OpenRaiser/Intern-Atlas huggingface dataset:
Hybrid Aerial-Ground Vehicle Autonomy in GPS-denied Environments
Venue: arXiv cs.RO 2024
Year: 2024

The DARPA Subterranean Challenge is leading the development of robots capable of mapping underground mines and tunnels up to 8km in length and identify objects and people. Developing these autonomous abilities paves the way for future planetary cave and surface exploration missions. The Co-STAR team, competing in this challenge, is developing a hybrid aerial-ground vehicle, known as the Rollocopter. The current design of this vehicle is a drone with wheels attached. This allows for the vehicle to roll, actuated by the propellers, and fly only when necessary, hence benefiting from the reduced power consumption of the ground mode and the enhanced mobility of the aerial mode. This thesis focuses on the development and increased robustness of the local planning architecture for the Rollocopter. The first development of thesis is a local planner capable of collision avoidance. The local planning node provides the basic functionality required for the vehicle to navigate autonomously. The next stage was augmenting this with the ability to plan more reliably without localisation. This was then integrated with a hybrid mobility mode capable of rolling and flying to exploit power and mobility benefits of the respective configurations. A traversability analysis algorithm as well as determining the terrain that the vehicle is able to traverse is in the late stages of development for informing the decisions of the hybrid planner. A simulator was developed to test the planning algorithms and improve the robustness of the vehicle to different environments. The results presented in this thesis are related to the mobility of the rollocopter and the range of environments that the vehicle is capable of traversing. Videos are included in which the vehicle successfully navigates through dust-ridden tunnels, horizontal mazes, and areas with rough terrain.
SelECT-SQL: Self-correcting ensemble Chain-of-Thought for Text-to-SQL
Venue: arXiv cs.CL 2024
Year: 2024

In recent years,Text-to-SQL, the problem of automatically converting questions posed in natural language to formal SQL queries, has emerged as an important problem at the intersection of natural language processing and data management research. Large language models (LLMs) have delivered impressive performance when used in an off-the-shelf performance, but still fall significantly short of expected expert-level performance. Errors are especially probable when a nuanced understanding is needed of database schemas, questions, and SQL clauses to do proper Text-to-SQL conversion. We introduce SelECT-SQL, a novel in-context learning solution that uses an algorithmic combination of chain-of-thought (CoT) prompting, self-correction, and ensemble methods to yield a new state-of-the-art result on challenging Text-to-SQL benchmarks. Specifically, when configured using GPT-3.5-Turbo as the base LLM, SelECT-SQL achieves 84.2% execution accuracy on the Spider leaderboard's development set, exceeding both the best results of other baseline GPT-3.5-Turbo-based solutions (81.1%), and the peak performance (83.5%) of the GPT-4 result reported on the leaderboard.
RPC: A Modular Framework for Robot Planning, Control, and Deployment
Venue: arXiv cs.RO 2024
Year: 2024

This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC enables users to thoroughly evaluate and develop control algorithms for robotic systems. While existing software frameworks provide some of these capabilities, integrating them into a cohesive system can be challenging and cumbersome. To overcome this challenge, we have modularized each component in RPC to ensure easy and seamless integration or replacement with new modules. Additionally, our framework currently supports a variety of model-based planning and control algorithms for robotic manipulators and legged robots, alongside essential debugging tools, making it easier for users to design and execute complex robotics tasks. The code and usage instructions of RPC are available at https://github.com/shbang91/rpc.
Entrywise Approximate Laplacian Solving
Venue: arXiv cs.DS 2024
Year: 2024

We study the escape probability problem in random walks over graphs. Given vertices, $s,t,$ and $p$, the problem asks for the probability that a random walk starting at $s$ will hit $t$ before hitting $p$. Such probabilities can be exponentially small even for unweighted undirected graphs with polynomial mixing time. Therefore current approaches, which are mostly based on fixed-point arithmetic, require $n$ bits of precision in the worst case. We present algorithms and analyses for weighted directed graphs under floating-point arithmetic and improve the previous best running times in terms of the number of bit operations. We believe our techniques and analysis could have a broader impact on the computation of random walks on graphs both in theory and in practice.
Can GPT-O1 Kill All Bugs? An Evaluation of GPT-Family LLMs on QuixBugs
Venue: arXiv cs.SE 2024
Year: 2024

LLMs have long demonstrated remarkable effectiveness in automatic program repair (APR), with OpenAI's ChatGPT being one of the most widely used models in this domain. Through continuous iterations and upgrades of GPT-family models, their performance in fixing bugs has already reached state-of-the-art levels. However, there are few works comparing the effectiveness and variations of different versions of GPT-family models on APR. In this work, inspired by the recent public release of the GPT-o1 models, we conduct the first study to compare the effectiveness of different versions of the GPT-family models in APR. We evaluate the performance of the latest version of the GPT-family models (i.e., O1-preview and O1-mini), GPT-4o, and the historical version of ChatGPT on APR. We conduct an empirical study of the four GPT-family models against other LLMs and APR techniques on the QuixBugs benchmark from multiple evaluation perspectives, including repair success rate, repair cost, response length, and behavior patterns. The results demonstrate that O1's repair capability exceeds that of prior GPT-family models, successfully fixing all 40 bugs in the benchmark. Our work can serve as a foundation for further in-depth exploration of the applications of GPT-family models in APR.
Householder Pseudo-Rotation: A Novel Approach to Activation Editing in LLMs with Direction-Magnitude Perspective
Venue: arXiv cs.CL 2024
Year: 2024

Activation Editing, which involves directly editting the internal representations of large language models (LLMs) to alter their behaviors and achieve desired properties, has emerged as a promising area of research. Existing works primarily treat LLMs' activations as points in space and modify them by adding steering vectors. However, this approach is limited in its ability to achieve greater performance improvement while maintaining the necessary consistency of activation magnitudes. To overcome these issues, we propose a novel editing method that views activations in terms of their directions and magnitudes. Our method, named Householder Pseudo-Rotation (HPR), mimics the rotation transformation, thus preserving activation norms and resulting in an improved performance on various safety benchmarks.
GlobalMapNet: An Online Framework for Vectorized Global HD Map Construction
Venue: arXiv cs.CV 2024
Year: 2024

High-definition (HD) maps are essential for autonomous driving systems. Traditionally, an expensive and labor-intensive pipeline is implemented to construct HD maps, which is limited in scalability. In recent years, crowdsourcing and online mapping have emerged as two alternative methods, but they have limitations respectively. In this paper, we provide a novel methodology, namely global map construction, to perform direct generation of vectorized global maps, combining the benefits of crowdsourcing and online mapping. We introduce GlobalMapNet, the first online framework for vectorized global HD map construction, which updates and utilizes a global map on the ego vehicle. To generate the global map from scratch, we propose GlobalMapBuilder to match and merge local maps continuously. We design a new algorithm, Map NMS, to remove duplicate map elements and produce a clean map. We also propose GlobalMapFusion to aggregate historical map information, improving consistency of prediction. We examine GlobalMapNet on two widely recognized datasets, Argoverse2 and nuScenes, showing that our framework is capable of generating globally consistent results.
MindGuard: Towards Accessible and Sitgma-free Mental Health First Aid via Edge LLM
Venue: arXiv cs.CL 2024
Year: 2024

Mental health disorders are among the most prevalent diseases worldwide, affecting nearly one in four people. Despite their widespread impact, the intervention rate remains below 25%, largely due to the significant cooperation required from patients for both diagnosis and intervention. The core issue behind this low treatment rate is stigma, which discourages over half of those affected from seeking help. This paper presents MindGuard, an accessible, stigma-free, and professional mobile mental healthcare system designed to provide mental health first aid. The heart of MindGuard is an innovative edge LLM, equipped with professional mental health knowledge, that seamlessly integrates objective mobile sensor data with subjective Ecological Momentary Assessment records to deliver personalized screening and intervention conversations. We conduct a broad evaluation of MindGuard using open datasets spanning four years and real-world deployment across various mobile devices involving 20 subjects for two weeks. Remarkably, MindGuard achieves results comparable to GPT-4 and outperforms its counterpart with more than 10 times the model size. We believe that MindGuard paves the way for mobile LLM applications, potentially revolutionizing mental healthcare practices by substituting self-reporting and intervention conversations with passive, integrated monitoring within daily life, thus ensuring accessible and stigma-free mental health support.
Messy Code Makes Managing ML Pipelines Difficult? Just Let LLMs Rewrite the Code!
Venue: arXiv cs.DB 2024
Year: 2024

Machine learning (ML) applications that learn from data are increasingly used to automate impactful decisions. Unfortunately, these applications often fall short of adequately managing critical data and complying with upcoming regulations. A technical reason for the persistence of these issues is that the data pipelines in common ML libraries and cloud services lack fundamental declarative, data-centric abstractions. Recent research has shown how such abstractions enable techniques like provenance tracking and automatic inspection to help manage ML pipelines. Unfortunately, these approaches lack adoption in the real world because they require clean ML pipeline code written with declarative APIs, instead of the messy imperative Python code that data scientists typically write for data preparation. We argue that it is unrealistic to expect data scientists to change their established development practices. Instead, we propose to circumvent this "code abstraction gap" by leveraging the code generation capabilities of large language models (LLMs). Our idea is to rewrite messy data science code to a custom-tailored declarative pipeline abstraction, which we implement as a proof-of-concept in our prototype Lester. We detail its application for a challenging compliance management example involving "incremental view maintenance" of deployed ML pipelines. The code rewrites for our running example show the potential of LLMs to make messy data science code declarative, e.g., by identifying hand-coded joins in Python and turning them into joins on dataframes, or by generating declarative feature encoders from NumPy code.
Adaptive Segmentation-Based Initialization for Steered Mixture of Experts Image Regression
Venue: arXiv cs.CV 2024
Year: 2024

Kernel image regression methods have shown to provide excellent efficiency in many image processing task, such as image and light-field compression, Gaussian Splatting, denoising and super-resolution. The estimation of parameters for these methods frequently employ gradient descent iterative optimization, which poses significant computational burden for many applications. In this paper, we introduce a novel adaptive segmentation-based initialization method targeted for optimizing Steered-Mixture-of Experts (SMoE) gating networks and Radial-Basis-Function (RBF) networks with steering kernels. The novel initialization method allocates kernels into pre-calculated image segments. The optimal number of kernels, kernel positions, and steering parameters are derived per segment in an iterative optimization and kernel sparsification procedure. The kernel information from "local" segments is then transferred into a "global" initialization, ready for use in iterative optimization of SMoE, RBF, and related kernel image regression methods. Results show that drastic objective and subjective quality improvements are achievable compared to widely used regular grid initialization, "state-of-the-art" K-Means initialization and previously introduced segmentation-based initialization methods, while also drastically improving the sparsity of the regression models. For same quality, the novel initialization results in models with around 50% reduction of kernels. In addition, a significant reduction of convergence time is achieved, with overall run-time savings of up to 50%. The segmentation-based initialization strategy itself admits heavy parallel computation; in theory, it may be divided into as many tasks as there are segments in the images. By accessing only four parallel GPUs, run-time savings of already 50% for initialization are achievable.
SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting
Venue: arXiv cs.RO 2024
Year: 2024

Sim2Real transfer, particularly for manipulation policies relying on RGB images, remains a critical challenge in robotics due to the significant domain shift between synthetic and real-world visual data. In this paper, we propose SplatSim, a novel framework that leverages Gaussian Splatting as the primary rendering primitive to reduce the Sim2Real gap for RGB-based manipulation policies. By replacing traditional mesh representations with Gaussian Splats in simulators, SplatSim produces highly photorealistic synthetic data while maintaining the scalability and cost-efficiency of simulation. We demonstrate the effectiveness of our framework by training manipulation policies within SplatSim and deploying them in the real world in a zero-shot manner, achieving an average success rate of 86.25%, compared to 97.5% for policies trained on real-world data. Videos can be found on our project page: https://splatsim.github.io
Minimal Model Counting via Knowledge Compilation
Venue: arXiv cs.LO 2024
Year: 2024

Counting the number of models of a Boolean formula is a fundamental problem in artificial intelligence and reasoning. Minimal models of a Boolean formula are critical in various reasoning systems, making the counting of minimal models essential for detailed inference tasks. Existing research primarily focused on decision problems related to minimal models. In this work, we extend beyond decision problems to address the challenge of counting minimal models. Specifically, we propose a novel knowledge compilation form that facilitates the efficient counting of minimal models. Our approach leverages the idea of justification and incorporates theories from answer set counting.
Augmenting Automatic Speech Recognition Models with Disfluency Detection
Venue: arXiv cs.CL 2024
Year: 2024

Speech disfluency commonly occurs in conversational and spontaneous speech. However, standard Automatic Speech Recognition (ASR) models struggle to accurately recognize these disfluencies because they are typically trained on fluent transcripts. Current research mainly focuses on detecting disfluencies within transcripts, overlooking their exact location and duration in the speech. Additionally, previous work often requires model fine-tuning and addresses limited types of disfluencies. In this work, we present an inference-only approach to augment any ASR model with the ability to detect open-set disfluencies. We first demonstrate that ASR models have difficulty transcribing speech disfluencies. Next, this work proposes a modified Connectionist Temporal Classification(CTC)-based forced alignment algorithm from \cite{kurzinger2020ctc} to predict word-level timestamps while effectively capturing disfluent speech. Additionally, we develop a model to classify alignment gaps between timestamps as either containing disfluent speech or silence. This model achieves an accuracy of 81.62% and an F1-score of 80.07%. We test the augmentation pipeline of alignment gap detection and classification on a disfluent dataset. Our results show that we captured 74.13% of the words that were initially missed by the transcription, demonstrating the potential of this pipeline for downstream tasks.
eWAPA: An eBPF-based WASI Performance Analysis Framework for WebAssembly Runtimes
Venue: arXiv cs.SE 2024
Year: 2024

WebAssembly (Wasm) is a low-level bytecode format that can run in modern browsers. With the development of standalone runtimes and the improvement of the WebAssembly System Interface (WASI), Wasm has further provided a more complete sandboxed runtime experience for server-side applications, effectively expanding its application scenarios. However, the implementation of WASI varies across different runtimes, and suboptimal interface implementations can lead to performance degradation during interactions between the runtime and the operating system. Existing research mainly focuses on overall performance evaluation of runtimes, while studies on WASI implementations are relatively scarce. To tackle this problem, we propose an eBPF-based WASI performance analysis framework. It collects key performance metrics of the runtime under different I/O load conditions, such as total execution time, startup time, WASI execution time, and syscall time. We can comprehensively analyze the performance of the runtime's I/O interactions with the operating system. Additionally, we provide a detailed analysis of the causes behind two specific WASI performance anomalies. These analytical results will guide the optimization of standalone runtimes and WASI implementations, enhancing their efficiency.
Co-Designing Dynamic Mixed Reality Drill Positioning Widgets: A Collaborative Approach with Dentists in a Realistic Setup
Venue: arXiv cs.HC 2024
Year: 2024

Mixed Reality (MR) is proven in the literature to support precise spatial dental drill positioning by superimposing 3D widgets. Despite this, the related knowledge about widget's visual design and interactive user feedback is still limited. Therefore, this study is contributed to by co-designed MR drill tool positioning widgets with two expert dentists and three MR experts. The results of co-design are two static widgets (SWs): a simple entry point, a target axis, and two dynamic widgets (DWs), variants of dynamic error visualization with and without a target axis (DWTA and DWEP). We evaluated the co-designed widgets in a virtual reality simulation supported by a realistic setup with a tracked phantom patient, a virtual magnifying loupe, and a dentist's foot pedal. The user study involved 35 dentists with various backgrounds and years of experience. The findings demonstrated significant results; DWs outperform SWs in positional and rotational precision, especially with younger generations and subjects with gaming experiences. The user preference remains for DWs (19) instead of SWs (16). However, findings indicated that the precision positively correlates with the time trade-off. The post-experience questionnaire (NASA-TLX) showed that DWs increase mental and physical demand, effort, and frustration more than SWs. Comparisons between DWEP and DWTA show that the DW's complexity level influences time, physical and mental demands. The DWs are extensible to diverse medical and industrial scenarios that demand precision.
ComplexCodeEval: A Benchmark for Evaluating Large Code Models on More Complex Code
Venue: arXiv cs.SE 2024
Year: 2024

In recent years, the application of large language models (LLMs) to code-related tasks has gained significant attention. However, existing evaluation benchmarks often focus on limited scenarios, such as code generation or completion, which do not reflect the diverse challenges developers face in real-world contexts. To address this, we introduce ComplexCodeEval, a benchmark designed to assess LCMs in various development tasks, including code generation, completion, API recommendation, and test case generation. It includes 3,897 Java samples and 7,184 Python samples from high-star GitHub repositories, each annotated with function signatures, docstrings, and API references to simulate real development environments. Our experiments across ten LCMs reveal that context improves performance and that data leakage can lead to overestimation, highlighting the need for more accurate evaluations.
Enhancing Image Classification in Small and Unbalanced Datasets through Synthetic Data Augmentation
Venue: arXiv cs.CV 2024
Year: 2024

Accurate and robust medical image classification is a challenging task, especially in application domains where available annotated datasets are small and present high imbalance between target classes. Considering that data acquisition is not always feasible, especially for underrepresented classes, our approach introduces a novel synthetic augmentation strategy using class-specific Variational Autoencoders (VAEs) and latent space interpolation to improve discrimination capabilities. By generating realistic, varied synthetic data that fills feature space gaps, we address issues of data scarcity and class imbalance. The method presented in this paper relies on the interpolation of latent representations within each class, thus enriching the training set and improving the model's generalizability and diagnostic accuracy. The proposed strategy was tested in a small dataset of 321 images created to train and validate an automatic method for assessing the quality of cleanliness of esophagogastroduodenoscopy images. By combining real and synthetic data, an increase of over 18\% in the accuracy of the most challenging underrepresented class was observed. The proposed strategy not only benefited the underrepresented class but also led to a general improvement in other metrics, including a 6\% increase in global accuracy and precision.
Anatomical Positional Embeddings
Venue: arXiv cs.CV 2024
Year: 2024

We propose a self-supervised model producing 3D anatomical positional embeddings (APE) of individual medical image voxels. APE encodes voxels' anatomical closeness, i.e., voxels of the same organ or nearby organs always have closer positional embeddings than the voxels of more distant body parts. In contrast to the existing models of anatomical positional embeddings, our method is able to efficiently produce a map of voxel-wise embeddings for a whole volumetric input image, which makes it an optimal choice for different downstream applications. We train our APE model on 8400 publicly available CT images of abdomen and chest regions. We demonstrate its superior performance compared with the existing models on anatomical landmark retrieval and weakly-supervised few-shot localization of 13 abdominal organs. As a practical application, we show how to cheaply train APE to crop raw CT images to different anatomical regions of interest with 0.99 recall, while reducing the image volume by 10-100 times. The code and the pre-trained APE model are available at https://github.com/mishgon/ape .