OpenRaiser/Intern-Atlas huggingface dataset:
Towards Establishing Systematic Classification Requirements for Automated Driving
Venue: arXiv cs.CV 2023
Year: 2023

Despite the presence of the classification task in many different benchmark datasets for perception in the automotive domain, few efforts have been undertaken to define consistent classification requirements. This work addresses the topic by proposing a structured method to generate a classification structure. First, legal categories are identified based on behavioral requirements for the vehicle. This structure is further substantiated by considering the two aspects of collision safety for objects as well as perceptual categories. A classification hierarchy is obtained by applying the method to an exemplary legal text. A comparison of the results with benchmark dataset categories shows limited agreement. This indicates the necessity for explicit consideration of legal requirements regarding perception.
Machine Learning Applications In Healthcare: The State Of Knowledge and Future Directions
Venue: arXiv cs.LG 2023
Year: 2023

Detection of easily missed hidden patterns with fast processing power makes machine learning (ML) indispensable to today's healthcare system. Though many ML applications have already been discovered and many are still under investigation, only a few have been adopted by current healthcare systems. As a result, there exists an enormous opportunity in healthcare system for ML but distributed information, scarcity of properly arranged and easily explainable documentation in related sector are major impede which are making ML applications difficult to healthcare professionals. This study aimed to gather ML applications in different areas of healthcare concisely and more effectively so that necessary information can be accessed immediately with relevant references. We divided our study into five major groups: community level work, risk management/ preventive care, healthcare operation management, remote care, and early detection. Dividing these groups into subgroups, we provided relevant references with description in tabular form for quick access. Our objective is to inform people about ML applicability in healthcare industry, reduce the knowledge gap of clinicians about the ML applications and motivate healthcare professionals towards more machine learning based healthcare system.
Gleam: An RDMA-accelerated Multicast Protocol for Datacenter Networks
Venue: arXiv cs.NI 2023
Year: 2023

RDMA has been widely adopted for high-speed datacenter networks. However, native RDMA merely supports one-to-one reliable connection, which mismatches various applications with group communication patterns (e.g., one-to-many). While there are some multicast enhancements to address it, they all fail to simultaneously achieve optimal multicast forwarding and fully unleash the distinguished RDMA capabilities. In this paper, we present Gleam, an RDMA-accelerated multicast protocol that simultaneously supports optimal multicast forwarding, efficient utilization of the prominent RDMA capabilities, and compatibility with the commodity RNICs. At its core, Gleam re-purposes the existing RDMA RC logic with careful switch coordination as an efficient multicast transport. Gleam performs the one-to-many connection maintenance and many-to-one feedback aggregation, based on an extended multicast forwarding table structure, to achieve integration between standard RC logic and in-fabric multicast. We implement a fully functional Gleam prototype. With extensive testbed experiments and simulations, we demonstrate Gleam's significant improvement in accelerating multicast communication of realistic applications. For instance, Gleam achieves 2.9X lower communication time of an HPC benchmark application and 2.7X higher data replication throughput.
MorphoLander: Reinforcement Learning Based Landing of a Group of Drones on the Adaptive Morphogenetic UAV
Venue: arXiv cs.RO 2023
Year: 2023

This paper focuses on a novel robotic system MorphoLander representing heterogeneous swarm of drones for exploring rough terrain environments. The morphogenetic leader drone is capable of landing on uneven terrain, traversing it, and maintaining horizontal position to deploy smaller drones for extensive area exploration. After completing their tasks, these drones return and land back on the landing pads of MorphoGear. The reinforcement learning algorithm was developed for a precise landing of drones on the leader robot that either remains static during their mission or relocates to the new position. Several experiments were conducted to evaluate the performance of the developed landing algorithm under both even and uneven terrain conditions. The experiments revealed that the proposed system results in high landing accuracy of 0.5 cm when landing on the leader drone under even terrain conditions and 2.35 cm under uneven terrain conditions. MorphoLander has the potential to significantly enhance the efficiency of the industrial inspections, seismic surveys, and rescue missions in highly cluttered and unstructured environments.
Investigating the Impact of Variables on Handover Performance in 5G Ultra-Dense Networks
Venue: arXiv cs.NI 2023
Year: 2023

The advent of 5G New Radio (NR) technology has revolutionized the landscape of wireless communication, offering various enhancements such as elevated system capacity, improved spectrum efficiency, and higher data transmission rates. To achieve these benefits, 5G has implemented the Ultra-Dense Network (UDN) architecture, characterized by the deployment of numerous small general Node B (gNB) units. While this approach boosts system capacity and frequency reuse, it also raises concerns such as increased signal interference, longer handover times, and higher handover failure rates. To address these challenges, the critical factor of Time to Trigger (TTT) in handover management must be accurately determined. Furthermore, the density of gNBs has a significant impact on handover performance. This study provides a comprehensive analysis of 5G handover management. Through the development and utilization of a downlink system-level simulator, the effects of various TTT values and gNB densities on 5G handover were evaluated, taking into consideration the movement of Traffic Users (TUs) with varying velocities. Simulation results showed that the handover performance can be optimized by adjusting the TTT under different gNB densities, providing valuable insights into the proper selection of TTT, UDN, and TU velocity to enhance 5G handover performance.
ICCPS: Impact discovery using causal inference for cyber attacks in CPSs
Venue: arXiv cs.CR 2023
Year: 2023

We propose a new method to quantify the impact of cyber attacks in Cyber Physical Systems (CPSs). In particular, our method allows to identify the Design Parameter (DPs) affected due to a cyber attack launched on a different set of DPs in the same CPS. To achieve this, we adopt causal graphs to causally link DPs with each other and quantify the impact of one DP on another. Using SWaT, a real world testbed of a water treatment system, we demonstrate that causal graphs can be build in two ways: i) using domain knowledge of the control logic and the physical connectivity structure of the DPs, we call these causal domain graphs and ii) learning from operational data logs, we call these causal learnt graphs. We then compare these graphs when a same set of DPs is used. Our analysis shows a common set of edges between the causal domain graphs and the causal learnt graphs exists, which helps validate the causal learnt graphs. Additionally, we show that the learnt graphs can discover new causal relations, not initially considered in the domain graphs, that help significantly characterising the impact of the attack. We use causal domain graphs to estimate the parameters of the graphs, and the causal learnt graphs for causal inference. To learn the structure of the causal learnt graphs in all the six-stages of SWaT, we experiment with three learning algorithms: Peter Clarke (PC), Hill Climb (HC) search and Chow-Lie (CH). Finally, we demonstrate how causal graphs can be used to analyse the impact of cyber attacks by analysing nine well known cyber attacks on the SWaT test bed. We find that by using causal learnt graphs the DPs impacted by the attacks are correctly discovered with a probability greater than 0.9.
High-definition event frame generation using SoC FPGA devices
Venue: arXiv cs.CV 2023
Year: 2023

In this paper we have addressed the implementation of the accumulation and projection of high-resolution event data stream (HD -1280 x 720 pixels) onto the image plane in FPGA devices. The results confirm the feasibility of this approach, but there are a number of challenges, limitations and trade-offs to be considered. The required hardware resources of selected data representations, such as binary frame, event frame, exponentially decaying time surface and event frequency, were compared with those available on several popular platforms from AMD Xilinx. The resulting event frames can be used for typical vision algorithms, such as object classification and detection, using both classical and deep neural network methods.
Complexity results for the Pilot Assignment problem in Cell-Free Massive MIMO
Venue: arXiv cs.CC 2023
Year: 2023

Wireless communication is enabling billions of people to connect to each other and the internet, transforming every sector of the economy, and building the foundations for powerful new technologies that hold great promise to improve lives at an unprecedented rate and scale. The rapid increase in the number of devices and the associated demands for higher data rates and broader network coverage fuels the need for more robust wireless technologies. The key technology identified to address this problem is referred to as Cell-Free Massive MIMO (CF-mMIMO). CF-mMIMO is accompanied by many challenges, one of which is efficiently allocating limited resources. In this paper, we focus on a major resource allocation problem in wireless networks, namely the Pilot Assignment problem (PA). We show that PA is strongly NP-hard and that it does not admit a polynomial-time constant-factor approximation algorithm. Further, we show that PA cannot be approximated in polynomial time within $\mathcal{O}(K^2)$ (where $K$ is the number of users) when the system consists of at least three pilots. Finally, we present an approximation lower bound of $1.058$ (resp. $ε|K|^2$, for $ε>0$) in special cases where the system consists of exactly two (resp. three) pilots.
Unveiling Security, Privacy, and Ethical Concerns of ChatGPT
Venue: arXiv cs.CR 2023
Year: 2023

This paper delves into the realm of ChatGPT, an AI-powered chatbot that utilizes topic modeling and reinforcement learning to generate natural responses. Although ChatGPT holds immense promise across various industries, such as customer service, education, mental health treatment, personal productivity, and content creation, it is essential to address its security, privacy, and ethical implications. By exploring the upgrade path from GPT-1 to GPT-4, discussing the model's features, limitations, and potential applications, this study aims to shed light on the potential risks of integrating ChatGPT into our daily lives. Focusing on security, privacy, and ethics issues, we highlight the challenges these concerns pose for widespread adoption. Finally, we analyze the open problems in these areas, calling for concerted efforts to ensure the development of secure and ethically sound large language models.
Defending Adversarial Patches via Joint Region Localizing and Inpainting
Venue: arXiv cs.CV 2023
Year: 2023

Deep neural networks are successfully used in various applications, but show their vulnerability to adversarial examples. With the development of adversarial patches, the feasibility of attacks in physical scenes increases, and the defenses against patch attacks are urgently needed. However, defending such adversarial patch attacks is still an unsolved problem. In this paper, we analyse the properties of adversarial patches, and find that: on the one hand, adversarial patches will lead to the appearance or contextual inconsistency in the target objects; on the other hand, the patch region will show abnormal changes on the high-level feature maps of the objects extracted by a backbone network. Considering the above two points, we propose a novel defense method based on a ``localizing and inpainting" mechanism to pre-process the input examples. Specifically, we design an unified framework, where the ``localizing" sub-network utilizes a two-branch structure to represent the above two aspects to accurately detect the adversarial patch region in the image. For the ``inpainting" sub-network, it utilizes the surrounding contextual cues to recover the original content covered by the adversarial patch. The quality of inpainted images is also evaluated by measuring the appearance consistency and the effects of adversarial attacks. These two sub-networks are then jointly trained via an iterative optimization manner. In this way, the ``localizing" and ``inpainting" modules can interact closely with each other, and thus learn a better solution. A series of experiments versus traffic sign classification and detection tasks are conducted to defend against various adversarial patch attacks.
Sparse Double Descent in Vision Transformers: real or phantom threat?
Venue: arXiv cs.CV 2023
Year: 2023

Vision transformers (ViT) have been of broad interest in recent theoretical and empirical works. They are state-of-the-art thanks to their attention-based approach, which boosts the identification of key features and patterns within images thanks to the capability of avoiding inductive bias, resulting in highly accurate image analysis. Meanwhile, neoteric studies have reported a ``sparse double descent'' phenomenon that can occur in modern deep-learning models, where extremely over-parametrized models can generalize well. This raises practical questions about the optimal size of the model and the quest over finding the best trade-off between sparsity and performance is launched: are Vision Transformers also prone to sparse double descent? Can we find a way to avoid such a phenomenon? Our work tackles the occurrence of sparse double descent on ViTs. Despite some works that have shown that traditional architectures, like Resnet, are condemned to the sparse double descent phenomenon, for ViTs we observe that an optimally-tuned $\ell_2$ regularization relieves such a phenomenon. However, everything comes at a cost: optimal lambda will sacrifice the potential compression of the ViT.
Improving International Climate Policy via Mutually Conditional Binding Commitments
Venue: arXiv cs.CY 2023
Year: 2023

This paper proposes enhancements to the RICE-N simulation and multi-agent reinforcement learning framework to improve the realism of international climate policy negotiations. Acknowledging the framework's value, we highlight the necessity of significant enhancements to address the diverse array of factors in modeling climate negotiations. Building upon our previous work on the "Conditional Commitments Mechanism" (CCF mechanism) we discuss ways to bridge the gap between simulation and reality. We suggest the inclusion of a recommender or planner agent to enhance coordination, address the Real2Sim gap by incorporating social factors and non-party stakeholder sub-agents, and propose enhancements to the underlying Reinforcement Learning solution algorithm. These proposed improvements aim to advance the evaluation and formulation of negotiation protocols for more effective international climate policy decision-making in Rice-N. However, further experimentation and testing are required to determine the implications and effectiveness of these suggestions.
Differentiable Programming & Network Calculus: Configuration Synthesis under Delay Constraints
Venue: arXiv cs.NI 2023
Year: 2023

With the advent of standards for deterministic network behavior, synthesizing network designs under delay constraints becomes the natural next task to tackle. Network Calculus (NC) has become a key method for validating industrial networks, as it computes formally verified end-to-end delay bounds. However, analyses from the NC framework have been designed to bound the delay of one flow at a time. Attempts to use classical analyses to derive a network configuration have shown that this approach is poorly suited to practical use cases. Consider finding a delay-optimal routing configuration: one model had to be created for each routing alternative, then each flow delay had to be bounded, and then the bounds had to be compared to the given constraints. To overcome this three-step process, we introduce Differential Network Calculus. We extend NC to allow the differentiation of delay bounds w.r.t. to a wide range of network parameters - such as flow paths or priority. This opens up NC to a class of efficient nonlinear optimization techniques that exploit the gradient of the delay bound. Our numerical evaluation on the routing and priority assignment problem shows that our novel method can synthesize flow paths and priorities in a matter of seconds, outperforming existing methods by several orders of magnitude.
Cumulative Information Generating Function and Generalized Gini Functions
Venue: arXiv cs.IT 2023
Year: 2023

We introduce and study the cumulative information generating function, which provides a unifying mathematical tool suitable to deal with classical and fractional entropies based on the cumulative distribution function and on the survival function. Specifically, after establishing its main properties and some bounds, we show that it is a variability measure itself that extends the Gini mean semi-difference. We also provide (i) an extension of such a measure, based on distortion functions, and (ii) a weighted version based on a mixture distribution. Furthermore, we explore some connections with the reliability of $k$-out-of-$n$ systems and with stress-strength models for multi-component systems. Also, we address the problem of extending the cumulative information generating function to higher dimensions.
Unraveling the Complexity of Splitting Sequential Data: Tackling Challenges in Video and Time Series Analysis
Venue: arXiv cs.LG 2023
Year: 2023

Splitting of sequential data, such as videos and time series, is an essential step in various data analysis tasks, including object tracking and anomaly detection. However, splitting sequential data presents a variety of challenges that can impact the accuracy and reliability of subsequent analyses. This concept article examines the challenges associated with splitting sequential data, including data acquisition, data representation, split ratio selection, setting up quality criteria, and choosing suitable selection strategies. We explore these challenges through two real-world examples: motor test benches and particle tracking in liquids.
Empirical Investigation of Factors influencing Function as a Service Performance in Different Cloud/Edge System Setups
Venue: arXiv cs.PF 2023
Year: 2023

Experimental data can aid in gaining insights about a system operation, as well as determining critical aspects of a modelling or simulation process. In this paper, we analyze the data acquired from an extensive experimentation process in a serverless Function as a Service system (based on the open source Apache Openwhisk) that has been deployed across 3 available cloud/edge locations with different system setups. Thus, they can be used to model distribution of functions through multi-location aware scheduling mechanisms. The experiments include different traffic arrival rates, different setups for the FaaS system, as well as different configurations for the hardware and platform used. We analyse the acquired data for the three FaaS system setups and discuss their differences presenting interesting conclusions with relation to transient effects of the system, such as the effect on wait and execution time. We also demonstrate interesting trade-offs with relation to system setup and indicate a number of factors that can affect system performance and should be taken under consideration in modelling attempts of such systems.
Event-based Vision for Early Prediction of Manipulation Actions
Venue: arXiv cs.CV 2023
Year: 2023

Neuromorphic visual sensors are artificial retinas that output sequences of asynchronous events when brightness changes occur in the scene. These sensors offer many advantages including very high temporal resolution, no motion blur and smart data compression ideal for real-time processing. In this study, we introduce an event-based dataset on fine-grained manipulation actions and perform an experimental study on the use of transformers for action prediction with events. There is enormous interest in the fields of cognitive robotics and human-robot interaction on understanding and predicting human actions as early as possible. Early prediction allows anticipating complex stages for planning, enabling effective and real-time interaction. Our Transformer network uses events to predict manipulation actions as they occur, using online inference. The model succeeds at predicting actions early on, building up confidence over time and achieving state-of-the-art classification. Moreover, the attention-based transformer architecture allows us to study the role of the spatio-temporal patterns selected by the model. Our experiments show that the Transformer network captures action dynamic features outperforming video-based approaches and succeeding with scenarios where the differences between actions lie in very subtle cues. Finally, we release the new event dataset, which is the first in the literature for manipulation action recognition. Code will be available at https://github.com/DaniDeniz/EventVisionTransformer.
Towards Generalist Biomedical AI
Venue: arXiv cs.CL 2023
Year: 2023

Medicine is inherently multimodal, with rich data modalities spanning text, imaging, genomics, and more. Generalist biomedical artificial intelligence (AI) systems that flexibly encode, integrate, and interpret this data at scale can potentially enable impactful applications ranging from scientific discovery to care delivery. To enable the development of these models, we first curate MultiMedBench, a new multimodal biomedical benchmark. MultiMedBench encompasses 14 diverse tasks such as medical question answering, mammography and dermatology image interpretation, radiology report generation and summarization, and genomic variant calling. We then introduce Med-PaLM Multimodal (Med-PaLM M), our proof of concept for a generalist biomedical AI system. Med-PaLM M is a large multimodal generative model that flexibly encodes and interprets biomedical data including clinical language, imaging, and genomics with the same set of model weights. Med-PaLM M reaches performance competitive with or exceeding the state of the art on all MultiMedBench tasks, often surpassing specialist models by a wide margin. We also report examples of zero-shot generalization to novel medical concepts and tasks, positive transfer learning across tasks, and emergent zero-shot medical reasoning. To further probe the capabilities and limitations of Med-PaLM M, we conduct a radiologist evaluation of model-generated (and human) chest X-ray reports and observe encouraging performance across model scales. In a side-by-side ranking on 246 retrospective chest X-rays, clinicians express a pairwise preference for Med-PaLM M reports over those produced by radiologists in up to 40.50% of cases, suggesting potential clinical utility. While considerable work is needed to validate these models in real-world use cases, our results represent a milestone towards the development of generalist biomedical AI systems.