OpenRaiser/Intern-Atlas huggingface dataset:
CNNs with Multi-Level Attention for Domain Generalization
Venue: arXiv cs.CV 2023
Year: 2023

In the past decade, deep convolutional neural networks have achieved significant success in image classification and ranking and have therefore found numerous applications in multimedia content retrieval. Still, these models suffer from performance degradation when neural networks are tested on out-of-distribution scenarios or on data originating from previously unseen data Domains. In the present work, we focus on this problem of Domain Generalization and propose an alternative neural network architecture for robust, out-of-distribution image classification. We attempt to produce a model that focuses on the causal features of the depicted class for robust image classification in the Domain Generalization setting. To achieve this, we propose attending to multiple-levels of information throughout a Convolutional Neural Network and leveraging the most important attributes of an image by employing trainable attention mechanisms. To validate our method, we evaluate our model on four widely accepted Domain Generalization benchmarks, on which our model is able to surpass previously reported baselines in three out of four datasets and achieve the second best score in the fourth one.
Large Language Models are Few-shot Publication Scoopers
Venue: arXiv cs.DL 2023
Year: 2023

Driven by recent advances AI, we passengers are entering a golden age of scientific discovery. But golden for whom? Confronting our insecurity that others may beat us to the most acclaimed breakthroughs of the era, we propose a novel solution to the long-standing personal credit assignment problem to ensure that it is golden for us. At the heart of our approach is a pip-to-the-post algorithm that assures adulatory Wikipedia pages without incurring the substantial capital and career risks of pursuing high impact science with conventional research methodologies. By leveraging the meta trend of leveraging large language models for everything, we demonstrate the unparalleled potential of our algorithm to scoop groundbreaking findings with the insouciance of a seasoned researcher at a dessert buffet.
S2CTrans: Building a bridge from SPARQL to Cypher
Venue: arXiv cs.DB 2023
Year: 2023

In graph data applications, data is primarily maintained using two models: RDF (Resource Description Framework) and property graph. The property graph model is widely adopted by industry, leading to property graph databases generally outperforming RDF databases in graph traversal query performance. However, users often prefer SPARQL as their query language, as it is the W3C's recommended standard. Consequently, exploring SPARQL-to-Property-Graph-Query-Language translation is crucial for enhancing graph query language interoperability and enabling effective querying of property graphs using SPARQL. Despite the substantial differences in semantic representation and processing logic between SPARQL and property graph query languages like Cypher, this paper demonstrates the feasibility of translating SPARQL to Cypher for graph traversal queries using graph relational algebra. We present the S2CTrans framework, which achieves SPARQL-to-Cypher translation while preserving the original semantics. Experimental results with the Berlin SPARQL Benchmark (BSBM) datasets show that S2CTrans successfully converts most SELECT queries in the SPARQL 1.1 specification into type-safe Cypher statements, maintaining result consistency and improving the efficiency of data querying using SPARQL.
Semi-supervised Neural Machine Translation with Consistency Regularization for Low-Resource Languages
Venue: arXiv cs.CL 2023
Year: 2023

The advent of deep learning has led to a significant gain in machine translation. However, most of the studies required a large parallel dataset which is scarce and expensive to construct and even unavailable for some languages. This paper presents a simple yet effective method to tackle this problem for low-resource languages by augmenting high-quality sentence pairs and training NMT models in a semi-supervised manner. Specifically, our approach combines the cross-entropy loss for supervised learning with KL Divergence for unsupervised fashion given pseudo and augmented target sentences derived from the model. We also introduce a SentenceBERT-based filter to enhance the quality of augmenting data by retaining semantically similar sentence pairs. Experimental results show that our approach significantly improves NMT baselines, especially on low-resource datasets with 0.46--2.03 BLEU scores. We also demonstrate that using unsupervised training for augmented data is more efficient than reusing the ground-truth target sentences for supervised learning.
An End-to-End Human Simulator for Task-Oriented Multimodal Human-Robot Collaboration
Venue: arXiv cs.RO 2023
Year: 2023

This paper proposes a neural network-based user simulator that can provide a multimodal interactive environment for training Reinforcement Learning (RL) agents in collaborative tasks involving multiple modes of communication. The simulator is trained on the existing ELDERLY-AT-HOME corpus and accommodates multiple modalities such as language, pointing gestures, and haptic-ostensive actions. The paper also presents a novel multimodal data augmentation approach, which addresses the challenge of using a limited dataset due to the expensive and time-consuming nature of collecting human demonstrations. Overall, the study highlights the potential for using RL and multimodal user simulators in developing and improving domestic assistive robots.
Online variable-length source coding for minimum bitrate LQG control
Venue: arXiv cs.IT 2023
Year: 2023

We propose an adaptive coding approach to achieve linear-quadratic-Gaussian (LQG) control with near-minimum bitrate prefix-free feedback. Our approach combines a recent analysis of a quantizer design for minimum rate LQG control with work on universal lossless source coding for sources on countable alphabets. In the aforementioned quantizer design, it was established that the quantizer outputs are an asymptotically stationary, ergodic process. To enable LQG control with provably near-minimum bitrate, the quantizer outputs must be encoded into binary codewords efficiently. This is possible given knowledge of the probability distributions of the quantizer outputs, or of their limiting distribution. Obtaining such knowledge is challenging; the distributions do not readily admit closed form descriptions. This motivates the application of universal source coding. Our main theoretical contribution in this work is a proof that (after an invertible transformation), the quantizer outputs are random variables that fall within an exponential or power-law envelope class (depending on the plant dimension). Using ideas from universal coding on envelope classes, we develop a practical, zero-delay version of these algorithms that operates with fixed precision arithmetic. We evaluate the performance of this algorithm numerically, and demonstrate competitive results with respect to fundamental tradeoffs between bitrate and LQG control performance.
Constructive Assimilation: Boosting Contrastive Learning Performance through View Generation Strategies
Venue: arXiv cs.CV 2023
Year: 2023

Transformations based on domain expertise (expert transformations), such as random-resized-crop and color-jitter, have proven critical to the success of contrastive learning techniques such as SimCLR. Recently, several attempts have been made to replace such domain-specific, human-designed transformations with generated views that are learned. However for imagery data, so far none of these view-generation methods has been able to outperform expert transformations. In this work, we tackle a different question: instead of replacing expert transformations with generated views, can we constructively assimilate generated views with expert transformations? We answer this question in the affirmative and propose a view generation method and a simple, effective assimilation method that together improve the state-of-the-art by up to ~3.6% on three different datasets. Importantly, we conduct a detailed empirical study that systematically analyzes a range of view generation and assimilation methods and provides a holistic picture of the efficacy of learned views in contrastive representation learning.
Links Assignment Scheme based on Potential Edges Importance in Dual-layer Wavelength Routing Optical Satellite Networks
Venue: arXiv cs.NI 2023
Year: 2023

With the development of the massive satellite constellation and the on-orbit laser-based communication equipment, the wavelength routing optical satellite network (WROSN) becomes a potential solution for on-orbit, high-capacity, and high-speed communication. Since the inter-satellite links (ISLs) are time-varying, one of the fundamental considerations in the construction of the WROSN is assigning limited laser communication terminals for each satellite to establish ISLs with the visible satellites. Therefore, we propose a links assignment scheme (LAS) based on the potential edges importance matrix (PEIM) algorithm to construct a temporarily stable topology of the ISLs for a dual-layer constellation. The simulation results showed that the LAS based on the PEIM algorithm is better than LAS based on the random or Greedy algorithm in terms of node-to-node distance, node pair connectivity, wavelength demand, and transmission delay. The node pair connectivity and wavelength demand in WROSN is a trade-off problem. The research in this paper also brings a novel method for reduction of the cost of the on-board resources, that is through designing topology of the ISLs with links assignment algorithm.
Security and Privacy for Low Power IoT Devices on 5G and Beyond Networks: Challenges and Future Directions
Venue: arXiv cs.CR 2023
Year: 2023

The growth in the use of small sensor devices, commonly known as the Internet of Things (IoT), has resulted in unprecedented amounts of data being generated and captured. With the rapidly growing popularity of personal IoT devices, the collection of personal data through such devices has also increased exponentially. To accommodate the anticipated growth in connected devices, researchers are now investigating futuristic network technologies that are capable of processing large volumes of information at much faster speeds. However, the introduction of innovative network technologies coupled with existing vulnerabilities of personal IoT devices and insufficient device security standards is resulting in new challenges for the security of data collected on these devices. While existing research has focused on the technical aspects of security vulnerabilities and solutions in either network or IoT technologies separately, this paper thoroughly investigates common aspects impacting IoT security on existing and futuristic networks, including human-centric issues and the mechanisms that can lead to loss of confidentiality. By undertaking a comprehensive literature review of existing research, this article has identified five key areas that impact IoT security for futuristic next generation networks. Furthermore, by extensively analysing each area, the article reports on conclusive findings and future research opportunities for IoT privacy and security for the next generation of network technologies.
Guaranteeing the Õ(AGM/OUT) Runtime for Uniform Sampling and OUT Size Estimation over Joins
Venue: arXiv cs.DB 2023
Year: 2023

We propose a new method for estimating the number of answers OUT of a small join query Q in a large database D, and for uniform sampling over joins. Our method is the first to satisfy all the following statements. - Support arbitrary Q, which can be either acyclic or cyclic, and contain binary and non-binary relations. - Guarantee an arbitrary small error with a high probability always in Õ(AGM/OUT) time, where AGM is the AGM bound OUT (an upper bound of OUT), and Õ hides the polylogarithmic factor of input size. We also explain previous join size estimators in a unified framework. All methods including ours rely on certain indexes on relations in D, which take linear time to build offline. Additionally, we extend our method using generalized hypertree decompositions (GHDs) to achieve a lower complexity than Õ(AGM/OUT) when OUT is small, and present optimization techniques for improving estimation efficiency and accuracy.
Exploring the Use of Large Language Models for Reference-Free Text Quality Evaluation: An Empirical Study
Venue: arXiv cs.CL 2023
Year: 2023

Evaluating the quality of generated text is a challenging task in NLP, due to the inherent complexity and diversity of text. Recently, large language models (LLMs) have garnered significant attention due to their impressive performance in various tasks. Therefore, we present this paper to investigate the effectiveness of LLMs, especially ChatGPT, and explore ways to optimize their use in assessing text quality. We compared three kinds of reference-free evaluation methods. The experimental results prove that ChatGPT is capable of evaluating text quality effectively from various perspectives without reference and demonstrates superior performance than most existing automatic metrics. In particular, the Explicit Score, which utilizes ChatGPT to generate a numeric score measuring text quality, is the most effective and reliable method among the three exploited approaches. However, directly comparing the quality of two texts may lead to suboptimal results. We believe this paper will provide valuable insights for evaluating text quality with LLMs and have released the used data.
Device Image-IV Mapping using Variational Autoencoder for Inverse Design and Forward Prediction
Venue: arXiv cs.LG 2023
Year: 2023

This paper demonstrates the learning of the underlying device physics by mapping device structure images to their corresponding Current-Voltage (IV) characteristics using a novel framework based on variational autoencoders (VAE). Since VAE is used, domain expertise is not required and the framework can be quickly deployed on any new device and measurement. This is expected to be useful in the compact modeling of novel devices when only device cross-sectional images and electrical characteristics are available (e.g. novel emerging memory). Technology Computer-Aided Design (TCAD) generated and hand-drawn Metal-Oxide-Semiconductor (MOS) device images and noisy drain-current-gate-voltage curves (IDVG) are used for the demonstration. The framework is formed by stacking two VAEs (one for image manifold learning and one for IDVG manifold learning) which communicate with each other through the latent variables. Five independent variables with different strengths are used. It is shown that it can perform inverse design (generate a design structure for a given IDVG) and forward prediction (predict IDVG for a given structure image, which can be used for compact modeling if the image is treated as device parameters) successfully. Since manifold learning is used, the machine is shown to be robust against noise in the inputs (i.e. using hand-drawn images and noisy IDVG curves) and not confused by weak and irrelevant independent variables.
Two-scale data-driven design for heat manipulation
Venue: arXiv cs.CE 2023
Year: 2023

Data-driven methods have gained increasing attention in computational mechanics and design. This study investigates a two-scale data-driven design for thermal metamaterials with various functionalities. To address the complexity of multiscale design, the design variables are chosen as the components of the homogenized thermal conductivity matrix originating from the lower scale unit cells. Multiple macroscopic functionalities including thermal cloak, thermal concentrator, thermal rotator/inverter, and their combinations, are achieved using the developed approach. Sensitivity analysis is performed to determine the effect of each design variable on the desired functionalities, which is then incorporated into topology optimization. Geometric extraction demonstrates an excellent matching between the optimized homogenized conductivity and the extraction from the constructed database containing both architecture and property information. The designed heterostructures exhibit multiple thermal meta-functionalities that can be applied to a wide range of heat transfer fields from personal computers to aerospace engineering.
Spot-the-Camel: Computer Vision for Safer Roads
Venue: arXiv cs.CV 2023
Year: 2023

As the population grows and more land is being used for urbanization, ecosystems are disrupted by our roads and cars. This expansion of infrastructure cuts through wildlife territories, leading to many instances of Wildlife-Vehicle Collision (WVC). These instances of WVC are a global issue that is having a global socio-economic impact, resulting in billions of dollars in property damage and, at times, fatalities for vehicle occupants. In Saudi Arabia, this issue is similar, with instances of Camel-Vehicle Collision (CVC) being particularly deadly due to the large size of camels, which results in a 25% fatality rate [1]. The focus of this work is to test different object detection models on the task of detecting camels on the road. The Deep Learning (DL) object detection models used in the experiments are: Center Net, Efficient Det, Faster R-CNN, SSD, and YOLOv8. Results of the experiments show that YOLOv8 performed the best in terms of accuracy and was the most efficient in training. In the future, the plan is to expand on this work by developing a system to make countryside roads safer.
Event-driven Fabric Blockchain -- ROS 2 Interface: Towards Secure and Auditable Teleoperation of Mobile Robots
Venue: arXiv cs.RO 2023
Year: 2023

The integration of blockchain technology in robotic systems has been met by the community with a combination of hype and skepticism. The current literature shows that there is indeed potential for more secure and trustable distributed robotic systems. However, it is still unclear in what aspects of robotics beyond high-level decision making can blockchain technology be indeed usable. This paper explores the limits of a permissioned blockchain framework, Hyperledger Fabric, for teleoperation. Remote operation of mobile robots can benefit from the auditability and security properties of a blockchain. We study the potential benefits and the main limitations of such an approach. We introduce a new design and implementation for a event-driven Fabric-ROS 2 bridge that is able to maintain lower latencies at higher network loads than previous solutions. We also show this opens the door to more realistic use cases and applications. Our experiments with small aerial robots show latencies in the hundreds of milliseconds and simultaneous control of both a single and multi-robot system. We analyze the main trade-offs and limitations for real-world near real-time remote teleoperation.
Disentangled Pre-training for Image Matting
Venue: arXiv cs.CV 2023
Year: 2023

Image matting requires high-quality pixel-level human annotations to support the training of a deep model in recent literature. Whereas such annotation is costly and hard to scale, significantly holding back the development of the research. In this work, we make the first attempt towards addressing this problem, by proposing a self-supervised pre-training approach that can leverage infinite numbers of data to boost the matting performance. The pre-training task is designed in a similar manner as image matting, where random trimap and alpha matte are generated to achieve an image disentanglement objective. The pre-trained model is then used as an initialisation of the downstream matting task for fine-tuning. Extensive experimental evaluations show that the proposed approach outperforms both the state-of-the-art matting methods and other alternative self-supervised initialisation approaches by a large margin. We also show the robustness of the proposed approach over different backbone architectures. Our project page is available at https://crystraldo.github.io/dpt_mat/.
LQR-CBF-RRT*: Safe and Optimal Motion Planning
Venue: arXiv cs.RO 2023
Year: 2023

We present LQR-CBF-RRT*, an incremental sampling-based algorithm for offline motion planning. Our framework leverages the strength of Control Barrier Functions (CBFs) and Linear Quadratic Regulators (LQR) to generate safety-critical and optimal trajectories for a robot with dynamics described by an affine control system. CBFs are used for safety guarantees, while LQRs are employed for optimal control synthesis during edge extensions. Popular CBF-based formulations for safety critical control require solving Quadratic Programs (QPs), which can be computationally expensive. Moreover, LQR-based controllers require repetitive applications of first-order Taylor approximations for nonlinear systems, which can also create an additional computational burden. To improve the motion planning efficiency, we verify the satisfaction of the CBF constraints directly in edge extension to avoid the burden of solving the QPs. We store computed optimal LQR gain matrices in a hash table to avoid re-computation during the local linearization of the rewiring procedure. Lastly, we utilize the Cross-Entropy Method for importance sampling to improve sampling efficiency. Our results show that the proposed planner surpasses its counterparts in computational efficiency and performs well in an experimental setup.
GreekBART: The First Pretrained Greek Sequence-to-Sequence Model
Venue: arXiv cs.CL 2023
Year: 2023

The era of transfer learning has revolutionized the fields of Computer Vision and Natural Language Processing, bringing powerful pretrained models with exceptional performance across a variety of tasks. Specifically, Natural Language Processing tasks have been dominated by transformer-based language models. In Natural Language Inference and Natural Language Generation tasks, the BERT model and its variants, as well as the GPT model and its successors, demonstrated exemplary performance. However, the majority of these models are pretrained and assessed primarily for the English language or on a multilingual corpus. In this paper, we introduce GreekBART, the first Seq2Seq model based on BART-base architecture and pretrained on a large-scale Greek corpus. We evaluate and compare GreekBART against BART-random, Greek-BERT, and XLM-R on a variety of discriminative tasks. In addition, we examine its performance on two NLG tasks from GreekSUM, a newly introduced summarization dataset for the Greek language. The model, the code, and the new summarization dataset will be publicly available.
MIMO Radars and Massive MIMO Communication Systems can Coexist
Venue: arXiv cs.IT 2023
Year: 2023

In this paper, we investigate the coexistence of a single cell massive MIMO communication system with a MIMO radar. We consider the case where the massive MIMO BS is aware of the radar's existence and treats it as a non-serviced user, but the radar is unaware of the communication system's existence and treats the signals transmitted by both the BS and the communication users as noise. Using results from random matrix theory, we derive the rates achievable by the communication system and the radar. We then use these expressions to obtain the achievable rate regions for the proposed joint radar and communications system. We observe that due to the availability of a large number of degrees of freedom at the mMIMO BS, results in minimal interference even without co-design. Finally we corroborate our findings via detailed numerical simulations and verify the validity of the results derived previously under different settings.