OpenRaiser/Intern-Atlas huggingface dataset:
What Kinds of Contracts Do ML APIs Need?
Venue: arXiv cs.SE 2023
Year: 2023

Recent work has shown that Machine Learning (ML) programs are error-prone and called for contracts for ML code. Contracts, as in the design by contract methodology, help document APIs and aid API users in writing correct code. The question is: what kinds of contracts would provide the most help to API users? We are especially interested in what kinds of contracts help API users catch errors at earlier stages in the ML pipeline. We describe an empirical study of posts on Stack Overflow of the four most often-discussed ML libraries: TensorFlow, Scikit-learn, Keras, and PyTorch. For these libraries, our study extracted 413 informal (English) API specifications. We used these specifications to understand the following questions. What are the root causes and effects behind ML contract violations? Are there common patterns of ML contract violations? When does understanding ML contracts require an advanced level of ML software expertise? Could checking contracts at the API level help detect the violations in early ML pipeline stages? Our key findings are that the most commonly needed contracts for ML APIs are either checking constraints on single arguments of an API or on the order of API calls. The software engineering community could employ existing contract mining approaches to mine these contracts to promote an increased understanding of ML APIs. We also noted a need to combine behavioral and temporal contract mining approaches. We report on categories of required ML contracts, which may help designers of contract languages.
Towards multi-modal anatomical landmark detection for ultrasound-guided brain tumor resection with contrastive learning
Venue: arXiv cs.CV 2023
Year: 2023

Homologous anatomical landmarks between medical scans are instrumental in quantitative assessment of image registration quality in various clinical applications, such as MRI-ultrasound registration for tissue shift correction in ultrasound-guided brain tumor resection. While manually identified landmark pairs between MRI and ultrasound (US) have greatly facilitated the validation of different registration algorithms for the task, the procedure requires significant expertise, labor, and time, and can be prone to inter- and intra-rater inconsistency. So far, many traditional and machine learning approaches have been presented for anatomical landmark detection, but they primarily focus on mono-modal applications. Unfortunately, despite the clinical needs, inter-modal/contrast landmark detection has very rarely been attempted. Therefore, we propose a novel contrastive learning framework to detect corresponding landmarks between MRI and intra-operative US scans in neurosurgery. Specifically, two convolutional neural networks were trained jointly to encode image features in MRI and US scans to help match the US image patch that contain the corresponding landmarks in the MRI. We developed and validated the technique using the public RESECT database. With a mean landmark detection accuracy of 5.88+-4.79 mm against 18.78+-4.77 mm with SIFT features, the proposed method offers promising results for MRI-US landmark detection in neurosurgical applications for the first time.
Adversarial Sleeping Bandit Problems with Multiple Plays: Algorithm and Ranking Application
Venue: arXiv cs.LG 2023
Year: 2023

This paper presents an efficient algorithm to solve the sleeping bandit with multiple plays problem in the context of an online recommendation system. The problem involves bounded, adversarial loss and unknown i.i.d. distributions for arm availability. The proposed algorithm extends the sleeping bandit algorithm for single arm selection and is guaranteed to achieve theoretical performance with regret upper bounded by $\bigO(kN^2\sqrt{T\log T})$, where $k$ is the number of arms selected per time step, $N$ is the total number of arms, and $T$ is the time horizon.
The BARN Challenge 2023 -- Autonomous Navigation in Highly Constrained Spaces -- Inventec Team
Venue: arXiv cs.RO 2023
Year: 2023

Navigation in the real-world is hard and filled with complex scenarios. The Benchmark Autonomous Robot Navigation (BARN) Challenge is a competition that focuses on highly constrained spaces. Teams compete using a standard platform in a simulation and a real-world stage, with scenarios ranging from easy to challenging. This technical report presents the system and methods employed by the Inventec Team during the BARN Challenge 2023 (https://cs.gmu.edu/~xiao/Research/BARN_Challenge/BARN_Challenge23.html). At its core, our method uses the baseline learning-based controller LfLH. We developed extensions using a finite state machine to trigger recovery behaviors, and introduced two alternatives for forward safety collision checks, based on footprint inflation and model-predictive control. Moreover, we also present a backtrack safety check based on costmap region-of-interest. Compared to the original baseline, we managed a significant increase in the navigation score, from 0.2334 to 0.2445 (4.76%). Overall, our team ranked second place both in simulation and in the real-world stage. Our code is publicly available at: (https://github.com/inventec-ai-center/inventec-team-barn-challenge-2023.git)
BubbleML: A Multi-Physics Dataset and Benchmarks for Machine Learning
Venue: arXiv cs.LG 2023
Year: 2023

In the field of phase change phenomena, the lack of accessible and diverse datasets suitable for machine learning (ML) training poses a significant challenge. Existing experimental datasets are often restricted, with limited availability and sparse ground truth data, impeding our understanding of this complex multiphysics phenomena. To bridge this gap, we present the BubbleML Dataset \footnote{\label{git_dataset}\url{https://github.com/HPCForge/BubbleML}} which leverages physics-driven simulations to provide accurate ground truth information for various boiling scenarios, encompassing nucleate pool boiling, flow boiling, and sub-cooled boiling. This extensive dataset covers a wide range of parameters, including varying gravity conditions, flow rates, sub-cooling levels, and wall superheat, comprising 79 simulations. BubbleML is validated against experimental observations and trends, establishing it as an invaluable resource for ML research. Furthermore, we showcase its potential to facilitate exploration of diverse downstream tasks by introducing two benchmarks: (a) optical flow analysis to capture bubble dynamics, and (b) operator networks for learning temperature dynamics. The BubbleML dataset and its benchmarks serve as a catalyst for advancements in ML-driven research on multiphysics phase change phenomena, enabling the development and comparison of state-of-the-art techniques and models.
Multi-Agent Graph Reinforcement Learning based On-Demand Wireless Energy Transfer in Multi-UAV-aided IoT Network
Venue: arXiv cs.IT 2023
Year: 2023

This paper proposes a new on-demand wireless energy transfer (WET) scheme of multiple unmanned aerial vehicles (UAVs). Unlike the existing studies that simply pursuing the total or the minimum harvested energy maximization at the Internet of Things (IoT) devices, where the IoT devices' own energy requirements are barely considered, we propose a new metric called the hungry-level of energy (HoE), which reflects the time-varying energy demand of each IoT device based on the energy gap between its required energy and the harvested energy from the UAVs. With the purpose to minimize the overall HoE of the IoT devices whose energy requirements are not satisfied, we optimally determine all the UAVs' trajectories and WET decisions over time, under the practical mobility and energy constraints of the UAVs. Although the proposed problem is of high complexity to solve, by excavating the UAVs' self-attentions for their collaborative WET, we propose the multiagent graph reinforcement learning (MAGRL) based approach. Through the offline training of the MAGRL model, where the global training at the central controller guides the local training at each UAV agent, each UAV then distributively determines its trajectory and WET based on the well-trained local neural networks. Simulation results show that the proposed MAGRL-based approach outperforms various benchmarks for meeting the IoT devices' energy requirements.
The Unweighted and Weighted Reverse Shortest Path Problem for Disk Graphs
Venue: arXiv cs.CG 2023
Year: 2023

We study the reverse shortest path problem on disk graphs in the plane. In this problem we consider the proximity graph of a set of $n$ disks in the plane of arbitrary radii: In this graph two disks are connected if the distance between them is at most some threshold parameter $r$. The case of intersection graphs is a special case with $r=0$. We give an algorithm that, given a target length $k$, computes the smallest value of $r$ for which there is a path of length at most $k$ between some given pair of disks in the proximity graph. Our algorithm runs in $O^*(n^{5/4})$ randomized expected time, which improves to $O^*(n^{6/5})$ for unit disk graphs, where all the disks have the same radius. Our technique is robust and can be applied to many variants of the problem. One significant variant is the case of weighted proximity graphs, where edges are assigned real weights equal to the distance between the disks or between their centers, and $k$ is replaced by a target weight $w$; that is, we seek a path whose length is at most $w$. In other variants, we want to optimize a parameter different from $r$, such as a scale factor of the radii of the disks. The main technique for the decision version of the problem (determining whether the graph with a given $r$ has the desired property) is based on efficient implementations of BFS (for the unweighted case) and of Dijkstra's algorithm (for the weighted case), using efficient data structures for maintaining the bichromatic closest pair for certain bicliques and several distance functions. The optimization problem is then solved by combining the resulting decision procedure with enhanced variants of the interval shrinking and bifurcation technique of [4].
Space-Air-Ground Integrated Network (SAGIN): A Survey
Venue: arXiv cs.NI 2023
Year: 2023

Since existing mobile communication networks may not be able to meet the low latency and high-efficiency requirements of emerging technologies and applications, novel network architectures need to be investigated to support these new requirements. As a new network architecture that integrates satellite systems, air networks and ground communication, Space-Air-Ground Integrated Network (SAGIN) has attracted extensive attention in recent years. This paper summarizes the recent research work on SAGIN from several aspects, with the basic information of SAGIN first introduced, followed by the physical characteristics. Then the drive and prospects of the current SAGIN architecture in supporting new requirements are deeply analyzed. On this basis, the requirements and challenges are analyzed. Finally, it summarizes the existing solutions and prospects the future research directions.
Evaluating Generative Models for Graph-to-Text Generation
Venue: arXiv cs.CL 2023
Year: 2023

Large language models (LLMs) have been widely employed for graph-to-text generation tasks. However, the process of finetuning LLMs requires significant training resources and annotation work. In this paper, we explore the capability of generative models to generate descriptive text from graph data in a zero-shot setting. Specifically, we evaluate GPT-3 and ChatGPT on two graph-to-text datasets and compare their performance with that of finetuned LLM models such as T5 and BART. Our results demonstrate that generative models are capable of generating fluent and coherent text, achieving BLEU scores of 10.57 and 11.08 for the AGENDA and WebNLG datasets, respectively. However, our error analysis reveals that generative models still struggle with understanding the semantic relations between entities, and they also tend to generate text with hallucinations or irrelevant information. As a part of error analysis, we utilize BERT to detect machine-generated text and achieve high macro-F1 scores. We have made the text generated by generative models publicly available.
StubCoder: Automated Generation and Repair of Stub Code for Mock Objects
Venue: arXiv cs.SE 2023
Year: 2023

Mocking is an essential unit testing technique for isolating the class under test (CUT) from its dependencies. Developers often leverage mocking frameworks to develop stub code that specifies the behaviors of mock objects. However, developing and maintaining stub code is labor-intensive and error-prone. In this paper, we present StubCoder to automatically generate and repair stub code for regression testing. StubCoder implements a novel evolutionary algorithm that synthesizes test-passing stub code guided by the runtime behavior of test cases. We evaluated our proposed approach on 59 test cases from 13 open-source projects. Our evaluation results show that StubCoder can effectively generate stub code for incomplete test cases without stub code and repair obsolete test cases with broken stub code.
Turning Whisper into Real-Time Transcription System
Venue: arXiv cs.CL 2023
Year: 2023

Whisper is one of the recent state-of-the-art multilingual speech recognition and translation models, however, it is not designed for real time transcription. In this paper, we build on top of Whisper and create Whisper-Streaming, an implementation of real-time speech transcription and translation of Whisper-like models. Whisper-Streaming uses local agreement policy with self-adaptive latency to enable streaming transcription. We show that Whisper-Streaming achieves high quality and 3.3 seconds latency on unsegmented long-form speech transcription test set, and we demonstrate its robustness and practical usability as a component in live transcription service at a multilingual conference.
Using Gameplay Videos for Detecting Issues in Video Games
Venue: arXiv cs.SE 2023
Year: 2023

Context. The game industry is increasingly growing in recent years. Every day, millions of people play video games, not only as a hobby, but also for professional competitions (e.g., e-sports or speed-running) or for making business by entertaining others (e.g., streamers). The latter daily produce a large amount of gameplay videos in which they also comment live what they experience. But no software and, thus, no video game is perfect: Streamers may encounter several problems (such as bugs, glitches, or performance issues) while they play. Also, it is unlikely that they explicitly report such issues to developers. The identified problems may negatively impact the user's gaming experience and, in turn, can harm the reputation of the game and of the producer. Objective. In this paper, we propose and empirically evaluate GELID, an approach for automatically extracting relevant information from gameplay videos by (i) identifying video segments in which streamers experienced anomalies; (ii) categorizing them based on their type (e.g., logic or presentation); clustering them based on (iii) the context in which appear (e.g., level or game area) and (iv) on the specific issue type (e.g., game crashes). Method. We manually defined a training set for step 2 of GELID (categorization) and a test set for validating in isolation the four components of GELID. In total, we manually segmented, labeled, and clustered 170 videos related to 3 video games, defining a dataset containing 604 segments. Results. While in steps 1 (segmentation) and 4 (specific issue clustering) GELID achieves satisfactory results, it shows limitations on step 3 (game context clustering) and, above all, step 2 (categorization).
Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion
Venue: arXiv cs.RO 2023
Year: 2023

This extended abstract provides a short introduction on our recently developed perception-based controller for quadrupedal locomotion. Compared to our previous approach based on Visual Foothold Adaptation (VFA) and Model Predictive Control (MPC), our new framework combines a fast approximation of the safe foothold regions based on Neural Network regression, followed by a convex decomposition routine in order to generate safe landing areas where the controller can freely optimize the footholds location. The aforementioned framework, which combines prediction, convex decomposition, and MPC solution, is tested in simulation on our 140kg hydraulic quadruped robot (HyQReal).
pCTFusion: Point Convolution-Transformer Fusion with Semantic Aware Loss for Outdoor LiDAR Point Cloud Segmentation
Venue: arXiv cs.CV 2023
Year: 2023

LiDAR-generated point clouds are crucial for perceiving outdoor environments. The segmentation of point clouds is also essential for many applications. Previous research has focused on using self-attention and convolution (local attention) mechanisms individually in semantic segmentation architectures. However, there is limited work on combining the learned representations of these attention mechanisms to improve performance. Additionally, existing research that combines convolution with self-attention relies on global attention, which is not practical for processing large point clouds. To address these challenges, this study proposes a new architecture, pCTFusion, which combines kernel-based convolutions and self-attention mechanisms for better feature learning and capturing local and global dependencies in segmentation. The proposed architecture employs two types of self-attention mechanisms, local and global, based on the hierarchical positions of the encoder blocks. Furthermore, the existing loss functions do not consider the semantic and position-wise importance of the points, resulting in reduced accuracy, particularly at sharp class boundaries. To overcome this, the study models a novel attention-based loss function called Pointwise Geometric Anisotropy (PGA), which assigns weights based on the semantic distribution of points in a neighborhood. The proposed architecture is evaluated on SemanticKITTI outdoor dataset and showed a 5-7% improvement in performance compared to the state-of-the-art architectures. The results are particularly encouraging for minor classes, often misclassified due to class imbalance, lack of space, and neighbor-aware feature encoding. These developed methods can be leveraged for the segmentation of complex datasets and can drive real-world applications of LiDAR point cloud.
Self-stabilizing Byzantine-tolerant Recycling
Venue: arXiv cs.DC 2023
Year: 2023

Numerous distributed applications, such as cloud computing and distributed ledgers, necessitate the system to invoke asynchronous consensus objects an unbounded number of times, where the completion of one consensus instance is followed by the invocation of another. With only a constant number of objects available, object reuse becomes vital. We investigate the challenge of object recycling in the presence of Byzantine processes, which can deviate from the algorithm code in any manner. Our solution must also be self-stabilizing, as it is a powerful notion of fault tolerance. Self-stabilizing systems can recover automatically after the occurrence of arbitrary transient faults, in addition to tolerating communication and (Byzantine or crash) process failures, provided the algorithm code remains intact. We provide a recycling mechanism for asynchronous objects that enables their reuse once their task has ended, and all non-faulty processes have retrieved the decided values. This mechanism relies on synchrony assumptions and builds on a new self-stabilizing Byzantine-tolerant synchronous multivalued consensus algorithm, along with a novel composition of existing techniques.
Quantum Computer Simulations at Warp Speed: Assessing the Impact of GPU Acceleration
Venue: arXiv cs.PF 2023
Year: 2023

Quantum computer simulators are crucial for the development of quantum computing. In this work, we investigate the suitability and performance impact of GPU and multi-GPU systems on a widely used simulation tool - the state vector simulator Qiskit Aer. In particular, we evaluate the performance of both Qiskit's default Nvidia Thrust backend and the recent Nvidia cuQuantum backend on Nvidia A100 GPUs. We provide a benchmark suite of representative quantum applications for characterization. For simulations with a large number of qubits, the two GPU backends can provide up to 14x speedup over the CPU backend, with Nvidia cuQuantum providing further 1.5-3x speedup over the default Thrust backend. Our evaluation on a single GPU identifies the most important functions in Nvidia Thrust and cuQuantum for different quantum applications and their compute and memory bottlenecks. We also evaluate the gate fusion and cache-blocking optimizations on different quantum applications. Finally, we evaluate large-number qubit quantum applications on multi-GPU and identify data movement between host and GPU as the limiting factor for the performance.
Low-Latency Massive Access with Multicast Wake Up Radio
Venue: arXiv cs.NI 2023
Year: 2023

The use of Wake-Up Radio (WUR) in Internet of Things (IoT) networks can significantly improve their energy efficiency: battery-powered sensors can remain in a low-power (sleep) mode while listening for wake-up messages using their WUR and reactivate only when polled, saving energy. However, polling-based Time Division Multiple Access (TDMA) may significantly increase data transmission delay if packets are generated sporadically, as nodes with no information still need to be polled. In this paper, we examine the effect of multicast polling for WUR-enabled wireless nodes. The idea is to assign nodes to multicast groups so that all nodes in the same group can be solicited by a multicast polling message. This may cause collisions, which can be solved by requesting retransmissions from the involved nodes. We analyze the performance of different multicast polling and retransmission strategies, showing that the optimal approach can significantly reduce the delay over TDMA and ALOHA in low-traffic scenarios while keeping good energy efficiency.
Benchmarking Performance of Deep Learning Model for Material Segmentation on Two HPC Systems
Venue: arXiv cs.PF 2023
Year: 2023

Performance Benchmarking of HPC systems is an ongoing effort that seeks to provide information that will allow for increased performance and improve the job schedulers that manage these systems. We develop a benchmarking tool that utilizes machine learning models and gathers performance data on GPU-accelerated nodes while they perform material segmentation analysis. The benchmark uses a ML model that has been converted from Caffe to PyTorch using the MMdnn toolkit and the MINC-2500 dataset. Performance data is gathered on two ERDC DSRC systems, Onyx and Vulcanite. The data reveals that while Vulcanite has faster model times in a large number of benchmarks, and it is also more subject to some environmental factors that can cause performances slower than Onyx. In contrast the model times from Onyx are consistent across benchmarks.
Federated Model Aggregation via Self-Supervised Priors for Highly Imbalanced Medical Image Classification
Venue: arXiv cs.CV 2023
Year: 2023

In the medical field, federated learning commonly deals with highly imbalanced datasets, including skin lesions and gastrointestinal images. Existing federated methods under highly imbalanced datasets primarily focus on optimizing a global model without incorporating the intra-class variations that can arise in medical imaging due to different populations, findings, and scanners. In this paper, we study the inter-client intra-class variations with publicly available self-supervised auxiliary networks. Specifically, we find that employing a shared auxiliary pre-trained model, like MoCo-V2, locally on every client yields consistent divergence measurements. Based on these findings, we derive a dynamic balanced model aggregation via self-supervised priors (MAS) to guide the global model optimization. Fed-MAS can be utilized with different local learning methods for effective model aggregation toward a highly robust and unbiased global model. Our code is available at \url{https://github.com/xmed-lab/Fed-MAS}.