Miracle-dz/UniFAR-FTUs huggingface dataset:
Self-correcting Q-Learning

The Q-learning algorithm is known to be affected by the maximization bias, i.e. the systematic overestimation of action values, an important issue that has recently received renewed attention. Double Q-learning has been proposed as an efficient algorithm to mitigate this bias. However, this comes at the price of an underestimation of action values, in addition to increased memory requirements and a slower convergence. In this paper, we introduce a new way to address the maximization bias in the form of a "self-correcting algorithm" for approximating the maximum of an expected value. Our method balances the overestimation of the single estimator used in conventional Q-learning and the underestimation of the double estimator used in Double Q-learning. Applying this strategy to Q-learning results in Self-correcting Q-learning. We show theoretically that this new algorithm enjoys the same convergence guarantees as Q-learning while being more accurate. Empirically, it performs better than Double Q-learning in domains with rewards of high variance, and it even attains faster convergence than Q-learning in domains with rewards of zero or low variance. These advantages transfer to a Deep Q Network implementation that we call Self-correcting DQN and which outperforms regular DQN and Double DQN on several tasks in the Atari 2600 domain.
Wireless Secret Sharing Game between Two Legitimate Users and an Eavesdropper

Wireless secret sharing is crucial to information security in the era of Internet of Things. One method is to utilize the effect of the randomness of the wireless channel in the data link layer to generate the common secret between two legitimate users Alice and Bob. This paper studies this secret sharing mechanism from the perspective of game theory. In particular, we formulate a non-cooperative zero-sum game between the legitimate users and an eavesdropper Eve. In a symmetrical game where Eve has the same probability of successfully receiving a packet from Alice and Bob when the transmission distance is the same, we show that both pure and mixed strategy Nash equilibria exist. In an asymmetric game where Eve has different probabilities of successfully receiving a packet from Alice and Bob, a pure strategy may not exist; in this case, we show how a mixed strategy Nash equilibrium can be found.
Stochastic persistence in degenerate stochastic Lotka-Volterra food chains

<p style='text-indent:20px;'>We consider a Lotka-Volterra food chain model with possibly intra-specific competition in a stochastic environment represented by stochastic differential equations. In the non-degenerate setting, this model has already been studied by A. Hening and D. Nguyen in [<xref ref-type="bibr" rid="b9">9</xref>, <xref ref-type="bibr" rid="b10">10</xref>] where they provided conditions for stochastic persistence and extinction. In this paper, we extend their results to the degenerate situation in which the top or the bottom species is subject to random perturbations. Under the persistence condition, there exists a unique invariant probability measure supported by the interior of <inline-formula><tex-math id="M1">\begin{document}$ {{\mathbb R}}_+^n $\end{document}</tex-math></inline-formula> having a smooth density. </p><p style='text-indent:20px;'>Moreover, we study a more general model, in which we give new conditions which make it possible to characterize the convergence of the semi-group towards the unique invariant probability measure either at an exponential rate or at a polynomial one. This will be used in the stochastic Lotka-Volterra food chain to see that if intra-specific competition occurs for all species, the rate of convergence is exponential while in the other cases it is polynomial. </p>
Nambu-Goldstone mode in non-equilibrium systems from AdS/CFT correspondence

We investigate dispersion relation of Nambu-Goldstone mode in a dissipative system realized by the AdS/CFT correspondence. We employ the D3/D7 model which represents ${\cal N} = 4$ supersymmetric Yang-Mills theory coupled to ${\cal N = 2}$ flavor fields. If we consider massless quarks in the presence of an external magnetic field, the system exhibits the phase transition associated with the spontaneous symmetry breaking of the chiral symmetry. We find that the Nambu-Goldstone mode shows a diffusive behavior in the dispersion relation, which agrees with that found with the effective field theory approach. We also study a non-equilibrium steady state which has a constant current flow in the presence of an external electric field. In a non-equilibrium steady state, we find that the Nambu-Goldstone mode shows a linear dispersion in the real part of the frequency in addition to the diffusive behavior. Moreover, we analyze the linear dispersion of the Nambu-Goldstone mode in the hydrodynamic approximation. As a result, we find that the linear dispersion can be written as the analytic functions of quantities in the dual field theory. Our results imply that such a linear dispersion is a characteristic behavior of Nambu-Goldstone mode in a non-equilibrium steady state.
The Geometry and Kinematics of the Matrix Lie Group $SE_K(3)$.

Currently state estimation is very important for the robotics, and the uncertainty representation based Lie group is natural for the state estimation problem. It is necessary to exploit the geometry and kinematic of matrix Lie group sufficiently. Therefore, this note gives a detailed derivation of the recently proposed matrix Lie group $SE_K(3)$ for the first time, our results extend the results in Barfoot \cite{barfoot2017state}. Then we describe the situations where this group is suitable for state representation. We also have developed code based on Matlab framework for quickly implementing and testing.
PlückerNet: Learn to Register 3D Line Reconstructions¨

Aligning two partially-overlapped 3D line reconstructions in Euclidean space is challenging, as we need to simultaneously solve correspondences and relative pose between line reconstructions. This paper proposes a neural network based method and it has three modules connected in sequence: (i) a Multilayer Perceptron (MLP) based network takes Plücker representations of lines as inputs, to extract discriminative line-wise features and matchabilities (how likely each line is going to have a match), (ii) an Optimal Transport (OT) layer takes two-view line-wise features and matchabilities as inputs to estimate a 2D joint probability matrix, with each item describes the matchness of a line pair, and (iii) line pairs with Top-K matching probabilities are fed to a 2-line minimal solver in a RANSAC framework to estimate a six Degree-of-Freedom (6-DoF) rigid transformation. Experiments on both indoor and outdoor datasets show that registration (rotation and translation) precision of our method outperforms baselines significantly.
Separating Mesoscale and Submesoscale Flows from Clustered Drifter Trajectories

Drifters deployed in close proximity collectively provide a unique observational data set with which to separate mesoscale and submesoscale flows. In this paper we provide a principled approach for doing so by fitting observed velocities to a local Taylor expansion of the velocity flow field. We demonstrate how to estimate mesoscale and submesoscale quantities that evolve slowly over time, as well as their associated statistical uncertainty. We show that in practice the mesoscale component of our model can explain much first and second-moment variability in drifter velocities, especially at low frequencies. This results in much lower and more meaningful measures of submesoscale diffusivity, which would otherwise be contaminated by unresolved mesoscale flow. We quantify these effects theoretically via computing Lagrangian frequency spectra, and demonstrate the usefulness of our methodology through simulations as well as with real observations from the LatMix deployment of drifters. The outcome of this method is a full Lagrangian decomposition of each drifter trajectory into three components that represent the background, mesoscale, and submesoscale flow.
"A cold, technical decision-maker": Can AI provide explainability, negotiability, and humanity?

Algorithmic systems are increasingly deployed to make decisions in many areas of people's lives. The shift from human to algorithmic decision-making has been accompanied by concern about potentially opaque decisions that are not aligned with social values, as well as proposed remedies such as explainability. We present results of a qualitative study of algorithmic decision-making, comprised of five workshops conducted with a total of 60 participants in Finland, Germany, the United Kingdom, and the United States. We invited participants to reason about decision-making qualities such as explainability and accuracy in a variety of domains. Participants viewed AI as a decision-maker that follows rigid criteria and performs mechanical tasks well, but is largely incapable of subjective or morally complex judgments. We discuss participants' consideration of humanity in decision-making, and introduce the concept of 'negotiability,' the ability to go beyond formal criteria and work flexibly around the system.
Intrusion Detection Systems for IoT: opportunities and challenges offered by Edge Computing

Key components of current cybersecurity methods are the Intrusion Detection Systems (IDSs), where different techniques and architectures are applied to detect intrusions. IDSs can be based either on cross-checking monitored events with a database of known intrusion experiences, known as signature-based, or on learning the normal behavior of the system and reporting whether anomalous events occur, named anomaly-based. This work is dedicated to the application of IDS to the Internet of Things (IoT) networks, where also edge computing is used to support IDS implementation. Specific attention is given to IDSs which leverage device classification at the edge. New challenges that arise when deploying an IDS in an edge scenario are identified and remedies are proposed.
On the Error Resistance of Hinge Loss Minimization

Commonly used classification algorithms in machine learning, such as support vector machines, minimize a convex surrogate loss on training examples. In practice, these algorithms are surprisingly robust to errors in the training data. In this work, we identify a set of conditions on the data under which such surrogate loss minimization algorithms provably learn the correct classifier. This allows us to establish, in a unified framework, the robustness of these algorithms under various models on data as well as error. In particular, we show that if the data is linearly classifiable with a slightly non-trivial margin (i.e. a margin at least $C/\sqrt{d}$ for $d$-dimensional unit vectors), and the class-conditional distributions are near isotropic and logconcave, then surrogate loss minimization has negligible error on the uncorrupted data even when a constant fraction of examples are adversarially mislabeled.
Leveraging Neural Network Gradients within Trajectory Optimization for Proactive Human-Robot Interactions

To achieve seamless human-robot interactions, robots need to intimately reason about complex interaction dynamics and future human behaviors within their motion planning process. However, there is a disconnect between state-of-the-art neural network-based human behavior models and robot motion planners—either the behavior models are limited in their consideration of downstream planning or a simplified behavior model is used to ensure tractability of the planning problem. In this work, we present a framework that fuses together the interpretability and flexibility of trajectory optimization (TO) with the predictive power of state-of-the-art human trajectory prediction models. In particular, we leverage gradient information from data-driven prediction models to explicitly reason about human-robot interaction dynamics within a gradient-based TO problem. We demonstrate the efficacy of our approach in a multi-agent scenario whereby a robot is required to safely and efficiently navigate through a crowd of up to ten pedestrians. We compare against a variety of planning methods, and show that by explicitly accounting for interaction dynamics within the planner, our method offers safer and more efficient behaviors, even yielding proactive and nuanced behaviors such as waiting for a pedestrian to pass before moving.
The effects of drift and winds on the propagation of Galactic cosmic rays

We study the effects of drift motions and the advection by a Galactic wind on the propagation of cosmic rays in the Galaxy. We employ a simplified magnetic field model, based on (and similar to) the Jansson-Farrar model for the Galactic magnetic field. Diffusion is allowed to be anisotropic. The relevant equations are solved numerically, using a set of stochastic differential equations. Inclusion of drift and a Galactic wind significantly shortens the residence time of cosmic rays, even for moderate wind speeds
Adversarial Robustness Across Representation Spaces

Adversarial robustness corresponds to the susceptibility of deep neural networks to imperceptible perturbations made at test time. In the context of image tasks, many algorithms have been proposed to make neural networks robust to adversarial perturbations made to the input pixels. These perturbations are typically measured in an ℓp norm. However, robustness often holds only for the specific attack used for training. In this work we extend the above setting to consider the problem of training of deep neural networks that can be made simultaneously robust to perturbations applied in multiple natural representations spaces. For the case of image data, examples include the standard pixel representation as well as the representation in the discrete cosine transform (DCT) basis. We design a theoretically sound algorithm with formal guarantees for the above problem. Furthermore, our guarantees also hold when the goal is to require robustness with respect to multiple ℓp norm based attacks. We then derive an efficient practical implementation and demonstrate the effectiveness of our approach on standard datasets for image classification.1
Displacement-Invariant Cost Computation for Efficient Stereo Matching

Although deep learning-based methods have dominated stereo matching leaderboards by yielding unprecedented disparity accuracy, their inference time is typically slow, on the order of seconds for a pair of 540p images. The main reason is that the leading methods employ time-consuming 3D convolutions applied to a 4D feature volume. A common way to speed up the computation is to downsample the feature volume, but this loses high-frequency details. To overcome these challenges, we propose a \emph{displacement-invariant cost computation module} to compute the matching costs without needing a 4D feature volume. Rather, costs are computed by applying the same 2D convolution network on each disparity-shifted feature map pair independently. Unlike previous 2D convolution-based methods that simply perform context mapping between inputs and disparity maps, our proposed approach learns to match features between the two images. We also propose an entropy-based refinement strategy to refine the computed disparity map, which further improves speed by avoiding the need to compute a second disparity map on the right image. Extensive experiments on standard datasets (SceneFlow, KITTI, ETH3D, and Middlebury) demonstrate that our method achieves competitive accuracy with much less inference time. On typical image sizes, our method processes over 100 FPS on a desktop GPU, making our method suitable for time-critical applications such as autonomous driving. We also show that our approach generalizes well to unseen datasets, outperforming 4D-volumetric methods.
Chair Segments: A Compact Benchmark for the Study of Object Segmentation

Over the years, datasets and benchmarks have had an outsized influence on the design of novel algorithms. In this paper, we introduce ChairSegments, a novel and compact semi-synthetic dataset for object segmentation. We also show empirical findings in transfer learning that mirror recent findings for image classification. We particularly show that models that are fine-tuned from a pretrained set of weights lie in the same basin of the optimization landscape. ChairSegments consists of a diverse set of prototypical images of chairs with transparent backgrounds composited into a diverse array of backgrounds. We aim for ChairSegments to be the equivalent of the CIFAR-10 dataset but for quickly designing and iterating over novel model architectures for segmentation. On Chair Segments, a U-Net model can be trained to full convergence in only thirty minutes using a single GPU. Finally, while this dataset is semi-synthetic, it can be a useful proxy for real data, leading to state-of-the-art accuracy on the Object Discovery dataset when used as a source of pretraining.
MRI Images Analysis Method for Early Stage Alzheimer's Disease Detection

Alzheimer's disease is a neurogenerative disease that alters memories, cognitive functions leading to death. Early diagnosis of the disease, by detection of the preliminary stage, called Mild Cognitive Impairment (MCI), remains a challenging issue. In this respect, we introduce, in this paper, a powerful classification architecture that implements the pre-trained network AlexNet to automatically extract the most prominent features from Magnetic Resonance Imaging (MRI) images in order to detect the Alzheimer's disease at the MCI stage. The proposed method is evaluated using a big database from OASIS Database Brain. Various sections of the brain: frontal, sagittal and axial were used. The proposed method achieved 96.83% accuracy by using 420 subjects: 210 Normal and 210 MRI
Herding stochastic autonomous agents via local control rules and online global target selection strategies.

In this Letter we propose a simple yet effective set of local control rules to make a group of herder agents collect and contain in a desired region an ensemble of non-cooperative stochastic target agents in the plane. We investigate the robustness of the proposed strategies to variations of the number of target agents and the strength of the repulsive force they feel when in proximity of the herders. Extensive numerical simulations confirm the effectiveness of the approach and are complemented by a more realistic validation on commercially available robotic agents via ROS.
Biomedical Knowledge Graph Refinement with Embedding and Logic Rules

Currently, there is a rapidly increasing need for high-quality biomedical knowledge graphs (BioKG) that provide direct and precise biomedical knowledge. In the context of COVID-19, this issue is even more necessary to be highlighted. However, most BioKG construction inevitably includes numerous conflicts and noises deriving from incorrect knowledge descriptions in literature and defective information extraction techniques. Many studies have demonstrated that reasoning upon the knowledge graph is effective in eliminating such conflicts and noises. This paper proposes a method BioGRER to improve the BioKG's quality, which comprehensively combines the knowledge graph embedding and logic rules that support and negate triplets in the BioKG. In the proposed model, the BioKG refinement problem is formulated as the probability estimation for triplets in the BioKG. We employ the variational EM algorithm to optimize knowledge graph embedding and logic rule inference alternately. In this way, our model could combine efforts from both the knowledge graph embedding and logic rules, leading to better results than using them alone. We evaluate our model over a COVID-19 knowledge graph and obtain competitive results.
FFD: Fast Feature Detector

Scale-invariance, good localization and robustness to noise and distortions are the main properties that a local feature detector should possess. Most existing local feature detectors find excessive unstable feature points that increase the number of keypoints to be matched and the computational time of the matching step. In this paper, we show that robust and accurate keypoints exist in the specific scale-space domain. To this end, we first formulate the superimposition problem into a mathematical model and then derive a closed-form solution for multiscale analysis. The model is formulated via difference-of-Gaussian (DoG) kernels in the continuous scale-space domain, and it is proved that setting the scale-space pyramid’s blurring ratio and smoothness to 2 and 0.627, respectively, facilitates the detection of reliable keypoints. For the applicability of the proposed model to discrete images, we discretize it using the undecimated wavelet transform and the cubic spline function. Theoretically, the complexity of our method is less than 5% of that of the popular baseline Scale Invariant Feature Transform (SIFT). Extensive experimental results show the superiority of the proposed feature detector over the existing representative hand-crafted and learning-based techniques in accuracy and computational time. The code and supplementary materials can be found at https://github.com/mogvision/FFD.
Towards Imperceptible Adversarial Image Patches Based on Network Explanations

The vulnerability of deep neural networks (DNNs) for adversarial examples have attracted more attention. Many algorithms are proposed to craft powerful adversarial examples. However, these algorithms modifying the global or local region of pixels without taking into account network explanations. Hence, the perturbations are redundancy and easily detected by human eyes. In this paper, we propose a novel method to generate local region perturbations. The main idea is to find the contributing feature regions (CFRs) of images based on network explanations for perturbations. Due to the network explanations, the perturbations added to the CFRs are more effective than other regions. In our method, a soft mask matrix is designed to represent the CFRs for finely characterizing the contributions of each pixel. Based on this soft mask, we develop a new objective function with inverse temperature to search for optimal perturbations in CFRs. Extensive experiments are conducted on CIFAR-10 and ILSVRC2012, which demonstrate the effectiveness, including attack success rate, imperceptibility,and transferability.