OpenRaiser/Intern-Atlas huggingface dataset:
REF: A Rapid Exploration Framework for Deploying Autonomous MAVs in Unknown Environments
Venue: arXiv cs.RO 2022
Year: 2022

Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying MAVs in autonomous exploration missions in unknown subterranean areas. The main motive of exploration algorithms is to depict the next best frontier for the robot such that new ground can be covered in a fast, safe yet efficient manner. The proposed framework uses a novel frontier selection method that also contributes to the safe navigation of autonomous robots in obstructed areas such as subterranean caves, mines, and urban areas. The framework presented in this work bifurcates the exploration problem in local and global exploration. The proposed exploration framework is also adaptable according to computational resources available onboard the robot which means the trade-off between the speed of exploration and the quality of the map can be made. Such capability allows the proposed framework to be deployed in a subterranean exploration, mapping as well as in fast search and rescue scenarios. The overall system is considered a low-complexity and baseline solution for navigation and object localization in tunnel-like environments. The performance of the proposed framework is evaluated in detailed simulation studies with comparisons made against a high-level exploration-planning framework developed for the DARPA Sub-T challenge as it will be presented in this article.
Multilingual Transformers for Product Matching -- Experiments and a New Benchmark in Polish
Venue: arXiv cs.CL 2022
Year: 2022

Product matching corresponds to the task of matching identical products across different data sources. It typically employs available product features which, apart from being multimodal, i.e., comprised of various data types, might be non-homogeneous and incomplete. The paper shows that pre-trained, multilingual Transformer models, after fine-tuning, are suitable for solving the product matching problem using textual features both in English and Polish languages. We tested multilingual mBERT and XLM-RoBERTa models in English on Web Data Commons - training dataset and gold standard for large-scale product matching. The obtained results show that these models perform similarly to the latest solutions tested on this set, and in some cases, the results were even better. Additionally, we prepared a new dataset entirely in Polish and based on offers in selected categories obtained from several online stores for the research purpose. It is the first open dataset for product matching tasks in Polish, which allows comparing the effectiveness of the pre-trained models. Thus, we also showed the baseline results obtained by the fine-tuned mBERT and XLM-RoBERTa models on the Polish datasets.
Attribute Exploration with Multiple Contradicting Partial Experts
Venue: arXiv cs.AI 2022
Year: 2022

Attribute exploration is a method from Formal Concept Analysis (FCA) that helps a domain expert discover structural dependencies in knowledge domains which can be represented as formal contexts (cross tables of objects and attributes). In this paper we present an extension of attribute exploration that allows for a group of domain experts and explores their shared views. Each expert has their own view of the domain and the views of multiple experts may contain contradicting information.
Graph Backup: Data Efficient Backup Exploiting Markovian Transitions
Venue: arXiv cs.LG 2022
Year: 2022

The successes of deep Reinforcement Learning (RL) are limited to settings where we have a large stream of online experiences, but applying RL in the data-efficient setting with limited access to online interactions is still challenging. A key to data-efficient RL is good value estimation, but current methods in this space fail to fully utilise the structure of the trajectory data gathered from the environment. In this paper, we treat the transition data of the MDP as a graph, and define a novel backup operator, Graph Backup, which exploits this graph structure for better value estimation. Compared to multi-step backup methods such as $n$-step $Q$-Learning and TD($λ$), Graph Backup can perform counterfactual credit assignment and gives stable value estimates for a state regardless of which trajectory the state is sampled from. Our method, when combined with popular value-based methods, provides improved performance over one-step and multi-step methods on a suite of data-efficient RL benchmarks including MiniGrid, Minatar and Atari100K. We further analyse the reasons for this performance boost through a novel visualisation of the transition graphs of Atari games.
Wideband Time Frequency Coding
Venue: arXiv cs.IT 2022
Year: 2022

In the wideband regime, the performance of many of the popular modulation schemes such as code division multiple access and orthogonal frequency division multiplexing falls quickly without channel state information. Obtaining the amount of channel information required for these techniques to work is costly and difficult, which suggests the need for schemes which can perform well without channel state information. In this work, we present one such scheme, called wideband time frequency coding, which achieves rates on the order of the additive white Gaussian noise capacity without requiring any channel state information. Wideband time frequency coding combines impulsive frequency shift keying with pulse position modulation, which allows for information to be encoded in both the transmitted frequency and the transmission time period. On the detection side, we propose a non-coherent decoder based on a square-law detector, akin to the optimal decoder for frequency shift keying based signals. The impacts of various parameters on the symbol error probability and capacity of wideband time frequency coding are investigated, and the results show that it is robust to shadowing and highly fading channels. When compared to other modulation schemes such as code division multiple access, orthogonal frequency division multiplexing, pulse position modulation, and impulsive frequency shift keying without channel state information, wideband time frequency coding achieves higher rates in the wideband regime, and performs comparably in smaller bandwidths.
Using Source Code Metrics for Predicting Metamorphic Relations at Method Level
Venue: arXiv cs.SE 2022
Year: 2022

Metamorphic testing (TM) examines the relations between inputs and outputs of test runs. These relations are known as metamorphic relations (MR). Currently, MRs are handpicked and require in-depth knowledge of the System Under Test (SUT), as well as its problem domain. As a result, the identification and selection of high-quality MRs is a challenge. \citeauthor{PMR1} suggested the Predicting Metamorphic Relations (PMR) approach for automatic prediction of applicable MRs picked from a predefined list. PMR is based on a Support Vector Machine (SVM) model using features derived from the Control Flow Graphs (CFGs) of 100 Java methods. The original study of \citeauthor{PMR1} showed encouraging results, but developing classification models from CFG-related features is costly. In this paper, we aim at developing a PMR approach that is less costly without losing performance. We complement the original PMR approach by considering other than CFG-related features. We define 21 features that can be directly extracted from source code and build several classifiers, including SVM models. Our results indicate that using the original CFG-based method-level features, in particular for a SVM with random walk kernel (RWK), achieve better predictions in terms of AUC-ROC for most of the candidate MRs than our models. However, for one of the candidate MRs, using source code features achieved the best AUC-ROC result (greater than 0.8).
SaccadeNet: Towards Real-time Saccade Prediction for Virtual Reality Infinite Walking
Venue: arXiv cs.GR 2022
Year: 2022

Modern Redirected Walking (RDW) techniques significantly outperform classical solutions. Nevertheless, they are often limited by their heavy reliance on eye-tracking hardware embedded within the VR headset to reveal redirection opportunities. We propose a novel RDW technique that leverages the temporary blindness induced due to saccades for redirection. However, unlike the state-of-the-art, our approach does not impose additional eye-tracking hardware requirements. Instead, SaccadeNet, a deep neural network, is trained on head rotation data to predict saccades in real-time during an apparent head rotation. Rigid transformations are then applied to the virtual environment for redirection during the onset duration of these saccades. However, SaccadeNet is only effective when combined with moderate cognitive workload that elicits repeated head rotations. We present three user studies. The relationship between head and gaze directions is confirmed in the first user study, followed by the training data collection in our second user study. Then, after some fine-tuning experiments, the performance of our RDW technique is evaluated in a third user study. Finally, we present the results demonstrating the efficacy of our approach. It allowed users to walk up a straight virtual distance of at least 38 meters from within a $3.5 x 3.5m^2$ of the physical tracked space. Moreover, our system unlocks saccadic redirection on widely used consumer-grade hardware without eye-tracking.
LEXpander: applying colexification networks to automated lexicon expansion
Venue: arXiv cs.CL 2022
Year: 2022

Recent approaches to text analysis from social media and other corpora rely on word lists to detect topics, measure meaning, or to select relevant documents. These lists are often generated by applying computational lexicon expansion methods to small, manually-curated sets of root words. Despite the wide use of this approach, we still lack an exhaustive comparative analysis of the performance of lexicon expansion methods and how they can be improved with additional linguistic data. In this work, we present LEXpander, a method for lexicon expansion that leverages novel data on colexification, i.e. semantic networks connecting words based on shared concepts and translations to other languages. We evaluate LEXpander in a benchmark including widely used methods for lexicon expansion based on various word embedding models and synonym networks. We find that LEXpander outperforms existing approaches in terms of both precision and the trade-off between precision and recall of generated word lists in a variety of tests. Our benchmark includes several linguistic categories and sentiment variables in English and German. We also show that the expanded word lists constitute a high-performing text analysis method in application cases to various corpora. This way, LEXpander poses a systematic automated solution to expand short lists of words into exhaustive and accurate word lists that can closely approximate word lists generated by experts in psychology and linguistics.
A Review of Mobile Mapping Systems: From Sensors to Applications
Venue: arXiv cs.CV 2022
Year: 2022

The evolution of mobile mapping systems (MMSs) has gained more attention in the past few decades. MMSs have been widely used to provide valuable assets in different applications. This has been facilitated by the wide availability of low-cost sensors, the advances in computational resources, the maturity of the mapping algorithms, and the need for accurate and on-demand geographic information system (GIS) data and digital maps. Many MMSs combine hybrid sensors to provide a more informative, robust, and stable solution by complementing each other. In this paper, we present a comprehensive review of the modern MMSs by focusing on 1) the types of sensors and platforms, where we discuss their capabilities, limitations, and also provide a comprehensive overview of recent MMS technologies available in the market, 2) highlighting the general workflow to process any MMS data, 3) identifying the different use cases of mobile mapping technology by reviewing some of the common applications, and 4) presenting a discussion on the benefits, challenges, and share our views on the potential research directions.
3D-model ShapeNet Core Classification using Meta-Semantic Learning
Venue: arXiv cs.CV 2022
Year: 2022

Understanding 3D point cloud models for learning purposes has become an imperative challenge for real-world identification such as autonomous driving systems. A wide variety of solutions using deep learning have been proposed for point cloud segmentation, object detection, and classification. These methods, however, often require a considerable number of model parameters and are computationally expensive. We study a semantic dimension of given 3D data points and propose an efficient method called Meta-Semantic Learning (Meta-SeL). Meta-SeL is an integrated framework that leverages two input 3D local points (input 3D models and part-segmentation labels), providing a time and cost-efficient, and precise projection model for a number of 3D recognition tasks. The results indicate that Meta-SeL yields competitive performance in comparison with other complex state-of-the-art work. Moreover, being random shuffle invariant, Meta-SeL is resilient to translation as well as jittering noise.
An Effective and Efficient Evolutionary Algorithm for Many-Objective Optimization
Venue: arXiv cs.NE 2022
Year: 2022

In evolutionary multiobjective optimization, effectiveness refers to how an evolutionary algorithm performs in terms of converging its solutions into the Pareto front and also diversifying them over the front. This is not an easy job, particularly for optimization problems with more than three objectives, dubbed many-objective optimization problems. In such problems, classic Pareto-based algorithms fail to provide sufficient selection pressure towards the Pareto front, whilst recently developed algorithms, such as decomposition-based ones, may struggle to maintain a set of well-distributed solutions on certain problems (e.g., those with irregular Pareto fronts). Another issue in some many-objective optimizers is rapidly increasing computational requirement with the number of objectives, such as hypervolume-based algorithms and shift-based density estimation (SDE) methods. In this paper, we aim to address this problem and develop an effective and efficient evolutionary algorithm (E3A) that can handle various many-objective problems. In E3A, inspired by SDE, a novel population maintenance method is proposed to select high-quality solutions in the environmental selection procedure. We conduct extensive experiments and show that E3A performs better than 11 state-of-the-art many-objective evolutionary algorithms in quickly finding a set of well-converged and well-diversified solutions.
Synthesizing Configuration Tactics for Exercising Hidden Options in Serverless Systems
Venue: arXiv cs.SE 2022
Year: 2022

A proper configuration of an information system can ensure accuracy and efficiency, among other system objectives. Conversely, a poor configuration can have a significant negative impact on the system's performance, reliability, and cost. Serverless systems, which are comprised of many functions and managed services, especially risk exposure to misconfigurations, with many provider- and platform-specific, often intransparent and 'hidden' settings. In this paper, we argue to pay close attention to the configuration of serverless systems to exercise options with known accuracy, cost and time. Based on a literature study and long-term serverless systems development experience, we present nine tactics to unlock potentially neglected and unknown options in serverless systems.
IFCIL: An Information Flow Configuration Language for SELinux (Extended Version)
Venue: arXiv cs.CR 2022
Year: 2022

Security Enhanced Linux (SELinux) is a security architecture for Linux implementing mandatory access control. It has been used in numerous security-critical contexts ranging from servers to mobile devices. But this is challenging as SELinux security policies are difficult to write, understand, and maintain. Recently, the intermediate language CIL was introduced to foster the development of high-level policy languages and to write structured configurations. However, CIL lacks mechanisms for ensuring that the resulting configurations obey desired information flow policies. To remedy this, we propose IFCIL, a backward compatible extension of CIL for specifying fine-grained information flow requirements for CIL configurations. Using IFCIL, administrators can express, e.g., confidentiality, integrity, and non-interference properties. We also provide a tool to statically verify these requirements.
The Environmental Discontinuity Hypothesis for Down-Sampled Lexicase Selection
Venue: arXiv cs.NE 2022
Year: 2022

Down-sampling training data has long been shown to improve the generalization performance of a wide range of machine learning systems. Recently, down-sampling has proved effective in genetic programming (GP) runs that utilize the lexicase parent selection technique. Although this down-sampling procedure has been shown to significantly improve performance across a variety of problems, it does not seem to do so due to encouraging adaptability through environmental change. We hypothesize that the random sampling that is performed every generation causes discontinuities that result in the population being unable to adapt to the shifting environment. We investigate modifications to down-sampled lexicase selection in hopes of promoting incremental environmental change to scaffold evolution by reducing the amount of jarring discontinuities between the environments of successive generations. In our empirical studies, we find that forcing incremental environmental change is not significantly better for evolving solutions to program synthesis problems than simple random down-sampling. In response to this, we attempt to exacerbate the hypothesized prevalence of discontinuities by using only disjoint down-samples to see if it hinders performance. We find that this also does not significantly differ from the performance of regular random down-sampling. These negative results raise new questions about the ways in which the composition of sub-samples, which may include synonymous cases, may be expected to influence the performance of machine learning systems that use down-sampling.
Knowledge Graph - Deep Learning: A Case Study in Question Answering in Aviation Safety Domain
Venue: arXiv cs.CL 2022
Year: 2022

In the commercial aviation domain, there are a large number of documents, like, accident reports (NTSB, ASRS) and regulatory directives (ADs). There is a need for a system to access these diverse repositories efficiently in order to service needs in the aviation industry, like maintenance, compliance, and safety. In this paper, we propose a Knowledge Graph (KG) guided Deep Learning (DL) based Question Answering (QA) system for aviation safety. We construct a Knowledge Graph from Aircraft Accident reports and contribute this resource to the community of researchers. The efficacy of this resource is tested and proved by the aforesaid QA system. Natural Language Queries constructed from the documents mentioned above are converted into SPARQL (the interface language of the RDF graph database) queries and answered. On the DL side, we have two different QA models: (i) BERT QA which is a pipeline of Passage Retrieval (Sentence-BERT based) and Question Answering (BERT based), and (ii) the recently released GPT-3. We evaluate our system on a set of queries created from the accident reports. Our combined QA system achieves 9.3% increase in accuracy over GPT-3 and 40.3% increase over BERT QA. Thus, we infer that KG-DL performs better than either singly.
FedHarmony: Unlearning Scanner Bias with Distributed Data
Venue: arXiv cs.LG 2022
Year: 2022

The ability to combine data across scanners and studies is vital for neuroimaging, to increase both statistical power and the representation of biological variability. However, combining datasets across sites leads to two challenges: first, an increase in undesirable non-biological variance due to scanner and acquisition differences - the harmonisation problem - and second, data privacy concerns due to the inherently personal nature of medical imaging data, meaning that sharing them across sites may risk violation of privacy laws. To overcome these restrictions, we propose FedHarmony: a harmonisation framework operating in the federated learning paradigm. We show that to remove the scanner-specific effects, we only need to share the mean and standard deviation of the learned features, helping to protect individual subjects' privacy. We demonstrate our approach across a range of realistic data scenarios, using real multi-site data from the ABIDE dataset, thus showing the potential utility of our method for MRI harmonisation across studies. Our code is available at https://github.com/nkdinsdale/FedHarmony.
K-Detector: Identifying Duplicate Crash Failures in Large-Scale Software Delivery
Venue: arXiv cs.SE 2022
Year: 2022

After a developer submits code, corresponding test cases arise to ensure the quality of software delivery. Test failures would occur during this period, such as crash, error, and timeout. Since it takes time for developers to resolve them, many duplicate failures will happen during this period. In the delivery practice of SAP HANA, crash triage is considered as the most time-consuming task. If duplicate crash failures can be automatically identified, the degree of automation will be significantly enhanced. To find such duplicates, we propose a training-based mathematical model that utilizes component information of SAP HANA to achieve better crash similarity comparison. We implement our approach in a tool named Knowledge-based Detector (K-Detector), which is verified by 11,208 samples and performs 0.986 in AUC. Furthermore, we have deployed K-Detector to the production environment, and it can save 97% human efforts in crash triage as statistics.
Cascade Luminance and Chrominance for Image Retouching: More Like Artist
Venue: arXiv cs.CV 2022
Year: 2022

Photo retouching aims to adjust the luminance, contrast, and saturation of the image to make it more human aesthetically desirable. However, artists' actions in photo retouching are difficult to quantitatively analyze. By investigating their retouching behaviors, we propose a two-stage network that brightens images first and then enriches them in the chrominance plane. Six pieces of useful information from image EXIF are picked as the network's condition input. Additionally, hue palette loss is added to make the image more vibrant. Based on the above three aspects, Luminance-Chrominance Cascading Net(LCCNet) makes the machine learning problem of mimicking artists in photo retouching more reasonable. Experiments show that our method is effective on the benchmark MIT-Adobe FiveK dataset, and achieves state-of-the-art performance for both quantitative and qualitative evaluation.