OpenRaiser/Intern-Atlas huggingface dataset:
LiDAR-NeRF: Novel LiDAR View Synthesis via Neural Radiance Fields
Venue: arXiv cs.CV 2023
Year: 2023

We introduce a new task, novel view synthesis for LiDAR sensors. While traditional model-based LiDAR simulators with style-transfer neural networks can be applied to render novel views, they fall short of producing accurate and realistic LiDAR patterns because the renderers rely on explicit 3D reconstruction and exploit game engines, that ignore important attributes of LiDAR points. We address this challenge by formulating, to the best of our knowledge, the first differentiable end-to-end LiDAR rendering framework, LiDAR-NeRF, leveraging a neural radiance field (NeRF) to facilitate the joint learning of geometry and the attributes of 3D points. However, simply employing NeRF cannot achieve satisfactory results, as it only focuses on learning individual pixels while ignoring local information, especially at low texture areas, resulting in poor geometry. To this end, we have taken steps to address this issue by introducing a structural regularization method to preserve local structural details. To evaluate the effectiveness of our approach, we establish an object-centric multi-view LiDAR dataset, dubbed NeRF-MVL. It contains observations of objects from 9 categories seen from 360-degree viewpoints captured with multiple LiDAR sensors. Our extensive experiments on the scene-level KITTI-360 dataset, and on our object-level NeRF-MVL show that our LiDAR-NeRF surpasses the model-based algorithms significantly.
Radar-Camera Fusion for Object Detection and Semantic Segmentation in Autonomous Driving: A Comprehensive Review
Venue: arXiv cs.CV 2023
Year: 2023

Driven by deep learning techniques, perception technology in autonomous driving has developed rapidly in recent years, enabling vehicles to accurately detect and interpret surrounding environment for safe and efficient navigation. To achieve accurate and robust perception capabilities, autonomous vehicles are often equipped with multiple sensors, making sensor fusion a crucial part of the perception system. Among these fused sensors, radars and cameras enable a complementary and cost-effective perception of the surrounding environment regardless of lighting and weather conditions. This review aims to provide a comprehensive guideline for radar-camera fusion, particularly concentrating on perception tasks related to object detection and semantic segmentation.Based on the principles of the radar and camera sensors, we delve into the data processing process and representations, followed by an in-depth analysis and summary of radar-camera fusion datasets. In the review of methodologies in radar-camera fusion, we address interrogative questions, including "why to fuse", "what to fuse", "where to fuse", "when to fuse", and "how to fuse", subsequently discussing various challenges and potential research directions within this domain. To ease the retrieval and comparison of datasets and fusion methods, we also provide an interactive website: https://radar-camera-fusion.github.io.
NTIRE 2023 Challenge on Light Field Image Super-Resolution: Dataset, Methods and Results
Venue: arXiv cs.CV 2023
Year: 2023

In this report, we summarize the first NTIRE challenge on light field (LF) image super-resolution (SR), which aims at super-resolving LF images under the standard bicubic degradation with a magnification factor of 4. This challenge develops a new LF dataset called NTIRE-2023 for validation and test, and provides a toolbox called BasicLFSR to facilitate model development. Compared with single image SR, the major challenge of LF image SR lies in how to exploit complementary angular information from plenty of views with varying disparities. In total, 148 participants have registered the challenge, and 11 teams have successfully submitted results with PSNR scores higher than the baseline method LF-InterNet \cite{LF-InterNet}. These newly developed methods have set new state-of-the-art in LF image SR, e.g., the winning method achieves around 1 dB PSNR improvement over the existing state-of-the-art method DistgSSR \cite{DistgLF}. We report the solutions proposed by the participants, and summarize their common trends and useful tricks. We hope this challenge can stimulate future research and inspire new ideas in LF image SR.
Engel's theorem in Mathlib
Venue: arXiv cs.LO 2023
Year: 2023

We discuss the theory of Lie algebras in Lean's Mathlib library. Using nilpotency as the theme, we outline a computer formalisation of Engel's theorem and an application to root space theory. We emphasise that all arguments work with coefficients in any commutative ring.
Phoenix: Democratizing ChatGPT across Languages
Venue: arXiv cs.CL 2023
Year: 2023

This paper presents our efforts to democratize ChatGPT across language. We release a large language model "Phoenix", achieving competitive performance among open-source English and Chinese models while excelling in languages with limited resources (covering both Latin and non-Latin languages). We believe this work will be beneficial to make ChatGPT more accessible, especially in countries where people cannot use ChatGPT due to restrictions from OpenAI or local goverments. Our data, code, and models are available at https://github.com/FreedomIntelligence/LLMZoo.
Location Privacy Protection Game against Adversary through Multi-user Cooperative Obfuscation
Venue: arXiv cs.CR 2023
Year: 2023

In location-based services(LBSs), it is promising for users to crowdsource and share their Point-of-Interest(PoI) information with each other in a common cache to reduce query frequency and preserve location privacy. Yet most studies on multi-user privacy preservation overlook the opportunity of leveraging their service flexibility. This paper is the first to study multiple users' strategic cooperation against an adversary's optimal inference attack, by leveraging mutual service flexibility. We formulate the multi-user privacy cooperation against the adversary as a max-min adversarial game and solve it in a linear program. Unlike the vast literature, even if a user finds the cached information useful, we prove it beneficial to still query the platform to further confuse the adversary. As the linear program's computational complexity still increases superlinearly with the number of users' possible locations, we propose a binary obfuscation scheme in two opposite spatial directions to achieve guaranteed performance with only constant complexity. Perhaps surprisingly, a user with a greater service flexibility should query with a less obfuscated location to add confusion. Finally, we provide guidance on the optimal query sequence among LBS users. Simulation results show that our crowdsourced privacy protection scheme greatly improves users' privacy as compared with existing approaches.
Autonomic Architecture for Big Data Performance Optimization
Venue: arXiv cs.DC 2023
Year: 2023

The big data software stack based on Apache Spark and Hadoop has become mission critical in many enterprises. Performance of Spark and Hadoop jobs depends on a large number of configuration settings. Manual tuning is expensive and brittle. There have been prior efforts to develop on-line and off-line automatic tuning approaches to make the big data stack less dependent on manual tuning. These, however, demonstrated only modest performance improvements with very simple, single-user workloads on small data sets. This paper presents KERMIT - the autonomic architecture for big data capable of automatically tuning Apache Spark and Hadoop on-line, and achieving performance results 30% faster than rule-of-thumb tuning by a human administrator and up to 92% as fast as the fastest possible tuning established by performing an exhaustive search of the tuning parameter space. KERMIT can detect important workload changes with up to 99% accuracy, and predict future workload types with up to 96% accuracy. It is capable of identifying and classifying complex multi-user workloads without being explicitly trained on examples of these workloads. It does not rely on the past workload history to predict the future workload classes and their associated performance. KERMIT can identify and learn new workload classes, and adapt to workload drift, without human intervention.
What is the message? Perspectives on Visual Data Communication
Venue: arXiv cs.HC 2023
Year: 2023

Data visualizations are used to communicate messages to diverse audiences. It is unclear whether interpretations of these visualizations match the messages their creators aim to convey. In a mixed-methods study, we investigate how data in the popular science magazine Scientific American are visually communicated and understood. We first analyze visualizations about climate change and pandemics published in the magazine over a fifty-year period. Acting as chart readers, we then interpret visualizations with and without textual elements, identifying takeaway messages and creating field notes. Finally, we compare a sample of our interpreted messages to the intended messages of chart producers, drawing on interviews conducted with magazine staff. These data allow us to explore understanding visualizations through three perspectives: that of the charts, visualization readers, and visualization producers. Building on our findings from a thematic analysis, we present in-depth insights into data visualization sensemaking, particularly regarding the role of messages and textual elements; we propose a message typology, and we consider more broadly how messages can be conceptualized and understood.
Revival of the Silk Road using the applications of AR/VR and its role on cultural tourism
Venue: arXiv cs.HC 2023
Year: 2023

This research project seeks to investigate the incorporation of augmented reality (AR) and virtual reality (VR) technology with human-computer interaction (HCI) in order to revitalize the Silk Road - specifically in Kermanshah, Iran - and its effect on cultural tourism. Kermanshah has underexplored the rich historical significance of the Silk Road, despite the presence of 24 UNESCO World Heritage sites. From the 2nd century BCE to the 18th century CE, the Silk Road was a vital trade route connecting the West and the East and had enormous cultural, economic, religious, and political effects. The purpose of this study is to examine the application of AR/VR technologies in HCI for the preservation, interpretation, and promotion of the Silk Road's tangible and intangible cultural heritage in Kermanshah, as well as their impact on cultural tourism development. The study also investigates how these innovative technologies can enhance visitors' experiences through immersive and interactive approaches, promote sustainable tourism practices, and contribute to the region's broader socioeconomic benefits. The research will analyze the challenges and opportunities of implementing AR/VR technology in HCI within the context of cultural heritage and tourism in Kermanshah and the Silk Road region more broadly. By combining HCI, AR/VR, and cultural tourism, this research seeks to provide valuable insights into the development of user-centered, immersive experiences that promote a deeper understanding and appreciation of the Silk Road's distinctive cultural heritage.
The Design Space of Generative Models
Venue: arXiv cs.AI 2023
Year: 2023

Card et al.'s classic paper "The Design Space of Input Devices" established the value of design spaces as a tool for HCI analysis and invention. We posit that developing design spaces for emerging pre-trained, generative AI models is necessary for supporting their integration into human-centered systems and practices. We explore what it means to develop an AI model design space by proposing two design spaces relating to generative AI models: the first considers how HCI can impact generative models (i.e., interfaces for models) and the second considers how generative models can impact HCI (i.e., models as an HCI prototyping material).
Comparative Analysis of Deterministic and Nondeterministic Decision Trees for Decision Tables from Closed Classes
Venue: arXiv cs.CC 2023
Year: 2023

In this paper, we consider classes of decision tables with many-valued decisions closed under operations of removal of columns, changing of decisions, permutation of columns, and duplication of columns. We study relationships among three parameters of these tables: the complexity of a decision table (if we consider the depth of decision trees, then the complexity of a decision table is the number of columns in it), the minimum complexity of a deterministic decision tree, and the minimum complexity of a nondeterministic decision tree. We consider rough classification of functions characterizing relationships and enumerate all possible seven types of the relationships.
The e-Bike Motor Assembly: Towards Advanced Robotic Manipulation for Flexible Manufacturing
Venue: arXiv cs.RO 2023
Year: 2023

Robotic manipulation is currently undergoing a profound paradigm shift due to the increasing needs for flexible manufacturing systems, and at the same time, because of the advances in enabling technologies such as sensing, learning, optimization, and hardware. This demands for robots that can observe and reason about their workspace, and that are skillfull enough to complete various assembly processes in weakly-structured settings. Moreover, it remains a great challenge to enable operators for teaching robots on-site, while managing the inherent complexity of perception, control, motion planning and reaction to unexpected situations. Motivated by real-world industrial applications, this paper demonstrates the potential of such a paradigm shift in robotics on the industrial case of an e-Bike motor assembly. The paper presents a concept for teaching and programming adaptive robots on-site and demonstrates their potential for the named applications. The framework includes: (i) a method to teach perception systems onsite in a self-supervised manner, (ii) a general representation of object-centric motion skills and force-sensitive assembly skills, both learned from demonstration, (iii) a sequencing approach that exploits a human-designed plan to perform complex tasks, and (iv) a system solution for adapting and optimizing skills online. The aforementioned components are interfaced through a four-layer software architecture that makes our framework a tangible industrial technology. To demonstrate the generality of the proposed framework, we provide, in addition to the motivating e-Bike motor assembly, a further case study on dense box packing for logistics automation.
A Survey of Prevent and Detect Access Control Vulnerabilities
Venue: arXiv cs.CR 2023
Year: 2023

Broken access control is one of the most common security vulnerabilities in web applications. These vulnerabilities are the major cause of many data breach incidents, which result in privacy concern and revenue loss. However, preventing and detecting access control vulnerabilities proactively in web applications could be difficult. Currently, these vulnerabilities are actively detected by bug bounty hunters post-deployment, which creates attack windows for malicious access. To solve this problem proactively requires security awareness and expertise from developers, which calls for systematic solutions. This survey targets to provide a structured overview of approaches that tackle access control vulnerabilities. It firstly discusses the unique feature of access control vulnerabilities, then studies the existing works proposed to tackle access control vulnerabilities in web applications, which span the spectrum of software development from software design and implementation, software analysis and testing, and runtime monitoring. At last we discuss the open problem in this field.
Halcyon -- A Pathology Imaging and Feature analysis and Management System
Venue: arXiv cs.HC 2023
Year: 2023

Halcyon is a new pathology imaging analysis and feature management system based on W3C linked-data open standards and is designed to scale to support the needs for the voluminous production of features from deep-learning feature pipelines. Halcyon can support multiple users with a web-based UX with access to all user data over a standards-based web API allowing for integration with other processes and software systems. Identity management and data security is also provided.
An Attention Free Conditional Autoencoder For Anomaly Detection in Cryptocurrencies
Venue: arXiv cs.LG 2023
Year: 2023

It is difficult to identify anomalies in time series, especially when there is a lot of noise. Denoising techniques can remove the noise but this technique can cause a significant loss of information. To detect anomalies in the time series we have proposed an attention free conditional autoencoder (AF-CA). We started from the autoencoder conditional model on which we added an Attention-Free LSTM layer \cite{inzirillo2022attention} in order to make the anomaly detection capacity more reliable and to increase the power of anomaly detection. We compared the results of our Attention Free Conditional Autoencoder with those of an LSTM Autoencoder and clearly improved the explanatory power of the model and therefore the detection of anomaly in noisy time series.
New Lower Bounds for Adaptive Tolerant Junta Testing
Venue: arXiv cs.DS 2023
Year: 2023

We prove a $k^{-Ω(\log(\varepsilon_2 - \varepsilon_1))}$ lower bound for adaptively testing whether a Boolean function is $\varepsilon_1$-close to or $\varepsilon_2$-far from $k$-juntas. Our results provide the first superpolynomial separation between tolerant and non-tolerant testing for a natural property of boolean functions under the adaptive setting. Furthermore, our techniques generalize to show that adaptively testing whether a function is $\varepsilon_1$-close to a $k$-junta or $\varepsilon_2$-far from $(k + o(k))$-juntas cannot be done with $\textsf{poly} (k, (\varepsilon_2 - \varepsilon_1)^{-1})$ queries. This is in contrast to an algorithm by Iyer, Tal and Whitmeyer [CCC 2021] which uses $\textsf{poly} (k, (\varepsilon_2 - \varepsilon_1)^{-1})$ queries to test whether a function is $\varepsilon_1$-close to a $k$-junta or $\varepsilon_2$-far from $O(k/(\varepsilon_2-\varepsilon_1)^2)$-juntas.
Scaling ML Products At Startups: A Practitioner's Guide
Venue: arXiv cs.LG 2023
Year: 2023

How do you scale a machine learning product at a startup? In particular, how do you serve a greater volume, velocity, and variety of queries cost-effectively? We break down costs into variable costs-the cost of serving the model and performant-and fixed costs-the cost of developing and training new models. We propose a framework for conceptualizing these costs, breaking them into finer categories, and limn ways to reduce costs. Lastly, since in our experience, the most expensive fixed cost of a machine learning system is the cost of identifying the root causes of failures and driving continuous improvement, we present a way to conceptualize the issues and share our methodology for the same.
A Conjecture Related to the Traveling Salesman Problem
Venue: arXiv cs.CC 2023
Year: 2023

We show that certain ways of solving some combinatorial optimization problems can be understood as using query planes to divide the space of problem instances into polyhedra that could fit into those that characterize the problem's various solutions. This viewpoint naturally leads to a splinter-proneness property that is then shown to be responsible for the hardness of the concerned problem. We conjecture that the $NP$-equivalent traveling salesman problem (TSP) has this property and hence is hard to solve to a certain extent.
Propagation of electrical signals by fungi
Venue: arXiv cs.ET 2023
Year: 2023

Living fungal mycelium networks are proven to have properties of memristors, capacitors and various sensors. To further progress our designs in fungal electronics we need to evaluate how electrical signals can be propagated through mycelium networks. We investigate the ability of mycelium-bound composites to convey electrical signals, thereby enabling the transmission of frequency-modulated information through mycelium networks. Mycelia were found to reliably transfer signals with a recoverable frequency comparable to the input, in the \SIrange{100}{10000} {\hertz} frequency range. Mycelial adaptive responses, such as tissue repair, may result in fragile connections, however. While the mean amplitude of output signals was not reproducible among replicate experiments exposed to the same input frequency, the variance across groups was highly consistent. Our work is supported by NARX modelling through which an approximate transfer function was derived. These findings advance the state of the art of using mycelium-bound composites in analogue electronics and unconventional computing.
SLEPLET: Slepian Scale-Discretised Wavelets in Python
Venue: arXiv cs.IT 2023
Year: 2023

Wavelets are widely used in various disciplines to analyse signals both in space and scale. Whilst many fields measure data on manifolds (i.e., the sphere), often data are only observed on a partial region of the manifold. Wavelets are a typical approach to data of this form, but the wavelet coefficients that overlap with the boundary become contaminated and must be removed for accurate analysis. Another approach is to estimate the region of missing data and to use existing whole-manifold methods for analysis. However, both approaches introduce uncertainty into any analysis. Slepian wavelets enable one to work directly with only the data present, thus avoiding the problems discussed above. Applications of Slepian wavelets to areas of research measuring data on the partial sphere include gravitational/magnetic fields in geodesy, ground-based measurements in astronomy, measurements of whole-planet properties in planetary science, geomagnetism of the Earth, and cosmic microwave background analyses.
Graph based Label Enhancement for Multi-instance Multi-label learning
Venue: arXiv cs.CV 2023
Year: 2023

Multi-instance multi-label (MIML) learning is widely applicated in numerous domains, such as the image classification where one image contains multiple instances correlated with multiple logic labels simultaneously. The related labels in existing MIML are all assumed as logical labels with equal significance. However, in practical applications in MIML, significance of each label for multiple instances per bag (such as an image) is significant different. Ignoring labeling significance will greatly lose the semantic information of the object, so that MIML is not applicable in complex scenes with a poor learning performance. To this end, this paper proposed a novel MIML framework based on graph label enhancement, namely GLEMIML, to improve the classification performance of MIML by leveraging label significance. GLEMIML first recognizes the correlations among instances by establishing the graph and then migrates the implicit information mined from the feature space to the label space via nonlinear mapping, thus recovering the label significance. Finally, GLEMIML is trained on the enhanced data through matching and interaction mechanisms. GLEMIML (AvgRank: 1.44) can effectively improve the performance of MIML by mining the label distribution mechanism and show better results than the SOTA method (AvgRank: 2.92) on multiple benchmark datasets.