OpenRaiser/Intern-Atlas huggingface dataset:
Workload Assessment of Human-Machine Interface: A Simulator Study with Psychophysiological Measures
Venue: arXiv cs.HC 2024
Year: 2024

Human-machine Interface (HMI) is critical for safety during automated driving, as it serves as the only media between the automated system and human users. To enable a transparent HMI, we first need to know how to evaluate it. However, most of the assessment methods used for HMI designs are subjective and thus not efficient. To bridge the gap, an objective and standardized HMI assessment method is needed, and the first step is to find an objective method for workload measurement for this context. In this study, two psychophysiological measures, electrocardiography (ECG) and electrodermal activity (EDA), were evaluated for their effectiveness in finding differences in mental workload among different HMI designs in a simulator study. Three HMI designs were developed and used. Results showed that both workload measures were able to identify significant differences in objective mental workload when interacting with in-vehicle HMIs. As a first step toward a standardized assessment method, the results could be used as a firm ground for future studies. Marie Skłodowska-Curie Actions; Innovative Training Network (ITN); SHAPE-IT; Grant number 860410; Publication date: [29 Sep 2023]; DOI: [10.54941/ahfe1004172]
Human-Machine Interface Evaluation Using EEG in Driving Simulator
Venue: arXiv cs.HC 2024
Year: 2024

Automated vehicles are pictured as the future of transportation, and facilitating safer driving is only one of the many benefits. However, due to the constantly changing role of the human driver, users are easily confused and have little knowledge about their responsibilities. Being the bridge between automation and human, the human-machine interface (HMI) is of great importance to driving safety. This study was conducted in a static driving simulator. Three HMI designs were developed, among which significant differences in mental workload using NASA-TLX and the subjective transparency test were found. An electroencephalogram was applied throughout the study to determine if differences in the mental workload could also be found using EEG's spectral power analysis. Results suggested that more studies are required to determine the effectiveness of the spectral power of EEG on mental workload, but the three interface designs developed in this study could serve as a solid basis for future research to evaluate the effectiveness of psychophysiological measures. Marie Sklodowska-Curie Actions; Innovative Training Network (ITN); SHAPE-IT; Grant number 860410; Publication date: [27 July 2023]; DOI: [10.1109/IV55152.2023.10186567]
Multi-Modal Retrieval For Large Language Model Based Speech Recognition
Venue: arXiv cs.CL 2024
Year: 2024

Retrieval is a widely adopted approach for improving language models leveraging external information. As the field moves towards multi-modal large language models, it is important to extend the pure text based methods to incorporate other modalities in retrieval as well for applications across the wide spectrum of machine learning tasks and data types. In this work, we propose multi-modal retrieval with two approaches: kNN-LM and cross-attention techniques. We demonstrate the effectiveness of our retrieval approaches empirically by applying them to automatic speech recognition tasks with access to external information. Under this setting, we show that speech-based multi-modal retrieval outperforms text based retrieval, and yields up to 50 % improvement in word error rate over the multi-modal language model baseline. Furthermore, we achieve state-of-the-art recognition results on the Spoken-Squad question answering dataset.
GPT-Fabric: Smoothing and Folding Fabric by Leveraging Pre-Trained Foundation Models
Venue: arXiv cs.RO 2024
Year: 2024

Fabric manipulation has applications in folding blankets, handling patient clothing, and protecting items with covers. It is challenging for robots to perform fabric manipulation since fabrics have infinite-dimensional configuration spaces, complex dynamics, and may be in folded or crumpled configurations with severe self-occlusions. Prior work on robotic fabric manipulation relies either on heavily engineered setups or learning-based approaches that create and train on robot-fabric interaction data. In this paper, we propose GPT-Fabric for the canonical tasks of fabric smoothing and folding, where GPT directly outputs an action informing a robot where to grasp and pull a fabric. We perform extensive experiments in simulation to test GPT-Fabric against prior methods for smoothing and folding. GPT-Fabric matches the state-of-the-art in fabric smoothing, and also achieves comparable performance with most prior fabric folding methods tested, even without explicitly training on a fabric-specific dataset (i.e., zero-shot manipulation). Furthermore, we apply GPT-Fabric in physical experiments over 10 smoothing and 12 folding rollouts. Our results suggest that GPT-Fabric is a promising approach for high-precision fabric manipulation tasks
SquirrelFS: using the Rust compiler to check file-system crash consistency
Venue: arXiv cs.OS 2024
Year: 2024

This work introduces a new approach to building crash-safe file systems for persistent memory. We exploit the fact that Rust's typestate pattern allows compile-time enforcement of a specific order of operations. We introduce a novel crash-consistency mechanism, Synchronous Soft Updates, that boils down crash safety to enforcing ordering among updates to file-system metadata. We employ this approach to build SquirrelFS, a new file system with crash-consistency guarantees that are checked at compile time. SquirrelFS avoids the need for separate proofs, instead incorporating correctness guarantees into the typestate itself. Compiling SquirrelFS only takes tens of seconds; successful compilation indicates crash consistency, while an error provides a starting point for fixing the bug. We evaluate SquirrelFS against state of the art file systems such as NOVA and WineFS, and find that SquirrelFS achieves similar or better performance on a wide range of benchmarks and applications.
SAGA: Synthesis Augmentation with Genetic Algorithms for In-Memory Sequence Optimization
Venue: arXiv cs.NE 2024
Year: 2024

The von-Neumann architecture has a bottleneck which limits the speed at which data can be made available for computation. To combat this problem, novel paradigms for computing are being developed. One such paradigm, known as in-memory computing, interleaves computation with the storage of data within the same circuits. MAGIC, or Memristor Aided Logic, is an approach which uses memory circuits which physically perform computation through write operations to memory. Sequencing these operations is a computationally difficult problem which is directly correlated with the cost of solutions using MAGIC based in-memory computation. SAGA models the execution sequences as a topological sorting problem which makes the optimization well-suited for genetic algorithms. We then detail the formation and implementation of these genetic algorithms and evaluate them over a number of open circuit implementations. The memory-footprint needed for evaluating each of these circuits is decreased by up to 52% from existing, greedy-algorithm-based optimization solutions. Over the 10 benchmark circuits evaluated, these modifications lead to an overall improvement in the efficiency of in-memory circuit evaluation of 128% in the best case and 27.5% on average.
Explainable AI for Comparative Analysis of Intrusion Detection Models
Venue: arXiv cs.LG 2024
Year: 2024

Explainable Artificial Intelligence (XAI) has become a widely discussed topic, the related technologies facilitate better understanding of conventional black-box models like Random Forest, Neural Networks and etc. However, domain-specific applications of XAI are still insufficient. To fill this gap, this research analyzes various machine learning models to the tasks of binary and multi-class classification for intrusion detection from network traffic on the same dataset using occlusion sensitivity. The models evaluated include Linear Regression, Logistic Regression, Linear Support Vector Machine (SVM), K-Nearest Neighbors (KNN), Random Forest, Decision Trees, and Multi-Layer Perceptrons (MLP). We trained all models to the accuracy of 90\% on the UNSW-NB15 Dataset. We found that most classifiers leverage only less than three critical features to achieve such accuracies, indicating that effective feature engineering could actually be far more important for intrusion detection than applying complicated models. We also discover that Random Forest provides the best performance in terms of accuracy, time efficiency and robustness. Data and code available at https://github.com/pcwhy/XML-IntrusionDetection.git
AnimalFormer: Multimodal Vision Framework for Behavior-based Precision Livestock Farming
Venue: arXiv cs.CV 2024
Year: 2024

We introduce a multimodal vision framework for precision livestock farming, harnessing the power of GroundingDINO, HQSAM, and ViTPose models. This integrated suite enables comprehensive behavioral analytics from video data without invasive animal tagging. GroundingDINO generates accurate bounding boxes around livestock, while HQSAM segments individual animals within these boxes. ViTPose estimates key body points, facilitating posture and movement analysis. Demonstrated on a sheep dataset with grazing, running, sitting, standing, and walking activities, our framework extracts invaluable insights: activity and grazing patterns, interaction dynamics, and detailed postural evaluations. Applicable across species and video resolutions, this framework revolutionizes non-invasive livestock monitoring for activity detection, counting, health assessments, and posture analyses. It empowers data-driven farm management, optimizing animal welfare and productivity through AI-powered behavioral understanding.
Unified Gaussian Primitives for Scene Representation and Rendering
Venue: arXiv cs.GR 2024
Year: 2024

Searching for a unified scene representation remains a research challenge in computer graphics. Traditional mesh-based representations are unsuitable for dense, fuzzy elements, and introduce additional complexity for filtering and differentiable rendering. Conversely, voxel-based representations struggle to model hard surfaces and suffer from intensive memory requirement. We propose a general-purpose rendering primitive based on 3D Gaussian distribution for unified scene representation, featuring versatile appearance ranging from glossy surfaces to fuzzy elements, as well as physically based scattering to enable accurate global illumination. We formulate the rendering theory for the primitive based on non-exponential transport and derive efficient rendering operations to be compatible with Monte Carlo path tracing. The new representation can be converted from different sources, including meshes and 3D Gaussian splatting, and further refined via transmittance optimization thanks to its differentiability. We demonstrate the versatility of our representation in various rendering applications such as global illumination and appearance editing, while supporting arbitrary lighting conditions by nature. Additionally, we compare our representation to existing volumetric representations, highlighting its efficiency to reproduce details.
Decoupling Forgery Semantics for Generalizable Deepfake Detection
Venue: arXiv cs.CV 2024
Year: 2024

In this paper, we propose a novel method for detecting DeepFakes, enhancing the generalization of detection through semantic decoupling. There are now multiple DeepFake forgery technologies that not only possess unique forgery semantics but may also share common forgery semantics. The unique forgery semantics and irrelevant content semantics may promote over-fitting and hamper generalization for DeepFake detectors. For our proposed method, after decoupling, the common forgery semantics could be extracted from DeepFakes, and subsequently be employed for developing the generalizability of DeepFake detectors. Also, to pursue additional generalizability, we designed an adaptive high-pass module and a two-stage training strategy to improve the independence of decoupled semantics. Evaluation on FF++, Celeb-DF, DFD, and DFDC datasets showcases our method's excellent detection and generalization performance. Code is available at: https://github.com/leaffeall/DFS-GDD.
IFA: Interaction Fidelity Attention for Entire Lifelong Behaviour Sequence Modeling
Venue: arXiv cs.IR 2024
Year: 2024

The lifelong user behavior sequence provides abundant information of user preference and gains impressive improvement in the recommendation task, however increases computational consumption significantly. To meet the severe latency requirement in online service, a short sub-sequence is sampled based on similarity to the target item. Unfortunately, items not in the sub-sequence are abandoned, leading to serious information loss. In this paper, we propose a new efficient paradigm to model the full lifelong sequence, which is named as \textbf{I}nteraction \textbf{F}idelity \textbf{A}ttention (\textbf{IFA}). In IFA, we input all target items in the candidate set into the model at once, and leverage linear transformer to reduce the time complexity of the cross attention between the candidate set and the sequence without any interaction information loss. We also additionally model the relationship of all target items for optimal set generation, and design loss function for better consistency of training and inference. We demonstrate the effectiveness and efficiency of our model by off-line and online experiments in the recommender system of Kuaishou.
How Does Distribution Matching Help Domain Generalization: An Information-theoretic Analysis
Venue: arXiv cs.LG 2024
Year: 2024

Domain generalization aims to learn invariance across multiple training domains, thereby enhancing generalization against out-of-distribution data. While gradient or representation matching algorithms have achieved remarkable success, these methods generally lack generalization guarantees or depend on strong assumptions, leaving a gap in understanding the underlying mechanism of distribution matching. In this work, we formulate domain generalization from a novel probabilistic perspective, ensuring robustness while avoiding overly conservative solutions. Through comprehensive information-theoretic analysis, we provide key insights into the roles of gradient and representation matching in promoting generalization. Our results reveal the complementary relationship between these two components, indicating that existing works focusing solely on either gradient or representation alignment are insufficient to solve the domain generalization problem. In light of these theoretical findings, we introduce IDM to simultaneously align the inter-domain gradients and representations. Integrated with the proposed PDM method for complex distribution matching, IDM achieves superior performance over various baseline methods.
Implementing a Machine Learning Deformer for CG Crowds: Our Journey
Venue: arXiv cs.GR 2024
Year: 2024

CG crowds have become increasingly popular this last decade in the VFX and animation industry: formerly reserved to only a few high end studios and blockbusters, they are now widely used in TV shows or commercials. Yet, there is still one major limitation: in order to be ingested properly in crowd software, studio rigs have to comply with specific prerequisites, especially in terms of deformations. Usually only skinning, blend shapes and geometry caches are supported preventing close-up shots with facial performances on crowd characters. We envisioned two approaches to tackle this: either reverse engineer the hundreds of deformer nodes available in the major DCCs/plugins and incorporate them in our crowd package, or surf the machine learning wave to compress the deformations of a rig using a neural network architecture. Considering we could not commit 5+ man/years of development into this problem, and that we were excited to dip our toes in the machine learning pool, we went for the latter. From our first tests to a minimum viable product, we went through hopes and disappointments: we hit multiple pitfalls, took false shortcuts and dead ends before reaching our destination. With this paper, we hope to provide a valuable feedback by sharing the lessons we learnt from this experience.
Sailing in high-dimensional spaces: Low-dimensional embeddings through angle preservation
Venue: arXiv cs.LG 2024
Year: 2024

Low-dimensional embeddings (LDEs) of high-dimensional data are ubiquitous in science and engineering. They allow us to quickly understand the main properties of the data, identify outliers and processing errors, and inform the next steps of data analysis. As such, LDEs have to be faithful to the original high-dimensional data, i.e., they should represent the relationships that are encoded in the data, both at a local as well as global scale. The current generation of LDE approaches focus on reconstructing local distances between any pair of samples correctly, often out-performing traditional approaches aiming at all distances. For these approaches, global relationships are, however, usually strongly distorted, often argued to be an inherent trade-off between local and global structure learning for embeddings. We suggest a new perspective on LDE learning, reconstructing angles between data points. We show that this approach, Mercat, yields good reconstruction across a diverse set of experiments and metrics, and preserve structures well across all scales. Compared to existing work, our approach also has a simple formulation, facilitating future theoretical analysis and algorithmic improvements.
dGrasp: NeRF-Informed Implicit Grasp Policies with Supervised Optimization Slopes
Venue: arXiv cs.RO 2024
Year: 2024

We present dGrasp, an implicit grasp policy with an enhanced optimization landscape. This landscape is defined by a NeRF-informed grasp value function. The neural network representing this function is trained on simulated grasp demonstrations. During training, we use an auxiliary loss to guide not only the weight updates of this network but also the update how the slope of the optimization landscape changes. This loss is computed on the demonstrated grasp trajectory and the gradients of the landscape. With second order optimization, we incorporate valuable information from the trajectory as well as facilitate the optimization process of the implicit policy. Experiments demonstrate that employing this auxiliary loss improves policies' performance in simulation as well as their zero-shot transfer to the real-world.
A Better LLM Evaluator for Text Generation: The Impact of Prompt Output Sequencing and Optimization
Venue: arXiv cs.CL 2024
Year: 2024

This research investigates prompt designs of evaluating generated texts using large language models (LLMs). While LLMs are increasingly used for scoring various inputs, creating effective prompts for open-ended text evaluation remains challenging due to model sensitivity and subjectivity in evaluation of text generation. Our study experimented with different prompt structures, altering the sequence of output instructions and including explanatory reasons. We found that the order of presenting reasons and scores significantly influences LLMs' scoring, with a different level of rule understanding in the prompt. An additional optimization may enhance scoring alignment if sufficient data is available. This insight is crucial for improving the accuracy and consistency of LLM-based evaluations.
Robust Model-Based Reinforcement Learning with an Adversarial Auxiliary Model
Venue: arXiv cs.LG 2024
Year: 2024

Reinforcement learning has demonstrated impressive performance in various challenging problems such as robotics, board games, and classical arcade games. However, its real-world applications can be hindered by the absence of robustness and safety in the learned policies. More specifically, an RL agent that trains in a certain Markov decision process (MDP) often struggles to perform well in nearly identical MDPs. To address this issue, we employ the framework of Robust MDPs (RMDPs) in a model-based setting and introduce a novel learned transition model. Our method specifically incorporates an auxiliary pessimistic model, updated adversarially, to estimate the worst-case MDP within a Kullback-Leibler uncertainty set. In comparison to several existing works, our work does not impose any additional conditions on the training environment, such as the need for a parametric simulator. To test the effectiveness of the proposed pessimistic model in enhancing policy robustness, we integrate it into a practical RL algorithm, called Robust Model-Based Policy Optimization (RMBPO). Our experimental results indicate a notable improvement in policy robustness on high-dimensional MuJoCo control tasks, with the auxiliary model enhancing the performance of the learned policy in distorted MDPs. We further explore the learned deviation between the proposed auxiliary world model and the nominal model, to examine how pessimism is achieved. By learning a pessimistic world model and demonstrating its role in improving policy robustness, our research contributes towards making (model-based) RL more robust.
Self-Supervised and Few-Shot Learning for Robust Bioaerosol Monitoring
Venue: arXiv cs.LG 2024
Year: 2024

Real-time bioaerosol monitoring is improving the quality of life for people affected by allergies, but it often relies on deep-learning models which pose challenges for widespread adoption. These models are typically trained in a supervised fashion and require considerable effort to produce large amounts of annotated data, an effort that must be repeated for new particles, geographical regions, or measurement systems. In this work, we show that self-supervised learning and few-shot learning can be combined to classify holographic images of bioaerosol particles using a large collection of unlabelled data and only a few examples for each particle type. We first demonstrate that self-supervision on pictures of unidentified particles from ambient air measurements enhances identification even when labelled data is abundant. Most importantly, it greatly improves few-shot classification when only a handful of labelled images are available. Our findings suggest that real-time bioaerosol monitoring workflows can be substantially optimized, and the effort required to adapt models for different situations considerably reduced.
Global Crop-Specific Fertilization Dataset from 1961-2019
Venue: arXiv cs.CE 2024
Year: 2024

As global fertilizer application rates increase, high-quality datasets are paramount for comprehensive analyses to support informed decision-making and policy formulation in crucial areas such as food security or climate change. This study aims to fill existing data gaps by employing two machine learning models, eXtreme Gradient Boosting and HistGradientBoosting algorithms to produce precise country-level predictions of nitrogen ($N$), phosphorus pentoxide ($P_2O_5$), and potassium oxide ($K_2O$) application rates. Subsequently, we created a comprehensive dataset of 5-arcmin resolution maps depicting the application rates of each fertilizer for 13 major crop groups from 1961 to 2019. The predictions were validated by both comparing with existing databases and by assessing the drivers of fertilizer application rates using the model's SHapley Additive exPlanations. This extensive dataset is poised to be a valuable resource for assessing fertilization trends, identifying the socioeconomic, agricultural, and environmental drivers of fertilizer application rates, and serving as an input for various applications, including environmental modeling, causal analysis, fertilizer price predictions, and forecasting.