OpenRaiser/Intern-Atlas huggingface dataset:
Intelligent Debris Mass Estimation Model for Autonomous Underwater Vehicle
Venue: arXiv cs.CV 2023
Year: 2023

Marine debris poses a significant threat to the survival of marine wildlife, often leading to entanglement and starvation, ultimately resulting in death. Therefore, removing debris from the ocean is crucial to restore the natural balance and allow marine life to thrive. Instance segmentation is an advanced form of object detection that identifies objects and precisely locates and separates them, making it an essential tool for autonomous underwater vehicles (AUVs) to navigate and interact with their underwater environment effectively. AUVs use image segmentation to analyze images captured by their cameras to navigate underwater environments. In this paper, we use instance segmentation to calculate the area of individual objects within an image, we use YOLOV7 in Roboflow to generate a set of bounding boxes for each object in the image with a class label and a confidence score for every detection. A segmentation mask is then created for each object by applying a binary mask to the object's bounding box. The masks are generated by applying a binary threshold to the output of a convolutional neural network trained to segment objects from the background. Finally, refining the segmentation mask for each object is done by applying post-processing techniques such as morphological operations and contour detection, to improve the accuracy and quality of the mask. The process of estimating the area of instance segmentation involves calculating the area of each segmented instance separately and then summing up the areas of all instances to obtain the total area. The calculation is carried out using standard formulas based on the shape of the object, such as rectangles and circles. In cases where the object is complex, the Monte Carlo method is used to estimate the area. This method provides a higher degree of accuracy than traditional methods, especially when using a large number of samples.
Flip: Data-Centric Edge CGRA Accelerator
Venue: arXiv cs.AR 2023
Year: 2023

Coarse-Grained Reconfigurable Arrays (CGRA) are promising edge accelerators due to the outstanding balance in flexibility, performance, and energy efficiency. Classic CGRAs statically map compute operations onto the processing elements (PE) and route the data dependencies among the operations through the Network-on-Chip. However, CGRAs are designed for fine-grained static instruction-level parallelism and struggle to accelerate applications with dynamic and irregular data-level parallelism, such as graph processing. To address this limitation, we present Flip, a novel accelerator that enhances traditional CGRA architectures to boost the performance of graph applications. Flip retains the classic CGRA execution model while introducing a special data-centric mode for efficient graph processing. Specifically, it exploits the natural data parallelism of graph algorithms by mapping graph vertices onto processing elements (PEs) rather than the operations, and supporting dynamic routing of temporary data according to the runtime evolution of the graph frontier. Experimental results demonstrate that Flip achieves up to 36$\times$ speedup with merely 19% more area compared to classic CGRAs. Compared to state-of-the-art large-scale graph processors, Flip has similar energy efficiency and 2.2$\times$ better area efficiency at a much-reduced power/area budget.
6G Underlayer Network Concepts for Ultra Reliable and Low Latency Communication in Manufacturing
Venue: arXiv cs.NI 2023
Year: 2023

Underlayer networks in the context of 6G for manufacturing are crucial. They address the evolving needs of highly interconnected and autonomous systems in industry. The digitalization of manufacturing processes, driven by the Internet of Things and increased data availability, enables more efficient and demand-driven production. However, wireless connectivity, which offers flexibility and easy integration of components, comes with challenges such as signal interference or high latency. A new management system is needed to coordinate and route traffic of multiple networks in a specific coverage area. This paper proposes underlayer networks designed for manufacturing, providing low latency, reliability, and security. These networks enable wireless connectivity and integration of wireless technologies into the manufacturing environment, enhancing flexibility and efficiency. The paper also discusses network slicing, spectrum sharing, and the limitations of current wireless networks in manufacturing. It introduces a network concept for underlayer networks and evaluates its application in closed-loop communication for machine tools. The study concludes with future research prospects in this area.
Estimating Contamination via Perplexity: Quantifying Memorisation in Language Model Evaluation
Venue: arXiv cs.CL 2023
Year: 2023

Data contamination in model evaluation is getting increasingly prevalent as the massive training corpora of large language models often unintentionally include benchmark samples. Therefore, contamination analysis has became an inevitable part of reliable model evaluation. However, existing method of contamination analysis requires the access of the entire training data which is often confidential for recent models. This prevent the community to rigorously audit these models and conduct accurate assessment of their capability. In this paper, we propose a novel method to quantify contamination without the access of the full training set, that measure the extent of contamination with perplexity. Our analysis provides evidence of significant memorisation of recent foundation models in popular reading comprehension, summarisation benchmarks, while multiple choice appears less contaminated.
A Blueprint for Precise and Fault-Tolerant Analog Neural Networks
Venue: arXiv cs.ET 2023
Year: 2023

Analog computing has reemerged as a promising avenue for accelerating deep neural networks (DNNs) due to its potential to overcome the energy efficiency and scalability challenges posed by traditional digital architectures. However, achieving high precision and DNN accuracy using such technologies is challenging, as high-precision data converters are costly and impractical. In this paper, we address this challenge by using the residue number system (RNS). RNS allows composing high-precision operations from multiple low-precision operations, thereby eliminating the information loss caused by the limited precision of the data converters. Our study demonstrates that analog accelerators utilizing the RNS-based approach can achieve ${\geq}99\%$ of FP32 accuracy for state-of-the-art DNN inference using data converters with only $6$-bit precision whereas a conventional analog core requires more than $8$-bit precision to achieve the same accuracy in the same DNNs. The reduced precision requirements imply that using RNS can reduce the energy consumption of analog accelerators by several orders of magnitude while maintaining the same throughput and precision. Our study extends this approach to DNN training, where we can efficiently train DNNs using $7$-bit integer arithmetic while achieving accuracy comparable to FP32 precision. Lastly, we present a fault-tolerant dataflow using redundant RNS error-correcting codes to protect the computation against noise and errors inherent within an analog accelerator.
CMRxRecon: An open cardiac MRI dataset for the competition of accelerated image reconstruction
Venue: arXiv cs.CV 2023
Year: 2023

Cardiac magnetic resonance imaging (CMR) has emerged as a valuable diagnostic tool for cardiac diseases. However, a limitation of CMR is its slow imaging speed, which causes patient discomfort and introduces artifacts in the images. There has been growing interest in deep learning-based CMR imaging algorithms that can reconstruct high-quality images from highly under-sampled k-space data. However, the development of deep learning methods requires large training datasets, which have not been publicly available for CMR. To address this gap, we released a dataset that includes multi-contrast, multi-view, multi-slice and multi-coil CMR imaging data from 300 subjects. Imaging studies include cardiac cine and mapping sequences. Manual segmentations of the myocardium and chambers of all the subjects are also provided within the dataset. Scripts of state-of-the-art reconstruction algorithms were also provided as a point of reference. Our aim is to facilitate the advancement of state-of-the-art CMR image reconstruction by introducing standardized evaluation criteria and making the dataset freely accessible to the research community. Researchers can access the dataset at https://www.synapse.org/#!Synapse:syn51471091/wiki/.
SOS TUTORIA UC: A Diversity-Aware Application for Tutor Recommendation Based on Competence and Personality
Venue: arXiv cs.CY 2023
Year: 2023

SOS TUTORIA UC is a student connection application aimed at facilitating academic assistance between students through external tutoring outside of the application. To achieve this, a responsive web application was designed and implemented, integrated with the WeNet platform, which provides various services for user management and user recommendation algorithms. This study presents the development and validation of the experience in the application by evaluating the importance of incorporating the dimension of personality traits, according to the Big Five model, in the process of recommending students for academic tutoring. The goal is to provide support for students to find others with greater knowledge and with a personality that is different\', śimilar\' or índifferent\' to their own preferences for receiving academic assistance on a specific topic. The integration with the WeNet platform was successful in terms of components, and the results of the recommendation system testing were positive but have room for improvement.
Nanorobotics in Medicine: A Systematic Review of Advances, Challenges, and Future Prospects
Venue: arXiv cs.RO 2023
Year: 2023

Nanorobotics offers an emerging frontier in biomedicine, holding the potential to revolutionize diagnostic and therapeutic applications through its unique capabilities in manipulating biological systems at the nanoscale. Following PRISMA guidelines, a comprehensive literature search was conducted using IEEE Xplore and PubMed databases, resulting in the identification and analysis of a total of 414 papers. The studies were filtered to include only those that addressed both nanorobotics and direct medical applications. Our analysis traces the technology's evolution, highlighting its growing prominence in medicine as evidenced by the increasing number of publications over time. Applications ranged from targeted drug delivery and single-cell manipulation to minimally invasive surgery and biosensing. Despite the promise, limitations such as biocompatibility, precise control, and ethical concerns were also identified. This review aims to offer a thorough overview of the state of nanorobotics in medicine, drawing attention to current challenges and opportunities, and providing directions for future research in this rapidly advancing field.
GelSight Svelte Hand: A Three-finger, Two-DoF, Tactile-rich, Low-cost Robot Hand for Dexterous Manipulation
Venue: arXiv cs.RO 2023
Year: 2023

This paper presents GelSight Svelte Hand, a novel 3-finger 2-DoF tactile robotic hand that is capable of performing precision grasps, power grasps, and intermediate grasps. Rich tactile signals are obtained from one camera on each finger, with an extended sensing area similar to the full length of a human finger. Each finger of GelSight Svelte Hand is supported by a semi-rigid endoskeleton and covered with soft silicone materials, which provide both rigidity and compliance. We describe the design, fabrication, functionalities, and tactile sensing capability of GelSight Svelte Hand in this paper. More information is available on our website: \url{https://gelsight-svelte.alanz.info}.
Artificial Intelligence-Enabled Intelligent Assistant for Personalized and Adaptive Learning in Higher Education
Venue: arXiv cs.AI 2023
Year: 2023

This paper presents a novel framework, Artificial Intelligence-Enabled Intelligent Assistant (AIIA), for personalized and adaptive learning in higher education. The AIIA system leverages advanced AI and Natural Language Processing (NLP) techniques to create an interactive and engaging learning platform. This platform is engineered to reduce cognitive load on learners by providing easy access to information, facilitating knowledge assessment, and delivering personalized learning support tailored to individual needs and learning styles. The AIIA's capabilities include understanding and responding to student inquiries, generating quizzes and flashcards, and offering personalized learning pathways. The research findings have the potential to significantly impact the design, implementation, and evaluation of AI-enabled Virtual Teaching Assistants (VTAs) in higher education, informing the development of innovative educational tools that can enhance student learning outcomes, engagement, and satisfaction. The paper presents the methodology, system architecture, intelligent services, and integration with Learning Management Systems (LMSs) while discussing the challenges, limitations, and future directions for the development of AI-enabled intelligent assistants in education.
XR Input Error Mediation for Hand-Based Input: Task and Context Influences a User's Preference
Venue: arXiv cs.HC 2023
Year: 2023

Many XR devices use bare-hand gestures to reduce the need for handheld controllers. Such gestures, however, lead to false positive and false negative recognition errors, which detract from the user experience. While mediation techniques enable users to overcome recognition errors by clarifying their intentions via UI elements, little research has explored how mediation techniques should be designed in XR and how a user's task and context may impact their design preferences. This research presents empirical studies about the impact of user perceived error costs on users' preferences for three mediation technique designs, under different simulated scenarios that were inspired by real-life tasks. Based on a large-scale crowd-sourced survey and an immersive VR-based user study, our results suggest that the varying contexts within each task type can impact users' perceived error costs, leading to different preferred mediation techniques. We further discuss the study implications of these results on future XR interaction design.
Amplifying Pathological Detection in EEG Signaling Pathways through Cross-Dataset Transfer Learning
Venue: arXiv cs.LG 2023
Year: 2023

Pathology diagnosis based on EEG signals and decoding brain activity holds immense importance in understanding neurological disorders. With the advancement of artificial intelligence methods and machine learning techniques, the potential for accurate data-driven diagnoses and effective treatments has grown significantly. However, applying machine learning algorithms to real-world datasets presents diverse challenges at multiple levels. The scarcity of labelled data, especially in low regime scenarios with limited availability of real patient cohorts due to high costs of recruitment, underscores the vital deployment of scaling and transfer learning techniques. In this study, we explore a real-world pathology classification task to highlight the effectiveness of data and model scaling and cross-dataset knowledge transfer. As such, we observe varying performance improvements through data scaling, indicating the need for careful evaluation and labelling. Additionally, we identify the challenges of possible negative transfer and emphasize the significance of some key components to overcome distribution shifts and potential spurious correlations and achieve positive transfer. We see improvement in the performance of the target model on the target (NMT) datasets by using the knowledge from the source dataset (TUAB) when a low amount of labelled data was available. Our findings indicate a small and generic model (e.g. ShallowNet) performs well on a single dataset, however, a larger model (e.g. TCN) performs better on transfer and learning from a larger and diverse dataset.
Specializing Small Language Models towards Complex Style Transfer via Latent Attribute Pre-Training
Venue: arXiv cs.CL 2023
Year: 2023

In this work, we introduce the concept of complex text style transfer tasks, and constructed complex text datasets based on two widely applicable scenarios. Our dataset is the first large-scale data set of its kind, with 700 rephrased sentences and 1,000 sentences from the game Genshin Impact. While large language models (LLM) have shown promise in complex text style transfer, they have drawbacks such as data privacy concerns, network instability, and high deployment costs. To address these issues, we explore the effectiveness of small models (less than T5-3B) with implicit style pre-training through contrastive learning. We also propose a method for automated evaluation of text generation quality based on alignment with human evaluations using ChatGPT. Finally, we compare our approach with existing methods and show that our model achieves state-of-art performances of few-shot text style transfer models.
Recent advances in algorithmic problems for semigroups
Venue: arXiv cs.DM 2023
Year: 2023

In this article we survey recent progress in the algorithmic theory of matrix semigroups. The main objective in this area of study is to construct algorithms that decide various properties of finitely generated subsemigroups of an infinite group $G$, often represented as a matrix group. Such problems might not be decidable in general. In fact, they gave rise to some of the earliest undecidability results in algorithmic theory. However, the situation changes when the group $G$ satisfies additional constraints. In this survey, we give an overview of the decidability and the complexity of several algorithmic problems in the cases where $G$ is a low-dimensional matrix group, or a group with additional structures such as commutativity, nilpotency and solvability.
Towards Data-centric Graph Machine Learning: Review and Outlook
Venue: arXiv cs.LG 2023
Year: 2023

Data-centric AI, with its primary focus on the collection, management, and utilization of data to drive AI models and applications, has attracted increasing attention in recent years. In this article, we conduct an in-depth and comprehensive review, offering a forward-looking outlook on the current efforts in data-centric AI pertaining to graph data-the fundamental data structure for representing and capturing intricate dependencies among massive and diverse real-life entities. We introduce a systematic framework, Data-centric Graph Machine Learning (DC-GML), that encompasses all stages of the graph data lifecycle, including graph data collection, exploration, improvement, exploitation, and maintenance. A thorough taxonomy of each stage is presented to answer three critical graph-centric questions: (1) how to enhance graph data availability and quality; (2) how to learn from graph data with limited-availability and low-quality; (3) how to build graph MLOps systems from the graph data-centric view. Lastly, we pinpoint the future prospects of the DC-GML domain, providing insights to navigate its advancements and applications.
Towards Joint Modeling of Dialogue Response and Speech Synthesis based on Large Language Model
Venue: arXiv cs.CL 2023
Year: 2023

This paper explores the potential of constructing an AI spoken dialogue system that "thinks how to respond" and "thinks how to speak" simultaneously, which more closely aligns with the human speech production process compared to the current cascade pipeline of independent chatbot and Text-to-Speech (TTS) modules. We hypothesize that Large Language Models (LLMs) with billions of parameters possess significant speech understanding capabilities and can jointly model dialogue responses and linguistic features. We conduct two sets of experiments: 1) Prosodic structure prediction, a typical front-end task in TTS, demonstrating the speech understanding ability of LLMs, and 2) Further integrating dialogue response and a wide array of linguistic features using a unified encoding format. Our results indicate that the LLM-based approach is a promising direction for building unified spoken dialogue systems.
Reproducing Failures in Fault Signatures
Venue: arXiv cs.SE 2023
Year: 2023

Software often fails in the field, however reproducing and debugging field failures is very challenging: the failure-inducing input may be missing, and the program setup can be complicated and hard to reproduce by the developers. In this paper, we propose to generate fault signatures from the failure locations and the original source code to reproduce the faults in small executable programs. We say that a fault signature reproduces the fault in the original program if the two failed in the same location, triggered the same error conditions after executing the same selective sequences of failure-inducing statements. A fault signature aims to contain only sufficient statements that can reproduce the faults. That way, it provides some context to inform how a fault is developed and also avoids unnecessary complexity and setups that may block fault diagnosis. To compute fault signatures from the failures, we applied a path-sensitive static analysis tool to generate a path that leads to the fault, and then applied an existing syntactic patching tool to convert the path into an executable program. Our evaluation on real-world bugs from Corebench, BugBench, and Manybugs shows that fault signatures can reproduce the fault for the original programs. Because fault signatures are less complex, automatic test input generation tools generated failure-inducing inputs that could not be generated by using the entire programs. Some failure-inducing inputs can be directly transferred to the original programs. Our experimental data are publicly available at https://doi.org/10.5281/zenodo.5430155.
Simulation-aided Learning from Demonstration for Robotic LEGO Construction
Venue: arXiv cs.RO 2023
Year: 2023

Recent advancements in manufacturing have a growing demand for fast, automatic prototyping (i.e. assembly and disassembly) capabilities to meet users' needs. This paper studies automatic rapid LEGO prototyping, which is devoted to constructing target LEGO objects that satisfy individual customization needs and allow users to freely construct their novel designs. A construction plan is needed in order to automatically construct the user-specified LEGO design. However, a freely designed LEGO object might not have an existing construction plan, and generating such a LEGO construction plan requires a non-trivial effort since it requires accounting for numerous constraints (e.g. object shape, colors, stability, etc.). In addition, programming the prototyping skill for the robot requires the users to have expert programming skills, which makes the task beyond the reach of the general public. To address the challenges, this paper presents a simulation-aided learning from demonstration (SaLfD) framework for easily deploying LEGO prototyping capability to robots. In particular, the user demonstrates constructing the customized novel LEGO object. The robot extracts the task information by observing the human operation and generates the construction plan. A simulation is developed to verify the correctness of the learned construction plan and the resulting LEGO prototype. The proposed system is deployed to a FANUC LR-mate 200id/7L robot. Experiments demonstrate that the proposed SaLfD framework can effectively correct and learn the prototyping (i.e. assembly and disassembly) tasks from human demonstrations. And the learned prototyping tasks are realized by the FANUC robot.