OpenRaiser/Intern-Atlas huggingface dataset:
Cooperative Path Planning with Asynchronous Multiagent Reinforcement Learning
Venue: arXiv cs.AI 2024
Year: 2024

In this paper, we study the shortest path problem (SPP) with multiple source-destination pairs (MSD), namely MSD-SPP, to minimize average travel time of all shortest paths. The inherent traffic capacity limits within a road network contributes to the competition among vehicles. Multi-agent reinforcement learning (MARL) model cannot offer effective and efficient path planning cooperation due to the asynchronous decision making setting in MSD-SPP, where vehicles (a.k.a agents) cannot simultaneously complete routing actions in the previous time step. To tackle the efficiency issue, we propose to divide an entire road network into multiple sub-graphs and subsequently execute a two-stage process of inter-region and intra-region route planning. To address the asynchronous issue, in the proposed asyn-MARL framework, we first design a global state, which exploits a low-dimensional vector to implicitly represent the joint observations and actions of multi-agents. Then we develop a novel trajectory collection mechanism to decrease the redundancy in training trajectories. Additionally, we design a novel actor network to facilitate the cooperation among vehicles towards the same or close destinations and a reachability graph aimed at preventing infinite loops in routing paths. On both synthetic and real road networks, our evaluation result demonstrates that our approach outperforms state-of-the-art planning approaches.
Unbalanced Fingerprint Classification for Hybrid Fingerprint Orientation Maps
Venue: arXiv cs.CV 2024
Year: 2024

This paper introduces a novel fingerprint classification technique based on a multi-layered fuzzy logic classifier. We target the cause of missed detection by identifying the fingerprints at an early stage among dry, standard, and wet. Scanned images are classified based on clarity correlated with the proposed feature points. We also propose a novel adaptive algorithm based on eigenvector space for generating new samples to overcome the multiclass imbalance. Proposed methods improve the performance of ensemble learners. It was also found that the new approach performs better than the neural-network based classification methods. Early-stage improvements give a suitable dataset for fingerprint detection models. Leveraging the novel classifier, the best set of `standard' labelled fingerprints is used to generate a unique hybrid fingerprint orientation map (HFOM). We introduce a novel min-rotate max-flow optimization method inspired by the min-cut max-flow algorithm. The unique properties of HFOM generation introduce a new use case for biometric data protection by using HFOM as a virtual proxy of fingerprints.
Container Data Item: An Abstract Datatype for Efficient Container-based Edge Computing
Venue: arXiv cs.DC 2024
Year: 2024

We present Container Data Item (CDI), an abstract datatype that allows multiple containers to efficiently operate on a common data item while preserving their strong security and isolation semantics. Application developers can use CDIs to enable multiple containers to operate on the same data, synchronize execution among themselves, and control the ownership of the shared data item during runtime. These containers may reside on the same server or different servers. CDI is designed to support microservice based applications comprised of a set of interconnected microservices, each implemented by a separate dedicated container. CDI preserves the important isolation semantics of containers by ensuring that exactly one container owns a CDI object at any instant and the ownership of a CDI object may be transferred from one container to another only by the current CDI object owner. We present three different implementations of CDI that allow different containers residing on the same server as well containers residing on different servers to use CDI for efficiently operating on a common data item. The paper provides an extensive performance evaluation of CDI along with two representative applications, an augmented reality application and a decentralized workflow orchestrator.
Comparison of Encryption Algorithms for Wearable Devices in IoT Systems
Venue: arXiv cs.CR 2024
Year: 2024

The Internet of Things (IoT) expansion has brought a new era of connected devices, including wearable devices like smartwatches and medical monitors, that are becoming integral parts of our daily lives. These devices not only offer innovative functionalities but also generate and transmit plenty of sensitive data, making their security and privacy the primary concerns. Given the unique challenges posed by wearable devices, such as limited computational resources and the need for real-time data processing, encryption stands as a cornerstone for safeguarding the integrity and confidentiality of the data they handle. Various encryption algorithms, each with its own set of advantages and limitations, are available to meet the diverse security and computational needs of wearable IoT devices. As we move into an age where quantum computing could potentially disrupt traditional encryption methods, choosing a suitable encryption algorithm becomes even more critical. This paper explores and evaluates the suitability of different encryption methods in the context of wearable IoT devices, considering current and future security challenges.
Accelerating Hybrid Agent-Based Models and Fuzzy Cognitive Maps: How to Combine Agents who Think Alike?
Venue: arXiv cs.AI 2024
Year: 2024

While Agent-Based Models can create detailed artificial societies based on individual differences and local context, they can be computationally intensive. Modelers may offset these costs through a parsimonious use of the model, for example by using smaller population sizes (which limits analyses in sub-populations), running fewer what-if scenarios, or accepting more uncertainty by performing fewer simulations. Alternatively, researchers may accelerate simulations via hardware solutions (e.g., GPU parallelism) or approximation approaches that operate a tradeoff between accuracy and compute time. In this paper, we present an approximation that combines agents who `think alike', thus reducing the population size and the compute time. Our innovation relies on representing agent behaviors as networks of rules (Fuzzy Cognitive Maps) and empirically evaluating different measures of distance between these networks. Then, we form groups of think-alike agents via community detection and simplify them to a representative agent. Case studies show that our simplifications remain accuracy.
Curvy: A Parametric Cross-section based Surface Reconstruction
Venue: arXiv cs.CV 2024
Year: 2024

In this work, we present a novel approach for reconstructing shape point clouds using planar sparse cross-sections with the help of generative modeling. We present unique challenges pertaining to the representation and reconstruction in this problem setting. Most methods in the classical literature lack the ability to generalize based on object class and employ complex mathematical machinery to reconstruct reliable surfaces. We present a simple learnable approach to generate a large number of points from a small number of input cross-sections over a large dataset. We use a compact parametric polyline representation using adaptive splitting to represent the cross-sections and perform learning using a Graph Neural Network to reconstruct the underlying shape in an adaptive manner reducing the dependence on the number of cross-sections provided.
Report Cards: Qualitative Evaluation of Language Models Using Natural Language Summaries
Venue: arXiv cs.LG 2024
Year: 2024

The rapid development and dynamic nature of large language models (LLMs) make it difficult for conventional quantitative benchmarks to accurately assess their capabilities. We propose report cards, which are human-interpretable, natural language summaries of model behavior for specific skills or topics. We develop a framework to evaluate report cards based on three criteria: specificity (ability to distinguish between models), faithfulness (accurate representation of model capabilities), and interpretability (clarity and relevance to humans). We also propose an iterative algorithm for generating report cards without human supervision and explore its efficacy by ablating various design choices. Through experimentation with popular LLMs, we demonstrate that report cards provide insights beyond traditional benchmarks and can help address the need for a more interpretable and holistic evaluation of LLMs.
LanguaShrink: Reducing Token Overhead with Psycholinguistics
Venue: arXiv cs.CL 2024
Year: 2024

As large language models (LLMs) improve their capabilities in handling complex tasks, the issues of computational cost and efficiency due to long prompts are becoming increasingly prominent. To accelerate model inference and reduce costs, we propose an innovative prompt compression framework called LanguaShrink. Inspired by the observation that LLM performance depends on the density and position of key information in the input prompts, LanguaShrink leverages psycholinguistic principles and the Ebbinghaus memory curve to achieve task-agnostic prompt compression. This effectively reduces prompt length while preserving essential information. We referred to the training method of OpenChat.The framework introduces part-of-speech priority compression and data distillation techniques, using smaller models to learn compression targets and employing a KL-regularized reinforcement learning strategy for training.\cite{wang2023openchat} Additionally, we adopt a chunk-based compression algorithm to achieve adjustable compression rates. We evaluate our method on multiple datasets, including LongBench, ZeroScrolls, Arxiv Articles, and a newly constructed novel test set. Experimental results show that LanguaShrink maintains semantic similarity while achieving up to 26 times compression. Compared to existing prompt compression methods, LanguaShrink improves end-to-end latency by 1.43 times.
Fisher Information guided Purification against Backdoor Attacks
Venue: arXiv cs.CV 2024
Year: 2024

Studies on backdoor attacks in recent years suggest that an adversary can compromise the integrity of a deep neural network (DNN) by manipulating a small set of training samples. Our analysis shows that such manipulation can make the backdoor model converge to a bad local minima, i.e., sharper minima as compared to a benign model. Intuitively, the backdoor can be purified by re-optimizing the model to smoother minima. However, a naïve adoption of any optimization targeting smoother minima can lead to sub-optimal purification techniques hampering the clean test accuracy. Hence, to effectively obtain such re-optimization, inspired by our novel perspective establishing the connection between backdoor removal and loss smoothness, we propose Fisher Information guided Purification (FIP), a novel backdoor purification framework. Proposed FIP consists of a couple of novel regularizers that aid the model in suppressing the backdoor effects and retaining the acquired knowledge of clean data distribution throughout the backdoor removal procedure through exploiting the knowledge of Fisher Information Matrix (FIM). In addition, we introduce an efficient variant of FIP, dubbed as Fast FIP, which reduces the number of tunable parameters significantly and obtains an impressive runtime gain of almost $5\times$. Extensive experiments show that the proposed method achieves state-of-the-art (SOTA) performance on a wide range of backdoor defense benchmarks: 5 different tasks -- Image Recognition, Object Detection, Video Action Recognition, 3D point Cloud, Language Generation; 11 different datasets including ImageNet, PASCAL VOC, UCF101; diverse model architectures spanning both CNN and vision transformer; 14 different backdoor attacks, e.g., Dynamic, WaNet, LIRA, ISSBA, etc.
Kinematics & Dynamics Library for Baxter Arm
Venue: arXiv cs.RO 2024
Year: 2024

The Baxter robot is a standard research platform used widely in research tasks, supported with an SDK provided by the developers, Rethink Robotics. Despite the ubiquitous use of the robot, the official software support is sub-standard. Especially, the native IK service has a low success rate and is often inconsistent. This unreliable behavior makes Baxter difficult to use for experiments and the research community is in need of a more reliable software support to control the robot. We present our work towards creating a Python based software library supporting the kinematics and dynamics of the Baxter robot. Our toolbox contains implementation of pose and velocity kinematics with support for Jacobian operations for redundancy resolution. We present the implementation and performance of our library, along with a comparison with PyKDL. Keywords- Baxter Research Robot, Manipulator Kinematics, Iterative IK, Dynamical Model, Redundant Manipulator
Digital Twins in Additive Manufacturing: A Systematic Review
Venue: arXiv cs.CV 2024
Year: 2024

Digital Twins (DTs) are becoming popular in Additive Manufacturing (AM) due to their ability to create virtual replicas of physical components of AM machines, which helps in real-time production monitoring. Advanced techniques such as Machine Learning (ML), Augmented Reality (AR), and simulation-based models play key roles in developing intelligent and adaptable DTs in manufacturing processes. However, questions remain regarding scalability, the integration of high-quality data, and the computational power required for real-time applications in developing DTs. Understanding the current state of DTs in AM is essential to address these challenges and fully utilize their potential in advancing AM processes. Considering this opportunity, this work aims to provide a comprehensive overview of DTs in AM by addressing the following four research questions: (1) What are the key types of DTs used in AM and their specific applications? (2) What are the recent developments and implementations of DTs? (3) How are DTs employed in process improvement and hybrid manufacturing? (4) How are DTs integrated with Industry 4.0 technologies? By discussing current applications and techniques, we aim to offer a better understanding and potential future research directions for researchers and practitioners in AM and DTs.
MarsCode Agent: AI-native Automated Bug Fixing
Venue: arXiv cs.SE 2024
Year: 2024

Recent advances in large language models (LLMs) have shown significant potential to automate various software development tasks, including code completion, test generation, and bug fixing. However, the application of LLMs for automated bug fixing remains challenging due to the complexity and diversity of real-world software systems. In this paper, we introduce MarsCode Agent, a novel framework that leverages LLMs to automatically identify and repair bugs in software code. MarsCode Agent combines the power of LLMs with advanced code analysis techniques to accurately localize faults and generate patches. Our approach follows a systematic process of planning, bug reproduction, fault localization, candidate patch generation, and validation to ensure high-quality bug fixes. We evaluated MarsCode Agent on SWE-bench, a comprehensive benchmark of real-world software projects, and our results show that MarsCode Agent achieves a high success rate in bug fixing compared to most of the existing automated approaches.
Self-Judge: Selective Instruction Following with Alignment Self-Evaluation
Venue: arXiv cs.CL 2024
Year: 2024

Pre-trained large language models (LLMs) can be tailored to adhere to human instructions through instruction tuning. However, due to shifts in the distribution of test-time data, they may not always execute instructions accurately, potentially generating factual errors or misaligned content when acting as chat assistants. To enhance the reliability of LLMs in following instructions, we propose the study of selective instruction following, whereby the system declines to execute instructions if the anticipated response quality is low. We train judge models that can predict numerical quality scores for model responses. To address data scarcity, we introduce Self-J, a novel self-training framework for developing judge models without needing human-annotated quality scores. Our method leverages the model's inherent self-evaluation capability to extract information about response quality from labeled instruction-tuning data. It incorporates a gold reference answer to facilitate self-evaluation and recalibrates by assessing the semantic similarity between the response sample and the gold reference. During the training phase, we implement self-distillation as a regularization technique to enhance the capability of reference-free estimation. To validate alignment evaluation on general instruction-following tasks, we collect large-scale high-quality instructions from Hugging Face for model training and evaluation. Extensive experiments on five open-source models show that our method correlates much more with GPT-4 than strong baselines, e.g., supervised models distilled from GPT-4 and GPT-3.5-turbo. Our analysis shows our model's strong generalization across domains. Additionally, our judge models serve as good reward models, e.g., boosting WizardLM-13B-V1.2 from 89.17 to 92.48 and from 12.03 to 15.90 in version v1 and v2 of AlpacaEval respectively using best-of-32 sampling with our judge models.
Uplink Over-the-Air Aggregation for Multi-Model Wireless Federated Learning
Venue: arXiv cs.IT 2024
Year: 2024

We propose an uplink over-the-air aggregation (OAA) method for wireless federated learning (FL) that simultaneously trains multiple models. To maximize the multi-model training convergence rate, we derive an upper bound on the optimality gap of the global model update, and then, formulate an uplink joint transmit-receive beamforming optimization problem to minimize this upper bound. We solve this problem using the block coordinate descent approach, which admits low-complexity closed-form updates. Simulation results show that our proposed multi-model FL with fast OAA substantially outperforms sequentially training multiple models under the conventional single-model approach.
DNN-GDITD: Out-of-distribution detection via Deep Neural Network based Gaussian Descriptor for Imbalanced Tabular Data
Venue: arXiv cs.LG 2024
Year: 2024

Classification tasks present challenges due to class imbalances and evolving data distributions. Addressing these issues requires a robust method to handle imbalances while effectively detecting out-of-distribution (OOD) samples not encountered during training. This study introduces a novel OOD detection algorithm designed for tabular datasets, titled Deep Neural Network-based Gaussian Descriptor for Imbalanced Tabular Data (DNN-GDITD). The DNN-GDITD algorithm can be placed on top of any DNN to facilitate better classification of imbalanced data and OOD detection using spherical decision boundaries. Using a combination of Push, Score-based, and focal losses, DNN-GDITD assigns confidence scores to test data points, categorizing them as known classes or as an OOD sample. Extensive experimentation on tabular datasets demonstrates the effectiveness of DNN-GDITD compared to three OOD algorithms. Evaluation encompasses imbalanced and balanced scenarios on diverse tabular datasets, including a synthetic financial dispute dataset and publicly available tabular datasets like Gas Sensor, Drive Diagnosis, and MNIST, showcasing DNN-GDITD's versatility.
Accelerated Multi-objective Task Learning using Modified Q-learning Algorithm
Venue: arXiv cs.RO 2024
Year: 2024

Robots find extensive applications in industry. In recent years, the influence of robots has also increased rapidly in domestic scenarios. The Q-learning algorithm aims to maximise the reward for reaching the goal. This paper proposes a modified version of the Q-learning algorithm, known as Q-learning with scaled distance metric (Q-SD). This algorithm enhances task learning and makes task completion more meaningful. A robotic manipulator (agent) applies the Q-SD algorithm to the task of table cleaning. Using Q-SD, the agent acquires the sequence of steps necessary to accomplish the task while minimising the manipulator's movement distance. We partition the table into grids of different dimensions. The first has a grid count of 3 times 3, and the second has a grid count of 4 times 4. Using the Q-SD algorithm, the maximum success obtained in these two environments was 86% and 59% respectively. Moreover, Compared to the conventional Q-learning algorithm, the drop in average distance moved by the agent in these two environments using the Q-SD algorithm was 8.61% and 6.7% respectively.
Review for future research in digital leadership
Venue: arXiv cs.HC 2024
Year: 2024

Information Technology (IT) enables challenges and opportunities for how enterprises organize themselves and how work unfolds in digital settings.
Attractor Basins in Concurrent Systems
Venue: arXiv cs.FL 2024
Year: 2024

A crucial question in analyzing a concurrent system is to determine its long-run behaviour, and in particular, whether there are irreversible choices in its evolution, leading into parts of the reachability space from which there is no return to other parts. Casting this problem in the unifying framework of safe Petri nets, our previous work has provided techniques for identifying attractors, i.e. terminal strongly connected components of the reachability space. What we aim at is to determine the attraction basins associated to those attractors; that is, those states from where all infinite runs are doomed to end in the given attractor, as opposed to those that are free to evolve differently. Here, we provide a solution for the case of safe Petri nets. Our algorithm uses net unfoldings and provides a map of all of those configurations (concurrent executions of the system) that lead onto cliff-edges, i.e. any maximal extension for those configurations lies in some basin that is considered fatal.
Flying a Quadrotor with Unknown Actuators and Sensor Configuration
Venue: arXiv cs.RO 2024
Year: 2024

Though control algorithms for multirotor Unmanned Air Vehicle (UAV) are well understood, the configuration, parameter estimation, and tuning of flight control algorithms takes quite some time and resources. In previous work, we have shown that it is possible to identify the control effectiveness and motor dynamics of a multirotor fast enough for it to recover to a stable hover after being thrown 4 meters in the air. In this paper, we extend this to include estimation of the position of the Inertial Measurement Unit (IMU) relative to the Center of Gravity (CoG), estimation of the IMU rotation, the thrust direction of all motors and the optimal combined thrust direction. In order to guarantee a correct IMU position estimation, two prior throw-and-catches of the vehicle with spin around different axes are required. For these throws, a height as low as 1 meter is sufficient. Quadrotor flight experimentation confirms the efficacy of the approach, and a simulation shows its applicability to fully-actuated crafts with multiple possible hover orientations.