OpenRaiser/Intern-Atlas huggingface dataset:
Inertial-based Navigation by Polynomial Optimization: Inertial-Magnetic Attitude Estimation
Venue: arXiv cs.RO 2023
Year: 2023

Inertial-based navigation refers to the navigation methods or systems that have inertial information or sensors as the core part and integrate a spectrum of other kinds of sensors for enhanced performance. Through a series of papers, the authors attempt to explore information blending of inertial-based navigation by a polynomial optimization method. The basic idea is to model rigid motions as finite-order polynomials and then attacks the involved navigation problems by optimally solving their coefficients, taking into considerations the constraints posed by inertial sensors and others. In the current paper, a continuous-time attitude estimation approach is proposed, which transforms the attitude estimation into a constant parameter determination problem by the polynomial optimization. Specifically, the continuous attitude is first approximated by a Chebyshev polynomial, of which the unknown Chebyshev coefficients are determined by minimizing the weighted residuals of initial conditions, dynamics and measurements. We apply the derived estimator to the attitude estimation with the magnetic and inertial sensors. Simulation and field tests show that the estimator has much better stability and faster convergence than the traditional extended Kalman filter does, especially in the challenging large initial state error scenarios.
Testing GitHub projects on custom resources using unprivileged Kubernetes runners
Venue: arXiv cs.SE 2023
Year: 2023

GitHub is a popular repository for hosting software projects, both due to ease of use and the seamless integration with its testing environment. Native GitHub Actions make it easy for software developers to validate new commits and have confidence that new code does not introduce major bugs. The freely available test environments are limited to only a few popular setups but can be extended with custom Action Runners. Our team had access to a Kubernetes cluster with GPU accelerators, so we explored the feasibility of automatically deploying GPU-providing runners there. All available Kubernetes-based setups, however, require cluster-admin level privileges. To address this problem, we developed a simple custom setup that operates in a completely unprivileged manner. In this paper we provide a summary description of the setup and our experience using it in the context of two Knight lab projects on the Prototype National Research Platform system.
PaLM 2 Technical Report
Venue: arXiv cs.CL 2023
Year: 2023

We introduce PaLM 2, a new state-of-the-art language model that has better multilingual and reasoning capabilities and is more compute-efficient than its predecessor PaLM. PaLM 2 is a Transformer-based model trained using a mixture of objectives. Through extensive evaluations on English and multilingual language, and reasoning tasks, we demonstrate that PaLM 2 has significantly improved quality on downstream tasks across different model sizes, while simultaneously exhibiting faster and more efficient inference compared to PaLM. This improved efficiency enables broader deployment while also allowing the model to respond faster, for a more natural pace of interaction. PaLM 2 demonstrates robust reasoning capabilities exemplified by large improvements over PaLM on BIG-Bench and other reasoning tasks. PaLM 2 exhibits stable performance on a suite of responsible AI evaluations, and enables inference-time control over toxicity without additional overhead or impact on other capabilities. Overall, PaLM 2 achieves state-of-the-art performance across a diverse set of tasks and capabilities. When discussing the PaLM 2 family, it is important to distinguish between pre-trained models (of various sizes), fine-tuned variants of these models, and the user-facing products that use these models. In particular, user-facing products typically include additional pre- and post-processing steps. Additionally, the underlying models may evolve over time. Therefore, one should not expect the performance of user-facing products to exactly match the results reported in this report.
FastComposer: Tuning-Free Multi-Subject Image Generation with Localized Attention
Venue: arXiv cs.CV 2023
Year: 2023

Diffusion models excel at text-to-image generation, especially in subject-driven generation for personalized images. However, existing methods are inefficient due to the subject-specific fine-tuning, which is computationally intensive and hampers efficient deployment. Moreover, existing methods struggle with multi-subject generation as they often blend features among subjects. We present FastComposer which enables efficient, personalized, multi-subject text-to-image generation without fine-tuning. FastComposer uses subject embeddings extracted by an image encoder to augment the generic text conditioning in diffusion models, enabling personalized image generation based on subject images and textual instructions with only forward passes. To address the identity blending problem in the multi-subject generation, FastComposer proposes cross-attention localization supervision during training, enforcing the attention of reference subjects localized to the correct regions in the target images. Naively conditioning on subject embeddings results in subject overfitting. FastComposer proposes delayed subject conditioning in the denoising step to maintain both identity and editability in subject-driven image generation. FastComposer generates images of multiple unseen individuals with different styles, actions, and contexts. It achieves 300$\times$-2500$\times$ speedup compared to fine-tuning-based methods and requires zero extra storage for new subjects. FastComposer paves the way for efficient, personalized, and high-quality multi-subject image creation. Code, model, and dataset are available at https://github.com/mit-han-lab/fastcomposer.
Toxicity Inspector: A Framework to Evaluate Ground Truth in Toxicity Detection Through Feedback
Venue: arXiv cs.CL 2023
Year: 2023

Toxic language is difficult to define, as it is not monolithic and has many variations in perceptions of toxicity. This challenge of detecting toxic language is increased by the highly contextual and subjectivity of its interpretation, which can degrade the reliability of datasets and negatively affect detection model performance. To fill this void, this paper introduces a toxicity inspector framework that incorporates a human-in-the-loop pipeline with the aim of enhancing the reliability of toxicity benchmark datasets by centering the evaluator's values through an iterative feedback cycle. The centerpiece of this framework is the iterative feedback process, which is guided by two metric types (hard and soft) that provide evaluators and dataset creators with insightful examination to balance the tradeoff between performance gains and toxicity avoidance.
Generative Pre-trained Transformer: A Comprehensive Review on Enabling Technologies, Potential Applications, Emerging Challenges, and Future Directions
Venue: arXiv cs.CL 2023
Year: 2023

The Generative Pre-trained Transformer (GPT) represents a notable breakthrough in the domain of natural language processing, which is propelling us toward the development of machines that can understand and communicate using language in a manner that closely resembles that of humans. GPT is based on the transformer architecture, a deep neural network designed for natural language processing tasks. Due to their impressive performance on natural language processing tasks and ability to effectively converse, GPT have gained significant popularity among researchers and industrial communities, making them one of the most widely used and effective models in natural language processing and related fields, which motivated to conduct this review. This review provides a detailed overview of the GPT, including its architecture, working process, training procedures, enabling technologies, and its impact on various applications. In this review, we also explored the potential challenges and limitations of a GPT. Furthermore, we discuss potential solutions and future directions. Overall, this paper aims to provide a comprehensive understanding of GPT, enabling technologies, their impact on various applications, emerging challenges, and potential solutions.
Bringing AI to the edge: A formal M&S specification to deploy effective IoT architectures
Venue: arXiv cs.NI 2023
Year: 2023

The Internet of Things is transforming our society, providing new services that improve the quality of life and resource management. These applications are based on ubiquitous networks of multiple distributed devices, with limited computing resources and power, capable of collecting and storing data from heterogeneous sources in real-time. To avoid network saturation and high delays, new architectures such as fog computing are emerging to bring computing infrastructure closer to data sources. Additionally, new data centers are needed to provide real-time Big Data and data analytics capabilities at the edge of the network, where energy efficiency needs to be considered to ensure a sustainable and effective deployment in areas of human activity. In this research, we present an IoT model based on the principles of Model-Based Systems Engineering defined using the Discrete Event System Specification formalism. The provided mathematical formalism covers the description of the entire architecture, from IoT devices to the processing units in edge data centers. Our work includes the location-awareness of user equipment, network, and computing infrastructures to optimize federated resource management in terms of delay and power consumption. We present an effective framework to assist the dimensioning and the dynamic operation of IoT data stream analytics applications, demonstrating our contributions through a driving assistance use case based on real traces and data.
IMAD: IMage-Augmented multi-modal Dialogue
Venue: arXiv cs.CL 2023
Year: 2023

Currently, dialogue systems have achieved high performance in processing text-based communication. However, they have not yet effectively incorporated visual information, which poses a significant challenge. Furthermore, existing models that incorporate images in dialogue generation focus on discussing the image itself. Our proposed approach presents a novel perspective on multi-modal dialogue systems, which interprets the image in the context of the dialogue. By doing so, we aim to expand the capabilities of current dialogue systems and transition them from single modality (text) to multi-modality. However, there is a lack of validated English datasets that contain both images and dialogue contexts for this task. Thus, we propose a two-stage approach to automatically construct a multi-modal dialogue dataset. In the first stage, we utilize text-to-image similarity and sentence similarity to identify which utterances could be replaced with an image. In the second stage, we replace those utterances by selecting a subset of relevant images and filtering them with a visual question answering model. We used this approach, along with additional labeling, to create the IMage Augmented multi-modal Dialogue dataset (IMAD), which can serve as a validated dataset for this task. Furthermore, we propose a baseline model trained on this dataset, which outperforms model trained on the same data without images and BlenderBot.
Learning Pose Image Manifolds Using Geometry-Preserving GANs and Elasticae
Venue: arXiv cs.CV 2023
Year: 2023

This paper investigates the challenge of learning image manifolds, specifically pose manifolds, of 3D objects using limited training data. It proposes a DNN approach to manifold learning and for predicting images of objects for novel, continuous 3D rotations. The approach uses two distinct concepts: (1) Geometric Style-GAN (Geom-SGAN), which maps images to low-dimensional latent representations and maintains the (first-order) manifold geometry. That is, it seeks to preserve the pairwise distances between base points and their tangent spaces, and (2) uses Euler's elastica to smoothly interpolate between directed points (points + tangent directions) in the low-dimensional latent space. When mapped back to the larger image space, the resulting interpolations resemble videos of rotating objects. Extensive experiments establish the superiority of this framework in learning paths on rotation manifolds, both visually and quantitatively, relative to state-of-the-art GANs and VAEs.
Rethinking Multimodal Content Moderation from an Asymmetric Angle with Mixed-modality
Venue: arXiv cs.CV 2023
Year: 2023

There is a rapidly growing need for multimodal content moderation (CM) as more and more content on social media is multimodal in nature. Existing unimodal CM systems may fail to catch harmful content that crosses modalities (e.g., memes or videos), which may lead to severe consequences. In this paper, we present a novel CM model, Asymmetric Mixed-Modal Moderation (AM3), to target multimodal and unimodal CM tasks. Specifically, to address the asymmetry in semantics between vision and language, AM3 has a novel asymmetric fusion architecture that is designed to not only fuse the common knowledge in both modalities but also to exploit the unique information in each modality. Unlike previous works that focus on representing the two modalities into a similar feature space while overlooking the intrinsic difference between the information conveyed in multimodality and in unimodality (asymmetry in modalities), we propose a novel cross-modality contrastive loss to learn the unique knowledge that only appears in multimodality. This is critical as some harmful intent may only be conveyed through the intersection of both modalities. With extensive experiments, we show that AM3 outperforms all existing state-of-the-art methods on both multimodal and unimodal CM benchmarks.
The Complexity of Diagonalization
Venue: arXiv cs.SC 2023
Year: 2023

We survey recent progress on efficient algorithms for approximately diagonalizing a square complex matrix in the models of rational (variable precision) and finite (floating point) arithmetic. This question has been studied across several research communities for decades, but many mysteries remain. We present several open problems which we hope will be of broad interest.
Sim-MEES: Modular End-Effector System Grasping Dataset for Mobile Manipulators in Cluttered Environments
Venue: arXiv cs.RO 2023
Year: 2023

In this paper, we present Sim-MEES: a large-scale synthetic dataset that contains 1,550 objects with varying difficulty levels and physics properties, as well as 11 million grasp labels for mobile manipulators to plan grasps using different gripper modalities in cluttered environments. Our dataset generation process combines analytic models and dynamic simulations of the entire cluttered environment to provide accurate grasp labels. We provide a detailed study of our proposed labeling process for both parallel jaw grippers and suction cup grippers, comparing them with state-of-the-art methods to demonstrate how Sim-MEES can provide precise grasp labels in cluttered environments.
Unsourced Massive Access-Based Digital Over-the-Air Computation for Efficient Federated Edge Learning
Venue: arXiv cs.IT 2023
Year: 2023

Over-the-air computation (OAC) is a promising technique to achieve fast model aggregation across multiple devices in federated edge learning (FEEL). In addition to the analog schemes, one-bit digital aggregation (OBDA) scheme was proposed to adapt OAC to modern digital wireless systems. However, one-bit quantization in OBDA can result in a serious information loss and slower convergence of FEEL. To overcome this limitation, this paper proposes an unsourced massive access (UMA)-based generalized digital OAC (GD-OAC) scheme. Specifically, at the transmitter, all the devices share the same non-orthogonal UMA codebook for uplink transmission. The local model update of each device is quantized based on the same quantization codebook. Then, each device transmits a sequence selected from the UMA codebook based on the quantized elements of its model update. At the receiver, we propose an approximate message passing-based algorithm for efficient UMA detection and model aggregation. Simulation results show that the proposed GD-OAC scheme significantly accelerates the FEEL convergences compared with the state-of-the-art OBDA scheme while using the same uplink communication resources.
Accelerating MPI Collectives with Process-in-Process-based Multi-object Techniques
Venue: arXiv cs.DC 2023
Year: 2023

In the exascale computing era, optimizing MPI collective performance in high-performance computing (HPC) applications is critical. Current algorithms face performance degradation due to system call overhead, page faults, or data-copy latency, affecting HPC applications' efficiency and scalability. To address these issues, we propose PiP-MColl, a Process-in-Process-based Multi-object Inter-process MPI Collective design that maximizes small message MPI collective performance at scale. PiP-MColl features efficient multiple sender and receiver collective algorithms and leverages Process-in-Process shared memory techniques to eliminate unnecessary system call, page fault overhead, and extra data copy, improving intra- and inter-node message rate and throughput. Our design also boosts performance for larger messages, resulting in comprehensive improvement for various message sizes. Experimental results show that PiP-MColl outperforms popular MPI libraries, including OpenMPI, MVAPICH2, and Intel MPI, by up to 4.6X for MPI collectives like MPI_Scatter and MPI_Allgather.
TSoR: TCP Socket over RDMA Container Network for Cloud Native Computing
Venue: arXiv cs.NI 2023
Year: 2023

Cloud-native containerized applications constantly seek high-performance and easy-to-operate container network solutions. RDMA network is a potential enabler with higher throughput and lower latency than the standard TCP/IP network stack. However, several challenges remain in equipping containerized applications with RDMA network: 1) How to deliver transparent improvements without modifying application code; 2) How to integrate RDMA-based network solutions with container orchestration systems; 3) How to efficiently utilize RDMA for container networks. In this paper, we present an RDMA-based container network solution, TCP Socket over RDMA (TSoR), which addresses all the above challenges. To transparently accelerate applications using POSIX socket interfaces without modifications, we integrate TSoR with a container runtime that can intercept system calls for socket interfaces. To be compatible with orchestration systems like Kubernetes, TSoR implements a container network following the Kubernetes network model and satisfies all requirements of the model. To leverage RDMA benefits, TSoR designs a high-performance network stack that efficiently transfers TCP traffic using RDMA network. Thus, TSoR provides a turn-key solution for existing Kubernetes clusters to adopt the high-performance RDMA network with minimal effort. Our evaluation results show that TSoR provides up to 2.3x higher throughput and 64\% lower latency for existing containerized applications, such as Redis key-value store and Node.js web server, with no code changes. TSoR code will be open-sourced.
Disentangled Causal Graph Learning for Online Unsupervised Root Cause Analysis
Venue: arXiv cs.LG 2023
Year: 2023

The task of root cause analysis (RCA) is to identify the root causes of system faults/failures by analyzing system monitoring data. Efficient RCA can greatly accelerate system failure recovery and mitigate system damages or financial losses. However, previous research has mostly focused on developing offline RCA algorithms, which often require manually initiating the RCA process, a significant amount of time and data to train a robust model, and then being retrained from scratch for a new system fault. In this paper, we propose CORAL, a novel online RCA framework that can automatically trigger the RCA process and incrementally update the RCA model. CORAL consists of Trigger Point Detection, Incremental Disentangled Causal Graph Learning, and Network Propagation-based Root Cause Localization. The Trigger Point Detection component aims to detect system state transitions automatically and in near-real-time. To achieve this, we develop an online trigger point detection approach based on multivariate singular spectrum analysis and cumulative sum statistics. To efficiently update the RCA model, we propose an incremental disentangled causal graph learning approach to decouple the state-invariant and state-dependent information. After that, CORAL applies a random walk with restarts to the updated causal graph to accurately identify root causes. The online RCA process terminates when the causal graph and the generated root cause list converge. Extensive experiments on three real-world datasets with case studies demonstrate the effectiveness and superiority of the proposed framework.
Ranking the locations and predicting future crime occurrence by retrieving news from different Bangla online newspapers
Venue: arXiv cs.IR 2023
Year: 2023

There have thousands of crimes are happening daily all around. But people keep statistics only few of them, therefore crime rates are increasing day by day. The reason behind can be less concern or less statistics of previous crimes. It is much more important to observe the previous crime statistics for general people to make their outing decision and police for catching the criminals are taking steps to restrain the crimes and tourists to make their travelling decision. National institute of justice releases crime survey data for the country, but does not offer crime statistics up to Union or Thana level. Considering all of these cases we have come up with an approach which can give an approximation to people about the safety of a specific location with crime ranking of different areas locating the crimes on a map including a future crime occurrence prediction mechanism. Our approach relies on different online Bangla newspapers for crawling the crime data, stemming and keyword extraction, location finding algorithm, cosine similarity, naive Bayes classifier, and a custom crime prediction model
ReGen: Zero-Shot Text Classification via Training Data Generation with Progressive Dense Retrieval
Venue: arXiv cs.CL 2023
Year: 2023

With the development of large language models (LLMs), zero-shot learning has attracted much attention for various NLP tasks. Different from prior works that generate training data with billion-scale natural language generation (NLG) models, we propose a retrieval-enhanced framework to create training data from a general-domain unlabeled corpus. To realize this, we first conduct contrastive pretraining to learn an unsupervised dense retriever for extracting the most relevant documents using class-descriptive verbalizers. We then further propose two simple strategies, namely Verbalizer Augmentation with Demonstrations and Self-consistency Guided Filtering to improve the topic coverage of the dataset while removing noisy examples. Experiments on nine datasets demonstrate that REGEN achieves 4.3% gain over the strongest baselines and saves around 70% of the time compared to baselines using large NLG models. Besides, REGEN can be naturally integrated with recently proposed large language models to boost performance.