OpenRaiser/Intern-Atlas huggingface dataset:
GIST: Towards Photorealistic Style Transfer via Multiscale Geometric Representations
Venue: arXiv cs.CV 2024
Year: 2024

State-of-the-art Style Transfer methods often leverage pre-trained encoders optimized for discriminative tasks, which may not be ideal for image synthesis. This can result in significant artifacts and loss of photorealism. Motivated by the ability of multiscale geometric image representations to capture fine-grained details and global structure, we propose GIST: Geometric-based Image Style Transfer, a novel Style Transfer technique that exploits the geometric properties of content and style images. GIST replaces the standard Neural Style Transfer autoencoding framework with a multiscale image expansion, preserving scene details without the need for post-processing or training. Our method matches multiresolution and multidirectional representations such as Wavelets and Contourlets by solving an optimal transport problem, leading to an efficient texture transferring. Experiments show that GIST is on-par or outperforms recent photorealistic Style Transfer approaches while significantly reducing the processing time with no model training.
ESA: Example Sieve Approach for Multi-Positive and Unlabeled Learning
Venue: arXiv cs.LG 2024
Year: 2024

Learning from Multi-Positive and Unlabeled (MPU) data has gradually attracted significant attention from practical applications. Unfortunately, the risk of MPU also suffer from the shift of minimum risk, particularly when the models are very flexible as shown in Fig.\ref{moti}. In this paper, to alleviate the shifting of minimum risk problem, we propose an Example Sieve Approach (ESA) to select examples for training a multi-class classifier. Specifically, we sieve out some examples by utilizing the Certain Loss (CL) value of each example in the training stage and analyze the consistency of the proposed risk estimator. Besides, we show that the estimation error of proposed ESA obtains the optimal parametric convergence rate. Extensive experiments on various real-world datasets show the proposed approach outperforms previous methods.
Multi-robot autonomous 3D reconstruction using Gaussian splatting with Semantic guidance
Venue: arXiv cs.RO 2024
Year: 2024

Implicit neural representations and 3D Gaussian splatting (3DGS) have shown great potential for scene reconstruction. Recent studies have expanded their applications in autonomous reconstruction through task assignment methods. However, these methods are mainly limited to single robot, and rapid reconstruction of large-scale scenes remains challenging. Additionally, task-driven planning based on surface uncertainty is prone to being trapped in local optima. To this end, we propose the first 3DGS-based centralized multi-robot autonomous 3D reconstruction framework. To further reduce time cost of task generation and improve reconstruction quality, we integrate online open-vocabulary semantic segmentation with surface uncertainty of 3DGS, focusing view sampling on regions with high instance uncertainty. Finally, we develop a multi-robot collaboration strategy with mode and task assignments improving reconstruction quality while ensuring planning efficiency. Our method demonstrates the highest reconstruction quality among all planning methods and superior planning efficiency compared to existing multi-robot methods. We deploy our method on multiple robots, and results show that it can effectively plan view paths and reconstruct scenes with high quality.
ProbPose: A Probabilistic Approach to 2D Human Pose Estimation
Venue: arXiv cs.CV 2024
Year: 2024

Current Human Pose Estimation methods have achieved significant improvements. However, state-of-the-art models ignore out-of-image keypoints and use uncalibrated heatmaps as keypoint location representations. To address these limitations, we propose ProbPose, which predicts for each keypoint: a calibrated probability of keypoint presence at each location in the activation window, the probability of being outside of it, and its predicted visibility. To address the lack of evaluation protocols for out-of-image keypoints, we introduce the CropCOCO dataset and the Extended OKS (Ex-OKS) metric, which extends OKS to out-of-image points. Tested on COCO, CropCOCO, and OCHuman, ProbPose shows significant gains in out-of-image keypoint localization while also improving in-image localization through data augmentation. Additionally, the model improves robustness along the edges of the bounding box and offers better flexibility in keypoint evaluation. The code and models are available on https://mirapurkrabek.github.io/ProbPose/ for research purposes.
Large Multimodal Agents for Accurate Phishing Detection with Enhanced Token Optimization and Cost Reduction
Venue: arXiv cs.AI 2024
Year: 2024

With the rise of sophisticated phishing attacks, there is a growing need for effective and economical detection solutions. This paper explores the use of large multimodal agents, specifically Gemini 1.5 Flash and GPT-4o mini, to analyze both URLs and webpage screenshots via APIs, thus avoiding the complexities of training and maintaining AI systems. Our findings indicate that integrating these two data types substantially enhances detection performance over using either type alone. However, API usage incurs costs per query that depend on the number of input and output tokens. To address this, we propose a two-tiered agentic approach: initially, one agent assesses the URL, and if inconclusive, a second agent evaluates both the URL and the screenshot. This method not only maintains robust detection performance but also significantly reduces API costs by minimizing unnecessary multi-input queries. Cost analysis shows that with the agentic approach, GPT-4o mini can process about 4.2 times as many websites per $100 compared to the multimodal approach (107,440 vs. 25,626), and Gemini 1.5 Flash can process about 2.6 times more websites (2,232,142 vs. 862,068). These findings underscore the significant economic benefits of the agentic approach over the multimodal method, providing a viable solution for organizations aiming to leverage advanced AI for phishing detection while controlling expenses.
Active Learning via Classifier Impact and Greedy Selection for Interactive Image Retrieval
Venue: arXiv cs.CV 2024
Year: 2024

Active Learning (AL) is a user-interactive approach aimed at reducing annotation costs by selecting the most crucial examples to label. Although AL has been extensively studied for image classification tasks, the specific scenario of interactive image retrieval has received relatively little attention. This scenario presents unique characteristics, including an open-set and class-imbalanced binary classification, starting with very few labeled samples. We introduce a novel batch-mode Active Learning framework named GAL (Greedy Active Learning) that better copes with this application. It incorporates a new acquisition function for sample selection that measures the impact of each unlabeled sample on the classifier. We further embed this strategy in a greedy selection approach, better exploiting the samples within each batch. We evaluate our framework with both linear (SVM) and non-linear MLP/Gaussian Process classifiers. For the Gaussian Process case, we show a theoretical guarantee on the greedy approximation. Finally, we assess our performance for the interactive content-based image retrieval task on several benchmarks and demonstrate its superiority over existing approaches and common baselines. Code is available at https://github.com/barleah/GreedyAL.
HumanRig: Learning Automatic Rigging for Humanoid Character in a Large Scale Dataset
Venue: arXiv cs.CV 2024
Year: 2024

With the rapid evolution of 3D generation algorithms, the cost of producing 3D humanoid character models has plummeted, yet the field is impeded by the lack of a comprehensive dataset for automatic rigging, which is a pivotal step in character animation. Addressing this gap, we present HumanRig, the first large-scale dataset specifically designed for 3D humanoid character rigging, encompassing 11,434 meticulously curated T-posed meshes adhered to a uniform skeleton topology. Capitalizing on this dataset, we introduce an innovative, data-driven automatic rigging framework, which overcomes the limitations of GNN-based methods in handling complex AI-generated meshes. Our approach integrates a Prior-Guided Skeleton Estimator (PGSE) module, which uses 2D skeleton joints to provide a preliminary 3D skeleton, and a Mesh-Skeleton Mutual Attention Network (MSMAN) that fuses skeleton features with 3D mesh features extracted by a U-shaped point transformer. This enables a coarse-to-fine 3D skeleton joint regression and a robust skinning estimation, surpassing previous methods in quality and versatility. This work not only remedies the dataset deficiency in rigging research but also propels the animation industry towards more efficient and automated character rigging pipelines.
Theory building for empirical software engineering in qualitative research: Operationalization
Venue: arXiv cs.SE 2024
Year: 2024

Context: This work is part of a research project whose ultimate goal is to systematize theory building in qualitative research in the field of software engineering. The proposed methodology involves four phases: conceptualization, operationalization, testing, and application. In previous work, we performed the conceptualization of a theory that investigates the structure of IT departments and teams when software-intensive organizations adopt a culture called DevOps. Objective: This paper presents a set of procedures to systematize the operationalization phase in theory building and their application in the context of DevOps team structures. Method: We operationalize the concepts and propositions that make up our theory to generate constructs and empirically testable hypotheses. Instead of using causal relations to operationalize the propositions, we adopt logical implication, which avoids the problems associated with causal reasoning. Strategies are proposed to ensure that the resulting theory aligns with the criterion of parsimony. Results: The operationalization phase is described from three perspectives: specification, implementation, and practical application. First, the operationalization process is formally defined. Second, a set of procedures for operating both concepts and propositions is described. Finally, the usefulness of the proposed procedures is demonstrated in a case study. Conclusions: This paper is a pioneering contribution in offering comprehensive guidelines for theory operationalization using logical implication. By following established procedures and using concrete examples, researchers can better ensure the success of their theory-building efforts through careful operationalization.
Fast ground-to-air transition with avian-inspired multifunctional legs
Venue: arXiv cs.RO 2024
Year: 2024

Most birds can navigate seamlessly between aerial and terrestrial environments. Whereas the forelimbs evolved into wings primarily for flight, the hindlimbs serve diverse functions such as walking, hopping, and leaping, and jumping take-off for transitions into flight. These capabilities have inspired engineers to aim for similar multi-modality in aerial robots, expanding their range of applications across diverse environments. However, challenges remain in reproducing multi-modal locomotion, across gaits with distinct kinematics and propulsive characteristics, such as walking and jumping, while preserving lightweight mass for flight. This tradeoff between mechanical complexity and versatility limits most existing aerial robots to only one additional locomotor mode. Here, we overcome the complexity-versatility tradeoff with RAVEN (Robotic Avian-inspired Vehicle for multiple ENvironments), which uses its bird-inspired multi-functional legs to jump rapidly into flight, walk on ground and hop over obstacles and gaps similar to the multi-modal locomotion of birds. We show that jumping for take-off contributes substantially to initial flight take-off speed and, remarkably, that it is more energy-efficient than solely propeller-based take-off. Our analysis suggests an important tradeoff in mass distribution between legs and body among birds adapted for different locomotor strategies, with greater investment in leg mass among terrestrial birds with multi-modal gait demands. Multi-functional robot legs expand opportunities to deploy traditional fixed-wing aircraft in complex terrains through autonomous take-offs and multi-modal gaits.
Semantic Tokens in Retrieval Augmented Generation
Venue: arXiv cs.CL 2024
Year: 2024

Retrieval-Augmented Generation (RAG) architectures have recently garnered significant attention for their ability to improve truth grounding and coherence in natural language processing tasks. However, the reliability of RAG systems in producing accurate answers diminishes as the volume of data they access increases. Even with smaller datasets, these systems occasionally fail to address simple queries. This issue arises from their dependence on state-of-the-art large language models (LLMs), which can introduce uncertainty into the system's outputs. In this work, I propose a novel Comparative RAG system that introduces an evaluator module to bridge the gap between probabilistic RAG systems and deterministically verifiable responses. The evaluator compares external recommendations with the retrieved document chunks, adding a decision-making layer that enhances the system's reliability. This approach ensures that the chunks retrieved are both semantically relevant and logically consistent with deterministic insights, thereby improving the accuracy and overall efficiency of RAG systems. This framework paves the way for more reliable and scalable question-answering applications in domains requiring high precision and verifiability.
Generating Critical Scenarios for Testing Automated Driving Systems
Venue: arXiv cs.RO 2024
Year: 2024

Autonomous vehicles (AVs) have demonstrated significant potential in revolutionizing transportation, yet ensuring their safety and reliability remains a critical challenge, especially when exposed to dynamic and unpredictable environments. Real-world testing of an Autonomous Driving System (ADS) is both expensive and risky, making simulation-based testing a preferred approach. In this paper, we propose AVASTRA, a Reinforcement Learning (RL)-based approach to generate realistic critical scenarios for testing ADSs in simulation environments. To capture the complexity of driving scenarios, AVASTRA comprehensively represents the environment by both the internal states of an ADS under-test (e.g., the status of the ADS's core components, speed, or acceleration) and the external states of the surrounding factors in the simulation environment (e.g., weather, traffic flow, or road condition). AVASTRA trains the RL agent to effectively configure the simulation environment that places the AV in dangerous situations and potentially leads it to collisions. We introduce a diverse set of actions that allows the RL agent to systematically configure both environmental conditions and traffic participants. Additionally, based on established safety requirements, we enforce heuristic constraints to ensure the realism and relevance of the generated test scenarios. AVASTRA is evaluated on two popular simulation maps with four different road configurations. Our results show AVASTRA's ability to outperform the state-of-the-art approach by generating 30% to 115% more collision scenarios. Compared to the baseline based on Random Search, AVASTRA achieves up to 275% better performance. These results highlight the effectiveness of AVASTRA in enhancing the safety testing of AVs through realistic comprehensive critical scenario generation.
The Efficacy of Transfer-based No-box Attacks on Image Watermarking: A Pragmatic Analysis
Venue: arXiv cs.CR 2024
Year: 2024

Watermarking approaches are widely used to identify if images being circulated are authentic or AI-generated. Determining the robustness of image watermarking methods in the ``no-box'' setting, where the attacker is assumed to have no knowledge about the watermarking model, is an interesting problem. Our main finding is that evading the no-box setting is challenging: the success of optimization-based transfer attacks (involving training surrogate models) proposed in prior work~\cite{hu2024transfer} depends on impractical assumptions, including (i) aligning the architecture and training configurations of both the victim and attacker's surrogate watermarking models, as well as (ii) a large number of surrogate models with potentially large computational requirements. Relaxing these assumptions i.e., moving to a more pragmatic threat model results in a failed attack, with an evasion rate at most $21.1\%$. We show that when the configuration is mostly aligned, a simple non-optimization attack we propose, OFT, with one single surrogate model can already exceed the success of optimization-based efforts. Under the same $\ell_\infty$ norm perturbation budget of $0.25$, prior work~\citet{hu2024transfer} is comparable to or worse than OFT in $11$ out of $12$ configurations and has a limited advantage on the remaining one. The code used for all our experiments is available at \url{https://github.com/Ardor-Wu/transfer}.
Class-wise Autoencoders Measure Classification Difficulty And Detect Label Mistakes
Venue: arXiv cs.LG 2024
Year: 2024

We introduce a new framework for analyzing classification datasets based on the ratios of reconstruction errors between autoencoders trained on individual classes. This analysis framework enables efficient characterization of datasets on the sample, class, and entire dataset levels. We define reconstruction error ratios (RERs) that probe classification difficulty and allow its decomposition into (1) finite sample size and (2) Bayes error and decision-boundary complexity. Through systematic study across 19 popular visual datasets, we find that our RER-based dataset difficulty probe strongly correlates with error rate for state-of-the-art (SOTA) classification models. By interpreting sample-level classification difficulty as a label mistakenness score, we further find that RERs achieve SOTA performance on mislabel detection tasks on hard datasets under symmetric and asymmetric label noise. Our code is publicly available at https://github.com/voxel51/reconstruction-error-ratios.
AI-Driven Resource Allocation Framework for Microservices in Hybrid Cloud Platforms
Venue: arXiv cs.AI 2024
Year: 2024

The increasing demand for scalable, efficient resource management in hybrid cloud environments has led to the exploration of AI-driven approaches for dynamic resource allocation. This paper presents an AI-driven framework for resource allocation among microservices in hybrid cloud platforms. The framework employs reinforcement learning (RL)-based resource utilization optimization to reduce costs and improve performance. The framework integrates AI models with cloud management tools to respond to challenges of dynamic scaling and cost-efficient low-latency service delivery. The reinforcement learning model continuously adjusts provisioned resources as required by the microservices and predicts the future consumption trends to minimize both under- and over-provisioning of resources. Preliminary simulation results indicate that using AI in the provision of resources related to costs can reduce expenditure by up to 30-40% compared to manual provisioning and threshold-based auto-scaling approaches. It is also estimated that the efficiency in resource utilization is expected to improve by 20%-30% with a corresponding latency cut of 15%-20% during the peak demand periods. This study compares the AI-driven approach with existing static and rule-based resource allocation methods, demonstrating the capability of this new model to outperform them in terms of flexibility and real-time interests. The results indicate that reinforcement learning can make optimization of hybrid cloud platforms even better, offering a 25-35% improvement in cost efficiency and the power of scaling for microservice-based applications. The proposed framework is a strong and scalable solution to managing cloud resources in dynamic and performance-critical environments.
AV-Odyssey Bench: Can Your Multimodal LLMs Really Understand Audio-Visual Information?
Venue: arXiv cs.CV 2024
Year: 2024

Recently, multimodal large language models (MLLMs), such as GPT-4o, Gemini 1.5 Pro, and Reka Core, have expanded their capabilities to include vision and audio modalities. While these models demonstrate impressive performance across a wide range of audio-visual applications, our proposed DeafTest reveals that MLLMs often struggle with simple tasks humans find trivial: 1) determining which of two sounds is louder, and 2) determining which of two sounds has a higher pitch. Motivated by these observations, we introduce AV-Odyssey Bench, a comprehensive audio-visual benchmark designed to assess whether those MLLMs can truly understand the audio-visual information. This benchmark encompasses 4,555 carefully crafted problems, each incorporating text, visual, and audio components. To successfully infer answers, models must effectively leverage clues from both visual and audio inputs. To ensure precise and objective evaluation of MLLM responses, we have structured the questions as multiple-choice, eliminating the need for human evaluation or LLM-assisted assessment. We benchmark a series of closed-source and open-source models and summarize the observations. By revealing the limitations of current models, we aim to provide useful insight for future dataset collection and model development.
Haptic Stiffness Perception Using Hand Exoskeletons in Tactile Robotic Telemanipulation
Venue: arXiv cs.RO 2024
Year: 2024

Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable information to the human operator, haptic feedback is essential for accessing specific object properties that are difficult to be perceived by vision, such as stiffness. For the first time, we present a participant study demonstrating that operators can perceive the stiffness of remote objects during real-world telemanipulation with a dexterous robotic hand, when haptic feedback is generated from tactile sensing fingertips. Participants were tasked with squeezing soft objects by teleoperating a robotic hand, using two methods of haptic feedback: one based solely on the measured contact force, while the second also includes the squeezing displacement between the leader and follower devices. Our results demonstrate that operators are indeed capable of discriminating objects of different stiffness, relying on haptic feedback alone and without any visual feedback. Additionally, our findings suggest that the displacement feedback component may enhance discrimination with objects of similar stiffness.