OpenRaiser/Intern-Atlas huggingface dataset:
Towards Robust Velocity and Position Estimation of Opponents for Autonomous Racing Using Low-Power Radar
Venue: arXiv cs.RO 2023
Year: 2023

This paper presents the design and development of an intelligent subsystem that includes a novel low-power radar sensor integrated into an autonomous racing perception pipeline to robustly estimate the position and velocity of dynamic obstacles. The proposed system, based on the Infineon BGT60TR13D radar, is evaluated in a real-world scenario with scaled race cars. The paper explores the benefits and limitations of using such a sensor subsystem and draws conclusions based on field-collected data. The results demonstrate a tracking error up to 0.21 +- 0.29 m in distance estimation and 0.39 +- 0.19 m/s in velocity estimation, despite the power consumption in the range of 10s of milliwatts. The presented system provides complementary information to other sensors such as LiDAR and camera, and can be used in a wide range of applications beyond autonomous racing.
Rate-Splitting and Sum-DoF for the K-User MISO Broadcast Channel with Mixed CSIT and Order-(K-1) Messages
Venue: arXiv cs.IT 2023
Year: 2023

In this paper, we propose a rate-splitting design and characterize the sum-degrees-of-freedom (DoF) for the K-user multiple-input-single-output (MISO) broadcast channel with mixed channel state information at the transmitter (CSIT) and order-(K-1) messages, where mixed CSIT refers to the delayed and imperfect-current CSIT, and order-(K-1) message refers to the message desired by K-1 users simultaneously. In particular, for the sum-DoF lower bound, we propose a rate-splitting scheme embedding with retrospective interference alignment. In addition, we propose a matching sum-DoF upper bound via genie signalings and extremal inequality. Opposed to existing works for K=2, our results show that the sum-DoF is saturated with CSIT quality when CSIT quality thresholds are satisfied for K>2.
Unveiling Theory of Mind in Large Language Models: A Parallel to Single Neurons in the Human Brain
Venue: arXiv cs.CL 2023
Year: 2023

With their recent development, large language models (LLMs) have been found to exhibit a certain level of Theory of Mind (ToM), a complex cognitive capacity that is related to our conscious mind and that allows us to infer another's beliefs and perspective. While human ToM capabilities are believed to derive from the neural activity of a broadly interconnected brain network, including that of dorsal medial prefrontal cortex (dmPFC) neurons, the precise processes underlying LLM's capacity for ToM or their similarities with that of humans remains largely unknown. In this study, we drew inspiration from the dmPFC neurons subserving human ToM and employed a similar methodology to examine whether LLMs exhibit comparable characteristics. Surprisingly, our analysis revealed a striking resemblance between the two, as hidden embeddings (artificial neurons) within LLMs started to exhibit significant responsiveness to either true- or false-belief trials, suggesting their ability to represent another's perspective. These artificial embedding responses were closely correlated with the LLMs' performance during the ToM tasks, a property that was dependent on the size of the models. Further, the other's beliefs could be accurately decoded using the entire embeddings, indicating the presence of the embeddings' ToM capability at the population level. Together, our findings revealed an emergent property of LLMs' embeddings that modified their activities in response to ToM features, offering initial evidence of a parallel between the artificial model and neurons in the human brain.
Serverless Computing for Scientific Applications
Venue: arXiv cs.DC 2023
Year: 2023

Serverless computing has become an important model in cloud computing and influenced the design of many applications. Here, we provide our perspective on how the recent landscape of serverless computing for scientific applications looks like. We discuss the advantages and problems with serverless computing for scientific applications, and based on the analysis of existing solutions and approaches, we propose a science-oriented architecture for a serverless computing framework that is based on the existing designs. Finally, we provide an outlook of current trends and future directions.
Motion Cueing Algorithm for Effective Motion Perception: A frequency-splitting MPC Approach
Venue: arXiv cs.RO 2023
Year: 2023

Model predictive control (MPC) is a promising technique for motion cueing in driving simulators, but its high computation time limits widespread real-time application. This paper proposes a hybrid algorithm that combines filter-based and MPC-based techniques to improve specific force tracking while reducing computation time. The proposed algorithm divides the reference acceleration into low-frequency and high-frequency components. The high-frequency component serves as a reference for translational motion to avoid workspace limit violations, while the low-frequency component is for tilt coordination. The total acceleration serves as a reference for combined specific force with the highest priority to enable compensation of deviations from its reference values. The algorithm uses constraints in the MPC formulation to account for workspace limits and workspace management is applied. The investigated scenarios were a step signal, a multi-sine wave and a recorded real-drive slalom maneuver. Based on the conducted simulations, the algorithm produces approximately 15% smaller root means squared error (RMSE) for the step signal compared to the state-of-the-art. Around 16% improvement is observed when the real-drive scenario is used as the simulation scenario, and for the multi-sine wave, 90% improvement is observed. At higher prediction horizons the algorithm matches the performance of a state-of-the-art MPC-based motion cueing algorithm. Finally, for all prediction horizons, the frequency-splitting algorithm produced faster results. The pre-generated references reduce the required prediction horizon and computational complexity while improving tracking performance. Hence, the proposed frequency-splitting algorithm outperforms state-of-the-art MPC-based algorithm and offers promise for real-time application in driving simulators.
No Data Augmentation? Alternative Regularizations for Effective Training on Small Datasets
Venue: arXiv cs.CV 2023
Year: 2023

Solving image classification tasks given small training datasets remains an open challenge for modern computer vision. Aggressive data augmentation and generative models are among the most straightforward approaches to overcoming the lack of data. However, the first fails to be agnostic to varying image domains, while the latter requires additional compute and careful design. In this work, we study alternative regularization strategies to push the limits of supervised learning on small image classification datasets. In particular, along with the model size and training schedule scaling, we employ a heuristic to select (semi) optimal learning rate and weight decay couples via the norm of model parameters. By training on only 1% of the original CIFAR-10 training set (i.e., 50 images per class) and testing on ciFAIR-10, a variant of the original CIFAR without duplicated images, we reach a test accuracy of 66.5%, on par with the best state-of-the-art methods.
Physics-Informed Polynomial Chaos Expansions
Venue: arXiv cs.LG 2023
Year: 2023

Surrogate modeling of costly mathematical models representing physical systems is challenging since it is typically not possible to create a large experimental design. Thus, it is beneficial to constrain the approximation to adhere to the known physics of the model. This paper presents a novel methodology for the construction of physics-informed polynomial chaos expansions (PCE) that combines the conventional experimental design with additional constraints from the physics of the model. Physical constraints investigated in this paper are represented by a set of differential equations and specified boundary conditions. A computationally efficient means for construction of physically constrained PCE is proposed and compared to standard sparse PCE. It is shown that the proposed algorithms lead to superior accuracy of the approximation and does not add significant computational burden. Although the main purpose of the proposed method lies in combining data and physical constraints, we show that physically constrained PCEs can be constructed from differential equations and boundary conditions alone without requiring evaluations of the original model. We further show that the constrained PCEs can be easily applied for uncertainty quantification through analytical post-processing of a reduced PCE filtering out the influence of all deterministic space-time variables. Several deterministic examples of increasing complexity are provided and the proposed method is applied for uncertainty quantification.
Prompting or Fine-tuning? A Comparative Study of Large Language Models for Taxonomy Construction
Venue: arXiv cs.CL 2023
Year: 2023

Taxonomies represent hierarchical relations between entities, frequently applied in various software modeling and natural language processing (NLP) activities. They are typically subject to a set of structural constraints restricting their content. However, manual taxonomy construction can be time-consuming, incomplete, and costly to maintain. Recent studies of large language models (LLMs) have demonstrated that appropriate user inputs (called prompting) can effectively guide LLMs, such as GPT-3, in diverse NLP tasks without explicit (re-)training. However, existing approaches for automated taxonomy construction typically involve fine-tuning a language model by adjusting model parameters. In this paper, we present a general framework for taxonomy construction that takes into account structural constraints. We subsequently conduct a systematic comparison between the prompting and fine-tuning approaches performed on a hypernym taxonomy and a novel computer science taxonomy dataset. Our result reveals the following: (1) Even without explicit training on the dataset, the prompting approach outperforms fine-tuning-based approaches. Moreover, the performance gap between prompting and fine-tuning widens when the training dataset is small. However, (2) taxonomies generated by the fine-tuning approach can be easily post-processed to satisfy all the constraints, whereas handling violations of the taxonomies produced by the prompting approach can be challenging. These evaluation findings provide guidance on selecting the appropriate method for taxonomy construction and highlight potential enhancements for both approaches.
Generative-based Fusion Mechanism for Multi-Modal Tracking
Venue: arXiv cs.CV 2023
Year: 2023

Generative models (GMs) have received increasing research interest for their remarkable capacity to achieve comprehensive understanding. However, their potential application in the domain of multi-modal tracking has remained relatively unexplored. In this context, we seek to uncover the potential of harnessing generative techniques to address the critical challenge, information fusion, in multi-modal tracking. In this paper, we delve into two prominent GM techniques, namely, Conditional Generative Adversarial Networks (CGANs) and Diffusion Models (DMs). Different from the standard fusion process where the features from each modality are directly fed into the fusion block, we condition these multi-modal features with random noise in the GM framework, effectively transforming the original training samples into harder instances. This design excels at extracting discriminative clues from the features, enhancing the ultimate tracking performance. To quantitatively gauge the effectiveness of our approach, we conduct extensive experiments across two multi-modal tracking tasks, three baseline methods, and three challenging benchmarks. The experimental results demonstrate that the proposed generative-based fusion mechanism achieves state-of-the-art performance, setting new records on LasHeR and RGBD1K.
Measuring, Interpreting, and Improving Fairness of Algorithms using Causal Inference and Randomized Experiments
Venue: arXiv cs.LG 2023
Year: 2023

Algorithm fairness has become a central problem for the broad adoption of artificial intelligence. Although the past decade has witnessed an explosion of excellent work studying algorithm biases, achieving fairness in real-world AI production systems has remained a challenging task. Most existing works fail to excel in practical applications since either they have conflicting measurement techniques and/ or heavy assumptions, or require code-access of the production models, whereas real systems demand an easy-to-implement measurement framework and a systematic way to correct the detected sources of bias. In this paper, we leverage recent advances in causal inference and interpretable machine learning to present an algorithm-agnostic framework (MIIF) to Measure, Interpret, and Improve the Fairness of an algorithmic decision. We measure the algorithm bias using randomized experiments, which enables the simultaneous measurement of disparate treatment, disparate impact, and economic value. Furthermore, using modern interpretability techniques, we develop an explainable machine learning model which accurately interprets and distills the beliefs of a blackbox algorithm. Altogether, these techniques create a simple and powerful toolset for studying algorithm fairness, especially for understanding the cost of fairness in practical applications like e-commerce and targeted advertising, where industry A/B testing is already abundant.
Tight Bounds on List-Decodable and List-Recoverable Zero-Rate Codes
Venue: arXiv cs.IT 2023
Year: 2023

In this work, we consider the list-decodability and list-recoverability of codes in the zero-rate regime. Briefly, a code $\mathcal{C} \subseteq [q]^n$ is $(p,\ell,L)$-list-recoverable if for all tuples of input lists $(Y_1,\dots,Y_n)$ with each $Y_i \subseteq [q]$ and $|Y_i|=\ell$ the number of codewords $c \in \mathcal{C}$ such that $c_i \notin Y_i$ for at most $pn$ choices of $i \in [n]$ is less than $L$; list-decoding is the special case of $\ell=1$. In recent work by Resch, Yuan and Zhang~(ICALP~2023) the zero-rate threshold for list-recovery was determined for all parameters: that is, the work explicitly computes $p_*:=p_*(q,\ell,L)$ with the property that for all $ε>0$ (a) there exist infinite families positive-rate $(p_*-ε,\ell,L)$-list-recoverable codes, and (b) any $(p_*+ε,\ell,L)$-list-recoverable code has rate $0$. In fact, in the latter case the code has constant size, independent on $n$. However, the constant size in their work is quite large in $1/ε$, at least $|\mathcal{C}|\geq (\frac{1}ε)^{O(q^L)}$. Our contribution in this work is to show that for all choices of $q,\ell$ and $L$ with $q \geq 3$, any $(p_*+ε,\ell,L)$-list-recoverable code must have size $O_{q,\ell,L}(1/ε)$, and furthermore this upper bound is complemented by a matching lower bound $Ω_{q,\ell,L}(1/ε)$. This greatly generalizes work by Alon, Bukh and Polyanskiy~(IEEE Trans.\ Inf.\ Theory~2018) which focused only on the case of binary alphabet (and thus necessarily only list-decoding). We remark that we can in fact recover the same result for $q=2$ and even $L$, as obtained by Alon, Bukh and Polyanskiy: we thus strictly generalize their work.
A Human-Centric Metaverse Enabled by Brain-Computer Interface: A Survey
Venue: arXiv cs.HC 2023
Year: 2023

The growing interest in the Metaverse has generated momentum for members of academia and industry to innovate toward realizing the Metaverse world. The Metaverse is a unique, continuous, and shared virtual world where humans embody a digital form within an online platform. Through a digital avatar, Metaverse users should have a perceptual presence within the environment and can interact and control the virtual world around them. Thus, a human-centric design is a crucial element of the Metaverse. The human users are not only the central entity but also the source of multi-sensory data that can be used to enrich the Metaverse ecosystem. In this survey, we study the potential applications of Brain-Computer Interface (BCI) technologies that can enhance the experience of Metaverse users. By directly communicating with the human brain, the most complex organ in the human body, BCI technologies hold the potential for the most intuitive human-machine system operating at the speed of thought. BCI technologies can enable various innovative applications for the Metaverse through this neural pathway, such as user cognitive state monitoring, digital avatar control, virtual interactions, and imagined speech communications. This survey first outlines the fundamental background of the Metaverse and BCI technologies. We then discuss the current challenges of the Metaverse that can potentially be addressed by BCI, such as motion sickness when users experience virtual environments or the negative emotional states of users in immersive virtual applications. After that, we propose and discuss a new research direction called Human Digital Twin, in which digital twins can create an intelligent and interactable avatar from the user's brain signals. We also present the challenges and potential solutions in synchronizing and communicating between virtual and physical entities in the Metaverse.
Gradient Domain Diffusion Models for Image Synthesis
Venue: arXiv cs.CV 2023
Year: 2023

Diffusion models are getting popular in generative image and video synthesis. However, due to the diffusion process, they require a large number of steps to converge. To tackle this issue, in this paper, we propose to perform the diffusion process in the gradient domain, where the convergence becomes faster. There are two reasons. First, thanks to the Poisson equation, the gradient domain is mathematically equivalent to the original image domain. Therefore, each diffusion step in the image domain has a unique corresponding gradient domain representation. Second, the gradient domain is much sparser than the image domain. As a result, gradient domain diffusion models converge faster. Several numerical experiments confirm that the gradient domain diffusion models are more efficient than the original diffusion models. The proposed method can be applied in a wide range of applications such as image processing, computer vision and machine learning tasks.
A $5$-approximation Algorithm for the Traveling Tournament Problem
Venue: arXiv cs.DS 2023
Year: 2023

The Traveling Tournament Problem (TTP-$k$) is a well-known benchmark problem in tournament timetabling, which asks us to design a double round-robin schedule such that the total traveling distance of all $n$ teams is minimized under the constraints that each pair of teams plays one game in each other's home venue, and each team plays at most $k$-consecutive home games or away games. Westphal and Noparlik (Ann. Oper. Res. 218(1):347-360, 2014) claimed a $5.875$-approximation algorithm for all $k\geq 4$ and $n\geq 6$. However, there were both flaws in the construction of the schedule and in the analysis. In this paper, we show that there is a $5$-approximation algorithm for all $k$ and $n$. Furthermore, if $k \geq n/2$, the approximation ratio can be improved to $4$.
Generalizing Hierarchical Parallelism
Venue: arXiv cs.PL 2023
Year: 2023

Since the days of OpenMP 1.0 computer hardware has become more complex, typically by specializing compute units for coarse- and fine-grained parallelism in incrementally deeper hierarchies of parallelism. Newer versions of OpenMP reacted by introducing new mechanisms for querying or controlling its individual levels, each time adding another concept such as places, teams, and progress groups. In this paper we propose going back to the roots of OpenMP in the form of nested parallelism for a simpler model and more flexible handling of arbitrary deep hardware hierarchies.
Causal Scoring Medical Image Explanations: A Case Study On Ex-vivo Kidney Stone Images
Venue: arXiv cs.CV 2023
Year: 2023

On the promise that if human users know the cause of an output, it would enable them to grasp the process responsible for the output, and hence provide understanding, many explainable methods have been proposed to indicate the cause for the output of a model based on its input. Nonetheless, little has been reported on quantitative measurements of such causal relationships between the inputs, the explanations, and the outputs of a model, leaving the assessment to the user, independent of his level of expertise in the subject. To address this situation, we explore a technique for measuring the causal relationship between the features from the area of the object of interest in the images of a class and the output of a classifier. Our experiments indicate improvement in the causal relationships measured when the area of the object of interest per class is indicated by a mask from an explainable method than when it is indicated by human annotators. Hence the chosen name of Causal Explanation Score (CaES)
Provably safe systems: the only path to controllable AGI
Venue: arXiv cs.CY 2023
Year: 2023

We describe a path to humanity safely thriving with powerful Artificial General Intelligences (AGIs) by building them to provably satisfy human-specified requirements. We argue that this will soon be technically feasible using advanced AI for formal verification and mechanistic interpretability. We further argue that it is the only path which guarantees safe controlled AGI. We end with a list of challenge problems whose solution would contribute to this positive outcome and invite readers to join in this work.
Extract-and-Adaptation Network for 3D Interacting Hand Mesh Recovery
Venue: arXiv cs.CV 2023
Year: 2023

Understanding how two hands interact with each other is a key component of accurate 3D interacting hand mesh recovery. However, recent Transformer-based methods struggle to learn the interaction between two hands as they directly utilize two hand features as input tokens, which results in distant token problem. The distant token problem represents that input tokens are in heterogeneous spaces, leading Transformer to fail in capturing correlation between input tokens. Previous Transformer-based methods suffer from the problem especially when poses of two hands are very different as they project features from a backbone to separate left and right hand-dedicated features. We present EANet, extract-and-adaptation network, with EABlock, the main component of our network. Rather than directly utilizing two hand features as input tokens, our EABlock utilizes two complementary types of novel tokens, SimToken and JoinToken, as input tokens. Our two novel tokens are from a combination of separated two hand features; hence, it is much more robust to the distant token problem. Using the two type of tokens, our EABlock effectively extracts interaction feature and adapts it to each hand. The proposed EANet achieves the state-of-the-art performance on 3D interacting hands benchmarks. The codes are available at https://github.com/jkpark0825/EANet.
A method for Selecting Scenes and Emotion-based Descriptions for a Robot's Diary
Venue: arXiv cs.RO 2023
Year: 2023

In this study, we examined scene selection methods and emotion-based descriptions for a robot's daily diary. We proposed a scene selection method and an emotion description method that take into account semantic and affective information, and created several types of diaries. Experiments were conducted to examine the change in sentiment values and preference of each diary, and it was found that the robot's feelings and impressions changed more from date to date when scenes were selected using the affective captions. Furthermore, we found that the robot's emotion generally improves the preference of the robot's diary regardless of the scene it describes. However, presenting negative or mixed emotions at once may decrease the preference of the diary or reduce the robot's robot-likeness, and thus the method of presenting emotions still needs further investigation.