OpenRaiser/Intern-Atlas huggingface dataset:
DentiBot: System Design and 6-DoF Hybrid Position/Force Control for Robot-Assisted Endodontic Treatment
Venue: arXiv cs.RO 2023
Year: 2023

Robotic technologies are becoming increasingly popular in dentistry due to the high level of precision required in delicate dental procedures. Most dental robots available today are designed for implant surgery, helping dentists to accurately place implants in the desired position and depth. In this paper, we introduce the DentiBot, the first robot specifically designed for dental endodontic treatment. The DentiBot is equipped with a force and torque sensor, as well as a string-based Patient Tracking Module, allowing for real-time monitoring of endodontic file contact and patient movement. We propose a 6-DoF hybrid position/force controller that enables autonomous adjustment of the surgical path and compensation for patient movement, while also providing protection against endodontic file fracture. In addition, a file flexibility model is incorporated to compensate for file bending. Pre-clinical evaluations performed on acrylic root canal models and resin teeth confirm the feasibility of the DentiBot in assisting endodontic treatment.
Progressive Evidence Refinement for Open-domain Multimodal Retrieval Question Answering
Venue: arXiv cs.AI 2023
Year: 2023

Pre-trained multimodal models have achieved significant success in retrieval-based question answering. However, current multimodal retrieval question-answering models face two main challenges. Firstly, utilizing compressed evidence features as input to the model results in the loss of fine-grained information within the evidence. Secondly, a gap exists between the feature extraction of evidence and the question, which hinders the model from effectively extracting critical features from the evidence based on the given question. We propose a two-stage framework for evidence retrieval and question-answering to alleviate these issues. First and foremost, we propose a progressive evidence refinement strategy for selecting crucial evidence. This strategy employs an iterative evidence retrieval approach to uncover the logical sequence among the evidence pieces. It incorporates two rounds of filtering to optimize the solution space, thus further ensuring temporal efficiency. Subsequently, we introduce a semi-supervised contrastive learning training strategy based on negative samples to expand the scope of the question domain, allowing for a more thorough exploration of latent knowledge within known samples. Finally, in order to mitigate the loss of fine-grained information, we devise a multi-turn retrieval and question-answering strategy to handle multimodal inputs. This strategy involves incorporating multimodal evidence directly into the model as part of the historical dialogue and question. Meanwhile, we leverage a cross-modal attention mechanism to capture the underlying connections between the evidence and the question, and the answer is generated through a decoding generation approach. We validate the model's effectiveness through extensive experiments, achieving outstanding performance on WebQA and MultimodelQA benchmark tests.
Efficient and Effective Deep Multi-view Subspace Clustering
Venue: arXiv cs.CV 2023
Year: 2023

Recent multi-view subspace clustering achieves impressive results utilizing deep networks, where the self-expressive correlation is typically modeled by a fully connected (FC) layer. However, they still suffer from two limitations. i) The parameter scale of the FC layer is quadratic to sample numbers, resulting in high time and memory costs that significantly degrade their feasibility in large-scale datasets. ii) It is under-explored to extract a unified representation that simultaneously satisfies minimal sufficiency and discriminability. To this end, we propose a novel deep framework, termed Efficient and Effective deep Multi-View Subspace Clustering (E$^2$MVSC). Instead of a parameterized FC layer, we design a Relation-Metric Net that decouples network parameter scale from sample numbers for greater computational efficiency. Most importantly, the proposed method devises a multi-type auto-encoder to explicitly decouple consistent, complementary, and superfluous information from every view, which is supervised by a soft clustering assignment similarity constraint. Following information bottleneck theory and the maximal coding rate reduction principle, a sufficient yet minimal unified representation can be obtained, as well as pursuing intra-cluster aggregation and inter-cluster separability within it. Extensive experiments show that E$^2$MVSC yields comparable results to existing methods and achieves state-of-the-art performance in various types of multi-view datasets.
Private Synthetic Data Meets Ensemble Learning
Venue: arXiv cs.CR 2023
Year: 2023

When machine learning models are trained on synthetic data and then deployed on real data, there is often a performance drop due to the distribution shift between synthetic and real data. In this paper, we introduce a new ensemble strategy for training downstream models, with the goal of enhancing their performance when used on real data. We generate multiple synthetic datasets by applying a differential privacy (DP) mechanism several times in parallel and then ensemble the downstream models trained on these datasets. While each synthetic dataset might deviate more from the real data distribution, they collectively increase sample diversity. This may enhance the robustness of downstream models against distribution shifts. Our extensive experiments reveal that while ensembling does not enhance downstream performance (compared with training a single model) for models trained on synthetic data generated by marginal-based or workload-based DP mechanisms, our proposed ensemble strategy does improve the performance for models trained using GAN-based DP mechanisms in terms of both accuracy and calibration of downstream models.
Assessing Smart Algorithms for Gait Phases Detection in Lower Limb Prosthesis: A Comprehensive Review
Venue: arXiv cs.RO 2023
Year: 2023

Over the past few years, the division of gait phases has emerged as a complex area of research that carries significant importance for various applications in the field of gait technologies. The accurate partitioning of gait phases plays a crucial role in advancing these applications. Researchers have been exploring a range of sensors that can be employed to provide data for algorithms involved in gait phase partitioning. These sensors can be broadly categorized into two types: wearable and non-wearable, each offering unique advantages and capabilities. In our study aimed at examining the current approaches to gait analysis and detection specifically designed for implementation in ambulatory rehabilitation systems, we conducted a comprehensive meta-analysis of existing research studies. Our analysis revealed a diverse range of sensors and sensor combinations that demonstrate the ability to analyze gait patterns in ambulatory settings. These sensor options vary from basic force-based binary switches to more intricate setups incorporating multiple inertial sensors and sophisticated algorithms. The findings highlight the wide spectrum of available technologies and methodologies used in gait analysis for ambulatory applications. To conduct an extensive review, we systematically examined two prominent databases, IEEE and Scopus, with the aim of identifying relevant studies pertaining to gait analysis. The search criteria were limited to 189 papers published between 1999 and 2023. From this pool, we identified and included five papers that specifically focused on various techniques including Thresholding, Quasi-static method, adaptive classifier, and SVM-based approaches. These selected papers provided valuable insights for our review.
Large Language Model-Aware In-Context Learning for Code Generation
Venue: arXiv cs.SE 2023
Year: 2023

Large language models (LLMs) have shown impressive in-context learning (ICL) ability in code generation. LLMs take a prompt consisting of requirement-code examples and a new requirement as input, and output new programs. Existing studies have found that ICL is highly dominated by the examples and thus arises research on example selection. However, existing approaches randomly select examples or only consider the textual similarity of requirements to retrieve, leading to sub-optimal performance. In this paper, we propose a novel learning-based selection approach named LAIL (LLM-Aware In-context Learning) for code generation. Given a candidate example, we exploit LLMs themselves to estimate it by considering the generation probabilities of ground-truth programs given a requirement and the example. We then label candidate examples as positive or negative through the probability feedback. Based on the labeled data, we import a contrastive learning objective to train an effective retriever that acquires the preference of LLMs in code generation. We apply LAIL to three LLMs and evaluate it on three representative datasets (e.g., MBJP, MBPP, and MBCPP). LATA outperforms the state-of-the-art baselines by 11.58%, 6.89%, and 5.07% on CodeGen, and 4.38%, 2.85%, and 2.74% on GPT-3.5 in terms of Pass@1, respectively.
From Torch to Projector: Fundamental Tradeoff of Integrated Sensing and Communications
Venue: arXiv cs.IT 2023
Year: 2023

Sensing and communications (S&C) have been historically developed in parallel. In recent decade, they have been evolving from separation to integration, giving rise to the integrated sensing and communications (ISAC) paradigm, that has been recognized as one of the six key 6G usage scenarios. Despite the plethora of research works dedicated to ISAC signal processing, the fundamental performance limits of S&C remain widely unexplored in an ISAC system. In this tutorial paper, we attempt to summarize the recent research findings in characterizing the performance boundary of ISAC systems and the resulting S&C tradeoff from an information-theoretical viewpoint. We begin with a folklore "torch metaphor" that depicts the resource competition mechanism of S&C. Then, we elaborate on the fundamental capacity-distortion (C-D) theory, indicating the incompleteness of this metaphor. Towards that end, we further elaborate on the S&C tradeoff by discussing a special case within the C-D framework, namely the Cramer-Rao bound (CRB)-rate region. In particular, S&C have preference discrepancies over both the subspace occupied by the transmitted signal and the adopted codebook, leading to a "projector metaphor" complementary to the ISAC torch analogy. We also present two practical design examples by leveraging the lessons learned from fundamental theories. Finally, we conclude the paper by identifying a number of open challenges.
Beyond Segmentation: Road Network Generation with Multi-Modal LLMs
Venue: arXiv cs.CV 2023
Year: 2023

This paper introduces an innovative approach to road network generation through the utilization of a multi-modal Large Language Model (LLM). Our model is specifically designed to process aerial images of road layouts and produce detailed, navigable road networks within the input images. The core innovation of our system lies in the unique training methodology employed for the large language model to generate road networks as its output. This approach draws inspiration from the BLIP-2 architecture arXiv:2301.12597, leveraging pre-trained frozen image encoders and large language models to create a versatile multi-modal LLM. Our work also offers an alternative to the reasoning segmentation method proposed in the LISA paper arXiv:2308.00692. By training the large language model with our approach, the necessity for generating binary segmentation masks, as suggested in the LISA paper arXiv:2308.00692, is effectively eliminated. Experimental results underscore the efficacy of our multi-modal LLM in providing precise and valuable navigational guidance. This research represents a significant stride in bolstering autonomous navigation systems, especially in road network scenarios, where accurate guidance is of paramount importance.
Dynamic Link Prediction for New Nodes in Temporal Graph Networks
Venue: arXiv cs.LG 2023
Year: 2023

Modelling temporal networks for dynamic link prediction of new nodes has many real-world applications, such as providing relevant item recommendations to new customers in recommender systems and suggesting appropriate posts to new users on social platforms. Unlike old nodes, new nodes have few historical links, which poses a challenge for the dynamic link prediction task. Most existing dynamic models treat all nodes equally and are not specialized for new nodes, resulting in suboptimal performances. In this paper, we consider dynamic link prediction of new nodes as a few-shot problem and propose a novel model based on the meta-learning principle to effectively mitigate this problem. Specifically, we develop a temporal encoder with a node-level span memory to obtain a new node embedding, and then we use a predictor to determine whether the new node generates a link. To overcome the few-shot challenge, we incorporate the encoder-predictor into the meta-learning paradigm, which can learn two types of implicit information during the formation of the temporal network through span adaptation and node adaptation. The acquired implicit information can serve as model initialisation and facilitate rapid adaptation to new nodes through a fine-tuning process on just a few links. Experiments on three publicly available datasets demonstrate the superior performance of our model compared to existing state-of-the-art methods.
ChatGPT for Vulnerability Detection, Classification, and Repair: How Far Are We?
Venue: arXiv cs.SE 2023
Year: 2023

Large language models (LLMs) like ChatGPT (i.e., gpt-3.5-turbo and gpt-4) exhibited remarkable advancement in a range of software engineering tasks associated with source code such as code review and code generation. In this paper, we undertake a comprehensive study by instructing ChatGPT for four prevalent vulnerability tasks: function and line-level vulnerability prediction, vulnerability classification, severity estimation, and vulnerability repair. We compare ChatGPT with state-of-the-art language models designed for software vulnerability purposes. Through an empirical assessment employing extensive real-world datasets featuring over 190,000 C/C++ functions, we found that ChatGPT achieves limited performance, trailing behind other language models in vulnerability contexts by a significant margin. The experimental outcomes highlight the challenging nature of vulnerability prediction tasks, requiring domain-specific expertise. Despite ChatGPT's substantial model scale, exceeding that of source code-pre-trained language models (e.g., CodeBERT) by a factor of 14,000, the process of fine-tuning remains imperative for ChatGPT to generalize for vulnerability prediction tasks. We publish the studied dataset, experimental prompts for ChatGPT, and experimental results at https://github.com/awsm-research/ChatGPT4Vul.
Alpha Elimination: Using Deep Reinforcement Learning to Reduce Fill-In during Sparse Matrix Decomposition
Venue: arXiv cs.LG 2023
Year: 2023

A large number of computational and scientific methods commonly require decomposing a sparse matrix into triangular factors as LU decomposition. A common problem faced during this decomposition is that even though the given matrix may be very sparse, the decomposition may lead to a denser triangular factors due to fill-in. A significant fill-in may lead to prohibitively larger computational costs and memory requirement during decomposition as well as during the solve phase. To this end, several heuristic sparse matrix reordering methods have been proposed to reduce fill-in before the decomposition. However, finding an optimal reordering algorithm that leads to minimal fill-in during such decomposition is known to be a NP-hard problem. A reinforcement learning based approach is proposed for this problem. The sparse matrix reordering problem is formulated as a single player game. More specifically, Monte-Carlo tree search in combination with neural network is used as a decision making algorithm to search for the best move in our game. The proposed method, alphaElimination is found to produce significantly lesser non-zeros in the LU decomposition as compared to existing state-of-the-art heuristic algorithms with little to no increase in overall running time of the algorithm. The code for the project will be publicly available here\footnote{\url{https://github.com/misterpawan/alphaEliminationPaper}}.
Free as a Bird: Event-based Dynamic Sense-and-Avoid for Ornithopter Robot Flight
Venue: arXiv cs.RO 2023
Year: 2023

Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This paper presents a fully onboard dynamic sense-and-avoid scheme for large-scale ornithopters using event cameras. These sensors trigger pixel information due to changes of illumination in the scene such as those produced by dynamic objects. The method performs event-by-event processing in low-cost hardware such as those onboard small aerial vehicles. The proposed scheme detects obstacles and evaluates possible collisions with the robot body. The onboard controller actuates over the horizontal and vertical tail deflections to execute the avoidance maneuver. The scheme is validated in both indoor and outdoor scenarios using obstacles of different shapes and sizes. To the best of the authors' knowledge, this is the first event-based method for dynamic obstacle avoidance in a flapping-wing robot.
Socially reactive navigation models for mobile robots in dynamic environments
Venue: arXiv cs.RO 2023
Year: 2023

The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space models developed in this dissertation are adaptive, that is, capable of changing over time to accommodate the changing circumstances often existent within a social environment. The space model's parameters' adaptation occurs with the end goal of enabling a close interaction between humans and robots and is thus capable of taking into account not only the arrangement of the groups, but also the basic characteristics of the robot itself. This work also further develops a preexisting approach pose estimation algorithm in order to better guarantee the safety and comfort of the humans involved in the interaction, by taking into account basic human sensibilities. The algorithms are integrated into ROS's navigation system through the use of the $costmap2d$ and the $move\_base$ packages. The space model adaptation is tested via comparative evaluation against previous algorithms through the use of datasets. The entire navigation system is then evaluated through both simulations (static and dynamic) and real life situations (static). These experiments demonstrate that the developed space model and approach pose estimation algorithms are capable of enabling a robot to closely approach individual humans and groups, while maintaining considerations for their comfort and sensibilities.
Theoretical Evaluation of Asymmetric Shapley Values for Root-Cause Analysis
Venue: arXiv cs.LG 2023
Year: 2023

In this work, we examine Asymmetric Shapley Values (ASV), a variant of the popular SHAP additive local explanation method. ASV proposes a way to improve model explanations incorporating known causal relations between variables, and is also considered as a way to test for unfair discrimination in model predictions. Unexplored in previous literature, relaxing symmetry in Shapley values can have counter-intuitive consequences for model explanation. To better understand the method, we first show how local contributions correspond to global contributions of variance reduction. Using variance, we demonstrate multiple cases where ASV yields counter-intuitive attributions, arguably producing incorrect results for root-cause analysis. Second, we identify generalized additive models (GAM) as a restricted class for which ASV exhibits desirable properties. We support our arguments by proving multiple theoretical results about the method. Finally, we demonstrate the use of asymmetric attributions on multiple real-world datasets, comparing the results with and without restricted model families using gradient boosting and deep learning models.
On Statistical Learning of Branch and Bound for Vehicle Routing Optimization
Venue: arXiv cs.LG 2023
Year: 2023

Recently, machine learning of the branch and bound algorithm has shown promise in approximating competent solutions to NP-hard problems. In this paper, we utilize and comprehensively compare the outcomes of three neural networks--graph convolutional neural network (GCNN), GraphSAGE, and graph attention network (GAT)--to solve the capacitated vehicle routing problem. We train these neural networks to emulate the decision-making process of the computationally expensive Strong Branching strategy. The neural networks are trained on six instances with distinct topologies from the CVRPLIB and evaluated on eight additional instances. Moreover, we reduced the minimum number of vehicles required to solve a CVRP instance to a bin-packing problem, which was addressed in a similar manner. Through rigorous experimentation, we found that this approach can match or improve upon the performance of the branch and bound algorithm with the Strong Branching strategy while requiring significantly less computational time. The source code that corresponds to our research findings and methodology is readily accessible and available for reference at the following web address: https://isotlaboratory.github.io/ml4vrp
Unraveling Fundamental Properties of Power System Resilience Curves using Unsupervised Machine Learning
Venue: arXiv cs.LG 2023
Year: 2023

The standard model of infrastructure resilience, the resilience triangle, has been the primary way of characterizing and quantifying infrastructure resilience. However, the theoretical model merely provides a one-size-fits-all framework for all infrastructure systems. Most of the existing studies examine the characteristics of infrastructure resilience curves based on analytical models constructed upon simulated system performance. Limited empirical studies hindered our ability to fully understand and predict resilience characteristics in infrastructure systems. To address this gap, this study examined over 200 resilience curves related to power outages in three major extreme weather events. Using unsupervised machine learning, we examined different curve archetypes, as well as the fundamental properties of each resilience curve archetype. The results show two primary archetypes for power system resilience curves, triangular, and trapezoidal curves. Triangular curves characterize resilience behavior based on 1. critical functionality threshold, 2. critical functionality recovery rate, and 3. recovery pivot point. Trapezoidal archetypes explain resilience curves based on 1. duration of sustained function loss and 2. constant recovery rate. The longer the duration of sustained function loss, the slower the constant rate of recovery. The findings of this study provide novel perspectives enabling better understanding and prediction of resilience performance of power system infrastructures.