OpenRaiser/Intern-Atlas huggingface dataset:
Generating Safe Autonomous Decision-Making in ROS
Venue: arXiv cs.MA 2022
Year: 2022

The Robot Operating System (ROS) is a widely used framework for building robotic systems. It offers a wide variety of reusable packages and a pattern for new developments. It is up to developers how to combine these elements and integrate them with decision-making for autonomous behavior. The feature of such decision-making that is in general valued the most is safety assurance. In this research preview, we present a formal approach for generating safe autonomous decision-making in ROS. We first describe how to improve our existing static verification approach to verify multi-goal multi-agent decision-making. After that, we describe how to transition from the improved static verification approach to the proposed runtime verification approach. An initial implementation of this research proposal yields promising results.
Verifying Safety of Behaviour Trees in Event-B
Venue: arXiv cs.RO 2022
Year: 2022

Behavior Trees (BT) are becoming increasingly popular in the robotics community. The BT tool is well suited for decision-making applications allowing a robot to perform complex behavior while being explainable to humans as well. Verifying that BTs used are well constructed with respect to safety and reliability requirements is essential, especially for robots operating in critical environments. In this work, we propose a formal specification of Behavior Trees and a methodology to prove invariants of already used trees, while keeping the complexity of the formalization of the tree simple for the final user. Allowing the possibility to test the particular instance of the behavior tree without the necessity to know the more abstract levels of the formalization.
Inducing Data Amplification Using Auxiliary Datasets in Adversarial Training
Venue: arXiv cs.CV 2022
Year: 2022

Several recent studies have shown that the use of extra in-distribution data can lead to a high level of adversarial robustness. However, there is no guarantee that it will always be possible to obtain sufficient extra data for a selected dataset. In this paper, we propose a biased multi-domain adversarial training (BiaMAT) method that induces training data amplification on a primary dataset using publicly available auxiliary datasets, without requiring the class distribution match between the primary and auxiliary datasets. The proposed method can achieve increased adversarial robustness on a primary dataset by leveraging auxiliary datasets via multi-domain learning. Specifically, data amplification on both robust and non-robust features can be accomplished through the application of BiaMAT as demonstrated through a theoretical and empirical analysis. Moreover, we demonstrate that while existing methods are vulnerable to negative transfer due to the distributional discrepancy between auxiliary and primary data, the proposed method enables neural networks to flexibly leverage diverse image datasets for adversarial training by successfully handling the domain discrepancy through the application of a confidence-based selection strategy. The pre-trained models and code are available at: \url{https://github.com/Saehyung-Lee/BiaMAT}.
Effective General-Domain Data Inclusion for the Machine Translation Task by Vanilla Transformers
Venue: arXiv cs.CL 2022
Year: 2022

One of the vital breakthroughs in the history of machine translation is the development of the Transformer model. Not only it is revolutionary for various translation tasks, but also for a majority of other NLP tasks. In this paper, we aim at a Transformer-based system that is able to translate a source sentence in German to its counterpart target sentence in English. We perform the experiments on the news commentary German-English parallel sentences from the WMT'13 dataset. In addition, we investigate the effect of the inclusion of additional general-domain data in training from the IWSLT'16 dataset to improve the Transformer model performance. We find that including the IWSLT'16 dataset in training helps achieve a gain of 2 BLEU score points on the test set of the WMT'13 dataset. Qualitative analysis is introduced to analyze how the usage of general-domain data helps improve the quality of the produced translation sentences.
Towards Automatic Forecasting: Evaluation of Time-Series Forecasting Models for Chickenpox Cases Estimation in Hungary
Venue: arXiv cs.AI 2022
Year: 2022

Time-Series Forecasting is a powerful data modeling discipline that analyzes historical observations to predict future values of a time-series. It has been utilized in numerous applications, including but not limited to economics, meteorology, and health. In this paper, we use time-series forecasting techniques to model and predict the future incidence of chickenpox. To achieve this, we implement and simulate multiple models and data preprocessing techniques on a Hungary-collected dataset. We demonstrate that the LSTM model outperforms all other models in the vast majority of the experiments in terms of county-level forecasting, whereas the SARIMAX model performs best at the national level. We also demonstrate that the performance of the traditional data preprocessing method is inferior to that of the data preprocessing method that we have proposed.
Energy Efficient Deployment and Orchestration of Computing Resources at the Network Edge: a Survey on Algorithms, Trends and Open Challenges
Venue: arXiv cs.NI 2022
Year: 2022

Mobile networks are becoming energy hungry, and this trend is expected to continue due to a surge in communication and computation demand. Multi-access Edge Computing (MEC), will entail energy-consuming services and applications, with non-negligible impact in terms of ecological sustainability. In this paper, we provide a comprehensive review of existing approaches to make edge computing networks greener, including but not limited to the exploitation of renewable energy resources, and context-awareness. We hence provide an updated account of recent developments on MEC from an energetic sustainability perspective, addressing the initial deployment of computing resources, their dynamic (re)allocation, as well as distributed and federated learning designs. In doing so, we highlight the energy aspects of these algorithms, advocating the need for energy-sustainable edge computing systems that are aligned with Sustainable Development Goals (SDGs) and the Paris agreement. To the best of our knowledge, this is the first work providing a systematic literature review on the efficient deployment and management of energy harvesting MEC, with special focus on the deployment, provisioning, and scheduling of computing tasks, including federated learning for distributed edge intelligence, toward making edge networks greener and more sustainable. At the end of the paper, open research avenues and challenges are identified for all the surveyed topics.
Mobile Edge Computing, Metaverse, 6G Wireless Communications, Artificial Intelligence, and Blockchain: Survey and Their Convergence
Venue: arXiv cs.DC 2022
Year: 2022

With the advances of the Internet of Things (IoT) and 5G/6G wireless communications, the paradigms of mobile computing have developed dramatically in recent years, from centralized mobile cloud computing to distributed fog computing and mobile edge computing (MEC). MEC pushes compute-intensive assignments to the edge of the network and brings resources as close to the endpoints as possible, addressing the shortcomings of mobile devices with regard to storage space, resource optimisation, computational performance and efficiency. Compared to cloud computing, as the distributed and closer infrastructure, the convergence of MEC with other emerging technologies, including the Metaverse, 6G wireless communications, artificial intelligence (AI), and blockchain, also solves the problems of network resource allocation, more network load as well as latency requirements. Accordingly, this paper investigates the computational paradigms used to meet the stringent requirements of modern applications. The application scenarios of MEC in mobile augmented reality (MAR) are provided. Furthermore, this survey presents the motivation of MEC-based Metaverse and introduces the applications of MEC to the Metaverse. Particular emphasis is given on a set of technical fusions mentioned above, e.g., 6G with MEC paradigm, MEC strengthened by blockchain, etc.
Programmable and Customized Intelligence for Traffic Steering in 5G Networks Using Open RAN Architectures
Venue: arXiv cs.NI 2022
Year: 2022

5G and beyond mobile networks will support heterogeneous use cases at an unprecedented scale, thus demanding automated control and optimization of network functionalities customized to the needs of individual users. Such fine-grained control of the Radio Access Network (RAN) is not possible with the current cellular architecture. To fill this gap, the Open RAN paradigm and its specification introduce an open architecture with abstractions that enable closed-loop control and provide data-driven, and intelligent optimization of the RAN at the user level. This is obtained through custom RAN control applications (i.e., xApps) deployed on near-real-time RAN Intelligent Controller (near-RT RIC) at the edge of the network. Despite these premises, as of today the research community lacks a sandbox to build data-driven xApps, and create large-scale datasets for effective AI training. In this paper, we address this by introducing ns-O-RAN, a software framework that integrates a real-world, production-grade near-RT RIC with a 3GPP-based simulated environment on ns-3, enabling the development of xApps and automated large-scale data collection and testing of Deep Reinforcement Learning-driven control policies for the optimization at the user-level. In addition, we propose the first user-specific O-RAN Traffic Steering (TS) intelligent handover framework. It uses Random Ensemble Mixture, combined with a state-of-the-art Convolutional Neural Network architecture, to optimally assign a serving base station to each user in the network. Our TS xApp, trained with more than 40 million data points collected by ns-O-RAN, runs on the near-RT RIC and controls its base stations. We evaluate the performance on a large-scale deployment, showing that the xApp-based handover improves throughput and spectral efficiency by an average of 50% over traditional handover heuristics, with less mobility overhead.
Causal Proxy Models for Concept-Based Model Explanations
Venue: arXiv cs.CL 2022
Year: 2022

Explainability methods for NLP systems encounter a version of the fundamental problem of causal inference: for a given ground-truth input text, we never truly observe the counterfactual texts necessary for isolating the causal effects of model representations on outputs. In response, many explainability methods make no use of counterfactual texts, assuming they will be unavailable. In this paper, we show that robust causal explainability methods can be created using approximate counterfactuals, which can be written by humans to approximate a specific counterfactual or simply sampled using metadata-guided heuristics. The core of our proposal is the Causal Proxy Model (CPM). A CPM explains a black-box model $\mathcal{N}$ because it is trained to have the same actual input/output behavior as $\mathcal{N}$ while creating neural representations that can be intervened upon to simulate the counterfactual input/output behavior of $\mathcal{N}$. Furthermore, we show that the best CPM for $\mathcal{N}$ performs comparably to $\mathcal{N}$ in making factual predictions, which means that the CPM can simply replace $\mathcal{N}$, leading to more explainable deployed models. Our code is available at https://github.com/frankaging/Causal-Proxy-Model.
Locally Weighted Regression with different Kernel Smoothers for Software Effort Estimation
Venue: arXiv cs.SE 2022
Year: 2022

Estimating software effort has been a largely unsolved problem for decades. One of the main reasons that hinders building accurate estimation models is the often heterogeneous nature of software data with a complex structure. Typically, building effort estimation models from local data tends to be more accurate than using the entire data. Previous studies have focused on the use of clustering techniques and decision trees to generate local and coherent data that can help in building local prediction models. However, these approaches may fall short in some aspect due to limitations in finding optimal clusters and processing noisy data. In this paper we used a more sophisticated locality approach that can mitigate these shortcomings that is Locally Weighted Regression (LWR). This method provides an efficient solution to learn from local data by building an estimation model that combines multiple local regression models in k-nearest-neighbor based model. The main factor affecting the accuracy of this method is the choice of the kernel function used to derive the weights for local regression models. This paper investigates the effects of choosing different kernels on the performance of Locally Weighted Regression of a software effort estimation problem. After comprehensive experiments with 7 datasets, 10 kernels, 3 polynomial degrees and 4 bandwidth values with a total of 840 Locally Weighted Regression variants, we found that: 1) Uniform kernel functions cannot outperform non-uniform kernel functions, and 2) kernel type, polynomial degrees and bandwidth parameters have no specific effect on the estimation accuracy.
The Change You Want to See
Venue: arXiv cs.CV 2022
Year: 2022

We live in a dynamic world where things change all the time. Given two images of the same scene, being able to automatically detect the changes in them has practical applications in a variety of domains. In this paper, we tackle the change detection problem with the goal of detecting "object-level" changes in an image pair despite differences in their viewpoint and illumination. To this end, we make the following four contributions: (i) we propose a scalable methodology for obtaining a large-scale change detection training dataset by leveraging existing object segmentation benchmarks; (ii) we introduce a co-attention based novel architecture that is able to implicitly determine correspondences between an image pair and find changes in the form of bounding box predictions; (iii) we contribute four evaluation datasets that cover a variety of domains and transformations, including synthetic image changes, real surveillance images of a 3D scene, and synthetic 3D scenes with camera motion; (iv) we evaluate our model on these four datasets and demonstrate zero-shot and beyond training transformation generalization.
Callipepla: Stream Centric Instruction Set and Mixed Precision for Accelerating Conjugate Gradient Solver
Venue: arXiv cs.AR 2022
Year: 2022

The continued growth in the processing power of FPGAs coupled with high bandwidth memories (HBM), makes systems like the Xilinx U280 credible platforms for linear solvers which often dominate the run time of scientific and engineering applications. In this paper, we present Callipepla, an accelerator for a preconditioned conjugate gradient linear solver (CG). FPGA acceleration of CG faces three challenges: (1) how to support an arbitrary problem and terminate acceleration processing on the fly, (2) how to coordinate long-vector data flow among processing modules, and (3) how to save off-chip memory bandwidth and maintain double (FP64) precision accuracy. To tackle the three challenges, we present (1) a stream-centric instruction set for efficient streaming processing and control, (2) vector streaming reuse (VSR) and decentralized vector flow scheduling to coordinate vector data flow among modules and further reduce off-chip memory accesses with a double memory channel design, and (3) a mixed precision scheme to save bandwidth yet still achieve effective double precision quality solutions. To the best of our knowledge, this is the first work to introduce the concept of VSR for data reusing between on-chip modules to reduce unnecessary off-chip accesses for FPGA accelerators. We prototype the accelerator on a Xilinx U280 HBM FPGA. Our evaluation shows that compared to the Xilinx HPC product, the XcgSolver, Callipepla achieves a speedup of 3.94x, 3.36x higher throughput, and 2.94x better energy efficiency. Compared to an NVIDIA A100 GPU which has 4x the memory bandwidth of Callipepla, we still achieve 77% of its throughput with 3.34x higher energy efficiency. The code is available at https://github.com/UCLA-VAST/Callipepla.
The Role of Metadata in Non-Fungible Tokens: Marketplace Analysis and Collection Organization
Venue: arXiv cs.IR 2022
Year: 2022

An explosion of interest in Non-Fungible Tokens (NFTs) has led to the emergence of vibrant online marketplaces that enable users to buy, sell and create digital assets. Largely considered contractual representations of digital artworks, NFTs allow ownership and authenticity to be proven through storing an asset and its associated metadata on a Blockchain. Yet, variation exists between chains, token protocols (such as the ERC-721 NFT standard) and marketplaces, leading to inconsistencies in the definitions and roles of token metadata. This research thus aims to define metadata in the context of NFTs, explore the boundary of metadata and asset data within tokens, and understand the variances and impacts these structures have on the curation of NFTs within online marketplaces and collections.
Masked Multi-Step Multivariate Time Series Forecasting with Future Information
Venue: arXiv cs.LG 2022
Year: 2022

In this paper, we introduce Masked Multi-Step Multivariate Forecasting (MMMF), a novel and general self-supervised learning framework for time series forecasting with known future information. In many real-world forecasting scenarios, some future information is known, e.g., the weather information when making a short-to-mid-term electricity demand forecast, or the oil price forecasts when making an airplane departure forecast. Existing machine learning forecasting frameworks can be categorized into (1) sample-based approaches where each forecast is made independently, and (2) time series regression approaches where the future information is not fully incorporated. To overcome the limitations of existing approaches, we propose MMMF, a framework to train any neural network model capable of generating a sequence of outputs, that combines both the temporal information from the past and the known information about the future to make better predictions. Experiments are performed on two real-world datasets for (1) mid-term electricity demand forecasting, and (2) two-month ahead flight departures forecasting. They show that the proposed MMMF framework outperforms not only sample-based methods but also existing time series forecasting models with the exact same base models. Furthermore, once a neural network model is trained with MMMF, its inference speed is similar to that of the same model trained with traditional regression formulations, thus making MMMF a better alternative to existing regression-trained time series forecasting models if there is some available future information.
The Fungibility of Non-Fungible Tokens: A Quantitative Analysis of ERC-721 Metadata
Venue: arXiv cs.CR 2022
Year: 2022

Non-Fungible Tokens (NFTs), digital certificates of ownership for virtual art, have until recently been traded on a highly lucrative and speculative market. Yet, an emergence of misconceptions, along with a sustained market downtime, are calling the value of NFTs into question. This project (1) describes three properties that any valuable NFT should possess (permanence, immutability and uniqueness), (2) creates a quantitative summary of permanence as an initial criteria, and (3) tests our measures on 6 months of NFTs on the Ethereum blockchain, finding 45% of ERC721 tokens in our corpus do not satisfy this initial criteria. Our work could help buyers and marketplaces identify and warn users against purchasing NFTs that may be overvalued.
Online pseudo labeling for polyp segmentation with momentum networks
Venue: arXiv cs.CV 2022
Year: 2022

Semantic segmentation is an essential task in developing medical image diagnosis systems. However, building an annotated medical dataset is expensive. Thus, semi-supervised methods are significant in this circumstance. In semi-supervised learning, the quality of labels plays a crucial role in model performance. In this work, we present a new pseudo labeling strategy that enhances the quality of pseudo labels used for training student networks. We follow the multi-stage semi-supervised training approach, which trains a teacher model on a labeled dataset and then uses the trained teacher to render pseudo labels for student training. By doing so, the pseudo labels will be updated and more precise as training progress. The key difference between previous and our methods is that we update the teacher model during the student training process. So the quality of pseudo labels is improved during the student training process. We also propose a simple but effective strategy to enhance the quality of pseudo labels using a momentum model -- a slow copy version of the original model during training. By applying the momentum model combined with re-rendering pseudo labels during student training, we achieved an average of 84.1% Dice Score on five datasets (i.e., Kvarsir, CVC-ClinicDB, ETIS-LaribPolypDB, CVC-ColonDB, and CVC-300) with only 20% of the dataset used as labeled data. Our results surpass common practice by 3% and even approach fully-supervised results on some datasets. Our source code and pre-trained models are available at https://github.com/sun-asterisk-research/online learning ssl
Reducing Stress and Anxiety in the Metaverse: A Systematic Review of Meditation, Mindfulness and Virtual Reality
Venue: arXiv cs.HC 2022
Year: 2022

Meditation, or mindfulness, is widely used to improve mental health. With the emergence of Virtual Reality technology, many studies have provided evidence that meditation with VR can bring health benefits. However, to our knowledge, there are no guidelines and comprehensive reviews in the literature on how to conduct such research in virtual reality. In order to understand the role of VR technology in meditation and future research opportunities, we conducted a systematic literature review in the IEEE and ACM databases. Our process yielded 19 eligible papers and we conducted a structured analysis. We understand the state-of-art of meditation type, design consideration and VR and technology through these papers and conclude research opportunities and challenges for the future.
An Inductive Construction for Many-Valued Coalgebraic Modal Logic
Venue: arXiv cs.LO 2022
Year: 2022

In this paper, we present an abstract framework of many-valued modal logic with the interpretation of atomic propositions and modal operators as predicate lifting over coalgebras for an endofunctor on the category of sets. It generalizes Pattinson's stratification method for colagebraic modal logic to the many-valued setting. In contrast to standard techniques of canonical model construction and filtration, this method employs an induction principle to prove the soundness, completeness, and finite model property of the logics. As a consequence, we can lift a restriction on the previous approach~ \cite{Lin2022} that requires the underlying language must have the expressive power to internalize the meta-level truth valuation operations.