OpenRaiser/Intern-Atlas huggingface dataset:
Multimodal Zero-Shot Learning for Tactile Texture Recognition
Venue: arXiv cs.RO 2023
Year: 2023

Tactile sensing plays an irreplaceable role in robotic material recognition. It enables robots to distinguish material properties such as their local geometry and textures, especially for materials like textiles. However, most tactile recognition methods can only classify known materials that have been touched and trained with tactile data, yet cannot classify unknown materials that are not trained with tactile data. To solve this problem, we propose a tactile zero-shot learning framework to recognise unknown materials when they are touched for the first time without requiring training tactile samples. The visual modality, providing tactile cues from sight, and semantic attributes, giving high-level characteristics, are combined together to bridge the gap between touched classes and untouched classes. A generative model is learnt to synthesise tactile features according to corresponding visual images and semantic embeddings, and then a classifier can be trained using the synthesised tactile features of untouched materials for zero-shot recognition. Extensive experiments demonstrate that our proposed multimodal generative model can achieve a high recognition accuracy of 83.06% in classifying materials that were not touched before. The robotic experiment demo and the dataset are available at https://sites.google.com/view/multimodalzsl.
Natural Language Generation for Advertising: A Survey
Venue: arXiv cs.CL 2023
Year: 2023

Natural language generation methods have emerged as effective tools to help advertisers increase the number of online advertisements they produce. This survey entails a review of the research trends on this topic over the past decade, from template-based to extractive and abstractive approaches using neural networks. Additionally, key challenges and directions revealed through the survey, including metric optimization, faithfulness, diversity, multimodality, and the development of benchmark datasets, are discussed.
A new 3-DOF 2T1R parallel mechanism: Topology design and kinematics
Venue: arXiv cs.RO 2023
Year: 2023

This article presents a new three-degree-of-freedom (3-DOF) parallel mechanism (PM) with two translations and one rotation (2T1R), designed based on the topological design theory of the parallel mechanism using position and orientation characteristics (POC). The PM is primarily intended for use in package sorting and delivery. The mobile platform of the PM moves along a translation axis, picks up objects from a conveyor belt, and tilts them to either side of the axis. We first calculate the PM's topological characteristics, such as the degree of freedom (DOF) and the degree of coupling, and provide its topological analytical formula to represent the topological information of the PM. Next, we solve the direct and inverse kinematic models based on the kinematic modelling principle using the topological features. The models are purely analytic and are broken down into a series of quadratic equations, making them suitable for use in an industrial robot. We also study the singular configurations to identify the serial and parallel singularities. Using the decoupling properties, we size the mechanism to address the package sorting and depositing problem using an algebraic approach. To determine the smallest segment lengths, we use a cylindrical algebraic decomposition to solve a system with inequalities.
An Interactive Interface for Novel Class Discovery in Tabular Data
Venue: arXiv cs.LG 2023
Year: 2023

Novel Class Discovery (NCD) is the problem of trying to discover novel classes in an unlabeled set, given a labeled set of different but related classes. The majority of NCD methods proposed so far only deal with image data, despite tabular data being among the most widely used type of data in practical applications. To interpret the results of clustering or NCD algorithms, data scientists need to understand the domain- and application-specific attributes of tabular data. This task is difficult and can often only be performed by a domain expert. Therefore, this interface allows a domain expert to easily run state-of-the-art algorithms for NCD in tabular data. With minimal knowledge in data science, interpretable results can be generated.
Feature Mixing for Writer Retrieval and Identification on Papyri Fragments
Venue: arXiv cs.CV 2023
Year: 2023

This paper proposes a deep-learning-based approach to writer retrieval and identification for papyri, with a focus on identifying fragments associated with a specific writer and those corresponding to the same image. We present a novel neural network architecture that combines a residual backbone with a feature mixing stage to improve retrieval performance, and the final descriptor is derived from a projection layer. The methodology is evaluated on two benchmarks: PapyRow, where we achieve a mAP of 26.6 % and 24.9 % on writer and page retrieval, and HisFragIR20, showing state-of-the-art performance (44.0 % and 29.3 % mAP). Furthermore, our network has an accuracy of 28.7 % for writer identification. Additionally, we conduct experiments on the influence of two binarization techniques on fragments and show that binarizing does not enhance performance. Our code and models are available to the community.
Evolving Computation Graphs
Venue: arXiv cs.LG 2023
Year: 2023

Graph neural networks (GNNs) have demonstrated success in modeling relational data, especially for data that exhibits homophily: when a connection between nodes tends to imply that they belong to the same class. However, while this assumption is true in many relevant situations, there are important real-world scenarios that violate this assumption, and this has spurred research into improving GNNs for these cases. In this work, we propose Evolving Computation Graphs (ECGs), a novel method for enhancing GNNs on heterophilic datasets. Our approach builds on prior theoretical insights linking node degree, high homophily, and inter vs intra-class embedding similarity by rewiring the GNNs' computation graph towards adding edges that connect nodes that are likely to be in the same class. We utilise weaker classifiers to identify these edges, ultimately improving GNN performance on non-homophilic data as a result. We evaluate ECGs on a diverse set of recently-proposed heterophilous datasets and demonstrate improvements over the relevant baselines. ECG presents a simple, intuitive and elegant approach for improving GNN performance on heterophilic datasets without requiring prior domain knowledge.
Affine Correspondences between Multi-Camera Systems for Relative Pose Estimation
Venue: arXiv cs.CV 2023
Year: 2023

We present a novel method to compute the relative pose of multi-camera systems using two affine correspondences (ACs). Existing solutions to the multi-camera relative pose estimation are either restricted to special cases of motion, have too high computational complexity, or require too many point correspondences (PCs). Thus, these solvers impede an efficient or accurate relative pose estimation when applying RANSAC as a robust estimator. This paper shows that the 6DOF relative pose estimation problem using ACs permits a feasible minimal solution, when exploiting the geometric constraints between ACs and multi-camera systems using a special parameterization. We present a problem formulation based on two ACs that encompass two common types of ACs across two views, i.e., inter-camera and intra-camera. Moreover, the framework for generating the minimal solvers can be extended to solve various relative pose estimation problems, e.g., 5DOF relative pose estimation with known rotation angle prior. Experiments on both virtual and real multi-camera systems prove that the proposed solvers are more efficient than the state-of-the-art algorithms, while resulting in a better relative pose accuracy. Source code is available at https://github.com/jizhaox/relpose-mcs-depth.
Decentralized Online Federated G-Network Learning for Lightweight Intrusion Detection
Venue: arXiv cs.CR 2023
Year: 2023

Cyberattacks are increasingly threatening networked systems, often with the emergence of new types of unknown (zero-day) attacks and the rise of vulnerable devices. Such attacks can also target multiple components of a Supply Chain, which can be protected via Machine Learning (ML)-based Intrusion Detection Systems (IDSs). However, the need to learn large amounts of labelled data often limits the applicability of ML-based IDSs to cybersystems that only have access to private local data, while distributed systems such as Supply Chains have multiple components, each of which must preserve its private data while being targeted by the same attack To address this issue, this paper proposes a novel Decentralized and Online Federated Learning Intrusion Detection (DOF-ID) architecture based on the G-Network model with collaborative learning, that allows each IDS used by a specific component to learn from the experience gained in other components, in addition to its own local data, without violating the data privacy of other components. The performance evaluation results using public Kitsune and Bot-IoT datasets show that DOF-ID significantly improves the intrusion detection performance in all of the collaborating components, with acceptable computation time for online learning.
Iterative Scale-Up ExpansionIoU and Deep Features Association for Multi-Object Tracking in Sports
Venue: arXiv cs.CV 2023
Year: 2023

Deep learning-based object detectors have driven notable progress in multi-object tracking algorithms. Yet, current tracking methods mainly focus on simple, regular motion patterns in pedestrians or vehicles. This leaves a gap in tracking algorithms for targets with nonlinear, irregular motion, like athletes. Additionally, relying on the Kalman filter in recent tracking algorithms falls short when object motion defies its linear assumption. To overcome these issues, we propose a novel online and robust multi-object tracking approach named deep ExpansionIoU (Deep-EIoU), which focuses on multi-object tracking for sports scenarios. Unlike conventional methods, we abandon the use of the Kalman filter and leverage the iterative scale-up ExpansionIoU and deep features for robust tracking in sports scenarios. This approach achieves superior tracking performance without adopting a more robust detector, all while keeping the tracking process in an online fashion. Our proposed method demonstrates remarkable effectiveness in tracking irregular motion objects, achieving a score of 77.2% HOTA on the SportsMOT dataset and 85.4% HOTA on the SoccerNet-Tracking dataset. It outperforms all previous state-of-the-art trackers on various large-scale multi-object tracking benchmarks, covering various kinds of sports scenarios. The code and models are available at https://github.com/hsiangwei0903/Deep-EIoU.
A Comparison of Time-based Models for Multimodal Emotion Recognition
Venue: arXiv cs.LG 2023
Year: 2023

Emotion recognition has become an important research topic in the field of human-computer interaction. Studies on sound and videos to understand emotions focused mainly on analyzing facial expressions and classified 6 basic emotions. In this study, the performance of different sequence models in multi-modal emotion recognition was compared. The sound and images were first processed by multi-layered CNN models, and the outputs of these models were fed into various sequence models. The sequence model is GRU, Transformer, LSTM and Max Pooling. Accuracy, precision, and F1 Score values of all models were calculated. The multi-modal CREMA-D dataset was used in the experiments. As a result of the comparison of the CREMA-D dataset, GRU-based architecture with 0.640 showed the best result in F1 score, LSTM-based architecture with 0.699 in precision metric, while sensitivity showed the best results over time with Max Pooling-based architecture with 0.620. As a result, it has been observed that the sequence models compare performances close to each other.
A Model Based Framework for Testing Safety and Security in Operational Technology Environments
Venue: arXiv cs.SE 2023
Year: 2023

Todays industrial control systems consist of tightly coupled components allowing adversaries to exploit security attack surfaces from the information technology side, and, thus, also get access to automation devices residing at the operational technology level to compromise their safety functions. To identify these concerns, we propose a model-based testing approach which we consider a promising way to analyze the safety and security behavior of a system under test providing means to protect its components and to increase the quality and efficiency of the overall system. The structure of the underlying framework is divided into four parts, according to the critical factors in testing of operational technology environments. As a first step, this paper describes the ingredients of the envisioned framework. A system model allows to overview possible attack surfaces, while the foundations of testing and the recommendation of mitigation strategies will be based on process-specific safety and security standard procedures with the combination of existing vulnerability databases.
Visual Adversarial Examples Jailbreak Aligned Large Language Models
Venue: arXiv cs.CR 2023
Year: 2023

Recently, there has been a surge of interest in integrating vision into Large Language Models (LLMs), exemplified by Visual Language Models (VLMs) such as Flamingo and GPT-4. This paper sheds light on the security and safety implications of this trend. First, we underscore that the continuous and high-dimensional nature of the visual input makes it a weak link against adversarial attacks, representing an expanded attack surface of vision-integrated LLMs. Second, we highlight that the versatility of LLMs also presents visual attackers with a wider array of achievable adversarial objectives, extending the implications of security failures beyond mere misclassification. As an illustration, we present a case study in which we exploit visual adversarial examples to circumvent the safety guardrail of aligned LLMs with integrated vision. Intriguingly, we discover that a single visual adversarial example can universally jailbreak an aligned LLM, compelling it to heed a wide range of harmful instructions that it otherwise would not) and generate harmful content that transcends the narrow scope of a `few-shot' derogatory corpus initially employed to optimize the adversarial example. Our study underscores the escalating adversarial risks associated with the pursuit of multimodality. Our findings also connect the long-studied adversarial vulnerabilities of neural networks to the nascent field of AI alignment. The presented attack suggests a fundamental adversarial challenge for AI alignment, especially in light of the emerging trend toward multimodality in frontier foundation models.
GICI-LIB: A GNSS/INS/Camera Integrated Navigation Library
Venue: arXiv cs.RO 2023
Year: 2023

Accurate navigation is essential for autonomous robots and vehicles. In recent years, the integration of the Global Navigation Satellite System (GNSS), Inertial Navigation System (INS), and camera has garnered considerable attention due to its robustness and high accuracy in diverse environments. However, leveraging the full capacity of GNSS is cumbersome because of the diverse choices of formulations, error models, satellite constellations, signal frequencies, and service types, which lead to different precision, robustness, and usage dependencies. To clarify the capacity of GNSS algorithms and accelerate the development efficiency of employing GNSS in multi-sensor fusion algorithms, we open source the GNSS/INS/Camera Integration Library (GICI-LIB), together with detailed documentation and a comprehensive land vehicle dataset. A factor graph optimization-based multi-sensor fusion framework is established, which combines almost all GNSS measurement error sources by fully considering temporal and spatial correlations between measurements. The graph structure is designed for flexibility, making it easy to form any kind of integration algorithm. For illustration, Real-Time Kinematic (RTK), Precise Point Positioning (PPP), and four RTK-based algorithms from GICI-LIB are evaluated using our dataset and public datasets. Results confirm the potential of the GICI system to provide continuous precise navigation solutions in a wide spectrum of urban environments.
Robustness of Segment Anything Model (SAM) for Autonomous Driving in Adverse Weather Conditions
Venue: arXiv cs.CV 2023
Year: 2023

Segment Anything Model (SAM) has gained considerable interest in recent times for its remarkable performance and has emerged as a foundational model in computer vision. It has been integrated in diverse downstream tasks, showcasing its strong zero-shot transfer capabilities. Given its impressive performance, there is a strong desire to apply SAM in autonomous driving to improve the performance of vision tasks, particularly in challenging scenarios such as driving under adverse weather conditions. However, its robustness under adverse weather conditions remains uncertain. In this work, we investigate the application of SAM in autonomous driving and specifically explore its robustness under adverse weather conditions. Overall, this work aims to enhance understanding of SAM's robustness in challenging scenarios before integrating it into autonomous driving vision tasks, providing valuable insights for future applications.
Differentially Private Streaming Data Release under Temporal Correlations via Post-processing
Venue: arXiv cs.DB 2023
Year: 2023

The release of differentially private streaming data has been extensively studied, yet striking a good balance between privacy and utility on temporally correlated data in the stream remains an open problem. Existing works focus on enhancing privacy when applying differential privacy to correlated data, highlighting that differential privacy may suffer from additional privacy leakage under correlations; consequently, a small privacy budget has to be used which worsens the utility. In this work, we propose a post-processing framework to improve the utility of differential privacy data release under temporal correlations. We model the problem as a maximum posterior estimation given the released differentially private data and correlation model and transform it into nonlinear constrained programming. Our experiments on synthetic datasets show that the proposed approach significantly improves the utility and accuracy of differentially private data by nearly a hundred times in terms of mean square error when a strict privacy budget is given.
Availability Analysis of Redundant and Replicated Cloud Services with Bayesian Networks
Venue: arXiv cs.DC 2023
Year: 2023

Due to the growing complexity of modern data centers, failures are not uncommon any more. Therefore, fault tolerance mechanisms play a vital role in fulfilling the availability requirements. Multiple availability models have been proposed to assess compute systems, among which Bayesian network models have gained popularity in industry and research due to its powerful modeling formalism. In particular, this work focuses on assessing the availability of redundant and replicated cloud computing services with Bayesian networks. So far, research on availability has only focused on modeling either infrastructure or communication failures in Bayesian networks, but have not considered both simultaneously. This work addresses practical modeling challenges of assessing the availability of large-scale redundant and replicated services with Bayesian networks, including cascading and common-cause failures from the surrounding infrastructure and communication network. In order to ease the modeling task, this paper introduces a high-level modeling formalism to build such a Bayesian network automatically. Performance evaluations demonstrate the feasibility of the presented Bayesian network approach to assess the availability of large-scale redundant and replicated services. This model is not only applicable in the domain of cloud computing it can also be applied for general cases of local and geo-distributed systems.
Physics-constrained Random Forests for Turbulence Model Uncertainty Estimation
Venue: arXiv cs.LG 2023
Year: 2023

To achieve virtual certification for industrial design, quantifying the uncertainties in simulation-driven processes is crucial. We discuss a physics-constrained approach to account for epistemic uncertainty of turbulence models. In order to eliminate user input, we incorporate a data-driven machine learning strategy. In addition to it, our study focuses on developing an a priori estimation of prediction confidence when accurate data is scarce.
Human Activity Behavioural Pattern Recognition in Smarthome with Long-hour Data Collection
Venue: arXiv cs.HC 2023
Year: 2023

The research on human activity recognition has provided novel solutions to many applications like healthcare, sports, and user profiling. Considering the complex nature of human activities, it is still challenging even after effective and efficient sensors are available. The existing works on human activity recognition using smartphone sensors focus on recognizing basic human activities like sitting, sleeping, standing, stair up and down and running. However, more than these basic activities is needed to analyze human behavioural pattern. The proposed framework recognizes basic human activities using deep learning models. Also, ambient sensors like PIR, pressure sensors, and smartphone-based sensors like accelerometers and gyroscopes are combined to make it hybrid-sensor-based human activity recognition. The hybrid approach helped derive more activities than the basic ones, which also helped derive human activity patterns or user profiling. User profiling provides sufficient information to identify daily living activity patterns and predict whether any anomaly exists. The framework provides the base for applications such as elderly monitoring when they are alone at home. The GRU model's accuracy of 95\% is observed to recognize the basic activities. Finally, Human activity patterns over time are recognized based on the duration and frequency of the activities. It is observed that human activity pattern, like, morning walking duration, varies depending on the day of the week.
Stress Testing BERT Anaphora Resolution Models for Reaction Extraction in Chemical Patents
Venue: arXiv cs.CL 2023
Year: 2023

The high volume of published chemical patents and the importance of a timely acquisition of their information gives rise to automating information extraction from chemical patents. Anaphora resolution is an important component of comprehensive information extraction, and is critical for extracting reactions. In chemical patents, there are five anaphoric relations of interest: co-reference, transformed, reaction associated, work up, and contained. Our goal is to investigate how the performance of anaphora resolution models for reaction texts in chemical patents differs in a noise-free and noisy environment and to what extent we can improve the robustness against noise of the model.