OpenRaiser/Intern-Atlas huggingface dataset:
Understanding Physical Effects for Effective Tool-use
Venue: arXiv cs.RO 2022
Year: 2022

We present a robot learning and planning framework that produces an effective tool-use strategy with the least joint efforts, capable of handling objects different from training. Leveraging a Finite Element Method (FEM)-based simulator that reproduces fine-grained, continuous visual and physical effects given observed tool-use events, the essential physical properties contributing to the effects are identified through the proposed Iterative Deepening Symbolic Regression (IDSR) algorithm. We further devise an optimal control-based motion planning scheme to integrate robot- and tool-specific kinematics and dynamics to produce an effective trajectory that enacts the learned properties. In simulation, we demonstrate that the proposed framework can produce more effective tool-use strategies, drastically different from the observed ones in two exemplar tasks.
Spatial Transformer Network with Transfer Learning for Small-scale Fine-grained Skeleton-based Tai Chi Action Recognition
Venue: arXiv cs.CV 2022
Year: 2022

Human action recognition is a quite hugely investigated area where most remarkable action recognition networks usually use large-scale coarse-grained action datasets of daily human actions as inputs to state the superiority of their networks. We intend to recognize our small-scale fine-grained Tai Chi action dataset using neural networks and propose a transfer-learning method using NTU RGB+D dataset to pre-train our network. More specifically, the proposed method first uses a large-scale NTU RGB+D dataset to pre-train the Transformer-based network for action recognition to extract common features among human motion. Then we freeze the network weights except for the fully connected (FC) layer and take our Tai Chi actions as inputs only to train the initialized FC weights. Experimental results show that our general model pipeline can reach a high accuracy of small-scale fine-grained Tai Chi action recognition with even few inputs and demonstrate that our method achieves the state-of-the-art performance compared with previous Tai Chi action recognition methods.
Consensus Function from an $L_p^q-$norm Regularization Term for its Use as Adaptive Activation Functions in Neural Networks
Venue: arXiv cs.NE 2022
Year: 2022

The design of a neural network is usually carried out by defining the number of layers, the number of neurons per layer, their connections or synapses, and the activation function that they will execute. The training process tries to optimize the weights assigned to those connections, together with the biases of the neurons, to better fit the training data. However, the definition of the activation functions is, in general, determined in the design process and not modified during the training, meaning that their behavior is unrelated to the training data set. In this paper we propose the definition and utilization of an implicit, parametric, non-linear activation function that adapts its shape during the training process. This fact increases the space of parameters to optimize within the network, but it allows a greater flexibility and generalizes the concept of neural networks. Furthermore, it simplifies the architectural design since the same activation function definition can be employed in each neuron, letting the training process to optimize their parameters and, thus, their behavior. Our proposed activation function comes from the definition of the consensus variable from the optimization of a linear underdetermined problem with an $L_p^q$ regularization term, via the Alternating Direction Method of Multipliers (ADMM). We define the neural networks using this type of activation functions as $pq-$networks. Preliminary results show that the use of these neural networks with this type of adaptive activation functions reduces the error in regression and classification examples, compared to equivalent regular feedforward neural networks with fixed activation functions.
Modern Question Answering Datasets and Benchmarks: A Survey
Venue: arXiv cs.CL 2022
Year: 2022

Question Answering (QA) is one of the most important natural language processing (NLP) tasks. It aims using NLP technologies to generate a corresponding answer to a given question based on the massive unstructured corpus. With the development of deep learning, more and more challenging QA datasets are being proposed, and lots of new methods for solving them are also emerging. In this paper, we investigate influential QA datasets that have been released in the era of deep learning. Specifically, we begin with introducing two of the most common QA tasks - textual question answer and visual question answering - separately, covering the most representative datasets, and then give some current challenges of QA research.
Brain-like combination of feedforward and recurrent network components achieves prototype extraction and robust pattern recognition
Venue: arXiv cs.NE 2022
Year: 2022

Associative memory has been a prominent candidate for the computation performed by the massively recurrent neocortical networks. Attractor networks implementing associative memory have offered mechanistic explanation for many cognitive phenomena. However, attractor memory models are typically trained using orthogonal or random patterns to avoid interference between memories, which makes them unfeasible for naturally occurring complex correlated stimuli like images. We approach this problem by combining a recurrent attractor network with a feedforward network that learns distributed representations using an unsupervised Hebbian-Bayesian learning rule. The resulting network model incorporates many known biological properties: unsupervised learning, Hebbian plasticity, sparse distributed activations, sparse connectivity, columnar and laminar cortical architecture, etc. We evaluate the synergistic effects of the feedforward and recurrent network components in complex pattern recognition tasks on the MNIST handwritten digits dataset. We demonstrate that the recurrent attractor component implements associative memory when trained on the feedforward-driven internal (hidden) representations. The associative memory is also shown to perform prototype extraction from the training data and make the representations robust to severely distorted input. We argue that several aspects of the proposed integration of feedforward and recurrent computations are particularly attractive from a machine learning perspective.
Accountable Private Set Cardinality for Distributed Measurement
Venue: arXiv cs.CR 2022
Year: 2022

We introduce cryptographic protocols for securely and efficiently computing the cardinality of set union and set intersection. Our private set-cardinality protocols (PSC) are designed for the setting in which a large set of parties in a distributed system makes observations, and a small set of parties with more resources and higher reliability aggregates the observations. PSC allows for secure and useful statistics gathering in privacy-preserving distributed systems. For example, it allows operators of anonymity networks such as Tor to securely answer the questions: "How many unique users are using the network?" and "How many hidden services are being accessed?". We prove the correctness and security of PSC in the Universal Composability framework against an active adversary that compromises all but one of the aggregating parties. Although successful output cannot be guaranteed in this setting, PSC either succeeds or terminates with an abort, and we furthermore make the adversary accountable for causing an abort by blaming at least one malicious party. We also show that PSC prevents adaptive corruption of the data parties from revealing past observations, which prevents them from being victims of targeted compromise, and we ensure safe measurements by making outputs differentially private. We present a proof-of-concept implementation of PSC and use it to demonstrate that PSC operates with low computational overhead and reasonable bandwidth. It can count tens of thousands of unique observations from tens to hundreds of data-collecting parties while completing within hours. PSC is thus suitable for daily measurements in a distributed system.
Fairness and Cost Constrained Privacy-Aware Record Linkage
Venue: arXiv cs.CR 2022
Year: 2022

Record linkage algorithms match and link records from different databases that refer to the same real-world entity based on direct and/or quasi-identifiers, such as name, address, age, and gender, available in the records. Since these identifiers generally contain personal identifiable information (PII) about the entities, record linkage algorithms need to be developed with privacy constraints. Known as privacy-preserving record linkage (PPRL), many research studies have been conducted to perform the linkage on encoded and/or encrypted identifiers. Differential privacy (DP) combined with computationally efficient encoding methods, e.g. Bloom filter encoding, has been used to develop PPRL with provable privacy guarantees. The standard DP notion does not however address other constraints, among which the most important ones are fairness-bias and cost of linkage in terms of number of record pairs to be compared. In this work, we propose new notions of fairness-constrained DP and fairness and cost-constrained DP for PPRL and develop a framework for PPRL with these new notions of DP combined with Bloom filter encoding. We provide theoretical proofs for the new DP notions for fairness and cost-constrained PPRL and experimentally evaluate them on two datasets containing person-specific data. Our experimental results show that with these new notions of DP, PPRL with better performance (compared to the standard DP notion for PPRL) can be achieved with regard to privacy, cost and fairness constraints.
A Constructive Heuristic Algorithm for 3D Bin Packing of Irregular Shaped Items
Venue: arXiv cs.CG 2022
Year: 2022

The three-dimensional bin packing problem (3D-BPP) plays an important role in city logistics and manufacturing environments, due to its direct relevance to operational cost. Most existing literature have investigated the conventional 3D-BPP, in which the shape of items are typically considered as regular shapes, e.g., rectangular-shaped rigid boxes or cylindrical-shaped containers. However, 3D-BPP for non-rectangular shaped items are quite common in varies delivery schemes, especially in fresh food delivery, and few published studies focusing on these issues. In this paper, we address a novel 3D-BPP variant in which the shape changing factor of non-rectangular and deformable items is incorporated to further enhance the loading efficiency and reduce the operational cost of related companies. Motivated by the compression process of item-loading, we propose a constructive heuristic (i.e., an improved dynamic-volume-based packing algorithm) to solve the studied problem. Experimental results over a set of randomly generated instances reveal that considering shape changing factor is indeed able to achieve higher space utilization than that of conventional schemes, thereby has potential to save packaging and delivering cost, as well as enhance operation efficiency.
Pump Up Password Security! Evaluating and Enhancing Risk-Based Authentication on a Real-World Large-Scale Online Service
Venue: arXiv cs.CR 2022
Year: 2022

Risk-based authentication (RBA) aims to protect users against attacks involving stolen passwords. RBA monitors features during login, and requests re-authentication when feature values widely differ from previously observed ones. It is recommended by various national security organizations, and users perceive it more usable and equally secure than equivalent two-factor authentication. Despite that, RBA is still only used by very few online services. Reasons for this include a lack of validated open resources on RBA properties, implementation, and configuration. This effectively hinders the RBA research, development, and adoption progress. To close this gap, we provide the first long-term RBA analysis on a real-world large-scale online service. We collected feature data of 3.3 million users and 31.3 million login attempts over more than one year. Based on the data, we provide (i) studies on RBA's real-world characteristics, and its configurations and enhancements to balance usability, security, and privacy, (ii) a machine learning based RBA parameter optimization method to support administrators finding an optimal configuration for their own use case scenario, (iii) an evaluation of the round-trip time feature's potential to replace the IP address for enhanced user privacy, and (iv) a synthesized RBA data set to reproduce this research and to foster future RBA research. Our results provide insights on selecting an optimized RBA configuration so that users profit from RBA after just a few logins. The open data set enables researchers to study, test, and improve RBA for widespread deployment in the wild.
esCorpius: A Massive Spanish Crawling Corpus
Venue: arXiv cs.CL 2022
Year: 2022

In the recent years, transformer-based models have lead to significant advances in language modelling for natural language processing. However, they require a vast amount of data to be (pre-)trained and there is a lack of corpora in languages other than English. Recently, several initiatives have presented multilingual datasets obtained from automatic web crawling. However, the results in Spanish present important shortcomings, as they are either too small in comparison with other languages, or present a low quality derived from sub-optimal cleaning and deduplication. In this paper, we introduce esCorpius, a Spanish crawling corpus obtained from near 1 Pb of Common Crawl data. It is the most extensive corpus in Spanish with this level of quality in the extraction, purification and deduplication of web textual content. Our data curation process involves a novel highly parallel cleaning pipeline and encompasses a series of deduplication mechanisms that together ensure the integrity of both document and paragraph boundaries. Additionally, we maintain both the source web page URL and the WARC shard origin URL in order to complain with EU regulations. esCorpius has been released under CC BY-NC-ND 4.0 license and is available on HuggingFace.
EfficientGrasp: A Unified Data-Efficient Learning to Grasp Method for Multi-fingered Robot Hands
Venue: arXiv cs.RO 2022
Year: 2022

Autonomous grasping of novel objects that are previously unseen to a robot is an ongoing challenge in robotic manipulation. In the last decades, many approaches have been presented to address this problem for specific robot hands. The UniGrasp framework, introduced recently, has the ability to generalize to different types of robotic grippers; however, this method does not work on grippers with closed-loop constraints and is data-inefficient when applied to robot hands with multigrasp configurations. In this paper, we present EfficientGrasp, a generalized grasp synthesis and gripper control method that is independent of gripper model specifications. EfficientGrasp utilizes a gripper workspace feature rather than UniGrasp's gripper attribute inputs. This reduces memory use by 81.7% during training and makes it possible to generalize to more types of grippers, such as grippers with closed-loop constraints. The effectiveness of EfficientGrasp is evaluated by conducting object grasping experiments both in simulation and real-world; results show that the proposed method also outperforms UniGrasp when considering only grippers without closed-loop constraints. In these cases, EfficientGrasp shows 9.85% higher accuracy in generating contact points and 3.10% higher grasping success rate in simulation. The real-world experiments are conducted with a gripper with closed-loop constraints, which UniGrasp fails to handle while EfficientGrasp achieves a success rate of 83.3%. The main causes of grasping failures of the proposed method are analyzed, highlighting ways of enhancing grasp performance.
Using Person Embedding to Enrich Features and Data Augmentation for Classification
Venue: arXiv cs.LG 2022
Year: 2022

Today, machine learning is applied in almost any field. In machine learning, where there are numerous methods, classification is one of the most basic and crucial ones. Various problems can be solved by classification. The feature selection for model setup is extremely important, and producing new features via feature engineering also has a vital place in the success of the model. In our study, fraud detection classification models are built on a labeled and imbalanced dataset as a case-study. Although it is a natural language processing method, a customer space has been created with word embedding, which has been used in different areas, especially for recommender systems. The customer vectors in the created space are fed to the classification model as a feature. Moreover, to increase the number of positive labels, rows with similar characteristics are re-labeled as positive by using customer similarity determined by embedding. The model in which embedding methods are included in the classification, which provides a better representation of customers, has been compared with other models. Considering the results, it is observed that the customer embedding method had a positive effect on the success of the classification models.
Privacy-preserving household load forecasting based on non-intrusive load monitoring: A federated deep learning approach
Venue: arXiv cs.LG 2022
Year: 2022

Load forecasting is very essential in the analysis and grid planning of power systems. For this reason, we first propose a household load forecasting method based on federated deep learning and non-intrusive load monitoring (NILM). For all we know, this is the first research on federated learning (FL) in household load forecasting based on NILM. In this method, the integrated power is decomposed into individual device power by non-intrusive load monitoring, and the power of individual appliances is predicted separately using a federated deep learning model. Finally, the predicted power values of individual appliances are aggregated to form the total power prediction. Specifically, by separately predicting the electrical equipment to obtain the predicted power, it avoids the error caused by the strong time dependence in the power signal of a single device. And in the federated deep learning prediction model, the household owners with the power data share the parameters of the local model instead of the local power data, guaranteeing the privacy of the household user data. The case results demonstrate that the proposed approach provides a better prediction effect than the traditional methodology that directly predicts the aggregated signal as a whole. In addition, experiments in various federated learning environments are designed and implemented to validate the validity of this methodology.
Tuple Interpretations and Applications to Higher-Order Runtime Complexity
Venue: arXiv cs.LO 2022
Year: 2022

Tuple interpretations are a class of algebraic interpretation that subsumes both polynomial and matrix interpretations as it does not impose simple termination and allows non-linear interpretations. It was developed in the context of higher-order rewriting to study derivational complexity of algebraic functional systems. In this short paper, we continue our journey to study the complexity of higher-order TRSs by tailoring tuple interpretations to deal with innermost runtime complexity.
libACA, pyACA, and ACA-Code: Audio Content Analysis in 3 Languages
Venue: arXiv cs.SD 2022
Year: 2022

The three packages libACA, pyACA, and ACA-Code provide reference implementations for basic approaches and algorithms for the analysis of musical audio signals in three different languages: C++, Python, and Matlab. All three packages cover the same algorithms, such as extraction of low level audio features, fundamental frequency estimation, as well as simple approaches to chord recognition, musical key detection, and onset detection. In addition, it implementations of more generic algorithms useful in audio content analysis such as dynamic time warping and the Viterbi algorithm are provided. The three packages thus provide a practical cross-language and cross-platform reference to students and engineers implementing audio analysis algorithms and enable implementation-focused learning of algorithms for audio content analysis and music information retrieval.
Are Hitting Formulas Hard for Resolution?
Venue: arXiv cs.AI 2022
Year: 2022

Hitting formulas, introduced by Iwama, are an unusual class of propositional CNF formulas. Not only is their satisfiability decidable in polynomial time, but even their models can be counted in closed form. This stands in stark contrast with other polynomial-time decidable classes, which usually have algorithms based on backtracking and resolution and for which model counting remains hard, like 2-SAT and Horn-SAT. However, those resolution-based algorithms usually easily imply an upper bound on resolution complexity, which is missing for hitting formulas. Are hitting formulas hard for resolution? In this paper we take the first steps towards answering this question. We show that the resolution complexity of hitting formulas is dominated by so-called irreducible hitting formulas, first studied by Kullmann and Zhao, that cannot be composed of smaller hitting formulas. However, by definition, large irreducible unsatisfiable hitting formulas are difficult to construct; it is not even known whether infinitely many exist. Building upon our theoretical results, we implement an efficient algorithm on top of the Nauty software package to enumerate all irreducible unsatisfiable hitting formulas with up to 14 clauses. We also determine the exact resolution complexity of the generated hitting formulas with up to 13 clauses by extending a known SAT encoding for our purposes. Our experimental results suggest that hitting formulas are indeed hard for resolution.
Submission to Generic Event Boundary Detection Challenge@CVPR 2022: Local Context Modeling and Global Boundary Decoding Approach
Venue: arXiv cs.CV 2022
Year: 2022

Generic event boundary detection (GEBD) is an important yet challenging task in video understanding, which aims at detecting the moments where humans naturally perceive event boundaries. In this paper, we present a local context modeling and global boundary decoding approach for GEBD task. Local context modeling sub-network is proposed to perceive diverse patterns of generic event boundaries, and it generates powerful video representations and reliable boundary confidence. Based on them, global boundary decoding sub-network is exploited to decode event boundaries from a global view. Our proposed method achieves 85.13% F1-score on Kinetics-GEBD testing set, which achieves a more than 22% F1-score boost compared to the baseline method. The code is available at https://github.com/JackyTown/GEBD_Challenge_CVPR2022.
Machine learning for automated quality control in injection moulding manufacturing
Venue: arXiv cs.LG 2022
Year: 2022

Machine learning (ML) may improve and automate quality control (QC) in injection moulding manufacturing. As the labelling of extensive, real-world process data is costly, however, the use of simulated process data may offer a first step towards a successful implementation. In this study, simulated data was used to develop a predictive model for the product quality of an injection moulded sorting container. The achieved accuracy, specificity and sensitivity on the test set was $99.4\%$, $99.7\%$ and $94.7\%$, respectively. This study thus shows the potential of ML towards automated QC in injection moulding and encourages the extension to ML models trained on real-world data.