OpenRaiser/Intern-Atlas huggingface dataset:
Minimal Translations from Synchronous Communication to Synchronizing Locks
Venue: arXiv cs.LO 2021
Year: 2021

In order to understand the relative expressive power of larger concurrent programming languages, we analyze translations of small process calculi which model the communication and synchronization of concurrent processes. The source language SYNCSIMPLE is a minimalistic model for message passing concurrency while the target language LOCKSIMPLE is a minimalistic model for shared memory concurrency. The former is a calculus with synchronous communication of processes, while the latter has synchronizing mutable locations - called locks - that behave similarly to binary semaphores. The criteria for correctness of translations is that they preserve and reflect may-termination and must-termination of the processes. We show that there is no correct compositional translation from SYNCSIMPLE to LOCKSIMPLE that uses one or two locks, independent from the initialisation of the locks. We also show that there is a correct translation that uses three locks. Also variants of the locks are taken into account with different blocking behavior.
On Reciprocally Rotating Magnetic Actuation of a Robotic Capsule in Unknown Tubular Environments
Venue: arXiv cs.RO 2021
Year: 2021

Active wireless capsule endoscopy (WCE) based on simultaneous magnetic actuation and localization (SMAL) techniques holds great promise for improving diagnostic accuracy, reducing examination time and relieving operator burden. To date, the rotating magnetic actuation methods have been constrained to use a continuously rotating permanent magnet. In this paper, we first propose the reciprocally rotating magnetic actuation (RRMA) approach for active WCE to enhance patient safety. We first show how to generate a desired reciprocally rotating magnetic field for capsule actuation, and provide a theoretical analysis of the potential risk of causing volvulus due to the capsule motion. Then, an RRMA-based SMAL workflow is presented to automatically propel a capsule in an unknown tubular environment. We validate the effectiveness of our method in real-world experiments to automatically propel a robotic capsule in an ex-vivo pig colon. The experiment results show that our approach can achieve efficient and robust propulsion of the capsule with an average moving speed of $2.48 mm/s$ in the pig colon, and demonstrate the potential of using RRMA to enhance patient safety, reduce the inspection time, and improve the clinical acceptance of this technology.
Can a Humorous Conversational Agent Enhance Learning Experience and Outcomes?
Venue: arXiv cs.HC 2021
Year: 2021

Previous studies have highlighted the benefits of pedagogical conversational agents using socially-oriented conversation with students. In this work, we examine the effects of a conversational agent's use of affiliative and self-defeating humour -- considered conducive to social well-being and enhancing interpersonal relationships -- on learners' perception of the agent and attitudes towards the task. Using a between-subjects protocol, 58 participants taught a conversational agent about rock classification using a learning-by-teaching platform, the Curiosity Notebook. While all agents were curious and enthusiastic, the style of humour was manipulated such that the agent either expressed an affiliative style, a self-defeating style, or no humour. Results demonstrate that affiliative humour can significantly increase motivation and effort, while self-defeating humour, although enhancing effort, negatively impacts enjoyment. Findings further highlight the importance of understanding learner characteristics when using humour.
Fully Non-Homogeneous Atmospheric Scattering Modeling with Convolutional Neural Networks for Single Image Dehazing
Venue: arXiv cs.CV 2021
Year: 2021

In recent years, single image dehazing models (SIDM) based on atmospheric scattering model (ASM) have achieved remarkable results. However, it is noted that ASM-based SIDM degrades its performance in dehazing real world hazy images due to the limited modelling ability of ASM where the atmospheric light factor (ALF) and the angular scattering coefficient (ASC) are assumed as constants for one image. Obviously, the hazy images taken in real world cannot always satisfy this assumption. Such generating modelling mismatch between the real-world images and ASM sets up the upper bound of trained ASM-based SIDM for dehazing. Bearing this in mind, in this study, a new fully non-homogeneous atmospheric scattering model (FNH-ASM) is proposed for well modeling the hazy images under complex conditions where ALF and ASC are pixel dependent. However, FNH-ASM brings difficulty in practical application. In FNH-ASM based SIDM, the estimation bias of parameters at different positions lead to different distortion of dehazing result. Hence, in order to reduce the influence of parameter estimation bias on dehazing results, two new cost sensitive loss functions, beta-Loss and D-Loss, are innovatively developed for limiting the parameter bias of sensitive positions that have a greater impact on the dehazing result. In the end, based on FNH-ASM, an end-to-end CNN-based dehazing network, FNHD-Net, is developed, which applies beta-Loss and D-Loss. Experimental results demonstrate the effectiveness and superiority of our proposed FNHD-Net for dehazing on both synthetic and real-world images. And the performance improvement of our method increases more obviously in dense and heterogeneous haze scenes.
What do pre-trained code models know about code?
Venue: arXiv cs.SE 2021
Year: 2021

Pre-trained models of code built on the transformer architecture have performed well on software engineering (SE) tasks such as predictive code generation, code summarization, among others. However, whether the vector representations from these pre-trained models comprehensively encode characteristics of source code well enough to be applicable to a broad spectrum of downstream tasks remains an open question. One way to investigate this is with diagnostic tasks called probes. In this paper, we construct four probing tasks (probing for surface-level, syntactic, structural, and semantic information) for pre-trained code models. We show how probes can be used to identify whether models are deficient in (understanding) certain code properties, characterize different model layers, and get insight into the model sample-efficiency. We probe four models that vary in their expected knowledge of code properties: BERT (pre-trained on English), CodeBERT and CodeBERTa (pre-trained on source code, and natural language documentation), and GraphCodeBERT (pre-trained on source code with dataflow). While GraphCodeBERT performs more consistently overall, we find that BERT performs surprisingly well on some code tasks, which calls for further investigation.
Report on Workshop III "Cited References Analysis Using CRExplorer" at the 18th International Conference of the International Society for Scientometrics and Informetrics (ISSI2021)
Venue: arXiv cs.DL 2021
Year: 2021

We have organized Workshop III entitled "Cited References Analysis Using CRExplorer" at ISSI2021. Here, we report and reflect on this workshop. The aim of this workshop was to bring beginners, practitioners, and experts in cited references analyses together. A mixture of presentations and an interactive part was intended to provide benefits for all kinds of scientometricians with an interest in cited references analyses.
Star-Struck by Fixed Embeddings: Modern Crossing Number Heuristics
Venue: arXiv cs.DM 2021
Year: 2021

We present a thorough experimental evaluation of several crossing minimization heuristics that are based on the construction and iterative improvement of a planarization, i.e., a planar representation of a graph with crossings replaced by dummy vertices. The evaluated heuristics include variations and combinations of the well-known planarization method, the recently implemented star reinsertion method, and a new approach proposed herein: the mixed insertion method. Our experiments reveal the importance of several implementation details such as the detection of non-simple crossings (i.e., crossings between adjacent edges or multiple crossings between the same two edges). The most notable finding, however, is that the insertion of stars in a fixed embedding setting is not only significantly faster than the insertion of edges in a variable embedding setting, but also leads to solutions of higher quality.
PIVODL: Privacy-preserving vertical federated learning over distributed labels
Venue: arXiv cs.CR 2021
Year: 2021

Federated learning (FL) is an emerging privacy preserving machine learning protocol that allows multiple devices to collaboratively train a shared global model without revealing their private local data. Non-parametric models like gradient boosting decision trees (GBDT) have been commonly used in FL for vertically partitioned data. However, all these studies assume that all the data labels are stored on only one client, which may be unrealistic for real-world applications. Therefore, in this work, we propose a secure vertical FL framework, named PIVODL, to train GBDT with data labels distributed on multiple devices. Both homomorphic encryption and differential privacy are adopted to prevent label information from being leaked through transmitted gradients and leaf values. Our experimental results show that both information leakage and model performance degradation of the proposed PIVODL are negligible.
Bilateral Denoising Diffusion Models
Venue: arXiv cs.LG 2021
Year: 2021

Denoising diffusion probabilistic models (DDPMs) have emerged as competitive generative models yet brought challenges to efficient sampling. In this paper, we propose novel bilateral denoising diffusion models (BDDMs), which take significantly fewer steps to generate high-quality samples. From a bilateral modeling objective, BDDMs parameterize the forward and reverse processes with a score network and a scheduling network, respectively. We show that a new lower bound tighter than the standard evidence lower bound can be derived as a surrogate objective for training the two networks. In particular, BDDMs are efficient, simple-to-train, and capable of further improving any pre-trained DDPM by optimizing the inference noise schedules. Our experiments demonstrated that BDDMs can generate high-fidelity samples with as few as 3 sampling steps and produce comparable or even higher quality samples than DDPMs using 1000 steps with only 16 sampling steps (a 62x speedup).
ChessMix: Spatial Context Data Augmentation for Remote Sensing Semantic Segmentation
Venue: arXiv cs.CV 2021
Year: 2021

Labeling semantic segmentation datasets is a costly and laborious process if compared with tasks like image classification and object detection. This is especially true for remote sensing applications that not only work with extremely high spatial resolution data but also commonly require the knowledge of experts of the area to perform the manual labeling. Data augmentation techniques help to improve deep learning models under the circumstance of few and imbalanced labeled samples. In this work, we propose a novel data augmentation method focused on exploring the spatial context of remote sensing semantic segmentation. This method, ChessMix, creates new synthetic images from the existing training set by mixing transformed mini-patches across the dataset in a chessboard-like grid. ChessMix prioritizes patches with more examples of the rarest classes to alleviate the imbalance problems. The results in three diverse well-known remote sensing datasets show that this is a promising approach that helps to improve the networks' performance, working especially well in datasets with few available data. The results also show that ChessMix is capable of improving the segmentation of objects with few labeled pixels when compared to the most common data augmentation methods widely used.
Design of a Flying Humanoid Robot Based on Thrust Vector Control
Venue: arXiv cs.RO 2021
Year: 2021

Achieving short-distance flight helps improve the efficiency of humanoid robots moving in complex environments (e.g., crossing large obstacles or reaching high places) for rapid emergency missions. This study proposes a design of a flying humanoid robot named Jet-HR2. The robot has 10 joints driven by brushless motors and harmonic drives for locomotion. To overcome the challenge of the stable-attitude takeoff in small thrust-to-weight conditions, the robot was designed based on the concept of thrust vectoring. The propulsion system consists of four ducted fans, that is, two fixed on the waist of the robot and the other two mounted on the feet, for thrust vector control. The thrust vector is controlled by adjusting the attitude of the foot during the flight. A simplified model and control strategies are proposed to solve the problem of attitude instability caused by mass errors and joint position errors during takeoff. The experimental results show that the robot's spin and dive behaviors during takeoff were effectively suppressed by controlling the thrust vector of the ducted fan on the foot. The robot successfully achieved takeoff at a thrust-to-weight ratio of 1.17 (17 kg / 20 kg) and maintained a stable attitude, reaching a takeoff height of over 1000 mm.
Scalable and Modular Robustness Analysis of Deep Neural Networks
Venue: arXiv cs.LG 2021
Year: 2021

As neural networks are trained to be deeper and larger, the scalability of neural network analyzers is urgently required. The main technical insight of our method is modularly analyzing neural networks by segmenting a network into blocks and conduct the analysis for each block. In particular, we propose the network block summarization technique to capture the behaviors within a network block using a block summary and leverage the summary to speed up the analysis process. We instantiate our method in the context of a CPU-version of the state-of-the-art analyzer DeepPoly and name our system as Bounded-Block Poly (BBPoly). We evaluate BBPoly extensively on various experiment settings. The experimental result indicates that our method yields comparable precision as DeepPoly but runs faster and requires less computational resources. For example, BBPoly can analyze really large neural networks like SkipNet or ResNet which contain up to one million neurons in less than around 1 hour per input image, while DeepPoly needs to spend even 40 hours to analyze one image.
Fast Accurate Defect Detection in Wafer Fabrication
Venue: arXiv cs.LG 2021
Year: 2021

A generic fast method for object classification is proposed. In addition, a method for dimensional reduction is presented. The presented algorithms have been applied to real-world data from chip fabrication successfully to the task of predicting defect states of tens of thousands of chips of several products based on measurements or even just part of measurements. Unlike typical neural networks with a large number of weights to optimize over, the presented algorithm tries optimizing only over a very small number of variables in order to increase chances to find a global optimum. Our approach is interesting in that it is fast, led to good to very good performance with real-world wafer data, allows for short implementations and computes values which have a clear meaning easy to explain.
Byzantine Fault-Tolerance in Federated Local SGD under 2f-Redundancy
Venue: arXiv cs.DC 2021
Year: 2021

We consider the problem of Byzantine fault-tolerance in federated machine learning. In this problem, the system comprises multiple agents each with local data, and a trusted centralized coordinator. In fault-free setting, the agents collaborate with the coordinator to find a minimizer of the aggregate of their local cost functions defined over their local data. We consider a scenario where some agents ($f$ out of $N$) are Byzantine faulty. Such agents need not follow a prescribed algorithm correctly, and may communicate arbitrary incorrect information to the coordinator. In the presence of Byzantine agents, a more reasonable goal for the non-faulty agents is to find a minimizer of the aggregate cost function of only the non-faulty agents. This particular goal is commonly referred as exact fault-tolerance. Recent work has shown that exact fault-tolerance is achievable if only if the non-faulty agents satisfy the property of $2f$-redundancy. Now, under this property, techniques are known to impart exact fault-tolerance to the distributed implementation of the classical stochastic gradient-descent (SGD) algorithm. However, we do not know of any such techniques for the federated local SGD algorithm - a more commonly used method for federated machine learning. To address this issue, we propose a novel technique named comparative elimination (CE). We show that, under $2f$-redundancy, the federated local SGD algorithm with CE can indeed obtain exact fault-tolerance in the deterministic setting when the non-faulty agents can accurately compute gradients of their local cost functions. In the general stochastic case, when agents can only compute unbiased noisy estimates of their local gradients, our algorithm achieves approximate fault-tolerance with approximation error proportional to the variance of stochastic gradients and the fraction of Byzantine agents.
Efficient Out-of-Distribution Detection Using Latent Space of $β$-VAE for Cyber-Physical Systems
Venue: arXiv cs.LG 2021
Year: 2021

Deep Neural Networks are actively being used in the design of autonomous Cyber-Physical Systems (CPSs). The advantage of these models is their ability to handle high-dimensional state-space and learn compact surrogate representations of the operational state spaces. However, the problem is that the sampled observations used for training the model may never cover the entire state space of the physical environment, and as a result, the system will likely operate in conditions that do not belong to the training distribution. These conditions that do not belong to training distribution are referred to as Out-of-Distribution (OOD). Detecting OOD conditions at runtime is critical for the safety of CPS. In addition, it is also desirable to identify the context or the feature(s) that are the source of OOD to select an appropriate control action to mitigate the consequences that may arise because of the OOD condition. In this paper, we study this problem as a multi-labeled time series OOD detection problem over images, where the OOD is defined both sequentially across short time windows (change points) as well as across the training data distribution. A common approach to solving this problem is the use of multi-chained one-class classifiers. However, this approach is expensive for CPSs that have limited computational resources and require short inference times. Our contribution is an approach to design and train a single $β$-Variational Autoencoder detector with a partially disentangled latent space sensitive to variations in image features. We use the feature sensitive latent variables in the latent space to detect OOD images and identify the most likely feature(s) responsible for the OOD. We demonstrate our approach using an Autonomous Vehicle in the CARLA simulator and a real-world automotive dataset called nuImages.
Energy Optimization of Faulty Quantized Min-Sum LDPC Decoders
Venue: arXiv cs.IT 2021
Year: 2021

The objective of this paper is to minimize the energy consumption of a quantized Min-Sum LDPC decoder, by considering aggressive voltage downscaling of the decoder circuit. Since low power supply may introduce faults in the memories used by the decoder architecture, this paper proposes to optimize the energy consumption of the faulty Min-Sum decoder while satisfying a given performance criterion. The proposed optimization method relies on a coordinate descent algorithm that optimizes code and decoder parameters which have a strong influence on the decoder energy consumption: codeword length, number of quantization bits, and failure probability of the memories. Optimal parameter values are provided for several codes defined by their protographs, and significant energy gains are observed compared to non-optimized setups.
Green Internet of Vehicles (IoV) in the 6G Era: Toward Sustainable Vehicular Communications and Networking
Venue: arXiv cs.NI 2021
Year: 2021

As one of the most promising applications in future Internet of Things, Internet of Vehicles (IoV) has been acknowledged as a fundamental technology for developing the Intelligent Transportation Systems in smart cities. With the emergence of the sixth generation (6G) communications technologies, massive network infrastructures will be densely deployed and the number of network nodes will increase exponentially, leading to extremely high energy consumption. There has been an upsurge of interest to develop the green IoV towards sustainable vehicular communication and networking in the 6G era. In this paper, we present the main considerations for green IoV from five different scenarios, including the communication, computation, traffic, Electric Vehicles (EVs), and energy harvesting management. The literatures relevant to each of the scenarios are compared from the perspective of energy optimization (e.g., with respect to resource allocation, workload scheduling, routing design, traffic control, charging management, energy harvesting and sharing, etc.) and the related factors affecting energy efficiency (e.g., resource limitation, channel state, network topology, traffic condition, etc.). In addition, we introduce the potential challenges and the emerging technologies in 6G for developing green IoV systems. Finally, we discuss the research trends in designing energy-efficient IoV systems.
Self-supervised Multi-scale Consistency for Weakly Supervised Segmentation Learning
Venue: arXiv cs.CV 2021
Year: 2021

Collecting large-scale medical datasets with fine-grained annotations is time-consuming and requires experts. For this reason, weakly supervised learning aims at optimising machine learning models using weaker forms of annotations, such as scribbles, which are easier and faster to collect. Unfortunately, training with weak labels is challenging and needs regularisation. Herein, we introduce a novel self-supervised multi-scale consistency loss, which, coupled with an attention mechanism, encourages the segmentor to learn multi-scale relationships between objects and improves performance. We show state-of-the-art performance on several medical and non-medical datasets. The code used for the experiments is available at https://vios-s.github.io/multiscale-pyag.
A functional skeleton transfer
Venue: arXiv cs.GR 2021
Year: 2021

The animation community has spent significant effort trying to ease rigging procedures. This is necessitated because the increasing availability of 3D data makes manual rigging infeasible. However, object animations involve understanding elaborate geometry and dynamics, and such knowledge is hard to infuse even with modern data-driven techniques. Automatic rigging methods do not provide adequate control and cannot generalize in the presence of unseen artifacts. As an alternative, one can design a system for one shape and then transfer it to other objects. In previous work, this has been implemented by solving the dense point-to-point correspondence problem. Such an approach requires a significant amount of supervision, often placing hundreds of landmarks by hand. This paper proposes a functional approach for skeleton transfer that uses limited information and does not require a complete match between the geometries. To do so, we suggest a novel representation for the skeleton properties, namely the functional regressor, which is compact and invariant to different discretizations and poses. We consider our functional regressor a new operator to adopt in intrinsic geometry pipelines for encoding the pose information, paving the way for several new applications. We numerically stress our method on a large set of different shapes and object classes, providing qualitative and numerical evaluations of precision and computational efficiency. Finally, we show a preliminar transfer of the complete rigging scheme, introducing a promising direction for future explorations.