OpenRaiser/Intern-Atlas huggingface dataset:
Distributed Model Predictive Control for Heterogeneous Platoons with Affine Spacing Policies and Arbitrary Communication Topologies
Venue: arXiv cs.MA 2024
Year: 2024

This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, provided each vehicle can communicate with a preceding vehicle in the platoon. The proposed DMPC algorithm can accommodate any spacing policy that is affine in a vehicle's velocity, which includes constant distance or constant time headway spacing policies. By analyzing the total cost for the entire platoon, a sufficient condition is derived to ensure platoon asymptotic stability. Simulation experiments with a platoon of 50 vehicles and hardware experiments with a platoon of four 1/10th-scale vehicles validate the algorithm and compare performance under different spacing policies and communication topologies.
mOthello: When Do Cross-Lingual Representation Alignment and Cross-Lingual Transfer Emerge in Multilingual Models?
Venue: arXiv cs.CL 2024
Year: 2024

Many pretrained multilingual models exhibit cross-lingual transfer ability, which is often attributed to a learned language-neutral representation during pretraining. However, it remains unclear what factors contribute to the learning of a language-neutral representation, and whether the learned language-neutral representation suffices to facilitate cross-lingual transfer. We propose a synthetic task, Multilingual Othello (mOthello), as a testbed to delve into these two questions. We find that: (1) models trained with naive multilingual pretraining fail to learn a language-neutral representation across all input languages; (2) the introduction of "anchor tokens" (i.e., lexical items that are identical across languages) helps cross-lingual representation alignment; and (3) the learning of a language-neutral representation alone is not sufficient to facilitate cross-lingual transfer. Based on our findings, we propose a novel approach - multilingual pretraining with unified output space - that both induces the learning of language-neutral representation and facilitates cross-lingual transfer.
AmbigDocs: Reasoning across Documents on Different Entities under the Same Name
Venue: arXiv cs.CL 2024
Year: 2024

Different entities with the same name can be difficult to distinguish. Handling confusing entity mentions is a crucial skill for language models (LMs). For example, given the question "Where was Michael Jordan educated?" and a set of documents discussing different people named Michael Jordan, can LMs distinguish entity mentions to generate a cohesive answer to the question? To test this ability, we introduce a new benchmark, AmbigDocs. By leveraging Wikipedia's disambiguation pages, we identify a set of documents, belonging to different entities who share an ambiguous name. From these documents, we generate questions containing an ambiguous name and their corresponding sets of answers. Our analysis reveals that current state-of-the-art models often yield ambiguous answers or incorrectly merge information belonging to different entities. We establish an ontology categorizing four types of incomplete answers and automatic evaluation metrics to identify such categories. We lay the foundation for future work on reasoning across multiple documents with ambiguous entities.
Fresh Caching of Dynamic Contents using Restless Multi-armed Bandits
Venue: arXiv cs.NI 2024
Year: 2024

We consider a dynamic content caching problem wherein the contents get updated at a central server, and local copies of a subset of contents are cached at a local cache associated with a Base station (BS). When a content request arrives, based on whether the content is in the local cache, the BS can decide whether to fetch the content from the central server or serve the cached version from the local cache. Fetching a content incurs a fixed fetching cost, and serving the cached version incurs an ageing cost proportional to the age-of-version (AoV) of the content. The BS has only partial information regarding AoVs of the contents. We formulate an optimal content fetching and caching problem to minimize the average cost subject to cache capacity constraints. The problem suffers from the curse of dimensionality and is provably hard to solve. We formulate this problem as a continuous time restless multi-armed bandit process (RMAB), where a single content problem of the corresponding RMAB is a partially observable Markov decision process. We reformulate the single content problem as a semi-Markov decision process, prove indexability, and provide a Whittle index based solution to this problem. Finally, we compare the performance with recent work and show that our proposed policy is optimal via simulations.
Planning and Operation of Millimeter-wave Downlink Systems with Hybrid Beamforming
Venue: arXiv cs.NI 2024
Year: 2024

This paper investigates downlink radio resource management (RRM) in millimeter-wave systems with codebook-based hybrid beamforming in a single cell. We consider a practical but often overlooked multi-channel scenario where the base station is equipped with fewer radio frequency chains than there are user equipment (UEs) in the cell. In this case, analog beam selection is important because not all beams preferred by UEs can be selected simultaneously, and since the beam selection cannot vary across subchannels in a time slot, this creates a coupling between subchannels within a time slot. None of the solutions proposed in the literature deal with this important constraint. The paper begins with an offline study that analyzes the impact of different RRM procedures and system parameters on performance. An offline joint RRM optimization problem is formulated and solved that includes beam set selection, UE set selection, power distribution, modulation and coding scheme selection, and digital beamforming as a part of hybrid beamforming. The evaluation results of the offline study provide valuable insights that shows the importance of not neglecting the constraint and guide the design of low-complexity and high-performance online downlink RRM schemes in the second part of the paper. The proposed online RRM algorithms perform close to the performance targets obtained from the offline study while offering acceptable runtime.
A Configurable Pythonic Data Center Model for Sustainable Cooling and ML Integration
Venue: arXiv cs.LG 2024
Year: 2024

There have been growing discussions on estimating and subsequently reducing the operational carbon footprint of enterprise data centers. The design and intelligent control for data centers have an important impact on data center carbon footprint. In this paper, we showcase PyDCM, a Python library that enables extremely fast prototyping of data center design and applies reinforcement learning-enabled control with the purpose of evaluating key sustainability metrics including carbon footprint, energy consumption, and observing temperature hotspots. We demonstrate these capabilities of PyDCM and compare them to existing works in EnergyPlus for modeling data centers. PyDCM can also be used as a standalone Gymnasium environment for demonstrating sustainability-focused data center control.
SPIdepth: Strengthened Pose Information for Self-supervised Monocular Depth Estimation
Venue: arXiv cs.CV 2024
Year: 2024

Self-supervised monocular depth estimation has garnered considerable attention for its applications in autonomous driving and robotics. While recent methods have made strides in leveraging techniques like the Self Query Layer (SQL) to infer depth from motion, they often overlook the potential of strengthening pose information. In this paper, we introduce SPIdepth, a novel approach that prioritizes enhancing the pose network for improved depth estimation. Building upon the foundation laid by SQL, SPIdepth emphasizes the importance of pose information in capturing fine-grained scene structures. By enhancing the pose network's capabilities, SPIdepth achieves remarkable advancements in scene understanding and depth estimation. Experimental results on benchmark datasets such as KITTI, Cityscapes, and Make3D showcase SPIdepth's state-of-the-art performance, surpassing previous methods by significant margins. Specifically, SPIdepth tops the self-supervised KITTI benchmark. Additionally, SPIdepth achieves the lowest AbsRel (0.029), SqRel (0.069), and RMSE (1.394) on KITTI, establishing new state-of-the-art results. On Cityscapes, SPIdepth shows improvements over SQLdepth of 21.7% in AbsRel, 36.8% in SqRel, and 16.5% in RMSE, even without using motion masks. On Make3D, SPIdepth in zero-shot outperforms all other models. Remarkably, SPIdepth achieves these results using only a single image for inference, surpassing even methods that utilize video sequences for inference, thus demonstrating its efficacy and efficiency in real-world applications. Our approach represents a significant leap forward in self-supervised monocular depth estimation, underscoring the importance of strengthening pose information for advancing scene understanding in real-world applications. The code and pre-trained models are publicly available at https://github.com/Lavreniuk/SPIdepth.
Centralized vs. Decentralized Multi-Agent Reinforcement Learning for Enhanced Control of Electric Vehicle Charging Networks
Venue: arXiv cs.AI 2024
Year: 2024

The widespread adoption of electric vehicles (EVs) poses several challenges to power distribution networks and smart grid infrastructure due to the possibility of significantly increasing electricity demands, especially during peak hours. Furthermore, when EVs participate in demand-side management programs, charging expenses can be reduced by using optimal charging control policies that fully utilize real-time pricing schemes. However, devising optimal charging methods and control strategies for EVs is challenging due to various stochastic and uncertain environmental factors. Currently, most EV charging controllers operate based on a centralized model. In this paper, we introduce a novel approach for distributed and cooperative charging strategy using a Multi-Agent Reinforcement Learning (MARL) framework. Our method is built upon the Deep Deterministic Policy Gradient (DDPG) algorithm for a group of EVs in a residential community, where all EVs are connected to a shared transformer. This method, referred to as CTDE-DDPG, adopts a Centralized Training Decentralized Execution (CTDE) approach to establish cooperation between agents during the training phase, while ensuring a distributed and privacy-preserving operation during execution. We theoretically examine the performance of centralized and decentralized critics for the DDPG-based MARL implementation and demonstrate their trade-offs. Furthermore, we numerically explore the efficiency, scalability, and performance of centralized and decentralized critics. Our theoretical and numerical results indicate that, despite higher policy gradient variances and training complexity, the CTDE-DDPG framework significantly improves charging efficiency by reducing total variation by approximately %36 and charging cost by around %9.1 on average...
Teaching Linguistic Justice through Augmented Reality
Venue: arXiv cs.HC 2024
Year: 2024

This position paper presents the AR Language Map, a speculative artifact designed to enhance understanding of linguistic justice among middle and high school students through augmented reality (AR) that allows students to map their linguistic experiences. Through a social justice-oriented academic outreach program aimed at linguistically, economically, and racially minoritized students, academic concepts on language, culture, race, and power are introduced to California middle school and high school students. The curriculum has activities for each lesson plan drawn from students' culturally relevant experiences. By enabling interactive exploration of linguistic justice, this tool aims to foster empathy, challenge linguistic racism, and valorize linguistic diversity. We discuss its conceptualization within the broader context of AR in social justice education. The AR Language Map not only deepens students' understanding of these critical issues but also enables them to become co-creators of their learning experiences.
Multi-View Subgraph Neural Networks: Self-Supervised Learning with Scarce Labeled Data
Venue: arXiv cs.LG 2024
Year: 2024

While graph neural networks (GNNs) have become the de-facto standard for graph-based node classification, they impose a strong assumption on the availability of sufficient labeled samples. This assumption restricts the classification performance of prevailing GNNs on many real-world applications suffering from low-data regimes. Specifically, features extracted from scarce labeled nodes could not provide sufficient supervision for the unlabeled samples, leading to severe over-fitting. In this work, we point out that leveraging subgraphs to capture long-range dependencies can augment the representation of a node with homophily properties, thus alleviating the low-data regime. However, prior works leveraging subgraphs fail to capture the long-range dependencies among nodes. To this end, we present a novel self-supervised learning framework, called multi-view subgraph neural networks (Muse), for handling long-range dependencies. In particular, we propose an information theory-based identification mechanism to identify two types of subgraphs from the views of input space and latent space, respectively. The former is to capture the local structure of the graph, while the latter captures the long-range dependencies among nodes. By fusing these two views of subgraphs, the learned representations can preserve the topological properties of the graph at large, including the local structure and long-range dependencies, thus maximizing their expressiveness for downstream node classification tasks. Experimental results show that Muse outperforms the alternative methods on node classification tasks with limited labeled data.
Research on WebAssembly Runtimes: A Survey
Venue: arXiv cs.SE 2024
Year: 2024

WebAssembly (abbreviated as Wasm) was initially introduced for the Web but quickly extended its reach into various domains beyond the Web. To create Wasm applications, developers can compile high-level programming languages into Wasm binaries or manually convert equivalent textual formats into Wasm binaries. Regardless of whether it is utilized within or outside the Web, the execution of Wasm binaries is supported by the Wasm runtime. Such a runtime provides a secure, memory-efficient, and sandboxed execution environment designed explicitly for Wasm applications. This paper provides a comprehensive survey of research on WebAssembly runtimes. It covers 98 articles on WebAssembly runtimes and characterizes existing studies from two different angles, including the "internal" research of Wasm runtimes(Wasm runtime design, testing, and analysis) and the "external" research(applying Wasm runtimes to various domains). This paper also proposes future research directions about WebAssembly runtimes.
Grasper: A Generalist Pursuer for Pursuit-Evasion Problems
Venue: arXiv cs.AI 2024
Year: 2024

Pursuit-evasion games (PEGs) model interactions between a team of pursuers and an evader in graph-based environments such as urban street networks. Recent advancements have demonstrated the effectiveness of the pre-training and fine-tuning paradigm in PSRO to improve scalability in solving large-scale PEGs. However, these methods primarily focus on specific PEGs with fixed initial conditions that may vary substantially in real-world scenarios, which significantly hinders the applicability of the traditional methods. To address this issue, we introduce Grasper, a GeneRAlist purSuer for Pursuit-Evasion pRoblems, capable of efficiently generating pursuer policies tailored to specific PEGs. Our contributions are threefold: First, we present a novel architecture that offers high-quality solutions for diverse PEGs, comprising critical components such as (i) a graph neural network (GNN) to encode PEGs into hidden vectors, and (ii) a hypernetwork to generate pursuer policies based on these hidden vectors. As a second contribution, we develop an efficient three-stage training method involving (i) a pre-pretraining stage for learning robust PEG representations through self-supervised graph learning techniques like GraphMAE, (ii) a pre-training stage utilizing heuristic-guided multi-task pre-training (HMP) where heuristic-derived reference policies (e.g., through Dijkstra's algorithm) regularize pursuer policies, and (iii) a fine-tuning stage that employs PSRO to generate pursuer policies on designated PEGs. Finally, we perform extensive experiments on synthetic and real-world maps, showcasing Grasper's significant superiority over baselines in terms of solution quality and generalizability. We demonstrate that Grasper provides a versatile approach for solving pursuit-evasion problems across a broad range of scenarios, enabling practical deployment in real-world situations.
A Soft e-Textile Sensor for Enhanced Deep Learning-based Shape Sensing of Soft Continuum Robots
Venue: arXiv cs.RO 2024
Year: 2024

The safety and accuracy of robotic navigation hold paramount importance, especially in the realm of soft continuum robotics, where the limitations of traditional rigid sensors become evident. Encoders, piezoresistive, and potentiometer sensors often fail to integrate well with the flexible nature of these robots, adding unwanted bulk and rigidity. To overcome these hurdles, our study presents a new approach to shape sensing in soft continuum robots through the use of soft e-textile resistive sensors. This sensor, designed to flawlessly integrate with the robot's structure, utilizes a resistive material that adjusts its resistance in response to the robot's movements and deformations. This adjustment facilitates the capture of multidimensional force measurements across the soft sensor layers. A deep Convolutional Neural Network (CNN) is employed to decode the sensor signals, enabling precise estimation of the robot's shape configuration based on the detailed data from the e-textile sensor. Our research investigates the efficacy of this e-textile sensor in determining the curvature parameters of soft continuum robots. The findings are encouraging, showing that the soft e-textile sensor not only matches but potentially exceeds the capabilities of traditional rigid sensors in terms of shape sensing and estimation. This advancement significantly boosts the safety and efficiency of robotic navigation systems.
Cooperative Sentiment Agents for Multimodal Sentiment Analysis
Venue: arXiv cs.CL 2024
Year: 2024

In this paper, we propose a new Multimodal Representation Learning (MRL) method for Multimodal Sentiment Analysis (MSA), which facilitates the adaptive interaction between modalities through Cooperative Sentiment Agents, named Co-SA. Co-SA comprises two critical components: the Sentiment Agents Establishment (SAE) phase and the Sentiment Agents Cooperation (SAC) phase. During the SAE phase, each sentiment agent deals with an unimodal signal and highlights explicit dynamic sentiment variations within the modality via the Modality-Sentiment Disentanglement (MSD) and Deep Phase Space Reconstruction (DPSR) modules. Subsequently, in the SAC phase, Co-SA meticulously designs task-specific interaction mechanisms for sentiment agents so that coordinating multimodal signals to learn the joint representation. Specifically, Co-SA equips an independent policy model for each sentiment agent that captures significant properties within the modality. These policies are optimized mutually through the unified reward adaptive to downstream tasks. Benefitting from the rewarding mechanism, Co-SA transcends the limitation of pre-defined fusion modes and adaptively captures unimodal properties for MRL in the multimodal interaction setting. To demonstrate the effectiveness of Co-SA, we apply it to address Multimodal Sentiment Analysis (MSA) and Multimodal Emotion Recognition (MER) tasks. Our comprehensive experimental results demonstrate that Co-SA excels at discovering diverse cross-modal features, encompassing both common and complementary aspects. The code can be available at https://github.com/smwanghhh/Co-SA.
Data Authenticity, Consent, & Provenance for AI are all broken: what will it take to fix them?
Venue: arXiv cs.AI 2024
Year: 2024

New capabilities in foundation models are owed in large part to massive, widely-sourced, and under-documented training data collections. Existing practices in data collection have led to challenges in tracing authenticity, verifying consent, preserving privacy, addressing representation and bias, respecting copyright, and overall developing ethical and trustworthy foundation models. In response, regulation is emphasizing the need for training data transparency to understand foundation models' limitations. Based on a large-scale analysis of the foundation model training data landscape and existing solutions, we identify the missing infrastructure to facilitate responsible foundation model development practices. We examine the current shortcomings of common tools for tracing data authenticity, consent, and documentation, and outline how policymakers, developers, and data creators can facilitate responsible foundation model development by adopting universal data provenance standards.
Improving Chinese Character Representation with Formation Tree
Venue: arXiv cs.CV 2024
Year: 2024

Learning effective representations for Chinese characters presents unique challenges, primarily due to the vast number of characters and their continuous growth, which requires models to handle an expanding category space. Additionally, the inherent sparsity of character usage complicates the generalization of learned representations. Prior research has explored radical-based sequences to overcome these issues, achieving progress in recognizing unseen characters. However, these approaches fail to fully exploit the inherent tree structure of such sequences. To address these limitations and leverage established data properties, we propose Formation Tree-CLIP (FT-CLIP). This model utilizes formation trees to represent characters and incorporates a dedicated tree encoder, significantly improving performance in both seen and unseen character recognition tasks. We further introduce masking for to both character images and tree nodes, enabling efficient and effective training. This approach accelerates training significantly (by a factor of 2 or more) while enhancing accuracy. Extensive experiments show that processing characters through formation trees aligns better with their inherent properties than direct sequential methods, significantly enhancing the generality and usability of the representations.