OpenRaiser/Intern-Atlas huggingface dataset:
Wendy, the Good Little Fairness Widget
Venue: arXiv cs.CR 2020
Year: 2020

The advent of decentralized trading markets introduces a number of new challenges for consensus protocols. In addition to the `usual' attacks -- a subset of the validators trying to prevent disagreement -- there is now the possibility of financial fraud, which can abuse properties not normally considered critical in consensus protocols. We investigate the issues of attackers manipulating or exploiting the order in which transactions are scheduled in the blockchain. More concretely, we look into relative order fairness, i.e., ways we can assure that the relative order of transactions is fair. We show that one of the more intuitive definitions of fairness is impossible to achieve. We then present Wendy, a group of low overhead protocols that can implement different concepts of fairness. Wendy acts as an additional widget for an existing blockchain, and is largely agnostic to the underlying blockchain and its security assumptions. Furthermore, it is possible to apply a the protocol only for a subset of the transactions, and thus run several independent fair markets on the same chain.
Air Quality Control through Bike Sharing Fleets
Venue: arXiv cs.NI 2020
Year: 2020

Air quality and the presence of tiny particular matter are crucial factors in human health, especially when considering urban scenarios. In this context, smart mobility coupled with low-cost sensors can create a distributed and sustainable platform for social sensing able to provide pervasive data to citizens and public administrations. Sustainable and eco-aware decisions can then be supported by empirical evidence, resulting in an improved life and city administration. In this paper, we present ArduECO, a simple Arduino-based wireless device able of collecting air quality data. Without loss of generality, we have designed our device as a box that can be installed on a bike; in this way, beyond private bikes, municipalities could exploit their bike sharing fleets as pervasive sensing systems.
Generative Adversarial Network in the Air: Deep Adversarial Learning for Wireless Signal Spoofing
Venue: arXiv cs.NI 2020
Year: 2020

The spoofing attack is critical to bypass physical-layer signal authentication. This paper presents a deep learning-based spoofing attack to generate synthetic wireless signals that cannot be statistically distinguished from intended transmissions. The adversary is modeled as a pair of a transmitter and a receiver that build the generator and discriminator of the generative adversarial network, respectively, by playing a minimax game over the air. The adversary transmitter trains a deep neural network to generate the best spoofing signals and fool the best defense trained as another deep neural network at the adversary receiver. Each node (defender or adversary) may have multiple transmitter or receiver antennas. Signals are spoofed by jointly capturing waveform, channel, and radio hardware effects that are inherent to wireless signals under attack. Compared with spoofing attacks using random or replayed signals, the proposed attack increases the probability of misclassifying spoofing signals as intended signals for different network topology and mobility patterns. The adversary transmitter can increase the spoofing attack success by using multiple antennas, while the attack success decreases when the defender receiver uses multiple antennas. For practical deployment, the attack implementation on embedded platforms demonstrates the low latency of generating or classifying spoofing signals.
Random Forest for Dissimilarity-based Multi-view Learning
Venue: arXiv cs.LG 2020
Year: 2020

Many classification problems are naturally multi-view in the sense their data are described through multiple heterogeneous descriptions. For such tasks, dissimilarity strategies are effective ways to make the different descriptions comparable and to easily merge them, by (i) building intermediate dissimilarity representations for each view and (ii) fusing these representations by averaging the dissimilarities over the views. In this work, we show that the Random Forest proximity measure can be used to build the dissimilarity representations, since this measure reflects similarities between features but also class membership. We then propose a Dynamic View Selection method to better combine the view-specific dissimilarity representations. This allows to take a decision, on each instance to predict, with only the most relevant views for that instance. Experiments are conducted on several real-world multi-view datasets, and show that the Dynamic View Selection offers a significant improvement in performance compared to the simple average combination and two state-of-the-art static view combinations.
Improving rigid 3D calibration for robotic surgery
Venue: arXiv cs.RO 2020
Year: 2020

Autonomy is the frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In this paper, we propose a novel calibration technique for a surgical scenario with da Vinci robot. Calibration of the camera and the robot is necessary for precise positioning of the tools in order to emulate the high performance surgeons. Our calibration technique is tailored for RGB-D camera. Different tests performed on relevant use cases for surgery prove that we significantly improve precision and accuracy with respect to the state of the art solutions for similar devices on a surgical-size setup. Moreover, our calibration method can be easily extended to standard surgical endoscope to prompt its use in real surgical scenario.
Specification mining and automated task planning for autonomous robots based on a graph-based spatial temporal logic
Venue: arXiv cs.AI 2020
Year: 2020

We aim to enable an autonomous robot to learn new skills from demo videos and use these newly learned skills to accomplish non-trivial high-level tasks. The goal of developing such autonomous robot involves knowledge representation, specification mining, and automated task planning. For knowledge representation, we use a graph-based spatial temporal logic (GSTL) to capture spatial and temporal information of related skills demonstrated by demo videos. We design a specification mining algorithm to generate a set of parametric GSTL formulas from demo videos by inductively constructing spatial terms and temporal formulas. The resulting parametric GSTL formulas from specification mining serve as a domain theory, which is used in automated task planning for autonomous robots. We propose an automatic task planning based on GSTL where a proposer is used to generate ordered actions, and a verifier is used to generate executable task plans. A table setting example is used throughout the paper to illustrate the main ideas.
Co-generation of game levels and game-playing agents
Venue: arXiv cs.NE 2020
Year: 2020

Open-endedness, primarily studied in the context of artificial life, is the ability of systems to generate potentially unbounded ontologies of increasing novelty and complexity. Engineering generative systems displaying at least some degree of this ability is a goal with clear applications to procedural content generation in games. The Paired Open-Ended Trailblazer (POET) algorithm, heretofore explored only in a biped walking domain, is a coevolutionary system that simultaneously generates environments and agents that can solve them. This paper introduces a POET-Inspired Neuroevolutionary System for KreativitY (PINSKY) in games, which co-generates levels for multiple video games and agents that play them. This system leverages the General Video Game Artificial Intelligence (GVGAI) framework to enable co-generation of levels and agents for the 2D Atari-style games Zelda and Solar Fox. Results demonstrate the ability of PINSKY to generate curricula of game levels, opening up a promising new avenue for research at the intersection of procedural content generation and artificial life. At the same time, results in these challenging game domains highlight the limitations of the current algorithm and opportunities for improvement.
Real-time Surface Deformation Recovery from Stereo Videos
Venue: arXiv cs.CV 2020
Year: 2020

Tissue deformation during the surgery may significantly decrease the accuracy of surgical navigation systems. In this paper, we propose an approach to estimate the deformation of tissue surface from stereo videos in real-time, which is capable of handling occlusion, smooth surface and fast deformation. We first use a stereo matching method to extract depth information from stereo video frames and generate the tissue template, and then estimate the deformation of the obtained template by minimizing ICP, ORB feature matching and as-rigid-as-possible (ARAP) costs. The main novelties are twofold: (1) Due to non-rigid deformation, feature matching outliers are difficult to be removed by traditional RANSAC methods; therefore we propose a novel 1-point RANSAC and reweighting method to preselect matching inliers, which handles smooth surfaces and fast deformations. (2) We propose a novel ARAP cost function based on dense connections between the control points to achieve better smoothing performance with limited number of iterations. Algorithms are designed and implemented for GPU parallel computing. Experiments on ex- and in vivo data showed that this approach works at an update rate of 15Hz with an accuracy of less than 2.5 mm on a NVIDIA Titan X GPU.
Re-weighting and 1-Point RANSAC-Based PnP Solution to Handle Outliers
Venue: arXiv cs.CV 2020
Year: 2020

The ability to handle outliers is essential for performing the perspective-n-point (PnP) approach in practical applications, but conventional RANSAC+P3P or P4P methods have high time complexities. We propose a fast PnP solution named R1PPnP to handle outliers by utilizing a soft re-weighting mechanism and the 1-point RANSAC scheme. We first present a PnP algorithm, which serves as the core of R1PPnP, for solving the PnP problem in outlier-free situations. The core algorithm is an optimal process minimizing an objective function conducted with a random control point. Then, to reduce the impact of outliers, we propose a reprojection error-based re-weighting method and integrate it into the core algorithm. Finally, we employ the 1-point RANSAC scheme to try different control points. Experiments with synthetic and real-world data demonstrate that R1PPnP is faster than RANSAC+P3P or P4P methods especially when the percentage of outliers is large, and is accurate. Besides, comparisons with outlier-free synthetic data show that R1PPnP is among the most accurate and fast PnP solutions, which usually serve as the final refinement step of RANSAC+P3P or P4P. Compared with REPPnP, which is the state-of-the-art PnP algorithm with an explicit outliers-handling mechanism, R1PPnP is slower but does not suffer from the percentage of outliers limitation as REPPnP.
Advances in Deep Learning for Hyperspectral Image Analysis--Addressing Challenges Arising in Practical Imaging Scenarios
Venue: arXiv cs.CV 2020
Year: 2020

Deep neural networks have proven to be very effective for computer vision tasks, such as image classification, object detection, and semantic segmentation -- these are primarily applied to color imagery and video. In recent years, there has been an emergence of deep learning algorithms being applied to hyperspectral and multispectral imagery for remote sensing and biomedicine tasks. These multi-channel images come with their own unique set of challenges that must be addressed for effective image analysis. Challenges include limited ground truth (annotation is expensive and extensive labeling is often not feasible), and high dimensional nature of the data (each pixel is represented by hundreds of spectral bands), despite being presented by a large amount of unlabeled data and the potential to leverage multiple sensors/sources that observe the same scene. In this chapter, we will review recent advances in the community that leverage deep learning for robust hyperspectral image analysis despite these unique challenges -- specifically, we will review unsupervised, semi-supervised and active learning approaches to image analysis, as well as transfer learning approaches for multi-source (e.g. multi-sensor, or multi-temporal) image analysis.
Probabilistic Programming Semantics for Name Generation
Venue: arXiv cs.PL 2020
Year: 2020

We make a formal analogy between random sampling and fresh name generation. We show that quasi-Borel spaces, a model for probabilistic programming, can soundly interpret Stark's $ν$-calculus, a calculus for name generation. Moreover, we prove that this semantics is fully abstract up to first-order types. This is surprising for an 'off-the-shelf' model, and requires a novel analysis of probability distributions on function spaces. Our tools are diverse and include descriptive set theory and normal forms for the $ν$-calculus.
Dynamic Geometric Independent Set
Venue: arXiv cs.DS 2020
Year: 2020

We present fully dynamic approximation algorithms for the Maximum Independent Set problem on several types of geometric objects: intervals on the real line, arbitrary axis-aligned squares in the plane and axis-aligned $d$-dimensional hypercubes. It is known that a maximum independent set of a collection of $n$ intervals can be found in $O(n\log n)$ time, while it is already \textsf{NP}-hard for a set of unit squares. Moreover, the problem is inapproximable on many important graph families, but admits a \textsf{PTAS} for a set of arbitrary pseudo-disks. Therefore, a fundamental question in computational geometry is whether it is possible to maintain an approximate maximum independent set in a set of dynamic geometric objects, in truly sublinear time per insertion or deletion. In this work, we answer this question in the affirmative for intervals, squares and hypercubes. First, we show that for intervals a $(1+\varepsilon)$-approximate maximum independent set can be maintained with logarithmic worst-case update time. This is achieved by maintaining a locally optimal solution using a constant number of constant-size exchanges per update. We then show how our interval structure can be used to design a data structure for maintaining an expected constant factor approximate maximum independent set of axis-aligned squares in the plane, with polylogarithmic amortized update time. Our approach generalizes to $d$-dimensional hypercubes, providing a $O(4^d)$-approximation with polylogarithmic update time. Those are the first approximation algorithms for any set of dynamic arbitrary size geometric objects; previous results required bounded size ratios to obtain polylogarithmic update time. Furthermore, it is known that our results for squares (and hypercubes) cannot be improved to a $(1+\varepsilon)$-approximation with the same update time.
A Framework for Automatic Behavior Generation in Multi-Function Swarms
Venue: arXiv cs.MA 2020
Year: 2020

Multi-function swarms are swarms that solve multiple tasks at once. For example, a quadcopter swarm could be tasked with exploring an area of interest while simultaneously functioning as ad-hoc relays. With this type of multi-function comes the challenge of handling potentially conflicting requirements simultaneously. Using the Quality-Diversity algorithm MAP-elites in combination with a suitable controller structure, a framework for automatic behavior generation in multi-function swarms is proposed. The framework is tested on a scenario with three simultaneous tasks: exploration, communication network creation and geolocation of RF emitters. A repertoire is evolved, consisting of a wide range of controllers, or behavior primitives, with different characteristics and trade-offs in the different tasks. This repertoire would enable the swarm to transition between behavior trade-offs online, according to the situational requirements. Furthermore, the effect of noise on the behavior characteristics in MAP-elites is investigated. A moderate number of re-evaluations is found to increase the robustness while keeping the computational requirements relatively low. A few selected controllers are examined, and the dynamics of transitioning between these controllers are explored. Finally, the study develops a methodology for analyzing the makeup of the resulting controllers. This is done through a parameter variation study where the importance of individual inputs to the swarm controllers is assessed and analyzed.
Training with reduced precision of a support vector machine model for text classification
Venue: arXiv cs.LG 2020
Year: 2020

This paper presents the impact of using quantization on the efficiency of multi-class text classification in the training process of a support vector machine (SVM). This work is focused on comparing the efficiency of SVM model trained using reduced precision with its original form. The main advantage of using quantization is decrease in computation time and in memory footprint on the dedicated hardware platform which supports low precision computation like GPU (16-bit) or FPGA (any bit-width). The paper presents the impact of a precision reduction of the SVM training process on text classification accuracy. The implementation of the CPU was performed using the OpenMP library. Additionally, the results of the implementation of the GPU using double, single and half precision are presented.
Enabling Morally Sensitive Robotic Clarification Requests
Venue: arXiv cs.AI 2020
Year: 2020

The design of current natural language oriented robot architectures enables certain architectural components to circumvent moral reasoning capabilities. One example of this is reflexive generation of clarification requests as soon as referential ambiguity is detected in a human utterance. As shown in previous research, this can lead robots to (1) miscommunicate their moral dispositions and (2) weaken human perception or application of moral norms within their current context. We present a solution to these problems by performing moral reasoning on each potential disambiguation of an ambiguous human utterance and responding accordingly, rather than immediately and naively requesting clarification. We implement our solution in the DIARC robot architecture, which, to our knowledge, is the only current robot architecture with both moral reasoning and clarification request generation capabilities. We then evaluate our method with a human subjects experiment, the results of which indicate that our approach successfully ameliorates the two identified concerns.
Leveraging the Self-Transition Probability of Ordinal Pattern Transition Graph for Transportation Mode Classification
Venue: arXiv cs.LG 2020
Year: 2020

The analysis of GPS trajectories is a well-studied problem in Urban Computing and has been used to track people. Analyzing people mobility and identifying the transportation mode used by them is essential for cities that want to reduce traffic jams and travel time between their points, thus helping to improve the quality of life of citizens. The trajectory data of a moving object is represented by a discrete collection of points through time, i.e., a time series. Regarding its interdisciplinary and broad scope of real-world applications, it is evident the need of extracting knowledge from time series data. Mining this type of data, however, faces several complexities due to its unique properties. Different representations of data may overcome this. In this work, we propose the use of a feature retained from the Ordinal Pattern Transition Graph, called the probability of self-transition for transportation mode classification. The proposed feature presents better accuracy results than Permutation Entropy and Statistical Complexity, even when these two are combined. This is the first work, to the best of our knowledge, that uses Information Theory quantifiers to transportation mode classification, showing that it is a feasible approach to this kind of problem.
Containers Placement and Migration on Cloud System
Venue: arXiv cs.DC 2020
Year: 2020

Currently, many businesses are using cloud computing to obtain an entire IT infrastructure remotely while delegating its management to a third party. The provider of this architecture ensures the operation and maintenance of the services while offering management capabilities via web consoles.These providers offer solutions based on bare metal or virtualization platforms (mainly virtual machines). Recently, a new type of virtualization-based on containerization technology has emerged. Containers can be deployed on bare metal servers or in virtual machines. The migration of virtual machines (VMs) and Containers in Dynamic Resource Management (DRM) is a crucial factor in minimizing the operating costs of data centers by reducing their energy consumption and subsequently limiting their impact on climate change.In this article, live migration for both types of virtualization will be studied. for that, container placement and migration algorithms are proposed, which takes into account the QoS requirements of different users in order to minimize energy consumption. Thus, a dynamic approach is suggested based on a threshold of RAM usage for host and virtual machines in the data center to avoid unnecessary power consumption. In this paper, the proposed work is compared with VM/Container placement and migration methods, the results of the experiment indicate that using container migration instead of VMs demonstrates a reduction in power consumption, and also reduces the migration time which impacts QoS and reduces SLA violation.
EZLDA: Efficient and Scalable LDA on GPUs
Venue: arXiv cs.DC 2020
Year: 2020

LDA is a statistical approach for topic modeling with a wide range of applications. However, there exist very few attempts to accelerate LDA on GPUs which come with exceptional computing and memory throughput capabilities. To this end, we introduce EZLDA which achieves efficient and scalable LDA training on GPUs with the following three contributions: First, EZLDA introduces three-branch sampling method which takes advantage of the convergence heterogeneity of various tokens to reduce the redundant sampling task. Second, to enable sparsity-aware format for both D and W on GPUs with fast sampling and updating, we introduce hybrid format for W along with corresponding token partition to T and inverted index designs. Third, we design a hierarchical workload balancing solution to address the extremely skewed workload imbalance problem on GPU and scaleEZLDA across multiple GPUs. Taken together, EZLDA achieves superior performance over the state-of-the-art attempts with lower memory consumption.
Towards an Automated SOAP Note: Classifying Utterances from Medical Conversations
Venue: arXiv cs.CL 2020
Year: 2020

Summaries generated from medical conversations can improve recall and understanding of care plans for patients and reduce documentation burden for doctors. Recent advancements in automatic speech recognition (ASR) and natural language understanding (NLU) offer potential solutions to generate these summaries automatically, but rigorous quantitative baselines for benchmarking research in this domain are lacking. In this paper, we bridge this gap for two tasks: classifying utterances from medical conversations according to (i) the SOAP section and (ii) the speaker role. Both are fundamental building blocks along the path towards an end-to-end, automated SOAP note for medical conversations. We provide details on a dataset that contains human and ASR transcriptions of medical conversations and corresponding machine learning optimized SOAP notes. We then present a systematic analysis in which we adapt an existing deep learning architecture to the two aforementioned tasks. The results suggest that modelling context in a hierarchical manner, which captures both word and utterance level context, yields substantial improvements on both classification tasks. Additionally, we develop and analyze a modular method for adapting our model to ASR output.