OpenRaiser/Intern-Atlas huggingface dataset:
HalluAudio: Hallucinating Frequency as Concepts for Few-Shot Audio Classification
Venue: arXiv cs.SD 2023
Year: 2023

Few-shot audio classification is an emerging topic that attracts more and more attention from the research community. Most existing work ignores the specificity of the form of the audio spectrogram and focuses largely on the embedding space borrowed from image tasks, while in this work, we aim to take advantage of this special audio format and propose a new method by hallucinating high-frequency and low-frequency parts as structured concepts. Extensive experiments on ESC-50 and our curated balanced Kaggle18 dataset show the proposed method outperforms the baseline by a notable margin. The way that our method hallucinates high-frequency and low-frequency parts also enables its interpretability and opens up new potentials for the few-shot audio classification.
Semantic Strengthening of Neuro-Symbolic Learning
Venue: arXiv cs.LG 2023
Year: 2023

Numerous neuro-symbolic approaches have recently been proposed typically with the goal of adding symbolic knowledge to the output layer of a neural network. Ideally, such losses maximize the probability that the neural network's predictions satisfy the underlying domain. Unfortunately, this type of probabilistic inference is often computationally infeasible. Neuro-symbolic approaches therefore commonly resort to fuzzy approximations of this probabilistic objective, sacrificing sound probabilistic semantics, or to sampling which is very seldom feasible. We approach the problem by first assuming the constraint decomposes conditioned on the features learned by the network. We iteratively strengthen our approximation, restoring the dependence between the constraints most responsible for degrading the quality of the approximation. This corresponds to computing the mutual information between pairs of constraints conditioned on the network's learned features, and may be construed as a measure of how well aligned the gradients of two distributions are. We show how to compute this efficiently for tractable circuits. We test our approach on three tasks: predicting a minimum-cost path in Warcraft, predicting a minimum-cost perfect matching, and solving Sudoku puzzles, observing that it improves upon the baselines while sidestepping intractability.
Crossing Minimization in Time Interval Storylines
Venue: arXiv cs.CG 2023
Year: 2023

Storyline visualizations are a popular way of visualizing characters and their interactions over time: Characters are drawn as x-monotone curves and interactions are visualized through close proximity of the corresponding character curves in a vertical strip. Existing methods to generate storylines assume a total ordering of the interactions, although real-world data often do not contain such a total order. Instead, multiple interactions are often grouped into coarser time intervals such as years. We exploit this grouping property by introducing a new model called storylines with time intervals and present two methods to minimize the number of crossings and horizontal space usage. We then evaluate these algorithms on a small benchmark set to show their effectiveness.
Adversarial Attack with Raindrops
Venue: arXiv cs.CV 2023
Year: 2023

Deep neural networks (DNNs) are known to be vulnerable to adversarial examples, which are usually designed artificially to fool DNNs, but rarely exist in real-world scenarios. In this paper, we study the adversarial examples caused by raindrops, to demonstrate that there exist plenty of natural phenomena being able to work as adversarial attackers to DNNs. Moreover, we present a new approach to generate adversarial raindrops, denoted as AdvRD, using the generative adversarial network (GAN) technique to simulate natural raindrops. The images crafted by our AdvRD look very similar to the real-world raindrop images, statistically close to the distribution of true raindrop images, and more importantly, can perform strong adversarial attack to the state-of-the-art DNN models. On the other side, we show that the adversarial training using our AdvRD images can significantly improve the robustness of DNNs to the real-world raindrop attacks. Extensive experiments are carried out to demonstrate that the images crafted by AdvRD are visually and statistically close to the natural raindrop images, can work as strong attackers to DNN models, and also help improve the robustness of DNNs to raindrop attacks.
CLR-GAM: Contrastive Point Cloud Learning with Guided Augmentation and Feature Mapping
Venue: arXiv cs.CV 2023
Year: 2023

Point cloud data plays an essential role in robotics and self-driving applications. Yet, annotating point cloud data is time-consuming and nontrivial while they enable learning discriminative 3D representations that empower downstream tasks, such as classification and segmentation. Recently, contrastive learning-based frameworks have shown promising results for learning 3D representations in a self-supervised manner. However, existing contrastive learning methods cannot precisely encode and associate structural features and search the higher dimensional augmentation space efficiently. In this paper, we present CLR-GAM, a novel contrastive learning-based framework with Guided Augmentation (GA) for efficient dynamic exploration strategy and Guided Feature Mapping (GFM) for similar structural feature association between augmented point clouds. We empirically demonstrate that the proposed approach achieves state-of-the-art performance on both simulated and real-world 3D point cloud datasets for three different downstream tasks, i.e., 3D point cloud classification, few-shot learning, and object part segmentation.
Lifetime-configurable soft robots via photodegradable silicone elastomer composites
Venue: arXiv cs.RO 2023
Year: 2023

Developing soft robots that can control their own life-cycle and degrade on-demand while maintaining hyper-elasticity is a significant research challenge. On-demand degradable soft robots, which conserve their original functionality during operation and rapidly degrade under specific external stimulation, present the opportunity to self-direct the disappearance of temporary robots. This study proposes soft robots and materials that exhibit excellent mechanical stretchability and can degrade under ultraviolet (UV) light by mixing a fluoride-generating diphenyliodonium hexafluorophosphate (DPI-HFP) with a silicone resin. Spectroscopic analysis revealed the mechanism of Si-O-Si backbone cleavage using fluoride ion (F-), which was generated from UV exposed DPI-HFP. Furthermore, photo-differential scanning calorimetry (DSC) based thermal analysis indicated increased decomposition kinetics at increased temperatures. Additionally, we demonstrated a robotics application of this composite by fabricating a gaiting robot. The integration of soft electronics, including strain sensors, temperature sensors, and photodetectors, expanded the robotic functionalities. This study provides a simple yet novel strategy for designing lifecycle mimicking soft robotics that can be applied to reduce soft robotics waste, explore hazardous areas where retrieval of robots is impossible, and ensure hardware security with on-demand destructive material platforms.
Multi-Agent Reinforcement Learning for Pragmatic Communication and Control
Venue: arXiv cs.RO 2023
Year: 2023

The automation of factories and manufacturing processes has been accelerating over the past few years, boosted by the Industry 4.0 paradigm, including diverse scenarios with mobile, flexible agents. Efficient coordination between mobile robots requires reliable wireless transmission in highly dynamic environments, often with strict timing requirements. Goal-oriented communication is a possible solution for this problem: communication decisions should be optimized for the target control task, providing the information that is most relevant to decide which action to take. From the control perspective, networked control design takes the communication impairments into account in its optmization of physical actions. In this work, we propose a joint design that combines goal-oriented communication and networked control into a single optimization model, an extension of a multiagent POMDP which we call Cyber-Physical POMDP (CP-POMDP). The model is flexible enough to represent several swarm and cooperative scenarios, and we illustrate its potential with two simple reference scenarios with a single agent and a set of supporting sensors. Joint training of the communication and control systems can significantly improve the overall performance, particularly if communication is severely constrained, and can even lead to implicit coordination of communication actions.
PCR-CG: Point Cloud Registration via Deep Explicit Color and Geometry
Venue: arXiv cs.CV 2023
Year: 2023

In this paper, we introduce PCR-CG: a novel 3D point cloud registration module explicitly embedding the color signals into the geometry representation. Different from previous methods that only use geometry representation, our module is specifically designed to effectively correlate color into geometry for the point cloud registration task. Our key contribution is a 2D-3D cross-modality learning algorithm that embeds the deep features learned from color signals to the geometry representation. With our designed 2D-3D projection module, the pixel features in a square region centered at correspondences perceived from images are effectively correlated with point clouds. In this way, the overlapped regions can be inferred not only from point cloud but also from the texture appearances. Adding color is non-trivial. We compare against a variety of baselines designed for adding color to 3D, such as exhaustively adding per-pixel features or RGB values in an implicit manner. We leverage Predator [25] as the baseline method and incorporate our proposed module onto it. To validate the effectiveness of 2D features, we ablate different 2D pre-trained networks and show a positive correlation between the pre-trained weights and the task performance. Our experimental results indicate a significant improvement of 6.5% registration recall over the baseline method on the 3DLoMatch benchmark. We additionally evaluate our approach on SOTA methods and observe consistent improvements, such as an improvement of 2.4% registration recall over GeoTransformer as well as 3.5% over CoFiNet. Our study reveals a significant advantages of correlating explicit deep color features to the point cloud in the registration task.
Paramater Optimization for Manipulator Motion Planning using a Novel Benchmark Set
Venue: arXiv cs.RO 2023
Year: 2023

Sampling-based motion planning algorithms have been continuously developed for more than two decades. Apart from mobile robots, they are also widely used in manipulator motion planning. Hence, these methods play a key role in collaborative and shared workspaces. Despite numerous improvements, their performance can highly vary depending on the chosen parameter setting. The optimal parameters depend on numerous factors such as the start state, the goal state and the complexity of the environment. Practitioners usually choose these values using their experience and tedious trial and error experiments. To address this problem, recent works combine hyperparameter optimization methods with motion planning. They show that tuning the planner's parameters can lead to shorter planning times and lower costs. It is not clear, however, how well such approaches generalize to a diverse set of planning problems that include narrow passages as well as barely cluttered environments. In this work, we analyze optimized planner settings for a large set of diverse planning problems. We then provide insights into the connection between the characteristics of the planning problem and the optimal parameters. As a result, we provide a list of recommended parameters for various use-cases. Our experiments are based on a novel motion planning benchmark for manipulators which we provide at https://mytuc.org/rybj.
Ultra-low Precision Multiplication-free Training for Deep Neural Networks
Venue: arXiv cs.LG 2023
Year: 2023

The training for deep neural networks (DNNs) demands immense energy consumption, which restricts the development of deep learning as well as increases carbon emissions. Thus, the study of energy-efficient training for DNNs is essential. In training, the linear layers consume the most energy because of the intense use of energy-consuming full-precision (FP32) multiplication in multiply-accumulate (MAC). The energy-efficient works try to decrease the precision of multiplication or replace the multiplication with energy-efficient operations such as addition or bitwise shift, to reduce the energy consumption of FP32 multiplications. However, the existing energy-efficient works cannot replace all of the FP32 multiplications during both forward and backward propagation with low-precision energy-efficient operations. In this work, we propose an Adaptive Layer-wise Scaling PoT Quantization (ALS-POTQ) method and a Multiplication-Free MAC (MF-MAC) to replace all of the FP32 multiplications with the INT4 additions and 1-bit XOR operations. In addition, we propose Weight Bias Correction and Parameterized Ratio Clipping techniques for stable training and improving accuracy. In our training scheme, all of the above methods do not introduce extra multiplications, so we reduce up to 95.8% of the energy consumption in linear layers during training. Experimentally, we achieve an accuracy degradation of less than 1% for CNN models on ImageNet and Transformer model on the WMT En-De task. In summary, we significantly outperform the existing methods for both energy efficiency and accuracy.
FreeEagle: Detecting Complex Neural Trojans in Data-Free Cases
Venue: arXiv cs.CR 2023
Year: 2023

Trojan attack on deep neural networks, also known as backdoor attack, is a typical threat to artificial intelligence. A trojaned neural network behaves normally with clean inputs. However, if the input contains a particular trigger, the trojaned model will have attacker-chosen abnormal behavior. Although many backdoor detection methods exist, most of them assume that the defender has access to a set of clean validation samples or samples with the trigger, which may not hold in some crucial real-world cases, e.g., the case where the defender is the maintainer of model-sharing platforms. Thus, in this paper, we propose FreeEagle, the first data-free backdoor detection method that can effectively detect complex backdoor attacks on deep neural networks, without relying on the access to any clean samples or samples with the trigger. The evaluation results on diverse datasets and model architectures show that FreeEagle is effective against various complex backdoor attacks, even outperforming some state-of-the-art non-data-free backdoor detection methods.
Meta-Learning with Adaptive Weighted Loss for Imbalanced Cold-Start Recommendation
Venue: arXiv cs.IR 2023
Year: 2023

Sequential recommenders have made great strides in capturing a user's preferences. Nevertheless, the cold-start recommendation remains a fundamental challenge as they typically involve limited user-item interactions for personalization. Recently, gradient-based meta-learning approaches have emerged in the sequential recommendation field due to their fast adaptation and easy-to-integrate abilities. The meta-learning algorithms formulate the cold-start recommendation as a few-shot learning problem, where each user is represented as a task to be adapted. While meta-learning algorithms generally assume that task-wise samples are evenly distributed over classes or values, user-item interactions in real-world applications do not conform to such a distribution (e.g., watching favorite videos multiple times, leaving only positive ratings without any negative ones). Consequently, imbalanced user feedback, which accounts for the majority of task training data, may dominate the user adaptation process and prevent meta-learning algorithms from learning meaningful meta-knowledge for personalized recommendations. To alleviate this limitation, we propose a novel sequential recommendation framework based on gradient-based meta-learning that captures the imbalanced rating distribution of each user and computes adaptive loss for user-specific learning. Our work is the first to tackle the impact of imbalanced ratings in cold-start sequential recommendation scenarios. Through extensive experiments conducted on real-world datasets, we demonstrate the effectiveness of our framework.
OEKG: The Open Event Knowledge Graph
Venue: arXiv cs.AI 2023
Year: 2023

Accessing and understanding contemporary and historical events of global impact such as the US elections and the Olympic Games is a major prerequisite for cross-lingual event analytics that investigate event causes, perception and consequences across country borders. In this paper, we present the Open Event Knowledge Graph (OEKG), a multilingual, event-centric, temporal knowledge graph composed of seven different data sets from multiple application domains, including question answering, entity recommendation and named entity recognition. These data sets are all integrated through an easy-to-use and robust pipeline and by linking to the event-centric knowledge graph EventKG. We describe their common schema and demonstrate the use of the OEKG at the example of three use cases: type-specific image retrieval, hybrid question answering over knowledge graphs and news articles, as well as language-specific event recommendation. The OEKG and its query endpoint are publicly available.
The Contest Game for Crowdsourcing Reviews
Venue: arXiv cs.GT 2023
Year: 2023

We consider a contest game modelling a contest where reviews for $m$ proposals are crowdsourced from $n$ strategic agents} players. Player $i$ has a skill $s_{i\ell}$ for reviewing proposal $\ell$; for her review, she strategically chooses a quality $q \in \{ 1, 2, \ldots, Q \}$ and pays an effort ${\sf f}_{q} \geq 0$, strictly increasing with $q$. For her effort, she is given a strictly positive payment determined by a payment function, which is either player-invariant, like, e.g., the popular proportional allocation function, or player-specific; for a given proposal, payments are proportional to the corresponding efforts and the total payment provided by the contest organizer is 1. The cost incurred to player $i$ for each of her reviews is the difference of a skill-effort function $Λ(s_{i},{ \sf f}_{q})$ minus her payment. Skills may vary for arbitrary players and arbitrary proposals. A proposal-indifferent player $i$ has identical skills: $s_{i\ell} = s_{i}$ for all $\ell$; anonymous players means $s_{i} = 1$ for all players $i$. In a pure Nash equilibrium, no player could unilaterally reduce her cost by switching to a different quality. We present algorithmic results for computing pure Nash equilibria.
Bridging the Generational Gap: Exploring How Virtual Reality Supports Remote Communication Between Grandparents and Grandchildren
Venue: arXiv cs.HC 2023
Year: 2023

When living apart, grandparents and grandchildren often use audio-visual communication approaches to stay connected. However, these approaches seldom provide sufficient companionship and intimacy due to a lack of co-presence and spatial interaction, which can be fulfilled by immersive virtual reality (VR). To understand how grandparents and grandchildren might leverage VR to facilitate their remote communication and better inform future design, we conducted a user-centered participatory design study with twelve pairs of grandparents and grandchildren. Results show that VR affords casual and equal communication by reducing the generational gap, and promotes conversation by offering shared activities as bridges for connection. Participants preferred resemblant appearances on avatars for conveying well-being but created ideal selves for gaining playfulness. Based on the results, we contribute eight design implications that inform future VR-based grandparent-grandchild communications.
On Learning Intrinsic Rewards for Faster Multi-Agent Reinforcement Learning based MAC Protocol Design in 6G Wireless Networks
Venue: arXiv cs.NI 2023
Year: 2023

In this paper, we propose a novel framework for designing a fast convergent multi-agent reinforcement learning (MARL)-based medium access control (MAC) protocol operating in a single cell scenario. The user equipments (UEs) are cast as learning agents that need to learn a proper signaling policy to coordinate the transmission of protocol data units (PDUs) to the base station (BS) over shared radio resources. In many MARL tasks, the conventional centralized training with decentralized execution (CTDE) is adopted, where each agent receives the same global extrinsic reward from the environment. However, this approach involves a long training time. To overcome this drawback, we adopt the concept of learning a per-agent intrinsic reward, in which each agent learns a different intrinsic reward signal based solely on its individual behavior. Moreover, in order to provide an intrinsic reward function that takes into account the long-term training history, we represent it as a long shortterm memory (LSTM) network. As a result, each agent updates its policy network considering both the extrinsic reward, which characterizes the cooperative task, and the intrinsic reward that reflects local dynamics. The proposed learning framework yields a faster convergence and higher transmission performance compared to the baselines. Simulation results show that the proposed learning solution yields 75% improvement in convergence speed compared to the most performing baseline.
VQA with Cascade of Self- and Co-Attention Blocks
Venue: arXiv cs.CV 2023
Year: 2023

The use of complex attention modules has improved the performance of the Visual Question Answering (VQA) task. This work aims to learn an improved multi-modal representation through dense interaction of visual and textual modalities. The proposed model has an attention block containing both self-attention and co-attention on image and text. The self-attention modules provide the contextual information of objects (for an image) and words (for a question) that are crucial for inferring an answer. On the other hand, co-attention aids the interaction of image and text. Further, fine-grained information is obtained from two modalities by using a Cascade of Self- and Co-Attention blocks (CSCA). This proposal is benchmarked on the widely used VQA2.0 and TDIUC datasets. The efficacy of key components of the model and cascading of attention modules are demonstrated by experiments involving ablation analysis.
GPU-Accelerated LOD Generation for Point Clouds
Venue: arXiv cs.GR 2023
Year: 2023

About: We introduce a GPU-accelerated LOD construction process that creates a hybrid voxel-point-based variation of the widely used layered point cloud (LPC) structure for LOD rendering and streaming. The massive performance improvements provided by the GPU allow us to improve the quality of lower LODs via color filtering while still increasing construction speed compared to the non-filtered, CPU-based state of the art. Background: LOD structures are required to render hundreds of millions to trillions of points, but constructing them takes time. Results: LOD structures suitable for rendering and streaming are constructed at rates of about 1 billion points per second (with color filtering) to 4 billion points per second (sample-picking/random sampling, state of the art) on an RTX 3090 -- an improvement of a factor of 80 to 400 times over the CPU-based state of the art (12 million points per second). Due to being in-core, model sizes are limited to about 500 million points per 24GB memory. Discussion: Our method currently focuses on maximizing in-core construction speed on the GPU. Issues such as out-of-core construction of arbitrarily large data sets are not addressed, but we expect it to be suitable as a component of bottom-up out-of-core LOD construction schemes.