OpenRaiser/Intern-Atlas huggingface dataset:
A novel concept for Titan robotic exploration based on soft morphing aerial robots
Venue: arXiv cs.RO 2023
Year: 2023

This work introduces a novel approach for Titan exploration based on soft morphing aerial robots leveraging the use of flexible adaptive materials. The controlled deformation of the multirotor arms, actuated by a combination of a pneumatic system and a tendon mechanism, provides the explorer robot with the ability to perform full-body perching and land on rocky, irregular, or uneven terrains, thus unlocking new exploration horizons. In addition, after landing, they can be used for efficient sampling as tendon-driven continuum manipulators, with the pneumatic system drawing in the samples. The proposed arms enable the drone to cover long distances in Titan's atmosphere efficiently, by directing rotor thrust without rotating the body, reducing the aerodynamic drag. Given that the exploration concept is envisioned as a rotorcraft planetary lander, the robot's folding features enable over a 30$\%$ reduction in the hypersonic aeroshell's diameter. Building on this folding capability, the arms can morph partially in flight to navigate tight spaces. As for propulsion, the rotor design, justified through CFD simulations, utilizes a ducted fan configuration tailored for Titan's high Reynolds numbers. The rotors are integrated within the robot's deformable materials, facilitating smooth interactions with the environment. The research spotlights exploration simulations in the Gazebo environment, focusing on the Sotra-Patera cryovolcano region, a location with potential to clarify Titan's unique methane cycle and its Earth-like features. This work addresses one of the primary challenges of the concept by testing the behavior of small-scale deformable arms under conditions mimicking those of Titan. Groundbreaking experiments with liquid nitrogen at cryogenic temperatures were conducted on various materials, with Teflon (PTFE) at low infill rates (15-30%) emerging as a promising option.
I Was Blind but Now I See: Implementing Vision-Enabled Dialogue in Social Robots
Venue: arXiv cs.RO 2023
Year: 2023

In the rapidly evolving landscape of human-computer interaction, the integration of vision capabilities into conversational agents stands as a crucial advancement. This paper presents an initial implementation of a dialogue manager that leverages the latest progress in Large Language Models (e.g., GPT-4, IDEFICS) to enhance the traditional text-based prompts with real-time visual input. LLMs are used to interpret both textual prompts and visual stimuli, creating a more contextually aware conversational agent. The system's prompt engineering, incorporating dialogue with summarisation of the images, ensures a balance between context preservation and computational efficiency. Six interactions with a Furhat robot powered by this system are reported, illustrating and discussing the results obtained. By implementing this vision-enabled dialogue system, the paper envisions a future where conversational agents seamlessly blend textual and visual modalities, enabling richer, more context-aware dialogues.
Integrating Sensing, Communication, and Power Transfer: Multiuser Beamforming Design
Venue: arXiv cs.IT 2023
Year: 2023

In the sixth-generation (6G) networks, massive low-power devices are expected to sense environment and deliver tremendous data. To enhance the radio resource efficiency, the integrated sensing and communication (ISAC) technique exploits the sensing and communication functionalities of signals, while the simultaneous wireless information and power transfer (SWIPT) techniques utilizes the same signals as the carriers for both information and power delivery. The further combination of ISAC and SWIPT leads to the advanced technology namely integrated sensing, communication, and power transfer (ISCPT). In this paper, a multi-user multiple-input multiple-output (MIMO) ISCPT system is considered, where a base station equipped with multiple antennas transmits messages to multiple information receivers (IRs), transfers power to multiple energy receivers (ERs), and senses a target simultaneously. The sensing target can be regarded as a point or an extended surface. When the locations of IRs and ERs are separated, the MIMO beamforming designs are optimized to improve the sensing performance while meeting the communication and power transfer requirements. The resultant non-convex optimization problems are solved based on a series of techniques including Schur complement transformation and rank reduction. Moreover, when the IRs and ERs are co-located, the power splitting factors are jointly optimized together with the beamformers to balance the performance of communication and power transfer. To better understand the performance of ISCPT, the target positioning problem is further investigated. Simulations are conducted to verify the effectiveness of our proposed designs, which also reveal a performance tradeoff among sensing, communication, and power transfer.
Automatic cable harness layout routing in a customizable 3D environment
Venue: arXiv cs.CE 2023
Year: 2023

Designing cable harnesses can be time-consuming and complex due to many design and manufacturing aspects and rules. Automating the design process can help to fulfil these rules, speed up the process, and optimize the design. To accommodate this, we formulate a harness routing optimization problem to minimize cable lengths, maximize bundling by rewarding shared paths, and optimize the cables' spatial location with respect to case-specific information of the routing environment, e.g., zones to avoid. A deterministic and computationally effective cable harness routing algorithm has been developed to solve the routing problem and is used to generate a set of cable harness topology candidates and approximate the Pareto front. Our approach was tested against a stochastic and an exact solver and our routing algorithm generated objective function values better than the stochastic approach and close to the exact solver. Our algorithm was able to find solutions, some of them being proven to be near-optimal, for three industrial-sized 3D cases within reasonable time (in magnitude of seconds to minutes) and the computation times were comparable to those of the stochastic approach.
Scalable and Effective Generative Information Retrieval
Venue: arXiv cs.IR 2023
Year: 2023

Recent research has shown that transformer networks can be used as differentiable search indexes by representing each document as a sequences of document ID tokens. These generative retrieval models cast the retrieval problem to a document ID generation problem for each given query. Despite their elegant design, existing generative retrieval models only perform well on artificially-constructed and small-scale collections. This has led to serious skepticism in the research community on their real-world impact. This paper represents an important milestone in generative retrieval research by showing, for the first time, that generative retrieval models can be trained to perform effectively on large-scale standard retrieval benchmarks. For doing so, we propose RIPOR- an optimization framework for generative retrieval that can be adopted by any encoder-decoder architecture. RIPOR is designed based on two often-overlooked fundamental design considerations in generative retrieval. First, given the sequential decoding nature of document ID generation, assigning accurate relevance scores to documents based on the whole document ID sequence is not sufficient. To address this issue, RIPOR introduces a novel prefix-oriented ranking optimization algorithm. Second, initial document IDs should be constructed based on relevance associations between queries and documents, instead of the syntactic and semantic information in the documents. RIPOR addresses this issue using a relevance-based document ID construction approach that quantizes relevance-based representations learned for documents. Evaluation on MSMARCO and TREC Deep Learning Track reveals that RIPOR surpasses state-of-the-art generative retrieval models by a large margin (e.g., 30.5% MRR improvements on MS MARCO Dev Set), and perform better on par with popular dense retrieval models.
Enhancing AmBC Systems with Deep Learning for Joint Channel Estimation and Signal Detection
Venue: arXiv cs.IT 2023
Year: 2023

The era of ubiquitous, affordable wireless connectivity has opened doors to countless practical applications. In this context, ambient backscatter communication (AmBC) stands out, utilizing passive tags to establish connections with readers by harnessing reflected ambient radio frequency (RF) signals. However, conventional data detectors face limitations due to their inadequate knowledge of channel and RF-source parameters. To address this challenge, we propose an innovative approach using a deep neural network (DNN) for channel state estimation (CSI) and signal detection within AmBC systems. Unlike traditional methods that separate CSI estimation and data detection, our approach leverages a DNN to implicitly estimate CSI and simultaneously detect data. The DNN model, trained offline using simulated data derived from channel statistics, excels in online data recovery, ensuring robust performance in practical scenarios. Comprehensive evaluations validate the superiority of our proposed DNN method over traditional detectors, particularly in terms of bit error rate (BER). In high signal-to-noise ratio (SNR) conditions, our method exhibits an impressive approximately 20% improvement in BER performance compared to the maximum likelihood (ML) approach. These results underscore the effectiveness of our developed approach for AmBC channel estimation and signal detection. In summary, our method outperforms traditional detectors, bolstering the reliability and efficiency of AmBC systems, even in challenging channel conditions.
A Unified Approach to Learning Ising Models: Beyond Independence and Bounded Width
Venue: arXiv cs.LG 2023
Year: 2023

We revisit the problem of efficiently learning the underlying parameters of Ising models from data. Current algorithmic approaches achieve essentially optimal sample complexity when given i.i.d. samples from the stationary measure and the underlying model satisfies "width" bounds on the total $\ell_1$ interaction involving each node. We show that a simple existing approach based on node-wise logistic regression provably succeeds at recovering the underlying model in several new settings where these assumptions are violated: (1) Given dynamically generated data from a wide variety of local Markov chains, like block or round-robin dynamics, logistic regression recovers the parameters with optimal sample complexity up to $\log\log n$ factors. This generalizes the specialized algorithm of Bresler, Gamarnik, and Shah [IEEE Trans. Inf. Theory'18] for structure recovery in bounded degree graphs from Glauber dynamics. (2) For the Sherrington-Kirkpatrick model of spin glasses, given $\mathsf{poly}(n)$ independent samples, logistic regression recovers the parameters in most of the known high-temperature regime via a simple reduction to weaker structural properties of the measure. This improves on recent work of Anari, Jain, Koehler, Pham, and Vuong [ArXiv'23] which gives distribution learning at higher temperature. (3) As a simple byproduct of our techniques, logistic regression achieves an exponential improvement in learning from samples in the M-regime of data considered by Dutt, Lokhov, Vuffray, and Misra [ICML'21] as well as novel guarantees for learning from the adversarial Glauber dynamics of Chin, Moitra, Mossel, and Sandon [ArXiv'23]. Our approach thus significantly generalizes the elegant analysis of Wu, Sanghavi, and Dimakis [Neurips'19] without any algorithmic modification.
Does Starting Deep Learning Homework Earlier Improve Grades?
Venue: arXiv cs.CY 2023
Year: 2023

Intuitively, students who start a homework assignment earlier and spend more time on it should receive better grades on the assignment. However, existing literature on the impact of time spent on homework is not clear-cut and comes mostly from K-12 education. It is not clear that these prior studies can inform coursework in deep learning due to differences in demographics, as well as the computational time needed for assignments to be completed. We study this problem in a post-hoc study of three semesters of a deep learning course at the University of Maryland, Baltimore County (UMBC), and develop a hierarchical Bayesian model to help make principled conclusions about the impact on student success given an approximate measure of the total time spent on the homework, and how early they submitted the assignment. Our results show that both submitting early and spending more time positively relate with final grade. Surprisingly, the value of an additional day of work is apparently equal across students, even when some require less total time to complete an assignment.
Evaluating and Improving Value Judgments in AI: A Scenario-Based Study on Large Language Models' Depiction of Social Conventions
Venue: arXiv cs.CY 2023
Year: 2023

The adoption of generative AI technologies is swiftly expanding. Services employing both linguistic and mul-timodal models are evolving, offering users increasingly precise responses. Consequently, human reliance on these technologies is expected to grow rapidly. With the premise that people will be impacted by the output of AI, we explored approaches to help AI output produce better results. Initially, we evaluated how contemporary AI services competitively meet user needs, then examined society's depiction as mirrored by Large Language Models (LLMs). We did a query experiment, querying about social conventions in various countries and eliciting a one-word response. We compared the LLMs' value judgments with public data and suggested an model of decision-making in value-conflicting scenarios which could be adopted for future machine value judgments. This paper advocates for a practical approach to using AI as a tool for investigating other remote worlds. This re-search has significance in implicitly rejecting the notion of AI making value judgments and instead arguing a more critical perspective on the environment that defers judgmental capabilities to individuals. We anticipate this study will empower anyone, regardless of their capacity, to receive safe and accurate value judgment-based out-puts effectively.
FastBlend: a Powerful Model-Free Toolkit Making Video Stylization Easier
Venue: arXiv cs.CV 2023
Year: 2023

With the emergence of diffusion models and rapid development in image processing, it has become effortless to generate fancy images in tasks such as style transfer and image editing. However, these impressive image processing approaches face consistency issues in video processing. In this paper, we propose a powerful model-free toolkit called FastBlend to address the consistency problem for video processing. Based on a patch matching algorithm, we design two inference modes, including blending and interpolation. In the blending mode, FastBlend eliminates video flicker by blending the frames within a sliding window. Moreover, we optimize both computational efficiency and video quality according to different application scenarios. In the interpolation mode, given one or more keyframes rendered by diffusion models, FastBlend can render the whole video. Since FastBlend does not modify the generation process of diffusion models, it exhibits excellent compatibility. Extensive experiments have demonstrated the effectiveness of FastBlend. In the blending mode, FastBlend outperforms existing methods for video deflickering and video synthesis. In the interpolation mode, FastBlend surpasses video interpolation and model-based video processing approaches. The source codes have been released on GitHub.
Neuroscience inspired scientific machine learning (Part-1): Variable spiking neuron for regression
Venue: arXiv cs.NE 2023
Year: 2023

Redundant information transfer in a neural network can increase the complexity of the deep learning model, thus increasing its power consumption. We introduce in this paper a novel spiking neuron, termed Variable Spiking Neuron (VSN), which can reduce the redundant firing using lessons from biological neuron inspired Leaky Integrate and Fire Spiking Neurons (LIF-SN). The proposed VSN blends LIF-SN and artificial neurons. It garners the advantage of intermittent firing from the LIF-SN and utilizes the advantage of continuous activation from the artificial neuron. This property of the proposed VSN makes it suitable for regression tasks, which is a weak point for the vanilla spiking neurons, all while keeping the energy budget low. The proposed VSN is tested against both classification and regression tasks. The results produced advocate favorably towards the efficacy of the proposed spiking neuron, particularly for regression tasks.
FedCode: Communication-Efficient Federated Learning via Transferring Codebooks
Venue: arXiv cs.LG 2023
Year: 2023

Federated Learning (FL) is a distributed machine learning paradigm that enables learning models from decentralized local data. While FL offers appealing properties for clients' data privacy, it imposes high communication burdens for exchanging model weights between a server and the clients. Existing approaches rely on model compression techniques, such as pruning and weight clustering to tackle this. However, transmitting the entire set of weight updates at each federated round, even in a compressed format, limits the potential for a substantial reduction in communication volume. We propose FedCode where clients transmit only codebooks, i.e., the cluster centers of updated model weight values. To ensure a smooth learning curve and proper calibration of clusters between the server and the clients, FedCode periodically transfers model weights after multiple rounds of solely communicating codebooks. This results in a significant reduction in communication volume between clients and the server in both directions, without imposing significant computational overhead on the clients or leading to major performance degradation of the models. We evaluate the effectiveness of FedCode using various publicly available datasets with ResNet-20 and MobileNet backbone model architectures. Our evaluations demonstrate a 12.2-fold data transmission reduction on average while maintaining a comparable model performance with an average accuracy loss of 1.3% compared to FedAvg. Further validation of FedCode performance under non-IID data distributions showcased an average accuracy loss of 2.0% compared to FedAvg while achieving approximately a 12.7-fold data transmission reduction.
Constructing interpretable principal curve using Neural ODEs
Venue: arXiv cs.LG 2023
Year: 2023

The study of high dimensional data sets often rely on their low dimensional projections that preserve the local geometry of the original space. While numerous methods have been developed to summarize this space as variations of tree-like structures, they are usually non-parametric and "static" in nature. As data may come from systems that are dynamical such as a differentiating cell, a static, non-parametric characterization of the space may not be the most appropriate. Here, we developed a framework, the principal flow, that is capable of characterizing the space in a dynamical manner. The principal flow, defined using neural ODEs, directs motion of a particle through the space, where the trajectory of the particle resembles the principal curve of the dataset. We illustrate that our framework can be used to characterize shapes of various complexities, and is flexible to incorporate summaries of relaxation dynamics.
Analysis of Research Trends in Computer Science: A Network Approach
Venue: arXiv cs.SI 2023
Year: 2023

Nowadays, computer science (CS) has emerged as a dominant force in numerous research areas both within and beyond its own discipline. However, despite its significant impact on scholarly space, only a limited number of studies have been conducted to analyze the research trends and relationships within computer science. In this study, we collected information on fields and subfields from over 2,000 research articles published in the 2022 proceedings of the top Association for Computing Machinery (ACM) conferences spanning various research fields. Through a network approach, we investigated the interconnections between CS fields and subfields to evaluate their interdisciplinarity and multidisciplinarity. Our findings indicate that computing methodologies and privacy and security stand out as the most interdisciplinary fields, while human-centered computing exhibits the highest frequency among the papers. Furthermore, we discovered that machine learning emerges as the most interdisciplinary and multidisciplinary subfield within computer science. These results offer valuable insights for universities seeking to foster interdisciplinary research opportunities for their students.
Flexible and Adaptive Manufacturing by Complementing Knowledge Representation, Reasoning and Planning with Reinforcement Learning
Venue: arXiv cs.RO 2023
Year: 2023

This paper describes a novel approach to adaptive manufacturing in the context of small batch production and customization. It focuses on integrating task-level planning and reasoning with reinforcement learning (RL) in the SkiROS2 skill-based robot control platform. This integration enhances the efficiency and adaptability of robotic systems in manufacturing, enabling them to adjust to task variations and learn from interaction data. The paper highlights the architecture of SkiROS2, particularly its world model, skill libraries, and task management. It demonstrates how combining RL with robotic manipulators can learn and improve the execution of industrial tasks. It advocates a multi-objective learning model that eases the learning problem design. The approach can incorporate user priors or previous experiences to accelerate learning and increase safety. Spotlight video: https://youtu.be/H5PmZl2rRbs?si=8wmZ-gbwuSJRxe3S&t=1422 SkiROS2 code: https://github.com/RVMI/skiros2 SkiROS2 talk at ROSCon: https://vimeo.com/879001825/2a0e9d5412 SkiREIL code: https://github.com/matthias-mayr/SkiREIL
Privacy Threats in Stable Diffusion Models
Venue: arXiv cs.CV 2023
Year: 2023

This paper introduces a novel approach to membership inference attacks (MIA) targeting stable diffusion computer vision models, specifically focusing on the highly sophisticated Stable Diffusion V2 by StabilityAI. MIAs aim to extract sensitive information about a model's training data, posing significant privacy concerns. Despite its advancements in image synthesis, our research reveals privacy vulnerabilities in the stable diffusion models' outputs. Exploiting this information, we devise a black-box MIA that only needs to query the victim model repeatedly. Our methodology involves observing the output of a stable diffusion model at different generative epochs and training a classification model to distinguish when a series of intermediates originated from a training sample or not. We propose numerous ways to measure the membership features and discuss what works best. The attack's efficacy is assessed using the ROC AUC method, demonstrating a 60\% success rate in inferring membership information. This paper contributes to the growing body of research on privacy and security in machine learning, highlighting the need for robust defenses against MIAs. Our findings prompt a reevaluation of the privacy implications of stable diffusion models, urging practitioners and developers to implement enhanced security measures to safeguard against such attacks.