OpenRaiser/Intern-Atlas huggingface dataset:
Asynchronous Multi-Agent Reinforcement Learning for Efficient Real-Time Multi-Robot Cooperative Exploration
Venue: arXiv cs.RO 2023
Year: 2023

We consider the problem of cooperative exploration where multiple robots need to cooperatively explore an unknown region as fast as possible. Multi-agent reinforcement learning (MARL) has recently become a trending paradigm for solving this challenge. However, existing MARL-based methods adopt action-making steps as the metric for exploration efficiency by assuming all the agents are acting in a fully synchronous manner: i.e., every single agent produces an action simultaneously and every single action is executed instantaneously at each time step. Despite its mathematical simplicity, such a synchronous MARL formulation can be problematic for real-world robotic applications. It can be typical that different robots may take slightly different wall-clock times to accomplish an atomic action or even periodically get lost due to hardware issues. Simply waiting for every robot being ready for the next action can be particularly time-inefficient. Therefore, we propose an asynchronous MARL solution, Asynchronous Coordination Explorer (ACE), to tackle this real-world challenge. We first extend a classical MARL algorithm, multi-agent PPO (MAPPO), to the asynchronous setting and additionally apply action-delay randomization to enforce the learned policy to generalize better to varying action delays in the real world. Moreover, each navigation agent is represented as a team-size-invariant CNN-based policy, which greatly benefits real-robot deployment by handling possible robot lost and allows bandwidth-efficient intra-agent communication through low-dimensional CNN features. We first validate our approach in a grid-based scenario. Both simulation and real-robot results show that ACE reduces over 10% actual exploration time compared with classical approaches. We also apply our framework to a high-fidelity visual-based environment, Habitat, achieving 28% improvement in exploration efficiency.
On Advantages of Mask-level Recognition for Outlier-aware Segmentation
Venue: arXiv cs.CV 2023
Year: 2023

Most dense recognition approaches bring a separate decision in each particular pixel. These approaches deliver competitive performance in usual closed-set setups. However, important applications in the wild typically require strong performance in presence of outliers. We show that this demanding setup greatly benefit from mask-level predictions, even in the case of non-finetuned baseline models. Moreover, we propose an alternative formulation of dense recognition uncertainty that effectively reduces false positive responses at semantic borders. The proposed formulation produces a further improvement over a very strong baseline and sets the new state of the art in outlier-aware semantic segmentation with and without training on negative data. Our contributions also lead to performance improvement in a recent panoptic setup. In-depth experiments confirm that our approach succeeds due to implicit aggregation of pixel-level cues into mask-level predictions.
Digraph redicolouring
Venue: arXiv cs.DM 2023
Year: 2023

Given two $k$-dicolourings of a digraph $D$, we prove that it is PSPACE-complete to decide whether we can transform one into the other by recolouring one vertex at each step while maintaining a dicolouring at any step even for $k=2$ and for digraphs with maximum degree $5$ or oriented planar graphs with maximum degree $6$. A digraph is said to be $k$-mixing if there exists a transformation between any pair of $k$-colourings. We show that every digraph $D$ is $k$-mixing for all $k\geq δ^*_{\min}(D)+2$, generalizing a result due to Dyer et al. We also prove that every oriented graph $\vec{G}$ is $k$-mixing for all $k\geq δ^*_{\max}(\vec{G}) +1$ and for all $k\geq δ^*_{\rm avg}(\vec{G})+1$. We conjecture that, for every digraph $D$, the dicolouring graph of $D$ on $k\geq δ_{\min}^*(D)+2$ colours has diameter at most $O(|V(D)|^2)$ and give some evidences. We first prove that the dicolouring graph of any digraph $D$ on $k\geq 2δ_{\min}^*(D) + 2$ colours has linear diameter, extending a result from Bousquet and Perarnau. We also prove that the conjecture is true when $k\geq \frac{3}{2}(δ_{\min}^*(D)+1)$. Restricted to the special case of oriented graphs, we prove that the dicolouring graph of any subcubic oriented graph on $k\geq 2$ colours is connected and has diameter at most $2n$. We conjecture that every non $2$-mixing oriented graph has maximum average degree at least $4$, and we provide some support for this conjecture by proving it on the special case of $2$-freezable oriented graphs. More generally, we show that every $k$-freezable oriented graph on $n$ vertices must contain at least $kn + k(k-2)$ arcs, and we give a family of $k$-freezable oriented graphs that reach this bound. In the general case, we prove as a partial result that every non $2$-mixing oriented graph has maximum average degree at least $\frac{7}{2}$.
Making Sense of Failure Logs in an Industrial DevOps Environment
Venue: arXiv cs.SE 2023
Year: 2023

Processing and reviewing nightly test execution failure logs for large industrial systems is a tedious activity. Furthermore, multiple failures might share one root/common cause during test execution sessions, and the review might therefore require redundant efforts. This paper presents the LogGrouper approach for automated grouping of failure logs to aid root/common cause analysis and for enabling the processing of each log group as a batch. LogGrouper uses state-of-art natural language processing and clustering approaches to achieve meaningful log grouping. The approach is evaluated in an industrial setting in both a qualitative and quantitative manner. Results show that LogGrouper produces good quality groupings in terms of our two evaluation metrics (Silhouette Coefficient and Calinski-Harabasz Index) for clustering quality. The qualitative evaluation shows that experts perceive the groups as useful, and the groups are seen as an initial pointer for root cause analysis and failure assignment.
Unveiling and Mitigating Bias in Ride-Hailing Pricing for Equitable Policy Making
Venue: arXiv cs.CY 2023
Year: 2023

Ride-hailing services have skyrocketed in popularity due to the convenience they offer, but recent research has shown that their pricing strategies can have a disparate impact on some riders, such as those living in disadvantaged neighborhoods with a greater share of residents of color or residents below the poverty line. Since these communities tend to be more dependent on ride-hailing services due to lack of adequate public transportation, it is imperative to address this inequity. To this end, this paper presents the first thorough study on fair pricing for ride-hailing services by devising applicable fairness measures and corresponding fair pricing mechanisms. By providing discounts that may be subsidized by the government, our approach results in an increased number and more affordable rides for the disadvantaged community. Experiments on real-world Chicago taxi data confirm our theoretical findings which provide a basis for the government to establish fair ride-hailing policies.
On the challenges to learn from Natural Data Streams
Venue: arXiv cs.CV 2023
Year: 2023

In real-world contexts, sometimes data are available in form of Natural Data Streams, i.e. data characterized by a streaming nature, unbalanced distribution, data drift over a long time frame and strong correlation of samples in short time ranges. Moreover, a clear separation between the traditional training and deployment phases is usually lacking. This data organization and fruition represents an interesting and challenging scenario for both traditional Machine and Deep Learning algorithms and incremental learning agents, i.e. agents that have the ability to incrementally improve their knowledge through the past experience. In this paper, we investigate the classification performance of a variety of algorithms that belong to various research field, i.e. Continual, Streaming and Online Learning, that receives as training input Natural Data Streams. The experimental validation is carried out on three different datasets, expressly organized to replicate this challenging setting.
MIS: A Multi-Identifier Management and Resolution System Based on Consortium Blockchain in Metaverse
Venue: arXiv cs.NI 2023
Year: 2023

The metaverse gradually evolves into a virtual world containing a series of interconnected sub-metaverses. Diverse digital resources, including identities, contents, services, and supporting data, are key components of the sub-metaverse. Therefore, a Domain Name System (DNS)-like system is necessary for efficient management and resolution. However, the legacy DNS was designed with security vulnerabilities and trust risks due to centralized issues. Blockchain is used to mitigate these concerns due to its decentralized features. Additionally, it supports identity management as a default feature, making it a natural fit for the metaverse. While there are several DNS alternatives based on the blockchain, they either manage only a single type of identifiers or isolate identities from other sorts of identifiers, making it difficult for sub-metaverses to coexist and connect with each other. This paper proposes a Multi-Identifier management and resolution System (MIS) in the metaverse, supporting the registration, resolution, and inter-translation functions. The basic MIS is portrayed as a four-tier architecture on a consortium blockchain due to its manageability, enhanced security, and efficiency properties. On-chain data is lightweight and compressed to save on storage while accelerating reading and writing operations. The resource data is encrypted based on the attributes of the sub-metaverse in the storage tier for privacy protection and access control. For users with decentralization priorities, a modification named EMIS is built on top of Ethereum. Finally, MIS is implemented on two testbeds and is available online as the open-source system. The first testbed consists of 4 physical servers located in the UK and Malaysia while the second is made up of 200 virtual machines (VMs) spread over 26 countries across all 5 continents on Google Cloud.
TinyVers: A Tiny Versatile System-on-chip with State-Retentive eMRAM for ML Inference at the Extreme Edge
Venue: arXiv cs.AR 2023
Year: 2023

Extreme edge devices or Internet-of-thing nodes require both ultra-low power always-on processing as well as the ability to do on-demand sampling and processing. Moreover, support for IoT applications like voice recognition, machine monitoring, etc., requires the ability to execute a wide range of ML workloads. This brings challenges in hardware design to build flexible processors operating in ultra-low power regime. This paper presents TinyVers, a tiny versatile ultra-low power ML system-on-chip to enable enhanced intelligence at the Extreme Edge. TinyVers exploits dataflow reconfiguration to enable multi-modal support and aggressive on-chip power management for duty-cycling to enable smart sensing applications. The SoC combines a RISC-V host processor, a 17 TOPS/W dataflow reconfigurable ML accelerator, a 1.7 $μ$W deep sleep wake-up controller, and an eMRAM for boot code and ML parameter retention. The SoC can perform up to 17.6 GOPS while achieving a power consumption range from 1.7 $μ$W-20 mW. Multiple ML workloads aimed for diverse applications are mapped on the SoC to showcase its flexibility and efficiency. All the models achieve 1-2 TOPS/W of energy efficiency with power consumption below 230 $μ$W in continuous operation. In a duty-cycling use case for machine monitoring, this power is reduced to below 10 $μ$W.
A systematic literature review of capstone courses in software engineering
Venue: arXiv cs.SE 2023
Year: 2023

Tertiary education institutions aim to prepare their computer science and software engineering students for working life. While much of the technical principles are covered in lower-level courses, team-based capstone projects are a common way to provide students with hands-on experience and teach soft skills. This paper explores the characteristics of software engineering capstone courses presented in the literature. The goal of this work is to understand the pros and cons of different approaches by synthesising the various aspects of software engineering capstone courses and related experiences. In a systematic literature review for 2007-2022, we identified 127 primary studies. These studies were analysed based on their presented course characteristics and the reported course outcomes. The characteristics were synthesised into a taxonomy consisting of duration, team sizes, client and project sources, project implementation, and student assessment. We found out that capstone courses generally last one semester and divide students into groups of 4-5 where they work on a project for a client. For a slight majority of courses, the clients are external to the course staff and students are often expected to produce a proof-of-concept level software product as the main end deliverable. The courses also offer versatile assessments for students throughout the project. This paper provides researchers and educators with a classification of characteristics of software engineering capstone courses based on previous research. We further synthesise insights on the reported outcomes of capstone courses. Our review study aims to help educators to identify various ways of organising capstones and effectively plan and deliver their own capstone courses. The characterisation also helps researchers to conduct further studies on software engineering capstones.
Color Me Intrigued: Quantifying Usage of Colors in Fiction
Venue: arXiv cs.CL 2023
Year: 2023

We present preliminary results in quantitative analyses of color usage in selected authors' works from LitBank. Using Glasgow Norms, human ratings on 5000+ words, we measure attributes of nouns dependent on color terms. Early results demonstrate a significant increase in noun concreteness over time. We also propose future research directions for computational literary color analytics.
On the Coexistence of eMBB and URLLC in Multi-cell Massive MIMO
Venue: arXiv cs.IT 2023
Year: 2023

The non-orthogonal coexistence between the enhanced mobile broadband (eMBB) and the ultra-reliable low-latency communication (URLLC) in the downlink of a multi-cell massive MIMO system is rigorously analyzed in this work. We provide a unified information-theoretic framework blending an infinite-blocklength analysis of the eMBB spectral efficiency (SE) in the ergodic regime with a finite-blocklength analysis of the URLLC error probability relying on the use of mismatched decoding, and of the so-called saddlepoint approximation. Puncturing (PUNC) and superposition coding (SPC) are considered as alternative downlink coexistence strategies to deal with the inter-service interference, under the assumption of only statistical channel state information (CSI) knowledge at the users. eMBB and URLLC performances are then evaluated over different precoding techniques and power control schemes, by accounting for imperfect CSI knowledge at the base stations, pilot-based estimation overhead, pilot contamination, spatially correlated channels, the structure of the radio frame, and the characteristics of the URLLC activation pattern. Simulation results reveal that SPC is, in many operating regimes, superior to PUNC in providing higher SE for the eMBB yet achieving the target reliability for the URLLC with high probability. Moreover, PUNC might cause eMBB service outage in presence of high URLLC traffic loads. However, PUNC turns to be necessary to preserve the URLLC performance in scenarios where the multi-user interference cannot be satisfactorily alleviated.
PatentsView-Evaluation: Evaluation Datasets and Tools to Advance Research on Inventor Name Disambiguation
Venue: arXiv cs.DL 2023
Year: 2023

We present PatentsView-Evaluation, a Python package that enables researchers to evaluate the performance of inventor name disambiguation systems such as PatentsView.org. The package includes benchmark datasets and evaluation tools, and aims to advance research on inventor name disambiguation by providing access to high-quality evaluation data and improving evaluation standards.
Transformers as Policies for Variable Action Environments
Venue: arXiv cs.AI 2023
Year: 2023

In this project we demonstrate the effectiveness of the transformer encoder as a viable architecture for policies in variable action environments. Using it, we train an agent using Proximal Policy Optimisation (PPO) on multiple maps against scripted opponents in the Gym-$μ$RTS environment. The final agent is able to achieve a higher return using half the computational resources of the next-best RL agent, which used the GridNet architecture. The source code and pre-trained models are available here: https://github.com/NiklasZ/transformers-for-variable-action-envs
On the Susceptibility and Robustness of Time Series Models through Adversarial Attack and Defense
Venue: arXiv cs.LG 2023
Year: 2023

Under adversarial attacks, time series regression and classification are vulnerable. Adversarial defense, on the other hand, can make the models more resilient. It is important to evaluate how vulnerable different time series models are to attacks and how well they recover using defense. The sensitivity to various attacks and the robustness using the defense of several time series models are investigated in this study. Experiments are run on seven-time series models with three adversarial attacks and one adversarial defense. According to the findings, all models, particularly GRU and RNN, appear to be vulnerable. LSTM and GRU also have better defense recovery. FGSM exceeds the competitors in terms of attacks. PGD attacks are more difficult to recover from than other sorts of attacks.
Federated Learning for Energy Constrained IoT devices: A systematic mapping study
Venue: arXiv cs.LG 2023
Year: 2023

Federated Machine Learning (Fed ML) is a new distributed machine learning technique applied to collaboratively train a global model using clients local data without transmitting it. Nodes only send parameter updates (e.g., weight updates in the case of neural networks), which are fused together by the server to build the global model. By not divulging node data, Fed ML guarantees its confidentiality, a crucial aspect of network security, which enables it to be used in the context of data-sensitive Internet of Things (IoT) and mobile applications, such as smart Geo-location and the smart grid. However, most IoT devices are particularly energy constrained, which raises the need to optimize the Fed ML process for efficient training tasks and optimized power consumption. In this paper, we conduct, to the best of our knowledge, the first Systematic Mapping Study (SMS) on Fed ML optimization techniques for energy-constrained IoT devices. From a total of more than 800 papers, we select 67 that satisfy our criteria and give a structured overview of the field using a set of carefully chosen research questions. Finally, we attempt to provide an analysis of the energy-constrained Fed ML state of the art and try to outline some potential recommendations for the research community.
Sequential Fair Resource Allocation under a Markov Decision Process Framework
Venue: arXiv cs.LG 2023
Year: 2023

We study the sequential decision-making problem of allocating a limited resource to agents that reveal their stochastic demands on arrival over a finite horizon. Our goal is to design fair allocation algorithms that exhaust the available resource budget. This is challenging in sequential settings where information on future demands is not available at the time of decision-making. We formulate the problem as a discrete time Markov decision process (MDP). We propose a new algorithm, SAFFE, that makes fair allocations with respect to the entire demands revealed over the horizon by accounting for expected future demands at each arrival time. The algorithm introduces regularization which enables the prioritization of current revealed demands over future potential demands depending on the uncertainty in agents' future demands. Using the MDP formulation, we show that SAFFE optimizes allocations based on an upper bound on the Nash Social Welfare fairness objective, and we bound its gap to optimality with the use of concentration bounds on total future demands. Using synthetic and real data, we compare the performance of SAFFE against existing approaches and a reinforcement learning policy trained on the MDP. We show that SAFFE leads to more fair and efficient allocations and achieves close-to-optimal performance in settings with dense arrivals.
Learning from What is Already Out There: Few-shot Sign Language Recognition with Online Dictionaries
Venue: arXiv cs.CV 2023
Year: 2023

Today's sign language recognition models require large training corpora of laboratory-like videos, whose collection involves an extensive workforce and financial resources. As a result, only a handful of such systems are publicly available, not to mention their limited localization capabilities for less-populated sign languages. Utilizing online text-to-video dictionaries, which inherently hold annotated data of various attributes and sign languages, and training models in a few-shot fashion hence poses a promising path for the democratization of this technology. In this work, we collect and open-source the UWB-SL-Wild few-shot dataset, the first of its kind training resource consisting of dictionary-scraped videos. This dataset represents the actual distribution and characteristics of available online sign language data. We select glosses that directly overlap with the already existing datasets WLASL100 and ASLLVD and share their class mappings to allow for transfer learning experiments. Apart from providing baseline results on a pose-based architecture, we introduce a novel approach to training sign language recognition models in a few-shot scenario, resulting in state-of-the-art results on ASLLVD-Skeleton and ASLLVD-Skeleton-20 datasets with top-1 accuracy of $30.97~\%$ and $95.45~\%$, respectively.
UnifySpeech: A Unified Framework for Zero-shot Text-to-Speech and Voice Conversion
Venue: arXiv cs.SD 2023
Year: 2023

Text-to-speech (TTS) and voice conversion (VC) are two different tasks both aiming at generating high quality speaking voice according to different input modality. Due to their similarity, this paper proposes UnifySpeech, which brings TTS and VC into a unified framework for the first time. The model is based on the assumption that speech can be decoupled into three independent components: content information, speaker information, prosody information. Both TTS and VC can be regarded as mining these three parts of information from the input and completing the reconstruction of speech. For TTS, the speech content information is derived from the text, while in VC it's derived from the source speech, so all the remaining units are shared except for the speech content extraction module in the two tasks. We applied vector quantization and domain constrain to bridge the gap between the content domains of TTS and VC. Objective and subjective evaluation shows that by combining the two task, TTS obtains better speaker modeling ability while VC gets hold of impressive speech content decoupling capability.