OpenRaiser/Intern-Atlas huggingface dataset:
LiteTrack: Layer Pruning with Asynchronous Feature Extraction for Lightweight and Efficient Visual Tracking
Venue: arXiv cs.CV 2023
Year: 2023

The recent advancements in transformer-based visual trackers have led to significant progress, attributed to their strong modeling capabilities. However, as performance improves, running latency correspondingly increases, presenting a challenge for real-time robotics applications, especially on edge devices with computational constraints. In response to this, we introduce LiteTrack, an efficient transformer-based tracking model optimized for high-speed operations across various devices. It achieves a more favorable trade-off between accuracy and efficiency than the other lightweight trackers. The main innovations of LiteTrack encompass: 1) asynchronous feature extraction and interaction between the template and search region for better feature fushion and cutting redundant computation, and 2) pruning encoder layers from a heavy tracker to refine the balnace between performance and speed. As an example, our fastest variant, LiteTrack-B4, achieves 65.2% AO on the GOT-10k benchmark, surpassing all preceding efficient trackers, while running over 100 fps with ONNX on the Jetson Orin NX edge device. Moreover, our LiteTrack-B9 reaches competitive 72.2% AO on GOT-10k and 82.4% AUC on TrackingNet, and operates at 171 fps on an NVIDIA 2080Ti GPU. The code and demo materials will be available at https://github.com/TsingWei/LiteTrack.
Convex Latent-Optimized Adversarial Regularizers for Imaging Inverse Problems
Venue: arXiv cs.CV 2023
Year: 2023

Recently, data-driven techniques have demonstrated remarkable effectiveness in addressing challenges related to MR imaging inverse problems. However, these methods still exhibit certain limitations in terms of interpretability and robustness. In response, we introduce Convex Latent-Optimized Adversarial Regularizers (CLEAR), a novel and interpretable data-driven paradigm. CLEAR represents a fusion of deep learning (DL) and variational regularization. Specifically, we employ a latent optimization technique to adversarially train an input convex neural network, and its set of minima can fully represent the real data manifold. We utilize it as a convex regularizer to formulate a CLEAR-informed variational regularization model that guides the solution of the imaging inverse problem on the real data manifold. Leveraging its inherent convexity, we have established the convergence of the projected subgradient descent algorithm for the CLEAR-informed regularization model. This convergence guarantees the attainment of a unique solution to the imaging inverse problem, subject to certain assumptions. Furthermore, we have demonstrated the robustness of our CLEAR-informed model, explicitly showcasing its capacity to achieve stable reconstruction even in the presence of measurement interference. Finally, we illustrate the superiority of our approach using MRI reconstruction as an example. Our method consistently outperforms conventional data-driven techniques and traditional regularization approaches, excelling in both reconstruction quality and robustness.
Leveraging Large Language Models for Sequential Recommendation
Venue: arXiv cs.IR 2023
Year: 2023

Sequential recommendation problems have received increasing attention in research during the past few years, leading to the inception of a large variety of algorithmic approaches. In this work, we explore how large language models (LLMs), which are nowadays introducing disruptive effects in many AI-based applications, can be used to build or improve sequential recommendation approaches. Specifically, we devise and evaluate three approaches to leverage the power of LLMs in different ways. Our results from experiments on two datasets show that initializing the state-of-the-art sequential recommendation model BERT4Rec with embeddings obtained from an LLM improves NDCG by 15-20% compared to the vanilla BERT4Rec model. Furthermore, we find that a simple approach that leverages LLM embeddings for producing recommendations, can provide competitive performance by highlighting semantically related items. We publicly share the code and data of our experiments to ensure reproducibility.
Code quality assessment using transformers
Venue: arXiv cs.CL 2023
Year: 2023

Automatically evaluate the correctness of programming assignments is rather straightforward using unit and integration tests. However, programming tasks can be solved in multiple ways, many of which, although correct, are inelegant. For instance, excessive branching, poor naming or repetitiveness make the code hard to understand and maintain. These subjective qualities of code are hard to automatically assess using current techniques. In this work we investigate the use of CodeBERT to automatically assign quality score to Java code. We experiment with different models and training paradigms. We explore the accuracy of the models on a novel dataset for code quality assessment. Finally, we assess the quality of the predictions using saliency maps. We find that code quality to some extent is predictable and that transformer based models using task adapted pre-training can solve the task more efficiently than other techniques.
Asymptotic Analysis of the Downlink in Cooperative Massive MIMO Systems
Venue: arXiv cs.IT 2023
Year: 2023

We consider the downlink of a cooperative cellular communications system, where several base-stations around each mobile cooperate and perform zero-forcing to reduce the received interference at the mobile. We derive closed-form expressions for the asymptotic performance of the network as the number of antennas per base station grows large. These expressions capture the trade off between various system parameters, and characterize the joint effect of noise and interference (where either noise or interference is asymptotically dominant and where both are asymptotically relevant). The asymptotic results are verified using Monte Carlo simulations, which indicate that they are useful even when the number of antennas per base station is only moderately large. Additionally, we show that when the number of antennas per base station grows large, power allocation can be optimized locally at each base station. We hence present a power allocation algorithm that achieves near optimal performance while significantly reducing the coordination overhead between base stations. The presented analysis is significantly more challenging than the uplink analysis, due to the dependence between beamforming vectors of nearby base stations. This statistical dependence is handled by introducing novel bounds on marked shot-noise point processes with dependent marks, which are also useful in other contexts.
Leveraging Social Discourse to Measure Check-worthiness of Claims for Fact-checking
Venue: arXiv cs.CL 2023
Year: 2023

The expansion of online social media platforms has led to a surge in online content consumption. However, this has also paved the way for disseminating false claims and misinformation. As a result, there is an escalating demand for a substantial workforce to sift through and validate such unverified claims. Currently, these claims are manually verified by fact-checkers. Still, the volume of online content often outweighs their potency, making it difficult for them to validate every single claim in a timely manner. Thus, it is critical to determine which assertions are worth fact-checking and prioritize claims that require immediate attention. Multiple factors contribute to determining whether a claim necessitates fact-checking, encompassing factors such as its factual correctness, potential impact on the public, the probability of inciting hatred, and more. Despite several efforts to address claim check-worthiness, a systematic approach to identify these factors remains an open challenge. To this end, we introduce a new task of fine-grained claim check-worthiness, which underpins all of these factors and provides probable human grounds for identifying a claim as check-worthy. We present CheckIt, a manually annotated large Twitter dataset for fine-grained claim check-worthiness. We benchmark our dataset against a unified approach, CheckMate, that jointly determines whether a claim is check-worthy and the factors that led to that conclusion. We compare our suggested system with several baseline systems. Finally, we report a thorough analysis of results and human assessment, validating the efficacy of integrating check-worthiness factors in detecting claims worth fact-checking.
Model-based Subsampling for Knowledge Graph Completion
Venue: arXiv cs.CL 2023
Year: 2023

Subsampling is effective in Knowledge Graph Embedding (KGE) for reducing overfitting caused by the sparsity in Knowledge Graph (KG) datasets. However, current subsampling approaches consider only frequencies of queries that consist of entities and their relations. Thus, the existing subsampling potentially underestimates the appearance probabilities of infrequent queries even if the frequencies of their entities or relations are high. To address this problem, we propose Model-based Subsampling (MBS) and Mixed Subsampling (MIX) to estimate their appearance probabilities through predictions of KGE models. Evaluation results on datasets FB15k-237, WN18RR, and YAGO3-10 showed that our proposed subsampling methods actually improved the KG completion performances for popular KGE models, RotatE, TransE, HAKE, ComplEx, and DistMult.
Mobile Metaverse: A Road Map from Metaverse to Metavehicles
Venue: arXiv cs.NI 2023
Year: 2023

With the rapid development of communication technologies and extended reality (XR), the services and applications of the Metaverse are gradually entering our lives. However, the current development of the Metaverse provides users with services that are homogeneous with the user experience that the Internet has brought in the past, making them more like an extension of the Internet. In addition, as a mobile application carrier for the Metaverse, it is also worth considering how vehicles with diverse onboard components can develop in synergy with the Metaverse. In this article, we focus on the core of the Metaverse, namely user experience, and provide a road map from Metaverse to Metaverse vehicles (Metavehicles). Specifically, we first elaborate on six features of the Metaverse from the perspective of user experience and propose a hierarchical framework for the Metaverse based on the evolutionary logic of the features. Under the guidance of this framework, we discuss the empowerment of onboard components of Metavehicles on the development of the Metaverse, and analyze the service experience that Metavehicles can bring to two types of users, namely drivers and passengers. Finally, considering the differentiated development levels of Metaverse and autonomous driving, we further establish a hierarchical framework for Metavehicles from three aspects (i.e., enhance Metaverse, enhance driving experience, and enhance entertainment experience), providing an evolutionary path for the development of Metavehicles.
Predictive Fault Tolerance for Autonomous Robot Swarms
Venue: arXiv cs.RO 2023
Year: 2023

Active fault tolerance is essential for robot swarms to retain long-term autonomy. Previous work on swarm fault tolerance focuses on reacting to electro-mechanical faults that are spontaneously injected into robot sensors and actuators. Resolving faults once they have manifested as failures is an inefficient approach, and there are some safety-critical scenarios in which any kind of robot failure is unacceptable. We propose a predictive approach to fault tolerance, based on the principle of preemptive maintenance, in which potential faults are autonomously detected and resolved before they manifest as failures. Our approach is shown to improve swarm performance and prevent robot failure in the cases tested.
MOVIN: Real-time Motion Capture using a Single LiDAR
Venue: arXiv cs.GR 2023
Year: 2023

Recent advancements in technology have brought forth new forms of interactive applications, such as the social metaverse, where end users interact with each other through their virtual avatars. In such applications, precise full-body tracking is essential for an immersive experience and a sense of embodiment with the virtual avatar. However, current motion capture systems are not easily accessible to end users due to their high cost, the requirement for special skills to operate them, or the discomfort associated with wearable devices. In this paper, we present MOVIN, the data-driven generative method for real-time motion capture with global tracking, using a single LiDAR sensor. Our autoregressive conditional variational autoencoder (CVAE) model learns the distribution of pose variations conditioned on the given 3D point cloud from LiDAR.As a central factor for high-accuracy motion capture, we propose a novel feature encoder to learn the correlation between the historical 3D point cloud data and global, local pose features, resulting in effective learning of the pose prior. Global pose features include root translation, rotation, and foot contacts, while local features comprise joint positions and rotations. Subsequently, a pose generator takes into account the sampled latent variable along with the features from the previous frame to generate a plausible current pose. Our framework accurately predicts the performer's 3D global information and local joint details while effectively considering temporally coherent movements across frames. We demonstrate the effectiveness of our architecture through quantitative and qualitative evaluations, comparing it against state-of-the-art methods. Additionally, we implement a real-time application to showcase our method in real-world scenarios. MOVIN dataset is available at \url{https://movin3d.github.io/movin_pg2023/}.
A Few-Shot Approach to Dysarthric Speech Intelligibility Level Classification Using Transformers
Venue: arXiv cs.SD 2023
Year: 2023

Dysarthria is a speech disorder that hinders communication due to difficulties in articulating words. Detection of dysarthria is important for several reasons as it can be used to develop a treatment plan and help improve a person's quality of life and ability to communicate effectively. Much of the literature focused on improving ASR systems for dysarthric speech. The objective of the current work is to develop models that can accurately classify the presence of dysarthria and also give information about the intelligibility level using limited data by employing a few-shot approach using a transformer model. This work also aims to tackle the data leakage that is present in previous studies. Our whisper-large-v2 transformer model trained on a subset of the UASpeech dataset containing medium intelligibility level patients achieved an accuracy of 85%, precision of 0.92, recall of 0.8 F1-score of 0.85, and specificity of 0.91. Experimental results also demonstrate that the model trained using the 'words' dataset performed better compared to the model trained on the 'letters' and 'digits' dataset. Moreover, the multiclass model achieved an accuracy of 67%.
Unleashing the Power of Dynamic Mode Decomposition and Deep Learning for Rainfall Prediction in North-East India
Venue: arXiv cs.LG 2023
Year: 2023

Accurate rainfall forecasting is crucial for effective disaster preparedness and mitigation in the North-East region of India, which is prone to extreme weather events such as floods and landslides. In this study, we investigated the use of two data-driven methods, Dynamic Mode Decomposition (DMD) and Long Short-Term Memory (LSTM), for rainfall forecasting using daily rainfall data collected from India Meteorological Department in northeast region over a period of 118 years. We conducted a comparative analysis of these methods to determine their relative effectiveness in predicting rainfall patterns. Using historical rainfall data from multiple weather stations, we trained and validated our models to forecast future rainfall patterns. Our results indicate that both DMD and LSTM are effective in forecasting rainfall, with LSTM outperforming DMD in terms of accuracy, revealing that LSTM has the ability to capture complex nonlinear relationships in the data, making it a powerful tool for rainfall forecasting. Our findings suggest that data-driven methods such as DMD and deep learning approaches like LSTM can significantly improve rainfall forecasting accuracy in the North-East region of India, helping to mitigate the impact of extreme weather events and enhance the region's resilience to climate change.
Federated Learning in Temporal Heterogeneity
Venue: arXiv cs.LG 2023
Year: 2023

In this work, we explored federated learning in temporal heterogeneity across clients. We observed that global model obtained by \texttt{FedAvg} trained with fixed-length sequences shows faster convergence than varying-length sequences. We proposed methods to mitigate temporal heterogeneity for efficient federated learning based on the empirical observation.
Augmenting text for spoken language understanding with Large Language Models
Venue: arXiv cs.CL 2023
Year: 2023

Spoken semantic parsing (SSP) involves generating machine-comprehensible parses from input speech. Training robust models for existing application domains represented in training data or extending to new domains requires corresponding triplets of speech-transcript-semantic parse data, which is expensive to obtain. In this paper, we address this challenge by examining methods that can use transcript-semantic parse data (unpaired text) without corresponding speech. First, when unpaired text is drawn from existing textual corpora, Joint Audio Text (JAT) and Text-to-Speech (TTS) are compared as ways to generate speech representations for unpaired text. Experiments on the STOP dataset show that unpaired text from existing and new domains improves performance by 2% and 30% in absolute Exact Match (EM) respectively. Second, we consider the setting when unpaired text is not available in existing textual corpora. We propose to prompt Large Language Models (LLMs) to generate unpaired text for existing and new domains. Experiments show that examples and words that co-occur with intents can be used to generate unpaired text with Llama 2.0. Using the generated text with JAT and TTS for spoken semantic parsing improves EM on STOP by 1.4% and 2.6% absolute for existing and new domains respectively.
Causal Discovery and Prediction: Methods and Algorithms
Venue: arXiv cs.AI 2023
Year: 2023

We are not only observers but also actors of reality. Our capability to intervene and alter the course of some events in the space and time surrounding us is an essential component of how we build our model of the world. In this doctoral thesis we introduce a generic a-priori assessment of each possible intervention, in order to select the most cost-effective interventions only, and avoid unnecessary systematic experimentation on the real world. Based on this a-priori assessment, we propose an active learning algorithm that identifies the causal relations in any given causal model, using a least cost sequence of interventions. There are several novel aspects introduced by our algorithm. It is, in most case scenarios, able to discard many causal model candidates using relatively inexpensive interventions that only test one value of the intervened variables. Also, the number of interventions performed by the algorithm can be bounded by the number of causal model candidates. Hence, fewer initial candidates (or equivalently, more prior knowledge) lead to fewer interventions for causal discovery. Causality is intimately related to time, as causes appear to precede their effects. Cyclical causal processes are a very interesting case of causality in relation to time. In this doctoral thesis we introduce a formal analysis of time cyclical causal settings by defining a causal analog to the purely observational Dynamic Bayesian Networks, and provide a sound and complete algorithm for the identification of causal effects in the cyclic setting. We introduce the existence of two types of hidden confounder variables in this framework, which affect in substantially different ways the identification procedures, a distinction with no analog in either Dynamic Bayesian Networks or standard causal graphs.
Two Degree of Freedom Adaptive Control for Hysteresis Compensation of Pneumatic Continuum Bending Actuator
Venue: arXiv cs.RO 2023
Year: 2023

Soft robotics, with their inherent flexibility and infinite degrees of freedom (DoF), offer promising advancements in human-machine interfaces. Particularly, pneumatic artificial muscles (PAMs) and pneumatic bending actuators have been fundamental in driving this evolution, capitalizing on their mimetic nature to natural muscle movements. However, with the versatility of these actuators comes the intricate challenge of hysteresis - a nonlinear phenomenon that hampers precise positioning, especially pronounced in pneumatic actuators due to gas compressibility. In this study, we introduce a novel 2-DoF adaptive control for precise bending tracking using a pneumatic continuum actuator. Notably, our control method integrates adaptability into both the feedback and the feedforward element, enhancing trajectory tracking in the presence of profound nonlinear effects. Comparative analysis with existing approaches underscores the superior tracking accuracy of our proposed strategy. This work discusses a new way of simple yet effective control designs for soft actuators with hysteresis properties.
Multi-Affiliated Authors Behave Differently across Fields and Host Country Preferences: A Comparison in G7 and BRICS
Venue: arXiv cs.DL 2023
Year: 2023

This paper study author simultaneously engaged in multiple affiliations based on bibliometric data covered in the Web of Science for the 2017-2021 period. Based on the affiliation information in publication records, we propose a general classification for multiple affiliations within-country or cross-country for analyzing authors' behavior in multiple affiliations and preferences of host countries across research fields. We find a decrease in publications led by international multi-affiliated authorship after 2020, and China has shown a falling trend after 2018. More G7 countries are active in fields like Social Sciences, Clinical and Life Sciences. China, India, and Russia are active in physical sciences-related fields. Countries prefer to affiliate with G7 countries, especially in Clinical and Life Sciences. These findings may provide more insights into the understanding of the behavior and productivity of multi-affiliated researchers in the current academic landscape.
Object2Scene: Putting Objects in Context for Open-Vocabulary 3D Detection
Venue: arXiv cs.CV 2023
Year: 2023

Point cloud-based open-vocabulary 3D object detection aims to detect 3D categories that do not have ground-truth annotations in the training set. It is extremely challenging because of the limited data and annotations (bounding boxes with class labels or text descriptions) of 3D scenes. Previous approaches leverage large-scale richly-annotated image datasets as a bridge between 3D and category semantics but require an extra alignment process between 2D images and 3D points, limiting the open-vocabulary ability of 3D detectors. Instead of leveraging 2D images, we propose Object2Scene, the first approach that leverages large-scale large-vocabulary 3D object datasets to augment existing 3D scene datasets for open-vocabulary 3D object detection. Object2Scene inserts objects from different sources into 3D scenes to enrich the vocabulary of 3D scene datasets and generates text descriptions for the newly inserted objects. We further introduce a framework that unifies 3D detection and visual grounding, named L3Det, and propose a cross-domain category-level contrastive learning approach to mitigate the domain gap between 3D objects from different datasets. Extensive experiments on existing open-vocabulary 3D object detection benchmarks show that Object2Scene obtains superior performance over existing methods. We further verify the effectiveness of Object2Scene on a new benchmark OV-ScanNet-200, by holding out all rare categories as novel categories not seen during training.