OpenRaiser/Intern-Atlas huggingface dataset:
Robot Perception enables Complex Navigation Behavior via Self-Supervised Learning
Venue: arXiv cs.RO 2020
Year: 2020

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with limited capabilities, while being restricted to few behavioral skills such as passive visual odometry (VO) or mobile robot visual localization. Here we propose an approach to unify those successful robot perception systems for active target-driven navigation tasks via reinforcement learning (RL). Our method temporally incorporates compact motion and visual perception data - directly obtained using self-supervision from a single image sequence - to enable complex goal-oriented navigation skills. We demonstrate our approach on two real-world driving dataset, KITTI and Oxford RobotCar, using the new interactive CityLearn framework. The results show that our method can accurately generalize to extreme environmental changes such as day to night cycles with up to an 80% success rate, compared to 30% for a vision-only navigation systems.
Model Agnostic Combination for Ensemble Learning
Venue: arXiv cs.LG 2020
Year: 2020

Ensemble of models is well known to improve single model performance. We present a novel ensembling technique coined MAC that is designed to find the optimal function for combining models while remaining invariant to the number of sub-models involved in the combination. Being agnostic to the number of sub-models enables addition and replacement of sub-models to the combination even after deployment, unlike many of the current methods for ensembling such as stacking, boosting, mixture of experts and super learners that lock the models used for combination during training and therefore need retraining whenever a new model is introduced into the ensemble. We show that on the Kaggle RSNA Intracranial Hemorrhage Detection challenge, MAC outperforms classical average methods, demonstrates competitive results to boosting via XGBoost for a fixed number of sub-models, and outperforms it when adding sub-models to the combination without retraining.
Identifying the BLE Advertising Channel for Reliable Distance Estimation on Smartphones
Venue: arXiv cs.NI 2020
Year: 2020

As a response to the global COVID-19 surge in 2020, many countries have implemented lockdown or stay-at-home policies. If, however, the contact persons of every infected patient could be identified, the number of virus transmissions could be reduced, while the more incisive measures could be softened. For this purpose, contact tracing using smartphones is being considered as a promising technique. Here, smartphones emit and scan for Bluetooth Low Energy (BLE) signals for detecting devices in range. When a device is detected, its distance is estimated by evaluating its received signal strength. The main insight that is exploited for distance estimation is that the attenuation of a signal increases with the distance along which it has traveled. However, besides distance, there are multiple additional factors that impact the attenuation and hence disturb distance estimation. Among them, frequency-selective hardware and signal propagation belong to the most significant ones. For example, a BLE device transmits beacons on three different frequencies (channels), while the transmit power and the receiver sensitivity depend on the frequency. As a result, the received signal strength varies for each channel, even when the distance remains constant. However, the information on which wireless channel a beacon has been received is not made available to a smartphone. Hence, this error cannot be compensated, e.g., by calibration. In this paper, we for the first time provide a solution to detect the wireless channel on which a packet has been received on a smartphone. We experimentally evaluate our proposed technique on multiple different smartphone models. Our results help to make contact tracing more robust by improving the accuracy of distance estimation.
Query Intent Detection from the SEO Perspective
Venue: arXiv cs.IR 2020
Year: 2020

Google users have different intents from their queries such as acquiring information, buying products, comparing or simulating services, looking for products, and so on. Understanding the right intention of users helps to provide i) better content on web pages from the Search Engine Optimization (SEO) perspective and ii) more user-satisfying results from the search engine perspective. In this study, we aim to identify the user query's intent by taking advantage of Google results and machine learning methods. Our proposed approach is a clustering model that exploits some features to detect query's intent. A list of keywords extracted from the clustered queries is used to identify the intent of a new given query. Comparing the clustering results with the intents predicted by filtered keywords show the efficiency of the extracted keywords for detecting intents.
Evolutionary Algorithms with Self-adjusting Asymmetric Mutation
Venue: arXiv cs.NE 2020
Year: 2020

Evolutionary Algorithms (EAs) and other randomized search heuristics are often considered as unbiased algorithms that are invariant with respect to different transformations of the underlying search space. However, if a certain amount of domain knowledge is available the use of biased search operators in EAs becomes viable. We consider a simple (1+1) EA for binary search spaces and analyze an asymmetric mutation operator that can treat zero- and one-bits differently. This operator extends previous work by Jansen and Sudholt (ECJ 18(1), 2010) by allowing the operator asymmetry to vary according to the success rate of the algorithm. Using a self-adjusting scheme that learns an appropriate degree of asymmetry, we show improved runtime results on the class of functions OneMax$_a$ describing the number of matching bits with a fixed target $a\in\{0,1\}^n$.
A Hybrid Approach to Formal Verification of Higher-Order Masked Arithmetic Programs
Venue: arXiv cs.CR 2020
Year: 2020

Side-channel attacks, which are capable of breaking secrecy via side-channel information, pose a growing threat to the implementation of cryptographic algorithms. Masking is an effective countermeasure against side-channel attacks by removing the statistical dependence between secrecy and power consumption via randomization. However, designing efficient and effective masked implementations turns out to be an error-prone task. Current techniques for verifying whether masked programs are secure are limited in their applicability and accuracy, especially when they are applied. To bridge this gap, in this article, we first propose a sound type system, equipped with an efficient type inference algorithm, for verifying masked arithmetic programs against higher-order attacks. We then give novel model-counting based and pattern-matching based methods which are able to precisely determine whether the potential leaky observable sets detected by the type system are genuine or simply spurious. We evaluate our approach on various implementations of arithmetic cryptographicprograms.The experiments confirm that our approach out performs the state-of-the-art base lines in terms of applicability, accuracy and efficiency.
Discovering outstanding subgroup lists for numeric targets using MDL
Venue: arXiv cs.LG 2020
Year: 2020

The task of subgroup discovery (SD) is to find interpretable descriptions of subsets of a dataset that stand out with respect to a target attribute. To address the problem of mining large numbers of redundant subgroups, subgroup set discovery (SSD) has been proposed. State-of-the-art SSD methods have their limitations though, as they typically heavily rely on heuristics and/or user-chosen hyperparameters. We propose a dispersion-aware problem formulation for subgroup set discovery that is based on the minimum description length (MDL) principle and subgroup lists. We argue that the best subgroup list is the one that best summarizes the data given the overall distribution of the target. We restrict our focus to a single numeric target variable and show that our formalization coincides with an existing quality measure when finding a single subgroup, but that-in addition-it allows to trade off subgroup quality with the complexity of the subgroup. We next propose SSD++, a heuristic algorithm for which we empirically demonstrate that it returns outstanding subgroup lists: non-redundant sets of compact subgroups that stand out by having strongly deviating means and small spread.
Dense Non-Rigid Structure from Motion: A Manifold Viewpoint
Venue: arXiv cs.CV 2020
Year: 2020

Non-Rigid Structure-from-Motion (NRSfM) problem aims to recover 3D geometry of a deforming object from its 2D feature correspondences across multiple frames. Classical approaches to this problem assume a small number of feature points and, ignore the local non-linearities of the shape deformation, and therefore, struggles to reliably model non-linear deformations. Furthermore, available dense NRSfM algorithms are often hurdled by scalability, computations, noisy measurements and, restricted to model just global deformation. In this paper, we propose algorithms that can overcome these limitations with the previous methods and, at the same time, can recover a reliable dense 3D structure of a non-rigid object with higher accuracy. Assuming that a deforming shape is composed of a union of local linear subspace and, span a global low-rank space over multiple frames enables us to efficiently model complex non-rigid deformations. To that end, each local linear subspace is represented using Grassmannians and, the global 3D shape across multiple frames is represented using a low-rank representation. We show that our approach significantly improves accuracy, scalability, and robustness against noise. Also, our representation naturally allows for simultaneous reconstruction and clustering framework which in general is observed to be more suitable for NRSfM problems. Our method currently achieves leading performance on the standard benchmark datasets.
Visual Identification of Individual Holstein-Friesian Cattle via Deep Metric Learning
Venue: arXiv cs.CV 2020
Year: 2020

Holstein-Friesian cattle exhibit individually-characteristic black and white coat patterns visually akin to those arising from Turing's reaction-diffusion systems. This work takes advantage of these natural markings in order to automate visual detection and biometric identification of individual Holstein-Friesians via convolutional neural networks and deep metric learning techniques. Existing approaches rely on markings, tags or wearables with a variety of maintenance requirements, whereas we present a totally hands-off method for the automated detection, localisation, and identification of individual animals from overhead imaging in an open herd setting, i.e. where new additions to the herd are identified without re-training. We propose the use of SoftMax-based reciprocal triplet loss to address the identification problem and evaluate the techniques in detail against fixed herd paradigms. We find that deep metric learning systems show strong performance even when many cattle unseen during system training are to be identified and re-identified -- achieving 93.8% accuracy when trained on just half of the population. This work paves the way for facilitating the non-intrusive monitoring of cattle applicable to precision farming and surveillance for automated productivity, health and welfare monitoring, and to veterinary research such as behavioural analysis, disease outbreak tracing, and more. Key parts of the source code, network weights and datasets are available publicly.
Model Embedding Model-Based Reinforcement Learning
Venue: arXiv cs.LG 2020
Year: 2020

Model-based reinforcement learning (MBRL) has shown its advantages in sample-efficiency over model-free reinforcement learning (MFRL). Despite the impressive results it achieves, it still faces a trade-off between the ease of data generation and model bias. In this paper, we propose a simple and elegant model-embedding model-based reinforcement learning (MEMB) algorithm in the framework of the probabilistic reinforcement learning. To balance the sample-efficiency and model bias, we exploit both real and imaginary data in the training. In particular, we embed the model in the policy update and learn $Q$ and $V$ functions from the real data set. We provide the theoretical analysis of MEMB with the Lipschitz continuity assumption on the model and policy. At last, we evaluate MEMB on several benchmarks and demonstrate our algorithm can achieve state-of-the-art performance.
Applying Social Event Data for the Management of Cellular Networks
Venue: arXiv cs.NI 2020
Year: 2020

Internet provides a growing variety of social data sources: calendars, event aggregators, social networks, browsers, etc. Also, the mechanisms to gather information from these sources, such as web services, semantic web and big data techniques have become more accessible and efficient. This allows a detailed prediction of the main expected events and their associated crowds. Due to the increasing requirements for service provision, particularly in urban areas, having information on those events would be extremely useful for Operations, Administration and Maintenance (OAM) tasks, since the social events largely affect the cellular network performance. Therefore, this paper presents a framework for the automatic acquisition and processing of social data, as well as their association with network elements (NEs) and their performance. The main functionalities of this system, which have been devised to directly work in real networks, are defined and developed. Different OAM applications of the proposed approach are analyzed and the system is evaluated in a real deployment.
Structured and Localized Image Restoration
Venue: arXiv cs.LG 2020
Year: 2020

We present a novel approach to image restoration that leverages ideas from localized structured prediction and non-linear multi-task learning. We optimize a penalized energy function regularized by a sum of terms measuring the distance between patches to be restored and clean patches from an external database gathered beforehand. The resulting estimator comes with strong statistical guarantees leveraging local dependency properties of overlapping patches. We derive the corresponding algorithms for energies based on the mean-squared and Euclidean norm errors. Finally, we demonstrate the practical effectiveness of our model on different image restoration problems using standard benchmarks.
A Survey of Machine Learning Methods and Challenges for Windows Malware Classification
Venue: arXiv cs.CR 2020
Year: 2020

Malware classification is a difficult problem, to which machine learning methods have been applied for decades. Yet progress has often been slow, in part due to a number of unique difficulties with the task that occur through all stages of the developing a machine learning system: data collection, labeling, feature creation and selection, model selection, and evaluation. In this survey we will review a number of the current methods and challenges related to malware classification, including data collection, feature extraction, and model construction, and evaluation. Our discussion will include thoughts on the constraints that must be considered for machine learning based solutions in this domain, and yet to be tackled problems for which machine learning could also provide a solution. This survey aims to be useful both to cybersecurity practitioners who wish to learn more about how machine learning can be applied to the malware problem, and to give data scientists the necessary background into the challenges in this uniquely complicated space.
An agent-based self-protective method to secure communication between UAVs in unmanned aerial vehicle networks
Venue: arXiv cs.CR 2020
Year: 2020

UAVNs (unmanned aerial vehicle networks) may become vulnerable to threats and attacks due to their characteristic features such as highly dynamic network topology, open-air wireless environments, and high mobility. Since previous work has focused on classical and metaheuristic-based approaches, none of these approaches have a self-adaptive approach. In this paper, the challenges and weaknesses of previous methods are examined in the form of a table. Furthermore, we propose an agent-based self-protective method (ASP-UAVN) for UAVNs that is based on the Human Immune System (HIS). In ASP-UAS, the safest route from the source UAV to the destination UAV is chosen according to a self-protective system. In this method, a multi-agent system using an Artificial Immune System (AIS) is employed to detect the attacking UAV and choose the safest route. In the proposed ASP-UAVN, the route request packet (RREQ) is initially transmitted from the source UAV to the destination UAV to detect the existing routes. Then, once the route reply packet (RREP) is received, a self-protective method using agents and the knowledge base is employed to choose the safest route and detect the attacking UAVs. The proposed ASP-UAVN has been validated and evaluated in two ways: simulation and theoretical analysis. The results of simulation evaluation and theory analysis showed that the ASP-UAS increases the Packet Delivery Rate (PDR) by more than 17.4, 20.8, and 25.91%, and detection rate by more than 17.2, 23.1, and 29.3%, and decreases the Packet Loss Rate (PLR) by more than 14.4, 16.8, and 20.21%, the false-positive and false-negative rate by more than 16.5, 25.3, and 31.21% those of SUAS-HIS, SFA and BRUIDS methods, respectively.
A New Run-based Connected Component Labeling for Efficiently Analyzing and Processing Holes
Venue: arXiv cs.CV 2020
Year: 2020

This article introduces a new connected component labeling and analysis algorithm for foreground and background labeling that computes the adjacency tree. The computation of features (bounding boxes, first statistical moments, Euler number) is done on-the-fly. The transitive closure enables an efficient hole processing that can be filled while their features are merged with the surrounding connected component without the need to rescan the image. A comparison with existing algorithms shows that this new algorithm can do all these computations faster than algorithms processing black and white components.
Collaborative Pipeline Using Opportunistic Mobile Resources via D2D for Computation-Intensive Tasks
Venue: arXiv cs.NI 2020
Year: 2020

This paper proposes a mobile pipeline computing concept in a Device-to-Device (D2D) communication setup and studies related issues, where D2D is likely based on millimeter-wave (mmWave) in the 5G mobile communication. The proposed opportunistic system employs a cluster of pipelined resource-limited devices on the move to handle real-time on-site computation-intensive tasks for which current cloud computing technology may not be suitable. The feasibility of such a system can be anticipated as high-speed and low-latency wireless technologies get mature. We present a system model by defining the architecture, basic functions, processes at both system-level and pipeline device level. A pipeline pathfinding algorithm along with a multi-task optimization framework is developed. To minimize the search space since the algorithm may need to be run on resource-limited mobile devices, an adjacency-matrix-power-based graph trimming technique is proposed and validated using simulation. A preliminary feasibility assessment of our proposed techniques is performed using experiments and computer simulation. As part of the feasibility assessment, the impact of mmWave blockage on the pipeline stability is analyzed and examined for both single-pipeline and concurrent-multiple-pipeline scenarios. Our design and analysis results provide certain insight to guide system design and lay a foundation for further work in this line.
Deep Multimodal Transfer-Learned Regression in Data-Poor Domains
Venue: arXiv cs.CV 2020
Year: 2020

In many real-world applications of deep learning, estimation of a target may rely on various types of input data modes, such as audio-video, image-text, etc. This task can be further complicated by a lack of sufficient data. Here we propose a Deep Multimodal Transfer-Learned Regressor (DMTL-R) for multimodal learning of image and feature data in a deep regression architecture effective at predicting target parameters in data-poor domains. Our model is capable of fine-tuning a given set of pre-trained CNN weights on a small amount of training image data, while simultaneously conditioning on feature information from a complimentary data mode during network training, yielding more accurate single-target or multi-target regression than can be achieved using the images or the features alone. We present results using phase-field simulation microstructure images with an accompanying set of physical features, using pre-trained weights from various well-known CNN architectures, which demonstrate the efficacy of the proposed multimodal approach.
Response by the Montreal AI Ethics Institute to the European Commission's Whitepaper on AI
Venue: arXiv cs.CY 2020
Year: 2020

In February 2020, the European Commission (EC) published a white paper entitled, On Artificial Intelligence - A European approach to excellence and trust. This paper outlines the EC's policy options for the promotion and adoption of artificial intelligence (AI) in the European Union. The Montreal AI Ethics Institute (MAIEI) reviewed this paper and published a response addressing the EC's plans to build an "ecosystem of excellence" and an "ecosystem of trust," as well as the safety and liability implications of AI, the internet of things (IoT), and robotics. MAIEI provides 15 recommendations in relation to the sections outlined above, including: 1) focus efforts on the research and innovation community, member states, and the private sector; 2) create alignment between trading partners' policies and EU policies; 3) analyze the gaps in the ecosystem between theoretical frameworks and approaches to building trustworthy AI; 4) focus on coordination and policy alignment; 5) focus on mechanisms that promote private and secure sharing of data; 6) create a network of AI research excellence centres to strengthen the research and innovation community; 7) promote knowledge transfer and develop AI expertise through Digital Innovation Hubs; 8) add nuance to the discussion regarding the opacity of AI systems; 9) create a process for individuals to appeal an AI system's decision or output; 10) implement new rules and strengthen existing regulations; 11) ban the use of facial recognition technology; 12) hold all AI systems to similar standards and compulsory requirements; 13) ensure biometric identification systems fulfill the purpose for which they are implemented; 14) implement a voluntary labelling system for systems that are not considered high-risk; 15) appoint individuals to the oversight process who understand AI systems well and are able to communicate potential risks.