OpenRaiser/Intern-Atlas huggingface dataset:
Recordism: A social-scientific prospect of blockchain from social, legal, financial, and technological perspectives
Venue: arXiv cs.CY 2023
Year: 2023

Blockchain technology has the potential to revolutionize the architecture of cyberspace by transforming the way information is stored, circulated, and exchanged in cyberspace through decentralization, transparency, and de-identification. This means that ordinary participants can simultaneously become traders, miners, retailers, and customers, thus breaking down barriers, reducing the information gap between participants in the community, and contributing to the futuristic metaverse with an open, progressive, and equal ideology. The impact of this information transformation empowered by blockchain extends to our understanding of methodology, legal governance in cyberspace, and financial and technological development. This study asks: what are the implications of the blockchain-driven information revolution for society and social sciences? In order to answer this main question, the paper focuses on four key perspectives: methodological, legal, financial, and technical. Through the analysis of these four perspectives, the paper provides a comprehensive understanding of the impact of blockchain on society, the social sciences, and technology, making a contribution to current scholarship. It finds that blockchain is not only an innovative cognition method, but also a community representative, serving as a source of trust, a governance watchdog, an enforcer of cyber laws, and an incubator for future technologies. Despite some challenges in integrating blockchain with existing social structures, this paper concludes that blockchain has the potential to play a significant role in shaping the future.
Learning Disentangled Semantic Representations for Zero-Shot Cross-Lingual Transfer in Multilingual Machine Reading Comprehension
Venue: arXiv cs.CL 2023
Year: 2023

Multilingual pre-trained models are able to zero-shot transfer knowledge from rich-resource to low-resource languages in machine reading comprehension (MRC). However, inherent linguistic discrepancies in different languages could make answer spans predicted by zero-shot transfer violate syntactic constraints of the target language. In this paper, we propose a novel multilingual MRC framework equipped with a Siamese Semantic Disentanglement Model (SSDM) to disassociate semantics from syntax in representations learned by multilingual pre-trained models. To explicitly transfer only semantic knowledge to the target language, we propose two groups of losses tailored for semantic and syntactic encoding and disentanglement. Experimental results on three multilingual MRC datasets (i.e., XQuAD, MLQA, and TyDi QA) demonstrate the effectiveness of our proposed approach over models based on mBERT and XLM-100. Code is available at:https://github.com/wulinjuan/SSDM_MRC.
Neural Rendering of Humans in Novel View and Pose from Monocular Video
Venue: arXiv cs.CV 2023
Year: 2023

We introduce a new method that generates photo-realistic humans under novel views and poses given a monocular video as input. Despite the significant progress recently on this topic, with several methods exploring shared canonical neural radiance fields in dynamic scene scenarios, learning a user-controlled model for unseen poses remains a challenging task. To tackle this problem, we introduce an effective method to a) integrate observations across several frames and b) encode the appearance at each individual frame. We accomplish this by utilizing both the human pose that models the body shape as well as point clouds that partially cover the human as input. Our approach simultaneously learns a shared set of latent codes anchored to the human pose among several frames, and an appearance-dependent code anchored to incomplete point clouds generated by each frame and its predicted depth. The former human pose-based code models the shape of the performer whereas the latter point cloud-based code predicts fine-level details and reasons about missing structures at the unseen poses. To further recover non-visible regions in query frames, we employ a temporal transformer to integrate features of points in query frames and tracked body points from automatically-selected key frames. Experiments on various sequences of dynamic humans from different datasets including ZJU-MoCap show that our method significantly outperforms existing approaches under unseen poses and novel views given monocular videos as input.
Optical Proximity Sensing for Pose Estimation During In-Hand Manipulation
Venue: arXiv cs.RO 2023
Year: 2023

During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to detect discriminative geometric object features, but previous sensing modalities are unable to make such measurements robustly. The robot's fingers can occlude the view of environment- or robot-mounted image sensors, and tactile sensors can only measure at the local areas of contact. Motivated by fingertip-embedded proximity sensors' robustness to occlusion and ability to measure beyond the local areas of contact, we present the first evaluation of proximity sensor based pose estimation for in-hand manipulation. We develop a novel two-fingered hand with fingertip-embedded optical time-of-flight proximity sensors as a testbed for pose estimation during planar in-hand manipulation. Here, the in-hand manipulation task consists of the robot moving a cylindrical object from one end of its workspace to the other. We demonstrate, with statistical significance, that proximity-sensor based pose estimation via particle filtering during in-hand manipulation: a) exhibits 50% lower average pose error than a tactile-sensor based baseline; b) empowers a model predictive controller to achieve 30% lower final positioning error compared to when using tactile-sensor based pose estimates.
Robust Active Visual Perching with Quadrotors on Inclined Surfaces
Venue: arXiv cs.RO 2023
Year: 2023

Autonomous Micro Aerial Vehicles are deployed for a variety tasks including surveillance and monitoring. Perching and staring allow the vehicle to monitor targets without flying, saving battery power and increasing the overall mission time without the need to frequently replace batteries. This paper addresses the Active Visual Perching (AVP) control problem to autonomously perch on inclined surfaces up to $90^\circ$. Our approach generates dynamically feasible trajectories to navigate and perch on a desired target location, while taking into account actuator and Field of View (FoV) constraints. By replanning in mid-flight, we take advantage of more accurate target localization increasing the perching maneuver's robustness to target localization or control errors. We leverage the Karush-Kuhn-Tucker (KKT) conditions to identify the compatibility between planning objectives and the visual sensing constraint during the planned maneuver. Furthermore, we experimentally identify the corresponding boundary conditions that maximizes the spatio-temporal target visibility during the perching maneuver. The proposed approach works on-board in real-time with significant computational constraints relying exclusively on cameras and an Inertial Measurement Unit (IMU). Experimental results validate the proposed approach and shows the higher success rate as well as increased target interception precision and accuracy with respect to a one-shot planning approach, while still retaining aggressive capabilities with flight envelopes that include large excursions from the hover position on inclined surfaces up to 90$^\circ$, angular speeds up to 750~deg/s, and accelerations up to 10~m/s$^2$.
Maintaining Expander Decompositions via Sparse Cuts
Venue: arXiv cs.DS 2023
Year: 2023

In this article, we show that the algorithm of maintaining expander decompositions in graphs undergoing edge deletions directly by removing sparse cuts repeatedly can be made efficient. Formally, for an $m$-edge undirected graph $G$, we say a cut $(S, \overline{S})$ is $ϕ$-sparse if $|E_G(S, \overline{S})| < ϕ\cdot \min\{vol_G(S), vol_G(\overline{S})\}$. A $ϕ$-expander decomposition of $G$ is a partition of $V$ into sets $X_1, X_2, \ldots, X_k$ such that each cluster $G[X_i]$ contains no $ϕ$-sparse cut (meaning it is a $ϕ$-expander) with $\tilde{O}(ϕm)$ edges crossing between clusters. A natural way to compute a $ϕ$-expander decomposition is to decompose clusters by $ϕ$-sparse cuts until no such cut is contained in any cluster. We show that even in graphs undergoing edge deletions, a slight relaxation of this meta-algorithm can be implemented efficiently with amortized update time $m^{o(1)}/ϕ^2$. Our approach naturally extends to maintaining directed $ϕ$-expander decompositions and $ϕ$-expander hierarchies and thus gives a unifying framework while having simpler proofs than previous state-of-the-art work. In all settings, our algorithm matches the run-times of previous algorithms up to subpolynomial factors. Moreover, our algorithm provides stronger guarantees for $ϕ$-expander decompositions. For example, for graphs undergoing edge deletions, our approach is the first to maintain a dynamic expander decomposition where each updated decomposition is a refinement of the previous decomposition, and our approach is the first to guarantee a sublinear $ϕm^{1+o(1)}$ bound on the total number of edges that cross between clusters across the entire sequence of dynamic updates.
S-R2F2U-Net: A single-stage model for teeth segmentation
Venue: arXiv cs.CV 2023
Year: 2023

Precision tooth segmentation is crucial in the oral sector because it provides location information for orthodontic therapy, clinical diagnosis, and surgical treatments. In this paper, we investigate residual, recurrent, and attention networks to segment teeth from panoramic dental images. Based on our findings, we suggest three single-stage models: Single Recurrent R2U-Net (S-R2U-Net), Single Recurrent Filter Double R2U-Net (S-R2F2U-Net), and Single Recurrent Attention Enabled Filter Double (S-R2F2-Attn-U-Net). Particularly, S-R2F2U-Net outperforms state-of-the-art models in terms of accuracy and dice score. A hybrid loss function combining the cross-entropy loss and dice loss is used to train the model. In addition, it reduces around 45% of model parameters compared to the R2U-Net model. Models are trained and evaluated on a benchmark dataset containing 1500 dental panoramic X-ray images. S-R2F2U-Net achieves 97.31% of accuracy and 93.26% of dice score, showing superiority over the state-of-the-art methods. Codes are available at https://github.com/mrinal054/teethSeg_sr2f2u-net.git.
Deep learning-based approach to reveal tumor mutational burden status from whole slide images across multiple cancer types
Venue: arXiv cs.CV 2023
Year: 2023

Tumor mutational burden (TMB) is a potential genomic biomarker of immunotherapy. However, TMB detected through whole exome sequencing lacks clinical penetration in low-resource settings. In this study, we proposed a multi-scale deep learning framework to address the detection of TMB status from routinely used whole slide images for a multiple cancer TMB prediction model (MC- TMB). The MC-TMB achieved a mean area under the curve (AUC) of 0.818 (0.804-0.831) in the cross-validation cohort, which showed superior performance to each single-scale model. The improvements of MC-TMB over the single-tumor models were also confirmed by the ablation tests on x10 magnification, and the highly concerned regions typically correspond to dense lymphocytic infiltration and heteromorphic tumor cells. MC-TMB algorithm also exhibited good generalization on the external validation cohort with an AUC of 0.732 (0.683-0.761), and better performance when compared to other methods. In conclusion, we proposed a deep learning-based approach to reveal tumor mutational burden status from routinely used pathological slides across multiple cancer types.
Abstracting Noisy Robot Programs
Venue: arXiv cs.AI 2023
Year: 2023

Abstraction is a commonly used process to represent some low-level system by a more coarse specification with the goal to omit unnecessary details while preserving important aspects. While recent work on abstraction in the situation calculus has focused on non-probabilistic domains, we describe an approach to abstraction of probabilistic and dynamic systems. Based on a variant of the situation calculus with probabilistic belief, we define a notion of bisimulation that allows to abstract a detailed probabilistic basic action theory with noisy actuators and sensors by a possibly non-stochastic basic action theory. By doing so, we obtain abstract Golog programs that omit unnecessary details and which can be translated back to a detailed program for actual execution. This simplifies the implementation of noisy robot programs, opens up the possibility of using non-stochastic reasoning methods (e.g., planning) on probabilistic problems, and provides domain descriptions that are more easily understandable and explainable.
Updating Industrial Robots for Emerging Technologies
Venue: arXiv cs.RO 2023
Year: 2023

Industrial arms need to evolve beyond their standard shape to embrace new and emerging technologies. In this paper, we shall first perform an analysis of four popular but different modern industrial robot arms. By seeing the common trends we will try to extrapolate and expand these trends for the future. Here, particular focus will be on interaction based on augmented reality (AR) through head-mounted displays (HMD), but also through smartphones. Long-term human-robot interaction and personalization of said interaction will also be considered. The use of AR in human-robot interaction has proven to enhance communication and information exchange. A basic addition to industrial arm design would be the integration of QR markers on the robot, both for accessing information and adding tracking capabilities to more easily display AR overlays. In a recent example of information access, Mercedes Benz added QR markers on their cars to help rescue workers estimate the best places to cut and evacuate people after car crashes. One has also to deal with safety in an environment that will be more and more about collaboration. The QR markers can therefore be combined with RF-based ranging modules, developed in the EU-project SafeLog, that can be used both for safety as well as for tracking of human positions while in close proximity interactions with the industrial arms. The industrial arms of the future should also be intuitive to program and interact with. This would be achieved through AR and head mounted displays as well as the already mentioned RF-based person tracking. Finally, a more personalized interaction between the robots and humans can be achieved through life-long learning AI and disembodied, personalized agents. We propose a design that not only exists in the physical world, but also partly in the digital world of mixed reality.
Testing the limits of natural language models for predicting human language judgments
Venue: arXiv cs.CL 2023
Year: 2023

Neural network language models can serve as computational hypotheses about how humans process language. We compared the model-human consistency of diverse language models using a novel experimental approach: controversial sentence pairs. For each controversial sentence pair, two language models disagree about which sentence is more likely to occur in natural text. Considering nine language models (including n-gram, recurrent neural networks, and transformer models), we created hundreds of such controversial sentence pairs by either selecting sentences from a corpus or synthetically optimizing sentence pairs to be highly controversial. Human subjects then provided judgments indicating for each pair which of the two sentences is more likely. Controversial sentence pairs proved highly effective at revealing model failures and identifying models that aligned most closely with human judgments. The most human-consistent model tested was GPT-2, although experiments also revealed significant shortcomings of its alignment with human perception.
Broadening AI Ethics Narratives: An Indic Art View
Venue: arXiv cs.CY 2023
Year: 2023

Incorporating interdisciplinary perspectives is seen as an essential step towards enhancing artificial intelligence (AI) ethics. In this regard, the field of arts is perceived to play a key role in elucidating diverse historical and cultural narratives, serving as a bridge across research communities. Most of the works that examine the interplay between the field of arts and AI ethics concern digital artworks, largely exploring the potential of computational tools in being able to surface biases in AI systems. In this paper, we investigate a complementary direction--that of uncovering the unique socio-cultural perspectives embedded in human-made art, which in turn, can be valuable in expanding the horizon of AI ethics. Through semi-structured interviews across sixteen artists, art scholars, and researchers of diverse Indian art forms like music, sculpture, painting, floor drawings, dance, etc., we explore how {\it non-Western} ethical abstractions, methods of learning, and participatory practices observed in Indian arts, one of the most ancient yet perpetual and influential art traditions, can shed light on aspects related to ethical AI systems. Through a case study concerning the Indian dance system (i.e. the {\it `Natyashastra'}), we analyze potential pathways towards enhancing ethics in AI systems. Insights from our study outline the need for (1) incorporating empathy in ethical AI algorithms, (2) integrating multimodal data formats for ethical AI system design and development, (3) viewing AI ethics as a dynamic, diverse, cumulative, and shared process rather than as a static, self-contained framework to facilitate adaptability without annihilation of values (4) consistent life-long learning to enhance AI accountability
Contrastive Demonstration Tuning for Pre-trained Language Models
Venue: arXiv cs.CL 2023
Year: 2023

Pretrained language models can be effectively stimulated by textual prompts or demonstrations, especially in low-data scenarios. Recent works have focused on automatically searching discrete or continuous prompts or optimized verbalizers, yet studies for the demonstration are still limited. Concretely, the demonstration examples are crucial for an excellent final performance of prompt-tuning. In this paper, we propose a novel pluggable, extensible, and efficient approach named contrastive demonstration tuning, which is free of demonstration sampling. Furthermore, the proposed approach can be: (i) Plugged into any previous prompt-tuning approaches; (ii) Extended to widespread classification tasks with a large number of categories. Experimental results on 16 datasets illustrate that our method integrated with previous approaches LM-BFF and P-tuning can yield better performance. Code is available in https://github.com/zjunlp/PromptKG/tree/main/research/Demo-Tuning.
A Spiking Neural Network Structure Implementing Reinforcement Learning
Venue: arXiv cs.NE 2023
Year: 2023

At present, implementation of learning mechanisms in spiking neural networks (SNN) cannot be considered as a solved scientific problem despite plenty of SNN learning algorithms proposed. It is also true for SNN implementation of reinforcement learning (RL), while RL is especially important for SNNs because of its close relationship to the domains most promising from the viewpoint of SNN application such as robotics. In the present paper, I describe an SNN structure which, seemingly, can be used in wide range of RL tasks. The distinctive feature of my approach is usage of only the spike forms of all signals involved - sensory input streams, output signals sent to actuators and reward/punishment signals. Besides that, selecting the neuron/plasticity models, I was guided by the requirement that they should be easily implemented on modern neurochips. The SNN structure considered in the paper includes spiking neurons described by a generalization of the LIFAT (leaky integrate-and-fire neuron with adaptive threshold) model and a simple spike timing dependent synaptic plasticity model (a generalization of dopamine-modulated plasticity). My concept is based on very general assumptions about RL task characteristics and has no visible limitations on its applicability. To test it, I selected a simple but non-trivial task of training the network to keep a chaotically moving light spot in the view field of an emulated DVS camera. Successful solution of this RL problem by the SNN described can be considered as evidence in favor of efficiency of my approach.
A Fully Polynomial Time Approximation Scheme for Constrained MDPs and Stochastic Shortest Path under Local Transitions
Venue: arXiv cs.AI 2023
Year: 2023

The fixed-horizon constrained Markov Decision Process (C-MDP) is a well-known model for planning in stochastic environments under operating constraints. Chance-Constrained MDP (CC-MDP) is a variant that allows bounding the probability of constraint violation, which is desired in many safety-critical applications. CC-MDP can also model a class of MDPs, called Stochastic Shortest Path (SSP), under dead-ends, where there is a trade-off between the probability-to-goal and cost-to-goal. This work studies the structure of (C)C-MDP, particularly an important variant that involves local transition. In this variant, the state reachability exhibits a certain degree of locality and independence from the remaining states. More precisely, the number of states, at a given time, that share some reachable future states is always constant. (C)C-MDP under local transition is NP-Hard even for a planning horizon of two. In this work, we propose a fully polynomial-time approximation scheme for (C)C-MDP that computes (near) optimal deterministic policies. Such an algorithm is among the best approximation algorithm attainable in theory and gives insights into the approximability of constrained MDP and its variants.
Learning Implicit Priors for Motion Optimization
Venue: arXiv cs.RO 2023
Year: 2023

In this paper, we focus on the problem of integrating Energy-based Models (EBM) as guiding priors for motion optimization. EBMs are a set of neural networks that can represent expressive probability density distributions in terms of a Gibbs distribution parameterized by a suitable energy function. Due to their implicit nature, they can easily be integrated as optimization factors or as initial sampling distributions in the motion optimization problem, making them good candidates to integrate data-driven priors in the motion optimization problem. In this work, we present a set of required modeling and algorithmic choices to adapt EBMs into motion optimization. We investigate the benefit of including additional regularizers in the learning of the EBMs to use them with gradient-based optimizers and we present a set of EBM architectures to learn generalizable distributions for manipulation tasks. We present multiple cases in which the EBM could be integrated for motion optimization and evaluate the performance of learned EBMs as guiding priors for both simulated and real robot experiments.