OpenRaiser/Intern-Atlas huggingface dataset:
The online learning architecture with edge computing for high-level control for assisting patients
Venue: arXiv cs.LG 2023
Year: 2023

The prevalence of mobility impairments due to conditions such as spinal cord injuries, strokes, and degenerative diseases is on the rise globally. Lower-limb exoskeletons have been increasingly recognized as a viable solution for enhancing mobility and rehabilitation for individuals with such impairments. However, existing exoskeleton control systems often suffer from limitations such as latency, lack of adaptability, and computational inefficiency. To address these challenges, this paper introduces a novel online adversarial learning architecture integrated with edge computing for high-level lower-limb exoskeleton control. In the proposed architecture, sensor data from the user is processed in real-time through edge computing nodes, which then interact with an online adversarial learning model. This model adapts to the user's specific needs and controls the exoskeleton with minimal latency. Experimental evaluations demonstrate significant improvements in control accuracy and adaptability, as well as enhanced quality-of-service (QoS) metrics. These findings indicate that the integration of online adversarial learning with edge computing offers a robust and efficient approach for the next generation of lower-limb exoskeleton control systems.
Signal Temporal Logic Neural Predictive Control
Venue: arXiv cs.LG 2023
Year: 2023

Ensuring safety and meeting temporal specifications are critical challenges for long-term robotic tasks. Signal temporal logic (STL) has been widely used to systematically and rigorously specify these requirements. However, traditional methods of finding the control policy under those STL requirements are computationally complex and not scalable to high-dimensional or systems with complex nonlinear dynamics. Reinforcement learning (RL) methods can learn the policy to satisfy the STL specifications via hand-crafted or STL-inspired rewards, but might encounter unexpected behaviors due to ambiguity and sparsity in the reward. In this paper, we propose a method to directly learn a neural network controller to satisfy the requirements specified in STL. Our controller learns to roll out trajectories to maximize the STL robustness score in training. In testing, similar to Model Predictive Control (MPC), the learned controller predicts a trajectory within a planning horizon to ensure the satisfaction of the STL requirement in deployment. A backup policy is designed to ensure safety when our controller fails. Our approach can adapt to various initial conditions and environmental parameters. We conduct experiments on six tasks, where our method with the backup policy outperforms the classical methods (MPC, STL-solver), model-free and model-based RL methods in STL satisfaction rate, especially on tasks with complex STL specifications while being 10X-100X faster than the classical methods.
Streaming Semidefinite Programs: $O(\sqrt{n})$ Passes, Small Space and Fast Runtime
Venue: arXiv cs.DS 2023
Year: 2023

We study the problem of solving semidefinite programs (SDP) in the streaming model. Specifically, $m$ constraint matrices and a target matrix $C$, all of size $n\times n$ together with a vector $b\in \mathbb{R}^m$ are streamed to us one-by-one. The goal is to find a matrix $X\in \mathbb{R}^{n\times n}$ such that $\langle C, X\rangle$ is maximized, subject to $\langle A_i, X\rangle=b_i$ for all $i\in [m]$ and $X\succeq 0$. Previous algorithmic studies of SDP primarily focus on \emph{time-efficiency}, and all of them require a prohibitively large $Ω(mn^2)$ space in order to store \emph{all the constraints}. Such space consumption is necessary for fast algorithms as it is the size of the input. In this work, we design an interior point method (IPM) that uses $\widetilde O(m^2+n^2)$ space, which is strictly sublinear in the regime $n\gg m$. Our algorithm takes $O(\sqrt n\log(1/ε))$ passes, which is standard for IPM. Moreover, when $m$ is much smaller than $n$, our algorithm also matches the time complexity of the state-of-the-art SDP solvers. To achieve such a sublinear space bound, we design a novel sketching method that enables one to compute a spectral approximation to the Hessian matrix in $O(m^2)$ space. To the best of our knowledge, this is the first method that successfully applies sketching technique to improve SDP algorithm in terms of space (also time).
Two is Better Than One: Answering Complex Questions by Multiple Knowledge Sources with Generalized Links
Venue: arXiv cs.CL 2023
Year: 2023

Incorporating multiple knowledge sources is proven to be beneficial for answering complex factoid questions. To utilize multiple knowledge bases (KB), previous works merge all KBs into a single graph via entity alignment and reduce the problem to question-answering (QA) over the fused KB. In reality, various link relations between KBs might be adopted in QA over multi-KBs. In addition to the identity between the alignable entities (i.e. full link), unalignable entities expressing the different aspects or types of an abstract concept may also be treated identical in a question (i.e. partial link). Hence, the KB fusion in prior works fails to represent all types of links, restricting their ability to comprehend multi-KBs for QA. In this work, we formulate the novel Multi-KB-QA task that leverages the full and partial links among multiple KBs to derive correct answers, a benchmark with diversified link and query types is also constructed to efficiently evaluate Multi-KB-QA performance. Finally, we propose a method for Multi-KB-QA that encodes all link relations in the KB embedding to score and rank candidate answers. Experiments show that our method markedly surpasses conventional KB-QA systems in Multi-KB-QA, justifying the necessity of devising this task.
Angle Range and Identity Similarity Enhanced Gaze and Head Redirection based on Synthetic data
Venue: arXiv cs.CV 2023
Year: 2023

In this paper, we propose a method for improving the angular accuracy and photo-reality of gaze and head redirection in full-face images. The problem with current models is that they cannot handle redirection at large angles, and this limitation mainly comes from the lack of training data. To resolve this problem, we create data augmentation by monocular 3D face reconstruction to extend the head pose and gaze range of the real data, which allows the model to handle a wider redirection range. In addition to the main focus on data augmentation, we also propose a framework with better image quality and identity preservation of unseen subjects even training with synthetic data. Experiments show that our method significantly improves redirection performance in terms of redirection angular accuracy while maintaining high image quality, especially when redirecting to large angles.
The Fence Complexity of Persistent Sets
Venue: arXiv cs.DC 2023
Year: 2023

We study the psync complexity of concurrent sets in the non-volatile shared memory model. Flush instructions are used in non-volatile memory to force shared state to be written back to non-volatile memory and must typically be accompanied by the use of expensive fence instructions to enforce ordering among such flushes. Collectively we refer to a flush and a fence as a psync. The safety property of strict linearizability forces crashed operations to take effect before the crash or not take effect at all; the weaker property of durable linearizability enforces this requirement only for operations that have completed prior to the crash event. We consider lock-free implementations of list-based sets and prove two lower bounds. We prove that for any durable linearizable lock-free set there must exist an execution where some process must perform at least one redundant psync as part of an update operation. We introduce an extension to strict linearizability specialized for persistent sets that we call strict limited effect (SLE) linearizability. SLE linearizability explicitly ensures that operations do not take effect after a crash which better reflects the original intentions of strict linearizability. We show that it is impossible to implement SLE linearizable lock-free sets in which read-only (or search) operations do not flush or fence. We undertake an empirical study of persistent sets that examines various algorithmic design techniques and the impact of flush instructions in practice. We present concurrent set algorithms that provide matching upper bounds and rigorously evaluate them against existing persistent sets to expose the impact of algorithmic design and safety properties on psync complexity in practice as well as the cost of recovering the data structure following a system crash.
Examining the Effect of Pre-training on Time Series Classification
Venue: arXiv cs.LG 2023
Year: 2023

Although the pre-training followed by fine-tuning paradigm is used extensively in many fields, there is still some controversy surrounding the impact of pre-training on the fine-tuning process. Currently, experimental findings based on text and image data lack consensus. To delve deeper into the unsupervised pre-training followed by fine-tuning paradigm, we have extended previous research to a new modality: time series. In this study, we conducted a thorough examination of 150 classification datasets derived from the Univariate Time Series (UTS) and Multivariate Time Series (MTS) benchmarks. Our analysis reveals several key conclusions. (i) Pre-training can only help improve the optimization process for models that fit the data poorly, rather than those that fit the data well. (ii) Pre-training does not exhibit the effect of regularization when given sufficient training time. (iii) Pre-training can only speed up convergence if the model has sufficient ability to fit the data. (iv) Adding more pre-training data does not improve generalization, but it can strengthen the advantage of pre-training on the original data volume, such as faster convergence. (v) While both the pre-training task and the model structure determine the effectiveness of the paradigm on a given dataset, the model structure plays a more significant role.
A horizon line annotation tool for streamlining autonomous sea navigation experiments
Venue: arXiv cs.CV 2023
Year: 2023

Horizon line (or sea line) detection (HLD) is a critical component in multiple marine autonomous navigation tasks, such as identifying the navigation area (i.e., the sea), obstacle detection and geo-localization, and digital video stabilization. A recent survey highlighted several weaknesses of such detectors, particularly on sea conditions lacking from the most extensive dataset currently used by HLD researchers. Experimental validation of more robust HLDs involves collecting an extensive set of these lacking sea conditions and annotating each collected image with the correct position and orientation of the horizon line. The annotation task is daunting without a proper tool. Therefore, we present the first public annotation software with tailored features to make the sea line annotation process fast and easy. The software is available at: https://drive.google.com/drive/folders/1c0ZmvYDckuQCPIWfh_70P7E1A_DWlIvF?usp=sharing
Brain-inspired Evolutionary Architectures for Spiking Neural Networks
Venue: arXiv cs.NE 2023
Year: 2023

The complex and unique neural network topology of the human brain formed through natural evolution enables it to perform multiple cognitive functions simultaneously. Automated evolutionary mechanisms of biological network structure inspire us to explore efficient architectural optimization for Spiking Neural Networks (SNNs). Instead of manually designed fixed architectures or hierarchical Network Architecture Search (NAS), this paper evolves SNNs architecture by incorporating brain-inspired local modular structure and global cross-module connectivity. Locally, the brain region-inspired module consists of multiple neural motifs with excitatory and inhibitory connections; Globally, we evolve free connections among modules, including long-term cross-module feedforward and feedback connections. We further introduce an efficient multi-objective evolutionary algorithm based on a few-shot performance predictor, endowing SNNs with high performance, efficiency and low energy consumption. Extensive experiments on static datasets (CIFAR10, CIFAR100) and neuromorphic datasets (CIFAR10-DVS, DVS128-Gesture) demonstrate that our proposed model boosts energy efficiency, archiving consistent and remarkable performance. This work explores brain-inspired neural architectures suitable for SNNs and also provides preliminary insights into the evolutionary mechanisms of biological neural networks in the human brain.
Addressing Feature Imbalance in Sound Source Separation
Venue: arXiv cs.SD 2023
Year: 2023

Neural networks often suffer from a feature preference problem, where they tend to overly rely on specific features to solve a task while disregarding other features, even if those neglected features are essential for the task. Feature preference problems have primarily been investigated in classification task. However, we observe that feature preference occurs in high-dimensional regression task, specifically, source separation. To mitigate feature preference in source separation, we propose FEAture BAlancing by Suppressing Easy feature (FEABASE). This approach enables efficient data utilization by learning hidden information about the neglected feature. We evaluate our method in a multi-channel source separation task, where feature preference between spatial feature and timbre feature appears.
Task-driven Compression for Collision Encoding based on Depth Images
Venue: arXiv cs.CV 2023
Year: 2023

This paper contributes a novel learning-based method for aggressive task-driven compression of depth images and their encoding as images tailored to collision prediction for robotic systems. A novel 3D image processing methodology is proposed that accounts for the robot's size in order to appropriately "inflate" the obstacles represented in the depth image and thus obtain the distance that can be traversed by the robot in a collision-free manner along any given ray within the camera frustum. Such depth-and-collision image pairs are used to train a neural network that follows the architecture of Variational Autoencoders to compress-and-transform the information in the original depth image to derive a latent representation that encodes the collision information for the given depth image. We compare our proposed task-driven encoding method with classical task-agnostic methods and demonstrate superior performance for the task of collision image prediction from extremely low-dimensional latent spaces. A set of comparative studies show that the proposed approach is capable of encoding depth image-and-collision image tuples from complex scenes with thin obstacles at long distances better than the classical methods at compression ratios as high as 4050:1.
Incentive-Based Software Security: Fair Micro-Payments for Writing Secure Code
Venue: arXiv cs.SE 2023
Year: 2023

We describe a mechanism to create fair and explainable incentives for software developers to reward contributions to security of a product. We use cooperative game theory to model the actions of the developer team inside a risk management workflow, considering the team to actively work against known threats, and thereby receive micro-payments based on their performance. The use of the Shapley-value provides natural explanations here directly through (new) interpretations of the axiomatic grounding of the imputation. The resulting mechanism is straightforward to implement, and relies on standard tools from collaborative software development, such as are available for git repositories and mining thereof. The micropayment model itself is deterministic and does not rely on uncertain information outside the scope of the developer team or the enterprise, hence is void of assumptions about adversarial incentives, or user behavior, up to their role in the risk management process that the mechanism is part of. We corroborate our model with a worked example based on real-life data.
Neural Discovery of Permutation Subgroups
Venue: arXiv cs.LG 2023
Year: 2023

We consider the problem of discovering subgroup $H$ of permutation group $S_{n}$. Unlike the traditional $H$-invariant networks wherein $H$ is assumed to be known, we present a method to discover the underlying subgroup, given that it satisfies certain conditions. Our results show that one could discover any subgroup of type $S_{k} (k \leq n)$ by learning an $S_{n}$-invariant function and a linear transformation. We also prove similar results for cyclic and dihedral subgroups. Finally, we provide a general theorem that can be extended to discover other subgroups of $S_{n}$. We also demonstrate the applicability of our results through numerical experiments on image-digit sum and symmetric polynomial regression tasks.
Career Path Recommendations for Long-term Income Maximization: A Reinforcement Learning Approach
Venue: arXiv cs.LG 2023
Year: 2023

This study explores the potential of reinforcement learning algorithms to enhance career planning processes. Leveraging data from Randstad The Netherlands, the study simulates the Dutch job market and develops strategies to optimize employees' long-term income. By formulating career planning as a Markov Decision Process (MDP) and utilizing machine learning algorithms such as Sarsa, Q-Learning, and A2C, we learn optimal policies that recommend career paths with high-income occupations and industries. The results demonstrate significant improvements in employees' income trajectories, with RL models, particularly Q-Learning and Sarsa, achieving an average increase of 5% compared to observed career paths. The study acknowledges limitations, including narrow job filtering, simplifications in the environment formulation, and assumptions regarding employment continuity and zero application costs. Future research can explore additional objectives beyond income optimization and address these limitations to further enhance career planning processes.
Classification of Quantum Computer Fault Injection Attacks
Venue: arXiv cs.CR 2023
Year: 2023

The rapid growth of interest in quantum computing has brought about the need to secure these powerful machines against a range of physical attacks. As qubit counts increase and quantum computers achieve higher levels of fidelity, their potential to execute novel algorithms and generate sensitive intellectual property becomes more promising. However, there is a significant gap in our understanding of the vulnerabilities these computers face in terms of security and privacy attacks. Among the potential threats are physical attacks, including those orchestrated by malicious insiders within data centers where the quantum computers are located, which could compromise the integrity of computations and resulting data. This paper presents an exploration of fault-injection attacks as one class of physical attacks on quantum computers. This work first introduces a classification of fault-injection attacks and strategies, including the domain of fault-injection attacks, the fault targets, and fault manifestations in quantum computers. The resulting classification highlights the potential threats that exist. By shedding light on the vulnerabilities of quantum computers to fault-injection attacks, this work contributes to the development of robust security measures for this emerging technology.
NeCo@ALQAC 2023: Legal Domain Knowledge Acquisition for Low-Resource Languages through Data Enrichment
Venue: arXiv cs.CL 2023
Year: 2023

In recent years, natural language processing has gained significant popularity in various sectors, including the legal domain. This paper presents NeCo Team's solutions to the Vietnamese text processing tasks provided in the Automated Legal Question Answering Competition 2023 (ALQAC 2023), focusing on legal domain knowledge acquisition for low-resource languages through data enrichment. Our methods for the legal document retrieval task employ a combination of similarity ranking and deep learning models, while for the second task, which requires extracting an answer from a relevant legal article in response to a question, we propose a range of adaptive techniques to handle different question types. Our approaches achieve outstanding results on both tasks of the competition, demonstrating the potential benefits and effectiveness of question answering systems in the legal field, particularly for low-resource languages.
Black-Box Analysis: GPTs Across Time in Legal Textual Entailment Task
Venue: arXiv cs.CL 2023
Year: 2023

The evolution of Generative Pre-trained Transformer (GPT) models has led to significant advancements in various natural language processing applications, particularly in legal textual entailment. We present an analysis of GPT-3.5 (ChatGPT) and GPT-4 performances on COLIEE Task 4 dataset, a prominent benchmark in this domain. The study encompasses data from Heisei 18 (2006) to Reiwa 3 (2021), exploring the models' abilities to discern entailment relationships within Japanese statute law across different periods. Our preliminary experimental results unveil intriguing insights into the models' strengths and weaknesses in handling legal textual entailment tasks, as well as the patterns observed in model performance. In the context of proprietary models with undisclosed architectures and weights, black-box analysis becomes crucial for evaluating their capabilities. We discuss the influence of training data distribution and the implications on the models' generalizability. This analysis serves as a foundation for future research, aiming to optimize GPT-based models and enable their successful adoption in legal information extraction and entailment applications.
STAR-loc: Dataset for STereo And Range-based localization
Venue: arXiv cs.RO 2023
Year: 2023

This document contains a detailed description of the STAR-loc dataset. For a quick starting guide please refer to the associated Github repository (https://github.com/utiasASRL/starloc). The dataset consists of stereo camera data (rectified/raw images and inertial measurement unit measurements) and ultra-wideband (UWB) data (range measurements) collected on a sensor rig in a Vicon motion capture arena. The UWB anchors and visual landmarks (Apriltags) are of known position, so the dataset can be used for both localization and Simultaneous Localization and Mapping (SLAM).
PAI-Diffusion: Constructing and Serving a Family of Open Chinese Diffusion Models for Text-to-image Synthesis on the Cloud
Venue: arXiv cs.CL 2023
Year: 2023

Text-to-image synthesis for the Chinese language poses unique challenges due to its large vocabulary size, and intricate character relationships. While existing diffusion models have shown promise in generating images from textual descriptions, they often neglect domain-specific contexts and lack robustness in handling the Chinese language. This paper introduces PAI-Diffusion, a comprehensive framework that addresses these limitations. PAI-Diffusion incorporates both general and domain-specific Chinese diffusion models, enabling the generation of contextually relevant images. It explores the potential of using LoRA and ControlNet for fine-grained image style transfer and image editing, empowering users with enhanced control over image generation. Moreover, PAI-Diffusion seamlessly integrates with Alibaba Cloud's Machine Learning Platform for AI, providing accessible and scalable solutions. All the Chinese diffusion model checkpoints, LoRAs, and ControlNets, including domain-specific ones, are publicly available. A user-friendly Chinese WebUI and the diffusers-api elastic inference toolkit, also open-sourced, further facilitate the easy deployment of PAI-Diffusion models in various environments, making it a valuable resource for Chinese text-to-image synthesis.