OpenRaiser/Intern-Atlas huggingface dataset:
Active Semantic Localization with Graph Neural Embedding
Venue: arXiv cs.CV 2023
Year: 2023

Semantic localization, i.e., robot self-localization with semantic image modality, is critical in recently emerging embodied AI applications (e.g., point-goal navigation, object-goal navigation, vision language navigation) and topological mapping applications (e.g., graph neural SLAM, ego-centric topological map). However, most existing works on semantic localization focus on passive vision tasks without viewpoint planning, or rely on additional rich modalities (e.g., depth measurements). Thus, the problem is largely unsolved. In this work, we explore a lightweight, entirely CPU-based, domain-adaptive semantic localization framework, called graph neural localizer. Our approach is inspired by two recently emerging technologies: (1) Scene graph, which combines the viewpoint- and appearance- invariance of local and global features; (2) Graph neural network, which enables direct learning/recognition of graph data (i.e., non-vector data). Specifically, a graph convolutional neural network is first trained as a scene graph classifier for passive vision, and then its knowledge is transferred to a reinforcement-learning planner for active vision. Experiments on two scenarios, self-supervised learning and unsupervised domain adaptation, using a photo-realistic Habitat simulator validate the effectiveness of the proposed method.
A Review of Vision-Language Models and their Performance on the Hateful Memes Challenge
Venue: arXiv cs.CL 2023
Year: 2023

Moderation of social media content is currently a highly manual task, yet there is too much content posted daily to do so effectively. With the advent of a number of multimodal models, there is the potential to reduce the amount of manual labor for this task. In this work, we aim to explore different models and determine what is most effective for the Hateful Memes Challenge, a challenge by Meta designed to further machine learning research in content moderation. Specifically, we explore the differences between early fusion and late fusion models in classifying multimodal memes containing text and images. We first implement a baseline using unimodal models for text and images separately using BERT and ResNet-152, respectively. The outputs from these unimodal models were then concatenated together to create a late fusion model. In terms of early fusion models, we implement ConcatBERT, VisualBERT, ViLT, CLIP, and BridgeTower. It was found that late fusion performed significantly worse than early fusion models, with the best performing model being CLIP which achieved an AUROC of 70.06. The code for this work is available at https://github.com/bzhao18/CS-7643-Project.
Analysis of Climate Campaigns on Social Media using Bayesian Model Averaging
Venue: arXiv cs.CL 2023
Year: 2023

Climate change is the defining issue of our time, and we are at a defining moment. Various interest groups, social movement organizations, and individuals engage in collective action on this issue on social media. In addition, issue advocacy campaigns on social media often arise in response to ongoing societal concerns, especially those faced by energy industries. Our goal in this paper is to analyze how those industries, their advocacy group, and climate advocacy group use social media to influence the narrative on climate change. In this work, we propose a minimally supervised model soup [57] approach combined with messaging themes to identify the stances of climate ads on Facebook. Finally, we release our stance dataset, model, and set of themes related to climate campaigns for future work on opinion mining and the automatic detection of climate change stances.
A Multi-modal Approach to Single-modal Visual Place Classification
Venue: arXiv cs.CV 2023
Year: 2023

Visual place classification from a first-person-view monocular RGB image is a fundamental problem in long-term robot navigation. A difficulty arises from the fact that RGB image classifiers are often vulnerable to spatial and appearance changes and degrade due to domain shifts, such as seasonal, weather, and lighting differences. To address this issue, multi-sensor fusion approaches combining RGB and depth (D) (e.g., LIDAR, radar, stereo) have gained popularity in recent years. Inspired by these efforts in multimodal RGB-D fusion, we explore the use of pseudo-depth measurements from recently-developed techniques of ``domain invariant" monocular depth estimation as an additional pseudo depth modality, by reformulating the single-modal RGB image classification task as a pseudo multi-modal RGB-D classification problem. Specifically, a practical, fully self-supervised framework for training, appropriately processing, fusing, and classifying these two modalities, RGB and pseudo-D, is described. Experiments on challenging cross-domain scenarios using public NCLT datasets validate effectiveness of the proposed framework.
Enabling Technologies for Programmable and Software-Defined Networks: Bolstering the Path Towards 6G
Venue: arXiv cs.NI 2023
Year: 2023

Although the complete scope of the sixth generation of mobile technologies (6G) is still unclear, the prominence of the Internet of Things (IoT) and Artificial Intelligence (AI) / Machine Learning (ML) in the networking field is undeniable. In this regard, key technology enablers for the previous generation, 5G, such as software-defined networking and network function virtualization, fall short to accomplish the stringent requirements envisioned for 6G verticals. This PhD thesis goes back to basics, by exploring missing functionality gaps in relation to these technologies, in order to provide the ''glue'' for holistic and fully-fledged networking solutions for 6G, aligned with standards and industry recommendations. Although ambitious, and in a very early stage, this PhD thesis illustrates an initial design for in-band control in Software-Defined Networking (SDN) that could facilitate the interoperability among constrained IoT devices. The current design demonstrates promising results in terms of resource-usage and robustness, which are pivotal features for constrained networks. Next steps include the integration of the approach with a real testbed comprised of constrained IoT devices and the implementation of a federated learning environment at the edge.
Mixing a Covert and a Non-Covert User
Venue: arXiv cs.IT 2023
Year: 2023

This paper establishes the fundamental limits of a two-user single-receiver system where communication from User 1 (but not from User 2) needs to be undetectable to an external warden. Our fundamental limits show a tradeoff between the highest rates (or square-root rates) that are simultaneously achievable for the two users. Moreover, coded time-sharing for both users is fundamentally required on most channels, which distinguishes this setup from the more classical setups with either only covert users or only non-covert users. Interestingly, the presence of a non-covert user can be beneficial for improving the covert capacity of the other user.
Maximal Leakage of Masked Implementations Using Mrs. Gerber's Lemma for Min-Entropy
Venue: arXiv cs.IT 2023
Year: 2023

A common countermeasure against side-channel attacks on secret key cryptographic implementations is $d$th-order masking, which splits each sensitive variable into $d+1$ random shares. In this paper, maximal leakage bounds on the probability of success of any side-channel attack are derived for any masking order. Maximal leakage (Sibson's information of order infinity) is evaluated between the sensitive variable and the noisy leakage, and is related to the conditional ``min-entropy'' (Arimoto's entropy of order infinity) of the sensitive variable given the leakage. The latter conditional entropy is then lower-bounded in terms of the conditional entropies for each share using majorization inequalities. This yields a generalization of Mrs. Gerber's lemma for min-entropy in finite Abelian groups.
A Multi-modal Garden Dataset and Hybrid 3D Dense Reconstruction Framework Based on Panoramic Stereo Images for a Trimming Robot
Venue: arXiv cs.CV 2023
Year: 2023

Recovering an outdoor environment's surface mesh is vital for an agricultural robot during task planning and remote visualization. Our proposed solution is based on a newly-designed panoramic stereo camera along with a hybrid novel software framework that consists of three fusion modules. The panoramic stereo camera with a pentagon shape consists of 5 stereo vision camera pairs to stream synchronized panoramic stereo images for the following three fusion modules. In the disparity fusion module, rectified stereo images produce the initial disparity maps using multiple stereo vision algorithms. Then, these initial disparity maps, along with the intensity images, are input into a disparity fusion network to produce refined disparity maps. Next, the refined disparity maps are converted into full-view point clouds or single-view point clouds for the pose fusion module. The pose fusion module adopts a two-stage global-coarse-to-local-fine strategy. In the first stage, each pair of full-view point clouds is registered by a global point cloud matching algorithm to estimate the transformation for a global pose graph's edge, which effectively implements loop closure. In the second stage, a local point cloud matching algorithm is used to match single-view point clouds in different nodes. Next, we locally refine the poses of all corresponding edges in the global pose graph using three proposed rules, thus constructing a refined pose graph. The refined pose graph is optimized to produce a global pose trajectory for volumetric fusion. In the volumetric fusion module, the global poses of all the nodes are used to integrate the single-view point clouds into the volume to produce the mesh of the whole garden. The proposed framework and its three fusion modules are tested on a real outdoor garden dataset to show the superiority of the performance.
Vertical Federated Learning over Cloud-RAN: Convergence Analysis and System Optimization
Venue: arXiv cs.IT 2023
Year: 2023

Vertical federated learning (FL) is a collaborative machine learning framework that enables devices to learn a global model from the feature-partition datasets without sharing local raw data. However, as the number of the local intermediate outputs is proportional to the training samples, it is critical to develop communication-efficient techniques for wireless vertical FL to support high-dimensional model aggregation with full device participation. In this paper, we propose a novel cloud radio access network (Cloud-RAN) based vertical FL system to enable fast and accurate model aggregation by leveraging over-the-air computation (AirComp) and alleviating communication straggler issue with cooperative model aggregation among geographically distributed edge servers. However, the model aggregation error caused by AirComp and quantization errors caused by the limited fronthaul capacity degrade the learning performance for vertical FL. To address these issues, we characterize the convergence behavior of the vertical FL algorithm considering both uplink and downlink transmissions. To improve the learning performance, we establish a system optimization framework by joint transceiver and fronthaul quantization design, for which successive convex approximation and alternate convex search based system optimization algorithms are developed. We conduct extensive simulations to demonstrate the effectiveness of the proposed system architecture and optimization framework for vertical FL.
Explicit Information-Debt-Optimal Streaming Codes With Small Memory
Venue: arXiv cs.IT 2023
Year: 2023

For a convolutional code in the presence of a symbol erasure channel, the information debt $I(t)$ at time $t$ provides a measure of the number of additional code symbols required to recover all message symbols up to time $t$. Information-debt-optimal streaming ($i$DOS) codes are convolutional codes which allow for the recovery of all message symbols up to $t$ whenever $I(t)$ turns zero under the following conditions; (i) information debt can be non-zero for at most $τ$ consecutive time slots and (ii) information debt never increases beyond a particular threshold. The existence of periodically-time-varying $i$DOS codes are known for all parameters. In this paper, we address the problem of constructing explicit, time-invariant $i$DOS codes. We present an explicit time-invariant construction of $i$DOS codes for the unit memory ($m=1$) case. It is also shown that a construction method for convolutional codes due to Almeida et al. leads to explicit time-invariant $i$DOS codes for all parameters. However, this general construction requires a larger field size than the first construction for the $m=1$ case.
Analysis of Adversarial Image Manipulations
Venue: arXiv cs.CV 2023
Year: 2023

As virtual and physical identity grow increasingly intertwined, the importance of privacy and security in the online sphere becomes paramount. In recent years, multiple news stories have emerged of private companies scraping web content and doing research with or selling the data. Images uploaded online can be scraped without users' consent or knowledge. Users of social media platforms whose images are scraped may be at risk of being identified in other uploaded images or in real-world identification situations. This paper investigates how simple, accessible image manipulation techniques affect the accuracy of facial recognition software in identifying an individual's various face images based on one unique image.
Scan2LoD3: Reconstructing semantic 3D building models at LoD3 using ray casting and Bayesian networks
Venue: arXiv cs.CV 2023
Year: 2023

Reconstructing semantic 3D building models at the level of detail (LoD) 3 is a long-standing challenge. Unlike mesh-based models, they require watertight geometry and object-wise semantics at the façade level. The principal challenge of such demanding semantic 3D reconstruction is reliable façade-level semantic segmentation of 3D input data. We present a novel method, called Scan2LoD3, that accurately reconstructs semantic LoD3 building models by improving façade-level semantic 3D segmentation. To this end, we leverage laser physics and 3D building model priors to probabilistically identify model conflicts. These probabilistic physical conflicts propose locations of model openings: Their final semantics and shapes are inferred in a Bayesian network fusing multimodal probabilistic maps of conflicts, 3D point clouds, and 2D images. To fulfill demanding LoD3 requirements, we use the estimated shapes to cut openings in 3D building priors and fit semantic 3D objects from a library of façade objects. Extensive experiments on the TUM city campus datasets demonstrate the superior performance of the proposed Scan2LoD3 over the state-of-the-art methods in façade-level detection, semantic segmentation, and LoD3 building model reconstruction. We believe our method can foster the development of probability-driven semantic 3D reconstruction at LoD3 since not only the high-definition reconstruction but also reconstruction confidence becomes pivotal for various applications such as autonomous driving and urban simulations.
Accessible Instruction-Following Agent
Venue: arXiv cs.AI 2023
Year: 2023

Humans can collaborate and complete tasks based on visual signals and instruction from the environment. Training such a robot is difficult especially due to the understanding of the instruction and the complicated environment. Previous instruction-following agents are biased to English-centric corpus, making it unrealizable to be applied to users that use multiple languages or even low-resource languages. Nevertheless, the instruction-following agents are pre-trained in a mode that assumes the user can observe the environment, which limits its accessibility. In this work, we're trying to generalize the success of instruction-following agents to non-English languages with little corpus resources, and improve its intractability and accessibility. We introduce UVLN (Universal Vision-Language Navigation), a novel machine-translation instructional augmented framework for cross-lingual vision-language navigation, with a novel composition of state-of-the-art large language model (GPT3) with the image caption model (BLIP). We first collect a multilanguage vision-language navigation dataset via machine translation. Then we extend the standard VLN training objectives to a multilingual setting via a cross-lingual language encoder. The alignment between different languages is captured through a shared vision and action context via a cross-modal transformer, which encodes the inputs of language instruction, visual observation, and action decision sequences. To improve the intractability, we connect our agent with the large language model that informs the situation and current state to the user and also explains the action decisions. Experiments over Room Across Room Dataset prove the effectiveness of our approach. And the qualitative results show the promising intractability and accessibility of our instruction-following agent.
Towards Scalable Adaptive Learning with Graph Neural Networks and Reinforcement Learning
Venue: arXiv cs.LG 2023
Year: 2023

Adaptive learning is an area of educational technology that consists in delivering personalized learning experiences to address the unique needs of each learner. An important subfield of adaptive learning is learning path personalization: it aims at designing systems that recommend sequences of educational activities to maximize students' learning outcomes. Many machine learning approaches have already demonstrated significant results in a variety of contexts related to learning path personalization. However, most of them were designed for very specific settings and are not very reusable. This is accentuated by the fact that they often rely on non-scalable models, which are unable to integrate new elements after being trained on a specific set of educational resources. In this paper, we introduce a flexible and scalable approach towards the problem of learning path personalization, which we formalize as a reinforcement learning problem. Our model is a sequential recommender system based on a graph neural network, which we evaluate on a population of simulated learners. Our results demonstrate that it can learn to make good recommendations in the small-data regime.
Universally Composable Simultaneous Broadcast against a Dishonest Majority and Applications
Venue: arXiv cs.CR 2023
Year: 2023

Simultaneous broadcast (SBC) protocols [Chor et al., FOCS 1985] constitute a special class of broadcast channels which have proved extremely useful in the design of various distributed computing constructions (e.g., multiparty computation, coin flipping, e-voting, fair bidding). As with any communication channel, it is crucial that SBC security is composable, i.e., it is preserved under concurrent protocol executions. The work of [Hevia, SCN 2006] proposes a formal treatment of SBC in the Universal Composability (UC) framework [Canetti, FOCS 2001] and a construction secure assuming an honest majority. In this work, we provide a comprehensive revision of SBC in the UC setting and improve the results of [Hevia, SCN 2006]. In particular, we present a new SBC functionality that captures both simultaneity and liveness by considering a broadcast period such that (i) within this period all messages are broadcast independently and (ii) after the period ends, the session is terminated without requiring participation of all parties. Next, we employ time-lock encryption (TLE) over a standard broadcast channel to devise an SBC protocol that realizes our functionality against any adaptive adversary corrupting up to all-but-one parties. In our study, we capture synchronicity via a global clock [Katz et al., TCC 2013], thus lifting the restrictions of the original synchronous communication setting used in [Hevia, SCN 2006]. As a building block of independent interest, we prove the first TLE protocol that is adaptively secure in the UC setting, strengthening the main result of [Arapinis et al., ASIACRYPT 2021]. Finally, we formally exhibit the power of our SBC construction in the design of UC-secure applications by presenting two interesting use cases: (i) distributed generation of uniform random strings, and (ii) decentralized electronic voting systems, without the presence of a special trusted party.
ChatGPT-Like Large-Scale Foundation Models for Prognostics and Health Management: A Survey and Roadmaps
Venue: arXiv cs.LG 2023
Year: 2023

Prognostics and health management (PHM) technology plays a critical role in industrial production and equipment maintenance by identifying and predicting possible equipment failures and damages, thereby allowing necessary maintenance measures to be taken to enhance equipment service life and reliability while reducing production costs and downtime. In recent years, PHM technology based on artificial intelligence (AI) has made remarkable achievements in the context of the industrial IoT and big data, and it is widely used in various industries, such as railway, energy, and aviation, for condition monitoring, fault prediction, and health management. The emergence of large-scale foundation models (LSF-Models) such as ChatGPT and DALLE-E marks the entry of AI into a new era of AI-2.0 from AI-1.0, where deep models have rapidly evolved from a research paradigm of single-modal, single-task, and limited-data to a multi-modal, multi-task, massive data, and super-large model paradigm. ChatGPT represents a landmark achievement in this research paradigm, offering hope for general artificial intelligence due to its highly intelligent natural language understanding ability. However, the PHM field lacks a consensus on how to respond to this significant change in the AI field, and a systematic review and roadmap is required to elucidate future development directions. To fill this gap, this paper systematically expounds on the key components and latest developments of LSF-Models. Then, we systematically answered how to build the LSF-Model applicable to PHM tasks and outlined the challenges and future development roadmaps for this research paradigm.
Securing Distributed SGD against Gradient Leakage Threats
Venue: arXiv cs.LG 2023
Year: 2023

This paper presents a holistic approach to gradient leakage resilient distributed Stochastic Gradient Descent (SGD). First, we analyze two types of strategies for privacy-enhanced federated learning: (i) gradient pruning with random selection or low-rank filtering and (ii) gradient perturbation with additive random noise or differential privacy noise. We analyze the inherent limitations of these approaches and their underlying impact on privacy guarantee, model accuracy, and attack resilience. Next, we present a gradient leakage resilient approach to securing distributed SGD in federated learning, with differential privacy controlled noise as the tool. Unlike conventional methods with the per-client federated noise injection and fixed noise parameter strategy, our approach keeps track of the trend of per-example gradient updates. It makes adaptive noise injection closely aligned throughout the federated model training. Finally, we provide an empirical privacy analysis on the privacy guarantee, model utility, and attack resilience of the proposed approach. Extensive evaluation using five benchmark datasets demonstrates that our gradient leakage resilient approach can outperform the state-of-the-art methods with competitive accuracy performance, strong differential privacy guarantee, and high resilience against gradient leakage attacks. The code associated with this paper can be found: https://github.com/git-disl/Fed-alphaCDP.