OpenRaiser/Intern-Atlas huggingface dataset:
Interactive Task Encoding System for Learning-from-Observation
Venue: arXiv cs.RO 2023
Year: 2023

We present the Interactive Task Encoding System (ITES) for teaching robots to perform manipulative tasks. ITES is designed as an input system for the Learning-from-Observation (LfO) framework, which enables household robots to be programmed using few-shot human demonstrations without the need for coding. In contrast to previous LfO systems that rely solely on visual demonstrations, ITES leverages both verbal instructions and interaction to enhance recognition robustness, thus enabling multimodal LfO. ITES identifies tasks from verbal instructions and extracts parameters from visual demonstrations. Meanwhile, the recognition result was reviewed by the user for interactive correction. Evaluations conducted on a real robot demonstrate the successful teaching of multiple operations for several scenarios, suggesting the usefulness of ITES for multimodal LfO. The source code is available at https://github.com/microsoft/symbolic-robot-teaching-interface.
Agile Assessment Methods: Current State of the Art
Venue: arXiv cs.SE 2023
Year: 2023

Agility Assessment (AA) comprises tools, assessment techniques, and frameworks that focus on indicating how a company or a team is applying agile techniques and eventually pointing out problems in adopting agile practices at a project-level, organization-level or individual-level. There are many approaches for AA such as agility assessment models, agility checklists, agility surveys, and agility assessment tools. This report presents the state of the art approaches that support agility assessment.
Consistent Range Approximation for Fair Predictive Modeling
Venue: arXiv cs.LG 2023
Year: 2023

This paper proposes a novel framework for certifying the fairness of predictive models trained on biased data. It draws from query answering for incomplete and inconsistent databases to formulate the problem of consistent range approximation (CRA) of fairness queries for a predictive model on a target population. The framework employs background knowledge of the data collection process and biased data, working with or without limited statistics about the target population, to compute a range of answers for fairness queries. Using CRA, the framework builds predictive models that are certifiably fair on the target population, regardless of the availability of external data during training. The framework's efficacy is demonstrated through evaluations on real data, showing substantial improvement over existing state-of-the-art methods.
A model-based approach towards accelerated process development: A case study on chromatography
Venue: arXiv cs.CE 2023
Year: 2023

Process development is typically associated with lengthy wet-lab experiments for the identification of good candidate setups and operating conditions. In this paper, we present the key features of a model-based approach for the identification and assessment of process design space (DSp), integrating the analysis of process performance and flexibility. The presented approach comprises three main steps: (1) model development & problem formulation, (2) DSp identification, and (3) DSp analysis. We demonstrate how such an approach can be used for the identification of acceptable operating spaces that enable the assessment of different operating points and quantification of process flexibility. The above steps are demonstrated on Protein A chromatographic purification of antibody-based therapeutics used in biopharmaceutical manufacturing.
On Reinforcement Learning for the Game of 2048
Venue: arXiv cs.LG 2023
Year: 2023

2048 is a single-player stochastic puzzle game. This intriguing and addictive game has been popular worldwide and has attracted researchers to develop game-playing programs. Due to its simplicity and complexity, 2048 has become an interesting and challenging platform for evaluating the effectiveness of machine learning methods. This dissertation conducts comprehensive research on reinforcement learning and computer game algorithms for 2048. First, this dissertation proposes optimistic temporal difference learning, which significantly improves the quality of learning by employing optimistic initialization to encourage exploration for 2048. Furthermore, based on this approach, a state-of-the-art program for 2048 is developed, which achieves the highest performance among all learning-based programs, namely an average score of 625377 points and a rate of 72% for reaching 32768-tiles. Second, this dissertation investigates several techniques related to 2048, including the n-tuple network ensemble learning, Monte Carlo tree search, and deep reinforcement learning. These techniques are promising for further improving the performance of the current state-of-the-art program. Finally, this dissertation discusses pedagogical applications related to 2048 by proposing course designs and summarizing the teaching experience. The proposed course designs adopt 2048-like games as materials for beginners to learn reinforcement learning and computer game algorithms. The courses have been successfully applied to graduate-level students and received well by student feedback.
Speedup and efficiency of computational parallelization: A unifying approach and asymptotic analysis
Venue: arXiv cs.DC 2023
Year: 2023

In high performance computing environments, we observe an ongoing increase in the available numbers of cores. This development calls for re-emphasizing performance (scalability) analysis and speedup laws as suggested in the literature (e.g., Amdahl's law and Gustafson's law), with a focus on asymptotic performance. Understanding speedup and efficiency issues of algorithmic parallelism is useful for several purposes, including the optimization of system operations, temporal predictions on the execution of a program, and the analysis of asymptotic properties and the determination of speedup bounds. However, the literature is fragmented and shows a large diversity and heterogeneity of speedup models and laws. These phenomena make it challenging to obtain an overview of the models and their relationships, to identify the determinants of performance in a given algorithmic and computational context, and, finally, to determine the applicability of performance models and laws to a particular parallel computing setting. In this work, we provide a generic speedup (and thus also efficiency) model for homogeneous computing environments. Our approach generalizes many prominent models suggested in the literature and allows showing that they can be considered special cases of a unifying approach. The genericity of the unifying speedup model is achieved through parameterization. Considering combinations of parameter ranges, we identify six different asymptotic speedup cases and eight different asymptotic efficiency cases. Jointly applying these speedup and efficiency cases, we derive eleven scalability cases, from which we build a scalability typology. Researchers can draw upon our typology to classify their speedup model and to determine the asymptotic behavior when the number of parallel processing units increases. In addition, our results may be used to address various extensions of our setting.
A Generalized Approach to Impedance Control Design for Robotic Minimally Invasive Surgery
Venue: arXiv cs.RO 2023
Year: 2023

Energy based control methods are at the core of modern robotic control algorithms. In this paper we present a general approach to virtual model/mechanism control, which is a powerful design tool to create energy based controllers. We present two novel virtual-mechanisms designed for robotic minimally invasive surgery, which control the position of a surgical instrument while passing through an incision. To these virtual mechanisms we apply the parameter tuning method of Larby and Forni 2022, which optimizes for local performance while ensuring global stability.
Decision-making and control with diffractive optical networks
Venue: arXiv cs.LG 2023
Year: 2023

The ultimate goal of artificial intelligence is to mimic the human brain to perform decision-making and control directly from high-dimensional sensory input. Diffractive optical networks provide a promising solution for implementing artificial intelligence with high-speed and low-power consumption. Most of the reported diffractive optical networks focus on single or multiple tasks that do not involve environmental interaction, such as object recognition and image classification. In contrast, the networks capable of performing decision-making and control have not yet been developed to our knowledge. Here, we propose using deep reinforcement learning to implement diffractive optical networks that imitate human-level decision-making and control capability. Such networks taking advantage of a residual architecture, allow for finding optimal control policies through interaction with the environment and can be readily implemented with existing optical devices. The superior performance of these networks is verified by engaging three types of classic games, Tic-Tac-Toe, Super Mario Bros., and Car Racing. Finally, we present an experimental demonstration of playing Tic-Tac-Toe by leveraging diffractive optical networks based on a spatial light modulator. Our work represents a solid step forward in advancing diffractive optical networks, which promises a fundamental shift from the target-driven control of a pre-designed state for simple recognition or classification tasks to the high-level sensory capability of artificial intelligence. It may find exciting applications in autonomous driving, intelligent robots, and intelligent manufacturing.
Automatically Bounding the Taylor Remainder Series: Tighter Bounds and New Applications
Venue: arXiv cs.LG 2023
Year: 2023

We present a new algorithm for automatically bounding the Taylor remainder series. In the special case of a scalar function $f: \mathbb{R} \to \mathbb{R}$, our algorithm takes as input a reference point $x_0$, trust region $[a, b]$, and integer $k \ge 1$, and returns an interval $I$ such that $f(x) - \sum_{i=0}^{k-1} \frac {1} {i!} f^{(i)}(x_0) (x - x_0)^i \in I (x - x_0)^k$ for all $x \in [a, b]$. As in automatic differentiation, the function $f$ is provided to the algorithm in symbolic form, and must be composed of known atomic functions. At a high level, our algorithm has two steps. First, for a variety of commonly-used elementary functions (e.g., $\exp$, $\log$), we use recently-developed theory to derive sharp polynomial upper and lower bounds on the Taylor remainder series. We then recursively combine the bounds for the elementary functions using an interval arithmetic variant of Taylor-mode automatic differentiation. Our algorithm can make efficient use of machine learning hardware accelerators, and we provide an open source implementation in JAX. We then turn our attention to applications. Most notably, in a companion paper we use our new machinery to create the first universal majorization-minimization optimization algorithms: algorithms that iteratively minimize an arbitrary loss using a majorizer that is derived automatically, rather than by hand. We also show that our automatically-derived bounds can be used for verified global optimization and numerical integration, and to prove sharper versions of Jensen's inequality.
Commitment with Signaling under Double-sided Information Asymmetry
Venue: arXiv cs.GT 2023
Year: 2023

Information asymmetry in games enables players with the information advantage to manipulate others' beliefs by strategically revealing information to other players. This work considers a double-sided information asymmetry in a Bayesian Stackelberg game, where the leader's realized action, sampled from the mixed strategy commitment, is hidden from the follower. In contrast, the follower holds private information about his payoff. Given asymmetric information on both sides, an important question arises: \emph{Does the leader's information advantage outweigh the follower's?} We answer this question affirmatively in this work, where we demonstrate that by adequately designing a signaling device that reveals partial information regarding the leader's realized action to the follower, the leader can achieve a higher expected utility than that without signaling. Moreover, unlike previous works on the Bayesian Stackelberg game where mathematical programming tools are utilized, we interpret the leader's commitment as a probability measure over the belief space. Such a probabilistic language greatly simplifies the analysis and allows an indirect signaling scheme, leading to a geometric characterization of the equilibrium under the proposed game model.
Spatio-Visual Fusion-Based Person Re-Identification for Overhead Fisheye Images
Venue: arXiv cs.CV 2023
Year: 2023

Person re-identification (PRID) has been thoroughly researched in typical surveillance scenarios where various scenes are monitored by side-mounted, rectilinear-lens cameras. To date, few methods have been proposed for fisheye cameras mounted overhead and their performance is lacking. In order to close this performance gap, we propose a multi-feature framework for fisheye PRID where we combine deep-learning, color-based and location-based features by means of novel feature fusion. We evaluate the performance of our framework for various feature combinations on FRIDA, a public fisheye PRID dataset. The results demonstrate that our multi-feature approach outperforms recent appearance-based deep-learning methods by almost 18% points and location-based methods by almost 3% points in matching accuracy. We also demonstrate the potential application of the proposed PRID framework to people counting in large, crowded indoor spaces.
SALVE: Self-supervised Adaptive Low-light Video Enhancement
Venue: arXiv cs.CV 2023
Year: 2023

A self-supervised adaptive low-light video enhancement method, called SALVE, is proposed in this work. SALVE first enhances a few key frames of an input low-light video using a retinex-based low-light image enhancement technique. For each keyframe, it learns a mapping from low-light image patches to enhanced ones via ridge regression. These mappings are then used to enhance the remaining frames in the low-light video. The combination of traditional retinex-based image enhancement and learning-based ridge regression leads to a robust, adaptive and computationally inexpensive solution to enhance low-light videos. Our extensive experiments along with a user study show that 87% of participants prefer SALVE over prior work.
Markov Categories and Entropy
Venue: arXiv cs.IT 2023
Year: 2023

Markov categories are a novel framework to describe and treat problems in probability and information theory. In this work we combine the categorical formalism with the traditional quantitative notions of entropy, mutual information, and data processing inequalities. We show that several quantitative aspects of information theory can be captured by an enriched version of Markov categories, where the spaces of morphisms are equipped with a divergence or even a metric. As it is customary in information theory, mutual information can be defined as a measure of how far a joint source is from displaying independence of its components. More strikingly, Markov categories give a notion of determinism for sources and channels, and we can define entropy exactly by measuring how far a source or channel is from being deterministic. This recovers Shannon and Rényi entropies, as well as the Gini-Simpson index used in ecology to quantify diversity, and it can be used to give a conceptual definition of generalized entropy.
OPT-IML: Scaling Language Model Instruction Meta Learning through the Lens of Generalization
Venue: arXiv cs.CL 2023
Year: 2023

Recent work has shown that fine-tuning large pre-trained language models on a collection of tasks described via instructions, a.k.a. instruction-tuning, improves their zero and few-shot generalization to unseen tasks. However, there is a limited understanding of the performance trade-offs of different decisions made during the instruction-tuning process. These decisions include the scale and diversity of the instruction-tuning benchmark, different task sampling strategies, fine-tuning with and without demonstrations, training using specialized datasets for reasoning and dialogue, and finally, the fine-tuning objectives themselves. In this paper, we characterize the effect of instruction-tuning decisions on downstream task performance when scaling both model and benchmark sizes. To this end, we create OPT-IML Bench: a large benchmark for Instruction Meta-Learning (IML) of 2000 NLP tasks consolidated into task categories from 8 existing benchmarks, and prepare an evaluation framework to measure three types of model generalizations: to tasks from fully held-out categories, to held-out tasks from seen categories, and to held-out instances from seen tasks. Through the lens of this framework, we first present insights about instruction-tuning decisions as applied to OPT-30B and further exploit these insights to train OPT-IML 30B and 175B, which are instruction-tuned versions of OPT. OPT-IML demonstrates all three generalization abilities at both scales on four different evaluation benchmarks with diverse tasks and input formats -- PromptSource, FLAN, Super-NaturalInstructions, and UnifiedSKG. Not only does it significantly outperform OPT on all benchmarks but is also highly competitive with existing models fine-tuned on each specific benchmark. We release OPT-IML at both scales, together with the OPT-IML Bench evaluation framework.
Combatting Front-Running in Smart Contracts: Attack Mining, Benchmark Construction and Vulnerability Detector Evaluation
Venue: arXiv cs.SE 2023
Year: 2023

Front-running attacks have been a major concern on the blockchain. Attackers launch front-running attacks by inserting additional transactions before upcoming victim transactions to manipulate victim transaction executions and make profits. Recent studies have shown that front-running attacks are prevalent on the Ethereum blockchain and have caused millions of US dollars loss. Vulnerable smart contracts, blockchain programs invoked by transactions, are held responsible for front-running attacks. Although techniques to detect front-running vulnerabilities have been proposed, their performance on real-world vulnerable contracts is unclear. There is no large-scale benchmark based on real attacks to evaluate their capabilities. This motivates us to build a benchmark consisting of 513 real-world attacks with vulnerable code labeled in 235 distinct smart contracts. We propose automated techniques to effectively collect real-world attacks and localize the corresponding vulnerable code at scale. Our experiments show that our approaches are effective, achieving higher recall in finding real attacks and higher precision in pinpointing vulnerabilities compared to the existing techniques. The evaluation of seven state-of-the-art vulnerability detection techniques on the benchmark reveals their inadequacy in detecting front-running vulnerabilities, with a low recall of at most 6.04%. Our further analysis identifies four common limitations in existing techniques: lack of support for inter-contract analysis, inefficient constraint solving for cryptographic operations, improper vulnerability patterns, and lack of token support.
HiTSKT: A Hierarchical Transformer Model for Session-Aware Knowledge Tracing
Venue: arXiv cs.AI 2023
Year: 2023

Knowledge tracing (KT) aims to leverage students' learning histories to estimate their mastery levels on a set of pre-defined skills, based on which the corresponding future performance can be accurately predicted. As an important way of providing personalized experience for online education, KT has gained increased attention in recent years. In practice, a student's learning history comprises answers to sets of massed questions, each known as a session, rather than merely being a sequence of independent answers. Theoretically, within and across these sessions, students' learning dynamics can be very different. Therefore, how to effectively model the dynamics of students' knowledge states within and across the sessions is crucial for handling the KT problem. Most existing KT models treat student's learning records as a single continuing sequence, without capturing the sessional shift of students' knowledge state. To address the above issue, we propose a novel hierarchical transformer model, named HiTSKT, comprises an interaction(-level) encoder to capture the knowledge a student acquires within a session, and a session(-level) encoder to summarise acquired knowledge across the past sessions. To predict an interaction in the current session, a knowledge retriever integrates the summarised past-session knowledge with the previous interactions' information into proper knowledge representations. These representations are then used to compute the student's current knowledge state. Additionally, to model the student's long-term forgetting behaviour across the sessions, a power-law-decay attention mechanism is designed and deployed in the session encoder, allowing it to emphasize more on the recent sessions. Extensive experiments on three public datasets demonstrate that HiTSKT achieves new state-of-the-art performance on all the datasets compared with six state-of-the-art KT models.
Implementation of a Blind navigation method in outdoors/indoors areas
Venue: arXiv cs.CV 2023
Year: 2023

According to WHO statistics, the number of visually impaired people is increasing annually. One of the most critical necessities for visually impaired people is the ability to navigate safely. This paper proposes a navigation system based on the visual slam and Yolo algorithm using monocular cameras. The proposed system consists of three steps: obstacle distance estimation, path deviation detection, and next-step prediction. Using the ORB-SLAM algorithm, the proposed method creates a map from a predefined route and guides the users to stay on the route while notifying them if they deviate from it. Additionally, the system utilizes the YOLO algorithm to detect obstacles along the route and alert the user. The experimental results, obtained by using a laptop camera, show that the proposed system can run in 30 frame per second while guiding the user within predefined routes of 11 meters in indoors and outdoors. The accuracy of the positioning system is 8cm, and the system notifies the users if they deviate from the predefined route by more than 60 cm.
A Convergence Rate for Manifold Neural Networks
Venue: arXiv cs.LG 2023
Year: 2023

High-dimensional data arises in numerous applications, and the rapidly developing field of geometric deep learning seeks to develop neural network architectures to analyze such data in non-Euclidean domains, such as graphs and manifolds. Recent work by Z. Wang, L. Ruiz, and A. Ribeiro has introduced a method for constructing manifold neural networks using the spectral decomposition of the Laplace Beltrami operator. Moreover, in this work, the authors provide a numerical scheme for implementing such neural networks when the manifold is unknown and one only has access to finitely many sample points. The authors show that this scheme, which relies upon building a data-driven graph, converges to the continuum limit as the number of sample points tends to infinity. Here, we build upon this result by establishing a rate of convergence that depends on the intrinsic dimension of the manifold but is independent of the ambient dimension. We also discuss how the rate of convergence depends on the depth of the network and the number of filters used in each layer.