OpenRaiser/Intern-Atlas huggingface dataset:
Potential Energy based Mixture Model for Noisy Label Learning
Venue: arXiv cs.LG 2024
Year: 2024

Training deep neural networks (DNNs) from noisy labels is an important and challenging task. However, most existing approaches focus on the corrupted labels and ignore the importance of inherent data structure. To bridge the gap between noisy labels and data, inspired by the concept of potential energy in physics, we propose a novel Potential Energy based Mixture Model (PEMM) for noise-labels learning. We innovate a distance-based classifier with the potential energy regularization on its class centers. Embedding our proposed classifier with existing deep learning backbones, we can have robust networks with better feature representations. They can preserve intrinsic structures from the data, resulting in a superior noisy tolerance. We conducted extensive experiments to analyze the efficiency of our proposed model on several real-world datasets. Quantitative results show that it can achieve state-of-the-art performance.
Gradient-Congruity Guided Federated Sparse Training
Venue: arXiv cs.LG 2024
Year: 2024

Edge computing allows artificial intelligence and machine learning models to be deployed on edge devices, where they can learn from local data and collaborate to form a global model. Federated learning (FL) is a distributed machine learning technique that facilitates this process while preserving data privacy. However, FL also faces challenges such as high computational and communication costs regarding resource-constrained devices, and poor generalization performance due to the heterogeneity of data across edge clients and the presence of out-of-distribution data. In this paper, we propose the Gradient-Congruity Guided Federated Sparse Training (FedSGC), a novel method that integrates dynamic sparse training and gradient congruity inspection into federated learning framework to address these issues. Our method leverages the idea that the neurons, in which the associated gradients with conflicting directions with respect to the global model contain irrelevant or less generalized information for other clients, and could be pruned during the sparse training process. Conversely, the neurons where the associated gradients with consistent directions could be grown in a higher priority. In this way, FedSGC can greatly reduce the local computation and communication overheads while, at the same time, enhancing the generalization abilities of FL. We evaluate our method on challenging non-i.i.d settings and show that it achieves competitive accuracy with state-of-the-art FL methods across various scenarios while minimizing computation and communication costs.
Movable Antenna Enhanced Wireless Sensing Via Antenna Position Optimization
Venue: arXiv cs.IT 2024
Year: 2024

In this paper, we propose a new wireless sensing system equipped with the movable-antenna (MA) array, which can flexibly adjust the positions of antenna elements for improving the sensing performance over conventional antenna arrays with fixed-position antennas (FPAs). First, we show that the angle estimation performance in wireless sensing is fundamentally determined by the array geometry, where the Cramer-Rao bound (CRB) of the mean square error (MSE) for angle of arrival (AoA) estimation is derived as a function of the antennas' positions for both one-dimensional (1D) and two-dimensional (2D) MA arrays. Then, for the case of 1D MA array, we obtain a globally optimal solution for the MAs' positions in closed form to minimize the CRB of AoA estimation MSE. While in the case of 2D MA array, we aim to achieve the minimum of maximum (min-max) CRBs of estimation MSE for the two AoAs with respect to the horizontal and vertical axes, respectively. In particular, for the special case of circular antenna movement region, an optimal solution for the MAs' positions is derived under certain numbers of MAs and circle radii. Thereby, both the lower- and upper-bounds of the min-max CRB are obtained for the antenna movement region with arbitrary shapes. Moreover, we develop an efficient alternating optimization algorithm to obtain a locally optimal solution for MAs' positions by iteratively optimizing one between their horizontal and vertical coordinates with the other being fixed. Numerical results demonstrate that our proposed 1D/2D MA arrays can significantly decrease the CRB of AoA estimation MSE as well as the actual MSE compared to conventional uniform linear arrays (ULAs)/uniform planar arrays (UPAs) with different values of uniform inter-antenna spacing.
Modeling the Trade-off between Throughput and Reliability in a Bluetooth Low Energy Connection
Venue: arXiv cs.NI 2024
Year: 2024

The use of Bluetooth Low Energy in low-range Internet of Things systems is growing exponentially. Similar to other wireless communication protocols, throughput and reliability are two key performance metrics in Bluetooth Low Energy communications. However, electromagnetic interference from various sources can heavily affect the performance of wireless devices, leading to dropped throughput and unreliable communication. Therefore, there is a need for both theoretical and practical studies capable of quantifying the BLE communication performance, e.g. throughput and reliability, subject to interference. In this paper, a mathematical model to predict throughput of a BLE connection under interference is derived first, and linked to the reliability model we developed in [1]. After that, extensive practical experiments are performed in various scenarios to sufficiently validate the theoretical results from both models. Finally, the trade-off between throughput and reliability is investigated through the validated models to give some inside properties of BLE communications. The similarity between the theoretical results and the experimental ones highlights the accuracy of the proposed throughput and reliability models. Hence, the two models can be used to explore the performance of various BLE designs or deployments from diverse perspectives.
Stability of Information in the Heat Flow Clustering
Venue: arXiv cs.IT 2024
Year: 2024

Clustering methods must be tailored to the dataset it operates on, as there is no objective or universal definition of ``cluster,'' but nevertheless arbitrariness in the clustering method must be minimized. This paper develops a quantitative ``stability'' method of determining clusters, where stable or persistent clustering signals are used to indicate real structures have been identified in the underlying dataset. This method is based on modulating clustering methods by controlling a parameter -- through a thermodynamic analogy, the modulation parameter is considered ``time'' and the evolving clustering methodologies can be considered a ``heat flow.'' When the information entropy of the heat flow is stable over a wide range of times -- either globally or in the local sense which we define -- we interpret this stability as an indication that essential features of the data have been found, and create clusters on this basis.
Continuously evolving rewards in an open-ended environment
Venue: arXiv cs.LG 2024
Year: 2024

Unambiguous identification of the rewards driving behaviours of entities operating in complex open-ended real-world environments is difficult, partly because goals and associated behaviours emerge endogenously and are dynamically updated as environments change. Reproducing such dynamics in models would be useful in many domains, particularly where fixed reward functions limit the adaptive capabilities of agents. Simulation experiments described assess a candidate algorithm for the dynamic updating of rewards, RULE: Reward Updating through Learning and Expectation. The approach is tested in a simplified ecosystem-like setting where experiments challenge entities' survival, calling for significant behavioural change. The population of entities successfully demonstrate the abandonment of an initially rewarded but ultimately detrimental behaviour, amplification of beneficial behaviour, and appropriate responses to novel items added to their environment. These adjustment happen through endogenous modification of the entities' underlying reward function, during continuous learning, without external intervention.
Quantifying Spatial Domain Explanations in BCI using Earth Mover's Distance
Venue: arXiv cs.HC 2024
Year: 2024

Brain-computer interface (BCI) systems facilitate unique communication between humans and computers, benefiting severely disabled individuals. Despite decades of research, BCIs are not fully integrated into clinical and commercial settings. It's crucial to assess and explain BCI performance, offering clear explanations for potential users to avoid frustration when it doesn't work as expected. This work investigates the efficacy of different deep learning and Riemannian geometry-based classification models in the context of motor imagery (MI) based BCI using electroencephalography (EEG). We then propose an optimal transport theory-based approach using earth mover's distance (EMD) to quantify the comparison of the feature relevance map with the domain knowledge of neuroscience. For this, we utilized explainable AI (XAI) techniques for generating feature relevance in the spatial domain to identify important channels for model outcomes. Three state-of-the-art models are implemented - 1) Riemannian geometry-based classifier, 2) EEGNet, and 3) EEG Conformer, and the observed trend in the model's accuracy across different architectures on the dataset correlates with the proposed feature relevance metrics. The models with diverse architectures perform significantly better when trained on channels relevant to motor imagery than data-driven channel selection. This work focuses attention on the necessity for interpretability and incorporating metrics beyond accuracy, underscores the value of combining domain knowledge and quantifying model interpretations with data-driven approaches in creating reliable and robust Brain-Computer Interfaces (BCIs).
Core QUIC: Enabling Dynamic, Implementation-Agnostic Protocol Extensions
Venue: arXiv cs.NI 2024
Year: 2024

While applications quickly evolve, Internet protocols do not follow the same pace. There are two root causes for this. First, extending protocol with cleartext control plane is usually hindered by various network devices such as middleboxes. Second, such extensions usually require support from all participating entities, but often these run different implementations, leading to the chicken-and-egg deployment issue. The recently standardized QUIC protocol paved the way for dealing with the first concern by embedding encryption by design. However, it attracted so much interest that there is now a large heterogeneity in QUIC implementations, hence amplifying the second problem. To get rid of these deployment issues and to enable inter-operable, implementation-independent innovation at transport layer, we propose a paradigm shift called Core QUIC. While Core QUIC keeps compliant with the standardized QUIC protocol, it enforces implementation architecture such that any Core QUIC-supporting participant can be extended with the same, generic bytecode. To achieve this, Core QUIC defines a standardized representation format of common QUIC structures on which plugins running in a controlled environment can operate to extend the underlying host implementation. We demonstrate the feasibility of our approach by making two implementations Core QUIC-compliant. Then, we show that we can extend both with the same plugin code over several use cases.
A Framework for the Systematic Assessment of Anomaly Detectors in Time-Sensitive Automotive Networks
Venue: arXiv cs.NI 2024
Year: 2024

Connected cars are susceptible to cyberattacks. Security and safety of future vehicles highly depend on a holistic protection of automotive components, of which the time-sensitive backbone network takes a significant role. These onboard Time-Sensitive Networks (TSNs) require monitoring for safety and -- as versatile platforms to host Network Anomaly Detection Systems (NADSs) -- for security. Still a thorough evaluation of anomaly detection methods in the context of hard real-time operations, automotive protocol stacks, and domain specific attack vectors is missing along with appropriate input datasets. In this paper, we present an assessment framework that allows for reproducible, comparable, and rapid evaluation of detection algorithms. It is based on a simulation toolchain, which contributes configurable topologies, traffic streams, anomalies, attacks, and detectors. We demonstrate the assessment of NADSs in a comprehensive in-vehicular network with its communication flows, on which we model traffic anomalies. We evaluate exemplary detection mechanisms and reveal how the detection performance is influenced by different combinations of TSN traffic flows and anomaly types. Our approach translates to other real-time Ethernet domains, such as industrial facilities, airplanes, and UAVs.
Multi-modal Learnable Queries for Image Aesthetics Assessment
Venue: arXiv cs.CV 2024
Year: 2024

Image aesthetics assessment (IAA) is attracting wide interest with the prevalence of social media. The problem is challenging due to its subjective and ambiguous nature. Instead of directly extracting aesthetic features solely from the image, user comments associated with an image could potentially provide complementary knowledge that is useful for IAA. With existing large-scale pre-trained models demonstrating strong capabilities in extracting high-quality transferable visual and textual features, learnable queries are shown to be effective in extracting useful features from the pre-trained visual features. Therefore, in this paper, we propose MMLQ, which utilizes multi-modal learnable queries to extract aesthetics-related features from multi-modal pre-trained features. Extensive experimental results demonstrate that MMLQ achieves new state-of-the-art performance on multi-modal IAA, beating previous methods by 7.7% and 8.3% in terms of SRCC and PLCC, respectively.
Sensitivity Sampling for $k$-Means: Worst Case and Stability Optimal Coreset Bounds
Venue: arXiv cs.DS 2024
Year: 2024

Coresets are arguably the most popular compression paradigm for center-based clustering objectives such as $k$-means. Given a point set $P$, a coreset $Ω$ is a small, weighted summary that preserves the cost of all candidate solutions $S$ up to a $(1\pm \varepsilon)$ factor. For $k$-means in $d$-dimensional Euclidean space the cost for solution $S$ is $\sum_{p\in P}\min_{s\in S}\|p-s\|^2$. A very popular method for coreset construction, both in theory and practice, is Sensitivity Sampling, where points are sampled in proportion to their importance. We show that Sensitivity Sampling yields optimal coresets of size $\tilde{O}(k/\varepsilon^2\min(\sqrt{k},\varepsilon^{-2}))$ for worst-case instances. Uniquely among all known coreset algorithms, for well-clusterable data sets with $Ω(1)$ cost stability, Sensitivity Sampling gives coresets of size $\tilde{O}(k/\varepsilon^2)$, improving over the worst-case lower bound. Notably, Sensitivity Sampling does not have to know the cost stability in order to exploit it: It is appropriately sensitive to the clusterability of the data set while being oblivious to it. We also show that any coreset for stable instances consisting of only input points must have size $Ω(k/\varepsilon^2)$. Our results for Sensitivity Sampling also extend to the $k$-median problem, and more general metric spaces.
The Power of Question Translation Training in Multilingual Reasoning: Broadened Scope and Deepened Insights
Venue: arXiv cs.CL 2024
Year: 2024

Bridging the significant gap between large language model's English and non-English performance presents a great challenge. While some previous studies attempt to mitigate this gap with translated training data, the recently proposed question alignment framework leverages the model's English expertise to improve multilingual performance with minimum usage of expensive, error-prone translation. In this paper, we explore how broadly this method can be applied by examining its effects in reasoning with and without chain-of-thought, as well as with program-of-thought. We also explore applying this framework to extremely large language models in an efficient manner, such as through proxy-tuning. Experiment results on multilingual reasoning benchmarks mGSM, mSVAMP, xCSQA and xNLI demonstrate that we can extend question alignment framework to boost multilingual performance across diverse reasoning scenarios, model families, and sizes. For instance, when applied to the LLaMA2 models, it brings an average accuracy improvements of 12.2% on mGSM even with the 70B model. To understand the mechanism of its success, we analyze representation space, generated response and data scales, and reveal how question translation training strengthens language alignment within LLMs and shapes their working patterns.
Haptic-Based Bilateral Teleoperation of Aerial Manipulator for Extracting Wedged Object with Compensation of Human Reaction Time
Venue: arXiv cs.RO 2024
Year: 2024

Bilateral teleoperation of an aerial manipulator facilitates the execution of industrial missions thanks to the combination of the aerial platform's maneuverability and the ability to conduct complex tasks with human supervision. Heretofore, research on such operations has focused on flying without any physical interaction or exerting a pushing force on a contact surface that does not involve abrupt changes in the interaction force. In this paper, we propose a human reaction time compensating haptic-based bilateral teleoperation strategy for an aerial manipulator extracting a wedged object from a static structure (i.e., plug-pulling), which incurs an abrupt decrease in the interaction force and causes additional difficulty for an aerial platform. A haptic device composed of a 4-degree-of-freedom robotic arm and a gripper is made for the teleoperation of aerial wedged object-extracting tasks, and a haptic-based teleoperation method to execute the aerial manipulator by the haptic device is introduced. We detect the extraction of the object by the estimation of the external force exerted on the aerial manipulator and generate reference trajectories for both the aerial manipulator and the haptic device after the extraction. As an example of the extraction of a wedged object, we conduct comparative plug-pulling experiments with a quadrotor-based aerial manipulator. The results validate that the proposed bilateral teleoperation method reduces the overshoot in the aerial manipulator's position and ensures fast recovery to its initial position after extracting the wedged object.
Verification and Refinement of Natural Language Explanations through LLM-Symbolic Theorem Proving
Venue: arXiv cs.CL 2024
Year: 2024

Natural language explanations represent a proxy for evaluating explanation-based and multi-step Natural Language Inference (NLI) models. However, assessing the validity of explanations for NLI is challenging as it typically involves the crowd-sourcing of apposite datasets, a process that is time-consuming and prone to logical errors. To address existing limitations, this paper investigates the verification and refinement of natural language explanations through the integration of Large Language Models (LLMs) and Theorem Provers (TPs). Specifically, we present a neuro-symbolic framework, named Explanation-Refiner, that integrates TPs with LLMs to generate and formalise explanatory sentences and suggest potential inference strategies for NLI. In turn, the TP is employed to provide formal guarantees on the logical validity of the explanations and to generate feedback for subsequent improvements. We demonstrate how Explanation-Refiner can be jointly used to evaluate explanatory reasoning, autoformalisation, and error correction mechanisms of state-of-the-art LLMs as well as to automatically enhance the quality of explanations of variable complexity in different domains.
Advancing Frontiers in SLAM: A Survey of Symbolic Representation and Human-Machine Teaming in Environmental Mapping
Venue: arXiv cs.AI 2024
Year: 2024

This survey paper presents a comprehensive overview of the latest advancements in the field of Simultaneous Localization and Mapping (SLAM) with a focus on the integration of symbolic representation of environment features. The paper synthesizes research trends in multi-agent systems (MAS) and human-machine teaming, highlighting their applications in both symbolic and sub-symbolic SLAM tasks. The survey emphasizes the evolution and significance of ontological designs and symbolic reasoning in creating sophisticated 2D and 3D maps of various environments. Central to this review is the exploration of different architectural approaches in SLAM, with a particular interest in the functionalities and applications of edge and control agent architectures in MAS settings. This study acknowledges the growing demand for enhanced human-machine collaboration in mapping tasks and examines how these collaborative efforts improve the accuracy and efficiency of environmental mapping
An Exploratory Case Study on Data Breach Journalism
Venue: arXiv cs.CR 2024
Year: 2024

This paper explores the novel topic of data breach journalism and data breach news through the case of databreaches.net, a news outlet dedicated to data breaches and related cyber crime. Motivated by the issues in traditional crime news and crime journalism, the case is explored by the means of text mining. According to the results, the outlet has kept a steady publishing pace, mainly focusing on plain and short reporting but with generally high-quality source material for the news articles. Despite these characteristics, the news articles exhibit fairly strong sentiments, which is partially expected due to the presence of emotionally laden crime and the long history of sensationalism in crime news. The news site has also covered the full scope of data breaches, although many of these are fairly traditional, exposing personal identifiers and financial details of the victims. Also hospitals and the healthcare sector stand out. With these results, the paper advances the study of data breaches by considering these from the perspective of media and journalism.
Test-time Assessment of a Model's Performance on Unseen Domains via Optimal Transport
Venue: arXiv cs.LG 2024
Year: 2024

Gauging the performance of ML models on data from unseen domains at test-time is essential yet a challenging problem due to the lack of labels in this setting. Moreover, the performance of these models on in-distribution data is a poor indicator of their performance on data from unseen domains. Thus, it is essential to develop metrics that can provide insights into the model's performance at test time and can be computed only with the information available at test time (such as their model parameters, the training data or its statistics, and the unlabeled test data). To this end, we propose a metric based on Optimal Transport that is highly correlated with the model's performance on unseen domains and is efficiently computable only using information available at test time. Concretely, our metric characterizes the model's performance on unseen domains using only a small amount of unlabeled data from these domains and data or statistics from the training (source) domain(s). Through extensive empirical evaluation using standard benchmark datasets, and their corruptions, we demonstrate the utility of our metric in estimating the model's performance in various practical applications. These include the problems of selecting the source data and architecture that leads to the best performance on data from an unseen domain and the problem of predicting a deployed model's performance at test time on unseen domains. Our empirical results show that our metric, which uses information from both the source and the unseen domain, is highly correlated with the model's performance, achieving a significantly better correlation than that obtained via the popular prediction entropy-based metric, which is computed solely using the data from the unseen domain.