OpenRaiser/Intern-Atlas huggingface dataset:
AI-enabled Cyber-Physical In-Orbit Factory -- AI approaches based on digital twin technology for robotic small satellite production
Venue: arXiv cs.RO 2024
Year: 2024

With the ever increasing number of active satellites in space, the rising demand for larger formations of small satellites and the commercialization of the space industry (so-called New Space), the realization of manufacturing processes in orbit comes closer to reality. Reducing launch costs and risks, allowing for faster on-demand deployment of individually configured satellites as well as the prospect for possible on-orbit servicing for satellites makes the idea of realizing an in-orbit factory promising. In this paper, we present a novel approach to an in-orbit factory of small satellites covering a digital process twin, AI-based fault detection, and teleoperated robot-control, which are being researched as part of the "AI-enabled Cyber-Physical In-Orbit Factory" project. In addition to the integration of modern automation and Industry 4.0 production approaches, the question of how artificial intelligence (AI) and learning approaches can be used to make the production process more robust, fault-tolerant and autonomous is addressed. This lays the foundation for a later realisation of satellite production in space in the form of an in-orbit factory. Central aspect is the development of a robotic AIT (Assembly, Integration and Testing) system where a small satellite could be assembled by a manipulator robot from modular subsystems. Approaches developed to improving this production process with AI include employing neural networks for optical and electrical fault detection of components. Force sensitive measuring and motion training helps to deal with uncertainties and tolerances during assembly. An AI-guided teleoperated control of the robot arm allows for human intervention while a Digital Process Twin represents process data and provides supervision during the whole production process. Approaches and results towards automated satellite production are presented in detail.
PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation
Venue: arXiv cs.RO 2024
Year: 2024

Accurately generating ground truth (GT) trajectories is essential for Simultaneous Localization and Mapping (SLAM) evaluation, particularly under varying environmental conditions. This study introduces a systematic approach employing a prior map-assisted framework for generating dense six-degree-of-freedom (6-DoF) GT poses for the first time, enhancing the fidelity of both indoor and outdoor SLAM datasets. Our method excels in handling degenerate and stationary conditions frequently encountered in SLAM datasets, thereby increasing robustness and precision. A significant aspect of our approach is the detailed derivation of covariances within the factor graph, enabling an in-depth analysis of pose uncertainty propagation. This analysis crucially contributes to demonstrating specific pose uncertainties and enhancing trajectory reliability from both theoretical and empirical perspectives. Additionally, we provide an open-source toolbox (https://github.com/JokerJohn/Cloud_Map_Evaluation) for map evaluation criteria, facilitating the indirect assessment of overall trajectory precision. Experimental results show at least a 30\% improvement in map accuracy and a 20\% increase in direct trajectory accuracy compared to the Iterative Closest Point (ICP) \cite{sharp2002icp} algorithm across diverse campus environments, with substantially enhanced robustness. Our open-source solution (https://github.com/JokerJohn/PALoc), extensively applied in the FusionPortable\cite{Jiao2022Mar} dataset, is geared towards SLAM benchmark dataset augmentation and represents a significant advancement in SLAM evaluations.
Towards Semantic Consistency: Dirichlet Energy Driven Robust Multi-Modal Entity Alignment
Venue: arXiv cs.IR 2024
Year: 2024

In Multi-Modal Knowledge Graphs (MMKGs), Multi-Modal Entity Alignment (MMEA) is crucial for identifying identical entities across diverse modal attributes. However, semantic inconsistency, mainly due to missing modal attributes, poses a significant challenge. Traditional approaches rely on attribute interpolation, but this often introduces modality noise, distorting the original semantics. Moreover, the lack of a universal theoretical framework limits advancements in achieving semantic consistency. This study introduces a novel approach, DESAlign, which addresses these issues by applying a theoretical framework based on Dirichlet energy to ensure semantic consistency. We discover that semantic inconsistency leads to model overfitting to modality noise, causing performance fluctuations, particularly when modalities are missing. DESAlign innovatively combats over-smoothing and interpolates absent semantics using existing modalities. Our approach includes a multi-modal knowledge graph learning strategy and a propagation technique that employs existing semantic features to compensate for missing ones, providing explicit Euler solutions. Comprehensive evaluations across 60 benchmark splits, including monolingual and bilingual scenarios, demonstrate that DESAlign surpasses existing methods, setting a new standard in performance. Further testing with high rates of missing modalities confirms its robustness, offering an effective solution to semantic inconsistency in real-world MMKGs.
A Survey on Data-Centric Recommender Systems
Venue: arXiv cs.IR 2024
Year: 2024

Recommender systems (RSs) have become an essential tool for mitigating information overload in a range of real-world applications. Recent trends in RSs have revealed a major paradigm shift, moving the spotlight from model-centric innovations to data-centric efforts (e.g., improving data quality and quantity). This evolution has given rise to the concept of data-centric recommender systems (Data-Centric RSs), marking a significant development in the field. This survey provides the first systematic overview of Data-Centric RSs, covering 1) the foundational concepts of recommendation data and Data-Centric RSs; 2) three primary issues of recommendation data; 3) recent research developed to address these issues; and 4) several potential future directions of Data-Centric RSs.
Graph Attention-based Reinforcement Learning for Trajectory Design and Resource Assignment in Multi-UAV Assisted Communication
Venue: arXiv cs.MA 2024
Year: 2024

In the multiple unmanned aerial vehicle (UAV)- assisted downlink communication, it is challenging for UAV base stations (UAV BSs) to realize trajectory design and resource assignment in unknown environments. The cooperation and competition between UAV BSs in the communication network leads to a Markov game problem. Multi-agent reinforcement learning is a significant solution for the above decision-making. However, there are still many common issues, such as the instability of the system and low utilization of historical data, that limit its application. In this paper, a novel graph-attention multi-agent trust region (GA-MATR) reinforcement learning framework is proposed to solve the multi-UAV assisted communication problem. Graph recurrent network is introduced to process and analyze complex topology of the communication network, so as to extract useful information and patterns from observational information. The attention mechanism provides additional weighting for conveyed information, so that the critic network can accurately evaluate the value of behavior for UAV BSs. This provides more reliable feedback signals and helps the actor network update the strategy more effectively. Ablation simulations indicate that the proposed approach attains improved convergence over the baselines. UAV BSs learn the optimal communication strategies to achieve their maximum cumulative rewards. Additionally, multi-agent trust region method with monotonic convergence provides an estimated Nash equilibrium for the multi-UAV assisted communication Markov game.
PVLR: Prompt-driven Visual-Linguistic Representation Learning for Multi-Label Image Recognition
Venue: arXiv cs.CV 2024
Year: 2024

Multi-label image recognition is a fundamental task in computer vision. Recently, vision-language models have made notable advancements in this area. However, previous methods often failed to effectively leverage the rich knowledge within language models and instead incorporated label semantics into visual features in a unidirectional manner. In this paper, we propose a Prompt-driven Visual-Linguistic Representation Learning (PVLR) framework to better leverage the capabilities of the linguistic modality. In PVLR, we first introduce a dual-prompting strategy comprising Knowledge-Aware Prompting (KAP) and Context-Aware Prompting (CAP). KAP utilizes fixed prompts to capture the intrinsic semantic knowledge and relationships across all labels, while CAP employs learnable prompts to capture context-aware label semantics and relationships. Later, we propose an Interaction and Fusion Module (IFM) to interact and fuse the representations obtained from KAP and CAP. In contrast to the unidirectional fusion in previous works, we introduce a Dual-Modal Attention (DMA) that enables bidirectional interaction between textual and visual features, yielding context-aware label representations and semantic-related visual representations, which are subsequently used to calculate similarities and generate final predictions for all labels. Extensive experiments on three popular datasets including MS-COCO, Pascal VOC 2007, and NUS-WIDE demonstrate the superiority of PVLR.
Followers do not dictate the virality of news outlets on social media
Venue: arXiv cs.SI 2024
Year: 2024

Initially conceived for entertainment, social media platforms have profoundly transformed the dissemination of information and consequently reshaped the dynamics of agenda-setting. In this scenario, understanding the factors that capture audience attention and drive viral content is crucial. Employing Gibrat's Law, which posits that an entity's growth rate is unrelated to its size, we examine the engagement growth dynamics of news outlets on social media. Our analysis encloses the Facebook historical data of over a thousand news outlets, encompassing approximately 57 million posts in four European languages from 2008 to the end of 2022. We discover universal growth dynamics according to which news virality is independent of the traditional size or engagement with the outlet. Moreover, our analysis reveals a significant long-term impact of news source reliability on engagement growth, with engagement induced by unreliable sources decreasing over time. We conclude the paper by presenting a statistical model replicating the observed growth dynamics.
LOCOST: State-Space Models for Long Document Abstractive Summarization
Venue: arXiv cs.CL 2024
Year: 2024

State-space models are a low-complexity alternative to transformers for encoding long sequences and capturing long-term dependencies. We propose LOCOST: an encoder-decoder architecture based on state-space models for conditional text generation with long context inputs. With a computational complexity of $O(L \log L)$, this architecture can handle significantly longer sequences than state-of-the-art models that are based on sparse attention patterns. We evaluate our model on a series of long document abstractive summarization tasks. The model reaches a performance level that is 93-96% comparable to the top-performing sparse transformers of the same size while saving up to 50% memory during training and up to 87% during inference. Additionally, LOCOST effectively handles input texts exceeding 600K tokens at inference time, setting new state-of-the-art results on full-book summarization and opening new perspectives for long input processing.
Error-Tolerant E-Discovery Protocols
Venue: arXiv cs.CY 2024
Year: 2024

We consider the multi-party classification problem introduced by Dong, Hartline, and Vijayaraghavan (2022) in the context of electronic discovery (e-discovery). Based on a request for production from the requesting party, the responding party is required to provide documents that are responsive to the request except for those that are legally privileged. Our goal is to find a protocol that verifies that the responding party sends almost all responsive documents while minimizing the disclosure of non-responsive documents. We provide protocols in the challenging non-realizable setting, where the instance may not be perfectly separated by a linear classifier. We demonstrate empirically that our protocol successfully manages to find almost all relevant documents, while incurring only a small disclosure of non-responsive documents. We complement this with a theoretical analysis of our protocol in the single-dimensional setting, and other experiments on simulated data which suggest that the non-responsive disclosure incurred by our protocol may be unavoidable.
MelNet: A Real-Time Deep Learning Algorithm for Object Detection
Venue: arXiv cs.CV 2024
Year: 2024

In this study, a novel deep learning algorithm for object detection, named MelNet, was introduced. MelNet underwent training utilizing the KITTI dataset for object detection. Following 300 training epochs, MelNet attained an mAP (mean average precision) score of 0.732. Additionally, three alternative models -YOLOv5, EfficientDet, and Faster-RCNN-MobileNetv3- were trained on the KITTI dataset and juxtaposed with MelNet for object detection. The outcomes underscore the efficacy of employing transfer learning in certain instances. Notably, preexisting models trained on prominent datasets (e.g., ImageNet, COCO, and Pascal VOC) yield superior results. Another finding underscores the viability of creating a new model tailored to a specific scenario and training it on a specific dataset. This investigation demonstrates that training MelNet exclusively on the KITTI dataset also surpasses EfficientDet after 150 epochs. Consequently, post-training, MelNet's performance closely aligns with that of other pre-trained models.
Evaluating the Effectiveness of GPT-4 Turbo in Creating Defeaters for Assurance Cases
Venue: arXiv cs.SE 2024
Year: 2024

Assurance cases (ACs) are structured arguments that support the verification of the correct implementation of systems' non-functional requirements, such as safety and security, thereby preventing system failures which could lead to catastrophic outcomes, including loss of lives. ACs facilitate the certification of systems in accordance with industrial standards, for example, DO-178C and ISO 26262. Identifying defeaters arguments that refute these ACs is essential for improving the robustness and confidence in ACs. To automate this task, we introduce a novel method that leverages the capabilities of GPT-4 Turbo, an advanced Large Language Model (LLM) developed by OpenAI, to identify defeaters within ACs formalized using the Eliminative Argumentation (EA) notation. Our initial evaluation gauges the model's proficiency in understanding and generating arguments within this framework. The findings indicate that GPT-4 Turbo excels in EA notation and is capable of generating various types of defeaters.
Context-Sensitive Abstract Interpretation of Dynamic Languages
Venue: arXiv cs.PL 2024
Year: 2024

There is a vast gap in the quality of IDE tooling between static languages like Java and dynamic languages like Python or JavaScript. Modern frameworks and libraries in these languages heavily use their dynamic capabilities to achieve the best ergonomics and readability. This has a side effect of making the current generation of IDEs blind to control flow and data flow, which often breaks navigation, autocompletion and refactoring. In this thesis we propose an algorithm that can bridge this gap between tooling for dynamic and static languages by statically analyzing dynamic metaprogramming and runtime reflection in programs. We use a technique called abstract interpretation to partially execute programs and extract information that is usually only available at runtime. Our algorithm has been implemented in a prototype analyzer that can analyze programs written in a subset of JavaScript.
Benchmarking Sensitivity of Continual Graph Learning for Skeleton-Based Action Recognition
Venue: arXiv cs.CV 2024
Year: 2024

Continual learning (CL) is the research field that aims to build machine learning models that can accumulate knowledge continuously over different tasks without retraining from scratch. Previous studies have shown that pre-training graph neural networks (GNN) may lead to negative transfer (Hu et al., 2020) after fine-tuning, a setting which is closely related to CL. Thus, we focus on studying GNN in the continual graph learning (CGL) setting. We propose the first continual graph learning benchmark for spatio-temporal graphs and use it to benchmark well-known CGL methods in this novel setting. The benchmark is based on the N-UCLA and NTU-RGB+D datasets for skeleton-based action recognition. Beyond benchmarking for standard performance metrics, we study the class and task-order sensitivity of CGL methods, i.e., the impact of learning order on each class/task's performance, and the architectural sensitivity of CGL methods with backbone GNN at various widths and depths. We reveal that task-order robust methods can still be class-order sensitive and observe results that contradict previous empirical observations on architectural sensitivity in CL.
LongAlign: A Recipe for Long Context Alignment of Large Language Models
Venue: arXiv cs.CL 2024
Year: 2024

Extending large language models to effectively handle long contexts requires instruction fine-tuning on input sequences of similar length. To address this, we present LongAlign -- a recipe of the instruction data, training, and evaluation for long context alignment. First, we construct a long instruction-following dataset using Self-Instruct. To ensure the data diversity, it covers a broad range of tasks from various long context sources. Second, we adopt the packing and sorted batching strategies to speed up supervised fine-tuning on data with varied length distributions. Additionally, we develop a loss weighting method to balance the contribution to the loss across different sequences during packing training. Third, we introduce the LongBench-Chat benchmark for evaluating instruction-following capabilities on queries of 10k-100k in length. Experiments show that LongAlign outperforms existing recipes for LLMs in long context tasks by up to 30\%, while also maintaining their proficiency in handling short, generic tasks. The code, data, and long-aligned models are open-sourced at https://github.com/THUDM/LongAlign.
AoII-Optimum Sampling of CTMC Information Sources Under Sampling Rate Constraints
Venue: arXiv cs.IT 2024
Year: 2024

We consider a sensor that samples an $N$-state continuous-time Markov chain (CTMC)-based information source process, and transmits the observed state of the source, to a remote monitor tasked with timely tracking of the source process. The mismatch between the source and monitor processes is quantified by age of incorrect information (AoII), which penalizes the mismatch as it stays longer, and our objective is to minimize the average AoII under an average sampling rate constraint. We assume a perfect reverse channel and hence the sensor has information of the estimate while initiating a transmission or preempting an ongoing transmission. First, by modeling the problem as an average cost constrained semi-Markov decision process (CSMDP), we show that the structure of the problem gives rise to an optimum threshold policy for which the sensor initiates a transmission once the AoII exceeds a threshold depending on the instantaneous values of both the source and monitor processes. However, due to the high complexity of obtaining the optimum policy in this general setting, we consider a relaxed problem where the thresholds are allowed to be dependent only on the estimate. We show that this relaxed problem can be solved with a novel CSMDP formulation based on the theory of absorbing MCs, with a computational complexity of $\mathcal{O}(N^4)$, allowing one to obtain optimum policies for general CTMCs with over a hundred states.
Maintaining User Trust Through Multistage Uncertainty Aware Inference
Venue: arXiv cs.AI 2024
Year: 2024

This paper describes and evaluates a multistage approach to AI deployment. Each stage involves a more accurate method of inference, yet engaging each comes with an increasing cost. In outlining the architecture, we present a method for quantifying model uncertainty that facilitates confident deferral decisions. The architecture is currently under active deployment to thousands of cotton farmers across India. The broader idea however is applicable to a growing sector of AI deployments in challenging low resources settings.
Review on Application of Drone in Spraying Pesticides and Fertilizers
Venue: arXiv cs.RO 2024
Year: 2024

In today's agriculture, there are far too many innovations involved. One of the emerging technologies is pesticide spraying using drones. Manual pesticide spraying has a number of negative consequences for the people who are involved in the spraying operation. The result of exposure symptoms can include minor skin inflammation and birth abnormalities, tumors, genetic modifications, nerve and blood diseases, endocrinal interference, coma or death. However, Drone can be used to automate fertilizer application, pesticide spraying, and field tracking. This paper provides a concise overview of the use of drones for field inspection and pesticide spraying. displays different methodologies and controllers of agriculture drone and explains some essential Drone Hardware, Software elements and applications
Monitoring-Supported Value Generation for Managing Structures and Infrastructure Systems
Venue: arXiv cs.CY 2024
Year: 2024

To maximize its value, the design, development and implementation of Structural Health Monitoring (SHM) should focus on its role in facilitating decision support. In this position paper, we offer perspectives on the synergy between SHM and decision-making. We propose a classification of SHM use cases aligning with various dimensions that are closely linked to the respective decision contexts. The types of decisions that have to be supported by the SHM system within these settings are discussed along with the corresponding challenges. We provide an overview of different classes of models that are required for integrating SHM in the decision-making process to support management and operation and maintenance of structures and infrastructure systems. Fundamental decision-theoretic principles and state-of-the-art methods for optimizing maintenance and operational decision-making under uncertainty are briefly discussed. Finally, we offer a viewpoint on the appropriate course of action for quantifying, validating and maximizing the added value generated by SHM. This work aspires to synthesize the different perspectives of the SHM, Prognostic Health Management (PHM), and reliability communities, and deliver a roadmap towards monitoring-based decision support.
Accelerating a Triton Fused Kernel for W4A16 Quantized Inference with SplitK work decomposition
Venue: arXiv cs.DC 2024
Year: 2024

We propose an implementation of an efficient fused matrix multiplication kernel for W4A16 quantized inference, where we perform dequantization and GEMM in a fused kernel using a SplitK work decomposition. Our implementation shows improvement for the type of skinny matrix-matrix multiplications found in foundation model inference workloads. In particular, this paper surveys the type of matrix multiplication between a skinny activation matrix and a square weight matrix. Our results show an average of 65% speed improvement on A100, and an average of 124% speed improvement on H100 (with a peak of 295%) for a range of matrix dimensions including those found in a llama-style model, where m < n = k.