OpenRaiser/Intern-Atlas huggingface dataset:
Routing with Privacy for Drone Package Delivery Systems
Venue: arXiv cs.CR 2022
Year: 2022

Unmanned aerial vehicles (UAVs), or drones, are increasingly being used to deliver goods from vendors to customers. To safely conduct these operations at scale, drones are required to broadcast position information as codified in remote identification (remote ID) regulations. However, location broadcast of package delivery drones introduces a privacy risk for customers using these delivery services: Third-party observers may leverage broadcast drone trajectories to link customers with their purchases, potentially resulting in a wide range of privacy risks. We propose a probabilistic definition of privacy risk based on the likelihood of associating a customer to a vendor given a package delivery route. Next, we quantify these risks, enabling drone operators to assess privacy risks when planning delivery routes. We then evaluate the impacts of various factors (e.g., drone capacity) on privacy and consider the trade-offs between privacy and delivery wait times. Finally, we propose heuristics for generating routes with privacy guarantees to avoid exhaustive enumeration of all possible routes and evaluate their performance on several realistic delivery scenarios.
iSEA: An Interactive Pipeline for Semantic Error Analysis of NLP Models
Venue: arXiv cs.HC 2022
Year: 2022

Error analysis in NLP models is essential to successful model development and deployment. One common approach for diagnosing errors is to identify subpopulations in the dataset where the model produces the most errors. However, existing approaches typically define subpopulations based on pre-defined features, which requires users to form hypotheses of errors in advance. To complement these approaches, we propose iSEA, an Interactive Pipeline for Semantic Error Analysis in NLP Models, which automatically discovers semantically-grounded subpopulations with high error rates in the context of a human-in-the-loop interactive system. iSEA enables model developers to learn more about their model errors through discovered subpopulations, validate the sources of errors through interactive analysis on the discovered subpopulations, and test hypotheses about model errors by defining custom subpopulations. The tool supports semantic descriptions of error-prone subpopulations at the token and concept level, as well as pre-defined higher-level features. Through use cases and expert interviews, we demonstrate how iSEA can assist error understanding and analysis.
Survival Prediction of Brain Cancer with Incomplete Radiology, Pathology, Genomics, and Demographic Data
Venue: arXiv cs.LG 2022
Year: 2022

Integrating cross-department multi-modal data (e.g., radiological, pathological, genomic, and clinical data) is ubiquitous in brain cancer diagnosis and survival prediction. To date, such an integration is typically conducted by human physicians (and panels of experts), which can be subjective and semi-quantitative. Recent advances in multi-modal deep learning, however, have opened a door to leverage such a process to a more objective and quantitative manner. Unfortunately, the prior arts of using four modalities on brain cancer survival prediction are limited by a "complete modalities" setting (i.e., with all modalities available). Thus, there are still open questions on how to effectively predict brain cancer survival from the incomplete radiological, pathological, genomic, and demographic data (e.g., one or more modalities might not be collected for a patient). For instance, should we use both complete and incomplete data, and more importantly, how to use those data? To answer the preceding questions, we generalize the multi-modal learning on cross-department multi-modal data to a missing data setting. Our contribution is three-fold: 1) We introduce optimal multi-modal learning with missing data (MMD) pipeline with optimized hardware consumption and computational efficiency; 2) We extend multi-modal learning on radiological, pathological, genomic, and demographic data into missing data scenarios; 3) a large-scale public dataset (with 962 patients) is collected to systematically evaluate glioma tumor survival prediction using four modalities. The proposed method improved the C-index of survival prediction from 0.7624 to 0.8053.
DeepSE-WF: Unified Security Estimation for Website Fingerprinting Defenses
Venue: arXiv cs.CR 2022
Year: 2022

Website fingerprinting (WF) attacks, usually conducted with the help of a machine learning-based classifier, enable a network eavesdropper to pinpoint which web page a user is accessing through the inspection of traffic patterns. These attacks have been shown to succeed even when users browse the Internet through encrypted tunnels, e.g., through Tor or VPNs. To assess the security of new defenses against WF attacks, recent works have proposed feature-dependent theoretical frameworks that estimate the Bayes error of an adversary's features set or the mutual information leaked by manually-crafted features. Unfortunately, as state-of-the-art WF attacks increasingly rely on deep learning and latent feature spaces, security estimations based on simpler (and less informative) manually-crafted features can no longer be trusted to assess the potential success of a WF adversary in defeating such defenses. In this work, we propose DeepSE-WF, a novel WF security estimation framework that leverages specialized kNN-based estimators to produce Bayes error and mutual information estimates from learned latent feature spaces, thus bridging the gap between current WF attacks and security estimation methods. Our evaluation reveals that DeepSE-WF produces tighter security estimates than previous frameworks, reducing the required computational resources to output security estimations by one order of magnitude.
Variational Inference with Locally Enhanced Bounds for Hierarchical Models
Venue: arXiv cs.LG 2022
Year: 2022

Hierarchical models represent a challenging setting for inference algorithms. MCMC methods struggle to scale to large models with many local variables and observations, and variational inference (VI) may fail to provide accurate approximations due to the use of simple variational families. Some variational methods (e.g. importance weighted VI) integrate Monte Carlo methods to give better accuracy, but these tend to be unsuitable for hierarchical models, as they do not allow for subsampling and their performance tends to degrade for high dimensional models. We propose a new family of variational bounds for hierarchical models, based on the application of tightening methods (e.g. importance weighting) separately for each group of local random variables. We show that our approach naturally allows the use of subsampling to get unbiased gradients, and that it fully leverages the power of methods that build tighter lower bounds by applying them independently in lower dimensional spaces, leading to better results and more accurate posterior approximations than relevant baselines.
Cooperative Trajectory Planning in Uncertain Environments with Monte Carlo Tree Search and Risk Metrics
Venue: arXiv cs.MA 2022
Year: 2022

Automated vehicles require the ability to cooperate with humans for smooth integration into today's traffic. While the concept of cooperation is well known, developing a robust and efficient cooperative trajectory planning method is still a challenge. One aspect of this challenge is the uncertainty surrounding the state of the environment due to limited sensor accuracy. This uncertainty can be represented by a Partially Observable Markov Decision Process. Our work addresses this problem by extending an existing cooperative trajectory planning approach based on Monte Carlo Tree Search for continuous action spaces. It does so by explicitly modeling uncertainties in the form of a root belief state, from which start states for trees are sampled. After the trees have been constructed with Monte Carlo Tree Search, their results are aggregated into return distributions using kernel regression. We apply two risk metrics for the final selection, namely a Lower Confidence Bound and a Conditional Value at Risk. It can be demonstrated that the integration of risk metrics in the final selection policy consistently outperforms a baseline in uncertain environments, generating considerably safer trajectories.
Probabilistic Rotation Representation With an Efficiently Computable Bingham Loss Function and Its Application to Pose Estimation
Venue: arXiv cs.CV 2022
Year: 2022

In recent years, a deep learning framework has been widely used for object pose estimation. While quaternion is a common choice for rotation representation of 6D pose, it cannot represent an uncertainty of the observation. In order to handle the uncertainty, Bingham distribution is one promising solution because this has suitable features, such as a smooth representation over SO(3), in addition to the ambiguity representation. However, it requires the complex computation of the normalizing constants. This is the bottleneck of loss computation in training neural networks based on Bingham representation. As such, we propose a fast-computable and easy-to-implement loss function for Bingham distribution. We also show not only to examine the parametrization of Bingham distribution but also an application based on our loss function.
Spectral Efficiency of Unicast and Multigroup Multicast Transmission in Cell-free Distributed Massive MIMO Systems
Venue: arXiv cs.IT 2022
Year: 2022

In this paper, we consider a joint unicast and multi-group multicast cell-free distributed massive multiple-input multiple-output (MIMO) system, while accounting for co-pilot assignment strategy based channel estimation, pilot contamination and different precoding schemes. Under the co-pilot assignment strategy, we derive the minimum-mean-square error (MMSE) channel state information (CSI) estimation for unicast and multicast users. Given the acquired CSI, the closed-form expressions for downlink achievable rates with maximum ratio transmission (MRT), zero-forcing (ZF) and MMSE beamforming are derived. Based on these expressions, we propose an efficient power allocation scheme by solving a multi-objective optimization problem (MOOP) between maximizing the minimum spectral efficiency (SE) of multicast users and maximizing the average SE of unicast users with non-dominated sorting genetic algorithm II (NSGA-II). Moreover, the MOOP is converted into a deep learning (DL) problem and solved by an unsupervised learning method to further promote computational efficiency. Numerical results verify the accuracy of the derived closed-form expressions and the effectiveness of the joint unicast and multigroup multicast transmission scheme in cell-free distributed massive MIMO systems. The SE analysis under various system parameters and the trade-off regions between these two conflicting optimization objectives offers numerous flexibilities for system optimization.
On Flipping the Fréchet distance
Venue: arXiv cs.CG 2022
Year: 2022

The classical and extensively-studied Fréchet distance between two curves is defined as an inf max, where the infimum is over all traversals of the curves, and the maximum is over all concurrent positions of the two agents. In this article we investigate a "flipped" Fréchet measure defined by a sup min -- the supremum is over all traversals of the curves, and the minimum is over all concurrent positions of the two agents. This measure produces a notion of "social distance" between two curves (or general domains), where agents traverse curves while trying to stay as far apart as possible. We first study the flipped Fréchet measure between two polygonal curves in one and two dimensions, providing conditional lower bounds and matching algorithms. We then consider this measure on polygons, where it denotes the minimum distance that two agents can maintain while restricted to travel in or on the boundary of the same polygon. We investigate several variants of the problem in this setting, for some of which we provide linear time algorithms. Finally, we consider this measure on graphs. We draw connections between our proposed flipped Fréchet measure and existing related work in computational geometry, hoping that our new measure may spawn investigations akin to those performed for the Fréchet distance, and into further interesting problems that arise.
Deciding Cuspidality of Manipulators through Computer Algebra and Algorithms in Real Algebraic Geometry
Venue: arXiv cs.SC 2022
Year: 2022

Cuspidal robots are robots with at least two inverse kinematic solutions that can be connected by a singularity-free path. Deciding the cuspidality of generic 3R robots has been studied in the past, but extending the study to six-degree-of-freedom robots can be a challenging problem. Many robots can be modeled as a polynomial map together with a real algebraic set so that the notion of cuspidality can be extended to these data. In this paper we design an algorithm that, on input a polynomial map in $n$ indeterminates, and $s$ polynomials in the same indeterminates describing a real algebraic set of dimension $d$, decides the cuspidality of the restriction of the map to the real algebraic set under consideration. Moreover, if $D$ and $τ$ are, respectively the maximum degree and the bound on the bit size of the coefficients of the input polynomials, this algorithm runs in time log-linear in $τ$ and polynomial in $((s+d)D)^{O(n^2)}$. It relies on many high-level algorithms in computer algebra which use advanced methods on real algebraic sets and critical loci of polynomial maps. As far as we know, this is the first algorithm that tackles the cuspidality problem from a general point of view.
Mapping global dynamics of benchmark creation and saturation in artificial intelligence
Venue: arXiv cs.AI 2022
Year: 2022

Benchmarks are crucial to measuring and steering progress in artificial intelligence (AI). However, recent studies raised concerns over the state of AI benchmarking, reporting issues such as benchmark overfitting, benchmark saturation and increasing centralization of benchmark dataset creation. To facilitate monitoring of the health of the AI benchmarking ecosystem, we introduce methodologies for creating condensed maps of the global dynamics of benchmark creation and saturation. We curated data for 3765 benchmarks covering the entire domains of computer vision and natural language processing, and show that a large fraction of benchmarks quickly trended towards near-saturation, that many benchmarks fail to find widespread utilization, and that benchmark performance gains for different AI tasks were prone to unforeseen bursts. We analyze attributes associated with benchmark popularity, and conclude that future benchmarks should emphasize versatility, breadth and real-world utility.
LEBP -- Language Expectation & Binding Policy: A Two-Stream Framework for Embodied Vision-and-Language Interaction Task Learning Agents
Venue: arXiv cs.AI 2022
Year: 2022

People always desire an embodied agent that can perform a task by understanding language instruction. Moreover, they also want to monitor and expect agents to understand commands the way they expected. But, how to build such an embodied agent is still unclear. Recently, people can explore this problem with the Vision-and-Language Interaction benchmark ALFRED, which requires an agent to perform complicated daily household tasks following natural language instructions in unseen scenes. In this paper, we propose LEBP -- Language Expectation and Binding Policy Module to tackle the ALFRED. The LEBP contains a two-stream process: 1) It first conducts a language expectation module to generate an expectation describing how to perform tasks by understanding the language instruction. The expectation consists of a sequence of sub-steps for the task (e.g., Pick an apple). The expectation allows people to access and check the understanding results of instructions before the agent takes actual actions, in case the task might go wrong. 2) Then, it uses the binding policy module to bind sub-steps in expectation to actual actions to specific scenarios. Actual actions include navigation and object manipulation. Experimental results suggest our approach achieves comparable performance to currently published SOTA methods and can avoid large decay from seen scenarios to unseen scenarios.
HAIDA: Biometric technological therapy tools for neurorehabilitation of Cognitive Impairment
Venue: arXiv cs.LG 2022
Year: 2022

Dementia, and specially Alzheimer s disease (AD) and Mild Cognitive Impairment (MCI) are one of the most important diseases suffered by elderly population. Music therapy is one of the most widely used non-pharmacological treatment in the field of cognitive impairments, given that music influences their mood, behavior, the decrease of anxiety, as well as facilitating reminiscence, emotional expressions and movement. In this work we present HAIDA, a multi-platform support system for Musical Therapy oriented to cognitive impairment, which includes not only therapy tools but also non-invasive biometric analysis, speech, activity and hand activity. At this moment the system is on use and recording the first sets of data.
Slangvolution: A Causal Analysis of Semantic Change and Frequency Dynamics in Slang
Venue: arXiv cs.CL 2022
Year: 2022

Languages are continuously undergoing changes, and the mechanisms that underlie these changes are still a matter of debate. In this work, we approach language evolution through the lens of causality in order to model not only how various distributional factors associate with language change, but how they causally affect it. In particular, we study slang, which is an informal language that is typically restricted to a specific group or social setting. We analyze the semantic change and frequency shift of slang words and compare them to those of standard, nonslang words. With causal discovery and causal inference techniques, we measure the effect that word type (slang/nonslang) has on both semantic change and frequency shift, as well as its relationship to frequency, polysemy and part of speech. Our analysis provides some new insights in the study of language change, e.g., we show that slang words undergo less semantic change but tend to have larger frequency shifts over time.
Creating Realistic Ground Truth Data for the Evaluation of Calibration Methods for Plenoptic and Conventional Cameras
Venue: arXiv cs.CV 2022
Year: 2022

Camera calibration methods usually consist of capturing images of known calibration patterns and using the detected correspondences to optimize the parameters of the assumed camera model. A meaningful evaluation of these methods relies on the availability of realistic synthetic data. In previous works concerned with conventional cameras the synthetic data was mainly created by rendering perfect images with a pinhole camera and subsequently adding distortions and aberrations to the renderings and correspondences according to the assumed camera model. This method can bias the evaluation since not every camera perfectly complies with an assumed model. Furthermore, in the field of plenoptic camera calibration there is no synthetic ground truth data available at all. We address these problems by proposing a method based on backward ray tracing to create realistic ground truth data that can be used for an unbiased evaluation of calibration methods for both types of cameras.
FragmGAN: Generative Adversarial Nets for Fragmentary Data Imputation and Prediction
Venue: arXiv cs.LG 2022
Year: 2022

Modern scientific research and applications very often encounter "fragmentary data" which brings big challenges to imputation and prediction. By leveraging the structure of response patterns, we propose a unified and flexible framework based on Generative Adversarial Nets (GAN) to deal with fragmentary data imputation and label prediction at the same time. Unlike most of the other generative model based imputation methods that either have no theoretical guarantee or only consider Missing Completed At Random (MCAR), the proposed FragmGAN has theoretical guarantees for imputation with data Missing At Random (MAR) while no hint mechanism is needed. FragmGAN trains a predictor with the generator and discriminator simultaneously. This linkage mechanism shows significant advantages for predictive performances in extensive experiments.
PokeRRT: A Kinodynamic Planning Approach for Poking Manipulation
Venue: arXiv cs.RO 2022
Year: 2022

This work introduces PokeRRT, a novel motion planning algorithm that demonstrates poking as an effective non-prehensile manipulation skill to enable fast manipulation of objects and increase the size of a robot's reachable workspace. Our qualitative and quantitative results demonstrate the advantages of poking over pushing and grasping in planning object trajectories through uncluttered and cluttered environments.
Finding Clusters of Similar-minded People on Twitter Regarding the Covid-19 Pandemic
Venue: arXiv cs.SI 2022
Year: 2022

Two clustering methods to determine users with similar opinions on the Covid-19 pandemic and the related public debate in Germany will be presented in this paper. We believe, they can help gaining an overview over similar-minded groups and could support the prevention of fake-news distribution. The first method uses a new approach to create a network based on retweet relationships between users and the most retweeted users, the so-called influencers. The second method extracts hashtags from users posts to create a "user feature vector" which is then clustered, using a consensus matrix based on previous work, to identify groups using the same language. With both approaches it was possible to identify clusters that seem to fit groups of different public opinions in Germany. However, we also found that clusters from one approach can not be associated with clusters from the other due to filtering steps in the two methods.
Multiscale Convolutional Transformer with Center Mask Pretraining for Hyperspectral Image Classification
Venue: arXiv cs.CV 2022
Year: 2022

Hyperspectral images (HSI) not only have a broad macroscopic field of view but also contain rich spectral information, and the types of surface objects can be identified through spectral information, which is one of the main applications in hyperspectral image related research.In recent years, more and more deep learning methods have been proposed, among which convolutional neural networks (CNN) are the most influential. However, CNN-based methods are difficult to capture long-range dependencies, and also require a large amount of labeled data for model training.Besides, most of the self-supervised training methods in the field of HSI classification are based on the reconstruction of input samples, and it is difficult to achieve effective use of unlabeled samples. To address the shortcomings of CNN networks, we propose a noval multi-scale convolutional embedding module for HSI to realize effective extraction of spatial-spectral information, which can be better combined with Transformer network.In order to make more efficient use of unlabeled data, we propose a new self-supervised pretask. Similar to Mask autoencoder, but our pre-training method only masks the corresponding token of the central pixel in the encoder, and inputs the remaining token into the decoder to reconstruct the spectral information of the central pixel.Such a pretask can better model the relationship between the central feature and the domain feature, and obtain more stable training results.