OpenRaiser/Intern-Atlas huggingface dataset:
FNCC: Fast Notification Congestion Control in Data Center Networks
Venue: arXiv cs.NI 2024
Year: 2024

Congestion control plays a pivotal role in large-scale data centers, facilitating ultra-low latency, high bandwidth, and optimal utilization. Even with the deployment of data center congestion control mechanisms such as DCQCN and HPCC, these algorithms often respond to congestion sluggishly. This sluggishness is primarily due to the slow notification of congestion. It takes almost one round-trip time (RTT) for the congestion information to reach the sender. In this paper, we introduce the Fast Notification Congestion Control (FNCC) mechanism, which achieves sub-RTT notification. FNCC leverages the acknowledgment packet (ACK) from the return path to carry in-network telemetry (INT) information of the request path, offering the sender more timely and accurate INT. To further accelerate the responsiveness of last-hop congestion control, we propose that the receiver notifies the sender of the number of concurrent congested flows, which can be used to adjust the congested flows to a fair rate quickly. Our experimental results demonstrate that FNCC reduces flow completion time by 27.4% and 88.9% compared to HPCC and DCQCN, respectively. Moreover, FNCC triggers minimal pause frames and maintains high utilization even at 400Gbps.
TOPress3D: 3D topology optimization with design-dependent pressure loads in MATLAB
Venue: arXiv cs.CE 2024
Year: 2024

This paper introduces "\texttt{TOPress3D}," a 3D topology optimization MATLAB code for structures subjected to design-dependent pressure loads. With a primary focus on pedagogical objectives, the code provides an easy learning experience, making it a valuable tool and practical gateway for newcomers, students, and researchers towards this topic. \texttt{TOPress3D} uses Darcy's law with a drainage term to link the given pressure load to design variables that, in turn, is converted to consistent nodal loads. Optimization problems focused on compliance minimization under volume constraints with pressure loads are solved. Load sensitivities arising due to design-dependent nature of the loads are evaluated using the adjoint-variable approach. The method of moving asymptotes is used to update the design variables. \texttt{TOPress3D} is constituted by six main parts. Each is described in detail. The code is also tailored to solve different problems. The robustness and success of the code are demonstrated in designing a few pressure load-bearing structures. The code is provided in Appendix~B and is available with extensions in the supplementary material and publicly at \url{https://github.com/PrabhatIn/TOPress3D}.
Optimal Matrix Sketching over Sliding Windows
Venue: arXiv cs.DB 2024
Year: 2024

Matrix sketching, aimed at approximating a matrix $\boldsymbol{A} \in \mathbb{R}^{N\times d}$ consisting of vector streams of length $N$ with a smaller sketching matrix $\boldsymbol{B} \in \mathbb{R}^{\ell\times d}, \ell \ll N$, has garnered increasing attention in fields such as large-scale data analytics and machine learning. A well-known deterministic matrix sketching method is the Frequent Directions algorithm, which achieves the optimal $O\left(\frac{d}{\varepsilon}\right)$ space bound and provides a covariance error guarantee of $\varepsilon = \lVert \boldsymbol{A}^\top \boldsymbol{A} - \boldsymbol{B}^\top \boldsymbol{B} \rVert_2/\lVert \boldsymbol{A} \rVert_F^2$. The matrix sketching problem becomes particularly interesting in the context of sliding windows, where the goal is to approximate the matrix $\boldsymbol{A}_W$, formed by input vectors over the most recent $N$ time units. However, despite recent efforts, whether achieving the optimal $O\left(\frac{d}{\varepsilon}\right)$ space bound on sliding windows is possible has remained an open question. In this paper, we introduce the DS-FD algorithm, which achieves the optimal $O\left(\frac{d}{\varepsilon}\right)$ space bound for matrix sketching over row-normalized, sequence-based sliding windows. We also present matching upper and lower space bounds for time-based and unnormalized sliding windows, demonstrating the generality and optimality of \dsfd across various sliding window models. This conclusively answers the open question regarding the optimal space bound for matrix sketching over sliding windows. Furthermore, we conduct extensive experiments with both synthetic and real-world datasets, validating our theoretical claims and thus confirming the correctness and effectiveness of our algorithm, both theoretically and empirically.
The Power of Combined Modalities in Interactive Robot Learning
Venue: arXiv cs.RO 2024
Year: 2024

This study contributes to the evolving field of robot learning in interaction with humans, examining the impact of diverse input modalities on learning outcomes. It introduces the concept of "meta-modalities" which encapsulate additional forms of feedback beyond the traditional preference and scalar feedback mechanisms. Unlike prior research that focused on individual meta-modalities, this work evaluates their combined effect on learning outcomes. Through a study with human participants, we explore user preferences for these modalities and their impact on robot learning performance. Our findings reveal that while individual modalities are perceived differently, their combination significantly improves learning behavior and usability. This research not only provides valuable insights into the optimization of human-robot interactive task learning but also opens new avenues for enhancing the interactive freedom and scaffolding capabilities provided to users in such settings.
Adaptive Human-Swarm Interaction based on Workload Measurement using Functional Near-Infrared Spectroscopy
Venue: arXiv cs.RO 2024
Year: 2024

One of the challenges of human-swarm interaction (HSI) is how to manage the operator's workload. In order to do this, we propose a novel neurofeedback technique for the real-time measurement of workload using functional near-infrared spectroscopy (fNIRS). The objective is to develop a baseline for workload measurement in human-swarm interaction using fNIRS and to develop an interface that dynamically adapts to the operator's workload. The proposed method consists of using fNIRS device to measure brain activity, process this through a machine learning algorithm, and pass it on to the HSI interface. By dynamically adapting the HSI interface, the swarm operator's workload could be reduced and the performance improved.
OverlapMamba: Novel Shift State Space Model for LiDAR-based Place Recognition
Venue: arXiv cs.CV 2024
Year: 2024

Place recognition is the foundation for enabling autonomous systems to achieve independent decision-making and safe operations. It is also crucial in tasks such as loop closure detection and global localization within SLAM. Previous methods utilize mundane point cloud representations as input and deep learning-based LiDAR-based Place Recognition (LPR) approaches employing different point cloud image inputs with convolutional neural networks (CNNs) or transformer architectures. However, the recently proposed Mamba deep learning model, combined with state space models (SSMs), holds great potential for long sequence modeling. Therefore, we developed OverlapMamba, a novel network for place recognition, which represents input range views (RVs) as sequences. In a novel way, we employ a stochastic reconstruction approach to build shift state space models, compressing the visual representation. Evaluated on three different public datasets, our method effectively detects loop closures, showing robustness even when traversing previously visited locations from different directions. Relying on raw range view inputs, it outperforms typical LiDAR and multi-view combination methods in time complexity and speed, indicating strong place recognition capabilities and real-time efficiency.
A Natural Formalized Proof Language
Venue: arXiv cs.PL 2024
Year: 2024

Artificial intelligence assisted mathematical proof has become a highly focused area nowadays. One key problem in this field is to generate formal mathematical proofs from natural language proofs. Due to historical reasons, the formal proof languages adopted by traditional theorem provers were not intended to represent natural language proofs. Therefore, they are not well-suited for the aforementioned tasks and proof-checking work for educational purposes. In this paper, we design a proof language and its corresponding abstract syntax tree and implement a proof checking tool for it. This language can be easily converted from natural language, thus providing a rich corpus of formal proof. Additionally, it supports the handling of issues in informal proofs through static analysis, and enhances the expressive power of the language by introducing the structure of partial proofs. This design combines the expressiveness of natural language and the accuracy of formal language, resulting in an improved mathematical proof language.
Iris: An AI-Driven Virtual Tutor For Computer Science Education
Venue: arXiv cs.HC 2024
Year: 2024

Integrating AI-driven tools in higher education is an emerging area with transformative potential. This paper introduces Iris, a chat-based virtual tutor integrated into the interactive learning platform Artemis that offers personalized, context-aware assistance in large-scale educational settings. Iris supports computer science students by guiding them through programming exercises and is designed to act as a tutor in a didactically meaningful way. Its calibrated assistance avoids revealing complete solutions, offering subtle hints or counter-questions to foster independent problem-solving skills. For each question, it issues multiple prompts in a Chain-of-Thought to GPT-3.5-Turbo. The prompts include a tutor role description and examples of meaningful answers through few-shot learning. Iris employs contextual awareness by accessing the problem statement, student code, and automated feedback to provide tailored advice. An empirical evaluation shows that students perceive Iris as effective because it understands their questions, provides relevant support, and contributes to the learning process. While students consider Iris a valuable tool for programming exercises and homework, they also feel confident solving programming tasks in computer-based exams without Iris. The findings underscore students' appreciation for Iris' immediate and personalized support, though students predominantly view it as a complement to, rather than a replacement for, human tutors. Nevertheless, Iris creates a space for students to ask questions without being judged by others.
CTRL: Continuous-Time Representation Learning on Temporal Heterogeneous Information Network
Venue: arXiv cs.LG 2024
Year: 2024

Inductive representation learning on temporal heterogeneous graphs is crucial for scalable deep learning on heterogeneous information networks (HINs) which are time-varying, such as citation networks. However, most existing approaches are not inductive and thus cannot handle new nodes or edges. Moreover, previous temporal graph embedding methods are often trained with the temporal link prediction task to simulate the link formation process of temporal graphs, while ignoring the evolution of high-order topological structures on temporal graphs. To fill these gaps, we propose a Continuous-Time Representation Learning (CTRL) model on temporal HINs. To preserve heterogeneous node features and temporal structures, CTRL integrates three parts in a single layer, they are 1) a \emph{heterogeneous attention} unit that measures the semantic correlation between nodes, 2) a \emph{edge-based Hawkes process} to capture temporal influence between heterogeneous nodes, and 3) \emph{dynamic centrality} that indicates the dynamic importance of a node. We train the CTRL model with a future event (a subgraph) prediction task to capture the evolution of the high-order network structure. Extensive experiments have been conducted on three benchmark datasets. The results demonstrate that our model significantly boosts performance and outperforms various state-of-the-art approaches. Ablation studies are conducted to demonstrate the effectiveness of the model design.
ReActXGB: A Hybrid Binary Convolutional Neural Network Architecture for Improved Performance and Computational Efficiency
Venue: arXiv cs.LG 2024
Year: 2024

Binary convolutional neural networks (BCNNs) provide a potential solution to reduce the memory requirements and computational costs associated with deep neural networks (DNNs). However, achieving a trade-off between performance and computational resources remains a significant challenge. Furthermore, the fully connected layer of BCNNs has evolved into a significant computational bottleneck. This is mainly due to the conventional practice of excluding the input layer and fully connected layer from binarization to prevent a substantial loss in accuracy. In this paper, we propose a hybrid model named ReActXGB, where we replace the fully convolutional layer of ReActNet-A with XGBoost. This modification targets to narrow the performance gap between BCNNs and real-valued networks while maintaining lower computational costs. Experimental results on the FashionMNIST benchmark demonstrate that ReActXGB outperforms ReActNet-A by 1.47% in top-1 accuracy, along with a reduction of 7.14% in floating-point operations (FLOPs) and 1.02% in model size.
Robot Detection System 3: LRF groups and Coordinate System
Venue: arXiv cs.RO 2024
Year: 2024

Front-following is more technically difficult to implement than the other two human following technologies, but front-following technology is more practical and can be applied in more areas to solve more practical problems. In this paper, we will analyze the detailed design of LRF groups, the structure and combination design of coordinate system of Robot Detection System. We use enough beautiful figures to display our novel design idea. Our research result is open source in 2018, and this paper is just to expand the research result propagation granularity. Abundant magic design idea are included in this paper, more idea and analyzing can sear and see other paper naming with a start of Robot Design System with Jinwei Lin, the only author of this series papers.
P=NP
Venue: arXiv cs.CC 2024
Year: 2024

This paper investigates an extremely classic NP-complete problem: How to determine if a graph G, where each vertex has a degree of at most 4, can be 3-colorable(The research in this paper focuses on graphs G that satisfy the condition where the degree of each vertex does not exceed 4. To conserve space, it is assumed throughout the paper that graph G meets this condition by default.). The author has meticulously observed the relationship between the coloring problem and semidefinite programming, and has creatively constructed the corresponding semidefinite programming problem R(G) for a given graph G. The construction method of R(G) refers to Theorem 1.1 in the paper. I have obtained and proven the conclusion: A graph G is 3-colorable if and only if the objective function of its corresponding optimization problem R(G) is bounded, and when the objective function is bounded, its minimum value is 0.
DiffTF++: 3D-aware Diffusion Transformer for Large-Vocabulary 3D Generation
Venue: arXiv cs.CV 2024
Year: 2024

Generating diverse and high-quality 3D assets automatically poses a fundamental yet challenging task in 3D computer vision. Despite extensive efforts in 3D generation, existing optimization-based approaches struggle to produce large-scale 3D assets efficiently. Meanwhile, feed-forward methods often focus on generating only a single category or a few categories, limiting their generalizability. Therefore, we introduce a diffusion-based feed-forward framework to address these challenges with a single model. To handle the large diversity and complexity in geometry and texture across categories efficiently, we 1) adopt improved triplane to guarantee efficiency; 2) introduce the 3D-aware transformer to aggregate the generalized 3D knowledge with specialized 3D features; and 3) devise the 3D-aware encoder/decoder to enhance the generalized 3D knowledge. Building upon our 3D-aware Diffusion model with TransFormer, DiffTF, we propose a stronger version for 3D generation, i.e., DiffTF++. It boils down to two parts: multi-view reconstruction loss and triplane refinement. Specifically, we utilize multi-view reconstruction loss to fine-tune the diffusion model and triplane decoder, thereby avoiding the negative influence caused by reconstruction errors and improving texture synthesis. By eliminating the mismatch between the two stages, the generative performance is enhanced, especially in texture. Additionally, a 3D-aware refinement process is introduced to filter out artifacts and refine triplanes, resulting in the generation of more intricate and reasonable details. Extensive experiments on ShapeNet and OmniObject3D convincingly demonstrate the effectiveness of our proposed modules and the state-of-the-art 3D object generation performance with large diversity, rich semantics, and high quality.
A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical background and Implementation Details
Venue: arXiv cs.RO 2024
Year: 2024

This paper presents an open-source MATLAB/Simulink physics simulator for rigid-body articulated systems, including manipulators and floating-base robots. Thanks to MATLAB/Simulink features like MATLAB system classes and Simulink function blocks, the presented simulator combines a programmatic and block-based approach, resulting in a flexible design in the sense that different parts, including its physics engine, robot-ground interaction model, and state evolution algorithm are simply accessible and editable. Moreover, through the use of Simulink dynamic mask blocks, the proposed simulator supports robot models integrating open-chain and closed-chain kinematics with any desired number of links interacting with the ground. This simulator can also integrate second-order actuator dynamics. Furthermore, the simulator benefits from a one-line installation and an easy-to-use Simulink interface.
Towards Energy-Aware Federated Learning via MARL: A Dual-Selection Approach for Model and Client
Venue: arXiv cs.LG 2024
Year: 2024

Although Federated Learning (FL) is promising in knowledge sharing for heterogeneous Artificial Intelligence of Thing (AIoT) devices, their training performance and energy efficacy are severely restricted in practical battery-driven scenarios due to the ``wooden barrel effect'' caused by the mismatch between homogeneous model paradigms and heterogeneous device capability. As a result, due to various kinds of differences among devices, it is hard for existing FL methods to conduct training effectively in energy-constrained scenarios, such as battery constraints of devices. To tackle the above issues, we propose an energy-aware FL framework named DR-FL, which considers the energy constraints in both clients and heterogeneous deep learning models to enable energy-efficient FL. Unlike Vanilla FL, DR-FL adopts our proposed Muti-Agents Reinforcement Learning (MARL)-based dual-selection method, which allows participated devices to make contributions to the global model effectively and adaptively based on their computing capabilities and energy capacities in a MARL-based manner. Experiments conducted with various widely recognized datasets demonstrate that DR-FL has the capability to optimize the exchange of knowledge among diverse models in large-scale AIoT systems while adhering to energy limitations. Additionally, it improves the performance of each individual heterogeneous device's model.
Interpreting Latent Student Knowledge Representations in Programming Assignments
Venue: arXiv cs.CL 2024
Year: 2024

Recent advances in artificial intelligence for education leverage generative large language models, including using them to predict open-ended student responses rather than their correctness only. However, the black-box nature of these models limits the interpretability of the learned student knowledge representations. In this paper, we conduct a first exploration into interpreting latent student knowledge representations by presenting InfoOIRT, an Information regularized Open-ended Item Response Theory model, which encourages the latent student knowledge states to be interpretable while being able to generate student-written code for open-ended programming questions. InfoOIRT maximizes the mutual information between a fixed subset of latent knowledge states enforced with simple prior distributions and generated student code, which encourages the model to learn disentangled representations of salient syntactic and semantic code features including syntactic styles, mastery of programming skills, and code structures. Through experiments on a real-world programming education dataset, we show that InfoOIRT can both accurately generate student code and lead to interpretable student knowledge representations.
Silver-Tongued and Sundry: Exploring Intersectional Pronouns with ChatGPT
Venue: arXiv cs.HC 2024
Year: 2024

ChatGPT is a conversational agent built on a large language model. Trained on a significant portion of human output, ChatGPT can mimic people to a degree. As such, we need to consider what social identities ChatGPT simulates (or can be designed to simulate). In this study, we explored the case of identity simulation through Japanese first-person pronouns, which are tightly connected to social identities in intersectional ways, i.e., intersectional pronouns. We conducted a controlled online experiment where people from two regions in Japan (Kanto and Kinki) witnessed interactions with ChatGPT using ten sets of first-person pronouns. We discovered that pronouns alone can evoke perceptions of social identities in ChatGPT at the intersections of gender, age, region, and formality, with caveats. This work highlights the importance of pronoun use for social identity simulation, provides a language-based methodology for culturally-sensitive persona development, and advances the potential of intersectional identities in intelligent agents.
Computational Thought Experiments for a More Rigorous Philosophy and Science of the Mind
Venue: arXiv cs.CL 2024
Year: 2024

We offer philosophical motivations for a method we call Virtual World Cognitive Science (VW CogSci), in which researchers use virtual embodied agents that are embedded in virtual worlds to explore questions in the field of Cognitive Science. We focus on questions about mental and linguistic representation and the ways that such computational modeling can add rigor to philosophical thought experiments, as well as the terminology used in the scientific study of such representations. We find that this method forces researchers to take a god's-eye view when describing dynamical relationships between entities in minds and entities in an environment in a way that eliminates the need for problematic talk of belief and concept types, such as the belief that cats are silly, and the concept CAT, while preserving belief and concept tokens in individual cognizers' minds. We conclude with some further key advantages of VW CogSci for the scientific study of mental and linguistic representation and for Cognitive Science more broadly.