OpenRaiser/Intern-Atlas huggingface dataset:
Vehicle State Estimation through Modular Factor Graph-based Fusion of Multiple Sensors
Venue: arXiv cs.RO 2023
Year: 2023

This study focuses on the critical aspect of robust state estimation for the safe navigation of an Autonomous Vehicle (AV). Existing literature primarily employs two prevalent techniques for state estimation, namely filtering-based and graph-based approaches. Factor Graph (FG) is a graph-based approach, constructed using Values and Factors for Maximum Aposteriori (MAP) estimation, that offers a modular architecture that facilitates the integration of inputs from diverse sensors. However, most FG-based architectures in current use require explicit knowledge of sensor parameters and are designed for single setups. To address these limitations, this research introduces a novel plug-and-play FG-based state estimator capable of operating without predefined sensor parameters. This estimator is suitable for deployment in multiple sensor setups, offering convenience and providing comprehensive state estimation at a high frequency, including mean and covariances. The proposed algorithm undergoes rigorous validation using various sensor setups on two different vehicles: a quadricycle and a shuttle bus. The algorithm provides accurate and robust state estimation across diverse scenarios, even when faced with degraded Global Navigation Satellite System (GNSS) measurements or complete outages. These findings highlight the efficacy and reliability of the algorithm in real-world AV applications.
Learning multi-domain feature relation for visible and Long-wave Infrared image patch matching
Venue: arXiv cs.CV 2023
Year: 2023

Recently, learning-based algorithms have achieved promising performance on cross-spectral image patch matching, which, however, is still far from satisfactory for practical application. On the one hand, a lack of large-scale dataset with diverse scenes haunts its further improvement for learning-based algorithms, whose performances and generalization rely heavily on the dataset size and diversity. On the other hand, more emphasis has been put on feature relation in the spatial domain whereas the scale dependency between features has often been ignored, leading to performance degeneration especially when encountering significant appearance variations for cross-spectral patches. To address these issues, we publish, to be best of our knowledge, the largest visible and Long-wave Infrared (LWIR) image patch matching dataset, termed VL-CMIM, which contains 1300 pairs of strictly aligned visible and LWIR images and over 2 million patch pairs covering diverse scenes such as asteroid, field, country, build, street and water.In addition, a multi-domain feature relation learning network (MD-FRN) is proposed. Input by the features extracted from a four-branch network, both feature relations in spatial and scale domains are learned via a spatial correlation module (SCM) and multi-scale adaptive aggregation module (MSAG), respectively. To further aggregate the multi-domain relations, a deep domain interactive mechanism (DIM) is applied, where the learnt spatial-relation and scale-relation features are exchanged and further input into MSCRM and SCM. This mechanism allows our model to learn interactive cross-domain feature relations, leading to improved robustness to significant appearance changes due to different modality.
NLLG Quarterly arXiv Report 06/23: What are the most influential current AI Papers?
Venue: arXiv cs.CY 2023
Year: 2023

The rapid growth of information in the field of Generative Artificial Intelligence (AI), particularly in the subfields of Natural Language Processing (NLP) and Machine Learning (ML), presents a significant challenge for researchers and practitioners to keep pace with the latest developments. To address the problem of information overload, this report by the Natural Language Learning Group at Bielefeld University focuses on identifying the most popular papers on arXiv, with a specific emphasis on NLP and ML. The objective is to offer a quick guide to the most relevant and widely discussed research, aiding both newcomers and established researchers in staying abreast of current trends. In particular, we compile a list of the 40 most popular papers based on normalized citation counts from the first half of 2023. We observe the dominance of papers related to Large Language Models (LLMs) and specifically ChatGPT during the first half of 2023, with the latter showing signs of declining popularity more recently, however. Further, NLP related papers are the most influential (around 60\% of top papers) even though there are twice as many ML related papers in our data. Core issues investigated in the most heavily cited papers are: LLM efficiency, evaluation techniques, ethical considerations, embodied agents, and problem-solving with LLMs. Additionally, we examine the characteristics of top papers in comparison to others outside the top-40 list (noticing the top paper's focus on LLM related issues and higher number of co-authors) and analyze the citation distributions in our dataset, among others.
Ehrenfeucht-Fraïssé Games in Semiring Semantics
Venue: arXiv cs.LO 2023
Year: 2023

Ehrenfeucht-Fraïssé games provide a fundamental method for proving elementary equivalence (and equivalence up to a certain quantifier rank) of relational structures. We investigate the soundness and completeness of this method in the more general context of semiring semantics. Motivated originally by provenance analysis of database queries, semiring semantics evaluates logical statements not just by true or false, but by values in some commutative semiring; this can provide much more detailed information, for instance concerning the combinations of atomic facts that imply the truth of a statement, or practical information about evaluation costs, confidence scores, access levels or the number of successful evaluation strategies. There is a wide variety of different semirings that are relevant for provenance analysis, and the applicability of classical logical methods in semiring semantics may strongly depend on the algebraic properties of the underlying semiring. While Ehrenfeucht-Fraïssé games are sound and complete for logical equivalences in classical semantics, and thus on the Boolean semiring, this is in general not the case for other semirings. We provide a detailed analysis of the soundness and completeness of model comparison games on specific semirings, not just for classical Ehrenfeucht-Fraïssé games but also for other variants based on bijections or counting. Finally we propose a new kind of games, called homomorphism games, which are based on the fact that there exist certain rather simple semiring interpretations that are locally very different and can be separated even in a one-move game, but which can be proved to be elementarily equivalent via separating sets of homomorphisms into the Boolean semiring. We prove that these homomorphism games provide a sound and complete method for logical equivalences on finite and infinite lattice semirings.
A/B Testing: A Systematic Literature Review
Venue: arXiv cs.SE 2023
Year: 2023

In A/B testing two variants of a piece of software are compared in the field from an end user's point of view, enabling data-driven decision making. While widely used in practice, no comprehensive study has been conducted on the state-of-the-art in A/B testing. This paper reports the results of a systematic literature review that analyzed 141 primary studies. The results shows that the main targets of A/B testing are algorithms and visual elements. Single classic A/B tests are the dominating type of tests. Stakeholders have three main roles in the design of A/B tests: concept designer, experiment architect, and setup technician. The primary types of data collected during the execution of A/B tests are product/system data and user-centric data. The dominating use of the test results are feature selection, feature rollout, and continued feature development. Stakeholders have two main roles during A/B test execution: experiment coordinator and experiment assessor. The main reported open problems are enhancement of proposed approaches and their usability. Interesting lines for future research include: strengthen the adoption of statistical methods in A/B testing, improving the process of A/B testing, and enhancing the automation of A/B testing.
SelectNAdapt: Support Set Selection for Few-Shot Domain Adaptation
Venue: arXiv cs.CV 2023
Year: 2023

Generalisation of deep neural networks becomes vulnerable when distribution shifts are encountered between train (source) and test (target) domain data. Few-shot domain adaptation mitigates this issue by adapting deep neural networks pre-trained on the source domain to the target domain using a randomly selected and annotated support set from the target domain. This paper argues that randomly selecting the support set can be further improved for effectively adapting the pre-trained source models to the target domain. Alternatively, we propose SelectNAdapt, an algorithm to curate the selection of the target domain samples, which are then annotated and included in the support set. In particular, for the K-shot adaptation problem, we first leverage self-supervision to learn features of the target domain data. Then, we propose a per-class clustering scheme of the learned target domain features and select K representative target samples using a distance-based scoring function. Finally, we bring our selection setup towards a practical ground by relying on pseudo-labels for clustering semantically similar target domain samples. Our experiments show promising results on three few-shot domain adaptation benchmarks for image recognition compared to related approaches and the standard random selection.
can-train-and-test: A Curated CAN Dataset for Automotive Intrusion Detection
Venue: arXiv cs.CR 2023
Year: 2023

When it comes to in-vehicle networks (IVNs), the controller area network -- CAN -- bus dominates the market; automobiles manufactured and sold around the world depend on the CAN bus for safety-critical communications between various components of the vehicle (e.g., the engine, the transmission, the steering column). Unfortunately, the CAN bus is inherently insecure; in fact, it completely lacks controls such as authentication, authorization, and confidentiality (i.e., encryption). Therefore, researchers have travailed to develop automotive security enhancements. The automotive intrusion detection system (IDS) is especially popular in the literature -- due to its relatively low cost in terms of money, resource utilization, and implementation effort. That said, developing and evaluating an automotive IDS is often challenging; if researchers do not have access to a test vehicle, then they are forced to depend on publicly available CAN data -- which is not without limitations. Lack of access to adequate CAN data, then, becomes a barrier to entry into automotive security research. We seek to lower that barrier to entry by introducing a new CAN dataset to facilitate the development and evaluation of automotive IDSs. Our dataset, dubbed can-train-and-test, provides CAN data from four different vehicles produced by two different manufacturers. The attack captures for each vehicle model are equivalent, enabling researchers to assess the ability of a given IDS to generalize to different vehicle models and even different vehicle manufacturers. Our dataset contains replayable .log files as well as labeled and unlabeled .csv files, thereby meeting a variety of development and evaluation needs. Furthermore, can-train-and-test offers nine unique attacks, ranging from denial of service (DoS) to gear spoofing to standstill...
MetRoBERTa: Leveraging Traditional Customer Relationship Management Data to Develop a Transit-Topic-Aware Language Model
Venue: arXiv cs.AI 2023
Year: 2023

Transit riders' feedback provided in ridership surveys, customer relationship management (CRM) channels, and in more recent times, through social media is key for transit agencies to better gauge the efficacy of their services and initiatives. Getting a holistic understanding of riders' experience through the feedback shared in those instruments is often challenging, mostly due to the open-ended, unstructured nature of text feedback. In this paper, we propose leveraging traditional transit CRM feedback to develop and deploy a transit-topic-aware large language model (LLM) capable of classifying open-ended text feedback to relevant transit-specific topics. First, we utilize semi-supervised learning to engineer a training dataset of 11 broad transit topics detected in a corpus of 6 years of customer feedback provided to the Washington Metropolitan Area Transit Authority (WMATA). We then use this dataset to train and thoroughly evaluate a language model based on the RoBERTa architecture. We compare our LLM, MetRoBERTa, to classical machine learning approaches utilizing keyword-based and lexicon representations. Our model outperforms those methods across all evaluation metrics, providing an average topic classification accuracy of 90%. Finally, we provide a value proposition of this work demonstrating how the language model, alongside additional text processing tools, can be applied to add structure to open-ended text sources of feedback like Twitter. The framework and results we present provide a pathway for an automated, generalizable approach for ingesting, visualizing, and reporting transit riders' feedback at scale, enabling agencies to better understand and improve customer experience.
Scalable Hypergraph Visualization
Venue: arXiv cs.GR 2023
Year: 2023

Hypergraph visualization has many applications in network data analysis. Recently, a polygon-based representation for hypergraphs has been proposed with demonstrated benefits. However, the polygon-based layout often suffers from excessive self-intersections when the input dataset is relatively large. In this paper, we propose a framework in which the hypergraph is iteratively simplified through a set of atomic operations. Then, the layout of the simplest hypergraph is optimized and used as the foundation for a reverse process that brings the simplest hypergraph back to the original one, but with an improved layout. At the core of our approach is the set of atomic simplification operations and an operation priority measure to guide the simplification process. In addition, we introduce necessary definitions and conditions for hypergraph planarity within the polygon representation. We extend our approach to handle simultaneous simplification and layout optimization for both the hypergraph and its dual. We demonstrate the utility of our approach with datasets from a number of real-world applications.
CERMET: Coding for Energy Reduction with Multiple Encryption Techniques -- $It's\ easy\ being\ green$
Venue: arXiv cs.CR 2023
Year: 2023

This paper presents CERMET, an energy-efficient hardware architecture designed for hardware-constrained cryptosystems. CERMET employs a base cryptosystem in conjunction with network coding to provide both information-theoretic and computational security while reducing energy consumption per bit. This paper introduces the hardware architecture for the system and explores various optimizations to enhance its performance. The universality of the approach is demonstrated by designing the architecture to accommodate both asymmetric and symmetric cryptosystems. The analysis reveals that the benefits of this proposed approach are multifold, reducing energy per bit and area without compromising security or throughput. The optimized hardware architectures can achieve below 1 pJ/bit operations for AES-256. Furthermore, for a public key cryptosystem based on Elliptic Curve Cryptography (ECC), a remarkable 14.6X reduction in energy per bit and a 9.3X reduction in area are observed, bringing it to less than 1 nJ/bit.
Organizational Bulk Email Systems: Their Role and Performance in Remote Work
Venue: arXiv cs.HC 2023
Year: 2023

The COVID-19 pandemic has forced many employees to work from home. Organizational bulk emails now play a critical role to reach employees with central information in this work-from-home environment. However, we know from our own recent work that organizational bulk email has problems: recipients fail to retain the bulk messages they received from the organization; recipients and senders have different opinions on which bulk messages were important; and communicators lack technology support to better target and design messages. In this position paper, first we review the prior work on evaluating, designing, and prototyping organizational communication systems. Second we review our recent findings and some research techniques we found useful in studying organizational communication. Last we propose a research agenda to study organizational communications in remote work environment and suggest some key questions and potential study directions.
A degree of image identification at sub-human scales could be possible with more advanced clusters
Venue: arXiv cs.CV 2023
Year: 2023

The purpose of the research is to determine if currently available self-supervised learning techniques can accomplish human level comprehension of visual images using the same degree and amount of sensory input that people acquire from. Initial research on this topic solely considered data volume scaling. Here, we scale both the volume of data and the quality of the image. This scaling experiment is a self-supervised learning method that may be done without any outside financing. We find that scaling up data volume and picture resolution at the same time enables human-level item detection performance at sub-human sizes.We run a scaling experiment with vision transformers trained on up to 200000 images up to 256 ppi.
Optimal Flexible Consensus and its Application to Ethereum
Venue: arXiv cs.DC 2023
Year: 2023

Classic BFT consensus protocols guarantee safety and liveness for all clients if fewer than one-third of replicas are faulty. However, in applications such as high-value payments, some clients may want to prioritize safety over liveness. Flexible consensus allows each client to opt for a higher safety resilience, albeit at the expense of reduced liveness resilience. We present the first construction that allows optimal safety--liveness tradeoff for every client simultaneously. This construction is modular and is realized as an add-on applied on top of an existing consensus protocol. The add-on consists of an additional round of voting and permanent locking done by the replicas, to sidestep a sub-optimal quorum-intersection-based constraint present in previous solutions. We adapt our construction to the existing Ethereum protocol to derive optimal flexible confirmation rules that clients can adopt unilaterally without requiring system-wide changes. This is possible because existing Ethereum protocol features can double as the extra voting and locking. We demonstrate an implementation using Ethereum's consensus API.
Discrepancy-based Active Learning for Weakly Supervised Bleeding Segmentation in Wireless Capsule Endoscopy Images
Venue: arXiv cs.CV 2023
Year: 2023

Weakly supervised methods, such as class activation maps (CAM) based, have been applied to achieve bleeding segmentation with low annotation efforts in Wireless Capsule Endoscopy (WCE) images. However, the CAM labels tend to be extremely noisy, and there is an irreparable gap between CAM labels and ground truths for medical images. This paper proposes a new Discrepancy-basEd Active Learning (DEAL) approach to bridge the gap between CAMs and ground truths with a few annotations. Specifically, to liberate labor, we design a novel discrepancy decoder model and a CAMPUS (CAM, Pseudo-label and groUnd-truth Selection) criterion to replace the noisy CAMs with accurate model predictions and a few human labels. The discrepancy decoder model is trained with a unique scheme to generate standard, coarse and fine predictions. And the CAMPUS criterion is proposed to predict the gaps between CAMs and ground truths based on model divergence and CAM divergence. We evaluate our method on the WCE dataset and results show that our method outperforms the state-of-the-art active learning methods and reaches comparable performance to those trained with full annotated datasets with only 10% of the training data labeled.
A Unified Interactive Model Evaluation for Classification, Object Detection, and Instance Segmentation in Computer Vision
Venue: arXiv cs.CV 2023
Year: 2023

Existing model evaluation tools mainly focus on evaluating classification models, leaving a gap in evaluating more complex models, such as object detection. In this paper, we develop an open-source visual analysis tool, Uni-Evaluator, to support a unified model evaluation for classification, object detection, and instance segmentation in computer vision. The key idea behind our method is to formulate both discrete and continuous predictions in different tasks as unified probability distributions. Based on these distributions, we develop 1) a matrix-based visualization to provide an overview of model performance; 2) a table visualization to identify the problematic data subsets where the model performs poorly; 3) a grid visualization to display the samples of interest. These visualizations work together to facilitate the model evaluation from a global overview to individual samples. Two case studies demonstrate the effectiveness of Uni-Evaluator in evaluating model performance and making informed improvements.
Alexa, play with robot: Introducing the First Alexa Prize SimBot Challenge on Embodied AI
Venue: arXiv cs.HC 2023
Year: 2023

The Alexa Prize program has empowered numerous university students to explore, experiment, and showcase their talents in building conversational agents through challenges like the SocialBot Grand Challenge and the TaskBot Challenge. As conversational agents increasingly appear in multimodal and embodied contexts, it is important to explore the affordances of conversational interaction augmented with computer vision and physical embodiment. This paper describes the SimBot Challenge, a new challenge in which university teams compete to build robot assistants that complete tasks in a simulated physical environment. This paper provides an overview of the SimBot Challenge, which included both online and offline challenge phases. We describe the infrastructure and support provided to the teams including Alexa Arena, the simulated environment, and the ML toolkit provided to teams to accelerate their building of vision and language models. We summarize the approaches the participating teams took to overcome research challenges and extract key lessons learned. Finally, we provide analysis of the performance of the competing SimBots during the competition.