OpenRaiser/Intern-Atlas huggingface dataset:
Random Text Perturbations Work, but not Always
Venue: arXiv cs.CL 2022
Year: 2022

We present three large-scale experiments on binary text matching classification task both in Chinese and English to evaluate the effectiveness and generalizability of random text perturbations as a data augmentation approach for NLP. It is found that the augmentation can bring both negative and positive effects to the test set performance of three neural classification models, depending on whether the models train on enough original training examples. This remains true no matter whether five random text editing operations, used to augment text, are applied together or separately. Our study demonstrates with strong implication that the effectiveness of random text perturbations is task specific and not generally positive.
Rethinking Efficiency and Redundancy in Training Large-scale Graphs
Venue: arXiv cs.LG 2022
Year: 2022

Large-scale graphs are ubiquitous in real-world scenarios and can be trained by Graph Neural Networks (GNNs) to generate representation for downstream tasks. Given the abundant information and complex topology of a large-scale graph, we argue that redundancy exists in such graphs and will degrade the training efficiency. Unfortunately, the model scalability severely restricts the efficiency of training large-scale graphs via vanilla GNNs. Despite recent advances in sampling-based training methods, sampling-based GNNs generally overlook the redundancy issue. It still takes intolerable time to train these models on large-scale graphs. Thereby, we propose to drop redundancy and improve efficiency of training large-scale graphs with GNNs, by rethinking the inherent characteristics in a graph. In this paper, we pioneer to propose a once-for-all method, termed DropReef, to drop the redundancy in large-scale graphs. Specifically, we first conduct preliminary experiments to explore potential redundancy in large-scale graphs. Next, we present a metric to quantify the neighbor heterophily of all nodes in a graph. Based on both experimental and theoretical analysis, we reveal the redundancy in a large-scale graph, i.e., nodes with high neighbor heterophily and a great number of neighbors. Then, we propose DropReef to detect and drop the redundancy in large-scale graphs once and for all, helping reduce the training time while ensuring no sacrifice in the model accuracy. To demonstrate the effectiveness of DropReef, we apply it to recent state-of-the-art sampling-based GNNs for training large-scale graphs, owing to the high precision of such models. With DropReef leveraged, the training efficiency of models can be greatly promoted. DropReef is highly compatible and is offline performed, benefiting the state-of-the-art sampling-based GNNs in the present and future to a significant extent.
Geometric and Learning-based Mesh Denoising: A Comprehensive Survey
Venue: arXiv cs.CV 2022
Year: 2022

Mesh denoising is a fundamental problem in digital geometry processing. It seeks to remove surface noise, while preserving surface intrinsic signals as accurately as possible. While the traditional wisdom has been built upon specialized priors to smooth surfaces, learning-based approaches are making their debut with great success in generalization and automation. In this work, we provide a comprehensive review of the advances in mesh denoising, containing both traditional geometric approaches and recent learning-based methods. First, to familiarize readers with the denoising tasks, we summarize four common issues in mesh denoising. We then provide two categorizations of the existing denoising methods. Furthermore, three important categories, including optimization-, filter-, and data-driven-based techniques, are introduced and analyzed in detail, respectively. Both qualitative and quantitative comparisons are illustrated, to demonstrate the effectiveness of the state-of-the-art denoising methods. Finally, potential directions of future work are pointed out to solve the common problems of these approaches. A mesh denoising benchmark is also built in this work, and future researchers will easily and conveniently evaluate their methods with the state-of-the-art approaches.
Developer Discussion Topics on the Adoption and Barriers of Low Code Software Development Platforms
Venue: arXiv cs.SE 2022
Year: 2022

Low-code software development (LCSD) is an emerging approach to democratize application development for software practitioners from diverse backgrounds. LCSD platforms promote rapid application development with a drag-and-drop interface and minimal programming by hand. As it is a relatively new paradigm, it is vital to study developers' difficulties when adopting LCSD platforms. Software engineers frequently use the online developer forum Stack Overflow (SO) to seek assistance with technical issues. We observe a growing body of LCSD-related posts in SO. This paper presents an empirical study of around 33K SO posts containing discussions of 38 popular LCSD platforms. We use Topic Modeling to determine the topics discussed in those posts. Additionally, we examine how these topics are spread across the various phases of the agile software development life cycle (SDLC) and which part of LCSD is the most popular and challenging. Our study offers several interesting findings. First, we find 40 LCSD topics that we group into five categories: Application Customization, Database, and File Management, Platform Adoption, Platform Maintenance, and Third-party API Integration. Second, while the Application Customization (30\%) and Data Storage (25\%) \rev{topic} categories are the most common, inquiries relating to several other categories (e.g., the Platform Adoption \rev{topic} category) have gained considerable attention in recent years. Third, all topic categories are evolving rapidly, especially during the Covid-19 pandemic. The findings of this study have implications for all three LCSD stakeholders: LCSD platform vendors, LCSD developers/practitioners, Researchers, and Educators. Researchers and LCSD platform vendors can collaborate to improve different aspects of LCSD, such as better tutorial-based documentation, testing, and DevOps support.
Treasure Hunt in Graph using Pebbles
Venue: arXiv cs.DC 2022
Year: 2022

In this paper, we study the treasure hunt problem in a graph by a mobile agent. The nodes in the graph $G=(V,E)$ are anonymous and the edges incident to a vertex $v\in V$ whose degree is $deg(v)$ are labeled arbitrarily as $0,1,\ldots, deg(v)-1$. At a node $t$ in $G$ a stationary object, called {\it treasure} is located. The mobile agent that is initially located at a node $s$ in $G$, the starting point of the agent, must find the treasure by reaching the node $t$. The distance from $s$ to $t$ is $D$. The {\it time} required to find the treasure is the total number of edges the agent visits before it finds the treasure. The agent does not have any prior knowledge about the graph or the position of the treasure. An oracle, that knows the graph, the initial position of the agent, and the position of the treasure, places some pebbles on the nodes, at most one per node, of the graph to guide the agent towards the treasure. This paper aims to study the trade-off between the number of pebbles provided and the time required to find the treasure. To be specific, we aim to answer the following question. ``What is the minimum time for treasure hunt in a graph with maximum degree $Δ$ and diameter $D$ if $k$ pebbles are placed? " We answer the above question when $k<D$ or $k=cD$ for some positive integer $c$. We design efficient algorithms for the agent for different values of $k$. We also propose an almost matching lower bound result for $k<D$.
3D Path Planning and Obstacle Avoidance Algorithms for Obstacle-Overcoming Robots
Venue: arXiv cs.RO 2022
Year: 2022

This article introduces a multimodal motion planning (MMP) algorithm that combines three-dimensional (3-D) path planning and a DWA obstacle avoidance algorithm. The algorithms aim to plan the path and motion of obstacle-overcoming robots in complex unstructured scenes. A novel A-star algorithm is proposed to combine the characteristics of unstructured scenes and a strategy to switch it into a greedy best-first strategy algorithm. Meanwhile, the algorithm of path planning is integrated with the DWA algorithm so that the robot can perform local dynamic obstacle avoidance during the movement along the global planned path. Furthermore, when the proposed global path planning algorithm combines with the local obstacle avoidance algorithm, the robot can correct the path after obstacle avoidance and obstacle overcoming. The simulation experiments in a factory with several complex environments verified the feasibility and robustness of the algorithms. The algorithms can quickly generate a reasonable 3-D path for obstacle-overcoming robots and perform reliable local obstacle avoidance under the premise of considering the characteristics of the scene and motion obstacles.
Regret Analysis of Dyadic Search
Venue: arXiv cs.LG 2022
Year: 2022

We analyze the cumulative regret of the Dyadic Search algorithm of Bachoc et al. [2022].
Scalable Adversarial Attack Algorithms on Influence Maximization
Venue: arXiv cs.SI 2022
Year: 2022

In this paper, we study the adversarial attacks on influence maximization under dynamic influence propagation models in social networks. In particular, given a known seed set S, the problem is to minimize the influence spread from S by deleting a limited number of nodes and edges. This problem reflects many application scenarios, such as blocking virus (e.g. COVID-19) propagation in social networks by quarantine and vaccination, blocking rumor spread by freezing fake accounts, or attacking competitor's influence by incentivizing some users to ignore the information from the competitor. In this paper, under the linear threshold model, we adapt the reverse influence sampling approach and provide efficient algorithms of sampling valid reverse reachable paths to solve the problem. We present three different design choices on reverse sampling, which all guarantee $1/2 - \varepsilon$ approximation (for any small $\varepsilon >0$) and an efficient running time.
Optimistic Optimization of Gaussian Process Samples
Venue: arXiv cs.LG 2022
Year: 2022

Bayesian optimization is a popular formalism for global optimization, but its computational costs limit it to expensive-to-evaluate functions. A competing, computationally more efficient, global optimization framework is optimistic optimization, which exploits prior knowledge about the geometry of the search space in form of a dissimilarity function. We investigate to which degree the conceptual advantages of Bayesian Optimization can be combined with the computational efficiency of optimistic optimization. By mapping the kernel to a dissimilarity, we obtain an optimistic optimization algorithm for the Bayesian Optimization setting with a run-time of up to $\mathcal{O}(N \log N)$. As a high-level take-away we find that, when using stationary kernels on objectives of relatively low evaluation cost, optimistic optimization can be strongly preferable over Bayesian optimization, while for strongly coupled and parametric models, good implementations of Bayesian optimization can perform much better, even at low evaluation cost. We argue that there is a new research domain between geometric and probabilistic search, i.e. methods that run drastically faster than traditional Bayesian optimization, while retaining some of the crucial functionality of Bayesian optimization.
Simultaneous Position and Orientation Planning of Nonholonomic Multi-Robot Systems: A Dynamic Vector Field Approach
Venue: arXiv cs.RO 2022
Year: 2022

This paper considers the simultaneous position and orientation planning of nonholonomic multirobot systems. Different from common researches which only focus on final position constraints, we model the nonholonomic mobile robot as a rigid body and introduce the orientation as well as position constraints for the robot's final states. In other words, robots should not only reach the specified positions, but also point to the desired orientations simultaneously. The challenge of this problem lies in the underactuation of full-state motion planning, since three states need to be planned by mere two control inputs. To this end, we propose a dynamic vector field (DVF) based on the rigid body modeling. Specifically, the dynamics of the robot orientation are brought into the vector field, implying that the vector field is not static on the 2-D plane anymore, but a dynamic one varying with the attitude angle. Hence, each robot can move along the integral curve of the DVF to arrive at the desired position, and in the meantime, the attitude angle can converge to the specified value following the orientation dynamics. Subsequently, by designing a circular vector field under the framework of the DVF, we further study the obstacle avoidance and mutual-robot-collision avoidance in the motion planning. Finally, numerical simulation examples are provided to verify the effectiveness of the proposed methodology.
The Effect of Robot Posture and Idle Motion on Spontaneous Emotional Contagion during Robot-Human Interactions
Venue: arXiv cs.RO 2022
Year: 2022

In the next decade, social robots will be implemented in many public spaces to provide services to humans. We question the properties of these social robots to afford acceptance and spontaneous emotional interactions. More specifically, in the present study, we report the effects of idle motion frequency in a robot on emotional contagion in a face-to-face interactive task with a human participant. The robotic system Buddy was programmed to adopt a sad posture and facial expression while telling three sad stories and moving its head up/down at low, medium, and high frequency. Each participant (N=15 total) was invited to sit in front of Buddy and listen to the stories. Unconscious changes in posture in the human participant were recorded using a 3D motion capture system (Qualysis). Results show greater inclinations of the shoulder/torso towards the ground in low-frequency trials and more rigid postures in high-frequency trials. The quantity of spontaneous movement was also greater when Buddy moved at slow frequencies. These findings echo results reported in experimental psychology when two individuals are engaged in social interactions. The scores obtained in the Godspeed questionnaire further suggest that emotional contagion may occur when Buddy moves slowly because the robotic system is perceived as more natural and knowledgeable, e.g., at speed coherent with the expressed emotion. Our work explores the importance of body posture and frequency of idle motion in the conception of robotic systems. Such additions could provide social robots that afford emotional contagion in effortless robot-human collaborative tasks.
Normalization effects on deep neural networks
Venue: arXiv cs.LG 2022
Year: 2022

We study the effect of normalization on the layers of deep neural networks of feed-forward type. A given layer $i$ with $N_{i}$ hidden units is allowed to be normalized by $1/N_{i}^{γ_{i}}$ with $γ_{i}\in[1/2,1]$ and we study the effect of the choice of the $γ_{i}$ on the statistical behavior of the neural network's output (such as variance) as well as on the test accuracy on the MNIST data set. We find that in terms of variance of the neural network's output and test accuracy the best choice is to choose the $γ_{i}$'s to be equal to one, which is the mean-field scaling. We also find that this is particularly true for the outer layer, in that the neural network's behavior is more sensitive in the scaling of the outer layer as opposed to the scaling of the inner layers. The mechanism for the mathematical analysis is an asymptotic expansion for the neural network's output. An important practical consequence of the analysis is that it provides a systematic and mathematically informed way to choose the learning rate hyperparameters. Such a choice guarantees that the neural network behaves in a statistically robust way as the $N_i$ grow to infinity.
On Quantizing Implicit Neural Representations
Venue: arXiv cs.CV 2022
Year: 2022

The role of quantization within implicit/coordinate neural networks is still not fully understood. We note that using a canonical fixed quantization scheme during training produces poor performance at low-rates due to the network weight distributions changing over the course of training. In this work, we show that a non-uniform quantization of neural weights can lead to significant improvements. Specifically, we demonstrate that a clustered quantization enables improved reconstruction. Finally, by characterising a trade-off between quantization and network capacity, we demonstrate that it is possible (while memory inefficient) to reconstruct signals using binary neural networks. We demonstrate our findings experimentally on 2D image reconstruction and 3D radiance fields; and show that simple quantization methods and architecture search can achieve compression of NeRF to less than 16kb with minimal loss in performance (323x smaller than the original NeRF).
Inference and dynamic decision-making for deteriorating systems with probabilistic dependencies through Bayesian networks and deep reinforcement learning
Venue: arXiv cs.AI 2022
Year: 2022

In the context of modern environmental and societal concerns, there is an increasing demand for methods able to identify management strategies for civil engineering systems, minimizing structural failure risks while optimally planning inspection and maintenance (I&M) processes. Most available methods simplify the I&M decision problem to the component level due to the computational complexity associated with global optimization methodologies under joint system-level state descriptions. In this paper, we propose an efficient algorithmic framework for inference and decision-making under uncertainty for engineering systems exposed to deteriorating environments, providing optimal management strategies directly at the system level. In our approach, the decision problem is formulated as a factored partially observable Markov decision process, whose dynamics are encoded in Bayesian network conditional structures. The methodology can handle environments under equal or general, unequal deterioration correlations among components, through Gaussian hierarchical structures and dynamic Bayesian networks. In terms of policy optimization, we adopt a deep decentralized multi-agent actor-critic (DDMAC) reinforcement learning approach, in which the policies are approximated by actor neural networks guided by a critic network. By including deterioration dependence in the simulated environment, and by formulating the cost model at the system level, DDMAC policies intrinsically consider the underlying system-effects. This is demonstrated through numerical experiments conducted for both a 9-out-of-10 system and a steel frame under fatigue deterioration. Results demonstrate that DDMAC policies offer substantial benefits when compared to state-of-the-art heuristic approaches. The inherent consideration of system-effects by DDMAC strategies is also interpreted based on the learned policies.
Binsec/Rel: Symbolic Binary Analyzer for Security with Applications to Constant-Time and Secret-Erasure
Venue: arXiv cs.CR 2022
Year: 2022

This paper tackles the problem of designing efficient binary-level verification for a subset of information flow properties encompassing constant-time and secret-erasure. These properties are crucial for cryptographic implementations, but are generally not preserved by compilers. Our proposal builds on relational symbolic execution enhanced with new optimizations dedicated to information flow and binary-level analysis, yielding a dramatic improvement over prior work based on symbolic execution. We implement a prototype, Binsec/Rel, for bug-finding and bounded-verification of constant-time and secret-erasure, and perform extensive experiments on a set of 338 cryptographic implementations, demonstrating the benefits of our approach. Using Binsec/Rel, we also automate two prior manual studies on preservation of constant-time and secret-erasure by compilers for a total of 4148 and 1156 binaries respectively. Interestingly, our analysis highlights incorrect usages of volatile data pointer for secret erasure and shows that scrubbing mechanisms based on volatile function pointers can introduce additional register spilling which might break secret-erasure. We also discovered that gcc -O0 and backend passes of clang introduce violations of constant-time in implementations that were previously deemed secure by a state-of-the-art constant-time verification tool operating at LLVM level, showing the importance of reasoning at binary-level.
Cross-Camera Deep Colorization
Venue: arXiv cs.CV 2022
Year: 2022

In this paper, we consider the color-plus-mono dual-camera system and propose an end-to-end convolutional neural network to align and fuse images from it in an efficient and cost-effective way. Our method takes cross-domain and cross-scale images as input, and consequently synthesizes HR colorization results to facilitate the trade-off between spatial-temporal resolution and color depth in the single-camera imaging system. In contrast to the previous colorization methods, ours can adapt to color and monochrome cameras with distinctive spatial-temporal resolutions, rendering the flexibility and robustness in practical applications. The key ingredient of our method is a cross-camera alignment module that generates multi-scale correspondences for cross-domain image alignment. Through extensive experiments on various datasets and multiple settings, we validate the flexibility and effectiveness of our approach. Remarkably, our method consistently achieves substantial improvements, i.e., around 10dB PSNR gain, upon the state-of-the-art methods. Code is at: https://github.com/IndigoPurple/CCDC
FuzzerAid: Grouping Fuzzed Crashes Based On Fault Signatures
Venue: arXiv cs.SE 2022
Year: 2022

Fuzzing has been an important approach for finding bugs and vulnerabilities in programs. Many fuzzers deployed in industry run daily and can generate an overwhelming number of crashes. Diagnosing such crashes can be very challenging and time-consuming. Existing fuzzers typically employ heuristics such as code coverage or call stack hashes to weed out duplicate reporting of bugs. While these heuristics are cheap, they are often imprecise and end up still reporting many "unique" crashes corresponding to the same bug. In this paper, we present FuzzerAid that uses fault signatures to group crashes reported by the fuzzers. Fault signature is a small executable program and consists of a selection of necessary statements from the original program that can reproduce a bug. In our approach, we first generate a fault signature using a given crash. We then execute the fault signature with other crash inducing inputs. If the failure is reproduced, we classify the crashes into the group labeled with the fault signature; if not, we generate a new fault signature. After all the crash inducing inputs are classified, we further merge the fault signatures of the same root cause into a group. We implemented our approach in a tool called FuzzerAid and evaluated it on 3020 crashes generated from 15 real-world bugs and 4 large open source projects. Our evaluation shows that we are able to correctly group 99.1% of the crashes and reported only 17 (+2) "unique" bugs, outperforming the state-of-the-art fuzzers.