OpenRaiser/Intern-Atlas huggingface dataset:
Model Predictive Control for Dynamic Cloth Manipulation: Parameter Learning and Experimental Validation
Venue: arXiv cs.RO 2022
Year: 2022

Robotic cloth manipulation is a relevant challenging problem for autonomous robotic systems. Highly deformable objects as textile items can adopt multiple configurations and shapes during their manipulation. Hence, robots should not only understand the current cloth configuration but also be able to predict the future possible behaviors of the cloth. This paper addresses the problem of indirectly controlling the configuration of certain points of a textile object, by applying actions on other parts of the object through the use of a Model Predictive Control (MPC) strategy, which also allows to foresee the behavior of indirectly controlled points. The designed controller finds the optimal control signals to attain the desired future target configuration. The explored scenario in this paper considers tracking a reference trajectory with the lower corners of a square piece of cloth by grasping its upper corners. To do so, we propose and validate a linear cloth model that allows solving the MPC-related optimization problem in real time. Reinforcement Learning (RL) techniques are used to learn the optimal parameters of the proposed cloth model and also to tune the resulting MPC. After obtaining accurate tracking results in simulation, the full control scheme was implemented and executed in a real robot, obtaining accurate tracking even in adverse conditions. While total observed errors reach the 5 cm mark, for a 30x30 cm cloth, an analysis shows the MPC contributes less than 30% to that value.
Analyzing the Impact of Varied Window Hyper-parameters on Deep CNN for sEMG based Motion Intent Classification
Venue: arXiv cs.CV 2022
Year: 2022

The use of deep neural networks in electromyogram (EMG) based prostheses control provides a promising alternative to the hand-crafted features by automatically learning muscle activation patterns from the EMG signals. Meanwhile, the use of raw EMG signals as input to convolution neural networks (CNN) offers a simple, fast, and ideal scheme for effective control of prostheses. Therefore, this study investigates the relationship between window length and overlap, which may influence the generation of robust raw EMG 2-dimensional (2D) signals for application in CNN. And a rule of thumb for a proper combination of these parameters that could guarantee optimal network performance was derived. Moreover, we investigate the relationship between the CNN receptive window size and the raw EMG signal size. Experimental results show that the performance of the CNN increases with the increase in overlap within the generated signals, with the highest improvement of 9.49% accuracy and 23.33% F1-score realized when the overlap is 75% of the window length. Similarly, the network performance increases with the increase in receptive window (kernel) size. Findings from this study suggest that a combination of 75% overlap in 2D EMG signals and wider network kernels may provide ideal motor intents classification for adequate EMG-CNN based prostheses control scheme.
Expressive Reasoning Graph Store: A Unified Framework for Managing RDF and Property Graph Databases
Venue: arXiv cs.AI 2022
Year: 2022

Resource Description Framework (RDF) and Property Graph (PG) are the two most commonly used data models for representing, storing, and querying graph data. We present Expressive Reasoning Graph Store (ERGS) -- a graph store built on top of JanusGraph (a Property Graph store) that also allows storing and querying of RDF datasets. First, we describe how RDF data can be translated into a Property Graph representation and then describe a query translation module that converts SPARQL queries into a series of Gremlin traversals. The converters and translators thus developed can allow any Apache Tinkerpop compliant graph database to store and query RDF datasets. We demonstrate the effectiveness of our proposed approach using JanusGraph as the base Property Graph store and compare its performance with standard RDF systems.
White-Box and Black-Box Fuzzing for GraphQL APIs
Venue: arXiv cs.SE 2022
Year: 2022

The Graph Query Language (GraphQL) is a powerful language for APIs manipulation in web services. It has been recently introduced as an alternative solution for addressing the limitations of RESTful APIs. This paper introduces an automated solution for GraphQL APIs testing. We present a full framework for automated APIs testing, from the schema extraction to test case generation. In addition, we consider two kinds of testing: white-box and black-box testing. The white-box testing is performed when the source code of the GraphQL API is available. Our approach is based on evolutionary search. Test cases are evolved to intelligently explore the solution space while maximizing code coverage and fault-finding criteria. The black-box testing does not require access to the source code of the GraphQL API. It is therefore of more general applicability, albeit it has worse performance. In this context, we use a random search to generate GraphQL data. The proposed framework is implemented and integrated into the open-source EvoMaster tool. With enabled white-box heuristics, i.e., white-box mode, experiments on 7 open-source GraphQL APIs show statistically significant improvement of the evolutionary approach compared to the baseline random search. In addition, experiments on 31 online GraphQL APIs reveal the ability of the black-box mode to detect real faults.
Smart Contract Vulnerability Detection Technique: A Survey
Venue: arXiv cs.CR 2022
Year: 2022

Smart contract, one of the most successful applications of blockchain, is taking the world by storm, playing an essential role in the blockchain ecosystem. However, frequent smart contract security incidents not only result in tremendous economic losses but also destroy the blockchain-based credit system. The security and reliability of smart contracts thus gain extensive attention from researchers worldwide. In this survey, we first summarize the common types and typical cases of smart contract vulnerabilities from three levels, i.e., Solidity code layer, EVM execution layer, and Block dependency layer. Further, we review the research progress of smart contract vulnerability detection and classify existing counterparts into five categories, i.e., formal verification, symbolic execution, fuzzing detection, intermediate representation, and deep learning. Empirically, we take 300 real-world smart contracts deployed on Ethereum as the test samples and compare the representative methods in terms of accuracy, F1-Score, and average detection time. Finally, we discuss the challenges in the field of smart contract vulnerability detection and combine with the deep learning technology to look forward to future research directions.
Binaural Signal Representations for Joint Sound Event Detection and Acoustic Scene Classification
Venue: arXiv cs.SD 2022
Year: 2022

Sound event detection (SED) and Acoustic scene classification (ASC) are two widely researched audio tasks that constitute an important part of research on acoustic scene analysis. Considering shared information between sound events and acoustic scenes, performing both tasks jointly is a natural part of a complex machine listening system. In this paper, we investigate the usefulness of several spatial audio features in training a joint deep neural network (DNN) model performing SED and ASC. Experiments are performed for two different datasets containing binaural recordings and synchronous sound event and acoustic scene labels to analyse the differences between performing SED and ASC separately or jointly. The presented results show that the use of specific binaural features, mainly the Generalized Cross Correlation with Phase Transform (GCC-phat) and sines and cosines of phase differences, result in a better performing model in both separate and joint tasks as compared with baseline methods based on logmel energies only.
SongDriver: Real-time Music Accompaniment Generation without Logical Latency nor Exposure Bias
Venue: arXiv cs.SD 2022
Year: 2022

Real-time music accompaniment generation has a wide range of applications in the music industry, such as music education and live performances. However, automatic real-time music accompaniment generation is still understudied and often faces a trade-off between logical latency and exposure bias. In this paper, we propose SongDriver, a real-time music accompaniment generation system without logical latency nor exposure bias. Specifically, SongDriver divides one accompaniment generation task into two phases: 1) The arrangement phase, where a Transformer model first arranges chords for input melodies in real-time, and caches the chords for the next phase instead of playing them out. 2) The prediction phase, where a CRF model generates playable multi-track accompaniments for the coming melodies based on previously cached chords. With this two-phase strategy, SongDriver directly generates the accompaniment for the upcoming melody, achieving zero logical latency. Furthermore, when predicting chords for a timestep, SongDriver refers to the cached chords from the first phase rather than its previous predictions, which avoids the exposure bias problem. Since the input length is often constrained under real-time conditions, another potential problem is the loss of long-term sequential information. To make up for this disadvantage, we extract four musical features from a long-term music piece before the current time step as global information. In the experiment, we train SongDriver on some open-source datasets and an original àiSong Dataset built from Chinese-style modern pop music scores. The results show that SongDriver outperforms existing SOTA (state-of-the-art) models on both objective and subjective metrics, meanwhile significantly reducing the physical latency.
An Extensive Study of Residential Proxies in China
Venue: arXiv cs.CR 2022
Year: 2022

We carry out the first in-depth characterization of residential proxies (RESIPs) in China, for which little is studied in previous works. Our study is made possible through a semantic-based classifier to automatically capture RESIP services. In addition to the classifier, new techniques have also been identified to capture RESIPs without interacting with and relaying traffic through RESIP services, which can significantly lower the cost and thus allow a continuous monitoring of RESIPs. Our RESIP service classifier has achieved a good performance with a recall of 99.7% and a precision of 97.6% in 10-fold cross validation. Applying the classifier has identified 399 RESIP services, a much larger set compared to 38 RESIP services collected in all previous works. Our effort of RESIP capturing lead to a collection of 9,077,278 RESIP IPs (51.36% are located in China), 96.70% of which are not covered in publicly available RESIP datasets. An extensive measurement on RESIPs and their services has uncovered a set of interesting findings as well as several security implications. Especially, 80.05% RESIP IPs located in China have sourced at least one malicious traffic flows during 2021, resulting in 52-million malicious traffic flows in total. And RESIPs have also been observed in corporation networks of 559 sensitive organizations including government agencies, education institutions and enterprises. Also, 3,232,698 China RESIP IPs have opened at least one TCP/UDP ports for accepting relaying requests, which incurs non-negligible security risks to the local network of RESIPs. Besides, 91% China RESIP IPs are of a lifetime less than 10 days while most China RESIP services show up a crest-trough pattern in terms of the daily active RESIPs across time.
A CMOL-Like Memristor-CMOS Neuromorphic Chip-Core Demonstrating Stochastic Binary STDP
Venue: arXiv cs.ET 2022
Year: 2022

The advent of nanoscale memristors raised hopes of being able to build CMOL (CMOS/nanowire/moLecular) type ultra-dense in-memory-computing circuit architectures. In CMOL, nanoscale memristors would be fabricated at the intersection of nanowires. The CMOL concept can be exploited in neuromorphic hardware by fabricating lower-density neurons on CMOS and placing massive analog synaptic connectivity with nanowire and nanoscale-memristor fabric post-fabricated on top. However, technical problems have hindered such developments for presently available reliable commercial monolithic CMOS-memristor technologies. On one hand, each memristor needs a MOS selector transistor in series to guarantee forming and programming operations in large arrays. This results in compound MOS-memristor synapses (called 1T1R) which are no longer synapses at the crossing of nanowires. On the other hand, memristors do not yet constitute highly reliable, stable analog memories for massive analog-weight synapses with gradual learning. Here we demonstrate a pseudo-CMOL monolithic chip core that circumvents the two technical problems mentioned above by (a) exploiting a CMOL-like geometrical chip layout technique to improve density despite the 1T1R limitation, and (b) exploiting a binary weight stochastic Spike-Timing-Dependent-Plasticity (STDP) learning rule that takes advantage of the more reliable binary memory capability of the memristors used. Experimental results are provided for a spiking neural network (SNN) CMOL-core with 64 input neurons, 64 output neurons, and 4096 1T1R synapses, fabricated in 130nm CMOS with 200nm-sized Ti/HfOx/TiN memristors on top. The CMOL-core uses query-driven event read-out, which allows for memristor variability insensitive computations.
Bimanual crop manipulation for human-inspired robotic harvesting
Venue: arXiv cs.RO 2022
Year: 2022

Most existing robotic harvesters utilize a unimanual approach; a single arm grasps the crop and detaches it, either via a detachment movement, or by cutting its stem with a specially designed gripper/cutter end-effector. However, such unimanual solutions cannot be applied for sensitive crops and cluttered environments like grapes and a vineyard where obstacles may occlude the stem and leave no space for the cutter's placement. In such cases, the solution would require a bimanual robot in order to visually unveil the stem and manipulate the grasped crop to create cutting affordances which is similar to the practice used by humans. In this work, a dual-arm coordinated motion control methodology for reaching a stem pre-cut state is proposed. The camera equipped arm with the cutter is reaching the stem, unveiling it as much as possible, while the second arm is moving the grasped crop towards the surrounding free-space to facilitate its stem cutting. Lab experimentation on a mock-up vine setup with a plastic grape cluster evaluates the proposed methodology, involving two UR5e robotic arms and a RealSense D415 camera.
Analysing the Predictivity of Features to Characterise the Search Space
Venue: arXiv cs.LG 2022
Year: 2022

Exploring search spaces is one of the most unpredictable challenges that has attracted the interest of researchers for decades. One way to handle unpredictability is to characterise the search spaces and take actions accordingly. A well-characterised search space can assist in mapping the problem states to a set of operators for generating new problem states. In this paper, a landscape analysis-based set of features has been analysed using the most renown machine learning approaches to determine the optimal feature set. However, in order to deal with problem complexity and induce commonality for transferring experience across domains, the selection of the most representative features remains crucial. The proposed approach analyses the predictivity of a set of features in order to determine the best categorization.
A Stakeholder-Centered View on Fairness in Music Recommender Systems
Venue: arXiv cs.IR 2022
Year: 2022

Our narrative literature review acknowledges that, although there is an increasing interest in recommender system fairness in general, the music domain has received relatively little attention in this regard. However, addressing fairness of music recommender systems (MRSs) is highly important because the performance of these systems considerably impacts both the users of music streaming platforms and the artists providing music to those platforms. The distinct needs that these stakeholder groups may have, and the different aspects of fairness that therefore should be considered, make for a challenging research field with ample opportunities for improvement. The review first outlines current literature on MRS fairness from the perspective of each stakeholder and the stakeholders combined, and then identifies promising directions for future research. The two open questions arising from the review are as follows: (i) In the MRS field, only limited data is publicly available to conduct fairness research; most datasets either originate from the same source or are proprietary (and, thus, not widely accessible). How can we address this limited data availability? (ii) Overall, the review shows that the large majority of works analyze the current situation of MRS fairness, whereas only few works propose approaches to improve it. How can we move forward to a focus on improving fairness aspects in these recommender systems? At FAccTRec '22, we emphasize the specifics of addressing RS fairness in the music domain.
Unifying Causal Inference and Reinforcement Learning using Higher-Order Category Theory
Venue: arXiv cs.AI 2022
Year: 2022

We present a unified formalism for structure discovery of causal models and predictive state representation (PSR) models in reinforcement learning (RL) using higher-order category theory. Specifically, we model structure discovery in both settings using simplicial objects, contravariant functors from the category of ordinal numbers into any category. Fragments of causal models that are equivalent under conditional independence -- defined as causal horns -- as well as subsequences of potential tests in a predictive state representation -- defined as predictive horns -- are both special cases of horns of a simplicial object, subsets resulting from the removal of the interior and the face opposite a particular vertex. Latent structure discovery in both settings involve the same fundamental mathematical problem of finding extensions of horns of simplicial objects through solving lifting problems in commutative diagrams, and exploiting weak homotopies that define higher-order symmetries. Solutions to the problem of filling "inner" vs "outer" horns leads to various notions of higher-order categories, including weak Kan complexes and quasicategories. We define the abstract problem of structure discovery in both settings in terms of adjoint functors between the category of universal causal models or universal decision models and its simplicial object representation.
Exploring Code Style Transfer with Neural Networks
Venue: arXiv cs.CL 2022
Year: 2022

Style is a significant component of natural language text, reflecting a change in the tone of text while keeping the underlying information the same. Even though programming languages have strict syntax rules, they also have style. Code can be written with the same functionality but using different language features. However, programming style is difficult to quantify, and thus as part of this work, we define style attributes, specifically for Python. To build a definition of style, we utilized hierarchical clustering to capture a style definition without needing to specify transformations. In addition to defining style, we explore the capability of a pre-trained code language model to capture information about code style. To do this, we fine-tuned pre-trained code-language models and evaluated their performance in code style transfer tasks.
Data-adaptive Transfer Learning for Translation: A Case Study in Haitian and Jamaican
Venue: arXiv cs.CL 2022
Year: 2022

Multilingual transfer techniques often improve low-resource machine translation (MT). Many of these techniques are applied without considering data characteristics. We show in the context of Haitian-to-English translation that transfer effectiveness is correlated with amount of training data and relationships between knowledge-sharing languages. Our experiments suggest that for some languages beyond a threshold of authentic data, back-translation augmentation methods are counterproductive, while cross-lingual transfer from a sufficiently related language is preferred. We complement this finding by contributing a rule-based French-Haitian orthographic and syntactic engine and a novel method for phonological embedding. When used with multilingual techniques, orthographic transformation makes statistically significant improvements over conventional methods. And in very low-resource Jamaican MT, code-switching with a transfer language for orthographic resemblance yields a 6.63 BLEU point advantage.
Inline Tests
Venue: arXiv cs.SE 2022
Year: 2022

Unit tests are widely used to check source code quality, but they can be too coarse-grained or ill-suited for testing individual program statements. We introduce inline tests to make it easier to check for faults in statements. We motivate inline tests through several language features and a common testing scenario in which inline tests could be beneficial. For example, inline tests can allow a developer to test a regular expression in place. We also define language-agnostic requirements for inline testing frameworks. Lastly, we implement I-Test, the first inline testing framework. I-Test works for Python and Java, and it satisfies most of the requirements. We evaluate I-Test on open-source projects by using it to test 144 statements in 31 Python programs and 37 Java programs. We also perform a user study. All nine user study participants say that inline tests are easy to write and that inline testing is beneficial. The cost of running inline tests is negligible, at 0.007x--0.014x, and our inline tests helped find two faults that have been fixed by the developers.
Efficient Deobfuscation of Linear Mixed Boolean-Arithmetic Expressions
Venue: arXiv cs.CR 2022
Year: 2022

Mixed Boolean-Arithmetic (MBA) expressions are frequently used for obfuscation. As they combine arithmetic as well as Boolean operations, neither arithmetic laws nor transformation rules for logical formulas can be applied to suitably complex expressions, making MBAs hard to simplify and solve. In 2019, Liu et al. demystified linear MBAs, leveraging a transformation between the set $B=\{0,1\}$ of bit values and the set $B^n$ of words of length $n\in\mathbb{N}$ for linear MBAs, originally introduced by Zhou et al. in 2007. With their MBA-Blast and MBA-Solver algorithms, they outperform existing tools noticably in terms of performance as well as ability to simplify of such MBAs. We propose a surprisingly simple algorithm called SiMBA that improves upon MBA-Blast and MBA-Solver in that it can deobfuscate all linear MBAs, does not miss particularly simple solutions and takes only a fraction of their runtime.