OpenRaiser/Intern-Atlas huggingface dataset:
On the amplification of security and privacy risks by post-hoc explanations in machine learning models
Venue: arXiv cs.LG 2022
Year: 2022

A variety of explanation methods have been proposed in recent years to help users gain insights into the results returned by neural networks, which are otherwise complex and opaque black-boxes. However, explanations give rise to potential side-channels that can be leveraged by an adversary for mounting attacks on the system. In particular, post-hoc explanation methods that highlight input dimensions according to their importance or relevance to the result also leak information that weakens security and privacy. In this work, we perform the first systematic characterization of the privacy and security risks arising from various popular explanation techniques. First, we propose novel explanation-guided black-box evasion attacks that lead to 10 times reduction in query count for the same success rate. We show that the adversarial advantage from explanations can be quantified as a reduction in the total variance of the estimated gradient. Second, we revisit the membership information leaked by common explanations. Contrary to observations in prior studies, via our modified attacks we show significant leakage of membership information (above 100% improvement over prior results), even in a much stricter black-box setting. Finally, we study explanation-guided model extraction attacks and demonstrate adversarial gains through a large reduction in query count.
The Importance of (Exponentially More) Computing Power
Venue: arXiv cs.AR 2022
Year: 2022

Denizens of Silicon Valley have called Moore's Law "the most important graph in human history," and economists have found that Moore's Law-powered I.T. revolution has been one of the most important sources of national productivity growth. But data substantiating these claims tend to either be abstracted - for example by examining spending on I.T., rather than I.T. itself - or anecdotal. In this paper, we assemble direct quantitative evidence of the impact that computing power has had on five domains: two computing bellwethers (Chess and Go), and three economically important applications (weather prediction, protein folding, and oil exploration). Computing power explains 49%-94% of the performance improvements in these domains. But whereas economic theory typically assumes a power-law relationship between inputs and outputs, we find that an exponential increase in computing power is needed to get linear improvements in these outcomes. This helps clarify why the exponential growth of computing power from Moore's Law has been so important for progress, and why performance improvements across many domains are becoming economically tenuous as Moore's Law breaks down.
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems
Venue: arXiv cs.RO 2022
Year: 2022

Terrain geometry is, in general, non-smooth, non-linear, non-convex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This work presents the complete control pipeline capable of handling the aforementioned problems in real-time. We formulate a trajectory optimization problem that jointly optimizes over the base pose and footholds, subject to a heightmap. To avoid converging into undesirable local optima, we deploy a graduated optimization technique. We embed a compact, contact-force free stability criterion that is compatible with the non-flat ground formulation. Direct collocation is used as transcription method, resulting in a non-linear optimization problem that can be solved online in less than ten milliseconds. To increase robustness in the presence of external disturbances, we close the tracking loop with a momentum observer. Our experiments demonstrate stair climbing, walking on stepping stones, and over gaps, utilizing various dynamic gaits.
Bengali Common Voice Speech Dataset for Automatic Speech Recognition
Venue: arXiv cs.CL 2022
Year: 2022

Bengali is one of the most spoken languages in the world with over 300 million speakers globally. Despite its popularity, research into the development of Bengali speech recognition systems is hindered due to the lack of diverse open-source datasets. As a way forward, we have crowdsourced the Bengali Common Voice Speech Dataset, which is a sentence-level automatic speech recognition corpus. Collected on the Mozilla Common Voice platform, the dataset is part of an ongoing campaign that has led to the collection of over 400 hours of data in 2 months and is growing rapidly. Our analysis shows that this dataset has more speaker, phoneme, and environmental diversity compared to the OpenSLR Bengali ASR dataset, the largest existing open-source Bengali speech dataset. We present insights obtained from the dataset and discuss key linguistic challenges that need to be addressed in future versions. Additionally, we report the current performance of a few Automatic Speech Recognition (ASR) algorithms and set a benchmark for future research.
SSL-Lanes: Self-Supervised Learning for Motion Forecasting in Autonomous Driving
Venue: arXiv cs.CV 2022
Year: 2022

Self-supervised learning (SSL) is an emerging technique that has been successfully employed to train convolutional neural networks (CNNs) and graph neural networks (GNNs) for more transferable, generalizable, and robust representation learning. However its potential in motion forecasting for autonomous driving has rarely been explored. In this study, we report the first systematic exploration and assessment of incorporating self-supervision into motion forecasting. We first propose to investigate four novel self-supervised learning tasks for motion forecasting with theoretical rationale and quantitative and qualitative comparisons on the challenging large-scale Argoverse dataset. Secondly, we point out that our auxiliary SSL-based learning setup not only outperforms forecasting methods which use transformers, complicated fusion mechanisms and sophisticated online dense goal candidate optimization algorithms in terms of performance accuracy, but also has low inference time and architectural complexity. Lastly, we conduct several experiments to understand why SSL improves motion forecasting. Code is open-sourced at \url{https://github.com/AutoVision-cloud/SSL-Lanes}.
Learning Variable Impedance Control for Aerial Sliding on Uneven Heterogeneous Surfaces by Proprioceptive and Tactile Sensing
Venue: arXiv cs.RO 2022
Year: 2022

The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with partially-known environments, which may contain uncertainties including unknown spatially-varying friction properties and discontinuous variations of the surface geometry. Finding a control strategy that is robust against these environmental uncertainties remains an open challenge. This paper presents a learning-based adaptive control strategy for aerial sliding tasks. In particular, the gains of a standard impedance controller are adjusted in real-time by a policy based on the current control signals, proprioceptive measurements, and tactile sensing. This policy is trained in simulation with simplified actuator dynamics in a student-teacher learning setup. The real-world performance of the proposed approach is verified using a tilt-arm omnidirectional flying vehicle. The proposed controller structure combines data-driven and model-based control methods, enabling our approach to successfully transfer directly and without adaptation from simulation to the real platform. Compared to fine-tuned state of the art interaction control methods we achieve reduced tracking error and improved disturbance rejection.
Towards Explainable Metaheuristic: Mining Surrogate Fitness Models for Importance of Variables
Venue: arXiv cs.NE 2022
Year: 2022

Metaheuristic search algorithms look for solutions that either maximise or minimise a set of objectives, such as cost or performance. However most real-world optimisation problems consist of nonlinear problems with complex constraints and conflicting objectives. The process by which a GA arrives at a solution remains largely unexplained to the end-user. A poorly understood solution will dent the confidence a user has in the arrived at solution. We propose that investigation of the variables that strongly influence solution quality and their relationship would be a step toward providing an explanation of the near-optimal solution presented by a metaheuristic. Through the use of four benchmark problems we use the population data generated by a Genetic Algorithm (GA) to train a surrogate model, and investigate the learning of the search space by the surrogate model. We compare what the surrogate has learned after being trained on population data generated after the first generation and contrast this with a surrogate model trained on the population data from all generations. We show that the surrogate model picks out key characteristics of the problem as it is trained on population data from each generation. Through mining the surrogate model we can build a picture of the learning process of a GA, and thus an explanation of the solution presented by the GA. The aim being to build trust and confidence in the end-user about the solution presented by the GA, and encourage adoption of the model.
Gender Bias in Password Managers
Venue: arXiv cs.CR 2022
Year: 2022

For the first time, we report gender bias in people's choice and use of password managers, through a semi-structured interview ($n=18$) and a questionnaire-based survey ($n=200$, conducted `in the wild'). Not only do women and men prefer different types of password managers, but software features that women and men frequently use also differ. These differences are statistically significant. The factors that women and men consider the most important or influential in choosing their password managers differ, too. Choice of convenience and brand are on the top of the women's consideration, whereas security and the number of features top the list for men. This difference is statistically significant.
Autonomous Smart Grid Fault Detection
Venue: arXiv cs.DC 2022
Year: 2022

Smart grid plays a crucial role for the smart society and the upcoming carbon neutral society. Achieving autonomous smart grid fault detection is critical for smart grid system state awareness, maintenance and operation. This paper focuses on fault monitoring in smart grid and discusses the inherent technical challenges and solutions. In particular, we first present the basic principles of smart grid fault detection. Then, we explain the new requirements for autonomous smart grid fault detection, the technical challenges and their possible solutions. A case study is introduced, as a preliminary study for autonomous smart grid fault detection. In addition, we highlight relevant directions for future research.
Position-Agnostic Autonomous Navigation in Vineyards with Deep Reinforcement Learning
Venue: arXiv cs.RO 2022
Year: 2022

Precision agriculture is rapidly attracting research to efficiently introduce automation and robotics solutions to support agricultural activities. Robotic navigation in vineyards and orchards offers competitive advantages in autonomously monitoring and easily accessing crops for harvesting, spraying and performing time-consuming necessary tasks. Nowadays, autonomous navigation algorithms exploit expensive sensors which also require heavy computational cost for data processing. Nonetheless, vineyard rows represent a challenging outdoor scenario where GPS and Visual Odometry techniques often struggle to provide reliable positioning information. In this work, we combine Edge AI with Deep Reinforcement Learning to propose a cutting-edge lightweight solution to tackle the problem of autonomous vineyard navigation without exploiting precise localization data and overcoming task-tailored algorithms with a flexible learning-based approach. We train an end-to-end sensorimotor agent which directly maps noisy depth images and position-agnostic robot state information to velocity commands and guides the robot to the end of a row, continuously adjusting its heading for a collision-free central trajectory. Our extensive experimentation in realistic simulated vineyards demonstrates the effectiveness of our solution and the generalization capabilities of our agent.
A Formal Specification of Operating System based on ARINC 653
Venue: arXiv cs.LO 2022
Year: 2022

In this paper, by using the formal language \emph{Circus}, we give a formal specification of an operating system based on ARINC 653 standard. Our specification includes interrupt handling, time and memory management, partition and process scheduling, system call response and related APEX services. Especially, the concurrent behaviours of partitions and processes are also specified.
Applications of Reinforcement Learning in Finance -- Trading with a Double Deep Q-Network
Venue: arXiv cs.LG 2022
Year: 2022

This paper presents a Double Deep Q-Network algorithm for trading single assets, namely the E-mini S&P 500 continuous futures contract. We use a proven setup as the foundation for our environment with multiple extensions. The features of our trading agent are constantly being expanded to include additional assets such as commodities, resulting in four models. We also respond to environmental conditions, including costs and crises. Our trading agent is first trained for a specific time period and tested on new data and compared with the long-and-hold strategy as a benchmark (market). We analyze the differences between the various models and the in-sample/out-of-sample performance with respect to the environment. The experimental results show that the trading agent follows an appropriate behavior. It can adjust its policy to different circumstances, such as more extensive use of the neutral position when trading costs are present. Furthermore, the net asset value exceeded that of the benchmark, and the agent outperformed the market in the test set. We provide initial insights into the behavior of an agent in a financial domain using a DDQN algorithm. The results of this study can be used for further development.
An Empirical Study of Challenges in Converting Deep Learning Models
Venue: arXiv cs.LG 2022
Year: 2022

There is an increase in deploying Deep Learning (DL)-based software systems in real-world applications. Usually DL models are developed and trained using DL frameworks that have their own internal mechanisms/formats to represent and train DL models, and usually those formats cannot be recognized by other frameworks. Moreover, trained models are usually deployed in environments different from where they were developed. To solve the interoperability issue and make DL models compatible with different frameworks/environments, some exchange formats are introduced for DL models, like ONNX and CoreML. However, ONNX and CoreML were never empirically evaluated by the community to reveal their prediction accuracy, performance, and robustness after conversion. Poor accuracy or non-robust behavior of converted models may lead to poor quality of deployed DL-based software systems. We conduct, in this paper, the first empirical study to assess ONNX and CoreML for converting trained DL models. In our systematic approach, two popular DL frameworks, Keras and PyTorch, are used to train five widely used DL models on three popular datasets. The trained models are then converted to ONNX and CoreML and transferred to two runtime environments designated for such formats, to be evaluated. We investigate the prediction accuracy before and after conversion. Our results unveil that the prediction accuracy of converted models are at the same level of originals. The performance (time cost and memory consumption) of converted models are studied as well. The size of models are reduced after conversion, which can result in optimized DL-based software deployment. Converted models are generally assessed as robust at the same level of originals. However, obtained results show that CoreML models are more vulnerable to adversarial attacks compared to ONNX.
Deformable Graph Transformer
Venue: arXiv cs.LG 2022
Year: 2022

Transformer-based models have recently shown success in representation learning on graph-structured data beyond natural language processing and computer vision. However, the success is limited to small-scale graphs due to the drawbacks of full dot-product attention on graphs such as the quadratic complexity with respect to the number of nodes and message aggregation from enormous irrelevant nodes. To address these issues, we propose Deformable Graph Transformer (DGT) that performs sparse attention via dynamically sampled relevant nodes for efficiently handling large-scale graphs with a linear complexity in the number of nodes. Specifically, our framework first constructs multiple node sequences with various criteria to consider both structural and semantic proximity. Then, combining with our learnable Katz Positional Encodings, the sparse attention is applied to the node sequences for learning node representations with a significantly reduced computational cost. Extensive experiments demonstrate that our DGT achieves state-of-the-art performance on 7 graph benchmark datasets with 2.5 - 449 times less computational cost compared to transformer-based graph models with full attention.
A Deep Learning Approach to Create DNS Amplification Attacks
Venue: arXiv cs.CR 2022
Year: 2022

In recent years, deep learning has shown itself to be an incredibly valuable tool in cybersecurity as it helps network intrusion detection systems to classify attacks and detect new ones. Adversarial learning is the process of utilizing machine learning to generate a perturbed set of inputs to then feed to the neural network to misclassify it. Much of the current work in the field of adversarial learning has been conducted in image processing and natural language processing with a wide variety of algorithms. Two algorithms of interest are the Elastic-Net Attack on Deep Neural Networks and TextAttack. In our experiment the EAD and TextAttack algorithms are applied to a Domain Name System amplification classifier. The algorithms are used to generate malicious Distributed Denial of Service adversarial examples to then feed as inputs to the network intrusion detection systems neural network to classify as valid traffic. We show in this work that both image processing and natural language processing adversarial learning algorithms can be applied against a network intrusion detection neural network.
AAE: An Active Auto-Estimator for Improving Graph Storage
Venue: arXiv cs.DB 2022
Year: 2022

Nowadays, graph becomes an increasingly popular model in many real applications. The efficiency of graph storage is crucial for these applications. Generally speaking, the tune tasks of graph storage rely on the database administrators (DBAs) to find the best graph storage. However, DBAs make the tune decisions by mainly relying on their experiences and intuition. Due to the limitations of DBAs's experiences, the tunes may have an uncertain performance and conduct worse efficiency. In this paper, we observe that an estimator of graph workload has the potential to guarantee the performance of tune operations. Unfortunately, because of the complex characteristics of graph evaluation task, there exists no mature estimator for graph workload. We formulate the evaluation task of graph workload as a classification task and carefully design the feature engineering process, including graph data features, graph workload features and graph storage features. Considering the complex features of graph and the huge time consumption in graph workload execution, it is difficult for the graph workload estimator to obtain enough training set. So, we propose an active auto-estimator (AAE) for the graph workload evaluation by combining the active learning and deep learning. AAE could achieve good evaluation efficiency with limited training set. We test the time efficiency and evaluation accuracy of AAE with two open source graph data, LDBC and Freebase. Experimental results show that our estimator could efficiently complete the graph workload evaluation in milliseconds.
IMRSim: A Disk Simulator for Interlaced Magnetic Recording Technology
Venue: arXiv cs.ET 2022
Year: 2022

The emerging interlaced magnetic recording (IMR) technology achieves a higher areal density for hard disk drive (HDD) over the conventional magnetic recording (CMR) technology. IMR-based HDD interlaces top tracks and bottom tracks, where each bottom track is overlapped with two neighboring top tracks. Thus, top tracks can be updated without restraint, whereas bottom tracks can be updated by the time-consuming read-modify-write (RMW) or other novel update strategy. Therefore, the layout of the tracks between the IMR-based HDD and the CMR-based HDD is much different. Unfortunately, there has been no related disk simulator and product available to the public, which motivates us to develop an open-source IMR disk simulator to provide a platform for further research. We implement the first public IMR disk simulator, called IMRSim, as a block device driver in the Linux kernel, simulating the interlaced tracks and implementing many state-of-the-art data placement strategies. IMRSim is built on the actual CMR-based HDD to precisely simulate the I/O performance of IMR drives. While I/O operations in CMR-based HDD are easy to visualize, update strategy and multi-stage allocation strategy in IMR are inherently dynamic. Therefore, we further graphically demonstrate how IMRSim processes I/O requests in the visualization mode. We release IMRSim as an open-source IMR disk simulation tool and hope to attract more scholars into related research on IMR technology.
Cyclical Kernel Adaptive Metropolis
Venue: arXiv cs.LG 2022
Year: 2022

We propose cKAM, cyclical Kernel Adaptive Metropolis, which incorporates a cyclical stepsize scheme to allow control for exploration and sampling. We show that on a crafted bimodal distribution, existing Adaptive Metropolis type algorithms would fail to converge to the true posterior distribution. We point out that this is because adaptive samplers estimates the local/global covariance structure using past history of the chain, which will lead to adaptive algorithms be trapped in a local mode. We demonstrate that cKAM encourages exploration of the posterior distribution and allows the sampler to escape from a local mode, while maintaining the high performance of adaptive methods.
Distributed Information Bottleneck for a Primitive Gaussian Diamond Channel with Rayleigh Fading
Venue: arXiv cs.IT 2022
Year: 2022

This paper considers the distributed information bottleneck (D-IB) problem for a primitive Gaussian diamond channel with two relays and Rayleigh fading. Due to the bottleneck constraint, it is impossible for the relays to inform the destination node of the perfect channel state information (CSI) in each realization. To evaluate the bottleneck rate, we provide an upper bound by assuming that the destination node knows the CSI and the relays can cooperate with each other, and also three achievable schemes with simple symbol-by-symbol relay processing and compression. Numerical results show that the lower bounds obtained by the proposed achievable schemes can come close to the upper bound on a wide range of relevant system parameters.