OpenRaiser/Intern-Atlas huggingface dataset:
Bridging In- and Out-of-distribution Samples for Their Better Discriminability
Venue: arXiv cs.CV 2021
Year: 2021

This paper proposes a method for OOD detection. Questioning the premise of previous studies that ID and OOD samples are separated distinctly, we consider samples lying in the intermediate of the two and use them for training a network. We generate such samples using multiple image transformations that corrupt inputs in various ways and with different severity levels. We estimate where the generated samples by a single image transformation lie between ID and OOD using a network trained on clean ID samples. To be specific, we make the network classify the generated samples and calculate their mean classification accuracy, using which we create a soft target label for them. We train the same network from scratch using the original ID samples and the generated samples with the soft labels created for them. We detect OOD samples by thresholding the entropy of the predicted softmax probability. The experimental results show that our method outperforms the previous state-of-the-art in the standard benchmark tests. We also analyze the effect of the number and particular combinations of image corrupting transformations on the performance.
Learning Anthropometry from Rendered Humans
Venue: arXiv cs.CV 2021
Year: 2021

Accurate estimation of anthropometric body measurements from RGB images has many potential applications in industrial design, online clothing, medical diagnosis and ergonomics. Research on this topic is limited by the fact that there exist only generated datasets which are based on fitting a 3D body mesh to 3D body scans in the commercial CAESAR dataset. For 2D only silhouettes are generated. To circumvent the data bottleneck, we introduce a new 3D scan dataset of 2,675 female and 1,474 male scans. We also introduce a small dataset of 200 RGB images and tape measured ground truth. With the help of the two new datasets we propose a part-based shape model and a deep neural network for estimating anthropometric measurements from 2D images. All data will be made publicly available.
Merging with unknown reliability
Venue: arXiv cs.AI 2021
Year: 2021

Merging beliefs depends on the relative reliability of their sources. When unknown, assuming equal reliability is unwarranted. The solution proposed in this article is that every reliability profile is possible, and only what holds according to all is accepted. Alternatively, one source is completely reliable, but which one is unknown. These two cases motivate two existing forms of merging: maxcons-based merging and arbitration.
Spatial K-anonymity: A Privacy-preserving Method for COVID-19 Related Geospatial Technologies
Venue: arXiv cs.CR 2021
Year: 2021

There is a growing need for spatial privacy considerations in the many geo-spatial technologies that have been created as solutions for COVID-19-related issues. Although effective geo-spatial technologies have already been rolled out, most have significantly sacrificed privacy for utility. In this paper, we explore spatial k-anonymity, a privacy-preserving method that can address this unnecessary tradeoff by providing the best of both privacy and utility. After evaluating its past implications in geo-spatial use cases, we propose applications of spatial k-anonymity in the data sharing and managing of COVID-19 contact tracing technologies as well as heat maps showing a user's travel history. We then justify our propositions by comparing spatial k-anonymity with several other spatial privacy methods, including differential privacy, geo-indistinguishability, and manual consent based redaction. Our hope is to raise awareness of the ever-growing risks associated with spatial privacy and how they can be solved with Spatial K-anonymity.
Augmentix -- An Augmented Reality System for asymmetric Teleteaching
Venue: arXiv cs.HC 2021
Year: 2021

Using augmented reality in education is already a common concept, as it has the potential to turn learning into a motivational learning experience. However, current research only covers the students site of learning. Almost no research focuses on the teachers' site and whether augmented reality could potentially improve his/her workflow of teaching the students or not. Many researchers do not differentiate between multiple user roles, like a student and a teacher. To allow investigation into these lacks of research, a teaching system "Augmentix" is presented, which includes a differentiation between the two user roles "teacher" and "student" to potentially enhances the teachers workflow by using augmented reality. In this system's setting the student can explore a virtual city in virtual reality and the teacher can guide him with augmented reality.
From Learning to Relearning: A Framework for Diminishing Bias in Social Robot Navigation
Venue: arXiv cs.RO 2021
Year: 2021

The exponentially increasing advances in robotics and machine learning are facilitating the transition of robots from being confined to controlled industrial spaces to performing novel everyday tasks in domestic and urban environments. In order to make the presence of robots safe as well as comfortable for humans, and to facilitate their acceptance in public environments, they are often equipped with social abilities for navigation and interaction. Socially compliant robot navigation is increasingly being learned from human observations or demonstrations. We argue that these techniques that typically aim to mimic human behavior do not guarantee fair behavior. As a consequence, social navigation models can replicate, promote, and amplify societal unfairness such as discrimination and segregation. In this work, we investigate a framework for diminishing bias in social robot navigation models so that robots are equipped with the capability to plan as well as adapt their paths based on both physical and social demands. Our proposed framework consists of two components: \textit{learning} which incorporates social context into the learning process to account for safety and comfort, and \textit{relearning} to detect and correct potentially harmful outcomes before the onset. We provide both technological and societal analysis using three diverse case studies in different social scenarios of interaction. Moreover, we present ethical implications of deploying robots in social environments and propose potential solutions. Through this study, we highlight the importance and advocate for fairness in human-robot interactions in order to promote more equitable social relationships, roles, and dynamics and consequently positively influence our society.
Argument Schemes and Dialogue for Explainable Planning
Venue: arXiv cs.AI 2021
Year: 2021

Artificial Intelligence (AI) is being increasingly deployed in practical applications. However, there is a major concern whether AI systems will be trusted by humans. In order to establish trust in AI systems, there is a need for users to understand the reasoning behind their solutions. Therefore, systems should be able to explain and justify their output. In this paper, we propose an argument scheme-based approach to provide explanations in the domain of AI planning. We present novel argument schemes to create arguments that explain a plan and its key elements; and a set of critical questions that allow interaction between the arguments and enable the user to obtain further information regarding the key elements of the plan. Furthermore, we present a novel dialogue system using the argument schemes and critical questions for providing interactive dialectical explanations.
CoachNet: An Adversarial Sampling Approach for Reinforcement Learning
Venue: arXiv cs.LG 2021
Year: 2021

Despite the recent successes of reinforcement learning in games and robotics, it is yet to become broadly practical. Sample efficiency and unreliable performance in rare but challenging scenarios are two of the major obstacles. Drawing inspiration from the effectiveness of deliberate practice for achieving expert-level human performance, we propose a new adversarial sampling approach guided by a failure predictor named "CoachNet". CoachNet is trained online along with the agent to predict the probability of failure. This probability is then used in a stochastic sampling process to guide the agent to more challenging episodes. This way, instead of wasting time on scenarios that the agent has already mastered, training is focused on the agent's "weak spots". We present the design of CoachNet, explain its underlying principles, and empirically demonstrate its effectiveness in improving sample efficiency and test-time robustness in common continuous control tasks.
An Optimal Load Balanced Resource Allocation Scheme for Heterogeneous Wireless Networks based on Big Data Technology
Venue: arXiv cs.NI 2021
Year: 2021

An important issue in heterogeneous wireless networks is how to optimally utilize various radio resources. While many methods have been proposed for managing radio resources in each network, these methods are not suitable for heterogeneous wireless networks. In this study, a new management method is proposed which provides acceptable service quality and roaming rate, reduces the cost of the service, and utilizes big data technology for its operation. In our proposed scheme, by considering various parameters such as the type of the service, the information related to the location of the user, the movement direction of the user, the cost of the service, and a number of other statistical measures, the most suitable technology for radio access will be selected. It is expected that besides improving the decision making accuracy in selecting the radio access technology and the balanced distribution of network resources, the proposed method provides lower roaming and lower probability of stopping roaming requests entering the network. By considering the various service classes and various quality of service requirements regarding delay, vibration and so on, this can be useful in optimal implementation of heterogeneous wireless networks.
Distribution-Free, Risk-Controlling Prediction Sets
Venue: arXiv cs.LG 2021
Year: 2021

While improving prediction accuracy has been the focus of machine learning in recent years, this alone does not suffice for reliable decision-making. Deploying learning systems in consequential settings also requires calibrating and communicating the uncertainty of predictions. To convey instance-wise uncertainty for prediction tasks, we show how to generate set-valued predictions from a black-box predictor that control the expected loss on future test points at a user-specified level. Our approach provides explicit finite-sample guarantees for any dataset by using a holdout set to calibrate the size of the prediction sets. This framework enables simple, distribution-free, rigorous error control for many tasks, and we demonstrate it in five large-scale machine learning problems: (1) classification problems where some mistakes are more costly than others; (2) multi-label classification, where each observation has multiple associated labels; (3) classification problems where the labels have a hierarchical structure; (4) image segmentation, where we wish to predict a set of pixels containing an object of interest; and (5) protein structure prediction. Lastly, we discuss extensions to uncertainty quantification for ranking, metric learning and distributionally robust learning.
The Distracting Control Suite -- A Challenging Benchmark for Reinforcement Learning from Pixels
Venue: arXiv cs.RO 2021
Year: 2021

Robots have to face challenging perceptual settings, including changes in viewpoint, lighting, and background. Current simulated reinforcement learning (RL) benchmarks such as DM Control provide visual input without such complexity, which limits the transfer of well-performing methods to the real world. In this paper, we extend DM Control with three kinds of visual distractions (variations in background, color, and camera pose) to produce a new challenging benchmark for vision-based control, and we analyze state of the art RL algorithms in these settings. Our experiments show that current RL methods for vision-based control perform poorly under distractions, and that their performance decreases with increasing distraction complexity, showing that new methods are needed to cope with the visual complexities of the real world. We also find that combinations of multiple distraction types are more difficult than a mere combination of their individual effects.
Active Screening for Recurrent Diseases: A Reinforcement Learning Approach
Venue: arXiv cs.LG 2021
Year: 2021

Active screening is a common approach in controlling the spread of recurring infectious diseases such as tuberculosis and influenza. In this approach, health workers periodically select a subset of population for screening. However, given the limited number of health workers, only a small subset of the population can be visited in any given time period. Given the recurrent nature of the disease and rapid spreading, the goal is to minimize the number of infections over a long time horizon. Active screening can be formalized as a sequential combinatorial optimization over the network of people and their connections. The main computational challenges in this formalization arise from i) the combinatorial nature of the problem, ii) the need of sequential planning and iii) the uncertainties in the infectiousness states of the population. Previous works on active screening fail to scale to large time horizon while fully considering the future effect of current interventions. In this paper, we propose a novel reinforcement learning (RL) approach based on Deep Q-Networks (DQN), with several innovative adaptations that are designed to address the above challenges. First, we use graph convolutional networks (GCNs) to represent the Q-function that exploit the node correlations of the underlying contact network. Second, to avoid solving a combinatorial optimization problem in each time period, we decompose the node set selection as a sub-sequence of decisions, and further design a two-level RL framework that solves the problem in a hierarchical way. Finally, to speed-up the slow convergence of RL which arises from reward sparseness, we incorporate ideas from curriculum learning into our hierarchical RL approach. We evaluate our RL algorithm on several real-world networks.
Ferrofluidic Manipulator: Automatic Manipulation of Non-magnetic Microparticles at Air-Ferrofluid Interface
Venue: arXiv cs.RO 2021
Year: 2021

Manipulation of small-scale matter is a fundamental topic in micro- and nanorobotics. Numerous magnetic robotic systems have been developed for the manipulation of microparticles in an ambient environment, liquid as well as on the air-liquid interface. These systems move intrinsically magnetic or magnetically tagged objects by inducing a magnetic torque or force. However, most of the materials found in nature are non-magnetic. Here, we report a ferrofluidic manipulator for automatic two-dimensional manipulation of non-magnetic objects floating on top of a ferrofluid. The manipulation system employs eight centimeter-scale solenoids, which can move non-magnetic particles by deforming the air-ferrofluid interface. Using linear programming, we can control the motion of the non-magnetic particles with a predefined trajectory of a line, square, and circle with a precision of 25.1+/-19.5 um, 34.4+/-28.4 um and 33.4+/-26.6 um, respectively. The ferrofluidic manipulator is versatile with the materials and the shapes of the objects under manipulation. We have successfully manipulated particles made of polyethylene, polystyrene, a silicon chip, and poppy and sesame seeds. This work shows a promising venue for the manipulation of living and non-living matter at the air-liquid interface.
A Cable-Driven Parallel Robot with Full-Circle End-Effector Rotations
Venue: arXiv cs.RO 2021
Year: 2021

Cable-Driven Parallel Robots (CDPRs) offer high payload capacities, large translational workspace and high dynamic performances. The rigid base frame of the CDPR is connected in parallel to the moving platform using cables. However, their orientation workspace is usually limited due to cable/cable and cable/moving platform collisions. This paper deals with the design, modelling and prototyping of a hybrid robot. This robot, which is composed of a CDPR mounted in series with a Parallel Spherical Wrist (PSW), has both a large translational workspace and an unlimited orientation workspace. It should be noted that the six degrees of freedom (DOF) motions of the moving platform of the CDPR, namely, the base of the PSW, and the three-DOF motion of the PSW are actuated by means of eight actuators fixed to the base. As a consequence, the overall system is underactuated and its total mass and inertia in motion is reduced.
Off-Line Arabic Handwritten Words Segmentation using Morphological Operators
Venue: arXiv cs.CV 2021
Year: 2021

The main aim of this study is the assessment and discussion of a model for hand-written Arabic through segmentation. The framework is proposed based on three steps: pre-processing, segmentation, and evaluation. In the pre-processing step, morphological operators are applied for Connecting Gaps (CGs) in written words. Gaps happen when pen lifting-off during writing, scanning documents, or while converting images to binary type. In the segmentation step, first removed the small diacritics then bounded a connected component to segment offline words. Huge data was utilized in the proposed model for applying a variety of handwriting styles so that to be more compatible with real-life applications. Consequently, on the automatic evaluation stage, selected randomly 1,131 images from the IESK-ArDB database, and then segmented into sub-words. After small gaps been connected, the model performance evaluation had been reached 88% against the standard ground truth of the database. The proposed model achieved the highest accuracy when compared with the related works.
Faster SAT Solving for Software with Repeated Structures (with Case Studies on Software Test Suite Minimization)
Venue: arXiv cs.SE 2021
Year: 2021

Theorem provers has been used extensively in software engineering for software testing or verification. However, software is now so large and complex that additional architecture is needed to guide theorem provers as they try to generate test suites. The SNAP test suite generator (introduced in this paper) combines the Z3 theorem prover with the following tactic: cluster some candidate tests, then search for valid tests by proposing small mutations to the cluster centroids. This technique effectively removes repeated structures in the tests since many repeated structures can be replaced with one centroid. In practice, SNAP is remarkably effective. For 27 real-world programs with up to half a million variables, SNAP found test suites which were 10 to 750 smaller times than those found by the prior state-of-the-art. Also, SNAP ran orders of magnitude faster and (unlike prior work) generated 100% valid tests.
Color Contrast Enhanced Rendering for Optical See-through Head-mounted Displays
Venue: arXiv cs.GR 2021
Year: 2021

Most commercially available optical see-through head-mounted displays (OST-HMDs) utilize optical combiners to simultaneously visualize the physical background and virtual objects. The displayed images perceived by users are a blend of rendered pixels and background colors. Enabling high fidelity color perception in mixed reality (MR) scenarios using OST-HMDs is an important but challenging task. We propose a real-time rendering scheme to enhance the color contrast between virtual objects and the surrounding background for OST-HMDs. Inspired by the discovery of color perception in psychophysics, we first formulate the color contrast enhancement as a constrained optimization problem. We then design an end-to-end algorithm to search the optimal complementary shift in both chromaticity and luminance of the displayed color. This aims at enhancing the contrast between virtual objects and the real background as well as keeping the consistency with the original color. We assess the performance of our approach using a simulated OST-HMD environment and an off-the-shelf OST-HMD. Experimental results from objective evaluations and subjective user studies demonstrate that the proposed approach makes rendered virtual objects more distinguishable from the surrounding background, thereby bringing a better visual experience.
Adversarial Attack Attribution: Discovering Attributable Signals in Adversarial ML Attacks
Venue: arXiv cs.LG 2021
Year: 2021

Machine Learning (ML) models are known to be vulnerable to adversarial inputs and researchers have demonstrated that even production systems, such as self-driving cars and ML-as-a-service offerings, are susceptible. These systems represent a target for bad actors. Their disruption can cause real physical and economic harm. When attacks on production ML systems occur, the ability to attribute the attack to the responsible threat group is a critical step in formulating a response and holding the attackers accountable. We pose the following question: can adversarially perturbed inputs be attributed to the particular methods used to generate the attack? In other words, is there a way to find a signal in these attacks that exposes the attack algorithm, model architecture, or hyperparameters used in the attack? We introduce the concept of adversarial attack attribution and create a simple supervised learning experimental framework to examine the feasibility of discovering attributable signals in adversarial attacks. We find that it is possible to differentiate attacks generated with different attack algorithms, models, and hyperparameters on both the CIFAR-10 and MNIST datasets.
Approximate Query Processing for Group-By Queries based on Conditional Generative Models
Venue: arXiv cs.DB 2021
Year: 2021

The Group-By query is an important kind of query, which is common and widely used in data warehouses, data analytics, and data visualization. Approximate query processing is an effective way to increase the querying efficiency on big data. The answer to a group-by query involves multiple values, which makes it difficult to provide sufficiently accurate estimations for all the groups. Stratified sampling improves the accuracy compared with the uniform sampling, but the samples chosen for some special queries cannot work for other queries. Online sampling chooses samples for the given query at query time, but it requires a long latency. Thus, it is a challenge to achieve both accuracy and efficiency at the same time. Facing such challenge, in this work, we propose a sample generation framework based on a conditional generative model. The sample generation framework can generate any number of samples for the given query without accessing the data. The proposed framework based on the lightweight model can be combined with stratified sampling and online aggregation to improve the estimation accuracy for group-by queries. The experimental results show that our proposed methods are both efficient and accurate.
Adaptive Accessible AR/VR Systems
Venue: arXiv cs.HC 2021
Year: 2021

Augmented, virtual and mixed reality technologies offer new ways of interacting with digital media. However, such technologies are not well explored for people with different ranges of abilities beyond a few specific navigation and gaming applications. While new standardization activities are investigating accessibility issues with existing AR/VR systems, commercial systems are still confined to specialized hardware and software limiting their widespread adoption among people with disabilities as well as seniors. This proposal takes a novel approach by exploring the application of user model-based personalization for AR/VR systems to improve accessibility. The workshop will be organized by experienced researchers in the field of human computer interaction, robotics control, assistive technology, and AR/VR systems, and will consist of peer reviewed papers and hands-on demonstrations. Keynote speeches and demonstrations will cover latest accessibility research at Microsoft, Google, Verizon and leading universities.