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As opposed to human drivers, current autonomous driving systems still require vast amounts of labeled data to train. Recently, world models have been proposed to simultaneously enhance autonomous driving capabilities by improving the way these systems understand complex real-world environments and reduce their data demands via self-supervised pre-training. In this paper, we present AD-L-JEPA (aka Autonomous Driving with LiDAR data via a Joint Embedding Predictive Architecture), a novel self-supervised pre-training framework for autonomous driving with LiDAR data that, as opposed to existing methods, is neither generative nor contrastive. Our method learns spatial world models with a joint embedding predictive architecture. Instead of explicitly generating masked unknown regions, our self-supervised world models predict Bird's Eye View (BEV) embeddings to represent the diverse nature of autonomous driving scenes. Our approach furthermore eliminates the need to manually create positive and negative pairs, as is the case in contrastive learning. AD-L-JEPA leads to simpler implementation and enhanced learned representations. We qualitatively and quantitatively demonstrate high-quality of embeddings learned with AD-L-JEPA. We furthermore evaluate the accuracy and label efficiency of AD-L-JEPA on popular downstream tasks such as LiDAR 3D object detection and associated transfer learning. Our experimental evaluation demonstrates that AD-L-JEPA is a plausible approach for self-supervised pre-training in autonomous driving applications and is the best available approach outperforming SOTA, including most recently proposed Occupancy-MAE [1] and ALSO [2]. The source code of AD-L-JEPA is available at https://github.com/HaoranZhuExplorer/AD-L-JEPA-Release.

Detecting oriented tiny objects, which are limited in appearance information yet prevalent in real-world applications, remains an intricate and under-explored problem. To address this, we systemically introduce a new dataset, benchmark, and a dynamic coarse-to-fine learning scheme in this study. Our proposed dataset, AI-TOD-R, features the smallest object sizes among all oriented object detection datasets. Based on AI-TOD-R, we present a benchmark spanning a broad range of detection paradigms, including both fully-supervised and label-efficient approaches. Through investigation, we identify a learning bias presents across various learning pipelines: confident objects become increasingly confident, while vulnerable oriented tiny objects are further marginalized, hindering their detection performance. To mitigate this issue, we propose a Dynamic Coarse-to-Fine Learning (DCFL) scheme to achieve unbiased learning. DCFL dynamically updates prior positions to better align with the limited areas of oriented tiny objects, and it assigns samples in a way that balances both quantity and quality across different object shapes, thus mitigating biases in prior settings and sample selection. Extensive experiments across eight challenging object detection datasets demonstrate that DCFL achieves state-of-the-art accuracy, high efficiency, and remarkable versatility. The dataset, benchmark, and code are available at https://chasel-tsui.github.io/AI-TOD-R/.

Tiny objects, with their limited spatial resolution, often resemble point-like distributions. As a result, bounding box prediction using point-level supervision emerges as a natural and cost-effective alternative to traditional box-level supervision. However, the small scale and lack of distinctive features of tiny objects make point annotations prone to noise, posing significant hurdles for model robustness. To tackle these challenges, we propose Point Teacher--the first end-to-end point-supervised method for robust tiny object detection in aerial images. To handle label noise from scale ambiguity and location shifts in point annotations, Point Teacher employs the teacher-student architecture and decouples the learning into a two-phase denoising process. In this framework, the teacher network progressively denoises the pseudo boxes derived from noisy point annotations, guiding the student network's learning. Specifically, in the first phase, random masking of image regions facilitates regression learning, enabling the teacher to transform noisy point annotations into coarse pseudo boxes. In the second phase, these coarse pseudo boxes are refined using dynamic multiple instance learning, which adaptively selects the most reliable instance from dynamically constructed proposal bags around the coarse pseudo boxes. Extensive experiments on three tiny object datasets (i.e., AI-TOD-v2, SODA-A, and TinyPerson) validate the proposed method's effectiveness and robustness against point location shifts. Notably, relying solely on point supervision, our Point Teacher already shows comparable performance with box-supervised learning methods. Codes and models will be made publicly available.

Intelligent auditing represents a crucial advancement in modern audit practices, enhancing both the quality and efficiency of audits within the realm of artificial intelligence. With the rise of large language model (LLM), there is enormous potential for intelligent models to contribute to audit domain. However, general LLMs applied in audit domain face the challenges of lacking specialized knowledge and the presence of data biases. To overcome these challenges, this study introduces AuditWen, an open-source audit LLM by fine-tuning Qwen with constructing instruction data from audit domain. We first outline the application scenarios for LLMs in the audit and extract requirements that shape the development of LLMs tailored for audit purposes. We then propose an audit LLM, called AuditWen, by fine-tuning Qwen with constructing 28k instruction dataset from 15 audit tasks and 3 layers. In evaluation stage, we proposed a benchmark with 3k instructions that covers a set of critical audit tasks derived from the application scenarios. With the benchmark, we compare AuditWen with other existing LLMs from information extraction, question answering and document generation. The experimental results demonstrate superior performance of AuditWen both in question understanding and answer generation, making it an immediately valuable tool for audit., Comment: 18 pages,1 figures

We study the structure of the representation ring of the symmetric group in dimension six. The Kronecker coefficients and all power formulas of irreducible representations of $S_6$ are computed using the character theory of finite groups. In addition, by direct sum decomposition of tensor products of different irreducible representations of $S_6$, we characterise generators of the representation ring $\mathcal{R}(S_6)$, show that its unit group $U(\mathcal{R}(S_6))$ is a Klein four-group and related results on the structure of primitive idempotents. Furthermore, we introduce Harrison center theory to study the representation ring and show that the Harrison center of the cubic form induced by the generating relations of $\mathcal{R}(S_6)$ is isomorphic to itself. Finally, we conclude with some open problems for future consideration., Comment: 21 pages; revised version

Fine-Grained Object Detection (FGOD) is a critical task in high-resolution aerial image analysis. This letter introduces Orthogonal Mapping (OM), a simple yet effective method aimed at addressing the challenge of semantic confusion inherent in FGOD. OM introduces orthogonal constraints in the feature space by decoupling features from the last layer of the classification branch with a class-wise orthogonal vector basis. This effectively mitigates semantic confusion and enhances classification accuracy. Moreover, OM can be seamlessly integrated into mainstream object detectors. Extensive experiments conducted on three FGOD datasets (FAIR1M, ShipRSImageNet, and MAR20) demonstrate the effectiveness and superiority of the proposed approach. Notably, with just one line of code, OM achieves a 4.08% improvement in mean Average Precision (mAP) over FCOS on the ShipRSImageNet dataset. Codes are released at https://github.com/ZhuHaoranEIS/Orthogonal-FGOD.

The construction of Sweedler duality is an important tool in the theory of Hopf algebras over a field, which is a right adjoint to the dual algebra functor. In this paper, we study the Sweedler duality of Hom-algebras and their Hom-modules. We delve into the structure of Hom-coalgebras and derive the linear morphisms associated with them. Additionally, as an application, we present the (right) Hom-(co)module morphisms under the Sweedler duality., Comment: 11 pages

Traditional covert transmission (CT) approaches have been hindering CT application while blockchain technology offers new avenue. Current blockchain-based CT approaches require off-chain negotiation of critical information and often overlook the dynamic session keys updating, which increases the risk of message and key leakage. Additionally, in some approaches the covert transactions exhibit obvious characteristics that can be easily detected by third-parties. Moreover, most approaches do not address the issue of decreased reliability of message transmission in blockchain attack scenarios. Bitcoin- and Ethereum-based approaches also have the issue of transaction linkability, which can be tackled by Monero-based approaches because of the privacy protection mechanisms in Monero. However, Monero-based CT has the problem of sender repudiation. In this paper, we propose a novel Monero-Based CT approach (MBCT), which enables on-chain session key dynamically updating without off-chain negotiation. MBCT can assure non-repudiation of transmission participants, confidentiality of keys, reliability of message transmission and less observable characteristics. There are achieved by the three components in MBCT, namely, a sender authentication method, a dynamically on-chain session key updating method and a state feedback method. We implement MBCT in Monero-0.18.1.0 and the experiment results demonstrate its high embedding capacity of MBCT.

In advancing parallel programming, particularly with OpenMP, the shift towards NLP-based methods marks a significant innovation beyond traditional S2S tools like Autopar and Cetus. These NLP approaches train on extensive datasets of examples to efficiently generate optimized parallel code, streamlining the development process. This method's strength lies in its ability to swiftly produce parallelized code that runs efficiently. However, this reliance on NLP models, without direct code analysis, can introduce inaccuracies, as these models might not fully grasp the nuanced semantics of the code they parallelize. We build OMP-Engineer, which balances the efficiency and scalability of NLP models with the accuracy and reliability of traditional methods, aiming to enhance the performance of automating parallelization while navigating its inherent challenges.

The Virtual Machine (VM)-based Trusted-Execution-Environment (TEE) technology, like AMD Secure-Encrypted-Virtualization (SEV), enables the establishment of Confidential VMs (CVMs) to protect data privacy. But CVM lacks ways to provide the trust proof of its running state, degrading the user confidence of using CVM. The technology of virtual Trusted Platform Module (vTPM) can be used to generate trust proof for CVM. However, the existing vTPM-based approaches have the weaknesses like lack of a well-defined root-of-trust, lack of vTPM protection, and lack of vTPM's trust proof. These weaknesses prevent the generation of the trust proof of the CVM. This paper proposes an approach to generate the trust proof for AMD SEV-based CVM so as to ensure its security by using a secure vTPM to construct Trusted Complete Chain for the CVM (T3CVM). T3CVM consists of three components: 1) TR-Manager, as the well-defined root-of-trust, helps to build complete trust chains for CVMs; 2) CN-TPMCVM, a special CVM provides secure vTPMs; 3) CN-CDriver, an enhanced TPM driver. Our approach overcomes the weaknesses of existing approaches and enables trusted computing-based applications to run seamlessly in the trusted CVM. We perform a formal security analysis of T3CVM, and implement a prototype system to evaluate its performance.

We analyze a system of linear algebraic equations whose solutions lead to a proof of a generalization of Boole's formula. In particular, our approach provides an elementary and short alternative to Katsuura's proof of this generalization., Comment: 3 pages

We study an optimization problem originated from the Grothendieck constant. A generalized normal equation is proposed and analyzed. We establish a correspondence between solutions of the general normal equation and its dual equation. Explicit solutions are described for the two-dimensional case., Comment: 6pp

In NFV networks, service functions (SFs) can be deployed on virtual machines (VMs) across multiple domains and then form a service function chain (MSFC) for end-to-end network service provision. However, any software component in a VM-based MSFC must experience software aging issue after a long period of operation. This paper quantitatively investigates the capability of proactive rejuvenation techniques in reducing the damage of software aging on a VM-based MSFC. We develop a semi-Markov model to capture the behaviors of SFs, VMs and virtual machine monitors (VMMs) from software aging to recovery under the condition that failure times and recovery times follow general distributions. We derive the formulas for calculating the steady-state availability and reliability of the VM-based MSFC composed of multiple SFs running on VMs hosted by VMMs. Sensitivity analysis is also conducted to identify potential dependability bottlenecks.

Processing sensitive data and deploying well-designed Intellectual Property (IP) cores on remote Field Programmable Gate Array (FPGA) are prone to private data leakage and IP theft. One effective solution is constructing Trusted Execution Environment (TEE) on FPGA-SoCs (FPGA System on Chips). Researchers have integrated this type TEE with Trusted Platform Module (TPM)-based trusted boot, denoted as FPGA-SoC tbTEE. But there is no effort on secure and trusted runtime customization of FPGA-SoC TEE. This paper extends FPGA-SoC tbTEE to build Runtime Customizable TEE (RCTEE) on FPGA-SoC by additive three major components (our work): 1) CrloadIP, which can load an IP core at runtime such that RCTEE can be adjusted dynamically and securely; 2) CexecIP, which can not only execute an IP core without modifying the operating system of FPGA-SoC TEE, but also prevent insider attacks from executing IPs deployed in RCTEE; 3) CremoAT, which can provide the newly measured RCTEE state and establish a secure and trusted communication path between remote verifiers and RCTEE. We conduct a security analysis of RCTEE and its performance evaluation on Xilinx Zynq UltraScale+ XCZU15EG 2FFVB1156 MPSoC.

Stubborn mining attack greatly downgrades Bitcoin throughput and also benefits malicious miners (attackers). This paper aims to quantify the impact of block receiving delay on stubborn mining attack severity in imperfect Bitcoin networks. We develop an analytic model and derive formulas of both relative revenue and system throughput, which are applied to study attack severity. Experiment results validate our analysis method and show that imperfect networks favor attackers. The quantitative analysis offers useful insight into stubborn mining attack and then helps the development of countermeasures., Comment: arXiv admin note: text overlap with arXiv:2302.00210

Fully homomorphic encryption (FHE) has experienced significant development and continuous breakthroughs in theory, enabling its widespread application in various fields, like outsourcing computation and secure multi-party computing, in order to preserve privacy. Nonetheless, the application of FHE is constrained by its substantial computing overhead and storage cost. Researchers have proposed practical acceleration solutions to address these issues. This paper aims to provide a comprehensive survey for systematically comparing and analyzing the strengths and weaknesses of FHE acceleration schemes, which is currently lacking in the literature. The relevant researches conducted between 2019 and 2022 are investigated. We first provide a comprehensive summary of the latest research findings on accelerating FHE, aiming to offer valuable insights for researchers interested in FHE acceleration. Secondly, we classify existing acceleration schemes from algorithmic and hardware perspectives. We also propose evaluation metrics and conduct a detailed comparison of various methods. Finally, our study presents the future research directions of FHE acceleration, and also offers both guidance and support for practical application and theoretical research in this field., Comment: 18 pages, 7 figures

Vision transformer (ViT) is an attention neural network architecture that is shown to be effective for computer vision tasks. However, compared to ResNet-18 with a similar number of parameters, ViT has a significantly lower evaluation accuracy when trained on small datasets. To facilitate studies in related fields, we provide a visual intuition to help understand why it is the case. We first compare the performance of the two models and confirm that ViT has less accuracy than ResNet-18 when trained on small datasets. We then interpret the results by showing attention map visualization for ViT and feature map visualization for ResNet-18. The difference is further analyzed through a representation similarity perspective. We conclude that the representation of ViT trained on small datasets is hugely different from ViT trained on large datasets, which may be the reason why the performance drops a lot on small datasets.

GHOST, like the longest-chain protocol, is a chain selection protocol and its capability in resisting selfish mining attack has been validated in imperfect blockchains of Bitcoin and its variants (Bitcoin-like). This paper explores an analytical-model-based method to investigate the impact of stubborn mining attack in imperfect GHOST Bitcoin-like blockchains. We first quantify chain dynamics based on Markov chain and then derive the formulas of miner revenue and system throughput. We also propose a new metric, "Hazard Index", which can be used to compare attack severity and also assist attacker in determining whether it is profitable to conduct an attack. The experiment results show that 1) An attacker with more than 30% computing power can get huge profit and extremely downgrade system throughput by launching stubborn mining attack. 2) A rational attacker should not launch stubborn mining attack if it has less than 25% computing power. 3) Stubborn mining attack causes more damage than selfish mining attack under GHOST. Our work provides insight into stubborn mining attack and is helpful in designing countermeasures.

The complexity class DP is the class of all languages that are the intersection of a language in NP and a language in co-NP, as coined by Papadimitriou and Yannakakis (1982). Hartvigsen and Zemel (1992) conjectured that recognizing a facet for the knapsack polytope is DP-complete. While it has been known that the recognition problems of facets for polytopes associated with other well-known combinatorial optimization problems, e.g., traveling salesman, node/set packing/covering, are DP-complete, this conjecture on recognizing facets for the knapsack polytope remains open. We provide a positive answer to this conjecture. Moreover, despite the DP-hardness of the recognition problem, we give a polynomial time algorithm for deciding if an inequality with a fixed number of distinct positive coefficients defines a facet of a knapsack polytope, generalizing a result of Balas (1975).

The goal of lifelong learning is to continuously learn from non-stationary distributions, where the non-stationarity is typically imposed by a sequence of distinct tasks. Prior works have mostly considered idealistic settings, where the identity of tasks is known at least at training. In this paper we focus on a fundamentally harder, so-called task-agnostic setting where the task identities are not known and the learning machine needs to infer them from the observations. Our algorithm, which we call TAME (Task-Agnostic continual learning using Multiple Experts), automatically detects the shift in data distributions and switches between task expert networks in an online manner. At training, the strategy for switching between tasks hinges on an extremely simple observation that for each new coming task there occurs a statistically-significant deviation in the value of the loss function that marks the onset of this new task. At inference, the switching between experts is governed by the selector network that forwards the test sample to its relevant expert network. The selector network is trained on a small subset of data drawn uniformly at random. We control the growth of the task expert networks as well as selector network by employing online pruning. Our experimental results show the efficacy of our approach on benchmark continual learning data sets, outperforming the previous task-agnostic methods and even the techniques that admit task identities at both training and testing, while at the same time using a comparable model size., Comment: accepted by CVPR 2024 Workshop on Continual Learning in Computer Vision

Among various sensors for assisted and autonomous driving systems, automotive radar has been considered as a robust and low-cost solution even in adverse weather or lighting conditions. With the recent development of radar technologies and open-sourced annotated data sets, semantic segmentation with radar signals has become very promising. However, existing methods are either computationally expensive or discard significant amounts of valuable information from raw 3D radar signals by reducing them to 2D planes via averaging. In this work, we introduce ERASE-Net, an Efficient RAdar SEgmentation Network to segment the raw radar signals semantically. The core of our approach is the novel detect-then-segment method for raw radar signals. It first detects the center point of each object, then extracts a compact radar signal representation, and finally performs semantic segmentation. We show that our method can achieve superior performance on radar semantic segmentation task compared to the state-of-the-art (SOTA) technique. Furthermore, our approach requires up to 20x less computational resources. Finally, we show that the proposed ERASE-Net can be compressed by 40% without significant loss in performance, significantly more than the SOTA network, which makes it a more promising candidate for practical automotive applications., Comment: accepted by ICRA 2023

We study relaxations for linear programs with complementarity constraints, especially instances whose complementary pairs of variables are not independent. Our formulation is based on identifying vertex covers of the conflict graph of the instance and generalizes the extended reformulation-linearization technique of Nguyen, Richard, and Tawarmalani to instances with general complementarity conditions between variables. We demonstrate how to obtain strong cutting planes for our formulation from both the stable set polytope and the boolean quadric polytope associated with a complete bipartite graph. Through an extensive computational study for three types of practical problems, we assess the performance of our proposed linear relaxation and new cutting-planes in terms of the optimality gap closed.

The complementarity knapsack problem (CKP) is a knapsack problem with real-valued variables and complementarity conditions between pairs of its variables. We extend the polyhedral studies of De Farias et al. for CKP, by proposing three new families of cutting-planes that are all obtained from a combinatorial concept known as a pack. Sufficient conditions for these inequalities to be facet-defining, based on the concept of a maximal switching pack, are also provided. Moreover, we answer positively a conjecture by de Farias et~al.~about the separation complexity of the inequalities introduced in their work, and propose efficient separation algorithms for our newly defined cutting-planes.

We close three open problems in the separation complexity of valid inequalities for the knapsack polytope. Specifically, we establish that the separation problems for extended cover inequalities, (1,k)-configuration inequalities, and weight inequalities are all NP-complete. We also give a number of special cases where the separation problem can be solved in polynomial time.

Particle image velocimetry (PIV) is essential in experimental fluid dynamics. In the current work, we propose a new velocity field estimation paradigm, which achieves a synergetic combination of the deep learning method and the traditional cross-correlation method. Specifically, the deep learning method is used to optimize and correct a coarse velocity guess to achieve a super-resolution calculation. And the cross-correlation method provides the initial velocity field based on a coarse correlation with a large interrogation window. As a reference, the coarse velocity guess helps with improving the robustness of the proposed algorithm. This fully convolutional network with embedded cross-correlation is named as CC-FCN. CC-FCN has two types of input layers, one is for the particle images, and the other is for the initial velocity field calculated using cross-correlation with a coarse resolution. Firstly, two pyramidal modules extract features of particle images and initial velocity field respectively. Then the fusion module appropriately fuses these features. Finally, CC-FCN achieves the super-resolution calculation through a series of deconvolution layers to obtain the single-pixel velocity field. As the supervised learning strategy is considered, synthetic data sets including ground-truth fluid motions are generated to train the network parameters. Synthetic and real experimental PIV data sets are used to test the trained neural network in terms of accuracy, precision, spatial resolution and robustness. The test results show that these attributes of CC-FCN are further improved compared with those of other tested PIV algorithms. The proposed model could therefore provide competitive and robust estimations for PIV experiments.

In this paper, we provide an equivalent condition for the Chvatal-Gomory (CG) closure of a closed convex set to be finitely-generated. Using this result, we are able to prove that, for any closed convex set that can be written as the Minkowski sum of a compact convex set and a closed convex cone, its CG closure is a rational polyhedron if and only if its recession cone is a rational polyhedral cone. As a consequence, this generalizes and unifies all the currently known results, for the case of rational polyhedron and compact convex set.

We propose a method to generate cutting-planes from multiple covers of knapsack constraints. The covers may come from different knapsack inequalities if the weights in the inequalities form a totally-ordered set. Thus, we introduce and study the structure of a totally-ordered multiple knapsack set. The valid multi-cover inequalities we derive for its convex hull have a number of interesting properties. First, they generalize the well-known (1, k)-configuration inequalities. Second, they are not aggregation cuts. Third, they cannot be generated as a rank-1 Chvatal-Gomory cut from the inequality system consisting of the knapsack constraints and all their minimal cover inequalities. We also provide conditions under which the inequalities are facets for the convex hull of the totally-ordered knapsack set, as well as conditions for those inequalities to fully characterize its convex hull. We give an integer program to solve the separation and provide numerical experiments that showcase the strength of these new inequalities.

Several recent publications report advances in training optimal decision trees (ODT) using mixed-integer programs (MIP), due to algorithmic advances in integer programming and a growing interest in addressing the inherent suboptimality of heuristic approaches such as CART. In this paper, we propose a novel MIP formulation, based on a 1-norm support vector machine model, to train a multivariate ODT for classification problems. We provide cutting plane techniques that tighten the linear relaxation of the MIP formulation, in order to improve run times to reach optimality. Using 36 data-sets from the University of California Irvine Machine Learning Repository, we demonstrate that our formulation outperforms its counterparts in the literature by an average of about 10% in terms of mean out-of-sample testing accuracy across the data-sets. We provide a scalable framework to train multivariate ODT on large data-sets by introducing a novel linear programming (LP) based data selection method to choose a subset of the data for training. Our method is able to routinely handle large data-sets with more than 7,000 sample points and outperform heuristics methods and other MIP based techniques. We present results on data-sets containing up to 245,000 samples. Existing MIP-based methods do not scale well on training data-sets beyond 5,500 samples.

In this paper, we will answer one of the questions proposed by Bodur, Del~Pia, Dey, Molinaro and Pokutta in 2017. Specifically, we show that the k-aggregation closure of a covering set is a polyhedron. The proof technique is based on an equivalent condition for the closure of any particular family of cutting-planes to be polyhedral, from the perspective of convex geometry. We believe that this technique can be applied to tackle other polyhedrality problems in the future and may be of independent interest.

An integer packing set is a set of non-negative integer vectors with the property that, if a vector $x$ is in the set, then every non-negative integer vector $y$ with $y \leq x$ is in the set as well. Integer packing sets appear naturally in Integer Optimization. In fact, the set of integer points in any packing polyhedron is an integer packing set. The main result of this paper is that integer packing sets, ordered by inclusion, form a well-quasi-ordering. This result allows us to answer a question recently posed by Bodur et al. In fact, we prove that the k-aggregation closure of any packing polyhedron is again a packing polyhedron. The generality of our main result allows us to provide a generalization to non-polyhedral sets: The k-aggregation closure of any downset of $\mathbb{R}^n_+$ is a packing polyhedron., Comment: 8 pages