OpenRaiser/Intern-Atlas huggingface dataset:
Deep Learning-Based Computational Model for Disease Identification in Cocoa Pods (Theobroma cacao L.)
Venue: arXiv cs.CV 2024
Year: 2024

The early identification of diseases in cocoa pods is an important task to guarantee the production of high-quality cocoa. The use of artificial intelligence techniques such as machine learning, computer vision and deep learning are promising solutions to help identify and classify diseases in cocoa pods. In this paper we introduce the development and evaluation of a deep learning computational model applied to the identification of diseases in cocoa pods, focusing on "monilia" and "black pod" diseases. An exhaustive review of state-of-the-art of computational models was carried out, based on scientific articles related to the identification of plant diseases using computer vision and deep learning techniques. As a result of the search, EfficientDet-Lite4, an efficient and lightweight model for object detection, was selected. A dataset, including images of both healthy and diseased cocoa pods, has been utilized to train the model to detect and pinpoint disease manifestations with considerable accuracy. Significant enhancements in the model training and evaluation demonstrate the capability of recognizing and classifying diseases through image analysis. Furthermore, the functionalities of the model were integrated into an Android native mobile with an user-friendly interface, allowing to younger or inexperienced farmers a fast and accuracy identification of health status of cocoa pods
Profiling Programming Language Learning
Venue: arXiv cs.PL 2024
Year: 2024

This paper documents a year-long experiment to "profile" the process of learning a programming language: gathering data to understand what makes a language hard to learn, and using that data to improve the learning process. We added interactive quizzes to The Rust Programming Language, the official textbook for learning Rust. Over 13 months, 62,526 readers answered questions 1,140,202 times. First, we analyze the trajectories of readers. We find that many readers drop-out of the book early when faced with difficult language concepts like Rust's ownership types. Second, we use classical test theory and item response theory to analyze the characteristics of quiz questions. We find that better questions are more conceptual in nature, such as asking why a program does not compile vs. whether a program compiles. Third, we performed 12 interventions into the book to help readers with difficult questions. We find that on average, interventions improved quiz scores on the targeted questions by +20%. Fourth, we show that our technique can likely generalize to languages with smaller user bases by simulating our statistical inferences on small N. These results demonstrate that quizzes are a simple and useful technique for understanding language learning at all scales.
MOC-RVQ: Multilevel Codebook-Assisted Digital Generative Semantic Communication
Venue: arXiv cs.CV 2024
Year: 2024

Vector quantization-based image semantic communication systems have successfully boosted transmission efficiency, but face challenges with conflicting requirements between codebook design and digital constellation modulation. Traditional codebooks need wide index ranges, while modulation favors few discrete states. To address this, we propose a multilevel generative semantic communication system with a two-stage training framework. In the first stage, we train a high-quality codebook, using a multi-head octonary codebook (MOC) to compress the index range. In addition, a residual vector quantization (RVQ) mechanism is also integrated for effective multilevel communication. In the second stage, a noise reduction block (NRB) based on Swin Transformer is introduced, coupled with the multilevel codebook from the first stage, serving as a high-quality semantic knowledge base (SKB) for generative feature restoration. Finally, to simulate modern image transmission scenarios, we employ a diverse collection of high-resolution 2K images as the test set. The experimental results consistently demonstrate the superior performance of MOC-RVQ over conventional methods such as BPG or JPEG. Additionally, MOC-RVQ achieves comparable performance to an analog JSCC scheme, while needing only one-sixth of the channel bandwidth ratio (CBR) and being directly compatible with digital transmission systems.
The Boomerang protocol: A Decentralised Privacy-Preserving Verifiable Incentive Protocol
Venue: arXiv cs.CR 2024
Year: 2024

In the era of data-driven economies, incentive systems and loyalty programs, have become ubiquitous in various sectors, including advertising, retail, travel, and financial services. While these systems offer advantages for both users and companies, they necessitate the transfer and analysis of substantial amounts of sensitive data. Privacy concerns have become increasingly pertinent, necessitating the development of privacy-preserving incentive protocols. Despite the rising demand for secure and decentralised systems, the existing landscape lacks a comprehensive solution. In this work, we propose the BOOMERANG protocol, a novel decentralised privacy-preserving incentive protocol that leverages cryptographic black box accumulators to securely and privately store user interactions within the incentive system. Moreover, the protocol employs zero-knowledge proofs to transparently compute rewards for users, ensuring verifiability while preserving their privacy. To further enhance public verifiability and transparency, we utilise a smart contract on a Layer 1 blockchain to verify these zero-knowledge proofs. The careful combination of black box accumulators and zero-knowledge proofs makes the BOOMERANG protocol highly efficient.
Boosting Defect Detection in Manufacturing using Tensor Convolutional Neural Networks
Venue: arXiv cs.CV 2024
Year: 2024

Defect detection is one of the most important yet challenging tasks in the quality control stage in the manufacturing sector. In this work, we introduce a Tensor Convolutional Neural Network (T-CNN) and examine its performance on a real defect detection application in one of the components of the ultrasonic sensors produced at Robert Bosch's manufacturing plants. Our quantum-inspired T-CNN operates on a reduced model parameter space to substantially improve the training speed and performance of an equivalent CNN model without sacrificing accuracy. More specifically, we demonstrate how T-CNNs are able to reach the same performance as classical CNNs as measured by quality metrics, with up to fifteen times fewer parameters and 4% to 19% faster training times. Our results demonstrate that the T-CNN greatly outperforms the results of traditional human visual inspection, providing value in a current real application in manufacturing.
P-TimeSync: A Precise Time Synchronization Simulation with Network Propagation Delays
Venue: arXiv cs.DC 2024
Year: 2024

Time serves as the foundation of modern society and will continue to grow in value in the future world. Unlike previous research papers, authors delve into various time sources, ranging from atomic time and GPS time to quartz time. Specifically, we explore the time uncertainty associated with the four major Global Navigation Satellite Systems. In existing time synchronization simulations provide partial usages. However, our research introduces a comprehensive and precise time synchronization simulation named P-TimeSync, leading to a better understanding of time synchronization in distributed environments. It is a state-of-the-art simulation tool for time because (1) it can simulate atomic clocks and quartz clocks with user-defined software clock algorithms, (2) the simulation provides nanosecond-level precision time across different network propagation paths and distances, (3) the tool offers a visualization platform with classic algorithms for distributed time synchronization, such as Cristian's algorithm and Berkeley algorithm. The simulation easily allows for the redefinition of configurations and functions, supporting advanced research and development. The simulation tool could be downloaded via the website: https://github.com/rui5097/purdue_timesync
A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlook
Venue: arXiv cs.CV 2024
Year: 2024

Autonomous driving has rapidly developed and shown promising performance due to recent advances in hardware and deep learning techniques. High-quality datasets are fundamental for developing reliable autonomous driving algorithms. Previous dataset surveys either focused on a limited number or lacked detailed investigation of dataset characteristics. To this end, we present an exhaustive study of 265 autonomous driving datasets from multiple perspectives, including sensor modalities, data size, tasks, and contextual conditions. We introduce a novel metric to evaluate the impact of datasets, which can also be a guide for creating new datasets. Besides, we analyze the annotation processes, existing labeling tools, and the annotation quality of datasets, showing the importance of establishing a standard annotation pipeline. On the other hand, we thoroughly analyze the impact of geographical and adversarial environmental conditions on the performance of autonomous driving systems. Moreover, we exhibit the data distribution of several vital datasets and discuss their pros and cons accordingly. Finally, we discuss the current challenges and the development trend of the future autonomous driving datasets.
Human Leading or Following Preferences: Effects on Human Perception of the Robot and the Human-Robot Collaboration
Venue: arXiv cs.RO 2024
Year: 2024

Achieving effective and seamless human-robot collaboration requires two key outcomes: enhanced team performance and fostering a positive human perception of both the robot and the collaboration. This paper investigates the capability of the proposed task planning framework to realize these objectives by integrating human leading/following preferences and performance into its task allocation and scheduling processes. We designed a collaborative scenario wherein the robot autonomously collaborates with participants. The outcomes of the user study indicate that the proactive task planning framework successfully attains the aforementioned goals. We also explore the impact of participants' leadership and followership styles on their collaboration. The results reveal intriguing relationships between these factors which warrant further investigation in future studies.
TPC-ViT: Token Propagation Controller for Efficient Vision Transformer
Venue: arXiv cs.CV 2024
Year: 2024

Vision transformers (ViTs) have achieved promising results on a variety of Computer Vision tasks, however their quadratic complexity in the number of input tokens has limited their application specially in resource-constrained settings. Previous approaches that employ gradual token reduction to address this challenge assume that token redundancy in one layer implies redundancy in all the following layers. We empirically demonstrate that this assumption is often not correct, i.e., tokens that are redundant in one layer can be useful in later layers. We employ this key insight to propose a novel token propagation controller (TPC) that incorporates two different token-distributions, i.e., pause probability and restart probability to control the reduction and reuse of tokens respectively, which results in more efficient token utilization. To improve the estimates of token distributions, we propose a smoothing mechanism that acts as a regularizer and helps remove noisy outliers. Furthermore, to improve the training-stability of our proposed TPC, we introduce a model stabilizer that is able to implicitly encode local image structures and minimize accuracy fluctuations during model training. We present extensive experimental results on the ImageNet-1K dataset using DeiT, LV-ViT and Swin models to demonstrate the effectiveness of our proposed method. For example, compared to baseline models, our proposed method improves the inference speed of the DeiT-S by 250% while increasing the classification accuracy by 1.0%.
Demonstrating Mobile Manipulation in the Wild: A Metrics-Driven Approach
Venue: arXiv cs.RO 2024
Year: 2024

We present our general-purpose mobile manipulation system consisting of a custom robot platform and key algorithms spanning perception and planning. To extensively test the system in the wild and benchmark its performance, we choose a grocery shopping scenario in an actual, unmodified grocery store. We derive key performance metrics from detailed robot log data collected during six week-long field tests, spread across 18 months. These objective metrics, gained from complex yet repeatable tests, drive the direction of our research efforts and let us continuously improve our system's performance. We find that thorough end-to-end system-level testing of a complex mobile manipulation system can serve as a reality-check for state-of-the-art methods in robotics. This effectively grounds robotics research efforts in real world needs and challenges, which we deem highly useful for the advancement of the field. To this end, we share our key insights and takeaways to inspire and accelerate similar system-level research projects.
Pontryagin Neural Operator for Solving Parametric General-Sum Differential Games
Venue: arXiv cs.LG 2024
Year: 2024

The values of two-player general-sum differential games are viscosity solutions to Hamilton-Jacobi-Isaacs (HJI) equations. Value and policy approximations for such games suffer from the curse of dimensionality (CoD). Alleviating CoD through physics-informed neural networks (PINN) encounters convergence issues when differentiable values with large Lipschitz constants are present due to state constraints. On top of these challenges, it is often necessary to learn generalizable values and policies across a parametric space of games, e.g., for game parameter inference when information is incomplete. To address these challenges, we propose in this paper a Pontryagin-mode neural operator that outperforms the current state-of-the-art hybrid PINN model on safety performance across games with parametric state constraints. Our key contribution is the introduction of a costate loss defined on the discrepancy between forward and backward costate rollouts, which are computationally cheap. We show that the costate dynamics, which can reflect state constraint violation, effectively enables the learning of differentiable values with large Lipschitz constants, without requiring manually supervised data as suggested by the hybrid PINN model. More importantly, we show that the close relationship between costates and policies makes the former critical in learning feedback control policies with generalizable safety performance.
Which Syntactic Capabilities Are Statistically Learned by Masked Language Models for Code?
Venue: arXiv cs.SE 2024
Year: 2024

This paper discusses the limitations of evaluating Masked Language Models (MLMs) in code completion tasks. We highlight that relying on accuracy-based measurements may lead to an overestimation of models' capabilities by neglecting the syntax rules of programming languages. To address these issues, we introduce a technique called SyntaxEval in which Syntactic Capabilities are used to enhance the evaluation of MLMs. SyntaxEval automates the process of masking elements in the model input based on their Abstract Syntax Trees (ASTs). We conducted a case study on two popular MLMs using data from GitHub repositories. Our results showed negative causal effects between the node types and MLMs' accuracy. We conclude that MLMs under study fail to predict some syntactic capabilities.
DDN-SLAM: Real-time Dense Dynamic Neural Implicit SLAM
Venue: arXiv cs.CV 2024
Year: 2024

SLAM systems based on NeRF have demonstrated superior performance in rendering quality and scene reconstruction for static environments compared to traditional dense SLAM. However, they encounter tracking drift and mapping errors in real-world scenarios with dynamic interferences. To address these issues, we introduce DDN-SLAM, the first real-time dense dynamic neural implicit SLAM system integrating semantic features. To address dynamic tracking interferences, we propose a feature point segmentation method that combines semantic features with a mixed Gaussian distribution model. To avoid incorrect background removal, we propose a mapping strategy based on sparse point cloud sampling and background restoration. We propose a dynamic semantic loss to eliminate dynamic occlusions. Experimental results demonstrate that DDN-SLAM is capable of robustly tracking and producing high-quality reconstructions in dynamic environments, while appropriately preserving potential dynamic objects. Compared to existing neural implicit SLAM systems, the tracking results on dynamic datasets indicate an average 90% improvement in Average Trajectory Error (ATE) accuracy.
Team IELAB at TREC Clinical Trial Track 2023: Enhancing Clinical Trial Retrieval with Neural Rankers and Large Language Models
Venue: arXiv cs.IR 2024
Year: 2024

We describe team ielab from CSIRO and The University of Queensland's approach to the 2023 TREC Clinical Trials Track. Our approach was to use neural rankers but to utilise Large Language Models to overcome the issue of lack of training data for such rankers. Specifically, we employ ChatGPT to generate relevant patient descriptions for randomly selected clinical trials from the corpus. This synthetic dataset, combined with human-annotated training data from previous years, is used to train both dense and sparse retrievers based on PubmedBERT. Additionally, a cross-encoder re-ranker is integrated into the system. To further enhance the effectiveness of our approach, we prompting GPT-4 as a TREC annotator to provide judgments on our run files. These judgments are subsequently employed to re-rank the results. This architecture tightly integrates strong PubmedBERT-based rankers with the aid of SOTA Large Language Models, demonstrating a new approach to clinical trial retrieval.
CodeFuse-Query: A Data-Centric Static Code Analysis System for Large-Scale Organizations
Venue: arXiv cs.SE 2024
Year: 2024

In the domain of large-scale software development, the demands for dynamic and multifaceted static code analysis exceed the capabilities of traditional tools. To bridge this gap, we present CodeFuse-Query, a system that redefines static code analysis through the fusion of Domain Optimized System Design and Logic Oriented Computation Design. CodeFuse-Query reimagines code analysis as a data computation task, support scanning over 10 billion lines of code daily and more than 300 different tasks. It optimizes resource utilization, prioritizes data reusability, applies incremental code extraction, and introduces tasks types specially for Code Change, underscoring its domain-optimized design. The system's logic-oriented facet employs Datalog, utilizing a unique two-tiered schema, COREF, to convert source code into data facts. Through Godel, a distinctive language, CodeFuse-Query enables formulation of complex tasks as logical expressions, harnessing Datalog's declarative prowess. This paper provides empirical evidence of CodeFuse-Query's transformative approach, demonstrating its robustness, scalability, and efficiency. We also highlight its real-world impact and diverse applications, emphasizing its potential to reshape the landscape of static code analysis in the context of large-scale software development.Furthermore, in the spirit of collaboration and advancing the field, our project is open-sourced and the repository is available for public access
Entropy-based Probing Beam Selection and Beam Prediction via Deep Learning
Venue: arXiv cs.IT 2024
Year: 2024

Hierarchical beam search in mmWave communications incurs substantial training overhead, necessitating deep learning-enabled beam predictions to effectively leverage channel priors and mitigate this overhead. In this study, we introduce a comprehensive probabilistic model of power distribution in beamspace, and formulate the joint optimization problem of probing beam selection and probabilistic beam prediction as an entropy minimization problem. Then, we propose a greedy scheme to iteratively and alternately solve this problem, where a transformer-based beam predictor is trained to estimate the conditional power distribution based on the probing beams and user location within each iteration, and the trained predictor selects an unmeasured beam that minimizes the entropy of remaining beams. To further reduce the number of interactions and the computational complexity of the iterative scheme, we propose a two-stage probing beam selection scheme. Firstly, probing beams are selected from a location-specific codebook designed by an entropy-based criterion, and predictions are made with corresponding feedback. Secondly, the optimal beam is identified using additional probing beams with the highest predicted power values. Simulation results demonstrate the superiority of the proposed schemes compared to hierarchical beam search and beam prediction with uniform probing beams.
Context-Aware Interaction Network for RGB-T Semantic Segmentation
Venue: arXiv cs.CV 2024
Year: 2024

RGB-T semantic segmentation is a key technique for autonomous driving scenes understanding. For the existing RGB-T semantic segmentation methods, however, the effective exploration of the complementary relationship between different modalities is not implemented in the information interaction between multiple levels. To address such an issue, the Context-Aware Interaction Network (CAINet) is proposed for RGB-T semantic segmentation, which constructs interaction space to exploit auxiliary tasks and global context for explicitly guided learning. Specifically, we propose a Context-Aware Complementary Reasoning (CACR) module aimed at establishing the complementary relationship between multimodal features with the long-term context in both spatial and channel dimensions. Further, considering the importance of global contextual and detailed information, we propose the Global Context Modeling (GCM) module and Detail Aggregation (DA) module, and we introduce specific auxiliary supervision to explicitly guide the context interaction and refine the segmentation map. Extensive experiments on two benchmark datasets of MFNet and PST900 demonstrate that the proposed CAINet achieves state-of-the-art performance. The code is available at https://github.com/YingLv1106/CAINet.
Near Real-Time Data-Driven Control of Virtual Reality Traffic in Open Radio Access Network
Venue: arXiv cs.NI 2024
Year: 2024

In mobile networks, Open Radio Access Network (ORAN) provides a framework for implementing network slicing that interacts with the resources at the lower layers. Both monitoring and Radio Access Network (RAN) control is feasible for both 4G and 5G systems. In this work, we consider how data-driven resource allocation in a 4G context can enable adaptive slice allocation to steer the experienced latency of Virtual Reality (VR) traffic towards a requested latency. We develop an xApp for the near real-time RAN Intelligent Controller (RIC) that embeds a heuristic algorithm for latency control, aiming to: (1) maintain latency of a VR stream around a requested value; and (2) improve the available RAN allocation to offer higher bit rate to another user. We have experimentally demonstrated the proposed approach in an ORAN testbed. Our results show that the data-driven approach can dynamically follow the variation of the traffic load while satisfying the required latency. This results in 15.8% more resources to secondary users than a latency-equivalent static allocation.