OpenRaiser/Intern-Atlas huggingface dataset:
Nudge Attacks on Point-Cloud DNNs
Venue: arXiv cs.CR 2020
Year: 2020

The wide adaption of 3D point-cloud data in safety-critical applications such as autonomous driving makes adversarial samples a real threat. Existing adversarial attacks on point clouds achieve high success rates but modify a large number of points, which is usually difficult to do in real-life scenarios. In this paper, we explore a family of attacks that only perturb a few points of an input point cloud, and name them nudge attacks. We demonstrate that nudge attacks can successfully flip the results of modern point-cloud DNNs. We present two variants, gradient-based and decision-based, showing their effectiveness in white-box and grey-box scenarios. Our extensive experiments show nudge attacks are effective at generating both targeted and untargeted adversarial point clouds, by changing a few points or even a single point from the entire point-cloud input. We find that with a single point we can reliably thwart predictions in 12--80% of cases, whereas 10 points allow us to further increase this to 37--95%. Finally, we discuss the possible defenses against such attacks, and explore their limitations.
Mechanical Search on Shelves using Lateral Access X-RAY
Venue: arXiv cs.RO 2020
Year: 2020

Efficiently finding an occluded object with lateral access arises in many contexts such as warehouses, retail, healthcare, shipping, and homes. We introduce LAX-RAY (Lateral Access maXimal Reduction of occupancY support Area), a system to automate the mechanical search for occluded objects on shelves. For such lateral access environments, LAX-RAY couples a perception pipeline predicting a target object occupancy support distribution with a mechanical search policy that sequentially selects occluding objects to push to the side to reveal the target as efficiently as possible. Within the context of extruded polygonal objects and a stationary target with a known aspect ratio, we explore three lateral access search policies: Distribution Area Reduction (DAR), Distribution Entropy Reduction (DER), and Distribution Entropy Reduction over Multiple Time Steps (DER-MT) utilizing the support distribution and prior information. We evaluate these policies using the First-Order Shelf Simulator (FOSS) in which we simulate 800 random shelf environments of varying difficulty, and in a physical shelf environment with a Fetch robot and an embedded PrimeSense RGBD Camera. Average simulation results of 87.3% success rate demonstrate better performance of DER-MT with 2 prediction steps. When deployed on the robot, results show a success rate of at least 80% for all policies, suggesting that LAX-RAY can efficiently reveal the target object in reality. Both results show significantly better performance of the three proposed policies compared to a baseline policy with uniform probability distribution assumption in non-trivial cases, showing the importance of distribution prediction. Code, videos, and supplementary material can be found at https://sites.google.com/berkeley.edu/lax-ray.
Siamese Tracking with Lingual Object Constraints
Venue: arXiv cs.CV 2020
Year: 2020

Classically, visual object tracking involves following a target object throughout a given video, and it provides us the motion trajectory of the object. However, for many practical applications, this output is often insufficient since additional semantic information is required to act on the video material. Example applications of this are surveillance and target-specific video summarization, where the target needs to be monitored with respect to certain predefined constraints, e.g., 'when standing near a yellow car'. This paper explores, tracking visual objects subjected to additional lingual constraints. Differently from Li et al., we impose additional lingual constraints upon tracking, which enables new applications of tracking. Whereas in their work the goal is to improve and extend upon tracking itself. To perform benchmarks and experiments, we contribute two datasets: c-MOT16 and c-LaSOT, curated through appending additional constraints to the frames of the original LaSOT and MOT16 datasets. We also experiment with two deep models SiamCT-DFG and SiamCT-CA, obtained through extending a recent state-of-the-art Siamese tracking method and adding modules inspired from the fields of natural language processing and visual question answering. Through experimental results, we show that the proposed model SiamCT-CA can significantly outperform its counterparts. Furthermore, our method enables the selective compression of videos, based on the validity of the constraint.
Path Design and Resource Management for NOMA enhanced Indoor Intelligent Robots
Venue: arXiv cs.AI 2020
Year: 2020

A communication enabled indoor intelligent robots (IRs) service framework is proposed, where non-orthogonal multiple access (NOMA) technique is adopted to enable highly reliable communications. In cooperation with the ultramodern indoor channel model recently proposed by the International Telecommunication Union (ITU), the Lego modeling method is proposed, which can deterministically describe the indoor layout and channel state in order to construct the radio map. The investigated radio map is invoked as a virtual environment to train the reinforcement learning agent, which can save training time and hardware costs. Build on the proposed communication model, motions of IRs who need to reach designated mission destinations and their corresponding down-link power allocation policy are jointly optimized to maximize the mission efficiency and communication reliability of IRs. In an effort to solve this optimization problem, a novel reinforcement learning approach named deep transfer deterministic policy gradient (DT-DPG) algorithm is proposed. Our simulation results demonstrate that 1) With the aid of NOMA techniques, the communication reliability of IRs is effectively improved; 2) The radio map is qualified to be a virtual training environment, and its statistical channel state information improves training efficiency by about 30%; 3) The proposed DT-DPG algorithm is superior to the conventional deep deterministic policy gradient (DDPG) algorithm in terms of optimization performance, training time, and anti-local optimum ability.
Deep-Learning based Multiuser Detection for NOMA
Venue: arXiv cs.IT 2020
Year: 2020

In this paper, we study an application of deep learning to uplink multiuser detection (MUD) for non-orthogonal multiple access (NOMA) scheme based on Welch bound equality spread multiple access (WSMA). Several non-cooperating users, each with its own preassigned NOMA signature sequence (SS), transmit over the same resource. These SSs have low correlation among them and aid in the user separation at the receiver during MUD. Several subtasks such as equalizing, combining, slicing, signal reconstruction and interference cancellation are involved in MUD. The neural network (NN) considered in this paper replaces these well-defined receiver blocks with a single black box, i.e., the NN provides a one-shot approximation for these modules. We consider two different supervised feed-forward NN implementations, namely, a deep NN and a 2D-Convolutional NN, for MUD. Performance of these two NNs is compared with the conventional receivers. Simulation results show that by proper selection of the NN parameters, it is possible for the black box approximation to provide faster and better performance, compared to conventional MUD schemes, and it achieves almost the same symbol error rate as the ultimate one obtained by the complex maximum likelihood-based detectors.
Arithmetic Expression Construction
Venue: arXiv cs.CC 2020
Year: 2020

When can $n$ given numbers be combined using arithmetic operators from a given subset of $\{+, -, \times, ÷\}$ to obtain a given target number? We study three variations of this problem of Arithmetic Expression Construction: when the expression (1) is unconstrained; (2) has a specified pattern of parentheses and operators (and only the numbers need to be assigned to blanks); or (3) must match a specified ordering of the numbers (but the operators and parenthesization are free). For each of these variants, and many of the subsets of $\{+,-,\times,÷\}$, we prove the problem NP-complete, sometimes in the weak sense and sometimes in the strong sense. Most of these proofs make use of a "rational function framework" which proves equivalence of these problems for values in rational functions with values in positive integers.
Hyper-parameter estimation method with particle swarm optimization
Venue: arXiv cs.LG 2020
Year: 2020

Particle swarm optimization (PSO) method cannot be directly used in the problem of hyper-parameter estimation since the mathematical formulation of the mapping from hyper-parameters to loss function or generalization accuracy is unclear. Bayesian optimization (BO) framework is capable of converting the optimization of the hyper-parameters into the optimization of an acquisition function. The acquisition function is non-convex and multi-peak. So the problem can be better solved by the PSO. The proposed method in this paper uses the particle swarm method to optimize the acquisition function in the BO framework to get better hyper-parameters. The performances of proposed method in both of the classification and regression models are evaluated and demonstrated. The results on several benchmark problems are improved.
Uncertainty Estimation and Calibration with Finite-State Probabilistic RNNs
Venue: arXiv cs.LG 2020
Year: 2020

Uncertainty quantification is crucial for building reliable and trustable machine learning systems. We propose to estimate uncertainty in recurrent neural networks (RNNs) via stochastic discrete state transitions over recurrent timesteps. The uncertainty of the model can be quantified by running a prediction several times, each time sampling from the recurrent state transition distribution, leading to potentially different results if the model is uncertain. Alongside uncertainty quantification, our proposed method offers several advantages in different settings. The proposed method can (1) learn deterministic and probabilistic automata from data, (2) learn well-calibrated models on real-world classification tasks, (3) improve the performance of out-of-distribution detection, and (4) control the exploration-exploitation trade-off in reinforcement learning.
A More Biologically Plausible Local Learning Rule for ANNs
Venue: arXiv cs.NE 2020
Year: 2020

The backpropagation algorithm is often debated for its biological plausibility. However, various learning methods for neural architecture have been proposed in search of more biologically plausible learning. Most of them have tried to solve the "weight transport problem" and try to propagate errors backward in the architecture via some alternative methods. In this work, we investigated a slightly different approach that uses only the local information which captures spike timing information with no propagation of errors. The proposed learning rule is derived from the concepts of spike timing dependant plasticity and neuronal association. A preliminary evaluation done on the binary classification of MNIST and IRIS datasets with two hidden layers shows comparable performance with backpropagation. The model learned using this method also shows a possibility of better adversarial robustness against the FGSM attack compared to the model learned through backpropagation of cross-entropy loss. The local nature of learning gives a possibility of large scale distributed and parallel learning in the network. And finally, the proposed method is a more biologically sound method that can probably help in understanding how biological neurons learn different abstractions.
Multi-Decoder DPRNN: High Accuracy Source Counting and Separation
Venue: arXiv cs.SD 2020
Year: 2020

We propose an end-to-end trainable approach to single-channel speech separation with unknown number of speakers. Our approach extends the MulCat source separation backbone with additional output heads: a count-head to infer the number of speakers, and decoder-heads for reconstructing the original signals. Beyond the model, we also propose a metric on how to evaluate source separation with variable number of speakers. Specifically, we cleared up the issue on how to evaluate the quality when the ground-truth hasmore or less speakers than the ones predicted by the model. We evaluate our approach on the WSJ0-mix datasets, with mixtures up to five speakers. We demonstrate that our approach outperforms state-of-the-art in counting the number of speakers and remains competitive in quality of reconstructed signals.
Transforming Data Flow Diagrams for Privacy Compliance (Long Version)
Venue: arXiv cs.SE 2020
Year: 2020

Recent regulations, such as the European General Data Protection Regulation (GDPR), put stringent constraints on the handling of personal data. Privacy, like security, is a non-functional property, yet most software design tools are focused on functional aspects, using for instance Data Flow Diagrams (DFDs). In previous work, a conceptual model was introduced where DFDs could be extended into so-called Privacy-Aware Data Flow Diagrams (PA-DFDs) with the aim of adding specific privacy checks to existing DFDs. In this paper, we provide an explicit algorithm and a proof-of-concept implementation to transform DFDs into PA-DFDs. Our tool assists software engineers in the critical but error-prone task of systematically inserting privacy checks during design (they are automatically added by our tool) while still allowing them to inspect and edit the. PA-DFD if necessary. We have also identified and addressed ambiguities and inaccuracies in the high-level transformation proposed in previous work. We apply our approach to two realistic applications from the construction and online retail sectors.
A decentralized approach towards secure firmware updates and testing over commercial IoT Devices
Venue: arXiv cs.CR 2020
Year: 2020

Internet technologies have made a paradigm shift in the fields of computing and data science and one such paradigm defining change is the Internet of Things or IoT. Nowadays, thousands of household appliances use integrated smart devices which allow remote monitoring and control and also allow intensive computational work such as high end AI-integrated smart security systems with sustained alerts for the user. The update process of these IoT devices usually lack the ability of checking the security of centralized servers, which may be compromised and host malicious firmware files as it is presumed that the servers are secure during deployment. The solution for this problem can be solved using a decentralized database to hold the hashes and the firmware. This paper discusses the possible implications of insecure servers used to host the firmwares of commercial IoT products, and aims to provide a blockchain based decentralized solution to host firmware files with the property of immutability, and controlled access to the firmware upload functions so as to stop unauthorized use. The paper sheds light over possible hardware implementations and the use of cryptographically secure components in such secure architecture models.
Algorithms and Experiments Comparing Two Hierarchical Drawing Frameworks
Venue: arXiv cs.DS 2020
Year: 2020

We present algorithms that extend the path-based hierarchical drawing framework and give experimental results. Our algorithms run in $O(km)$ time, where $k$ is the number of paths and $m$ is the number of edges of the graph, and provide better upper bounds than the original path based framework: e.g., the height of the resulting drawings is equal to the length of the longest path of $G$, instead of $n-1$, where $n$ is the number of nodes. Additionally, we extend this framework, by bundling and drawing all the edges of the DAG in $O(m + n \log n)$ time, using minimum extra width per path. We also provide some comparison to a well known hierarchical drawing framework, widely known as the Sugiyama framework, as a proof of concept. The experimental results show that our algorithms produce drawings that are better in area and number of bends, but worse for crossings in sparse graphs. Hence, our technique offers an interesting alternative for drawing hierarchical graphs. Finally, we present an $O(m + k \log k)$ time algorithm that computes a specific order of the paths in order to reduce the total edge length and number of crossings and bends.
Two-Way Neural Machine Translation: A Proof of Concept for Bidirectional Translation Modeling using a Two-Dimensional Grid
Venue: arXiv cs.CL 2020
Year: 2020

Neural translation models have proven to be effective in capturing sufficient information from a source sentence and generating a high-quality target sentence. However, it is not easy to get the best effect for bidirectional translation, i.e., both source-to-target and target-to-source translation using a single model. If we exclude some pioneering attempts, such as multilingual systems, all other bidirectional translation approaches are required to train two individual models. This paper proposes to build a single end-to-end bidirectional translation model using a two-dimensional grid, where the left-to-right decoding generates source-to-target, and the bottom-to-up decoding creates target-to-source output. Instead of training two models independently, our approach encourages a single network to jointly learn to translate in both directions. Experiments on the WMT 2018 German$\leftrightarrow$English and Turkish$\leftrightarrow$English translation tasks show that the proposed model is capable of generating a good translation quality and has sufficient potential to direct the research.
MicroNet: Towards Image Recognition with Extremely Low FLOPs
Venue: arXiv cs.CV 2020
Year: 2020

In this paper, we present MicroNet, which is an efficient convolutional neural network using extremely low computational cost (e.g. 6 MFLOPs on ImageNet classification). Such a low cost network is highly desired on edge devices, yet usually suffers from a significant performance degradation. We handle the extremely low FLOPs based upon two design principles: (a) avoiding the reduction of network width by lowering the node connectivity, and (b) compensating for the reduction of network depth by introducing more complex non-linearity per layer. Firstly, we propose Micro-Factorized convolution to factorize both pointwise and depthwise convolutions into low rank matrices for a good tradeoff between the number of channels and input/output connectivity. Secondly, we propose a new activation function, named Dynamic Shift-Max, to improve the non-linearity via maxing out multiple dynamic fusions between an input feature map and its circular channel shift. The fusions are dynamic as their parameters are adapted to the input. Building upon Micro-Factorized convolution and dynamic Shift-Max, a family of MicroNets achieve a significant performance gain over the state-of-the-art in the low FLOP regime. For instance, MicroNet-M1 achieves 61.1% top-1 accuracy on ImageNet classification with 12 MFLOPs, outperforming MobileNetV3 by 11.3%.
Continuous Surface Embeddings
Venue: arXiv cs.CV 2020
Year: 2020

In this work, we focus on the task of learning and representing dense correspondences in deformable object categories. While this problem has been considered before, solutions so far have been rather ad-hoc for specific object types (i.e., humans), often with significant manual work involved. However, scaling the geometry understanding to all objects in nature requires more automated approaches that can also express correspondences between related, but geometrically different objects. To this end, we propose a new, learnable image-based representation of dense correspondences. Our model predicts, for each pixel in a 2D image, an embedding vector of the corresponding vertex in the object mesh, therefore establishing dense correspondences between image pixels and 3D object geometry. We demonstrate that the proposed approach performs on par or better than the state-of-the-art methods for dense pose estimation for humans, while being conceptually simpler. We also collect a new in-the-wild dataset of dense correspondences for animal classes and demonstrate that our framework scales naturally to the new deformable object categories.
CellSegmenter: unsupervised representation learning and instance segmentation of modular images
Venue: arXiv cs.CV 2020
Year: 2020

We introduce CellSegmenter, a structured deep generative model and an amortized inference framework for unsupervised representation learning and instance segmentation tasks. The proposed inference algorithm is convolutional and parallelized, without any recurrent mechanisms, and is able to resolve object-object occlusion while simultaneously treating distant non-occluding objects independently. This leads to extremely fast training times while allowing extrapolation to arbitrary number of instances. We further introduce a transparent posterior regularization strategy that encourages scene reconstructions with fewest localized objects and a low-complexity background. We evaluate our method on a challenging synthetic multi-MNIST dataset with a structured background and achieve nearly perfect accuracy with only a few hundred training epochs. Finally, we show segmentation results obtained for a cell nuclei imaging dataset, demonstrating the ability of our method to provide high-quality segmentations while also handling realistic use cases involving large number of instances.
Causal inference using deep neural networks
Venue: arXiv cs.LG 2020
Year: 2020

Causal inference from observation data is a core problem in many scientific fields. Here we present a general supervised deep learning framework that infers causal interactions by transforming the input vectors to an image-like representation for every pair of inputs. Given a training dataset we first construct a normalized empirical probability density distribution (NEPDF) matrix. We then train a convolutional neural network (CNN) on NEPDFs for causality predictions. We tested the method on several different simulated and real world data and compared it to prior methods for causal inference. As we show, the method is general, can efficiently handle very large datasets and improves upon prior methods.
MetaGater: Fast Learning of Conditional Channel Gated Networks via Federated Meta-Learning
Venue: arXiv cs.LG 2020
Year: 2020

While deep learning has achieved phenomenal successes in many AI applications, its enormous model size and intensive computation requirements pose a formidable challenge to the deployment in resource-limited nodes. There has recently been an increasing interest in computationally-efficient learning methods, e.g., quantization, pruning and channel gating. However, most existing techniques cannot adapt to different tasks quickly. In this work, we advocate a holistic approach to jointly train the backbone network and the channel gating which enables dynamical selection of a subset of filters for more efficient local computation given the data input. Particularly, we develop a federated meta-learning approach to jointly learn good meta-initializations for both backbone networks and gating modules, by making use of the model similarity across learning tasks on different nodes. In this way, the learnt meta-gating module effectively captures the important filters of a good meta-backbone network, based on which a task-specific conditional channel gated network can be quickly adapted, i.e., through one-step gradient descent, from the meta-initializations in a two-stage procedure using new samples of that task. The convergence of the proposed federated meta-learning algorithm is established under mild conditions. Experimental results corroborate the effectiveness of our method in comparison to related work.