OpenRaiser/Intern-Atlas huggingface dataset:
ARMOR: Egocentric Perception for Humanoid Robot Collision Avoidance and Motion Planning
Venue: arXiv cs.RO 2024
Year: 2024

Humanoid robots have significant gaps in their sensing and perception, making it hard to perform motion planning in dense environments. To address this, we introduce ARMOR, a novel egocentric perception system that integrates both hardware and software, specifically incorporating wearable-like depth sensors for humanoid robots. Our distributed perception approach enhances the robot's spatial awareness, and facilitates more agile motion planning. We also train a transformer-based imitation learning (IL) policy in simulation to perform dynamic collision avoidance, by leveraging around 86 hours worth of human realistic motions from the AMASS dataset. We show that our ARMOR perception is superior against a setup with multiple dense head-mounted, and externally mounted depth cameras, with a 63.7% reduction in collisions, and 78.7% improvement on success rate. We also compare our IL policy against a sampling-based motion planning expert cuRobo, showing 31.6% less collisions, 16.9% higher success rate, and 26x reduction in computational latency. Lastly, we deploy our ARMOR perception on our real-world GR1 humanoid from Fourier Intelligence. We are going to update the link to the source code, HW description, and 3D CAD files in the arXiv version of this text.
Fine-Tuning Pre-trained Large Time Series Models for Prediction of Wind Turbine SCADA Data
Venue: arXiv cs.LG 2024
Year: 2024

The remarkable achievements of large models in the fields of natural language processing (NLP) and computer vision (CV) have sparked interest in their application to time series forecasting within industrial contexts. This paper explores the application of a pre-trained large time series model, Timer, which was initially trained on a wide range of time series data from multiple domains, in the prediction of Supervisory Control and Data Acquisition (SCADA) data collected from wind turbines. The model was fine-tuned on SCADA datasets sourced from two wind farms, which exhibited differing characteristics, and its accuracy was subsequently evaluated. Additionally, the impact of data volume was studied to evaluate the few-shot ability of the Timer. Finally, an application study on one-turbine fine-tuning for whole-plant prediction was implemented where both few-shot and cross-turbine generalization capacity is required. The results reveal that the pre-trained large model does not consistently outperform other baseline models in terms of prediction accuracy whenever the data is abundant or not, but demonstrates superior performance in the application study. This result underscores the distinctive advantages of the pre-trained large time series model in facilitating swift deployment.
Federated Progressive Self-Distillation with Logits Calibration for Personalized IIoT Edge Intelligence
Venue: arXiv cs.AI 2024
Year: 2024

Personalized Federated Learning (PFL) focuses on tailoring models to individual IIoT clients in federated learning by addressing data heterogeneity and diverse user needs. Although existing studies have proposed effective PFL solutions from various perspectives, they overlook the issue of forgetting both historical personalized knowledge and global generalized knowledge during local training on clients. Therefore, this study proposes a novel PFL method, Federated Progressive Self-Distillation (FedPSD), based on logits calibration and progressive self-distillation. We analyze the impact mechanism of client data distribution characteristics on personalized and global knowledge forgetting. To address the issue of global knowledge forgetting, we propose a logits calibration approach for the local training loss and design a progressive self-distillation strategy to facilitate the gradual inheritance of global knowledge, where the model outputs from the previous epoch serve as virtual teachers to guide the training of subsequent epochs. Moreover, to address personalized knowledge forgetting, we construct calibrated fusion labels by integrating historical personalized model outputs, which are then used as teacher model outputs to guide the initial epoch of local self-distillation, enabling rapid recall of personalized knowledge. Extensive experiments under various data heterogeneity scenarios demonstrate the effectiveness and superiority of the proposed FedPSD method.
A Feedback Toolkit and Procedural Guidance for Teaching Thorough Testing
Venue: arXiv cs.SE 2024
Year: 2024

Correctness is one of the more important criteria of qualitative software. However, it is often taught in isolation and most students consider it only as an afterthought. They also do not receive sufficient feedback on code quality and tests unless specified in the assignment. To improve this, we developed a procedural guidance that guides students to an implementation with appropriate tests. Furthermore, we have developed a toolkit that students can use to independently get individual feedback on their solution and the adequateness of their tests. A key instrument is a test coverage analysis which allows for teachers to customize the feedback with constructive instructions specific to the current assignment to improve a student's test suite. In this paper, we outline the procedural guidance, explain the working of the feedback toolkit and present a method for using the toolkit in conjunction with the different steps of the procedural guidance.
Dynamic Token Selection for Aerial-Ground Person Re-Identification
Venue: arXiv cs.CV 2024
Year: 2024

Aerial-Ground Person Re-identification (AGPReID) holds significant practical value but faces unique challenges due to pronounced variations in viewing angles, lighting conditions, and background interference. Traditional methods, often involving a global analysis of the entire image, frequently lead to inefficiencies and susceptibility to irrelevant data. In this paper, we propose a novel Dynamic Token Selective Transformer (DTST) tailored for AGPReID, which dynamically selects pivotal tokens to concentrate on pertinent regions. Specifically, we segment the input image into multiple tokens, with each token representing a unique region or feature within the image. Using a Top-k strategy, we extract the k most significant tokens that contain vital information essential for identity recognition. Subsequently, an attention mechanism is employed to discern interrelations among diverse tokens, thereby enhancing the representation of identity features. Extensive experiments on benchmark datasets showcases the superiority of our method over existing works. Notably, on the CARGO dataset, our proposed method gains 1.18% mAP improvements when compared to the second place. In addition, we comprehensively analyze the impact of different numbers of tokens, token insertion positions, and numbers of heads on model performance.
Non-native speakers of English or ChatGPT: Who thinks better?
Venue: arXiv cs.CL 2024
Year: 2024

This study sets out to answer one major question: Who thinks better, non-native speakers of English or ChatGPT?, providing evidence from processing and interpreting center-embedding English constructions that human brain surpasses ChatGPT, and that ChatGPT cannot be regarded as a theory of language. Fifteen non-native speakers of English were recruited as participants of the study. A center-embedding English sentence was presented to both the study participants and ChatGPT. The study findings unveil that human brain is still far ahead of Large Language Models, specifically ChatGPT, even in the case of non-native speakers of an L2, here English. The study concludes that human brain's ability to process and interpret natural language data is unique and that ChatGPT still lags behind this human unique ability.
On the Conditions for Domain Stability for Machine Learning: a Mathematical Approach
Venue: arXiv cs.LG 2024
Year: 2024

This work proposes a mathematical approach that (re)defines a property of Machine Learning models named stability and determines sufficient conditions to validate it. Machine Learning models are represented as functions, and the characteristics in scope depend upon the domain of the function, what allows us to adopt topological and metric spaces theory as a basis. Finally, this work provides some equivalences useful to prove and test stability in Machine Learning models. The results suggest that whenever stability is aligned with the notion of function smoothness, then the stability of Machine Learning models primarily depends upon certain topological, measurable properties of the classification sets within the ML model domain.
Enhancing Skin Cancer Diagnosis (SCD) Using Late Discrete Wavelet Transform (DWT) and New Swarm-Based Optimizers
Venue: arXiv cs.CV 2024
Year: 2024

Skin cancer (SC) stands out as one of the most life-threatening forms of cancer, with its danger amplified if not diagnosed and treated promptly. Early intervention is critical, as it allows for more effective treatment approaches. In recent years, Deep Learning (DL) has emerged as a powerful tool in the early detection and skin cancer diagnosis (SCD). Although the DL seems promising for the diagnosis of skin cancer, still ample scope exists for improving model efficiency and accuracy. This paper proposes a novel approach to skin cancer detection, utilizing optimization techniques in conjunction with pre-trained networks and wavelet transformations. First, normalized images will undergo pre-trained networks such as Densenet-121, Inception, Xception, and MobileNet to extract hierarchical features from input images. After feature extraction, the feature maps are passed through a Discrete Wavelet Transform (DWT) layer to capture low and high-frequency components. Then the self-attention module is integrated to learn global dependencies between features and focus on the most relevant parts of the feature maps. The number of neurons and optimization of the weight vectors are performed using three new swarm-based optimization techniques, such as Modified Gorilla Troops Optimizer (MGTO), Improved Gray Wolf Optimization (IGWO), and Fox optimization algorithm. Evaluation results demonstrate that optimizing weight vectors using optimization algorithms can enhance diagnostic accuracy and make it a highly effective approach for SCD. The proposed method demonstrates substantial improvements in accuracy, achieving top rates of 98.11% with the MobileNet + Wavelet + FOX and DenseNet + Wavelet + Fox combination on the ISIC-2016 dataset and 97.95% with the Inception + Wavelet + MGTO combination on the ISIC-2017 dataset, which improves accuracy by at least 1% compared to other methods.
Towards Fault Tolerance in Multi-Agent Reinforcement Learning
Venue: arXiv cs.LG 2024
Year: 2024

Agent faults pose a significant threat to the performance of multi-agent reinforcement learning (MARL) algorithms, introducing two key challenges. First, agents often struggle to extract critical information from the chaotic state space created by unexpected faults. Second, transitions recorded before and after faults in the replay buffer affect training unevenly, leading to a sample imbalance problem. To overcome these challenges, this paper enhances the fault tolerance of MARL by combining optimized model architecture with a tailored training data sampling strategy. Specifically, an attention mechanism is incorporated into the actor and critic networks to automatically detect faults and dynamically regulate the attention given to faulty agents. Additionally, a prioritization mechanism is introduced to selectively sample transitions critical to current training needs. To further support research in this area, we design and open-source a highly decoupled code platform for fault-tolerant MARL, aimed at improving the efficiency of studying related problems. Experimental results demonstrate the effectiveness of our method in handling various types of faults, faults occurring in any agent, and faults arising at random times.
TextClass Benchmark: A Continuous Elo Rating of LLMs in Social Sciences
Venue: arXiv cs.CL 2024
Year: 2024

The TextClass Benchmark project is an ongoing, continuous benchmarking process that aims to provide a comprehensive, fair, and dynamic evaluation of LLMs and transformers for text classification tasks. This evaluation spans various domains and languages in social sciences disciplines engaged in NLP and text-as-data approach. The leaderboards present performance metrics and relative ranking using a tailored Elo rating system. With each leaderboard cycle, novel models are added, fixed test sets can be replaced for unseen, equivalent data to test generalisation power, ratings are updated, and a Meta-Elo leaderboard combines and weights domain-specific leaderboards. This article presents the rationale and motivation behind the project, explains the Elo rating system in detail, and estimates Meta-Elo across different classification tasks in social science disciplines. We also present a snapshot of the first cycle of classification tasks on incivility data in Chinese, English, German and Russian. This ongoing benchmarking process includes not only additional languages such as Arabic, Hindi, and Spanish but also a classification of policy agenda topics, misinformation, among others.
Leveraging LLM for Automated Ontology Extraction and Knowledge Graph Generation
Venue: arXiv cs.AI 2024
Year: 2024

Extracting relevant and structured knowledge from large, complex technical documents within the Reliability and Maintainability (RAM) domain is labor-intensive and prone to errors. Our work addresses this challenge by presenting OntoKGen, a genuine pipeline for ontology extraction and Knowledge Graph (KG) generation. OntoKGen leverages Large Language Models (LLMs) through an interactive user interface guided by our adaptive iterative Chain of Thought (CoT) algorithm to ensure that the ontology extraction process and, thus, KG generation align with user-specific requirements. Although KG generation follows a clear, structured path based on the confirmed ontology, there is no universally correct ontology as it is inherently based on the user's preferences. OntoKGen recommends an ontology grounded in best practices, minimizing user effort and providing valuable insights that may have been overlooked, all while giving the user complete control over the final ontology. Having generated the KG based on the confirmed ontology, OntoKGen enables seamless integration into schemeless, non-relational databases like Neo4j. This integration allows for flexible storage and retrieval of knowledge from diverse, unstructured sources, facilitating advanced querying, analysis, and decision-making. Moreover, the generated KG serves as a robust foundation for future integration into Retrieval Augmented Generation (RAG) systems, offering enhanced capabilities for developing domain-specific intelligent applications.
Flexible Rate-Splitting Multiple Access for Near-Field Integrated Sensing and Communications
Venue: arXiv cs.IT 2024
Year: 2024

This letter presents a flexible rate-splitting multiple access (RSMA) framework for near-field (NF) integrated sensing and communications (ISAC). The spatial beams configured to meet the communication rate requirements of NF users are simultaneously leveraged to sense an additional NF target. A key innovation lies in its flexibility to select a subset of users for decoding the common stream, enhancing interference management and system performance. The system is designed by minimizing the Cramér-Rao bound (CRB) for joint distance and angle estimation through optimized power allocation, common rate allocation, and user selection. This leads to a discrete, non-convex optimization problem. Remarkably, we demonstrate that the preconfigured beams are sufficient for target sensing, eliminating the need for additional probing signals. To solve the optimization problem, an iterative algorithm is proposed combining the quadratic transform and simulated annealing. Simulation results indicate that the proposed scheme significantly outperforms conventional RSMA and space division multiple access (SDMA), reducing distance and angle estimation errors by approximately 100\% and 20\%, respectively.
Remote Estimation Games with Random Walk Processes: Stackelberg Equilibrium
Venue: arXiv cs.IT 2024
Year: 2024

Remote estimation is a crucial element of real time monitoring of a stochastic process. While most of the existing works have concentrated on obtaining optimal sampling strategies, motivated by malicious attacks on cyber-physical systems, we model sensing under surveillance as a game between an attacker and a defender. This introduces strategic elements to conventional remote estimation problems. Additionally, inspired by increasing detection capabilities, we model an element of information leakage for each player. Parameterizing the game in terms of uncertainty on each side, information leakage, and cost of sampling, we consider the Stackelberg Equilibrium (SE) concept where one of the players acts as the leader and the other one as the follower. By focusing our attention on stationary probabilistic sampling policies, we characterize the SE of this game and provide simulations to show the efficacy of our results.
DMFourLLIE: Dual-Stage and Multi-Branch Fourier Network for Low-Light Image Enhancement
Venue: arXiv cs.CV 2024
Year: 2024

In the Fourier frequency domain, luminance information is primarily encoded in the amplitude component, while spatial structure information is significantly contained within the phase component. Existing low-light image enhancement techniques using Fourier transform have mainly focused on amplifying the amplitude component and simply replicating the phase component, an approach that often leads to color distortions and noise issues. In this paper, we propose a Dual-Stage Multi-Branch Fourier Low-Light Image Enhancement (DMFourLLIE) framework to address these limitations by emphasizing the phase component's role in preserving image structure and detail. The first stage integrates structural information from infrared images to enhance the phase component and employs a luminance-attention mechanism in the luminance-chrominance color space to precisely control amplitude enhancement. The second stage combines multi-scale and Fourier convolutional branches for robust image reconstruction, effectively recovering spatial structures and textures. This dual-branch joint optimization process ensures that complex image information is retained, overcoming the limitations of previous methods that neglected the interplay between amplitude and phase. Extensive experiments across multiple datasets demonstrate that DMFourLLIE outperforms current state-of-the-art methods in low-light image enhancement. Our code is available at https://github.com/bywlzts/DMFourLLIE.
Towards Privacy-Preserving Medical Imaging: Federated Learning with Differential Privacy and Secure Aggregation Using a Modified ResNet Architecture
Venue: arXiv cs.LG 2024
Year: 2024

With increasing concerns over privacy in healthcare, especially for sensitive medical data, this research introduces a federated learning framework that combines local differential privacy and secure aggregation using Secure Multi-Party Computation for medical image classification. Further, we propose DPResNet, a modified ResNet architecture optimized for differential privacy. Leveraging the BloodMNIST benchmark dataset, we simulate a realistic data-sharing environment across different hospitals, addressing the distinct privacy challenges posed by federated healthcare data. Experimental results indicate that our privacy-preserving federated model achieves accuracy levels close to non-private models, surpassing traditional approaches while maintaining strict data confidentiality. By enhancing the privacy, efficiency, and reliability of healthcare data management, our approach offers substantial benefits to patients, healthcare providers, and the broader healthcare ecosystem.
Collaborative Proof-of-Work: A Secure Dynamic Approach to Fair and Efficient Blockchain Mining
Venue: arXiv cs.CR 2024
Year: 2024

Proof-of-Work (PoW) systems face critical challenges, including excessive energy consumption and the centralization of mining power among entities with expensive hardware. Static mining pools exacerbate these issues by reducing competition and undermining the decentralized nature of blockchain networks, leading to economic inequality and inefficiencies in resource allocation. Their reliance on centralized pool managers further introduces vulnerabilities by creating a system that fails to ensure secure and fair reward distribution. This paper introduces a novel Collaborative Proof-of-Work (CPoW) mining approach designed to enhance efficiency and fairness in the Ethereum network. We propose a dynamic mining pool formation protocol that enables miners to collaborate based on their computational capabilities, ensuring fair and secure reward distribution by incorporating mechanisms to accurately verify and allocate rewards. By addressing the centralization and energy inefficiencies of traditional mining, this research contributes to a more sustainable blockchain ecosystem.
DISCO-Dynamic Interference Suppression for Radar and Communication Cohabitation
Venue: arXiv cs.NI 2024
Year: 2024

We propose the joint dynamic power allocation and multi-relay selection for the cohabitation of high-priority military radar and low-priority commercial 5G communication. To improve the 5G network performance, we design the full-duplex underlay cognitive radio network for the low-priority commercial 5G network, where multiple relays are selected for concurrently receive the signal from the source and send it to the destination. Then, we propose the interference suppression at the high-priority radar system by using both non-coherent and coherent relay cases. In particular, we formulate the optimization problem for maximizing the system rate, with the consideration of the power constraints at the 5G users and the interference constraint at the radar system. Then, we propose the mathematical analysis model to evaluate the rate performance, considering the impacts of self-interference at the relays and derive the algorithms of joint power allocation and relay selection. Our numerical results demonstrate the characteristic of the optimal configuration and the significant performance gain of coherent case with respect to the non-coherent case and the existing algorithms with single relay selections.
Efficient Kernelization Algorithm for Bipartite Graph Matching
Venue: arXiv cs.DS 2024
Year: 2024

Finding the maximum matching in bipartite graphs is a fundamental graph operation widely used in various fields. To expedite the acquisition of the maximum matching, Karp and Sipser introduced two data reduction rules aimed at decreasing the input size. However, the KaSi algorithm, which implements the two data reduction rules, has several drawbacks: a high upper bound on time complexity and inefficient storage structure. The poor upper bound on time complexity makes the algorithm lack robustness when dealing with extreme cases, and the inefficient storage structure struggles to balance vertex merging and neighborhood traversal operations, leading to poor performance on real-life graphs. To address these issues, we introduced MVM, an algorithm incorporating three novel optimization strategies to implement the data reduction rules. Our theoretical analysis proves that the MVM algorithm, even when using data structures with the worst search efficiency, can still maintain near-linear time complexity, ensuring the algorithm's robustness. Additionally, we designed an innovative storage format that supports efficient vertex merging operations while preserving the locality of edge sets, thus ensuring the efficiency of neighborhood traversals in graph algorithms. Finally, we conduct evaluations on both real-life and synthetic graphs. Extensive experiments demonstrate the superiority of our method.