OpenRaiser/Intern-Atlas huggingface dataset:
Adaptive Goal Management System of Robots
Venue: arXiv cs.RO 2023
Year: 2023

This paper considers the problem of managing single or multiple robots and proposes a cloud-based robot fleet manager, Adaptive Goal Management (AGM) System, for teams of unmanned mobile robots. The AGM system uses an adaptive goal execution approach and provides a restful API for communication between single or multiple robots, enabling real-time monitoring and control. The overarching goal of AGM is to coordinate single or multiple robots to productively complete tasks in an environment. There are some existing works that provide various solutions for managing single or multiple robots, but the proposed AGM system is designed to be adaptable and scalable, making it suitable for managing multiple heterogeneous robots in diverse environments with dynamic changes. The proposed AGM system presents a versatile and efficient solution for managing single or multiple robots across multiple industries, such as healthcare, agriculture, airports, manufacturing, and logistics. By enhancing the capabilities of these robots and enabling seamless task execution, the AGM system offers a powerful tool for facilitating complex operations. The effectiveness of the proposed AGM system is demonstrated through simulation experiments in diverse environments using ROS1 with Gazebo. The results show that the AGM system efficiently manages the allocated tasks and missions. Tests conducted in the manufacturing industry have shown promising results in task and mission management for both a single Mobile Industrial Robot and multiple Turtlebot3 robots. To provide further insights, a supplementary video showcasing the experiments can be found at https://github.com/mukmalone/ AdaptiveGoalManagement.
Large AI Models in Health Informatics: Applications, Challenges, and the Future
Venue: arXiv cs.AI 2023
Year: 2023

Large AI models, or foundation models, are models recently emerging with massive scales both parameter-wise and data-wise, the magnitudes of which can reach beyond billions. Once pretrained, large AI models demonstrate impressive performance in various downstream tasks. A prime example is ChatGPT, whose capability has compelled people's imagination about the far-reaching influence that large AI models can have and their potential to transform different domains of our lives. In health informatics, the advent of large AI models has brought new paradigms for the design of methodologies. The scale of multi-modal data in the biomedical and health domain has been ever-expanding especially since the community embraced the era of deep learning, which provides the ground to develop, validate, and advance large AI models for breakthroughs in health-related areas. This article presents a comprehensive review of large AI models, from background to their applications. We identify seven key sectors in which large AI models are applicable and might have substantial influence, including 1) bioinformatics; 2) medical diagnosis; 3) medical imaging; 4) medical informatics; 5) medical education; 6) public health; and 7) medical robotics. We examine their challenges, followed by a critical discussion about potential future directions and pitfalls of large AI models in transforming the field of health informatics.
BigSmall: Efficient Multi-Task Learning for Disparate Spatial and Temporal Physiological Measurements
Venue: arXiv cs.CV 2023
Year: 2023

Understanding of human visual perception has historically inspired the design of computer vision architectures. As an example, perception occurs at different scales both spatially and temporally, suggesting that the extraction of salient visual information may be made more effective by paying attention to specific features at varying scales. Visual changes in the body due to physiological processes also occur at different scales and with modality-specific characteristic properties. Inspired by this, we present BigSmall, an efficient architecture for physiological and behavioral measurement. We present the first joint camera-based facial action, cardiac, and pulmonary measurement model. We propose a multi-branch network with wrapping temporal shift modules that yields both accuracy and efficiency gains. We observe that fusing low-level features leads to suboptimal performance, but that fusing high level features enables efficiency gains with negligible loss in accuracy. Experimental results demonstrate that BigSmall significantly reduces the computational costs. Furthermore, compared to existing task-specific models, BigSmall achieves comparable or better results on multiple physiological measurement tasks simultaneously with a unified model.
Assessor-Guided Learning for Continual Environments
Venue: arXiv cs.LG 2023
Year: 2023

This paper proposes an assessor-guided learning strategy for continual learning where an assessor guides the learning process of a base learner by controlling the direction and pace of the learning process thus allowing an efficient learning of new environments while protecting against the catastrophic interference problem. The assessor is trained in a meta-learning manner with a meta-objective to boost the learning process of the base learner. It performs a soft-weighting mechanism of every sample accepting positive samples while rejecting negative samples. The training objective of a base learner is to minimize a meta-weighted combination of the cross entropy loss function, the dark experience replay (DER) loss function and the knowledge distillation loss function whose interactions are controlled in such a way to attain an improved performance. A compensated over-sampling (COS) strategy is developed to overcome the class imbalanced problem of the episodic memory due to limited memory budgets. Our approach, Assessor-Guided Learning Approach (AGLA), has been evaluated in the class-incremental and task-incremental learning problems. AGLA achieves improved performances compared to its competitors while the theoretical analysis of the COS strategy is offered. Source codes of AGLA, baseline algorithms and experimental logs are shared publicly in \url{https://github.com/anwarmaxsum/AGLA} for further study.
Deep Q-Network Based Decision Making for Autonomous Driving
Venue: arXiv cs.RO 2023
Year: 2023

Currently decision making is one of the biggest challenges in autonomous driving. This paper introduces a method for safely navigating an autonomous vehicle in highway scenarios by combining deep Q-Networks and insight from control theory. A Deep Q-Network is trained in simulation to serve as a central decision-making unit by proposing targets for a trajectory planner. The generated trajectories in combination with a controller for longitudinal movement are used to execute lane change maneuvers. In order to prove the functionality of this approach it is evaluated on two different highway traffic scenarios. Furthermore, the impact of different state representations on the performance and training process is analyzed. The results show that the proposed system can produce efficient and safe driving behavior.
Leveraging Self-Sovereign Identity in Decentralized Data Aggregation
Venue: arXiv cs.SE 2023
Year: 2023

Data aggregation has been widely implemented as an infrastructure of data-driven systems. However, a centralized data aggregation model requires a set of strong trust assumptions to ensure security and privacy. In recent years, decentralized data aggregation has become realizable based on distributed ledger technology. Nevertheless, the lack of appropriate centralized mechanisms like identity management mechanisms carries risks such as impersonation and unauthorized access. In this paper, we propose a novel decentralized data aggregation framework by leveraging self-sovereign identity, an emerging identity model, to lift the trust assumptions in centralized models and eliminate identity-related risks. Our framework formulates the aggregation protocol regarding data persistence and acquisition aspects, considering security, efficiency, flexibility, and compatibility. Furthermore, we demonstrate the applicability of our framework via a use case study where we concretize and apply our framework in a decentralized neuroscience data aggregation scenario.
Exposure Assessment for Wearable Patch Antenna Arrays at Millimeter Waves
Venue: arXiv cs.NI 2023
Year: 2023

Since the spread of the wearable systems and the implementation of the forthcoming 5G in many devices, the question about the assessment of the exposure in wearable typical usage to millimeter waves is crucial and timely. For such frequencies, the power absorption becomes strongly superficial and involves only the most superficial tissue of the human body, i.e., the skin. In literature there are some models able to describe the layered structure of the skin but, until now, there is no literature consensus on the skin model to employ in computational exposure assessment studies. For these reasons, the present work aimed to simulate four different models of the most superficial tissues with different degree of detail exposed to two wearable patch antennas at different frequencies i.e., 28 GHz and 39 GHz. This allows to investigate the impact that the choice of a layered model rather than the homogeneous one has on the exposure. Simulations were performed through the FDTD method, implemented in the Sim4life platform and the exposure was assessed with the absorbed power density averaged over 1 cm2 and 4 cm2 (Sab). The data showed that the homogeneous model underestimates the peak value of Sab obtained for multi-layer models in the stratum corneum (by 14% to 21% depending on the number of layers of the model and the frequency). This finding was confirmed by an analytical approach with two impinging plane wave TEM-polarized with normal incidence at 28 GHz and 39 GHz respectively. Conversely, there are no substantial differences in the exposure levels between the layered models
Efficiently Explaining CSPs with Unsatisfiable Subset Optimization (extended algorithms and examples)
Venue: arXiv cs.AI 2023
Year: 2023

We build on a recently proposed method for stepwise explaining solutions of Constraint Satisfaction Problems (CSP) in a human-understandable way. An explanation here is a sequence of simple inference steps where simplicity is quantified using a cost function. The algorithms for explanation generation rely on extracting Minimal Unsatisfiable Subsets (MUS) of a derived unsatisfiable formula, exploiting a one-to-one correspondence between so-called non-redundant explanations and MUSs. However, MUS extraction algorithms do not provide any guarantee of subset minimality or optimality with respect to a given cost function. Therefore, we build on these formal foundations and tackle the main points of improvement, namely how to generate explanations efficiently that are provably optimal (with respect to the given cost metric). For that, we developed (1) a hitting set-based algorithm for finding the optimal constrained unsatisfiable subsets; (2) a method for re-using relevant information over multiple algorithm calls; and (3) methods exploiting domain-specific information to speed up the explanation sequence generation. We experimentally validated our algorithms on a large number of CSP problems. We found that our algorithms outperform the MUS approach in terms of explanation quality and computational time (on average up to 56 % faster than a standard MUS approach).
LogQA: Question Answering in Unstructured Logs
Venue: arXiv cs.NI 2023
Year: 2023

Modern systems produce a large volume of logs to record run-time status and events. System operators use these raw logs to track a system in order to obtain some useful information to diagnose system anomalies. One of the most important problems in this area is to help operators find the answers to log-based questions efficiently and user-friendly. In this work, we propose LogQA, which aims at answering log-based questions in the form of natural language based on large-scale unstructured log corpora. Our system presents the answer to a question directly instead of returning a list of relevant snippets, thus offering better user-friendliness and efficiency. LogQA represents the first approach to solve question answering in lod domain. LogQA has two key components: Log Retriever and Log Reader. Log Retriever aims at retrieving relevant logs w.r.t. a given question, while Log Reader is responsible for inferring the final answer. Given the lack of a public dataset for log questing answering, we manually labelled a QA dataset of three open-source log corpus and will make them publicly available. We evaluated our proposed model on these datasets by comparing its performance with 6 other baseline methods. Our experimental results demonstrate that LogQA has outperformed other baseline methods.
A Complete Survey on Generative AI (AIGC): Is ChatGPT from GPT-4 to GPT-5 All You Need?
Venue: arXiv cs.AI 2023
Year: 2023

As ChatGPT goes viral, generative AI (AIGC, a.k.a AI-generated content) has made headlines everywhere because of its ability to analyze and create text, images, and beyond. With such overwhelming media coverage, it is almost impossible for us to miss the opportunity to glimpse AIGC from a certain angle. In the era of AI transitioning from pure analysis to creation, it is worth noting that ChatGPT, with its most recent language model GPT-4, is just a tool out of numerous AIGC tasks. Impressed by the capability of the ChatGPT, many people are wondering about its limits: can GPT-5 (or other future GPT variants) help ChatGPT unify all AIGC tasks for diversified content creation? Toward answering this question, a comprehensive review of existing AIGC tasks is needed. As such, our work comes to fill this gap promptly by offering a first look at AIGC, ranging from its techniques to applications. Modern generative AI relies on various technical foundations, ranging from model architecture and self-supervised pretraining to generative modeling methods (like GAN and diffusion models). After introducing the fundamental techniques, this work focuses on the technological development of various AIGC tasks based on their output type, including text, images, videos, 3D content, etc., which depicts the full potential of ChatGPT's future. Moreover, we summarize their significant applications in some mainstream industries, such as education and creativity content. Finally, we discuss the challenges currently faced and present an outlook on how generative AI might evolve in the near future.
Automated service monitoring in the deployment of ARCHER2
Venue: arXiv cs.DC 2023
Year: 2023

The ARCHER2 service, a CPU based HPE Cray EX system with 750,080 cores (5,860 nodes), has been deployed throughout 2020 and 2021, going into full service in December of 2021. A key part of the work during this deployment was the integration of ARCHER2 into our local monitoring systems. As ARCHER2 was one of the very first large-scale EX deployments, this involved close collaboration and development work with the HPE team through a global pandemic situation where collaboration and co-working was significantly more challenging than usual. The deployment included the creation of automated checks and visual representations of system status which needed to be made available to external parties for diagnosis and interpretation. We will describe how these checks have been deployed and how data gathered played a key role in the deployment of ARCHER2, the commissioning of the plant infrastructure, the conduct of HPL runs for submission to the Top500 and contractual monitoring of the availability of the ARCHER2 service during its commissioning and early life.
Database Technology Evolution
Venue: arXiv cs.DB 2023
Year: 2023

This paper reviews suggestions for changes to database technology coming from the work of many researchers, particularly those working with evolving big data. We discuss new approaches to remote data access and standards that better provide for durability and auditability in settings including business and scientific computing. We propose ways in which the language standards could evolve, with proof-of-concept implementations on Github.
Reconfigurable Intelligent Surface Aided Hybrid Beamforming: Optimal Placement and Beamforming Design
Venue: arXiv cs.IT 2023
Year: 2023

We consider reconfigurable intelligent surface (RIS) aided sixth-generation (6G) terahertz (THz) communications for indoor environment in which a base station (BS) wishes to send independent messages to its serving users with the help of multiple RISs. For indoor environment, various obstacles such as pillars, walls, and other objects can result in no line-of-sight signal path between the BS and a user, which can significantly degrade performance. To overcome such limitation of indoor THz communication, we firstly optimize the placement of RISs to maximize the coverage area. Under the optimized RIS placement, we propose 3D hybrid beamforming at the BS and phase adjustment at RISs, which are jointly performed at the BS and RISs via codebook-based 3D beam scanning with low complexity. Numerical simulations demonstrate that the proposed scheme significantly improves the average sum rate compared to the cases of no RIS and randomly deployed RISs. It is further shown that the proposed codebook-based 3D beam scanning efficiently aligns analog beams between BS--user links or BS--RIS--user links and, as a consequence, achieves the average sum rate close to that of coherent beam alignment requiring global channel state information.
Chinese Intermediate English Learners outdid ChatGPT in deep cohesion: Evidence from English narrative writing
Venue: arXiv cs.CL 2023
Year: 2023

ChatGPT is a publicly available chatbot that can quickly generate texts on given topics, but it is unknown whether the chatbot is really superior to human writers in all aspects of writing and whether its writing quality can be prominently improved on the basis of updating commands. Consequently, this study compared the writing performance on a narrative topic by ChatGPT and Chinese intermediate English (CIE) learners so as to reveal the chatbot's advantage and disadvantage in writing. The data were analyzed in terms of five discourse components using Coh-Metrix (a special instrument for analyzing language discourses), and the results revealed that ChatGPT performed better than human writers in narrativity, word concreteness, and referential cohesion, but worse in syntactic simplicity and deep cohesion in its initial version. After more revision commands were updated, while the resulting version was facilitated in syntactic simplicity, yet it is still lagged far behind CIE learners' writing in deep cohesion. In addition, the correlation analysis of the discourse components suggests that narrativity was correlated with referential cohesion in both ChatGPT and human writers, but the correlations varied within each group.
Soft robotics towards sustainable development goals and climate actions
Venue: arXiv cs.RO 2023
Year: 2023

Soft robotics technology can aid in achieving United Nations Sustainable Development Goals (SDGs) and the Paris Climate Agreement through development of autonomous, environmentally responsible machines powered by renewable energy. By utilizing soft robotics, we can mitigate the detrimental effects of climate change on human society and the natural world through fostering adaptation, restoration, and remediation. Moreover, the implementation of soft robotics can lead to groundbreaking discoveries in material science, biology, control systems, energy efficiency, and sustainable manufacturing processes. However, to achieve these goals, we need further improvements in understanding biological principles at the basis of embodied and physical intelligence, environment-friendly materials, and energy-saving strategies to design and manufacture self-piloting and field-ready soft robots. This paper provides insights on how soft robotics can address the pressing issue of environmental sustainability. Sustainable manufacturing of soft robots at a large scale, exploring the potential of biodegradable and bioinspired materials, and integrating onboard renewable energy sources to promote autonomy and intelligence are some of the urgent challenges of this field that we discuss in this paper. Specifically, we will present field-ready soft robots that address targeted productive applications in urban farming, healthcare, land and ocean preservation, disaster remediation, and clean and affordable energy, thus supporting some of the SDGs. By embracing soft robotics as a solution, we can concretely support economic growth and sustainable industry, drive solutions for environment protection and clean energy, and improve overall health and well-being.
CSK Realization for MC via Spatially Distributed Multicellular Consortia
Venue: arXiv cs.IT 2023
Year: 2023

The design and engineering of molecular communication (MC) components capable of processing chemical concentration signals is the key to unleashing the potential of MC for interdisciplinary applications. By controlling the signaling pathway and molecule exchange between cell devices, synthetic biology provides the MC community with tools and techniques to achieve various signal processing functions. In this paper, we propose a design framework to realize any order concentration shift keying (CSK) systems based on simple and reusable single-input single-output cells. The design framework also exploits the distributed multicellular consortia with spatial segregation, which has advantages in system scalability, low genetic manipulation, and signal orthogonality. We also create a small library of reusable engineered cells and apply them to implement binary CSK (BCSK) and quadruple CSK (QCSK) systems to demonstrate the feasibility of our proposed design framework. Importantly, we establish a mathematical framework to theoretically characterize our proposed distributed multicellular systems. Specially, we divide a system into fundamental building blocks, from which we derive the impulse response of each block and the cascade of the impulse responses leads to the end-to-end response of the system. Simulation results obtained from the agent-based simulator BSim not only validate our CSK design framework but also demonstrate the accuracy of the proposed mathematical analysis.
Examining the Impact of Provenance-Enabled Media on Trust and Accuracy Perceptions
Venue: arXiv cs.HC 2023
Year: 2023

In recent years, industry leaders and researchers have proposed to use technical provenance standards to address visual misinformation spread through digitally altered media. By adding immutable and secure provenance information such as authorship and edit date to media metadata, social media users could potentially better assess the validity of the media they encounter. However, it is unclear how end users would respond to provenance information, or how to best design provenance indicators to be understandable to laypeople. We conducted an online experiment with 595 participants from the US and UK to investigate how provenance information altered users' accuracy perceptions and trust in visual content shared on social media. We found that provenance information often lowered trust and caused users to doubt deceptive media, particularly when it revealed that the media was composited. We additionally tested conditions where the provenance information itself was shown to be incomplete or invalid, and found that these states have a significant impact on participants' accuracy perceptions and trust in media, leading them, in some cases, to disbelieve honest media. Our findings show that provenance, although enlightening, is still not a concept well-understood by users, who confuse media credibility with the orthogonal (albeit related) concept of provenance credibility. We discuss how design choices may contribute to provenance (mis)understanding, and conclude with implications for usable provenance systems, including clearer interfaces and user education.