OpenRaiser/Intern-Atlas huggingface dataset:
Using high-fidelity discrete element simulation to calibrate an expeditious terramechanics model in a multibody dynamics framework
Venue: arXiv cs.CE 2024
Year: 2024

The wheel-soil interaction has great impact on the dynamics of off-road vehicles in terramechanics applications. The Soil Contact Model (SCM), which anchors an empirical method to characterize the frictional contact between a wheel and soil, has been widely used in off-road vehicle dynamics simulations because it quickly produces adequate results for many terramechanics applications. The SCM approach calls for a set of model parameters that are obtained via a bevameter test. This test is expensive and time consuming to carry out, and in some cases difficult to set up, e.g., in extraterrestrial applications. We propose an approach to address these concerns by conducting the bevameter test in simulation, using a model that captures the physics of the actual experiment with high fidelity. To that end, we model the bevameter test rig as a multibody system, while the dynamics of the soil is captured using a discrete element model (DEM). The multibody dynamics--soil dynamics co-simulation is used to replicate the bevameter test, producing high-fidelity ground truth test data that is subsequently used to calibrate the SCM parameters within a Bayesian inference framework. To test the accuracy of the resulting SCM terramechanics, we run single wheel and full rover simulations using both DEM and SCM terrains. The SCM results match well with those produced by the DEM solution, and the simulation time for SCM is two to three orders of magnitude lower than that of DEM. All simulations in this work are performed using Chrono, an open-source, publicly available simulator. The scripts and models used are available in a public repository for reproducibility studies and further research.
Advancements in Recommender Systems: A Comprehensive Analysis Based on Data, Algorithms, and Evaluation
Venue: arXiv cs.IR 2024
Year: 2024

Using 286 research papers collected from Web of Science, ScienceDirect, SpringerLink, arXiv, and Google Scholar databases, a systematic review methodology was adopted to review and summarize the current challenges and potential future developments in data, algorithms, and evaluation aspects of RSs. It was found that RSs involve five major research topics, namely algorithmic improvement, domain applications, user behavior & cognition, data processing & modeling, and social impact & ethics. Collaborative filtering and hybrid recommendation techniques are mainstream. The performance of RSs is jointly limited by four types of eight data issues, two types of twelve algorithmic issues, and two evaluation issues. Notably, data-related issues such as cold start, data sparsity, and data poisoning, algorithmic issues like interest drift, device-cloud collaboration, non-causal driven, and multitask conflicts, along with evaluation issues such as offline data leakage and multi-objective balancing, have prominent impacts. Fusing physiological signals for multimodal modeling, defending against data poisoning through user information behavior, evaluating generative recommendations via social experiments, fine-tuning pre-trained large models to schedule device-cloud resource, enhancing causal inference with deep reinforcement learning, training multi-task models based on probability distributions, using cross-temporal dataset partitioning, and evaluating recommendation objectives across the full lifecycle are feasible solutions to address the aforementioned prominent challenges and unlock the power and value of RSs.The collected literature is mainly based on major international databases, and future research will further expand upon it.
MIOV: Reordering MOVI for even better locality
Venue: arXiv cs.DS 2024
Year: 2024

We consider how to reorder the rows of Nishimoto and Tabei's move structure such that we more often move from one row to the next in memory.
Industrial Practices of Requirements Engineering for ML-Enabled Systems in Brazil
Venue: arXiv cs.SE 2024
Year: 2024

[Context] In Brazil, 41% of companies use machine learning (ML) to some extent. However, several challenges have been reported when engineering ML-enabled systems, including unrealistic customer expectations and vagueness in ML problem specifications. Literature suggests that Requirements Engineering (RE) practices and tools may help to alleviate these issues, yet there is insufficient understanding of RE's practical application and its perception among practitioners. [Goal] This study aims to investigate the application of RE in developing ML-enabled systems in Brazil, creating an overview of current practices, perceptions, and problems in the Brazilian industry. [Method] To this end, we extracted and analyzed data from an international survey focused on ML-enabled systems, concentrating specifically on responses from practitioners based in Brazil. We analyzed RE-related answers gathered from 72 practitioners involved in data-driven projects. We conducted quantitative statistical analyses on contemporary practices using bootstrapping with confidence intervals and qualitative studies on the reported problems involving open and axial coding procedures. [Results] Our findings highlight distinct RE implementation aspects in Brazil's ML projects. For instance, (i) RE-related tasks are predominantly conducted by data scientists; (ii) the most common techniques for eliciting requirements are interviews and workshop meetings; (iii) there is a prevalence of interactive notebooks in requirements documentation; (iv) practitioners report problems that include a poor understanding of the problem to solve and the business domain, low customer engagement, and difficulties managing stakeholders expectations. [Conclusion] These results provide an understanding of RE-related practices in the Brazilian ML industry, helping to guide research toward improving the maturity of RE for ML-enabled systems.
Low-Latency Privacy-Preserving Deep Learning Design via Secure MPC
Venue: arXiv cs.CR 2024
Year: 2024

Secure multi-party computation (MPC) facilitates privacy-preserving computation between multiple parties without leaking private information. While most secure deep learning techniques utilize MPC operations to achieve feasible privacy-preserving machine learning on downstream tasks, the overhead of the computation and communication still hampers their practical application. This work proposes a low-latency secret-sharing-based MPC design that reduces unnecessary communication rounds during the execution of MPC protocols. We also present a method for improving the computation of commonly used nonlinear functions in deep learning by integrating multivariate multiplication and coalescing different packets into one to maximize network utilization. Our experimental results indicate that our method is effective in a variety of settings, with a speedup in communication latency of $10\sim20\%$.
Implementation and Applications of WakeWords Integrated with Speaker Recognition: A Case Study
Venue: arXiv cs.SD 2024
Year: 2024

This paper explores the application of artificial intelligence techniques in audio and voice processing, focusing on the integration of wake words and speaker recognition for secure access in embedded systems. With the growing prevalence of voice-activated devices such as Amazon Alexa, ensuring secure and user-specific interactions has become paramount. Our study aims to enhance the security framework of these systems by leveraging wake words for initial activation and speaker recognition to validate user permissions. By incorporating these AI-driven methodologies, we propose a robust solution that restricts system usage to authorized individuals, thereby mitigating unauthorized access risks. This research delves into the algorithms and technologies underpinning wake word detection and speaker recognition, evaluates their effectiveness in real-world applications, and discusses the potential for their implementation in various embedded systems, emphasizing security and user convenience. The findings underscore the feasibility and advantages of employing these AI techniques to create secure, user-friendly voice-activated systems.
Real-time Uncertainty-Aware Motion Planning for Magnetic-based Navigation
Venue: arXiv cs.RO 2024
Year: 2024

Localization in GPS-denied environments is critical for autonomous systems, and traditional methods like SLAM have limitations in generalizability across diverse environments. Magnetic-based navigation (MagNav) offers a robust solution by leveraging the ubiquity and unique anomalies of external magnetic fields. This paper proposes a real-time uncertainty-aware motion planning algorithm for MagNav, using onboard magnetometers and information-driven methodologies to adjust trajectories based on real-time localization confidence. This approach balances the trade-off between finding the shortest or most energy-efficient routes and reducing localization uncertainty, enhancing navigational accuracy and reliability. The novel algorithm integrates an uncertainty-driven framework with magnetic-based localization, creating a real-time adaptive system capable of minimizing localization errors in complex environments. Extensive simulations and real-world experiments validate the method, demonstrating significant reductions in localization uncertainty and the feasibility of real-time implementation. The paper also details the mathematical modeling of uncertainty, the algorithmic foundation of the planning approach, and the practical implications of using magnetic fields for localization. Future work includes incorporating a global path planner to address the local nature of the current guidance law, further enhancing the method's suitability for long-duration operations.
OfficeBench: Benchmarking Language Agents across Multiple Applications for Office Automation
Venue: arXiv cs.CL 2024
Year: 2024

Office automation significantly enhances human productivity by automatically finishing routine tasks in the workflow. Beyond the basic information extraction studied in much of the prior document AI literature, the office automation research should be extended to more realistic office tasks which require to integrate various information sources in the office system and produce outputs through a series of decision-making processes. We introduce OfficeBench, one of the first office automation benchmarks for evaluating current LLM agents' capability to address office tasks in realistic office workflows. OfficeBench requires LLM agents to perform feasible long-horizon planning, proficiently switch between applications in a timely manner, and accurately ground their actions within a large combined action space, based on the contextual demands of the workflow. Applying our customized evaluation methods on each task, we find that GPT-4 Omni achieves the highest pass rate of 47.00%, demonstrating a decent performance in handling office tasks. However, this is still far below the human performance and accuracy standards required by real-world office workflows. We further observe that most issues are related to operation redundancy and hallucinations, as well as limitations in switching between multiple applications, which may provide valuable insights for developing effective agent frameworks for office automation.
Les leaders facilitent-ils l'appropriation des syst{è}mes d'information collaboratifs dans les {é}quipes ?
Venue: arXiv cs.HC 2024
Year: 2024

This research, focused on small work groups, proposes to examine the role of the leader in the appropriation of collaborative information systems. It is based on a three-year action research conducted during the implementation of the Microsoft Teams collaborative platform at a university. The aim is to understand how groups of students organize themselves to carry out complex projects over a long period of time and with varying distance constraints. Differences in the appropriation of the new tool appeared depending on whether the mode of work was cooperative or collaborative. To understand these different dynamics, we mobilize Vygotsky's activity theories (TA), more precisely Engestr{ö}m's 2nd generation TA model (2000). The results reveal the role of leaders through the cooperation versus collaboration tension. In teams, a leader emerges who organizes cooperation but slows down the appropriation of collaborative features of the new information system.
Many-Shot In-Context Learning for Molecular Inverse Design
Venue: arXiv cs.CL 2024
Year: 2024

Large Language Models (LLMs) have demonstrated great performance in few-shot In-Context Learning (ICL) for a variety of generative and discriminative chemical design tasks. The newly expanded context windows of LLMs can further improve ICL capabilities for molecular inverse design and lead optimization. To take full advantage of these capabilities we developed a new semi-supervised learning method that overcomes the lack of experimental data available for many-shot ICL. Our approach involves iterative inclusion of LLM generated molecules with high predicted performance, along with experimental data. We further integrated our method in a multi-modal LLM which allows for the interactive modification of generated molecular structures using text instructions. As we show, the new method greatly improves upon existing ICL methods for molecular design while being accessible and easy to use for scientists.
Towards A More Reasonable Semantic Web
Venue: arXiv cs.DB 2024
Year: 2024

We aim to accelerate the original vision of the semantic web by revisiting design decisions that have defined the semantic web up until now. We propose a shift in direction that more broadly embraces existing data infrastructure by reconsidering the semantic web's logical foundations. We argue to shift attention away from description logic, which has so far underpinned the semantic web, to a different fragment of first-order logic. We argue, using examples from the (geo)spatial domain, that by doing so, the semantic web can be approached as a traditional data migration and integration problem at a massive scale. That way, a huge amount of existing tools and theories can be deployed to the semantic web's benefit, and the original vision of ontology as shared abstraction be reinvigorated.
NARVis: Neural Accelerated Rendering for Real-Time Scientific Point Cloud Visualization
Venue: arXiv cs.GR 2024
Year: 2024

Exploring scientific datasets with billions of samples in real-time visualization presents a challenge - balancing high-fidelity rendering with speed. This work introduces a novel renderer - Neural Accelerated Renderer (NAR), that uses the neural deferred rendering framework to visualize large-scale scientific point cloud data. NAR augments a real-time point cloud rendering pipeline with high-quality neural post-processing, making the approach ideal for interactive visualization at scale. Specifically, we train a neural network to learn the point cloud geometry from a high-performance multi-stream rasterizer and capture the desired postprocessing effects from a conventional high-quality renderer. We demonstrate the effectiveness of NAR by visualizing complex multidimensional Lagrangian flow fields and photometric scans of a large terrain and compare the renderings against the state-of-the-art high-quality renderers. Through extensive evaluation, we demonstrate that NAR prioritizes speed and scalability while retaining high visual fidelity. We achieve competitive frame rates of $>$ 126 fps for interactive rendering of $>$ 350M points (i.e., an effective throughput of $>$ 44 billion points per second) using $\sim$12 GB of memory on RTX 2080 Ti GPU. Furthermore, we show that NAR is generalizable across different point clouds with similar visualization needs and the desired post-processing effects could be obtained with substantial high quality even at lower resolutions of the original point cloud, further reducing the memory requirements.
HENNC: Hardware Engine for Artificial Neural Network-based Chaotic Oscillators
Venue: arXiv cs.AR 2024
Year: 2024

This letter introduces a framework for the automatic generation of hardware cores for Artificial Neural Network (ANN)-based chaotic oscillators. The framework trains the model to approximate a chaotic system, then performs design space exploration yielding potential hardware architectures for its implementation. The framework then generates the corresponding synthesizable High-Level Synthesis code and a validation testbench from a selected solution. The hardware design primarily targets FPGAs. The proposed framework offers a rapid hardware design process of candidate architectures superior to manually designed works in terms of hardware cost and throughput. The source code is available on GitHub.
A simulation study of cluster search algorithms in data set generated by Gaussian mixture models
Venue: arXiv cs.LG 2024
Year: 2024

Determining the number of clusters is a fundamental issue in data clustering. Several algorithms have been proposed, including centroid-based algorithms using the Euclidean distance and model-based algorithms using a mixture of probability distributions. Among these, greedy algorithms for searching the number of clusters by repeatedly splitting or merging clusters have advantages in terms of computation time for problems with large sample sizes. However, studies comparing these methods in systematic evaluation experiments still need to be included. This study examines centroid- and model-based cluster search algorithms in various cases that Gaussian mixture models (GMMs) can generate. The cases are generated by combining five factors: dimensionality, sample size, the number of clusters, cluster overlap, and covariance type. The results show that some cluster-splitting criteria based on Euclidean distance make unreasonable decisions when clusters overlap. The results also show that model-based algorithms are insensitive to covariance type and cluster overlap compared to the centroid-based method if the sample size is sufficient. Our cluster search implementation codes are available at https://github.com/lipryou/searchClustK
EaTVul: ChatGPT-based Evasion Attack Against Software Vulnerability Detection
Venue: arXiv cs.CR 2024
Year: 2024

Recently, deep learning has demonstrated promising results in enhancing the accuracy of vulnerability detection and identifying vulnerabilities in software. However, these techniques are still vulnerable to attacks. Adversarial examples can exploit vulnerabilities within deep neural networks, posing a significant threat to system security. This study showcases the susceptibility of deep learning models to adversarial attacks, which can achieve 100% attack success rate (refer to Table 5). The proposed method, EaTVul, encompasses six stages: identification of important samples using support vector machines, identification of important features using the attention mechanism, generation of adversarial data based on these features using ChatGPT, preparation of an adversarial attack pool, selection of seed data using a fuzzy genetic algorithm, and the execution of an evasion attack. Extensive experiments demonstrate the effectiveness of EaTVul, achieving an attack success rate of more than 83% when the snippet size is greater than 2. Furthermore, in most cases with a snippet size of 4, EaTVul achieves a 100% attack success rate. The findings of this research emphasize the necessity of robust defenses against adversarial attacks in software vulnerability detection.
RAVSS: Robust Audio-Visual Speech Separation in Multi-Speaker Scenarios with Missing Visual Cues
Venue: arXiv cs.SD 2024
Year: 2024

While existing Audio-Visual Speech Separation (AVSS) methods primarily concentrate on the audio-visual fusion strategy for two-speaker separation, they demonstrate a severe performance drop in the multi-speaker separation scenarios. Typically, AVSS methods employ guiding videos to sequentially isolate individual speakers from the given audio mixture, resulting in notable missing and noisy parts across various segments of the separated speech. In this study, we propose a simultaneous multi-speaker separation framework that can facilitate the concurrent separation of multiple speakers within a singular process. We introduce speaker-wise interactions to establish distinctions and correlations among speakers. Experimental results on the VoxCeleb2 and LRS3 datasets demonstrate that our method achieves state-of-the-art performance in separating mixtures with 2, 3, 4, and 5 speakers, respectively. Additionally, our model can utilize speakers with complete audio-visual information to mitigate other visual-deficient speakers, thereby enhancing its resilience to missing visual cues. We also conduct experiments where visual information for specific speakers is entirely absent or visual frames are partially missing. The results demonstrate that our model consistently outperforms others, exhibiting the smallest performance drop across all settings involving 2, 3, 4, and 5 speakers.
Magic3DSketch: Create Colorful 3D Models From Sketch-Based 3D Modeling Guided by Text and Language-Image Pre-Training
Venue: arXiv cs.CV 2024
Year: 2024

The requirement for 3D content is growing as AR/VR application emerges. At the same time, 3D modelling is only available for skillful experts, because traditional methods like Computer-Aided Design (CAD) are often too labor-intensive and skill-demanding, making it challenging for novice users. Our proposed method, Magic3DSketch, employs a novel technique that encodes sketches to predict a 3D mesh, guided by text descriptions and leveraging external prior knowledge obtained through text and language-image pre-training. The integration of language-image pre-trained neural networks complements the sparse and ambiguous nature of single-view sketch inputs. Our method is also more useful and offers higher degree of controllability compared to existing text-to-3D approaches, according to our user study. Moreover, Magic3DSketch achieves state-of-the-art performance in both synthetic and real dataset with the capability of producing more detailed structures and realistic shapes with the help of text input. Users are also more satisfied with models obtained by Magic3DSketch according to our user study. Additionally, we are also the first, to our knowledge, add color based on text description to the sketch-derived shapes. By combining sketches and text guidance with the help of language-image pretrained models, our Magic3DSketch can allow novice users to create custom 3D models with minimal effort and maximum creative freedom, with the potential to revolutionize future 3D modeling pipelines.
Grasping Force Control and Adaptation for a Cable-Driven Robotic Hand
Venue: arXiv cs.RO 2024
Year: 2024

This paper introduces a unique force control and adaptation algorithm for a lightweight and low-complexity five-fingered robotic hand, namely an Integrated-Finger Robotic Hand (IFRH). The force control and adaptation algorithm is intuitive to design, easy to implement, and improves the grasping functionality through feedforward adaptation automatically. Specifically, we have extended Youla-parameterization which is traditionally used in feedback controller design into a feedforward iterative learning control algorithm (ILC). The uniqueness of such an extension is that both the feedback and feedforward controllers are parameterized over one unified design parameter which can be easily customized based on the desired closed-loop performance. While Youla-parameterization and ILC have been explored in the past on various applications, our unique parameterization and computational methods make the design intuitive and easy to implement. This provides both robust and adaptive learning capabilities, and our application rivals the complexity of many robotic hand control systems. Extensive experimental tests have been conducted to validate the effectiveness of our method.