OpenRaiser/Intern-Atlas huggingface dataset:
Topological Characterization of Task Solvability in General Models of Computation
Venue: arXiv cs.DC 2023
Year: 2023

The famous asynchronous computability theorem (ACT) relates the existence of an asynchronous wait-free shared memory protocol for solving a task with the existence of a simplicial map from a subdivision of the simplicial complex representing the inputs to the simplicial complex representing the allowable outputs. The original theorem relies on a correspondence between protocols and simplicial maps in round-structured models of computation that induce a compact topology. This correspondence, however, is far from obvious for computation models that induce a non-compact topology, and indeed previous attempts to extend the ACT have failed. This paper shows that in every non-compact model, protocols solving tasks correspond to simplicial maps that need to be continuous. It first proves a generalized ACT for sub-IIS models, some of which are non-compact, and applies it to the set agreement task. Then it proves that in general models too, protocols are simplicial maps that need to be continuous, hence showing that the topological approach is universal. Finally, it shows that the approach used in ACT that equates protocols and simplicial complexes actually works for every compact model. Our study combines, for the first time, combinatorial and point-set topological aspects of the executions admitted by the computation model.
Salient Conditional Diffusion for Defending Against Backdoor Attacks
Venue: arXiv cs.LG 2023
Year: 2023

We propose a novel algorithm, Salient Conditional Diffusion (Sancdifi), a state-of-the-art defense against backdoor attacks. Sancdifi uses a denoising diffusion probabilistic model (DDPM) to degrade an image with noise and then recover said image using the learned reverse diffusion. Critically, we compute saliency map-based masks to condition our diffusion, allowing for stronger diffusion on the most salient pixels by the DDPM. As a result, Sancdifi is highly effective at diffusing out triggers in data poisoned by backdoor attacks. At the same time, it reliably recovers salient features when applied to clean data. This performance is achieved without requiring access to the model parameters of the Trojan network, meaning Sancdifi operates as a black-box defense.
Federated Cell-Free MIMO in Non-Terrestrial Networks: Architectures and Performance
Venue: arXiv cs.IT 2023
Year: 2023

While 5G networks are being rolled out, the definition of the potential 5G-Advanced features and the identification of disruptive technologies for 6G systems are being addressed by the scientific and academic communities to tackle the challenges that 2030 communication systems will face, such as terabit-capacity and always-on networks. In this framework, it is globally recognised that Non-Terrestrial Networks (NTN) will play a fundamental role in support to a fully connected world, in which physical, human, and digital domains will converge. In this framework, one of the main challenges that NTN have to address is the provision of the high throughput requested by the new ecosystem. In this paper, we focus on Cell-Free Multiple Input Multiple Output (CF-MIMO) algorithms for NTN. In particular: i) we discuss the architecture design supporting centralised and federated CF-MIMO in NTN, with the latter implementing distributed MIMO algorithms from multiple satellites in the same formation (swarm); ii) propose a novel location-based CF-MIMO algorithm, which does not require Channel State Information (CSI) at the transmitter; and iii) design novel normalisation approaches for federated CF-MIMO in NTN, to cope with the constraints on non-colocated radiating elements. The numerical results substantiate the good performance of the proposed algorithm, also in the presence of non-ideal information.
Evaluating Temporal Observation-Based Causal Discovery Techniques Applied to Road Driver Behaviour
Venue: arXiv cs.AI 2023
Year: 2023

Autonomous robots are required to reason about the behaviour of dynamic agents in their environment. The creation of models to describe these relationships is typically accomplished through the application of causal discovery techniques. However, as it stands observational causal discovery techniques struggle to adequately cope with conditions such as causal sparsity and non-stationarity typically seen during online usage in autonomous agent domains. Meanwhile, interventional techniques are not always feasible due to domain restrictions. In order to better explore the issues facing observational techniques and promote further discussion of these topics we carry out a benchmark across 10 contemporary observational temporal causal discovery methods in the domain of autonomous driving. By evaluating these methods upon causal scenes drawn from real world datasets in addition to those generated synthetically we highlight where improvements need to be made in order to facilitate the application of causal discovery techniques to the aforementioned use-cases. Finally, we discuss potential directions for future work that could help better tackle the difficulties currently experienced by state of the art techniques.
GANravel: User-Driven Direction Disentanglement in Generative Adversarial Networks
Venue: arXiv cs.HC 2023
Year: 2023

Generative adversarial networks (GANs) have many application areas including image editing, domain translation, missing data imputation, and support for creative work. However, GANs are considered 'black boxes'. Specifically, the end-users have little control over how to improve editing directions through disentanglement. Prior work focused on new GAN architectures to disentangle editing directions. Alternatively, we propose GANravel a user-driven direction disentanglement tool that complements the existing GAN architectures and allows users to improve editing directions iteratively. In two user studies with 16 participants each, GANravel users were able to disentangle directions and outperformed the state-of-the-art direction discovery baselines in disentanglement performance. In the second user study, GANravel was used in a creative task of creating dog memes and was able to create high-quality edited images and GIFs.
The Impacts of Unanswerable Questions on the Robustness of Machine Reading Comprehension Models
Venue: arXiv cs.AI 2023
Year: 2023

Pretrained language models have achieved super-human performances on many Machine Reading Comprehension (MRC) benchmarks. Nevertheless, their relative inability to defend against adversarial attacks has spurred skepticism about their natural language understanding. In this paper, we ask whether training with unanswerable questions in SQuAD 2.0 can help improve the robustness of MRC models against adversarial attacks. To explore that question, we fine-tune three state-of-the-art language models on either SQuAD 1.1 or SQuAD 2.0 and then evaluate their robustness under adversarial attacks. Our experiments reveal that current models fine-tuned on SQuAD 2.0 do not initially appear to be any more robust than ones fine-tuned on SQuAD 1.1, yet they reveal a measure of hidden robustness that can be leveraged to realize actual performance gains. Furthermore, we find that the robustness of models fine-tuned on SQuAD 2.0 extends to additional out-of-domain datasets. Finally, we introduce a new adversarial attack to reveal artifacts of SQuAD 2.0 that current MRC models are learning.
Ignore, Trust, or Negotiate: Understanding Clinician Acceptance of AI-Based Treatment Recommendations in Health Care
Venue: arXiv cs.HC 2023
Year: 2023

Artificial intelligence (AI) in healthcare has the potential to improve patient outcomes, but clinician acceptance remains a critical barrier. We developed a novel decision support interface that provides interpretable treatment recommendations for sepsis, a life-threatening condition in which decisional uncertainty is common, treatment practices vary widely, and poor outcomes can occur even with optimal decisions. This system formed the basis of a mixed-methods study in which 24 intensive care clinicians made AI-assisted decisions on real patient cases. We found that explanations generally increased confidence in the AI, but concordance with specific recommendations varied beyond the binary acceptance or rejection described in prior work. Although clinicians sometimes ignored or trusted the AI, they also often prioritized aspects of the recommendations to follow, reject, or delay in a process we term "negotiation." These results reveal novel barriers to adoption of treatment-focused AI tools and suggest ways to better support differing clinician perspectives.
Online Learning in Dynamically Changing Environments
Venue: arXiv cs.LG 2023
Year: 2023

We study the problem of online learning and online regret minimization when samples are drawn from a general unknown non-stationary process. We introduce the concept of a dynamic changing process with cost $K$, where the conditional marginals of the process can vary arbitrarily, but that the number of different conditional marginals is bounded by $K$ over $T$ rounds. For such processes we prove a tight (upto $\sqrt{\log T}$ factor) bound $O(\sqrt{KT\cdot\mathsf{VC}(\mathcal{H})\log T})$ for the expected worst case regret of any finite VC-dimensional class $\mathcal{H}$ under absolute loss (i.e., the expected miss-classification loss). We then improve this bound for general mixable losses, by establishing a tight (up to $\log^3 T$ factor) regret bound $O(K\cdot\mathsf{VC}(\mathcal{H})\log^3 T)$. We extend these results to general smooth adversary processes with unknown reference measure by showing a sub-linear regret bound for $1$-dimensional threshold functions under a general bounded convex loss. Our results can be viewed as a first step towards regret analysis with non-stationary samples in the distribution blind (universal) regime. This also brings a new viewpoint that shifts the study of complexity of the hypothesis classes to the study of the complexity of processes generating data.
On Memory Codelets: Prefetching, Recoding, Moving and Streaming Data
Venue: arXiv cs.DC 2023
Year: 2023

For decades, memory capabilities have scaled up much slower than compute capabilities, leaving memory utilization as a major bottleneck. Prefetching and cache hierarchies mitigate this in applications with easily predictable memory accesses or those with high locality. In other applications like sparse linear algebra or graph-based applications, these strategies do not achieve effective utilization of memory. This is the case for the von Neumann model of computation, but other program execution models (PXM) provide different opportunities. Furthermore, the problem is complicated by increasing levels of heterogeneity and devices' varying memory subsystems. The Codelet PXM presented in this paper provides a program structure that allows for well-defined prefetching, streaming, and recoding operations to improve memory utilization and efficiently coordinate data movement with respect to computation. We propose the Memory Codelet, an extension to the original Codelet Model, to provide users these functionalities in a well-defined manner within the Codelet PXM.
Universal Topological Regularities of Syntactic Structures: Decoupling Efficiency from Optimization
Venue: arXiv cs.CL 2023
Year: 2023

Human syntactic structures are usually represented as graphs. Much research has focused on the mapping between such graphs and linguistic sequences, but less attention has been paid to the shapes of the graphs themselves: their topologies. This study investigates how the topologies of syntactic graphs reveal traces of the processes that led to their emergence. I report a new universal regularity in syntactic structures: Their topology is communicatively efficient above chance. The pattern holds, without exception, for all 124 languages studied, across linguistic families and modalities (spoken, written, and signed). This pattern can arise from a process optimizing for communicative efficiency or, alternatively, by construction, as a by-effect of a sublinear preferential attachment process reflecting language production mechanisms known from psycholinguistics. This dual explanation shows how communicative efficiency, per se, does not require optimization. Among the two options, efficiency without optimization offers the better explanation for the new pattern.
Durable Algorithms for Writable LL/SC and CAS with Dynamic Joining
Venue: arXiv cs.DC 2023
Year: 2023

We present durable implementations for two well known universal primitives -- CAS (compare-and-swap), and its ABA-free counter-part LLSC (load-linked, store-conditional). All our implementations are: writable, meaning they support a Write() operation; have constant time complexity per operation; allow for dynamic joining, meaning newly created processes (a.k.a. threads) of arbitrary names can join a protocol and access our implementations; and have adaptive space complexities, meaning the space use scales in the number of processes $n$ that actually use the objects, as opposed to previous protocols which are designed for a maximum number of processes $N$. Our durable Writable-CAS implementation, DuraCAS, requires $O(m + n)$ space to support $m$ objects that get accessed by $n$ processes, improving on the state-of-the-art $O(m + N^2)$. By definition, LLSC objects must store "contexts" in addition to object values. Our Writable-LLSC implementation, DuraLL, requires $O(m + n + C)$ space, where $C$ is the number of "contexts" stored across all the objects. While LLSC has an advantage over CAS due to being ABA-free, the object definition seems to require additional space usage. To address this trade-off, we define an External Context (EC) variant of LLSC. Our EC Writable-LLSC implementation is ABA-free and has a space complexity of just $O(m + n)$. To our knowledge, we are the first to present durable CAS algorithms that allow for dynamic joining, and our algorithms are the first to exhibit adaptive space complexities. To our knowledge, we are the first to implement any type of durable LLSC objects.
Streaming Software Development: Accountability, Community, and Learning
Venue: arXiv cs.HC 2023
Year: 2023

People use the Internet to learn new skills, stay connected with friends, and find new communities to engage with. Live streaming platforms like Twitch.tv, YouTube Live, and Facebook Gaming provide a place where all three of these activities intersect and enable users to live-stream themselves playing a video game or live-coding software and game development, as well as the ability to participate in chat while watching someone else engage in an activity. Through fifteen interviews with software and game development streamers, we investigate why people choose to stream themselves programming and if they perceive themselves improving their programming skills by live streaming. We found that the motivations to stream included accountability, self-education, community, and visibility of the streamers' work, and streamers perceived a positive influence on their ability to write source code. Our findings implicate that alternative learning methods like live streaming programming are a beneficial tool in the age of the virtual classroom. This work also contributes to and extends research efforts surrounding educational live streaming and collaboration in developer communities.
Neural Wavelet-domain Diffusion for 3D Shape Generation, Inversion, and Manipulation
Venue: arXiv cs.CV 2023
Year: 2023

This paper presents a new approach for 3D shape generation, inversion, and manipulation, through a direct generative modeling on a continuous implicit representation in wavelet domain. Specifically, we propose a compact wavelet representation with a pair of coarse and detail coefficient volumes to implicitly represent 3D shapes via truncated signed distance functions and multi-scale biorthogonal wavelets. Then, we design a pair of neural networks: a diffusion-based generator to produce diverse shapes in the form of the coarse coefficient volumes and a detail predictor to produce compatible detail coefficient volumes for introducing fine structures and details. Further, we may jointly train an encoder network to learn a latent space for inverting shapes, allowing us to enable a rich variety of whole-shape and region-aware shape manipulations. Both quantitative and qualitative experimental results manifest the compelling shape generation, inversion, and manipulation capabilities of our approach over the state-of-the-art methods.
Shutter, the Robot Photographer: Leveraging Behavior Trees for Public, In-the-Wild Human-Robot Interactions
Venue: arXiv cs.RO 2023
Year: 2023

Deploying interactive systems in-the-wild requires adaptability to situations not encountered in lab environments. Our work details our experience about the impact of architecture choice on behavior reusability and reactivity while deploying a public interactive system. In particular, we introduce Shutter, a robot photographer and a platform for public interaction. In designing Shutter's architecture, we focused on adaptability for in-the-wild deployment, while developing a reusable platform to facilitate future research in public human-robot interaction. We find that behavior trees allow reactivity, especially in group settings, and encourage designing reusable behaviors.
Efficient Scopeformer: Towards Scalable and Rich Feature Extraction for Intracranial Hemorrhage Detection
Venue: arXiv cs.CV 2023
Year: 2023

The quality and richness of feature maps extracted by convolution neural networks (CNNs) and vision Transformers (ViTs) directly relate to the robust model performance. In medical computer vision, these information-rich features are crucial for detecting rare cases within large datasets. This work presents the "Scopeformer," a novel multi-CNN-ViT model for intracranial hemorrhage classification in computed tomography (CT) images. The Scopeformer architecture is scalable and modular, which allows utilizing various CNN architectures as the backbone with diversified output features and pre-training strategies. We propose effective feature projection methods to reduce redundancies among CNN-generated features and to control the input size of ViTs. Extensive experiments with various Scopeformer models show that the model performance is proportional to the number of convolutional blocks employed in the feature extractor. Using multiple strategies, including diversifying the pre-training paradigms for CNNs, different pre-training datasets, and style transfer techniques, we demonstrate an overall improvement in the model performance at various computational budgets. Later, we propose smaller compute-efficient Scopeformer versions with three different types of input and output ViT configurations. Efficient Scopeformers use four different pre-trained CNN architectures as feature extractors to increase feature richness. Our best Efficient Scopeformer model achieved an accuracy of 96.94\% and a weighted logarithmic loss of 0.083 with an eight times reduction in the number of trainable parameters compared to the base Scopeformer. Another version of the Efficient Scopeformer model further reduced the parameter space by almost 17 times with negligible performance reduction. Hybrid CNNs and ViTs might provide the desired feature richness for developing accurate medical computer vision models
Human Fall Detection- Multimodality Approach
Venue: arXiv cs.CV 2023
Year: 2023

Falls have become more frequent in recent years, which has been harmful for senior citizens.Therefore detecting falls have become important and several data sets and machine learning model have been introduced related to fall detection. In this project report, a human fall detection method is proposed using a multi modality approach. We used the UP-FALL detection data set which is collected by dozens of volunteers using different sensors and two cameras. We use wrist sensor with acclerometer data keeping labels to binary classification, namely fall and no fall from the data set.We used fusion of camera and sensor data to increase performance. The experimental results shows that using only wrist data as compared to multi sensor for binary classification did not impact the model prediction performance for fall detection.
Agility and Target Distribution in the Dynamic Stochastic Traveling Salesman Problem
Venue: arXiv cs.RO 2023
Year: 2023

An important variant of the classic Traveling Salesman Problem (TSP) is the Dynamic TSP, in which a system with dynamic constraints is tasked with visiting a set of n target locations (in any order) in the shortest amount of time. Such tasks arise naturally in many robotic motion planning problems, particularly in exploration, surveillance and reconnaissance, and classical TSP algorithms on graphs are typically inapplicable in this setting. An important question about such problems is: if the target points are random, what is the length of the tour (either in expectation or as a concentration bound) as n grows? This problem is the Dynamic Stochastic TSP (DSTSP), and has been studied both for specific important vehicle models and for general dynamic systems; however, in general only the order of growth is known. In this work, we explore the connection between the distribution from which the targets are drawn and the dynamics of the system, yielding a more precise lower bound on tour length as well as a matching upper bound for the case of symmetric (or driftless) systems. We then extend the symmetric dynamics results to the case when the points are selected by a (non-random) adversary whose goal is to maximize the length, thus showing worst-case bounds on the tour length.
Dictionary-based Manifold Learning
Venue: arXiv cs.LG 2023
Year: 2023

We propose a paradigm for interpretable Manifold Learning for scientific data analysis, whereby we parametrize a manifold with $d$ smooth functions from a scientist-provided dictionary of meaningful, domain-related functions. When such a parametrization exists, we provide an algorithm for finding it based on sparse non-linear regression in the manifold tangent bundle, bypassing more standard manifold learning algorithms. We also discuss conditions for the existence of such parameterizations in function space and for successful recovery from finite samples. We demonstrate our method with experimental results from a real scientific domain.
Development of Real-time Rendering Technology for High-Precision Models in Autonomous Driving
Venue: arXiv cs.RO 2023
Year: 2023

Our autonomous driving simulation lab produces a high-precision 3D model simulating the parking lot. However, the current model still has poor rendering quality in some aspects. In this work, we develop a system to improve the rendering of the model and evaluate the quality of the rendered model.