OpenRaiser/Intern-Atlas huggingface dataset:
Sparsity-Aware Intelligent Massive Random Access Control in Open RAN: A Reinforcement Learning Based Approach
Venue: arXiv cs.LG 2023
Year: 2023

Massive random access of devices in the emerging Open Radio Access Network (O-RAN) brings great challenge to the access control and management. Exploiting the bursting nature of the access requests, sparse active user detection (SAUD) is an efficient enabler towards efficient access management, but the sparsity might be deteriorated in case of uncoordinated massive access requests. To dynamically preserve the sparsity of access requests, a reinforcement-learning (RL)-assisted scheme of closed-loop access control utilizing the access class barring technique is proposed, where the RL policy is determined through continuous interaction between the RL agent, i.e., a next generation node base (gNB), and the environment. The proposed scheme can be implemented by the near-real-time RAN intelligent controller (near-RT RIC) in O-RAN, supporting rapid switching between heterogeneous vertical applications, such as mMTC and uRLLC services. Moreover, a data-driven scheme of deep-RL-assisted SAUD is proposed to resolve highly complex environments with continuous and high-dimensional state and action spaces, where a replay buffer is applied for automatic large-scale data collection. An actor-critic framework is formulated to incorporate the strategy-learning modules into the near-RT RIC. Simulation results show that the proposed schemes can achieve superior performance in both access efficiency and user detection accuracy over the benchmark scheme for different heterogeneous services with massive access requests.
Robust Multi-Modal Multi-LiDAR-Inertial Odometry and Mapping for Indoor Environments
Venue: arXiv cs.RO 2023
Year: 2023

Integrating multiple LiDAR sensors can significantly enhance a robot's perception of the environment, enabling it to capture adequate measurements for simultaneous localization and mapping (SLAM). Indeed, solid-state LiDARs can bring in high resolution at a low cost to traditional spinning LiDARs in robotic applications. However, their reduced field of view (FoV) limits performance, particularly indoors. In this paper, we propose a tightly-coupled multi-modal multi-LiDAR-inertial SLAM system for surveying and mapping tasks. By taking advantage of both solid-state and spinnings LiDARs, and built-in inertial measurement units (IMU), we achieve both robust and low-drift ego-estimation as well as high-resolution maps in diverse challenging indoor environments (e.g., small, featureless rooms). First, we use spatial-temporal calibration modules to align the timestamp and calibrate extrinsic parameters between sensors. Then, we extract two groups of feature points including edge and plane points, from LiDAR data. Next, with pre-integrated IMU data, an undistortion module is applied to the LiDAR point cloud data. Finally, the undistorted point clouds are merged into one point cloud and processed with a sliding window based optimization module. From extensive experiment results, our method shows competitive performance with state-of-the-art spinning-LiDAR-only or solid-state-LiDAR-only SLAM systems in diverse environments. More results, code, and dataset can be found at \href{https://github.com/TIERS/multi-modal-loam}{https://github.com/TIERS/multi-modal-loam}.
Expansion Lemma -- Variations and Applications to Polynomial-Time Preprocessing
Venue: arXiv cs.DS 2023
Year: 2023

In parameterized complexity, it is well-known that a parameterized problem is fixed-parameter tractable if and only if it has a kernel - an instance equivalent to the input instance, whose size is just a function of the parameter. The size of the kernel can be exponential or worse, resulting in a quest for fixed-parameter tractable problems with a polynomial-sized kernel. The developments in machinery to show lower bounds for the sizes of the kernel gave rise to the question of the asymptotically optimum size for the kernel of fixed-parameter tractable problems. In this article, we survey a tool called expansion lemma that helps in reducing the size of the kernel. Its early origin is in the form of Crown Decomposition for obtaining linear kernel for the Vertex Cover problem and the specific lemma was identified as the tool behind an optimal kernel with O(k^2) vertices and edges for the UNDIRECTED FEEDBACK VERTEX SET problem. Since then, several variations and extensions of the tool have been discovered. We survey them along with their applications in this article.
Performance of OTFS-NOMA Scheme for Coordinated Direct and Relay Transmission Networks in High-Mobility Scenarios
Venue: arXiv cs.IT 2023
Year: 2023

In this letter, an orthogonal time frequency space (OTFS) based non-orthogonal multiple access (NOMA) scheme is investigated for the coordinated direct and relay transmission system, where a source directly communicates with a near user with high mobile speed, and it needs the relaying assistance to serve the far user also having high mobility. Due to the coexistence of signal superposition coding and multi-domain transformation, the performance of OTFS-based NOMA is usually challenging to be measured from a theoretical perspective. To accurately evaluate the system performance of the proposed scheme, we derive the closed-form expressions for the outage probability and the outage sum rate by using the Inversion formula and characteristic function. Numerical results verify the performance superiority and the effectiveness of the proposed scheme.
A Contracting Hierarchical Observer for Pose-Inertial Fusion
Venue: arXiv cs.RO 2023
Year: 2023

This work presents a contracting hierarchical observer that fuses position and orientation measurements with an IMU to generate smooth position, linear velocity, orientation, and IMU bias estimates that are guaranteed to converge to their true values. The proposed approach is composed of two contracting observers. The first is a quaternion-based orientation observer that also estimates gyroscope bias. The output of the orientation observer serves as an input for another contracting observer that estimates position, linear velocity, and accelerometer bias thus forming a hierarchy. We show that the proposed observer guarantees all state estimates converge to their true values. Simulation results confirm the theoretical performance guarantees.
Robustness, Evaluation and Adaptation of Machine Learning Models in the Wild
Venue: arXiv cs.LG 2023
Year: 2023

Our goal is to improve reliability of Machine Learning (ML) systems deployed in the wild. ML models perform exceedingly well when test examples are similar to train examples. However, real-world applications are required to perform on any distribution of test examples. Current ML systems can fail silently on test examples with distribution shifts. In order to improve reliability of ML models due to covariate or domain shift, we propose algorithms that enable models to: (a) generalize to a larger family of test distributions, (b) evaluate accuracy under distribution shifts, (c) adapt to a target distribution. We study causes of impaired robustness to domain shifts and present algorithms for training domain robust models. A key source of model brittleness is due to domain overfitting, which our new training algorithms suppress and instead encourage domain-general hypotheses. While we improve robustness over standard training methods for certain problem settings, performance of ML systems can still vary drastically with domain shifts. It is crucial for developers and stakeholders to understand model vulnerabilities and operational ranges of input, which could be assessed on the fly during the deployment, albeit at a great cost. Instead, we advocate for proactively estimating accuracy surfaces over any combination of prespecified and interpretable domain shifts for performance forecasting. We present a label-efficient estimation to address estimation over a combinatorial space of domain shifts. Further, when a model's performance on a target domain is found to be poor, traditional approaches adapt the model using the target domain's resources. Standard adaptation methods assume access to sufficient labeled resources, which may be impractical for deployed models. We initiate a study of lightweight adaptation techniques with only unlabeled data resources with a focus on language applications.
Improved Sample Complexity Bounds for Distributionally Robust Reinforcement Learning
Venue: arXiv cs.LG 2023
Year: 2023

We consider the problem of learning a control policy that is robust against the parameter mismatches between the training environment and testing environment. We formulate this as a distributionally robust reinforcement learning (DR-RL) problem where the objective is to learn the policy which maximizes the value function against the worst possible stochastic model of the environment in an uncertainty set. We focus on the tabular episodic learning setting where the algorithm has access to a generative model of the nominal (training) environment around which the uncertainty set is defined. We propose the Robust Phased Value Learning (RPVL) algorithm to solve this problem for the uncertainty sets specified by four different divergences: total variation, chi-square, Kullback-Leibler, and Wasserstein. We show that our algorithm achieves $\tilde{\mathcal{O}}(|\mathcal{S}||\mathcal{A}| H^{5})$ sample complexity, which is uniformly better than the existing results by a factor of $|\mathcal{S}|$, where $|\mathcal{S}|$ is number of states, $|\mathcal{A}|$ is the number of actions, and $H$ is the horizon length. We also provide the first-ever sample complexity result for the Wasserstein uncertainty set. Finally, we demonstrate the performance of our algorithm using simulation experiments.
Contrastive variational information bottleneck for aspect-based sentiment analysis
Venue: arXiv cs.CL 2023
Year: 2023

Deep learning techniques have dominated the literature on aspect-based sentiment analysis (ABSA), achieving state-of-the-art performance. However, deep models generally suffer from spurious correlations between input features and output labels, which hurts the robustness and generalization capability by a large margin. In this paper, we propose to reduce spurious correlations for ABSA, via a novel Contrastive Variational Information Bottleneck framework (called CVIB). The proposed CVIB framework is composed of an original network and a self-pruned network, and these two networks are optimized simultaneously via contrastive learning. Concretely, we employ the Variational Information Bottleneck (VIB) principle to learn an informative and compressed network (self-pruned network) from the original network, which discards the superfluous patterns or spurious correlations between input features and prediction labels. Then, self-pruning contrastive learning is devised to pull together semantically similar positive pairs and push away dissimilar pairs, where the representations of the anchor learned by the original and self-pruned networks respectively are regarded as a positive pair while the representations of two different sentences within a mini-batch are treated as a negative pair. To verify the effectiveness of our CVIB method, we conduct extensive experiments on five benchmark ABSA datasets and the experimental results show that our approach achieves better performance than the strong competitors in terms of overall prediction performance, robustness, and generalization. Code and data to reproduce the results in this paper is available at: https://github.com/shesshan/CVIB.
Weakly Supervised Realtime Dynamic Background Subtraction
Venue: arXiv cs.CV 2023
Year: 2023

Background subtraction is a fundamental task in computer vision with numerous real-world applications, ranging from object tracking to video surveillance. Dynamic backgrounds poses a significant challenge here. Supervised deep learning-based techniques are currently considered state-of-the-art for this task. However, these methods require pixel-wise ground-truth labels, which can be time-consuming and expensive. In this work, we propose a weakly supervised framework that can perform background subtraction without requiring per-pixel ground-truth labels. Our framework is trained on a moving object-free sequence of images and comprises two networks. The first network is an autoencoder that generates background images and prepares dynamic background images for training the second network. The dynamic background images are obtained by thresholding the background-subtracted images. The second network is a U-Net that uses the same object-free video for training and the dynamic background images as pixel-wise ground-truth labels. During the test phase, the input images are processed by the autoencoder and U-Net, which generate background and dynamic background images, respectively. The dynamic background image helps remove dynamic motion from the background-subtracted image, enabling us to obtain a foreground image that is free of dynamic artifacts. To demonstrate the effectiveness of our method, we conducted experiments on selected categories of the CDnet 2014 dataset and the I2R dataset. Our method outperformed all top-ranked unsupervised methods. We also achieved better results than one of the two existing weakly supervised methods, and our performance was similar to the other. Our proposed method is online, real-time, efficient, and requires minimal frame-level annotation, making it suitable for a wide range of real-world applications.
Spatiotemporal Capsule Neural Network for Vehicle Trajectory Prediction
Venue: arXiv cs.LG 2023
Year: 2023

Through advancement of the Vehicle-to-Everything (V2X) network, road safety, energy consumption, and traffic efficiency can be significantly improved. An accurate vehicle trajectory prediction benefits communication traffic management and network resource allocation for the real-time application of the V2X network. Recurrent neural networks and their variants have been reported in recent research to predict vehicle mobility. However, the spatial attribute of vehicle movement behavior has been overlooked, resulting in incomplete information utilization. To bridge this gap, we put forward for the first time a hierarchical trajectory prediction structure using the capsule neural network (CapsNet) with three sequential components. First, the geographic information is transformed into a grid map presentation, describing vehicle mobility distribution spatially and temporally. Second, CapsNet serves as the core model to embed local temporal and global spatial correlation through hierarchical capsules. Finally, extensive experiments conducted on actual taxi mobility data collected in Porto city (Portugal) and Singapore show that the proposed method outperforms the state-of-the-art methods.
A Systematic Approach to Automotive Security
Venue: arXiv cs.CR 2023
Year: 2023

We propose a holistic methodology for designing automotivesystems that consider security a central concern at every design stage.During the concept design, we model the system architecture and definethe security attributes of its components. We perform threat analysis onthe system model to identify structural security issues. From that analysis,we derive attack trees that define recipes describing steps to successfullyattack the system's assets and propose threat prevention measures.The attack tree allows us to derive a verification and validation (V&V)plan, which prioritizes the testing effort. In particular, we advocate usinglearning for testing approaches for the black-box components. It consistsof inferring a finite state model of the black-box component from its executiontraces. This model can then be used to generate new relevanttests, model check it against requirements, and compare two differentimplementations of the same protocol. We illustrate the methodologywith an automotive infotainment system example. Using the advocated approach, we could also document unexpected and potentially criticalbehavior in our example systems.
Shape Transformation Using Variational Implicit Functions
Venue: arXiv cs.GR 2023
Year: 2023

Traditionally, shape transformation using implicit functions is performed in two distinct steps: 1) creating two implicit functions, and 2) interpolating between these two functions. We present a new shape transformation method that combines these two tasks into a single step. We create a transformation between two N-dimensional objects by casting this as a scattered data interpolation problem in N + 1 dimensions. For the case of 2D shapes, we place all of our data constraints within two planes, one for each shape. These planes are placed parallel to one another in 3D. Zero-valued constraints specify the locations of shape boundaries and positive-valued constraints are placed along the normal direction in towards the center of the shape. We then invoke a variational interpolation technique (the 3D generalization of thin-plate interpolation), and this yields a single implicit function in 3D. Intermediate shapes are simply the zero-valued contours of 2D slices through this 3D function. Shape transformation between 3D shapes can be performed similarly by solving a 4D interpolation problem. To our knowledge, ours is the first shape transformation method to unify the tasks of implicit function creation and interpolation. The transformations produced by this method appear smooth and natural, even between objects of differing topologies. If desired, one or more additional shapes may be introduced that influence the intermediate shapes in a sequence. Our method can also reconstruct surfaces from multiple slices that are not restricted to being parallel to one another.
Rethinking Confidence Calibration for Failure Prediction
Venue: arXiv cs.LG 2023
Year: 2023

Reliable confidence estimation for the predictions is important in many safety-critical applications. However, modern deep neural networks are often overconfident for their incorrect predictions. Recently, many calibration methods have been proposed to alleviate the overconfidence problem. With calibrated confidence, a primary and practical purpose is to detect misclassification errors by filtering out low-confidence predictions (known as failure prediction). In this paper, we find a general, widely-existed but actually-neglected phenomenon that most confidence calibration methods are useless or harmful for failure prediction. We investigate this problem and reveal that popular confidence calibration methods often lead to worse confidence separation between correct and incorrect samples, making it more difficult to decide whether to trust a prediction or not. Finally, inspired by the natural connection between flat minima and confidence separation, we propose a simple hypothesis: flat minima is beneficial for failure prediction. We verify this hypothesis via extensive experiments and further boost the performance by combining two different flat minima techniques. Our code is available at https://github.com/Impression2805/FMFP
Using Spoofax to Support Online Code Navigation
Venue: arXiv cs.SE 2023
Year: 2023

Spoofax is a language workbench. A Spoofax language specification generally includes name resolution: the analysis of bindings between definitions and references. When browsing code in the specified language using Spoofax, the bindings appear as hyperlinks, supporting precise name-based code navigation. However, Spoofax cannot be used for browsing code in online repositories. This paper is about a toolchain that uses Spoofax to generate hyperlinked twins of code repositories. These generated artefacts support the same precise code navigation as Spoofax, and can be browsed online. The technique has been prototyped on the CBS (Component-Based Semantics) specification language developed by the PLanCompS project, but could be used on any language after specifying its name resolution in Spoofax.
NxPlain: Web-based Tool for Discovery of Latent Concepts
Venue: arXiv cs.CL 2023
Year: 2023

The proliferation of deep neural networks in various domains has seen an increased need for the interpretability of these models, especially in scenarios where fairness and trust are as important as model performance. A lot of independent work is being carried out to: i) analyze what linguistic and non-linguistic knowledge is learned within these models, and ii) highlight the salient parts of the input. We present NxPlain, a web application that provides an explanation of a model's prediction using latent concepts. NxPlain discovers latent concepts learned in a deep NLP model, provides an interpretation of the knowledge learned in the model, and explains its predictions based on the used concepts. The application allows users to browse through the latent concepts in an intuitive order, letting them efficiently scan through the most salient concepts with a global corpus level view and a local sentence-level view. Our tool is useful for debugging, unraveling model bias, and for highlighting spurious correlations in a model. A hosted demo is available here: https://nxplain.qcri.org.
RQAT-INR: Improved Implicit Neural Image Compression
Venue: arXiv cs.CV 2023
Year: 2023

Deep variational autoencoders for image and video compression have gained significant attraction in the recent years, due to their potential to offer competitive or better compression rates compared to the decades long traditional codecs such as AVC, HEVC or VVC. However, because of complexity and energy consumption, these approaches are still far away from practical usage in industry. More recently, implicit neural representation (INR) based codecs have emerged, and have lower complexity and energy usage to classical approaches at decoding. However, their performances are not in par at the moment with state-of-the-art methods. In this research, we first show that INR based image codec has a lower complexity than VAE based approaches, then we propose several improvements for INR-based image codec and outperformed baseline model by a large margin.
Mathematical model of a remotely controlled skid-slip tracked mobile robot
Venue: arXiv cs.RO 2023
Year: 2023

In this paper, an uncertain norm-bounded mathematical model for a remotely controlled skid-slip tracked mobile robot. The linear state space description aims to describe the nonlinear error dynamics of the robot during the trajectory tracking maneuver in the presence of a delay in the control channel, taking into account unknown but bounded slip coefficients.
Distributed Mechanism Design in Social Networks
Venue: arXiv cs.GT 2023
Year: 2023

Designing auctions to incentivize buyers to invite new buyers via their social connections is a new trend in mechanism design. The challenge is that buyers are competitors and we need to design proper incentives for them to invite each other. For selling a single item, many interesting mechanisms have been proposed. However, all the mechanisms require the seller or a third party to be trustworthy to execute the mechanisms. In addition, the owner of the mechanism will know all the connections of the network after the execution, which poses a potential privacy issue. Hence, distributed mechanisms to avoid the privacy issue are more appealing in practice. Therefore, in this paper, we propose the first distributed mechanism in social networks without revealing buyers' private connections to anyone, and it achieves complete decentralization that does not rely on any trustworthy third party. Moreover, the centralized reduction of our mechanism also offers a novel way to compute players' contributions compared to the existing solutions.