OpenRaiser/Intern-Atlas huggingface dataset:
Formally Explaining Neural Networks within Reactive Systems
Venue: arXiv cs.AI 2023
Year: 2023

Deep neural networks (DNNs) are increasingly being used as controllers in reactive systems. However, DNNs are highly opaque, which renders it difficult to explain and justify their actions. To mitigate this issue, there has been a surge of interest in explainable AI (XAI) techniques, capable of pinpointing the input features that caused the DNN to act as it did. Existing XAI techniques typically face two limitations: (i) they are heuristic, and do not provide formal guarantees that the explanations are correct; and (ii) they often apply to ``one-shot'' systems, where the DNN is invoked independently of past invocations, as opposed to reactive systems. Here, we begin bridging this gap, and propose a formal DNN-verification-based XAI technique for reasoning about multi-step, reactive systems. We suggest methods for efficiently calculating succinct explanations, by exploiting the system's transition constraints in order to curtail the search space explored by the underlying verifier. We evaluate our approach on two popular benchmarks from the domain of automated navigation; and observe that our methods allow the efficient computation of minimal and minimum explanations, significantly outperforming the state of the art. We also demonstrate that our methods produce formal explanations that are more reliable than competing, non-verification-based XAI techniques.
CBCL-PR: A Cognitively Inspired Model for Class-Incremental Learning in Robotics
Venue: arXiv cs.RO 2023
Year: 2023

For most real-world applications, robots need to adapt and learn continually with limited data in their environments. In this paper, we consider the problem of Few-Shot class Incremental Learning (FSIL), in which an AI agent is required to learn incrementally from a few data samples without forgetting the data it has previously learned. To solve this problem, we present a novel framework inspired by theories of concept learning in the hippocampus and the neocortex. Our framework represents object classes in the form of sets of clusters and stores them in memory. The framework replays data generated by the clusters of the old classes, to avoid forgetting when learning new classes. Our approach is evaluated on two object classification datasets resulting in state-of-the-art (SOTA) performance for class-incremental learning and FSIL. We also evaluate our framework for FSIL on a robot demonstrating that the robot can continually learn to classify a large set of household objects with limited human assistance.
Experiments on Generative AI-Powered Parametric Modeling and BIM for Architectural Design
Venue: arXiv cs.HC 2023
Year: 2023

This paper introduces a new architectural design framework that utilizes generative AI tools including ChatGPT and Veras with parametric modeling and Building Information Modeling (BIM) to enhance the design process. The study experiments with the potential of ChatGPT and generative AI in 3D architectural design, extending beyond its use in text and 2D image generation. The proposed framework promotes collaboration between architects and AI, facilitating a quick exploration of design ideas and producing context-sensitive, creative design generation. By integrating ChatGPT for scripting and Veras for generating design ideas with widely used parametric modeling and BIM tools, the framework provides architects with an intuitive and powerful method to convey design intent, leading to more efficient, creative, and collaborative design processes.
Towards Effective Ancient Chinese Translation: Dataset, Model, and Evaluation
Venue: arXiv cs.CL 2023
Year: 2023

Interpreting ancient Chinese has been the key to comprehending vast Chinese literature, tradition, and civilization. In this paper, we propose Erya for ancient Chinese translation. From a dataset perspective, we collect, clean, and classify ancient Chinese materials from various sources, forming the most extensive ancient Chinese resource to date. From a model perspective, we devise Erya training method oriented towards ancient Chinese. We design two jointly-working tasks: disyllabic aligned substitution (DAS) and dual masked language model (DMLM). From an evaluation perspective, we build a benchmark to judge ancient Chinese translation quality in different scenarios and evaluate the ancient Chinese translation capacities of various existing models. Our model exhibits remarkable zero-shot performance across five domains, with over +12.0 BLEU against GPT-3.5 models and better human evaluation results than ERNIE Bot. Subsequent fine-tuning further shows the superior transfer capability of Erya model with +6.2 BLEU gain. We release all the above-mentioned resources at https://github.com/RUCAIBox/Erya.
Data Collaboration Analysis applied to Compound Datasets and the Introduction of Projection data to Non-IID settings
Venue: arXiv cs.LG 2023
Year: 2023

Given the time and expense associated with bringing a drug to market, numerous studies have been conducted to predict the properties of compounds based on their structure using machine learning. Federated learning has been applied to compound datasets to increase their prediction accuracy while safeguarding potentially proprietary information. However, federated learning is encumbered by low accuracy in not identically and independently distributed (non-IID) settings, i.e., data partitioning has a large label bias, and is considered unsuitable for compound datasets, which tend to have large label bias. To address this limitation, we utilized an alternative method of distributed machine learning to chemical compound data from open sources, called data collaboration analysis (DC). We also proposed data collaboration analysis using projection data (DCPd), which is an improved method that utilizes auxiliary PubChem data. This improves the quality of individual user-side data transformations for the projection data for the creation of intermediate representations. The classification accuracy, i.e., area under the curve in the receiver operating characteristic curve (ROC-AUC) and AUC in the precision-recall curve (PR-AUC), of federated averaging (FedAvg), DC, and DCPd was compared for five compound datasets. We determined that the machine learning performance for non-IID settings was in the order of DCPd, DC, and FedAvg, although they were almost the same in identically and independently distributed (IID) settings. Moreover, the results showed that compared to other methods, DCPd exhibited a negligible decline in classification accuracy in experiments with different degrees of label bias. Thus, DCPd can address the low performance in non-IID settings, which is one of the challenges of federated learning.
Doubly Robust Instance-Reweighted Adversarial Training
Venue: arXiv cs.LG 2023
Year: 2023

Assigning importance weights to adversarial data has achieved great success in training adversarially robust networks under limited model capacity. However, existing instance-reweighted adversarial training (AT) methods heavily depend on heuristics and/or geometric interpretations to determine those importance weights, making these algorithms lack rigorous theoretical justification/guarantee. Moreover, recent research has shown that adversarial training suffers from a severe non-uniform robust performance across the training distribution, e.g., data points belonging to some classes can be much more vulnerable to adversarial attacks than others. To address both issues, in this paper, we propose a novel doubly-robust instance reweighted AT framework, which allows to obtain the importance weights via exploring distributionally robust optimization (DRO) techniques, and at the same time boosts the robustness on the most vulnerable examples. In particular, our importance weights are obtained by optimizing the KL-divergence regularized loss function, which allows us to devise new algorithms with a theoretical convergence guarantee. Experiments on standard classification datasets demonstrate that our proposed approach outperforms related state-of-the-art baseline methods in terms of average robust performance, and at the same time improves the robustness against attacks on the weakest data points. Codes will be available soon.
Informative Path Planning of Autonomous Vehicle for Parking Occupancy Estimation
Venue: arXiv cs.RO 2023
Year: 2023

Parking occupancy estimation holds significant potential in facilitating parking resource management and mitigating traffic congestion. Existing approaches employ robotic systems to detect the occupancy status of individual parking spaces and primarily focus on enhancing detection accuracy through perception pipelines. However, these methods often overlook the crucial aspect of robot path planning, which can hinder the accurate estimation of the entire parking area. In light of these limitations, we introduce the problem of informative path planning for parking occupancy estimation using autonomous vehicles and formulate it as a Partially Observable Markov Decision Process (POMDP) task. Then, we develop an occupancy state transition model and introduce a Bayes filter to estimate occupancy based on noisy sensor measurements. Subsequently, we propose the Monte Carlo Bayes Filter Tree, a computationally efficient algorithm that leverages progressive widening to generate informative paths. We demonstrate that the proposed approach outperforms the benchmark methods in diverse simulation environments, effectively striking a balance between optimality and computational efficiency.
Monitoring Algorithmic Fairness under Partial Observations
Venue: arXiv cs.AI 2023
Year: 2023

As AI and machine-learned software are used increasingly for making decisions that affect humans, it is imperative that they remain fair and unbiased in their decisions. To complement design-time bias mitigation measures, runtime verification techniques have been introduced recently to monitor the algorithmic fairness of deployed systems. Previous monitoring techniques assume full observability of the states of the (unknown) monitored system. Moreover, they can monitor only fairness properties that are specified as arithmetic expressions over the probabilities of different events. In this work, we extend fairness monitoring to systems modeled as partially observed Markov chains (POMC), and to specifications containing arithmetic expressions over the expected values of numerical functions on event sequences. The only assumptions we make are that the underlying POMC is aperiodic and starts in the stationary distribution, with a bound on its mixing time being known. These assumptions enable us to estimate a given property for the entire distribution of possible executions of the monitored POMC, by observing only a single execution. Our monitors observe a long run of the system and, after each new observation, output updated PAC-estimates of how fair or biased the system is. The monitors are computationally lightweight and, using a prototype implementation, we demonstrate their effectiveness on several real-world examples.
Lowis3D: Language-Driven Open-World Instance-Level 3D Scene Understanding
Venue: arXiv cs.CV 2023
Year: 2023

Open-world instance-level scene understanding aims to locate and recognize unseen object categories that are not present in the annotated dataset. This task is challenging because the model needs to both localize novel 3D objects and infer their semantic categories. A key factor for the recent progress in 2D open-world perception is the availability of large-scale image-text pairs from the Internet, which cover a wide range of vocabulary concepts. However, this success is hard to replicate in 3D scenarios due to the scarcity of 3D-text pairs. To address this challenge, we propose to harness pre-trained vision-language (VL) foundation models that encode extensive knowledge from image-text pairs to generate captions for multi-view images of 3D scenes. This allows us to establish explicit associations between 3D shapes and semantic-rich captions. Moreover, to enhance the fine-grained visual-semantic representation learning from captions for object-level categorization, we design hierarchical point-caption association methods to learn semantic-aware embeddings that exploit the 3D geometry between 3D points and multi-view images. In addition, to tackle the localization challenge for novel classes in the open-world setting, we develop debiased instance localization, which involves training object grouping modules on unlabeled data using instance-level pseudo supervision. This significantly improves the generalization capabilities of instance grouping and thus the ability to accurately locate novel objects. We conduct extensive experiments on 3D semantic, instance, and panoptic segmentation tasks, covering indoor and outdoor scenes across three datasets. Our method outperforms baseline methods by a significant margin in semantic segmentation (e.g. 34.5%$\sim$65.3%), instance segmentation (e.g. 21.8%$\sim$54.0%) and panoptic segmentation (e.g. 14.7%$\sim$43.3%). Code will be available.
Near-Field Communications: A Degree-of-Freedom Perspective
Venue: arXiv cs.IT 2023
Year: 2023

Multiple-antenna technologies are advancing towards large-scale aperture sizes and extremely high frequencies, leading to the emergence of near-field communications (NFC) in future wireless systems. To this context, we investigate the degree of freedom (DoF) in near-field multiple-input multiple-output (MIMO) systems. We consider both spatially discrete (SPD) antennas and continuous aperture (CAP) antennas. Additionally, we explore three important DoF-related performance metrics and examine their relationships with the classic DoF. Numerical results demonstrate the benefits of NFC over far-field communications (FFC) in terms of providing increased spatial DoFs. We also identify promising research directions for NFC from a DoF perspective.
ZRIGF: An Innovative Multimodal Framework for Zero-Resource Image-Grounded Dialogue Generation
Venue: arXiv cs.CL 2023
Year: 2023

Image-grounded dialogue systems benefit greatly from integrating visual information, resulting in high-quality response generation. However, current models struggle to effectively utilize such information in zero-resource scenarios, mainly due to the disparity between image and text modalities. To overcome this challenge, we propose an innovative multimodal framework, called ZRIGF, which assimilates image-grounded information for dialogue generation in zero-resource situations. ZRIGF implements a two-stage learning strategy, comprising contrastive pre-training and generative pre-training. Contrastive pre-training includes a text-image matching module that maps images and texts into a unified encoded vector space, along with a text-assisted masked image modeling module that preserves pre-training visual features and fosters further multimodal feature alignment. Generative pre-training employs a multimodal fusion module and an information transfer module to produce insightful responses based on harmonized multimodal representations. Comprehensive experiments conducted on both text-based and image-grounded dialogue datasets demonstrate ZRIGF's efficacy in generating contextually pertinent and informative responses. Furthermore, we adopt a fully zero-resource scenario in the image-grounded dialogue dataset to demonstrate our framework's robust generalization capabilities in novel domains. The code is available at https://github.com/zhangbo-nlp/ZRIGF.
Near MDS and near quantum MDS codes via orthogonal arrays
Venue: arXiv cs.IT 2023
Year: 2023

Near MDS (NMDS) codes are closely related to interesting objects in finite geometry and have nice applications in combinatorics and cryptography. But there are many unsolved problems about construction of NMDS codes. In this paper, by using symmetrical orthogonal arrays (OAs), we construct a lot of NMDS, $m$-MDS and almost extremal NMDS codes. We establish a relation between asymmetrical OAs and quantum error correcting codes (QECCs) over mixed alphabets. Since quantum maximum distance separable (QMDS) codes over mixed alphabets with the dimension equal to one have not been found in all the literature so far, the definition of a near quantum maximum distance separable (NQMDS) code over mixed alphabets is proposed. By using asymmetrical OAs, we obtain many such codes.
Generative Query Reformulation for Effective Adhoc Search
Venue: arXiv cs.IR 2023
Year: 2023

Performing automatic reformulations of a user's query is a popular paradigm used in information retrieval (IR) for improving effectiveness -- as exemplified by the pseudo-relevance feedback approaches, which expand the query in order to alleviate the vocabulary mismatch problem. Recent advancements in generative language models have demonstrated their ability in generating responses that are relevant to a given prompt. In light of this success, we seek to study the capacity of such models to perform query reformulation and how they compare with long-standing query reformulation methods that use pseudo-relevance feedback. In particular, we investigate two representative query reformulation frameworks, GenQR and GenPRF. GenQR directly reformulates the user's input query, while GenPRF provides additional context for the query by making use of pseudo-relevance feedback information. For each reformulation method, we leverage different techniques, including fine-tuning and direct prompting, to harness the knowledge of language models. The reformulated queries produced by the generative models are demonstrated to markedly benefit the effectiveness of a state-of-the-art retrieval pipeline on four TREC test collections (varying from TREC 2004 Robust to the TREC 2019 Deep Learning). Furthermore, our results indicate that our studied generative models can outperform various statistical query expansion approaches while remaining comparable to other existing complex neural query reformulation models, with the added benefit of being simpler to implement.
Datapath Verification via Word-Level E-Graph Rewriting
Venue: arXiv cs.LO 2023
Year: 2023

Formal verification of datapath circuits is challenging as they are subject to intense optimization effort in the design phase. Industrial vendors and design companies deploy equivalence checking against a golden or existing reference design to satisfy correctness concerns. State-of-the-art datapath equivalence checking tools deploy a suite of techniques, including rewriting. We propose a rewriting framework deploying bitwidth dependent rewrites based on the e-graph data structure, providing a powerful assistant to existing tools. The e-graph can generate a path of rewrites between the reference and implementation designs that can be checked by a trusted industry tool. We will demonstrate how the intermediate proofs generated by the assistant enable convergence in a state of the art tool, without which the industrial tool runs for 24 hours without making progress. The intermediate proofs automatically introduced by the assistant also reduce the total proof runtime by up to 6x.
A Majority Invariant Approach to Patch Robustness Certification for Deep Learning Models
Venue: arXiv cs.LG 2023
Year: 2023

Patch robustness certification ensures no patch within a given bound on a sample can manipulate a deep learning model to predict a different label. However, existing techniques cannot certify samples that cannot meet their strict bars at the classifier or patch region levels. This paper proposes MajorCert. MajorCert firstly finds all possible label sets manipulatable by the same patch region on the same sample across the underlying classifiers, then enumerates their combinations element-wise, and finally checks whether the majority invariant of all these combinations is intact to certify samples.
DMFC-GraspNet: Differentiable Multi-Fingered Robotic Grasp Generation in Cluttered Scenes
Venue: arXiv cs.RO 2023
Year: 2023

Robotic grasping is a fundamental skill required for object manipulation in robotics. Multi-fingered robotic hands, which mimic the structure of the human hand, can potentially perform complex object manipulation. Nevertheless, current techniques for multi-fingered robotic grasping frequently predict only a single grasp for each inference time, limiting computational efficiency and their versatility, i.e. unimodal grasp distribution. This paper proposes a differentiable multi-fingered grasp generation network (DMFC-GraspNet) with three main contributions to address this challenge. Firstly, a novel neural grasp planner is proposed, which predicts a new grasp representation to enable versatile and dense grasp predictions. Secondly, a scene creation and label mapping method is developed for dense labeling of multi-fingered robotic hands, which allows a dense association of ground truth grasps. Thirdly, we propose to train DMFC-GraspNet end-to-end using using a forward-backward automatic differentiation approach with both a supervised loss and a differentiable collision loss and a generalized Q 1 grasp metric loss. The proposed approach is evaluated using the Shadow Dexterous Hand on Mujoco simulation and ablated by different choices of loss functions. The results demonstrate the effectiveness of the proposed approach in predicting versatile and dense grasps, and in advancing the field of multi-fingered robotic grasping.
Center Contrastive Loss for Metric Learning
Venue: arXiv cs.CV 2023
Year: 2023

Contrastive learning is a major studied topic in metric learning. However, sampling effective contrastive pairs remains a challenge due to factors such as limited batch size, imbalanced data distribution, and the risk of overfitting. In this paper, we propose a novel metric learning function called Center Contrastive Loss, which maintains a class-wise center bank and compares the category centers with the query data points using a contrastive loss. The center bank is updated in real-time to boost model convergence without the need for well-designed sample mining. The category centers are well-optimized classification proxies to re-balance the supervisory signal of each class. Furthermore, the proposed loss combines the advantages of both contrastive and classification methods by reducing intra-class variations and enhancing inter-class differences to improve the discriminative power of embeddings. Our experimental results, as shown in Figure 1, demonstrate that a standard network (ResNet50) trained with our loss achieves state-of-the-art performance and faster convergence.
Vector Field Based Volume Peeling for Multi-Axis Machining
Venue: arXiv cs.CG 2023
Year: 2023

This paper presents an easy-to-control volume peeling method for multi-axis machining based on the computation taken on vector fields. The current scalar field based methods are not flexible and the vector-field based methods do not guarantee the satisfaction of the constraints in the final results. We first conduct an optimization formulation to compute an initial vector field that is well aligned with those anchor vectors specified by users according to different manufacturing requirements. The vector field is further optimized to be an irrotational field so that it can be completely realized by a scalar field's gradients. Iso-surfaces of the scalar field will be employed as the layers of working surfaces for multi-axis volume peeling in the rough machining. Algorithms are also developed to remove and process singularities of the fields. Our method has been tested on a variety of models and verified by physical experimental machining.