OpenRaiser/Intern-Atlas huggingface dataset:
Safe Force/Position Tracking Control via Control Barrier Functions for Floating Base Mobile Manipulator Systems
Venue: arXiv cs.RO 2024
Year: 2024

This paper introduces a safe force/position tracking control strategy designed for Free-Floating Mobile Manipulator Systems (MMSs) engaging in compliant contact with planar surfaces. The strategy uniquely integrates the Control Barrier Function (CBF) to manage operational limitations and safety concerns. It effectively addresses safety-critical aspects in the kinematic as well as dynamic level, such as manipulator joint limits, system velocity constraints, and inherent system dynamic uncertainties. The proposed strategy remains robust to the uncertainties of the MMS dynamic model, external disturbances, or variations in the contact stiffness model. The proposed control method has low computational demand ensures easy implementation on onboard computing systems, endorsing real-time operations. Simulation results verify the strategy's efficacy, reflecting enhanced system performance and safety.
MathNet: A Data-Centric Approach for Printed Mathematical Expression Recognition
Venue: arXiv cs.CV 2024
Year: 2024

Printed mathematical expression recognition (MER) models are usually trained and tested using LaTeX-generated mathematical expressions (MEs) as input and the LaTeX source code as ground truth. As the same ME can be generated by various different LaTeX source codes, this leads to unwanted variations in the ground truth data that bias test performance results and hinder efficient learning. In addition, the use of only one font to generate the MEs heavily limits the generalization of the reported results to realistic scenarios. We propose a data-centric approach to overcome this problem, and present convincing experimental results: Our main contribution is an enhanced LaTeX normalization to map any LaTeX ME to a canonical form. Based on this process, we developed an improved version of the benchmark dataset im2latex-100k, featuring 30 fonts instead of one. Second, we introduce the real-world dataset realFormula, with MEs extracted from papers. Third, we developed a MER model, MathNet, based on a convolutional vision transformer, with superior results on all four test sets (im2latex-100k, im2latexv2, realFormula, and InftyMDB-1), outperforming the previous state of the art by up to 88.3%.
Second-Order Identification Capacity of AWGN Channels
Venue: arXiv cs.IT 2024
Year: 2024

In this paper, we establish the second-order randomized identification capacity (RID capacity) of the Additive White Gaussian Noise Channel (AWGNC). On the one hand, we obtain a refined version of Hayashi's theorem to prove the achievability part. On the other, we investigate the relationship between identification and channel resolvability, then we propose a finer quantization method to prove the converse part. Consequently, the second-order RID capacity of the AWGNC has the same form as the second-order transmission capacity. The only difference is that the maximum number of messages in RID scales double exponentially in the blocklength.
Should Teleoperation Be like Driving in a Car? Comparison of Teleoperation HMIs
Venue: arXiv cs.RO 2024
Year: 2024

Since Automated Driving Systems are not expected to operate flawlessly, Automated Vehicles will require human assistance in certain situations. For this reason, teleoperation offers the opportunity for a human to be remotely connected to the vehicle and assist it. The Remote Operator can provide extensive support by directly controlling the vehicle, eliminating the need for Automated Driving functions. However, due to the physical disconnection to the vehicle, monitoring and controlling is challenging compared to driving in the vehicle. Therefore, this work follows the approach of simplifying the task for the Remote Operator by separating the path and velocity input. In a study using a miniature vehicle, different operator-vehicle interactions and input devices were compared based on collisions, task completion time, usability and workload. The evaluation revealed significant differences between the three implemented prototypes using a steering wheel, mouse and keyboard or a touchscreen. The separate input of path and velocity via mouse and keyboard or touchscreen is preferred but is slower compared to parallel input via steering wheel.
SVGEditBench: A Benchmark Dataset for Quantitative Assessment of LLM's SVG Editing Capabilities
Venue: arXiv cs.CV 2024
Year: 2024

Text-to-image models have shown progress in recent years. Along with this progress, generating vector graphics from text has also advanced. SVG is a popular format for vector graphics, and SVG represents a scene with XML text. Therefore, Large Language Models can directly process SVG code. Taking this into account, we focused on editing SVG with LLMs. For quantitative evaluation of LLMs' ability to edit SVG, we propose SVGEditBench. SVGEditBench is a benchmark for assessing the LLMs' ability to edit SVG code. We also show the GPT-4 and GPT-3.5 results when evaluated on the proposed benchmark. In the experiments, GPT-4 showed superior performance to GPT-3.5 both quantitatively and qualitatively. The dataset is available at https://github.com/mti-lab/SVGEditBench.
TF2AIF: Facilitating development and deployment of accelerated AI models on the cloud-edge continuum
Venue: arXiv cs.LG 2024
Year: 2024

The B5G/6G evolution relies on connect-compute technologies and highly heterogeneous clusters with HW accelerators, which require specialized coding to be efficiently utilized. The current paper proposes a custom tool for generating multiple SW versions of a certain AI function input in high-level language, e.g., Python TensorFlow, while targeting multiple diverse HW+SW platforms. TF2AIF builds upon disparate tool-flows to create a plethora of relative containers and enable the system orchestrator to deploy the requested function on any peculiar node in the cloud-edge continuum, i.e., to leverage the performance/energy benefits of the underlying HW upon any circumstances. TF2AIF fills an identified gap in today's ecosystem and facilitates research on resource management or automated operations, by demanding minimal time or expertise from users.
Interval Abstractions for Robust Counterfactual Explanations
Venue: arXiv cs.LG 2024
Year: 2024

Counterfactual Explanations (CEs) have emerged as a major paradigm in explainable AI research, providing recourse recommendations for users affected by the decisions of machine learning models. However, CEs found by existing methods often become invalid when slight changes occur in the parameters of the model they were generated for. The literature lacks a way to provide exhaustive robustness guarantees for CEs under model changes, in that existing methods to improve CEs' robustness are mostly heuristic, and the robustness performances are evaluated empirically using only a limited number of retrained models. To bridge this gap, we propose a novel interval abstraction technique for parametric machine learning models, which allows us to obtain provable robustness guarantees for CEs under a possibly infinite set of plausible model changes $Δ$. Based on this idea, we formalise a robustness notion for CEs, which we call $Δ$-robustness, in both binary and multi-class classification settings. We present procedures to verify $Δ$-robustness based on Mixed Integer Linear Programming, using which we further propose algorithms to generate CEs that are $Δ$-robust. In an extensive empirical study involving neural networks and logistic regression models, we demonstrate the practical applicability of our approach. We discuss two strategies for determining the appropriate hyperparameters in our method, and we quantitatively benchmark CEs generated by eleven methods, highlighting the effectiveness of our algorithms in finding robust CEs.
Embarrassingly Simple Unsupervised Aspect Based Sentiment Tuple Extraction
Venue: arXiv cs.CL 2024
Year: 2024

Aspect Based Sentiment Analysis (ABSA) tasks involve the extraction of fine-grained sentiment tuples from sentences, aiming to discern the author's opinions. Conventional methodologies predominantly rely on supervised approaches; however, the efficacy of such methods diminishes in low-resource domains lacking labeled datasets since they often lack the ability to generalize across domains. To address this challenge, we propose a simple and novel unsupervised approach to extract opinion terms and the corresponding sentiment polarity for aspect terms in a sentence. Our experimental evaluations, conducted on four benchmark datasets, demonstrate compelling performance to extract the aspect oriented opinion words as well as assigning sentiment polarity. Additionally, unsupervised approaches for opinion word mining have not been explored and our work establishes a benchmark for the same.
The Characterization of Abstract Truth and its Factorization
Venue: arXiv cs.LO 2024
Year: 2024

Human knowledge is made up of the conceptual structures of many communities of interest. In order to establish coherence in human knowledge representation, it is important to enable communication between the conceptual structures of different communities The conceptual structures of any particular community is representable in an ontology. Such a ontology provides a formal linguistic standard for that community. However, a standard community ontology is established for various purposes, and makes choices that force a given interpretation, while excluding others that may be equally valid for other purposes. Hence, a given representation is relative to the purpose for that representation. Due to this relativity of representation, in the larger scope of all human knowledge it is more important to standardize methods and frameworks for relating ontologies than to standardize any particular choice of ontology. The standardization of methods and frameworks is called the semantic integration of ontologies.
How to Inverting the Leverage Score Distribution?
Venue: arXiv cs.LG 2024
Year: 2024

Leverage score is a fundamental problem in machine learning and theoretical computer science. It has extensive applications in regression analysis, randomized algorithms, and neural network inversion. Despite leverage scores are widely used as a tool, in this paper, we study a novel problem, namely the inverting leverage score problem. We analyze to invert the leverage score distributions back to recover model parameters. Specifically, given a leverage score $σ\in \mathbb{R}^n$, the matrix $A \in \mathbb{R}^{n \times d}$, and the vector $b \in \mathbb{R}^n$, we analyze the non-convex optimization problem of finding $x \in \mathbb{R}^d$ to minimize $\| \mathrm{diag}( σ) - I_n \circ (A(x) (A(x)^\top A(x) )^{-1} A(x)^\top ) \|_F$, where $A(x):= S(x)^{-1} A \in \mathbb{R}^{n \times d} $, $S(x) := \mathrm{diag}(s(x)) \in \mathbb{R}^{n \times n}$ and $s(x) : = Ax - b \in \mathbb{R}^n$. Our theoretical studies include computing the gradient and Hessian, demonstrating that the Hessian matrix is positive definite and Lipschitz, and constructing first-order and second-order algorithms to solve this regression problem. Our work combines iterative shrinking and the induction hypothesis to ensure global convergence rates for the Newton method, as well as the properties of Lipschitz and strong convexity to guarantee the performance of gradient descent. This important study on inverting statistical leverage opens up numerous new applications in interpretation, data recovery, and security.
Anchor-aware Deep Metric Learning for Audio-visual Retrieval
Venue: arXiv cs.SD 2024
Year: 2024

Metric learning minimizes the gap between similar (positive) pairs of data points and increases the separation of dissimilar (negative) pairs, aiming at capturing the underlying data structure and enhancing the performance of tasks like audio-visual cross-modal retrieval (AV-CMR). Recent works employ sampling methods to select impactful data points from the embedding space during training. However, the model training fails to fully explore the space due to the scarcity of training data points, resulting in an incomplete representation of the overall positive and negative distributions. In this paper, we propose an innovative Anchor-aware Deep Metric Learning (AADML) method to address this challenge by uncovering the underlying correlations among existing data points, which enhances the quality of the shared embedding space. Specifically, our method establishes a correlation graph-based manifold structure by considering the dependencies between each sample as the anchor and its semantically similar samples. Through dynamic weighting of the correlations within this underlying manifold structure using an attention-driven mechanism, Anchor Awareness (AA) scores are obtained for each anchor. These AA scores serve as data proxies to compute relative distances in metric learning approaches. Extensive experiments conducted on two audio-visual benchmark datasets demonstrate the effectiveness of our proposed AADML method, significantly surpassing state-of-the-art models. Furthermore, we investigate the integration of AA proxies with various metric learning methods, further highlighting the efficacy of our approach.
Counterfactual Reasoning Using Predicted Latent Personality Dimensions for Optimizing Persuasion Outcome
Venue: arXiv cs.MM 2024
Year: 2024

Customizing persuasive conversations related to the outcome of interest for specific users achieves better persuasion results. However, existing persuasive conversation systems rely on persuasive strategies and encounter challenges in dynamically adjusting dialogues to suit the evolving states of individual users during interactions. This limitation restricts the system's ability to deliver flexible or dynamic conversations and achieve suboptimal persuasion outcomes. In this paper, we present a novel approach that tracks a user's latent personality dimensions (LPDs) during ongoing persuasion conversation and generates tailored counterfactual utterances based on these LPDs to optimize the overall persuasion outcome. In particular, our proposed method leverages a Bi-directional Generative Adversarial Network (BiCoGAN) in tandem with a Dialogue-based Personality Prediction Regression (DPPR) model to generate counterfactual data. This enables the system to formulate alternative persuasive utterances that are more suited to the user. Subsequently, we utilize the D3QN model to learn policies for optimized selection of system utterances on counterfactual data. Experimental results we obtained from using the PersuasionForGood dataset demonstrate the superiority of our approach over the existing method, BiCoGAN. The cumulative rewards and Q-values produced by our method surpass ground truth benchmarks, showcasing the efficacy of employing counterfactual reasoning and LPDs to optimize reinforcement learning policy in online interactions.
Lightweight Connective Detection Using Gradient Boosting
Venue: arXiv cs.CL 2024
Year: 2024

In this work, we introduce a lightweight discourse connective detection system. Employing gradient boosting trained on straightforward, low-complexity features, this proposed approach sidesteps the computational demands of the current approaches that rely on deep neural networks. Considering its simplicity, our approach achieves competitive results while offering significant gains in terms of time even on CPU. Furthermore, the stable performance across two unrelated languages suggests the robustness of our system in the multilingual scenario. The model is designed to support the annotation of discourse relations, particularly in scenarios with limited resources, while minimizing performance loss.
FaceFolds: Meshed Radiance Manifolds for Efficient Volumetric Rendering of Dynamic Faces
Venue: arXiv cs.CV 2024
Year: 2024

3D rendering of dynamic face captures is a challenging problem, and it demands improvements on several fronts$\unicode{x2014}$photorealism, efficiency, compatibility, and configurability. We present a novel representation that enables high-quality volumetric rendering of an actor's dynamic facial performances with minimal compute and memory footprint. It runs natively on commodity graphics soft- and hardware, and allows for a graceful trade-off between quality and efficiency. Our method utilizes recent advances in neural rendering, particularly learning discrete radiance manifolds to sparsely sample the scene to model volumetric effects. We achieve efficient modeling by learning a single set of manifolds for the entire dynamic sequence, while implicitly modeling appearance changes as temporal canonical texture. We export a single layered mesh and view-independent RGBA texture video that is compatible with legacy graphics renderers without additional ML integration. We demonstrate our method by rendering dynamic face captures of real actors in a game engine, at comparable photorealism to state-of-the-art neural rendering techniques at previously unseen frame rates.
GazeIntent: Adapting dwell-time selection in VR interaction with real-time intent modeling
Venue: arXiv cs.HC 2024
Year: 2024

The use of ML models to predict a user's cognitive state from behavioral data has been studied for various applications which includes predicting the intent to perform selections in VR. We developed a novel technique that uses gaze-based intent models to adapt dwell-time thresholds to aid gaze-only selection. A dataset of users performing selection in arithmetic tasks was used to develop intent prediction models (F1 = 0.94). We developed GazeIntent to adapt selection dwell times based on intent model outputs and conducted an end-user study with returning and new users performing additional tasks with varied selection frequencies. Personalized models for returning users effectively accounted for prior experience and were preferred by 63% of users. Our work provides the field with methods to adapt dwell-based selection to users, account for experience over time, and consider tasks that vary by selection frequency
C2F-SemiCD: A Coarse-to-Fine Semi-Supervised Change Detection Method Based on Consistency Regularization in High-Resolution Remote Sensing Images
Venue: arXiv cs.CV 2024
Year: 2024

A high-precision feature extraction model is crucial for change detection (CD). In the past, many deep learning-based supervised CD methods learned to recognize change feature patterns from a large number of labelled bi-temporal images, whereas labelling bi-temporal remote sensing images is very expensive and often time-consuming; therefore, we propose a coarse-to-fine semi-supervised CD method based on consistency regularization (C2F-SemiCD), which includes a coarse-to-fine CD network with a multiscale attention mechanism (C2FNet) and a semi-supervised update method. Among them, the C2FNet network gradually completes the extraction of change features from coarse-grained to fine-grained through multiscale feature fusion, channel attention mechanism, spatial attention mechanism, global context module, feature refine module, initial aggregation module, and final aggregation module. The semi-supervised update method uses the mean teacher method. The parameters of the student model are updated to the parameters of the teacher Model by using the exponential moving average (EMA) method. Through extensive experiments on three datasets and meticulous ablation studies, including crossover experiments across datasets, we verify the significant effectiveness and efficiency of the proposed C2F-SemiCD method. The code will be open at: https://github.com/ChengxiHAN/C2F-SemiCDand-C2FNet.
ColA: Collaborative Adaptation with Gradient Learning
Venue: arXiv cs.LG 2024
Year: 2024

A primary function of back-propagation is to compute both the gradient of hidden representations and parameters for optimization with gradient descent. Training large models requires high computational costs due to their vast parameter sizes. While Parameter-Efficient Fine-Tuning (PEFT) methods aim to train smaller auxiliary models to save computational space, they still present computational overheads, especially in Fine-Tuning as a Service (FTaaS) for numerous users. We introduce Collaborative Adaptation (ColA) with Gradient Learning (GL), a parameter-free, model-agnostic fine-tuning approach that decouples the computation of the gradient of hidden representations and parameters. In comparison to PEFT methods, ColA facilitates more cost-effective FTaaS by offloading the computation of the gradient to low-cost devices. We also provide a theoretical analysis of ColA and experimentally demonstrate that ColA can perform on par or better than existing PEFT methods on various benchmarks.
Context-Enhanced Language Models for Generating Multi-Paper Citations
Venue: arXiv cs.CL 2024
Year: 2024

Citation text plays a pivotal role in elucidating the connection between scientific documents, demanding an in-depth comprehension of the cited paper. Constructing citations is often time-consuming, requiring researchers to delve into extensive literature and grapple with articulating relevant content. To address this challenge, the field of citation text generation (CTG) has emerged. However, while earlier methods have primarily centered on creating single-sentence citations, practical scenarios frequently necessitate citing multiple papers within a single paragraph. To bridge this gap, we propose a method that leverages Large Language Models (LLMs) to generate multi-citation sentences. Our approach involves a single source paper and a collection of target papers, culminating in a coherent paragraph containing multi-sentence citation text. Furthermore, we introduce a curated dataset named MCG-S2ORC, composed of English-language academic research papers in Computer Science, showcasing multiple citation instances. In our experiments, we evaluate three LLMs LLaMA, Alpaca, and Vicuna to ascertain the most effective model for this endeavor. Additionally, we exhibit enhanced performance by integrating knowledge graphs from target papers into the prompts for generating citation text. This research underscores the potential of harnessing LLMs for citation generation, opening a compelling avenue for exploring the intricate connections between scientific documents.
Active RIS-Aided Massive MIMO Uplink Systems with Low-Resolution ADCs
Venue: arXiv cs.IT 2024
Year: 2024

This letter considers an active reconfigurable intelligent surface (RIS)-aided multi-user uplink massive multipleinput multiple-output (MIMO) system with low-resolution analog-to-digital converters (ADCs). The letter derives the closedform approximate expression for the sum achievable rate (AR), where the maximum ratio combination (MRC) processing and low-resolution ADCs are applied at the base station. The system performance is analyzed, and a genetic algorithm (GA)-based method is proposed to optimize the RIS's phase shifts for enhancing the system performance. Numerical results verify the accuracy of the derivations, and demonstrate that the active RIS has an evident performance gain over the passive RIS.