OpenRaiser/Intern-Atlas huggingface dataset:
RoboCook: Long-Horizon Elasto-Plastic Object Manipulation with Diverse Tools
Venue: arXiv cs.RO 2023
Year: 2023

Humans excel in complex long-horizon soft body manipulation tasks via flexible tool use: bread baking requires a knife to slice the dough and a rolling pin to flatten it. Often regarded as a hallmark of human cognition, tool use in autonomous robots remains limited due to challenges in understanding tool-object interactions. Here we develop an intelligent robotic system, RoboCook, which perceives, models, and manipulates elasto-plastic objects with various tools. RoboCook uses point cloud scene representations, models tool-object interactions with Graph Neural Networks (GNNs), and combines tool classification with self-supervised policy learning to devise manipulation plans. We demonstrate that from just 20 minutes of real-world interaction data per tool, a general-purpose robot arm can learn complex long-horizon soft object manipulation tasks, such as making dumplings and alphabet letter cookies. Extensive evaluations show that RoboCook substantially outperforms state-of-the-art approaches, exhibits robustness against severe external disturbances, and demonstrates adaptability to different materials.
Fauno: The Italian Large Language Model that will leave you senza parole!
Venue: arXiv cs.CL 2023
Year: 2023

This paper presents Fauno, the first and largest open-source Italian conversational Large Language Model (LLM). Our goal with Fauno is to democratize the study of LLMs in Italian, demonstrating that obtaining a fine-tuned conversational bot with a single GPU is possible. In addition, we release a collection of datasets for conversational AI in Italian. The datasets on which we fine-tuned Fauno include various topics such as general question answering, computer science, and medical questions. We release our code and datasets on \url{https://github.com/RSTLess-research/Fauno-Italian-LLM}
A General Framework for Sequential Decision-Making under Adaptivity Constraints
Venue: arXiv cs.LG 2023
Year: 2023

We take the first step in studying general sequential decision-making under two adaptivity constraints: rare policy switch and batch learning. First, we provide a general class called the Eluder Condition class, which includes a wide range of reinforcement learning classes. Then, for the rare policy switch constraint, we provide a generic algorithm to achieve a $\widetilde{\mathcal{O}}(\log K) $ switching cost with a $\widetilde{\mathcal{O}}(\sqrt{K})$ regret on the EC class. For the batch learning constraint, we provide an algorithm that provides a $\widetilde{\mathcal{O}}(\sqrt{K}+K/B)$ regret with the number of batches $B.$ This paper is the first work considering rare policy switch and batch learning under general function classes, which covers nearly all the models studied in the previous works such as tabular MDP (Bai et al. 2019; Zhang et al. 2020), linear MDP (Wang et al. 2021; Gao et al. 2021), low eluder dimension MDP (Kong et al. 2021; Gao et al. 2021), generalized linear function approximation (Qiao et al. 2023), and also some new classes such as the low $D_Δ$-type Bellman eluder dimension problem, linear mixture MDP, kernelized nonlinear regulator and undercomplete partially observed Markov decision process (POMDP).
Medical Federated Model with Mixture of Personalized and Sharing Components
Venue: arXiv cs.AI 2023
Year: 2023

Although data-driven methods usually have noticeable performance on disease diagnosis and treatment, they are suspected of leakage of privacy due to collecting data for model training. Recently, federated learning provides a secure and trustable alternative to collaboratively train model without any exchange of medical data among multiple institutes. Therefore, it has draw much attention due to its natural merit on privacy protection. However, when heterogenous medical data exists between different hospitals, federated learning usually has to face with degradation of performance. In the paper, we propose a new personalized framework of federated learning to handle the problem. It successfully yields personalized models based on awareness of similarity between local data, and achieves better tradeoff between generalization and personalization than existing methods. After that, we further design a differentially sparse regularizer to improve communication efficiency during procedure of model training. Additionally, we propose an effective method to reduce the computational cost, which improves computation efficiency significantly. Furthermore, we collect 5 real medical datasets, including 2 public medical image datasets and 3 private multi-center clinical diagnosis datasets, and evaluate its performance by conducting nodule classification, tumor segmentation, and clinical risk prediction tasks. Comparing with 13 existing related methods, the proposed method successfully achieves the best model performance, and meanwhile up to 60% improvement of communication efficiency. Source code is public, and can be accessed at: https://github.com/ApplicationTechnologyOfMedicalBigData/pFedNet-code.
AME-CAM: Attentive Multiple-Exit CAM for Weakly Supervised Segmentation on MRI Brain Tumor
Venue: arXiv cs.CV 2023
Year: 2023

Magnetic resonance imaging (MRI) is commonly used for brain tumor segmentation, which is critical for patient evaluation and treatment planning. To reduce the labor and expertise required for labeling, weakly-supervised semantic segmentation (WSSS) methods with class activation mapping (CAM) have been proposed. However, existing CAM methods suffer from low resolution due to strided convolution and pooling layers, resulting in inaccurate predictions. In this study, we propose a novel CAM method, Attentive Multiple-Exit CAM (AME-CAM), that extracts activation maps from multiple resolutions to hierarchically aggregate and improve prediction accuracy. We evaluate our method on the BraTS 2021 dataset and show that it outperforms state-of-the-art methods.
Approximation algorithms for $k$-submodular maximization subject to a knapsack constraint
Venue: arXiv cs.DS 2023
Year: 2023

In this paper, we study the problem of maximizing $k$-submodular functions subject to a knapsack constraint. For monotone objective functions, we present a $\frac{1}{2}(1-e^{-2})\approx 0.432$ greedy approximation algorithm. For the non-monotone case, we are the first to consider the knapsack problem and provide a greedy-type combinatorial algorithm with approximation ratio $\frac{1}{3}(1-e^{-3})\approx 0.317$.
Exploring the Robustness of Large Language Models for Solving Programming Problems
Venue: arXiv cs.CL 2023
Year: 2023

Using large language models (LLMs) for source code has recently gained attention. LLMs, such as Transformer-based models like Codex and ChatGPT, have been shown to be highly capable of solving a wide range of programming problems. However, the extent to which LLMs understand problem descriptions and generate programs accordingly or just retrieve source code from the most relevant problem in training data based on superficial cues has not been discovered yet. To explore this research question, we conduct experiments to understand the robustness of several popular LLMs, CodeGen and GPT-3.5 series models, capable of tackling code generation tasks in introductory programming problems. Our experimental results show that CodeGen and Codex are sensitive to the superficial modifications of problem descriptions and significantly impact code generation performance. Furthermore, we observe that Codex relies on variable names, as randomized variables decrease the solved rate significantly. However, the state-of-the-art (SOTA) models, such as InstructGPT and ChatGPT, show higher robustness to superficial modifications and have an outstanding capability for solving programming problems. This highlights the fact that slight modifications to the prompts given to the LLMs can greatly affect code generation performance, and careful formatting of prompts is essential for high-quality code generation, while the SOTA models are becoming more robust to perturbations.
A Closed-Loop Bin Picking System for Entangled Wire Harnesses using Bimanual and Dynamic Manipulation
Venue: arXiv cs.RO 2023
Year: 2023

This paper addresses the challenge of industrial bin picking using entangled wire harnesses. Wire harnesses are essential in manufacturing but poses challenges in automation due to their complex geometries and propensity for entanglement. Our previous work tackled this issue by proposing a quasi-static pulling motion to separate the entangled wire harnesses. However, it still lacks sufficiency and generalization to various shapes and structures. In this paper, we deploy a dual-arm robot that can grasp, extract and disentangle wire harnesses from dense clutter using dynamic manipulation. The robot can swing to dynamically discard the entangled objects and regrasp to adjust the undesirable grasp pose. To improve the robustness and accuracy of the system, we leverage a closed-loop framework that uses haptic feedback to detect entanglement in real-time and flexibly adjust system parameters. Our bin picking system achieves an overall success rate of 91.2% in the real-world experiments using two different types of long wire harnesses. It demonstrates the effectiveness of our system in handling various wire harnesses for industrial bin picking.
Estimating player completion rate in mobile puzzle games using reinforcement learning
Venue: arXiv cs.AI 2023
Year: 2023

In this work we investigate whether it is plausible to use the performance of a reinforcement learning (RL) agent to estimate the difficulty measured as the player completion rate of different levels in the mobile puzzle game Lily's Garden.For this purpose we train an RL agent and measure the number of moves required to complete a level. This is then compared to the level completion rate of a large sample of real players.We find that the strongest predictor of player completion rate for a level is the number of moves taken to complete a level of the ~5% best runs of the agent on a given level. A very interesting observation is that, while in absolute terms, the agent is unable to reach human-level performance across all levels, the differences in terms of behaviour between levels are highly correlated to the differences in human behaviour. Thus, despite performing sub-par, it is still possible to use the performance of the agent to estimate, and perhaps further model, player metrics.
Localized Text-to-Image Generation for Free via Cross Attention Control
Venue: arXiv cs.CV 2023
Year: 2023

Despite the tremendous success in text-to-image generative models, localized text-to-image generation (that is, generating objects or features at specific locations in an image while maintaining a consistent overall generation) still requires either explicit training or substantial additional inference time. In this work, we show that localized generation can be achieved by simply controlling cross attention maps during inference. With no additional training, model architecture modification or inference time, our proposed cross attention control (CAC) provides new open-vocabulary localization abilities to standard text-to-image models. CAC also enhances models that are already trained for localized generation when deployed at inference time. Furthermore, to assess localized text-to-image generation performance automatically, we develop a standardized suite of evaluations using large pretrained recognition models. Our experiments show that CAC improves localized generation performance with various types of location information ranging from bounding boxes to semantic segmentation maps, and enhances the compositional capability of state-of-the-art text-to-image generative models.
PTVD: A Large-Scale Plot-Oriented Multimodal Dataset Based on Television Dramas
Venue: arXiv cs.CV 2023
Year: 2023

Art forms such as movies and television (TV) dramas are reflections of the real world, which have attracted much attention from the multimodal learning community recently. However, existing corpora in this domain share three limitations: (1) annotated in a scene-oriented fashion, they ignore the coherence within plots; (2) their text lacks empathy and seldom mentions situational context; (3) their video clips fail to cover long-form relationship due to short duration. To address these fundamental issues, using 1,106 TV drama episodes and 24,875 informative plot-focused sentences written by professionals, with the help of 449 human annotators, we constructed PTVD, the first plot-oriented multimodal dataset in the TV domain. It is also the first non-English dataset of its kind. Additionally, PTVD contains more than 26 million bullet screen comments (BSCs), powering large-scale pre-training. Next, aiming to open-source a strong baseline for follow-up works, we developed the multimodal algorithm that attacks different cinema/TV modelling problems with a unified architecture. Extensive experiments on three cognitive-inspired tasks yielded a number of novel observations (some of them being quite counter-intuition), further validating the value of PTVD in promoting multimodal research. The dataset and codes are released at \url{https://ptvd.github.io/}.
CIMulator: A Comprehensive Simulation Platform for Computing-In-Memory Circuit Macros with Low Bit-Width and Real Memory Materials
Venue: arXiv cs.NE 2023
Year: 2023

This paper presents a simulation platform, namely CIMulator, for quantifying the efficacy of various synaptic devices in neuromorphic accelerators for different neural network architectures. Nonvolatile memory devices, such as resistive random-access memory, ferroelectric field-effect transistor, and volatile static random-access memory devices, can be selected as synaptic devices. A multilayer perceptron and convolutional neural networks (CNNs), such as LeNet-5, VGG-16, and a custom CNN named C4W-1, are simulated to evaluate the effects of these synaptic devices on the training and inference outcomes. The dataset used in the simulations are MNIST, CIFAR-10, and a white blood cell dataset. By applying batch normalization and appropriate optimizers in the training phase, neuromorphic systems with very low-bit-width or binary weights could achieve high pattern recognition rates that approach software-based CNN accuracy. We also introduce spiking neural networks with RRAM-based synaptic devices for the recognition of MNIST handwritten digits.
Cross Architecture Distillation for Face Recognition
Venue: arXiv cs.CV 2023
Year: 2023

Transformers have emerged as the superior choice for face recognition tasks, but their insufficient platform acceleration hinders their application on mobile devices. In contrast, Convolutional Neural Networks (CNNs) capitalize on hardware-compatible acceleration libraries. Consequently, it has become indispensable to preserve the distillation efficacy when transferring knowledge from a Transformer-based teacher model to a CNN-based student model, known as Cross-Architecture Knowledge Distillation (CAKD). Despite its potential, the deployment of CAKD in face recognition encounters two challenges: 1) the teacher and student share disparate spatial information for each pixel, obstructing the alignment of feature space, and 2) the teacher network is not trained in the role of a teacher, lacking proficiency in handling distillation-specific knowledge. To surmount these two constraints, 1) we first introduce a Unified Receptive Fields Mapping module (URFM) that maps pixel features of the teacher and student into local features with unified receptive fields, thereby synchronizing the pixel-wise spatial information of teacher and student. Subsequently, 2) we develop an Adaptable Prompting Teacher network (APT) that integrates prompts into the teacher, enabling it to manage distillation-specific knowledge while preserving the model's discriminative capacity. Extensive experiments on popular face benchmarks and two large-scale verification sets demonstrate the superiority of our method.
Timely Processing Of Updates From Multiple Sources
Venue: arXiv cs.IT 2023
Year: 2023

We consider a system where the updates from independent sources are disseminated via a publish-subscribe mechanism. The sources are the publishers and a decision process (DP), acting as a subscriber, derives decision updates from the source data. We derive the stationary expected age of information (AoI) of decision updates delivered to a monitor. We show that a lazy computation policy in which the DP may sit idle before computing its next decision update can reduce the average AoI at the monitor even though the DP exerts no control over the generation of source updates. This AoI reduction is shown to occur because lazy computation can offset the negative effect of high variance in the computation time.
Tunable Synaptic Working Memory with Volatile Memristive Devices
Venue: arXiv cs.ET 2023
Year: 2023

Different real-world cognitive tasks evolve on different relevant timescales. Processing these tasks requires memory mechanisms able to match their specific time constants. In particular, the working memory utilizes mechanisms that span orders of magnitudes of timescales, from milliseconds to seconds or even minutes. This plentitude of timescales is an essential ingredient of working memory tasks like visual or language processing. This degree of flexibility is challenging in analog computing hardware because it requires the integration of several reconfigurable capacitors of different size. Emerging volatile memristive devices present a compact and appealing solution to reproduce reconfigurable temporal dynamics in a neuromorphic network. We present a demonstration of working memory using a silver-based memristive device whose key parameters, retention time and switching probability, can be electrically tuned and adapted to the task at hand. First, we demonstrate the principles of working memory in a small scale hardware to execute an associative memory task. Then, we use the experimental data in two larger scale simulations, the first featuring working memory in a biological environment, the second demonstrating associative symbolic working memory.
A Simple and Effective Baseline for Attentional Generative Adversarial Networks
Venue: arXiv cs.CV 2023
Year: 2023

Synthesising a text-to-image model of high-quality images by guiding the generative model through the Text description is an innovative and challenging task. In recent years, AttnGAN based on the Attention mechanism to guide GAN training has been proposed, SD-GAN, which adopts a self-distillation technique to improve the performance of the generator and the quality of image generation, and Stack-GAN++, which gradually improves the details and quality of the image by stacking multiple generators and discriminators. However, this series of improvements to GAN all have redundancy to a certain extent, which affects the generation performance and complexity to a certain extent. We use the popular simple and effective idea (1) to remove redundancy structure and improve the backbone network of AttnGAN. (2) to integrate and reconstruct multiple losses of DAMSM. Our improvements have significantly improved the model size and training efficiency while ensuring that the model's performance is unchanged and finally proposed our SEAttnGAN. Code is avalilable at https://github.com/jmyissb/SEAttnGAN.
Ensemble of Random and Isolation Forests for Graph-Based Intrusion Detection in Containers
Venue: arXiv cs.CR 2023
Year: 2023

We propose a novel solution combining supervised and unsupervised machine learning models for intrusion detection at kernel level in cloud containers. In particular, the proposed solution is built over an ensemble of random and isolation forests trained on sequences of system calls that are collected at the hosting machine's kernel level. The sequence of system calls are translated into a weighted and directed graph to obtain a compact description of the container behavior, which is given as input to the ensemble model. We executed a set of experiments in a controlled environment in order to test our solution against the two most common threats that have been identified in cloud containers, and our results show that we can achieve high detection rates and low false positives in the tested attacks.
BBCA-LEDGER: High Throughput Consensus meets Low Latency
Venue: arXiv cs.DC 2023
Year: 2023

This paper presents BBCA-LEDGER, a Byzantine log replication technology for partially synchronous networks enabling blocks to be broadcast in parallel, such that each broadcast is finalized independently and instantaneously into an individual slot in the log. Every finalized broadcast is eventually committed to the total ordering, so that all network bandwidth has utility in disseminating blocks. Finalizing log slots in parallel achieves both high throughput and low latency. BBCA-LEDGER is composed of two principal protocols that interweave together, a low-latency/high-throughput happy path, and a high-throughput DAG-based fallback path. The happy path employs a novel primitive called BBCA, a consistent broadcast enforcing unique slot numbering. In steady state, BBCA ensures that a transaction can be committed with low latency, in just 3 network steps. Under network partitions or faults, we harness recent advances in BFT and build a fallback mechanism on a direct acyclic graph (DAG) created by BBCA broadcasts. In this manner, BBCA-LEDGER exhibits the throughput benefits of DAG-based BFT in face of gaps.
Distributive Pre-Training of Generative Modeling Using Matrix-Product States
Venue: arXiv cs.LG 2023
Year: 2023

Tensor networks have recently found applications in machine learning for both supervised learning and unsupervised learning. The most common approaches for training these models are gradient descent methods. In this work, we consider an alternative training scheme utilizing basic tensor network operations, e.g., summation and compression. The training algorithm is based on compressing the superposition state constructed from all the training data in product state representation. The algorithm could be parallelized easily and only iterates through the dataset once. Hence, it serves as a pre-training algorithm. We benchmark the algorithm on the MNIST dataset and show reasonable results for generating new images and classification tasks. Furthermore, we provide an interpretation of the algorithm as a compressed quantum kernel density estimation for the probability amplitude of input data.
Robust Wind Turbine Blade Segmentation from RGB Images in the Wild
Venue: arXiv cs.CV 2023
Year: 2023

With the relentless growth of the wind industry, there is an imperious need to design automatic data-driven solutions for wind turbine maintenance. As structural health monitoring mainly relies on visual inspections, the first stage in any automatic solution is to identify the blade region on the image. Thus, we propose a novel segmentation algorithm that strengthens the U-Net results by a tailored loss, which pools the focal loss with a contiguity regularization term. To attain top performing results, a set of additional steps are proposed to ensure a reliable, generic, robust and efficient algorithm. First, we leverage our prior knowledge on the images by filling the holes enclosed by temporarily-classified blade pixels and by the image boundaries. Subsequently, the mislead classified pixels are successfully amended by training an on-the-fly random forest. Our algorithm demonstrates its effectiveness reaching a non-trivial 97.39% of accuracy.