OpenRaiser/Intern-Atlas huggingface dataset:
A Cloud-based Real-time Probabilistic Remaining Useful Life (RUL) Estimation using the Sequential Monte Carlo (SMC) Method
Venue: arXiv cs.CE 2024
Year: 2024

The remaining useful life (RUL) estimation is an important metric that helps in condition-based maintenance. Damage data obtained from the diagnostics techniques are often noisy and the RUL estimated from the data is less reliable. Estimating the probabilistic RUL by quantifying the uncertainty in the predictive model parameters using the noisy data increases confidence in the predicted values. Uncertainty quantification methods generate statistical samples for the model parameters, that represent the uncertainty, by evaluating the predictive model several times. The computational time for solving a physics-based predictive model is significant, which makes the statistical techniques to be computationally expensive. It is essential to reduce the computational time to estimate the RUL in a feasible time. In this work, real-time probabilistic RUL estimation is demonstrated in adhesively bonded joints using the Sequential Monte Carlo (SMC) sampling method and cloud-based computations. The SMC sampling method is an alternative to traditional MCMC methods, which enables generating the statistical parameter samples in parallel. The parallel computational capabilities of the SMC methods are exploited by running the SMC simulation on multiple cloud calls. This approach is demonstrated by estimating fatigue RUL in the adhesively bonded joint. The accuracy of probabilistic RUL estimated by SMC is validated by comparing it with RUL estimated by the MCMC and the experimental values. The SMC simulation is run on the cloud and the computational speedup of the SMC is demonstrated.
Adaptive Client Selection with Personalization for Communication Efficient Federated Learning
Venue: arXiv cs.LG 2024
Year: 2024

Federated Learning (FL) is a distributed approach to collaboratively training machine learning models. FL requires a high level of communication between the devices and a central server, thus imposing several challenges, including communication bottlenecks and network scalability. This article introduces ACSP-FL (https://github.com/AllanMSouza/ACSP-FL), a solution to reduce the overall communication and computation costs for training a model in FL environments. ACSP-FL employs a client selection strategy that dynamically adapts the number of devices training the model and the number of rounds required to achieve convergence. Moreover, ACSP-FL enables model personalization to improve clients performance. A use case based on human activity recognition datasets aims to show the impact and benefits of ACSP-FL when compared to state-of-the-art approaches. Experimental evaluations show that ACSP-FL minimizes the overall communication and computation overheads to train a model and converges the system efficiently. In particular, ACSP-FL reduces communication up to 95% compared to literature approaches while providing good convergence even in scenarios where data is distributed differently, non-independent and identical way between client devices.
SoftmAP: Software-Hardware Co-design for Integer-Only Softmax on Associative Processors
Venue: arXiv cs.AR 2024
Year: 2024

Recent research efforts focus on reducing the computational and memory overheads of Large Language Models (LLMs) to make them feasible on resource-constrained devices. Despite advancements in compression techniques, non-linear operators like Softmax and Layernorm remain bottlenecks due to their sensitivity to quantization. We propose SoftmAP, a software-hardware co-design methodology that implements an integer-only low-precision Softmax using In-Memory Compute (IMC) hardware. Our method achieves up to three orders of magnitude improvement in the energy-delay product compared to A100 and RTX3090 GPUs, making LLMs more deployable without compromising performance.
LongKey: Keyphrase Extraction for Long Documents
Venue: arXiv cs.CL 2024
Year: 2024

In an era of information overload, manually annotating the vast and growing corpus of documents and scholarly papers is increasingly impractical. Automated keyphrase extraction addresses this challenge by identifying representative terms within texts. However, most existing methods focus on short documents (up to 512 tokens), leaving a gap in processing long-context documents. In this paper, we introduce LongKey, a novel framework for extracting keyphrases from lengthy documents, which uses an encoder-based language model to capture extended text intricacies. LongKey uses a max-pooling embedder to enhance keyphrase candidate representation. Validated on the comprehensive LDKP datasets and six diverse, unseen datasets, LongKey consistently outperforms existing unsupervised and language model-based keyphrase extraction methods. Our findings demonstrate LongKey's versatility and superior performance, marking an advancement in keyphrase extraction for varied text lengths and domains.
ReC-TTT: Contrastive Feature Reconstruction for Test-Time Training
Venue: arXiv cs.CV 2024
Year: 2024

The remarkable progress in deep learning (DL) showcases outstanding results in various computer vision tasks. However, adaptation to real-time variations in data distributions remains an important challenge. Test-Time Training (TTT) was proposed as an effective solution to this issue, which increases the generalization ability of trained models by adding an auxiliary task at train time and then using its loss at test time to adapt the model. Inspired by the recent achievements of contrastive representation learning in unsupervised tasks, we propose ReC-TTT, a test-time training technique that can adapt a DL model to new unseen domains by generating discriminative views of the input data. ReC-TTT uses cross-reconstruction as an auxiliary task between a frozen encoder and two trainable encoders, taking advantage of a single shared decoder. This enables, at test time, to adapt the encoders to extract features that will be correctly reconstructed by the decoder that, in this phase, is frozen on the source domain. Experimental results show that ReC-TTT achieves better results than other state-of-the-art techniques in most domain shift classification challenges.
The Context of Crash Occurrence: A Complexity-Infused Approach Integrating Semantic, Contextual, and Kinematic Features
Venue: arXiv cs.CV 2024
Year: 2024

Understanding the context of crash occurrence in complex driving environments is essential for improving traffic safety and advancing automated driving. Previous studies have used statistical models and deep learning to predict crashes based on semantic, contextual, or vehicle kinematic features, but none have examined the combined influence of these factors. In this study, we term the integration of these features ``roadway complexity''. This paper introduces a two-stage framework that integrates roadway complexity features for crash prediction. In the first stage, an encoder extracts hidden contextual information from these features, generating complexity-infused features. The second stage uses both original and complexity-infused features to predict crash likelihood, achieving an accuracy of 87.98\% with original features alone and 90.15\% with the added complexity-infused features. Ablation studies confirm that a combination of semantic, kinematic, and contextual features yields the best results, which emphasize their role in capturing roadway complexity. Additionally, complexity index annotations generated by the Large Language Model outperform those by Amazon Mechanical Turk, highlighting the potential of AI-based tools for accurate, scalable crash prediction systems.
Can LLMs plan paths in the real world?
Venue: arXiv cs.AI 2024
Year: 2024

As large language models (LLMs) increasingly integrate into vehicle navigation systems, understanding their path-planning capability is crucial. We tested three LLMs through six real-world path-planning scenarios in various settings and with various difficulties. Our experiments showed that all LLMs made numerous errors in all scenarios, revealing that they are unreliable path planners. We suggest that future work focus on implementing mechanisms for reality checks, enhancing model transparency, and developing smaller models.
DECODE: Domain-aware Continual Domain Expansion for Motion Prediction
Venue: arXiv cs.CV 2024
Year: 2024

Motion prediction is critical for autonomous vehicles to effectively navigate complex environments and accurately anticipate the behaviors of other traffic participants. As autonomous driving continues to evolve, the need to assimilate new and varied driving scenarios necessitates frequent model updates through retraining. To address these demands, we introduce DECODE, a novel continual learning framework that begins with a pre-trained generalized model and incrementally develops specialized models for distinct domains. Unlike existing continual learning approaches that attempt to develop a unified model capable of generalizing across diverse scenarios, DECODE uniquely balances specialization with generalization, dynamically adjusting to real-time demands. The proposed framework leverages a hypernetwork to generate model parameters, significantly reducing storage requirements, and incorporates a normalizing flow mechanism for real-time model selection based on likelihood estimation. Furthermore, DECODE merges outputs from the most relevant specialized and generalized models using deep Bayesian uncertainty estimation techniques. This integration ensures optimal performance in familiar conditions while maintaining robustness in unfamiliar scenarios. Extensive evaluations confirm the effectiveness of the framework, achieving a notably low forgetting rate of 0.044 and an average minADE of 0.584 m, significantly surpassing traditional learning strategies and demonstrating adaptability across a wide range of driving conditions.
A Practical Approach to Formal Methods: An Eclipse Integrated Development Environment (IDE) for Security Protocols
Venue: arXiv cs.CR 2024
Year: 2024

To develop trustworthy distributed systems, verification techniques and formal methods, including lightweight and practical approaches, have been employed to certify the design or implementation of security protocols. Lightweight formal methods offer a more accessible alternative to traditional fully formalised techniques by focusing on simplified models and tool support, making them more applicable in practical settings. The technical advantages of formal verification over manual testing are increasingly recognised in the cybersecurity community. However, for practitioners, formal modelling and verification are often too complex and unfamiliar to be used routinely. In this paper, we present an Eclipse IDE for the design, verification, and implementation of security protocols and evaluate its effectiveness, including feedback from users in educational settings. It offers user-friendly assistance in the formalisation process as part of a Model-Driven Development approach. This IDE centres around the Alice & Bob (AnB) notation, the AnBx Compiler and Code Generator, the OFMC model checker, and the ProVerif cryptographic protocol verifier. For the evaluation, we identify the six most prominent limiting factors for formal method adoption, based on relevant literature in this field, and we consider the IDE's effectiveness against those criteria. Additionally, we conducted a structured survey to collect feedback from university students who have used the toolkit for their projects. The findings demonstrate that this contribution is valuable as a workflow aid and helps users grasp essential cybersecurity concepts, even for those with limited knowledge of formal methods or cryptography. Crucially, users reported that the IDE has been an important component to complete their projects and that they would use again in the future, given the opportunity.
Stealthy Multi-Task Adversarial Attacks
Venue: arXiv cs.CR 2024
Year: 2024

Deep Neural Networks exhibit inherent vulnerabilities to adversarial attacks, which can significantly compromise their outputs and reliability. While existing research primarily focuses on attacking single-task scenarios or indiscriminately targeting all tasks in multi-task environments, we investigate selectively targeting one task while preserving performance in others within a multi-task framework. This approach is motivated by varying security priorities among tasks in real-world applications, such as autonomous driving, where misinterpreting critical objects (e.g., signs, traffic lights) poses a greater security risk than minor depth miscalculations. Consequently, attackers may hope to target security-sensitive tasks while avoiding non-critical tasks from being compromised, thus evading being detected before compromising crucial functions. In this paper, we propose a method for the stealthy multi-task attack framework that utilizes multiple algorithms to inject imperceptible noise into the input. This novel method demonstrates remarkable efficacy in compromising the target task while simultaneously maintaining or even enhancing performance across non-targeted tasks - a criterion hitherto unexplored in the field. Additionally, we introduce an automated approach for searching the weighting factors in the loss function, further enhancing attack efficiency. Experimental results validate our framework's ability to successfully attack the target task while preserving the performance of non-targeted tasks. The automated loss function weight searching method demonstrates comparable efficacy to manual tuning, establishing a state-of-the-art multi-task attack framework.
Beam Switching Based Beam Design for High-Speed Train mmWave Communications
Venue: arXiv cs.IT 2024
Year: 2024

For high-speed train (HST) millimeter wave (mmWave) communications, the use of narrow beams with small beam coverage needs frequent beam switching, while wider beams with small beam gain leads to weaker mmWave signal strength. In this paper, we consider beam switching based beam design, which is formulated as an optimization problem aiming to minimize the number of switched beams within a predetermined railway range subject to that the receiving signal-to-noise ratio (RSNR) at the HST is no lower than a predetermined threshold. To solve this problem, we propose two sequential beam design schemes, both including two alternately-performed stages. In the first stage, given an updated beam coverage according to the railway range, we transform the problem into a feasibility problem and further convert it into a min-max optimization problem by relaxing the RSNR constraints into a penalty of the objective function. In the second stage, we evaluate the feasibility of the beamformer obtained from solving the min-max problem and determine the beam coverage accordingly. Simulation results show that compared to the first scheme, the second scheme can achieve 96.20\% reduction in computational complexity at the cost of only 0.0657\% performance degradation.
Privacy-preserving Robotic-based Multi-factor Authentication Scheme for Secure Automated Delivery System
Venue: arXiv cs.CR 2024
Year: 2024

Package delivery is a critical aspect of various industries, but it often incurs high financial costs and inefficiencies when relying solely on human resources. The last-mile transport problem, in particular, contributes significantly to the expenditure of human resources in major companies. Robot-based delivery systems have emerged as a potential solution for last-mile delivery to address this challenge. However, robotic delivery systems still face security and privacy issues, like impersonation, replay, man-in-the-middle attacks (MITM), unlinkability, and identity theft. In this context, we propose a privacy-preserving multi-factor authentication scheme specifically designed for robot delivery systems. Additionally, AI-assisted robotic delivery systems are susceptible to machine learning-based attacks (e.g. FGSM, PGD, etc.). We introduce the \emph{first} transformer-based audio-visual fusion defender to tackle this issue, which effectively provides resilience against adversarial samples. Furthermore, we provide a rigorous formal analysis of the proposed protocol and also analyse the protocol security using a popular symbolic proof tool called ProVerif and Scyther. Finally, we present a real-world implementation of the proposed robotic system with the computation cost and energy consumption analysis. Code and pre-trained models are available at: https://drive.google.com/drive/folders/18B2YbxtV0Pyj5RSFX-ZzCGtFOyorBHil
Multi-task Gaze Estimation Via Unidirectional Convolution
Venue: arXiv cs.CV 2024
Year: 2024

Using lightweight models as backbone networks in gaze estimation tasks often results in significant performance degradation. The main reason is that the number of feature channels in lightweight networks is usually small, which makes the model expression ability limited. In order to improve the performance of lightweight models in gaze estimation tasks, a network model named Multitask-Gaze is proposed. The main components of Multitask-Gaze include Unidirectional Convolution (UC), Spatial and Channel Attention (SCA), Global Convolution Module (GCM), and Multi-task Regression Module(MRM). UC not only significantly reduces the number of parameters and FLOPs, but also extends the receptive field and improves the long-distance modeling capability of the model, thereby improving the model performance. SCA highlights gaze-related features and suppresses gaze-irrelevant features. The GCM replaces the pooling layer and avoids the performance degradation due to information loss. MRM improves the accuracy of individual tasks and strengthens the connections between tasks for overall performance improvement. The experimental results show that compared with the State-of-the-art method SUGE, the performance of Multitask-Gaze on MPIIFaceGaze and Gaze360 datasets is improved by 1.71% and 2.75%, respectively, while the number of parameters and FLOPs are significantly reduced by 75.5% and 86.88%.
There are More Fish in the Sea: Automated Vulnerability Repair via Binary Templates
Venue: arXiv cs.SE 2024
Year: 2024

As software vulnerabilities increase in both volume and complexity, vendors often struggle to repair them promptly. Automated vulnerability repair has emerged as a promising solution to reduce the burden of manual debugging and fixing activities. However, existing techniques exclusively focus on repairing the vulnerabilities at the source code level, which has various limitations. For example, they are not applicable to those (e.g., users or security analysts) who do not have access to the source code. Consequently, this restricts the practical application of these techniques, especially in cases where vendors are unable to provide timely patches. In this paper, we aim to address the above limitations by performing vulnerability repair at binary code level, and accordingly propose a template-based automated vulnerability repair approach for Java binaries. Built on top of the literature, we collect fix templates from both existing template-based automated program repair approaches and vulnerability-specific analyses, which are then implemented for the Java binaries. Our systematic application of these templates effectively mitigates vulnerabilities: experiments on the Vul4J dataset demonstrate that TemVUR successfully repairs 11 vulnerabilities, marking a notable 57.1% improvement over current repair techniques. Moreover, TemVUR securely fixes 66.7% more vulnerabilities compared to leading techniques (15 vs. 9), underscoring its effectiveness in mitigating the risks posed by these vulnerabilities. To assess the generalizability of TemVUR, we curate the ManyVuls4J dataset, which goes beyond Vul4J to encompass a wider diversity of vulnerabilities. With 30% more vulnerabilities than its predecessor (increasing from 79 to 103). The evaluation on ManyVuls4J reaffirms TemVUR's effectiveness and generalizability across a diverse set of real-world vulnerabilities.
Curriculum Demonstration Selection for In-Context Learning
Venue: arXiv cs.CL 2024
Year: 2024

Large Language Models (LLMs) have shown strong in-context learning (ICL) abilities with a few demonstrations. However, one critical challenge is how to select demonstrations to elicit the full potential of LLMs. In this paper, we propose Curriculum Demonstration Selection (CDS), a novel demonstration selection method for ICL. Instead of merely using similarity, CDS additionally partitions samples by their complexity measurements. Following curriculum learning, CDS then selects demonstrations from easy to difficult. Thus the selected demonstrations cover a wide range of difficulty levels, enabling LLMs to learn from varied complexities within the training set. Experiments demonstrate that our CDS consistently outperforms baseline methods, achieving notable improvements across nine LLMs on three benchmarks. Moreover, CDS proves especially effective in enhancing LLM performance in solving challenging problems.
Online Knowledge Integration for 3D Semantic Mapping: A Survey
Venue: arXiv cs.RO 2024
Year: 2024

Semantic mapping is a key component of robots operating in and interacting with objects in structured environments. Traditionally, geometric and knowledge representations within a semantic map have only been loosely integrated. However, recent advances in deep learning now allow full integration of prior knowledge, represented as knowledge graphs or language concepts, into sensor data processing and semantic mapping pipelines. Semantic scene graphs and language models enable modern semantic mapping approaches to incorporate graph-based prior knowledge or to leverage the rich information in human language both during and after the mapping process. This has sparked substantial advances in semantic mapping, leading to previously impossible novel applications. This survey reviews these recent developments comprehensively, with a focus on online integration of knowledge into semantic mapping. We specifically focus on methods using semantic scene graphs for integrating symbolic prior knowledge and language models for respective capture of implicit common-sense knowledge and natural language concepts
Howzat? Appealing to Expert Judgement for Evaluating Human and AI Next-Step Hints for Novice Programmers
Venue: arXiv cs.CY 2024
Year: 2024

Motivation: Students learning to program often reach states where they are stuck and can make no forward progress. An automatically generated next-step hint can help them make forward progress and support their learning. It is important to know what makes a good hint or a bad hint, and how to generate good hints automatically in novice programming tools, for example using Large Language Models (LLMs). Method and participants: We recruited 44 Java educators from around the world to participate in an online study. We used a set of real student code states as hint-generation scenarios. Participants used a technique known as comparative judgement to rank a set of candidate next-step Java hints, which were generated by Large Language Models (LLMs) and by five human experienced educators. Participants ranked the hints without being told how they were generated. Findings: We found that LLMs had considerable variation in generating high quality next-step hints for programming novices, with GPT-4 outperforming other models tested. When used with a well-designed prompt, GPT-4 outperformed human experts in generating pedagogically valuable hints. A multi-stage prompt was the most effective LLM prompt. We found that the two most important factors of a good hint were length (80--160 words being best), and reading level (US grade 9 or below being best). Offering alternative approaches to solving the problem was considered bad, and we found no effect of sentiment. Conclusions: Automatic generation of these hints is immediately viable, given that LLMs outperformed humans -- even when the students' task is unknown. The fact that only the best prompts achieve this outcome suggests that students on their own are unlikely to be able to produce the same benefit. The prompting task, therefore, should be embedded in an expert-designed tool.