OpenRaiser/Intern-Atlas huggingface dataset:
Fabrics: A Foundationally Stable Medium for Encoding Prior Experience
Venue: arXiv cs.RO 2023
Year: 2023

Most dynamics functions are not well-aligned to task requirements. Controllers, therefore, often invert the dynamics and reshape it into something more useful. The learning community has found that these controllers, such as Operational Space Control (OSC), can offer important inductive biases for training. However, OSC only captures straight line end-effector motion. There's a lot more behavior we could and should be packing into these systems. Earlier work [15][16][19] developed a theory that generalized these ideas and constructed a broad and flexible class of second-order dynamical systems which was simultaneously expressive enough to capture substantial behavior (such as that listed above), and maintained the types of stability properties that make OSC and controllers like it a good foundation for policy design and learning. This paper, motivated by the empirical success of the types of fabrics used in [20], reformulates the theory of fabrics into a form that's more general and easier to apply to policy learning problems. We focus on the stability properties that make fabrics a good foundation for policy synthesis. Fabrics create a fundamentally stable medium within which a policy can operate; they influence the system's behavior without preventing it from achieving tasks within its constraints. When a fabrics is geometric (path consistent) we can interpret the fabric as forming a road network of paths that the system wants to follow at constant speed absent a forcing policy, giving geometric intuition to its role as a prior. The policy operating over the geometric fabric acts to modulate speed and steers the system from one road to the next as it accomplishes its task. We reformulate the theory of fabrics here rigorously and develop theoretical results characterizing system behavior and illuminating how to design these systems, while also emphasizing intuition throughout.
Beta quantile regression for robust estimation of uncertainty in the presence of outliers
Venue: arXiv cs.LG 2023
Year: 2023

Quantile Regression (QR) can be used to estimate aleatoric uncertainty in deep neural networks and can generate prediction intervals. Quantifying uncertainty is particularly important in critical applications such as clinical diagnosis, where a realistic assessment of uncertainty is essential in determining disease status and planning the appropriate treatment. The most common application of quantile regression models is in cases where the parametric likelihood cannot be specified. Although quantile regression is quite robust to outlier response observations, it can be sensitive to outlier covariate observations (features). Outlier features can compromise the performance of deep learning regression problems such as style translation, image reconstruction, and deep anomaly detection, potentially leading to misleading conclusions. To address this problem, we propose a robust solution for quantile regression that incorporates concepts from robust divergence. We compare the performance of our proposed method with (i) least trimmed quantile regression and (ii) robust regression based on the regularization of case-specific parameters in a simple real dataset in the presence of outlier. These methods have not been applied in a deep learning framework. We also demonstrate the applicability of the proposed method by applying it to a medical imaging translation task using diffusion models.
HIGT: Hierarchical Interaction Graph-Transformer for Whole Slide Image Analysis
Venue: arXiv cs.CV 2023
Year: 2023

In computation pathology, the pyramid structure of gigapixel Whole Slide Images (WSIs) has recently been studied for capturing various information from individual cell interactions to tissue microenvironments. This hierarchical structure is believed to be beneficial for cancer diagnosis and prognosis tasks. However, most previous hierarchical WSI analysis works (1) only characterize local or global correlations within the WSI pyramids and (2) use only unidirectional interaction between different resolutions, leading to an incomplete picture of WSI pyramids. To this end, this paper presents a novel Hierarchical Interaction Graph-Transformer (i.e., HIGT) for WSI analysis. With Graph Neural Network and Transformer as the building commons, HIGT can learn both short-range local information and long-range global representation of the WSI pyramids. Considering that the information from different resolutions is complementary and can benefit each other during the learning process, we further design a novel Bidirectional Interaction block to establish communication between different levels within the WSI pyramids. Finally, we aggregate both coarse-grained and fine-grained features learned from different levels together for slide-level prediction. We evaluate our methods on two public WSI datasets from TCGA projects, i.e., kidney carcinoma (KICA) and esophageal carcinoma (ESCA). Experimental results show that our HIGT outperforms both hierarchical and non-hierarchical state-of-the-art methods on both tumor subtyping and staging tasks.
Masked Diffusion with Task-awareness for Procedure Planning in Instructional Videos
Venue: arXiv cs.CV 2023
Year: 2023

A key challenge with procedure planning in instructional videos lies in how to handle a large decision space consisting of a multitude of action types that belong to various tasks. To understand real-world video content, an AI agent must proficiently discern these action types (e.g., pour milk, pour water, open lid, close lid, etc.) based on brief visual observation. Moreover, it must adeptly capture the intricate semantic relation of the action types and task goals, along with the variable action sequences. Recently, notable progress has been made via the integration of diffusion models and visual representation learning to address the challenge. However, existing models employ rudimentary mechanisms to utilize task information to manage the decision space. To overcome this limitation, we introduce a simple yet effective enhancement - a masked diffusion model. The introduced mask acts akin to a task-oriented attention filter, enabling the diffusion/denoising process to concentrate on a subset of action types. Furthermore, to bolster the accuracy of task classification, we harness more potent visual representation learning techniques. In particular, we learn a joint visual-text embedding, where a text embedding is generated by prompting a pre-trained vision-language model to focus on human actions. We evaluate the method on three public datasets and achieve state-of-the-art performance on multiple metrics. Code is available at https://github.com/ffzzy840304/Masked-PDPP.
Mandarin Lombard Flavor Classification
Venue: arXiv cs.SD 2023
Year: 2023

The Lombard effect refers to individuals' unconscious modulation of vocal effort in response to variations in the ambient noise levels, intending to enhance speech intelligibility. The impact of different decibel levels and types of background noise on Lombard effects remains unclear. Building upon the characteristic of Lombard speech that individuals adjust their speech to improve intelligibility dynamically based on the self-feedback speech, we propose a flavor classification approach for the Lombard effect. We first collected Mandarin Lombard speech under different noise conditions, then simulated self-feedback speech, and ultimately conducted the statistical test on the word correct rate. We found that both SSN and babble noise types result in four distinct categories of Mandarin Lombard speech in the range of 30 to 80 dBA with different transition points.
ChatGPT MT: Competitive for High- (but not Low-) Resource Languages
Venue: arXiv cs.CL 2023
Year: 2023

Large language models (LLMs) implicitly learn to perform a range of language tasks, including machine translation (MT). Previous studies explore aspects of LLMs' MT capabilities. However, there exist a wide variety of languages for which recent LLM MT performance has never before been evaluated. Without published experimental evidence on the matter, it is difficult for speakers of the world's diverse languages to know how and whether they can use LLMs for their languages. We present the first experimental evidence for an expansive set of 204 languages, along with MT cost analysis, using the FLORES-200 benchmark. Trends reveal that GPT models approach or exceed traditional MT model performance for some high-resource languages (HRLs) but consistently lag for low-resource languages (LRLs), under-performing traditional MT for 84.1% of languages we covered. Our analysis reveals that a language's resource level is the most important feature in determining ChatGPT's relative ability to translate it, and suggests that ChatGPT is especially disadvantaged for LRLs and African languages.
Physical Invisible Backdoor Based on Camera Imaging
Venue: arXiv cs.CV 2023
Year: 2023

Backdoor attack aims to compromise a model, which returns an adversary-wanted output when a specific trigger pattern appears yet behaves normally for clean inputs. Current backdoor attacks require changing pixels of clean images, which results in poor stealthiness of attacks and increases the difficulty of the physical implementation. This paper proposes a novel physical invisible backdoor based on camera imaging without changing nature image pixels. Specifically, a compromised model returns a target label for images taken by a particular camera, while it returns correct results for other images. To implement and evaluate the proposed backdoor, we take shots of different objects from multi-angles using multiple smartphones to build a new dataset of 21,500 images. Conventional backdoor attacks work ineffectively with some classical models, such as ResNet18, over the above-mentioned dataset. Therefore, we propose a three-step training strategy to mount the backdoor attack. First, we design and train a camera identification model with the phone IDs to extract the camera fingerprint feature. Subsequently, we elaborate a special network architecture, which is easily compromised by our backdoor attack, by leveraging the attributes of the CFA interpolation algorithm and combining it with the feature extraction block in the camera identification model. Finally, we transfer the backdoor from the elaborated special network architecture to the classical architecture model via teacher-student distillation learning. Since the trigger of our method is related to the specific phone, our attack works effectively in the physical world. Experiment results demonstrate the feasibility of our proposed approach and robustness against various backdoor defenses.
Towards Artificial General Intelligence (AGI) in the Internet of Things (IoT): Opportunities and Challenges
Venue: arXiv cs.AI 2023
Year: 2023

Artificial General Intelligence (AGI), possessing the capacity to comprehend, learn, and execute tasks with human cognitive abilities, engenders significant anticipation and intrigue across scientific, commercial, and societal arenas. This fascination extends particularly to the Internet of Things (IoT), a landscape characterized by the interconnection of countless devices, sensors, and systems, collectively gathering and sharing data to enable intelligent decision-making and automation. This research embarks on an exploration of the opportunities and challenges towards achieving AGI in the context of the IoT. Specifically, it starts by outlining the fundamental principles of IoT and the critical role of Artificial Intelligence (AI) in IoT systems. Subsequently, it delves into AGI fundamentals, culminating in the formulation of a conceptual framework for AGI's seamless integration within IoT. The application spectrum for AGI-infused IoT is broad, encompassing domains ranging from smart grids, residential environments, manufacturing, and transportation to environmental monitoring, agriculture, healthcare, and education. However, adapting AGI to resource-constrained IoT settings necessitates dedicated research efforts. Furthermore, the paper addresses constraints imposed by limited computing resources, intricacies associated with large-scale IoT communication, as well as the critical concerns pertaining to security and privacy.
Analysis of Speech Separation Performance Degradation on Emotional Speech Mixtures
Venue: arXiv cs.SD 2023
Year: 2023

Despite recent strides made in Speech Separation, most models are trained on datasets with neutral emotions. Emotional speech has been known to degrade performance of models in a variety of speech tasks, which reduces the effectiveness of these models when deployed in real-world scenarios. In this paper we perform analysis to differentiate the performance degradation arising from the emotions in speech from the impact of out-of-domain inference. This is measured using a carefully designed test dataset, Emo2Mix, consisting of balanced data across all emotional combinations. We show that even models with strong out-of-domain performance such as Sepformer can still suffer significant degradation of up to 5.1 dB SI-SDRi on mixtures with strong emotions. This demonstrates the importance of accounting for emotions in real-world speech separation applications.
Direct Text to Speech Translation System using Acoustic Units
Venue: arXiv cs.CL 2023
Year: 2023

This paper proposes a direct text to speech translation system using discrete acoustic units. This framework employs text in different source languages as input to generate speech in the target language without the need for text transcriptions in this language. Motivated by the success of acoustic units in previous works for direct speech to speech translation systems, we use the same pipeline to extract the acoustic units using a speech encoder combined with a clustering algorithm. Once units are obtained, an encoder-decoder architecture is trained to predict them. Then a vocoder generates speech from units. Our approach for direct text to speech translation was tested on the new CVSS corpus with two different text mBART models employed as initialisation. The systems presented report competitive performance for most of the language pairs evaluated. Besides, results show a remarkable improvement when initialising our proposed architecture with a model pre-trained with more languages.
Connected Autonomous Vehicle Motion Planning with Video Predictions from Smart, Self-Supervised Infrastructure
Venue: arXiv cs.RO 2023
Year: 2023

Connected autonomous vehicles (CAVs) promise to enhance safety, efficiency, and sustainability in urban transportation. However, this is contingent upon a CAV correctly predicting the motion of surrounding agents and planning its own motion safely. Doing so is challenging in complex urban environments due to frequent occlusions and interactions among many agents. One solution is to leverage smart infrastructure to augment a CAV's situational awareness; the present work leverages a recently proposed "Self-Supervised Traffic Advisor" (SSTA) framework of smart sensors that teach themselves to generate and broadcast useful video predictions of road users. In this work, SSTA predictions are modified to predict future occupancy instead of raw video, which reduces the data footprint of broadcast predictions. The resulting predictions are used within a planning framework, demonstrating that this design can effectively aid CAV motion planning. A variety of numerical experiments study the key factors that make SSTA outputs useful for practical CAV planning in crowded urban environments.
VerilogEval: Evaluating Large Language Models for Verilog Code Generation
Venue: arXiv cs.LG 2023
Year: 2023

The increasing popularity of large language models (LLMs) has paved the way for their application in diverse domains. This paper proposes a benchmarking framework tailored specifically for evaluating LLM performance in the context of Verilog code generation for hardware design and verification. We present a comprehensive evaluation dataset consisting of 156 problems from the Verilog instructional website HDLBits. The evaluation set consists of a diverse set of Verilog code generation tasks, ranging from simple combinational circuits to complex finite state machines. The Verilog code completions can be automatically tested for functional correctness by comparing the transient simulation outputs of the generated design with a golden solution. We also demonstrate that the Verilog code generation capability of pretrained language models could be improved with supervised fine-tuning by bootstrapping with LLM generated synthetic problem-code pairs.
A Survey of Graph Pre-processing Methods: From Algorithmic to Hardware Perspectives
Venue: arXiv cs.AR 2023
Year: 2023

Graph-related applications have experienced significant growth in academia and industry, driven by the powerful representation capabilities of graph. However, efficiently executing these applications faces various challenges, such as load imbalance, random memory access, etc. To address these challenges, researchers have proposed various acceleration systems, including software frameworks and hardware accelerators, all of which incorporate graph pre-processing (GPP). GPP serves as a preparatory step before the formal execution of applications, involving techniques such as sampling, reorder, etc. However, GPP execution often remains overlooked, as the primary focus is directed towards enhancing graph applications themselves. This oversight is concerning, especially considering the explosive growth of real-world graph data, where GPP becomes essential and even dominates system running overhead. Furthermore, GPP methods exhibit significant variations across devices and applications due to high customization. Unfortunately, no comprehensive work systematically summarizes GPP. To address this gap and foster a better understanding of GPP, we present a comprehensive survey dedicated to this area. We propose a double-level taxonomy of GPP, considering both algorithmic and hardware perspectives. Through listing relavent works, we illustrate our taxonomy and conduct a thorough analysis and summary of diverse GPP techniques. Lastly, we discuss challenges in GPP and potential future directions.
Asynchronous Integration of Real-Time Simulators for HIL-based Validation of Smart Grids
Venue: arXiv cs.SE 2023
Year: 2023

As the landscape of devices that interact with the electrical grid expands, also the complexity of the scenarios that arise from these interactions increases. Validation methods and tools are typically domain specific and are designed to approach mainly component level testing. For this kind of applications, software and hardware-in-the-loop based simulations as well as lab experiments are all tools that allow testing with different degrees of accuracy at various stages in the development life-cycle. However, things are vastly different when analysing the tools and the methodology available for performing system-level validation. Until now there are no available well-defined approaches for testing complex use cases involving components from different domains. Smart grid applications would typically include a relatively large number of physical devices, software components, as well as communication technology, all working hand in hand. This paper explores the possibilities that are opened in terms of testing by the integration of a real-time simulator into co-simulation environments. Three practical implementations of such systems together with performance metrics are discussed. Two control-related examples are selected in order to show the capabilities of the proposed approach.
Methodologies for Selection of Optimal Sites for Renewable Energy Under a Diverse Set of Constraints and Objectives
Venue: arXiv cs.CY 2023
Year: 2023

In this paper, we present methodologies for optimal selection for renewable energy sites under a different set of constraints and objectives. We consider two different models for the site-selection problem - coarse-grained and fine-grained, and analyze them to find solutions. We consider multiple different ways to measure the benefits of setting up a site. We provide approximation algorithms with a guaranteed performance bound for two different benefit metrics with the coarse-grained model. For the fine-grained model, we provide a technique utilizing Integer Linear Program to find the optimal solution. We present the results of our extensive experimentation with synthetic data generated from sparsely available real data from solar farms in Arizona.
Towards Safer Robot-Assisted Surgery: A Markerless Augmented Reality Framework
Venue: arXiv cs.RO 2023
Year: 2023

Robot-assisted surgery is rapidly developing in the medical field, and the integration of augmented reality shows the potential of improving the surgeons' operation performance by providing more visual information. In this paper, we proposed a markerless augmented reality framework to enhance safety by avoiding intra-operative bleeding which is a high risk caused by the collision between the surgical instruments and the blood vessel. Advanced stereo reconstruction and segmentation networks are compared to find out the best combination to reconstruct the intra-operative blood vessel in the 3D space for the registration of the pre-operative model, and the minimum distance detection between the instruments and the blood vessel is implemented. A robot-assisted lymphadenectomy is simulated on the da Vinci Research Kit in a dry lab, and ten human subjects performed this operation to explore the usability of the proposed framework. The result shows that the augmented reality framework can help the users to avoid the dangerous collision between the instruments and the blood vessel while not introducing an extra load. It provides a flexible framework that integrates augmented reality into the medical robot platform to enhance safety during the operation.
AIDPS:Adaptive Intrusion Detection and Prevention System for Underwater Acoustic Sensor Networks
Venue: arXiv cs.CR 2023
Year: 2023

Underwater Acoustic Sensor Networks (UW-ASNs) are predominantly used for underwater environments and find applications in many areas. However, a lack of security considerations, the unstable and challenging nature of the underwater environment, and the resource-constrained nature of the sensor nodes used for UW-ASNs (which makes them incapable of adopting security primitives) make the UW-ASN prone to vulnerabilities. This paper proposes an Adaptive decentralised Intrusion Detection and Prevention System called AIDPS for UW-ASNs. The proposed AIDPS can improve the security of the UW-ASNs so that they can efficiently detect underwater-related attacks (e.g., blackhole, grayhole and flooding attacks). To determine the most effective configuration of the proposed construction, we conduct a number of experiments using several state-of-the-art machine learning algorithms (e.g., Adaptive Random Forest (ARF), light gradient-boosting machine, and K-nearest neighbours) and concept drift detection algorithms (e.g., ADWIN, kdqTree, and Page-Hinkley). Our experimental results show that incremental ARF using ADWIN provides optimal performance when implemented with One-class support vector machine (SVM) anomaly-based detectors. Furthermore, our extensive evaluation results also show that the proposed scheme outperforms state-of-the-art bench-marking methods while providing a wider range of desirable features such as scalability and complexity.