OpenRaiser/Intern-Atlas huggingface dataset:
Track Anything Rapter(TAR)
Venue: arXiv cs.CV 2024
Year: 2024

Object tracking is a fundamental task in computer vision with broad practical applications across various domains, including traffic monitoring, robotics, and autonomous vehicle tracking. In this project, we aim to develop a sophisticated aerial vehicle system known as Track Anything Rapter (TAR), designed to detect, segment, and track objects of interest based on user-provided multimodal queries, such as text, images, and clicks. TAR utilizes cutting-edge pre-trained models like DINO, CLIP, and SAM to estimate the relative pose of the queried object. The tracking problem is approached as a Visual Servoing task, enabling the UAV to consistently focus on the object through advanced motion planning and control algorithms. We showcase how the integration of these foundational models with a custom high-level control algorithm results in a highly stable and precise tracking system deployed on a custom-built PX4 Autopilot-enabled Voxl2 M500 drone. To validate the tracking algorithm's performance, we compare it against Vicon-based ground truth. Additionally, we evaluate the reliability of the foundational models in aiding tracking in scenarios involving occlusions. Finally, we test and validate the model's ability to work seamlessly with multiple modalities, such as click, bounding box, and image templates.
On the Expressivity of Recurrent Neural Cascades with Identity
Venue: arXiv cs.LG 2024
Year: 2024

Recurrent Neural Cascades (RNC) are the class of recurrent neural networks with no cyclic dependencies among recurrent neurons. Their subclass RNC+ with positive recurrent weights has been shown to be closely connected to the star-free regular languages, which are the expressivity of many well-established temporal logics. The existing expressivity results show that the regular languages captured by RNC+ are the star-free ones, and they leave open the possibility that RNC+ may capture languages beyond regular. We exclude this possibility for languages that include an identity element, i.e., an input that can occur an arbitrary number of times without affecting the output. Namely, in the presence of an identity element, we show that the languages captured by RNC+ are exactly the star-free regular languages. Identity elements are ubiquitous in temporal patterns, and hence our results apply to a large number of applications. The implications of our results go beyond expressivity. At their core, we establish a close structural correspondence between RNC+ and semiautomata cascades, showing that every neuron can be equivalently captured by a three-state semiautomaton. A notable consequence of this result is that RNC+ are no more succinct than cascades of three-state semiautomata.
A Starting Point for Dynamic Community Detection with Leiden Algorithm
Venue: arXiv cs.DC 2024
Year: 2024

Real-world graphs often evolve over time, making community or cluster detection a crucial task. In this technical report, we extend three dynamic approaches - Naive-dynamic (ND), Delta-screening (DS), and Dynamic Frontier (DF) - to our multicore implementation of the Leiden algorithm, known for its high-quality community detection. Our experiments, conducted on a server with a 64-core AMD EPYC-7742 processor, show that ND, DS, and DF Leiden achieve average speedups of 1.37x, 1.47x, and 1.98x on large graphs with random batch updates, compared to the Static Leiden algorithm - while scaling at a rate of 1.6x for every doubling of threads. To our knowledge, this is the first attempt to apply dynamic approaches to the Leiden algorithm. We hope these early results pave the way for further development of dynamic approaches for evolving graphs.
XPBI: Position-Based Dynamics with Smoothing Kernels Handles Continuum Inelasticity
Venue: arXiv cs.GR 2024
Year: 2024

PBD and its extension, XPBD, have been predominantly applied to compliant constrained elastodynamics, with their potential in finite strain (visco-) elastoplasticity remaining underexplored. XPBD is often perceived to stand in contrast to other meshless methods, such as the MPM. MPM is based on discretizing the weak form of governing partial differential equations within a continuum domain, coupled with a hybrid Lagrangian-Eulerian method for tracking deformation gradients. In contrast, XPBD formulates specific constraints, whether hard or compliant, to positional degrees of freedom. We revisit this perception by investigating the potential of XPBD in handling inelastic materials that are described with classical continuum mechanics-based yield surfaces and elastoplastic flow rules. Our inspiration is that a robust estimation of the velocity gradient is a sufficiently useful key to effectively tracking deformation gradients in XPBD simulations. By further incorporating implicit inelastic constitutive relationships, we introduce a plasticity in-the-loop updated Lagrangian augmentation to XPBD. This enhancement enables the simulation of elastoplastic, viscoplastic, and granular substances following their standard constitutive laws. We demonstrate the effectiveness of our method through high-resolution and real-time simulations of diverse materials such as snow, sand, and plasticine, and its integration with standard XPBD simulations of cloth and water.
Efficiency optimization of large-scale language models based on deep learning in natural language processing tasks
Venue: arXiv cs.LG 2024
Year: 2024

The internal structure and operation mechanism of large-scale language models are analyzed theoretically, especially how Transformer and its derivative architectures can restrict computing efficiency while capturing long-term dependencies. Further, we dig deep into the efficiency bottleneck of the training phase, and evaluate in detail the contribution of adaptive optimization algorithms (such as AdamW), massively parallel computing techniques, and mixed precision training strategies to accelerate convergence and reduce memory footprint. By analyzing the mathematical principles and implementation details of these algorithms, we reveal how they effectively improve training efficiency in practice. In terms of model deployment and inference optimization, this paper systematically reviews the latest advances in model compression techniques, focusing on strategies such as quantification, pruning, and knowledge distillation. By comparing the theoretical frameworks of these techniques and their effects in different application scenarios, we demonstrate their ability to significantly reduce model size and inference delay while maintaining model prediction accuracy. In addition, this paper critically examines the limitations of current efficiency optimization methods, such as the increased risk of overfitting, the control of performance loss after compression, and the problem of algorithm generality, and proposes some prospects for future research. In conclusion, this study provides a comprehensive theoretical framework for understanding the efficiency optimization of large-scale language models.
Quality assurance of organs-at-risk delineation in radiotherapy
Venue: arXiv cs.CV 2024
Year: 2024

The delineation of tumor target and organs-at-risk is critical in the radiotherapy treatment planning. Automatic segmentation can be used to reduce the physician workload and improve the consistency. However, the quality assurance of the automatic segmentation is still an unmet need in clinical practice. The patient data used in our study was a standardized dataset from AAPM Thoracic Auto-Segmentation Challenge. The OARs included were left and right lungs, heart, esophagus, and spinal cord. Two groups of OARs were generated, the benchmark dataset manually contoured by experienced physicians and the test dataset automatically created using a software AccuContour. A resnet-152 network was performed as feature extractor, and one-class support vector classifier was used to determine the high or low quality. We evaluate the model performance with balanced accuracy, F-score, sensitivity, specificity and the area under the receiving operator characteristic curve. We randomly generated contour errors to assess the generalization of our method, explored the detection limit, and evaluated the correlations between detection limit and various metrics such as volume, Dice similarity coefficient, Hausdorff distance, and mean surface distance. The proposed one-class classifier outperformed in metrics such as balanced accuracy, AUC, and others. The proposed method showed significant improvement over binary classifiers in handling various types of errors. Our proposed model, which introduces residual network and attention mechanism in the one-class classification framework, was able to detect the various types of OAR contour errors with high accuracy. The proposed method can significantly reduce the burden of physician review for contour delineation.
CDM-MPC: An Integrated Dynamic Planning and Control Framework for Bipedal Robots Jumping
Venue: arXiv cs.RO 2024
Year: 2024

Performing acrobatic maneuvers like dynamic jumping in bipedal robots presents significant challenges in terms of actuation, motion planning, and control. Traditional approaches to these tasks often simplify dynamics to enhance computational efficiency, potentially overlooking critical factors such as the control of centroidal angular momentum (CAM) and the variability of centroidal composite rigid body inertia (CCRBI). This paper introduces a novel integrated dynamic planning and control framework, termed centroidal dynamics model-based model predictive control (CDM-MPC), designed for robust jumping control that fully considers centroidal momentum and non-constant CCRBI. The framework comprises an optimization-based kinodynamic motion planner and an MPC controller for real-time trajectory tracking and replanning. Additionally, a centroidal momentum-based inverse kinematics (IK) solver and a landing heuristic controller are developed to ensure stability during high-impact landings. The efficacy of the CDM-MPC framework is validated through extensive testing on the full-sized humanoid robot KUAVO in both simulations and experiments.
Generative AI in Higher Education: A Global Perspective of Institutional Adoption Policies and Guidelines
Venue: arXiv cs.CY 2024
Year: 2024

Integrating generative AI (GAI) into higher education is crucial for preparing a future generation of GAI-literate students. Yet a thorough understanding of the global institutional adoption policy remains absent, with most of the prior studies focused on the Global North and the promises and challenges of GAI, lacking a theoretical lens. This study utilizes the Diffusion of Innovations Theory to examine GAI adoption strategies in higher education across 40 universities from six global regions. It explores the characteristics of GAI innovation, including compatibility, trialability, and observability, and analyses the communication channels and roles and responsibilities outlined in university policies and guidelines. The findings reveal a proactive approach by universities towards GAI integration, emphasizing academic integrity, teaching and learning enhancement, and equity. Despite a cautious yet optimistic stance, a comprehensive policy framework is needed to evaluate the impacts of GAI integration and establish effective communication strategies that foster broader stakeholder engagement. The study highlights the importance of clear roles and responsibilities among faculty, students, and administrators for successful GAI integration, supporting a collaborative model for navigating the complexities of GAI in education. This study contributes insights for policymakers in crafting detailed strategies for its integration.
Stereo-Knowledge Distillation from dpMV to Dual Pixels for Light Field Video Reconstruction
Venue: arXiv cs.CV 2024
Year: 2024

Dual pixels contain disparity cues arising from the defocus blur. This disparity information is useful for many vision tasks ranging from autonomous driving to 3D creative realism. However, directly estimating disparity from dual pixels is less accurate. This work hypothesizes that distilling high-precision dark stereo knowledge, implicitly or explicitly, to efficient dual-pixel student networks enables faithful reconstructions. This dark knowledge distillation should also alleviate stereo-synchronization setup and calibration costs while dramatically increasing parameter and inference time efficiency. We collect the first and largest 3-view dual-pixel video dataset, dpMV, to validate our explicit dark knowledge distillation hypothesis. We show that these methods outperform purely monocular solutions, especially in challenging foreground-background separation regions using faithful guidance from dual pixels. Finally, we demonstrate an unconventional use case unlocked by dpMV and implicit dark knowledge distillation from an ensemble of teachers for Light Field (LF) video reconstruction. Our LF video reconstruction method is the fastest and most temporally consistent to date. It remains competitive in reconstruction fidelity while offering many other essential properties like high parameter efficiency, implicit disocclusion handling, zero-shot cross-dataset transfer, geometrically consistent inference on higher spatial-angular resolutions, and adaptive baseline control. All source code is available at the anonymous repository https://github.com/Aryan-Garg.
Adversarially Diversified Rehearsal Memory (ADRM): Mitigating Memory Overfitting Challenge in Continual Learning
Venue: arXiv cs.LG 2024
Year: 2024

Continual learning focuses on learning non-stationary data distribution without forgetting previous knowledge. Rehearsal-based approaches are commonly used to combat catastrophic forgetting. However, these approaches suffer from a problem called "rehearsal memory overfitting, " where the model becomes too specialized on limited memory samples and loses its ability to generalize effectively. As a result, the effectiveness of the rehearsal memory progressively decays, ultimately resulting in catastrophic forgetting of the learned tasks. We introduce the Adversarially Diversified Rehearsal Memory (ADRM) to address the memory overfitting challenge. This novel method is designed to enrich memory sample diversity and bolster resistance against natural and adversarial noise disruptions. ADRM employs the FGSM attacks to introduce adversarially modified memory samples, achieving two primary objectives: enhancing memory diversity and fostering a robust response to continual feature drifts in memory samples. Our contributions are as follows: Firstly, ADRM addresses overfitting in rehearsal memory by employing FGSM to diversify and increase the complexity of the memory buffer. Secondly, we demonstrate that ADRM mitigates memory overfitting and significantly improves the robustness of CL models, which is crucial for safety-critical applications. Finally, our detailed analysis of features and visualization demonstrates that ADRM mitigates feature drifts in CL memory samples, significantly reducing catastrophic forgetting and resulting in a more resilient CL model. Additionally, our in-depth t-SNE visualizations of feature distribution and the quantification of the feature similarity further enrich our understanding of feature representation in existing CL approaches. Our code is publically available at https://github.com/hikmatkhan/ADRM.
Improving the Explain-Any-Concept by Introducing Nonlinearity to the Trainable Surrogate Model
Venue: arXiv cs.CV 2024
Year: 2024

In the evolving field of Explainable AI (XAI), interpreting the decisions of deep neural networks (DNNs) in computer vision tasks is an important process. While pixel-based XAI methods focus on identifying significant pixels, existing concept-based XAI methods use pre-defined or human-annotated concepts. The recently proposed Segment Anything Model (SAM) achieved a significant step forward to prepare automatic concept sets via comprehensive instance segmentation. Building upon this, the Explain Any Concept (EAC) model emerged as a flexible method for explaining DNN decisions. EAC model is based on using a surrogate model which has one trainable linear layer to simulate the target model. In this paper, by introducing an additional nonlinear layer to the original surrogate model, we show that we can improve the performance of the EAC model. We compare our proposed approach to the original EAC model and report improvements obtained on both ImageNet and MS COCO datasets.
A Constraint-Enforcing Reward for Adversarial Attacks on Text Classifiers
Venue: arXiv cs.CL 2024
Year: 2024

Text classifiers are vulnerable to adversarial examples -- correctly-classified examples that are deliberately transformed to be misclassified while satisfying acceptability constraints. The conventional approach to finding adversarial examples is to define and solve a combinatorial optimisation problem over a space of allowable transformations. While effective, this approach is slow and limited by the choice of transformations. An alternate approach is to directly generate adversarial examples by fine-tuning a pre-trained language model, as is commonly done for other text-to-text tasks. This approach promises to be much quicker and more expressive, but is relatively unexplored. For this reason, in this work we train an encoder-decoder paraphrase model to generate a diverse range of adversarial examples. For training, we adopt a reinforcement learning algorithm and propose a constraint-enforcing reward that promotes the generation of valid adversarial examples. Experimental results over two text classification datasets show that our model has achieved a higher success rate than the original paraphrase model, and overall has proved more effective than other competitive attacks. Finally, we show how key design choices impact the generated examples and discuss the strengths and weaknesses of the proposed approach.
Accurate Link Prediction for Edge-Incomplete Graphs via PU Learning
Venue: arXiv cs.AI 2024
Year: 2024

Given an edge-incomplete graph, how can we accurately find the missing links? The link prediction in edge-incomplete graphs aims to discover the missing relations between entities when their relationships are represented as a graph. Edge-incomplete graphs are prevalent in real-world due to practical limitations, such as not checking all users when adding friends in a social network. Addressing the problem is crucial for various tasks, including recommending friends in social networks and finding references in citation networks. However, previous approaches rely heavily on the given edge-incomplete (observed) graph, making it challenging to consider the missing (unobserved) links during training. In this paper, we propose PULL (PU-Learning-based Link predictor), an accurate link prediction method based on the positive-unlabeled (PU) learning. PULL treats the observed edges in the training graph as positive examples, and the unconnected node pairs as unlabeled ones. PULL effectively prevents the link predictor from overfitting to the observed graph by proposing latent variables for every edge, and leveraging the expected graph structure with respect to the variables. Extensive experiments on five real-world datasets show that PULL consistently outperforms the baselines for predicting links in edge-incomplete graphs.
Information Leakage from Embedding in Large Language Models
Venue: arXiv cs.LG 2024
Year: 2024

The widespread adoption of large language models (LLMs) has raised concerns regarding data privacy. This study aims to investigate the potential for privacy invasion through input reconstruction attacks, in which a malicious model provider could potentially recover user inputs from embeddings. We first propose two base methods to reconstruct original texts from a model's hidden states. We find that these two methods are effective in attacking the embeddings from shallow layers, but their effectiveness decreases when attacking embeddings from deeper layers. To address this issue, we then present Embed Parrot, a Transformer-based method, to reconstruct input from embeddings in deep layers. Our analysis reveals that Embed Parrot effectively reconstructs original inputs from the hidden states of ChatGLM-6B and Llama2-7B, showcasing stable performance across various token lengths and data distributions. To mitigate the risk of privacy breaches, we introduce a defense mechanism to deter exploitation of the embedding reconstruction process. Our findings emphasize the importance of safeguarding user privacy in distributed learning systems and contribute valuable insights to enhance the security protocols within such environments.
Biomedical Entity Linking for Dutch: Fine-tuning a Self-alignment BERT Model on an Automatically Generated Wikipedia Corpus
Venue: arXiv cs.CL 2024
Year: 2024

Biomedical entity linking, a main component in automatic information extraction from health-related texts, plays a pivotal role in connecting textual entities (such as diseases, drugs and body parts mentioned by patients) to their corresponding concepts in a structured biomedical knowledge base. The task remains challenging despite recent developments in natural language processing. This paper presents the first evaluated biomedical entity linking model for the Dutch language. We use MedRoBERTa.nl as base model and perform second-phase pretraining through self-alignment on a Dutch biomedical ontology extracted from the UMLS and Dutch SNOMED. We derive a corpus from Wikipedia of ontology-linked Dutch biomedical entities in context and fine-tune our model on this dataset. We evaluate our model on the Dutch portion of the Mantra GSC-corpus and achieve 54.7% classification accuracy and 69.8% 1-distance accuracy. We then perform a case study on a collection of unlabeled, patient-support forum data and show that our model is hampered by the limited quality of the preceding entity recognition step. Manual evaluation of small sample indicates that of the correctly extracted entities, around 65% is linked to the correct concept in the ontology. Our results indicate that biomedical entity linking in a language other than English remains challenging, but our Dutch model can be used to for high-level analysis of patient-generated text.
Quantifying Individual and Joint Module Impact in Modular Optimization Frameworks
Venue: arXiv cs.NE 2024
Year: 2024

This study explores the influence of modules on the performance of modular optimization frameworks for continuous single-objective black-box optimization. There is an extensive variety of modules to choose from when designing algorithm variants, however, there is a rather limited understanding of how each module individually influences the algorithm performance and how the modules interact with each other when combined. We use the functional ANOVA (f-ANOVA) framework to quantify the influence of individual modules and module combinations for two algorithms, the modular Covariance Matrix Adaptation (modCMA) and the modular Differential Evolution (modDE). We analyze the performance data from 324 modCMA and 576 modDE variants on the BBOB benchmark collection, for two problem dimensions, and three computational budgets. Noteworthy findings include the identification of important modules that strongly influence the performance of modCMA, such as the~\textit{weights\ option} and~\textit{mirrored} modules for low dimensional problems, and the~\textit{base\ sampler} for high dimensional problems. The large individual influence of the~\textit{lpsr} module makes it very important for the performance of modDE, regardless of the problem dimensionality and the computational budget. When comparing modCMA and modDE, modDE undergoes a shift from individual modules being more influential, to module combinations being more influential, while modCMA follows the opposite pattern, with an increase in problem dimensionality and computational budget.