OpenRaiser/Intern-Atlas huggingface dataset:
A Fully-autonomous Framework of Unmanned Surface Vehicles in Maritime Environments using Gaussian Process Motion Planning
Venue: arXiv cs.RO 2022
Year: 2022

Unmanned surface vehicles (USVs) are of increasing importance to a growing number of sectors in the maritime industry, including offshore exploration, marine transportation and defence operations. A major factor in the growth in use and deployment of USVs is the increased operational flexibility that is offered through use of autonomous navigation systems that generate optimised trajectories. Unlike path planning in terrestrial environments, planning in the maritime environment is more demanding as there is need to assure mitigating action is taken against the significant, random and often unpredictable environmental influences from winds and ocean currents. With the focus of these necessary requirements as the main basis of motivation, this paper proposes a novel motion planner, denoted as GPMP2*, extending the application scope of the fundamental GP-based motion planner, GPMP2, into complex maritime environments. An interpolation strategy based on Monte-Carlo stochasticity has been innovatively added to GPMP2* to produce a new algorithm named GPMP2* with Monte-Carlo stochasticity (MC-GPMP2*), which can increase the diversity of the paths generated. In parallel with algorithm design, a ROS based fully-autonomous framework for an advanced unmanned surface vehicle, the WAM-V 20 USV, has been proposed. The practicability of the proposed motion planner as well as the fully-autonomous framework have been functionally validated in a simulated inspection missions for an offshore wind farm in ROS.
A note on graph drawings with star-shaped boundaries in the plane
Venue: arXiv cs.CG 2022
Year: 2022

In this note, we propose a straightforward method to produce an straight-line embedding of a planar graph where one face of a graph is fixed in the plane as a star-shaped polygon. It is based on minimizing discrete Dirichlet energies, following the idea of Tutte's embedding theorem. We will call it a geodesic triangulation of the star-shaped polygon. Moreover, we study the homotopy property of spaces of all straight-line embeddings. We give a simple argument to show that this space is contractible if the boundary is a non-convex quadrilateral. We conjecture that the same statement holds for general star-shaped polygons.
New Core-Guided and Hitting Set Algorithms for Multi-Objective Combinatorial Optimization
Venue: arXiv cs.AI 2022
Year: 2022

In the last decade, a plethora of algorithms for single-objective Boolean optimization has been proposed that rely on the iterative usage of a highly effective Propositional Satisfiability (SAT) solver. But the use of SAT solvers in Multi-Objective Combinatorial Optimization (MOCO) algorithms is still scarce. Due to this shortage of efficient tools for MOCO, many real-world applications formulated as multi-objective are simplified to single-objective, using either a linear combination or a lexicographic ordering of the objective functions to optimize. In this paper, we extend the state of the art of MOCO solvers with two novel unsatisfiability-based algorithms. The first is a core-guided MOCO solver. The second is a hitting set-based MOCO solver. Experimental results obtained in a wide range of benchmark instances show that our new unsatisfiability-based algorithms can outperform state-of-the-art SAT-based algorithms for MOCO.
Comparative Study of Machine Learning Test Case Prioritization for Continuous Integration Testing
Venue: arXiv cs.SE 2022
Year: 2022

There is a growing body of research indicating the potential of machine learning to tackle complex software testing challenges. One such challenge pertains to continuous integration testing, which is highly time-constrained, and generates a large amount of data coming from iterative code commits and test runs. In such a setting, we can use plentiful test data for training machine learning predictors to identify test cases able to speed up the detection of regression bugs introduced during code integration. However, different machine learning models can have different fault prediction performance depending on the context and the parameters of continuous integration testing, for example variable time budget available for continuous integration cycles, or the size of test execution history used for learning to prioritize failing test cases. Existing studies on test case prioritization rarely study both of these factors, which are essential for the continuous integration practice. In this study we perform a comprehensive comparison of the fault prediction performance of machine learning approaches that have shown the best performance on test case prioritization tasks in the literature. We evaluate the accuracy of the classifiers in predicting fault-detecting tests for different values of the continuous integration time budget and with different length of test history used for training the classifiers. In evaluation, we use real-world industrial datasets from a continuous integration practice. The results show that different machine learning models have different performance for different size of test history used for model training and for different time budget available for test case execution. Our results imply that machine learning approaches for test prioritization in continuous integration testing should be carefully configured to achieve optimal performance.
Label a Herd in Minutes: Individual Holstein-Friesian Cattle Identification
Venue: arXiv cs.CV 2022
Year: 2022

We describe a practically evaluated approach for training visual cattle ID systems for a whole farm requiring only ten minutes of labelling effort. In particular, for the task of automatic identification of individual Holstein-Friesians in real-world farm CCTV, we show that self-supervision, metric learning, cluster analysis, and active learning can complement each other to significantly reduce the annotation requirements usually needed to train cattle identification frameworks. Evaluating the approach on the test portion of the publicly available Cows2021 dataset, for training we use 23,350 frames across 435 single individual tracklets generated by automated oriented cattle detection and tracking in operational farm footage. Self-supervised metric learning is first employed to initialise a candidate identity space where each tracklet is considered a distinct entity. Grouping entities into equivalence classes representing cattle identities is then performed by automated merging via cluster analysis and active learning. Critically, we identify the inflection point at which automated choices cannot replicate improvements based on human intervention to reduce annotation to a minimum. Experimental results show that cluster analysis and a few minutes of labelling after automated self-supervision can improve the test identification accuracy of 153 identities to 92.44% (ARI=0.93) from the 74.9% (ARI=0.754) obtained by self-supervision only. These promising results indicate that a tailored combination of human and machine reasoning in visual cattle ID pipelines can be highly effective whilst requiring only minimal labelling effort. We provide all key source code and network weights with this paper for easy result reproduction.
Error-in-variables modelling for operator learning
Venue: arXiv cs.LG 2022
Year: 2022

Deep operator learning has emerged as a promising tool for reduced-order modelling and PDE model discovery. Leveraging the expressive power of deep neural networks, especially in high dimensions, such methods learn the mapping between functional state variables. While proposed methods have assumed noise only in the dependent variables, experimental and numerical data for operator learning typically exhibit noise in the independent variables as well, since both variables represent signals that are subject to measurement error. In regression on scalar data, failure to account for noisy independent variables can lead to biased parameter estimates. With noisy independent variables, linear models fitted via ordinary least squares (OLS) will show attenuation bias, wherein the slope will be underestimated. In this work, we derive an analogue of attenuation bias for linear operator regression with white noise in both the independent and dependent variables. In the nonlinear setting, we computationally demonstrate underprediction of the action of the Burgers operator in the presence of noise in the independent variable. We propose error-in-variables (EiV) models for two operator regression methods, MOR-Physics and DeepONet, and demonstrate that these new models reduce bias in the presence of noisy independent variables for a variety of operator learning problems. Considering the Burgers operator in 1D and 2D, we demonstrate that EiV operator learning robustly recovers operators in high-noise regimes that defeat OLS operator learning. We also introduce an EiV model for time-evolving PDE discovery and show that OLS and EiV perform similarly in learning the Kuramoto-Sivashinsky evolution operator from corrupted data, suggesting that the effect of bias in OLS operator learning depends on the regularity of the target operator.
SegDiscover: Visual Concept Discovery via Unsupervised Semantic Segmentation
Venue: arXiv cs.CV 2022
Year: 2022

Visual concept discovery has long been deemed important to improve interpretability of neural networks, because a bank of semantically meaningful concepts would provide us with a starting point for building machine learning models that exhibit intelligible reasoning process. Previous methods have disadvantages: either they rely on labelled support sets that incorporate human biases for objects that are "useful," or they fail to identify multiple concepts that occur within a single image. We reframe the concept discovery task as an unsupervised semantic segmentation problem, and present SegDiscover, a novel framework that discovers semantically meaningful visual concepts from imagery datasets with complex scenes without supervision. Our method contains three important pieces: generating concept primitives from raw images, discovering concepts by clustering in the latent space of a self-supervised pretrained encoder, and concept refinement via neural network smoothing. Experimental results provide evidence that our method can discover multiple concepts within a single image and outperforms state-of-the-art unsupervised methods on complex datasets such as Cityscapes and COCO-Stuff. Our method can be further used as a neural network explanation tool by comparing results obtained by different encoders.
Counterfactual Learning To Rank for Utility-Maximizing Query Autocompletion
Venue: arXiv cs.IR 2022
Year: 2022

Conventional methods for query autocompletion aim to predict which completed query a user will select from a list. A shortcoming of this approach is that users often do not know which query will provide the best retrieval performance on the current information retrieval system, meaning that any query autocompletion methods trained to mimic user behavior can lead to suboptimal query suggestions. To overcome this limitation, we propose a new approach that explicitly optimizes the query suggestions for downstream retrieval performance. We formulate this as a problem of ranking a set of rankings, where each query suggestion is represented by the downstream item ranking it produces. We then present a learning method that ranks query suggestions by the quality of their item rankings. The algorithm is based on a counterfactual learning approach that is able to leverage feedback on the items (e.g., clicks, purchases) to evaluate query suggestions through an unbiased estimator, thus avoiding the assumption that users write or select optimal queries. We establish theoretical support for the proposed approach and provide learning-theoretic guarantees. We also present empirical results on publicly available datasets, and demonstrate real-world applicability using data from an online shopping store.
Detecting Recolored Image by Spatial Correlation
Venue: arXiv cs.CV 2022
Year: 2022

Image forensics, aiming to ensure the authenticity of the image, has made great progress in dealing with common image manipulation such as copy-move, splicing, and inpainting in the past decades. However, only a few researchers pay attention to an emerging editing technique called image recoloring, which can manipulate the color values of an image to give it a new style. To prevent it from being used maliciously, the previous approaches address the conventional recoloring from the perspective of inter-channel correlation and illumination consistency. In this paper, we try to explore a solution from the perspective of the spatial correlation, which exhibits the generic detection capability for both conventional and deep learning-based recoloring. Through theoretical and numerical analysis, we find that the recoloring operation will inevitably destroy the spatial correlation between pixels, implying a new prior of statistical discriminability. Based on such fact, we generate a set of spatial correlation features and learn the informative representation from the set via a convolutional neural network. To train our network, we use three recoloring methods to generate a large-scale and high-quality data set. Extensive experimental results in two recoloring scenes demonstrate that the spatial correlation features are highly discriminative. Our method achieves the state-of-the-art detection accuracy on multiple benchmark datasets and exhibits well generalization for unknown types of recoloring methods.
All-optical graph representation learning using integrated diffractive photonic computing units
Venue: arXiv cs.ET 2022
Year: 2022

Photonic neural networks perform brain-inspired computations using photons instead of electrons that can achieve substantially improved computing performance. However, existing architectures can only handle data with regular structures, e.g., images or videos, but fail to generalize to graph-structured data beyond Euclidean space, e.g., social networks or document co-citation networks. Here, we propose an all-optical graph representation learning architecture, termed diffractive graph neural network (DGNN), based on the integrated diffractive photonic computing units (DPUs) to address this limitation. Specifically, DGNN optically encodes node attributes into strip optical waveguides, which are transformed by DPUs and aggregated by on-chip optical couplers to extract their feature representations. Each DPU comprises successive passive layers of metalines to modulate the electromagnetic optical field via diffraction, where the metaline structures are learnable parameters shared across graph nodes. DGNN captures complex dependencies among the node neighborhoods and eliminates the nonlinear transition functions during the light-speed optical message passing over graph structures. We demonstrate the use of DGNN extracted features for node and graph-level classification tasks with benchmark databases and achieve superior performance. Our work opens up a new direction for designing application-specific integrated photonic circuits for high-efficiency processing of large-scale graph data structures using deep learning.
Industry-Academia Research Collaboration in Software Engineering: The Certus Model
Venue: arXiv cs.SE 2022
Year: 2022

Context: Research collaborations between software engineering industry and academia can provide significant benefits to both sides, including improved innovation capacity for industry, and real-world environment for motivating and validating research ideas. However, building scalable and effective research collaborations in software engineering is known to be challenging. While such challenges can be varied and many, in this paper we focus on the challenges of achieving participative knowledge creation supported by active dialog between industry and academia and continuous commitment to joint problem solving. Objective: This paper aims to understand what are the elements of a successful industry-academia collaboration that enable the culture of participative knowledge creation. Method: We conducted participant observation collecting qualitative data spanning 8 years of collaborative research between a software engineering research group on software V&V and the Norwegian IT sector. The collected data was analyzed and synthesized into a practical collaboration model, named the Certus Model. Results: The model is structured in seven phases, describing activities from setting up research projects to the exploitation of research results. As such, the Certus model advances other collaborations models from literature by delineating different phases covering the complete life cycle of participative research knowledge creation. Conclusion: The Certus model describes the elements of a research collaboration process between researchers and practitioners in software engineering, grounded on the principles of research knowledge co-creation and continuous commitment to joint problem solving. The model can be applied and tested in other contexts where it may be adapted to the local context through experimentation.
Integer Forcing Interference Management for the MIMO Interference Channel
Venue: arXiv cs.IT 2022
Year: 2022

A new interference management scheme based on integer forcing (IF) receivers is studied for the two-user multiple-input and multiple-output (MIMO) interference channel. The proposed scheme employs a message splitting method that divides each data stream into common and private sub-streams, in which the private stream is recovered by the dedicated receiver only while the common stream is required to be recovered by both receivers. Specifically, to enable IF sum decoding at the receiver side, all streams are encoded using the same lattice code. Additionally, the number of common and private streams of each user is carefully determined by considering the number of antennas at transmitters and receivers, the channel matrices, and the effective signal-to-noise ratio (SNR) at each receiver to maximize the achievable rate. Furthermore, we consider various assumptions of channel state information at the transmitter side (CSIT) and propose low-complexity linear transmit beamforming suitable for each CSIT assumption. The achievable sum rate and rate region are analytically derived and extensively evaluated by simulation for various environments, demonstrating that the proposed interference management scheme strictly outperforms the previous benchmark schemes in a wide range of channel parameters due to the gain from IF sum decoding.
Smart App Attack: Hacking Deep Learning Models in Android Apps
Venue: arXiv cs.LG 2022
Year: 2022

On-device deep learning is rapidly gaining popularity in mobile applications. Compared to offloading deep learning from smartphones to the cloud, on-device deep learning enables offline model inference while preserving user privacy. However, such mechanisms inevitably store models on users' smartphones and may invite adversarial attacks as they are accessible to attackers. Due to the characteristic of the on-device model, most existing adversarial attacks cannot be directly applied for on-device models. In this paper, we introduce a grey-box adversarial attack framework to hack on-device models by crafting highly similar binary classification models based on identified transfer learning approaches and pre-trained models from TensorFlow Hub. We evaluate the attack effectiveness and generality in terms of four different settings including pre-trained models, datasets, transfer learning approaches and adversarial attack algorithms. The results demonstrate that the proposed attacks remain effective regardless of different settings, and significantly outperform state-of-the-art baselines. We further conduct an empirical study on real-world deep learning mobile apps collected from Google Play. Among 53 apps adopting transfer learning, we find that 71.7\% of them can be successfully attacked, which includes popular ones in medicine, automation, and finance categories with critical usage scenarios. The results call for the awareness and actions of deep learning mobile app developers to secure the on-device models. The code of this work is available at https://github.com/Jinxhy/SmartAppAttack
Fast Computation of Zigzag Persistence
Venue: arXiv cs.CG 2022
Year: 2022

Zigzag persistence is a powerful extension of the standard persistence which allows deletions of simplices besides insertions. However, computing zigzag persistence usually takes considerably more time than the standard persistence. We propose an algorithm called FastZigzag which narrows this efficiency gap. Our main result is that an input simplex-wise zigzag filtration can be converted to a cell-wise non-zigzag filtration of a $Δ$-complex with the same length, where the cells are copies of the input simplices. This conversion step in FastZigzag incurs very little cost. Furthermore, the barcode of the original filtration can be easily read from the barcode of the new cell-wise filtration because the conversion embodies a series of diamond switches known in topological data analysis. This seemingly simple observation opens up the vast possibilities for improving the computation of zigzag persistence because any efficient algorithm/software for standard persistence can now be applied to computing zigzag persistence. Our experiment shows that this indeed achieves substantial performance gain over the existing state-of-the-art softwares.
LitMind Dictionary: An Open-Source Online Dictionary
Venue: arXiv cs.CL 2022
Year: 2022

Dictionaries can help language learners to learn vocabulary by providing definitions of words. Since traditional dictionaries present word senses as discrete items in predefined inventories, they fall short of flexibility, which is required in providing specific meanings of words in particular contexts. In this paper, we introduce the LitMind Dictionary (https://dictionary.litmind.ink), an open-source online generative dictionary that takes a word and context containing the word as input and automatically generates a definition as output. Incorporating state-of-the-art definition generation models, it supports not only Chinese and English, but also Chinese-English cross-lingual queries. Moreover, it has a user-friendly front-end design that can help users understand the query words quickly and easily. All the code and data are available at https://github.com/blcuicall/litmind-dictionary.
Learning Shape Priors by Pairwise Comparison for Robust Semantic Segmentation
Venue: arXiv cs.CV 2022
Year: 2022

Semantic segmentation is important in medical image analysis. Inspired by the strong ability of traditional image analysis techniques in capturing shape priors and inter-subject similarity, many deep learning (DL) models have been recently proposed to exploit such prior information and achieved robust performance. However, these two types of important prior information are usually studied separately in existing models. In this paper, we propose a novel DL model to model both type of priors within a single framework. Specifically, we introduce an extra encoder into the classic encoder-decoder structure to form a Siamese structure for the encoders, where one of them takes a target image as input (the image-encoder), and the other concatenates a template image and its foreground regions as input (the template-encoder). The template-encoder encodes the shape priors and appearance characteristics of each foreground class in the template image. A cosine similarity based attention module is proposed to fuse the information from both encoders, to utilize both types of prior information encoded by the template-encoder and model the inter-subject similarity for each foreground class. Extensive experiments on two public datasets demonstrate that our proposed method can produce superior performance to competing methods.