learned fusion tokens in combination with Bi-LSTM attention and masked self-attention mechanisms to collect multimodal signals. The proposed approach employs reconstruction and contrastive loss to facilitate fusion in pre-training while allowing for random modality combinations as inputs in network training. Our approach delivers state-of-the-art performance on two multimodal datasets for tasks such as building instance / semantic segmentation and land-cover mapping tasks when dealing with incomplete inputs during inference.
ML-based Approaches for Wireless NLOS Localization: Input Representations and Uncertainty Estimation
Venue: arXiv cs.NI 2023
Year: 2023

The challenging problem of non-line-of-sight (NLOS) localization is critical for many wireless networking applications. The lack of available datasets has made NLOS localization difficult to tackle with ML-driven methods, but recent developments in synthetic dataset generation have provided new opportunities for research. This paper explores three different input representations: (i) single wireless radio path features, (ii) wireless radio link features (multi-path), and (iii) image-based representations. Inspired by the two latter new representations, we design two convolutional neural networks (CNNs) and we demonstrate that, although not significantly improving the NLOS localization performance, they are able to support richer prediction outputs, thus allowing deeper analysis of the predictions. In particular, the richer outputs enable reliable identification of non-trustworthy predictions and support the prediction of the top-K candidate locations for a given instance. We also measure how the availability of various features (such as angles of signal departure and arrival) affects the model's performance, providing insights about the types of data that should be collected for enhanced NLOS localization. Our insights motivate future work on building more efficient neural architectures and input representations for improved NLOS localization performance, along with additional useful application features.
Vehicle as a Service (VaaS): Leverage Vehicles to Build Service Networks and Capabilities for Smart Cities
Venue: arXiv cs.NI 2023
Year: 2023

Smart cities demand resources for rich immersive sensing, ubiquitous communications, powerful computing, large storage, and high intelligence (SCCSI) to support various kinds of applications, such as public safety, connected and autonomous driving, smart and connected health, and smart living. At the same time, it is widely recognized that vehicles such as autonomous cars, equipped with significantly powerful SCCSI capabilities, will become ubiquitous in future smart cities. By observing the convergence of these two trends, this article advocates the use of vehicles to build a cost-effective service network, called the Vehicle as a Service (VaaS) paradigm, where vehicles empowered with SCCSI capability form a web of mobile servers and communicators to provide SCCSI services in smart cities. Towards this direction, we first examine the potential use cases in smart cities and possible upgrades required for the transition from traditional vehicular ad hoc networks (VANETs) to VaaS. Then, we will introduce the system architecture of the VaaS paradigm and discuss how it can provide SCCSI services in future smart cities, respectively. At last, we identify the open problems of this paradigm and future research directions, including architectural design, service provisioning, incentive design, and security & privacy. We expect that this paper paves the way towards developing a cost-effective and sustainable approach for building smart cities.
Optimal Virtual Tube Planning and Control for Swarm Robotics
Venue: arXiv cs.RO 2023
Year: 2023

This paper presents a novel method for efficiently solving a trajectory planning problem for swarm robotics in cluttered environments. Recent research has demonstrated high success rates in real-time local trajectory planning for swarm robotics in cluttered environments, but optimizing trajectories for each robot is still computationally expensive, with a computational complexity from $O\left(k\left(n_t,\varepsilon \right)n_t^2\right)$ to $ O\left(k\left(n_t,\varepsilon \right)n_t^3\right)$ where $n_t$ is the number of parameters in the parameterized trajectory, $\varepsilon$ is precision and $k\left(n_t,\varepsilon \right)$ is the number of iterations with respect to $n_t$ and $\varepsilon$. Furthermore, the swarm is difficult to move as a group. To address this issue, we define and then construct the optimal virtual tube, which includes infinite optimal trajectories. Under certain conditions, any optimal trajectory in the optimal virtual tube can be expressed as a convex combination of a finite number of optimal trajectories, with a computational complexity of $O\left(n_t\right)$. Afterward, a hierarchical approach including a planning method of the optimal virtual tube with minimizing energy and distributed model predictive control is proposed. In simulations and experiments, the proposed approach is validated and its effectiveness over other methods is demonstrated through comparison.
SACANet: scene-aware class attention network for semantic segmentation of remote sensing images
Venue: arXiv cs.CV 2023
Year: 2023

Spatial attention mechanism has been widely used in semantic segmentation of remote sensing images given its capability to model long-range dependencies. Many methods adopting spatial attention mechanism aggregate contextual information using direct relationships between pixels within an image, while ignoring the scene awareness of pixels (i.e., being aware of the global context of the scene where the pixels are located and perceiving their relative positions). Given the observation that scene awareness benefits context modeling with spatial correlations of ground objects, we design a scene-aware attention module based on a refined spatial attention mechanism embedding scene awareness. Besides, we present a local-global class attention mechanism to address the problem that general attention mechanism introduces excessive background noises while hardly considering the large intra-class variance in remote sensing images. In this paper, we integrate both scene-aware and class attentions to propose a scene-aware class attention network (SACANet) for semantic segmentation of remote sensing images. Experimental results on three datasets show that SACANet outperforms other state-of-the-art methods and validate its effectiveness. Code is available at https://github.com/xwmaxwma/rssegmentation.
A Review of Deep Learning for Video Captioning
Venue: arXiv cs.CV 2023
Year: 2023

Video captioning (VC) is a fast-moving, cross-disciplinary area of research that bridges work in the fields of computer vision, natural language processing (NLP), linguistics, and human-computer interaction. In essence, VC involves understanding a video and describing it with language. Captioning is used in a host of applications from creating more accessible interfaces (e.g., low-vision navigation) to video question answering (V-QA), video retrieval and content generation. This survey covers deep learning-based VC, including but, not limited to, attention-based architectures, graph networks, reinforcement learning, adversarial networks, dense video captioning (DVC), and more. We discuss the datasets and evaluation metrics used in the field, and limitations, applications, challenges, and future directions for VC.
LLM+P: Empowering Large Language Models with Optimal Planning Proficiency
Venue: arXiv cs.AI 2023
Year: 2023

Large language models (LLMs) have demonstrated remarkable zero-shot generalization abilities: state-of-the-art chatbots can provide plausible answers to many common questions that arise in daily life. However, so far, LLMs cannot reliably solve long-horizon planning problems. By contrast, classical planners, once a problem is given in a formatted way, can use efficient search algorithms to quickly identify correct, or even optimal, plans. In an effort to get the best of both worlds, this paper introduces LLM+P, the first framework that incorporates the strengths of classical planners into LLMs. LLM+P takes in a natural language description of a planning problem, then returns a correct (or optimal) plan for solving that problem in natural language. LLM+P does so by first converting the language description into a file written in the planning domain definition language (PDDL), then leveraging classical planners to quickly find a solution, and then translating the found solution back into natural language. Along with LLM+P, we define a diverse set of different benchmark problems taken from common planning scenarios. Via a comprehensive set of experiments on these benchmark problems, we find that LLM+P is able to provide optimal solutions for most problems, while LLMs fail to provide even feasible plans for most problems.\footnote{The code and results are publicly available at https://github.com/Cranial-XIX/llm-pddl.git.
Base Fee Manipulation In Ethereum's EIP-1559 Transaction Fee Mechanism
Venue: arXiv cs.GT 2023
Year: 2023

In 2021 Ethereum adjusted the transaction pricing mechanism by implementing EIP-1559, which introduces the base fee - a network fee that is burned and dynamically adjusts to the network demand. The authors of the Ethereum Improvement Proposal (EIP) noted that a miner with more than 50% of the mining power could be incentivized to deviate from the honest mining strategy. Instead, such a miner could propose a series of empty blocks to artificially lower demand and increase her future rewards. In this paper, we generalize this attack and show that under rational player behavior, deviating from the honest strategy can be profitable for a miner with less than 50% of the mining power. We show that even when miners do not collaborate, it is at times rational for smaller miners to join the attack. Finally, we propose a mitigation to address the identified vulnerability.
AutoVRL: A High Fidelity Autonomous Ground Vehicle Simulator for Sim-to-Real Deep Reinforcement Learning
Venue: arXiv cs.RO 2023
Year: 2023

Deep Reinforcement Learning (DRL) enables cognitive Autonomous Ground Vehicle (AGV) navigation utilizing raw sensor data without a-priori maps or GPS, which is a necessity in hazardous, information poor environments such as regions where natural disasters occur, and extraterrestrial planets. The substantial training time required to learn an optimal DRL policy, which can be days or weeks for complex tasks, is a major hurdle to real-world implementation in AGV applications. Training entails repeated collisions with the surrounding environment over an extended time period, dependent on the complexity of the task, to reinforce positive exploratory, application specific behavior that is expensive, and time consuming in the real-world. Effectively bridging the simulation to real-world gap is a requisite for successful implementation of DRL in complex AGV applications, enabling learning of cost-effective policies. We present AutoVRL, an open-source high fidelity simulator built upon the Bullet physics engine utilizing OpenAI Gym and Stable Baselines3 in PyTorch to train AGV DRL agents for sim-to-real policy transfer. AutoVRL is equipped with sensor implementations of GPS, IMU, LiDAR and camera, actuators for AGV control, and realistic environments, with extensibility for new environments and AGV models. The simulator provides access to state-of-the-art DRL algorithms, utilizing a python interface for simple algorithm and environment customization, and simulation execution.
Bi-Level Attention Graph Neural Networks
Venue: arXiv cs.LG 2023
Year: 2023

Recent graph neural networks (GNNs) with the attention mechanism have historically been limited to small-scale homogeneous graphs (HoGs). However, GNNs handling heterogeneous graphs (HeGs), which contain several entity and relation types, all have shortcomings in handling attention. Most GNNs that learn graph attention for HeGs learn either node-level or relation-level attention, but not both, limiting their ability to predict both important entities and relations in the HeG. Even the best existing method that learns both levels of attention has the limitation of assuming graph relations are independent and that its learned attention disregards this dependency association. To effectively model both multi-relational and multi-entity large-scale HeGs, we present Bi-Level Attention Graph Neural Networks (BA-GNN), scalable neural networks (NNs) that use a novel bi-level graph attention mechanism. BA-GNN models both node-node and relation-relation interactions in a personalized way, by hierarchically attending to both types of information from local neighborhood contexts instead of the global graph context. Rigorous experiments on seven real-world HeGs show BA-GNN consistently outperforms all baselines, and demonstrate quality and transferability of its learned relation-level attention to improve performance of other GNNs.
Construction of PAC Codes with List-Search and Path-Splitting Critical Sets
Venue: arXiv cs.IT 2023
Year: 2023

Polarization-adjusted convolutional (PAC) codes can approach the theoretical bound for block error rate (BLER) performance at short-to-medium codeword length. PAC codes have excellent BLER performance using Monte Carlo (MC) rate-profiles and Weighted Sum (WS) rate-profiles, but the BLER performances of the constructed codes still fall away from the dispersion bound at high signal-to-noise ratios (SNR). This paper proposes a List-Search (LS) construction method for PAC codes, which considers the influence of weight spectrum on BLER performance and the condition that sequence decoding for PAC codes having a finite mean computational complexity. The proposed construction method using LS can reduce the number of minimum weight codewords of PAC codes. The BLER performance of the constructed codes is better than that of the constructed codes using MC rate-profiles or WS rate-profiles, and can approach the dispersion bound at high SNR. Moreover, the BLER performance of successive cancellation list (SCL) decoding PAC codes using LS rate-profiles can approach the theoretical bound, but SCL decoding requires a large number of sorting operations. To reduce the number of sorting operations, a path-splitting critical sets (PSCS) construction method is proposed. The PSCS obtained by this method are the information bits subset that have the greatest influence on the number of minimum weight codewords. The simulation results show that this method can significantly reduce the number of sorting operations during SCL-type decoding.
Consolidation of Ground Truth Sets for Weakness Detection in Smart Contracts
Venue: arXiv cs.SE 2023
Year: 2023

Smart contracts are small programs on the blockchain that often handle valuable assets. Vulnerabilities in smart contracts can be costly, as time has shown over and over again. Countermeasures are high in demand and include best practice recommendations as well as tools supporting development, program verification, and post-deployment analysis. Many tools focus on detecting the absence or presence of a subset of the known vulnerabilities, delivering results of varying quality. Most comparative tool evaluations resort to selecting a handful of tools and testing them against each other. In the best case, the evaluation is based on a smallish ground truth. For Ethereum, there are commendable efforts by several author groups to manually classify contracts. However, a comprehensive ground truth is still lacking. In this work, we construct a ground truth based on publicly available benchmark sets for Ethereum smart contracts with manually checked ground truth data. We develop a method to unify these sets. Additionally, we devise strategies for matching entries that pertain to the same contract, such that we can determine overlaps and disagreements between the sets and consolidate the disagreements. Finally, we assess the quality of the included ground truth sets. Our work reduces inconsistencies, redundancies, and incompleteness while increasing the number of data points and heterogeneity.
Efficient Training of Deep Equilibrium Models
Venue: arXiv cs.LG 2023
Year: 2023

Deep equilibrium models (DEQs) have proven to be very powerful for learning data representations. The idea is to replace traditional (explicit) feedforward neural networks with an implicit fixed-point equation, which allows to decouple the forward and backward passes. In particular, training DEQ layers becomes very memory-efficient via the implicit function theorem. However, backpropagation through DEQ layers still requires solving an expensive Jacobian-based equation. In this paper, we introduce a simple but effective strategy to avoid this computational burden. Our method relies on the Jacobian approximation of Broyden's method after the forward pass to compute the gradients during the backward pass. Experiments show that simply re-using this approximation can significantly speed up the training while not causing any performance degradation.
IslamicPCQA: A Dataset for Persian Multi-hop Complex Question Answering in Islamic Text Resources
Venue: arXiv cs.CL 2023
Year: 2023

Nowadays, one of the main challenges for Question Answering Systems is to answer complex questions using various sources of information. Multi-hop questions are a type of complex questions that require multi-step reasoning to answer. In this article, the IslamicPCQA dataset is introduced. This is the first Persian dataset for answering complex questions based on non-structured information sources and consists of 12,282 question-answer pairs extracted from 9 Islamic encyclopedias. This dataset has been created inspired by the HotpotQA English dataset approach, which was customized to suit the complexities of the Persian language. Answering questions in this dataset requires more than one paragraph and reasoning. The questions are not limited to any prior knowledge base or ontology, and to provide robust reasoning ability, the dataset also includes supporting facts and key sentences. The prepared dataset covers a wide range of Islamic topics and aims to facilitate answering complex Persian questions within this subject matter
Device management and network connectivity as missing elements in TinyML landscape
Venue: arXiv cs.NI 2023
Year: 2023

Deployment of solutions based on TinyML requires meeting several challenges. These include hardware heterogeneity, microprocessor (MCU) architectures, and resource availability constraints. Another challenge is the variety of operating systems for MCU, limited memory management implementations and limited software interoperability between devices. A number of these challenges are solved by dedicated programming libraries and the ability to compile code for specific devices. Nevertheless, the challenge discussed in the paper is the issue of network connectivity for such solutions. We point out that more emphasis should be placed on standard protocols, interoperability of solutions and security. Finally, the paper discusses how the LwM2M protocol can solve the identified challenges related to network connectivity and interoperability.
CBIM: A Graph-based Approach to Enhance Interoperability Using Semantic Enrichment
Venue: arXiv cs.SE 2023
Year: 2023

Interoperability remains a challenge in the construction industry. In this study, we propose a semantic enrichment approach to construct BIM knowledge graphs from pure building object geometries and demonstrate its potential to support BIM interoperability. Our approach involves machine learning and rule-based methods for object classification, relationship determination (e.g., hosting and adjacent) and attribute computation. The enriched results are compiled into a BIM graph. A case study was conducted to illustrate the approach for facilitating interoperability between different versions of the BIM authoring software Autodesk Revit. First, pure object geometries of an architectural apartment model were exported from Revit 2023 and fed into the developed tools in sequence to generate a BIM graph. Then, essential information was extracted from the graph and used to reconstruct an architectural model in the version 2022 of Revit. Upon examination, the reconstructed model was consistent with the original one. The success of this experiment demonstrates the feasibility of generating a BIM graph from object geometries and utilizing it to support interoperability.
A Lightweight Recurrent Learning Network for Sustainable Compressed Sensing
Venue: arXiv cs.CV 2023
Year: 2023

Recently, deep learning-based compressed sensing (CS) has achieved great success in reducing the sampling and computational cost of sensing systems and improving the reconstruction quality. These approaches, however, largely overlook the issue of the computational cost; they rely on complex structures and task-specific operator designs, resulting in extensive storage and high energy consumption in CS imaging systems. In this paper, we propose a lightweight but effective deep neural network based on recurrent learning to achieve a sustainable CS system; it requires a smaller number of parameters but obtains high-quality reconstructions. Specifically, our proposed network consists of an initial reconstruction sub-network and a residual reconstruction sub-network. While the initial reconstruction sub-network has a hierarchical structure to progressively recover the image, reducing the number of parameters, the residual reconstruction sub-network facilitates recurrent residual feature extraction via recurrent learning to perform both feature fusion and deep reconstructions across different scales. In addition, we also demonstrate that, after the initial reconstruction, feature maps with reduced sizes are sufficient to recover the residual information, and thus we achieved a significant reduction in the amount of memory required. Extensive experiments illustrate that our proposed model can achieve a better reconstruction quality than existing state-of-the-art CS algorithms, and it also has a smaller number of network parameters than these algorithms. Our source codes are available at: https://github.com/C66YU/CSRN.