OpenRaiser/Intern-Atlas huggingface dataset:
Learning to Recover for Safe Reinforcement Learning
Venue: arXiv cs.AI 2023
Year: 2023

Safety controllers is widely used to achieve safe reinforcement learning. Most methods that apply a safety controller are using handcrafted safety constraints to construct the safety controller. However, when the environment dynamics are sophisticated, handcrafted safety constraints become unavailable. Therefore, it worth to research on constructing safety controllers by learning algorithms. We propose a three-stage architecture for safe reinforcement learning, namely TU-Recovery Architecture. A safety critic and a recovery policy is learned before task training. They form a safety controller to ensure safety in task training. Then a phenomenon induced by disagreement between task policy and recovery policy, called adversarial phenomenon, which reduces learning efficiency and model performance, is described. Auxiliary reward is proposed to mitigate adversarial phenomenon, while help the task policy to learn to recover from high-risk states. A series of experiments are conducted in a robot navigation environment. Experiments demonstrate that TU-Recovery outperforms unconstrained counterpart in both reward gaining and constraint violations during task training, and auxiliary reward further improve TU-Recovery in reward-to-cost ratio by significantly reduce constraint violations.
A Machine Learning-oriented Survey on Tiny Machine Learning
Venue: arXiv cs.LG 2023
Year: 2023

The emergence of Tiny Machine Learning (TinyML) has positively revolutionized the field of Artificial Intelligence by promoting the joint design of resource-constrained IoT hardware devices and their learning-based software architectures. TinyML carries an essential role within the fourth and fifth industrial revolutions in helping societies, economies, and individuals employ effective AI-infused computing technologies (e.g., smart cities, automotive, and medical robotics). Given its multidisciplinary nature, the field of TinyML has been approached from many different angles: this comprehensive survey wishes to provide an up-to-date overview focused on all the learning algorithms within TinyML-based solutions. The survey is based on the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) methodological flow, allowing for a systematic and complete literature survey. In particular, firstly we will examine the three different workflows for implementing a TinyML-based system, i.e., ML-oriented, HW-oriented, and co-design. Secondly, we propose a taxonomy that covers the learning panorama under the TinyML lens, examining in detail the different families of model optimization and design, as well as the state-of-the-art learning techniques. Thirdly, this survey will present the distinct features of hardware devices and software tools that represent the current state-of-the-art for TinyML intelligent edge applications. Finally, we discuss the challenges and future directions.
State-aware Real-time Tracking and Remote Reconstruction of a Markov Source
Venue: arXiv cs.IT 2023
Year: 2023

The problem of real-time remote tracking and reconstruction of a two-state Markov process is considered here. A transmitter sends samples from an observed information source to a remote monitor over an unreliable wireless channel. The receiver, in turn, performs an action according to the state of the reconstructed source. We propose a state-aware randomized stationary sampling and transmission policy which accounts for the importance of different states of the information source, and their impact on the goal of the communication process. We then analyze the performance of the proposed policy, and compare it with existing goal-oriented joint sampling and transmission policies, with respect to a set of performance metrics. Specifically, we study the real-time reconstruction error, the cost of actuation error, the consecutive error, and a new metric, coined importance-aware consecutive error. In addition, we formulate and solve a constrained optimization problem that aims to obtain the optimal sampling probabilities that minimize the average cost of actuation error. Our results show that in the scenario of constrained sampling generation, the optimal state-aware randomized stationary policy outperforms all other sampling policies for fast evolving sources, and, under certain conditions, for slowly varying sources. Otherwise, a semantics-aware policy performs better only when the source is slowly varying.
A Comprehensive Review on Financial Explainable AI
Venue: arXiv cs.AI 2023
Year: 2023

The success of artificial intelligence (AI), and deep learning models in particular, has led to their widespread adoption across various industries due to their ability to process huge amounts of data and learn complex patterns. However, due to their lack of explainability, there are significant concerns regarding their use in critical sectors, such as finance and healthcare, where decision-making transparency is of paramount importance. In this paper, we provide a comparative survey of methods that aim to improve the explainability of deep learning models within the context of finance. We categorize the collection of explainable AI methods according to their corresponding characteristics, and we review the concerns and challenges of adopting explainable AI methods, together with future directions we deemed appropriate and important.
A quaternary analogue of Tang-Ding codes
Venue: arXiv cs.IT 2023
Year: 2023

In a recent paper, Tang and Ding introduced a class of binary cyclic codes of rate close to one half with a designed lower bound on their minimum distance. The definition involves the base $2$ expansion of the integers in their defining set. In this paper we propose an analogue for quaternary codes. In addition, the performances of the subfield subcode and of the trace code (two binary cyclic codes) are investigated.
BASE: Probably a Better Approach to Multi-Object Tracking
Venue: arXiv cs.CV 2023
Year: 2023

The field of visual object tracking is dominated by methods that combine simple tracking algorithms and ad hoc schemes. Probabilistic tracking algorithms, which are leading in other fields, are surprisingly absent from the leaderboards. We found that accounting for distance in target kinematics, exploiting detector confidence and modelling non-uniform clutter characteristics is critical for a probabilistic tracker to work in visual tracking. Previous probabilistic methods fail to address most or all these aspects, which we believe is why they fall so far behind current state-of-the-art (SOTA) methods (there are no probabilistic trackers in the MOT17 top 100). To rekindle progress among probabilistic approaches, we propose a set of pragmatic models addressing these challenges, and demonstrate how they can be incorporated into a probabilistic framework. We present BASE (Bayesian Approximation Single-hypothesis Estimator), a simple, performant and easily extendible visual tracker, achieving state-of-the-art (SOTA) on MOT17 and MOT20, without using Re-Id. Code will be made available at https://github.com/ffi-no
A BEOL Compatible, 2-Terminals, Ferroelectric Analog Non-Volatile Memory
Venue: arXiv cs.AR 2023
Year: 2023

A Ferroelectric Analog Non-Volatile Memory based on a WOx electrode and ferroelectric HfZrO$_4$ layer is fabricated at a low thermal budget (~375$^\circ$C), enabling BEOL processes and CMOS integration. The devices show suitable properties for integration in crossbar arrays and neural network inference: analog potentiation/depression with constant field or constant pulse width schemes, cycle to cycle and device to device variation <10%, ON/OFF ratio up to 10 and good linearity. The physical mechanisms behind the resistive switching and conduction mechanisms are discussed.
Benchmarking quantized LLaMa-based models on the Brazilian Secondary School Exam
Venue: arXiv cs.AI 2023
Year: 2023

Although Large Language Models (LLMs) represent a revolution in the way we interact with computers, allowing the construction of complex questions and the ability to reason over a sequence of statements, their use is restricted due to the need for dedicated hardware for execution. In this study, we evaluate the performance of LLMs based on the 7 and 13 billion LLaMA models, subjected to a quantization process and run on home hardware. The models considered were Alpaca, Koala, and Vicuna. To evaluate the effectiveness of these models, we developed a database containing 1,006 questions from the ENEM (Brazilian National Secondary School Exam). Our analysis revealed that the best performing models achieved an accuracy of approximately 46% for the original texts of the Portuguese questions and 49% on their English translations. In addition, we evaluated the computational efficiency of the models by measuring the time required for execution. On average, the 7 and 13 billion LLMs took approximately 20 and 50 seconds, respectively, to process the queries on a machine equipped with an AMD Ryzen 5 3600x processor
Exploiting CLIP-based Multi-modal Approach for Artwork Classification and Retrieval
Venue: arXiv cs.CV 2023
Year: 2023

Given the recent advances in multimodal image pretraining where visual models trained with semantically dense textual supervision tend to have better generalization capabilities than those trained using categorical attributes or through unsupervised techniques, in this work we investigate how recent CLIP model can be applied in several tasks in artwork domain. We perform exhaustive experiments on the NoisyArt dataset which is a dataset of artwork images crawled from public resources on the web. On such dataset CLIP achieves impressive results on (zero-shot) classification and promising results in both artwork-to-artwork and description-to-artwork domain.
MeetScript: Designing Transcript-based Interactions to Support Active Participation in Group Video Meetings
Venue: arXiv cs.HC 2023
Year: 2023

While videoconferencing is prevalent, concurrent participation channels are limited. People experience challenges keeping up with the discussion, and misunderstanding frequently occurs. Through a formative study, we probed into the design space of providing real-time transcripts as an extra communication space for video meeting attendees. We then present MeetScript, a system that provides parallel participation channels through real-time interactive transcripts. MeetScript visualizes the discussion through a chat-alike interface and allows meeting attendees to make real-time collaborative annotations. Over time, MeetScript gradually hides extraneous content to retain the most essential information on the transcript, with the goal of reducing the cognitive load required on users to process the information in real time. In an experiment with 80 users in 22 teams, we compared MeetScript with two baseline conditions where participants used Zoom alone (business-as-usual), or Zoom with an adds-on transcription service (Otter.ai). We found that MeetScript significantly enhanced people's non-verbal participation and recollection of their teams' decision-making processes compared to the baselines. Users liked that MeetScript allowed them to easily navigate the transcript and contextualize feedback and new ideas with existing ones.
On the relationship between Benchmarking, Standards and Certification in Robotics and AI
Venue: arXiv cs.RO 2023
Year: 2023

Benchmarking, standards and certification are closely related processes. Standards can provide normative requirements that robotics and AI systems may or may not conform to. Certification generally relies upon conformance with one or more standards as the key determinant of granting a certificate to operate. And benchmarks are sets of standardised tests against which robots and AI systems can be measured. Benchmarks therefore can be thought of as informal standards. In this paper we will develop these themes with examples from benchmarking, standards and certification, and argue that these three linked processes are not only useful but vital to the broader practice of Responsible Innovation.
Revealing Performance Issues in Server-side WebAssembly Runtimes via Differential Testing
Venue: arXiv cs.SE 2023
Year: 2023

WebAssembly (Wasm) is a bytecode format originally serving as a compilation target for Web applications. It has recently been used increasingly on the server side, e.g., providing a safer, faster, and more portable alternative to Linux containers. With the popularity of server-side Wasm applications, it is essential to study performance issues (i.e., abnormal latency) in Wasm runtimes, as they may cause a significant impact on server-side applications. However, there is still a lack of attention to performance issues in server-side Wasm runtimes. In this paper, we design a novel differential testing approach WarpDiff to identify performance issues in server-side Wasm runtimes. The key insight is that in normal cases, the execution time of the same test case on different Wasm runtimes should follow an oracle ratio. We identify abnormal cases where the execution time ratio significantly deviates from the oracle ratio and subsequently locate the Wasm runtimes that cause the performance issues. We apply WarpDiff to test five popular server-side Wasm runtimes using 123 test cases from the LLVM test suite and demonstrate the top 10 abnormal cases we identified. We further conduct an in-depth analysis of these abnormal cases and summarize seven performance issues, all of which have been confirmed by the developers. We hope our work can inspire future investigation on improving Wasm runtime implementation and thus promoting the development of server-side Wasm applications.
Physics-informed State-space Neural Networks for Transport Phenomena
Venue: arXiv cs.LG 2023
Year: 2023

This work introduces Physics-informed State-space neural network Models (PSMs), a novel solution to achieving real-time optimization, flexibility, and fault tolerance in autonomous systems, particularly in transport-dominated systems such as chemical, biomedical, and power plants. Traditional data-driven methods fall short due to a lack of physical constraints like mass conservation; PSMs address this issue by training deep neural networks with sensor data and physics-informing using components' Partial Differential Equations (PDEs), resulting in a physics-constrained, end-to-end differentiable forward dynamics model. Through two in silico experiments -- a heated channel and a cooling system loop -- we demonstrate that PSMs offer a more accurate approach than a purely data-driven model. In the former experiment, PSMs demonstrated significantly lower average root-mean-square errors across test datasets compared to a purely data-driven neural network, with reductions of 44 %, 48 %, and 94 % in predicting pressure, velocity, and temperature, respectively. Beyond accuracy, PSMs demonstrate a compelling multitask capability, making them highly versatile. In this work, we showcase two: supervisory control of a nonlinear system through a sequentially updated state-space representation and the proposal of a diagnostic algorithm using residuals from each of the PDEs. The former demonstrates PSMs' ability to handle constant and time-dependent constraints, while the latter illustrates their value in system diagnostics and fault detection. We further posit that PSMs could serve as a foundation for Digital Twins, constantly updated digital representations of physical systems.
SupeRBNN: Randomized Binary Neural Network Using Adiabatic Superconductor Josephson Devices
Venue: arXiv cs.ET 2023
Year: 2023

Adiabatic Quantum-Flux-Parametron (AQFP) is a superconducting logic with extremely high energy efficiency. By employing the distinct polarity of current to denote logic `0' and `1', AQFP devices serve as excellent carriers for binary neural network (BNN) computations. Although recent research has made initial strides toward developing an AQFP-based BNN accelerator, several critical challenges remain, preventing the design from being a comprehensive solution. In this paper, we propose SupeRBNN, an AQFP-based randomized BNN acceleration framework that leverages software-hardware co-optimization to eventually make the AQFP devices a feasible solution for BNN acceleration. Specifically, we investigate the randomized behavior of the AQFP devices and analyze the impact of crossbar size on current attenuation, subsequently formulating the current amplitude into the values suitable for use in BNN computation. To tackle the accumulation problem and improve overall hardware performance, we propose a stochastic computing-based accumulation module and a clocking scheme adjustment-based circuit optimization method. We validate our SupeRBNN framework across various datasets and network architectures, comparing it with implementations based on different technologies, including CMOS, ReRAM, and superconducting RSFQ/ERSFQ. Experimental results demonstrate that our design achieves an energy efficiency of approximately 7.8x10^4 times higher than that of the ReRAM-based BNN framework while maintaining a similar level of model accuracy. Furthermore, when compared with superconductor-based counterparts, our framework demonstrates at least two orders of magnitude higher energy efficiency.
Regionally Additive Models: Explainable-by-design models minimizing feature interactions
Venue: arXiv cs.LG 2023
Year: 2023

Generalized Additive Models (GAMs) are widely used explainable-by-design models in various applications. GAMs assume that the output can be represented as a sum of univariate functions, referred to as components. However, this assumption fails in ML problems where the output depends on multiple features simultaneously. In these cases, GAMs fail to capture the interaction terms of the underlying function, leading to subpar accuracy. To (partially) address this issue, we propose Regionally Additive Models (RAMs), a novel class of explainable-by-design models. RAMs identify subregions within the feature space where interactions are minimized. Within these regions, it is more accurate to express the output as a sum of univariate functions (components). Consequently, RAMs fit one component per subregion of each feature instead of one component per feature. This approach yields a more expressive model compared to GAMs while retaining interpretability. The RAM framework consists of three steps. Firstly, we train a black-box model. Secondly, using Regional Effect Plots, we identify subregions where the black-box model exhibits near-local additivity. Lastly, we fit a GAM component for each identified subregion. We validate the effectiveness of RAMs through experiments on both synthetic and real-world datasets. The results confirm that RAMs offer improved expressiveness compared to GAMs while maintaining interpretability.
t-EER: Parameter-Free Tandem Evaluation of Countermeasures and Biometric Comparators
Venue: arXiv cs.CR 2023
Year: 2023

Presentation attack (spoofing) detection (PAD) typically operates alongside biometric verification to improve reliablity in the face of spoofing attacks. Even though the two sub-systems operate in tandem to solve the single task of reliable biometric verification, they address different detection tasks and are hence typically evaluated separately. Evidence shows that this approach is suboptimal. We introduce a new metric for the joint evaluation of PAD solutions operating in situ with biometric verification. In contrast to the tandem detection cost function proposed recently, the new tandem equal error rate (t-EER) is parameter free. The combination of two classifiers nonetheless leads to a \emph{set} of operating points at which false alarm and miss rates are equal and also dependent upon the prevalence of attacks. We therefore introduce the \emph{concurrent} t-EER, a unique operating point which is invariable to the prevalence of attacks. Using both modality (and even application) agnostic simulated scores, as well as real scores for a voice biometrics application, we demonstrate application of the t-EER to a wide range of biometric system evaluations under attack. The proposed approach is a strong candidate metric for the tandem evaluation of PAD systems and biometric comparators.
Learning to Drive Anywhere
Venue: arXiv cs.CV 2023
Year: 2023

Human drivers can seamlessly adapt their driving decisions across geographical locations with diverse conditions and rules of the road, e.g., left vs. right-hand traffic. In contrast, existing models for autonomous driving have been thus far only deployed within restricted operational domains, i.e., without accounting for varying driving behaviors across locations or model scalability. In this work, we propose AnyD, a single geographically-aware conditional imitation learning (CIL) model that can efficiently learn from heterogeneous and globally distributed data with dynamic environmental, traffic, and social characteristics. Our key insight is to introduce a high-capacity geo-location-based channel attention mechanism that effectively adapts to local nuances while also flexibly modeling similarities among regions in a data-driven manner. By optimizing a contrastive imitation objective, our proposed approach can efficiently scale across inherently imbalanced data distributions and location-dependent events. We demonstrate the benefits of our AnyD agent across multiple datasets, cities, and scalable deployment paradigms, i.e., centralized, semi-supervised, and distributed agent training. Specifically, AnyD outperforms CIL baselines by over 14% in open-loop evaluation and 30% in closed-loop testing on CARLA.
Using a Catenary Trajectory to Reduce Wellbore Friction in Horizontal Extended Reach Drilling
Venue: arXiv cs.RO 2023
Year: 2023

Wellbore friction is one of the biggest concerns when drilling due to its relation to the total cost. The catenary concept was introduced to reduce wellbore friction, but it requires detailed analyses. This project would fill this gap. A catenary shape is simply the natural shape of a rope, chain, or drill string. The drill string will then hang freely inside the wellbore. Perfectly, there should be no contact between the hole and the string, and thus no friction. Torque and drag should be minimized this way. A case study is introduced to examine the outcome between Catenary Trajectory Design and traditional 2D Arc design. The calculation procedure of Catenary Trajectory and 2D Arc Design can be found in an MS Excel spreadsheet which is easy to use and reliable for designing catenary well trajectories for extended-reach wells.
Stochastic scheduling of autonomous mobile robots at hospitals
Venue: arXiv cs.RO 2023
Year: 2023

This paper studies the scheduling of autonomous mobile robots (AMRs) at hospitals where the stochastic travel times and service times of AMRs are affected by the surrounding environment. The routes of AMRs are planned to minimize the daily cost of the hospital (including the AMR fixed cost, penalty cost of violating the time window, and transportation cost). To efficiently generate high-quality solutions, some properties are identified and incorporated into an improved tabu search (I-TS) algorithm for problem-solving. Experimental evaluations demonstrate that the I-TS algorithm outperforms existing methods by producing high-quality solutions. Based on the characteristics of healthcare requests and the AMR working environment, scheduling AMRs reasonably can effectively provide medical services, improve the utilization of medical resources, and reduce hospital costs.