OpenRaiser/Intern-Atlas huggingface dataset:
Q-SpiNN: A Framework for Quantizing Spiking Neural Networks
Venue: arXiv cs.NE 2021
Year: 2021

A prominent technique for reducing the memory footprint of Spiking Neural Networks (SNNs) without decreasing the accuracy significantly is quantization. However, the state-of-the-art only focus on employing the weight quantization directly from a specific quantization scheme, i.e., either the post-training quantization (PTQ) or the in-training quantization (ITQ), and do not consider (1) quantizing other SNN parameters (e.g., neuron membrane potential), (2) exploring different combinations of quantization approaches (i.e., quantization schemes, precision levels, and rounding schemes), and (3) selecting the SNN model with a good memory-accuracy trade-off at the end. Therefore, the memory saving offered by these state-of-the-art to meet the targeted accuracy is limited, thereby hindering processing SNNs on the resource-constrained systems (e.g., the IoT-Edge devices). Towards this, we propose Q-SpiNN, a novel quantization framework for memory-efficient SNNs. The key mechanisms of the Q-SpiNN are: (1) employing quantization for different SNN parameters based on their significance to the accuracy, (2) exploring different combinations of quantization schemes, precision levels, and rounding schemes to find efficient SNN model candidates, and (3) developing an algorithm that quantifies the benefit of the memory-accuracy trade-off obtained by the candidates, and selects the Pareto-optimal one. The experimental results show that, for the unsupervised network, the Q-SpiNN reduces the memory footprint by ca. 4x, while maintaining the accuracy within 1% from the baseline on the MNIST dataset. For the supervised network, the Q-SpiNN reduces the memory by ca. 2x, while keeping the accuracy within 2% from the baseline on the DVS-Gesture dataset.
Comparative Analysis of Impact of Cryptography Algorithms on Wireless Sensor Networks
Venue: arXiv cs.CR 2021
Year: 2021

Cryptography techniques are essential for a robust and stable security design of a system to mitigate the risk of external attacks and thus improve its efficiency. Wireless Sensor Networks (WSNs) play a pivotal role in sensing, monitoring, processing, and accumulating raw data to enhance the performance of the actuators, micro-controllers, embedded architectures, IoT devices, and computing machines to which they are connected. With so much threat of potential adversaries, it is essential to scale up the security level of WSN without affecting its primary goal of seamless data collection and communication with relay devices. This paper intends to explore the past and ongoing research activities in this domain. An extensive study of these algorithms referred here, are studied and analyzed. Based on these findings this paper will illustrate the best possible cryptography algorithms which will be most suited to implement the security aspects of the WSN and protect it from any threat and reduce its vulnerabilities. This study will pave the way for future research on this topic since it will provide a comprehensive and holistic view of the subject.
Web-Scale Generic Object Detection at Microsoft Bing
Venue: arXiv cs.CV 2021
Year: 2021

In this paper, we present Generic Object Detection (GenOD), one of the largest object detection systems deployed to a web-scale general visual search engine that can detect over 900 categories for all Microsoft Bing Visual Search queries in near real-time. It acts as a fundamental visual query understanding service that provides object-centric information and shows gains in multiple production scenarios, improving upon domain-specific models. We discuss the challenges of collecting data, training, deploying and updating such a large-scale object detection model with multiple dependencies. We discuss a data collection pipeline that reduces per-bounding box labeling cost by 81.5% and latency by 61.2% while improving on annotation quality. We show that GenOD can improve weighted average precision by over 20% compared to multiple domain-specific models. We also improve the model update agility by nearly 2 times with the proposed disjoint detector training compared to joint fine-tuning. Finally we demonstrate how GenOD benefits visual search applications by significantly improving object-level search relevance by 54.9% and user engagement by 59.9%.
A System for Traded Control Teleoperation of Manipulation Tasks using Intent Prediction from Hand Gestures
Venue: arXiv cs.RO 2021
Year: 2021

This paper presents a teleoperation system that includes robot perception and intent prediction from hand gestures. The perception module identifies the objects present in the robot workspace and the intent prediction module which object the user likely wants to grasp. This architecture allows the approach to rely on traded control instead of direct control: we use hand gestures to specify the goal objects for a sequential manipulation task, the robot then autonomously generates a grasping or a retrieving motion using trajectory optimization. The perception module relies on the model-based tracker to precisely track the 6D pose of the objects and makes use of a state of the art learning-based object detection and segmentation method, to initialize the tracker by automatically detecting objects in the scene. Goal objects are identified from user hand gestures using a trained a multi-layer perceptron classifier. After presenting all the components of the system and their empirical evaluation, we present experimental results comparing our pipeline to a direct traded control approach (i.e., one that does not use prediction) which shows that using intent prediction allows to bring down the overall task execution time.
Fast Rate Learning in Stochastic First Price Bidding
Venue: arXiv cs.LG 2021
Year: 2021

First-price auctions have largely replaced traditional bidding approaches based on Vickrey auctions in programmatic advertising. As far as learning is concerned, first-price auctions are more challenging because the optimal bidding strategy does not only depend on the value of the item but also requires some knowledge of the other bids. They have already given rise to several works in sequential learning, many of which consider models for which the value of the buyer or the opponents' maximal bid is chosen in an adversarial manner. Even in the simplest settings, this gives rise to algorithms whose regret grows as $\sqrt{T}$ with respect to the time horizon $T$. Focusing on the case where the buyer plays against a stationary stochastic environment, we show how to achieve significantly lower regret: when the opponents' maximal bid distribution is known we provide an algorithm whose regret can be as low as $\log^2(T)$; in the case where the distribution must be learnt sequentially, a generalization of this algorithm can achieve $T^{1/3+ ε}$ regret, for any $ε>0$. To obtain these results, we introduce two novel ideas that can be of interest in their own right. First, by transposing results obtained in the posted price setting, we provide conditions under which the first-price biding utility is locally quadratic around its optimum. Second, we leverage the observation that, on small sub-intervals, the concentration of the variations of the empirical distribution function may be controlled more accurately than by using the classical Dvoretzky-Kiefer-Wolfowitz inequality. Numerical simulations confirm that our algorithms converge much faster than alternatives proposed in the literature for various bid distributions, including for bids collected on an actual programmatic advertising platform.
GraspME -- Grasp Manifold Estimator
Venue: arXiv cs.RO 2021
Year: 2021

In this paper, we introduce a Grasp Manifold Estimator (GraspME) to detect grasp affordances for objects directly in 2D camera images. To perform manipulation tasks autonomously it is crucial for robots to have such graspability models of the surrounding objects. Grasp manifolds have the advantage of providing continuously infinitely many grasps, which is not the case when using other grasp representations such as predefined grasp points. For instance, this property can be leveraged in motion optimization to define goal sets as implicit surface constraints in the robot configuration space. In this work, we restrict ourselves to the case of estimating possible end-effector positions directly from 2D camera images. To this extend, we define grasp manifolds via a set of key points and locate them in images using a Mask R-CNN backbone. Using learned features allows generalizing to different view angles, with potentially noisy images, and objects that were not part of the training set. We rely on simulation data only and perform experiments on simple and complex objects, including unseen ones. Our framework achieves an inference speed of 11.5 fps on a GPU, an average precision for keypoint estimation of 94.5% and a mean pixel distance of only 1.29. This shows that we can estimate the objects very well via bounding boxes and segmentation masks as well as approximate the correct grasp manifold's keypoint coordinates.
Advanced turning maneuver of a multi-legged robot using pitchfork bifurcation
Venue: arXiv cs.RO 2021
Year: 2021

Legged robots have excellent terrestrial mobility for traversing diverse environments and thus have the potential to be deployed in a wide variety of scenarios. However, they are susceptible to falling and leg malfunction during locomotion. Although the use of a large number of legs can overcome these problems, it makes the body long and leads to many legs being constrained to contact with the ground to support the long body, which impedes maneuverability. To improve the locomotion maneuverability of such robots, the present study focuses on dynamic instability, which induces rapid and large movement changes, and uses a 12-legged robot with a flexible body axis. Our previous work found that the straight walk of the robot becomes unstable through Hopf bifurcation when the body axis flexibility is changed, which induces body undulations. Furthermore, we developed a simple controller based on the Hopf bifurcation and showed that the instability facilitates the turning of the robot. In this study, we newly found that the straight walk becomes unstable through pitchfork bifurcation when the body-axis flexibility is changed in a way different from that in our previous work. In addition, the pitchfork bifurcation induces a transition into a curved walk, whose curvature can be controlled by the body-axis flexibility. We developed a simple controller based on the pitchfork-bifurcation characteristics and demonstrated that the robot can perform a turning maneuver superior to that with the previous controller. This study provides a novel design principle for maneuverable locomotion of many-legged robots using intrinsic dynamic properties.
Ferroelectric Tunneling Junctions for Edge Computing
Venue: arXiv cs.ET 2021
Year: 2021

Ferroelectric tunneling junctions (FTJ) are considered to be the intrinsically most energy efficient memristors. In this work, specific electrical features of ferroelectric hafnium-zirconium oxide based FTJ devices are investigated. Moreover, the impact on the design of FTJ-based circuits for edge computing applications is discussed by means of two example circuits.
Online and Offline Robot Programming via Augmented Reality Workspaces
Venue: arXiv cs.RO 2021
Year: 2021

Robot programming methods for industrial robots are time consuming and often require operators to have knowledge in robotics and programming. To reduce costs associated with reprogramming, various interfaces using augmented reality have recently been proposed to provide users with more intuitive means of controlling robots in real-time and programming them without having to code. However, most solutions require the operator to be close to the real robot's workspace which implies either removing it from the production line or shutting down the whole production line due to safety hazards. We propose a novel augmented reality interface providing the users with the ability to model a virtual representation of a workspace which can be saved and reused to program new tasks or adapt old ones without having to be co-located with the real robot. Similar to previous interfaces, the operators then have the ability to program robot tasks or control the robot in real-time by manipulating a virtual robot. We evaluate the intuitiveness and usability of the proposed interface with a user study where 18 participants programmed a robot manipulator for a disassembly task.
Detecting Faults during Automatic Screwdriving: A Dataset and Use Case of Anomaly Detection for Automatic Screwdriving
Venue: arXiv cs.LG 2021
Year: 2021

Detecting faults in manufacturing applications can be difficult, especially if each fault model is to be engineered by hand. Data-driven approaches, using Machine Learning (ML) for detecting faults have recently gained increasing interest, where a ML model can be trained on a set of data from a manufacturing process. In this paper, we present a use case of using ML models for detecting faults during automated screwdriving operations, and introduce a new dataset containing fully monitored and registered data from a Universal Robot and OnRobot screwdriver during both normal and anomalous operations. We illustrate, with the use of two time-series ML models, how to detect faults in an automated screwdriving application.
The DCU-EPFL Enhanced Dependency Parser at the IWPT 2021 Shared Task
Venue: arXiv cs.CL 2021
Year: 2021

We describe the DCU-EPFL submission to the IWPT 2021 Shared Task on Parsing into Enhanced Universal Dependencies. The task involves parsing Enhanced UD graphs, which are an extension of the basic dependency trees designed to be more facilitative towards representing semantic structure. Evaluation is carried out on 29 treebanks in 17 languages and participants are required to parse the data from each language starting from raw strings. Our approach uses the Stanza pipeline to preprocess the text files, XLMRoBERTa to obtain contextualized token representations, and an edge-scoring and labeling model to predict the enhanced graph. Finally, we run a post-processing script to ensure all of our outputs are valid Enhanced UD graphs. Our system places 6th out of 9 participants with a coarse Enhanced Labeled Attachment Score (ELAS) of 83.57. We carry out additional post-deadline experiments which include using Trankit for pre-processing, XLM-RoBERTa-LARGE, treebank concatenation, and multitask learning between a basic and an enhanced dependency parser. All of these modifications improve our initial score and our final system has a coarse ELAS of 88.04.
A Serverless Cloud Integration For Quantum Computing
Venue: arXiv cs.ET 2021
Year: 2021

Starting from the idea of Quantum Computing which is a concept that dates back to 80s, we come to the present day where we can perform calculations on real quantum computers. This sudden development of technology opens up new scenarios that quickly lead to the desire and the real possibility of integrating this technology into current software architectures. The usage of frameworks that allow computation to be performed directly on quantum hardware poses a series of challenges. This document describes a an architectural framework that addresses the problems of integrating an API exposed Quantum provider in an existing Enterprise architecture and it provides a minimum viable product (MVP) solution that really merges classical quantum computers on a basic scenario with reusable code on GitHub repository. The solution leverages a web-based frontend where user can build and select applications/use cases and simply execute it without any further complication. Every triggered run leverages on multiple backend options, that include a scheduler managing the queuing mechanism to correctly schedule jobs and final results retrieval. The proposed solution uses the up-to-date cloud native technologies (e.g. Cloud Functions, Containers, Microservices) and serves as a general framework to develop multiple applications on the same infrastructure.
Fast and Scalable Optimal Transport for Brain Tractograms
Venue: arXiv cs.CV 2021
Year: 2021

We present a new multiscale algorithm for solving regularized Optimal Transport problems on the GPU, with a linear memory footprint. Relying on Sinkhorn divergences which are convex, smooth and positive definite loss functions, this method enables the computation of transport plans between millions of points in a matter of minutes. We show the effectiveness of this approach on brain tractograms modeled either as bundles of fibers or as track density maps. We use the resulting smooth assignments to perform label transfer for atlas-based segmentation of fiber tractograms. The parameters -- blur and reach -- of our method are meaningful, defining the minimum and maximum distance at which two fibers are compared with each other. They can be set according to anatomical knowledge. Furthermore, we also propose to estimate a probabilistic atlas of a population of track density maps as a Wasserstein barycenter. Our CUDA implementation is endowed with a user-friendly PyTorch interface, freely available on the PyPi repository (pip install geomloss) and at www.kernel-operations.io/geomloss.
On the Complexity of the Escape Problem for Linear Dynamical Systems over Compact Semialgebraic Sets
Venue: arXiv cs.CC 2021
Year: 2021

We study the computational complexity of the Escape Problem for discrete-time linear dynamical systems over compact semialgebraic sets, or equivalently the Termination Problem for affine loops with compact semialgebraic guard sets. Consider the fragment of the theory of the reals consisting of negation-free $\exists \forall$-sentences without strict inequalities. We derive several equivalent characterisations of the associated complexity class which demonstrate its robustness and illustrate its expressive power. We show that the Compact Escape Problem is complete for this class.
Distance-based Hyperspherical Classification for Multi-source Open-Set Domain Adaptation
Venue: arXiv cs.CV 2021
Year: 2021

Vision systems trained in closed-world scenarios fail when presented with new environmental conditions, new data distributions, and novel classes at deployment time. How to move towards open-world learning is a long-standing research question. The existing solutions mainly focus on specific aspects of the problem (single domain Open-Set, multi-domain Closed-Set), or propose complex strategies which combine several losses and manually tuned hyperparameters. In this work, we tackle multi-source Open-Set domain adaptation by introducing HyMOS: a straightforward model that exploits the power of contrastive learning and the properties of its hyperspherical feature space to correctly predict known labels on the target, while rejecting samples belonging to any unknown class. HyMOS includes style transfer among the instance transformations of contrastive learning to get domain invariance while avoiding the risk of negative-transfer. A self-paced threshold is defined on the basis of the observed data distribution and updates online during training, allowing to handle the known-unknown separation. We validate our method over three challenging datasets. The obtained results show that HyMOS outperforms several competitors, defining the new state-of-the-art. Our code is available at https://github.com/silvia1993/HyMOS.
Feature Cross Search via Submodular Optimization
Venue: arXiv cs.LG 2021
Year: 2021

In this paper, we study feature cross search as a fundamental primitive in feature engineering. The importance of feature cross search especially for the linear model has been known for a while, with well-known textbook examples. In this problem, the goal is to select a small subset of features, combine them to form a new feature (called the crossed feature) by considering their Cartesian product, and find feature crosses to learn an \emph{accurate} model. In particular, we study the problem of maximizing a normalized Area Under the Curve (AUC) of the linear model trained on the crossed feature column. First, we show that it is not possible to provide an $n^{1/\log\log n}$-approximation algorithm for this problem unless the exponential time hypothesis fails. This result also rules out the possibility of solving this problem in polynomial time unless $\mathsf{P}=\mathsf{NP}$. On the positive side, by assuming the \naive\ assumption, we show that there exists a simple greedy $(1-1/e)$-approximation algorithm for this problem. This result is established by relating the AUC to the total variation of the commutator of two probability measures and showing that the total variation of the commutator is monotone and submodular. To show this, we relate the submodularity of this function to the positive semi-definiteness of a corresponding kernel matrix. Then, we use Bochner's theorem to prove the positive semi-definiteness by showing that its inverse Fourier transform is non-negative everywhere. Our techniques and structural results might be of independent interest.
Conditional Identity Disentanglement for Differential Face Morph Detection
Venue: arXiv cs.CV 2021
Year: 2021

We present the task of differential face morph attack detection using a conditional generative network (cGAN). To determine whether a face image in an identification document, such as a passport, is morphed or not, we propose an algorithm that learns to implicitly disentangle identities from the morphed image conditioned on the trusted reference image using the cGAN. Furthermore, the proposed method can also recover some underlying information about the second subject used in generating the morph. We performed experiments on AMSL face morph, MorGAN, and EMorGAN datasets to demonstrate the effectiveness of the proposed method. We also conducted cross-dataset and cross-attack detection experiments. We obtained promising results of 3% BPCER @ 10% APCER on intra-dataset evaluation, which is comparable to existing methods; and 4.6% BPCER @ 10% APCER on cross-dataset evaluation, which outperforms state-of-the-art methods by at least 13.9%.
Agents that Listen: High-Throughput Reinforcement Learning with Multiple Sensory Systems
Venue: arXiv cs.LG 2021
Year: 2021

Humans and other intelligent animals evolved highly sophisticated perception systems that combine multiple sensory modalities. On the other hand, state-of-the-art artificial agents rely mostly on visual inputs or structured low-dimensional observations provided by instrumented environments. Learning to act based on combined visual and auditory inputs is still a new topic of research that has not been explored beyond simple scenarios. To facilitate progress in this area we introduce a new version of VizDoom simulator to create a highly efficient learning environment that provides raw audio observations. We study the performance of different model architectures in a series of tasks that require the agent to recognize sounds and execute instructions given in natural language. Finally, we train our agent to play the full game of Doom and find that it can consistently defeat a traditional vision-based adversary. We are currently in the process of merging the augmented simulator with the main ViZDoom code repository. Video demonstrations and experiment code can be found at https://sites.google.com/view/sound-rl.
Automated inference of production rules for glycans
Venue: arXiv cs.LO 2021
Year: 2021

Glycans are tree-like polymers made up of sugar monomer building blocks. They are found on the surface of all living cells, and distinct glycan trees act as identity markers for distinct cell types. Proteins called GTase enzymes assemble glycans via the successive addition of monomer building blocks. The rules by which the enzymes operate are not fully understood. In this paper, we present the first SMT-solver-based iterative method that infers the assembly process of the glycans by analyzing the set of glycans from a cell. We have built a tool based on the method and applied it to infer rules based on published glycan data.