OpenRaiser/Intern-Atlas huggingface dataset:
Help or Hinder? Evaluating the Impact of Fairness Metrics and Algorithms in Visualizations for Consensus Ranking
Venue: arXiv cs.HC 2023
Year: 2023

For applications where multiple stakeholders provide recommendations, a fair consensus ranking must not only ensure that the preferences of rankers are well represented, but must also mitigate disadvantages among socio-demographic groups in the final result. However, there is little empirical guidance on the value or challenges of visualizing and integrating fairness metrics and algorithms into human-in-the-loop systems to aid decision-makers. In this work, we design a study to analyze the effectiveness of integrating such fairness metrics-based visualization and algorithms. We explore this through a task-based crowdsourced experiment comparing an interactive visualization system for constructing consensus rankings, ConsensusFuse, with a similar system that includes visual encodings of fairness metrics and fair-rank generation algorithms, FairFuse. We analyze the measure of fairness, agreement of rankers' decisions, and user interactions in constructing the fair consensus ranking across these two systems. In our study with 200 participants, results suggest that providing these fairness-oriented support features nudges users to align their decision with the fairness metrics while minimizing the tedious process of manually having to amend the consensus ranking. We discuss the implications of these results for the design of next-generation fairness oriented-systems and along with emerging directions for future research.
Joy Learning: Smartphone Application For Children With Parkinson Disease
Venue: arXiv cs.CY 2023
Year: 2023

Parkinson's is a Neurologic disorder that not only affects the human body but also their social and personal life. Especially children having the Parkinson's disease come up with infinite difficulties in different areas of life mostly in social interaction, communication, connectedness, and other skills such as thinking, reasoning, learning, remembering. This study gives the solution to learning social skills by using smartphone applications. The children having Parkinson's disease (juvenile) can learn to solve social and common problems by observing real-life situations that cannot be explained properly by instructors. The result shows that the application will enhance their involvement in learning and solving a complex problem.
Towards a Comprehensive Human-Centred Evaluation Framework for Explainable AI
Venue: arXiv cs.HC 2023
Year: 2023

While research on explainable AI (XAI) is booming and explanation techniques have proven promising in many application domains, standardised human-centred evaluation procedures are still missing. In addition, current evaluation procedures do not assess XAI methods holistically in the sense that they do not treat explanations' effects on humans as a complex user experience. To tackle this challenge, we propose to adapt the User-Centric Evaluation Framework used in recommender systems: we integrate explanation aspects, summarise explanation properties, indicate relations between them, and categorise metrics that measure these properties. With this comprehensive evaluation framework, we hope to contribute to the human-centred standardisation of XAI evaluation.
Discovering Local Binary Pattern Equation for Foreground Object Removal in Videos
Venue: arXiv cs.CV 2023
Year: 2023

Designing a novel Local Binary Pattern (LBP) process usually relies heavily on human experts' knowledge and experience in the area. Even experts are often left with tedious episodes of trial and error until they identify an optimal LBP for a particular dataset. To address this problem, we present a novel symbolic regression able to automatically discover LBP formulas to remove the moving parts of a scene by segmenting it into a background and a foreground. Experimental results conducted on real videos of outdoor urban scenes under various conditions show that the LBPs discovered by the proposed approach significantly outperform the previous state-of-the-art LBP descriptors both qualitatively and quantitatively. Our source code and data will be available online.
Refining Obstacle Perception Safety Zones via Maneuver-Based Decomposition
Venue: arXiv cs.RO 2023
Year: 2023

A critical task for developing safe autonomous driving stacks is to determine whether an obstacle is safety-critical, i.e., poses an imminent threat to the autonomous vehicle. Our previous work showed that Hamilton Jacobi reachability theory can be applied to compute interaction-dynamics-aware perception safety zones that better inform an ego vehicle's perception module which obstacles are considered safety-critical. For completeness, these zones are typically larger than absolutely necessary, forcing the perception module to pay attention to a larger collection of objects for the sake of conservatism. As an improvement, we propose a maneuver-based decomposition of our safety zones that leverages information about the ego maneuver to reduce the zone volume. In particular, we propose a "temporal convolution" operation that produces safety zones for specific ego maneuvers, thus limiting the ego's behavior to reduce the size of the safety zones. We show with numerical experiments that maneuver-based zones are significantly smaller (up to 76% size reduction) than the baseline while maintaining completeness.
Aggressive Aerial Grasping using a Soft Drone with Onboard Perception
Venue: arXiv cs.RO 2023
Year: 2023

Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject to large reaction forces at grasp, which limit performance at high speeds. The few reported examples of aggressive aerial grasping rely on motion capture systems, or fail to generalize across environments and grasp targets. We describe the first example of a soft aerial manipulator equipped with a fully onboard perception pipeline, capable of robustly localizing and grasping visually and morphologically varied objects. The proposed system features a novel passively closing tendon-actuated soft gripper that enables fast closure at grasp, while compensating for position errors, complying to the target-object morphology, and dampening reaction forces. The system includes an onboard perception pipeline that combines a neural-network-based semantic keypoint detector with a state-of-the-art robust 3D object pose estimator, whose estimate is further refined using a fixed-lag smoother. The resulting pose estimate is passed to a minimum-snap trajectory planner, tracked by an adaptive controller that fully compensates for the added mass of the grasped object. Finally, a finite-element-based controller determines optimal gripper configurations for grasping. Rigorous experiments confirm that our approach enables dynamic, aggressive, and versatile grasping. We demonstrate fully onboard vision-based grasps of a variety of objects, in both indoor and outdoor environments, and up to speeds of 2.0 m/s -- the fastest vision-based grasp reported in the literature. Finally, we take a major step in expanding the utility of our platform beyond stationary targets, by demonstrating motion-capture-based grasps of targets moving up to 0.3 m/s, with relative speeds up to 1.5 m/s.
Learning Distributions via Monte-Carlo Marginalization
Venue: arXiv cs.LG 2023
Year: 2023

We propose a novel method to learn intractable distributions from their samples. The main idea is to use a parametric distribution model, such as a Gaussian Mixture Model (GMM), to approximate intractable distributions by minimizing the KL-divergence. Based on this idea, there are two challenges that need to be addressed. First, the computational complexity of KL-divergence is unacceptable when the dimensions of distributions increases. The Monte-Carlo Marginalization (MCMarg) is proposed to address this issue. The second challenge is the differentiability of the optimization process, since the target distribution is intractable. We handle this problem by using Kernel Density Estimation (KDE). The proposed approach is a powerful tool to learn complex distributions and the entire process is differentiable. Thus, it can be a better substitute of the variational inference in variational auto-encoders (VAE). One strong evidence of the benefit of our method is that the distributions learned by the proposed approach can generate better images even based on a pre-trained VAE's decoder. Based on this point, we devise a distribution learning auto-encoder which is better than VAE under the same network architecture. Experiments on standard dataset and synthetic data demonstrate the efficiency of the proposed approach.
Topic-Level Bayesian Surprise and Serendipity for Recommender Systems
Venue: arXiv cs.IR 2023
Year: 2023

A recommender system that optimizes its recommendations solely to fit a user's history of ratings for consumed items can create a filter bubble, wherein the user does not get to experience items from novel, unseen categories. One approach to mitigate this undesired behavior is to recommend items with high potential for serendipity, namely surprising items that are likely to be highly rated. In this paper, we propose a content-based formulation of serendipity that is rooted in Bayesian surprise and use it to measure the serendipity of items after they are consumed and rated by the user. When coupled with a collaborative-filtering component that identifies similar users, this enables recommending items with high potential for serendipity. To facilitate the evaluation of topic-level models for surprise and serendipity, we introduce a dataset of book reading histories extracted from Goodreads, containing over 26 thousand users and close to 1.3 million books, where we manually annotate 449 books read by 4 users in terms of their time-dependent, topic-level surprise. Experimental evaluations show that models that use Bayesian surprise correlate much better with the manual annotations of topic-level surprise than distance-based heuristics, and also obtain better serendipitous item recommendation performance.
ZYN: Zero-Shot Reward Models with Yes-No Questions for RLAIF
Venue: arXiv cs.CL 2023
Year: 2023

In this work, we address the problem of directing the text generation of a language model (LM) towards a desired behavior, aligning the generated text with the preferences of the human operator. We propose using another, instruction-tuned language model as a critic reward model in a zero-shot way thanks to the prompt of a Yes-No question that represents the user preferences, without requiring further labeled data. This zero-shot reward model provides the learning signal to further fine-tune the base LM using Reinforcement Learning from AI Feedback (RLAIF); yet our approach is also compatible in other contexts such as quality-diversity search. Extensive evidence of the capabilities of the proposed ZYN framework is provided through experiments in different domains related to text generation, including detoxification; optimizing sentiment of movie reviews, or any other attribute; steering the opinion about a particular topic the model may have; and personalizing prompt generators for text-to-image tasks. Code available at \url{https://github.com/vicgalle/zero-shot-reward-models/}.
Dynamic Planning with a LLM
Venue: arXiv cs.CL 2023
Year: 2023

While Large Language Models (LLMs) can solve many NLP tasks in zero-shot settings, applications involving embodied agents remain problematic. In particular, complex plans that require multi-step reasoning become difficult and too costly as the context window grows. Planning requires understanding the likely effects of one's actions and identifying whether the current environment satisfies the goal state. While symbolic planners find optimal solutions quickly, they require a complete and accurate representation of the planning problem, severely limiting their use in practical scenarios. In contrast, modern LLMs cope with noisy observations and high levels of uncertainty when reasoning about a task. Our work presents LLM Dynamic Planner (LLM-DP): a neuro-symbolic framework where an LLM works hand-in-hand with a traditional planner to solve an embodied task. Given action-descriptions, LLM-DP solves Alfworld faster and more efficiently than a naive LLM ReAct baseline.
Sparsity and Privacy in Secret Sharing: A Fundamental Trade-Off
Venue: arXiv cs.CR 2023
Year: 2023

This work investigates the design of sparse secret sharing schemes that encode a sparse private matrix into sparse shares. This investigation is motivated by distributed computing, where the multiplication of sparse and private matrices is moved from a computationally weak main node to untrusted worker machines. Classical secret-sharing schemes produce dense shares. However, sparsity can help speed up the computation. We show that, for matrices with i.i.d. entries, sparsity in the shares comes at a fundamental cost of weaker privacy. We derive a fundamental tradeoff between sparsity and privacy and construct optimal sparse secret sharing schemes that produce shares that leak the minimum amount of information for a desired sparsity of the shares. We apply our schemes to distributed sparse and private matrix multiplication schemes with no colluding workers while tolerating stragglers. For the setting of two non-communicating clusters of workers, we design a sparse one-time pad so that no private information is leaked to a cluster of untrusted and colluding workers, and the shares with bounded but non-zero leakage are assigned to a cluster of partially trusted workers. We conclude by discussing the necessity of using permutations for matrices with correlated entries.
Pedestrian Trajectory Prediction in Pedestrian-Vehicle Mixed Environments: A Systematic Review
Venue: arXiv cs.RO 2023
Year: 2023

Planning an autonomous vehicle's (AV) path in a space shared with pedestrians requires reasoning about pedestrians' future trajectories. A practical pedestrian trajectory prediction algorithm for the use of AVs needs to consider the effect of the vehicle's interactions with the pedestrians on pedestrians' future motion behaviours. In this regard, this paper systematically reviews different methods proposed in the literature for modelling pedestrian trajectory prediction in presence of vehicles that can be applied for unstructured environments. This paper also investigates specific considerations for pedestrian-vehicle interaction (compared with pedestrian-pedestrian interaction) and reviews how different variables such as prediction uncertainties and behavioural differences are accounted for in the previously proposed prediction models. PRISMA guidelines were followed. Articles that did not consider vehicle and pedestrian interactions or actual trajectories, and articles that only focused on road crossing were excluded. A total of 1260 unique peer-reviewed articles from ACM Digital Library, IEEE Xplore, and Scopus databases were identified in the search. 64 articles were included in the final review as they met the inclusion and exclusion criteria. An overview of datasets containing trajectory data of both pedestrians and vehicles used by the reviewed papers has been provided. Research gaps and directions for future work, such as having more effective definition of interacting agents in deep learning methods and the need for gathering more datasets of mixed traffic in unstructured environments are discussed.
Characterising Robust Instances of Ultimate Positivity for Linear Dynamical Systems
Venue: arXiv cs.LO 2023
Year: 2023

Linear Dynamical Systems, both discrete and continuous, are invaluable mathematical models in a plethora of applications such the verification of probabilistic systems, model checking, computational biology, cyber-physical systems, and economics. We consider discrete Linear Recurrence Sequences and continuous C-finite functions, i.e. solutions to homogeneous Linear Differential Equations. The Ultimate Positivity Problem gives the recurrence relation and the initialisation as input and asks whether there is a step $n_0$ (resp. a time $t_0$) such that the Linear Recurrence Sequence $u[n] \ge 0$ for $n > n_0$ (resp. solution to homogeneous linear differential equation $u(t) \ge 0$ for $t > t_0$). There are intrinsic number-theoretic challenges to surmount in order to decide these problems, which crucially arise in engineering and the practical sciences. In these settings, the difficult corner cases are seldom relevant: tolerance to the inherent imprecision is especially critical. We thus characterise \textit{robust} instances of the Ultimate Positivity Problem, i.e.\ inputs for which the decision is locally constant. We describe the sets of Robust YES and Robust NO instances using the First Order Theory of the Reals. We show, via the admission of quantifier elimination by the First Order Theory of the Reals, that these sets are semialgebraic.
A Domain-adaptive Physics-informed Neural Network for Inverse Problems of Maxwell's Equations in Heterogeneous Media
Venue: arXiv cs.LG 2023
Year: 2023

Maxwell's equations are a collection of coupled partial differential equations (PDEs) that, together with the Lorentz force law, constitute the basis of classical electromagnetism and electric circuits. Effectively solving Maxwell's equations is crucial in various fields, like electromagnetic scattering and antenna design optimization. Physics-informed neural networks (PINNs) have shown powerful ability in solving PDEs. However, PINNs still struggle to solve Maxwell's equations in heterogeneous media. To this end, we propose a domain-adaptive PINN (da-PINN) to solve inverse problems of Maxwell's equations in heterogeneous media. First, we propose a location parameter of media interface to decompose the whole domain into several sub-domains. Furthermore, the electromagnetic interface conditions are incorporated into a loss function to improve the prediction performance near the interface. Then, we propose a domain-adaptive training strategy for da-PINN. Finally, the effectiveness of da-PINN is verified with two case studies.
Making Your Program Oblivious: a Comparative Study for Side-channel-safe Confidential Computing
Venue: arXiv cs.CR 2023
Year: 2023

Trusted Execution Environments (TEEs) are gradually adopted by major cloud providers, offering a practical option of \emph{confidential computing} for users who don't fully trust public clouds. TEEs use CPU-enabled hardware features to eliminate direct breaches from compromised operating systems or hypervisors. However, recent studies have shown that side-channel attacks are still effective on TEEs. An appealing solution is to convert applications to be \emph{data oblivious} to deter many side-channel attacks. While a few research prototypes on TEEs have adopted specific data oblivious operations, the general conversion approaches have never been thoroughly compared against and tested on benchmark TEE applications. These limitations make it difficult for researchers and practitioners to choose and adopt a suitable data oblivious approach for their applications. To address these issues, we conduct a comprehensive analysis of several representative conversion approaches and implement benchmark TEE applications with them. We also perform an extensive empirical study to provide insights into their performance and ease of use.
SGX-MR-Prot: Efficient and Developer-Friendly Access-Pattern Protection in Trusted Execution Environments
Venue: arXiv cs.CR 2023
Year: 2023

Trusted Execution Environments, such as Intel SGX, use hardware supports to ensure the confidentiality and integrity of applications against a compromised cloud system. However, side channels like access patterns remain for adversaries to exploit and obtain sensitive information. Common approaches use oblivious programs or primitives, such as ORAM, to make access patterns oblivious to input data, which are challenging to develop. This demonstration shows a prototype SGX-MR-Prot for efficiently protecting access patterns of SGX-based data-intensive applications and minimizing developers' efforts. SGX-MR-Prot uses the MapReduce framework to regulate application dataflows to reduce the cost of access-pattern protection and hide the data oblivious details from SGX developers. This demonstration will allow users to intuitively understand the unique contributions of the framework-based protection approach via interactive exploration and visualization.
Not So Robust After All: Evaluating the Robustness of Deep Neural Networks to Unseen Adversarial Attacks
Venue: arXiv cs.LG 2023
Year: 2023

Deep neural networks (DNNs) have gained prominence in various applications, such as classification, recognition, and prediction, prompting increased scrutiny of their properties. A fundamental attribute of traditional DNNs is their vulnerability to modifications in input data, which has resulted in the investigation of adversarial attacks. These attacks manipulate the data in order to mislead a DNN. This study aims to challenge the efficacy and generalization of contemporary defense mechanisms against adversarial attacks. Specifically, we explore the hypothesis proposed by Ilyas et. al, which posits that DNN image features can be either robust or non-robust, with adversarial attacks targeting the latter. This hypothesis suggests that training a DNN on a dataset consisting solely of robust features should produce a model resistant to adversarial attacks. However, our experiments demonstrate that this is not universally true. To gain further insights into our findings, we analyze the impact of adversarial attack norms on DNN representations, focusing on samples subjected to $L_2$ and $L_{\infty}$ norm attacks. Further, we employ canonical correlation analysis, visualize the representations, and calculate the mean distance between these representations and various DNN decision boundaries. Our results reveal a significant difference between $L_2$ and $L_{\infty}$ norms, which could provide insights into the potential dangers posed by $L_{\infty}$ norm attacks, previously underestimated by the research community.
An Industrial Case Study on Test Cases as Requirements
Venue: arXiv cs.SE 2023
Year: 2023

It is a conundrum that agile projects can succeed 'without requirements' when weak requirements engineering is a known cause for project failures. While Agile development projects often manage well without extensive requirements documentation, test cases are commonly used as requirements. We have investigated this agile practice at three companies in order to understand how test cases can fill the role of requirements. We performed a case study based on twelve interviews performed in a previous study. The findings include a range of benefits and challenges in using test cases for eliciting, validating, verifying, tracing and managing requirements. In addition, we identified three scenarios for applying the practice, namely as a mature practice, as a de facto practice and as part of an agile transition. The findings provide insights into how the role of requirements may be met in agile development including challenges to consider.