OpenRaiser/Intern-Atlas huggingface dataset:
Securing Federated Learning in Robot Swarms using Blockchain Technology
Venue: arXiv cs.RO 2024
Year: 2024

Federated learning is a new approach to distributed machine learning that offers potential advantages such as reducing communication requirements and distributing the costs of training algorithms. Therefore, it could hold great promise in swarm robotics applications. However, federated learning usually requires a centralized server for the aggregation of the models. In this paper, we present a proof-of-concept implementation of federated learning in a robot swarm that does not compromise decentralization. To do so, we use blockchain technology to enable our robot swarm to securely synchronize a shared model that is the aggregation of the individual models without relying on a central server. We then show that introducing a single malfunctioning robot can, however, heavily disrupt the training process. To prevent such situations, we devise protection mechanisms that are implemented through secure and tamper-proof blockchain smart contracts. Our experiments are conducted in ARGoS, a physics-based simulator for swarm robotics, using the Ethereum blockchain protocol which is executed by each simulated robot.
Power Control and Random Serving Mode Allocation for CJT-NCJT Hybrid Mode Enabled Cell-Free Massive MIMO With Limited Fronthauls
Venue: arXiv cs.IT 2024
Year: 2024

With a great potential of improving the service fairness and quality for user equipments (UEs), cell-free massive multiple-input multiple-output (mMIMO) has been regarded as an emerging candidate for 6G network architectures. Under ideal assumptions, the coherent joint transmission (CJT) serving mode has been considered as an optimal option for cell-free mMIMO systems, since it can achieve coherent cooperation gain among the access points. However, when considering the limited fronthaul constraint in practice, the non-coherent joint transmission (NCJT) serving mode is likely to outperform CJT, since the former requires much lower fronthaul resources. In other words, the performance excellence and worseness of single serving mode (CJT or NCJT) depends on the fronthaul capacity, and any single transmission mode cannot perfectly adapt the capacity limited fronthaul. To explore the performance potential of the cell-free mMIMO system with limited fronthauls by harnessing the merits of CJT and NCJT, we propose a CJT-NCJT hybrid serving mode framework, in which UEs are allocated to operate on CJT or NCJT serving mode. To improve the sum-rate of the system with low complexity, we first propose a probability-based random serving mode allocation scheme. With a given serving mode, a successive convex approximation-based power allocation algorithm is proposed to maximize the system's sum-rate. Simulation results demonstrate the superiority of the proposed scheme.
Learning Machines: In Search of a Concept Oriented Language
Venue: arXiv cs.LG 2024
Year: 2024

What is the next step after the data/digital revolution? What do we need the most to reach this aim? How machines can memorize, learn or discover? What should they be able to do to be qualified as "intelligent"? These questions relate to the next generation "intelligent" machines. Probably, these machines should be able to handle knowledge discovery, decision-making and concepts. In this paper, we will take into account some historical contributions and discuss these different questions through an analogy to human intelligence. Also, a general framework for a concept oriented language will be proposed.
Benchmarking ZK-Friendly Hash Functions and SNARK Proving Systems for EVM-compatible Blockchains
Venue: arXiv cs.CR 2024
Year: 2024

With the rapid development of Zero-Knowledge Proofs (ZKPs), particularly Succinct Non-Interactive Arguments of Knowledge (SNARKs), benchmarking various ZK tools has become a valuable task. ZK-friendly hash functions, as key algorithms in blockchain, have garnered significant attention. Therefore, comprehensive benchmarking and evaluations of these evolving algorithms in ZK circuits present both promising opportunities and challenges. Additionally, we focus on a popular ZKP application, privacy-preserving transaction protocols, aiming to leverage SNARKs' cost-efficiency through "batch processing" to address high on-chain costs and compliance issues. To this end, we benchmarked three SNARK proving systems and five ZK-friendly hash functions, including our self-developed circuit templates for Poseidon2, Neptune, and GMiMC, on the bn254 curve within the circom-snarkjs framework. We also introduced the role of "sequencer" in our SNARK-based privacy-preserving transaction scheme to enhance efficiency and enable flexible auditing. We conducted privacy and security analyses, as well as implementation and evaluation on Ethereum Virtual Machine (EVM)-compatible chains. The results indicate that Poseidon and Poseidon2 demonstrate superior memory usage and runtime during proof generation under Groth16. Moreover, compared to the baseline, Poseidon2 not only generates proofs faster but also reduces on-chain costs by 73% on EVM chains and nearly 26% on Hedera. Our work provides a benchmark for ZK-friendly hash functions and ZK tools, while also exploring cost efficiency and compliance in ZKP-based privacy-preserving transaction protocols.
Efficient Point Cloud Classification via Offline Distillation Framework and Negative-Weight Self-Distillation Technique
Venue: arXiv cs.CV 2024
Year: 2024

The rapid advancement in point cloud processing technologies has significantly increased the demand for efficient and compact models that achieve high-accuracy classification. Knowledge distillation has emerged as a potent model compression technique. However, traditional KD often requires extensive computational resources for forward inference of large teacher models, thereby reducing training efficiency for student models and increasing resource demands. To address these challenges, we introduce an innovative offline recording strategy that avoids the simultaneous loading of both teacher and student models, thereby reducing hardware demands. This approach feeds a multitude of augmented samples into the teacher model, recording both the data augmentation parameters and the corresponding logit outputs. By applying shape-level augmentation operations such as random scaling and translation, while excluding point-level operations like random jittering, the size of the records is significantly reduced. Additionally, to mitigate the issue of small student model over-imitating the teacher model's outputs and converging to suboptimal solutions, we incorporate a negative-weight self-distillation strategy. Experimental results demonstrate that the proposed distillation strategy enables the student model to achieve performance comparable to state-of-the-art models while maintaining lower parameter count. This approach strikes an optimal balance between performance and complexity. This study highlights the potential of our method to optimize knowledge distillation for point cloud classification tasks, particularly in resource-constrained environments, providing a novel solution for efficient point cloud analysis.
A Modern Take on Visual Relationship Reasoning for Grasp Planning
Venue: arXiv cs.RO 2024
Year: 2024

Interacting with real-world cluttered scenes pose several challenges to robotic agents that need to understand complex spatial dependencies among the observed objects to determine optimal pick sequences or efficient object retrieval strategies. Existing solutions typically manage simplified scenarios and focus on predicting pairwise object relationships following an initial object detection phase, but often overlook the global context or struggle with handling redundant and missing object relations. In this work, we present a modern take on visual relational reasoning for grasp planning. We introduce D3GD, a novel testbed that includes bin picking scenes with up to 35 objects from 97 distinct categories. Additionally, we propose D3G, a new end-to-end transformer-based dependency graph generation model that simultaneously detects objects and produces an adjacency matrix representing their spatial relationships. Recognizing the limitations of standard metrics, we employ the Average Precision of Relationships for the first time to evaluate model performance, conducting an extensive experimental benchmark. The obtained results establish our approach as the new state-of-the-art for this task, laying the foundation for future research in robotic manipulation. We publicly release the code and dataset at https://paolotron.github.io/d3g.github.io.
RACONTEUR: A Knowledgeable, Insightful, and Portable LLM-Powered Shell Command Explainer
Venue: arXiv cs.CR 2024
Year: 2024

Malicious shell commands are linchpins to many cyber-attacks, but may not be easy to understand by security analysts due to complicated and often disguised code structures. Advances in large language models (LLMs) have unlocked the possibility of generating understandable explanations for shell commands. However, existing general-purpose LLMs suffer from a lack of expert knowledge and a tendency to hallucinate in the task of shell command explanation. In this paper, we present Raconteur, a knowledgeable, expressive and portable shell command explainer powered by LLM. Raconteur is infused with professional knowledge to provide comprehensive explanations on shell commands, including not only what the command does (i.e., behavior) but also why the command does it (i.e., purpose). To shed light on the high-level intent of the command, we also translate the natural-language-based explanation into standard technique & tactic defined by MITRE ATT&CK, the worldwide knowledge base of cybersecurity. To enable Raconteur to explain unseen private commands, we further develop a documentation retriever to obtain relevant information from complementary documentations to assist the explanation process. We have created a large-scale dataset for training and conducted extensive experiments to evaluate the capability of Raconteur in shell command explanation. The experiments verify that Raconteur is able to provide high-quality explanations and in-depth insight of the intent of the command.
GraspSplats: Efficient Manipulation with 3D Feature Splatting
Venue: arXiv cs.RO 2024
Year: 2024

The ability for robots to perform efficient and zero-shot grasping of object parts is crucial for practical applications and is becoming prevalent with recent advances in Vision-Language Models (VLMs). To bridge the 2D-to-3D gap for representations to support such a capability, existing methods rely on neural fields (NeRFs) via differentiable rendering or point-based projection methods. However, we demonstrate that NeRFs are inappropriate for scene changes due to their implicitness and point-based methods are inaccurate for part localization without rendering-based optimization. To amend these issues, we propose GraspSplats. Using depth supervision and a novel reference feature computation method, GraspSplats generates high-quality scene representations in under 60 seconds. We further validate the advantages of Gaussian-based representation by showing that the explicit and optimized geometry in GraspSplats is sufficient to natively support (1) real-time grasp sampling and (2) dynamic and articulated object manipulation with point trackers. With extensive experiments on a Franka robot, we demonstrate that GraspSplats significantly outperforms existing methods under diverse task settings. In particular, GraspSplats outperforms NeRF-based methods like F3RM and LERF-TOGO, and 2D detection methods.
DepthCrafter: Generating Consistent Long Depth Sequences for Open-world Videos
Venue: arXiv cs.CV 2024
Year: 2024

Estimating video depth in open-world scenarios is challenging due to the diversity of videos in appearance, content motion, camera movement, and length. We present DepthCrafter, an innovative method for generating temporally consistent long depth sequences with intricate details for open-world videos, without requiring any supplementary information such as camera poses or optical flow. The generalization ability to open-world videos is achieved by training the video-to-depth model from a pre-trained image-to-video diffusion model, through our meticulously designed three-stage training strategy. Our training approach enables the model to generate depth sequences with variable lengths at one time, up to 110 frames, and harvest both precise depth details and rich content diversity from realistic and synthetic datasets. We also propose an inference strategy that can process extremely long videos through segment-wise estimation and seamless stitching. Comprehensive evaluations on multiple datasets reveal that DepthCrafter achieves state-of-the-art performance in open-world video depth estimation under zero-shot settings. Furthermore, DepthCrafter facilitates various downstream applications, including depth-based visual effects and conditional video generation.
On a heuristic approach to the description of consciousness as a hypercomplex system state and the possibility of machine consciousness (German edition)
Venue: arXiv cs.AI 2024
Year: 2024

This article presents a heuristic view that shows that the inner states of consciousness experienced by every human being have a physical but imaginary hypercomplex basis. The hypercomplex description is necessary because certain processes of consciousness cannot be physically measured in principle, but nevertheless exist. Based on theoretical considerations, it could be possible - as a result of mathematical investigations into a so-called bicomplex algebra - to generate and use hypercomplex system states on machines in a targeted manner. The hypothesis of the existence of hypercomplex system states on machines is already supported by the surprising performance of highly complex AI systems. However, this has yet to be proven. In particular, there is a lack of experimental data that distinguishes such systems from other systems, which is why this question will be addressed in later articles. This paper describes the developed bicomplex algebra and possible applications of these findings to generate hypercomplex energy states on machines. In the literature, such system states are often referred to as machine consciousness. The article uses mathematical considerations to explain how artificial consciousness could be generated and what advantages this would have for such AI systems.
CoRA: Optimizing Low-Rank Adaptation with Common Subspace of Large Language Models
Venue: arXiv cs.LG 2024
Year: 2024

In fine-tuning large language models (LLMs), conserving computational resources while maintaining effectiveness and improving outcomes within the same computational constraints is crucial. The Low-Rank Adaptation (LoRA) strategy balances efficiency and performance in fine-tuning large models by reducing the number of trainable parameters and computational costs. However, current advancements in LoRA might be focused on its fine-tuning methodologies, with not as much exploration as might be expected into further compression of LoRA. Since most of LoRA's parameters might still be superfluous, this may lead to unnecessary wastage of computational resources. In this paper, we propose \textbf{CoRA}: leveraging shared knowledge to optimize LoRA training by substituting its matrix $B$ with a common subspace from large models. Our two-fold method includes (1) Freezing the substitute matrix $B$ to halve parameters while training matrix $A$ for specific tasks and (2) Using the substitute matrix $B$ as an enhanced initial state for the original matrix $B$, achieving improved results with the same parameters. Our experiments show that the first approach achieves the same efficacy as the original LoRA fine-tuning while being more efficient than halving parameters. At the same time, the second approach has some improvements compared to LoRA's original fine-tuning performance. They generally attest to the effectiveness of our work.
TrajWeaver: Trajectory Recovery with State Propagation Diffusion Model
Venue: arXiv cs.LG 2024
Year: 2024

With the proliferation of location-aware devices, large amount of trajectories have been generated when agents such as people, vehicles and goods flow around the urban environment. These raw trajectories, typically collected from various sources such as GPS in cars, personal mobile devices, and public transport, are often sparse and fragmented due to limited sampling rates, infrastructure coverage and data loss. In this context, trajectory recovery aims to reconstruct such sparse raw trajectories into their dense and continuous counterparts, so that fine-grained movement of agents across space and time can be captured faithfully. Existing trajectory recovery approaches typically rely on the prior knowledge of travel mode or motion patterns, and often fail in densely populated urban areas where accurate maps are absent. In this paper, we present a new recovery framework called TrajWeaver based on probabilistic diffusion models, which is able to recover dense and refined trajectories from the sparse raw ones, conditioned on various auxiliary features such as Areas of Interest along the way, user identity and waybill information. The core of TrajWeaver is a novel State Propagation Diffusion Model (SPDM), which introduces a new state propagation mechanism on top of the standard diffusion models, so that knowledge computed in earlier diffusion steps can be reused later, improving the recovery performance while reducing the number of steps needed. Extensive experiments show that the proposed TrajWeaver can recover from raw trajectories of various lengths, sparsity levels and heterogeneous travel modes, and outperform the state-of-the-art baselines significantly in recovery accuracy. Our code is available at: https://anonymous.4open.science/r/TrajWeaver/
Detecting Homeomorphic 3-manifolds via Graph Neural Networks
Venue: arXiv cs.LG 2024
Year: 2024

Motivated by the enumeration of the BPS spectra of certain 3d $\mathcal{N}=2$ supersymmetric quantum field theories, obtained from the compactification of 6d superconformal field theories on three-manifolds, we study the homeomorphism problem for a class of graph-manifolds using Graph Neural Network techniques. Utilizing the JSJ decomposition, a unique representation via a plumbing graph is extracted from a graph-manifold. Homeomorphic graph-manifolds are related via a sequence of von Neumann moves on this graph; the algorithmic application of these moves can determine if two graphs correspond to homeomorphic graph-manifolds in super-polynomial time. However, by employing Graph Neural Networks (GNNs), the same problem can be addressed, at the cost of accuracy, in polynomial time. We build a dataset composed of pairs of plumbing graphs, together with a hidden label encoding whether the pair is homeomorphic. We train and benchmark a variety of network architectures within a supervised learning setting by testing different combinations of two convolutional layers (GEN, GCN, GAT, NNConv), followed by an aggregation layer and a classification layer. We discuss the strengths and weaknesses of the different GNNs for this homeomorphism problem.
From Predictive Importance to Causality: Which Machine Learning Model Reflects Reality?
Venue: arXiv cs.LG 2024
Year: 2024

This study analyzes the Ames Housing Dataset using CatBoost and LightGBM models to explore feature importance and causal relationships in housing price prediction. We examine the correlation between SHAP values and EconML predictions, achieving high accuracy in price forecasting. Our analysis reveals a moderate Spearman rank correlation of 0.48 between SHAP-based feature importance and causally significant features, highlighting the complexity of aligning predictive modeling with causal understanding in housing market analysis. Through extensive causal analysis, including heterogeneity exploration and policy tree interpretation, we provide insights into how specific features like porches impact housing prices across various scenarios. This work underscores the need for integrated approaches that combine predictive power with causal insights in real estate valuation, offering valuable guidance for stakeholders in the industry.
Self-Supervised Learning for Identifying Defects in Sewer Footage
Venue: arXiv cs.CV 2024
Year: 2024

Sewerage infrastructure is among the most expensive modern investments requiring time-intensive manual inspections by qualified personnel. Our study addresses the need for automated solutions without relying on large amounts of labeled data. We propose a novel application of Self-Supervised Learning (SSL) for sewer inspection that offers a scalable and cost-effective solution for defect detection. We achieve competitive results with a model that is at least 5 times smaller than other approaches found in the literature and obtain competitive performance with 10\% of the available data when training with a larger architecture. Our findings highlight the potential of SSL to revolutionize sewer maintenance in resource-limited settings.
Efficient and Scalable Estimation of Tool Representations in Vector Space
Venue: arXiv cs.LG 2024
Year: 2024

Recent advancements in function calling and tool use have significantly enhanced the capabilities of large language models (LLMs) by enabling them to interact with external information sources and execute complex tasks. However, the limited context window of LLMs presents challenges when a large number of tools are available, necessitating efficient methods to manage prompt length and maintain accuracy. Existing approaches, such as fine-tuning LLMs or leveraging their reasoning capabilities, either require frequent retraining or incur significant latency overhead. A more efficient solution involves training smaller models to retrieve the most relevant tools for a given query, although this requires high quality, domain-specific data. To address those challenges, we present a novel framework for generating synthetic data for tool retrieval applications and an efficient data-driven tool retrieval strategy using small encoder models. Empowered by LLMs, we create ToolBank, a new tool retrieval dataset that reflects real human user usages. For tool retrieval methodologies, we propose novel approaches: (1) Tool2Vec: usage-driven tool embedding generation for tool retrieval, (2) ToolRefiner: a staged retrieval method that iteratively improves the quality of retrieved tools, and (3) MLC: framing tool retrieval as a multi-label classification problem. With these new methods, we achieve improvements of up to 27.28 in Recall@K on the ToolBench dataset and 30.5 in Recall@K on ToolBank. Additionally, we present further experimental results to rigorously validate our methods. Our code is available at \url{https://github.com/SqueezeAILab/Tool2Vec}
Accelerating Graph Neural Networks with a Novel Matrix Compression Format
Venue: arXiv cs.DS 2024
Year: 2024

The inference and training stages of Graph Neural Networks (GNNs) are often dominated by the time required to compute a long sequence of matrix multiplications between the sparse graph adjacency matrix and its embedding. To accelerate these stages, we first propose the Compressed Binary Matrix (CBM) storage format to succinctly represent the binary adjacency matrix of an unweighted graph. Then, we show how to generalize this representation to normalized adjacency matrices of unweighted graphs which arise in the context of GNNs. Finally, we develop efficient matrix multiplication kernels based on this compressed representation. The matrix multiplication kernels proposed in this work never require more scalar operations than classic sparse matrix multiplication algorithms. Experimental evaluation shows that the matrix multiplication strategies proposed outperform the current state-of-the-art implementations provided by Intel MKL, achieving speedups close to 5$\times$. Furthermore, our optimized matrix-multiplication strategies accelerated the inference time of a GNN by up to $3\times$.