OpenRaiser/Intern-Atlas huggingface dataset:
Human Stress Response and Perceived Safety during Encounters with Quadruped Robots
Venue: arXiv cs.RO 2024
Year: 2024

Despite the rise of mobile robot deployments in home and work settings, perceived safety of users and bystanders is understudied in the human-robot interaction (HRI) literature. To address this, we present a study designed to identify elements of a human-robot encounter that correlate with observed stress response. Stress is a key component of perceived safety and is strongly associated with human physiological response. In this study a Boston Dynamics Spot and a Unitree Go1 navigate autonomously through a shared environment occupied by human participants wearing multimodal physiological sensors to track their electrocardiography (ECG) and electrodermal activity (EDA). The encounters are varied through several trials and participants self-rate their stress levels after each encounter. The study resulted in a multidimensional dataset archiving various objective and subjective aspects of a human-robot encounter, containing insights for understanding perceived safety in such encounters. To this end, acute stress responses were decoded from the human participants' ECG and EDA and compared across different human-robot encounter conditions. Statistical analysis of data indicate that on average (1) participants feel more stress during encounters compared to baselines, (2) participants feel more stress encountering multiple robots compared to a single robot and (3) participants stress increases during navigation behavior compared with search behavior.
The Pursuit of Fairness in Artificial Intelligence Models: A Survey
Venue: arXiv cs.AI 2024
Year: 2024

Artificial Intelligence (AI) models are now being utilized in all facets of our lives such as healthcare, education and employment. Since they are used in numerous sensitive environments and make decisions that can be life altering, potential biased outcomes are a pressing matter. Developers should ensure that such models don't manifest any unexpected discriminatory practices like partiality for certain genders, ethnicities or disabled people. With the ubiquitous dissemination of AI systems, researchers and practitioners are becoming more aware of unfair models and are bound to mitigate bias in them. Significant research has been conducted in addressing such issues to ensure models don't intentionally or unintentionally perpetuate bias. This survey offers a synopsis of the different ways researchers have promoted fairness in AI systems. We explore the different definitions of fairness existing in the current literature. We create a comprehensive taxonomy by categorizing different types of bias and investigate cases of biased AI in different application domains. A thorough study is conducted of the approaches and techniques employed by researchers to mitigate bias in AI models. Moreover, we also delve into the impact of biased models on user experience and the ethical considerations to contemplate when developing and deploying such models. We hope this survey helps researchers and practitioners understand the intricate details of fairness and bias in AI systems. By sharing this thorough survey, we aim to promote additional discourse in the domain of equitable and responsible AI.
Disambiguate Entity Matching using Large Language Models through Relation Discovery
Venue: arXiv cs.DB 2024
Year: 2024

Entity matching is a critical challenge in data integration and cleaning, central to tasks like fuzzy joins and deduplication. Traditional approaches have focused on overcoming fuzzy term representations through methods such as edit distance, Jaccard similarity, and more recently, embeddings and deep neural networks, including advancements from large language models (LLMs) like GPT. However, the core challenge in entity matching extends beyond term fuzziness to the ambiguity in defining what constitutes a "match," especially when integrating with external databases. This ambiguity arises due to varying levels of detail and granularity among entities, complicating exact matches. We propose a novel approach that shifts focus from purely identifying semantic similarities to understanding and defining the "relations" between entities as crucial for resolving ambiguities in matching. By predefining a set of relations relevant to the task at hand, our method allows analysts to navigate the spectrum of similarity more effectively, from exact matches to conceptually related entities.
Theoretical Analysis of Quality of Conventional Beamforming for Phased Microphone Arrays
Venue: arXiv cs.SD 2024
Year: 2024

A theoretical study is performed to analyze the directional response of different types of microphone array designs. 1-D (linear) and 2-D (planar) microphone array types are considered, and the delay and sum beamforming and conventional beamforming techniques are employed to localize the sound source. A non-dimensional parameter, G, is characterized to simplify and standardize the rejection performance of both 1-D and 2-D microphone arrays as a function of array geometry and sound source parameters. This parameter G is then used to determine an improved design of a 2-D microphone array for far-field sound localization. One such design, termed the Equi-area array is introduced and analyzed in detail. The design is shown to have an advantageous rejection performance compared to other conventionally used 2-D planar microphone arrays.
Low-Latency Neural Speech Phase Prediction based on Parallel Estimation Architecture and Anti-Wrapping Losses for Speech Generation Tasks
Venue: arXiv cs.SD 2024
Year: 2024

This paper presents a novel neural speech phase prediction model which predicts wrapped phase spectra directly from amplitude spectra. The proposed model is a cascade of a residual convolutional network and a parallel estimation architecture. The parallel estimation architecture is a core module for direct wrapped phase prediction. This architecture consists of two parallel linear convolutional layers and a phase calculation formula, imitating the process of calculating the phase spectra from the real and imaginary parts of complex spectra and strictly restricting the predicted phase values to the principal value interval. To avoid the error expansion issue caused by phase wrapping, we design anti-wrapping training losses defined between the predicted wrapped phase spectra and natural ones by activating the instantaneous phase error, group delay error and instantaneous angular frequency error using an anti-wrapping function. We mathematically demonstrate that the anti-wrapping function should possess three properties, namely parity, periodicity and monotonicity. We also achieve low-latency streamable phase prediction by combining causal convolutions and knowledge distillation training strategies. For both analysis-synthesis and specific speech generation tasks, experimental results show that our proposed neural speech phase prediction model outperforms the iterative phase estimation algorithms and neural network-based phase prediction methods in terms of phase prediction precision, efficiency and robustness. Compared with HiFi-GAN-based waveform reconstruction method, our proposed model also shows outstanding efficiency advantages while ensuring the quality of synthesized speech. To the best of our knowledge, we are the first to directly predict speech phase spectra from amplitude spectra only via neural networks.
Exploring and Applying Audio-Based Sentiment Analysis in Music
Venue: arXiv cs.SD 2024
Year: 2024

Sentiment analysis is a continuously explored area of text processing that deals with the computational analysis of opinions, sentiments, and subjectivity of text. However, this idea is not limited to text and speech, in fact, it could be applied to other modalities. In reality, humans do not express themselves in text as deeply as they do in music. The ability of a computational model to interpret musical emotions is largely unexplored and could have implications and uses in therapy and musical queuing. In this paper, two individual tasks are addressed. This study seeks to (1) predict the emotion of a musical clip over time and (2) determine the next emotion value after the music in a time series to ensure seamless transitions. Utilizing data from the Emotions in Music Database, which contains clips of songs selected from the Free Music Archive annotated with levels of valence and arousal as reported on Russel's circumplex model of affect by multiple volunteers, models are trained for both tasks. Overall, the performance of these models reflected that they were able to perform the tasks they were designed for effectively and accurately.
SSF3D: Strict Semi-Supervised 3D Object Detection with Switching Filter
Venue: arXiv cs.CV 2024
Year: 2024

SSF3D modified the semi-supervised 3D object detection (SS3DOD) framework, which designed specifically for point cloud data. Leveraging the characteristics of non-coincidence and weak correlation of target objects in point cloud, we adopt a strategy of retaining only the truth-determining pseudo labels and trimming the other fuzzy labels with points, instead of pursuing a balance between the quantity and quality of pseudo labels. Besides, we notice that changing the filter will make the model meet different distributed targets, which is beneficial to break the training bottleneck. Two mechanism are introduced to achieve above ideas: strict threshold and filter switching. The experiments are conducted to analyze the effectiveness of above approaches and their impact on the overall performance of the system. Evaluating on the KITTI dataset, SSF3D exhibits superior performance compared to the current state-of-the-art methods. The code will be released here.
An Open-source End-to-End Logic Optimization Framework for Large-scale Boolean Network with Reinforcement Learning
Venue: arXiv cs.AI 2024
Year: 2024

We propose an open-source end-to-end logic optimization framework for large-scale boolean network with reinforcement learning.
On permutation-invariant neural networks
Venue: arXiv cs.LG 2024
Year: 2024

Conventional machine learning algorithms have traditionally been designed under the assumption that input data follows a vector-based format, with an emphasis on vector-centric paradigms. However, as the demand for tasks involving set-based inputs has grown, there has been a paradigm shift in the research community towards addressing these challenges. In recent years, the emergence of neural network architectures such as Deep Sets and Transformers has presented a significant advancement in the treatment of set-based data. These architectures are specifically engineered to naturally accommodate sets as input, enabling more effective representation and processing of set structures. Consequently, there has been a surge of research endeavors dedicated to exploring and harnessing the capabilities of these architectures for various tasks involving the approximation of set functions. This comprehensive survey aims to provide an overview of the diverse problem settings and ongoing research efforts pertaining to neural networks that approximate set functions. By delving into the intricacies of these approaches and elucidating the associated challenges, the survey aims to equip readers with a comprehensive understanding of the field. Through this comprehensive perspective, we hope that researchers can gain valuable insights into the potential applications, inherent limitations, and future directions of set-based neural networks. Indeed, from this survey we gain two insights: i) Deep Sets and its variants can be generalized by differences in the aggregation function, and ii) the behavior of Deep Sets is sensitive to the choice of the aggregation function. From these observations, we show that Deep Sets, one of the well-known permutation-invariant neural networks, can be generalized in the sense of a quasi-arithmetic mean.
Five-fingered Hand with Wide Range of Thumb Using Combination of Machined Springs and Variable Stiffness Joints
Venue: arXiv cs.RO 2024
Year: 2024

Human hands can not only grasp objects of various shape and size and manipulate them in hands but also exert such a large gripping force that they can support the body in the situations such as dangling a bar and climbing a ladder. On the other hand, it is difficult for most robot hands to manage both. Therefore in this paper we developed the hand which can grasp various objects and exert large gripping force. To develop such hand, we focused on the thumb CM joint with wide range of motion and the MP joints of four fingers with the DOF of abduction and adduction. Based on the hand with large gripping force and flexibility using machined spring, we applied above mentioned joint mechanism to the hand. The thumb CM joint has wide range of motion because of the combination of three machined springs and MP joints of four fingers have variable rigidity mechanism instead of driving each joint independently in order to move joint in limited space and by limited actuators. Using the developed hand, we achieved the grasping of various objects, supporting a large load and several motions with an arm.
Document Set Expansion with Positive-Unlabelled Learning Using Intractable Density Estimation
Venue: arXiv cs.IR 2024
Year: 2024

The Document Set Expansion (DSE) task involves identifying relevant documents from large collections based on a limited set of example documents. Previous research has highlighted Positive and Unlabeled (PU) learning as a promising approach for this task. However, most PU methods rely on the unrealistic assumption of knowing the class prior for positive samples in the collection. To address this limitation, this paper introduces a novel PU learning framework that utilizes intractable density estimation models. Experiments conducted on PubMed and Covid datasets in a transductive setting showcase the effectiveness of the proposed method for DSE. Code is available from https://github.com/Beautifuldog01/Document-set-expansion-puDE.
Correlation of Fréchet Audio Distance With Human Perception of Environmental Audio Is Embedding Dependant
Venue: arXiv cs.SD 2024
Year: 2024

This paper explores whether considering alternative domain-specific embeddings to calculate the Fréchet Audio Distance (FAD) metric can help the FAD to correlate better with perceptual ratings of environmental sounds. We used embeddings from VGGish, PANNs, MS-CLAP, L-CLAP, and MERT, which are tailored for either music or environmental sound evaluation. The FAD scores were calculated for sounds from the DCASE 2023 Task 7 dataset. Using perceptual data from the same task, we find that PANNs-WGM-LogMel produces the best correlation between FAD scores and perceptual ratings of both audio quality and perceived fit with a Spearman correlation higher than 0.5. We also find that music-specific embeddings resulted in significantly lower results. Interestingly, VGGish, the embedding used for the original Fréchet calculation, yielded a correlation below 0.1. These results underscore the critical importance of the choice of embedding for the FAD metric design.
Provably Secure Disambiguating Neural Linguistic Steganography
Venue: arXiv cs.CR 2024
Year: 2024

Recent research in provably secure neural linguistic steganography has overlooked a crucial aspect: the sender must detokenize stegotexts to avoid raising suspicion from the eavesdropper. The segmentation ambiguity problem, which arises when using language models based on subwords, leads to occasional decoding failures in all neural language steganography implementations based on these models. Current solutions to this issue involve altering the probability distribution of candidate words, rendering them incompatible with provably secure steganography. We propose a novel secure disambiguation method named SyncPool, which effectively addresses the segmentation ambiguity problem. We group all tokens with prefix relationships in the candidate pool before the steganographic embedding algorithm runs to eliminate uncertainty among ambiguous tokens. To enable the receiver to synchronize the sampling process of the sender, a shared cryptographically-secure pseudorandom number generator (CSPRNG) is deployed to select a token from the ambiguity pool. SyncPool does not change the size of the candidate pool or the distribution of tokens and thus is applicable to provably secure language steganography methods. We provide theoretical proofs and experimentally demonstrate the applicability of our solution to various languages and models, showing its potential to significantly improve the reliability and security of neural linguistic steganography systems.
Boosting Few-Shot Learning with Disentangled Self-Supervised Learning and Meta-Learning for Medical Image Classification
Venue: arXiv cs.CV 2024
Year: 2024

Background and objective: Employing deep learning models in critical domains such as medical imaging poses challenges associated with the limited availability of training data. We present a strategy for improving the performance and generalization capabilities of models trained in low-data regimes. Methods: The proposed method starts with a pre-training phase, where features learned in a self-supervised learning setting are disentangled to improve the robustness of the representations for downstream tasks. We then introduce a meta-fine-tuning step, leveraging related classes between meta-training and meta-testing phases but varying the granularity level. This approach aims to enhance the model's generalization capabilities by exposing it to more challenging classification tasks during meta-training and evaluating it on easier tasks but holding greater clinical relevance during meta-testing. We demonstrate the effectiveness of the proposed approach through a series of experiments exploring several backbones, as well as diverse pre-training and fine-tuning schemes, on two distinct medical tasks, i.e., classification of prostate cancer aggressiveness from MRI data and classification of breast cancer malignity from microscopic images. Results: Our results indicate that the proposed approach consistently yields superior performance w.r.t. ablation experiments, maintaining competitiveness even when a distribution shift between training and evaluation data occurs. Conclusion: Extensive experiments demonstrate the effectiveness and wide applicability of the proposed approach. We hope that this work will add another solution to the arsenal of addressing learning issues in data-scarce imaging domains.
Practical Applications of Advanced Cloud Services and Generative AI Systems in Medical Image Analysis
Venue: arXiv cs.AI 2024
Year: 2024

The medical field is one of the important fields in the application of artificial intelligence technology. With the explosive growth and diversification of medical data, as well as the continuous improvement of medical needs and challenges, artificial intelligence technology is playing an increasingly important role in the medical field. Artificial intelligence technologies represented by computer vision, natural language processing, and machine learning have been widely penetrated into diverse scenarios such as medical imaging, health management, medical information, and drug research and development, and have become an important driving force for improving the level and quality of medical services.The article explores the transformative potential of generative AI in medical imaging, emphasizing its ability to generate syntheticACM-2 data, enhance images, aid in anomaly detection, and facilitate image-to-image translation. Despite challenges like model complexity, the applications of generative models in healthcare, including Med-PaLM 2 technology, show promising results. By addressing limitations in dataset size and diversity, these models contribute to more accurate diagnoses and improved patient outcomes. However, ethical considerations and collaboration among stakeholders are essential for responsible implementation. Through experiments leveraging GANs to augment brain tumor MRI datasets, the study demonstrates how generative AI can enhance image quality and diversity, ultimately advancing medical diagnostics and patient care.
SPES: Towards Optimizing Performance-Resource Trade-Off for Serverless Functions
Venue: arXiv cs.SE 2024
Year: 2024

As an emerging cloud computing deployment paradigm, serverless computing is gaining traction due to its efficiency and ability to harness on-demand cloud resources. However, a significant hurdle remains in the form of the cold start problem, causing latency when launching new function instances from scratch. Existing solutions tend to use over-simplistic strategies for function pre-loading/unloading without full invocation pattern exploitation, rendering unsatisfactory optimization of the trade-off between cold start latency and resource waste. To bridge this gap, we propose SPES, the first differentiated scheduler for runtime cold start mitigation by optimizing serverless function provision. Our insight is that the common architecture of serverless systems prompts the concentration of certain invocation patterns, leading to predictable invocation behaviors. This allows us to categorize functions and pre-load/unload proper function instances with finer-grained strategies based on accurate invocation prediction. Experiments demonstrate the success of SPES in optimizing serverless function provision on both sides: reducing the 75th-percentile cold start rates by 49.77% and the wasted memory time by 56.43%, compared to the state-of-the-art. By mitigating the cold start issue, SPES is a promising advancement in facilitating cloud services deployed on serverless architectures.
Coimagining the Future of Voice Assistants with Cultural Sensitivity
Venue: arXiv cs.HC 2024
Year: 2024

Voice assistants (VAs) are becoming a feature of our everyday life. Yet, the user experience (UX) is often limited, leading to underuse, disengagement, and abandonment. Co-designing interactions for VAs with potential end-users can be useful. Crowdsourcing this process online and anonymously may add value. However, most work has been done in the English-speaking West on dialogue data sets. We must be sensitive to cultural differences in language, social interactions, and attitudes towards technology. Our aims were to explore the value of co-designing VAs in the non-Western context of Japan and demonstrate the necessity of cultural sensitivity. We conducted an online elicitation study (N = 135) where Americans (n = 64) and Japanese people (n = 71) imagined dialogues (N = 282) and activities (N = 73) with future VAs. We discuss the implications for coimagining interactions with future VAs, offer design guidelines for the Japanese and English-speaking US contexts, and suggest opportunities for cultural plurality in VA design and scholarship.
Fully-fused Multi-Layer Perceptrons on Intel Data Center GPUs
Venue: arXiv cs.AI 2024
Year: 2024

This paper presents a SYCL implementation of Multi-Layer Perceptrons (MLPs), which targets and is optimized for the Intel Data Center GPU Max 1550. To increase the performance, our implementation minimizes the slow global memory accesses by maximizing the data reuse within the general register file and the shared local memory by fusing the operations in each layer of the MLP. We show with a simple roofline model that this results in a significant increase in the arithmetic intensity, leading to improved performance, especially for inference. We compare our approach to a similar CUDA implementation for MLPs and show that our implementation on the Intel Data Center GPU outperforms the CUDA implementation on Nvidia's H100 GPU by a factor up to 2.84 in inference and 1.75 in training. The paper also showcases the efficiency of our SYCL implementation in three significant areas: Image Compression, Neural Radiance Fields, and Physics-Informed Machine Learning. In all cases, our implementation outperforms the off-the-shelf Intel Extension for PyTorch (IPEX) implementation on the same Intel GPU by up to a factor of 30 and the CUDA PyTorch version on Nvidia's H100 GPU by up to a factor 19. The code can be found at https://github.com/intel/tiny-dpcpp-nn.