OpenRaiser/Intern-Atlas huggingface dataset:
Advance Simulation Method for Wheel-Terrain Interactions of Space Rovers: A Case Study on the UAE Rashid Rover
Venue: arXiv cs.RO 2023
Year: 2023

A thorough analysis of wheel-terrain interaction is critical to ensure the safe and efficient operation of space rovers on extraterrestrial surfaces like the Moon or Mars. This paper presents an approach for developing and experimentally validating a virtual wheel-terrain interaction model for the UAE Rashid rover. The model aims to improve the fidelity and capability of current simulation methods for space rovers and facilitate the design, evaluation, and control of their locomotion systems. The proposed method considers various factors, such as wheel grouser properties, wheel slippage, loose soil properties, and interaction mechanics. The model accuracy was validated through experiments on a Test-rig testbed that simulated lunar soil conditions. In specific, a set of experiments was carried out to test the behaviors acted on a Grouser-Rashid rover wheel by the lunar soil with different slip ratios of 0, 0.25, 0.50, and 0.75. The obtained results demonstrate that the proposed simulation method provides a more accurate and realistic simulation of the wheel-terrain interaction behavior and provides insight into the overall performance of the rover
Deploying Deep Reinforcement Learning Systems: A Taxonomy of Challenges
Venue: arXiv cs.LG 2023
Year: 2023

Deep reinforcement learning (DRL), leveraging Deep Learning (DL) in reinforcement learning, has shown significant potential in achieving human-level autonomy in a wide range of domains, including robotics, computer vision, and computer games. This potential justifies the enthusiasm and growing interest in DRL in both academia and industry. However, the community currently focuses mostly on the development phase of DRL systems, with little attention devoted to DRL deployment. In this paper, we propose an empirical study on Stack Overflow (SO), the most popular Q&A forum for developers, to uncover and understand the challenges practitioners faced when deploying DRL systems. Specifically, we categorized relevant SO posts by deployment platforms: server/cloud, mobile/embedded system, browser, and game engine. After filtering and manual analysis, we examined 357 SO posts about DRL deployment, investigated the current state, and identified the challenges related to deploying DRL systems. Then, we investigate the prevalence and difficulty of these challenges. Results show that the general interest in DRL deployment is growing, confirming the study's relevance and importance. Results also show that DRL deployment is more difficult than other DRL issues. Additionally, we built a taxonomy of 31 unique challenges in deploying DRL to different platforms. On all platforms, RL environment-related challenges are the most popular, and communication-related challenges are the most difficult among practitioners. We hope our study inspires future research and helps the community overcome the most common and difficult challenges practitioners face when deploying DRL systems.
Linear-Sized Spectral Sparsifiers and the Kadison-Singer Problem
Venue: arXiv cs.DS 2023
Year: 2023

The Kadison-Singer Conjecture, as proved by Marcus, Spielman, and Srivastava (MSS) [Ann. Math. 182, 327-350 (2015)], has been informally thought of as a strengthening of Batson, Spielman, and Srivastava's theorem that every undirected graph has a linear-sized spectral sparsifier [SICOMP 41, 1704-1721 (2012)]. We formalize this intuition by using a corollary of the MSS result to derive the existence of spectral sparsifiers with a number of edges linear in their number of vertices for all undirected, weighted graphs. The proof consists of two steps. First, following a suggestion of Srivastava [Asia Pac. Math. Newsl. 3, 15-20 (2013)], we show the result in the special case of graphs with bounded leverage scores by repeatedly applying the MSS corollary to partition the graph, while maintaining an appropriate bound on the leverage scores of each subgraph. Then, we extend to the general case by constructing a recursive algorithm that repeatedly (i) divides edges with high leverage scores into multiple parallel edges and (ii) uses the bounded leverage score case to sparsify the resulting graph.
Source-Free Collaborative Domain Adaptation via Multi-Perspective Feature Enrichment for Functional MRI Analysis
Venue: arXiv cs.CV 2023
Year: 2023

Resting-state functional MRI (rs-fMRI) is increasingly employed in multi-site research to aid neurological disorder analysis. Existing studies usually suffer from significant cross-site/domain data heterogeneity caused by site effects such as differences in scanners/protocols. Many methods have been proposed to reduce fMRI heterogeneity between source and target domains, heavily relying on the availability of source data. But acquiring source data is challenging due to privacy concerns and/or data storage burdens in multi-site studies. To this end, we design a source-free collaborative domain adaptation (SCDA) framework for fMRI analysis, where only a pretrained source model and unlabeled target data are accessible. Specifically, a multi-perspective feature enrichment method (MFE) is developed for target fMRI analysis, consisting of multiple collaborative branches to dynamically capture fMRI features of unlabeled target data from multiple views. Each branch has a data-feeding module, a spatiotemporal feature encoder, and a class predictor. A mutual-consistency constraint is designed to encourage pair-wise consistency of latent features of the same input generated from these branches for robust representation learning. To facilitate efficient cross-domain knowledge transfer without source data, we initialize MFE using parameters of a pretrained source model. We also introduce an unsupervised pretraining strategy using 3,806 unlabeled fMRIs from three large-scale auxiliary databases, aiming to obtain a general feature encoder. Experimental results on three public datasets and one private dataset demonstrate the efficacy of our method in cross-scanner and cross-study prediction tasks. The model pretrained on large-scale rs-fMRI data has been released to the public.
Incentivized Federated Learning and Unlearning
Venue: arXiv cs.GT 2023
Year: 2023

To protect users' right to be forgotten in federated learning, federated unlearning aims at eliminating the impact of leaving users' data on the global learned model. The current research in federated unlearning mainly concentrated on developing effective and efficient unlearning techniques. However, the issue of incentivizing valuable users to remain engaged and preventing their data from being unlearned is still under-explored, yet important to the unlearned model performance. This paper focuses on the incentive issue and develops an incentive mechanism for federated learning and unlearning. We first characterize the leaving users' impact on the global model accuracy and the required communication rounds for unlearning. Building on these results, we propose a four-stage game to capture the interaction and information updates during the learning and unlearning process. A key contribution is to summarize users' multi-dimensional private information into one-dimensional metrics to guide the incentive design. We further investigate whether allowing federated unlearning is beneficial to the server and users, compared to a scenario without unlearning. Interestingly, users usually have a larger total payoff in the scenario with higher costs, due to the server's excess incentives under information asymmetry. The numerical results demonstrate the necessity of unlearning incentives for retaining valuable leaving users, and also show that our proposed mechanisms decrease the server's cost by up to 53.91\% compared to state-of-the-art benchmarks.
Expanding Targets in Virtual Reality Environments: A Fitts' Law Study
Venue: arXiv cs.HC 2023
Year: 2023

Target pointing selection is a fundamental task. According to Fitts' law, users need more time to select targets with smaller sizes. Expanding the target to a larger size is a practical approach that can facilitate pointing selection. It has been well-examined and -deployed in 2D user interfaces. However, limited research has investigated target expansion methods using an immersive virtual reality (VR) head-mounted display (HMD). In this work, we aimed to fill this gap by conducting a user study using ISO 9241-411 multi-directional pointing task to examine the effect of target expansion on target selection performance in VR HMD. Based on our results, we found that compared to not expanding the target, expanding the target width by 1.5 and 2.5 times during the movement can significantly reduce the selection time. We hope that the design and results derived from the study can help frame future work.
Variational Information Pursuit with Large Language and Multimodal Models for Interpretable Predictions
Venue: arXiv cs.LG 2023
Year: 2023

Variational Information Pursuit (V-IP) is a framework for making interpretable predictions by design by sequentially selecting a short chain of task-relevant, user-defined and interpretable queries about the data that are most informative for the task. While this allows for built-in interpretability in predictive models, applying V-IP to any task requires data samples with dense concept-labeling by domain experts, limiting the application of V-IP to small-scale tasks where manual data annotation is feasible. In this work, we extend the V-IP framework with Foundational Models (FMs) to address this limitation. More specifically, we use a two-step process, by first leveraging Large Language Models (LLMs) to generate a sufficiently large candidate set of task-relevant interpretable concepts, then using Large Multimodal Models to annotate each data sample by semantic similarity with each concept in the generated concept set. While other interpretable-by-design frameworks such as Concept Bottleneck Models (CBMs) require an additional step of removing repetitive and non-discriminative concepts to have good interpretability and test performance, we mathematically and empirically justify that, with a sufficiently informative and task-relevant query (concept) set, the proposed FM+V-IP method does not require any type of concept filtering. In addition, we show that FM+V-IP with LLM generated concepts can achieve better test performance than V-IP with human annotated concepts, demonstrating the effectiveness of LLMs at generating efficient query sets. Finally, when compared to other interpretable-by-design frameworks such as CBMs, FM+V-IP can achieve competitive test performance using fewer number of concepts/queries in both cases with filtered or unfiltered concept sets.
Hypergraph Convolutional Networks for Fine-grained ICU Patient Similarity Analysis and Risk Prediction
Venue: arXiv cs.LG 2023
Year: 2023

The Intensive Care Unit (ICU) is one of the most important parts of a hospital, which admits critically ill patients and provides continuous monitoring and treatment. Various patient outcome prediction methods have been attempted to assist healthcare professionals in clinical decision-making. Existing methods focus on measuring the similarity between patients using deep neural networks to capture the hidden feature structures. However, the higher-order relationships are ignored, such as patient characteristics (e.g., diagnosis codes) and their causal effects on downstream clinical predictions. In this paper, we propose a novel Hypergraph Convolutional Network that allows the representation of non-pairwise relationships among diagnosis codes in a hypergraph to capture the hidden feature structures so that fine-grained patient similarity can be calculated for personalized mortality risk prediction. Evaluation using a publicly available eICU Collaborative Research Database indicates that our method achieves superior performance over the state-of-the-art models on mortality risk prediction. Moreover, the results of several case studies demonstrated the effectiveness and robustness of the model decisions.
Mind vs. Mouth: On Measuring Re-judge Inconsistency of Social Bias in Large Language Models
Venue: arXiv cs.CL 2023
Year: 2023

Recent researches indicate that Pre-trained Large Language Models (LLMs) possess cognitive constructs similar to those observed in humans, prompting researchers to investigate the cognitive aspects of LLMs. This paper focuses on explicit and implicit social bias, a distinctive two-level cognitive construct in psychology. It posits that individuals' explicit social bias, which is their conscious expression of bias in the statements, may differ from their implicit social bias, which represents their unconscious bias. We propose a two-stage approach and discover a parallel phenomenon in LLMs known as "re-judge inconsistency" in social bias. In the initial stage, the LLM is tasked with automatically completing statements, potentially incorporating implicit social bias. However, in the subsequent stage, the same LLM re-judges the biased statement generated by itself but contradicts it. We propose that this re-judge inconsistency can be similar to the inconsistency between human's unaware implicit social bias and their aware explicit social bias. Experimental investigations on ChatGPT and GPT-4 concerning common gender biases examined in psychology corroborate the highly stable nature of the re-judge inconsistency. This finding may suggest that diverse cognitive constructs emerge as LLMs' capabilities strengthen. Consequently, leveraging psychological theories can provide enhanced insights into the underlying mechanisms governing the expressions of explicit and implicit constructs in LLMs.
No Polynomial Kernels for Knapsack
Venue: arXiv cs.DS 2023
Year: 2023

This paper focuses on kernelization algorithms for the fundamental Knapsack problem. A kernelization algorithm (or kernel) is a polynomial-time reduction from a problem onto itself, where the output size is bounded by a function of some problem-specific parameter. Such algorithms provide a theoretical model for data reduction and preprocessing and are central in the area of parameterized complexity. In this way, a kernel for Knapsack for some parameter $k$ reduces any instance of Knapsack to an equivalent instance of size at most $f(k)$ in polynomial time, for some computable function $f(\cdot)$. When $f(k)=k^{O(1)}$ then we call such a reduction a polynomial kernel. Our study focuses on two natural parameters for Knapsack: The number of different item weights $w_{\#}$, and the number of different item profits $p_{\#}$. Our main technical contribution is a proof showing that Knapsack does not admit a polynomial kernel for any of these two parameters under standard complexity-theoretic assumptions. Our proof discovers an elaborate application of the standard kernelization lower bound framework, and develops along the way novel ideas that should be useful for other problems as well. We complement our lower bounds by showing the Knapsack admits a polynomial kernel for the combined parameter $w_{\#}+p_{\#}$.
PoseSync: Robust pose based video synchronization
Venue: arXiv cs.CV 2023
Year: 2023

Pose based video sychronization can have applications in multiple domains such as gameplay performance evaluation, choreography or guiding athletes. The subject's actions could be compared and evaluated against those performed by professionals side by side. In this paper, we propose an end to end pipeline for synchronizing videos based on pose. The first step crops the region where the person present in the image followed by pose detection on the cropped image. This is followed by application of Dynamic Time Warping(DTW) on angle/ distance measures between the pose keypoints leading to a scale and shift invariant pose matching pipeline.
Towards Hierarchical Regional Transformer-based Multiple Instance Learning
Venue: arXiv cs.CV 2023
Year: 2023

The classification of gigapixel histopathology images with deep multiple instance learning models has become a critical task in digital pathology and precision medicine. In this work, we propose a Transformer-based multiple instance learning approach that replaces the traditional learned attention mechanism with a regional, Vision Transformer inspired self-attention mechanism. We present a method that fuses regional patch information to derive slide-level predictions and show how this regional aggregation can be stacked to hierarchically process features on different distance levels. To increase predictive accuracy, especially for datasets with small, local morphological features, we introduce a method to focus the image processing on high attention regions during inference. Our approach is able to significantly improve performance over the baseline on two histopathology datasets and points towards promising directions for further research.
The GENEA Challenge 2023: A large scale evaluation of gesture generation models in monadic and dyadic settings
Venue: arXiv cs.HC 2023
Year: 2023

This paper reports on the GENEA Challenge 2023, in which participating teams built speech-driven gesture-generation systems using the same speech and motion dataset, followed by a joint evaluation. This year's challenge provided data on both sides of a dyadic interaction, allowing teams to generate full-body motion for an agent given its speech (text and audio) and the speech and motion of the interlocutor. We evaluated 12 submissions and 2 baselines together with held-out motion-capture data in several large-scale user studies. The studies focused on three aspects: 1) the human-likeness of the motion, 2) the appropriateness of the motion for the agent's own speech whilst controlling for the human-likeness of the motion, and 3) the appropriateness of the motion for the behaviour of the interlocutor in the interaction, using a setup that controls for both the human-likeness of the motion and the agent's own speech. We found a large span in human-likeness between challenge submissions, with a few systems rated close to human mocap. Appropriateness seems far from being solved, with most submissions performing in a narrow range slightly above chance, far behind natural motion. The effect of the interlocutor is even more subtle, with submitted systems at best performing barely above chance. Interestingly, a dyadic system being highly appropriate for agent speech does not necessarily imply high appropriateness for the interlocutor. Additional material is available via the project website at https://svito-zar.github.io/GENEAchallenge2023/ .
Multitasking Evolutionary Algorithm Based on Adaptive Seed Transfer for Combinatorial Problem
Venue: arXiv cs.NE 2023
Year: 2023

Evolutionary computing (EC) is widely used in dealing with combinatorial optimization problems (COP). Traditional EC methods can only solve a single task in a single run, while real-life scenarios often need to solve multiple COPs simultaneously. In recent years, evolutionary multitasking optimization (EMTO) has become an emerging topic in the EC community. And many methods have been designed to deal with multiple COPs concurrently through exchanging knowledge. However, many-task optimization, cross-domain knowledge transfer, and negative transfer are still significant challenges in this field. A new evolutionary multitasking algorithm based on adaptive seed transfer (MTEA-AST) is developed for multitasking COPs in this work. First, a dimension unification strategy is proposed to unify the dimensions of different tasks. And then, an adaptive task selection strategy is designed to capture the similarity between the target task and other online optimization tasks. The calculated similarity is exploited to select suitable source tasks for the target one and determine the transfer strength. Next, a task transfer strategy is established to select seeds from source tasks and correct unsuitable knowledge in seeds to suppress negative transfer. Finally, the experimental results indicate that MTEA-AST can adaptively transfer knowledge in both same-domain and cross-domain many-task environments. And the proposed method shows competitive performance compared to other state-of-the-art EMTOs in experiments consisting of four COPs.
APART: Diverse Skill Discovery using All Pairs with Ascending Reward and DropouT
Venue: arXiv cs.LG 2023
Year: 2023

We study diverse skill discovery in reward-free environments, aiming to discover all possible skills in simple grid-world environments where prior methods have struggled to succeed. This problem is formulated as mutual training of skills using an intrinsic reward and a discriminator trained to predict a skill given its trajectory. Our initial solution replaces the standard one-vs-all (softmax) discriminator with a one-vs-one (all pairs) discriminator and combines it with a novel intrinsic reward function and a dropout regularization technique. The combined approach is named APART: Diverse Skill Discovery using All Pairs with Ascending Reward and Dropout. We demonstrate that APART discovers all the possible skills in grid worlds with remarkably fewer samples than previous works. Motivated by the empirical success of APART, we further investigate an even simpler algorithm that achieves maximum skills by altering VIC, rescaling its intrinsic reward, and tuning the temperature of its softmax discriminator. We believe our findings shed light on the crucial factors underlying success of skill discovery algorithms in reinforcement learning.
kTrans: Knowledge-Aware Transformer for Binary Code Embedding
Venue: arXiv cs.SE 2023
Year: 2023

Binary Code Embedding (BCE) has important applications in various reverse engineering tasks such as binary code similarity detection, type recovery, control-flow recovery and data-flow analysis. Recent studies have shown that the Transformer model can comprehend the semantics of binary code to support downstream tasks. However, existing models overlooked the prior knowledge of assembly language. In this paper, we propose a novel Transformer-based approach, namely kTrans, to generate knowledge-aware binary code embedding. By feeding explicit knowledge as additional inputs to the Transformer, and fusing implicit knowledge with a novel pre-training task, kTrans provides a new perspective to incorporating domain knowledge into a Transformer framework. We inspect the generated embeddings with outlier detection and visualization, and also apply kTrans to 3 downstream tasks: Binary Code Similarity Detection (BCSD), Function Type Recovery (FTR) and Indirect Call Recognition (ICR). Evaluation results show that kTrans can generate high-quality binary code embeddings, and outperforms state-of-the-art (SOTA) approaches on downstream tasks by 5.2%, 6.8%, and 12.6% respectively. kTrans is publicly available at: https://github.com/Learner0x5a/kTrans-release