OpenRaiser/Intern-Atlas huggingface dataset:
GLIM: 3D Range-Inertial Localization and Mapping with GPU-Accelerated Scan Matching Factors
Venue: arXiv cs.RO 2024
Year: 2024

This article presents GLIM, a 3D range-inertial localization and mapping framework with GPU-accelerated scan matching factors. The odometry estimation module of GLIM employs a combination of fixed-lag smoothing and keyframe-based point cloud matching that makes it possible to deal with a few seconds of completely degenerated range data while efficiently reducing trajectory estimation drift. It also incorporates multi-camera visual feature constraints in a tightly coupled way to further improve the stability and accuracy. The global trajectory optimization module directly minimizes the registration errors between submaps over the entire map. This approach enables us to accurately constrain the relative pose between submaps with a small overlap. Although both the odometry estimation and global trajectory optimization algorithms require much more computation than existing methods, we show that they can be run in real-time due to the careful design of the registration error evaluation algorithm and the entire system to fully leverage GPU parallel processing.
Enhancing Long-Range Dependency with State Space Model and Kolmogorov-Arnold Networks for Aspect-Based Sentiment Analysis
Venue: arXiv cs.CL 2024
Year: 2024

Aspect-based Sentiment Analysis (ABSA) evaluates sentiments toward specific aspects of entities within the text. However, attention mechanisms and neural network models struggle with syntactic constraints. The quadratic complexity of attention mechanisms also limits their adoption for capturing long-range dependencies between aspect and opinion words in ABSA. This complexity can lead to the misinterpretation of irrelevant contextual words, restricting their effectiveness to short-range dependencies. To address the above problem, we present a novel approach to enhance long-range dependencies between aspect and opinion words in ABSA (MambaForGCN). This approach incorporates syntax-based Graph Convolutional Network (SynGCN) and MambaFormer (Mamba-Transformer) modules to encode input with dependency relations and semantic information. The Multihead Attention (MHA) and Selective State Space model (Mamba) blocks in the MambaFormer module serve as channels to enhance the model with short and long-range dependencies between aspect and opinion words. We also introduce the Kolmogorov-Arnold Networks (KANs) gated fusion, an adaptive feature representation system that integrates SynGCN and MambaFormer and captures non-linear, complex dependencies. Experimental results on three benchmark datasets demonstrate MambaForGCN's effectiveness, outperforming state-of-the-art (SOTA) baseline models.
LAB-Bench: Measuring Capabilities of Language Models for Biology Research
Venue: arXiv cs.AI 2024
Year: 2024

There is widespread optimism that frontier Large Language Models (LLMs) and LLM-augmented systems have the potential to rapidly accelerate scientific discovery across disciplines. Today, many benchmarks exist to measure LLM knowledge and reasoning on textbook-style science questions, but few if any benchmarks are designed to evaluate language model performance on practical tasks required for scientific research, such as literature search, protocol planning, and data analysis. As a step toward building such benchmarks, we introduce the Language Agent Biology Benchmark (LAB-Bench), a broad dataset of over 2,400 multiple choice questions for evaluating AI systems on a range of practical biology research capabilities, including recall and reasoning over literature, interpretation of figures, access and navigation of databases, and comprehension and manipulation of DNA and protein sequences. Importantly, in contrast to previous scientific benchmarks, we expect that an AI system that can achieve consistently high scores on the more difficult LAB-Bench tasks would serve as a useful assistant for researchers in areas such as literature search and molecular cloning. As an initial assessment of the emergent scientific task capabilities of frontier language models, we measure performance of several against our benchmark and report results compared to human expert biology researchers. We will continue to update and expand LAB-Bench over time, and expect it to serve as a useful tool in the development of automated research systems going forward. A public subset of LAB-Bench is available for use at the following URL: https://huggingface.co/datasets/futurehouse/lab-bench
The Perceived Learning Behaviors and Assessment Techniques of First-Year Students in Computer Science: An Empirical Study
Venue: arXiv cs.CY 2024
Year: 2024

The objective of our study is to ascertain the present learning behaviors, driving forces, and assessment techniques as perceived by first-year students, and to examine them through the lens of the most recent developments (pandemic, shift to remote instruction, return to in-person instruction). Educators and educational institutions can create a more accommodating learning environment that takes into account the varied needs and preferences of students by recognizing and implementing these findings, which will ultimately improve the quality of education as a whole. Students believe that in-person instruction is the most effective way to learn, with exercise-based learning, group instruction, and pair programming. Our research indicates that, for evaluation methods, there is a preference for practical and written examinations. Our findings also underscore the importance of incorporating real-world scenarios, encouraging interactive learning approaches, and creating engaging educational environments.
Two-Phase Channel Estimation for RIS-Aided Cell-Free Massive MIMO with Electromagnetic Interference
Venue: arXiv cs.IT 2024
Year: 2024

This work considers a reconfigurable intelligent surface (RIS)-aided cell-free massive multiple-input multiple-output (MIMO) system with RIS spatial correlation and electromagnetic interference (EMI). We propose a two-phase channel estimation scheme with fractional power control-aided pilot assignment to improve the estimation accuracy and system performance of RIS-aided cell-free massive MIMO systems. Additionally, we derive the closed-form expressions of the downlink spectral efficiency (SE) with conjugate beamforming to evaluate the impact of EMI among RIS elements on the system performance. Numerical results validate that the proposed two-phase scheme can compensate for the performance degradation caused by EMI in terms of estimation accuracy and downlink SE. Moreover, the benefits of introducing RISs and increasing access points (APs) are illustrated.
A Framework for QoS of Integration Testing in Satellite Edge Clouds
Venue: arXiv cs.SE 2024
Year: 2024

The diversification of satellite communication services imposes varied requirements on network service quality, making quality of service (QoS) testing for microservices running on satellites more complex. Existing testing tools have limitations, potentially offering only single-functionality testing, thus failing to meet the requirements of QoS testing for edge cloud services in mobile satellite scenarios. In this paper, we propose a framework for integrating quality of service testing in satellite edge clouds. More precisely, the framework can integrate changes in satellite network topology, create and manage satellite edge cloud cluster testing environments on heterogeneous edge devices, customize experiments for users, support deployment and scaling of various integrated testing tools, and publish and visualize test results. Our experimental results validate the framework's ability to test key service quality metrics in a satellite edge cloud cluster.
Latency Minimization for IRS-enhanced Wideband MEC Networks with Practical Reflection Model
Venue: arXiv cs.IT 2024
Year: 2024

Intelligent reflecting surface (IRS) has been considered as an efficient way to boost the computation capability of mobile edge computing (MEC) system, especially when the communication links is blocked or the communication signal is weak. However, most existing works are restricted to narrow-band channel and ideal IRS reflection model, which is not practical and may lead to significant performance degradation in realistic systems. To further exploit the benefits of IRS in MEC system, we consider an IRS-enhanced wideband MEC system with practical IRS reflection model. With the aim of minimizing the weighted latency of all devices, the offloading data volume, edge computing resource, BS's receiving vector, and IRS passive beamforming are jointly optimized. Since the formulated problem is non-convex, we employ the block coordinate descent (BCD) technique to decouple it into two subproblems for alternatively optimizing computing and communication settings. The effectiveness and convergence of the proposed algorithm are validate via numerical analyses. In addition, simulation results demonstrate that the proposed algorithm can achieve lower latency compared to that based on the ideal IRS reflection model, which confirms the necessary of considering practical model when designing an IRS-enhanced wideband MEC system.
Melon Fruit Detection and Quality Assessment Using Generative AI-Based Image Data Augmentation
Venue: arXiv cs.CV 2024
Year: 2024

Monitoring and managing the growth and quality of fruits are very important tasks. To effectively train deep learning models like YOLO for real-time fruit detection, high-quality image datasets are essential. However, such datasets are often lacking in agriculture. Generative AI models can help create high-quality images. In this study, we used MidJourney and Firefly tools to generate images of melon greenhouses and post-harvest fruits through text-to-image, pre-harvest image-to-image, and post-harvest image-to-image methods. We evaluated these AIgenerated images using PSNR and SSIM metrics and tested the detection performance of the YOLOv9 model. We also assessed the net quality of real and generated fruits. Our results showed that generative AI could produce images very similar to real ones, especially for post-harvest fruits. The YOLOv9 model detected the generated images well, and the net quality was also measurable. This shows that generative AI can create realistic images useful for fruit detection and quality assessment, indicating its great potential in agriculture. This study highlights the potential of AI-generated images for data augmentation in melon fruit detection and quality assessment and envisions a positive future for generative AI applications in agriculture.
Enhancing Building Safety Design for Active Shooter Incidents: Exploration of Building Exit Parameters using Reinforcement Learning-Based Simulations
Venue: arXiv cs.AI 2024
Year: 2024

With the alarming rise in active shooter incidents (ASIs) in the United States, enhancing public safety through building design has become a pressing need. This study proposes a reinforcement learning-based simulation approach addressing gaps in existing research that has neglected the dynamic behaviours of shooters. We developed an autonomous agent to simulate an active shooter within a realistic office environment, aiming to offer insights into the interactions between building design parameters and ASI outcomes. A case study is conducted to quantitatively investigate the impact of building exit numbers (total count of accessible exits) and configuration (arrangement of which exits are available or not) on evacuation and harm rates. Findings demonstrate that greater exit availability significantly improves evacuation outcomes and reduces harm. Exits nearer to the shooter's initial position hold greater importance for accessibility than those farther away. By encompassing dynamic shooter behaviours, this study offers preliminary insights into effective building safety design against evolving threats.
GROOT: Generating Robust Watermark for Diffusion-Model-Based Audio Synthesis
Venue: arXiv cs.CR 2024
Year: 2024

Amid the burgeoning development of generative models like diffusion models, the task of differentiating synthesized audio from its natural counterpart grows more daunting. Deepfake detection offers a viable solution to combat this challenge. Yet, this defensive measure unintentionally fuels the continued refinement of generative models. Watermarking emerges as a proactive and sustainable tactic, preemptively regulating the creation and dissemination of synthesized content. Thus, this paper, as a pioneer, proposes the generative robust audio watermarking method (Groot), presenting a paradigm for proactively supervising the synthesized audio and its source diffusion models. In this paradigm, the processes of watermark generation and audio synthesis occur simultaneously, facilitated by parameter-fixed diffusion models equipped with a dedicated encoder. The watermark embedded within the audio can subsequently be retrieved by a lightweight decoder. The experimental results highlight Groot's outstanding performance, particularly in terms of robustness, surpassing that of the leading state-of-the-art methods. Beyond its impressive resilience against individual post-processing attacks, Groot exhibits exceptional robustness when facing compound attacks, maintaining an average watermark extraction accuracy of around 95%.
Strategic Dominance: A New Preorder for Nondeterministic Processes
Venue: arXiv cs.LO 2024
Year: 2024

We study the following refinement relation between nondeterministic state-transition models: model B strategically dominates model A iff every deterministic refinement of A is language contained in some deterministic refinement of B. While language containment is trace inclusion, and the (fair) simulation preorder coincides with tree inclusion, strategic dominance falls strictly between the two and can be characterized as "strategy inclusion" between A and B: every strategy that resolves the nondeterminism of A is dominated by a strategy that resolves the nondeterminism of B. Strategic dominance can be checked in 2-ExpTime by a decidable first-order Presburger logic with quantification over words and strategies, called resolver logic. We give several other applications of resolver logic, including checking the co-safety, co-liveness, and history-determinism of boolean and quantitative automata, and checking the inclusion between hyperproperties that are specified by nondeterministic boolean and quantitative automata.
SuperPADL: Scaling Language-Directed Physics-Based Control with Progressive Supervised Distillation
Venue: arXiv cs.LG 2024
Year: 2024

Physically-simulated models for human motion can generate high-quality responsive character animations, often in real-time. Natural language serves as a flexible interface for controlling these models, allowing expert and non-expert users to quickly create and edit their animations. Many recent physics-based animation methods, including those that use text interfaces, train control policies using reinforcement learning (RL). However, scaling these methods beyond several hundred motions has remained challenging. Meanwhile, kinematic animation models are able to successfully learn from thousands of diverse motions by leveraging supervised learning methods. Inspired by these successes, in this work we introduce SuperPADL, a scalable framework for physics-based text-to-motion that leverages both RL and supervised learning to train controllers on thousands of diverse motion clips. SuperPADL is trained in stages using progressive distillation, starting with a large number of specialized experts using RL. These experts are then iteratively distilled into larger, more robust policies using a combination of reinforcement learning and supervised learning. Our final SuperPADL controller is trained on a dataset containing over 5000 skills and runs in real time on a consumer GPU. Moreover, our policy can naturally transition between skills, allowing for users to interactively craft multi-stage animations. We experimentally demonstrate that SuperPADL significantly outperforms RL-based baselines at this large data scale.
Lite2Relight: 3D-aware Single Image Portrait Relighting
Venue: arXiv cs.CV 2024
Year: 2024

Achieving photorealistic 3D view synthesis and relighting of human portraits is pivotal for advancing AR/VR applications. Existing methodologies in portrait relighting demonstrate substantial limitations in terms of generalization and 3D consistency, coupled with inaccuracies in physically realistic lighting and identity preservation. Furthermore, personalization from a single view is difficult to achieve and often requires multiview images during the testing phase or involves slow optimization processes. This paper introduces Lite2Relight, a novel technique that can predict 3D consistent head poses of portraits while performing physically plausible light editing at interactive speed. Our method uniquely extends the generative capabilities and efficient volumetric representation of EG3D, leveraging a lightstage dataset to implicitly disentangle face reflectance and perform relighting under target HDRI environment maps. By utilizing a pre-trained geometry-aware encoder and a feature alignment module, we map input images into a relightable 3D space, enhancing them with a strong face geometry and reflectance prior. Through extensive quantitative and qualitative evaluations, we show that our method outperforms the state-of-the-art methods in terms of efficacy, photorealism, and practical application. This includes producing 3D-consistent results of the full head, including hair, eyes, and expressions. Lite2Relight paves the way for large-scale adoption of photorealistic portrait editing in various domains, offering a robust, interactive solution to a previously constrained problem. Project page: https://vcai.mpi-inf.mpg.de/projects/Lite2Relight/
AirDnD -- Asynchronous In-Range Dynamic and Distributed Network Orchestration Framework
Venue: arXiv cs.SE 2024
Year: 2024

The increasing usage of IoT devices has generated an extensive volume of data which resulted in the establishment of data centers with well-structured computing infrastructure. Reducing underutilized resources of such data centers can be achieved by monitoring the tasks and offloading them across various compute units. This approach can also be used in mini mobile data ponds generated by edge devices and smart vehicles. This research aims to improve and utilize the usage of computing resources in distributed edge devices by forming a dynamic mesh network. The nodes in the mesh network shall share their computing tasks with another node that possesses unused computing resources. This proposed method ensures the minimization of data transfer between entities. The proposed AirDnD vision will be applied to a practical scenario relevant to an autonomous vehicle that approaches an intersection commonly known as ``looking around the corner'' in related literature, collecting essential computational results from nearby vehicles to enhance its perception. The proposed solution consists of three models that transform growing amounts of geographically distributed edge devices into a living organism.
Intelligent Urban Traffic Management via Semantic Interoperability across Multiple Heterogeneous Mobility Data Sources
Venue: arXiv cs.DB 2024
Year: 2024

The integrated exploitation of data sources in the mobility domain is key to providing added-value services to passengers, transport companies and authorities. Indeed, multiple stakeholders operate and maintain different kinds of data but several interoperability issues limit their effective usage. In this paper, we present an architecture enabled by Semantic Web technologies to overcome such issues and facilitate the development of an integrated solution for mobility stakeholders. The proposed solution is composed of different components that address challenges for enabling data interoperability, from the findability of data sources to their integrated consumption adopting standardised data formats. We report on the implementation and validation in four European cities of the TANGENT solution enabling data-driven tools for the dynamic management of multimodal traffic. Finally, we discuss the feedback received by users testing the solution and the lessons learnt during its development.
Understanding the Dependence of Perception Model Competency on Regions in an Image
Venue: arXiv cs.CV 2024
Year: 2024

While deep neural network (DNN)-based perception models are useful for many applications, these models are black boxes and their outputs are not yet well understood. To confidently enable a real-world, decision-making system to utilize such a perception model without human intervention, we must enable the system to reason about the perception model's level of competency and respond appropriately when the model is incompetent. In order for the system to make an intelligent decision about the appropriate action when the model is incompetent, it would be useful for the system to understand why the model is incompetent. We explore five novel methods for identifying regions in the input image contributing to low model competency, which we refer to as image cropping, segment masking, pixel perturbation, competency gradients, and reconstruction loss. We assess the ability of these five methods to identify unfamiliar objects, recognize regions associated with unseen classes, and identify unexplored areas in an environment. We find that the competency gradients and reconstruction loss methods show great promise in identifying regions associated with low model competency, particularly when aspects of the image that are unfamiliar to the perception model are causing this reduction in competency. Both of these methods boast low computation times and high levels of accuracy in detecting image regions that are unfamiliar to the model, allowing them to provide potential utility in decision-making pipelines. The code for reproducing our methods and results is available on GitHub: https://github.com/sarapohland/explainable-competency.
Beyond Generative Artificial Intelligence: Roadmap for Natural Language Generation
Venue: arXiv cs.CL 2024
Year: 2024

Generative Artificial Intelligence has grown exponentially as a result of Large Language Models (LLMs). This has been possible because of the impressive performance of deep learning methods created within the field of Natural Language Processing (NLP) and its subfield Natural Language Generation (NLG), which is the focus of this paper. Within the growing LLM family are the popular GPT-4, Bard and more specifically, tools such as ChatGPT have become a benchmark for other LLMs when solving most of the tasks involved in NLG research. This scenario poses new questions about the next steps for NLG and how the field can adapt and evolve to deal with new challenges in the era of LLMs. To address this, the present paper conducts a review of a representative sample of surveys recently published in NLG. By doing so, we aim to provide the scientific community with a research roadmap to identify which NLG aspects are still not suitably addressed by LLMs, as well as suggest future lines of research that should be addressed going forward.