OpenRaiser/Intern-Atlas huggingface dataset:
An Improved Algorithm for Learning Drifting Discrete Distributions
Venue: arXiv cs.LG 2024
Year: 2024

We present a new adaptive algorithm for learning discrete distributions under distribution drift. In this setting, we observe a sequence of independent samples from a discrete distribution that is changing over time, and the goal is to estimate the current distribution. Since we have access to only a single sample for each time step, a good estimation requires a careful choice of the number of past samples to use. To use more samples, we must resort to samples further in the past, and we incur a drift error due to the bias introduced by the change in distribution. On the other hand, if we use a small number of past samples, we incur a large statistical error as the estimation has a high variance. We present a novel adaptive algorithm that can solve this trade-off without any prior knowledge of the drift. Unlike previous adaptive results, our algorithm characterizes the statistical error using data-dependent bounds. This technicality enables us to overcome the limitations of the previous work that require a fixed finite support whose size is known in advance and that cannot change over time. Additionally, we can obtain tighter bounds depending on the complexity of the drifting distribution, and also consider distributions with infinite support.
HGIC: A Hand Gesture Based Interactive Control System for Efficient and Scalable Multi-UAV Operations
Venue: arXiv cs.RO 2024
Year: 2024

As technological advancements continue to expand the capabilities of multi unmanned-aerial-vehicle systems (mUAV), human operators face challenges in scalability and efficiency due to the complex cognitive load and operations associated with motion adjustments and team coordination. Such cognitive demands limit the feasible size of mUAV teams and necessitate extensive operator training, impeding broader adoption. This paper developed a Hand Gesture Based Interactive Control (HGIC), a novel interface system that utilize computer vision techniques to intuitively translate hand gestures into modular commands for robot teaming. Through learning control models, these commands enable efficient and scalable mUAV motion control and adjustments. HGIC eliminates the need for specialized hardware and offers two key benefits: 1) Minimal training requirements through natural gestures; and 2) Enhanced scalability and efficiency via adaptable commands. By reducing the cognitive burden on operators, HGIC opens the door for more effective large-scale mUAV applications in complex, dynamic, and uncertain scenarios. HGIC will be open-sourced after the paper being published online for the research community, aiming to drive forward innovations in human-mUAV interactions.
A Detection and Filtering Framework for Collaborative Localization
Venue: arXiv cs.RO 2024
Year: 2024

Increasingly, autonomous vehicles (AVs) are becoming a reality, such as the Advanced Driver Assistance Systems (ADAS) in vehicles that assist drivers in driving and parking functions with vehicles today. The localization problem for AVs relies primarily on multiple sensors, including cameras, LiDARs, and radars. Manufacturing, installing, calibrating, and maintaining these sensors can be very expensive, thereby increasing the overall cost of AVs. This research explores the means to improve localization on vehicles belonging to the ADAS category in a platooning context, where an ADAS vehicle follows a lead "Smart" AV equipped with a highly accurate sensor suite. We propose and produce results by using a filtering framework to combine pose information derived from vision and odometry to improve the localization of the ADAS vehicle that follows the smart vehicle.
Computational-Statistical Gaps in Gaussian Single-Index Models
Venue: arXiv cs.LG 2024
Year: 2024

Single-Index Models are high-dimensional regression problems with planted structure, whereby labels depend on an unknown one-dimensional projection of the input via a generic, non-linear, and potentially non-deterministic transformation. As such, they encompass a broad class of statistical inference tasks, and provide a rich template to study statistical and computational trade-offs in the high-dimensional regime. While the information-theoretic sample complexity to recover the hidden direction is linear in the dimension $d$, we show that computationally efficient algorithms, both within the Statistical Query (SQ) and the Low-Degree Polynomial (LDP) framework, necessarily require $Ω(d^{k^\star/2})$ samples, where $k^\star$ is a "generative" exponent associated with the model that we explicitly characterize. Moreover, we show that this sample complexity is also sufficient, by establishing matching upper bounds using a partial-trace algorithm. Therefore, our results provide evidence of a sharp computational-to-statistical gap (under both the SQ and LDP class) whenever $k^\star>2$. To complete the study, we provide examples of smooth and Lipschitz deterministic target functions with arbitrarily large generative exponents $k^\star$.
Explaining Code Examples in Introductory Programming Courses: LLM vs Humans
Venue: arXiv cs.CY 2024
Year: 2024

Worked examples, which present an explained code for solving typical programming problems are among the most popular types of learning content in programming classes. Most approaches and tools for presenting these examples to students are based on line-by-line explanations of the example code. However, instructors rarely have time to provide explanations for many examples typically used in a programming class. In this paper, we assess the feasibility of using LLMs to generate code explanations for passive and active example exploration systems. To achieve this goal, we compare the code explanations generated by chatGPT with the explanations generated by both experts and students.
AI in ESG for Financial Institutions: An Industrial Survey
Venue: arXiv cs.CY 2024
Year: 2024

The burgeoning integration of Artificial Intelligence (AI) into Environmental, Social, and Governance (ESG) initiatives within the financial sector represents a paradigm shift towards more sus-tainable and equitable financial practices. This paper surveys the industrial landscape to delineate the necessity and impact of AI in bolstering ESG frameworks. With the advent of stringent regulatory requirements and heightened stakeholder awareness, financial institutions (FIs) are increasingly compelled to adopt ESG criteria. AI emerges as a pivotal tool in navigating the complex in-terplay of financial activities and sustainability goals. Our survey categorizes AI applications across three main pillars of ESG, illustrating how AI enhances analytical capabilities, risk assessment, customer engagement, reporting accuracy and more. Further, we delve into the critical con-siderations surrounding the use of data and the development of models, underscoring the importance of data quality, privacy, and model robustness. The paper also addresses the imperative of responsible and sustainable AI, emphasizing the ethical dimensions of AI deployment in ESG-related banking processes. Conclusively, our findings suggest that while AI offers transformative potential for ESG in banking, it also poses significant challenges that necessitate careful consideration. The final part of the paper synthesizes the survey's insights, proposing a forward-looking stance on the adoption of AI in ESG practices. We conclude with recommendations with a reference architecture for future research and development, advocating for a balanced approach that leverages AI's strengths while mitigating its risks within the ESG domain.
Unified Occupancy on a Public Transport Network through Combination of AFC and APC Data
Venue: arXiv cs.CY 2024
Year: 2024

In a transport network, the onboard occupancy is key for gaining insights into travelers' habits and adjusting the offer. Traditionally, operators have relied on field studies to evaluate ridership of a typical workday. However, automated fare collection (AFC) and automatic passenger counting (APC) data, which provide complete temporal coverage, are often available but underexploited. It should be noted, however, that each data source comes with its own biases: AFC data may not account for fraud, while not all vehicles are equipped with APC systems. This paper introduces the unified occupancy method, a geostatistical model to extrapolate occupancy to every course of a public transportation network by combining AFC and APC data with partial coverage. Unified occupancy completes missing APC information for courses on lines where other courses have APC measures, as well as for courses on lines where no APC data is available at all. The accuracy of this method is evaluated on real data from several public transportation networks in France.
AI for non-programmers: Applied AI in the lectures for students without programming skills
Venue: arXiv cs.CY 2024
Year: 2024

Applications such as ChatGPT and WOMBO Dream make it easy to inspire students without programming knowledge to use artificial intelligence (AI). Therefore, given the increasing importance of AI in all disciplines, innovative strategies are needed to educate students in AI without programming knowledge so that AI can be integrated into their study modules as a future skill. This work presents a didactic planning script for applied AI. The didactic planning script is based on the AI application pipeline and links AI concepts with study-relevant topics. These linkages open up a new solution space and promote students' interest in and understanding of the potentials and risks of AI. An example lecture series for master students in energy management shows how AI can be seamlessly integrated into discipline-specific lectures. To this end, the planning script for applied AI is adapted to fit the study programs' topic. This specific teaching scenario enables students to solve a discipline-specific task step by step using the AI application pipeline. Thus, the application of the didactic planning script for applied AI shows the practical implementation of the theoretical concepts of AI. In addition, a checklist is presented that can be used to assess whether AI can be used in the discipline-specific lecture. AI as a future skill must be learned by students based on use cases that are relevant to the course of studies. For this reason, AI education should fit seamlessly into various curricula, even if the students do not have a programming background due to their field of study.
Monitoring the evolution of antisemitic discourse on extremist social media using BERT
Venue: arXiv cs.CY 2024
Year: 2024

Racism and intolerance on social media contribute to a toxic online environment which may spill offline to foster hatred, and eventually lead to physical violence. That is the case with online antisemitism, the specific category of hatred considered in this study. Tracking antisemitic themes and their associated terminology over time in online discussions could help monitor the sentiments of their participants and their evolution, and possibly offer avenues for intervention that may prevent the escalation of hatred. Due to the large volume and constant evolution of online traffic, monitoring conversations manually is impractical. Instead, we propose an automated method that extracts antisemitic themes and terminology from extremist social media over time and captures their evolution. Since supervised learning would be too limited for such a task, we created an unsupervised online machine learning approach that uses large language models to assess the contextual similarity of posts. The method clusters similar posts together, dividing, and creating additional clusters over time when sub-themes emerge from existing ones or new themes appear. The antisemitic terminology used within each theme is extracted from the posts in each cluster. Our experiments show that our methodology outperforms existing baselines and demonstrates the kind of themes and sub-themes it discovers within antisemitic discourse along with their associated terminology. We believe that our approach will be useful for monitoring the evolution of all kinds of hatred beyond antisemitism on social platforms.
SDXL Finetuned with LoRA for Coloring Therapy: Generating Graphic Templates Inspired by United Arab Emirates Culture
Venue: arXiv cs.HC 2024
Year: 2024

A transformative approach to mental health therapy lies at the crossroads of cultural heritage and advanced technology. This paper introduces an innovative method that fuses machine learning techniques with traditional Emirati motifs, focusing on the United Arab Emirates (UAE). We utilize the Stable Diffusion XL (SDXL) model, enhanced with Low-Rank Adaptation (LoRA), to create culturally significant coloring templates featuring Al-Sadu weaving patterns. This novel approach leverages coloring therapy for its recognized stress-relieving benefits and embeds deep cultural resonance, making it a potent tool for therapeutic intervention and cultural preservation. Specifically targeting Generalized Anxiety Disorder (GAD), our method demonstrates significant potential in reducing associated symptoms. Additionally, the paper delves into the broader implications of color and music therapy, emphasizing the importance of culturally tailored content. The technical aspects of the SDXL model and its LoRA fine-tuning showcase its capability to generate high-quality, culturally specific images. This research stands at the forefront of integrating mental wellness practices with cultural heritage, providing a groundbreaking perspective on the synergy between technology, culture, and healthcare. In future work, we aim to employ biosignals to assess the level of engagement and effectiveness of color therapy. A key focus will be to examine the impact of the Emirati heritage Al Sadu art on Emirati individuals and compare their responses with those of other nationalities. This will provide deeper insights into the cultural specificity of therapeutic interventions and further the understanding of the unique interplay between cultural identity and mental health therapy.
Density-Regression: Efficient and Distance-Aware Deep Regressor for Uncertainty Estimation under Distribution Shifts
Venue: arXiv cs.LG 2024
Year: 2024

Morden deep ensembles technique achieves strong uncertainty estimation performance by going through multiple forward passes with different models. This is at the price of a high storage space and a slow speed in the inference (test) time. To address this issue, we propose Density-Regression, a method that leverages the density function in uncertainty estimation and achieves fast inference by a single forward pass. We prove it is distance aware on the feature space, which is a necessary condition for a neural network to produce high-quality uncertainty estimation under distribution shifts. Empirically, we conduct experiments on regression tasks with the cubic toy dataset, benchmark UCI, weather forecast with time series, and depth estimation under real-world shifted applications. We show that Density-Regression has competitive uncertainty estimation performance under distribution shifts with modern deep regressors while using a lower model size and a faster inference speed.
A Concept-based Interpretable Model for the Diagnosis of Choroid Neoplasias using Multimodal Data
Venue: arXiv cs.LG 2024
Year: 2024

Diagnosing rare diseases presents a common challenge in clinical practice, necessitating the expertise of specialists for accurate identification. The advent of machine learning offers a promising solution, while the development of such technologies is hindered by the scarcity of data on rare conditions and the demand for models that are both interpretable and trustworthy in a clinical context. Interpretable AI, with its capacity for human-readable outputs, can facilitate validation by clinicians and contribute to medical education. In the current work, we focus on choroid neoplasias, the most prevalent form of eye cancer in adults, albeit rare with 5.1 per million. We built the so-far largest dataset consisting of 750 patients, incorporating three distinct imaging modalities collected from 2004 to 2022. Our work introduces a concept-based interpretable model that distinguishes between three types of choroidal tumors, integrating insights from domain experts via radiological reports. Remarkably, this model not only achieves an F1 score of 0.91, rivaling that of black-box models, but also boosts the diagnostic accuracy of junior doctors by 42%. This study highlights the significant potential of interpretable machine learning in improving the diagnosis of rare diseases, laying a groundwork for future breakthroughs in medical AI that could tackle a wider array of complex health scenarios.
A Formal Analysis of SCTP: Attack Synthesis and Patch Verification
Venue: arXiv cs.CR 2024
Year: 2024

SCTP is a transport protocol offering features such as multi-homing, multi-streaming, and message-oriented delivery. Its two main implementations were subjected to conformance tests using the PacketDrill tool. Conformance testing is not exhaustive and a recent vulnerability (CVE-2021-3772) showed SCTP is not immune to attacks. Changes addressing the vulnerability were implemented, but the question remains whether other flaws might persist in the protocol design. We study the security of the SCTP design, taking a rigorous approach rooted in formal methods. We create a formal Promela model of SCTP, and define 10 properties capturing the essential protocol functionality based on its RFC specification and consultation with the lead RFC author. Then we show using the Spin model checker that our model satisfies these properties. We define 4 attacker models - Off-Path, where the attacker is an outsider that can spoof the port and IP of a peer; Evil-Server, where the attacker is a malicious peer; Replay, where an attacker can capture and replay, but not modify, packets; and On-Path, where the attacker controls the channel between peers. We modify an attack synthesis tool designed for transport protocols, Korg, to support our SCTP model and four attacker models. We synthesize 14 unique attacks using the attacker models - including the CVE vulnerability in the Off-Path attacker model, 4 attacks in the Evil-Server attacker model, an opportunistic ABORT attack in the Replay attacker model, and eight connection manipulation attacks in the On-Path attacker model. We show that the proposed patch eliminates the vulnerability and does not introduce new ones according to our model and protocol properties. Finally, we identify and analyze an ambiguity in the RFC, which we show can be interpreted insecurely. We propose an erratum and show that it eliminates the ambiguity.
PipeRAG: Fast Retrieval-Augmented Generation via Algorithm-System Co-design
Venue: arXiv cs.CL 2024
Year: 2024

Retrieval-augmented generation (RAG) can enhance the generation quality of large language models (LLMs) by incorporating external token databases. However, retrievals from large databases can constitute a substantial portion of the overall generation time, particularly when retrievals are periodically performed to align the retrieved content with the latest states of generation. In this paper, we introduce PipeRAG, a novel algorithm-system co-design approach to reduce generation latency and enhance generation quality. PipeRAG integrates (1) pipeline parallelism to enable concurrent retrieval and generation processes, (2) flexible retrieval intervals to maximize the efficiency of pipeline parallelism, and (3) a performance model to automatically balance retrieval quality and latency based on the generation states and underlying hardware. Our evaluation shows that, by combining the three aforementioned methods, PipeRAG achieves up to 2.6$\times$ speedup in end-to-end generation latency while improving generation quality. These promising results showcase the effectiveness of co-designing algorithms with underlying systems, paving the way for the adoption of PipeRAG in future RAG systems.
Not just Birds and Cars: Generic, Scalable and Explainable Models for Professional Visual Recognition
Venue: arXiv cs.CV 2024
Year: 2024

Some visual recognition tasks are more challenging then the general ones as they require professional categories of images. The previous efforts, like fine-grained vision classification, primarily introduced models tailored to specific tasks, like identifying bird species or car brands with limited scalability and generalizability. This paper aims to design a scalable and explainable model to solve Professional Visual Recognition tasks from a generic standpoint. We introduce a biologically-inspired structure named Pro-NeXt and reveal that Pro-NeXt exhibits substantial generalizability across diverse professional fields such as fashion, medicine, and art-areas previously considered disparate. Our basic-sized Pro-NeXt-B surpasses all preceding task-specific models across 12 distinct datasets within 5 diverse domains. Furthermore, we find its good scaling property that scaling up Pro-NeXt in depth and width with increasing GFlops can consistently enhances its accuracy. Beyond scalability and adaptability, the intermediate features of Pro-NeXt achieve reliable object detection and segmentation performance without extra training, highlighting its solid explainability. We will release the code to foster further research in this area.
A Design Space of Control Coordinate Systems in Telemanipulation
Venue: arXiv cs.RO 2024
Year: 2024

Teleoperation systems map operator commands from an input device into some coordinate frame in the remote environment. This frame, which we call a control coordinate system, should be carefully chosen as it determines how operators should move to get desired robot motions. While specific choices made by individual systems have been described in prior work, a design space, i.e., an abstraction that encapsulates the range of possible options, has not been codified. In this paper, we articulate a design space of control coordinate systems, which can be defined by choosing a direction in the remote environment for each axis of the input device. Our key insight is that there is a small set of meaningful directions in the remote environment. Control coordinate systems in prior works can be organized by the alignments of their axes with these directions and new control coordinate systems can be designed by choosing from these directions. We also provide three design criteria to reason about the suitability of control coordinate systems for various scenarios. To demonstrate the utility of our design space, we use it to organize prior systems and design control coordinate systems for three scenarios that we assess through human-subject experiments. Our results highlight the promise of our design space as a conceptual tool to assist system designers to design control coordinate systems that are effective and intuitive for operators.