OpenRaiser/Intern-Atlas huggingface dataset:
BTS: Bifold Teacher-Student in Semi-Supervised Learning for Indoor Two-Room Presence Detection Under Time-Varying CSI
Venue: arXiv cs.AI 2024
Year: 2024

In recent years, indoor human presence detection based on supervised learning (SL) and channel state information (CSI) has attracted much attention. However, existing studies that rely on spatial information of CSI are susceptible to environmental changes which degrade prediction accuracy. Moreover, SL-based methods require time-consuming data labeling for retraining models. Therefore, it is imperative to design a continuously monitored model using a semi-supervised learning (SSL) based scheme. In this paper, we conceive a bifold teacher-student (BTS) learning approach for indoor human presence detection in an adjoining two-room scenario. The proposed SSL-based primal-dual teacher-student network intelligently learns spatial and temporal features from labeled and unlabeled CSI datasets. Additionally, the enhanced penalized loss function leverages entropy and distance measures to distinguish drifted data, i.e., features of new datasets affected by time-varying effects and altered from the original distribution. Experimental results demonstrate that the proposed BTS system accomplishes an averaged accuracy of around 98% after retraining the model with unlabeled data. BTS can sustain an accuracy of 93% under the changed layout and environments. Furthermore, BTS outperforms existing SSL-based models in terms of the highest detection accuracy of around 98% while achieving the asymptotic performance of SL-based methods.
OpenPack: A Large-scale Dataset for Recognizing Packaging Works in IoT-enabled Logistic Environments
Venue: arXiv cs.CV 2024
Year: 2024

Unlike human daily activities, existing publicly available sensor datasets for work activity recognition in industrial domains are limited by difficulties in collecting realistic data as close collaboration with industrial sites is required. This also limits research on and development of methods for industrial applications. To address these challenges and contribute to research on machine recognition of work activities in industrial domains, in this study, we introduce a new large-scale dataset for packaging work recognition called OpenPack. OpenPack contains 53.8 hours of multimodal sensor data, including acceleration data, keypoints, depth images, and readings from IoT-enabled devices (e.g., handheld barcode scanners), collected from 16 distinct subjects with different levels of packaging work experience. We apply state-of-the-art human activity recognition techniques to the dataset and provide future directions of complex work activity recognition studies in the pervasive computing community based on the results. We believe that OpenPack will contribute to the sensor-based action/activity recognition community by providing challenging tasks. The OpenPack dataset is available at https://open-pack.github.io.
DYST (Did You See That?): An Amplified Covert Channel That Points To Previously Seen Data
Venue: arXiv cs.CR 2024
Year: 2024

Covert channels are stealthy communication channels that enable manifold adversary and legitimate scenarios, ranging from malware communications to the exchange of confidential information by journalists and censorship circumvention. We introduce a new class of covert channels that we call history covert channels. We further present a new paradigm: covert channel amplification. All covert channels described until now need to craft seemingly legitimate flows or need to modify third-party flows, mimicking unsuspicious behavior. In contrast, history covert channels can communicate by pointing to unaltered legitimate traffic created by regular network nodes. Only a negligible fraction of the covert communication process requires the transfer of covert information by the covert channel's sender. This information can be sent through different protocols/channels. Our approach allows an amplification of the covert channel's message size, i.e., minimizing the fraction of actually transferred secret data by a covert channel's sender in relation to the overall secret data being exchanged. Further, we extend the current taxonomy for covert channels to show how history channels can be categorized. We describe multiple scenarios in which history covert channels can be realized, analyze the characteristics of these channels, and show how their configuration can be optimized.
When are Lemons Purple? The Concept Association Bias of Vision-Language Models
Venue: arXiv cs.CV 2024
Year: 2024

Large-scale vision-language models such as CLIP have shown impressive performance on zero-shot image classification and image-to-text retrieval. However, such performance does not realize in tasks that require a finer-grained correspondence between vision and language, such as Visual Question Answering (VQA). As a potential cause of the difficulty of applying these models to VQA and similar tasks, we report an interesting phenomenon of vision-language models, which we call the Concept Association Bias (CAB). We find that models with CAB tend to treat input as a bag of concepts and attempt to fill in the other missing concept crossmodally, leading to an unexpected zero-shot prediction. We demonstrate CAB by showing that CLIP's zero-shot classification performance greatly suffers when there is a strong concept association between an object (e.g. eggplant) and an attribute (e.g. color purple). We also show that the strength of CAB predicts the performance on VQA. We observe that CAB is prevalent in vision-language models trained with contrastive losses, even when autoregressive losses are jointly employed. However, a model that solely relies on autoregressive loss seems to exhibit minimal or no signs of CAB.
A Semantic Framework for Neuro-Symbolic Computing
Venue: arXiv cs.AI 2024
Year: 2024

The field of neuro-symbolic AI aims to benefit from the combination of neural networks and symbolic systems. A cornerstone of the field is the translation or encoding of symbolic knowledge into neural networks. Although many neuro-symbolic methods and approaches have been proposed, and with a large increase in recent years, no common definition of encoding exists that can enable a precise, theoretical comparison of neuro-symbolic methods. This paper addresses this problem by introducing a semantic framework for neuro-symbolic AI. We start by providing a formal definition of semantic encoding, specifying the components and conditions under which a knowledge-base can be encoded correctly by a neural network. We then show that many neuro-symbolic approaches are accounted for by this definition. We provide a number of examples and correspondence proofs applying the proposed framework to the neural encoding of various forms of knowledge representation. Many, at first sight disparate, neuro-symbolic methods, are shown to fall within the proposed formalization. This is expected to provide guidance to future neuro-symbolic encodings by placing them in the broader context of semantic encodings of entire families of existing neuro-symbolic systems. The paper hopes to help initiate a discussion around the provision of a theory for neuro-symbolic AI and a semantics for deep learning.
Distributed Control within a Trapezoid Virtual Tube Containing Obstacles for Robotic Swarms Subject to Speed Constraints
Venue: arXiv cs.RO 2024
Year: 2024

In our previous work, we design a trapezoid virtual tube to guide robotic swarms through narrow openings. This paper extends the application of the trapezoid virtual tube to the situations where there are static obstacles inside and robots have strict speed constraints. We first propose a distributed swarm controller for the trapezoid virtual tube without obstacles and present the relationship between the trapezoid virtual tube and speed constraints. Then a switching logic for obstacle avoidance is proposed by dividing the trapezoid virtual tube containing static obstacles into several sub trapezoid virtual tubes without obstacles. Formal analyses and proofs are presented to demonstrate that all robots can pass through the trapezoid virtual tube safely. Besides, we validate the effectiveness of our method through numerical simulations and real experiments.
Development and Evaluation of a Learning-based Model for Real-time Haptic Texture Rendering
Venue: arXiv cs.RO 2024
Year: 2024

Current Virtual Reality (VR) environments lack the rich haptic signals that humans experience during real-life interactions, such as the sensation of texture during lateral movement on a surface. Adding realistic haptic textures to VR environments requires a model that generalizes to variations of a user's interaction and to the wide variety of existing textures in the world. Current methodologies for haptic texture rendering exist, but they usually develop one model per texture, resulting in low scalability. We present a deep learning-based action-conditional model for haptic texture rendering and evaluate its perceptual performance in rendering realistic texture vibrations through a multi part human user study. This model is unified over all materials and uses data from a vision-based tactile sensor (GelSight) to render the appropriate surface conditioned on the user's action in real time. For rendering texture, we use a high-bandwidth vibrotactile transducer attached to a 3D Systems Touch device. The result of our user study shows that our learning-based method creates high-frequency texture renderings with comparable or better quality than state-of-the-art methods without the need for learning a separate model per texture. Furthermore, we show that the method is capable of rendering previously unseen textures using a single GelSight image of their surface.
Scaling Painting Style Transfer
Venue: arXiv cs.CV 2024
Year: 2024

Neural style transfer (NST) is a deep learning technique that produces an unprecedentedly rich style transfer from a style image to a content image. It is particularly impressive when it comes to transferring style from a painting to an image. NST was originally achieved by solving an optimization problem to match the global statistics of the style image while preserving the local geometric features of the content image. The two main drawbacks of this original approach is that it is computationally expensive and that the resolution of the output images is limited by high GPU memory requirements. Many solutions have been proposed to both accelerate NST and produce images with larger size. However, our investigation shows that these accelerated methods all compromise the quality of the produced images in the context of painting style transfer. Indeed, transferring the style of a painting is a complex task involving features at different scales, from the color palette and compositional style to the fine brushstrokes and texture of the canvas. This paper provides a solution to solve the original global optimization for ultra-high resolution (UHR) images, enabling multiscale NST at unprecedented image sizes. This is achieved by spatially localizing the computation of each forward and backward passes through the VGG network. Extensive qualitative and quantitative comparisons, as well as a \textcolor{coverletter}{perceptual study}, show that our method produces style transfer of unmatched quality for such high-resolution painting styles. By a careful comparison, we show that state-of-the-art fast methods are still prone to artifacts, thus suggesting that fast painting style transfer remains an open problem. Source code is available at https://github.com/bgalerne/scaling_painting_style_transfer.
Batchless Normalization: How to Normalize Activations Across Instances with Minimal Memory Requirements
Venue: arXiv cs.LG 2024
Year: 2024

In training neural networks, batch normalization has many benefits, not all of them entirely understood. But it also has some drawbacks. Foremost is arguably memory consumption, as computing the batch statistics requires all instances within the batch to be processed simultaneously, whereas without batch normalization it would be possible to process them one by one while accumulating the weight gradients. Another drawback is that that distribution parameters (mean and standard deviation) are unlike all other model parameters in that they are not trained using gradient descent but require special treatment, complicating implementation. In this paper, I show a simple and straightforward way to address these issues. The idea, in short, is to add terms to the loss that, for each activation, cause the minimization of the negative log likelihood of a Gaussian distribution that is used to normalize the activation. Among other benefits, this will hopefully contribute to the democratization of AI research by means of lowering the hardware requirements for training larger models.
RSA+: An RSA variant
Venue: arXiv cs.CR 2024
Year: 2024

We introduce a new probabilistic public-key cryptosystem which combines the main ingredients of the well-known RSA and Rabin cryptosystems. We investigate the security and performance of our new scheme in comparison to the other two.
oneDNN Graph Compiler: A Hybrid Approach for High-Performance Deep Learning Compilation
Venue: arXiv cs.LG 2024
Year: 2024

With the rapid development of deep learning models and hardware support for dense computing, the deep learning workload characteristics changed significantly from a few hot spots on compute-intensive operations to a broad range of operations scattered across the models. Accelerating a few compute-intensive operations using the expert-tuned implementation of primitives does not fully exploit the performance potential of AI hardware. Various efforts have been made to compile a full deep neural network (DNN) graph. One of the biggest challenges is to achieve high-performance tensor compilation by generating expert level performance code for the dense compute-intensive operations and applying compilation optimization at the scope of DNN computation graph across multiple compute-intensive operations. We present oneDNN Graph Compiler, a tensor compiler that employs a hybrid approach of using techniques from both compiler optimization and expert-tuned kernels for high performance code generation of the deep neural network graph. oneDNN Graph Compiler addresses unique optimization challenges in the deep learning domain, such as low-precision computation, aggressive fusion of graph operations, optimization for static tensor shapes and memory layout, constant weight optimization, and memory buffer reuse. Experimental results demonstrate significant performance gains over existing tensor compiler and primitives library for performance-critical DNN computation graphs and end-to-end models on Intel Xeon Scalable Processors.
Proofs as stateful programs: A first-order logic with abstract Hoare triples, and an interpretation into an imperative language
Venue: arXiv cs.LO 2024
Year: 2024

We introduce an extension of first-order logic that comes equipped with additional predicates for reasoning about an abstract state. Sequents in the logic comprise a main formula together with pre- and postconditions in the style of Hoare logic, and the axioms and rules of the logic ensure that the assertions about the state compose in the correct way. The main result of the paper is a realizability interpretation of our logic that extracts programs into a mixed functional/imperative language. All programs expressible in this language act on the state in a sequential manner, and we make this intuition precise by interpreting them in a semantic metatheory using the state monad. Our basic framework is very general, and our intention is that it can be instantiated and extended in a variety of different ways. We outline in detail one such extension: A monadic version of Heyting arithmetic with a wellfounded while rule, and conclude by outlining several other directions for future work.
Learning Neural Force Manifolds for Sim2Real Robotic Symmetrical Paper Folding
Venue: arXiv cs.RO 2024
Year: 2024

Robotic manipulation of slender objects is challenging, especially when the induced deformations are large and nonlinear. Traditionally, learning-based control approaches, such as imitation learning, have been used to address deformable material manipulation. These approaches lack generality and often suffer critical failure from a simple switch of material, geometric, and/or environmental (e.g., friction) properties. This article tackles a fundamental but difficult deformable manipulation task: forming a predefined fold in paper with only a single manipulator. A sim2real framework combining physically-accurate simulation and machine learning is used to train a deep neural network capable of predicting the external forces induced on the manipulated paper given a grasp position. We frame the problem using scaling analysis, resulting in a control framework robust against material and geometric changes. Path planning is then carried out over the generated ``neural force manifold'' to produce robot manipulation trajectories optimized to prevent sliding, with offline trajectory generation finishing 15$\times$ faster than previous physics-based folding methods. The inference speed of the trained model enables the incorporation of real-time visual feedback to achieve closed-loop model-predictive control. Real-world experiments demonstrate that our framework can greatly improve robotic manipulation performance compared to state-of-the-art folding strategies, even when manipulating paper objects of various materials and shapes.
Streaming Zero-Knowledge Proofs
Venue: arXiv cs.CC 2024
Year: 2024

Streaming interactive proofs (SIPs) enable a space-bounded algorithm with one-pass access to a massive stream of data to verify a computation that requires large space, by communicating with a powerful but untrusted prover. This work initiates the study of zero-knowledge proofs for data streams. We define the notion of zero-knowledge in the streaming setting and construct zero-knowledge SIPs for the two main algorithmic building blocks in the streaming interactive proofs literature: the sumcheck and polynomial evaluation protocols. To the best of our knowledge all known streaming interactive proofs are based on either of these tools, and indeed, this allows us to obtain zero-knowledge SIPs for central streaming problems such as index, point and range queries, median, frequency moments, and inner product. Our protocols are efficient in terms of time and space, as well as communication: the verifier algorithm's space complexity is $\mathrm{polylog}(n)$ and, after a non-interactive setup that uses a random string of near-linear length, the remaining parameters are $n^{o(1)}$. En route, we develop an algorithmic toolkit for designing zero-knowledge data stream protocols, consisting of an algebraic streaming commitment protocol and a temporal commitment protocol.Our analyses rely on delicate algebraic and information-theoretic arguments and reductions from average-case communication complexity.
PressureVision++: Estimating Fingertip Pressure from Diverse RGB Images
Venue: arXiv cs.CV 2024
Year: 2024

Touch plays a fundamental role in manipulation for humans; however, machine perception of contact and pressure typically requires invasive sensors. Recent research has shown that deep models can estimate hand pressure based on a single RGB image. However, evaluations have been limited to controlled settings since collecting diverse data with ground-truth pressure measurements is difficult. We present a novel approach that enables diverse data to be captured with only an RGB camera and a cooperative participant. Our key insight is that people can be prompted to apply pressure in a certain way, and this prompt can serve as a weak label to supervise models to perform well under varied conditions. We collect a novel dataset with 51 participants making fingertip contact with diverse objects. Our network, PressureVision++, outperforms human annotators and prior work. We also demonstrate an application of PressureVision++ to mixed reality where pressure estimation allows everyday surfaces to be used as arbitrary touch-sensitive interfaces. Code, data, and models are available online.
Emergence of simple and complex contagion dynamics from weighted belief networks
Venue: arXiv cs.SI 2024
Year: 2024

Social contagion is a ubiquitous and fundamental process that drives individual and social changes. Although social contagion arises as a result of cognitive processes and biases, the integration of cognitive mechanisms with the theory of social contagion remains an open challenge. In particular, studies on social phenomena usually assume contagion dynamics to be either simple or complex, rather than allowing it to emerge from cognitive mechanisms, despite empirical evidence indicating that a social system can exhibit a spectrum of contagion dynamics -- from simple to complex -- simultaneously. Here, we propose a model of interacting beliefs, from which both simple and complex contagion dynamics can organically arise. Our model also elucidates how a fundamental mechanism of complex contagion -- resistance -- can come about from cognitive mechanisms.
Traditional Readability Formulas Compared for English
Venue: arXiv cs.CL 2024
Year: 2024

Traditional English readability formulas, or equations, were largely developed in the 20th century. Nonetheless, many researchers still rely on them for various NLP applications. This phenomenon is presumably due to the convenience and straightforwardness of readability formulas. In this work, we contribute to the NLP community by 1. introducing New English Readability Formula (NERF), 2. recalibrating the coefficients of old readability formulas (Flesch-Kincaid Grade Level, Fog Index, SMOG Index, Coleman-Liau Index, and Automated Readability Index), 3. evaluating the readability formulas, for use in text simplification studies and medical texts, and 4. developing a Python-based program for the wide application to various NLP projects.
InPars-Light: Cost-Effective Unsupervised Training of Efficient Rankers
Venue: arXiv cs.IR 2024
Year: 2024

We carried out a reproducibility study of InPars, which is a method for unsupervised training of neural rankers (Bonifacio et al., 2022). As a by-product, we developed InPars-light, which is a simple-yet-effective modification of InPars. Unlike InPars, InPars-light uses 7x-100x smaller ranking models and only a freely available language model BLOOM, which -- as we found out -- produced more accurate rankers compared to a proprietary GPT-3 model. On all five English retrieval collections (used in the original InPars study) we obtained substantial (7%-30%) and statistically significant improvements over BM25 (in nDCG and MRR) using only a 30M parameter six-layer MiniLM-30M ranker and a single three-shot prompt. In contrast, in the InPars study only a 100x larger monoT5-3B model consistently outperformed BM25, whereas their smaller monoT5-220M model (which is still 7x larger than our MiniLM ranker) outperformed BM25 only on MS MARCO and TREC DL 2020. In the same three-shot prompting scenario, our 435M parameter DeBERTA v3 ranker was at par with the 7x larger monoT5-3B (average gain over BM25 of 1.3 vs 1.32): In fact, on three out of five datasets, DeBERTA slightly outperformed monoT5-3B. Finally, these good results were achieved by re-ranking only 100 candidate documents compared to 1000 used by Bonifacio et al. (2022). We believe that InPars-light is the first truly cost-effective prompt-based unsupervised recipe to train and deploy neural ranking models that outperform BM25. Our code and data is publicly available. https://github.com/searchivarius/inpars_light/