OpenRaiser/Intern-Atlas huggingface dataset:
PosMLP-Video: Spatial and Temporal Relative Position Encoding for Efficient Video Recognition
Venue: arXiv cs.CV 2024
Year: 2024

In recent years, vision Transformers and MLPs have demonstrated remarkable performance in image understanding tasks. However, their inherently dense computational operators, such as self-attention and token-mixing layers, pose significant challenges when applied to spatio-temporal video data. To address this gap, we propose PosMLP-Video, a lightweight yet powerful MLP-like backbone for video recognition. Instead of dense operators, we use efficient relative positional encoding (RPE) to build pairwise token relations, leveraging small-sized parameterized relative position biases to obtain each relation score. Specifically, to enable spatio-temporal modeling, we extend the image PosMLP's positional gating unit to temporal, spatial, and spatio-temporal variants, namely PoTGU, PoSGU, and PoSTGU, respectively. These gating units can be feasibly combined into three types of spatio-temporal factorized positional MLP blocks, which not only decrease model complexity but also maintain good performance. Additionally, we enrich relative positional relationships by using channel grouping. Experimental results on three video-related tasks demonstrate that PosMLP-Video achieves competitive speed-accuracy trade-offs compared to the previous state-of-the-art models. In particular, PosMLP-Video pre-trained on ImageNet1K achieves 59.0%/70.3% top-1 accuracy on Something-Something V1/V2 and 82.1% top-1 accuracy on Kinetics-400 while requiring much fewer parameters and FLOPs than other models. The code is released at https://github.com/zhouds1918/PosMLP_Video.
Unified Anomaly Detection methods on Edge Device using Knowledge Distillation and Quantization
Venue: arXiv cs.CV 2024
Year: 2024

With the rapid advances in deep learning and smart manufacturing in Industry 4.0, there is an imperative for high-throughput, high-performance, and fully integrated visual inspection systems. Most anomaly detection approaches using defect detection datasets, such as MVTec AD, employ one-class models that require fitting separate models for each class. On the contrary, unified models eliminate the need for fitting separate models for each class and significantly reduce cost and memory requirements. Thus, in this work, we experiment with considering a unified multi-class setup. Our experimental study shows that multi-class models perform at par with one-class models for the standard MVTec AD dataset. Hence, this indicates that there may not be a need to learn separate object/class-wise models when the object classes are significantly different from each other, as is the case of the dataset considered. Furthermore, we have deployed three different unified lightweight architectures on the CPU and an edge device (NVIDIA Jetson Xavier NX). We analyze the quantized multi-class anomaly detection models in terms of latency and memory requirements for deployment on the edge device while comparing quantization-aware training (QAT) and post-training quantization (PTQ) for performance at different precision widths. In addition, we explored two different methods of calibration required in post-training scenarios and show that one of them performs notably better, highlighting its importance for unsupervised tasks. Due to quantization, the performance drop in PTQ is further compensated by QAT, which yields at par performance with the original 32-bit Floating point in two of the models considered.
Modelling the mitigation of anti-vaccine opinion propagation to suppress epidemic spread: A computational approach
Venue: arXiv cs.SI 2024
Year: 2024

Information regarding vaccines from sources such as health services, media, and social networks can significantly shape vaccination decisions. In particular, the dissemination of negative information can contribute to vaccine hesitancy, thereby exacerbating infectious disease outbreaks. This study investigates strategies to mitigate anti-vaccine social contagion through effective counter-campaigns that disseminate positive vaccine information and encourage vaccine uptake, aiming to reduce the size of epidemics. In a coupled agent-based model that consists of opinion and disease diffusion processes, we explore and compare different heuristics to design positive campaigns based on the network structure and local presence of negative vaccine attitudes. We examine two campaigning regimes: a static regime with a fixed set of targets, and a dynamic regime in which targets can be updated over time. We demonstrate that strategic targeting and engagement with the dynamics of anti-vaccine influence diffusion in the network can effectively mitigate the spread of anti-vaccine sentiment, thereby reducing the epidemic size. However, the effectiveness of the campaigns differs across different targeting strategies and is impacted by a range of factors. We find that the primary advantage of static campaigns lies in their capacity to act as an obstacle, preventing the clustering of emerging anti-vaccine communities, thereby resulting in smaller and unconnected anti-vaccine groups. On the other hand, dynamic campaigns reach a broader segment of the population and adapt to the evolution of anti-vaccine diffusion, not only protecting susceptible agents from negative influence but also fostering positive propagation within negative regions.
Semantically Rich Local Dataset Generation for Explainable AI in Genomics
Venue: arXiv cs.LG 2024
Year: 2024

Black box deep learning models trained on genomic sequences excel at predicting the outcomes of different gene regulatory mechanisms. Therefore, interpreting these models may provide novel insights into the underlying biology, supporting downstream biomedical applications. Due to their complexity, interpretable surrogate models can only be built for local explanations (e.g., a single instance). However, accomplishing this requires generating a dataset in the neighborhood of the input, which must maintain syntactic similarity to the original data while introducing semantic variability in the model's predictions. This task is challenging due to the complex sequence-to-function relationship of DNA. We propose using Genetic Programming to generate datasets by evolving perturbations in sequences that contribute to their semantic diversity. Our custom, domain-guided individual representation effectively constrains syntactic similarity, and we provide two alternative fitness functions that promote diversity with no computational effort. Applied to the RNA splicing domain, our approach quickly achieves good diversity and significantly outperforms a random baseline in exploring the search space, as shown by our proof-of-concept, short RNA sequence. Furthermore, we assess its generalizability and demonstrate scalability to larger sequences, resulting in a ~30% improvement over the baseline.
YOLOv5, YOLOv8 and YOLOv10: The Go-To Detectors for Real-time Vision
Venue: arXiv cs.CV 2024
Year: 2024

This paper presents a comprehensive review of the evolution of the YOLO (You Only Look Once) object detection algorithm, focusing on YOLOv5, YOLOv8, and YOLOv10. We analyze the architectural advancements, performance improvements, and suitability for edge deployment across these versions. YOLOv5 introduced significant innovations such as the CSPDarknet backbone and Mosaic Augmentation, balancing speed and accuracy. YOLOv8 built upon this foundation with enhanced feature extraction and anchor-free detection, improving versatility and performance. YOLOv10 represents a leap forward with NMS-free training, spatial-channel decoupled downsampling, and large-kernel convolutions, achieving state-of-the-art performance with reduced computational overhead. Our findings highlight the progressive enhancements in accuracy, efficiency, and real-time performance, particularly emphasizing their applicability in resource-constrained environments. This review provides insights into the trade-offs between model complexity and detection accuracy, offering guidance for selecting the most appropriate YOLO version for specific edge computing applications.
Development of a semi-autonomous framework for NDT inspection with a tilting aerial platform
Venue: arXiv cs.RO 2024
Year: 2024

This letter investigates the problem of controlling an aerial manipulator, composed of an omnidirectional tilting drone equipped with a five-degrees-of-freedom robotic arm. The robot has to interact with the environment to inspect structures and perform non-destructive measurements. A parallel force-impedance control technique is developed to establish contact with the designed surface with a desired force profile. During the interaction, a pushing phase is required to create a vacuum between the surface and the echometer sensor mounted at the end-effector, to measure the thickness of the interaction surface. Repetitive measures are performed to show the repeatability of the algorithm.
Federated Learning for Zero-Day Attack Detection in 5G and Beyond V2X Networks
Venue: arXiv cs.CR 2024
Year: 2024

Deploying Connected and Automated Vehicles (CAVs) on top of 5G and Beyond networks (5GB) makes them vulnerable to increasing vectors of security and privacy attacks. In this context, a wide range of advanced machine/deep learning based solutions have been designed to accurately detect security attacks. Specifically, supervised learning techniques have been widely applied to train attack detection models. However, the main limitation of such solutions is their inability to detect attacks different from those seen during the training phase, or new attacks, also called zero-day attacks. Moreover, training the detection model requires significant data collection and labeling, which increases the communication overhead, and raises privacy concerns. To address the aforementioned limits, we propose in this paper a novel detection mechanism that leverages the ability of the deep auto-encoder method to detect attacks relying only on the benign network traffic pattern. Using federated learning, the proposed intrusion detection system can be trained with large and diverse benign network traffic, while preserving the CAVs privacy, and minimizing the communication overhead. The in-depth experiment on a recent network traffic dataset shows that the proposed system achieved a high detection rate while minimizing the false positive rate, and the detection delay.
Stable Heterogeneous Treatment Effect Estimation across Out-of-Distribution Populations
Venue: arXiv cs.LG 2024
Year: 2024

Heterogeneous treatment effect (HTE) estimation is vital for understanding the change of treatment effect across individuals or subgroups. Most existing HTE estimation methods focus on addressing selection bias induced by imbalanced distributions of confounders between treated and control units, but ignore distribution shifts across populations. Thereby, their applicability has been limited to the in-distribution (ID) population, which shares a similar distribution with the training dataset. In real-world applications, where population distributions are subject to continuous changes, there is an urgent need for stable HTE estimation across out-of-distribution (OOD) populations, which, however, remains an open problem. As pioneers in resolving this problem, we propose a novel Stable Balanced Representation Learning with Hierarchical-Attention Paradigm (SBRL-HAP) framework, which consists of 1) Balancing Regularizer for eliminating selection bias, 2) Independence Regularizer for addressing the distribution shift issue, 3) Hierarchical-Attention Paradigm for coordination between balance and independence. In this way, SBRL-HAP regresses counterfactual outcomes using ID data, while ensuring the resulting HTE estimation can be successfully generalized to out-of-distribution scenarios, thereby enhancing the model's applicability in real-world settings. Extensive experiments conducted on synthetic and real-world datasets demonstrate the effectiveness of our SBRL-HAP in achieving stable HTE estimation across OOD populations, with an average 10% reduction in the error metric PEHE and 11% decrease in the ATE bias, compared to the SOTA methods.
Effective Heterogeneous Federated Learning via Efficient Hypernetwork-based Weight Generation
Venue: arXiv cs.LG 2024
Year: 2024

While federated learning leverages distributed client resources, it faces challenges due to heterogeneous client capabilities. This necessitates allocating models suited to clients' resources and careful parameter aggregation to accommodate this heterogeneity. We propose HypeMeFed, a novel federated learning framework for supporting client heterogeneity by combining a multi-exit network architecture with hypernetwork-based model weight generation. This approach aligns the feature spaces of heterogeneous model layers and resolves per-layer information disparity during weight aggregation. To practically realize HypeMeFed, we also propose a low-rank factorization approach to minimize computation and memory overhead associated with hypernetworks. Our evaluations on a real-world heterogeneous device testbed indicate that \system enhances accuracy by 5.12% over FedAvg, reduces the hypernetwork memory requirements by 98.22%, and accelerates its operations by 1.86x compared to a naive hypernetwork approach. These results demonstrate HypeMeFed's effectiveness in leveraging and engaging heterogeneous clients for federated learning.
Performance Comparison of ROS2 Middlewares for Multi-robot Mesh Networks in Planetary Exploration
Venue: arXiv cs.RO 2024
Year: 2024

Recent advancements in Multi-Robot Systems (MRS) and mesh network technologies pave the way for innovative approaches to explore extreme environments. The Artemis Accords, a series of international agreements, have further catalyzed this progress by fostering cooperation in space exploration, emphasizing the use of cutting-edge technologies. In parallel, the widespread adoption of the Robot Operating System 2 (ROS 2) by companies across various sectors underscores its robustness and versatility. This paper evaluates the performances of available ROS 2 MiddleWare (RMW), such as FastRTPS, CycloneDDS and Zenoh, over a mesh network with a dynamic topology. The final choice of RMW is determined by the one that would fit the most the scenario: an exploration of the extreme extra-terrestrial environment using a MRS. The conducted study in a real environment highlights Zenoh as a potential solution for future applications, showing a reduced delay, reachability, and CPU usage while being competitive on data overhead and RAM usage over a dynamic mesh topology
Revisiting the Performance of Deep Learning-Based Vulnerability Detection on Realistic Datasets
Venue: arXiv cs.SE 2024
Year: 2024

The impact of software vulnerabilities on everyday software systems is significant. Despite deep learning models being proposed for vulnerability detection, their reliability is questionable. Prior evaluations show high recall/F1 scores of up to 99%, but these models underperform in practical scenarios, particularly when assessed on entire codebases rather than just the fixing commit. This paper introduces Real-Vul, a comprehensive dataset representing real-world scenarios for evaluating vulnerability detection models. Evaluating DeepWukong, LineVul, ReVeal, and IVDetect shows a significant drop in performance, with precision decreasing by up to 95 percentage points and F1 scores by up to 91 points. Furthermore, Model performance fluctuates based on vulnerability characteristics, with better F1 scores for information leaks or code injection than for path resolution or predictable return values. The results highlight a significant performance gap that needs addressing before deploying deep learning-based vulnerability detection in practical settings. Overfitting is identified as a key issue, and an augmentation technique is proposed, potentially improving performance by up to 30%. Contributions include a dataset creation approach for better model evaluation, Real-Vul dataset, and empirical evidence of deep learning models struggling in real-world settings.
Cactus: Towards Psychological Counseling Conversations using Cognitive Behavioral Theory
Venue: arXiv cs.CL 2024
Year: 2024

Recently, the demand for psychological counseling has significantly increased as more individuals express concerns about their mental health. This surge has accelerated efforts to improve the accessibility of counseling by using large language models (LLMs) as counselors. To ensure client privacy, training open-source LLMs faces a key challenge: the absence of realistic counseling datasets. To address this, we introduce Cactus, a multi-turn dialogue dataset that emulates real-life interactions using the goal-oriented and structured approach of Cognitive Behavioral Therapy (CBT). We create a diverse and realistic dataset by designing clients with varied, specific personas, and having counselors systematically apply CBT techniques in their interactions. To assess the quality of our data, we benchmark against established psychological criteria used to evaluate real counseling sessions, ensuring alignment with expert evaluations. Experimental results demonstrate that Camel, a model trained with Cactus, outperforms other models in counseling skills, highlighting its effectiveness and potential as a counseling agent. We make our data, model, and code publicly available.
Design of a UE5-based digital twin platform
Venue: arXiv cs.HC 2024
Year: 2024

Aiming at the current mainstream 3D scene engine learning and building cost is too high, this thesis proposes a digital twin platform design program based on Unreal Engine 5 (UE5). It aims to provide a universal platform construction design process to effectively reduce the learning cost of large-scale scene construction. Taking an actual project of a unit as an example, the overall cycle work of platform building is explained, and the digital twin and data visualization technologies and applications based on UE5 are analyzed. By summarizing the project implementation into a process approach, the standardization and operability of the process pathway is improved.
$L_p$-norm Distortion-Efficient Adversarial Attack
Venue: arXiv cs.CV 2024
Year: 2024

Adversarial examples have shown a powerful ability to make a well-trained model misclassified. Current mainstream adversarial attack methods only consider one of the distortions among $L_0$-norm, $L_2$-norm, and $L_\infty$-norm. $L_0$-norm based methods cause large modification on a single pixel, resulting in naked-eye visible detection, while $L_2$-norm and $L_\infty$-norm based methods suffer from weak robustness against adversarial defense since they always diffuse tiny perturbations to all pixels. A more realistic adversarial perturbation should be sparse and imperceptible. In this paper, we propose a novel $L_p$-norm distortion-efficient adversarial attack, which not only owns the least $L_2$-norm loss but also significantly reduces the $L_0$-norm distortion. To this aim, we design a new optimization scheme, which first optimizes an initial adversarial perturbation under $L_2$-norm constraint, and then constructs a dimension unimportance matrix for the initial perturbation. Such a dimension unimportance matrix can indicate the adversarial unimportance of each dimension of the initial perturbation. Furthermore, we introduce a new concept of adversarial threshold for the dimension unimportance matrix. The dimensions of the initial perturbation whose unimportance is higher than the threshold will be all set to zero, greatly decreasing the $L_0$-norm distortion. Experimental results on three benchmark datasets show that under the same query budget, the adversarial examples generated by our method have lower $L_0$-norm and $L_2$-norm distortion than the state-of-the-art. Especially for the MNIST dataset, our attack reduces 8.1$\%$ $L_2$-norm distortion meanwhile remaining 47$\%$ pixels unattacked. This demonstrates the superiority of the proposed method over its competitors in terms of adversarial robustness and visual imperceptibility.
IntentionNet: Map-Lite Visual Navigation at the Kilometre Scale
Venue: arXiv cs.RO 2024
Year: 2024

This work explores the challenges of creating a scalable and robust robot navigation system that can traverse both indoor and outdoor environments to reach distant goals. We propose a navigation system architecture called IntentionNet that employs a monolithic neural network as the low-level planner/controller, and uses a general interface that we call intentions to steer the controller. The paper proposes two types of intentions, Local Path and Environment (LPE) and Discretised Local Move (DLM), and shows that DLM is robust to significant metric positioning and mapping errors. The paper also presents Kilo-IntentionNet, an instance of the IntentionNet system using the DLM intention that is deployed on a Boston Dynamics Spot robot, and which successfully navigates through complex indoor and outdoor environments over distances of up to a kilometre with only noisy odometry.
Foundations and Frontiers of Graph Learning Theory
Venue: arXiv cs.LG 2024
Year: 2024

Recent advancements in graph learning have revolutionized the way to understand and analyze data with complex structures. Notably, Graph Neural Networks (GNNs), i.e. neural network architectures designed for learning graph representations, have become a popular paradigm. With these models being usually characterized by intuition-driven design or highly intricate components, placing them within the theoretical analysis framework to distill the core concepts, helps understand the key principles that drive the functionality better and guide further development. Given this surge in interest, this article provides a comprehensive summary of the theoretical foundations and breakthroughs concerning the approximation and learning behaviors intrinsic to prevalent graph learning models. Encompassing discussions on fundamental aspects such as expressiveness power, generalization, optimization, and unique phenomena such as over-smoothing and over-squashing, this piece delves into the theoretical foundations and frontier driving the evolution of graph learning. In addition, this article also presents several challenges and further initiates discussions on possible solutions.
Enhancing Translation Accuracy of Large Language Models through Continual Pre-Training on Parallel Data
Venue: arXiv cs.CL 2024
Year: 2024

In this paper, we propose a two-phase training approach where pre-trained large language models are continually pre-trained on parallel data and then supervised fine-tuned with a small amount of high-quality parallel data. To investigate the effectiveness of our proposed approach, we conducted continual pre-training with a 3.8B-parameter model and parallel data across eight different formats. We evaluate these methods on thirteen test sets for Japanese-to-English and English-to-Japanese translation. The results demonstrate that when utilizing parallel data in continual pre-training, it is essential to alternate between source and target sentences. Additionally, we demonstrated that the translation accuracy improves only for translation directions where the order of source and target sentences aligns between continual pre-training data and inference. In addition, we demonstrate that the LLM-based translation model is more robust in translating spoken language and achieves higher accuracy with less training data compared to supervised encoder-decoder models. We also show that the highest accuracy is achieved when the data for continual pre-training consists of interleaved source and target sentences and when tags are added to the source sentences.