OpenRaiser/Intern-Atlas huggingface dataset:
How Deep Learning Sees the World: A Survey on Adversarial Attacks & Defenses
Venue: arXiv cs.CV 2023
Year: 2023

Deep Learning is currently used to perform multiple tasks, such as object recognition, face recognition, and natural language processing. However, Deep Neural Networks (DNNs) are vulnerable to perturbations that alter the network prediction (adversarial examples), raising concerns regarding its usage in critical areas, such as self-driving vehicles, malware detection, and healthcare. This paper compiles the most recent adversarial attacks, grouped by the attacker capacity, and modern defenses clustered by protection strategies. We also present the new advances regarding Vision Transformers, summarize the datasets and metrics used in the context of adversarial settings, and compare the state-of-the-art results under different attacks, finishing with the identification of open issues.
TEPrompt: Task Enlightenment Prompt Learning for Implicit Discourse Relation Recognition
Venue: arXiv cs.CL 2023
Year: 2023

Implicit Discourse Relation Recognition (IDRR) aims at classifying the relation sense between two arguments without an explicit connective. Recently, the ConnPrompt~\cite{Wei.X:et.al:2022:COLING} has leveraged the powerful prompt learning for IDRR based on the fusion of multi-prompt decisions from three different yet much similar connective prediction templates. Instead of multi-prompt ensembling, we propose to design auxiliary tasks with enlightened prompt learning for the IDRR task. Although an auxiliary task is not used to directly output final prediction, we argue that during the joint training some of its learned features can be useful to boost the main task. In light of such motivations, we propose a task enlightenment prompt learning model, called TEPrompt, to fuse learned features from three related tasks for IDRR. In particular, the TEPrompt contains three tasks, viz., Discourse Relation Recognition (DRR), Sense Semantics Classification (SSC) and Annotated Connective Prediction (ACP), each with a unique prompt template and an answer space. In the training phase, we jointly train three prompt learning tasks with shared argument representation. In the testing phase, we only take the DRR output with fused features as the final IDRR decision. Experiments with the same conditions have shown that the proposed TEPrompt outperforms the ConnPrompt. This can be attributed to the promoted decision features and language models benefited from joint-training of auxiliary tasks.
Benchmark Framework with Skewed Workloads
Venue: arXiv cs.DC 2023
Year: 2023

In this work, we present a new benchmarking suite with new real-life inspired skewed workloads to test the performance of concurrent index data structures. We started this project to prepare workloads specifically for self-adjusting data structures, i.e., they handle more frequent requests faster, and, thus, should perform better than their standard counterparts. We looked over the commonly used suites to test performance of concurrent indices trying to find an inspiration: Synchrobench, Setbench, YCSB, and TPC - and we found several issues with them. The major problem is that they are not flexible: it is difficult to introduce new workloads, it is difficult to set the duration of the experiments, and it is difficult to change the parameters. We decided to solve this issue by presenting a new suite based on Synchrobench. Finally, we highlight the problem of measuring performance of data structures. We show that the relative performance of data structures highly depends on the workload: it is not clear which data structure is best. For that, we take three state-of-the-art concurrent binary search trees and run them on the workloads from our benchmarking suite. As a result, we get six experiments with all possible relative performance of the chosen data structures.
Domain Adaptive Sim-to-Real Segmentation of Oropharyngeal Organs
Venue: arXiv cs.AI 2023
Year: 2023

Video-assisted transoral tracheal intubation (TI) necessitates using an endoscope that helps the physician insert a tracheal tube into the glottis instead of the esophagus. The growing trend of robotic-assisted TI would require a medical robot to distinguish anatomical features like an experienced physician which can be imitated by utilizing supervised deep-learning techniques. However, the real datasets of oropharyngeal organs are often inaccessible due to limited open-source data and patient privacy. In this work, we propose a domain adaptive Sim-to-Real framework called IoU-Ranking Blend-ArtFlow (IRB-AF) for image segmentation of oropharyngeal organs. The framework includes an image blending strategy called IoU-Ranking Blend (IRB) and style-transfer method ArtFlow. Here, IRB alleviates the problem of poor segmentation performance caused by significant datasets domain differences; while ArtFlow is introduced to reduce the discrepancies between datasets further. A virtual oropharynx image dataset generated by the SOFA framework is used as the learning subject for semantic segmentation to deal with the limited availability of actual endoscopic images. We adapted IRB-AF with the state-of-the-art domain adaptive segmentation models. The results demonstrate the superior performance of our approach in further improving the segmentation accuracy and training stability.
Analysis of Library Dependency Networks of Package Managers Used in iOS Development
Venue: arXiv cs.SE 2023
Year: 2023

Reusing existing solutions in the form of third-party libraries is common practice when writing software. Package managers are used to manage dependencies to third-party libraries by automating the process of installing and updating the libraries. Library dependencies themselves can have dependencies to other libraries creating a dependency network with several levels of indirections. The library dependency network in the Swift ecosystem encompasses libraries from CocoaPods, Carthage and Swift Package Manager (PM). These package managers are used when developing, for example, iOS or Mac OS applications in Swift and Objective-C. We provide the first analysis of the library dependency network evolution in the Swift ecosystem. Although CocoaPods is the package manager with the biggest set of libraries, the difference to other package managers is not as big as expected. The youngest package manager and official package manager for Swift, Swift PM, is becoming more and more popular, resulting in a gradual slow-down of the growth of the other two package managers. When analyzing direct and transitive dependencies, we found that the mean total number of dependencies is lower in the Swift ecosystem compared to many other ecosystems. Still, the total number of dependencies shows a clear growing trend over the last five years.
Evaluating the validity of a German translation of an uncanniness questionnaire
Venue: arXiv cs.RO 2023
Year: 2023

When researching on the acceptance of robots in Human-Robot-Interaction the Uncanny Valley needs to be considered. Reusable and standardized measures for it are essential. In this paper one such questionnaire got translated into German. The translated indices got evaluated (n=140) for reliability with Cronbach's alpha. Additionally the items were tested with an exploratory and a confirmatory factor analysis for problematic correlations. The results yield a good reliability for the translated indices and showed some items that need to be further checked.
Generalized Planning in PDDL Domains with Pretrained Large Language Models
Venue: arXiv cs.AI 2023
Year: 2023

Recent work has considered whether large language models (LLMs) can function as planners: given a task, generate a plan. We investigate whether LLMs can serve as generalized planners: given a domain and training tasks, generate a program that efficiently produces plans for other tasks in the domain. In particular, we consider PDDL domains and use GPT-4 to synthesize Python programs. We also consider (1) Chain-of-Thought (CoT) summarization, where the LLM is prompted to summarize the domain and propose a strategy in words before synthesizing the program; and (2) automated debugging, where the program is validated with respect to the training tasks, and in case of errors, the LLM is re-prompted with four types of feedback. We evaluate this approach in seven PDDL domains and compare it to four ablations and four baselines. Overall, we find that GPT-4 is a surprisingly powerful generalized planner. We also conclude that automated debugging is very important, that CoT summarization has non-uniform impact, that GPT-4 is far superior to GPT-3.5, and that just two training tasks are often sufficient for strong generalization.
COOL 2 -- A Generic Reasoner for Modal Fixpoint Logics
Venue: arXiv cs.LO 2023
Year: 2023

There is a wide range of modal logics whose semantics goes beyond relational structures, and instead involves, e.g., probabilities, multi-player games, weights, or neighbourhood structures. Coalgebraic logic serves as a unifying semantic and algorithmic framework for such logics. It provides uniform reasoning algorithms that are easily instantiated to particular, concretely given logics. The COOL 2 reasoner provides an implementation of such generic algorithms for coalgebraic modal fixpoint logics. As concrete instances, we obtain in particular reasoners for the aconjunctive and alternation-free fragments of the graded $μ$-calculus and the alternating-time $μ$-calculus. We evaluate the tool on standard benchmark sets for fixpoint-free graded modal logic and alternating-time temporal logic (ATL), as well as on a dedicated set of benchmarks for the graded $μ$-calculus.
Massively Parallel Reweighted Wake-Sleep
Venue: arXiv cs.LG 2023
Year: 2023

Reweighted wake-sleep (RWS) is a machine learning method for performing Bayesian inference in a very general class of models. RWS draws $K$ samples from an underlying approximate posterior, then uses importance weighting to provide a better estimate of the true posterior. RWS then updates its approximate posterior towards the importance-weighted estimate of the true posterior. However, recent work [Chattergee and Diaconis, 2018] indicates that the number of samples required for effective importance weighting is exponential in the number of latent variables. Attaining such a large number of importance samples is intractable in all but the smallest models. Here, we develop massively parallel RWS, which circumvents this issue by drawing $K$ samples of all $n$ latent variables, and individually reasoning about all $K^n$ possible combinations of samples. While reasoning about $K^n$ combinations might seem intractable, the required computations can be performed in polynomial time by exploiting conditional independencies in the generative model. We show considerable improvements over standard "global" RWS, which draws $K$ samples from the full joint.
ConsistentNeRF: Enhancing Neural Radiance Fields with 3D Consistency for Sparse View Synthesis
Venue: arXiv cs.CV 2023
Year: 2023

Neural Radiance Fields (NeRF) has demonstrated remarkable 3D reconstruction capabilities with dense view images. However, its performance significantly deteriorates under sparse view settings. We observe that learning the 3D consistency of pixels among different views is crucial for improving reconstruction quality in such cases. In this paper, we propose ConsistentNeRF, a method that leverages depth information to regularize both multi-view and single-view 3D consistency among pixels. Specifically, ConsistentNeRF employs depth-derived geometry information and a depth-invariant loss to concentrate on pixels that exhibit 3D correspondence and maintain consistent depth relationships. Extensive experiments on recent representative works reveal that our approach can considerably enhance model performance in sparse view conditions, achieving improvements of up to 94% in PSNR, 76% in SSIM, and 31% in LPIPS compared to the vanilla baselines across various benchmarks, including DTU, NeRF Synthetic, and LLFF.
Robust Single-Point Pushing with Force Feedback
Venue: arXiv cs.RO 2023
Year: 2023

We present the first controller for quasistatic robotic planar pushing with single-point contact using only force feedback. We consider a mobile robot equipped with a force-torque sensor to measure the force at the contact point with the pushed object (the "slider"). The parameters of the slider are not known to the controller, nor is feedback on the slider's pose. We assume that the global position of the contact point is always known and that the approximate initial position of the slider is provided. We focus specifically on the case when it is desired to push the slider along a straight line. Simulations and real-world experiments show that our controller yields stable pushes that are robust to a wide range of slider parameters and state perturbations.
SPSQL: Step-by-step Parsing Based Framework for Text-to-SQL Generation
Venue: arXiv cs.CL 2023
Year: 2023

Converting text into the structured query language (Text2SQL) is a research hotspot in the field of natural language processing (NLP), which has broad application prospects. In the era of big data, the use of databases has penetrated all walks of life, in which the collected data is large in scale, diverse in variety, and wide in scope, making the data query cumbersome and inefficient, and putting forward higher requirements for the Text2SQL model. In practical applications, the current mainstream end-to-end Text2SQL model is not only difficult to build due to its complex structure and high requirements for training data, but also difficult to adjust due to massive parameters. In addition, the accuracy of the model is hard to achieve the desired result. Based on this, this paper proposes a pipelined Text2SQL method: SPSQL. This method disassembles the Text2SQL task into four subtasks--table selection, column selection, SQL generation, and value filling, which can be converted into a text classification problem, a sequence labeling problem, and two text generation problems, respectively. Then, we construct data formats of different subtasks based on existing data and improve the accuracy of the overall model by improving the accuracy of each submodel. We also use the named entity recognition module and data augmentation to optimize the overall model. We construct the dataset based on the marketing business data of the State Grid Corporation of China. Experiments demonstrate our proposed method achieves the best performance compared with the end-to-end method and other pipeline methods.
Parallel development of social preferences in fish and machines
Venue: arXiv cs.AI 2023
Year: 2023

What are the computational foundations of social grouping? Traditional approaches to this question have focused on verbal reasoning or simple (low-dimensional) quantitative models. In the real world, however, social preferences emerge when high-dimensional learning systems (brains and bodies) interact with high-dimensional sensory inputs during an animal's embodied interactions with the world. A deep understanding of social grouping will therefore require embodied models that learn directly from sensory inputs using high-dimensional learning mechanisms. To this end, we built artificial neural networks (ANNs), embodied those ANNs in virtual fish bodies, and raised the artificial fish in virtual fish tanks that mimicked the rearing conditions of real fish. We then compared the social preferences that emerged in real fish versus artificial fish. We found that when artificial fish had two core learning mechanisms (reinforcement learning and curiosity-driven learning), artificial fish developed fish-like social preferences. Like real fish, the artificial fish spontaneously learned to prefer members of their own group over members of other groups. The artificial fish also spontaneously learned to self-segregate with their in-group, akin to self-segregation behavior seen in nature. Our results suggest that social grouping can emerge from three ingredients: (1) reinforcement learning, (2) intrinsic motivation, and (3) early social experiences with in-group members. This approach lays a foundation for reverse engineering animal-like social behavior with image-computable models, bridging the divide between high-dimensional sensory inputs and social preferences.
Efficient Prompting via Dynamic In-Context Learning
Venue: arXiv cs.CL 2023
Year: 2023

The primary way of building AI applications is shifting from training specialist models to prompting generalist models. A common practice for prompting generalist models, often referred to as in-context learning, is to append a few examples (demonstrations) to the prompt to help the model better understand the task. While effective, in-context learning can be inefficient because it makes the input prompt much longer, consuming valuable space in the context window and leading to larger computational costs. In this paper, we propose DynaICL, a recipe for efficient prompting with black-box generalist models that dynamically allocate in-context examples according to the input complexity and the computational budget. To achieve this, we train a meta controller that predicts the number of in-context examples suitable for the generalist model to make a good prediction based on the performance-efficiency trade-off for a specific input. We then dynamically allocate the number of demonstrations for an input according to predictions from the meta controller and the given computation budget. Experimental results show that dynamic example allocation helps achieve a better performance-efficiency trade-off in two practical settings where computational resources or the required performance is constrained. Specifically, DynaICL saves up to 46% token budget compared to the common practice that allocates the same number of in-context examples to each input. We also find that a meta controller trained on a certain backbone model and tasks can successfully generalize to unseen models and tasks.
ONE-PEACE: Exploring One General Representation Model Toward Unlimited Modalities
Venue: arXiv cs.CV 2023
Year: 2023

In this work, we explore a scalable way for building a general representation model toward unlimited modalities. We release ONE-PEACE, a highly extensible model with 4B parameters that can seamlessly align and integrate representations across vision, audio, and language modalities. The architecture of ONE-PEACE comprises modality adapters, shared self-attention layers, and modality FFNs. This design allows for the easy extension of new modalities by adding adapters and FFNs, while also enabling multi-modal fusion through self-attention layers. To pretrain ONE-PEACE, we develop two modality-agnostic pretraining tasks, cross-modal aligning contrast and intra-modal denoising contrast, which align the semantic space of different modalities and capture fine-grained details within modalities concurrently. With the scaling-friendly architecture and pretraining tasks, ONE-PEACE has the potential to expand to unlimited modalities. Without using any vision or language pretrained model for initialization, ONE-PEACE achieves leading results on a wide range of uni-modal and multi-modal tasks, including image classification (ImageNet), semantic segmentation (ADE20K), audio-text retrieval (AudioCaps, Clotho), audio classification (ESC-50, FSD50K, VGGSound), audio question answering (AVQA), image-text retrieval (MSCOCO, Flickr30K), and visual grounding (RefCOCO/+/g). Code is available at https://github.com/OFA-Sys/ONE-PEACE.
Instruct2Act: Mapping Multi-modality Instructions to Robotic Actions with Large Language Model
Venue: arXiv cs.RO 2023
Year: 2023

Foundation models have made significant strides in various applications, including text-to-image generation, panoptic segmentation, and natural language processing. This paper presents Instruct2Act, a framework that utilizes Large Language Models to map multi-modal instructions to sequential actions for robotic manipulation tasks. Specifically, Instruct2Act employs the LLM model to generate Python programs that constitute a comprehensive perception, planning, and action loop for robotic tasks. In the perception section, pre-defined APIs are used to access multiple foundation models where the Segment Anything Model (SAM) accurately locates candidate objects, and CLIP classifies them. In this way, the framework leverages the expertise of foundation models and robotic abilities to convert complex high-level instructions into precise policy codes. Our approach is adjustable and flexible in accommodating various instruction modalities and input types and catering to specific task demands. We validated the practicality and efficiency of our approach by assessing it on robotic tasks in different scenarios within tabletop manipulation domains. Furthermore, our zero-shot method outperformed many state-of-the-art learning-based policies in several tasks. The code for our proposed approach is available at https://github.com/OpenGVLab/Instruct2Act, serving as a robust benchmark for high-level robotic instruction tasks with assorted modality inputs.
Taxonomy of AISecOps Threat Modeling for Cloud Based Medical Chatbots
Venue: arXiv cs.DC 2023
Year: 2023

Artificial Intelligence (AI) is playing a vital role in all aspects of technology including cyber security. Application of Conversational AI like the chatbots are also becoming very popular in the medical field to provide timely and immediate medical assistance to patients in need. As medical chatbots deal with a lot of sensitive information, the security of these chatbots is crucial. To secure the confidentiality, integrity, and availability of cloud-hosted assets like these, medical chatbots can be monitored using AISecOps (Artificial Intelligence for Secure IT Operations). AISecOPs is an emerging field that integrates three different but interrelated domains like the IT operation, AI, and security as one domain, where the expertise from all these three domains are used cohesively to secure the cyber assets. It considers cloud operations and security in a holistic framework to collect the metrics required to assess the security threats and train the AI models to take immediate actions. This work is focused on applying the STRIDE threat modeling framework to model the possible threats involved in each component of the chatbot to enable the automatic threat detection using the AISecOps techniques. This threat modeling framework is tailored to the medical chatbots that involves sensitive data sharing but could also be applied for chatbots used in other sectors like the financial services, public sector, and government sectors that are concerned with security and compliance.
Collective Reasoning for Safe Autonomous Systems
Venue: arXiv cs.MA 2023
Year: 2023

Collaboration in multi-agent autonomous systems is critical to increase performance while ensuring safety. However, due to heterogeneity of their features in, e.g., perception qualities, some autonomous systems have to be considered more trustworthy than others when contributing to collaboratively build a common environmental model, especially under uncertainty. In this paper, we introduce the idea of increasing the reliability of autonomous systems by relying on collective intelligence. We borrow concepts from social epistemology to exploit individual characteristics of autonomous systems, and define and formalize at design rules for collective reasoning to achieve collaboratively increased safety, trustworthiness and good decision making.