OpenRaiser/Intern-Atlas huggingface dataset:
A Modular Spatial Clustering Algorithm with Noise Specification
Venue: arXiv cs.LG 2023
Year: 2023

Clustering techniques have been the key drivers of data mining, machine learning and pattern recognition for decades. One of the most popular clustering algorithms is DBSCAN due to its high accuracy and noise tolerance. Many superior algorithms such as DBSCAN have input parameters that are hard to estimate. Therefore, finding those parameters is a time consuming process. In this paper, we propose a novel clustering algorithm Bacteria-Farm, which balances the performance and ease of finding the optimal parameters for clustering. Bacteria- Farm algorithm is inspired by the growth of bacteria in closed experimental farms - their ability to consume food and grow - which closely represents the ideal cluster growth desired in clustering algorithms. In addition, the algorithm features a modular design to allow the creation of versions of the algorithm for specific tasks / distributions of data. In contrast with other clustering algorithms, our algorithm also has a provision to specify the amount of noise to be excluded during clustering.
Automatic Personalized Impression Generation for PET Reports Using Large Language Models
Venue: arXiv cs.AI 2023
Year: 2023

In this study, we aimed to determine if fine-tuned large language models (LLMs) can generate accurate, personalized impressions for whole-body PET reports. Twelve language models were trained on a corpus of PET reports using the teacher-forcing algorithm, with the report findings as input and the clinical impressions as reference. An extra input token encodes the reading physician's identity, allowing models to learn physician-specific reporting styles. Our corpus comprised 37,370 retrospective PET reports collected from our institution between 2010 and 2022. To identify the best LLM, 30 evaluation metrics were benchmarked against quality scores from two nuclear medicine (NM) physicians, with the most aligned metrics selecting the model for expert evaluation. In a subset of data, model-generated impressions and original clinical impressions were assessed by three NM physicians according to 6 quality dimensions (3-point scale) and an overall utility score (5-point scale). Each physician reviewed 12 of their own reports and 12 reports from other physicians. Bootstrap resampling was used for statistical analysis. Of all evaluation metrics, domain-adapted BARTScore and PEGASUSScore showed the highest Spearman's rank correlations (0.568 and 0.563) with physician preferences. Based on these metrics, the fine-tuned PEGASUS model was selected as the top LLM. When physicians reviewed PEGASUS-generated impressions in their own style, 89% were considered clinically acceptable, with a mean utility score of 4.08 out of 5. Physicians rated these personalized impressions as comparable in overall utility to the impressions dictated by other physicians (4.03, P=0.41). In conclusion, personalized impressions generated by PEGASUS were clinically useful, highlighting its potential to expedite PET reporting.
Evaluating the performance portability of SYCL across CPUs and GPUs on bandwidth-bound applications
Venue: arXiv cs.PF 2023
Year: 2023

In this paper, we evaluate the portability of the SYCL programming model on some of the latest CPUs and GPUs from a wide range of vendors, utilizing the two main compilers: DPC++ and hipSYCL/OpenSYCL. Both compilers currently support GPUs from all three major vendors; we evaluate performance on the Intel(R) Data Center GPU Max 1100, the NVIDIA A100 GPU, and the AMD MI250X GPU. Support on CPUs currently is less established, with DPC++ only supporting x86 CPUs through OpenCL, however, OpenSYCL does have an OpenMP backend capable of targeting all modern CPUs; we benchmark the Intel Xeon Platinum 8360Y Processor (Ice Lake), the AMD EPYC 9V33X (Genoa-X), and the Ampere Altra platforms. We study a range of primarily bandwidth-bound applications implemented using the OPS and OP2 DSLs, evaluate different formulations in SYCL, and contrast their performance to "native" programming approaches where available (CUDA/HIP/OpenMP). On GPU architectures SCYL on average even slightly outperforms native approaches, while on CPUs it falls behind - highlighting a continued need for improving CPU performance. While SYCL does not solve all the challenges of performance portability (e.g. needing different algorithms on different hardware), it does provide a single programming model and ecosystem to target most current HPC architectures productively.
Fixpoint constructions in focused orthogonality models of linear logic
Venue: arXiv cs.LO 2023
Year: 2023

Orthogonality is a notion based on the duality between programs and their environments used to determine when they can be safely combined. For instance, it is a powerful tool to establish termination properties in classical formal systems. It was given a general treatment with the concept of orthogonality category, of which numerous models of linear logic are instances, by Hyland and Schalk. This paper considers the subclass of focused orthogonalities. We develop a theory of fixpoint constructions in focused orthogonality categories. Central results are lifting theorems for initial algebras and final coalgebras. These crucially hinge on the insight that focused orthogonality categories are relational fibrations. The theory provides an axiomatic categorical framework for models of linear logic with least and greatest fixpoints of types. We further investigate domain-theoretic settings, showing how to lift bifree algebras, used to solve mixed-variance recursive type equations, to focused orthogonality categories.
Effects of Explanation Strategies to Resolve Failures in Human-Robot Collaboration
Venue: arXiv cs.RO 2023
Year: 2023

Despite significant improvements in robot capabilities, they are likely to fail in human-robot collaborative tasks due to high unpredictability in human environments and varying human expectations. In this work, we explore the role of explanation of failures by a robot in a human-robot collaborative task. We present a user study incorporating common failures in collaborative tasks with human assistance to resolve the failure. In the study, a robot and a human work together to fill a shelf with objects. Upon encountering a failure, the robot explains the failure and the resolution to overcome the failure, either through handovers or humans completing the task. The study is conducted using different levels of robotic explanation based on the failure action, failure cause, and action history, and different strategies in providing the explanation over the course of repeated interaction. Our results show that the success in resolving the failures is not only a function of the level of explanation but also the type of failures. Furthermore, while novice users rate the robot higher overall in terms of their satisfaction with the explanation, their satisfaction is not only a function of the robot's explanation level at a certain round but also the prior information they received from the robot.
Deep Prompt Tuning for Graph Transformers
Venue: arXiv cs.LG 2023
Year: 2023

Graph transformers have gained popularity in various graph-based tasks by addressing challenges faced by traditional Graph Neural Networks. However, the quadratic complexity of self-attention operations and the extensive layering in graph transformer architectures present challenges when applying them to graph based prediction tasks. Fine-tuning, a common approach, is resource-intensive and requires storing multiple copies of large models. We propose a novel approach called deep graph prompt tuning as an alternative to fine-tuning for leveraging large graph transformer models in downstream graph based prediction tasks. Our method introduces trainable feature nodes to the graph and pre-pends task-specific tokens to the graph transformer, enhancing the model's expressive power. By freezing the pre-trained parameters and only updating the added tokens, our approach reduces the number of free parameters and eliminates the need for multiple model copies, making it suitable for small datasets and scalable to large graphs. Through extensive experiments on various-sized datasets, we demonstrate that deep graph prompt tuning achieves comparable or even superior performance to fine-tuning, despite utilizing significantly fewer task-specific parameters. Our contributions include the introduction of prompt tuning for graph transformers, its application to both graph transformers and message passing graph neural networks, improved efficiency and resource utilization, and compelling experimental results. This work brings attention to a promising approach to leverage pre-trained models in graph based prediction tasks and offers new opportunities for exploring and advancing graph representation learning.
Few-Shot Adaptation for Parsing Contextual Utterances with LLMs
Venue: arXiv cs.CL 2023
Year: 2023

We evaluate the ability of semantic parsers based on large language models (LLMs) to handle contextual utterances. In real-world settings, there typically exists only a limited number of annotated contextual utterances due to annotation cost, resulting in an imbalance compared to non-contextual utterances. Therefore, parsers must adapt to contextual utterances with a few training examples. We examine four major paradigms for doing so in conversational semantic parsing i.e., Parse-with-Utterance-History, Parse-with-Reference-Program, Parse-then-Resolve, and Rewrite-then-Parse. To facilitate such cross-paradigm comparisons, we construct SMCalFlow-EventQueries, a subset of contextual examples from SMCalFlow with additional annotations. Experiments with in-context learning and fine-tuning suggest that Rewrite-then-Parse is the most promising paradigm when holistically considering parsing accuracy, annotation cost, and error types.
In Consideration of Indigenous Data Sovereignty: Data Mining as a Colonial Practice
Venue: arXiv cs.CY 2023
Year: 2023

Data mining reproduces colonialism, and Indigenous voices are being left out of the development of technology that relies on data, such as artificial intelligence. This research stresses the need for the inclusion of Indigenous Data Sovereignty and centers on the importance of Indigenous rights over their own data. Inclusion is necessary in order to integrate Indigenous knowledge into the design, development, and implementation of data-reliant technology. To support this hypothesis and address the problem, the CARE Principles for Indigenous Data Governance (Collective Benefit, Authority to Control, Responsibility, and Ethics) are applied. We cover how the colonial practices of data mining do not align with Indigenous convictions. The included case studies highlight connections to Indigenous rights in relation to the protection of data and environmental ecosystems, thus establishing how data governance can serve both the people and the Earth. By applying the CARE Principles to the issues that arise from data mining and neocolonialism, our goal is to provide a framework that can be used in technological development. The theory is that this could reflect outwards to promote data sovereignty generally and create new relationships between people and data that are ethical as opposed to driven by speed and profit.
Multi-fidelity climate model parameterization for better generalization and extrapolation
Venue: arXiv cs.LG 2023
Year: 2023

Machine-learning-based parameterizations (i.e. representation of sub-grid processes) of global climate models or turbulent simulations have recently been proposed as a powerful alternative to physical, but empirical, representations, offering a lower computational cost and higher accuracy. Yet, those approaches still suffer from a lack of generalization and extrapolation beyond the training data, which is however critical to projecting climate change or unobserved regimes of turbulence. Here we show that a multi-fidelity approach, which integrates datasets of different accuracy and abundance, can provide the best of both worlds: the capacity to extrapolate leveraging the physically-based parameterization and a higher accuracy using the machine-learning-based parameterizations. In an application to climate modeling, the multi-fidelity framework yields more accurate climate projections without requiring major increase in computational resources. Our multi-fidelity randomized prior networks (MF-RPNs) combine physical parameterization data as low-fidelity and storm-resolving historical run's data as high-fidelity. To extrapolate beyond the training data, the MF-RPNs are tested on high-fidelity warming scenarios, $+4K$, data. We show the MF-RPN's capacity to return much more skillful predictions compared to either low- or high-fidelity (historical data) simulations trained only on one regime while providing trustworthy uncertainty quantification across a wide range of scenarios. Our approach paves the way for the use of machine-learning based methods that can optimally leverage historical observations or high-fidelity simulations and extrapolate to unseen regimes such as climate change.
Delay-sensitive Task Offloading in Vehicular Fog Computing-Assisted Platoons
Venue: arXiv cs.NI 2023
Year: 2023

Vehicles in platoons need to process many tasks to support various real-time vehicular applications. When a task arrives at a vehicle, the vehicle may not process the task due to its limited computation resource. In this case, it usually requests to offload the task to other vehicles in the platoon for processing. However, when the computation resources of all the vehicles in the platoon are insufficient, the task cannot be processed in time through offloading to the other vehicles in the platoon. Vehicular fog computing (VFC)-assisted platoon can solve this problem through offloading the task to the VFC which is formed by the vehicles driving near the platoon. Offloading delay is an important performance metric, which is impacted by both the offloading strategy for deciding where the task is offloaded and the number of the allocated vehicles in VFC to process the task. Thus, it is critical to propose an offloading strategy to minimize the offloading delay. In the VFC-assisted platoon system, vehicles usually adopt the IEEE 802.11p distributed coordination function (DCF) mechanism while having various computation resources. Moreover, when vehicles arrive and depart the VFC randomly, their tasks also arrive at and depart the system randomly. In this paper, we propose a semi-Markov decision process (SMDP) based offloading strategy while considering these factors to obtain the maximal long-term reward reflecting the offloading delay. Our research provides a robust strategy for task offloading in VFC systems, its effectiveness is demonstrated through simulation experiments and comparison with benchmark strategies.
Using an Uncrewed Surface Vehicle to Create a Volumetric Model of Non-Navigable Rivers and Other Shallow Bodies of Water
Venue: arXiv cs.RO 2023
Year: 2023

Non-navigable rivers and retention ponds play important roles in buffering communities from flooding, yet emergency planners often have no data as to the volume of water that they can carry before flooding the surrounding. This paper describes a practical approach for using an uncrewed marine surface vehicle (USV) to collect and merge bathymetric maps with digital surface maps of the banks of shallow bodies of water into a unified volumetric model. The below-waterline mesh is developed by applying the Poisson surface reconstruction algorithm to the sparse sonar depth readings of the underwater surface. Dense above-waterline meshes of the banks are created using commercial structure from motion (SfM) packages. Merging is challenging for many reasons, the most significant is gaps in sensor coverage, i.e., the USV cannot collect sonar depth data or visually see sandy beaches leading to a bank thus the two meshes may not intersect. The approach is demonstrated on a Hydronalix EMILY USV with a Humminbird single beam echosounder and Teledyne FLIR camera at Lake ESTI at the Texas A&M Engineering Extension Service Disaster City complex.
A Linear Combination-based Method to Construct Proxy Benchmarks for Big Data Workloads
Venue: arXiv cs.PF 2023
Year: 2023

During early stages of CPU design, benchmarks can only run on simulators to evaluate CPU performance. However, most big data benchmarks are too huge at code size scale, which causes them to be unable to finish running on simulators at an acceptable time cost. Moreover, big data benchmarks usually need complex software stacks to support their running, which is hard to be ported on simulators. Proxy benchmarks, without long running times and complex software stacks, have the same micro-architectural metrics as real benchmarks, which means they can represent real benchmarks' micro-architectural characteristics. Therefore, proxy benchmarks can replace real benchmarks to run on simulators to evaluate the CPU performance. The biggest challenge is how to guarantee that the proxy benchmarks have exactly the same micro-architectural metrics as real benchmarks when the number of micro-architectural metrics is very large. To deal with this challenge, we propose a linear combination-based proxy benchmark generation methodology that transforms this problem into solving a linear equation system. We also design the corresponding algorithms to ensure the linear equation is astringency, which means that although sometimes the linear equation system doesn't have a unique solution, the algorithm can find the best solution by the non-negative least square method. We generate fifteen proxy benchmarks and evaluate their running time and accuracy in comparison to corresponding real benchmarks for Mysql and RockDB. On the typical Intel Xeon platform, the average running time is 1.62s, and the average accuracy of every micro-architectural metric is over 92%, while the longest running time of real benchmarks is nearly 4 hours. We also conduct two case studies that demonstrate that our proxy benchmarks are consistent with real benchmarks both before and after prefetch or Hyper-Threading is turned on.
Online Matching with Stochastic Rewards: Advanced Analyses Using Configuration Linear Programs
Venue: arXiv cs.DS 2023
Year: 2023

Mehta and Panigrahi (2012) proposed Online Matching with Stochastic Rewards, which generalizes the Online Bipartite Matching problem of Karp, Vazirani, and Vazirani (1990) by associating the edges with success probabilities. This new feature captures the pay-per-click model in online advertising. Recently, Huang and Zhang (2020) studied this problem under the online primal dual framework using the Configuration Linear Program (LP), and got the best known competitive ratios of the Stochastic Balance algorithm. Their work suggests that the more expressive Configuration LP is more suitable for this problem than the Matching LP. This paper advances the theory of Configuration LP in two directions. Our technical contribution includes a characterization of the joint matching outcome of an offline vertex and \emph{all its neighbors}. This characterization may be of independent interest, and is aligned with the spirit of Configuration LP. By contrast, previous analyses of Ranking generally focus on only one neighbor. Second, we designed a Stochastic Configuration LP that captures a stochastic benchmark proposed by Goyal and Udwani (2020), who used a Path-based LP. The Stochastic Configuration LP is smaller and simpler than the Path-based LP. Moreover, using the new LP we improved the competitive ratio of Stochastic Balance from $0.596$ to $0.611$ when the success probabilities are infinitesimal, and to $0.613$ when the success probabilities are further equal.
Leveraging Speech PTM, Text LLM, and Emotional TTS for Speech Emotion Recognition
Venue: arXiv cs.CL 2023
Year: 2023

In this paper, we explored how to boost speech emotion recognition (SER) with the state-of-the-art speech pre-trained model (PTM), data2vec, text generation technique, GPT-4, and speech synthesis technique, Azure TTS. First, we investigated the representation ability of different speech self-supervised pre-trained models, and we found that data2vec has a good representation ability on the SER task. Second, we employed a powerful large language model (LLM), GPT-4, and emotional text-to-speech (TTS) model, Azure TTS, to generate emotionally congruent text and speech. We carefully designed the text prompt and dataset construction, to obtain the synthetic emotional speech data with high quality. Third, we studied different ways of data augmentation to promote the SER task with synthetic speech, including random mixing, adversarial training, transfer learning, and curriculum learning. Experiments and ablation studies on the IEMOCAP dataset demonstrate the effectiveness of our method, compared with other data augmentation methods, and data augmentation with other synthetic data.
Bridging Zero-shot Object Navigation and Foundation Models through Pixel-Guided Navigation Skill
Venue: arXiv cs.RO 2023
Year: 2023

Zero-shot object navigation is a challenging task for home-assistance robots. This task emphasizes visual grounding, commonsense inference and locomotion abilities, where the first two are inherent in foundation models. But for the locomotion part, most works still depend on map-based planning approaches. The gap between RGB space and map space makes it difficult to directly transfer the knowledge from foundation models to navigation tasks. In this work, we propose a Pixel-guided Navigation skill (PixNav), which bridges the gap between the foundation models and the embodied navigation task. It is straightforward for recent foundation models to indicate an object by pixels, and with pixels as the goal specification, our method becomes a versatile navigation policy towards all different kinds of objects. Besides, our PixNav is a pure RGB-based policy that can reduce the cost of home-assistance robots. Experiments demonstrate the robustness of the PixNav which achieves 80+% success rate in the local path-planning task. To perform long-horizon object navigation, we design an LLM-based planner to utilize the commonsense knowledge between objects and rooms to select the best waypoint. Evaluations across both photorealistic indoor simulators and real-world environments validate the effectiveness of our proposed navigation strategy. Code and video demos are available at https://github.com/wzcai99/Pixel-Navigator.
Fast and reconfigurable sort-in-memory system enabled by memristors
Venue: arXiv cs.AR 2023
Year: 2023

Sorting is fundamental and ubiquitous in modern computing systems. Hardware sorting systems are built based on comparison operations with Von Neumann architecture, but their performance are limited by the bandwidth between memory and comparison units and the performance of complementary metal-oxide-semiconductor (CMOS) based circuitry. Sort-in-memory (SIM) based on emerging memristors is desired but not yet available due to comparison operations that are challenging to be implemented within memristive memory. Here we report fast and reconfigurable SIM system enabled by digit read (DR) on 1-transistor-1-resistor (1T1R) memristor arrays. We develop DR tree node skipping (TNS) that support variable data quantity and data types, and extend TNS with multi-bank, bit-slice and multi-level strategies to enable cross-array TNS (CA-TNS) for practical adoptions. Experimented on benchmark sorting datasets, our memristor-enabled SIM system presents up to 3.32x~7.70x speedup, 6.23x~183.5x energy efficiency improvement and 2.23x~7.43x area reduction compared with state-of-the-art sorting systems. We apply such SIM system for shortest path search with Dijkstra's algorithm and neural network inference with in-situ pruning, demonstrating the capability in solving practical sorting tasks and the compatibility in integrating with other compute-in-memory (CIM) schemes. The comparison-free TNS/CA-TNS SIM enabled by memristors pushes sorting into a new paradigm of sort-in-memory for next-generation sorting systems.