OpenRaiser/Intern-Atlas huggingface dataset:
Comparative Analysis of Programming by Demonstration Methods: Kinesthetic Teaching vs Human Demonstration
Venue: arXiv cs.RO 2024
Year: 2024

Programming by demonstration (PbD) is a simple and efficient way to program robots without explicit robot programming. PbD enables unskilled operators to easily demonstrate and guide different robots to execute task. In this paper we present comparison of demonstration methods with comprehensive user study. Each participant had to demonstrate drawing simple pattern with human demonstration using virtual marker and kinesthetic teaching with robot manipulator. To evaluate differences between demonstration methods, we conducted user study with 24 participants which filled out NASA raw task load index (rTLX) and system usability scale (SUS). We also evaluated similarity of the executed trajectories to measure difference between demonstrated and ideal trajectory. We concluded study with finding that human demonstration using a virtual marker is on average 8 times faster, superior in terms of quality and imposes 2 times less overall workload than kinesthetic teaching.
CoReEcho: Continuous Representation Learning for 2D+time Echocardiography Analysis
Venue: arXiv cs.CV 2024
Year: 2024

Deep learning (DL) models have been advancing automatic medical image analysis on various modalities, including echocardiography, by offering a comprehensive end-to-end training pipeline. This approach enables DL models to regress ejection fraction (EF) directly from 2D+time echocardiograms, resulting in superior performance. However, the end-to-end training pipeline makes the learned representations less explainable. The representations may also fail to capture the continuous relation among echocardiogram clips, indicating the existence of spurious correlations, which can negatively affect the generalization. To mitigate this issue, we propose CoReEcho, a novel training framework emphasizing continuous representations tailored for direct EF regression. Our extensive experiments demonstrate that CoReEcho: 1) outperforms the current state-of-the-art (SOTA) on the largest echocardiography dataset (EchoNet-Dynamic) with MAE of 3.90 & R2 of 82.44, and 2) provides robust and generalizable features that transfer more effectively in related downstream tasks. The code is publicly available at https://github.com/fadamsyah/CoReEcho.
Efficient Detection of Exchangeable Factors in Factor Graphs
Venue: arXiv cs.AI 2024
Year: 2024

To allow for tractable probabilistic inference with respect to domain sizes, lifted probabilistic inference exploits symmetries in probabilistic graphical models. However, checking whether two factors encode equivalent semantics and hence are exchangeable is computationally expensive. In this paper, we efficiently solve the problem of detecting exchangeable factors in a factor graph. In particular, we introduce the detection of exchangeable factors (DEFT) algorithm, which allows us to drastically reduce the computational effort for checking whether two factors are exchangeable in practice. While previous approaches iterate all $O(n!)$ permutations of a factor's argument list in the worst case (where $n$ is the number of arguments of the factor), we prove that DEFT efficiently identifies restrictions to drastically reduce the number of permutations and validate the efficiency of DEFT in our empirical evaluation.
AUTONODE: A Neuro-Graphic Self-Learnable Engine for Cognitive GUI Automation
Venue: arXiv cs.AI 2024
Year: 2024

In recent advancements within the domain of Large Language Models (LLMs), there has been a notable emergence of agents capable of addressing Robotic Process Automation (RPA) challenges through enhanced cognitive capabilities and sophisticated reasoning. This development heralds a new era of scalability and human-like adaptability in goal attainment. In this context, we introduce AUTONODE (Autonomous User-interface Transformation through Online Neuro-graphic Operations and Deep Exploration). AUTONODE employs advanced neuro-graphical techniques to facilitate autonomous navigation and task execution on web interfaces, thereby obviating the necessity for predefined scripts or manual intervention. Our engine empowers agents to comprehend and implement complex workflows, adapting to dynamic web environments with unparalleled efficiency. Our methodology synergizes cognitive functionalities with robotic automation, endowing AUTONODE with the ability to learn from experience. We have integrated an exploratory module, DoRA (Discovery and mapping Operation for graph Retrieval Agent), which is instrumental in constructing a knowledge graph that the engine utilizes to optimize its actions and achieve objectives with minimal supervision. The versatility and efficacy of AUTONODE are demonstrated through a series of experiments, highlighting its proficiency in managing a diverse array of web-based tasks, ranging from data extraction to transaction processing.
Is Wireless Bad for Consensus in Blockchain?
Venue: arXiv cs.NI 2024
Year: 2024

This paper examines how wireless communication affects the performance of various blockchain consensus mechanisms, focusing on their scalability and decentralization. It introduces an analytical framework for quantifying these effects, backed by extensive simulations, underscoring its broad applicability to various consensus mechanisms despite wireless communication's unreliability.
The Euclidean MST-ratio for Bi-colored Lattices
Venue: arXiv cs.CG 2024
Year: 2024

Given a finite set, $A \subseteq \mathbb{R}^2$, and a subset, $B \subseteq A$, the \emph{MST-ratio} is the combined length of the minimum spanning trees of $B$ and $A \setminus B$ divided by the length of the minimum spanning tree of $A$. The question of the supremum, over all sets $A$, of the maximum, over all subsets $B$, is related to the Steiner ratio, and we prove this sup-max is between $2.154$ and $2.427$. Restricting ourselves to $2$-dimensional lattices, we prove that the sup-max is $2.0$, while the inf-max is $1.25$. By some margin the most difficult of these results is the upper bound for the inf-max, which we prove by showing that the hexagonal lattice cannot have MST-ratio larger than $1.25$.
From Chaos to Clarity: Time Series Anomaly Detection in Astronomical Observations
Venue: arXiv cs.LG 2024
Year: 2024

With the development of astronomical facilities, large-scale time series data observed by these facilities is being collected. Analyzing anomalies in these astronomical observations is crucial for uncovering potential celestial events and physical phenomena, thus advancing the scientific research process. However, existing time series anomaly detection methods fall short in tackling the unique characteristics of astronomical observations where each star is inherently independent but interfered by random concurrent noise, resulting in a high rate of false alarms. To overcome the challenges, we propose AERO, a novel two-stage framework tailored for unsupervised anomaly detection in astronomical observations. In the first stage, we employ a Transformer-based encoder-decoder architecture to learn the normal temporal patterns on each variate (i.e., star) in alignment with the characteristic of variate independence. In the second stage, we enhance the graph neural network with a window-wise graph structure learning to tackle the occurrence of concurrent noise characterized by spatial and temporal randomness. In this way, AERO is not only capable of distinguishing normal temporal patterns from potential anomalies but also effectively differentiating concurrent noise, thus decreasing the number of false alarms. We conducted extensive experiments on three synthetic datasets and three real-world datasets. The results demonstrate that AERO outperforms the compared baselines. Notably, compared to the state-of-the-art model, AERO improves the F1-score by up to 8.76% and 2.63% on synthetic and real-world datasets respectively.
V2AIX: A Multi-Modal Real-World Dataset of ETSI ITS V2X Messages in Public Road Traffic
Venue: arXiv cs.MA 2024
Year: 2024

Connectivity is a main driver for the ongoing megatrend of automated mobility: future Cooperative Intelligent Transport Systems (C-ITS) will connect road vehicles, traffic signals, roadside infrastructure, and even vulnerable road users, sharing data and compute for safer, more efficient, and more comfortable mobility. In terms of communication technology for realizing such vehicle-to-everything (V2X) communication, the WLAN-based peer-to-peer approach (IEEE 802.11p, ITS-G5 in Europe) competes with C-V2X based on cellular technologies (4G and beyond). Irrespective of the underlying communication standard, common message interfaces are crucial for a common understanding between vehicles, especially from different manufacturers. Targeting this issue, the European Telecommunications Standards Institute (ETSI) has been standardizing V2X message formats such as the Cooperative Awareness Message (CAM). In this work, we present V2AIX, a multi-modal real-world dataset of ETSI ITS messages gathered in public road traffic, the first of its kind. Collected in measurement drives and with stationary infrastructure, we have recorded more than 285 000 V2X messages from more than 2380 vehicles and roadside units in public road traffic. Alongside a first analysis of the dataset, we present a way of integrating ETSI ITS V2X messages into the Robot Operating System (ROS). This enables researchers to not only thoroughly analyze real-world V2X data, but to also study and implement standardized V2X messages in ROS-based automated driving applications. The full dataset is publicly available for non-commercial use at v2aix.ika.rwth-aachen.de.
Liquid Staking Tokens in Automated Market Makers
Venue: arXiv cs.CR 2024
Year: 2024

This paper studies liquid staking tokens (LSTs) on automated market makers (AMMs), both theoretically and empirically. LSTs are tokenized representations of staked assets on proof-of-stake blockchains. First, we model LST-liquidity on AMMs theoretically, categorizing suitable AMM types for LST liquidity and deriving formulas for the necessary returns from trading fees to adequately compensate liquidity providers under the particular price trajectories of LSTs. For the latter, two relevant metrics are considered: (1) losses compared to holding the liquidity outside the AMM (loss-versus-holding, or "impermanent loss"), and (2) the relative profitability compared to fully staking the capital (loss-versus-staking) which is specifically tailored to the case of LST-liquidity. Next, we empirically measure these metrics for Ethereum LSTs across the most relevant AMM pools. We find that, while trading fees often compensate for impermanent loss, fully staking is more profitable for many pools, raising questions about the sustainability of the current LST liquidity allocation to AMMs.
HawkEye: Training Video-Text LLMs for Grounding Text in Videos
Venue: arXiv cs.CV 2024
Year: 2024

Video-text Large Language Models (video-text LLMs) have shown remarkable performance in answering questions and holding conversations on simple videos. However, they perform almost the same as random on grounding text queries in long and complicated videos, having little ability to understand and reason about temporal information, which is the most fundamental difference between videos and images. In this paper, we propose HawkEye, one of the first video-text LLMs that can perform temporal video grounding in a fully text-to-text manner. To collect training data that is applicable for temporal video grounding, we construct InternVid-G, a large-scale video-text corpus with segment-level captions and negative spans, with which we introduce two new time-aware training objectives to video-text LLMs. We also propose a coarse-grained method of representing segments in videos, which is more robust and easier for LLMs to learn and follow than other alternatives. Extensive experiments show that HawkEye is better at temporal video grounding and comparable on other video-text tasks with existing video-text LLMs, which verifies its superior video-text multi-modal understanding abilities.
Matrix Completion via Nonsmooth Regularization of Fully Connected Neural Networks
Venue: arXiv cs.IT 2024
Year: 2024

Conventional matrix completion methods approximate the missing values by assuming the matrix to be low-rank, which leads to a linear approximation of missing values. It has been shown that enhanced performance could be attained by using nonlinear estimators such as deep neural networks. Deep fully connected neural networks (FCNNs), one of the most suitable architectures for matrix completion, suffer from over-fitting due to their high capacity, which leads to low generalizability. In this paper, we control over-fitting by regularizing the FCNN model in terms of the $\ell_{1}$ norm of intermediate representations and nuclear norm of weight matrices. As such, the resulting regularized objective function becomes nonsmooth and nonconvex, i.e., existing gradient-based methods cannot be applied to our model. We propose a variant of the proximal gradient method and investigate its convergence to a critical point. In the initial epochs of FCNN training, the regularization terms are ignored, and through epochs, the effect of that increases. The gradual addition of nonsmooth regularization terms is the main reason for the better performance of the deep neural network with nonsmooth regularization terms (DNN-NSR) algorithm. Our simulations indicate the superiority of the proposed algorithm in comparison with existing linear and nonlinear algorithms.
CoLeCLIP: Open-Domain Continual Learning via Joint Task Prompt and Vocabulary Learning
Venue: arXiv cs.CV 2024
Year: 2024

This paper explores the problem of continual learning (CL) of vision-language models (VLMs) in open domains, where the models need to perform continual updating and inference on a streaming of datasets from diverse seen and unseen domains with novel classes. Such a capability is crucial for various applications in open environments, e.g., AI assistants, autonomous driving systems, and robotics. Current CL studies mostly focus on closed-set scenarios in a single domain with known classes. Large pre-trained VLMs like CLIP have demonstrated superior zero-shot recognition ability, and a number of recent studies leverage this ability to mitigate catastrophic forgetting in CL, but they focus on closed-set CL in a single domain dataset. Open-domain CL of large VLMs is significantly more challenging due to 1) large class correlations and domain gaps across the datasets and 2) the forgetting of zero-shot knowledge in the pre-trained VLMs in addition to the knowledge learned from the newly adapted datasets. In this work we introduce a novel approach, termed CoLeCLIP, that learns an open-domain CL model based on CLIP. It addresses these challenges by a joint learning of a set of task prompts and a cross-domain class vocabulary. Extensive experiments on 11 domain datasets show that CoLeCLIP outperforms state-of-the-art methods for open-domain CL under both task- and class-incremental learning settings.
KIF: A Wikidata-Based Framework for Integrating Heterogeneous Knowledge Sources
Venue: arXiv cs.AI 2024
Year: 2024

We present a Wikidata-based framework, called KIF, for virtually integrating heterogeneous knowledge sources. KIF is written in Python and is released as open-source. It leverages Wikidata's data model and vocabulary plus user-defined mappings to construct a unified view of the underlying sources while keeping track of the context and provenance of their statements. The underlying sources can be triplestores, relational databases, CSV files, etc., which may or may not use the vocabulary and RDF encoding of Wikidata. The end result is a virtual knowledge base which behaves like an "extended Wikidata" and which can be queried using a simple but expressive pattern language, defined in terms of Wikidata's data model. In this paper, we present the design and implementation of KIF, discuss how we have used it to solve a real integration problem in the domain of chemistry (involving Wikidata, PubChem, and IBM CIRCA), and present experimental results on the performance and overhead of KIF
Anytime Neural Architecture Search on Tabular Data
Venue: arXiv cs.LG 2024
Year: 2024

The increasing demand for tabular data analysis calls for transitioning from manual architecture design to Neural Architecture Search (NAS). This transition demands an efficient and responsive anytime NAS approach that is capable of returning current optimal architectures within any given time budget while progressively enhancing architecture quality with increased budget allocation. However, the area of research on Anytime NAS for tabular data remains unexplored. To this end, we introduce ATLAS, the first anytime NAS approach tailored for tabular data. ATLAS introduces a novel two-phase filtering-and-refinement optimization scheme with joint optimization, combining the strengths of both paradigms of training-free and training-based architecture evaluation. Specifically, in the filtering phase, ATLAS employs a new zero-cost proxy specifically designed for tabular data to efficiently estimate the performance of candidate architectures, thereby obtaining a set of promising architectures. Subsequently, in the refinement phase, ATLAS leverages a fixed-budget search algorithm to schedule the training of the promising candidates, so as to accurately identify the optimal architecture. To jointly optimize the two phases for anytime NAS, we also devise a budget-aware coordinator that delivers high NAS performance within constraints. Experimental evaluations demonstrate that our ATLAS can obtain a good-performing architecture within any predefined time budget and return better architectures as and when a new time budget is made available. Overall, it reduces the search time on tabular data by up to 82.75x compared to existing NAS approaches.
The cool and the cruel: separating hard parts of LWE secrets
Venue: arXiv cs.CR 2024
Year: 2024

Sparse binary LWE secrets are under consideration for standardization for Homomorphic Encryption and its applications to private computation. Known attacks on sparse binary LWE secrets include the sparse dual attack and the hybrid sparse dual-meet in the middle attack which requires significant memory. In this paper, we provide a new statistical attack with low memory requirement. The attack relies on some initial lattice reduction. The key observation is that, after lattice reduction is applied to the rows of a q-ary-like embedded random matrix $\mathbf A$, the entries with high variance are concentrated in the early columns of the extracted matrix. This allows us to separate out the "hard part" of the LWE secret. We can first solve the sub-problem of finding the "cruel" bits of the secret in the early columns, and then find the remaining "cool" bits in linear time. We use statistical techniques to distinguish distributions to identify both the cruel and the cool bits of the secret. We provide concrete attack timings for recovering secrets in dimensions $n=256$, $512$, and $768$. For the lattice reduction stage, we leverage recent improvements in lattice reduction (e.g. flatter) applied in parallel. We also apply our new attack in the RLWE setting for $2$-power cyclotomic rings, showing that these RLWE instances are much more vulnerable to this attack than LWE.
Regret Minimization via Saddle Point Optimization
Venue: arXiv cs.LG 2024
Year: 2024

A long line of works characterizes the sample complexity of regret minimization in sequential decision-making by min-max programs. In the corresponding saddle-point game, the min-player optimizes the sampling distribution against an adversarial max-player that chooses confusing models leading to large regret. The most recent instantiation of this idea is the decision-estimation coefficient (DEC), which was shown to provide nearly tight lower and upper bounds on the worst-case expected regret in structured bandits and reinforcement learning. By re-parametrizing the offset DEC with the confidence radius and solving the corresponding min-max program, we derive an anytime variant of the Estimation-To-Decisions (E2D) algorithm. Importantly, the algorithm optimizes the exploration-exploitation trade-off online instead of via the analysis. Our formulation leads to a practical algorithm for finite model classes and linear feedback models. We further point out connections to the information ratio, decoupling coefficient and PAC-DEC, and numerically evaluate the performance of E2D on simple examples.
Coordination in Noncooperative Multiplayer Matrix Games via Reduced Rank Correlated Equilibria
Venue: arXiv cs.GT 2024
Year: 2024

Coordination in multiplayer games enables players to avoid the lose-lose outcome that often arises at Nash equilibria. However, designing a coordination mechanism typically requires the consideration of the joint actions of all players, which becomes intractable in large-scale games. We develop a novel coordination mechanism, termed reduced rank correlated equilibria, which reduces the number of joint actions to be considered and thereby mitigates computational complexity. The idea is to approximate the set of all joint actions with the actions used in a set of pre-computed Nash equilibria via a convex hull operation. In a game with n players and each player having m actions, the proposed mechanism reduces the number of joint actions considered from O(m^n) to O(mn). We demonstrate the application of the proposed mechanism to an air traffic queue management problem. Compared with the correlated equilibrium-a popular benchmark coordination mechanism-the proposed approach is capable of solving a problem involving four thousand times more joint actions while yielding similar or better performance in terms of a fairness indicator and showing a maximum optimality gap of 0.066% in terms of the average delay cost. In the meantime, it yields a solution that shows up to 99.5% improvement in a fairness indicator and up to 50.4% reduction in average delay cost compared to the Nash solution, which does not involve coordination.
A Thorough Comparison of Cross-Encoders and LLMs for Reranking SPLADE
Venue: arXiv cs.IR 2024
Year: 2024

We present a comparative study between cross-encoder and LLMs rerankers in the context of re-ranking effective SPLADE retrievers. We conduct a large evaluation on TREC Deep Learning datasets and out-of-domain datasets such as BEIR and LoTTE. In the first set of experiments, we show how cross-encoder rerankers are hard to distinguish when it comes to re-rerank SPLADE on MS MARCO. Observations shift in the out-of-domain scenario, where both the type of model and the number of documents to re-rank have an impact on effectiveness. Then, we focus on listwise rerankers based on Large Language Models -- especially GPT-4. While GPT-4 demonstrates impressive (zero-shot) performance, we show that traditional cross-encoders remain very competitive. Overall, our findings aim to to provide a more nuanced perspective on the recent excitement surrounding LLM-based re-rankers -- by positioning them as another factor to consider in balancing effectiveness and efficiency in search systems.