OpenRaiser/Intern-Atlas huggingface dataset:
Extracting Object Heights From LiDAR & Aerial Imagery
Venue: arXiv cs.CV 2024
Year: 2024

This work shows a procedural method for extracting object heights from LiDAR and aerial imagery. We discuss how to get heights and the future of LiDAR and imagery processing. SOTA object segmentation allows us to take get object heights with no deep learning background. Engineers will be keeping track of world data across generations and reprocessing them. They will be using older procedural methods like this paper and newer ones discussed here. SOTA methods are going beyond analysis and into generative AI. We cover both a procedural methodology and the newer ones performed with language models. These include point cloud, imagery and text encoding allowing for spatially aware AI.
Understanding and Enhancing Linux Kernel-based Packet Switching on WiFi Access Points
Venue: arXiv cs.NI 2024
Year: 2024

As the number of WiFi devices and their traffic demands continue to rise, the need for a scalable and high-performance wireless infrastructure becomes increasingly essential. Central to this infrastructure are WiFi Access Points (APs), which facilitate packet switching between Ethernet and WiFi interfaces. Despite APs' reliance on the Linux kernel's data plane for packet switching, the detailed operations and complexities of switching packets between Ethernet and WiFi interfaces have not been investigated in existing works. This paper makes the following contributions towards filling this research gap. Through macro and micro-analysis of empirical experiments, our study reveals insights in two distinct categories. Firstly, while the kernel's statistics offer valuable insights into system operations, we identify and discuss potential pitfalls that can severely affect system analysis. For instance, we reveal the implications of device drivers on the meaning and accuracy of the statistics related to packet-switching tasks and processor utilization. Secondly, we analyze the impact of the packet switching path and core configuration on performance and power consumption. Specifically, we identify the differences in Ethernet-to-WiFi and WiFi-to-Ethernet data paths regarding processing components, multi-core utilization, and energy efficiency. We show that the WiFi-to-Ethernet data path leverages better multi-core processing and exhibits lower power consumption.
Randomized Strategyproof Mechanisms with Best of Both Worlds Fairness and Efficiency
Venue: arXiv cs.GT 2024
Year: 2024

We study the problem of mechanism design for allocating a set of indivisible items among agents with private preferences on items. We are interested in such a mechanism that is strategyproof (where agents' best strategy is to report their true preferences) and is expected to ensure fairness and efficiency to a certain degree. We first present an impossibility result that a deterministic mechanism does not exist that is strategyproof, fair and efficient for allocating indivisible chores. We then utilize randomness to overcome the strong impossibility. For allocating indivisible chores, we propose a randomized mechanism that is strategyproof in expectation as well as ex-ante and ex-post (best of both worlds) fair and efficient. For allocating mixed items, where an item can be a good (i.e., with a positive utility) for one agent but a chore (i.e., a with negative utility) for another, we propose a randomized mechanism that is strategyproof in expectation with best of both worlds fairness and efficiency when there are two agents.
Structure from Motion-based Motion Estimation and 3D Reconstruction of Unknown Shaped Space Debris
Venue: arXiv cs.RO 2024
Year: 2024

With the boost in the number of spacecraft launches in the current decades, the space debris problem is daily becoming significantly crucial. For sustainable space utilization, the continuous removal of space debris is the most severe problem for humanity. To maximize the reliability of the debris capture mission in orbit, accurate motion estimation of the target is essential. Space debris has lost its attitude and orbit control capabilities, and its shape is unknown due to the break. This paper proposes the Structure from Motion-based algorithm to perform unknown shaped space debris motion estimation with limited resources, where only 2D images are required as input. The method then outputs the reconstructed shape of the unknown object and the relative pose trajectory between the target and the camera simultaneously, which are exploited to estimate the target's motion. The method is quantitatively validated with the realistic image dataset generated by the microgravity experiment in a 2D air-floating testbed and 3D kinematic simulation.
Enhancing the MILP/MIQCP-based Automatic Search for Differential-Linear Distinguishers of Simon-Like Ciphers
Venue: arXiv cs.CR 2024
Year: 2024

In this paper, we propose an improved method based on Mixed-Integer Linear Programming/Mixed-Integer Quadratic Constraint Programming (MILP/MIQCP) to automatically find better differential-linear (DL) distinguishers for the all members of Simon and Simeck block cipher families. To be specific, we first give the completely precise MILP model to describe the linear part, and explain how to utilize the general expressions of \textsf{Gurobi} solver to model the propagation of continuous difference for the middle part in a quite easy way. Secondly, in order to solve the MILP/MIQCP model in a reasonable time, we propose two heuristic strategies based on the divide-and-conquer idea to speed up the search process. Thirdly, we introduce the transforming technique, which exploits the clustering effect on DL trails, to improve the estimated correlation of the DL approximation. We apply our method to Simon and Simeck block cipher families. Consequently, we find the 14/17/21/26-round theoretical DL distinguishers of Simon32/48/64/96, which extend the previous longest ones of Simon32/48/96 by one round and Simon64 by two rounds, respectively. For Simeck, we do not explore longer distinguishers compared to the currently best results, but refresh all the results of Zhou et al. (the first work to automate finding DL distinguishers for Simon-like ciphers using MILP/MIQCP). Besides, in order to validate the correctness of these distinguishers, the experimental verifications are conducted on Simon32/Simeck32 and Simon48/Simeck48. The results show that our theoretical estimations on correlations are very close to the experimental ones, which can be regarded as a concrete support for the effectiveness of our method.
Bridging Information Gaps in Dialogues With Grounded Exchanges Using Knowledge Graphs
Venue: arXiv cs.CL 2024
Year: 2024

Knowledge models are fundamental to dialogue systems for enabling conversational interactions, which require handling domain-specific knowledge. Ensuring effective communication in information-providing conversations entails aligning user understanding with the knowledge available to the system. However, dialogue systems often face challenges arising from semantic inconsistencies in how information is expressed in natural language compared to how it is represented within the system's internal knowledge. To address this problem, we study the potential of large language models for conversational grounding, a mechanism to bridge information gaps by establishing shared knowledge between dialogue participants. Our approach involves annotating human conversations across five knowledge domains to create a new dialogue corpus called BridgeKG. Through a series of experiments on this dataset, we empirically evaluate the capabilities of large language models in classifying grounding acts and identifying grounded information items within a knowledge graph structure. Our findings offer insights into how these models use in-context learning for conversational grounding tasks and common prediction errors, which we illustrate with examples from challenging dialogues. We discuss how the models handle knowledge graphs as a semantic layer between unstructured dialogue utterances and structured information items.
IAI Group at CheckThat! 2024: Transformer Models and Data Augmentation for Checkworthy Claim Detection
Venue: arXiv cs.CL 2024
Year: 2024

This paper describes IAI group's participation for automated check-worthiness estimation for claims, within the framework of the 2024 CheckThat! Lab "Task 1: Check-Worthiness Estimation". The task involves the automated detection of check-worthy claims in English, Dutch, and Arabic political debates and Twitter data. We utilized various pre-trained generative decoder and encoder transformer models, employing methods such as few-shot chain-of-thought reasoning, fine-tuning, data augmentation, and transfer learning from one language to another. Despite variable success in terms of performance, our models achieved notable placements on the organizer's leaderboard: ninth-best in English, third-best in Dutch, and the top placement in Arabic, utilizing multilingual datasets for enhancing the generalizability of check-worthiness detection. Despite a significant drop in performance on the unlabeled test dataset compared to the development test dataset, our findings contribute to the ongoing efforts in claim detection research, highlighting the challenges and potential of language-specific adaptations in claim verification systems.
Closed-loop underwater soft robotic foil shape control using flexible e-skin
Venue: arXiv cs.RO 2024
Year: 2024

The use of soft robotics for real-world underwater applications is limited, even more than in terrestrial applications, by the ability to accurately measure and control the deformation of the soft materials in real time without the need for feedback from an external sensor. Real-time underwater shape estimation would allow for accurate closed-loop control of soft propulsors, enabling high-performance swimming and manoeuvring. We propose and demonstrate a method for closed-loop underwater soft robotic foil control based on a flexible capacitive e-skin and machine learning which does not necessitate feedback from an external sensor. The underwater e-skin is applied to a highly flexible foil undergoing deformations from 2% to 9% of its camber by means of soft hydraulic actuators. Accurate set point regulation of the camber is successfully tracked during sinusoidal and triangle actuation routines with an amplitude of 5% peak-to-peak and 10-second period with a normalised RMS error of 0.11, and 2% peak-to-peak amplitude with a period of 5 seconds with a normalised RMS error of 0.03. The tail tip deflection can be measured across a 30 mm (0.15 chords) range. These results pave the way for using e-skin technology for underwater soft robotic closed-loop control applications.
Misinforming LLMs: vulnerabilities, challenges and opportunities
Venue: arXiv cs.CL 2024
Year: 2024

Large Language Models (LLMs) have made significant advances in natural language processing, but their underlying mechanisms are often misunderstood. Despite exhibiting coherent answers and apparent reasoning behaviors, LLMs rely on statistical patterns in word embeddings rather than true cognitive processes. This leads to vulnerabilities such as "hallucination" and misinformation. The paper argues that current LLM architectures are inherently untrustworthy due to their reliance on correlations of sequential patterns of word embedding vectors. However, ongoing research into combining generative transformer-based models with fact bases and logic programming languages may lead to the development of trustworthy LLMs capable of generating statements based on given truth and explaining their self-reasoning process.
From Problem to Solution: Bio-inspired 3D Printing for Bonding Soft and Rigid Materials via Underextrusions
Venue: arXiv cs.RO 2024
Year: 2024

Vertebrate animals benefit from a combination of rigidity for structural support and softness for adaptation. Similarly, integrating rigidity and softness can enhance the versatility of soft robotics. However, the challenges associated with creating durable bonding interfaces between soft and rigid materials have limited the development of hybrid robots. Existing solutions require specialized machinery, such as polyjet 3D printers, which are not commonly available. In response to these challenges, we have developed a 3D printing technique that can be used with almost all commercially available FDM printers. This technique leverages the common issue of underextrusion to create a strong bond between soft and rigid materials. Underextrusion generates a porous structure, similar to fibrous connective tissues, that provides a robust interface with the rigid part through layer fusion, while the porosity enables interlocking with the soft material. Our experiments demonstrated that this method outperforms conventional adhesives commonly used in soft robotics, achieving nearly 200\% of the bonding strength in both lap shear and peeling tests. Additionally, we investigated how different porosity levels affect bonding strength. We tested the technique under pressure scenarios critical to soft and hybrid robots and achieved three times more pressure than the current adhesion solution. Finally, we fabricated various hybrid robots using this technique to demonstrate the wide range of capabilities this approach and hybridity can bring to soft robotics. has context menu
Detection and Characterization of Coordinated Online Behavior: A Survey
Venue: arXiv cs.SI 2024
Year: 2024

Coordination is a fundamental aspect of life. The advent of social media has made it integral also to online human interactions, such as those that characterize thriving online communities and social movements. At the same time, coordination is also core to effective disinformation, manipulation, and hate campaigns. This survey collects, categorizes, and critically discusses the body of work produced as a result of the growing interest on coordinated online behavior. We reconcile industry and academic definitions, propose a comprehensive framework to study coordinated online behavior, and review and critically discuss the existing detection and characterization methods. Our analysis identifies open challenges and promising directions of research, serving as a guide for scholars, practitioners, and policymakers in understanding and addressing the complexities inherent to online coordination.
A General Framework to Boost 3D GS Initialization for Text-to-3D Generation by Lexical Richness
Venue: arXiv cs.CV 2024
Year: 2024

Text-to-3D content creation has recently received much attention, especially with the prevalence of 3D Gaussians Splatting. In general, GS-based methods comprise two key stages: initialization and rendering optimization. To achieve initialization, existing works directly apply random sphere initialization or 3D diffusion models, e.g., Point-E, to derive the initial shapes. However, such strategies suffer from two critical yet challenging problems: 1) the final shapes are still similar to the initial ones even after training; 2) shapes can be produced only from simple texts, e.g., "a dog", not for lexically richer texts, e.g., "a dog is sitting on the top of the airplane". To address these problems, this paper proposes a novel general framework to boost the 3D GS Initialization for text-to-3D generation upon the lexical richness. Our key idea is to aggregate 3D Gaussians into spatially uniform voxels to represent complex shapes while enabling the spatial interaction among the 3D Gaussians and semantic interaction between Gaussians and texts. Specifically, we first construct a voxelized representation, where each voxel holds a 3D Gaussian with its position, scale, and rotation fixed while setting opacity as the sole factor to determine a position's occupancy. We then design an initialization network mainly consisting of two novel components: 1) Global Information Perception (GIP) block and 2) Gaussians-Text Fusion (GTF) block. Such a design enables each 3D Gaussian to assimilate the spatial information from other areas and semantic information from texts. Extensive experiments show the superiority of our framework of high-quality 3D GS initialization against the existing methods, e.g., Shap-E, by taking lexically simple, medium, and hard texts. Also, our framework can be seamlessly plugged into SoTA training frameworks, e.g., LucidDreamer, for semantically consistent text-to-3D generation.
Optimal Mixed Integer Linear Optimization Trained Multivariate Classification Trees
Venue: arXiv cs.LG 2024
Year: 2024

Multivariate decision trees are powerful machine learning tools for classification and regression that attract many researchers and industry professionals. An optimal binary tree has two types of vertices, (i) branching vertices which have exactly two children and where datapoints are assessed on a set of discrete features and (ii) leaf vertices at which datapoints are given a prediction, and can be obtained by solving a biobjective optimization problem that seeks to (i) maximize the number of correctly classified datapoints and (ii) minimize the number of branching vertices. Branching vertices are linear combinations of training features and therefore can be thought of as hyperplanes. In this paper, we propose two cut-based mixed integer linear optimization (MILO) formulations for designing optimal binary classification trees (leaf vertices assign discrete classes). Our models leverage on-the-fly identification of minimal infeasible subsystems (MISs) from which we derive cutting planes that hold the form of packing constraints. We show theoretical improvements on the strongest flow-based MILO formulation currently in the literature and conduct experiments on publicly available datasets to show our models' ability to scale, strength against traditional branch and bound approaches, and robustness in out-of-sample test performance. Our code and data are available on GitHub.
Decentralized Smoothing ADMM for Quantile Regression with Non-Convex Sparse Penalties
Venue: arXiv cs.LG 2024
Year: 2024

In the rapidly evolving internet-of-things (IoT) ecosystem, effective data analysis techniques are crucial for handling distributed data generated by sensors. Addressing the limitations of existing methods, such as the sub-gradient approach, which fails to distinguish between active and non-active coefficients effectively, this paper introduces the decentralized smoothing alternating direction method of multipliers (DSAD) for penalized quantile regression. Our method leverages non-convex sparse penalties like the minimax concave penalty (MCP) and smoothly clipped absolute deviation (SCAD), improving the identification and retention of significant predictors. DSAD incorporates a total variation norm within a smoothing ADMM framework, achieving consensus among distributed nodes and ensuring uniform model performance across disparate data sources. This approach overcomes traditional convergence challenges associated with non-convex penalties in decentralized settings. We present theoretical proofs and extensive simulation results to validate the effectiveness of the DSAD, demonstrating its superiority in achieving reliable convergence and enhancing estimation accuracy compared with prior methods.
Conditional LoRA Parameter Generation
Venue: arXiv cs.AI 2024
Year: 2024

Generative models have achieved remarkable success in image, video, and text domains. Inspired by this, researchers have explored utilizing generative models to generate neural network parameters. However, these efforts have been limited by the parameter size and the practicality of generating high-performance parameters. In this paper, we propose COND P-DIFF, a novel approach that demonstrates the feasibility of controllable high-performance parameter generation, particularly for LoRA (Low-Rank Adaptation) weights, during the fine-tuning process. Specifically, we employ an autoencoder to extract efficient latent representations for parameters. We then train a conditional latent diffusion model to synthesize high-performing model parameters from random noise based on specific task conditions. Experimental results in both computer vision and natural language processing domains consistently demonstrate that COND P-DIFF can generate high-performance parameters conditioned on the given task. Moreover, we observe that the parameter distribution generated by COND P-DIFF exhibits differences compared to the distribution obtained through normal optimization methods, indicating a certain level of generalization capability. Our work paves the way for further exploration of condition-driven parameter generation, offering a promising direction for task-specific adaptation of neural networks.
Transferable Adversarial Facial Images for Privacy Protection
Venue: arXiv cs.CV 2024
Year: 2024

The success of deep face recognition (FR) systems has raised serious privacy concerns due to their ability to enable unauthorized tracking of users in the digital world. Previous studies proposed introducing imperceptible adversarial noises into face images to deceive those face recognition models, thus achieving the goal of enhancing facial privacy protection. Nevertheless, they heavily rely on user-chosen references to guide the generation of adversarial noises, and cannot simultaneously construct natural and highly transferable adversarial face images in black-box scenarios. In light of this, we present a novel face privacy protection scheme with improved transferability while maintain high visual quality. We propose shaping the entire face space directly instead of exploiting one kind of facial characteristic like makeup information to integrate adversarial noises. To achieve this goal, we first exploit global adversarial latent search to traverse the latent space of the generative model, thereby creating natural adversarial face images with high transferability. We then introduce a key landmark regularization module to preserve the visual identity information. Finally, we investigate the impacts of various kinds of latent spaces and find that $\mathcal{F}$ latent space benefits the trade-off between visual naturalness and adversarial transferability. Extensive experiments over two datasets demonstrate that our approach significantly enhances attack transferability while maintaining high visual quality, outperforming state-of-the-art methods by an average 25% improvement in deep FR models and 10% improvement on commercial FR APIs, including Face++, Aliyun, and Tencent.
An Agile Adaptation Method for Multi-mode Vehicle Communication Networks
Venue: arXiv cs.NI 2024
Year: 2024

This paper focuses on discovering the impact of communication mode allocation on communication efficiency in the vehicle communication networks. To be specific, Markov decision process and reinforcement learning are applied to establish an agile adaptation mechanism for multi-mode communication devices according to the driving scenarios and business requirements. Then, Q-learning is used to train the agile adaptation reinforcement learning model and output the trained model. By learning the best actions to take in different states to maximize the cumulative reward, and avoiding the problem of poor adaptation effect caused by inaccurate delay measurement in unstable communication scenarios. The experiments show that the proposed scheme can quickly adapt to dynamic vehicle networking environment, while achieving high concurrency and communication efficiency.