OpenRaiser/Intern-Atlas huggingface dataset:
Local Minima Drive Communications in Cooperative Interaction
Venue: arXiv cs.AI 2023
Year: 2023

An important open question in human-robot interaction (HRI) is precisely when an agent should decide to communicate, particularly in a cooperative task. Perceptual Control Theory (PCT) tells us that agents are able to cooperate on a joint task simply by sharing the same 'intention', thereby distributing the effort required to complete the task among the agents. This is even true for agents that do not possess the same abilities, so long as the goal is observable, the combined actions are sufficient to complete the task, and there is no local minimum in the search space. If these conditions hold, then a cooperative task can be accomplished without any communication between the contributing agents. However, for tasks that do contain local minima, the global solution can only be reached if at least one of the agents adapts its intention at the appropriate moments, and this can only be achieved by appropriately timed communication. In other words, it is hypothesised that in cooperative tasks, the function of communication is to coordinate actions in a complex search space that contains local minima. These principles have been verified in a computer-based simulation environment in which two independent one-dimensional agents are obliged to cooperate in order to solve a two-dimensional path-finding task.
LEST: Large-scale LiDAR Semantic Segmentation with Transformer
Venue: arXiv cs.CV 2023
Year: 2023

Large-scale LiDAR-based point cloud semantic segmentation is a critical task in autonomous driving perception. Almost all of the previous state-of-the-art LiDAR semantic segmentation methods are variants of sparse 3D convolution. Although the Transformer architecture is becoming popular in the field of natural language processing and 2D computer vision, its application to large-scale point cloud semantic segmentation is still limited. In this paper, we propose a LiDAR sEmantic Segmentation architecture with pure Transformer, LEST. LEST comprises two novel components: a Space Filling Curve (SFC) Grouping strategy and a Distance-based Cosine Linear Transformer, DISCO. On the public nuScenes semantic segmentation validation set and SemanticKITTI test set, our model outperforms all the other state-of-the-art methods.
Identifying Explanation Needs of End-users: Applying and Extending the XAI Question Bank
Venue: arXiv cs.HC 2023
Year: 2023

Explanations in XAI are typically developed by AI experts and focus on algorithmic transparency and the inner workings of AI systems. Research has shown that such explanations do not meet the needs of users who do not have AI expertise. As a result, explanations are often ineffective in making system decisions interpretable and understandable. We aim to strengthen a socio-technical view of AI by following a Human-Centered Explainable Artificial Intelligence (HC-XAI) approach, which investigates the explanation needs of end-users (i.e., subject matter experts and lay users) in specific usage contexts. One of the most influential works in this area is the XAI Question Bank (XAIQB) by Liao et al. The authors propose a set of questions that end-users might ask when using an AI system, which in turn is intended to help developers and designers identify and address explanation needs. Although the XAIQB is widely referenced, there are few reports of its use in practice. In particular, it is unclear to what extent the XAIQB sufficiently captures the explanation needs of end-users and what potential problems exist in the practical application of the XAIQB. To explore these open questions, we used the XAIQB as the basis for analyzing 12 think-aloud software explorations with subject matter experts. We investigated the suitability of the XAIQB as a tool for identifying explanation needs in a specific usage context. Our analysis revealed a number of explanation needs that were missing from the question bank, but that emerged repeatedly as our study participants interacted with an AI system. We also found that some of the XAIQB questions were difficult to distinguish and required interpretation during use. Our contribution is an extension of the XAIQB with 11 new questions. In addition, we have expanded the descriptions of all new and existing questions to facilitate their use.
The ExaNeSt Prototype: Evaluation of Efficient HPC Communication Hardware in an ARM-based Multi-FPGA Rack
Venue: arXiv cs.DC 2023
Year: 2023

We present and evaluate the ExaNeSt Prototype, a liquid-cooled rack prototype consisting of 256 Xilinx ZU9EG MPSoCs, 4 TBytes of DRAM, 16 TBytes of SSD, and configurable interconnection 10-Gbps hardware. We developed this testbed in 2016-2019 to validate the flexibility of FPGAs for experimenting with efficient hardware support for HPC communication among tens of thousands of processors and accelerators in the quest towards Exascale systems and beyond. We present our key design choices reagrding overall system architecture, PCBs and runtime software, and summarize insights resulting from measurement and analysis. Of particular note, our custom interconnect includes a low-cost low-latency network interface, offering user-level zero-copy RDMA, which we have tightly coupled with the ARMv8 processors in the MPSoCs. We have developed a system software runtime on top of these features, and have been able to run MPI. We have evaluated our testbed through MPI microbenchmarks, mini, and full MPI applications. Single hop, one way latency is $1.3$~$μ$s; approximately $0.47$~$μ$s out of these are attributed to network interface and the user-space library that exposes its functionality to the runtime. Latency over longer paths increases as expected, reaching $2.55$~$μ$s for a five-hop path. Bandwidth tests show that, for a single hop, link utilization reaches $82\%$ of the theoretical capacity. Microbenchmarks based on MPI collectives reveal that broadcast latency scales as expected when the number of participating ranks increases. We also implemented a custom Allreduce accelerator in the network interface, which reduces the latency of such collectives by up to $88\%$. We assess performance scaling through weak and strong scaling tests for HPCG, LAMMPS, and the miniFE mini application; for all these tests, parallelization efficiency is at least $69\%$, or better.
Is this Snippet Written by ChatGPT? An Empirical Study with a CodeBERT-Based Classifier
Venue: arXiv cs.SE 2023
Year: 2023

Since its launch in November 2022, ChatGPT has gained popularity among users, especially programmers who use it as a tool to solve development problems. However, while offering a practical solution to programming problems, ChatGPT should be mainly used as a supporting tool (e.g., in software education) rather than as a replacement for the human being. Thus, detecting automatically generated source code by ChatGPT is necessary, and tools for identifying AI-generated content may need to be adapted to work effectively with source code. This paper presents an empirical study to investigate the feasibility of automated identification of AI-generated code snippets, and the factors that influence this ability. To this end, we propose a novel approach called GPTSniffer, which builds on top of CodeBERT to detect source code written by AI. The results show that GPTSniffer can accurately classify whether code is human-written or AI-generated, and outperforms two baselines, GPTZero and OpenAI Text Classifier. Also, the study shows how similar training data or a classification context with paired snippets helps to boost classification performances.
Let's ViCE! Mimicking Human Cognitive Behavior in Image Generation Evaluation
Venue: arXiv cs.CV 2023
Year: 2023

Research in Image Generation has recently made significant progress, particularly boosted by the introduction of Vision-Language models which are able to produce high-quality visual content based on textual inputs. Despite ongoing advancements in terms of generation quality and realism, no methodical frameworks have been defined yet to quantitatively measure the quality of the generated content and the adherence with the prompted requests: so far, only human-based evaluations have been adopted for quality satisfaction and for comparing different generative methods. We introduce a novel automated method for Visual Concept Evaluation (ViCE), i.e. to assess consistency between a generated/edited image and the corresponding prompt/instructions, with a process inspired by the human cognitive behaviour. ViCE combines the strengths of Large Language Models (LLMs) and Visual Question Answering (VQA) into a unified pipeline, aiming to replicate the human cognitive process in quality assessment. This method outlines visual concepts, formulates image-specific verification questions, utilizes the Q&A system to investigate the image, and scores the combined outcome. Although this brave new hypothesis of mimicking humans in the image evaluation process is in its preliminary assessment stage, results are promising and open the door to a new form of automatic evaluation which could have significant impact as the image generation or the image target editing tasks become more and more sophisticated.
Solving Knapsack with Small Items via L0-Proximity
Venue: arXiv cs.DS 2023
Year: 2023

We study pseudo-polynomial time algorithms for the fundamental \emph{0-1 Knapsack} problem. In terms of $n$ and $w_{\max}$, previous algorithms for 0-1 Knapsack have cubic time complexities: $O(n^2w_{\max})$ (Bellman 1957), $O(nw_{\max}^2)$ (Kellerer and Pferschy 2004), and $O(n + w_{\max}^3)$ (Polak, Rohwedder, and Węgrzycki 2021). On the other hand, fine-grained complexity only rules out $O((n+w_{\max})^{2-δ})$ running time, and it is an important question in this area whether $\tilde O(n+w_{\max}^2)$ time is achievable. Our main result makes significant progress towards solving this question: - The 0-1 Knapsack problem has a deterministic algorithm in $\tilde O(n + w_{\max}^{2.5})$ time. Our techniques also apply to the easier \emph{Subset Sum} problem: - The Subset Sum problem has a randomized algorithm in $\tilde O(n + w_{\max}^{1.5})$ time. This improves (and simplifies) the previous $\tilde O(n + w_{\max}^{5/3})$-time algorithm by Polak, Rohwedder, and Węgrzycki (2021) (based on Galil and Margalit (1991), and Bringmann and Wellnitz (2021)). Similar to recent works on Knapsack (and integer programs in general), our algorithms also utilize the \emph{proximity} between optimal integral solutions and fractional solutions. Our new ideas are as follows: - Previous works used an $O(w_{\max})$ proximity bound in the $\ell_1$-norm. As our main conceptual contribution, we use an additive-combinatorial theorem by Erdős and Sárközy (1990) to derive an $\ell_0$-proximity bound of $\tilde O(\sqrt{w_{\max}})$. - Then, the main technical component of our Knapsack result is a dynamic programming algorithm that exploits both $\ell_0$- and $\ell_1$-proximity. It is based on a vast extension of the ``witness propagation'' method, originally designed by Deng, Mao, and Zhong (2023) for the easier \emph{unbounded} setting only.
Combining dependency, grades, and adjoint logic
Venue: arXiv cs.LO 2023
Year: 2023

We propose two new dependent type systems. The first, is a dependent graded/linear type system where a graded dependent type system is connected via modal operators to a linear type system in the style of Linear/Non-linear logic. We then generalize this system to support many graded systems connected by many modal operators through the introduction of modes from Adjoint Logic. Finally, we prove several meta-theoretic properties of these two systems including graded substitution.
A Passivity-based Approach for Variable Stiffness Control with Dynamical Systems
Venue: arXiv cs.RO 2023
Year: 2023

In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control approach that enables to follow the motion plan of a first order Dynamical System (DS) with a variable stiffness profile, in a closed loop configuration where the controller is always aware of the current robot state. This allows the robot to follow a desired path with an interactive behavior dictated by the desired stiffness. We also present two solutions to enable a robot to follow the desired velocity profile, in a manner similar to trajectory tracking controllers, while maintaining the closed-loop configuration. Additionally, we exploit the concept of energy tanks in order to guarantee the passivity during interactions with the environment, as well as the asymptotic stability in free motion, of our closed-loop system. The developed approach is evaluated extensively in simulation, as well as in real robot experiments, in terms of performance and safety both in free motion and during the execution of physical interaction tasks.
Causal Influences over Social Learning Networks
Venue: arXiv cs.SI 2023
Year: 2023

This paper investigates causal influences between agents linked by a social graph and interacting over time. In particular, the work examines the dynamics of social learning models and distributed decision-making protocols, and derives expressions that reveal the causal relations between pairs of agents and explain the flow of influence over the network. The results turn out to be dependent on the graph topology and the level of information that each agent has about the inference problem they are trying to solve. Using these conclusions, the paper proposes an algorithm to rank the overall influence between agents to discover highly influential agents. It also provides a method to learn the necessary model parameters from raw observational data. The results and the proposed algorithm are illustrated by considering both synthetic data and real Twitter data.
Guided Linear Upsampling
Venue: arXiv cs.CV 2023
Year: 2023

Guided upsampling is an effective approach for accelerating high-resolution image processing. In this paper, we propose a simple yet effective guided upsampling method. Each pixel in the high-resolution image is represented as a linear interpolation of two low-resolution pixels, whose indices and weights are optimized to minimize the upsampling error. The downsampling can be jointly optimized in order to prevent missing small isolated regions. Our method can be derived from the color line model and local color transformations. Compared to previous methods, our method can better preserve detail effects while suppressing artifacts such as bleeding and blurring. It is efficient, easy to implement, and free of sensitive parameters. We evaluate the proposed method with a wide range of image operators, and show its advantages through quantitative and qualitative analysis. We demonstrate the advantages of our method for both interactive image editing and real-time high-resolution video processing. In particular, for interactive editing, the joint optimization can be precomputed, thus allowing for instant feedback without hardware acceleration.
Group Testing in Arbitrary Hypergraphs and Related Combinatorial Structures
Venue: arXiv cs.DS 2023
Year: 2023

We consider a generalization of group testing where the potentially contaminated sets are the members of a given hypergraph ${\cal F}=(V,E)$. This generalization finds application in contexts where contaminations can be conditioned by some kinds of social and geographical clusterings. We study non-adaptive algorithms, two-stage algorithms, and three-stage algorithms. Non-adaptive group testing algorithms are algorithms in which all tests are decided beforehand and therefore can be performed in parallel, whereas two-stage group testing algorithms and three-stage group testing algorithms are algorithms that consist of two stages and three stages, respectively, with each stage being a completely non-adaptive algorithm. In classical group testing, the potentially infected sets are all subsets of up to a certain number of elements of the given input set. For classical group testing, it is known that there exists a correspondence between classical superimposed codes and non-adaptive algorithms, and between two stage algorithms and selectors. Bounds on the number of tests for those algorithms are derived from the bounds on the dimensions of the corresponding combinatorial structures. Obviously, the upper bounds for the classical case apply also to our group testing model. In the present paper, we aim at improving on those upper bounds by leveraging on the characteristics of the particular hypergraph at hand. In order to cope with our version of the problem, we introduce new combinatorial structures that generalize the notions of classical selectors and superimposed codes.
Privacy Preserving Billing in Local Energy Markets with Imperfect Bid-Offer Fulfillment (Long Version)
Venue: arXiv cs.CR 2023
Year: 2023

Smart grids are being increasingly deployed worldwide, as they constitute the electricity grid of the future, providing bidirectional communication between households. One of their main potential applications is the peer-to-peer (P2P) energy trading market, which promises users better electricity prices and higher incentives to produce renewable energy. However, most P2P markets require users to submit energy bids/offers in advance, which cannot account for unexpected surpluses of energy consumption/production. Moreover, the fine-grained metering information used in calculating and settling bills/rewards is inherently sensitive and must be protected in conformity with existing privacy regulations. To address these issues, this report proposes a novel privacy-preserving billing and settlements protocol, PPBSP, for use in local energy markets with imperfect bid-offer fulfillment, which only uses homomorphically encrypted versions of the half-hourly user consumption data. PPBSP also supports various cost-sharing mechanisms among market participants, including two new and improved methods of proportionally redistributing the cost of maintaining the balance of the grid in a fair manner. An informal privacy analysis is performed, highlighting the privacy-enhancing characteristics of the protocol, which include metering data and bill confidentiality. PPBSP is also evaluated in terms of computation cost and communication overhead, demonstrating its efficiency and feasibility for markets with varying sizes.
Co-Simulation Framework For Network Attack Generation and Monitoring
Venue: arXiv cs.CR 2023
Year: 2023

Resilience assessment is a critical requirement of a power grid to maintain high availability, security, and quality of service. Most grid research work that is currently pursued does not have the capability to have hardware testbeds. Additionally, with the integration of distributed energy resources, the attack surface of the grid is increasing. This increases the need for reliable and realistic modeling techniques that are usable by the wider research community. Therefore, simulation testbeds have been used to model a real-world power grid topology and measure the impact of various perturbations. Existing co-simulation platforms for powergrid focus on a limited components of the overall system, such as focusing only on the dynamics of the physical layer. Additionally a significant number of existing platforms need specialized hardware that may be too expensive for most researchers. Finally, not many platforms support realistic modeling of the communication layer, which requires use of Supervisory Control and Data Acquisition communication protocol such as DNP3 while modeling cybersecurity scenarios. We present Network Attack Testbed in [Power] Grid (NATI[P]G), (pronounced natig), a standalone, containerized, and reusable environment to enable cyber analysts and researchers to run different cybersecurity and performance scenarios on powergrid. Our tool combines GridLAB-D, a grid simulator, HELICS, a co-simulation framework, and NS-3, a network simulator, to create an end-to-end simulation environment for the power grid. We demonstrate use cases by generating a library of datasets for several scenarios. These datasets can be used to detect cyberattacks at the cyber layer, and develop counter measures to these adverse scenarios.
Skin Lesion Correspondence Localization in Total Body Photography
Venue: arXiv cs.CV 2023
Year: 2023

Longitudinal tracking of skin lesions - finding correspondence, changes in morphology, and texture - is beneficial to the early detection of melanoma. However, it has not been well investigated in the context of full-body imaging. We propose a novel framework combining geometric and texture information to localize skin lesion correspondence from a source scan to a target scan in total body photography (TBP). Body landmarks or sparse correspondence are first created on the source and target 3D textured meshes. Every vertex on each of the meshes is then mapped to a feature vector characterizing the geodesic distances to the landmarks on that mesh. Then, for each lesion of interest (LOI) on the source, its corresponding location on the target is first coarsely estimated using the geometric information encoded in the feature vectors and then refined using the texture information. We evaluated the framework quantitatively on both a public and a private dataset, for which our success rates (at 10 mm criterion) are comparable to the only reported longitudinal study. As full-body 3D capture becomes more prevalent and has higher quality, we expect the proposed method to constitute a valuable step in the longitudinal tracking of skin lesions.
VISER: A Tractable Solution Concept for Games with Information Asymmetry
Venue: arXiv cs.GT 2023
Year: 2023

Many real-world games suffer from information asymmetry: one player is only aware of their own payoffs while the other player has the full game information. Examples include the critical domain of security games and adversarial multi-agent reinforcement learning. Information asymmetry renders traditional solution concepts such as Strong Stackelberg Equilibrium (SSE) and Robust-Optimization Equilibrium (ROE) inoperative. We propose a novel solution concept called VISER (Victim Is Secure, Exploiter best-Responds). VISER enables an external observer to predict the outcome of such games. In particular, for security applications, VISER allows the victim to better defend itself while characterizing the most damaging attacks available to the attacker. We show that each player's VISER strategy can be computed independently in polynomial time using linear programming (LP). We also extend VISER to its Markov-perfect counterpart for Markov games, which can be solved efficiently using a series of LPs.
Towards A Unified Agent with Foundation Models
Venue: arXiv cs.RO 2023
Year: 2023

Language Models and Vision Language Models have recently demonstrated unprecedented capabilities in terms of understanding human intentions, reasoning, scene understanding, and planning-like behaviour, in text form, among many others. In this work, we investigate how to embed and leverage such abilities in Reinforcement Learning (RL) agents. We design a framework that uses language as the core reasoning tool, exploring how this enables an agent to tackle a series of fundamental RL challenges, such as efficient exploration, reusing experience data, scheduling skills, and learning from observations, which traditionally require separate, vertically designed algorithms. We test our method on a sparse-reward simulated robotic manipulation environment, where a robot needs to stack a set of objects. We demonstrate substantial performance improvements over baselines in exploration efficiency and ability to reuse data from offline datasets, and illustrate how to reuse learned skills to solve novel tasks or imitate videos of human experts.