OpenRaiser/Intern-Atlas huggingface dataset:
Full-Body Visual Self-Modeling of Robot Morphologies
Venue: arXiv cs.RO 2021
Year: 2021

Internal computational models of physical bodies are fundamental to the ability of robots and animals alike to plan and control their actions. These "self-models" allow robots to consider outcomes of multiple possible future actions, without trying them out in physical reality. Recent progress in fully data-driven self-modeling has enabled machines to learn their own forward kinematics directly from task-agnostic interaction data. However, forward-kinema\-tics models can only predict limited aspects of the morphology, such as the position of end effectors or velocity of joints and masses. A key challenge is to model the entire morphology and kinematics, without prior knowledge of what aspects of the morphology will be relevant to future tasks. Here, we propose that instead of directly modeling forward-kinematics, a more useful form of self-modeling is one that could answer space occupancy queries, conditioned on the robot's state. Such query-driven self models are continuous in the spatial domain, memory efficient, fully differentiable and kinematic aware. In physical experiments, we demonstrate how a visual self-model is accurate to about one percent of the workspace, enabling the robot to perform various motion planning and control tasks. Visual self-modeling can also allow the robot to detect, localize and recover from real-world damage, leading to improved machine resiliency. Our project website is at: https://robot-morphology.cs.columbia.edu/
Variational Auto-Encoder Architectures that Excel at Causal Inference
Venue: arXiv cs.LG 2021
Year: 2021

Estimating causal effects from observational data (at either an individual -- or a population -- level) is critical for making many types of decisions. One approach to address this task is to learn decomposed representations of the underlying factors of data; this becomes significantly more challenging when there are confounding factors (which influence both the cause and the effect). In this paper, we take a generative approach that builds on the recent advances in Variational Auto-Encoders to simultaneously learn those underlying factors as well as the causal effects. We propose a progressive sequence of models, where each improves over the previous one, culminating in the Hybrid model. Our empirical results demonstrate that the performance of all three proposed models are superior to both state-of-the-art discriminative as well as other generative approaches in the literature.
An Enhanced Adaptive Bi-clustering Algorithm through Building a Shielding Complex Sub-Matrix
Venue: arXiv cs.LG 2021
Year: 2021

Bi-clustering refers to the task of finding sub-matrices (indexed by a group of columns and a group of rows) within a matrix of data such that the elements of each sub-matrix (data and features) are related in a particular way, for instance, that they are similar with respect to some metric. In this paper, after analyzing the well-known Cheng and Church (CC) bi-clustering algorithm which has been proved to be an effective tool for mining co-expressed genes. However, Cheng and Church bi-clustering algorithm and summarizing its limitations (such as interference of random numbers in the greedy strategy; ignoring overlapping bi-clusters), we propose a novel enhancement of the adaptive bi-clustering algorithm, where a shielding complex sub-matrix is constructed to shield the bi-clusters that have been obtained and to discover the overlapping bi-clusters. In the shielding complex sub-matrix, the imaginary and the real parts are used to shield and extend the new bi-clusters, respectively, and to form a series of optimal bi-clusters. To assure that the obtained bi-clusters have no effect on the bi-clusters already produced, a unit impulse signal is introduced to adaptively detect and shield the constructed bi-clusters. Meanwhile, to effectively shield the null data (zero-size data), another unit impulse signal is set for adaptive detecting and shielding. In addition, we add a shielding factor to adjust the mean squared residue score of the rows (or columns), which contains the shielded data of the sub-matrix, to decide whether to retain them or not. We offer a thorough analysis of the developed scheme. The experimental results are in agreement with the theoretical analysis. The results obtained on a publicly available real microarray dataset show the enhancement of the bi-clusters performance thanks to the proposed method.
A lightweight blockchain-based access control scheme for integrated edge computing in the internet of things
Venue: arXiv cs.CR 2021
Year: 2021

In view of the security issues of the Internet of Things (IoT), considered better combining edge computing and blockchain with the IoT, integrating attribute-based encryption (ABE) and attribute-based access control (ABAC) models with attributes as the entry point, an attribute-based encryption and access control scheme (ABE-ACS) has been proposed. Facing Edge-Iot, which is a heterogeneous network composed of most resource-limited IoT devices and some nodes with higher computing power. For the problems of high resource consumption and difficult deployment of existing blockchain platforms, we design a lightweight blockchain (LBC) with improvement of the proof-of-work consensus. For the access control policies, the threshold tree and LSSS are used for conversion and assignment, stored in the blockchain to protect the privacy of the policy. For device and data, six smart contracts are designed to realize the ABAC and penalty mechanism, with which ABE is outsourced to edge nodes for privacy and integrity. Thus, our scheme realizing Edge-Iot privacy protection, data and device controlled access. The security analysis shows that the proposed scheme is secure and the experimental results show that our LBC has higher throughput and lower resources consumption, the cost of encryption and decryption of our scheme is desirable.
The Distance Distribution between Mobile Node and Reference Node in Regular Hexagon
Venue: arXiv cs.IT 2021
Year: 2021

This paper presents a new method to obtain the distance distribution between the mobile node and any reference node in a regular hexagon. The existing distance distribution research mainly focuses on static network deployment and ignores node mobility. This paper studies the distribution of node distances between mobile node and any reference node. A random waypoint (RWP) migration model is adopted for mobile node. The Cumulative Distribution Function (CDF) of the distance between any reference node (inside or outside the regular hexagon) and the mobile node (inside the regular hexagon) is derived. The validity of the results is verified by simulation.
A Robust Deep Learning-Based Beamforming Design for RIS-assisted Multiuser MISO Communications with Practical Constraints
Venue: arXiv cs.IT 2021
Year: 2021

Reconfigurable intelligent surface (RIS) has become a promising technology to improve wireless communication in recent years. It steers the incident signals to create a favorable propagation environment by controlling the reconfigurable passive elements with less hardware cost and lower power consumption. In this paper, we consider a RIS-aided multiuser multiple-input single-output downlink communication system. We aim to maximize the weighted sum-rate of all users by joint optimizing the active beamforming at the access point and the passive beamforming vector of the RIS elements. Unlike most existing works, we consider the more practical situation with the discrete phase shifts and imperfect channel state information (CSI). Specifically, for the situation that the discrete phase shifts and perfect CSI are considered, we first develop a deep quantization neural network (DQNN) to simultaneously design the active and passive beamforming while most reported works design them alternatively. Then, we propose an improved structure (I-DQNN) based on DQNN to simplify the parameters decision process when the control bits of each RIS element are greater than 1 bit. Finally, we extend the two proposed DQNN-based algorithms to the case that the discrete phase shifts and imperfect CSI are considered simultaneously. Our simulation results show that the two DQNN-based algorithms have better performance than traditional algorithms in the perfect CSI case, and are also more robust in the imperfect CSI case.
On Effective Secrecy Throughput of Underlay Spectrum Sharing $α$-$μ$/ Málaga Hybrid Model under Interference-and-Transmit Power Constraints
Venue: arXiv cs.IT 2021
Year: 2021

The underlay cognitive radio-based hybrid radio frequency / free-space optical (RF / FSO) systems have been emerged as a promising technology due to its ability to eliminate spectrum scarcity and spectrum under-utilization problems. Consequently, this work analyzes the physical layer security aspects of a cognitive RF / FSO hybrid network that includes a primary user, a secondary source, a secondary receiver, and an eavesdropper where the secret communication takes place between two legitimate secondary peers over the RF and FSO links simultaneously, and the eavesdropper can overhear the RF link only. In particular, the maximum transmit power limitation at the secondary user as well as the permissible interference power restriction at the primary user are also taken into consideration. All the RF links are modeled with $α$-$μ$ fading whereas the FSO link undergoes Málaga (M) turbulence with link blockage and pointing error impairments. At the receiver, the selection combining diversity technique is utilized to select the signal with the best electrical signal-to-ratio (SNR). Moreover, the closed-form expressions for the secrecy outage probability, probability of strictly positive secrecy capacity, and effective secrecy throughput are derived to analyze the secrecy performance. Besides, the impacts of fading, primary-secondary interference, detection techniques, link blockage probability, atmospheric turbulence, and pointing error are examined. Finally, Monte-Carlo simulations are performed to corroborate the derived expressions.
Frequency learning for structured CNN filters with Gaussian fractional derivatives
Venue: arXiv cs.CV 2021
Year: 2021

Frequency information lies at the base of discriminating between textures, and therefore between different objects. Classical CNN architectures limit the frequency learning through fixed filter sizes, and lack a way of explicitly controlling it. Here, we build on the structured receptive field filters with Gaussian derivative basis. Yet, rather than using predetermined derivative orders, which typically result in fixed frequency responses for the basis functions, we learn these. We show that by learning the order of the basis we can accurately learn the frequency of the filters, and hence adapt to the optimal frequencies for the underlying learning task. We investigate the well-founded mathematical formulation of fractional derivatives to adapt the filter frequencies during training. Our formulation leads to parameter savings and data efficiency when compared to the standard CNNs and the Gaussian derivative CNN filter networks that we build upon.
All-optical scalable spatial coherent Ising machine
Venue: arXiv cs.ET 2021
Year: 2021

Networks of optical oscillators simulating coupled Ising spins have been recently proposed as a heuristic platform to solve hard optimization problems. These networks, called coherent Ising machines (CIMs), exploit the fact that the collective nonlinear dynamics of coupled oscillators can drive the system close to the global minimum of the classical Ising Hamiltonian, encoded in the coupling matrix of the network. To date, realizations of large-scale CIMs have been demonstrated using hybrid optical-electronic setups, where optical oscillators simulating different spins are subject to electronic feedback mechanisms emulating their mutual interaction. While the optical evolution ensures an ultrafast computation, the electronic coupling represents a bottleneck that causes the computational time to severely depend on the system size. Here, we propose an all-optical scalable CIM with fully-programmable coupling. Our setup consists of an optical parametric amplifier with a spatial light modulator (SLM) within the parametric cavity. The spin variables are encoded in the binary phases of the optical wavefront of the signal beam at different spatial points, defined by the pixels of the SLM. We first discuss how different coupling topologies can be achieved by different configurations of the SLM, and then benchmark our setup with a numerical simulation that mimics the dynamics of the proposed machine. In our proposal, both the spin dynamics and the coupling are fully performed in parallel, paving the way towards the realization of size-independent ultrafast optical hardware for large-scale computation purposes.
ADCB: An Alzheimer's disease benchmark for evaluating observational estimators of causal effects
Venue: arXiv cs.LG 2021
Year: 2021

Simulators make unique benchmarks for causal effect estimation since they do not rely on unverifiable assumptions or the ability to intervene on real-world systems, but are often too simple to capture important aspects of real applications. We propose a simulator of Alzheimer's disease aimed at modeling intricacies of healthcare data while enabling benchmarking of causal effect and policy estimators. We fit the system to the Alzheimer's Disease Neuroimaging Initiative (ADNI) dataset and ground hand-crafted components in results from comparative treatment trials and observational treatment patterns. The simulator includes parameters which alter the nature and difficulty of the causal inference tasks, such as latent variables, effect heterogeneity, length of observed history, behavior policy and sample size. We use the simulator to compare estimators of average and conditional treatment effects.
Time in a Box: Advancing Knowledge Graph Completion with Temporal Scopes
Venue: arXiv cs.AI 2021
Year: 2021

Almost all statements in knowledge bases have a temporal scope during which they are valid. Hence, knowledge base completion (KBC) on temporal knowledge bases (TKB), where each statement \textit{may} be associated with a temporal scope, has attracted growing attention. Prior works assume that each statement in a TKB \textit{must} be associated with a temporal scope. This ignores the fact that the scoping information is commonly missing in a KB. Thus prior work is typically incapable of handling generic use cases where a TKB is composed of temporal statements with/without a known temporal scope. In order to address this issue, we establish a new knowledge base embedding framework, called TIME2BOX, that can deal with atemporal and temporal statements of different types simultaneously. Our main insight is that answers to a temporal query always belong to a subset of answers to a time-agnostic counterpart. Put differently, time is a filter that helps pick out answers to be correct during certain periods. We introduce boxes to represent a set of answer entities to a time-agnostic query. The filtering functionality of time is modeled by intersections over these boxes. In addition, we generalize current evaluation protocols on time interval prediction. We describe experiments on two datasets and show that the proposed method outperforms state-of-the-art (SOTA) methods on both link prediction and time prediction.
Hierarchical Clustering: New Bounds and Objective
Venue: arXiv cs.DS 2021
Year: 2021

Hierarchical Clustering has been studied and used extensively as a method for analysis of data. More recently, Dasgupta [2016] defined a precise objective function. Given a set of $n$ data points with a weight function $w_{i,j}$ for each two items $i$ and $j$ denoting their similarity/dis-similarity, the goal is to build a recursive (tree like) partitioning of the data points (items) into successively smaller clusters. He defined a cost function for a tree $T$ to be $Cost(T) = \sum_{i,j \in [n]} \big(w_{i,j} \times |T_{i,j}| \big)$ where $T_{i,j}$ is the subtree rooted at the least common ancestor of $i$ and $j$ and presented the first approximation algorithm for such clustering. Then Moseley and Wang [2017] considered the dual of Dasgupta's objective function for similarity-based weights and showed that both random partitioning and average linkage have approximation ratio $1/3$ which has been improved in a series of works to $0.585$ [Alon et al. 2020]. Later Cohen-Addad et al. [2019] considered the same objective function as Dasgupta's but for dissimilarity-based metrics, called $Rev(T)$. It is shown that both random partitioning and average linkage have ratio $2/3$ which has been only slightly improved to $0.667078$ [Charikar et al. SODA2020]. Our first main result is to consider $Rev(T)$ and present a more delicate algorithm and careful analysis that achieves approximation $0.71604$. We also introduce a new objective function for dissimilarity-based clustering. For any tree $T$, let $H_{i,j}$ be the number of $i$ and $j$'s common ancestors. Intuitively, items that are similar are expected to remain within the same cluster as deep as possible. So, for dissimilarity-based metrics, we suggest the cost of each tree $T$, which we want to minimize, to be $Cost_H(T) = \sum_{i,j \in [n]} \big(w_{i,j} \times H_{i,j} \big)$. We present a $1.3977$-approximation for this objective.
Active information requirements for fixation on the Wright-Fisher model of population genetics
Venue: arXiv cs.IT 2021
Year: 2021

In the context of population genetics, active information can be extended to measure the change of information of a given event (e.g., fixation of an allele) from a neutral model in which only genetic drift is taken into account to a non-neutral model that includes other sources of frequency variation (e.g., selection and mutation). In this paper we illustrate active information in population genetics through the Wright-Fisher model.
Committing to Interdependence: Implications from Game Theory for Human-Robot Trust
Venue: arXiv cs.HC 2021
Year: 2021

Human-robot interaction and game theory have developed distinct theories of trust for over three decades in relative isolation from one another. Human-robot interaction has focused on the underlying dimensions, layers, correlates, and antecedents of trust models, while game theory has concentrated on the psychology and strategies behind singular trust decisions. Both fields have grappled to understand over-trust and trust calibration, as well as how to measure trust expectations, risk, and vulnerability. This paper presents initial steps in closing the gap between these fields. Using insights and experimental findings from interdependence theory and social psychology, this work starts by analyzing a large game theory competition data set to demonstrate that the strongest predictors for a wide variety of human-human trust interactions are the interdependence-derived variables for commitment and trust that we have developed. It then presents a second study with human subject results for more realistic trust scenarios, involving both human-human and human-machine trust. In both the competition data and our experimental data, we demonstrate that the interdependence metrics better capture social `overtrust' than either rational or normative psychological reasoning, as proposed by game theory. This work further explores how interdependence theory--with its focus on commitment, coercion, and cooperation--addresses many of the proposed underlying constructs and antecedents within human-robot trust, shedding new light on key similarities and differences that arise when robots replace humans in trust interactions.
Computational Argumentation and Cognition
Venue: arXiv cs.AI 2021
Year: 2021

This paper examines the interdisciplinary research question of how to integrate Computational Argumentation, as studied in AI, with Cognition, as can be found in Cognitive Science, Linguistics, and Philosophy. It stems from the work of the 1st Workshop on Computational Argumentation and Cognition (COGNITAR), which was organized as part of the 24th European Conference on Artificial Intelligence (ECAI), and took place virtually on September 8th, 2020. The paper begins with a brief presentation of the scientific motivation for the integration of Computational Argumentation and Cognition, arguing that within the context of Human-Centric AI the use of theory and methods from Computational Argumentation for the study of Cognition can be a promising avenue to pursue. A short summary of each of the workshop presentations is given showing the wide spectrum of problems where the synthesis of the theory and methods of Computational Argumentation with other approaches that study Cognition can be applied. The paper presents the main problems and challenges in the area that would need to be addressed, both at the scientific level but also at the epistemological level, particularly in relation to the synthesis of ideas and approaches from the various disciplines involved.
Soft Sensing Model Visualization: Fine-tuning Neural Network from What Model Learned
Venue: arXiv cs.LG 2021
Year: 2021

The growing availability of the data collected from smart manufacturing is changing the paradigms of production monitoring and control. The increasing complexity and content of the wafer manufacturing process in addition to the time-varying unexpected disturbances and uncertainties, make it infeasible to do the control process with model-based approaches. As a result, data-driven soft-sensing modeling has become more prevalent in wafer process diagnostics. Recently, deep learning has been utilized in soft sensing system with promising performance on highly nonlinear and dynamic time-series data. Despite its successes in soft-sensing systems, however, the underlying logic of the deep learning framework is hard to understand. In this paper, we propose a deep learning-based model for defective wafer detection using a highly imbalanced dataset. To understand how the proposed model works, the deep visualization approach is applied. Additionally, the model is then fine-tuned guided by the deep visualization. Extensive experiments are performed to validate the effectiveness of the proposed system. The results provide an interpretation of how the model works and an instructive fine-tuning method based on the interpretation.
A Central Difference Graph Convolutional Operator for Skeleton-Based Action Recognition
Venue: arXiv cs.CV 2021
Year: 2021

This paper proposes a new graph convolutional operator called central difference graph convolution (CDGC) for skeleton based action recognition. It is not only able to aggregate node information like a vanilla graph convolutional operation but also gradient information. Without introducing any additional parameters, CDGC can replace vanilla graph convolution in any existing Graph Convolutional Networks (GCNs). In addition, an accelerated version of the CDGC is developed which greatly improves the speed of training. Experiments on two popular large-scale datasets NTU RGB+D 60 & 120 have demonstrated the efficacy of the proposed CDGC. Code is available at https://github.com/iesymiao/CD-GCN.