OpenRaiser/Intern-Atlas huggingface dataset:
Automatic Amortized Resource Analysis with Regular Recursive Types
Venue: arXiv cs.PL 2023
Year: 2023

The goal of automatic resource bound analysis is to statically infer symbolic bounds on the resource consumption of the evaluation of a program. A longstanding challenge for automatic resource analysis is the inference of bounds that are functions of complex custom data structures. This article builds on type-based automatic amortized resource analysis (AARA) to address this challenge. AARA is based on the potential method of amortized analysis and reduces bound inference to standard type inference with additional linear constraint solving, even when deriving non-linear bounds. A key component of AARA is resource functions that generate the space of possible bounds for values of a given type while enjoying necessary closure properties. Existing work on AARA defined such functions for many data structures such as lists of lists but the question of whether such functions exist for arbitrary data structures remained open. This work answers this questions positively by uniformly constructing resource polynomials for algebraic data structures defined by regular recursive types. These functions are a generalization of all previously proposed polynomial resource functions and can be seen as a general notion of polynomials for values of a given recursive type. A resource type system for FPC, a core language with recursive types, demonstrates how resource polynomials can be integrated with AARA while preserving all benefits of past techniques. The article also proposes the use of new techniques useful for stating the rules of this type system and proving it sound. First, multivariate potential annotations are stated in terms of free semimodules, substantially abstracting details of the presentation of annotations and the proofs of their properties. Second, a logical relation giving semantic meaning to resource types enables a proof of soundness by a single induction on typing derivations.
Automatic and Flexible Transmission of Semantic Map Images using Polar Codes for End-to-End Semantic-based Communication Systems
Venue: arXiv cs.IT 2023
Year: 2023

Semantic communication represents a promising roadmap toward achieving end-to-end communication with reduced communication overhead and an enhanced user experience. The integration of semantic concepts with wireless communications presents novel challenges. This paper proposes a flexible simulation software that automatically transmits semantic segmentation map images over a communication channel. An additive white Gaussian noise (AWGN) channel using binary phase-shift keying (BPSK) modulation is considered as the channel setup. The well-known polar codes are chosen as the channel coding scheme. The popular COCO-Stuff dataset is used as an example to generate semantic map images corresponding to different signal-to-noise ratios (SNRs). To evaluate the proposed software, we have generated four small datasets, each containing a thousand semantic map samples, accompanied by comprehensive information corresponding to each image, including the polar code specifications, detailed image attributes, bit error rate (BER), and frame error rate (FER). The capacity to generate an unlimited number of semantic maps utilizing desired channel coding parameters and preferred SNR, in conjunction with the flexibility of using alternative datasets, renders our simulation software highly adaptable and transferable to a broad range of use cases.
Drones on the Rise: Exploring the Current and Future Potential of UAVs
Venue: arXiv cs.RO 2023
Year: 2023

Unmanned Aerial Vehicles (UAVs) have become increasingly popular in recent years due to their versatility and affordability. This article provides an overview of the history and development of UAVs, as well as their current and potential applications in various fields. In particular, the article highlights the use of UAVs in aerial photography and videography, surveying and mapping, agriculture and forestry, infrastructure inspection and maintenance, search and rescue operations, disaster management and humanitarian aid, and military applications such as reconnaissance, surveillance, and combat. The article also explores potential advancements in UAV technology and new applications that could emerge in the future, as well as concerns about the impact of UAVs on society, such as privacy, safety, security, job displacement, and environmental impact. Overall, the article aims to provide a comprehensive overview of the current state and future potential of UAV technology, and the benefits and challenges associated with its use in various industries and fields.
Harnessing the Power of LLMs in Practice: A Survey on ChatGPT and Beyond
Venue: arXiv cs.CL 2023
Year: 2023

This paper presents a comprehensive and practical guide for practitioners and end-users working with Large Language Models (LLMs) in their downstream natural language processing (NLP) tasks. We provide discussions and insights into the usage of LLMs from the perspectives of models, data, and downstream tasks. Firstly, we offer an introduction and brief summary of current GPT- and BERT-style LLMs. Then, we discuss the influence of pre-training data, training data, and test data. Most importantly, we provide a detailed discussion about the use and non-use cases of large language models for various natural language processing tasks, such as knowledge-intensive tasks, traditional natural language understanding tasks, natural language generation tasks, emergent abilities, and considerations for specific tasks.We present various use cases and non-use cases to illustrate the practical applications and limitations of LLMs in real-world scenarios. We also try to understand the importance of data and the specific challenges associated with each NLP task. Furthermore, we explore the impact of spurious biases on LLMs and delve into other essential considerations, such as efficiency, cost, and latency, to ensure a comprehensive understanding of deploying LLMs in practice. This comprehensive guide aims to provide researchers and practitioners with valuable insights and best practices for working with LLMs, thereby enabling the successful implementation of these models in a wide range of NLP tasks. A curated list of practical guide resources of LLMs, regularly updated, can be found at \url{https://github.com/Mooler0410/LLMsPracticalGuide}.
Guaranteed Quantization Error Computation for Neural Network Model Compression
Venue: arXiv cs.LG 2023
Year: 2023

Neural network model compression techniques can address the computation issue of deep neural networks on embedded devices in industrial systems. The guaranteed output error computation problem for neural network compression with quantization is addressed in this paper. A merged neural network is built from a feedforward neural network and its quantized version to produce the exact output difference between two neural networks. Then, optimization-based methods and reachability analysis methods are applied to the merged neural network to compute the guaranteed quantization error. Finally, a numerical example is proposed to validate the applicability and effectiveness of the proposed approach.
Backpropagation and F-adjoint
Venue: arXiv cs.NE 2023
Year: 2023

This paper presents a concise mathematical framework for investigating both feed-forward and backward process, during the training to learn model weights, of an artificial neural network (ANN). Inspired from the idea of the two-step rule for backpropagation, we define a notion of F-adjoint which is aimed at a better description of the backpropagation algorithm. In particular, by introducing the notions of F-propagation and F-adjoint through a deep neural network architecture, the backpropagation associated to a cost/loss function is proven to be completely characterized by the F-adjoint of the corresponding F-propagation relatively to the partial derivative, with respect to the inputs, of the cost function.
Multicast Transmission Design with Enhanced DoF for MIMO Coded Caching Systems
Venue: arXiv cs.IT 2023
Year: 2023

Integrating coded caching (CC) into multi-input multi-output (MIMO) setups significantly enhances the achievable degrees of freedom (DoF). We consider a cache-aided MIMO configuration with a CC gain $t$, where a server with $L$ Tx-antennas communicates with $K$ users, each equipped with $G$ Rx-antennas. Similar to existing works, we also extend a core CC approach, designed initially for multi-input single-output (MISO) scenarios, to the MIMO setup. However, in the proposed MIMO strategy, rather than replicating the transmit scheme from the MISO setup, the number of users $Ω$ served in each transmission is fine-tuned to maximize DoF. As a result, an optimized DoF of ${\max_{β, Ω}}{Ωβ}$ is achieved, where ${β\le \mathrm{min}\big(G,L \binom{Ω-1}{t}}\Big/{1 + (Ω- t-1)\binom{Ω-1}{t}}\big)$ is the number of parallel streams decoded by each user. For the considered MIMO-CC setup, we also introduce an effective multicast transmit covariance matrix design for the symmetric rate maximization objective solved iteratively via successive convex approximation (SCA). Finally, numerical simulations verify the enhanced DoF and improved performance of the proposed design.
AI-based Predictive Analytic Approaches for safeguarding the Future of Electric/Hybrid Vehicles
Venue: arXiv cs.AI 2023
Year: 2023

In response to the global need for sustainable energy, green technology may help fight climate change. Before green infrastructure to be easily integrated into the world's energy system, it needs upgrading. By improving energy infrastructure and decision-making, artificial intelligence (AI) may help solve this challenge. EHVs have grown in popularity because to concerns about global warming and the need for more ecologically friendly transportation. EHVs may work better with cutting-edge technologies like AI. Electric vehicles (EVs) reduce greenhouse gas emissions and promote sustainable mobility. Electric automobiles (EVs) are growing in popularity due to their benefits for climate change mitigation and sustainable mobility. Unfortunately, EV production consumes a lot of energy and materials, which may harm nature. EV production is being improved using green technologies like artificial intelligence and predictive analysis. Electric and hybrid vehicles (EHVs) may help meet the need for ecologically friendly transportation. However, the Battery Management System (BMS) controls EHV performance and longevity. AI may improve EHV energy efficiency, emissions reduction, and sustainability. Remote hijacking, security breaches, and unauthorized access are EHV cybersecurity vulnerabilities addressed in the article. AI research and development may help make transportation more sustainable, as may optimizing EHVs and charging infrastructure.
Improving the Quality of Commit Messages in Students' Projects
Venue: arXiv cs.SE 2023
Year: 2023

Commit messages play a crucial role in collaborative software development. They provide a clear and concise description of the changes made to the source code. However, many commit messages among students' projects lack useful information. This is a concern, as low-quality commit messages can negatively impact communication of software development and future maintenance. To address this issue, this research aims to help students write high-quality commit messages by "nudging" them in the right direction. We modified the GitHub Desktop application by incorporating specific requirements for commit messages, specifically "what" and "why" parts. To test whether this affects the quality of commit messages, we divided students from an Information Retrieval class into two groups, with one group using the modified application and the other using other interfaces. The results show that the quality of commit messages is improved in terms of informativeness, clearness, and length.
LSTM based IoT Device Identification
Venue: arXiv cs.CR 2023
Year: 2023

While the use of the Internet of Things is becoming more and more popular, many security vulnerabilities are emerging with the large number of devices being introduced to the market. In this environment, IoT device identification methods provide a preventive security measure as an important factor in identifying these devices and detecting the vulnerabilities they suffer from. In this study, we present a method that identifies devices in the Aalto dataset using Long short-term memory (LSTM)
A Supervised Machine Learning Approach to Operator Intent Recognition for Teleoperated Mobile Robot Navigation
Venue: arXiv cs.RO 2023
Year: 2023

In applications that involve human-robot interaction (HRI), human-robot teaming (HRT), and cooperative human-machine systems, the inference of the human partner's intent is of critical importance. This paper presents a method for the inference of the human operator's navigational intent, in the context of mobile robots that provide full or partial (e.g., shared control) teleoperation. We propose the Machine Learning Operator Intent Inference (MLOII) method, which a) processes spatial data collected by the robot's sensors; b) utilizes a supervised machine learning algorithm to estimate the operator's most probable navigational goal online. The proposed method's ability to reliably and efficiently infer the intent of the human operator is experimentally evaluated in realistically simulated exploration and remote inspection scenarios. The results in terms of accuracy and uncertainty indicate that the proposed method is comparable to another state-of-the-art method found in the literature.
communication of information in systems of heterogenious agents and systems' dynamics
Venue: arXiv cs.CY 2023
Year: 2023

Communication of information in complex systems can be considered as major driver of systems evolution. What matters is not the communicated information by itself but rather the meaning that is supplied to the information. However informational exchange in a system of heterogenious agents, which code and decode information with different meaning processing structures, is more complex than simple input-output model. The structural difference of coding and decoding algorithms in a system of three or more groups of agents, entertaining different sets of communication codes,provide a source of additional options which has an impact on system's dynamics. The mechanisms of meaning and information processing can be evaluated analytically ion a model framework. The results show that model predictions acccurately fit empirically observed data in systems of different origions.
COSST: Multi-organ Segmentation with Partially Labeled Datasets Using Comprehensive Supervisions and Self-training
Venue: arXiv cs.CV 2023
Year: 2023

Deep learning models have demonstrated remarkable success in multi-organ segmentation but typically require large-scale datasets with all organs of interest annotated. However, medical image datasets are often low in sample size and only partially labeled, i.e., only a subset of organs are annotated. Therefore, it is crucial to investigate how to learn a unified model on the available partially labeled datasets to leverage their synergistic potential. In this paper, we systematically investigate the partial-label segmentation problem with theoretical and empirical analyses on the prior techniques. We revisit the problem from a perspective of partial label supervision signals and identify two signals derived from ground truth and one from pseudo labels. We propose a novel two-stage framework termed COSST, which effectively and efficiently integrates comprehensive supervision signals with self-training. Concretely, we first train an initial unified model using two ground truth-based signals and then iteratively incorporate the pseudo label signal to the initial model using self-training. To mitigate performance degradation caused by unreliable pseudo labels, we assess the reliability of pseudo labels via outlier detection in latent space and exclude the most unreliable pseudo labels from each self-training iteration. Extensive experiments are conducted on one public and three private partial-label segmentation tasks over 12 CT datasets. Experimental results show that our proposed COSST achieves significant improvement over the baseline method, i.e., individual networks trained on each partially labeled dataset. Compared to the state-of-the-art partial-label segmentation methods, COSST demonstrates consistent superior performance on various segmentation tasks and with different training data sizes.
SeeHow: Workflow Extraction from Programming Screencasts through Action-Aware Video Analytics
Venue: arXiv cs.SE 2023
Year: 2023

Programming screencasts (e.g., video tutorials on Youtube or live coding stream on Twitch) are important knowledge source for developers to learn programming knowledge, especially the workflow of completing a programming task. Nonetheless, the image nature of programming screencasts limits the accessibility of screencast content and the workflow embedded in it, resulting in a gap to access and interact with the content and workflow in programming screencasts. Existing non-intrusive methods are limited to extract either primitive human-computer interaction (HCI) actions or coarse-grained video fragments.In this work, we leverage Computer Vision (CV) techniques to build a programming screencast analysis tool which can automatically extract code-line editing steps (enter text, delete text, edit text and select text) from screencasts.Given a programming screencast, our approach outputs a sequence of coding steps and code snippets involved in each step, which we refer to as programming workflow. The proposed method is evaluated on 41 hours of tutorial videos and live coding screencasts with diverse programming environments.The results demonstrate our tool can extract code-line editing steps accurately and the extracted workflow steps can be intuitively understood by developers.
Improved path planning algorithms for non-holonomic autonomous vehicles in industrial environments with narrow corridors: Roadmap Hybrid A* and Waypoints Hybrid B*. Roadmap hybrid A* and Waypoints hybrid A* Pseudocodes
Venue: arXiv cs.RO 2023
Year: 2023

This paper proposes two novel path planning algorithms, Roadmap Hybrid A* and Waypoints Hybrid A*, for car-like autonomous vehicles in logistics and industrial contexts with obstacles (e.g., pallets or containers) and narrow corridors. Roadmap Hybrid A* combines Hybrid A* with a graph search algorithm applied to a static roadmap. The former enables obstacle avoidance and flexibility, whereas the latter provides greater robustness, repeatability, and computational speed. Waypoint Hybrid A*, on the other hand, generates waypoints using a topological map of the environment to guide Hybrid A* to the target pose, reducing complexity and search time. Both algorithms enable predetermined control over the shape of desired parts of the path, for example, to obtain precise docking maneuvers to service machines and to eliminate unnecessary steering changes produced by Hybrid A* in corridors, thanks to the roadmap and/or the waypoints. To evaluate the performance of these algorithms, we conducted a simulation study in an industrial plant where a robot must navigate narrow corridors to serve machines in different areas. In terms of computational time, total length, reverse length path, and other metrics, both algorithms outperformed the standard Hybrid A*.
An Overview of Robotic Grippers
Venue: arXiv cs.RO 2023
Year: 2023

The development of robotic grippers is driven by the need to execute particular manual tasks or meet specific objectives in handling operations. Grippers with specific functions vary from being small, accurate and highly controllable such as the surgical tool effectors of the Da Vinci robot (designed to be used as non-invasive grippers controlled by a human operator during keyhole surgeries) to larger, highly controllable grippers like the Shadow Dexterous Hand (designed to recreate the hand motions of a human). Additionally, there are less finely controllable grippers, such as the iRobot-Harvard-Yale (iHY) Hand or Istituto Italiano di Tecnoglia-Pisa (IIT-Pisa) Softhand, which instead leverage natural motions during grasping via designs inspired by observed bio-mechanical systems. As robotic systems become more autonomous and widely used, it is becoming increasingly important to consider the design, form and function of robotic grippers.
RegHEC: Hand-Eye Calibration via Simultaneous Multi-view Point Clouds Registration of Arbitrary Object
Venue: arXiv cs.CV 2023
Year: 2023

RegHEC is a registration-based hand-eye calibration technique with no need for accurate calibration rig but arbitrary available objects, applicable for both eye-in-hand and eye-to-hand cases. It tries to find the hand-eye relation which brings multi-view point clouds of arbitrary scene into simultaneous registration under a common reference frame. RegHEC first achieves initial alignment of multi-view point clouds via Bayesian optimization, where registration problem is modeled as a Gaussian process over hand-eye relation and the covariance function is modified to be compatible with distance metric in 3-D motion space SE(3), then passes the initial guess of hand-eye relation to an Anderson Accelerated ICP variant for later fine registration and accurate calibration. RegHEC has little requirement on calibration object, it is applicable with sphere, cone, cylinder and even simple plane, which can be quite challenging for correct point cloud registration and sensor motion estimation using existing methods. While suitable for most 3-D vision guided tasks, RegHEC is especially favorable for robotic 3-D reconstruction, as calibration and multi-view point clouds registration of reconstruction target are unified into a single process. Our technique is verified with extensive experiments using varieties of arbitrary objects and real hand-eye system. We release an open-source C++ implementation of RegHEC.
MCLFIQ: Mobile Contactless Fingerprint Image Quality
Venue: arXiv cs.CV 2023
Year: 2023

We propose MCLFIQ: Mobile Contactless Fingerprint Image Quality, the first quality assessment algorithm for mobile contactless fingerprint samples. To this end, we re-trained the NIST Fingerprint Image Quality (NFIQ) 2 method, which was originally designed for contact-based fingerprints, with a synthetic contactless fingerprint database. We evaluate the predictive performance of the resulting MCLFIQ model in terms of Error-vs.-Discard Characteristic (EDC) curves on three real-world contactless fingerprint databases using three recognition algorithms. In experiments, the MCLFIQ method is compared against the original NFIQ 2.2 method, a sharpness-based quality assessment algorithm developed for contactless fingerprint images \rev{and the general purpose image quality assessment method BRISQUE. Furthermore, benchmarks on four contact-based fingerprint datasets are also conducted.} Obtained results show that the fine-tuning of NFIQ 2 on synthetic contactless fingerprints is a viable alternative to training on real databases. Moreover, the evaluation shows that our MCLFIQ method works more accurate and robust compared to all baseline methods on contactless fingerprints. We suggest considering the proposed MCLFIQ method as a \rev{starting point for the development of} a new standard algorithm for contactless fingerprint quality assessment.