OpenRaiser/Intern-Atlas huggingface dataset:
REX: Designing User-centered Repair and Explanations to Address Robot Failures
Venue: arXiv cs.RO 2024
Year: 2024

Robots in real-world environments continuously engage with multiple users and encounter changes that lead to unexpected conflicts in fulfilling user requests. Recent technical advancements (e.g., large-language models (LLMs), program synthesis) offer various methods for automatically generating repair plans that address such conflicts. In this work, we understand how automated repair and explanations can be designed to improve user experience with robot failures through two user studies. In our first, online study ($n=162$), users expressed increased trust, satisfaction, and utility with the robot performing automated repair and explanations. However, we also identified risk factors -- safety, privacy, and complexity -- that require adaptive repair strategies. The second, in-person study ($n=24$) elucidated distinct repair and explanation strategies depending on the level of risk severity and type. Using a design-based approach, we explore automated repair with explanations as a solution for robots to handle conflicts and failures, complemented by adaptive strategies for risk factors. Finally, we discuss the implications of incorporating such strategies into robot designs to achieve seamless operation among changing user needs and environments.
Limited-perception games
Venue: arXiv cs.GT 2024
Year: 2024

We study rational agents with different perception capabilities in strategic games. We focus on a class of one-shot limited-perception games. These games extend simultaneous-move normal-form games by presenting each player with an individualized perception of all players' payoff functions. The accuracy of a player's perception is determined by the player's capability level. Capability levels are countable and totally ordered, with a higher level corresponding to a more accurate perception. We study the rational behavior of players in these games and formalize relevant equilibria conditions. In contrast to equilibria in conventional bimatrix games, which can be represented by a pair of mixed strategies, in our limited perception games a higher-order response function captures how the lower-capability player uses their (less accurate) perception of the payoff function to reason about the (more accurate) possible perceptions of the higher-capability opponent. This response function characterizes, for each possible perception of the higher-capability player (from the perspective of the lower-capability player), the best response of the higher capability player for that perception. Since the domain of the response function can be exponentially large or even infinite, finding one equilibrium may be computationally intractable or even undecidable. Nevertheless, we show that for any $ε$, there exists an $ε$-equilibrium with a compact, tractable representation whose size is independent of the size of the response function's domain. We further identify classes of zero-sum limited-perception games in which finding an equilibrium becomes a (typically tractable) nonsmooth convex optimization problem.
Greedy Growing Enables High-Resolution Pixel-Based Diffusion Models
Venue: arXiv cs.CV 2024
Year: 2024

We address the long-standing problem of how to learn effective pixel-based image diffusion models at scale, introducing a remarkably simple greedy growing method for stable training of large-scale, high-resolution models. without the needs for cascaded super-resolution components. The key insight stems from careful pre-training of core components, namely, those responsible for text-to-image alignment {\it vs.} high-resolution rendering. We first demonstrate the benefits of scaling a {\it Shallow UNet}, with no down(up)-sampling enc(dec)oder. Scaling its deep core layers is shown to improve alignment, object structure, and composition. Building on this core model, we propose a greedy algorithm that grows the architecture into high-resolution end-to-end models, while preserving the integrity of the pre-trained representation, stabilizing training, and reducing the need for large high-resolution datasets. This enables a single stage model capable of generating high-resolution images without the need of a super-resolution cascade. Our key results rely on public datasets and show that we are able to train non-cascaded models up to 8B parameters with no further regularization schemes. Vermeer, our full pipeline model trained with internal datasets to produce 1024x1024 images, without cascades, is preferred by 44.0% vs. 21.4% human evaluators over SDXL.
Probabilistic Height Grid Terrain Mapping for Mining Shovels using LiDAR
Venue: arXiv cs.RO 2024
Year: 2024

This paper explores the question of creating and maintaining terrain maps in environments where the terrain changes. The specific example explored is the construction of terrain maps from 3D LiDAR measurements on an electric rope shovel. The approach extends the height grid representation of terrain to include a Hidden Markov Model in each cell, enabling confidence-based mapping of constantly changing terrain. There are inherent difficulties in this problem, including semantic labelling of the LiDAR measurements associated with machinery and determining the pose of the sensor. Solutions to both of these problems are explored. The significance of this work lies in the need for accurate terrain mapping to support autonomous machine operation.
TrojFM: Resource-efficient Backdoor Attacks against Very Large Foundation Models
Venue: arXiv cs.CR 2024
Year: 2024

One key challenge in backdoor attacks against large foundation models is the resource limits. Backdoor attacks usually require retraining the target model, which is impractical for very large foundation models. Existing backdoor attacks are mainly designed for supervised classifiers or small foundation models (e.g., BERT). None of these attacks has successfully compromised a very large foundation model, such as Llama-3-70B, especially with limited computational resources. In this paper, we propose TrojFM, a novel backdoor attack tailored for very large foundation models. Our primary technical contribution is the development of a novel backdoor injection method. This method forces a backdoored model to generate similar hidden representations for poisoned inputs regardless of their actual semantics. Our approach injects such backdoors by fine-tuning only a very small proportion of model parameters. This enables TrojFM to efficiently launch downstream task-agnostic backdoor attacks against very large foundation models under limited computational resources. Moreover, we optimize the fine-tuning process with our customized QLoRA technique, enabling launching our attack via only~\textit{one A100 GPU}. Furthermore, we design a new trigger injection method to ensure our attack stealthiness. Through extensive experiments, we first demonstrate that TrojFM can launch effective backdoor attacks against widely used large GPT-style models without jeopardizing their normal functionalities (and outperforming existing attacks on BERT-style models). Furthermore, we show that TrojFM is resilient to SOTA defenses and is insensitive to changes in key hyper-parameters. Finally, we conduct a resource analysis to quantify that our method can significantly save computational and memory costs compared to existing backdoor attacks.
3D Reconstruction with Fast Dipole Sums
Venue: arXiv cs.CV 2024
Year: 2024

We introduce a method for high-quality 3D reconstruction from multi-view images. Our method uses a new point-based representation, the regularized dipole sum, which generalizes the winding number to allow for interpolation of per-point attributes in point clouds with noisy or outlier points. Using regularized dipole sums, we represent implicit geometry and radiance fields as per-point attributes of a dense point cloud, which we initialize from structure from motion. We additionally derive Barnes-Hut fast summation schemes for accelerated forward and adjoint dipole sum queries. These queries facilitate the use of ray tracing to efficiently and differentiably render images with our point-based representations, and thus update their point attributes to optimize scene geometry and appearance. We evaluate our method in inverse rendering applications against state-of-the-art alternatives, based on ray tracing of neural representations or rasterization of Gaussian point-based representations. Our method significantly improves 3D reconstruction quality and robustness at equal runtimes, while also supporting more general rendering methods such as shadow rays for direct illumination.
TIE: Revolutionizing Text-based Image Editing for Complex-Prompt Following and High-Fidelity Editing
Venue: arXiv cs.CV 2024
Year: 2024

As the field of image generation rapidly advances, traditional diffusion models and those integrated with multimodal large language models (LLMs) still encounter limitations in interpreting complex prompts and preserving image consistency pre and post-editing. To tackle these challenges, we present an innovative image editing framework that employs the robust Chain-of-Thought (CoT) reasoning and localizing capabilities of multimodal LLMs to aid diffusion models in generating more refined images. We first meticulously design a CoT process comprising instruction decomposition, region localization, and detailed description. Subsequently, we fine-tune the LISA model, a lightweight multimodal LLM, using the CoT process of Multimodal LLMs and the mask of the edited image. By providing the diffusion models with knowledge of the generated prompt and image mask, our models generate images with a superior understanding of instructions. Through extensive experiments, our model has demonstrated superior performance in image generation, surpassing existing state-of-the-art models. Notably, our model exhibits an enhanced ability to understand complex prompts and generate corresponding images, while maintaining high fidelity and consistency in images before and after generation.
SiNGR: Brain Tumor Segmentation via Signed Normalized Geodesic Transform Regression
Venue: arXiv cs.CV 2024
Year: 2024

One of the primary challenges in brain tumor segmentation arises from the uncertainty of voxels close to tumor boundaries. However, the conventional process of generating ground truth segmentation masks fails to treat such uncertainties properly. Those "hard labels" with 0s and 1s conceptually influenced the majority of prior studies on brain image segmentation. As a result, tumor segmentation is often solved through voxel classification. In this work, we instead view this problem as a voxel-level regression, where the ground truth represents a certainty mapping from any pixel to the border of the tumor. We propose a novel ground truth label transformation, which is based on a signed geodesic transform, to capture the uncertainty in brain tumors' vicinity. We combine this idea with a Focal-like regression L1-loss that enables effective regression learning in high-dimensional output space by appropriately weighting voxels according to their difficulty. We thoroughly conduct an experimental evaluation to validate the components of our proposed method, compare it to a diverse array of state-of-the-art segmentation models, and show that it is architecture-agnostic. The code of our method is made publicly available (\url{https://github.com/Oulu-IMEDS/SiNGR/}).
Unified Editing of Panorama, 3D Scenes, and Videos Through Disentangled Self-Attention Injection
Venue: arXiv cs.CV 2024
Year: 2024

While text-to-image models have achieved impressive capabilities in image generation and editing, their application across various modalities often necessitates training separate models. Inspired by existing method of single image editing with self attention injection and video editing with shared attention, we propose a novel unified editing framework that combines the strengths of both approaches by utilizing only a basic 2D image text-to-image (T2I) diffusion model. Specifically, we design a sampling method that facilitates editing consecutive images while maintaining semantic consistency utilizing shared self-attention features during both reference and consecutive image sampling processes. Experimental results confirm that our method enables editing across diverse modalities including 3D scenes, videos, and panorama images.
Enhancing Fast Feed Forward Networks with Load Balancing and a Master Leaf Node
Venue: arXiv cs.LG 2024
Year: 2024

Fast feedforward networks (FFFs) are a class of neural networks that exploit the observation that different regions of the input space activate distinct subsets of neurons in wide networks. FFFs partition the input space into separate sections using a differentiable binary tree of neurons and during inference descend the binary tree in order to improve computational efficiency. Inspired by Mixture of Experts (MoE) research, we propose the incorporation of load balancing and Master Leaf techniques into the FFF architecture to improve performance and simplify the training process. We reproduce experiments found in literature and present results on FFF models enhanced using these techniques. The proposed architecture and training recipe achieves up to 16.3% and 3% absolute classification accuracy increase in training and test accuracy, respectively, compared to the original FFF architecture. Additionally, we observe a smaller variance in the results compared to those reported in prior research. These findings demonstrate the potential of integrating MoE-inspired techniques into FFFs for developing more accurate and efficient models.
Estimating Depth of Monocular Panoramic Image with Teacher-Student Model Fusing Equirectangular and Spherical Representations
Venue: arXiv cs.CV 2024
Year: 2024

Disconnectivity and distortion are the two problems which must be coped with when processing 360 degrees equirectangular images. In this paper, we propose a method of estimating the depth of monocular panoramic image with a teacher-student model fusing equirectangular and spherical representations. In contrast with the existing methods fusing an equirectangular representation with a cube map representation or tangent representation, a spherical representation is a better choice because a sampling on a sphere is more uniform and can also cope with distortion more effectively. In this processing, a novel spherical convolution kernel computing with sampling points on a sphere is developed to extract features from the spherical representation, and then, a Segmentation Feature Fusion(SFF) methodology is utilized to combine the features with ones extracted from the equirectangular representation. In contrast with the existing methods using a teacher-student model to obtain a lighter model of depth estimation, we use a teacher-student model to learn the latent features of depth images. This results in a trained model which estimates the depth map of an equirectangular image using not only the feature maps extracted from an input equirectangular image but also the distilled knowledge learnt from the ground truth of depth map of a training set. In experiments, the proposed method is tested on several well-known 360 monocular depth estimation benchmark datasets, and outperforms the existing methods for the most evaluation indexes.
Systematic Literature Review of Commercial Participation in Open Source Software
Venue: arXiv cs.SE 2024
Year: 2024

Open source software (OSS) has been playing a fundamental role in not only information technology but also our social lives. Attracted by various advantages of OSS, increasing commercial companies take extensive participation in open source development and have had a broad impact. This paper provides a comprehensive systematic literature review (SLR) of existing research on company participation in OSS. We collected 92 papers and organized them based on their research topics, which cover three main directions, i.e., participation motivation, contribution model, and impact on OSS development. We found the explored motivations of companies are mainly from economic, technological, and social aspects. Existing studies categorize companies' contribution models in OSS projects mainly through their objectives and how they shape OSS communities. Researchers also explored how commercial participation affects OSS development. We conclude with research challenges and promising research directions on commercial participation in OSS. This study contributes to a comprehensive understanding of commercial participation in OSS development.
Half-duplex communication complexity with adversary can be less than the classical communication complexity
Venue: arXiv cs.CC 2024
Year: 2024

Half-duplex communication complexity with adversary was defined in [Hoover, K., Impagliazzo, R., Mihajlin, I., Smal, A. V. Half-Duplex Communication Complexity, ISAAC 2018.] Half-duplex communication protocols generalize classical protocols defined by Andrew Yao in [Yao, A. C.-C. Some Complexity Questions Related to Distributive Computing (Preliminary Report), STOC 1979]. It has been unknown so far whether the communication complexities defined by these models are different or not. In the present paper we answer this question: we exhibit a function whose half-duplex communication complexity with adversary is strictly less than its classical communication complexity.
Match, Compare, or Select? An Investigation of Large Language Models for Entity Matching
Venue: arXiv cs.CL 2024
Year: 2024

Entity matching (EM) is a critical step in entity resolution (ER). Recently, entity matching based on large language models (LLMs) has shown great promise. However, current LLM-based entity matching approaches typically follow a binary matching paradigm that ignores the global consistency among record relationships. In this paper, we investigate various methodologies for LLM-based entity matching that incorporate record interactions from different perspectives. Specifically, we comprehensively compare three representative strategies: matching, comparing, and selecting, and analyze their respective advantages and challenges in diverse scenarios. Based on our findings, we further design a compound entity matching framework (ComEM) that leverages the composition of multiple strategies and LLMs. ComEM benefits from the advantages of different sides and achieves improvements in both effectiveness and efficiency. Experimental results on 8 ER datasets and 10 LLMs verify the superiority of incorporating record interactions through the selecting strategy, as well as the further cost-effectiveness brought by ComEM.
PivotMesh: Generic 3D Mesh Generation via Pivot Vertices Guidance
Venue: arXiv cs.CV 2024
Year: 2024

Generating compact and sharply detailed 3D meshes poses a significant challenge for current 3D generative models. Different from extracting dense meshes from neural representation, some recent works try to model the native mesh distribution (i.e., a set of triangles), which generates more compact results as humans crafted. However, due to the complexity and variety of mesh topology, these methods are typically limited to small datasets with specific categories and are hard to extend. In this paper, we introduce a generic and scalable mesh generation framework PivotMesh, which makes an initial attempt to extend the native mesh generation to large-scale datasets. We employ a transformer-based auto-encoder to encode meshes into discrete tokens and decode them from face level to vertex level hierarchically. Subsequently, to model the complex typology, we first learn to generate pivot vertices as coarse mesh representation and then generate the complete mesh tokens with the same auto-regressive Transformer. This reduces the difficulty compared with directly modeling the mesh distribution and further improves the model controllability. PivotMesh demonstrates its versatility by effectively learning from both small datasets like Shapenet, and large-scale datasets like Objaverse and Objaverse-xl. Extensive experiments indicate that PivotMesh can generate compact and sharp 3D meshes across various categories, highlighting its great potential for native mesh modeling.
Characterising Developer Sentiment in Software Components: An Exploratory Study of Gentoo
Venue: arXiv cs.SE 2024
Year: 2024

Collaborative software development happens in teams, that cooperate on shared artefacts, and discuss development on online platforms. Due to the complexity of development and the variety of teams, software components often act as effective containers for parallel work and teams. Past research has shown how communication between team members, especially in an open-source environment, can become extremely toxic, and lead to members leaving the development team. This has a direct effect on the evolution and maintenance of the project in which the former members were active in. The purpose of our study is two-fold: first, we propose an approach to evaluate, at a finer granularity, the positive and negative emotions in the communication between developers; and second, we aim to characterise a project's development paths, or components, as more or less impacted by the emotions. Our analysis evaluates single sentences rather than whole messages as the finest granularity of communication. The previous study found that the high positivity or negativity at the sentence level may indirectly impact the writer him/herself, or the reader. In this way, we could highlight specific paths of Gentoo as the most affected by negative emotions, and show how negative emotions have evolved and changed along the same paths. By joining the analysis of the mailing lists, from which we derive the sentiment of the developers, with the information derived from the development logs, we obtained a longitudinal picture of how development paths have been historically affected by positive or negative emotions. Our study shows that, in recent years, negative emotions have generally decreased in the communication between Gentoo developers. We also show how file paths, as collaborative software development artefacts, were more or less impacted by the emotions of the developers.
An experimental study of the response time in an edge-cloud continuum with ClusterLink
Venue: arXiv cs.NI 2024
Year: 2024

In this paper, we conduct an experimental study to provide a general sense of the application response time implications that inter-cluster communication experiences at the edge at the example of a specific IoT-edge-cloud contiuum solution from the EU Project ICOS called ClusterLink. We create an environment to emulate different networking topologies that include multiple cloud or edge sites scenarios, and conduct a set of tests to compare the application response times via ClusterLink to direct communications in relation to node distances and request/response payload size. Our results show that, in an edge context, ClusterLink does not introduce a significant processing overhead to the communication for small payloads as compared to cloud. For higher payloads and on comparably more aged consumer hardware, ClusterLink version 0.2 introduces communication overhead relative to the delay experienced on the link.