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40,878 | 4 | Title: It's more than just money: The real-world harms from ransomware attacks
Abstract: As cyber-attacks continue to increase in frequency and sophistication, organisations must be better prepared to face the reality of an incident. Any organisational plan that intends to be successful at managing security risks must clearly understand the harm (i.e., negative impact) and the various parties affected in the aftermath of an attack. To this end, this article conducts a novel exploration into the multitude of real-world harms that can arise from cyber-attacks, with a particular focus on ransomware incidents given their current prominence. This exploration also leads to the proposal of a new, robust methodology for modelling harms from such incidents. We draw on publicly-available case data on high-profile ransomware incidents to examine the types of harm that emerge at various stages after a ransomware attack and how harms (e.g., an offline enterprise server) may trigger other negative, potentially more substantial impacts for stakeholders (e.g., the inability for a customer to access their social welfare benefits or bank account). Prominent findings from our analysis include the identification of a notable set of social/human harms beyond the business itself (and beyond the financial payment of a ransom) and a complex web of harms that emerge after attacks regardless of the industry sector. We also observed that deciphering the full extent and sequence of harms can be a challenging undertaking because of the lack of complete data available. This paper consequently argues for more transparency on ransomware harms, as it would lead to a better understanding of the realities of these incidents to the benefit of organisations and society more generally. | [] | Validation |
40,879 | 34 | Title: Max-Min Diversification with Fairness Constraints: Exact and Approximation Algorithms
Abstract: Diversity maximization aims to select a diverse and representative subset of items from a large dataset. It is a fundamental optimization task that finds applications in data summarization, feature selection, web search, recommender systems, and elsewhere. However, in a setting where data items are associated with different groups according to sensitive attributes like sex or race, it is possible that algorithmic solutions for this task, if left unchecked, will under- or over-represent some of the groups. Therefore, we are motivated to address the problem of \emph{max-min diversification with fairness constraints}, aiming to select $k$ items to maximize the minimum distance between any pair of selected items while ensuring that the number of items selected from each group falls within predefined lower and upper bounds. In this work, we propose an exact algorithm based on integer linear programming that is suitable for small datasets as well as a $\frac{1-\varepsilon}{5}$-approximation algorithm for any $\varepsilon \in (0, 1)$ that scales to large datasets. Extensive experiments on real-world datasets demonstrate the superior performance of our proposed algorithms over existing ones. | [] | Train |
40,880 | 27 | Title: Knowledge-Driven Robot Program Synthesis from Human VR Demonstrations
Abstract: Aging societies, labor shortages and increasing wage costs call for assistance robots capable of autonomously performing a wide array of real-world tasks. Such open-ended robotic manipulation requires not only powerful knowledge representations and reasoning (KR&R) algorithms, but also methods for humans to instruct robots what tasks to perform and how to perform them. In this paper, we present a system for automatically generating executable robot control programs from human task demonstrations in virtual reality (VR). We leverage common-sense knowledge and game engine-based physics to semantically interpret human VR demonstrations, as well as an expressive and general task representation and automatic path planning and code generation, embedded into a state-of-the-art cognitive architecture. We demonstrate our approach in the context of force-sensitive fetch-and-place for a robotic shopping assistant. The source code is available at https://github.com/ease-crc/vr-program-synthesis. | [] | Test |
40,881 | 30 | Title: An Empirical Study of Leveraging Knowledge Distillation for Compressing Multilingual Neural Machine Translation Models
Abstract: Knowledge distillation (KD) is a well-known method for compressing neural models. However, works focusing on distilling knowledge from large multilingual neural machine translation (MNMT) models into smaller ones are practically nonexistent, despite the popularity and superiority of MNMT. This paper bridges this gap by presenting an empirical investigation of knowledge distillation for compressing MNMT models. We take Indic to English translation as a case study and demonstrate that commonly used language-agnostic and language-aware KD approaches yield models that are 4-5x smaller but also suffer from performance drops of up to 3.5 BLEU. To mitigate this, we then experiment with design considerations such as shallower versus deeper models, heavy parameter sharing, multistage training, and adapters. We observe that deeper compact models tend to be as good as shallower non-compact ones and that fine-tuning a distilled model on a high-quality subset slightly boosts translation quality. Overall, we conclude that compressing MNMT models via KD is challenging, indicating immense scope for further research. | [] | Train |
40,882 | 30 | Title: Explainability for Large Language Models: A Survey
Abstract: Large language models (LLMs) have demonstrated impressive capabilities in natural language processing. However, their internal mechanisms are still unclear and this lack of transparency poses unwanted risks for downstream applications. Therefore, understanding and explaining these models is crucial for elucidating their behaviors, limitations, and social impacts. In this paper, we introduce a taxonomy of explainability techniques and provide a structured overview of methods for explaining Transformer-based language models. We categorize techniques based on the training paradigms of LLMs: traditional fine-tuning-based paradigm and prompting-based paradigm. For each paradigm, we summarize the goals and dominant approaches for generating local explanations of individual predictions and global explanations of overall model knowledge. We also discuss metrics for evaluating generated explanations, and discuss how explanations can be leveraged to debug models and improve performance. Lastly, we examine key challenges and emerging opportunities for explanation techniques in the era of LLMs in comparison to conventional machine learning models. | [
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20969,
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39280,
41328,
25973,
14583,
43641,
15485
] | Train |
40,883 | 16 | Title: Tag2Text: Guiding Vision-Language Model via Image Tagging
Abstract: This paper presents Tag2Text, a vision language pre-training (VLP) framework, which introduces image tagging into vision-language models to guide the learning of visual-linguistic features. In contrast to prior works which utilize object tags either manually labeled or automatically detected with an off-the-shelf detector with limited performance, our approach explicitly learns an image tagger using tags parsed from image-paired text and thus provides a strong semantic guidance to vision-language models. In this way, Tag2Text can utilize large-scale annotation-free image tags in accordance with image-text pairs, and provides more diverse tag categories beyond objects. As a result, Tag2Text demonstrates the ability of a foundational image tagging model, with superior zero-shot performance even comparable to fully supervised models. Moreover, by leveraging the tagging guidance, Tag2Text effectively enhances the performance of vision-language models on both generation-based and alignment-based tasks. Across a wide range of downstream benchmarks, Tag2Text achieves state-of-the-art results with similar model sizes and data scales, demonstrating the efficacy of the proposed tagging guidance. Code, demo and pre-trained models are available at \url{https://github.com/xinyu1205/recognize-anything}. | [
10624,
37765,
14086,
12171,
16878,
8919,
7384,
36828
] | Validation |
40,884 | 16 | Title: Multimodal C4: An Open, Billion-scale Corpus of Images Interleaved With Text
Abstract: In-context vision and language models like Flamingo support arbitrarily interleaved sequences of images and text as input. This format not only enables few-shot learning via interleaving independent supervised (image, text) examples, but also, more complex prompts involving interaction between images, e.g.,"What do image A and image B have in common?"To support this interface, pretraining occurs over web corpora that similarly contain interleaved images+text. To date, however, large-scale data of this form have not been publicly available. We release Multimodal C4, an augmentation of the popular text-only C4 corpus with images interleaved. We use a linear assignment algorithm to place images into longer bodies of text using CLIP features, a process that we show outperforms alternatives. Multimodal C4 spans everyday topics like cooking, travel, technology, etc. A manual inspection of a random sample of documents shows that a vast majority (88%) of images are topically relevant, and that linear assignment frequently selects individual sentences specifically well-aligned with each image (80%). After filtering NSFW images, ads, etc., the resulting corpus consists of 101.2M documents with 571M images interleaved in 43B English tokens. | [
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38858,
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6842,
2811
] | Train |
40,885 | 26 | Title: A stochastic block model for community detection in attributed networks
Abstract: Community detection is an important content in complex network analysis. The existing community detection methods in attributed networks mostly focus on only using network structure, while the methods of integrating node attributes is mainly for the traditional community structures, and cannot detect multipartite structures and mixture structures in network. In addition, the model-based community detection methods currently proposed for attributed networks do not fully consider unique topology information of nodes, such as betweenness centrality and clustering coefficient. Therefore, a stochastic block model that integrates betweenness centrality and clustering coefficient of nodes for community detection in attributed networks, named BCSBM, is proposed in this paper. Different from other generative models for attributed networks, the generation process of links and attributes in BCSBM model follows the Poisson distribution, and the probability between community is considered based on the stochastic block model. Moreover, the betweenness centrality and clustering coefficient of nodes are introduced into the process of links and attributes generation. Finally, the expectation maximization algorithm is employed to estimate the parameters of the BCSBM model, and the node-community memberships is obtained through the hard division process, so the community detection is completed. By experimenting on six real-work networks containing different network structures, and comparing with the community detection results of five algorithms, the experimental results show that the BCSBM model not only inherits the advantages of the stochastic block model and can detect various network structures, but also has good data fitting ability due to introducing the betweenness centrality and clustering coefficient of nodes. Overall, the performance of this model is superior to other five compared algorithms. | [] | Train |
40,886 | 23 | Title: EALink: An Efficient and Accurate Pre-trained Framework for Issue-Commit Link Recovery
Abstract: Issue-commit links, as a type of software traceability links, play a vital role in various software development and maintenance tasks. However, they are typically deficient, as developers often forget or fail to create tags when making commits. Existing studies have deployed deep learning techniques, including pretrained models, to improve automatic issue-commit link recovery.Despite their promising performance, we argue that previous approaches have four main problems, hindering them from recovering links in large software projects. To overcome these problems, we propose an efficient and accurate pre-trained framework called EALink for issue-commit link recovery. EALink requires much fewer model parameters than existing pre-trained methods, bringing efficient training and recovery. Moreover, we design various techniques to improve the recovery accuracy of EALink. We construct a large-scale dataset and conduct extensive experiments to demonstrate the power of EALink. Results show that EALink outperforms the state-of-the-art methods by a large margin (15.23%-408.65%) on various evaluation metrics. Meanwhile, its training and inference overhead is orders of magnitude lower than existing methods. | [
34132
] | Validation |
40,887 | 39 | Title: The Total Matching Polytope of Complete Bipartite Graphs
Abstract: The total matching polytope generalizes the stable set polytope and the matching polytope. In this paper, we first propose new facet-defining inequalities for the total matching polytope. We then give an exponential-sized, non-redundant description in the original space and a compact description in an extended space of the total matching polytope of complete bipartite graphs. | [] | Train |
40,888 | 16 | Title: Sparse3D: Distilling Multiview-Consistent Diffusion for Object Reconstruction from Sparse Views
Abstract: Reconstructing 3D objects from extremely sparse views is a long-standing and challenging problem. While recent techniques employ image diffusion models for generating plausible images at novel viewpoints or for distilling pre-trained diffusion priors into 3D representations using score distillation sampling (SDS), these methods often struggle to simultaneously achieve high-quality, consistent, and detailed results for both novel-view synthesis (NVS) and geometry. In this work, we present Sparse3D, a novel 3D reconstruction method tailored for sparse view inputs. Our approach distills robust priors from a multiview-consistent diffusion model to refine a neural radiance field. Specifically, we employ a controller that harnesses epipolar features from input views, guiding a pre-trained diffusion model, such as Stable Diffusion, to produce novel-view images that maintain 3D consistency with the input. By tapping into 2D priors from powerful image diffusion models, our integrated model consistently delivers high-quality results, even when faced with open-world objects. To address the blurriness introduced by conventional SDS, we introduce the category-score distillation sampling (C-SDS) to enhance detail. We conduct experiments on CO3DV2 which is a multi-view dataset of real-world objects. Both quantitative and qualitative evaluations demonstrate that our approach outperforms previous state-of-the-art works on the metrics regarding NVS and geometry reconstruction. | [
44288,
26625,
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37692,
29000,
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29531,
2908
] | Train |
40,889 | 27 | Title: Serving Time: Real-Time, Safe Motion Planning and Control for Manipulation of Unsecured Objects
Abstract: A key challenge to ensuring the rapid transition of robotic systems from the industrial sector to more ubiquitous applications is the development of algorithms that can guarantee safe operation while in close proximity to humans. Motion planning and control methods, for instance, must be able to certify safety while operating in real-time in arbitrary environments and in the presence of model uncertainty. This paper proposes Wrench Analysis for Inertial Transport using Reachability (WAITR), a certifiably safe motion planning and control framework for serial link manipulators that manipulate unsecured objects in arbitrary environments. WAITR uses reachability analysis to construct over-approximations of the contact wrench applied to unsecured objects, which captures uncertainty in the manipulator dynamics, the object dynamics, and contact parameters such as the coefficient of friction. An optimization problem formulation is presented that can be solved in real-time to generate provably-safe motions for manipulating the unsecured objects. This paper illustrates that WAITR outperforms state of the art methods in a variety of simulation experiments and demonstrates its performance in the real-world. | [
3589
] | Test |
40,890 | 24 | Title: Is Rewiring Actually Helpful in Graph Neural Networks?
Abstract: Graph neural networks compute node representations by performing multiple message-passing steps that consist in local aggregations of node features. Having deep models that can leverage longer-range interactions between nodes is hindered by the issues of over-smoothing and over-squashing. In particular, the latter is attributed to the graph topology which guides the message-passing, causing a node representation to become insensitive to information contained at distant nodes. Many graph rewiring methods have been proposed to remedy or mitigate this problem. However, properly evaluating the benefits of these methods is made difficult by the coupling of over-squashing with other issues strictly related to model training, such as vanishing gradients. Therefore, we propose an evaluation setting based on message-passing models that do not require training to compute node and graph representations. We perform a systematic experimental comparison on real-world node and graph classification tasks, showing that rewiring the underlying graph rarely does confer a practical benefit for message-passing. | [
42306,
46035,
42942,
28263
] | Test |
40,891 | 30 | Title: Machine Learning Approach for Cancer Entities Association and Classification
Abstract: According to the World Health Organization (WHO), cancer is the second leading cause of death globally. Scientific research on different types of cancers grows at an ever-increasing rate, publishing large volumes of research articles every year. The insight information and the knowledge of the drug, diagnostics, risk, symptoms, treatments, etc., related to genes are significant factors that help explore and advance the cancer research progression. Manual screening of such a large volume of articles is very laborious and time-consuming to formulate any hypothesis. The study uses the two most non-trivial NLP, Natural Language Processing functions, Entity Recognition, and text classification to discover knowledge from biomedical literature. Named Entity Recognition (NER) recognizes and extracts the predefined entities related to cancer from unstructured text with the support of a user-friendly interface and built-in dictionaries. Text classification helps to explore the insights into the text and simplifies data categorization, querying, and article screening. Machine learning classifiers are also used to build the classification model and Structured Query Languages (SQL) is used to identify the hidden relations that may lead to significant predictions. | [] | Train |
40,892 | 10 | Title: Establishing Markov equivalence in cyclic directed graphs
Abstract: We present a new, efficient procedure to establish Markov equivalence between directed graphs that may or may not contain cycles under the \textit{d}-separation criterion. It is based on the Cyclic Equivalence Theorem (CET) in the seminal works on cyclic models by Thomas Richardson in the mid '90s, but now rephrased from an ancestral perspective. The resulting characterization leads to a procedure for establishing Markov equivalence between graphs that no longer requires tests for d-separation, leading to a significantly reduced algorithmic complexity. The conceptually simplified characterization may help to reinvigorate theoretical research towards sound and complete cyclic discovery in the presence of latent confounders. This version includes a correction to rule (iv) in Theorem 1, and the subsequent adjustment in part 2 of Algorithm 2. | [] | Train |
40,893 | 24 | Title: Prediction-Oriented Bayesian Active Learning
Abstract: Information-theoretic approaches to active learning have traditionally focused on maximising the information gathered about the model parameters, most commonly by optimising the BALD score. We highlight that this can be suboptimal from the perspective of predictive performance. For example, BALD lacks a notion of an input distribution and so is prone to prioritise data of limited relevance. To address this we propose the expected predictive information gain (EPIG), an acquisition function that measures information gain in the space of predictions rather than parameters. We find that using EPIG leads to stronger predictive performance compared with BALD across a range of datasets and models, and thus provides an appealing drop-in replacement. | [
14458
] | Validation |
40,894 | 16 | Title: AnyStar: Domain randomized universal star-convex 3D instance segmentation
Abstract: Star-convex shapes arise across bio-microscopy and radiology in the form of nuclei, nodules, metastases, and other units. Existing instance segmentation networks for such structures train on densely labeled instances for each dataset, which requires substantial and often impractical manual annotation effort. Further, significant reengineering or finetuning is needed when presented with new datasets and imaging modalities due to changes in contrast, shape, orientation, resolution, and density. We present AnyStar, a domain-randomized generative model that simulates synthetic training data of blob-like objects with randomized appearance, environments, and imaging physics to train general-purpose star-convex instance segmentation networks. As a result, networks trained using our generative model do not require annotated images from unseen datasets. A single network trained on our synthesized data accurately 3D segments C. elegans and P. dumerilii nuclei in fluorescence microscopy, mouse cortical nuclei in micro-CT, zebrafish brain nuclei in EM, and placental cotyledons in human fetal MRI, all without any retraining, finetuning, transfer learning, or domain adaptation. Code is available at https://github.com/neel-dey/AnyStar. | [
20386,
2719
] | Train |
40,895 | 30 | Title: Classification of Cross-cultural News Events
Abstract: We present a methodology to support the analysis of culture from text such as news events and demonstrate its usefulness on categorising news events from different categories (society, business, health, recreation, science, shopping, sports, arts, computers, games and home) across different geographical locations (different places in 117 countries). We group countries based on the culture that they follow and then filter the news events based on their content category. The news events are automatically labelled with the help of Hofstede’s cultural dimensions. We present combinations of events across different categories and check the performances of different classification methods. We also presents experimental comparison of different number of features in order to find a suitable set to represent the culture. | [] | Validation |
40,896 | 24 | Title: Adaptive Local Steps Federated Learning with Differential Privacy Driven by Convergence Analysis
Abstract: Federated Learning (FL) is a distributed machine learning technique that allows model training among multiple devices or organizations without sharing data. However, while FL ensures that the raw data is not directly accessible to external adversaries, adversaries can still obtain some statistical information about the data through differential attacks. Differential Privacy (DP) has been proposed, which adds noise to the model or gradients to prevent adversaries from inferring private information from the transmitted parameters. We reconsider the framework of differential privacy federated learning in resource-constrained scenarios (privacy budget and communication resources). We analyze the convergence of federated learning with differential privacy (DPFL) on resource-constrained scenarios and propose an Adaptive Local Steps Differential Privacy Federated Learning (ALS-DPFL) algorithm. We experiment our algorithm on the FashionMNIST and Cifar-10 datasets and achieve quite good performance relative to previous work. | [] | Train |
40,897 | 16 | Title: Robust Roadside Perception for Autonomous Driving: an Annotation-free Strategy with Synthesized Data
Abstract: Recently, with the rapid development in vehicle-to-infrastructure communication technologies, the infrastructure-based, roadside perception system for cooperative driving has become a rising field. This paper focuses on one of the most critical challenges - the data-insufficiency problem. The lacking of high-quality labeled roadside sensor data with high diversity leads to low robustness, and low transfer-ability of current roadside perception systems. In this paper, a novel approach is proposed to address this problem by creating synthesized training data using Augmented Reality and Generative Adversarial Network. This method creates synthesized dataset that is capable of training or fine-tuning a roadside perception detector which is robust to different weather and lighting conditions, or to adapt a new deployment location. We validate our approach at two intersections: Mcity intersection and State St/Ellsworth Rd roundabout. Our experiments show that (1) the detector can achieve good performance in all conditions when trained on synthesized data only, and (2) the performance of an existing detector trained with labeled data can be enhanced by synthesized data in harsh conditions. | [] | Train |
40,898 | 31 | Title: Finding the Law: Enhancing Statutory Article Retrieval via Graph Neural Networks
Abstract: Statutory article retrieval (SAR), the task of retrieving statute law articles relevant to a legal question, is a promising application of legal text processing. In particular, high-quality SAR systems can improve the work efficiency of legal professionals and provide basic legal assistance to citizens in need at no cost. Unlike traditional ad-hoc information retrieval, where each document is considered a complete source of information, SAR deals with texts whose full sense depends on complementary information from the topological organization of statute law. While existing works ignore these domain-specific dependencies, we propose a novel graph-augmented dense statute retriever (G-DSR) model that incorporates the structure of legislation via a graph neural network to improve dense retrieval performance. Experimental results show that our approach outperforms strong retrieval baselines on a real-world expert-annotated SAR dataset. | [] | Train |
40,899 | 27 | Title: Learning 6-DoF Fine-grained Grasp Detection Based on Part Affordance Grounding
Abstract: Robotic grasping is a fundamental ability for a robot to interact with the environment. Current methods focus on how to obtain a stable and reliable grasping pose in object wise, while little work has been studied on part (shape)-wise grasping which is related to fine-grained grasping and robotic affordance. Parts can be seen as atomic elements to compose an object, which contains rich semantic knowledge and a strong correlation with affordance. However, lacking a large part-wise 3D robotic dataset limits the development of part representation learning and downstream application. In this paper, we propose a new large Language-guided SHape grAsPing datasEt (named Lang-SHAPE) to learn 3D part-wise affordance and grasping ability. We design a novel two-stage fine-grained robotic grasping network (named PIONEER), including a novel 3D part language grounding model, and a part-aware grasp pose detection model. To evaluate the effectiveness, we perform multi-level difficulty part language grounding grasping experiments and deploy our proposed model on a real robot. Results show our method achieves satisfactory performance and efficiency in reference identification, affordance inference, and 3D part-aware grasping. Our dataset and code are available on our project website https://sites.google.com/view/lang-shape | [] | Test |
40,900 | 25 | Title: Mandarin Electrolaryngeal Speech Voice Conversion using Cross-domain Features
Abstract: Patients who have had their entire larynx removed, including the vocal folds, owing to throat cancer may experience difficulties in speaking. In such cases, electrolarynx devices are often prescribed to produce speech, which is commonly referred to as electrolaryngeal speech (EL speech). However, the quality and intelligibility of EL speech are poor. To address this problem, EL voice conversion (ELVC) is a method used to improve the intelligibility and quality of EL speech. In this paper, we propose a novel ELVC system that incorporates cross-domain features, specifically spectral features and self-supervised learning (SSL) embeddings. The experimental results show that applying cross-domain features can notably improve the conversion performance for the ELVC task compared with utilizing only traditional spectral features. | [] | Train |
40,901 | 30 | Title: Universal Information Extraction as Unified Semantic Matching
Abstract: The challenge of information extraction (IE) lies in the diversity of label schemas and the heterogeneity of structures.
Traditional methods require task-specific model design and rely heavily on expensive supervision, making them difficult to generalize to new schemas.
In this paper, we decouple IE into two basic abilities, structuring and conceptualizing, which are shared by different tasks and schemas.
Based on this paradigm, we propose to universally model various IE tasks with Unified Semantic Matching (USM) framework, which introduces three unified token linking operations to model the abilities of structuring and conceptualizing.
In this way, USM can jointly encode schema and input text, uniformly extract substructures in parallel, and controllably decode target structures on demand.
Empirical evaluation on 4 IE tasks shows that the proposed method achieves state-of-the-art performance under the supervised experiments and shows strong generalization ability in zero/few-shot transfer settings. | [
13185,
1811,
30221,
34423
] | Train |
40,902 | 34 | Title: Treebar Maps: Schematic Representation of Networks at Scale
Abstract: Many data sets, crucial for today's applications, consist essentially of enormous networks, containing millions or even billions of elements. Having the possibility of visualizing such networks is of paramount importance. We propose an algorithmic framework and a visual metaphor, dubbed treebar map, to provide schematic representations of huge networks. Our goal is to convey the main features of the network's inner structure in a straightforward, two-dimensional, one-page drawing. This drawing effectively captures the essential quantitative information about the network's main components. Our experiments show that we are able to create such representations in a few hundreds of seconds. We demonstrate the metaphor's efficacy through visual examination of extensive graphs, highlighting how their diverse structures are instantly comprehensible via their representations. | [] | Train |
40,903 | 3 | Title: ChatGPT as a mapping assistant: A novel method to enrich maps with generative AI and content derived from street-level photographs
Abstract: This paper explores the concept of leveraging generative AI as a mapping assistant for enhancing the efficiency of collaborative mapping. We present results of an experiment that combines multiple sources of volunteered geographic information (VGI) and large language models (LLMs). Three analysts described the content of crowdsourced Mapillary street-level photographs taken along roads in a small test area in Miami, Florida. GPT-3.5-turbo was instructed to suggest the most appropriate tagging for each road in OpenStreetMap (OSM). The study also explores the utilization of BLIP-2, a state-of-the-art multimodal pre-training method as an artificial analyst of street-level photographs in addition to human analysts. Results demonstrate two ways to effectively increase the accuracy of mapping suggestions without modifying the underlying AI models: by (1) providing a more detailed description of source photographs, and (2) combining prompt engineering with additional context (e.g. location and objects detected along a road). The first approach increases the suggestion accuracy by up to 29%, and the second one by up to 20%. | [
10624,
35580,
29109
] | Train |
40,904 | 16 | Title: Fine-Grained is Too Coarse: A Novel Data-Centric Approach for Efficient Scene Graph Generation
Abstract: Learning to compose visual relationships from raw images in the form of scene graphs is a highly challenging task due to contextual dependencies, but it is essential in computer vision applications that depend on scene understanding. However, no current approaches in Scene Graph Generation (SGG) aim at providing useful graphs for downstream tasks. Instead, the main focus has primarily been on the task of unbiasing the data distribution for predicting more fine-grained relations. That being said, all fine-grained relations are not equally relevant and at least a part of them are of no use for real-world applications. In this work, we introduce the task of Efficient SGG that prioritizes the generation of relevant relations, facilitating the use of Scene Graphs in downstream tasks such as Image Generation. To support further approaches in this task, we present a new dataset, VG150-curated, based on the annotations of the popular Visual Genome dataset. We show through a set of experiments that this dataset contains more high-quality and diverse annotations than the one usually adopted by approaches in SGG. Finally, we show the efficiency of this dataset in the task of Image Generation from Scene Graphs. Our approach can be easily replicated to improve the quality of other Scene Graph Generation datasets. | [] | Train |
40,905 | 25 | Title: Nonparallel Emotional Voice Conversion For Unseen Speaker-Emotion Pairs Using Dual Domain Adversarial Network & Virtual Domain Pairing
Abstract: Primary goal of an emotional voice conversion (EVC) system is to convert the emotion of a given speech signal from one style to another style without modifying the linguistic content of the signal. Most of the state-of-the-art approaches convert emotions for seen speaker-emotion combinations only. In this paper, we tackle the problem of converting the emotion of speakers whose only neutral data are present during the time of training and testing (i.e., unseen speaker-emotion combinations). To this end, we extend a recently proposed StartGANv2-VC architecture by utilizing dual encoders for learning the speaker and emotion style embeddings separately along with dual domain source classifiers. For achieving the conversion to unseen speaker-emotion combinations, we propose a Virtual Domain Pairing (VDP) training strategy, which virtually incorporates the speaker-emotion pairs that are not present in the real data without compromising the min-max game of a discriminator and generator in adversarial training. We evaluate the proposed method using a Hindi emotional database. | [
30992,
39977
] | Train |
40,906 | 16 | Title: NAISR: A 3D Neural Additive Model for Interpretable Shape Representation
Abstract: Deep implicit functions (DIFs) have emerged as a powerful paradigm for many computer vision tasks such as 3D shape reconstruction, generation, registration, completion, editing, and understanding. However, given a set of 3D shapes with associated covariates there is at present no shape representation method which allows to precisely represent the shapes while capturing the individual dependencies on each covariate. Such a method would be of high utility to researchers to discover knowledge hidden in a population of shapes. We propose a 3D Neural Additive Model for Interpretable Shape Representation (NAISR) which describes individual shapes by deforming a shape atlas in accordance to the effect of disentangled covariates. Our approach captures shape population trends and allows for patient-specific predictions through shape transfer. NAISR is the first approach to combine the benefits of deep implicit shape representations with an atlas deforming according to specified covariates. Although our driving problem is the construction of an airway atlas, NAISR is a general approach for modeling, representing, and investigating shape populations. We evaluate NAISR with respect to shape reconstruction, shape disentanglement, shape evolution, and shape transfer for the pediatric upper airway. Our experiments demonstrate that NAISR achieves competitive shape reconstruction performance while retaining interpretability. | [] | Train |
40,907 | 23 | Title: “STILL AROUND”: Experiences and Survival Strategies of Veteran Women Software Developers
Abstract: The intersection of ageism and sexism can create a hostile environment for veteran software developers belonging to marginalized genders. In this study, we conducted 14 interviews to examine the experiences of people at this intersection, primar-ily women, in order to discover the strategies they employed in order to successfully remain in the field. We identified 283 codes, which fell into three main categories: Strategies, Experiences, and Perception. Several strategies we identified, such as (Deliberately) Not Trying to Look Younger, were not previously described in the software engineering literature. We found that, in some compa-nies, older women developers are recognized as having particular value, further strengthening the known benefits of diversity in the workforce. Based on the experiences and strategies, we suggest organizations employing software developers to consider the benefits of hiring veteran women software developers. For example, companies can draw upon the life experiences of older women developers in order to better understand the needs of customers from a similar demographic. While we recognize that many of the strategies employed by our study participants are a response to systemic issues, we still consider that, in the short-term, there is benefit in describing these strategies for developers who are experiencing such issues today. | [
34811
] | Train |
40,908 | 16 | Title: Advances and Challenges in Multimodal Remote Sensing Image Registration
Abstract: Over the past few decades, with the rapid development of global aerospace and aerial remote sensing technology, the types of sensors have evolved from the traditional monomodal sensors (e.g., optical sensors) to the new generation of multimodal sensors (e.g., multispectral, hyperspectral, light detection and ranging (LiDAR), and synthetic aperture radar (SAR) sensors). These advanced devices can dynamically provide various and abundant multimodal remote sensing images (MRSIs) with different spatial, temporal, and spectral resolutions according to different application requirements. Since then, it is of great scientific significance to carry out the research of MRSI registration, which is a crucial step for integrating the complementary information among multimodal data and making comprehensive observations and analysis of the Earth’s surface. In this work, we will present our own contributions to the field of multimodal image registration, summarize the advantages and limitations of existing multimodal image registration methods, and then discuss the remaining challenges and make a forward-looking prospect for the future development of the field. | [] | Test |
40,909 | 16 | Title: Functional Knowledge Transfer with Self-supervised Representation Learning
Abstract: This work investigates the unexplored usability of self-supervised representation learning in the direction of functional knowledge transfer. In this work, functional knowledge transfer is achieved by joint optimization of self-supervised learning pseudo task and supervised learning task, improving supervised learning task performance. Recent progress in self-supervised learning uses a large volume of data, which becomes a constraint for its applications on small-scale datasets. This work shares a simple yet effective joint training framework that reinforces human-supervised task learning by learning self-supervised representations just-in-time and vice versa. Experiments on three public datasets from different visual domains, Intel Image, CIFAR, and APTOS, reveal a consistent track of performance improvements on classification tasks during joint optimization. Qualitative analysis also supports the robustness of learnt representations. Source code and trained models are available on GitHub. | [] | Train |
40,910 | 10 | Title: Marrying Dialogue Systems with Data Visualization: Interactive Data Visualization Generation from Natural Language Conversations
Abstract: Data visualization (DV) has become the prevailing tool in the market due to its effectiveness into illustrating insights in vast amounts of data. To lower the barrier of using DVs, automatic DV tasks, such as natural language question (NLQ) to visualization translation (formally called text-to-vis), have been investigated in the research community. However, text-to-vis assumes the NLQ to be well-organized and expressed in a single sentence. However, in real-world settings, complex DV is needed through consecutive exchanges between the DV system and the users. In this paper, we propose a new task named CoVis, short for Conversational text-to-Visualization, aiming at constructing DVs through a series of interactions between users and the system. Since it is the task which has not been studied in the literature, we first build a benchmark dataset named Dial-NVBench, including dialogue sessions with a sequence of queries from a user and responses from the system. Then, we propose a multi-modal neural network named MMCoVisNet to answer these DV-related queries. In particular, MMCoVisNet first fully understands the dialogue context and determines the corresponding responses. Then, it uses adaptive decoders to provide the appropriate replies: (i) a straightforward text decoder is used to produce general responses, (ii) an SQL-form decoder is applied to synthesize data querying responses, and (iii) a DV-form decoder tries to construct the appropriate DVs. We comparatively evaluate MMCoVisNet with other baselines over our proposed benchmark dataset. Experimental results validate that MMCoVisNet performs better than existing baselines and achieves a state-of-the-art performance. | [] | Validation |
40,911 | 35 | Title: Virtio-FPGA: a virtualization solution for SoC-attached FPGAs
Abstract: Recently, FPGA accelerators have risen in popularity as they present a suitable way of satisfying the high-computation and low-power demands of real time applications. The modern electric transportation systems (such as aircraft, road vehicles) can greatly profit from embedded FPGAs, which incorporate both high-performance and flexibility features into a single SoC. At the same time, the virtualization of FPGA resources aims to reinforce these systems with strong isolation, consolidation and security. In this context, we present a novel virtualization framework aimed for SoC-attached FPGA devices, in a Linux and Qemu/KVM setup. The solution uses Virtio as a means to enable the configuration of FPGA resources from guest systems in an efficient way. Also, it employs the Linux VFIO and Device Tree Overlays technologies in order to render the FPGA resources dynamically accessible to guest systems. The ability to dynamically configure and utilize the FPGA resources from a virtualization environment is described in details. The evaluation procedure of the solution is presented and the virtualization overhead is benchmarked to show that performance degradation is minimal (around 10%) when accessing the FPGA devices from guest systems. | [] | Train |
40,912 | 24 | Title: Offline Imitation Learning with Suboptimal Demonstrations via Relaxed Distribution Matching
Abstract: Offline imitation learning (IL) promises the ability to learn performant policies from pre-collected demonstrations without interactions with the environment. However, imitating behaviors fully offline typically requires numerous expert data. To tackle this issue, we study the setting where we have limited expert data and supplementary suboptimal data. In this case, a well-known issue is the distribution shift between the learned policy and the behavior policy that collects the offline data. Prior works mitigate this issue by regularizing the KL divergence between the stationary state-action distributions of the learned policy and the behavior policy. We argue that such constraints based on exact distribution matching can be overly conservative and hamper policy learning, especially when the imperfect offline data is highly suboptimal. To resolve this issue, we present RelaxDICE, which employs an asymmetrically-relaxed f-divergence for explicit support regularization. Specifically, instead of driving the learned policy to exactly match the behavior policy, we impose little penalty whenever the density ratio between their stationary state-action distributions is upper bounded by a constant. Note that such formulation leads to a nested min-max optimization problem, which causes instability in practice. RelaxDICE addresses this challenge by supporting a closed-form solution for the inner maximization problem. Extensive empirical study shows that our method significantly outperforms the best prior offline IL method in six standard continuous control environments with over 30% performance gain on average, across 22 settings where the imperfect dataset is highly suboptimal. | [
20882,
44715
] | Test |
40,913 | 24 | Title: Multi-dimensional concept discovery (MCD): A unifying framework with completeness guarantees
Abstract: The completeness axiom renders the explanation of a post-hoc XAI method only locally faithful to the model, i.e. for a single decision. For the trustworthy application of XAI, in particular for high-stake decisions, a more global model understanding is required. Recently, concept-based methods have been proposed, which are however not guaranteed to be bound to the actual model reasoning. To circumvent this problem, we propose Multi-dimensional Concept Discovery (MCD) as an extension of previous approaches that fulfills a completeness relation on the level of concepts. Our method starts from general linear subspaces as concepts and does neither require reinforcing concept interpretability nor re-training of model parts. We propose sparse subspace clustering to discover improved concepts and fully leverage the potential of multi-dimensional subspaces. MCD offers two complementary analysis tools for concepts in input space: (1) concept activation maps, that show where a concept is expressed within a sample, allowing for concept characterization through prototypical samples, and (2) concept relevance heatmaps, that decompose the model decision into concept contributions. Both tools together enable a detailed understanding of the model reasoning, which is guaranteed to relate to the model via a completeness relation. This paves the way towards more trustworthy concept-based XAI. We empirically demonstrate the superiority of MCD against more constrained concept definitions. | [
34449,
1462
] | Train |
40,914 | 11 | Title: Distributed Consensus in Wireless Networks With Probabilistic Broadcast Scheduling
Abstract: We consider distributed average consensus in a wireless network with partial communication to reduce the number of transmissions in every iteration/round. Considering the broadcast nature of wireless channels, we propose a probabilistic approach that schedules a subset of nodes for broadcasting information to their neighbors in every round. We compare several heuristic methods for assigning the node broadcast probabilities under a fixed number of transmissions per round. Furthermore, we introduce a pre-compensation method to correct the bias between the consensus value and the average of the initial values, and suggest possible extensions for our design. Our results are particularly relevant for developing communication-efficient consensus protocols in a wireless environment with limited frequency/time resources. | [
40188
] | Train |
40,915 | 6 | Title: RePrompt: Automatic Prompt Editing to Refine AI-Generative Art Towards Precise Expressions
Abstract: Generative AI models have shown impressive ability to produce images with text prompts, which could benefit creativity in visual art creation and self-expression. However, it is unclear how precisely the generated images express contexts and emotions from the input texts. We explored the emotional expressiveness of AI-generated images and developed RePrompt, an automatic method to refine text prompts toward precise expression of the generated images. Inspired by crowdsourced editing strategies, we curated intuitive text features, such as the number and concreteness of nouns, and trained a proxy model to analyze the feature effects on the AI-generated image. With model explanations of the proxy model, we curated a rubric to adjust text prompts to optimize image generation for precise emotion expression. We conducted simulation and user studies, which showed that RePrompt significantly improves the emotional expressiveness of AI-generated images, especially for negative emotions. | [
13953,
42915,
45476,
2742,
33848,
42169,
41083
] | Train |
40,916 | 27 | Title: TacMMs: Tactile Mobile Manipulators for Warehouse Automation
Abstract: Multi-robot platforms are playing an increasingly important role in warehouse automation for efficient goods transport. This paper proposes a novel customization of a multi-robot system, called Tactile Mobile Manipulators (TacMMs). Each TacMM integrates a soft optical tactile sensor and a mobile robot with a load-lifting mechanism, enabling cooperative transportation in tasks requiring coordinated physical interaction. More specifically, we mount the TacTip (biomimetic optical tactile sensor) on the Distributed Organisation and Transport System (DOTS) mobile robot. The tactile information then helps the mobile robots adjust the relative robot-object pose, thereby increasing the efficiency of load-lifting tasks. This study compares the performance of using two TacMMs with tactile perception with traditional vision-based pose adjustment for load-lifting. The results show that the average success rate of the TacMMs (66%) is improved over a purely visual-based method (34%), with a larger improvement when the mass of the load was non-uniformly distributed. Although this initial study considers two TacMMs, we expect the benefits of tactile perception to extend to multiple mobile robots. | [] | Validation |
40,917 | 6 | Title: Advanced spike sorting approaches in implantable VLSI wireless brain computer interfaces: a survey
Abstract: Brain Computer/Machine Interfaces (BCI/BMIs) have substantial potential for enhancing the lives of disabled individuals by restoring functionalities of missing body parts or allowing paralyzed individuals to regain speech and other motor capabilities. Due to severe health hazards arising from skull incisions required for wired BCI/BMIs, scientists are focusing on developing VLSI wireless BCI implants using biomaterials. However, significant challenges, like power efficiency and implant size, persist in creating reliable and efficient wireless BCI implants. With advanced spike sorting techniques, VLSI wireless BCI implants can function within the power and size constraints while maintaining neural spike classification accuracy. This study explores advanced spike sorting techniques to overcome these hurdles and enable VLSI wireless BCI/BMI implants to transmit data efficiently and achieve high accuracy. | [
33156
] | Train |
40,918 | 16 | Title: ALFA - Leveraging All Levels of Feature Abstraction for Enhancing the Generalization of Histopathology Image Classification Across Unseen Hospitals
Abstract: We propose an exhaustive methodology that leverages all levels of feature abstraction, targeting an enhancement in the generalizability of image classification to unobserved hospitals. Our approach incorporates augmentation-based self-supervision with common distribution shifts in histopathology scenarios serving as the pretext task. This enables us to derive invariant features from training images without relying on training labels, thereby covering different abstraction levels. Moving onto the subsequent abstraction level, we employ a domain alignment module to facilitate further extraction of invariant features across varying training hospitals. To represent the highly specific features of participating hospitals, an encoder is trained to classify hospital labels, independent of their diagnostic labels. The features from each of these encoders are subsequently disentangled to minimize redundancy and segregate the features. This representation, which spans a broad spectrum of semantic information, enables the development of a model demonstrating increased robustness to unseen images from disparate distributions. Experimental results from the PACS dataset (a domain generalization benchmark), a synthetic dataset created by applying histopathology-specific jitters to the MHIST dataset (defining different domains with varied distribution shifts), and a Renal Cell Carcinoma dataset derived from four image repositories from TCGA, collectively indicate that our proposed model is adept at managing varying levels of image granularity. Thus, it shows improved generalizability when faced with new, out-of-distribution hospital images. | [] | Validation |
40,919 | 16 | Title: GRIG: Few-Shot Generative Residual Image Inpainting
Abstract: Image inpainting is the task of filling in missing or masked region of an image with semantically meaningful contents. Recent methods have shown significant improvement in dealing with large-scale missing regions. However, these methods usually require large training datasets to achieve satisfactory results and there has been limited research into training these models on a small number of samples. To address this, we present a novel few-shot generative residual image inpainting method that produces high-quality inpainting results. The core idea is to propose an iterative residual reasoning method that incorporates Convolutional Neural Networks (CNNs) for feature extraction and Transformers for global reasoning within generative adversarial networks, along with image-level and patch-level discriminators. We also propose a novel forgery-patch adversarial training strategy to create faithful textures and detailed appearances. Extensive evaluations show that our method outperforms previous methods on the few-shot image inpainting task, both quantitatively and qualitatively. | [] | Train |
40,920 | 30 | Title: A Holistic Cascade System, benchmark, and Human Evaluation Protocol for Expressive Speech-to-Speech Translation
Abstract: Expressive speech-to-speech translation (S2ST) aims to transfer prosodic attributes of source speech to target speech while maintaining translation accuracy. Existing research in expressive S2ST is limited, typically focusing on a single expressivity aspect at a time. Likewise, this research area lacks standard evaluation protocols and well-curated benchmark datasets. In this work, we propose a holistic cascade system for expressive S2ST, combining multiple prosody transfer techniques previously considered only in isolation. We curate a benchmark expressivity test set in the TV series domain and explored a second dataset in the audiobook domain. Finally, we present a human evaluation protocol to assess multiple expressive dimensions across speech pairs. Experimental results indicate that bi-lingual annotators can assess the quality of expressive preservation in S2ST systems, and the holistic modeling approach outperforms single-aspect systems. Audio samples can be accessed through our demo webpage: https://facebookresearch.github.io/speech_translation/cascade_expressive_s2st. | [
21804
] | Validation |
40,921 | 16 | Title: Progressive Spatio-temporal Perception for Audio-Visual Question Answering
Abstract: Audio-Visual Question Answering (AVQA) task aims to answer questions about different visual objects, sounds, and their associations in videos. Such naturally multi-modal videos are composed of rich and complex dynamic audio-visual components, where most of which could be unrelated to the given questions, or even play as interference in answering the content of interest. Oppositely, only focusing on the question-aware audio-visual content could get rid of influence, meanwhile enabling the model to answer more efficiently. In this paper, we propose a Progressive Spatio-Temporal Perception Network (PSTP-Net), which contains three modules that progressively identify key spatio-temporal regions w.r.t. questions. Specifically, a temporal segment selection module is first introduced to select the most relevant audio-visual segments related to the given question. Then, a spatial region selection module is utilized to choose the most relevant regions associated with the question from the selected temporal segments. To further refine the selection of features, an audio-guided visual attention module is employed to perceive the association between auido and selected spatial regions. Finally, the spatio-temporal features from these modules are integrated for answering the question. Extensive experimental results on the public MUSIC-AVQA and AVQA datasets provide compelling evidence of the effectiveness and efficiency of PSTP-Net. Code is available at: \href{https://github.com/GeWu-Lab/PSTP-Net}{https://github.com/GeWu-Lab/PSTP-Net} | [
28641,
22114,
35653,
38612,
3609
] | Test |
40,922 | 10 | Title: Combining a Meta-Policy and Monte-Carlo Planning for Scalable Type-Based Reasoning in Partially Observable Environments
Abstract: The design of autonomous agents that can interact effectively with other agents without prior coordination is a core problem in multi-agent systems. Type-based reasoning methods achieve this by maintaining a belief over a set of potential behaviours for the other agents. However, current methods are limited in that they assume full observability of the state and actions of the other agent or do not scale efficiently to larger problems with longer planning horizons. Addressing these limitations, we propose Partially Observable Type-based Meta Monte-Carlo Planning (POTMMCP) - an online Monte-Carlo Tree Search based planning method for type-based reasoning in large partially observable environments. POTMMCP incorporates a novel meta-policy for guiding search and evaluating beliefs, allowing it to search more effectively to longer horizons using less planning time. We show that our method converges to the optimal solution in the limit and empirically demonstrate that it effectively adapts online to diverse sets of other agents across a range of environments. Comparisons with the state-of-the art method on problems with up to $10^{14}$ states and $10^8$ observations indicate that POTMMCP is able to compute better solutions significantly faster. | [
25669
] | Validation |
40,923 | 26 | Title: An Error-Correction Model for Information Transmissions of Social Networks
Abstract: We study the error-correction problem of the communication between two vertices in a social network. By applying the concepts of coding theory into the Social Network Analysis (SNA), we develop the code social network model, which can offer an efficient way to ensure the correctness of the message transmission within the social netwoks. The result of this study could apply in vary of social science studies. | [] | Train |
40,924 | 17 | Title: Challenges of movement quality using motion capture in theatre
Abstract: We describe1 two case studies of AvatarStaging theatrical mixed reality framework combining avatars and performers acting in an artistic context. We outline a qualitative approach toward the condition for stage presence for the avatars. We describe the motion control solutions we experimented with from the perspective of building a protocol of avatar direction in a mixed reality appropriate to live performance. | [
1987
] | Validation |
40,925 | 4 | Title: Visual Content Privacy Protection: A Survey
Abstract: Vision is the most important sense for people, and it is also one of the main ways of cognition. As a result, people tend to utilize visual content to capture and share their life experiences, which greatly facilitates the transfer of information. Meanwhile, it also increases the risk of privacy violations, e.g., an image or video can reveal different kinds of privacy-sensitive information. Researchers have been working continuously to develop targeted privacy protection solutions, and there are several surveys to summarize them from certain perspectives. However, these surveys are either problem-driven, scenario-specific, or technology-specific, making it difficult for them to summarize the existing solutions in a macroscopic way. In this survey, a framework that encompasses various concerns and solutions for visual privacy is proposed, which allows for a macro understanding of privacy concerns from a comprehensive level. It is based on the fact that privacy concerns have corresponding adversaries, and divides privacy protection into three categories, based on computer vision (CV) adversary, based on human vision (HV) adversary, and based on CV \&HV adversary. For each category, we analyze the characteristics of the main approaches to privacy protection, and then systematically review representative solutions. Open challenges and future directions for visual privacy protection are also discussed. | [] | Validation |
40,926 | 23 | Title: Experimental Evaluation of a Checklist-Based Inspection Technique to Verify the Compliance of Software Systems with the Brazilian General Data Protection Law
Abstract: Recent laws to ensure the security and protection of personal data establish new software requirements. Consequently, new technologies are needed to guarantee software quality under the perception of privacy and protection of personal data. Therefore, we created a checklist-based inspection technique (LGPDCheck) to support the identification of defects in software artifacts based on the principles established by the Brazilian General Data Protection Law (LGPD). Objective/Aim: To evaluate the effectiveness and efficiency of LGPDCheck for verifying privacy and data protection (PDP) in software artifacts compared to ad-hoc techniques. Method: To assess LGPDCheck and ad-hoc techniques experimentally through a quasi-experiment (two factors, five treatments). The data will be collected from IoT-based health software systems built by software engineering students from the Federal University of Rio de Janeiro. The data analyses will compare results from ad-hoc and LGPDCheck inspections, the participant's effectiveness and efficiency in each trial, defects' variance and standard deviation, and time spent with the reviews. The data will be screened for outliers, and normality and homoscedasticity will be verified using the Shapiro-Wilk and Levene tests. Nonparametric or parametric tests, such as the Wilcoxon or Student's t-tests, will be applied as appropriate. | [] | Train |
40,927 | 24 | Title: Effectiveness of Moving Target Defenses for Adversarial Attacks in ML-based Malware Detection
Abstract: Several moving target defenses (MTDs) to counter adversarial ML attacks have been proposed in recent years. MTDs claim to increase the difficulty for the attacker in conducting attacks by regularly changing certain elements of the defense, such as cycling through configurations. To examine these claims, we study for the first time the effectiveness of several recent MTDs for adversarial ML attacks applied to the malware detection domain. Under different threat models, we show that transferability and query attack strategies can achieve high levels of evasion against these defenses through existing and novel attack strategies across Android and Windows. We also show that fingerprinting and reconnaissance are possible and demonstrate how attackers may obtain critical defense hyperparameters as well as information about how predictions are produced. Based on our findings, we present key recommendations for future work on the development of effective MTDs for adversarial attacks in ML-based malware detection. | [] | Train |
40,928 | 16 | Title: Nonnegative Low-Rank Tensor Completion via Dual Formulation with Applications to Image and Video Completion
Abstract: Recent approaches to the tensor completion problem have often overlooked the nonnegative structure of the data. We consider the problem of learning a nonnegative low-rank tensor, and using duality theory, we propose a novel factorization of such tensors. The factorization decouples the nonnegative constraints from the low-rank constraints. The resulting problem is an optimization problem on manifolds, and we propose a variant of Riemannian conjugate gradients to solve it. We test the proposed algorithm across various tasks such as colour image inpainting, video completion, and hyperspectral image completion. Experimental results show that the proposed method outperforms many state-of-the-art tensor completion algorithms. | [
24538,
29181
] | Test |
40,929 | 24 | Title: Probabilistic Self-supervised Learning via Scoring Rules Minimization
Abstract: In this paper, we propose a novel probabilistic self-supervised learning via Scoring Rule Minimization (ProSMIN), which leverages the power of probabilistic models to enhance representation quality and mitigate collapsing representations. Our proposed approach involves two neural networks; the online network and the target network, which collaborate and learn the diverse distribution of representations from each other through knowledge distillation. By presenting the input samples in two augmented formats, the online network is trained to predict the target network representation of the same sample under a different augmented view. The two networks are trained via our new loss function based on proper scoring rules. We provide a theoretical justification for ProSMIN's convergence, demonstrating the strict propriety of its modified scoring rule. This insight validates the method's optimization process and contributes to its robustness and effectiveness in improving representation quality. We evaluate our probabilistic model on various downstream tasks, such as in-distribution generalization, out-of-distribution detection, dataset corruption, low-shot learning, and transfer learning. Our method achieves superior accuracy and calibration, surpassing the self-supervised baseline in a wide range of experiments on large-scale datasets like ImageNet-O and ImageNet-C, ProSMIN demonstrates its scalability and real-world applicability. | [
33810,
4643
] | Train |
40,930 | 16 | Title: Anomaly Segmentation for High-Resolution Remote Sensing Images Based on Pixel Descriptors
Abstract: Anomaly segmentation in high spatial resolution (HSR) remote sensing imagery is aimed at segmenting anomaly patterns of the earth deviating from normal patterns, which plays an important role in various Earth vision applications. However, it is a challenging task due to the complex distribution and the irregular shapes of objects, and the lack of abnormal samples. To tackle these problems, an anomaly segmentation model based on pixel descriptors (ASD) is proposed for anomaly segmentation in HSR imagery. Specifically, deep one-class classification is introduced for anomaly segmentation in the feature space with discriminative pixel descriptors. The ASD model incorporates the data argument for generating virtual abnormal samples, which can force the pixel descriptors to be compact for normal data and meanwhile to be diverse to avoid the model collapse problems when only positive samples participated in the training. In addition, the ASD introduced a multi-level and multi-scale feature extraction strategy for learning the low-level and semantic information to make the pixel descriptors feature-rich. The proposed ASD model was validated using four HSR datasets and compared with the recent state-of-the-art models, showing its potential value in Earth vision applications. | [] | Train |
40,931 | 16 | Title: A reinforcement learning approach for VQA validation: An application to diabetic macular edema grading
Abstract: nan | [] | Train |
40,932 | 27 | Title: The SLAM Hive Benchmarking Suite
Abstract: Benchmarking Simultaneous Localization and Mapping (SLAM) algorithms is important to scientists and users of robotic systems alike. But through their many configuration options in hardware and software, SLAM systems feature a vast parameter space that scientists up to now were not able to explore. The proposed SLAM Hive Benchmarking Suite is able to analyze SLAM algorithms in 1000's of mapping runs, through its utilization of container technology and deployment in a cluster. This paper presents the architecture and open source implementation of SLAM Hive and compares it to existing efforts on SLAM evaluation. Furthermore, we highlight the function of SLAM Hive by exploring some open source algorithms on public datasets in terms of accuracy. We compare the algorithms against each other and evaluate how parameters effect not only accuracy but also CPU and memory usage. Through this we show that SLAM Hive can become an essential tool for proper comparisons and evaluations of SLAM algorithms and thus drive the scientific development in the research on SLAM. | [
40009
] | Train |
40,933 | 30 | Title: Identical and Fraternal Twins: Fine-Grained Semantic Contrastive Learning of Sentence Representations
Abstract: The enhancement of unsupervised learning of sentence representations has been significantly achieved by the utility of contrastive learning. This approach clusters the augmented positive instance with the anchor instance to create a desired embedding space. However, relying solely on the contrastive objective can result in sub-optimal outcomes due to its inability to differentiate subtle semantic variations between positive pairs. Specifically, common data augmentation techniques frequently introduce semantic distortion, leading to a semantic margin between the positive pair. While the InfoNCE loss function overlooks the semantic margin and prioritizes similarity maximization between positive pairs during training, leading to the insensitive semantic comprehension ability of the trained model. In this paper, we introduce a novel Identical and Fraternal Twins of Contrastive Learning (named IFTCL) framework, capable of simultaneously adapting to various positive pairs generated by different augmentation techniques. We propose a \textit{Twins Loss} to preserve the innate margin during training and promote the potential of data enhancement in order to overcome the sub-optimal issue. We also present proof-of-concept experiments combined with the contrastive objective to prove the validity of the proposed Twins Loss. Furthermore, we propose a hippocampus queue mechanism to restore and reuse the negative instances without additional calculation, which further enhances the efficiency and performance of the IFCL. We verify the IFCL framework on nine semantic textual similarity tasks with both English and Chinese datasets, and the experimental results show that IFCL outperforms state-of-the-art methods. | [] | Train |
40,934 | 8 | Title: Context-Aware Configuration and Management of WiFi Direct Groups for Real Opportunistic Networks
Abstract: Wi-Fi Direct is a promising technology for the support of device-to-device communications (D2D) on commercial mobile devices. However, the standard as-it-is is not sufficient to support the real deployment of networking solutions entirely based on D2D such as opportunistic networks. In fact,WiFi Direct presents some characteristics that could limit the autonomous creation of D2D connections among users’ personal devices. Specifically, the standard explicitly requires the user’s authorization to establish a connection between two or more devices, and it provides a limited support for inter-group communication. In some cases, this might lead to the creation of isolated groups of nodes which cannot communicate among each other. In this paper, we propose a novel middleware-layer protocol for the efficient configuration and management of WiFi Direct groups (WiFi Direct Group Manager, WFD-GM) to enable autonomous connections and inter-group communication. This enables opportunistic networks in real conditions (e.g., variable mobility and network size). WFD-GM defines a context function that takes into account heterogeneous parameters for the creation of the best group configuration in a specific time window, including an index of nodes’ stability and power levels. We evaluate the protocol performances by simulating three reference scenarios including different mobility models, geographical areas and number of nodes. Simulations are also supported by experimental results related to the evaluation in a real testbed of the involved context parameters. We compare WFD-GM with the state-of-the-art solutions and we show that it performs significantly better than a Baseline approach in scenarios with medium/low mobility, and it is comparable with it in case of high mobility, without introducing additional overhead. | [] | Train |
40,935 | 24 | Title: A Comparative Study of Machine Learning Algorithms for Anomaly Detection in Industrial Environments: Performance and Environmental Impact
Abstract: In the context of Industry 4.0, the use of artificial intelligence (AI) and machine learning for anomaly detection is being hampered by high computational requirements and associated environmental effects. This study seeks to address the demands of high-performance machine learning models with environmental sustainability, contributing to the emerging discourse on 'Green AI.' An extensive variety of machine learning algorithms, coupled with various Multilayer Perceptron (MLP) configurations, were meticulously evaluated. Our investigation encapsulated a comprehensive suite of evaluation metrics, comprising Accuracy, Area Under the Curve (AUC), Recall, Precision, F1 Score, Kappa Statistic, Matthews Correlation Coefficient (MCC), and F1 Macro. Simultaneously, the environmental footprint of these models was gauged through considerations of time duration, CO2 equivalent, and energy consumption during the training, cross-validation, and inference phases. Traditional machine learning algorithms, such as Decision Trees and Random Forests, demonstrate robust efficiency and performance. However, superior outcomes were obtained with optimised MLP configurations, albeit with a commensurate increase in resource consumption. The study incorporated a multi-objective optimisation approach, invoking Pareto optimality principles, to highlight the trade-offs between a model's performance and its environmental impact. The insights derived underscore the imperative of striking a balance between model performance, complexity, and environmental implications, thus offering valuable directions for future work in the development of environmentally conscious machine learning models for industrial applications. | [] | Train |
40,936 | 26 | Title: Explicit time embedding based cascade attention network for information popularity prediction
Abstract: nan | [
34137,
42479
] | Test |
40,937 | 27 | Title: AirTouch: Towards Safe Human-Robot Interaction Using Air Pressure Feedback and IR Mocap System
Abstract: The growing use of robots in urban environments has raised concerns about potential safety hazards, especially in public spaces where humans and robots may interact. In this paper, we present a system for safe human-robot interaction that combines an infrared (IR) camera with a wearable marker and airflow potential field. IR cameras enable real-time detection and tracking of humans in challenging environments, while controlled airflow creates a physical barrier that guides humans away from dangerous proximity to robots without the need for wearable devices. A preliminary experiment was conducted to measure the accuracy of the perception of safety barriers rendered by controlled air pressure. In a second experiment, we evaluated our approach in an imitation scenario of an interaction between an inattentive person and an autonomous robotic system. Experimental results show that the proposed system significantly improves a participant's ability to maintain a safe distance from the operating robot compared to trials without the system. | [] | Validation |
40,938 | 27 | Title: The Simplest Walking Robot: A bipedal robot with one actuator and two rigid bodies
Abstract: We present the design and experimental results of the first 1-DOF, hip-actuated bipedal robot. While passive dynamic walking is simple by nature, many existing bipeds inspired by this form of walking are complex in control, mechanical design, or both. Our design using only two rigid bodies connected by a single motor aims to enable exploration of walking at smaller sizes where more complex designs cannot be constructed. The walker,"Mugatu", is self-contained and autonomous, open-loop stable over a range of input parameters, able to stop and start from standing, and able to control its heading left and right. We analyze the mechanical design and distill down a set of design rules that enable these behaviors. Experimental evaluations measure speed, energy consumption, and steering. | [] | Train |
40,939 | 24 | Title: Measuring Implicit Bias Using SHAP Feature Importance and Fuzzy Cognitive Maps
Abstract: In this paper, we integrate the concepts of feature importance with implicit bias in the context of pattern classification. This is done by means of a three-step methodology that involves (i) building a classifier and tuning its hyperparameters, (ii) building a Fuzzy Cognitive Map model able to quantify implicit bias, and (iii) using the SHAP feature importance to active the neural concepts when performing simulations. The results using a real case study concerning fairness research support our two-fold hypothesis. On the one hand, it is illustrated the risks of using a feature importance method as an absolute tool to measure implicit bias. On the other hand, it is concluded that the amount of bias towards protected features might differ depending on whether the features are numerically or categorically encoded. | [] | Train |
40,940 | 24 | Title: Time Series Contrastive Learning with Information-Aware Augmentations
Abstract: Various contrastive learning approaches have been proposed in recent years and achieve significant empirical success. While effective and prevalent, contrastive learning has been less explored for time series data. A key component of contrastive learning is to select appropriate augmentations imposing some priors to construct feasible positive samples, such that an encoder can be trained to learn robust and discriminative representations. Unlike image and language domains where "desired'' augmented samples can be generated with the rule of thumb guided by prefabricated human priors, the ad-hoc manual selection of time series augmentations is hindered by their diverse and human-unrecognizable temporal structures. How to find the desired augmentations of time series data that are meaningful for given contrastive learning tasks and datasets remains an open question. In this work, we address the problem by encouraging both high fidelity and variety based on information theory. A theoretical analysis leads to the criteria for selecting feasible data augmentations. On top of that, we propose a new contrastive learning approach with information-aware augmentations, InfoTS, that adaptively selects optimal augmentations for time series representation learning. Experiments on various datasets show highly competitive performance with up to a 12.0% reduction in MSE on forecasting tasks and up to 3.7% relative improvement in accuracy on classification tasks over the leading baselines. | [] | Train |
40,941 | 13 | Title: Neuromorphic Computing with AER using Time-to-Event-Margin Propagation
Abstract: Address-Event-Representation (AER) is a spike-routing protocol that allows the scaling of neuromorphic and spiking neural network (SNN) architectures to a size that is comparable to that of digital neural network architectures. However, in conventional neuromorphic architectures, the AER protocol and, in general, any virtual interconnect plays only a passive role in computation, i.e., only for routing spikes and events. In this paper, we show how causal temporal primitives like delay, triggering, and sorting inherent in the AER protocol itself can be exploited for scalable neuromorphic computing using our proposed technique called Time-to-Event Margin Propagation (TEMP). The proposed TEMP-based AER architecture is fully asynchronous and relies on interconnect delays for memory and computing as opposed to conventional and local multiply-and-accumulate (MAC) operations. We show that the time-based encoding in the TEMP neural network produces a spatio-temporal representation that can encode a large number of discriminatory patterns. As a proof-of-concept, we show that a trained TEMP-based convolutional neural network (CNN) can demonstrate an accuracy greater than 99% on the MNIST dataset. Overall, our work is a biologically inspired computing paradigm that brings forth a new dimension of research to the field of neuromorphic computing. | [] | Train |
40,942 | 27 | Title: Proactive Human-Robot Co-Assembly: Leveraging Human Intention Prediction and Robust Safe Control
Abstract: Human-robot collaboration (HRC) is one key component to achieving flexible manufacturing to meet the different needs of customers. However, it is difficult to build intelligent robots that can proactively assist humans in a safe and efficient way due to several challenges. First, it is challenging to achieve efficient collaboration due to diverse human behaviors and data scarcity. Second, it is difficult to ensure interactive safety due to uncertainty in human behaviors. This paper presents an integrated framework for proactive HRC. A robust intention prediction module, which leverages prior task information and human-in-the-loop training, is learned to guide the robot for efficient collaboration. The proposed framework also uses robust safe control to ensure interactive safety under uncertainty. The developed framework is applied to a co-assembly task using a Kinova Gen3 robot. The experiment demonstrates that our solution is robust to environmental changes as well as different human preferences and behaviors. In addition, it improves task efficiency by approximately 15-20%. Moreover, the experiment demonstrates that our solution can guarantee interactive safety during proactive collaboration. | [] | Train |
40,943 | 16 | Title: Exploiting Diffusion Prior for Real-World Image Super-Resolution
Abstract: We present a novel approach to leverage prior knowledge encapsulated in pre-trained text-to-image diffusion models for blind super-resolution (SR). Specifically, by employing our time-aware encoder, we can achieve promising restoration results without altering the pre-trained synthesis model, thereby preserving the generative prior and minimizing training cost. To remedy the loss of fidelity caused by the inherent stochasticity of diffusion models, we introduce a controllable feature wrapping module that allows users to balance quality and fidelity by simply adjusting a scalar value during the inference process. Moreover, we develop a progressive aggregation sampling strategy to overcome the fixed-size constraints of pre-trained diffusion models, enabling adaptation to resolutions of any size. A comprehensive evaluation of our method using both synthetic and real-world benchmarks demonstrates its superiority over current state-of-the-art approaches. | [
20960,
21828,
12841,
37098,
28460,
15983,
500,
9653,
34074,
40828
] | Train |
40,944 | 28 | Title: Sparsity Domain Smoothing Based Thresholding Recovery Method for OFDM Sparse Channel Estimation
Abstract: Due to the ever increasing data rate demand of beyond 5G networks and considering the wide range of Orthogonal Frequency Division Multipllexing (OFDM) technique in cellular systems, it is critical to reduce pilot overhead of OFDM systems in order to increase data rate of such systems. Due to sparsity of multipath channels, sparse recovery methods can be exploited to reduce pilot overhead. OFDM pilots are utilized as random samples for channel impulse response estimation. We propose a three-step sparsity recovery algorithm which is based on sparsity domain smoothing. Time domain residue computation, sparsity domain smoothing, and adaptive thresholding sparsifying are the three-steps of the proposed scheme. To the best of our knowledge, the proposed sparsity domain smoothing based thresholding recovery method known as SDS-IMAT has not been used for OFDM sparse channel estimation in the literature. Pilot locations are also derived based on the minimization of the measurement matrix coherence. Numerical results verify that the performance of the proposed scheme outperforms other existing thresholding and greedy recovery methods and has a near-optimal performance. The effectiveness of the proposed scheme is shown in terms of mean square error and bit error rate. | [] | Train |
40,945 | 30 | Title: How Does Diffusion Influence Pretrained Language Models on Out-of-Distribution Data?
Abstract: Transformer-based pretrained language models (PLMs) have achieved great success in modern NLP. An important advantage of PLMs is good out-of-distribution (OOD) robustness. Recently, diffusion models have attracted a lot of work to apply diffusion to PLMs. It remains under-explored how diffusion influences PLMs on OOD data. The core of diffusion models is a forward diffusion process which gradually applies Gaussian noise to inputs, and a reverse denoising process which removes noise. The noised input reconstruction is a fundamental ability of diffusion models. We directly analyze OOD robustness by measuring the reconstruction loss, including testing the abilities to reconstruct OOD data, and to detect OOD samples. Experiments are conducted by analyzing different training parameters and data statistical features on eight datasets. It shows that finetuning PLMs with diffusion degrades the reconstruction ability on OOD data. The comparison also shows that diffusion models can effectively detect OOD samples, achieving state-of-the-art performance in most of the datasets with an absolute accuracy improvement up to 18%. These results indicate that diffusion reduces OOD robustness of PLMs. | [] | Train |
40,946 | 25 | Title: Inter-SubNet: Speech Enhancement with Subband Interaction
Abstract: Subband-based approaches process subbands in parallel through the model with shared parameters to learn the commonality of local spectrums for noise reduction. In this way, they have achieved remarkable results with fewer parameters. However, in some complex environments, the lack of global spectral information has a negative impact on the performance of these subband-based approaches. To this end, this paper introduces the subband interaction as a new way to complement the subband model with the global spectral information such as cross-band dependencies and global spectral patterns, and proposes a new lightweight single-channel speech enhancement framework called Interactive Subband Network (Inter-SubNet). Experimental results on DNS Challenge - Interspeech 2021 dataset show that the proposed Inter-SubNet yields a significant improvement over the subband model and outperforms other state-of-the-art speech enhancement approaches, which demonstrate the effectiveness of subband interaction. | [] | Test |
40,947 | 24 | Title: AutoML in Heavily Constrained Applications
Abstract: Optimizing a machine learning pipeline for a task at hand requires careful configuration of various hyperparameters, typically supported by an AutoML system that optimizes the hyperparameters for the given training dataset. Yet, depending on the AutoML system's own second-order meta-configuration, the performance of the AutoML process can vary significantly. Current AutoML systems cannot automatically adapt their own configuration to a specific use case. Further, they cannot compile user-defined application constraints on the effectiveness and efficiency of the pipeline and its generation. In this paper, we propose Caml, which uses meta-learning to automatically adapt its own AutoML parameters, such as the search strategy, the validation strategy, and the search space, for a task at hand. The dynamic AutoML strategy of Caml takes user-defined constraints into account and obtains constraint-satisfying pipelines with high predictive performance. | [] | Train |
40,948 | 24 | Title: Attention-based Spatial-Temporal Graph Neural ODE for Traffic Prediction
Abstract: Traffic forecasting is an important issue in intelligent traffic systems (ITS). Graph neural networks (GNNs) are effective deep learning models to capture the complex spatio-temporal dependency of traffic data, achieving ideal prediction performance. In this paper, we propose attention-based graph neural ODE (ASTGODE) that explicitly learns the dynamics of the traffic system, which makes the prediction of our machine learning model more explainable. Our model aggregates traffic patterns of different periods and has satisfactory performance on two real-world traffic data sets. The results show that our model achieves the highest accuracy of the root mean square error metric among all the existing GNN models in our experiments. | [] | Train |
40,949 | 26 | Title: Raphtory: The temporal graph engine for Rust and Python
Abstract: Raphtory is a platform for building and analysing temporal networks. The library includes methods for creating networks from a variety of data sources; algorithms to explore their structure and evolution; and an extensible GraphQL server for deployment of applications built on top. Raphtory's core engine is built in Rust, for efficiency, with Python interfaces, for ease of use. Raphtory is developed by network scientists, with a background in Physics, Applied Mathematics, Engineering and Computer Science, for use across academia and industry. | [
3343
] | Train |
40,950 | 8 | Title: A Resource Efficient Implementation of the RESTCONF Protocol for OpenWrt Systems
Abstract: In recent years, the open source operating system OpenWrt has become a popular option for replacing proprietary firmware on networking devices such as home routers or access points. In order to configure an OpenWrt system, like setting up firewall rules, the user has to either sign in to the web interface or use SSH to manually change configuration files on the device. While the current approach is sufficient for small home networks, it only allows for limited automation of management tasks and configuration management becomes time-consuming, for example, on larger campus networks where access control lists on OpenWrt access points need updates regularly.This paper describes our efforts to implement the RESTCONF configuration management protocol standardized by the IETF on OpenWrt systems that have limited CPU and memory resources. We detail our design choices that make our implementation resource efficient for the use cases we target and we compare our implementation against other similar solutions. Our implementation is available on GitHub under an open source license1. | [] | Train |
40,951 | 34 | Title: Testing Convex Truncation
Abstract: We study the basic statistical problem of testing whether normally distributed $n$-dimensional data has been truncated, i.e. altered by only retaining points that lie in some unknown truncation set $S \subseteq \mathbb{R}^n$. As our main algorithmic results, (1) We give a computationally efficient $O(n)$-sample algorithm that can distinguish the standard normal distribution $N(0,I_n)$ from $N(0,I_n)$ conditioned on an unknown and arbitrary convex set $S$. (2) We give a different computationally efficient $O(n)$-sample algorithm that can distinguish $N(0,I_n)$ from $N(0,I_n)$ conditioned on an unknown and arbitrary mixture of symmetric convex sets. These results stand in sharp contrast with known results for learning or testing convex bodies with respect to the normal distribution or learning convex-truncated normal distributions, where state-of-the-art algorithms require essentially $n^{\sqrt{n}}$ samples. An easy argument shows that no finite number of samples suffices to distinguish $N(0,I_n)$ from an unknown and arbitrary mixture of general (not necessarily symmetric) convex sets, so no common generalization of results (1) and (2) above is possible. We also prove that any algorithm (computationally efficient or otherwise) that can distinguish $N(0,I_n)$ from $N(0,I_n)$ conditioned on an unknown symmetric convex set must use $\Omega(n)$ samples. This shows that the sample complexity of each of our algorithms is optimal up to a constant factor. | [
8541
] | Test |
40,952 | 39 | Title: Obstruction characterization of co-TT graphs
Abstract: Threshold tolerance graphs and their complement graphs ( known as co-TT graphs) were introduced by Monma, Reed and Trotter[24]. Introducing the concept of negative interval Hell et al.[19] defined signed-interval bigraphs/digraphs and have shown that they are equivalent to several seemingly different classes of bigraphs/digraphs. They have also shown that co-TT graphs are equivalent to symmetric signed-interval digraphs. In this paper we characterize signed-interval bigraphs and signed-interval graphs respectively in terms of their biadjacency matrices and adjacency matrices. Finally, based on the geometric representation of signed-interval graphs we have setteled the open problem of forbidden induced subgraph characterization of co-TT graphs posed by Monma, Reed and Trotter in the same paper. | [] | Train |
40,953 | 24 | Title: High-throughput Generative Inference of Large Language Models with a Single GPU
Abstract: The high computational and memory requirements of large language model (LLM) inference make it feasible only with multiple high-end accelerators. Motivated by the emerging demand for latency-insensitive tasks with batched processing, this paper initiates the study of high-throughput LLM inference using limited resources, such as a single commodity GPU. We present FlexGen, a high-throughput generation engine for running LLMs with limited GPU memory. FlexGen can be flexibly configured under various hardware resource constraints by aggregating memory and computation from the GPU, CPU, and disk. By solving a linear programming problem, it searches for efficient patterns to store and access tensors. FlexGen further compresses the weights and the attention cache to 4 bits with negligible accuracy loss. These techniques enable FlexGen to have a larger space of batch size choices and thus significantly increase maximum throughput. As a result, when running OPT-175B on a single 16GB GPU, FlexGen achieves significantly higher throughput compared to state-of-the-art offloading systems, reaching a generation throughput of 1 token/s for the first time with an effective batch size of 144. On the HELM benchmark, FlexGen can benchmark a 30B model with a 16GB GPU on 7 representative sub-scenarios in 21 hours. The code is available at https://github.com/FMInference/FlexGen | [
30081,
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27186,
12851,
43452,
33351,
43468,
1234,
5461,
31976,
45291,
41071,
42993,
20223
] | Validation |
40,954 | 10 | Title: Towards Applying Powerful Large AI Models in Classroom Teaching: Opportunities, Challenges and Prospects
Abstract: This perspective paper proposes a series of interactive scenarios that utilize Artificial Intelligence (AI) to enhance classroom teaching, such as dialogue auto-completion, knowledge and style transfer, and assessment of AI-generated content. By leveraging recent developments in Large Language Models (LLMs), we explore the potential of AI to augment and enrich teacher-student dialogues and improve the quality of teaching. Our goal is to produce innovative and meaningful conversations between teachers and students, create standards for evaluation, and improve the efficacy of AI-for-Education initiatives. In Section 3, we discuss the challenges of utilizing existing LLMs to effectively complete the educated tasks and present a unified framework for addressing diverse education dataset, processing lengthy conversations, and condensing information to better accomplish more downstream tasks. In Section 4, we summarize the pivoting tasks including Teacher-Student Dialogue Auto-Completion, Expert Teaching Knowledge and Style Transfer, and Assessment of AI-Generated Content (AIGC), providing a clear path for future research. In Section 5, we also explore the use of external and adjustable LLMs to improve the generated content through human-in-the-loop supervision and reinforcement learning. Ultimately, this paper seeks to highlight the potential for AI to aid the field of education and promote its further exploration. | [
10624,
33057,
40192,
4643,
33220,
13700,
24308,
1626,
35388,
22334
] | Validation |
40,955 | 30 | Title: Token-Level Serialized Output Training for Joint Streaming ASR and ST Leveraging Textual Alignments
Abstract: In real-world applications, users often require both translations and transcriptions of speech to enhance their comprehension, particularly in streaming scenarios where incremental generation is necessary. This paper introduces a streaming Transformer-Transducer that jointly generates automatic speech recognition (ASR) and speech translation (ST) outputs using a single decoder. To produce ASR and ST content effectively with minimal latency, we propose a joint token-level serialized output training method that interleaves source and target words by leveraging an off-the-shelf textual aligner. Experiments in monolingual (it-en) and multilingual (\{de,es,it\}-en) settings demonstrate that our approach achieves the best quality-latency balance. With an average ASR latency of 1s and ST latency of 1.3s, our model shows no degradation or even improves output quality compared to separate ASR and ST models, yielding an average improvement of 1.1 WER and 0.4 BLEU in the multilingual case. | [
19357
] | Validation |
40,956 | 16 | Title: Continuous Sign Language Recognition with Correlation Network
Abstract: Human body trajectories are a salient cue to identify actions in the video. Such body trajectories are mainly conveyed by hands and face across consecutive frames in sign language. However, current methods in continuous sign language recognition (CSLR) usually process frames independently, thus failing to capture cross-frame trajectories to effectively identify a sign. To handle this limitation, we propose correlation network (CorrNet) to explicitly capture and leverage body trajectories across frames to identify signs. In specific, a correlation module is first proposed to dynamically compute correlation maps between the current frame and adjacent frames to identify trajectories of all spatial patches. An identification module is then presented to dynamically emphasize the body trajectories within these correlation maps. As a result, the generated features are able to gain an overview of local temporal movements to identify a sign. Thanks to its special attention on body trajectories, CorrNet achieves new state-of-the-art accuracy on four largescale datasets, i.e., PHOENIX14, PHOENIX14-T, CSL-Daily, and CSL. A comprehensive comparison with previous spatial-temporal reasoning methods verifies the effectiveness of CorrNet. Visualizations demonstrate the effects of CorrNet on emphasizing human body trajectories across adjacent frames. | [
7463
] | Train |
40,957 | 4 | Title: The Effectiveness of Security Interventions on GitHub
Abstract: In 2017, GitHub was the first online open source platform to show security alerts to its users. It has since introduced further security interventions to help developers improve the security of their open source software. In this study, we investigate and compare the effects of these interventions. This offers a valuable empirical perspective on security interventions in the context of software development, enriching the predominantly qualitative and survey-based literature landscape with substantial data-driven insights. We conduct a time series analysis on security-altering commits covering the entire history of a large-scale sample of over 50,000 GitHub repositories to infer the causal effects of the security alert, security update, and code scanning interventions. Our analysis shows that while all of GitHub's security interventions have a significant positive effect on security, they differ greatly in their effect size. By comparing the design of each intervention, we identify the building blocks that worked well and those that did not. We also provide recommendations on how practitioners can improve the design of their interventions to enhance their effectiveness. | [] | Train |
40,958 | 34 | Title: Hypergraph Isomorphism Computation
Abstract: The isomorphism problem is a fundamental problem in network analysis, which involves capturing both low-order and high-order structural information. In terms of extracting low-order structural information, graph isomorphism algorithms analyze the structural equivalence to reduce the solver space dimension, which demonstrates its power in many applications, such as protein design, chemical pathways, and community detection. For the more commonly occurring high-order relationships in real-life scenarios, the problem of hypergraph isomorphism, which effectively captures these high-order structural relationships, cannot be straightforwardly addressed using graph isomorphism methods. Besides, the existing hypergraph kernel methods may suffer from high memory consumption or inaccurate sub-structure identification, thus yielding sub-optimal performance. In this paper, to address the abovementioned problems, we first propose the hypergraph Weisfiler-Lehman test algorithm for the hypergraph isomorphism test problem by generalizing the Weisfiler-Lehman test algorithm from graphs to hypergraphs. Secondly, based on the presented algorithm, we propose a general hypergraph Weisfieler-Lehman kernel framework and implement two instances, which are Hypergraph Weisfeiler-Lehamn Subtree Kernel and Hypergraph Weisfeiler-Lehamn Hyperedge Kernel. In order to fulfill our research objectives, a comprehensive set of experiments was meticulously designed, including seven graph classification datasets and 12 hypergraph classification datasets. Results on hypergraph classification datasets show significant improvements compared to other typical kernel-based methods, which demonstrates the effectiveness of the proposed methods. In our evaluation, we found that our proposed methods outperform the second-best method in terms of runtime, running over 80 times faster when handling complex hypergraph structures. | [] | Validation |
40,959 | 4 | Title: SECOMlint: A linter for Security Commit Messages
Abstract: Transparent and efficient vulnerability and patch disclosure are still a challenge in the security community, essentially because of the poor-quality documentation stemming from the lack of standards. SECOM is a recently-proposed standard convention for security commit messages that enables the writing of well-structured and complete commit messages for security patches. The convention prescribes different bits of security-related information essential for a better understanding of vulnerabilities by humans and tools. SECOMlint is an automated and configurable solution to help security and maintenance teams infer compliance against the SECOM standard when submitting patches to security vulnerabilities in their source version control systems. The tool leverages the natural language processing technique Named-Entity Recognition (NER) to extract security-related information from commit messages and uses it to match the compliance standards designed. We demonstrate SECOMlint at https://youtu.be/-1hzpMN_uFI; and documentation and its source code at https://tqrg.github.io/secomlint/. | [] | Train |
40,960 | 16 | Title: Zero-guidance Segmentation Using Zero Segment Labels
Abstract: CLIP has enabled new and exciting joint vision-language applications, one of which is open-vocabulary segmentation, which can locate any segment given an arbitrary text query. In our research, we ask whether it is possible to discover semantic segments without any user guidance in the form of text queries or predefined classes, and label them using natural language automatically? We propose a novel problem zero-guidance segmentation and the first baseline that leverages two pre-trained generalist models, DINO and CLIP, to solve this problem without any fine-tuning or segmentation dataset. The general idea is to first segment an image into small over-segments, encode them into CLIP's visual-language space, translate them into text labels, and merge semantically similar segments together. The key challenge, however, is how to encode a visual segment into a segment-specific embedding that balances global and local context information, both useful for recognition. Our main contribution is a novel attention-masking technique that balances the two contexts by analyzing the attention layers inside CLIP. We also introduce several metrics for the evaluation of this new task. With CLIP's innate knowledge, our method can precisely locate the Mona Lisa painting among a museum crowd. Project page: https://zero-guide-seg.github.io/. | [
37254
] | Train |
40,961 | 24 | Title: When and How Does Known Class Help Discover Unknown Ones? Provable Understanding Through Spectral Analysis
Abstract: Novel Class Discovery (NCD) aims at inferring novel classes in an unlabeled set by leveraging prior knowledge from a labeled set with known classes. Despite its importance, there is a lack of theoretical foundations for NCD. This paper bridges the gap by providing an analytical framework to formalize and investigate when and how known classes can help discover novel classes. Tailored to the NCD problem, we introduce a graph-theoretic representation that can be learned by a novel NCD Spectral Contrastive Loss (NSCL). Minimizing this objective is equivalent to factorizing the graph's adjacency matrix, which allows us to derive a provable error bound and provide the sufficient and necessary condition for NCD. Empirically, NSCL can match or outperform several strong baselines on common benchmark datasets, which is appealing for practical usage while enjoying theoretical guarantees. | [
3288
] | Train |
40,962 | 24 | Title: HPN: Personalized Federated Hyperparameter Optimization
Abstract: Numerous research studies in the field of federated learning (FL) have attempted to use personalization to address the heterogeneity among clients, one of FL's most crucial and challenging problems. However, existing works predominantly focus on tailoring models. Yet, due to the heterogeneity of clients, they may each require different choices of hyperparameters, which have not been studied so far. We pinpoint two challenges of personalized federated hyperparameter optimization (pFedHPO): handling the exponentially increased search space and characterizing each client without compromising its data privacy. To overcome them, we propose learning a \textsc{H}yper\textsc{P}arameter \textsc{N}etwork (HPN) fed with client encoding to decide personalized hyperparameters. The client encoding is calculated with a random projection-based procedure to protect each client's privacy. Besides, we design a novel mechanism to debias the low-fidelity function evaluation samples for learning HPN. We conduct extensive experiments on FL tasks from various domains, demonstrating the superiority of HPN. | [
5635
] | Train |
40,963 | 16 | Title: WASD: A Wilder Active Speaker Detection Dataset
Abstract: Current Active Speaker Detection (ASD) models achieve great results on AVA-ActiveSpeaker (AVA), using only sound and facial features. Although this approach is applicable in movie setups (AVA), it is not suited for less constrained conditions. To demonstrate this limitation, we propose a Wilder Active Speaker Detection (WASD) dataset, with increased difficulty by targeting the two key components of current ASD: audio and face. Grouped into 5 categories, ranging from optimal conditions to surveillance settings, WASD contains incremental challenges for ASD with tactical impairment of audio and face data. We select state-of-the-art models and assess their performance in two groups of WASD: Easy (cooperative settings) and Hard (audio and/or face are specifically degraded). The results show that: 1) AVA trained models maintain a state-of-the-art performance in WASD Easy group, while underperforming in the Hard one, showing the 2) similarity between AVA and Easy data; and 3) training in WASD does not improve models performance to AVA levels, particularly for audio impairment and surveillance settings. This shows that AVA does not prepare models for wild ASD and current approaches are subpar to deal with such conditions. The proposed dataset also contains body data annotations to provide a new source for ASD, and is available at https://github.com/Tiago-Roxo/WASD. | [] | Train |
40,964 | 11 | Title: Effect of Swarm Density on Collective Tracking Performance
Abstract: How does the size of a swarm affect its collective action? Despite being arguably a key parameter, no systematic and satisfactory guiding principles exist to select the number of units required for a given task and environment. Even when limited by practical considerations, system designers should endeavor to identify what a reasonable swarm size should be. Here, we show that this fundamental question is closely linked to that of selecting an appropriate swarm density. Our analysis of the influence of density on the collective performance of a target tracking task reveals different `phases' corresponding to markedly distinct group dynamics. We identify a `transition' phase, in which a complex emergent collective response arises. Interestingly, the collective dynamics within this transition phase exhibit a clear trade-off between exploratory actions and exploitative ones. We show that at any density, the exploration-exploitation balance can be adjusted to maximize the system's performance through various means, such as by changing the level of connectivity between agents. While the density is the primary factor to be considered, it should not be the sole one to be accounted for when sizing the system. Due to the inherent finite-size effects present in physical systems, we establish that the number of constituents primarily affects system-level properties such as exploitation in the transition phase. These results illustrate that instead of learning and optimizing a swarm's behavior for a specific set of task parameters, further work should instead concentrate on learning to be adaptive, thereby endowing the swarm with the highly desirable feature of being able to operate effectively over a wide range of circumstances. | [
7448,
4449
] | Train |
40,965 | 24 | Title: Gradient-less Federated Gradient Boosting Tree with Learnable Learning Rates
Abstract: The privacy-sensitive nature of decentralized datasets and the robustness of eXtreme Gradient Boosting (XGBoost) on tabular data raise the needs to train XGBoost in the context of federated learning (FL). Existing works on federated XGBoost in the horizontal setting rely on the sharing of gradients, which induce per-node level communication frequency and serious privacy concerns. To alleviate these problems, we develop an innovative framework for horizontal federated XGBoost which does not depend on the sharing of gradients and simultaneously boosts privacy and communication efficiency by making the learning rates of the aggregated tree ensembles learnable. We conduct extensive evaluations on various classification and regression datasets, showing our approach achieves performance comparable to the state-of-the-art method and effectively improves communication efficiency by lowering both communication rounds and communication overhead by factors ranging from 25x to 700x. | [
27757
] | Train |
40,966 | 30 | Title: Susceptibility to Influence of Large Language Models
Abstract: Two studies tested the hypothesis that a Large Language Model (LLM) can be used to model psychological change following exposure to influential input. The first study tested a generic mode of influence - the Illusory Truth Effect (ITE) - where earlier exposure to a statement (through, for example, rating its interest) boosts a later truthfulness test rating. Data was collected from 1000 human participants using an online experiment, and 1000 simulated participants using engineered prompts and LLM completion. 64 ratings per participant were collected, using all exposure-test combinations of the attributes: truth, interest, sentiment and importance. The results for human participants reconfirmed the ITE, and demonstrated an absence of effect for attributes other than truth, and when the same attribute is used for exposure and test. The same pattern of effects was found for LLM-simulated participants. The second study concerns a specific mode of influence - populist framing of news to increase its persuasion and political mobilization. Data from LLM-simulated participants was collected and compared to previously published data from a 15-country experiment on 7286 human participants. Several effects previously demonstrated from the human study were replicated by the simulated study, including effects that surprised the authors of the human study by contradicting their theoretical expectations (anti-immigrant framing of news decreases its persuasion and mobilization); but some significant relationships found in human data (modulation of the effectiveness of populist framing according to relative deprivation of the participant) were not present in the LLM data. Together the two studies support the view that LLMs have potential to act as models of the effect of influence. | [
37405,
39778,
45923,
1917,
36528,
21778,
10749
] | Validation |
40,967 | 27 | Title: Real-Time Tube-Based Non-Gaussian Risk Bounded Motion Planning for Stochastic Nonlinear Systems in Uncertain Environments via Motion Primitives
Abstract: We consider the motion planning problem for stochastic nonlinear systems in uncertain environments. More precisely, in this problem the robot has stochastic nonlinear dynamics and uncertain initial locations, and the environment contains multiple dynamic uncertain obstacles. Obstacles can be of arbitrary shape, can deform, and can move. All uncertainties do not necessarily have Gaussian distribution. This general setting has been considered and solved in [1]. In addition to the assumptions above, in this paper, we consider long-term tasks, where the planning method in [1] would fail, as the uncertainty of the system states grows too large over a long time horizon. Unlike [1], we present a real-time online motion planning algorithm. We build discrete-time motion primitives and their corresponding continuous-time tubes offline, so that almost all system states of each motion primitive are guaranteed to stay inside the corresponding tube. We convert probabilistic safety constraints into a set of deterministic constraints called risk contours. During online execution, we verify the safety of the tubes against deterministic risk contours using sum-of-squares (SOS) programming. The provided SOS-based method verifies the safety of the tube in the presence of uncertain obstacles without the need for uncertainty samples and time discretization in real-time. By bounding the probability the system states staying inside the tube and bounding the probability of the tube colliding with obstacles, our approach guarantees bounded probability of system states colliding with obstacles. We demonstrate our approach on several long-term robotics tasks. | [] | Train |
40,968 | 30 | Title: Scaled Prompt-Tuning for Few-Shot Natural Language Generation
Abstract: The increasingly Large Language Models (LLMs) demonstrate stronger language understanding and generation capabilities, while the memory demand and computation cost of fine-tuning LLMs on downstream tasks are non-negligible. Besides, fine-tuning generally requires a certain amount of data from individual tasks whilst data collection cost is another issue to consider in real-world applications. In this work, we focus on Parameter-Efficient Fine-Tuning (PEFT) methods for few-shot Natural Language Generation (NLG), which freeze most parameters in LLMs and tune a small subset of parameters in few-shot cases so that memory footprint, training cost, and labeling cost are reduced while maintaining or even improving the performance. We propose a Scaled Prompt-Tuning (SPT) method which surpasses conventional PT with better performance and generalization ability but without an obvious increase in training cost. Further study on intermediate SPT suggests the superior transferability of SPT in few-shot scenarios, providing a recipe for data-deficient and computation-limited circumstances. Moreover, a comprehensive comparison of existing PEFT methods reveals that certain approaches exhibiting decent performance with modest training cost such as Prefix-Tuning in prior study could struggle in few-shot NLG tasks, especially on challenging datasets. | [] | Validation |
40,969 | 16 | Title: BRAIxDet: Learning to Detect Malignant Breast Lesion with Incomplete Annotations
Abstract: Methods to detect malignant lesions from screening mammograms are usually trained with fully annotated datasets, where images are labelled with the localisation and classification of cancerous lesions. However, real-world screening mammogram datasets commonly have a subset that is fully annotated and another subset that is weakly annotated with just the global classification (i.e., without lesion localisation). Given the large size of such datasets, researchers usually face a dilemma with the weakly annotated subset: to not use it or to fully annotate it. The first option will reduce detection accuracy because it does not use the whole dataset, and the second option is too expensive given that the annotation needs to be done by expert radiologists. In this paper, we propose a middle-ground solution for the dilemma, which is to formulate the training as a weakly- and semi-supervised learning problem that we refer to as malignant breast lesion detection with incomplete annotations. To address this problem, our new method comprises two stages, namely: 1) pre-training a multi-view mammogram classifier with weak supervision from the whole dataset, and 2) extending the trained classifier to become a multi-view detector that is trained with semi-supervised student-teacher learning, where the training set contains fully and weakly-annotated mammograms. We provide extensive detection results on two real-world screening mammogram datasets containing incomplete annotations, and show that our proposed approach achieves state-of-the-art results in the detection of malignant breast lesions with incomplete annotations. | [] | Train |
40,970 | 24 | Title: Physics-informed Convolutional Recurrent Surrogate Model for Reservoir Simulation with Well Controls
Abstract: This paper presents a novel surrogate model for modeling subsurface fluid flow with well controls using a physics-informed convolutional recurrent neural network (PICRNN). The model uses a convolutional long-short term memory (ConvLSTM) to capture the spatiotemporal dependencies of the state evolution dynamics in the porous flow. The ConvLSTM is linked to the state space equations, enabling the incorporation of a discrete-time sequence of well control. The model requires initial state condition and a sequence of well controls as inputs, and predicts the state variables of the system, such as pressure, as output. By minimizing the residuals of reservoir flow state-space equations, the network is trained without the need for labeled data. The model is designed to serve as a surrogate model for predicting future reservoir states based on the initial reservoir state and input engineering controls. Boundary conditions are enforced into the state-space equations so no additional loss term is needed. Three numerical cases are studied, demonstrating the model's effectiveness in predicting reservoir dynamics based on future well/system controls. The proposed model provides a new approach for efficient and accurate prediction of subsurface fluid flow, with potential applications in optimal control design for reservoir engineering. | [] | Train |
40,971 | 24 | Title: PrecTime: A Deep Learning Architecture for Precise Time Series Segmentation in Industrial Manufacturing Operations
Abstract: nan | [] | Test |
40,972 | 27 | Title: Teach a Robot to FISH: Versatile Imitation from One Minute of Demonstrations
Abstract: While imitation learning provides us with an efficient toolkit to train robots, learning skills that are robust to environment variations remains a significant challenge. Current approaches address this challenge by relying either on large amounts of demonstrations that span environment variations or on handcrafted reward functions that require state estimates. Both directions are not scalable to fast imitation. In this work, we present Fast Imitation of Skills from Humans (FISH), a new imitation learning approach that can learn robust visual skills with less than a minute of human demonstrations. Given a weak base-policy trained by offline imitation of demonstrations, FISH computes rewards that correspond to the"match"between the robot's behavior and the demonstrations. These rewards are then used to adaptively update a residual policy that adds on to the base-policy. Across all tasks, FISH requires at most twenty minutes of interactive learning to imitate demonstrations on object configurations that were not seen in the demonstrations. Importantly, FISH is constructed to be versatile, which allows it to be used across robot morphologies (e.g. xArm, Allegro, Stretch) and camera configurations (e.g. third-person, eye-in-hand). Our experimental evaluations on 9 different tasks show that FISH achieves an average success rate of 93%, which is around 3.8x higher than prior state-of-the-art methods. | [] | Train |
40,973 | 5 | Title: A Symbolic Emulator for Shuffle Synthesis on the NVIDIA PTX Code
Abstract: Various kinds of applications take advantage of GPUs through automation tools that attempt to automatically exploit the available performance of the GPU's parallel architecture. Directive-based programming models, such as OpenACC, are one such method that easily enables parallel computing by just adhering code annotations to code loops. Such abstract models, however, often prevent programmers from making additional low-level optimizations to take advantage of the advanced architectural features of GPUs because the actual generated computation is hidden from the application developer. This paper describes and implements a novel flexible optimization technique that operates by inserting a code emulator phase to the tail-end of the compilation pipeline. Our tool emulates the generated code using symbolic analysis by substituting dynamic information and thus allowing for further low-level code optimizations to be applied. We implement our tool to support both CUDA and OpenACC directives as the frontend of the compilation pipeline, thus enabling low-level GPU optimizations for OpenACC that were not previously possible. We demonstrate the capabilities of our tool by automating warp-level shuffle instructions that are difficult to use by even advanced GPU programmers. Lastly, evaluating our tool with a benchmark suite and complex application code, we provide a detailed study to assess the benefits of shuffle instructions across four generations of GPU architectures. | [
23722
] | Train |
40,974 | 28 | Title: Low-Complexity Vector Source Coding for Discrete Long Sequences with Unknown Distributions
Abstract: In this paper, we propose a source coding scheme that represents data from unknown distributions through frequency and support information. Existing encoding schemes often compress data by sacrificing computational efficiency or by assuming the data follows a known distribution. We take advantage of the structure that arises within the spatial representation and utilize it to encode run-lengths within this representation using Golomb coding. Through theoretical analysis, we show that our scheme yields an overall bit rate that nears entropy without a computationally complex encoding algorithm and verify these results through numerical experiments. | [] | Train |
40,975 | 24 | Title: MrTF: model refinery for transductive federated learning
Abstract: nan | [] | Train |
40,976 | 7 | Title: A comparative study on different neural network architectures to model inelasticity
Abstract: The mathematical formulation of constitutive models to describe the path-dependent, i.e., inelastic, behavior of materials is a challenging task and has been a focus in mechanics research for several decades. There have been increased efforts to facilitate or automate this task through data-driven techniques, impelled in particular by the recent revival of neural networks (NNs) in computational mechanics. However, it seems questionable to simply not consider fundamental findings of constitutive modeling originating from the last decades research within NN-based approaches. Herein, we propose a comparative study on different feedforward and recurrent neural network architectures to model inelasticity. Within this study, we divide the models into three basic classes: black box NNs, NNs enforcing physics in a weak form, and NNs enforcing physics in a strong form. Thereby, the first class of networks can learn constitutive relations from data while the underlying physics are completely ignored, whereas the latter two are constructed such that they can account for fundamental physics, where special attention is paid to the second law of thermodynamics in this work. Conventional linear and nonlinear viscoelastic as well as elastoplastic models are used for training data generation and, later on, as reference. After training with random walk time sequences containing information on stress, strain, and, for some models, internal variables, the NN-based models are compared to the reference solution, whereby interpolation and extrapolation are considered. Besides the quality of the stress prediction, the related free energy and dissipation rate are analyzed to evaluate the models. Overall, the presented study enables a clear recording of the advantages and disadvantages of different NN architectures to model inelasticity and gives guidance on how to train and apply these models. | [
8488,
1306,
5291,
39195
] | Train |
40,977 | 27 | Title: Sensor Fault Detection and Compensation with Performance Prescription for Robotic Manipulators
Abstract: This paper focuses on sensor fault detection and compensation for robotic manipulators. The proposed method features a new adaptive observer and a new terminal sliding mode control law established on a second-order integral sliding surface. The method enables sensor fault detection without the need to impose known bounds on fault value and/or its derivative. It also enables fast and fixed-time fault-tolerant control whose performance can be prescribed beforehand by defining funnel bounds on the tracking error. The ultimate boundedness of the estimation errors for the proposed observer and the fixed-time stability of the control system are shown using Lyapunov stability analysis. The effectiveness of the proposed method is verified using numerical simulations on two different robotic manipulators, and the results are compared with existing methods. Our results demonstrate performance gains obtained by the proposed method compared to the existing results. | [] | Train |
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