OpenRaiser/Intern-Atlas huggingface dataset:
Fast and Accurate Relative Motion Tracking for Dual Industrial Robots
Venue: arXiv cs.RO 2024
Year: 2024

Industrial robotic applications such as spraying, welding, and additive manufacturing frequently require fast, accurate, and uniform motion along a 3D spatial curve. To increase process throughput, some manufacturers propose a dual-robot setup to overcome the speed limitation of a single robot. Industrial robot motion is programmed through waypoints connected by motion primitives (Cartesian linear and circular paths and linear joint paths at constant Cartesian speed). The actual robot motion is affected by the blending between these motion primitives and the pose of the robot (an outstretched/near-singularity pose tends to have larger path tracking errors). Choosing the waypoints and the speed along each motion segment to achieve the performance requirement is challenging. At present, there is no automated solution, and laborious manual tuning by robot experts is needed to approach the desired performance. In this paper, we present a systematic three-step approach to designing and programming a dual robot system to optimize system performance. The first step is to select the relative placement between the two robots based on the specified relative motion path. The second step is to select the relative waypoints and the motion primitives. The final step is to update the waypoints iteratively based on the actual measured relative motion. Waypoint iteration is first executed in simulation and then completed using the actual robots. For performance assessment, we use the mean path speed subject to the relative position and orientation constraints and the path speed uniformity constraint. We have demonstrated the effectiveness of this method on two systems, a physical testbed of two ABB robots and a simulation testbed of two FANUC robots, for two challenging test curves.
Scaling Multi-Camera 3D Object Detection through Weak-to-Strong Eliciting
Venue: arXiv cs.CV 2024
Year: 2024

The emergence of Multi-Camera 3D Object Detection (MC3D-Det), facilitated by bird's-eye view (BEV) representation, signifies a notable progression in 3D object detection. Scaling MC3D-Det training effectively accommodates varied camera parameters and urban landscapes, paving the way for the MC3D-Det foundation model. However, the multi-view fusion stage of the MC3D-Det method relies on the ill-posed monocular perception during training rather than surround refinement ability, leading to what we term "surround refinement degradation". To this end, our study presents a weak-to-strong eliciting framework aimed at enhancing surround refinement while maintaining robust monocular perception. Specifically, our framework employs weakly tuned experts trained on distinct subsets, and each is inherently biased toward specific camera configurations and scenarios. These biased experts can learn the perception of monocular degeneration, which can help the multi-view fusion stage to enhance surround refinement abilities. Moreover, a composite distillation strategy is proposed to integrate the universal knowledge of 2D foundation models and task-specific information. Finally, for MC3D-Det joint training, the elaborate dataset merge strategy is designed to solve the problem of inconsistent camera numbers and camera parameters. We set up a multiple dataset joint training benchmark for MC3D-Det and adequately evaluated existing methods. Further, we demonstrate the proposed framework brings a generalized and significant boost over multiple baselines. Our code is at \url{https://github.com/EnVision-Research/Scale-BEV}.
Algorithms and Analysis for Optimizing Robust Objectives in Fair Machine Learning
Venue: arXiv cs.GT 2024
Year: 2024

The original position or veil of ignorance argument of John Rawls, perhaps the most famous argument for egalitarianism, states that our concept of fairness, justice, or welfare should be decided from behind a veil of ignorance, and thus must consider everyone impartially (invariant to our identity). This can be posed as a zero-sum game, where a Daemon constructs a world, and an adversarial Angel then places the Daemon into the world. This game incentivizes the Daemon to maximize the minimum utility over all people (i.e., to maximize egalitarian welfare). In some sense, this is the most extreme form of risk aversion or robustness, and we show that by weakening the Angel, milder robust objectives arise, which we argue are effective robust proxies for fair learning or allocation tasks. In particular, the utilitarian, Gini, and power-mean welfare concepts arise from special cases of the adversarial game, which has philosophical implications for the understanding of each of these concepts. We also motivate a new fairness concept that essentially fuses the nonlinearity of the power-mean with the piecewise nature of the Gini class. Then, exploiting the relationship between fairness and robustness, we show that these robust fairness concepts can all be efficiently optimized under mild conditions via standard maximin optimization techniques. Finally, we show that such methods apply in machine learning contexts, and moreover we show generalization bounds for robust fair machine learning tasks.
Racial/Ethnic Categories in AI and Algorithmic Fairness: Why They Matter and What They Represent
Venue: arXiv cs.CY 2024
Year: 2024

Racial diversity has become increasingly discussed within the AI and algorithmic fairness literature, yet little attention is focused on justifying the choices of racial categories and understanding how people are racialized into these chosen racial categories. Even less attention is given to how racial categories shift and how the racialization process changes depending on the context of a dataset or model. An unclear understanding of \textit{who} comprises the racial categories chosen and \textit{how} people are racialized into these categories can lead to varying interpretations of these categories. These varying interpretations can lead to harm when the understanding of racial categories and the racialization process is misaligned from the actual racialization process and racial categories used. Harm can also arise if the racialization process and racial categories used are irrelevant or do not exist in the context they are applied. In this paper, we make two contributions. First, we demonstrate how racial categories with unclear assumptions and little justification can lead to varying datasets that poorly represent groups obfuscated or unrepresented by the given racial categories and models that perform poorly on these groups. Second, we develop a framework, CIRCSheets, for documenting the choices and assumptions in choosing racial categories and the process of racialization into these categories to facilitate transparency in understanding the processes and assumptions made by dataset or model developers when selecting or using these racial categories.
A Data Efficient Framework for Learning Local Heuristics
Venue: arXiv cs.RO 2024
Year: 2024

With the advent of machine learning, there have been several recent attempts to learn effective and generalizable heuristics. Local Heuristic A* (LoHA*) is one recent method that instead of learning the entire heuristic estimate, learns a "local" residual heuristic that estimates the cost to escape a region (Veerapaneni et al 2023). LoHA*, like other supervised learning methods, collects a dataset of target values by querying an oracle on many planning problems (in this case, local planning problems). This data collection process can become slow as the size of the local region increases or if the domain requires expensive collision checks. Our main insight is that when an A* search solves a start-goal planning problem it inherently ends up solving multiple local planning problems. We exploit this observation to propose an efficient data collection framework that does <1/10th the amount of work (measured by expansions) to collect the same amount of data in comparison to baselines. This idea also enables us to run LoHA* in an online manner where we can iteratively collect data and improve our model while solving relevant start-goal tasks. We demonstrate the performance of our data collection and online framework on a 4D $(x, y, θ, v)$ navigation domain.
YOLO based Ocean Eddy Localization with AWS SageMaker
Venue: arXiv cs.CV 2024
Year: 2024

Ocean eddies play a significant role both on the sea surface and beneath it, contributing to the sustainability of marine life dependent on oceanic behaviors. Therefore, it is crucial to investigate ocean eddies to monitor changes in the Earth, particularly in the oceans, and their impact on climate. This study aims to pinpoint ocean eddies using AWS cloud services, specifically SageMaker. The primary objective is to detect small-scale (<20km) ocean eddies from satellite remote images and assess the feasibility of utilizing SageMaker, which offers tools for deploying AI applications. Moreover, this research not only explores the deployment of cloud-based services for remote sensing of Earth data but also evaluates several YOLO (You Only Look Once) models using single and multi-GPU-based services in the cloud. Furthermore, this study underscores the potential of these services, their limitations, challenges related to deployment and resource management, and their user-riendliness for Earth science projects.
MonoSelfRecon: Purely Self-Supervised Explicit Generalizable 3D Reconstruction of Indoor Scenes from Monocular RGB Views
Venue: arXiv cs.CV 2024
Year: 2024

Current monocular 3D scene reconstruction (3DR) works are either fully-supervised, or not generalizable, or implicit in 3D representation. We propose a novel framework - MonoSelfRecon that for the first time achieves explicit 3D mesh reconstruction for generalizable indoor scenes with monocular RGB views by purely self-supervision on voxel-SDF (signed distance function). MonoSelfRecon follows an Autoencoder-based architecture, decodes voxel-SDF and a generalizable Neural Radiance Field (NeRF), which is used to guide voxel-SDF in self-supervision. We propose novel self-supervised losses, which not only support pure self-supervision, but can be used together with supervised signals to further boost supervised training. Our experiments show that "MonoSelfRecon" trained in pure self-supervision outperforms current best self-supervised indoor depth estimation models and is comparable to 3DR models trained in fully supervision with depth annotations. MonoSelfRecon is not restricted by specific model design, which can be used to any models with voxel-SDF for purely self-supervised manner.
Logit Calibration and Feature Contrast for Robust Federated Learning on Non-IID Data
Venue: arXiv cs.LG 2024
Year: 2024

Federated learning (FL) is a privacy-preserving distributed framework for collaborative model training on devices in edge networks. However, challenges arise due to vulnerability to adversarial examples (AEs) and the non-independent and identically distributed (non-IID) nature of data distribution among devices, hindering the deployment of adversarially robust and accurate learning models at the edge. While adversarial training (AT) is commonly acknowledged as an effective defense strategy against adversarial attacks in centralized training, we shed light on the adverse effects of directly applying AT in FL that can severely compromise accuracy, especially in non-IID challenges. Given this limitation, this paper proposes FatCC, which incorporates local logit \underline{C}alibration and global feature \underline{C}ontrast into the vanilla federated adversarial training (\underline{FAT}) process from both logit and feature perspectives. This approach can effectively enhance the federated system's robust accuracy (RA) and clean accuracy (CA). First, we propose logit calibration, where the logits are calibrated during local adversarial updates, thereby improving adversarial robustness. Second, FatCC introduces feature contrast, which involves a global alignment term that aligns each local representation with unbiased global features, thus further enhancing robustness and accuracy in federated adversarial environments. Extensive experiments across multiple datasets demonstrate that FatCC achieves comparable or superior performance gains in both CA and RA compared to other baselines.
SleepPPG-Net2: Deep learning generalization for sleep staging from photoplethysmography
Venue: arXiv cs.LG 2024
Year: 2024

Background: Sleep staging is a fundamental component in the diagnosis of sleep disorders and the management of sleep health. Traditionally, this analysis is conducted in clinical settings and involves a time-consuming scoring procedure. Recent data-driven algorithms for sleep staging, using the photoplethysmogram (PPG) time series, have shown high performance on local test sets but lower performance on external datasets due to data drift. Methods: This study aimed to develop a generalizable deep learning model for the task of four class (wake, light, deep, and rapid eye movement (REM)) sleep staging from raw PPG physiological time-series. Six sleep datasets, totaling 2,574 patients recordings, were used. In order to create a more generalizable representation, we developed and evaluated a deep learning model called SleepPPG-Net2, which employs a multi-source domain training approach.SleepPPG-Net2 was benchmarked against two state-of-the-art models. Results: SleepPPG-Net2 showed consistently higher performance over benchmark approaches, with generalization performance (Cohen's kappa) improving by up to 19%. Performance disparities were observed in relation to age, sex, and sleep apnea severity. Conclusion: SleepPPG-Net2 sets a new standard for staging sleep from raw PPG time-series.
Demand Private Coded Caching: the Two-File Case
Venue: arXiv cs.IT 2024
Year: 2024

We investigate the demand private coded caching problem, which is an $(N,K)$ coded caching problem with $N$ files, $K$ users, each equipped with a cache of size $M$, and an additional privacy constraint on user demands. We first present a new virtual-user-based achievable scheme for arbitrary number of users and files. Then, for the case of 2 files and arbitrary number of users, we derive some new converse bounds. As a result, we obtain the exact memory-rate tradeoff of the demand private coded caching problem for 2 files and 3 users. As for the case of 2 files and arbitrary number of users, the exact memory-rate tradeoff is characterized for $M\in [0,\frac{2}{K}] \cup [\frac{2(K-1)}{K+1},2]$.
GraSAME: Injecting Token-Level Structural Information to Pretrained Language Models via Graph-guided Self-Attention Mechanism
Venue: arXiv cs.CL 2024
Year: 2024

Pretrained Language Models (PLMs) benefit from external knowledge stored in graph structures for various downstream tasks. However, bridging the modality gap between graph structures and text remains a significant challenge. Traditional methods like linearizing graphs for PLMs lose vital graph connectivity, whereas Graph Neural Networks (GNNs) require cumbersome processes for integration into PLMs. In this work, we propose a novel graph-guided self-attention mechanism, GraSAME. GraSAME seamlessly incorporates token-level structural information into PLMs without necessitating additional alignment or concatenation efforts. As an end-to-end, lightweight multimodal module, GraSAME follows a multi-task learning strategy and effectively bridges the gap between graph and textual modalities, facilitating dynamic interactions between GNNs and PLMs. Our experiments on the graph-to-text generation task demonstrate that GraSAME outperforms baseline models and achieves results comparable to state-of-the-art (SOTA) models on WebNLG datasets. Furthermore, compared to SOTA models, GraSAME eliminates the need for extra pre-training tasks to adjust graph inputs and reduces the number of trainable parameters by over 100 million.
Perfectly Secure Key Agreement Over a Full Duplex Wireless Channel
Venue: arXiv cs.IT 2024
Year: 2024

Secret key generation (SKG) between authenticated devices is a pivotal task for secure communications. Diffie-Hellman (DH) is de-facto standard but not post-quantum secure. In this paper, we shall invent and analyze a new security primitive that is specifically designed for WPAN. For WPAN, wireless channel-based SKG has been proposed but was not widely deployed due to its critical dependence on the channel's entropy which is uncontrollable. We formulate a different approach: We still exploit channel properties but mainly hinge on the reciprocity of the wireless channel and not on the channel's entropy. The radio advantage comes from the use of full duplex communication. We show that in this situation both legitimate parties can agree on a common secret key even without ever probing the channel at all. At the core is a new bisparse blind deconvolution scheme for which we prove correctness and information-theoretic, i.e. perfect, security. We show that, ultimately, a secret key can be extracted and give a lower bound for the number of secret key bits which is then verified by experiments.
V-MAD: Video-based Morphing Attack Detection in Operational Scenarios
Venue: arXiv cs.CV 2024
Year: 2024

In response to the rising threat of the face morphing attack, this paper introduces and explores the potential of Video-based Morphing Attack Detection (V-MAD) systems in real-world operational scenarios. While current morphing attack detection methods primarily focus on a single or a pair of images, V-MAD is based on video sequences, exploiting the video streams often acquired by face verification tools available, for instance, at airport gates. Through this study, we show for the first time the advantages that the availability of multiple probe frames can bring to the morphing attack detection task, especially in scenarios where the quality of probe images is varied and might be affected, for instance, by pose or illumination variations. Experimental results on a real operational database demonstrate that video sequences represent valuable information for increasing the robustness and performance of morphing attack detection systems.
On Fixing the Right Problems in Predictive Analytics: AUC Is Not the Problem
Venue: arXiv cs.LG 2024
Year: 2024

Recently, ACM FAccT published an article by Kwegyir-Aggrey and colleagues (2023), critiquing the use of AUC ROC in predictive analytics in several domains. In this article, we offer a critique of that article. Specifically, we highlight technical inaccuracies in that paper's comparison of metrics, mis-specification of the interpretation and goals of AUC ROC, the article's use of the accuracy metric as a gold standard for comparison to AUC ROC, and the article's application of critiques solely to AUC ROC for concerns that would apply to the use of any metric. We conclude with a re-framing of the very valid concerns raised in that article, and discuss how the use of AUC ROC can remain a valid and appropriate practice in a well-informed predictive analytics approach taking those concerns into account. We conclude by discussing the combined use of multiple metrics, including machine learning bias metrics, and AUC ROC's place in such an approach. Like broccoli, AUC ROC is healthy, but also like broccoli, researchers and practitioners in our field shouldn't eat a diet of only AUC ROC.
XNLIeu: a dataset for cross-lingual NLI in Basque
Venue: arXiv cs.CL 2024
Year: 2024

XNLI is a popular Natural Language Inference (NLI) benchmark widely used to evaluate cross-lingual Natural Language Understanding (NLU) capabilities across languages. In this paper, we expand XNLI to include Basque, a low-resource language that can greatly benefit from transfer-learning approaches. The new dataset, dubbed XNLIeu, has been developed by first machine-translating the English XNLI corpus into Basque, followed by a manual post-edition step. We have conducted a series of experiments using mono- and multilingual LLMs to assess a) the effect of professional post-edition on the MT system; b) the best cross-lingual strategy for NLI in Basque; and c) whether the choice of the best cross-lingual strategy is influenced by the fact that the dataset is built by translation. The results show that post-edition is necessary and that the translate-train cross-lingual strategy obtains better results overall, although the gain is lower when tested in a dataset that has been built natively from scratch. Our code and datasets are publicly available under open licenses.
An adaptive acceleration scheme for phase-field fatigue computations
Venue: arXiv cs.CE 2024
Year: 2024

Phase-field models of fatigue are capable of reproducing the main phenomenology of fatigue behavior. However, phase-field computations in the high-cycle fatigue regime are prohibitively expensive, due to the need to resolve spatially the small length scale inherent to phase-field models and temporally the loading history for several millions of cycles. As a remedy, we propose a fully adaptive acceleration scheme based on the cycle jump technique, where the cycle-by-cycle resolution of an appropriately determined number of cycles is skipped while predicting the local system evolution during the jump. The novelty of our approach is a cycle-jump criterion to determine the appropriate cycle-jump size based on a target increment of a global variable which monitors the advancement of fatigue. We propose the definition and meaning of this variable for three general stages of the fatigue life. In comparison to existing acceleration techniques, our approach needs no parameters and bounds for the cycle-jump size, and it works independently of the material, specimen or loading conditions. Since one of the monitoring variables is the fatigue crack length, we introduce an accurate, flexible and efficient method for its computation, which overcomes the issues of conventional crack tip tracking algorithms and enables the consideration of several cracks evolving at the same time. The performance of the proposed acceleration scheme is demonstrated with representative numerical examples, which show a speedup reaching four orders of magnitude in the high-cycle fatigue regime with consistently high accuracy.
Linked open data per la valorizzazione di collezioni culturali: il dataset mythLOD
Venue: arXiv cs.DL 2024
Year: 2024

The formal representation of cultural metadata has always been a challenge, considering both the heterogeneity of cultural objects and the need to document the interpretive act exercised by experts. This article provides an overview of the revalorization of the digital collection Mythologiae in Linked Open Data format. The research aims to explore the data of a collection of artworks (Mythologiae) by promoting the potential of the Semantic Web, focusing particularly on the formal representation of the association of cultural objects with literary sources, as realized by experts, also documenting their interpretations. The workflow consisted of defining the data model, cleaning and disambiguating the data, converting it (from tabular structure to graph), and conducting testing activities (particularly expert domain review of the dataset through competency questions and data visualizations). The result is the mythLOD platform, which presents the dataset and detailed research documentation. Additionally, the platform hosts two data visualization spaces (the online catalogue and a data storytelling experiment on the case study of the Aeneid) that enrich the project documentation as user-friendly test units for the dataset and constitute an additional project documentation tool and exploration of the collection.