OpenRaiser/Intern-Atlas huggingface dataset:
Complexity of total dominator coloring in graphs
Venue: arXiv cs.DM 2023
Year: 2023

Let $G=(V,E)$ be a graph with no isolated vertices. A vertex $v$ totally dominate a vertex $w$ ($w \ne v$), if $v$ is adjacent to $w$. A set $D \subseteq V$ called a total dominating set of $G$ if every vertex $v\in V$ is totally dominated by some vertex in $D$. The minimum cardinality of a total dominating set is the total domination number of $G$ and is denoted by $γ_t(G)$. A total dominator coloring of graph $G$ is a proper coloring of vertices of $G$, so that each vertex totally dominates some color class. The total dominator chromatic number $χ_{td}(G)$ of $G$ is the least number of colors required for a total dominator coloring of $G$. The Total Dominator Coloring problem is to find a total dominator coloring of $G$ using the minimum number of colors. It is known that the decision version of this problem is NP-complete for general graphs. We show that it remains NP-complete even when restricted to bipartite, planar and split graphs. We further study the Total Dominator Coloring problem for various graph classes, including trees, cographs and chain graphs. First, we characterize the trees having $χ_{td}(T)=γ_t(T)+1$, which completes the characterization of trees achieving all possible values of $χ_{td}(T)$. Also, we show that for a cograph $G$, $χ_{td}(G)$ can be computed in linear-time. Moreover, we show that $2 \le χ_{td}(G) \le 4$ for a chain graph $G$ and give characterization of chain graphs for every possible value of $χ_{td}(G)$ in linear-time.
SottoVoce: An Ultrasound Imaging-Based Silent Speech Interaction Using Deep Neural Networks
Venue: arXiv cs.HC 2023
Year: 2023

The availability of digital devices operated by voice is expanding rapidly. However, the applications of voice interfaces are still restricted. For example, speaking in public places becomes an annoyance to the surrounding people, and secret information should not be uttered. Environmental noise may reduce the accuracy of speech recognition. To address these limitations, a system to detect a user's unvoiced utterance is proposed. From internal information observed by an ultrasonic imaging sensor attached to the underside of the jaw, our proposed system recognizes the utterance contents without the user's uttering voice. Our proposed deep neural network model is used to obtain acoustic features from a sequence of ultrasound images. We confirmed that audio signals generated by our system can control the existing smart speakers. We also observed that a user can adjust their oral movement to learn and improve the accuracy of their voice recognition.
Bayesian Optimization over High-Dimensional Combinatorial Spaces via Dictionary-based Embeddings
Venue: arXiv cs.LG 2023
Year: 2023

We consider the problem of optimizing expensive black-box functions over high-dimensional combinatorial spaces which arises in many science, engineering, and ML applications. We use Bayesian Optimization (BO) and propose a novel surrogate modeling approach for efficiently handling a large number of binary and categorical parameters. The key idea is to select a number of discrete structures from the input space (the dictionary) and use them to define an ordinal embedding for high-dimensional combinatorial structures. This allows us to use existing Gaussian process models for continuous spaces. We develop a principled approach based on binary wavelets to construct dictionaries for binary spaces, and propose a randomized construction method that generalizes to categorical spaces. We provide theoretical justification to support the effectiveness of the dictionary-based embeddings. Our experiments on diverse real-world benchmarks demonstrate the effectiveness of our proposed surrogate modeling approach over state-of-the-art BO methods.
anafi_ros: from Off-the-Shelf Drones to Research Platforms
Venue: arXiv cs.RO 2023
Year: 2023

The off-the-shelf drones are simple to operate and easy to maintain aerial systems. However, due to proprietary flight software, these drones usually do not provide any open-source interface which can enable them for autonomous flight in research or teaching. This work introduces a package for ROS1 and ROS2 for straightforward interfacing with off-the-shelf drones from the Parrot ANAFI family. The developed ROS package is hardware agnostic, allowing connecting seamlessly to all four supported drone models. This framework can connect with the same ease to a single drone or a team of drones from the same ground station. The developed package was intensively tested at the limits of the drones' capabilities and thoughtfully documented to facilitate its use by other research groups worldwide.
Word-As-Image for Semantic Typography
Venue: arXiv cs.CV 2023
Year: 2023

A word-as-image is a semantic typography technique where a word illustration presents a visualization of the meaning of the word, while also preserving its readability. We present a method to create word-as-image illustrations automatically. This task is highly challenging as it requires semantic understanding of the word and a creative idea of where and how to depict these semantics in a visually pleasing and legible manner. We rely on the remarkable ability of recent large pretrained language-vision models to distill textual concepts visually. We target simple, concise, black-and-white designs that convey the semantics clearly. We deliberately do not change the color or texture of the letters and do not use embellishments. Our method optimizes the outline of each letter to convey the desired concept, guided by a pretrained Stable Diffusion model. We incorporate additional loss terms to ensure the legibility of the text and the preservation of the style of the font. We show high quality and engaging results on numerous examples and compare to alternative techniques.
Independent Control of Two Magnetic Robots using External Permanent Magnets: A Feasibility Study
Venue: arXiv cs.RO 2023
Year: 2023

The ability to have multiple magnetic robots operate independently in the same workspace would increase the clinical potential of these systems allowing collaborative operation. In this work, we investigate the feasibility of actuating two magnetic robots operating within the same workspace using external permanent magnets. Unlike actuation systems based on pairs of electromagnetic coils, the use of multiple permanent magnets comes with the advantage of a large workspace which better suits the clinical setting. In this work, we present an optimization routine capable of generating the required poses for the external magnets in order to control the position and orientation of two magnetic robots. We show that at a distance of 15cm, minimal coupling between the magnetic robots can be achieved (3.9\% crosstalk) each embedded with 5mm diameter, 5mm length NdFeB magnets. At smaller distances, we observe that the ability to independently control the robot torques decreases, but forces can still achieve independent control even with alignment of the robots. We test our developed control system in a simulation of two magnetic robots following pre-planned trajectories in close proximity (60 mm) showing a mean positional error of 8.7 mm and mean angular error of 16.7 degrees.
Extreme-scale many-against-many protein similarity search
Venue: arXiv cs.DC 2023
Year: 2023

Similarity search is one of the most fundamental computations that are regularly performed on ever-increasing protein datasets. Scalability is of paramount importance for uncovering novel phenomena that occur at very large scales. We unleash the power of over 20,000 GPUs on the Summit system to perform all-vs-all protein similarity search on one of the largest publicly available datasets with 405 million proteins, in less than 3.5 hours, cutting the time-to-solution for many use cases from weeks. The variability of protein sequence lengths, as well as the sparsity of the space of pairwise comparisons, make this a challenging problem in distributed memory. Due to the need to construct and maintain a data structure holding indices to all other sequences, this application has a huge memory footprint that makes it hard to scale the problem sizes. We overcome this memory limitation by innovative matrix-based blocking techniques, without introducing additional load imbalance.
Exploiting Kinematic Redundancy for Robotic Grasping of Multiple Objects
Venue: arXiv cs.RO 2023
Year: 2023

Humans coordinate the abundant degrees of freedom (DoFs) of hands to dexterously perform tasks in everyday life. We imitate human strategies to advance the dexterity of multi-DoF robotic hands. Specifically, we enable a robot hand to grasp multiple objects by exploiting its kinematic redundancy, referring to all its controllable DoFs. We propose a human-like grasp synthesis algorithm to generate grasps using pairwise contacts on arbitrary opposing hand surface regions, no longer limited to fingertips or hand inner surface. To model the available space of the hand for grasp, we construct a reachability map, consisting of reachable spaces of all finger phalanges and the palm. It guides the formulation of a constrained optimization problem, solving for feasible and stable grasps. We formulate an iterative process to empower robotic hands to grasp multiple objects in sequence. Moreover, we propose a kinematic efficiency metric and an associated strategy to facilitate exploiting kinematic redundancy. We validated our approaches by generating grasps of single and multiple objects using various hand surface regions. Such grasps can be successfully replicated on a real robotic hand.
Machine learning using magnetic stochastic synapses
Venue: arXiv cs.ET 2023
Year: 2023

The impressive performance of artificial neural networks has come at the cost of high energy usage and CO$_2$ emissions. Unconventional computing architectures, with magnetic systems as a candidate, have potential as alternative energy-efficient hardware, but, still face challenges, such as stochastic behaviour, in implementation. Here, we present a methodology for exploiting the traditionally detrimental stochastic effects in magnetic domain-wall motion in nanowires. We demonstrate functional binary stochastic synapses alongside a gradient learning rule that allows their training with applicability to a range of stochastic systems. The rule, utilising the mean and variance of the neuronal output distribution, finds a trade-off between synaptic stochasticity and energy efficiency depending on the number of measurements of each synapse. For single measurements, the rule results in binary synapses with minimal stochasticity, sacrificing potential performance for robustness. For multiple measurements, synaptic distributions are broad, approximating better-performing continuous synapses. This observation allows us to choose design principles depending on the desired performance and the device's operational speed and energy cost. We verify performance on physical hardware, showing it is comparable to a standard neural network.
Quantifying the LiDAR Sim-to-Real Domain Shift: A Detailed Investigation Using Object Detectors and Analyzing Point Clouds at Target-Level
Venue: arXiv cs.CV 2023
Year: 2023

LiDAR object detection algorithms based on neural networks for autonomous driving require large amounts of data for training, validation, and testing. As real-world data collection and labeling are time-consuming and expensive, simulation-based synthetic data generation is a viable alternative. However, using simulated data for the training of neural networks leads to a domain shift of training and testing data due to differences in scenes, scenarios, and distributions. In this work, we quantify the sim-to-real domain shift by means of LiDAR object detectors trained with a new scenario-identical real-world and simulated dataset. In addition, we answer the questions of how well the simulated data resembles the real-world data and how well object detectors trained on simulated data perform on real-world data. Further, we analyze point clouds at the target-level by comparing real-world and simulated point clouds within the 3D bounding boxes of the targets. Our experiments show that a significant sim-to-real domain shift exists even for our scenario-identical datasets. This domain shift amounts to an average precision reduction of around 14 % for object detectors trained with simulated data. Additional experiments reveal that this domain shift can be lowered by introducing a simple noise model in simulation. We further show that a simple downsampling method to model real-world physics does not influence the performance of the object detectors.
Investigating the Translation Performance of a Large Multilingual Language Model: the Case of BLOOM
Venue: arXiv cs.CL 2023
Year: 2023

The NLP community recently saw the release of a new large open-access multilingual language model, BLOOM (BigScience et al., 2022) covering 46 languages. We focus on BLOOM's multilingual ability by evaluating its machine translation performance across several datasets (WMT, Flores-101 and DiaBLa) and language pairs (high- and low-resourced). Our results show that 0-shot performance suffers from overgeneration and generating in the wrong language, but this is greatly improved in the few-shot setting, with very good results for a number of language pairs. We study several aspects including prompt design, model sizes, cross-lingual transfer and the use of discursive context.
A toolkit of dilemmas: Beyond debiasing and fairness formulas for responsible AI/ML
Venue: arXiv cs.CY 2023
Year: 2023

Approaches to fair and ethical AI have recently fell under the scrutiny of the emerging, chiefly qualitative, field of critical data studies, placing emphasis on the lack of sensitivity to context and complex social phenomena of such interventions. We employ some of these lessons to introduce a tripartite decision-making toolkit, informed by dilemmas encountered in the pursuit of responsible AI/ML. These are: (a) the opportunity dilemma between the availability of data shaping problem statements vs problem statements shaping data; (b) the trade-off between scalability and contextualizability (too much data versus too specific data); and (c) the epistemic positioning between the pragmatic technical objectivism and the reflexive relativism in acknowledging the social. This paper advocates for a situated reasoning and creative engagement with the dilemmas surrounding responsible algorithmic/data-driven systems, and going beyond the formulaic bias elimination and ethics operationalization narratives found in the fair-AI literature.
Summary Statistic Privacy in Data Sharing
Venue: arXiv cs.CR 2023
Year: 2023

We study a setting where a data holder wishes to share data with a receiver, without revealing certain summary statistics of the data distribution (e.g., mean, standard deviation). It achieves this by passing the data through a randomization mechanism. We propose summary statistic privacy, a metric for quantifying the privacy risk of such a mechanism based on the worst-case probability of an adversary guessing the distributional secret within some threshold. Defining distortion as a worst-case Wasserstein-1 distance between the real and released data, we prove lower bounds on the tradeoff between privacy and distortion. We then propose a class of quantization mechanisms that can be adapted to different data distributions. We show that the quantization mechanism's privacy-distortion tradeoff matches our lower bounds under certain regimes, up to small constant factors. Finally, we demonstrate on real-world datasets that the proposed quantization mechanisms achieve better privacy-distortion tradeoffs than alternative privacy mechanisms.
Topic Modeling Based on Two-Step Flow Theory: Application to Tweets about Bitcoin
Venue: arXiv cs.SI 2023
Year: 2023

Digital cryptocurrencies such as Bitcoin have exploded in recent years in both popularity and value. By their novelty, cryptocurrencies tend to be both volatile and highly speculative. The capricious nature of these coins is helped facilitated by social media networks such as Twitter. However, not everyone's opinion matters equally, with most posts garnering little to no attention. Additionally, the majority of tweets are retweeted from popular posts. We must determine whose opinion matters and the difference between influential and non-influential users. This study separates these two groups and analyzes the differences between them. It uses Hypertext-induced Topic Selection (HITS) algorithm, which segregates the dataset based on influence. Topic modeling is then employed to uncover differences in each group's speech types and what group may best represent the entire community. We found differences in language and interest between these two groups regarding Bitcoin and that the opinion leaders of Twitter are not aligned with the majority of users. There were 2559 opinion leaders (0.72% of users) who accounted for 80% of the authority and the majority (99.28%) users for the remaining 20% out of a total of 355,139 users.
Unproportional mosaicing
Venue: arXiv cs.CV 2023
Year: 2023

Data shift is a gap between data distribution used for training and data distribution encountered in the real-world. Data augmentations help narrow the gap by generating new data samples, increasing data variability, and data space coverage. We present a new data augmentation: Unproportional mosaicing (Unprop). Our augmentation randomly splits an image into various-sized blocks and swaps its content (pixels) while maintaining block sizes. Our method achieves a lower error rate when combined with other state-of-the-art augmentations.
Data-Efficient Training of CNNs and Transformers with Coresets: A Stability Perspective
Venue: arXiv cs.CV 2023
Year: 2023

Coreset selection is among the most effective ways to reduce the training time of CNNs, however, only limited is known on how the resultant models will behave under variations of the coreset size, and choice of datasets and models. Moreover, given the recent paradigm shift towards transformer-based models, it is still an open question how coreset selection would impact their performance. There are several similar intriguing questions that need to be answered for a wide acceptance of coreset selection methods, and this paper attempts to answer some of these. We present a systematic benchmarking setup and perform a rigorous comparison of different coreset selection methods on CNNs and transformers. Our investigation reveals that under certain circumstances, random selection of subsets is more robust and stable when compared with the SOTA selection methods. We demonstrate that the conventional concept of uniform subset sampling across the various classes of the data is not the appropriate choice. Rather samples should be adaptively chosen based on the complexity of the data distribution for each class. Transformers are generally pretrained on large datasets, and we show that for certain target datasets, it helps to keep their performance stable at even very small coreset sizes. We further show that when no pretraining is done or when the pretrained transformer models are used with non-natural images (e.g. medical data), CNNs tend to generalize better than transformers at even very small coreset sizes. Lastly, we demonstrate that in the absence of the right pretraining, CNNs are better at learning the semantic coherence between spatially distant objects within an image, and these tend to outperform transformers at almost all choices of the coreset size.
Skeletal Point Representations with Geometric Deep Learning
Venue: arXiv cs.CV 2023
Year: 2023

Skeletonization has been a popular shape analysis technique that models both the interior and exterior of an object. Existing template-based calculations of skeletal models from anatomical structures are a time-consuming manual process. Recently, learning-based methods have been used to extract skeletons from 3D shapes. In this work, we propose novel additional geometric terms for calculating skeletal structures of objects. The results are similar to traditional fitted s-reps but but are produced much more quickly. Evaluation on real clinical data shows that the learned model predicts accurate skeletal representations and shows the impact of proposed geometric losses along with using s-reps as weak supervision.
Codes with Weighted Poset Block Metrics
Venue: arXiv cs.IT 2023
Year: 2023

Weighted poset block metric is a generalization of weighted poset metric introduced by Panek et al. ([\ref{panek}]) and the metric for linear error-block codes introduced by Feng et al. ([\ref{FENG}]). This type of metrics includes many classical metrics such as Hamming metric, Lee metric, poset metric, pomset metric, poset block metric, pomset block metric and so on. In this work, we focus on constructing new codes under weighted poset block metric from given ones. Some basic properties such as minimum distance and covering radius are determined.
Towards a GML-Enabled Knowledge Graph Platform
Venue: arXiv cs.DB 2023
Year: 2023

This vision paper proposes KGNet, an on-demand graph machine learning (GML) as a service on top of RDF engines to support GML-enabled SPARQL queries. KGNet automates the training of GML models on a KG by identifying a task-specific subgraph. This helps reduce the task-irrelevant KG structure and properties for better scalability and accuracy. While training a GML model on KG, KGNet collects metadata of trained models in the form of an RDF graph called KGMeta, which is interlinked with the relevant subgraphs in KG. Finally, all trained models are accessible via a SPARQL-like query. We call it a GML-enabled query and refer to it as SPARQLML. KGNet supports SPARQLML on top of existing RDF engines as an interface for querying and inferencing over KGs using GML models. The development of KGNet poses research opportunities in several areas, including meta-sampling for identifying task-specific subgraphs, GML pipeline automation with computational constraints, such as limited time and memory budget, and SPARQLML query optimization. KGNet supports different GML tasks, such as node classification, link prediction, and semantic entity matching. We evaluated KGNet using two real KGs of different application domains. Compared to training on the entire KG, KGNet significantly reduced training time and memory usage while maintaining comparable or improved accuracy. The KGNet source-code is available for further study
Graph-based Simultaneous Coverage and Exploration Planning for Fast Multi-robot Search
Venue: arXiv cs.RO 2023
Year: 2023

In large unknown environments, search operations can be much more time-efficient with the use of multi-robot fleets by parallelizing efforts. This means robots must efficiently perform collaborative mapping (exploration) while simultaneously searching an area for victims (coverage). Previous simultaneous mapping and planning techniques treat these problems as separate and do not take advantage of the possibility for a unified approach. We propose a novel exploration-coverage planner which bridges the mapping and search domains by growing sets of random trees rooted upon a pose graph produced through mapping to generate points of interest, or tasks. Furthermore, it is important for the robots to first prioritize high information tasks to locate the greatest number of victims in minimum time by balancing coverage and exploration, which current methods do not address. Towards this goal, we also present a new multi-robot task allocator that formulates a notion of a hierarchical information heuristic for time-critical collaborative search. Our results show that our algorithm produces 20% more coverage efficiency, defined as average covered area per second, compared to the existing state-of-the-art. Our algorithms and the rest of our multi-robot search stack is based in ROS and made open source