OpenRaiser/Intern-Atlas huggingface dataset:
Deep reinforcement learning applied to an assembly sequence planning problem with user preferences
Venue: arXiv cs.LG 2023
Year: 2023

Deep reinforcement learning (DRL) has demonstrated its potential in solving complex manufacturing decision-making problems, especially in a context where the system learns over time with actual operation in the absence of training data. One interesting and challenging application for such methods is the assembly sequence planning (ASP) problem. In this paper, we propose an approach to the implementation of DRL methods in ASP. The proposed approach introduces in the RL environment parametric actions to improve training time and sample efficiency and uses two different reward signals: (1) user's preferences and (2) total assembly time duration. The user's preferences signal addresses the difficulties and non-ergonomic properties of the assembly faced by the human and the total assembly time signal enforces the optimization of the assembly. Three of the most powerful deep RL methods were studied, Advantage Actor-Critic (A2C), Deep Q-Learning (DQN), and Rainbow, in two different scenarios: a stochastic and a deterministic one. Finally, the performance of the DRL algorithms was compared to tabular Q-Learnings performance. After 10,000 episodes, the system achieved near optimal behaviour for the algorithms tabular Q-Learning, A2C, and Rainbow. Though, for more complex scenarios, the algorithm tabular Q-Learning is expected to underperform in comparison to the other 2 algorithms. The results support the potential for the application of deep reinforcement learning in assembly sequence planning problems with human interaction.
A model of communication-enabled traffic interactions
Venue: arXiv cs.HC 2023
Year: 2023

A major challenge for autonomous vehicles is handling interactive scenarios, such as highway merging, with human-driven vehicles. A better understanding of human interactive behaviour could help address this challenge. Such understanding could be obtained through modelling human behaviour. However, existing modelling approaches predominantly neglect communication between drivers and assume that some drivers in the interaction only respond to others, but do not actively influence them. Here we argue that addressing these two limitations is crucial for accurate modelling of interactions. We propose a new computational framework addressing these limitations. Similar to game-theoretic approaches, we model the interaction in an integral way rather than modelling an isolated driver who only responds to their environment. Contrary to game theory, our framework explicitly incorporates communication and bounded rationality. We demonstrate the model in a simplified merging scenario, illustrating that it generates plausible interactive behaviour (e.g., aggressive and conservative merging). Furthermore, human-like gap-keeping behaviour emerged in a car-following scenario directly from risk perception without the explicit implementation of time or distance gaps in the model's decision-making. These results suggest that our framework is a promising approach to interaction modelling that can support the development of interaction-aware autonomous vehicles.
Bidirectional UML Visualisation of VDM Models
Venue: arXiv cs.SE 2023
Year: 2023

The VDM-PlantUML Plugin enables translations between the text based UML tool PlantUML and VDM++ and has been released as a part of the VDM VSCode extension. This enhances already extensive feature-set of VDM VSCode with support for UML. The link between VDM and UML is thoroughly described with a set of translation rules that serve as the base of the implementation of the translation plugin. This is however still an early rendition of the plugin with limited usability due to the loss of information between translations and a lack of workflow optimisations, which we plan to solve in the future.
Class-Incremental Learning of Plant and Disease Detection: Growing Branches with Knowledge Distillation
Venue: arXiv cs.CV 2023
Year: 2023

This paper investigates the problem of class-incremental object detection for agricultural applications where a model needs to learn new plant species and diseases incrementally without forgetting the previously learned ones. We adapt two public datasets to include new categories over time, simulating a more realistic and dynamic scenario. We then compare three class-incremental learning methods that leverage different forms of knowledge distillation to mitigate catastrophic forgetting. Our experiments show that all three methods suffer from catastrophic forgetting, but the Dynamic Y-KD approach, which additionally uses a dynamic architecture that grows new branches to learn new tasks, outperforms ILOD and Faster-ILOD in most settings both on new and old classes. These results highlight the challenges and opportunities of continual object detection for agricultural applications. In particular, we hypothesize that the large intra-class and small inter-class variability that is typical of plant images exacerbate the difficulty of learning new categories without interfering with previous knowledge. We publicly release our code to encourage future work.
Exploring the State of the Art in Legal QA Systems
Venue: arXiv cs.CL 2023
Year: 2023

Answering questions related to the legal domain is a complex task, primarily due to the intricate nature and diverse range of legal document systems. Providing an accurate answer to a legal query typically necessitates specialized knowledge in the relevant domain, which makes this task all the more challenging, even for human experts. Question answering (QA) systems are designed to generate answers to questions asked in human languages. QA uses natural language processing to understand questions and search through information to find relevant answers. QA has various practical applications, including customer service, education, research, and cross-lingual communication. However, QA faces challenges such as improving natural language understanding and handling complex and ambiguous questions. Answering questions related to the legal domain is a complex task, primarily due to the intricate nature and diverse range of legal document systems. Providing an accurate answer to a legal query typically necessitates specialized knowledge in the relevant domain, which makes this task all the more challenging, even for human experts. At this time, there is a lack of surveys that discuss legal question answering. To address this problem, we provide a comprehensive survey that reviews 14 benchmark datasets for question-answering in the legal field as well as presents a comprehensive review of the state-of-the-art Legal Question Answering deep learning models. We cover the different architectures and techniques used in these studies and the performance and limitations of these models. Moreover, we have established a public GitHub repository where we regularly upload the most recent articles, open data, and source code. The repository is available at: \url{https://github.com/abdoelsayed2016/Legal-Question-Answering-Review}.
Improving novelty detection with generative adversarial networks on hand gesture data
Venue: arXiv cs.LG 2023
Year: 2023

We propose a novel way of solving the issue of classification of out-of-vocabulary gestures using Artificial Neural Networks (ANNs) trained in the Generative Adversarial Network (GAN) framework. A generative model augments the data set in an online fashion with new samples and stochastic target vectors, while a discriminative model determines the class of the samples. The approach was evaluated on the UC2017 SG and UC2018 DualMyo data sets. The generative models performance was measured with a distance metric between generated and real samples. The discriminative models were evaluated by their accuracy on trained and novel classes. In terms of sample generation quality, the GAN is significantly better than a random distribution (noise) in mean distance, for all classes. In the classification tests, the baseline neural network was not capable of identifying untrained gestures. When the proposed methodology was implemented, we found that there is a trade-off between the detection of trained and untrained gestures, with some trained samples being mistaken as novelty. Nevertheless, a novelty detection accuracy of 95.4% or 90.2% (depending on the data set) was achieved with just 5% loss of accuracy on trained classes.
RoboBEV: Towards Robust Bird's Eye View Perception under Corruptions
Venue: arXiv cs.CV 2023
Year: 2023

The recent advances in camera-based bird's eye view (BEV) representation exhibit great potential for in-vehicle 3D perception. Despite the substantial progress achieved on standard benchmarks, the robustness of BEV algorithms has not been thoroughly examined, which is critical for safe operations. To bridge this gap, we introduce RoboBEV, a comprehensive benchmark suite that encompasses eight distinct corruptions, including Bright, Dark, Fog, Snow, Motion Blur, Color Quant, Camera Crash, and Frame Lost. Based on it, we undertake extensive evaluations across a wide range of BEV-based models to understand their resilience and reliability. Our findings indicate a strong correlation between absolute performance on in-distribution and out-of-distribution datasets. Nonetheless, there are considerable variations in relative performance across different approaches. Our experiments further demonstrate that pre-training and depth-free BEV transformation has the potential to enhance out-of-distribution robustness. Additionally, utilizing long and rich temporal information largely helps with robustness. Our findings provide valuable insights for designing future BEV models that can achieve both accuracy and robustness in real-world deployments.
Introduction to Presentation Attack Detection in Fingerprint Biometrics
Venue: arXiv cs.CR 2023
Year: 2023

This chapter provides an introduction to Presentation Attack Detection (PAD) in fingerprint biometrics, also coined anti-spoofing, describes early developments in this field, and briefly summarizes recent trends and open issues.
Meta-Learned Models of Cognition
Venue: arXiv cs.AI 2023
Year: 2023

Meta-learning is a framework for learning learning algorithms through repeated interactions with an environment as opposed to designing them by hand. In recent years, this framework has established itself as a promising tool for building models of human cognition. Yet, a coherent research program around meta-learned models of cognition is still missing. The purpose of this article is to synthesize previous work in this field and establish such a research program. We rely on three key pillars to accomplish this goal. We first point out that meta-learning can be used to construct Bayes-optimal learning algorithms. This result not only implies that any behavioral phenomenon that can be explained by a Bayesian model can also be explained by a meta-learned model but also allows us to draw strong connections to the rational analysis of cognition. We then discuss several advantages of the meta-learning framework over traditional Bayesian methods. In particular, we argue that meta-learning can be applied to situations where Bayesian inference is impossible and that it enables us to make rational models of cognition more realistic, either by incorporating limited computational resources or neuroscientific knowledge. Finally, we reexamine prior studies from psychology and neuroscience that have applied meta-learning and put them into the context of these new insights. In summary, our work highlights that meta-learning considerably extends the scope of rational analysis and thereby of cognitive theories more generally.
ChatGPT cites the most-cited articles and journals, relying solely on Google Scholar's citation counts. As a result, AI may amplify the Matthew Effect in environmental science
Venue: arXiv cs.DL 2023
Year: 2023

ChatGPT (GPT) has become one of the most talked-about innovations in recent years, with over 100 million users worldwide. However, there is still limited knowledge about the sources of information GPT utilizes. As a result, we carried out a study focusing on the sources of information within the field of environmental science. In our study, we asked GPT to identify the ten most significant subdisciplines within the field of environmental science. We then asked it to compose a scientific review article on each subdiscipline, including 25 references. We proceeded to analyze these references, focusing on factors such as the number of citations, publication date, and the journal in which the work was published. Our findings indicate that GPT tends to cite highly-cited publications in environmental science, with a median citation count of 1184.5. It also exhibits a preference for older publications, with a median publication year of 2010, and predominantly refers to well-respected journals in the field, with Nature being the most cited journal by GPT. Interestingly, our findings suggest that GPT seems to exclusively rely on citation count data from Google Scholar for the works it cites, rather than utilizing citation information from other scientific databases such as Web of Science or Scopus. In conclusion, our study suggests that Google Scholar citations play a significant role as a predictor for mentioning a study in GPT-generated content. This finding reinforces the dominance of Google Scholar among scientific databases and perpetuates the Matthew Effect in science, where the rich get richer in terms of citations. With many scholars already utilizing GPT for literature review purposes, we can anticipate further disparities and an expanding gap between lesser-cited and highly-cited publications.
DGNN-Booster: A Generic FPGA Accelerator Framework For Dynamic Graph Neural Network Inference
Venue: arXiv cs.AR 2023
Year: 2023

Dynamic Graph Neural Networks (DGNNs) are becoming increasingly popular due to their effectiveness in analyzing and predicting the evolution of complex interconnected graph-based systems. However, hardware deployment of DGNNs still remains a challenge. First, DGNNs do not fully utilize hardware resources because temporal data dependencies cause low hardware parallelism. Additionally, there is currently a lack of generic DGNN hardware accelerator frameworks, and existing GNN accelerator frameworks have limited ability to handle dynamic graphs with changing topologies and node features. To address the aforementioned challenges, in this paper, we propose DGNN-Booster, which is a novel Field-Programmable Gate Array (FPGA) accelerator framework for real-time DGNN inference using High-Level Synthesis (HLS). It includes two different FPGA accelerator designs with different dataflows that can support the most widely used DGNNs. We showcase the effectiveness of our designs by implementing and evaluating two representative DGNN models on ZCU102 board and measuring the end-to-end performance. The experiment results demonstrate that DGNN-Booster can achieve a speedup of up to 5.6x compared to the CPU baseline (6226R), 8.4x compared to the GPU baseline (A6000) and 2.1x compared to the FPGA baseline without applying optimizations proposed in this paper. Moreover, DGNN-Booster can achieve over 100x and over 1000x runtime energy efficiency than the CPU and GPU baseline respectively. Our implementation code and on-board measurements are publicly available at https://github.com/sharc-lab/DGNN-Booster.
Automated Translation and Accelerated Solving of Differential Equations on Multiple GPU Platforms
Venue: arXiv cs.DC 2023
Year: 2023

We demonstrate a high-performance vendor-agnostic method for massively parallel solving of ensembles of ordinary differential equations (ODEs) and stochastic differential equations (SDEs) on GPUs. The method is integrated with a widely used differential equation solver library in a high-level language (Julia's DifferentialEquations.jl) and enables GPU acceleration without requiring code changes by the user. Our approach achieves state-of-the-art performance compared to hand-optimized CUDA-C++ kernels while performing 20--100$\times$ faster than the vectorizing map (vmap) approach implemented in JAX and PyTorch. Performance evaluation on NVIDIA, AMD, Intel, and Apple GPUs demonstrates performance portability and vendor-agnosticism. We show composability with MPI to enable distributed multi-GPU workflows. The implemented solvers are fully featured -- supporting event handling, automatic differentiation, and incorporation of datasets via the GPU's texture memory -- allowing scientists to take advantage of GPU acceleration on all major current architectures without changing their model code and without loss of performance. We distribute the software as an open-source library https://github.com/SciML/DiffEqGPU.jl
Neural Network Architectures for Optical Channel Nonlinear Compensation in Digital Subcarrier Multiplexing Systems
Venue: arXiv cs.IT 2023
Year: 2023

In this work, we propose to use various artificial neural network (ANN) structures for modeling and compensation of intra- and inter-subcarrier fiber nonlinear interference in digital subcarrier multiplexing (DSCM) optical transmission systems. We perform nonlinear channel equalization by employing different ANN cores including convolutional neural networks (CNN) and long short-term memory (LSTM) layers. We start to compensate the fiber nonlinearity distortion in DSCM systems by a fully connected network across all subcarriers. In subsequent steps, and borrowing from fiber nonlinearity analysis, we gradually upgrade the designs towards modular structures with better performance-complexity advantages. Our study shows that putting proper macro structures in design of ANN nonlinear equalizers in DSCM systems can be crucial for practical solutions in future generations of coherent optical transceivers.
Evaluation of Social Biases in Recent Large Pre-Trained Models
Venue: arXiv cs.CL 2023
Year: 2023

Large pre-trained language models are widely used in the community. These models are usually trained on unmoderated and unfiltered data from open sources like the Internet. Due to this, biases that we see in platforms online which are a reflection of those in society are in turn captured and learned by these models. These models are deployed in applications that affect millions of people and their inherent biases are harmful to the targeted social groups. In this work, we study the general trend in bias reduction as newer pre-trained models are released. Three recent models ( ELECTRA, DeBERTa, and DistilBERT) are chosen and evaluated against two bias benchmarks, StereoSet and CrowS-Pairs. They are compared to the baseline of BERT using the associated metrics. We explore whether as advancements are made and newer, faster, lighter models are released: are they being developed responsibly such that their inherent social biases have been reduced compared to their older counterparts? The results are compiled and we find that all the models under study do exhibit biases but have generally improved as compared to BERT.
Adaptive Safety-critical Control with Uncertainty Estimation for Human-robot Collaboration
Venue: arXiv cs.RO 2023
Year: 2023

In advanced manufacturing, strict safety guarantees are required to allow humans and robots to work together in a shared workspace. One of the challenges in this application field is the variety and unpredictability of human behavior, leading to potential dangers for human coworkers. This paper presents a novel control framework by adopting safety-critical control and uncertainty estimation for human-robot collaboration. Additionally, to select the shortest path during collaboration, a novel quadratic penalty method is presented. The innovation of the proposed approach is that the proposed controller will prevent the robot from violating any safety constraints even in cases where humans move accidentally in a collaboration task. This is implemented by the combination of a time-varying integral barrier Lyapunov function (TVIBLF) and an adaptive exponential control barrier function (AECBF) to achieve a flexible mode switch between path tracking and collision avoidance with guaranteed closed-loop system stability. The performance of our approach is demonstrated in simulation studies on a 7-DOF robot manipulator. Additionally, a comparison between the tasks involving static and dynamic targets is provided.
One-Shot Stylization for Full-Body Human Images
Venue: arXiv cs.CV 2023
Year: 2023

The goal of human stylization is to transfer full-body human photos to a style specified by a single art character reference image. Although previous work has succeeded in example-based stylization of faces and generic scenes, full-body human stylization is a more complex domain. This work addresses several unique challenges of stylizing full-body human images. We propose a method for one-shot fine-tuning of a pose-guided human generator to preserve the "content" (garments, face, hair, pose) of the input photo and the "style" of the artistic reference. Since body shape deformation is an essential component of an art character's style, we incorporate a novel skeleton deformation module to reshape the pose of the input person and modify the DiOr pose-guided person generator to be more robust to the rescaled poses falling outside the distribution of the realistic poses that the generator is originally trained on. Several human studies verify the effectiveness of our approach.
Self-Supervised Scene Dynamic Recovery from Rolling Shutter Images and Events
Venue: arXiv cs.CV 2023
Year: 2023

Scene Dynamic Recovery (SDR) by inverting distorted Rolling Shutter (RS) images to an undistorted high frame-rate Global Shutter (GS) video is a severely ill-posed problem due to the missing temporal dynamic information in both RS intra-frame scanlines and inter-frame exposures, particularly when prior knowledge about camera/object motions is unavailable. Commonly used artificial assumptions on scenes/motions and data-specific characteristics are prone to producing sub-optimal solutions in real-world scenarios. To address this challenge, we propose an event-based SDR network within a self-supervised learning paradigm, i.e., SelfUnroll. We leverage the extremely high temporal resolution of event cameras to provide accurate inter/intra-frame dynamic information. Specifically, an Event-based Inter/intra-frame Compensator (E-IC) is proposed to predict the per-pixel dynamic between arbitrary time intervals, including the temporal transition and spatial translation. Exploring connections in terms of RS-RS, RS-GS, and GS-RS, we explicitly formulate mutual constraints with the proposed E-IC, resulting in supervisions without ground-truth GS images. Extensive evaluations over synthetic and real datasets demonstrate that the proposed method achieves state-of-the-art and shows remarkable performance for event-based RS2GS inversion in real-world scenarios. The dataset and code are available at https://w3un.github.io/selfunroll/.
Classification of social media Toxic comments using Machine learning models
Venue: arXiv cs.LG 2023
Year: 2023

The abstract outlines the problem of toxic comments on social media platforms, where individuals use disrespectful, abusive, and unreasonable language that can drive users away from discussions. This behavior is referred to as anti-social behavior, which occurs during online debates, comments, and fights. The comments containing explicit language can be classified into various categories, such as toxic, severe toxic, obscene, threat, insult, and identity hate. This behavior leads to online harassment and cyberbullying, which forces individuals to stop expressing their opinions and ideas. To protect users from offensive language, companies have started flagging comments and blocking users. The abstract proposes to create a classifier using an Lstm-cnn model that can differentiate between toxic and non-toxic comments with high accuracy. The classifier can help organizations examine the toxicity of the comment section better.