OpenRaiser/Intern-Atlas huggingface dataset:
PARIOT: Anti-Repackaging for IoT Firmware Integrity
Venue: arXiv cs.CR 2023
Year: 2023

IoT repackaging refers to an attack devoted to tampering with a legitimate firmware package by modifying its content (e.g., injecting some malicious code) and re-distributing it in the wild. In such a scenario, the firmware delivery and update processes play a central role in ensuring firmware integrity. Unfortunately, several existing solutions lack proper integrity verification, exposing firmware to repackaging attacks. If this is not the case, they still require an external trust anchor (e.g., signing keys or secure storage technologies), which could limit their adoption in resource-constrained environments. In addition, state-of-the-art frameworks do not cope with the entire firmware production and delivery process, thereby failing to protect the content generated by the firmware producers through the whole supply chain. To mitigate such a problem, in this paper, we introduce PARIOT, a novel self-protecting scheme for IoT that allows the injection of integrity checks, called anti-tampering (AT) controls, directly into the firmware. The AT controls enable the runtime detection of repackaging attempts without needing external trust anchors or computationally expensive systems. PARIOT can be adopted on top of existing state-of-the-art solutions ensuring the widest compatibility with current IoT ecosystems and update frameworks. Also, we have implemented this scheme into PARIOTIC, a prototype to automatically protect C/C++ IoT firmware. The evaluation phase of 50 real-world firmware samples demonstrated the feasibility of the proposed methodology and its robustness against practical repackaging attacks without altering the firmware behavior or severe overheads.
Trajectory Optimization with Optimization-Based Dynamics
Venue: arXiv cs.RO 2023
Year: 2023

We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and smooth gradients of this lower-level problem are passed to an upper-level trajectory optimizer. This optimization-based dynamics representation enables constraint handling, additional variables, and non-smooth behavior to be abstracted away from the upper-level optimizer, and allows classical unconstrained optimizers to synthesize trajectories for more complex systems. We provide an interior-point method for efficient evaluation of constrained dynamics and utilize implicit differentiation to compute smooth gradients of this representation. We demonstrate the framework by modeling systems from locomotion, aerospace, and manipulation domains including: acrobot with joint limits, cart-pole subject to Coulomb friction, Raibert hopper, rocket landing with thrust limits, and planar-push task with optimization-based dynamics and then optimize trajectories using iterative LQR.
On syntactically similar logic programs and sequential decompositions
Venue: arXiv cs.AI 2023
Year: 2023

Rule-based reasoning is an essential part of human intelligence prominently formalized in artificial intelligence research via logic programs. Describing complex objects as the composition of elementary ones is a common strategy in computer science and science in general. The author has recently introduced the sequential composition of logic programs in the context of logic-based analogical reasoning and learning in logic programming. Motivated by these applications, in this paper we construct a qualitative and algebraic notion of syntactic logic program similarity from sequential decompositions of programs. We then show how similarity can be used to answer queries across different domains via a one-step reduction. In a broader sense, this paper is a further step towards an algebraic theory of logic programming.
Variational Disentanglement for Domain Generalization
Venue: arXiv cs.CV 2023
Year: 2023

Domain generalization aims to learn an invariant model that can generalize well to the unseen target domain. In this paper, we propose to tackle the problem of domain generalization by delivering an effective framework named Variational Disentanglement Network (VDN), which is capable of disentangling the domain-specific features and task-specific features, where the task-specific features are expected to be better generalized to unseen but related test data. We further show the rationale of our proposed method by proving that our proposed framework is equivalent to minimize the evidence upper bound of the divergence between the distribution of task-specific features and its invariant ground truth derived from variational inference. We conduct extensive experiments to verify our method on three benchmarks, and both quantitative and qualitative results illustrate the effectiveness of our method.
Improving Scheduled Sampling with Elastic Weight Consolidation for Neural Machine Translation
Venue: arXiv cs.CL 2023
Year: 2023

Despite strong performance in many sequence-to-sequence tasks, autoregressive models trained with maximum likelihood estimation suffer from exposure bias, i.e. the discrepancy between the ground-truth prefixes used during training and the model-generated prefixes used at inference time. Scheduled sampling is a simple and empirically successful approach which addresses this issue by incorporating model-generated prefixes into training. However, it has been argued that it is an inconsistent training objective leading to models ignoring the prefixes altogether. In this paper, we conduct systematic experiments and find that scheduled sampling, while it ameliorates exposure bias by increasing model reliance on the input sequence, worsens performance when the prefix at inference time is correct, a form of catastrophic forgetting. We propose to use Elastic Weight Consolidation to better balance mitigating exposure bias with retaining performance. Experiments on four IWSLT'14 and WMT'14 translation datasets demonstrate that our approach alleviates catastrophic forgetting and significantly outperforms maximum likelihood estimation and scheduled sampling baselines.
A Dyadic Simulation Approach to Efficient Range-Summability
Venue: arXiv cs.DS 2023
Year: 2023

Efficient range-summability (ERS) of a long list of random variables is a fundamental algorithmic problem that has applications to three important database applications, namely, data stream processing, space-efficient histogram maintenance (SEHM), and approximate nearest neighbor searches (ANNS). In this work, we propose a novel dyadic simulation framework and develop three novel ERS solutions, namely Gaussian-dyadic simulation tree (DST), Cauchy-DST and Random Walk-DST, using it. We also propose novel rejection sampling techniques to make these solutions computationally efficient. Furthermore, we develop a novel k-wise independence theory that allows our ERS solutions to have both high computational efficiencies and strong provable independence guarantees.
Deploying clinical machine learning? Consider the following...
Venue: arXiv cs.LG 2023
Year: 2023

Despite the intense attention and considerable investment into clinical machine learning research, relatively few applications have been deployed at a large-scale in a real-world clinical environment. While research is important in advancing the state-of-the-art, translation is equally important in bringing these techniques and technologies into a position to ultimately impact healthcare. We believe a lack of appreciation for several considerations are a major cause for this discrepancy between expectation and reality. To better characterize a holistic perspective among researchers and practitioners, we survey several practitioners with commercial experience in developing CML for clinical deployment. Using these insights, we identify several main categories of challenges in order to better design and develop clinical machine learning applications.
Design Guidelines for Prompt Engineering Text-to-Image Generative Models
Venue: arXiv cs.HC 2023
Year: 2023

Text-to-image generative models are a new and powerful way to generate visual artwork. However, the open-ended nature of text as interaction is double-edged; while users can input anything and have access to an infinite range of generations, they also must engage in brute-force trial and error with the text prompt when the result quality is poor. We conduct a study exploring what prompt keywords and model hyperparameters can help produce coherent outputs. In particular, we study prompts structured to include subject and style keywords and investigate success and failure modes of these prompts. Our evaluation of 5493 generations over the course of five experiments spans 51 abstract and concrete subjects as well as 51 abstract and figurative styles. From this evaluation, we present design guidelines that can help people produce better outcomes from text-to-image generative models.
Inequality Constrained Trajectory Optimization with A Hybrid Multiple-shooting iLQR
Venue: arXiv cs.RO 2023
Year: 2023

Trajectory optimization has been used extensively in robotic systems. In particular, iterative Linear Quadratic Regulator (iLQR) has performed well as an off-line planner and online nonlinear model predictive control solver, with a lower computational cost. However, standard iLQR cannot handle any constraints or perform reasonable initialization of a state trajectory. In this paper, we propose a hybrid constrained iLQR variant with a multiple-shooting framework to incorporate general inequality constraints and infeasible states initialization. The main technical contributions are twofold: 1) In addition to inheriting the simplicity of the initialization in multiple-shooting settings, a two-stage framework is developed to deal with state and/or control constraints robustly without loss of the linear feedback term of iLQR. Such a hybrid strategy offers fast convergence of constraint satisfaction. 2) An improved globalization strategy is proposed to exploit the coupled effects between line-searching and regularization, which is able to enhance the numerical robustness of the constrained iLQR approaches. Our approach is tested on various constrained trajectory optimization problems and outperforms the commonly-used collocation and shooting methods.
Studying Fake News Spreading, Polarisation Dynamics, and Manipulation by Bots: a Tale of Networks and Language
Venue: arXiv cs.CY 2023
Year: 2023

With the explosive growth of online social media, the ancient problem of information disorders interfering with news diffusion has surfaced with a renewed intensity threatening our democracies, public health, and news outlets' credibility. Therefore, thousands of scientific papers have been published in a relatively short period, making researchers of different disciplines struggle with an information overload problem. The aim of this survey is threefold: (1) we present the results of a network-based analysis of the existing multidisciplinary literature to support the search for relevant trends and central publications; (2) we describe the main results and necessary background to attack the problem under a computational perspective; (3) we review selected contributions using network science as a unifying framework and computational linguistics as the tool to make sense of the shared content. Despite scholars working on computational linguistics and networks traditionally belong to different scientific communities, we expect that those interested in the area of fake news should be aware of crucial aspects of both disciplines.
Measuring Fairness Under Unawareness of Sensitive Attributes: A Quantification-Based Approach
Venue: arXiv cs.CY 2023
Year: 2023

Algorithms and models are increasingly deployed to inform decisions about people, inevitably affecting their lives. As a consequence, those in charge of developing these models must carefully evaluate their impact on different groups of people and favour group fairness, that is, ensure that groups determined by sensitive demographic attributes, such as race or sex, are not treated unjustly. To achieve this goal, the availability (awareness) of these demographic attributes to those evaluating the impact of these models is fundamental. Unfortunately, collecting and storing these attributes is often in conflict with industry practices and legislation on data minimisation and privacy. For this reason, it can be hard to measure the group fairness of trained models, even from within the companies developing them. In this work, we tackle the problem of measuring group fairness under unawareness of sensitive attributes, by using techniques from quantification, a supervised learning task concerned with directly providing group-level prevalence estimates (rather than individual-level class labels). We show that quantification approaches are particularly suited to tackle the fairness-under-unawareness problem, as they are robust to inevitable distribution shifts while at the same time decoupling the (desirable) objective of measuring group fairness from the (undesirable) side effect of allowing the inference of sensitive attributes of individuals. More in detail, we show that fairness under unawareness can be cast as a quantification problem and solved with proven methods from the quantification literature. We show that these methods outperform previous approaches to measure demographic parity in five experimental protocols, corresponding to important challenges that complicate the estimation of classifier fairness under unawareness.
Benchmarking Augmentation Methods for Learning Robust Navigation Agents: the Winning Entry of the 2021 iGibson Challenge
Venue: arXiv cs.RO 2023
Year: 2023

Recent advances in deep reinforcement learning and scalable photorealistic simulation have led to increasingly mature embodied AI for various visual tasks, including navigation. However, while impressive progress has been made for teaching embodied agents to navigate static environments, much less progress has been made on more dynamic environments that may include moving pedestrians or movable obstacles. In this study, we aim to benchmark different augmentation techniques for improving the agent's performance in these challenging environments. We show that adding several dynamic obstacles into the scene during training confers significant improvements in test-time generalization, achieving much higher success rates than baseline agents. We find that this approach can also be combined with image augmentation methods to achieve even higher success rates. Additionally, we show that this approach is also more robust to sim-to-sim transfer than image augmentation methods. Finally, we demonstrate the effectiveness of this dynamic obstacle augmentation approach by using it to train an agent for the 2021 iGibson Challenge at CVPR, where it achieved 1st place for Interactive Navigation. Video link: https://www.youtube.com/watch?v=HxUX2HeOSE4
Label-Assemble: Leveraging Multiple Datasets with Partial Labels
Venue: arXiv cs.CV 2023
Year: 2023

The success of deep learning relies heavily on large labeled datasets, but we often only have access to several small datasets associated with partial labels. To address this problem, we propose a new initiative, "Label-Assemble", that aims to unleash the full potential of partial labels from an assembly of public datasets. We discovered that learning from negative examples facilitates both computer-aided disease diagnosis and detection. This discovery will be particularly crucial in novel disease diagnosis, where positive examples are hard to collect, yet negative examples are relatively easier to assemble. For example, assembling existing labels from NIH ChestX-ray14 (available since 2017) significantly improves the accuracy of COVID-19 diagnosis from 96.3% to 99.3%. In addition to diagnosis, assembling labels can also improve disease detection, e.g., the detection of pancreatic ductal adenocarcinoma (PDAC) can greatly benefit from leveraging the labels of Cysts and PanNets (two other types of pancreatic abnormalities), increasing sensitivity from 52.1% to 84.0% while maintaining a high specificity of 98.0%.
A Biologically-Inspired Simultaneous Localization and Mapping System Based on LiDAR Sensor
Venue: arXiv cs.RO 2023
Year: 2023

Simultaneous localization and mapping (SLAM) is one of the essential techniques and functionalities used by robots to perform autonomous navigation tasks. Inspired by the rodent hippocampus, this paper presents a biologically inspired SLAM system based on a LiDAR sensor using a hippocampal model to build a cognitive map and estimate the robot pose in indoor environments. Based on the biologically inspired models mimicking boundary cells, place cells, and head direction cells, the SLAM system using LiDAR point cloud data is capable of leveraging the self-motion cues from the LiDAR odometry and the boundary cues from the LiDAR boundary cells to build a cognitive map and estimate the robot pose. Experiment results show that with the LiDAR boundary cells the proposed SLAM system greatly outperforms the camera-based brain-inspired method in both simulation and indoor environments, and is competitive with the conventional LiDAR-based SLAM methods.
DEBOSH: Deep Bayesian Shape Optimization
Venue: arXiv cs.LG 2023
Year: 2023

Graph Neural Networks (GNNs) can predict the performance of an industrial design quickly and accurately and be used to optimize its shape effectively. However, to fully explore the shape space, one must often consider shapes deviating significantly from the training set. For these, GNN predictions become unreliable, something that is often ignored. For optimization techniques relying on Gaussian Processes, Bayesian Optimization (BO) addresses this issue by exploiting their ability to assess their own accuracy. Unfortunately, this is harder to do when using neural networks because standard approaches to estimating their uncertainty can entail high computational loads and reduced model accuracy. Hence, we propose a novel uncertainty-based method tailored to shape optimization. It enables effective BO and increases the quality of the resulting shapes beyond that of state-of-the-art approaches.
5G NR-Light at Millimeter Waves: Design Guidelines for Mid-Market IoT Use Cases
Venue: arXiv cs.NI 2023
Year: 2023

5th generation (5G) systems have been designed with three main objectives in mind: increasing throughput, reducing latency, and enabling reliable communications. To meet these (often conflicting) constraints, the 3GPP released a set of specifications for 5G NR, one of the main innovations being the support for communications in the millimeter wave (mmWave) bands. However, how to implement lower complexity, energy efficient, mid-market Internet of Things (IoT) applications is still an on-going investigation, currently led by the 3GPP which is extending the NR standard with NR-Light specifications to support devices with reduced capabilities (REDCAP). While REDCAP devices may also operate at mmWaves to improve the network performance, hardware/software simplifications are needed to support balanced and mixed requirements compared to 5G NR systems. In this context, the contributions of this paper are threefold. First, we present some NR-Light use cases for which the support of the mmWave bands is desirable. Second, we describe how 5G NR can be simplified to achieve NR-Light requirements and expectations. Finally, we evaluate via simulation the performance of NR-Light devices operating at mmWaves in an industrial IoT setup, in terms of cost and complexity, throughput, and latency.
Which Design Decisions in AI-enabled Mobile Applications Contribute to Greener AI?
Venue: arXiv cs.LG 2023
Year: 2023

Background: The construction, evolution and usage of complex artificial intelligence (AI) models demand expensive computational resources. While currently available high-performance computing environments support well this complexity, the deployment of AI models in mobile devices, which is an increasing trend, is challenging. Mobile applications consist of environments with low computational resources and hence imply limitations in the design decisions during the AI-enabled software engineering lifecycle that balance the trade-off between the accuracy and the complexity of the mobile applications. Objective: Our objective is to systematically assess the trade-off between accuracy and complexity when deploying complex AI models (e.g. neural networks) to mobile devices, which have an implicit resource limitation. We aim to cover (i) the impact of the design decisions on the achievement of high-accuracy and low resource-consumption implementations; and (ii) the validation of profiling tools for systematically promoting greener AI. Method: This confirmatory registered report consists of a plan to conduct an empirical study to quantify the implications of the design decisions on AI-enabled applications performance and to report experiences of the end-to-end AI-enabled software engineering lifecycle. Concretely, we will implement both image-based and language-based neural networks in mobile applications to solve multiple image classification and text classification problems on different benchmark datasets. Overall, we plan to model the accuracy and complexity of AI-enabled applications in operation with respect to their design decisions and will provide tools for allowing practitioners to gain consciousness of the quantitative relationship between the design decisions and the green characteristics of study.
Brand Attitude in Social Networks: The Role of eWoM
Venue: arXiv cs.IT 2023
Year: 2023

This study aims to examine the impact of electronic word-of-mouth (eWoM) marketing on branding attitudes in social networks. Specifically, we investigate the effects of eWoM activities on brand awareness, brand destruction, branding, brand image, and brand competition. To gather data, we conducted a survey among followers of the Vizland shoe page on the Instagram social network. Statistical analysis was performed using SPSS software, and hypotheses were tested using SmartPLS software. The results indicate that eWoM significantly and positively influences branding, brand image, and brand awareness, while it does not have an impact on brand destruction. Additionally, branding and brand destruction are found to play a crucial role in gaining competitive advantage. Therefore, eWoM activities contribute to enhancing the brand relationship.
A Survey of Knowledge Enhanced Pre-trained Models
Venue: arXiv cs.CL 2023
Year: 2023

Pre-trained language models learn informative word representations on a large-scale text corpus through self-supervised learning, which has achieved promising performance in fields of natural language processing (NLP) after fine-tuning. These models, however, suffer from poor robustness and lack of interpretability. We refer to pre-trained language models with knowledge injection as knowledge-enhanced pre-trained language models (KEPLMs). These models demonstrate deep understanding and logical reasoning and introduce interpretability. In this survey, we provide a comprehensive overview of KEPLMs in NLP. We first discuss the advancements in pre-trained language models and knowledge representation learning. Then we systematically categorize existing KEPLMs from three different perspectives. Finally, we outline some potential directions of KEPLMs for future research.