OpenRaiser/Intern-Atlas huggingface dataset:
Circle Formation by Asynchronous Opaque Fat Robots on an Infinite Grid
Venue: arXiv cs.DC 2023
Year: 2023

This study addresses the problem of "Circle Formation on an Infinite Grid by Fat Robots" ($CF\_FAT\_GRID$). Unlike prior work focused solely on point robots in discrete domain, it introduces fat robots to circle formation on an infinite grid, aligning with practicality as even small robots inherently possess dimensions. The algorithm, named $CIRCLE\_FG$, resolves the $CF\_FAT\_GRID$ problem using a swarm of fat luminous robots. Operating under an asynchronous scheduler, it achieves this with five distinct colors and by leveraging one-axis agreement among the robots.
High Performance Computing Applied to Logistic Regression: A CPU and GPU Implementation Comparison
Venue: arXiv cs.LG 2023
Year: 2023

We present a versatile GPU-based parallel version of Logistic Regression (LR), aiming to address the increasing demand for faster algorithms in binary classification due to large data sets. Our implementation is a direct translation of the parallel Gradient Descent Logistic Regression algorithm proposed by X. Zou et al. [12]. Our experiments demonstrate that our GPU-based LR outperforms existing CPU-based implementations in terms of execution time while maintaining comparable f1 score. The significant acceleration of processing large datasets makes our method particularly advantageous for real-time prediction applications like image recognition, spam detection, and fraud detection. Our algorithm is implemented in a ready-to-use Python library available at : https://github.com/NechbaMohammed/SwiftLogisticReg
Towards Probabilistic Causal Discovery, Inference & Explanations for Autonomous Drones in Mine Surveying Tasks
Venue: arXiv cs.RO 2023
Year: 2023

Causal modelling offers great potential to provide autonomous agents the ability to understand the data-generation process that governs their interactions with the world. Such models capture formal knowledge as well as probabilistic representations of noise and uncertainty typically encountered by autonomous robots in real-world environments. Thus, causality can aid autonomous agents in making decisions and explaining outcomes, but deploying causality in such a manner introduces new challenges. Here we identify challenges relating to causality in the context of a drone system operating in a salt mine. Such environments are challenging for autonomous agents because of the presence of confounders, non-stationarity, and a difficulty in building complete causal models ahead of time. To address these issues, we propose a probabilistic causal framework consisting of: causally-informed POMDP planning, online SCM adaptation, and post-hoc counterfactual explanations. Further, we outline planned experimentation to evaluate the framework integrated with a drone system in simulated mine environments and on a real-world mine dataset.
An Evaluation of Three Distance Measurement Technologies for Flying Light Specks
Venue: arXiv cs.MM 2023
Year: 2023

This study evaluates the accuracy of three different types of time-of-flight sensors to measure distance. We envision the possible use of these sensors to localize swarms of flying light specks (FLSs) to illuminate objects and avatars of a metaverse. An FLS is a miniature-sized drone configured with RGB light sources. It is unable to illuminate a point cloud by itself. However, the inter-FLS relationship effect of an organizational framework will compensate for the simplicity of each individual FLS, enabling a swarm of cooperating FLSs to illuminate complex shapes and render haptic interactions. Distance between FLSs is an important criterion of the inter-FLS relationship. We consider sensors that use radio frequency (UWB), infrared light (IR), and sound (ultrasonic) to quantify this metric. Obtained results show only one sensor is able to measure distances as small as 1 cm with a high accuracy. A sensor may require a calibration process that impacts its accuracy in measuring distance.
Dronevision: An Experimental 3D Testbed for Flying Light Specks
Venue: arXiv cs.MM 2023
Year: 2023

Today's robotic laboratories for drones are housed in a large room. At times, they are the size of a warehouse. These spaces are typically equipped with permanent devices to localize the drones, e.g., Vicon Infrared cameras. Significant time is invested to fine-tune the localization apparatus to compute and control the position of the drones. One may use these laboratories to develop a 3D multimedia system with miniature sized drones configured with light sources. As an alternative, this brave new idea paper envisions shrinking these room-sized laboratories to the size of a cube or cuboid that sits on a desk and costs less than 10K dollars. The resulting Dronevision (DV) will be the size of a 1990s Television. In addition to light sources, its Flying Light Specks (FLSs) will be network-enabled drones with storage and processing capability to implement decentralized algorithms. The DV will include a localization technique to expedite development of 3D displays. It will act as a haptic interface for a user to interact with and manipulate the 3D virtual illuminations. It will empower an experimenter to design, implement, test, debug, and maintain software and hardware that realize novel algorithms in the comfort of their office without having to reserve a laboratory. In addition to enhancing productivity, it will improve safety of the experimenter by minimizing the likelihood of accidents. This paper introduces the concept of a DV, the research agenda one may pursue using this device, and our plans to realize one.
Higher-Order Cheeger Inequality for Partitioning with Buffers
Venue: arXiv cs.DS 2023
Year: 2023

We prove a new generalization of the higher-order Cheeger inequality for partitioning with buffers. Consider a graph $G=(V,E)$. The buffered expansion of a set $S \subseteq V$ with a buffer $B \subseteq V \setminus S$ is the edge expansion of $S$ after removing all the edges from set $S$ to its buffer $B$. An $\varepsilon$-buffered $k$-partitioning is a partitioning of a graph into disjoint components $P_i$ and buffers $B_i$, in which the size of buffer $B_i$ for $P_i$ is small relative to the size of $P_i$: $|B_i| \le \varepsilon |P_i|$. The buffered expansion of a buffered partition is the maximum of buffered expansions of the $k$ sets $P_i$ with buffers $B_i$. Let $h^{k,\varepsilon}_G$ be the buffered expansion of the optimal $\varepsilon$-buffered $k$-partitioning, then for every $δ>0$, $$h_G^{k,\varepsilon} \le O_δ(1) \cdot \Big( \frac{\log k}{ \varepsilon}\Big) \cdot λ_{\lfloor (1+δ) k\rfloor},$$ where $λ_{\lfloor (1+δ)k\rfloor}$ is the $\lfloor (1+δ)k\rfloor$-th smallest eigenvalue of the normalized Laplacian of $G$. Our inequality is constructive and avoids the ``square-root loss'' that is present in the standard Cheeger inequalities (even for $k=2$). We also provide a complementary lower bound, and a novel generalization to the setting with arbitrary vertex weights and edge costs. Moreover our result implies and generalizes the standard higher-order Cheeger inequalities and another recent Cheeger-type inequality by Kwok, Lau, and Lee (2017) involving robust vertex expansion.
BAVS: Bootstrapping Audio-Visual Segmentation by Integrating Foundation Knowledge
Venue: arXiv cs.CV 2023
Year: 2023

Given an audio-visual pair, audio-visual segmentation (AVS) aims to locate sounding sources by predicting pixel-wise maps. Previous methods assume that each sound component in an audio signal always has a visual counterpart in the image. However, this assumption overlooks that off-screen sounds and background noise often contaminate the audio recordings in real-world scenarios. They impose significant challenges on building a consistent semantic mapping between audio and visual signals for AVS models and thus impede precise sound localization. In this work, we propose a two-stage bootstrapping audio-visual segmentation framework by incorporating multi-modal foundation knowledge. In a nutshell, our BAVS is designed to eliminate the interference of background noise or off-screen sounds in segmentation by establishing the audio-visual correspondences in an explicit manner. In the first stage, we employ a segmentation model to localize potential sounding objects from visual data without being affected by contaminated audio signals. Meanwhile, we also utilize a foundation audio classification model to discern audio semantics. Considering the audio tags provided by the audio foundation model are noisy, associating object masks with audio tags is not trivial. Thus, in the second stage, we develop an audio-visual semantic integration strategy (AVIS) to localize the authentic-sounding objects. Here, we construct an audio-visual tree based on the hierarchical correspondence between sounds and object categories. We then examine the label concurrency between the localized objects and classified audio tags by tracing the audio-visual tree. With AVIS, we can effectively segment real-sounding objects. Extensive experiments demonstrate the superiority of our method on AVS datasets, particularly in scenarios involving background noise. Our project website is https://yenanliu.github.io/AVSS.github.io/.
Spiking-Diffusion: Vector Quantized Discrete Diffusion Model with Spiking Neural Networks
Venue: arXiv cs.NE 2023
Year: 2023

Spiking neural networks (SNNs) have tremendous potential for energy-efficient neuromorphic chips due to their binary and event-driven architecture. SNNs have been primarily used in classification tasks, but limited exploration on image generation tasks. To fill the gap, we propose a Spiking-Diffusion model, which is based on the vector quantized discrete diffusion model. First, we develop a vector quantized variational autoencoder with SNNs (VQ-SVAE) to learn a discrete latent space for images. In VQ-SVAE, image features are encoded using both the spike firing rate and postsynaptic potential, and an adaptive spike generator is designed to restore embedding features in the form of spike trains. Next, we perform absorbing state diffusion in the discrete latent space and construct a spiking diffusion image decoder (SDID) with SNNs to denoise the image. Our work is the first to build the diffusion model entirely from SNN layers. Experimental results on MNIST, FMNIST, KMNIST, Letters, and Cifar10 demonstrate that Spiking-Diffusion outperforms the existing SNN-based generation model. We achieve FIDs of 37.50, 91.98, 59.23, 67.41, and 120.5 on the above datasets respectively, with reductions of 58.60\%, 18.75\%, 64.51\%, 29.75\%, and 44.88\% in FIDs compared with the state-of-art work. Our code will be available at \url{https://github.com/Arktis2022/Spiking-Diffusion}.
Soft Decomposed Policy-Critic: Bridging the Gap for Effective Continuous Control with Discrete RL
Venue: arXiv cs.LG 2023
Year: 2023

Discrete reinforcement learning (RL) algorithms have demonstrated exceptional performance in solving sequential decision tasks with discrete action spaces, such as Atari games. However, their effectiveness is hindered when applied to continuous control problems due to the challenge of dimensional explosion. In this paper, we present the Soft Decomposed Policy-Critic (SDPC) architecture, which combines soft RL and actor-critic techniques with discrete RL methods to overcome this limitation. SDPC discretizes each action dimension independently and employs a shared critic network to maximize the soft $Q$-function. This novel approach enables SDPC to support two types of policies: decomposed actors that lead to the Soft Decomposed Actor-Critic (SDAC) algorithm, and decomposed $Q$-networks that generate Boltzmann soft exploration policies, resulting in the Soft Decomposed-Critic Q (SDCQ) algorithm. Through extensive experiments, we demonstrate that our proposed approach outperforms state-of-the-art continuous RL algorithms in a variety of continuous control tasks, including Mujoco's Humanoid and Box2d's BipedalWalker. These empirical results validate the effectiveness of the SDPC architecture in addressing the challenges associated with continuous control.
Real-time Regular Expression Matching
Venue: arXiv cs.FL 2023
Year: 2023

This paper is devoted to finite state automata, regular expression matching, pattern recognition, and the exponential blow-up problem, which is the growing complexity of automata exponentially depending on regular expression length. This paper presents a theoretical and hardware solution to the exponential blow-up problem for some complicated classes of regular languages, which caused severe limitations in Network Intrusion Detection Systems work. The article supports the solution with theorems on correctness and complexity.
Fairness-aware Competitive Bidding Influence Maximization in Social Networks
Venue: arXiv cs.SI 2023
Year: 2023

Competitive Influence Maximization (CIM) has been studied for years due to its wide application in many domains. Most current studies primarily focus on the micro-level optimization by designing policies for one competitor to defeat its opponents. Furthermore, current studies ignore the fact that many influential nodes have their own starting prices, which may lead to inefficient budget allocation. In this paper, we propose a novel Competitive Bidding Influence Maximization (CBIM) problem, where the competitors allocate budgets to bid for the seeds attributed to the platform during multiple bidding rounds. To solve the CBIM problem, we propose a Fairness-aware Multi-agent Competitive Bidding Influence Maximization (FMCBIM) framework. In this framework, we present a Multi-agent Bidding Particle Environment (MBE) to model the competitors' interactions, and design a starting price adjustment mechanism to model the dynamic bidding environment. Moreover, we put forward a novel Multi-agent Competitive Bidding Influence Maximization (MCBIM) algorithm to optimize competitors' bidding policies. Extensive experiments on five datasets show that our work has good efficiency and effectiveness.
StableLLaVA: Enhanced Visual Instruction Tuning with Synthesized Image-Dialogue Data
Venue: arXiv cs.CV 2023
Year: 2023

The remarkable multimodal capabilities demonstrated by OpenAI's GPT-4 have sparked significant interest in the development of multimodal Large Language Models (LLMs). A primary research objective of such models is to align visual and textual modalities effectively while comprehending human instructions. Current methodologies often rely on annotations derived from benchmark datasets to construct image-dialogue datasets for training purposes, akin to instruction tuning in LLMs. However, these datasets often exhibit domain bias, potentially constraining the generative capabilities of the models. In an effort to mitigate these limitations, we propose a novel data collection methodology that synchronously synthesizes images and dialogues for visual instruction tuning. This approach harnesses the power of generative models, marrying the abilities of ChatGPT and text-to-image generative models to yield a diverse and controllable dataset with varied image content. Additionally, datasets can be arbitrarily scaled. This not only provides greater flexibility compared to existing methodologies but also significantly enhances several model capabilities. Our research includes comprehensive experiments conducted on various datasets. The results emphasize substantial enhancements in more than ten commonly assessed capabilities. Additionally, our model achieves state-of-the-art results across multiple widely recognized multimodal benchmarks.
Privileged Anatomical and Protocol Discrimination in Trackerless 3D Ultrasound Reconstruction
Venue: arXiv cs.CV 2023
Year: 2023

Three-dimensional (3D) freehand ultrasound (US) reconstruction without using any additional external tracking device has seen recent advances with deep neural networks (DNNs). In this paper, we first investigated two identified contributing factors of the learned inter-frame correlation that enable the DNN-based reconstruction: anatomy and protocol. We propose to incorporate the ability to represent these two factors - readily available during training - as the privileged information to improve existing DNN-based methods. This is implemented in a new multi-task method, where the anatomical and protocol discrimination are used as auxiliary tasks. We further develop a differentiable network architecture to optimise the branching location of these auxiliary tasks, which controls the ratio between shared and task-specific network parameters, for maximising the benefits from the two auxiliary tasks. Experimental results, on a dataset with 38 forearms of 19 volunteers acquired with 6 different scanning protocols, show that 1) both anatomical and protocol variances are enabling factors for DNN-based US reconstruction; 2) learning how to discriminate different subjects (anatomical variance) and predefined types of scanning paths (protocol variance) both significantly improve frame prediction accuracy, volume reconstruction overlap, accumulated tracking error and final drift, using the proposed algorithm.
Formal Verification of Safety Architectures for Automated Driving
Venue: arXiv cs.RO 2023
Year: 2023

Safety architectures play a crucial role in the safety assurance of automated driving vehicles (ADVs). They can be used as safety envelopes of black-box ADV controllers, and for graceful degradation from one ODD to another. Building on our previous work on the formalization of responsibility-sensitive safety (RSS), we introduce a novel program logic that accommodates assume-guarantee reasoning and fallback-like constructs. This allows us to formally define and prove the safety of existing and novel safety architectures. We apply the logic to a pull over scenario and experimentally evaluate the resulting safety architecture.
Towards Generalizable Morph Attack Detection with Consistency Regularization
Venue: arXiv cs.CV 2023
Year: 2023

Though recent studies have made significant progress in morph attack detection by virtue of deep neural networks, they often fail to generalize well to unseen morph attacks. With numerous morph attacks emerging frequently, generalizable morph attack detection has gained significant attention. This paper focuses on enhancing the generalization capability of morph attack detection from the perspective of consistency regularization. Consistency regularization operates under the premise that generalizable morph attack detection should output consistent predictions irrespective of the possible variations that may occur in the input space. In this work, to reach this objective, two simple yet effective morph-wise augmentations are proposed to explore a wide space of realistic morph transformations in our consistency regularization. Then, the model is regularized to learn consistently at the logit as well as embedding levels across a wide range of morph-wise augmented images. The proposed consistency regularization aligns the abstraction in the hidden layers of our model across the morph attack images which are generated from diverse domains in the wild. Experimental results demonstrate the superior generalization and robustness performance of our proposed method compared to the state-of-the-art studies.
FairMonitor: A Four-Stage Automatic Framework for Detecting Stereotypes and Biases in Large Language Models
Venue: arXiv cs.CL 2023
Year: 2023

Detecting stereotypes and biases in Large Language Models (LLMs) can enhance fairness and reduce adverse impacts on individuals or groups when these LLMs are applied. However, the majority of existing methods focus on measuring the model's preference towards sentences containing biases and stereotypes within datasets, which lacks interpretability and cannot detect implicit biases and stereotypes in the real world. To address this gap, this paper introduces a four-stage framework to directly evaluate stereotypes and biases in the generated content of LLMs, including direct inquiry testing, serial or adapted story testing, implicit association testing, and unknown situation testing. Additionally, the paper proposes multi-dimensional evaluation metrics and explainable zero-shot prompts for automated evaluation. Using the education sector as a case study, we constructed the Edu-FairMonitor based on the four-stage framework, which encompasses 12,632 open-ended questions covering nine sensitive factors and 26 educational scenarios. Experimental results reveal varying degrees of stereotypes and biases in five LLMs evaluated on Edu-FairMonitor. Moreover, the results of our proposed automated evaluation method have shown a high correlation with human annotations.
Causally estimating the effect of YouTube's recommender system using counterfactual bots
Venue: arXiv cs.SI 2023
Year: 2023

In recent years, critics of online platforms have raised concerns about the ability of recommendation algorithms to amplify problematic content, with potentially radicalizing consequences. However, attempts to evaluate the effect of recommenders have suffered from a lack of appropriate counterfactuals -- what a user would have viewed in the absence of algorithmic recommendations -- and hence cannot disentangle the effects of the algorithm from a user's intentions. Here we propose a method that we call ``counterfactual bots'' to causally estimate the role of algorithmic recommendations on the consumption of highly partisan content. By comparing bots that replicate real users' consumption patterns with ``counterfactual'' bots that follow rule-based trajectories, we show that, on average, relying exclusively on the recommender results in less partisan consumption, where the effect is most pronounced for heavy partisan consumers. Following a similar method, we also show that if partisan consumers switch to moderate content, YouTube's sidebar recommender ``forgets'' their partisan preference within roughly 30 videos regardless of their prior history, while homepage recommendations shift more gradually towards moderate content. Overall, our findings indicate that, at least since the algorithm changes that YouTube implemented in 2019, individual consumption patterns mostly reflect individual preferences, where algorithmic recommendations play, if anything, a moderating role.
Using Autoencoders and AutoDiff to Reconstruct Missing Variables in a Set of Time Series
Venue: arXiv cs.LG 2023
Year: 2023

Existing black box modeling approaches in machine learning suffer from a fixed input and output feature combination. In this paper, a new approach to reconstruct missing variables in a set of time series is presented. An autoencoder is trained as usual with every feature on both sides and the neural network parameters are fixed after this training. Then, the searched variables are defined as missing variables at the autoencoder input and optimized via automatic differentiation. This optimization is performed with respect to the available features loss calculation. With this method, different input and output feature combinations of the trained model can be realized by defining the searched variables as missing variables and reconstructing them. The combination can be changed without training the autoencoder again. The approach is evaluated on the base of a strongly nonlinear electrical component. It is working well for one of four variables missing and generally even for multiple missing variables.