OpenRaiser/Intern-Atlas huggingface dataset:
Performance of Gaussian Mixture Model Classifiers on Embedded Feature Spaces
Venue: arXiv cs.CV 2024
Year: 2024

Data embeddings with CLIP and ImageBind provide powerful features for the analysis of multimedia and/or multimodal data. We assess their performance here for classification using a Gaussian Mixture models (GMMs) based layer as an alternative to the standard Softmax layer. GMMs based classifiers have recently been shown to have interesting performances as part of deep learning pipelines trained end-to-end. Our first contribution is to investigate GMM based classification performance taking advantage of the embedded spaces CLIP and ImageBind. Our second contribution is in proposing our own GMM based classifier with a lower parameters count than previously proposed. Our findings are, that in most cases, on these tested embedded spaces, one gaussian component in the GMMs is often enough for capturing each class, and we hypothesize that this may be due to the contrastive loss used for training these embedded spaces that naturally concentrates features together for each class. We also observed that ImageBind often provides better performance than CLIP for classification of image datasets even when these embedded spaces are compressed using PCA.
NLIP_Lab-IITH Multilingual MT System for WAT24 MT Shared Task
Venue: arXiv cs.CL 2024
Year: 2024

This paper describes NLIP Lab's multilingual machine translation system for the WAT24 shared task on multilingual Indic MT task for 22 scheduled languages belonging to 4 language families. We explore pre-training for Indic languages using alignment agreement objectives. We utilize bi-lingual dictionaries to substitute words from source sentences. Furthermore, we fine-tuned language direction-specific multilingual translation models using small and high-quality seed data. Our primary submission is a 243M parameters multilingual translation model covering 22 Indic languages. In the IN22-Gen benchmark, we achieved an average chrF++ score of 46.80 and 18.19 BLEU score for the En-Indic direction. In the Indic-En direction, we achieved an average chrF++ score of 56.34 and 30.82 BLEU score. In the In22-Conv benchmark, we achieved an average chrF++ score of 43.43 and BLEU score of 16.58 in the En-Indic direction, and in the Indic-En direction, we achieved an average of 52.44 and 29.77 for chrF++ and BLEU respectively. Our model\footnote{Our code and models are available at \url{https://github.com/maharajbrahma/WAT2024-MultiIndicMT}} is competitive with IndicTransv1 (474M parameter model).
IterSelectTune: An Iterative Training Framework for Efficient Instruction-Tuning Data Selection
Venue: arXiv cs.CL 2024
Year: 2024

As large language models (LLMs) continue to advance, instruction tuning has become critical for improving their ability to generate accurate and contextually appropriate responses. Although numerous instruction-tuning datasets have been developed to enhance LLM performance, selecting high-quality instruction data from large source datasets typically demands significant human effort. In this work, we introduce $\textbf{IterSelectTune}$, an efficient, cost-effective iterative training policy for selecting high-quality instruction data with no human involvement and limited reliance on GPT-4. By fine-tuning on approximately 20\% of the source data, our method consistently outperforms models fine-tuned on the full dataset across multiple benchmarks and public test datasets. These results highlight the effectiveness of our approach in enhancing LLM performance while reducing the computational resources required for instruction tuning.
Advocate -- Trustworthy Evidence in Cloud Systems
Venue: arXiv cs.DC 2024
Year: 2024

The rapid evolution of cloud-native applications, characterized by dynamic, interconnected services, presents significant challenges for maintaining trustworthy and auditable systems, especially in sensitive contexts, such as finance or healthcare. Traditional methods of verification and certification are often inadequate due to the fast-past and dynamic development practices common in cloud computing. This paper introduces Advocate, a novel agent-based system designed to generate verifiable evidence of cloud-native application operations. By integrating with existing infrastructure tools, such as Kubernetes and distributed tracing systems, Advocate captures, authenticates, and stores evidence trails in a tamper-resistant manner. This approach not only supports the auditing process but also allows for privacy-preserving evidence aggregation. Advocate's extensible architecture facilitates its deployment in diverse environments, enabling the verification and adherence to policies and enhance trust in cloud services.
SemSim: Revisiting Weak-to-Strong Consistency from a Semantic Similarity Perspective for Semi-supervised Medical Image Segmentation
Venue: arXiv cs.CV 2024
Year: 2024

Semi-supervised learning (SSL) for medical image segmentation is a challenging yet highly practical task, which reduces reliance on large-scale labeled dataset by leveraging unlabeled samples. Among SSL techniques, the weak-to-strong consistency framework, popularized by FixMatch, has emerged as a state-of-the-art method in classification tasks. Notably, such a simple pipeline has also shown competitive performance in medical image segmentation. However, two key limitations still persist, impeding its efficient adaptation: (1) the neglect of contextual dependencies results in inconsistent predictions for similar semantic features, leading to incomplete object segmentation; (2) the lack of exploitation of semantic similarity between labeled and unlabeled data induces considerable class-distribution discrepancy. To address these limitations, we propose a novel semi-supervised framework based on FixMatch, named SemSim, powered by two appealing designs from semantic similarity perspective: (1) rectifying pixel-wise prediction by reasoning about the intra-image pair-wise affinity map, thus integrating contextual dependencies explicitly into the final prediction; (2) bridging labeled and unlabeled data via a feature querying mechanism for compact class representation learning, which fully considers cross-image anatomical similarities. As the reliable semantic similarity extraction depends on robust features, we further introduce an effective spatial-aware fusion module (SFM) to explore distinctive information from multiple scales. Extensive experiments show that SemSim yields consistent improvements over the state-of-the-art methods across three public segmentation benchmarks.
Automated Reasoning in Systems Biology: a Necessity for Precision Medicine
Venue: arXiv cs.CE 2024
Year: 2024

Recent developments in AI have reinvigorated pursuits to advance the (life) sciences using AI techniques, thereby creating a renewed opportunity to bridge different fields and find synergies. Headlines for AI and the life sciences have been dominated by data-driven techniques, for instance, to solve protein folding with next to no expert knowledge. In contrast to this, we argue for the necessity of a formal representation of expert knowledge - either to develop explicit scientific theories or to compensate for the lack of data. Specifically, we argue that the fields of knowledge representation (KR) and systems biology (SysBio) exhibit important overlaps that have been largely ignored so far. This, in turn, means that relevant scientific questions are ready to be answered using the right domain knowledge (SysBio), encoded in the right way (SysBio/KR), and by combining it with modern automated reasoning tools (KR). Hence, the formal representation of domain knowledge is a natural meeting place for SysBio and KR. On the one hand, we argue that such an interdisciplinary approach will advance the field SysBio by exposing it to industrial-grade reasoning tools and thereby allowing novel scientific questions to be tackled. On the other hand, we see ample opportunities to move the state-of-the-art in KR by tailoring KR methods to the field of SysBio, which comes with challenging problem characteristics, e.g. scale, partial knowledge, noise, or sub-symbolic data. We stipulate that this proposed interdisciplinary research is necessary to attain a prominent long-term goal in the health sciences: precision medicine.
Novelty-based Sample Reuse for Continuous Robotics Control
Venue: arXiv cs.RO 2024
Year: 2024

In reinforcement learning, agents collect state information and rewards through environmental interactions, essential for policy refinement. This process is notably time-consuming, especially in complex robotic simulations and real-world applications. Traditional algorithms usually re-engage with the environment after processing a single batch of samples, thereby failing to fully capitalize on historical data. However, frequently observed states, with reliable value estimates, require minimal updates; in contrast, rare observed states necessitate more intensive updates for achieving accurate value estimations. To address uneven sample utilization, we propose Novelty-guided Sample Reuse (NSR). NSR provides extra updates for infrequent, novel states and skips additional updates for frequent states, maximizing sample use before interacting with the environment again. Our experiments show that NSR improves the convergence rate and success rate of algorithms without significantly increasing time consumption. Our code is publicly available at https://github.com/ppksigs/NSR-DDPG-HER.
NePHIM: A Neural Physics-Based Head-Hand Interaction Model
Venue: arXiv cs.GR 2024
Year: 2024

Due to the increasing use of virtual avatars, the animation of head-hand interactions has recently gained attention. To this end, we present a novel volumetric and physics-based interaction simulation. In contrast to previous work, our simulation incorporates temporal effects such as collision paths, respects anatomical constraints, and can detect and simulate skin pulling. As a result, we can achieve more natural-looking interaction animations and take a step towards greater realism. However, like most complex and computationally expensive simulations, ours is not real-time capable even on high-end machines. Therefore, we train small and efficient neural networks as accurate approximations that achieve about 200 FPS on consumer GPUs, about 50 FPS on CPUs, and are learned in less than four hours for one person. In general, our focus is not to generalize the approximation networks to low-resolution head models but to adapt them to more detailed personalized avatars. Nevertheless, we show that these networks can learn to approximate our head-hand interaction model for multiple identities while maintaining computational efficiency. Since the quality of the simulations can only be judged subjectively, we conducted a comprehensive user study which confirms the improved realism of our approach. In addition, we provide extensive visual results and inspect the neural approximations quantitatively. All data used in this work has been recorded with a multi--view camera rig and will be made available upon publication. We will also publish relevant implementations.
Formalizing Hyperspaces and Operations on Subsets of Polish spaces over Abstract Exact Real Numbers
Venue: arXiv cs.LO 2024
Year: 2024

Building on our prior work on axiomatization of exact real computation by formalizing nondeterministic first-order partial computations over real and complex numbers in a constructive dependent type theory, we present a framework for certified computation on hyperspaces of subsets by formalizing various higher-order data types and operations. We first define open, closed, compact and overt subsets for generic spaces in an abstract topological way that allows short and elegant proofs with computational content coinciding with standard definitions in computable analysis and constructive mathematics. From these proofs we can extract programs for testing inclusion, overlapping of sets, et cetera. To enhance the efficiency of the extracted programs, we then focus on Polish spaces, where we give more efficient encodings based on metric properties of the space. As various computational properties depend on the continuity of the encoding functions, we introduce a nondeterministic version of a continuity principle which is natural in our formalization and valid under the standard type-2 realizability interpretation. Using this principle we further derive the computational equivalence between the generic and the metric encodings. Our theory is fully implemented in the Coq proof assistant. From proofs in this Coq formalization, we can extract certified programs for error-free operations on subsets. As an application, we provide a function that constructs fractals in Euclidean space, such as the Sierpinski triangle, from iterated function systems using the limit operation. The resulting programs can be used to draw such fractals up to any desired resolution.
A Proposal for Uncovering Hidden Social Bots via Genetic Similarity
Venue: arXiv cs.SI 2024
Year: 2024

Social media platforms face an ongoing challenge in combating the proliferation of social bots, automated accounts that are also known to distort public opinion and support the spread of disinformation. Over the years, social bots have evolved greatly, often becoming indistinguishable from real users, and more recently, families of bots have been identified that are powered by Large Language Models to produce content for posting. We suggest an idea to classify social users as bots or not using genetic similarity algorithms. These algorithms provide an adaptive method for analyzing user behavior, allowing for the continuous evolution of detection criteria in response to the ever-changing tactics of social bots. Our proposal involves an initial clustering of social users into distinct macro species based on the similarities of their timelines. Macro species are then classified as either bot or genuine based on genetic characteristics. The preliminary idea we present, once fully developed, will allow existing detection applications based on timeline equality alone to be extended to detect bots. By incorporating new metrics, our approach will systematically classify non-trivial accounts into appropriate categories, effectively peeling back layers to reveal non-obvious species.
Generative Adversarial Synthesis of Radar Point Cloud Scenes
Venue: arXiv cs.CV 2024
Year: 2024

For the validation and verification of automotive radars, datasets of realistic traffic scenarios are required, which, how ever, are laborious to acquire. In this paper, we introduce radar scene synthesis using GANs as an alternative to the real dataset acquisition and simulation-based approaches. We train a PointNet++ based GAN model to generate realistic radar point cloud scenes and use a binary classifier to evaluate the performance of scenes generated using this model against a test set of real scenes. We demonstrate that our GAN model achieves similar performance (~87%) to the real scenes test set.
DualQuat-LOAM: LiDAR Odometry and Mapping parametrized on Dual Quaternions
Venue: arXiv cs.RO 2024
Year: 2024

This paper reports on a novel method for LiDAR odometry estimation, which completely parameterizes the system with dual quaternions. To accomplish this, the features derived from the point cloud, including edges, surfaces, and Stable Triangle Descriptor (STD), along with the optimization problem, are expressed in the dual quaternion set. This approach enables the direct combination of translation and orientation errors via dual quaternion operations, greatly enhancing pose estimation, as demonstrated in comparative experiments against other state-of-the-art methods. Our approach reduced drift error compared to other LiDAR-only-odometry methods, especially in scenarios with sharp curves and aggressive movements with large angular displacement. DualQuat-LOAM is benchmarked against several public datasets. In the KITTI dataset it has a translation and rotation error of 0.79% and 0.0039°/m, with an average run time of 53 ms.
360U-Former: HDR Illumination Estimation with Panoramic Adapted Vision Transformers
Venue: arXiv cs.CV 2024
Year: 2024

Recent illumination estimation methods have focused on enhancing the resolution and improving the quality and diversity of the generated textures. However, few have explored tailoring the neural network architecture to the Equirectangular Panorama (ERP) format utilised in image-based lighting. Consequently, high dynamic range images (HDRI) results usually exhibit a seam at the side borders and textures or objects that are warped at the poles. To address this shortcoming we propose a novel architecture, 360U-Former, based on a U-Net style Vision-Transformer which leverages the work of PanoSWIN, an adapted shifted window attention tailored to the ERP format. To the best of our knowledge, this is the first purely Vision-Transformer model used in the field of illumination estimation. We train 360U-Former as a GAN to generate HDRI from a limited field of view low dynamic range image (LDRI). We evaluate our method using current illumination estimation evaluation protocols and datasets, demonstrating that our approach outperforms existing and state-of-the-art methods without the artefacts typically associated with the use of the ERP format.
SPF-EMPC Planner: A real-time multi-robot trajectory planner for complex environments with uncertainties
Venue: arXiv cs.RO 2024
Year: 2024

In practical applications, the unpredictable movement of obstacles and the imprecise state observation of robots introduce significant uncertainties for the swarm of robots, especially in cluster environments. However, existing methods are difficult to realize safe navigation, considering uncertainties, complex environmental structures, and robot swarms. This paper introduces an extended state model predictive control planner with a safe probability field to address the multi-robot navigation problem in complex, dynamic, and uncertain environments. Initially, the safe probability field offers an innovative approach to model the uncertainty of external dynamic obstacles, combining it with an unconstrained optimization method to generate safe trajectories for multi-robot online. Subsequently, the extended state model predictive controller can accurately track these generated trajectories while considering the robots' inherent model constraints and state uncertainty, thus ensuring the practical feasibility of the planned trajectories. Simulation experiments show a success rate four times higher than that of state-of-the-art algorithms. Physical experiments demonstrate the method's ability to operate in real-time, enabling safe navigation for multi-robot in uncertain environments.
All models are wrong, some are useful: Model Selection with Limited Labels
Venue: arXiv cs.LG 2024
Year: 2024

We introduce MODEL SELECTOR, a framework for label-efficient selection of pretrained classifiers. Given a pool of unlabeled target data, MODEL SELECTOR samples a small subset of highly informative examples for labeling, in order to efficiently identify the best pretrained model for deployment on this target dataset. Through extensive experiments, we demonstrate that MODEL SELECTOR drastically reduces the need for labeled data while consistently picking the best or near-best performing model. Across 18 model collections on 16 different datasets, comprising over 1,500 pretrained models, MODEL SELECTOR reduces the labeling cost by up to 94.15% to identify the best model compared to the cost of the strongest baseline. Our results further highlight the robustness of MODEL SELECTOR in model selection, as it reduces the labeling cost by up to 72.41% when selecting a near-best model, whose accuracy is only within 1% of the best model.
Automatic Navigation and Voice Cloning Technology Deployment on a Humanoid Robot
Venue: arXiv cs.RO 2024
Year: 2024

Mobile robots have shown immense potential and are expected to be widely used in the service industry. The importance of automatic navigation and voice cloning cannot be overstated as they enable functional robots to provide high-quality services. The objective of this work is to develop a control algorithm for the automatic navigation of a humanoid mobile robot called Cruzr, which is a service robot manufactured by Ubtech. Initially, a virtual environment is constructed in the simulation software Gazebo using Simultaneous Localization And Mapping (SLAM), and global path planning is carried out by means of local path tracking. The two-wheel differential chassis kinematics model is employed to ensure autonomous dynamic obstacle avoidance for the robot chassis. Furthermore, the mapping and trajectory generation algorithms developed in the simulation environment are successfully implemented on the real robot Cruzr. The performance of automatic navigation is compared between the Dynamic Window Approach (DWA) and Model Predictive Control (MPC) algorithms. Additionally, a mobile application for voice cloning is created based on a Hidden Markov Model, and the proposed Chatbot is also tested and deployed on Cruzr.
EP-SAM: Weakly Supervised Histopathology Segmentation via Enhanced Prompt with Segment Anything
Venue: arXiv cs.CV 2024
Year: 2024

This work proposes a novel approach beyond supervised learning for effective pathological image analysis, addressing the challenge of limited robust labeled data. Pathological diagnosis of diseases like cancer has conventionally relied on the evaluation of morphological features by physicians and pathologists. However, recent advancements in compute-aided diagnosis (CAD) systems are gaining significant attention as diagnostic support tools. Although the advancement of deep learning has improved CAD significantly, segmentation models typically require large pixel-level annotated dataset, and such labeling is expensive. Existing studies not based on supervised approaches still struggle with limited generalization, and no practical approach has emerged yet. To address this issue, we present a weakly supervised semantic segmentation (WSSS) model by combining class activation map and Segment Anything Model (SAM)-based pseudo-labeling. For effective pretraining, we adopt the SAM-a foundation model that is pretrained on large datasets and operates in zero-shot configurations using only coarse prompts. The proposed approach transfer enhanced Attention Dropout Layer's knowledge to SAM, thereby generating pseudo-labels. To demonstrate the superiority of the proposed method, experimental studies are conducted on histopathological breast cancer datasets. The proposed method outperformed other WSSS methods across three datasets, demonstrating its efficiency by achieving this with only 12GB of GPU memory during training. Our code is available at : https://github.com/QI-NemoSong/EP-SAM