OpenRaiser/Intern-Atlas huggingface dataset:
Credential Masquerading and OpenSSL Spy: Exploring ROS 2 using DDS security
Venue: arXiv cs.CR 2019
Year: 2019

The trend toward autonomous robot deployments is on an upward growth curve. These robots are undertaking new tasks and are being integrated into society. Examples of this trend are autonomous vehicles, humanoids, and eldercare. The movement from factory floors to streets and homes has also increased the number of vulnerabilities that adversaries can utilize. To improve security, Robot Operating System (ROS) 2 has standardized on using Data Distributed Services (DDS) as the messaging layer, which supports a security standard for protecting messages between parties with access control enforcement. DDS security is dependent on the OpenSSL and a security configuration file that specifies sensitive data location. DSS Security assumes that the underlining Operating System (OS) is secure and that the dependencies are consistent, but ongoing integrity checks are not performed. This paper looks at two vulnerabilities that we exploit using an OpenSSL spy process and a security property file manipulation. An overview of each exploit is provided with an evaluation of mitigation technologies that may be employed in client computers, servers, and other areas. Since, ROS 2 and DDS run in user space, these processes are prone to vulnerabilities. We provide recommendations about mitigation technology, as currently autonomous platforms are being deployed without safe-guards for on or off-line threats. The Trust Platform Module (TPM) is new to robotic systems, but the standard usage model does not provide risk mitigation above the OS layer for the types of attacks we discuss.
Studying Attitudes and Social Norms in Agile Software Development
Venue: arXiv cs.SE 2019
Year: 2019

The purpose of this paper is to review research on attitudes and social norms and connect it to the agile software development context. Furthermore, I propose additional theories from social psychology (mainly the theory of planned behavior and using the degree of internalization of social norms) that would most certainly be useful for further sense-making of human factors-related research on agile teams.
XLSor: A Robust and Accurate Lung Segmentor on Chest X-Rays Using Criss-Cross Attention and Customized Radiorealistic Abnormalities Generation
Venue: arXiv cs.CV 2019
Year: 2019

This paper proposes a novel framework for lung segmentation in chest X-rays. It consists of two key contributions, a criss-cross attention based segmentation network and radiorealistic chest X-ray image synthesis (i.e. a synthesized radiograph that appears anatomically realistic) for data augmentation. The criss-cross attention modules capture rich global contextual information in both horizontal and vertical directions for all the pixels thus facilitating accurate lung segmentation. To reduce the manual annotation burden and to train a robust lung segmentor that can be adapted to pathological lungs with hazy lung boundaries, an image-to-image translation module is employed to synthesize radiorealistic abnormal CXRs from the source of normal ones for data augmentation. The lung masks of synthetic abnormal CXRs are propagated from the segmentation results of their normal counterparts, and then serve as pseudo masks for robust segmentor training. In addition, we annotate 100 CXRs with lung masks on a more challenging NIH Chest X-ray dataset containing both posterioranterior and anteroposterior views for evaluation. Extensive experiments validate the robustness and effectiveness of the proposed framework. The code and data can be found from https://github.com/rsummers11/CADLab/tree/master/Lung_Segmentation_XLSor .
Software Tools for Big Data Resources in Family Names Dictionaries
Venue: arXiv cs.DL 2019
Year: 2019

This paper describes the design and development of specific software tools used during the creation of Family Names in Britain and Ireland (FaNBI) research project, started by the University of the West of England in 2010 and finished successfully in 2016. First, the overview of the project and methodology is provided. Next section contains the description of dictionary management tools and software tools to combine input data resources.
Data Races and the Discrete Resource-time Tradeoff Problem with Resource Reuse over Paths
Venue: arXiv cs.DC 2019
Year: 2019

A determinacy race occurs if two or more logically parallel instructions access the same memory location and at least one of them tries to modify its content. Races often lead to nondeterministic and incorrect program behavior. A data race is a special case of a determinacy race which can be eliminated by associating a mutual-exclusion lock or allowing atomic accesses to the memory location. However, such solutions can reduce parallelism by serializing all accesses to that location. For associative and commutative updates, reducers allow parallel race-free updates at the expense of using some extra space. We ask the following question. Given a fixed budget of extra space to mitigate the cost of races in a parallel program, which memory locations should be assigned reducers and how should the space be distributed among the reducers in order to minimize the overall running time? We argue that the races can be captured by a directed acyclic graph (DAG), with nodes representing memory cells and arcs representing read-write dependencies between cells. We then formulate our optimization problem on DAGs. We concentrate on a variation of this problem where space reuse among reducers is allowed by routing extra space along a source to sink path of the DAG and using it in the construction of reducers along the path. We consider two reducers and the corresponding duration functions (i.e., reduction time as a function of space budget). We generalize our race-avoiding space-time tradeoff problem to a discrete resource-time tradeoff problem with general non-increasing duration functions and resource reuse over paths. For general DAGs, the offline problem is strongly NP-hard under all three duration functions, and we give approximation algorithms. We also prove hardness of approximation for the general resource-time tradeoff problem and give a pseudo-polynomial time algorithm for series-parallel DAGs.
Energy-Efficient Runtime Adaptable L1 STT-RAM Cache Design
Venue: arXiv cs.AR 2019
Year: 2019

Much research has shown that applications have variable runtime cache requirements. In the context of the increasingly popular Spin-Transfer Torque RAM (STT-RAM) cache, the retention time, which defines how long the cache can retain a cache block in the absence of power, is one of the most important cache requirements that may vary for different applications. In this paper, we propose a Logically Adaptable Retention Time STT-RAM (LARS) cache that allows the retention time to be dynamically adapted to applications' runtime requirements. LARS cache comprises of multiple STT-RAM units with different retention times, with only one unit being used at a given time. LARS dynamically determines which STT-RAM unit to use during runtime, based on executing applications' needs. As an integral part of LARS, we also explore different algorithms to dynamically determine the best retention time based on different cache design tradeoffs. Our experiments show that by adapting the retention time to different applications' requirements, LARS cache can reduce the average cache energy by 25.31%, compared to prior work, with minimal overheads.
Reward Potentials for Planning with Learned Neural Network Transition Models
Venue: arXiv cs.AI 2019
Year: 2019

Optimal planning with respect to learned neural network (NN) models in continuous action and state spaces using mixed-integer linear programming (MILP) is a challenging task for branch-and-bound solvers due to the poor linear relaxation of the underlying MILP model. For a given set of features, potential heuristics provide an efficient framework for computing bounds on cost (reward) functions. In this paper, we model the problem of finding optimal potential bounds for learned NN models as a bilevel program, and solve it using a novel finite-time constraint generation algorithm. We then strengthen the linear relaxation of the underlying MILP model by introducing constraints to bound the reward function based on the precomputed reward potentials. Experimentally, we show that our algorithm efficiently computes reward potentials for learned NN models, and that the overhead of computing reward potentials is justified by the overall strengthening of the underlying MILP model for the task of planning over long horizons.
Distributed generation of privacy preserving data with user customization
Venue: arXiv cs.LG 2019
Year: 2019

Distributed devices such as mobile phones can produce and store large amounts of data that can enhance machine learning models; however, this data may contain private information specific to the data owner that prevents the release of the data. We wish to reduce the correlation between user-specific private information and data while maintaining the useful information. Rather than learning a large model to achieve privatization from end to end, we introduce a decoupling of the creation of a latent representation and the privatization of data that allows user-specific privatization to occur in a distributed setting with limited computation and minimal disturbance on the utility of the data. We leverage a Variational Autoencoder (VAE) to create a compact latent representation of the data; however, the VAE remains fixed for all devices and all possible private labels. We then train a small generative filter to perturb the latent representation based on individual preferences regarding the private and utility information. The small filter is trained by utilizing a GAN-type robust optimization that can take place on a distributed device. We conduct experiments on three popular datasets: MNIST, UCI-Adult, and CelebA, and give a thorough evaluation including visualizing the geometry of the latent embeddings and estimating the empirical mutual information to show the effectiveness of our approach.
Qualitative and Quantitative Risk Analysis and Safety Assessment of Unmanned Aerial Vehicles Missions over the Internet
Venue: arXiv cs.RO 2019
Year: 2019

In the last few years, Unmanned Aerial Vehicles (UAVs) are making a revolution as an emerging technology with many different applications in the military, civilian, and commercial fields. The advent of autonomous drones has initiated serious challenges, including how to maintain their safe operation during their missions. The safe operation of UAVs remains an open and sensitive issue since any unexpected behavior of the drone or any hazard would lead to potential risks that might be very severe. The motivation behind this work is to propose a methodology for the safety assurance of drones over the Internet {(Internet of drones (IoD))}. Two approaches will be used in performing the safety analysis: (1) a qualitative safety analysis approach, and (2) a quantitative safety analysis approach. The first approach uses the international safety standards, namely ISO 12100 and ISO 13849 to assess the safety of drone's missions by focusing on qualitative assessment techniques. The methodology starts with hazard identification, risk assessment, risk mitigation, and finally, draws the safety recommendations associated with a drone delivery use case. The second approach presents a method for the quantitative safety assessment using Bayesian Networks (BN) for probabilistic modeling. BN utilizes the information provided by the first approach to model the safety risks related to UAVs' flights. An illustrative UAV crash scenario is presented as a case study, followed by scenario analysis, to demonstrate the applicability of the proposed approach. These two analyses, qualitative and quantitative, enable { all involved stakeholders} to detect, explore and address the risks of UAV flights, which will help the industry to better manage the safety concerns of UAVs.
Performance and Resilience of Cyber-Physical Control Systems with Reactive Attack Mitigation
Venue: arXiv cs.CR 2019
Year: 2019

This paper studies the performance and resilience of a linear cyber-physical control system (CPCS) with attack detection and reactive attack mitigation in the context of power grids. It addresses the problem of deriving an optimal sequence of false data injection attacks that maximizes the state estimation error of the power system. The results provide basic understanding about the limit of the attack impact. The design of the optimal attack is based on a Markov decision process (MDP) formulation, which is solved efficiently using the value iteration method. We apply the proposed framework to the voltage control system of power grids and run extensive simulations using PowerWorld. The results show that our framework can accurately characterize the maximum state estimation errors caused by an attacker who carefully designs the attack sequence to strike a balance between the attack magnitude and stealthiness, due to the simultaneous presence of attack detection and mitigation. Moreover, based on the proposed framework, we analyze the impact of false positives and negatives in detecting attacks on the system performance. The results are important for the system defenders in the joint design of attack detection and mitigation to reduce the impact of these attack detection errors.Finally, as MDP solutions are not scalable for high-dimensional systems, we apply Q-learning with linear and non-linear (neural networks based) function approximators to solve the attacker's problem in these systems and compare their performances.
Cluster Deletion on Interval Graphs and Split Related Graphs
Venue: arXiv cs.DS 2019
Year: 2019

In the {\sc Cluster Deletion} problem the goal is to remove the minimum number of edges of a given graph, such that every connected component of the resulting graph constitutes a clique. It is known that the decision version of {\sc Cluster Deletion} is NP-complete on ($P_5$-free) chordal graphs, whereas {\sc Cluster Deletion} is solved in polynomial time on split graphs. However, the existence of a polynomial-time algorithm of {\sc Cluster Deletion} on interval graphs, a proper subclass of chordal graphs, remained a well-known open problem. Our main contribution is that we settle this problem in the affirmative, by providing a polynomial-time algorithm for {\sc Cluster Deletion} on interval graphs. Moreover, despite the simple formulation of the algorithm on split graphs, we show that {\sc Cluster Deletion} remains NP-complete on a natural and slight generalization of split graphs that constitutes a proper subclass of $P_5$-free chordal graphs. To complement our results, we provide two polynomial-time algorithms for {\sc Cluster Deletion} on subclasses of such generalizations of split graphs.
Compression and Localization in Reinforcement Learning for ATARI Games
Venue: arXiv cs.LG 2019
Year: 2019

Deep neural networks have become commonplace in the domain of reinforcement learning, but are often expensive in terms of the number of parameters needed. While compressing deep neural networks has of late assumed great importance to overcome this drawback, little work has been done to address this problem in the context of reinforcement learning agents. This work aims at making first steps towards model compression in an RL agent. In particular, we compress networks to drastically reduce the number of parameters in them (to sizes less than 3% of their original size), further facilitated by applying a global max pool after the final convolution layer, and propose using Actor-Mimic in the context of compression. Finally, we show that this global max-pool allows for weakly supervised object localization, improving the ability to identify the agent's points of focus.
On Detection of Critical Events in a Finite Forest using Randomly Deployed Wireless Sensors
Venue: arXiv cs.IT 2019
Year: 2019

Ecosystem of a forest suffers from many adverse events such as wild-fire which can occur randomly anywhere in the forest and grows in size with time. This paper aims to analyze performance of a network of randomly deployed wireless sensors for the early detection of these time-critical and time-evolving events in a forest. We consider that the forest lies in a confined space (e.g. a circular region) and the wireless sensors, with fixed sensing range, are deployed within the boundary of forest itself. The sensing area of the network is modeled as a finite Boolean-Poisson model. In this model, the locations of sensors are modeled as a finite homogeneous Poisson Point Process (PPP) and the sensing area of each sensor is assumed to be a finite set. This paper aims to answer questions about the proximity of a typical sensor from a randomly occurred event and the total sensing area covered by sensors. We first derive the distribution of contact distance of a FHPPP and the expression of the capacity functional of a finite Boolean-Poisson model. Using these, we then derive the probability of sensing the event at time t, termed event-sensing probability.
3G structure for image caption generation
Venue: arXiv cs.CV 2019
Year: 2019

It is a big challenge of computer vision to make machine automatically describe the content of an image with a natural language sentence. Previous works have made great progress on this task, but they only use the global or local image feature, which may lose some important subtle or global information of an image. In this paper, we propose a model with 3-gated model which fuses the global and local image features together for the task of image caption generation. The model mainly has three gated structures. 1) Gate for the global image feature, which can adaptively decide when and how much the global image feature should be imported into the sentence generator. 2) The gated recurrent neural network (RNN) is used as the sentence generator. 3) The gated feedback method for stacking RNN is employed to increase the capability of nonlinearity fitting. More specially, the global and local image features are combined together in this paper, which makes full use of the image information. The global image feature is controlled by the first gate and the local image feature is selected by the attention mechanism. With the latter two gates, the relationship between image and text can be well explored, which improves the performance of the language part as well as the multi-modal embedding part. Experimental results show that our proposed method outperforms the state-of-the-art for image caption generation.
Quantum channels as a categorical completion
Venue: arXiv cs.LO 2019
Year: 2019

We propose a categorical foundation for the connection between pure and mixed states in quantum information and quantum computation. The foundation is based on distributive monoidal categories. First, we prove that the category of all quantum channels is a canonical completion of the category of pure quantum operations (with ancilla preparations). More precisely, we prove that the category of completely positive trace-preserving maps between finite-dimensional C*-algebras is a canonical completion of the category of finite-dimensional vector spaces and isometries. Second, we extend our result to give a foundation to the topological relationships between quantum channels. We do this by generalizing our categorical foundation to the topologically-enriched setting. In particular, we show that the operator norm topology on quantum channels is the canonical topology induced by the norm topology on isometries.
Probabilistic Face Embeddings
Venue: arXiv cs.CV 2019
Year: 2019

Embedding methods have achieved success in face recognition by comparing facial features in a latent semantic space. However, in a fully unconstrained face setting, the facial features learned by the embedding model could be ambiguous or may not even be present in the input face, leading to noisy representations. We propose Probabilistic Face Embeddings (PFEs), which represent each face image as a Gaussian distribution in the latent space. The mean of the distribution estimates the most likely feature values while the variance shows the uncertainty in the feature values. Probabilistic solutions can then be naturally derived for matching and fusing PFEs using the uncertainty information. Empirical evaluation on different baseline models, training datasets and benchmarks show that the proposed method can improve the face recognition performance of deterministic embeddings by converting them into PFEs. The uncertainties estimated by PFEs also serve as good indicators of the potential matching accuracy, which are important for a risk-controlled recognition system.
UniSent: Universal Adaptable Sentiment Lexica for 1000+ Languages
Venue: arXiv cs.CL 2019
Year: 2019

In this paper, we introduce UniSent universal sentiment lexica for $1000+$ languages. Sentiment lexica are vital for sentiment analysis in absence of document-level annotations, a very common scenario for low-resource languages. To the best of our knowledge, UniSent is the largest sentiment resource to date in terms of the number of covered languages, including many low resource ones. In this work, we use a massively parallel Bible corpus to project sentiment information from English to other languages for sentiment analysis on Twitter data. We introduce a method called DomDrift to mitigate the huge domain mismatch between Bible and Twitter by a confidence weighting scheme that uses domain-specific embeddings to compare the nearest neighbors for a candidate sentiment word in the source (Bible) and target (Twitter) domain. We evaluate the quality of UniSent in a subset of languages for which manually created ground truth was available, Macedonian, Czech, German, Spanish, and French. We show that the quality of UniSent is comparable to manually created sentiment resources when it is used as the sentiment seed for the task of word sentiment prediction on top of embedding representations. In addition, we show that emoticon sentiments could be reliably predicted in the Twitter domain using only UniSent and monolingual embeddings in German, Spanish, French, and Italian. With the publication of this paper, we release the UniSent sentiment lexica.
Investigating Prior Knowledge for Challenging Chinese Machine Reading Comprehension
Venue: arXiv cs.CL 2019
Year: 2019

Machine reading comprehension tasks require a machine reader to answer questions relevant to the given document. In this paper, we present the first free-form multiple-Choice Chinese machine reading Comprehension dataset (C^3), containing 13,369 documents (dialogues or more formally written mixed-genre texts) and their associated 19,577 multiple-choice free-form questions collected from Chinese-as-a-second-language examinations. We present a comprehensive analysis of the prior knowledge (i.e., linguistic, domain-specific, and general world knowledge) needed for these real-world problems. We implement rule-based and popular neural methods and find that there is still a significant performance gap between the best performing model (68.5%) and human readers (96.0%), especially on problems that require prior knowledge. We further study the effects of distractor plausibility and data augmentation based on translated relevant datasets for English on model performance. We expect C^3 to present great challenges to existing systems as answering 86.8% of questions requires both knowledge within and beyond the accompanying document, and we hope that C^3 can serve as a platform to study how to leverage various kinds of prior knowledge to better understand a given written or orally oriented text. C^3 is available at https://dataset.org/c3/.