OpenRaiser/Intern-Atlas huggingface dataset:
PROZE: Generating Parameterized Unit Tests Informed by Runtime Data
Venue: arXiv cs.SE 2024
Year: 2024

Typically, a conventional unit test (CUT) verifies the expected behavior of the unit under test through one specific input / output pair. In contrast, a parameterized unit test (PUT) receives a set of inputs as arguments, and contains assertions that are expected to hold true for all these inputs. PUTs increase test quality, as they assess correctness on a broad scope of inputs and behaviors. However, defining assertions over a set of inputs is a hard task for developers, which limits the adoption of PUTs in practice. In this paper, we address the problem of finding oracles for PUTs that hold over multiple inputs. We design a system called PROZE, that generates PUTs by identifying developer-written assertions that are valid for more than one test input. We implement our approach as a two-step methodology: first, at runtime, we collect inputs for a target method that is invoked within a CUT; next, we isolate the valid assertions of the CUT to be used within a PUT. We evaluate our approach against 5 real-world Java modules, and collect valid inputs for 128 target methods from test and field executions. We generate 2,287 PUTs, which invoke the target methods with a significantly larger number of test inputs than the original CUTs. We execute the PUTs and find 217 that provably demonstrate that their oracles hold for a larger range of inputs than envisioned by the developers. From a testing theory perspective, our results show that developers express assertions within CUTs that are general enough to hold beyond one particular input.
Towards Faster Matrix Diagonalization with Graph Isomorphism Networks and the AlphaZero Framework
Venue: arXiv cs.AI 2024
Year: 2024

In this paper, we introduce innovative approaches for accelerating the Jacobi method for matrix diagonalization, specifically through the formulation of large matrix diagonalization as a Semi-Markov Decision Process and small matrix diagonalization as a Markov Decision Process. Furthermore, we examine the potential of utilizing scalable architecture between different-sized matrices. During a short training period, our method discovered a significant reduction in the number of steps required for diagonalization and exhibited efficient inference capabilities. Importantly, this approach demonstrated possible scalability to large-sized matrices, indicating its potential for wide-ranging applicability. Upon training completion, we obtain action-state probabilities and transition graphs, which depict transitions between different states. These outputs not only provide insights into the diagonalization process but also pave the way for cost savings pertinent to large-scale matrices. The advancements made in this research enhance the efficacy and scalability of matrix diagonalization, pushing for new possibilities for deployment in practical applications in scientific and engineering domains.
CSUM: A Novel Mechanism for Updating CubeSat while Preserving Authenticity and Integrity
Venue: arXiv cs.CR 2024
Year: 2024

The recent rise of CubeSat has revolutionized global space explorations, as it offers cost-effective solutions for low-orbit space applications (including climate monitoring, weather measurements, communications, and earth observation). A salient feature of CubeSat is that applications currently on-boarded can either be updated or entirely replaced by new applications via software updates, which allows reusing in-orbit hardware, reduces space debris, and saves cost as well as time. Securing software updates employing traditional methods (e.g., encryption) remains impractical mainly due to the low-resource capabilities of CubeSat. Therefore, the security of software updates for CubeSats remains a critical issue. In this paper, we propose CubeSat Update Mechanism (CSUM), a lightweight scheme to provide integrity, authentication, and data freshness guarantees for software update broadcasts to CubeSats using a hash chain. We empirically evaluate our proof of concept implementation to demonstrate the feasibility and effectiveness of our approach. CSUM can validate 50,000 consecutive updates successfully in less than a second. We also perform a comparative analysis of different cryptographic primitives. Our empirical evaluations show that the hash-based approach is at least 61$\times$ faster than the conventional mechanisms, even in resource-constrained environments. Finally, we discuss the limitations, challenges, and potential future research directions for CubeSat software update procedures.
A Deep Learning-based Pest Insect Monitoring System for Ultra-low Power Pocket-sized Drones
Venue: arXiv cs.CV 2024
Year: 2024

Smart farming and precision agriculture represent game-changer technologies for efficient and sustainable agribusiness. Miniaturized palm-sized drones can act as flexible smart sensors inspecting crops, looking for early signs of potential pest outbreaking. However, achieving such an ambitious goal requires hardware-software codesign to develop accurate deep learning (DL) detection models while keeping memory and computational needs under an ultra-tight budget, i.e., a few MB on-chip memory and a few 100s mW power envelope. This work presents a novel vertically integrated solution featuring two ultra-low power System-on-Chips (SoCs), i.e., the dual-core STM32H74 and a multi-core GWT GAP9, running two State-of-the-Art DL models for detecting the Popillia japonica bug. We fine-tune both models for our image-based detection task, quantize them in 8-bit integers, and deploy them on the two SoCs. On the STM32H74, we deploy a FOMO-MobileNetV2 model, achieving a mean average precision (mAP) of 0.66 and running at 16.1 frame/s within 498 mW. While on the GAP9 SoC, we deploy a more complex SSDLite-MobileNetV3, which scores an mAP of 0.79 and peaks at 6.8 frame/s within 33 mW. Compared to a top-notch RetinaNet-ResNet101-FPN full-precision baseline, which requires 14.9x more memory and 300x more operations per inference, our best model drops only 15\% in mAP, paving the way toward autonomous palm-sized drones capable of lightweight and precise pest detection.
Localization and Perception for Control of a Low Speed Autonomous Shuttle in a Campus Pilot Deployment
Venue: arXiv cs.RO 2024
Year: 2024

Future SAE Level 4 and Level 5 autonomous vehicles will require novel applications of localization, perception, control and artificial intelligence technology in order to offer innovative and disruptive solutions to current mobility problems. Accurate localization is essential for self driving vehicle navigation in GPS inaccessible environments. This thesis concentrates on low speed autonomous shuttles that are mainly utilized for university campus intelligent transportation systems and presents initial results of ongoing work on developing solutions to the localization and perception challenges of a university planned pilot deployment orientated application. The paper treats autonomous driving with real time kinematics GPS (Global Positioning Systems) with an inertial measurement unit (IMU), combined with simultaneous localization and mapping (SLAM) with threedimensional light detection and ranging (LIDAR) sensor, which provides solutions to scenarios where GPS is not available or a lower cost and hence lower accuracy GPS is desirable. The in-house automated low speed electric vehicle from the Automated Driving Lab is used in experimental evaluation and verification. An improved version of Hector SLAM was implemented on ROS and compared with high resolution GPS aided localization framework in the same hardware architecture. The overall configuration that combines ROS with DSpace controller can be easily transplantable prototype in other hardware architectures for future similar research. Real-world experiments that are reported here have been conducted in a small test area close to the Ohio State University AV pilot test route. are used for demonstrating the feasibility and robustness of this approach to developing and evaluating low speed autonomous shuttle localization and perception algorithms for control and decision making.
Learning Robust 3D Representation from CLIP via Dual Denoising
Venue: arXiv cs.CV 2024
Year: 2024

In this paper, we explore a critical yet under-investigated issue: how to learn robust and well-generalized 3D representation from pre-trained vision language models such as CLIP. Previous works have demonstrated that cross-modal distillation can provide rich and useful knowledge for 3D data. However, like most deep learning models, the resultant 3D learning network is still vulnerable to adversarial attacks especially the iterative attack. In this work, we propose Dual Denoising, a novel framework for learning robust and well-generalized 3D representations from CLIP. It combines a denoising-based proxy task with a novel feature denoising network for 3D pre-training. Additionally, we propose utilizing parallel noise inference to enhance the generalization of point cloud features under cross domain settings. Experiments show that our model can effectively improve the representation learning performance and adversarial robustness of the 3D learning network under zero-shot settings without adversarial training. Our code is available at https://github.com/luoshuqing2001/Dual_Denoising.
MalAlgoQA: Pedagogical Evaluation of Counterfactual Reasoning in Large Language Models and Implications for AI in Education
Venue: arXiv cs.CL 2024
Year: 2024

This paper introduces MalAlgoQA, a novel dataset designed to evaluate the counterfactual reasoning capabilities of Large Language Models (LLMs) through a pedagogical approach. The dataset comprises mathematics and reading comprehension questions, each accompanied by four answer choices and their corresponding rationales. At the heart of MalAlgoQA are ``malgorithms'' - rationales behind incorrect answer choices that represent flawed yet logically coherent reasoning paths. These malgorithms serve as counterfactual scenarios, allowing us to assess an LLM's ability to identify and analyze flawed reasoning patterns. We propose the Malgorithm Identification task, where LLMs are assessed based on their ability to identify corresponding malgorithm given an incorrect answer choice. To evaluate the model performance, we introduce two metrics: Algorithm Identification Accuracy (AIA) for correct answer rationale identification, and Malgorithm Identification Accuracy (MIA) for incorrect answer rationale identification. Our experiments reveal that state-of-the-art LLMs exhibit significant performance drops in MIA compared to AIA, highlighting the challenges in counterfactual reasoning. Surprisingly, we find that the chain-of-thought prompting technique not only fails to consistently enhance MIA but can sometimes lead to underperformance compared to simple prompting. These findings have important implications for developing LLMs with improved counterfactual reasoning, particularly relevant for AI-powered tutoring systems, where identifying and addressing student misconceptions is essential. MalAlgoQA dataset is available \href{https://github.com/luffycodes/MalAlgoQA-Dataset}{here}.
Modified CMA-ES Algorithm for Multi-Modal Optimization: Incorporating Niching Strategies and Dynamic Adaptation Mechanism
Venue: arXiv cs.NE 2024
Year: 2024

This study modifies the Covariance Matrix Adaptation Evolution Strategy (CMA-ES) algorithm for multi-modal optimization problems. The enhancements focus on addressing the challenges of multiple global minima, improving the algorithm's ability to maintain diversity and explore complex fitness landscapes. We incorporate niching strategies and dynamic adaptation mechanisms to refine the algorithm's performance in identifying and optimizing multiple global optima. The algorithm generates a population of candidate solutions by sampling from a multivariate normal distribution centered around the current mean vector, with the spread determined by the step size and covariance matrix. Each solution's fitness is evaluated as a weighted sum of its contributions to all global minima, maintaining population diversity and preventing premature convergence. We implemented the algorithm on 8 tunable composite functions for the GECCO 2024 Competition on Benchmarking Niching Methods for Multi-Modal Optimization (MMO), adhering to the competition's benchmarking framework. The results are presenting in many ways such as Peak Ratio, F1 score on various dimensions. They demonstrate the algorithm's robustness and effectiveness in handling both global optimization and MMO- specific challenges, providing a comprehensive solution for complex multi-modal optimization problems.
Locomotion as Manipulation with ReachBot
Venue: arXiv cs.RO 2024
Year: 2024

Caves and lava tubes on the Moon and Mars are sites of geological and astrobiological interest but consist of terrain that is inaccessible with traditional robot locomotion. To support the exploration of these sites, we present ReachBot, a robot that uses extendable booms as appendages to manipulate itself with respect to irregular rock surfaces. The booms terminate in grippers equipped with microspines and provide ReachBot with a large workspace, allowing it to achieve force closure in enclosed spaces such as the walls of a lava tube. To propel ReachBot, we present a contact-before-motion planner for non-gaited legged locomotion that utilizes internal force control, similar to a multi-fingered hand, to keep its long, slender booms in tension. Motion planning also depends on finding and executing secure grips on rock features. We use a Monte Carlo simulation to inform gripper design and predict grasp strength and variability. Additionally, we use a two-step perception system to identify possible grasp locations. To validate our approach and mechanisms under realistic conditions, we deployed a single ReachBot arm and gripper in a lava tube in the Mojave Desert. The field test confirmed that ReachBot will find many targets for secure grasps with the proposed kinematic design.
LLM Uncertainty Quantification through Directional Entailment Graph and Claim Level Response Augmentation
Venue: arXiv cs.CL 2024
Year: 2024

The Large language models (LLMs) have showcased superior capabilities in sophisticated tasks across various domains, stemming from basic question-answer (QA), they are nowadays used as decision assistants or explainers for unfamiliar content. However, they are not always correct due to the data sparsity in specific domain corpus, or the model's hallucination problems. Given this, how much should we trust the responses from LLMs? This paper presents a novel way to evaluate the uncertainty that captures the directional instability, by constructing a directional graph from entailment probabilities, and we innovatively conduct Random Walk Laplacian given the asymmetric property of a constructed directed graph, then the uncertainty is aggregated by the derived eigenvalues from the Laplacian process. We also provide a way to incorporate the existing work's semantics uncertainty with our proposed layer. Besides, this paper identifies the vagueness issues in the raw response set and proposes an augmentation approach to mitigate such a problem, we conducted extensive empirical experiments and demonstrated the superiority of our proposed solutions.
Flood Prediction Using Classical and Quantum Machine Learning Models
Venue: arXiv cs.LG 2024
Year: 2024

This study investigates the potential of quantum machine learning to improve flood forecasting we focus on daily flood events along Germany's Wupper River in 2023 our approach combines classical machine learning techniques with QML techniques this hybrid model leverages quantum properties like superposition and entanglement to achieve better accuracy and efficiency classical and QML models are compared based on training time accuracy and scalability results show that QML models offer competitive training times and improved prediction accuracy this research signifies a step towards utilizing quantum technologies for climate change adaptation we emphasize collaboration and continuous innovation to implement this model in real-world flood management ultimately enhancing global resilience against floods
Collaborative Graph Exploration with Reduced Pose-SLAM Uncertainty via Submodular Optimization
Venue: arXiv cs.RO 2024
Year: 2024

This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining reliable pose estimations in collaborative simultaneous localization and mapping (SLAM). Considering both objectives presents challenges for multi-robot pathfinding, as it involves the expensive covariance inference for SLAM uncertainty evaluation, especially considering various combinations of robots' paths. To reduce the computational complexity, we propose an efficient two-stage strategy where exploration paths are first generated for quick coverage, and then enhanced by adding informative and distance-efficient loop-closing actions, called loop edges, along the paths for reliable pose estimation. We formulate the latter problem as a non-monotone submodular maximization problem by relating SLAM uncertainty with pose graph topology, which (1) facilitates more efficient evaluation of SLAM uncertainty than covariance inference, and (2) allows the application of approximation algorithms in submodular optimization to provide optimality guarantees. We further introduce the ordering heuristics to improve objective values while preserving the optimality bound. Simulation experiments over randomly generated graph environments verify the efficiency of our methods in finding paths for quick coverage and enhanced pose graph reliability, and benchmark the performance of the approximation algorithms and the greedy-based algorithm in the loop edge selection problem. Our implementations will be open-source at https://github.com/bairuofei/CGE.
SE(3)-Hyena Operator for Scalable Equivariant Learning
Venue: arXiv cs.LG 2024
Year: 2024

Modeling global geometric context while maintaining equivariance is crucial for accurate predictions in many fields such as biology, chemistry, or vision. Yet, this is challenging due to the computational demands of processing high-dimensional data at scale. Existing approaches such as equivariant self-attention or distance-based message passing, suffer from quadratic complexity with respect to sequence length, while localized methods sacrifice global information. Inspired by the recent success of state-space and long-convolutional models, in this work, we introduce SE(3)-Hyena operator, an equivariant long-convolutional model based on the Hyena operator. The SE(3)-Hyena captures global geometric context at sub-quadratic complexity while maintaining equivariance to rotations and translations. Evaluated on equivariant associative recall and n-body modeling, SE(3)-Hyena matches or outperforms equivariant self-attention while requiring significantly less memory and computational resources for long sequences. Our model processes the geometric context of 20k tokens x3.5 times faster than the equivariant transformer and allows x175 longer a context within the same memory budget.
Impact of Social Relationships on Peer Assessment in E-Learning
Venue: arXiv cs.HC 2024
Year: 2024

Peer assessment has been widely studied as a replacement for traditional evaluation, not only by reducing the professors' workload but mainly by benefiting students' engagement and learning. Although several works successfully validate its accuracy and fairness, more research must be done on how students' pre-existing social relationships affect the grades they give their peers in an e-learning course. We developed a Moodle plugin to provide the platform with peer assessment capabilities in forums and used it on an MSc course. The plugin curated the reviewer set for a post based on the author's relationships and included rubrics to counter the possible interpersonal effects of peer assessment. Results confirm that peer assessment is reliable and accurate for works with at least three peer assessments, although students' grades are slightly higher. The impact of social relationships is noticeable when students who do not like another peer grade their work consistently lower than students who have a positive connection. However, this has little influence on the final aggregate peer grade. Our findings show that peer assessment can replace traditional evaluation in an e-learning environment where students are familiar with each other.
CVLUE: A New Benchmark Dataset for Chinese Vision-Language Understanding Evaluation
Venue: arXiv cs.CV 2024
Year: 2024

Despite the rapid development of Chinese vision-language models (VLMs), most existing Chinese vision-language (VL) datasets are constructed on Western-centric images from existing English VL datasets. The cultural bias in the images makes these datasets unsuitable for evaluating VLMs in Chinese culture. To remedy this issue, we present a new Chinese Vision- Language Understanding Evaluation (CVLUE) benchmark dataset, where the selection of object categories and images is entirely driven by Chinese native speakers, ensuring that the source images are representative of Chinese culture. The benchmark contains four distinct VL tasks ranging from image-text retrieval to visual question answering, visual grounding and visual dialogue. We present a detailed statistical analysis of CVLUE and provide a baseline performance analysis with several open-source multilingual VLMs on CVLUE and its English counterparts to reveal their performance gap between English and Chinese. Our in-depth category-level analysis reveals a lack of Chinese cultural knowledge in existing VLMs. We also find that fine-tuning on Chinese culture-related VL datasets effectively enhances VLMs' understanding of Chinese culture.
Sociocultural Considerations in Monitoring Anti-LGBTQ+ Content on Social Media
Venue: arXiv cs.CL 2024
Year: 2024

The purpose of this paper is to ascertain the influence of sociocultural factors (i.e., social, cultural, and political) in the development of hate speech detection systems. We set out to investigate the suitability of using open-source training data to monitor levels of anti-LGBTQ+ content on social media across different national-varieties of English. Our findings suggests the social and cultural alignment of open-source hate speech data sets influences the predicted outputs. Furthermore, the keyword-search approach of anti-LGBTQ+ slurs in the development of open-source training data encourages detection models to overfit on slurs; therefore, anti-LGBTQ+ content may go undetected. We recommend combining empirical outputs with qualitative insights to ensure these systems are fit for purpose.
Deep Learning Based Tool Wear Estimation Considering Cutting Conditions
Venue: arXiv cs.LG 2024
Year: 2024

Tool wear conditions impact the final quality of the workpiece. In this study, we propose a deep learning approach based on a convolutional neural network that incorporates cutting conditions as extra model inputs, aiming to improve tool wear estimation accuracy and fulfill industrial demands for zero-shot transferability. Through a series of milling experiments under various cutting parameters, we evaluate the model's performance in terms of tool wear estimation accuracy and its transferability to new fixed or variable cutting parameters. The results consistently highlight our approach's advantage over conventional models that omit cutting conditions, maintaining superior performance irrespective of the stability of the wear development or the limitation of the training dataset. This finding underscores its potential applicability in industrial scenarios.