OpenRaiser/Intern-Atlas huggingface dataset:
Deep Learning Models for Flapping Fin Unmanned Underwater Vehicle Control System Gait Optimization
Venue: arXiv cs.RO 2024
Year: 2024

The last few decades have led to the rise of research focused on propulsion and control systems for bio-inspired unmanned underwater vehicles (UUVs), which provide more maneuverable alternatives to traditional UUVs in underwater missions. Recent work has explored the use of time-series neural network surrogate models to predict thrust and power from vehicle design and fin kinematics. We develop a search-based inverse model that leverages kinematics-to-thrust and kinematics-to-power neural network models for control system design. Our inverse model finds a set of fin kinematics with the multi-objective goal of reaching a target thrust under power constraints while creating a smooth kinematics transition between flapping cycles. We demonstrate how a control system integrating this inverse model can make online, cycle-to-cycle adjustments to prioritize different system objectives, with improvements in increasing thrust generation or reducing power consumption of any given movement upwards of 0.5 N and 3.0 W in a range of 2.2 N and 9.0 W. As propulsive efficiency is of utmost importance for flapping-fin UUVs in order to extend their range and endurance for essential operations but lacks prior research, we develop a non-dimensional figure of merit (FOM), derived from measures of propulsive efficiency, that is able to evaluate different fin designs and kinematics, and allow for comparison with other bio-inspired platforms. We use the developed FOM to analyze optimal gaits and compare the performance between different fin materials, providing a better understanding of how fin materials affect thrust generation and propulsive efficiency and allowing us to inform control systems and weight for efficiency on the developed inverse gait-selector model.
DeepiSign-G: Generic Watermark to Stamp Hidden DNN Parameters for Self-contained Tracking
Venue: arXiv cs.CR 2024
Year: 2024

Deep learning solutions in critical domains like autonomous vehicles, facial recognition, and sentiment analysis require caution due to the severe consequences of errors. Research shows these models are vulnerable to adversarial attacks, such as data poisoning and neural trojaning, which can covertly manipulate model behavior, compromising reliability and safety. Current defense strategies like watermarking have limitations: they fail to detect all model modifications and primarily focus on attacks on CNNs in the image domain, neglecting other critical architectures like RNNs. To address these gaps, we introduce DeepiSign-G, a versatile watermarking approach designed for comprehensive verification of leading DNN architectures, including CNNs and RNNs. DeepiSign-G enhances model security by embedding an invisible watermark within the Walsh-Hadamard transform coefficients of the model's parameters. This watermark is highly sensitive and fragile, ensuring prompt detection of any modifications. Unlike traditional hashing techniques, DeepiSign-G allows substantial metadata incorporation directly within the model, enabling detailed, self-contained tracking and verification. We demonstrate DeepiSign-G's applicability across various architectures, including CNN models (VGG, ResNets, DenseNet) and RNNs (Text sentiment classifier). We experiment with four popular datasets: VGG Face, CIFAR10, GTSRB Traffic Sign, and Large Movie Review. We also evaluate DeepiSign-G under five potential attacks. Our comprehensive evaluation confirms that DeepiSign-G effectively detects these attacks without compromising CNN and RNN model performance, highlighting its efficacy as a robust security measure for deep learning applications. Detection of integrity breaches is nearly perfect, while hiding only a bit in approximately 1% of the Walsh-Hadamard coefficients.
Complementary Fusion of Deep Network and Tree Model for ETA Prediction
Venue: arXiv cs.LG 2024
Year: 2024

Estimated time of arrival (ETA) is a very important factor in the transportation system. It has attracted increasing attentions and has been widely used as a basic service in navigation systems and intelligent transportation systems. In this paper, we propose a novel solution to the ETA estimation problem, which is an ensemble on tree models and neural networks. We proved the accuracy and robustness of the solution on the A/B list and finally won first place in the SIGSPATIAL 2021 GISCUP competition.
Applying the Ego Network Model to Cross-Target Stance Detection
Venue: arXiv cs.SI 2024
Year: 2024

Understanding human interactions and social structures is an incredibly important task, especially in such an interconnected world. One task that facilitates this is Stance Detection, which predicts the opinion or attitude of a text towards a target entity. Traditionally, this has often been done mainly via the use of text-based approaches, however, recent work has produced a model (CT-TN) that leverages information about a user's social network to help predict their stance, outperforming certain cross-target text-based approaches. Unfortunately, the data required for such graph-based approaches is not always available. This paper proposes two novel tools for Stance Detection: the Ego Network Model (ENM) and the Signed Ego Network Model (SENM). These models are founded in anthropological and psychological studies and have been used within the context of social network analysis and related tasks (e.g., link prediction). Stance Detection predictions obtained using these features achieve a level of accuracy similar to the graph-based features used by CT-TN while requiring less and more easily obtainable data. In addition to this, the performances of the inner and outer circles of the ENM, representing stronger and weaker social ties, respectively are compared. Surprisingly, the outer circles, which contain more numerous but less intimate connections, are more useful for predicting stance.
A Collaborative, Human-Centred Taxonomy of AI, Algorithmic, and Automation Harms
Venue: arXiv cs.LG 2024
Year: 2024

This paper introduces a collaborative, human-centred taxonomy of AI, algorithmic and automation harms. We argue that existing taxonomies, while valuable, can be narrow, unclear, typically cater to practitioners and government, and often overlook the needs of the wider public. Drawing on existing taxonomies and a large repository of documented incidents, we propose a taxonomy that is clear and understandable to a broad set of audiences, as well as being flexible, extensible, and interoperable. Through iterative refinement with topic experts and crowdsourced annotation testing, we propose a taxonomy that can serve as a powerful tool for civil society organisations, educators, policymakers, product teams and the general public. By fostering a greater understanding of the real-world harms of AI and related technologies, we aim to increase understanding, empower NGOs and individuals to identify and report violations, inform policy discussions, and encourage responsible technology development and deployment.
RoDyn-SLAM: Robust Dynamic Dense RGB-D SLAM with Neural Radiance Fields
Venue: arXiv cs.RO 2024
Year: 2024

Leveraging neural implicit representation to conduct dense RGB-D SLAM has been studied in recent years. However, this approach relies on a static environment assumption and does not work robustly within a dynamic environment due to the inconsistent observation of geometry and photometry. To address the challenges presented in dynamic environments, we propose a novel dynamic SLAM framework with neural radiance field. Specifically, we introduce a motion mask generation method to filter out the invalid sampled rays. This design effectively fuses the optical flow mask and semantic mask to enhance the precision of motion mask. To further improve the accuracy of pose estimation, we have designed a divide-and-conquer pose optimization algorithm that distinguishes between keyframes and non-keyframes. The proposed edge warp loss can effectively enhance the geometry constraints between adjacent frames. Extensive experiments are conducted on the two challenging datasets, and the results show that RoDyn-SLAM achieves state-of-the-art performance among recent neural RGB-D methods in both accuracy and robustness.
Unveiling the Unseen: Exploring Whitebox Membership Inference through the Lens of Explainability
Venue: arXiv cs.LG 2024
Year: 2024

The increasing prominence of deep learning applications and reliance on personalized data underscore the urgent need to address privacy vulnerabilities, particularly Membership Inference Attacks (MIAs). Despite numerous MIA studies, significant knowledge gaps persist, particularly regarding the impact of hidden features (in isolation) on attack efficacy and insufficient justification for the root causes of attacks based on raw data features. In this paper, we aim to address these knowledge gaps by first exploring statistical approaches to identify the most informative neurons and quantifying the significance of the hidden activations from the selected neurons on attack accuracy, in isolation and combination. Additionally, we propose an attack-driven explainable framework by integrating the target and attack models to identify the most influential features of raw data that lead to successful membership inference attacks. Our proposed MIA shows an improvement of up to 26% on state-of-the-art MIA.
Protecting Privacy in Classifiers by Token Manipulation
Venue: arXiv cs.CL 2024
Year: 2024

Using language models as a remote service entails sending private information to an untrusted provider. In addition, potential eavesdroppers can intercept the messages, thereby exposing the information. In this work, we explore the prospects of avoiding such data exposure at the level of text manipulation. We focus on text classification models, examining various token mapping and contextualized manipulation functions in order to see whether classifier accuracy may be maintained while keeping the original text unrecoverable. We find that although some token mapping functions are easy and straightforward to implement, they heavily influence performance on the downstream task, and via a sophisticated attacker can be reconstructed. In comparison, the contextualized manipulation provides an improvement in performance.
An Operational Semantics for Yul
Venue: arXiv cs.PL 2024
Year: 2024

We present a big-step and small-step operational semantics for Yul -- the intermediate language used by the Solidity compiler to produce EVM bytecode -- in a mathematical notation that is congruous with the literature of programming languages, lends itself to language proofs, and can serve as a precise, widely accessible specification for the language. Our two semantics stay faithful to the original, informal specification of the language but also clarify under-specified cases such as void function calls. Our presentation allows us to prove the equivalence between the two semantics. We also implement the small-step semantics in an interpreter for Yul which avails of optimisations that are provably correct. We have tested the interpreter using tests from the Solidity compiler and our own. We envisage that this work will enable the development of verification and symbolic execution technology directly in Yul, contributing to the Ethereum security ecosystem, as well as aid the development of a provably sound future type system.
Beyond Throughput and Compression Ratios: Towards High End-to-end Utility of Gradient Compression
Venue: arXiv cs.LG 2024
Year: 2024

Gradient aggregation has long been identified as a major bottleneck in today's large-scale distributed machine learning training systems. One promising solution to mitigate such bottlenecks is gradient compression, directly reducing communicated gradient data volume. However, in practice, many gradient compression schemes do not achieve acceleration of the training process while also preserving accuracy. In this work, we identify common issues in previous gradient compression systems and evaluation methodologies. These include excessive computational overheads; incompatibility with all-reduce; and insufficient evaluation methods, such as not using an end-to-end metric or using a 32-bit baseline instead of the stronger 16-bit baseline. We revisit common compression approaches (sparsification, quantization, and low-rank decomposition) and demonstrate how considering the above issues can lead to minor but strategic design changes, resulting in notably better performance. Our goal is to raise awareness of the need for design and evaluation standards that naturally translate to the end-to-end utility of gradient compression.
Maximizing Blockchain Performance: Mitigating Conflicting Transactions through Parallelism and Dependency Management
Venue: arXiv cs.CR 2024
Year: 2024

While blockchains initially gained popularity in the realm of cryptocurrencies, their widespread adoption is expanding beyond conventional applications, driven by the imperative need for enhanced data security. Despite providing a secure network, blockchains come with certain tradeoffs, including high latency, lower throughput, and an increased number of transaction failures. A pivotal issue contributing to these challenges is the improper management of "conflicting transactions", commonly referred to as "contention". When a number of pending transactions within a blockchain collide with each other, this results in a state of contention. This situation worsens network latency, leads to the wastage of system resources, and ultimately contributes to reduced throughput and higher transaction failures. In response to this issue, in this work, we present a novel blockchain scheme that integrates transaction parallelism and an intelligent dependency manager aiming to reduce the occurrence of conflicting transactions within blockchain networks. In terms of effectiveness and efficiency, experimental results show that our scheme not only mitigates the challenges posed by conflicting transactions, but also outperforms both existing parallel and non-parallel Hyperledger Fabric blockchain networks achieving higher transaction success rate, throughput, and latency. The integration of our scheme with Hyperledger Fabric appears to be a promising solution for improving the overall performance and stability of blockchain networks in real-world applications.
GAT-Steiner: Rectilinear Steiner Minimal Tree Prediction Using GNNs
Venue: arXiv cs.LG 2024
Year: 2024

The Rectilinear Steiner Minimum Tree (RSMT) problem is a fundamental problem in VLSI placement and routing and is known to be NP-hard. Traditional RSMT algorithms spend a significant amount of time on finding Steiner points to reduce the total wire length or use heuristics to approximate producing sub-optimal results. We show that Graph Neural Networks (GNNs) can be used to predict optimal Steiner points in RSMTs with high accuracy and can be parallelized on GPUs. In this paper, we propose GAT-Steiner, a graph attention network model that correctly predicts 99.846% of the nets in the ISPD19 benchmark with an average increase in wire length of only 0.480% on suboptimal wire length nets. On randomly generated benchmarks, GAT-Steiner correctly predicts 99.942% with an average increase in wire length of only 0.420% on suboptimal wire length nets.
Contractual Reinforcement Learning: Pulling Arms with Invisible Hands
Venue: arXiv cs.LG 2024
Year: 2024

The agency problem emerges in today's large scale machine learning tasks, where the learners are unable to direct content creation or enforce data collection. In this work, we propose a theoretical framework for aligning economic interests of different stakeholders in the online learning problems through contract design. The problem, termed \emph{contractual reinforcement learning}, naturally arises from the classic model of Markov decision processes, where a learning principal seeks to optimally influence the agent's action policy for their common interests through a set of payment rules contingent on the realization of next state. For the planning problem, we design an efficient dynamic programming algorithm to determine the optimal contracts against the far-sighted agent. For the learning problem, we introduce a generic design of no-regret learning algorithms to untangle the challenges from robust design of contracts to the balance of exploration and exploitation, reducing the complexity analysis to the construction of efficient search algorithms. For several natural classes of problems, we design tailored search algorithms that provably achieve $\tilde{O}(\sqrt{T})$ regret. We also present an algorithm with $\tilde{O}(T^{2/3})$ for the general problem that improves the existing analysis in online contract design with mild technical assumptions.
How Clustering Affects the Convergence of Decentralized Optimization over Networks: A Monte-Carlo-based Approach
Venue: arXiv cs.SI 2024
Year: 2024

Decentralized algorithms have gained substantial interest owing to advancements in cloud computing, Internet of Things (IoT), intelligent transportation networks, and parallel processing over sensor networks. The convergence of such algorithms is directly related to specific properties of the underlying network topology. Specifically, the clustering coefficient is known to affect, for example, the controllability/observability and the epidemic growth over networks. In this work, we study the effects of the clustering coefficient on the convergence rate of networked optimization approaches. In this regard, we model the structure of large-scale distributed systems by random scale-free (SF) and clustered scale-free (CSF) networks and compare the convergence rate by tuning the network clustering coefficient. This is done by keeping other relevant network properties (such as power-law degree distribution, number of links, and average degree) unchanged. Monte-Carlo-based simulations are used to compare the convergence rate over many trials of SF graph topologies. Furthermore, to study the convergence rate over real case studies, we compare the clustering coefficient of some real-world networks with the eigenspectrum of the underlying network (as a measure of convergence rate). The results interestingly show higher convergence rate over low-clustered networks. This is significant as one can improve the learning rate of many existing decentralized machine-learning scenarios by tuning the network clustering.
Exploring FPGA designs for MX and beyond
Venue: arXiv cs.AR 2024
Year: 2024

A number of companies recently worked together to release the new Open Compute Project MX standard for low-precision computation, aimed at efficient neural network implementation. In this paper, we describe and evaluate the first open-source FPGA implementation of the arithmetic defined in the standard. Our designs fully support all the standard's concrete formats for conversion into and out of MX formats and for the standard-defined arithmetic operations, as well as arbitrary fixed-point and floating-point formats. Certain elements of the standard are left as implementation-defined, and we present the first concrete FPGA-inspired choices for these elements, which we outline in the paper. Our library of optimized hardware components is available open source, and can be used to build larger systems. For this purpose, we also describe and release an open-source Pytorch library for quantization into the new standard, integrated with the Brevitas library so that the community can develop novel neural network designs quantized with MX formats in mind. We demonstrate the usability and efficacy of our libraries via the implementation of example neural networks such as ResNet-18 on the ImageNet ILSVRC12 dataset. Our testing shows that MX is very effective for formats such as INT5 or FP6 which are not natively supported on GPUs. This gives FPGAs an advantage as they have the flexibility to implement a custom datapath and take advantage of the smaller area footprints offered by these formats.
LLM See, LLM Do: Guiding Data Generation to Target Non-Differentiable Objectives
Venue: arXiv cs.CL 2024
Year: 2024

The widespread adoption of synthetic data raises new questions about how models generating the data can influence other large language models (LLMs) via distilled data. To start, our work exhaustively characterizes the impact of passive inheritance of model properties by systematically studying the consequences of synthetic data integration. We provide one of the most comprehensive studies to-date of how the source of synthetic data shapes models' internal biases, calibration and generations' textual attributes and preferences. We find that models are surprisingly sensitive towards certain attributes even when the synthetic data prompts appear "neutral". which invites the question whether this sensitivity can be exploited for good. Our findings invite the question can we explicitly steer the models towards the properties we want at test time by exploiting the data generation process? This would have historically been considered infeasible due to the cost of collecting data with a specific characteristic or objective in mind. However, improvement in the quality of synthetic data, as well as a shift towards general-purpose models designed to follow a diverse way of instructions, means this question is timely. We propose active inheritance as a term to describe intentionally constraining synthetic data according to a non-differentiable objective. We demonstrate how active inheritance can steer the generation profiles of models towards desirable non-differentiable attributes, e.g. high lexical diversity or low toxicity.
E.T. the Exceptional Trajectories: Text-to-camera-trajectory generation with character awareness
Venue: arXiv cs.CV 2024
Year: 2024

Stories and emotions in movies emerge through the effect of well-thought-out directing decisions, in particular camera placement and movement over time. Crafting compelling camera trajectories remains a complex iterative process, even for skilful artists. To tackle this, in this paper, we propose a dataset called the Exceptional Trajectories (E.T.) with camera trajectories along with character information and textual captions encompassing descriptions of both camera and character. To our knowledge, this is the first dataset of its kind. To show the potential applications of the E.T. dataset, we propose a diffusion-based approach, named DIRECTOR, which generates complex camera trajectories from textual captions that describe the relation and synchronisation between the camera and characters. To ensure robust and accurate evaluations, we train on the E.T. dataset CLaTr, a Contrastive Language-Trajectory embedding for evaluation metrics. We posit that our proposed dataset and method significantly advance the democratization of cinematography, making it more accessible to common users.
WaveShot: A Compact Portable Unmanned Surface Vessel for Dynamic Water Surface Videography and Media Production
Venue: arXiv cs.RO 2024
Year: 2024

This paper presents WaveShot, an innovative portable unmanned surface vessel that aims to transform water surface videography by offering a highly maneuverable, cost-effective, and safe alternative to traditional filming methods. WaveShot is designed for the modern demands of film production, advertising, documentaries, and visual arts, equipped with professional-grade waterproof cameras and advanced technology to capture static and dynamic scenes on waterways. We discuss the development and advantages of WaveShot, highlighting its portability, ease of transport, and rapid deployment capabilities. Experimental validation showcasing WaveShot's stability and high-quality video capture in various water conditions, and the integration of monocular depth estimation algorithms to enhance the operator's spatial perception. The paper concludes by exploring WaveShot's real-world applications, its user-friendly remote operation, and future enhancements such as gimbal integration and advanced computer vision for optimized videography on water surfaces.