OpenRaiser/Intern-Atlas huggingface dataset:
BSL: Navigation Method Considering Blind Spots Based on ROS Navigation Stack and Blind Spots Layer for Mobile Robot
Venue: arXiv cs.RO 2024
Year: 2024

This paper proposes a navigation method considering blind spots based on the robot operating system (ROS) navigation stack and blind spots layer (BSL) for a wheeled mobile robot. In this paper, environmental information is recognized using a laser range finder (LRF) and RGB-D cameras. Blind spots occur when corners or obstacles are present in the environment, and may lead to collisions if a human or object moves toward the robot from these blind spots. To prevent such collisions, this paper proposes a navigation method considering blind spots based on the local cost map layer of the BSL for the wheeled mobile robot. Blind spots are estimated by utilizing environmental data collected through RGB-D cameras. The navigation method that takes these blind spots into account is achieved through the implementation of the BSL and a local path planning method that employs an enhanced cost function of dynamic window approach. The effectiveness of the proposed method was further demonstrated through simulations and experiments.
FloorSet -- a VLSI Floorplanning Dataset with Design Constraints of Real-World SoCs
Venue: arXiv cs.AR 2024
Year: 2024

Floorplanning for systems-on-a-chip (SoCs) and its sub-systems is a crucial and non-trivial step of the physical design flow. It represents a difficult combinatorial optimization problem. A typical large scale SoC with 120 partitions generates a search-space of nearly 10E250. As novel machine learning (ML) approaches emerge to tackle such problems, there is a growing need for a modern benchmark that comprises a large training dataset and performance metrics that better reflect real-world constraints and objectives compared to existing benchmarks. To address this need, we present FloorSet -- two comprehensive datasets of synthetic fixed-outline floorplan layouts that reflect the distribution of real SoCs. Each dataset has 1M training samples and 100 test samples where each sample is a synthetic floor-plan. FloorSet-Prime comprises fully-abutted rectilinear partitions and near-optimal wire-length. A simplified dataset that reflects early design phases, FloorSet-Lite comprises rectangular partitions, with under 5 percent white-space and near-optimal wire-length. Both datasets define hard constraints seen in modern design flows such as shape constraints, edge-affinity, grouping constraints, and pre-placement constraints. FloorSet is intended to spur fundamental research on large-scale constrained optimization problems. Crucially, FloorSet alleviates the core issue of reproducibility in modern ML driven solutions to such problems. FloorSet is available as an open-source repository for the research community.
PARSAC: Fast, Human-quality Floorplanning for Modern SoCs with Complex Design Constraints
Venue: arXiv cs.OH 2024
Year: 2024

The floorplanning of Systems-on-a-Chip (SoCs) and of chip sub-systems is a crucial step in the physical design flow as it determines the optimal shapes and locations of the blocks that make up the system. Simulated Annealing (SA) has been the method of choice for tackling classical floorplanning problems where the objective is to minimize wire-length and the total placement area. The goal in industry-relevant floorplanning problems, however, is not only to minimize area and wire-length, but to do that while respecting hard placement constraints that specify the general area and/or the specific locations for the placement of some blocks. We show that simply incorporating these constraints into the SA objective function leads to sub-optimal, and often illegal, solutions. We propose the Constraints-Aware Simulated Annealing (CA-SA) method and show that it strongly outperforms vanilla SA in floorplanning problems with hard placement constraints. We developed a new floorplanning tool on top of CA-SA: PARSAC (Parallel Simulated Annealing with Constraints). PARSAC is an efficient, easy-to-use, and massively parallel floorplanner. Unlike current SA-based or learning-based floorplanning tools that cannot effectively incorporate hard placement-constraints, PARSAC can quickly construct the Pareto-optimal legal solutions front for constrained floorplanning problems. PARSAC also outperforms traditional SA on legacy floorplanning benchmarks. PARSAC is available as an open-source repository for researchers to replicate and build on our result.
Shape-Optimized Electrooptic Beam Scanners: Experiment
Venue: arXiv cs.NI 2024
Year: 2024

A new horn-shaped electrooptic scanner is described with significantly improved scanning sensitivity over rectangular-shaped devices. In the new device, the shape of the scanner is chosen to follow the trajectory of the beam. An example design is described that exhibits a factor of two larger scanning sensitivity than a rectangular device with comparable maximum scanning angle. Beam propagation simulations and measurements on an experimental device verify the scanner performance.
CrashJS: A NodeJS Benchmark for Automated Crash Reproduction
Venue: arXiv cs.SE 2024
Year: 2024

Software bugs often lead to software crashes, which cost US companies upwards of $2.08 trillion annually. Automated Crash Reproduction (ACR) aims to generate unit tests that successfully reproduce a crash. The goal of ACR is to aid developers with debugging, providing them with another tool to locate where a bug is in a program. The main approach ACR currently takes is to replicate a stack trace from an error thrown within a program. Currently, ACR has been developed for C, Java, and Python, but there are no tools targeting JavaScript programs. To aid the development of JavaScript ACR tools, we propose CrashJS: a benchmark dataset of 453 Node.js crashes from several sources. CrashJS includes a mix of real-world and synthesised tests, multiple projects, and different levels of complexity for both crashes and target programs.
Dynamic Deep Factor Graph for Multi-Agent Reinforcement Learning
Venue: arXiv cs.RO 2024
Year: 2024

This work introduces a novel value decomposition algorithm, termed \textit{Dynamic Deep Factor Graphs} (DDFG). Unlike traditional coordination graphs, DDFG leverages factor graphs to articulate the decomposition of value functions, offering enhanced flexibility and adaptability to complex value function structures. Central to DDFG is a graph structure generation policy that innovatively generates factor graph structures on-the-fly, effectively addressing the dynamic collaboration requirements among agents. DDFG strikes an optimal balance between the computational overhead associated with aggregating value functions and the performance degradation inherent in their complete decomposition. Through the application of the max-sum algorithm, DDFG efficiently identifies optimal policies. We empirically validate DDFG's efficacy in complex scenarios, including higher-order predator-prey tasks and the StarCraft II Multi-agent Challenge (SMAC), thus underscoring its capability to surmount the limitations faced by existing value decomposition algorithms. DDFG emerges as a robust solution for MARL challenges that demand nuanced understanding and facilitation of dynamic agent collaboration. The implementation of DDFG is made publicly accessible, with the source code available at \url{https://github.com/SICC-Group/DDFG}.
On noisy duplication channels with Markov sources
Venue: arXiv cs.IT 2024
Year: 2024

Channels with noisy duplications have recently been used to model the nanopore sequencer. This paper extends some foundational information-theoretic results to this new scenario. We prove the asymptotic equipartition property (AEP) for noisy duplication processes based on ergodic Markov processes. A consequence is that the noisy duplication channel is information stable for ergodic Markov sources, and therefore the channel capacity constrained to Markov sources is the Markov-constrained Shannon capacity. We use the AEP to estimate lower bounds on the capacity of the binary symmetric channel with Bernoulli and geometric duplications using Monte Carlo simulations. In addition, we relate the AEP for noisy duplication processes to the AEP for hidden semi-Markov processes.
Perfect Subset Privacy in Polynomial Computation via Reed-Muller Information Super-sets
Venue: arXiv cs.IT 2024
Year: 2024

Delegating large-scale computations to service providers is a common practice which raises privacy concerns. This paper studies information-theoretic privacy-preserving delegation of data to a service provider, who may further delegate the computation to auxiliary worker nodes, in order to compute a polynomial over that data at a later point in time. We study techniques which are compatible with robust management of distributed computation systems, an area known as coded computing. Privacy in coded computing, however, has traditionally addressed the problem of colluding workers, and assumed that the server that administrates the computation is trusted. This viewpoint of privacy does not accurately reflect real-world privacy concerns, since normally, the service provider as a whole (i.e., the administrator and the worker nodes) form one cohesive entity which itself poses a privacy risk. This paper aims to shift the focus of privacy in coded computing to safeguarding the privacy of the user against the service provider as a whole, instead of merely against colluding workers inside the service provider. To this end, we leverage the recently defined notion of perfect subset privacy, which guarantees zero information leakage from all subsets of the data up to a certain size. Using known techniques from Reed-Muller decoding, we provide a scheme which enables polynomial computation with perfect subset privacy in straggler-free systems. Furthermore, by studying information super-sets in Reed-Muller codes, which may be of independent interest, we extend the previous scheme to tolerate straggling worker nodes inside the service provider.
Can We Use Large Language Models to Fill Relevance Judgment Holes?
Venue: arXiv cs.IR 2024
Year: 2024

Incomplete relevance judgments limit the re-usability of test collections. When new systems are compared against previous systems used to build the pool of judged documents, they often do so at a disadvantage due to the ``holes'' in test collection (i.e., pockets of un-assessed documents returned by the new system). In this paper, we take initial steps towards extending existing test collections by employing Large Language Models (LLM) to fill the holes by leveraging and grounding the method using existing human judgments. We explore this problem in the context of Conversational Search using TREC iKAT, where information needs are highly dynamic and the responses (and, the results retrieved) are much more varied (leaving bigger holes). While previous work has shown that automatic judgments from LLMs result in highly correlated rankings, we find substantially lower correlates when human plus automatic judgments are used (regardless of LLM, one/two/few shot, or fine-tuned). We further find that, depending on the LLM employed, new runs will be highly favored (or penalized), and this effect is magnified proportionally to the size of the holes. Instead, one should generate the LLM annotations on the whole document pool to achieve more consistent rankings with human-generated labels. Future work is required to prompt engineering and fine-tuning LLMs to reflect and represent the human annotations, in order to ground and align the models, such that they are more fit for purpose.
Minimal Perspective Autocalibration
Venue: arXiv cs.CV 2024
Year: 2024

We introduce a new family of minimal problems for reconstruction from multiple views. Our primary focus is a novel approach to autocalibration, a long-standing problem in computer vision. Traditional approaches to this problem, such as those based on Kruppa's equations or the modulus constraint, rely explicitly on the knowledge of multiple fundamental matrices or a projective reconstruction. In contrast, we consider a novel formulation involving constraints on image points, the unknown depths of 3D points, and a partially specified calibration matrix $K$. For $2$ and $3$ views, we present a comprehensive taxonomy of minimal autocalibration problems obtained by relaxing some of these constraints. These problems are organized into classes according to the number of views and any assumed prior knowledge of $K$. Within each class, we determine problems with the fewest -- or a relatively small number of -- solutions. From this zoo of problems, we devise three practical solvers. Experiments with synthetic and real data and interfacing our solvers with COLMAP demonstrate that we achieve superior accuracy compared to state-of-the-art calibration methods. The code is available at https://github.com/andreadalcin/MinimalPerspectiveAutocalibration
HarmonyBatch: Batching multi-SLO DNN Inference with Heterogeneous Serverless Functions
Venue: arXiv cs.DC 2024
Year: 2024

Deep Neural Network (DNN) inference on serverless functions is gaining prominence due to its potential for substantial budget savings. Existing works on serverless DNN inference solely optimize batching requests from one application with a single Service Level Objective (SLO) on CPU functions. However, production serverless DNN inference traces indicate that the request arrival rate of applications is surprisingly low, which inevitably causes a long batching time and SLO violations. Hence, there is an urgent need for batching multiple DNN inference requests with diverse SLOs (i.e., multi-SLO DNN inference) in serverless platforms. Moreover, the potential performance and cost benefits of deploying heterogeneous (i.e., CPU and GPU) functions for DNN inference have received scant attention. In this paper, we present HarmonyBatch, a cost-efficient resource provisioning framework designed to achieve predictable performance for multi-SLO DNN inference with heterogeneous serverless functions. Specifically, we construct an analytical performance and cost model of DNN inference on both CPU and GPU functions, by explicitly considering the GPU time-slicing scheduling mechanism and request arrival rate distribution. Based on such a model, we devise a two-stage merging strategy in HarmonyBatch to judiciously batch the multi-SLO DNN inference requests into application groups. It aims to minimize the budget of function provisioning for each application group while guaranteeing diverse performance SLOs of inference applications. We have implemented a prototype of HarmonyBatch on Alibaba Cloud Function Compute. Extensive prototype experiments with representative DNN inference workloads demonstrate that HarmonyBatch can provide predictable performance to serverless DNN inference workloads while reducing the monetary cost by up to 82.9% compared to the state-of-the-art methods.
Evaluating Dialect Robustness of Language Models via Conversation Understanding
Venue: arXiv cs.CL 2024
Year: 2024

With an evergrowing number of LLMs reporting superlative performance for English, their ability to perform equitably for different dialects of English ($\textit{i.e.}$, dialect robustness) needs to be ascertained. Specifically, we use English language (US English or Indian English) conversations between humans who play the word-guessing game of 'taboo'. We formulate two evaluative tasks: target word prediction (TWP) ($\textit{i.e.}$, predict the masked target word in a conversation) and target word selection (TWS) ($\textit{i.e.}$, select the most likely masked target word in a conversation, from among a set of candidate words). Extending MD3, an existing dialectic dataset of taboo-playing conversations, we introduce M-MD3, a target-word-masked version of MD3 with the en-US and en-IN subsets. We create two subsets: en-MV (where en-US is transformed to include dialectal information) and en-TR (where dialectal information is removed from en-IN). We evaluate one open-source (Llama3) and two closed-source (GPT-4/3.5) LLMs. LLMs perform significantly better for US English than Indian English for both TWP and TWS tasks, for all settings, exhibiting marginalisation against the Indian dialect of English. While GPT-based models perform the best, the comparatively smaller models work more equitably after fine-tuning. Our error analysis shows that the LLMs can understand the dialect better after fine-tuning using dialectal data. Our evaluation methodology exhibits a novel way to examine attributes of language models using pre-existing dialogue datasets.
Deep Multi-Task Learning for Malware Image Classification
Venue: arXiv cs.CR 2024
Year: 2024

Malicious software is a pernicious global problem. A novel multi-task learning framework is proposed in this paper for malware image classification for accurate and fast malware detection. We generate bitmap (BMP) and (PNG) images from malware features, which we feed to a deep learning classifier. Our state-of-the-art multi-task learning approach has been tested on a new dataset, for which we have collected approximately 100,000 benign and malicious PE, APK, Mach-o, and ELF examples. Experiments with seven tasks tested with 4 activation functions, ReLU, LeakyReLU, PReLU, and ELU separately demonstrate that PReLU gives the highest accuracy of more than 99.87% on all tasks. Our model can effectively detect a variety of obfuscation methods like packing, encryption, and instruction overlapping, strengthing the beneficial claims of our model, in addition to achieving the state-of-art methods in terms of accuracy.
Leveraging Artificial Intelligence to Promote Awareness in Augmented Reality Systems
Venue: arXiv cs.HC 2024
Year: 2024

Recent developments in artificial intelligence (AI) have permeated through an array of different immersive environments, including virtual, augmented, and mixed realities. AI brings a wealth of potential that centers on its ability to critically analyze environments, identify relevant artifacts to a goal or action, and then autonomously execute decision-making strategies to optimize the reward-to-risk ratio. However, the inherent benefits of AI are not without disadvantages as the autonomy and communication methodology can interfere with the human's awareness of their environment. More specifically in the case of autonomy, the relevant human-computer interaction literature cites that high autonomy results in an "out-of-the-loop" experience for the human such that they are not aware of critical artifacts or situational changes that require their attention. At the same time, low autonomy of an AI system can limit the human's own autonomy with repeated requests to approve its decisions. In these circumstances, humans enter into supervisor roles, which tend to increase their workload and, therefore, decrease their awareness in a multitude of ways. In this position statement, we call for the development of human-centered AI in immersive environments to sustain and promote awareness. It is our position then that we believe with the inherent risk presented in both AI and AR/VR systems, we need to examine the interaction between them when we integrate the two to create a new system for any unforeseen risks, and that it is crucial to do so because of its practical application in many high-risk environments.
Moderating Embodied Cyber Threats Using Generative AI
Venue: arXiv cs.HC 2024
Year: 2024

The advancement in computing and hardware, like spatial computing and VR headsets (e.g., Apple's Vision Pro) [1], has boosted the popularity of social VR platforms (VRChat, Rec Room, Meta HorizonWorlds) [2, 3, 4]. Unlike traditional digital interactions, social VR allows for more immersive experiences, with avatars that mimic users' real-time movements and enable physical-like interactions. However, the immersive nature of social VR may introduce intensified and more physicalized cyber threats-we define as "embodied cyber threats", including trash-talking, virtual "groping", and such virtual harassment and assault. These new cyber threats are more realistic and invasive due to direct, virtual interactions, underscoring the urgent need for comprehensive understanding and practical strategies to enhance safety and security in virtual environments.
Evaluating Real-World Robot Manipulation Policies in Simulation
Venue: arXiv cs.RO 2024
Year: 2024

The field of robotics has made significant advances towards generalist robot manipulation policies. However, real-world evaluation of such policies is not scalable and faces reproducibility challenges, which are likely to worsen as policies broaden the spectrum of tasks they can perform. We identify control and visual disparities between real and simulated environments as key challenges for reliable simulated evaluation and propose approaches for mitigating these gaps without needing to craft full-fidelity digital twins of real-world environments. We then employ these approaches to create SIMPLER, a collection of simulated environments for manipulation policy evaluation on common real robot setups. Through paired sim-and-real evaluations of manipulation policies, we demonstrate strong correlation between policy performance in SIMPLER environments and in the real world. Additionally, we find that SIMPLER evaluations accurately reflect real-world policy behavior modes such as sensitivity to various distribution shifts. We open-source all SIMPLER environments along with our workflow for creating new environments at https://simpler-env.github.io to facilitate research on general-purpose manipulation policies and simulated evaluation frameworks.
Lumina-T2X: Transforming Text into Any Modality, Resolution, and Duration via Flow-based Large Diffusion Transformers
Venue: arXiv cs.CV 2024
Year: 2024

Sora unveils the potential of scaling Diffusion Transformer for generating photorealistic images and videos at arbitrary resolutions, aspect ratios, and durations, yet it still lacks sufficient implementation details. In this technical report, we introduce the Lumina-T2X family - a series of Flow-based Large Diffusion Transformers (Flag-DiT) equipped with zero-initialized attention, as a unified framework designed to transform noise into images, videos, multi-view 3D objects, and audio clips conditioned on text instructions. By tokenizing the latent spatial-temporal space and incorporating learnable placeholders such as [nextline] and [nextframe] tokens, Lumina-T2X seamlessly unifies the representations of different modalities across various spatial-temporal resolutions. This unified approach enables training within a single framework for different modalities and allows for flexible generation of multimodal data at any resolution, aspect ratio, and length during inference. Advanced techniques like RoPE, RMSNorm, and flow matching enhance the stability, flexibility, and scalability of Flag-DiT, enabling models of Lumina-T2X to scale up to 7 billion parameters and extend the context window to 128K tokens. This is particularly beneficial for creating ultra-high-definition images with our Lumina-T2I model and long 720p videos with our Lumina-T2V model. Remarkably, Lumina-T2I, powered by a 5-billion-parameter Flag-DiT, requires only 35% of the training computational costs of a 600-million-parameter naive DiT. Our further comprehensive analysis underscores Lumina-T2X's preliminary capability in resolution extrapolation, high-resolution editing, generating consistent 3D views, and synthesizing videos with seamless transitions. We expect that the open-sourcing of Lumina-T2X will further foster creativity, transparency, and diversity in the generative AI community.