OpenRaiser/Intern-Atlas huggingface dataset:
Constitutive model characterization and discovery using physics-informed deep learning
Venue: arXiv cs.LG 2022
Year: 2022

Classically, the mechanical response of materials is described through constitutive models, often in the form of constrained ordinary differential equations. These models have a very limited number of parameters, yet, they are extremely efficient in reproducing complex responses observed in experiments. Additionally, in their discretized form, they are computationally very efficient, often resulting in a simple algebraic relation, and therefore they have been extensively used within large-scale explicit and implicit finite element models. However, it is very challenging to formulate new constitutive models, particularly for materials with complex microstructures such as composites. A recent trend in constitutive modeling leverages complex neural network architectures to construct complex material responses where a constitutive model does not yet exist. Whilst very accurate, they suffer from two deficiencies. First, they are interpolation models and often do poorly in extrapolation. Second, due to their complex architecture and numerous parameters, they are inefficient to be used as a constitutive model within a large-scale finite element model. In this study, we propose a novel approach based on the physics-informed learning machines for the characterization and discovery of constitutive models. Unlike data-driven constitutive models, we leverage foundations of elastoplasticity theory as regularization terms in the total loss function to find parametric constitutive models that are also theoretically sound. We demonstrate that our proposed framework can efficiently identify the underlying constitutive model describing different datasets from the von Mises family.
Reinforcement Learning based Voice Interaction to Clear Path for Robots in Elevator Environment
Venue: arXiv cs.RO 2022
Year: 2022

Efficient use of the space in an elevator is very necessary for a service robot, due to the need for reducing the amount of time caused by waiting for the next elevator. To provide a solution for this, we propose a hybrid approach that combines reinforcement learning (RL) with voice interaction for robot navigation in the scene of entering the elevator. RL provides robots with a high exploration ability to find a new clear path to enter the elevator compared to traditional navigation methods such as Optimal Reciprocal Collision Avoidance (ORCA). The proposed method allows the robot to take an active clear path action towards the elevator whilst a crowd of people stands at the entrance of the elevator wherein there are still lots of space. This is done by embedding a clear path action (voice prompt) into the RL framework, and the proposed navigation policy helps the robot to finish tasks efficiently and safely. Our model approach provides a great improvement in the success rate and reward of entering the elevator compared to state-of-the-art navigation policies without active clear path operation.
Peaceable Self-Stabilizing Byzantine Pulse Synchronization
Venue: arXiv cs.DC 2022
Year: 2022

For reaching fast and efficient self-stabilizing Byzantine pulse synchronization (SSBPS) upon the bounded-delay message-passing networks, we consider the peaceable SSBPS problem where the resource occupation in the stabilized system is required to be as sparse as possible and the stabilization of the system is required to be as fast as possible. To solve it, the decoupled absorption process and emergency process are investigated under a general framework. The constant-time two-stage absorption process and more than one kind of emergency process are provided in integrating the merits of temporal trails, approximate agreements, deterministic and randomized Byzantine agreements, and self-stabilizing protocols. With this, not only SSBPS but self-stabilizing Byzantine clock synchronization can be fast established and efficiently maintained. In the optimal-resilient basic solutions, the deterministic linear stabilization time and the stabilized resource occupation are all optimized to those of the underlying primitives, which is optimal in the presence of Byzantine faults under the classical static adversary. In the hybrid solutions, faster stabilization can be expected with a worst-case deterministic stabilization time. In all solutions, the stabilized resource occupation is at most at the order of approximate agreement, which is a good property in considering real-world ultra-high-reliable hard-real-time applications where pulse synchronization is expected to be established before all upper-layer functions and to be efficiently maintained when the upper-layer functions are in service.
Image Storage on Synthetic DNA Using Autoencoders
Venue: arXiv cs.LG 2022
Year: 2022

Over the past years, the ever-growing trend on data storage demand, more specifically for "cold" data (rarely accessed data), has motivated research for alternative systems of data storage. Because of its biochemical characteristics, synthetic DNA molecules are now considered as serious candidates for this new kind of storage. This paper presents some results on lossy image compression methods based on convolutional autoencoders adapted to DNA data storage. The model architectures presented here have been designed to efficiently compress images, encode them into a quaternary code, and finally store them into synthetic DNA molecules. This work also aims at making the compression models better fit the problematics that we encounter when storing data into DNA, namely the fact that the DNA writing, storing and reading methods are error prone processes. The main take away of this kind of compressive autoencoder is our quantization and the robustness to substitution errors thanks to the noise model that we use during training.
Report from the NSF Future Directions Workshop on Automatic Evaluation of Dialog: Research Directions and Challenges
Venue: arXiv cs.CL 2022
Year: 2022

This is a report on the NSF Future Directions Workshop on Automatic Evaluation of Dialog. The workshop explored the current state of the art along with its limitations and suggested promising directions for future work in this important and very rapidly changing area of research.
Lunar Rover Localization Using Craters as Landmarks
Venue: arXiv cs.RO 2022
Year: 2022

Onboard localization capabilities for planetary rovers to date have used relative navigation, by integrating combinations of wheel odometry, visual odometry, and inertial measurements during each drive to track position relative to the start of each drive. At the end of each drive, a ground-in-the-loop (GITL) interaction is used to get a position update from human operators in a more global reference frame, by matching images or local maps from onboard the rover to orbital reconnaissance images or maps of a large region around the rover's current position. Autonomous rover drives are limited in distance so that accumulated relative navigation error does not risk the possibility of the rover driving into hazards known from orbital images. However, several rover mission concepts have recently been studied that require much longer drives between GITL cycles, particularly for the Moon. These concepts require greater autonomy to minimize GITL cycles to enable such large range; onboard global localization is a key element of such autonomy. Multiple techniques have been studied in the past for onboard rover global localization, but a satisfactory solution has not yet emerged. For the Moon, the ubiquitous craters offer a new possibility, which involves mapping craters from orbit, then recognizing crater landmarks with cameras and-or a lidar onboard the rover. This approach is applicable everywhere on the Moon, does not require high resolution stereo imaging from orbit as some other approaches do, and has potential to enable position knowledge with order of 5 to 10 m accuracy at all times. This paper describes our technical approach to crater-based lunar rover localization and presents initial results on crater detection using 3D point cloud data from onboard lidar or stereo cameras, as well as using shading cues in monocular onboard imagery.
Tight Vector Bin Packing with Few Small Items via Fast Exact Matching in Multigraphs
Venue: arXiv cs.DS 2022
Year: 2022

We solve the Bin Packing problem in $O^*(2^k)$ time, where $k$ is the number of items less or equal to one third of the bin capacity. This parameter measures the distance from the polynomially solvable case of only large (i.e., greater than one third) items. Our algorithm is actually designed to work for a more general Vector Bin Packing problem, in which items are multidimensional vectors. We improve over the previous fastest $O^*(k! \cdot 4^k)$ time algorithm. Our algorithm works by reducing the problem to finding an exact weight perfect matching in a (multi-)graph with $O^*(2^k)$ edges, whose weights are integers of the order of $O^*(2^k)$. To solve the matching problem in the desired time, we give a variant of the classic Mulmuley-Vazirani-Vazirani algorithm with only a linear dependence on the edge weights and the number of edges, which may be of independent interest. Moreover, we give a tight lower bound, under the Strong Exponential Time Hypothesis (SETH), showing that the constant $2$ in the base of the exponent cannot be further improved for Vector Bin Packing. Our techniques also lead to improved algorithms for Vector Multiple Knapsack, Vector Bin Covering, and Perfect Matching with Hitting Constraints.
FaceMap: Towards Unsupervised Face Clustering via Map Equation
Venue: arXiv cs.CV 2022
Year: 2022

Face clustering is an essential task in computer vision due to the explosion of related applications such as augmented reality or photo album management. The main challenge of this task lies in the imperfectness of similarities among image feature representations. Given an existing feature extraction model, it is still an unresolved problem that how can the inherent characteristics of similarities of unlabelled images be leveraged to improve the clustering performance. Motivated by answering the question, we develop an effective unsupervised method, named as FaceMap, by formulating face clustering as a process of non-overlapping community detection, and minimizing the entropy of information flows on a network of images. The entropy is denoted by the map equation and its minimum represents the least description of paths among images in expectation. Inspired by observations on the ranked transition probabilities in the affinity graph constructed from facial images, we develop an outlier detection strategy to adaptively adjust transition probabilities among images. Experiments with ablation studies demonstrate that FaceMap significantly outperforms existing methods and achieves new state-of-the-arts on three popular large-scale datasets for face clustering, e.g., an absolute improvement of more than $10\%$ and $4\%$ comparing with prior unsupervised and supervised methods respectively in terms of average of Pairwise F-score. Our code is publicly available on github.
Spinning-enabled Wireless Amphibious Origami Millirobot
Venue: arXiv cs.RO 2022
Year: 2022

Wireless millimeter-scale origami robots that can locomote in narrow spaces and morph their shapes have recently been explored with great potential for biomedical applications. Existing millimeter-scale origami devices usually require separate geometrical components for locomotion and functions, which increases the complexity of the robotic systems and their operation upon limited locomotion modes. Additionally, none of them can achieve both on-ground and in-water locomotion. Here we report a magnetically actuated amphibious origami millirobot that integrates capabilities of spinning-enabled multimodal locomotion, controlled delivery of liquid medicine, and cargo transportation with wireless operation. This millirobot takes full advantage of the geometrical features and folding/unfolding capability of Kresling origami, a triangulated hollow cylinder, to fulfill multifunction: its geometrical features are exploited for generating omnidirectional locomotion in various working environments, including on unstructured ground, in liquids, and at air-liquid interfaces through rolling, flipping, and spinning-induced propulsion; the folding/unfolding is utilized as a pumping mechanism for integrated multifunctionality such as controlled delivery of liquid medicine; furthermore, the spinning motion provides a sucking mechanism for targeted solid cargo transportation. This origami millirobot breaks the conventional way of utilizing origami folding only for shape reconfiguration and integrates multiple functions in one simple body. We anticipate the reported magnetic amphibious origami millirobots have the potential to serve as minimally invasive devices for biomedical diagnoses and treatments.
Event Coreference Resolution for Contentious Politics Events
Venue: arXiv cs.CL 2022
Year: 2022

We propose a dataset for event coreference resolution, which is based on random samples drawn from multiple sources, languages, and countries. Early scholarship on event information collection has not quantified the contribution of event coreference resolution. We prepared and analyzed a representative multilingual corpus and measured the performance and contribution of the state-of-the-art event coreference resolution approaches. We found that almost half of the event mentions in documents co-occur with other event mentions and this makes it inevitable to obtain erroneous or partial event information. We showed that event coreference resolution could help improving this situation. Our contribution sheds light on a challenge that has been overlooked or hard to study to date. Future event information collection studies can be designed based on the results we present in this report. The repository for this study is on https://github.com/emerging-welfare/ECR4-Contentious-Politics.
Approximate Function Evaluation via Multi-Armed Bandits
Venue: arXiv cs.LG 2022
Year: 2022

We study the problem of estimating the value of a known smooth function $f$ at an unknown point $\boldsymbolμ \in \mathbb{R}^n$, where each component $μ_i$ can be sampled via a noisy oracle. Sampling more frequently components of $\boldsymbolμ$ corresponding to directions of the function with larger directional derivatives is more sample-efficient. However, as $\boldsymbolμ$ is unknown, the optimal sampling frequencies are also unknown. We design an instance-adaptive algorithm that learns to sample according to the importance of each coordinate, and with probability at least $1-δ$ returns an $ε$ accurate estimate of $f(\boldsymbolμ)$. We generalize our algorithm to adapt to heteroskedastic noise, and prove asymptotic optimality when $f$ is linear. We corroborate our theoretical results with numerical experiments, showing the dramatic gains afforded by adaptivity.
Probing Factually Grounded Content Transfer with Factual Ablation
Venue: arXiv cs.CL 2022
Year: 2022

Despite recent success, large neural models often generate factually incorrect text. Compounding this is the lack of a standard automatic evaluation for factuality--it cannot be meaningfully improved if it cannot be measured. Grounded generation promises a path to solving both of these problems: models draw on a reliable external document (grounding) for factual information, simplifying the challenge of factuality. Measuring factuality is also simplified--to factual consistency, testing whether the generation agrees with the grounding, rather than all facts. Yet, without a standard automatic metric for factual consistency, factually grounded generation remains an open problem. We study this problem for content transfer, in which generations extend a prompt, using information from factual grounding. Particularly, this domain allows us to introduce the notion of factual ablation for automatically measuring factual consistency: this captures the intuition that the model should be less likely to produce an output given a less relevant grounding document. In practice, we measure this by presenting a model with two grounding documents, and the model should prefer to use the more factually relevant one. We contribute two evaluation sets to measure this. Applying our new evaluation, we propose multiple novel methods improving over strong baselines.
AI system for fetal ultrasound in low-resource settings
Venue: arXiv cs.LG 2022
Year: 2022

Despite considerable progress in maternal healthcare, maternal and perinatal deaths remain high in low-to-middle income countries. Fetal ultrasound is an important component of antenatal care, but shortage of adequately trained healthcare workers has limited its adoption. We developed and validated an artificial intelligence (AI) system that uses novice-acquired "blind sweep" ultrasound videos to estimate gestational age (GA) and fetal malpresentation. We further addressed obstacles that may be encountered in low-resourced settings. Using a simplified sweep protocol with real-time AI feedback on sweep quality, we have demonstrated the generalization of model performance to minimally trained novice ultrasound operators using low cost ultrasound devices with on-device AI integration. The GA model was non-inferior to standard fetal biometry estimates with as few as two sweeps, and the fetal malpresentation model had high AUC-ROCs across operators and devices. Our AI models have the potential to assist in upleveling the capabilities of lightly trained ultrasound operators in low resource settings.
Characterizing Alternative Monetization Strategies on YouTube
Venue: arXiv cs.CY 2022
Year: 2022

One of the key emerging roles of the YouTube platform is providing creators the ability to generate revenue from their content and interactions. Alongside tools provided directly by the platform, such as revenue-sharing from advertising, creators co-opt the platform to use a variety of off-platform monetization opportunities. In this work, we focus on studying and characterizing these alternative monetization strategies. Leveraging a large longitudinal YouTube dataset of popular creators, we develop a taxonomy of alternative monetization strategies and a simple methodology to detect their usage automatically. We then proceed to characterize the adoption of these strategies. First, we find that the use of external monetization is expansive and increasingly prevalent, used in 18% of all videos, with 61% of channels using one such strategy at least once. Second, we show that the adoption of these strategies varies substantially among channels of different kinds and popularity, and that channels that establish these alternative revenue streams often become more productive on the platform. Lastly, we investigate how potentially problematic channels -- those that produce Alt-lite, Alt-right, and Manosphere content -- leverage alternative monetization strategies, finding that they employ a more diverse set of such strategies significantly more often than a carefully chosen comparison set of channels. This finding complicates YouTube's role as a gatekeeper, since the practice of excluding policy-violating content from its native on-platform monetization may not be effective. Overall, this work provides an important step toward broadening the understanding of the monetary incentives behind content creation on YouTube.
Privacy-Preserving Reinforcement Learning Beyond Expectation
Venue: arXiv cs.LG 2022
Year: 2022

Cyber and cyber-physical systems equipped with machine learning algorithms such as autonomous cars share environments with humans. In such a setting, it is important to align system (or agent) behaviors with the preferences of one or more human users. We consider the case when an agent has to learn behaviors in an unknown environment. Our goal is to capture two defining characteristics of humans: i) a tendency to assess and quantify risk, and ii) a desire to keep decision making hidden from external parties. We incorporate cumulative prospect theory (CPT) into the objective of a reinforcement learning (RL) problem for the former. For the latter, we use differential privacy. We design an algorithm to enable an RL agent to learn policies to maximize a CPT-based objective in a privacy-preserving manner and establish guarantees on the privacy of value functions learned by the algorithm when rewards are sufficiently close. This is accomplished through adding a calibrated noise using a Gaussian process mechanism at each step. Through empirical evaluations, we highlight a privacy-utility tradeoff and demonstrate that the RL agent is able to learn behaviors that are aligned with that of a human user in the same environment in a privacy-preserving manner
Concept-based Adversarial Attacks: Tricking Humans and Classifiers Alike
Venue: arXiv cs.LG 2022
Year: 2022

We propose to generate adversarial samples by modifying activations of upper layers encoding semantically meaningful concepts. The original sample is shifted towards a target sample, yielding an adversarial sample, by using the modified activations to reconstruct the original sample. A human might (and possibly should) notice differences between the original and the adversarial sample. Depending on the attacker-provided constraints, an adversarial sample can exhibit subtle differences or appear like a "forged" sample from another class. Our approach and goal are in stark contrast to common attacks involving perturbations of single pixels that are not recognizable by humans. Our approach is relevant in, e.g., multi-stage processing of inputs, where both humans and machines are involved in decision-making because invisible perturbations will not fool a human. Our evaluation focuses on deep neural networks. We also show the transferability of our adversarial examples among networks.
Neuromorphic metamaterials for mechanosensing and perceptual associative learning
Venue: arXiv cs.ET 2022
Year: 2022

Physical systems exhibiting neuromechanical functions promise to enable structures with directly encoded autonomy and intelligence. We report on a class of neuromorphic metamaterials embodying bioinspired mechanosensing, memory, and learning functionalities obtained by leveraging mechanical instabilities and flexible memristive materials. Our prototype system comprises a multistable metamaterial whose bistable units filter, amplify, and transduce external mechanical inputs over large areas into simple electrical signals using piezoresistivity. We record these mechanically transduced signals using non-volatile flexible memristors that remember sequences of mechanical inputs, providing a means to store spatially distributed mechanical signals in measurable material states. The accumulated memristance changes resulting from the sequential mechanical inputs allow us to physically encode a Hopfield network into our neuromorphic metamaterials. This physical network learns a series of external spatially distributed input patterns. Crucially, the learned patterns input into our neuromorphic metamaterials can be retrieved from the final accumulated state of our memristors. Therefore, our system exhibits the ability to learn without supervised training and retain spatially distributed inputs with minimal external overhead. Our system's embodied mechanosensing, memory, and learning capabilities establish an avenue for synthetic neuromorphic metamaterials enabling the learning of touch-like sensations covering large areas for robotics, autonomous systems, wearables, and morphing structures.