OpenRaiser/Intern-Atlas huggingface dataset:
DDoS Hide & Seek: On the Effectiveness of a Booter Services Takedown
Venue: arXiv cs.NI 2019
Year: 2019

Booter services continue to provide popular DDoS-as-a-service platforms and enable anyone irrespective of their technical ability, to execute DDoS attacks with devastating impact. Since booters are a serious threat to Internet operations and can cause significant financial and reputational damage, they also draw the attention of law enforcement agencies and related counter activities. In this paper, we investigate booter-based DDoS attacks in the wild and the impact of an FBI takedown targeting 15 booter websites in December 2018 from the perspective of a major IXP and two ISPs. We study and compare attack properties of multiple booter services by launching Gbps-level attacks against our own infrastructure. To understand spatial and temporal trends of the DDoS traffic originating from booters we scrutinize 5 months, worth of inter-domain traffic. We observe that the takedown only leads to a temporary reduction in attack traffic. Additionally, one booter was found to quickly continue operation by using a new domain for its website.
Visualizing How Embeddings Generalize
Venue: arXiv cs.LG 2019
Year: 2019

Deep metric learning is often used to learn an embedding function that captures the semantic differences within a dataset. A key factor in many problem domains is how this embedding generalizes to new classes of data. In observing many triplet selection strategies for Metric Learning, we find that the best performance consistently arises from approaches that focus on a few, well selected triplets.We introduce visualization tools to illustrate how an embedding generalizes beyond measuring accuracy on validation data, and we illustrate the behavior of a range of triplet selection strategies.
Scene Compliant Trajectory Forecast with Agent-Centric Spatio-Temporal Grids
Venue: arXiv cs.CV 2019
Year: 2019

Forecasting long-term human motion is a challenging task due to the non-linearity, multi-modality and inherent uncertainty in future trajectories. The underlying scene and past motion of agents can provide useful cues to predict their future motion. However, the heterogeneity of the two inputs poses a challenge for learning a joint representation of the scene and past trajectories. To address this challenge, we propose a model based on grid representations to forecast agent trajectories. We represent the past trajectories of agents using binary 2-D grids, and the underlying scene as a RGB birds-eye view (BEV) image, with an agent-centric frame of reference. We encode the scene and past trajectories using convolutional layers and generate trajectory forecasts using a Convolutional LSTM (ConvLSTM) decoder. Results on the publicly available Stanford Drone Dataset (SDD) show that our model outperforms prior approaches and outputs realistic future trajectories that comply with scene structure and past motion.
Enhancing JPEG Steganography using Iterative Adversarial Examples
Venue: arXiv cs.MM 2019
Year: 2019

Convolutional Neural Networks (CNN) based methods have significantly improved the performance of image steganalysis compared with conventional ones based on hand-crafted features. However, many existing literatures on computer vision have pointed out that those effective CNN-based methods can be easily fooled by adversarial examples. In this paper, we propose a novel steganography framework based on adversarial example in an iterative manner. The proposed framework first starts from an existing embedding cost, such as J-UNIWARD in this work, and then updates the cost iteratively based on adversarial examples derived from a series of steganalytic networks until achieving satisfactory results. We carefully analyze two important factors that would affect the security performance of the proposed framework, i.e. the percentage of selected gradients with larger amplitude and the adversarial intensity to modify embedding cost. The experimental results evaluated on three modern steganalytic models, including GFR, SCA-GFR and SRNet, show that the proposed framework is very promising to enhance the security performances of JPEG steganography.
An optimal security management framework for backhaul-aware 5G-Vehicle to Everything (V2X)
Venue: arXiv cs.NI 2019
Year: 2019

Cellular (C) setups facilitate the connectivity amongst the devices with better provisioning of services to its users. Vehicular networks are one of the representative setups that aim at expanding their functionalities by using the available cellular systems like Long Term Evolution (LTE)-based Evolved Universal Terrestrial Radio Access Network (E-UTRAN) as well as the upcoming Fifth Generation (5G)-based functional architecture. The vehicular networks include Vehicle to Vehicle (V2V), Vehicle to Infrastructure (V2I), Vehicle to Pedestrian (V2P) and Vehicle to Network (V2N), all of which are referred to as Vehicle to Everything (V2X). 5G has dominated the vehicular network and most of the upcoming research is motivated towards the fully functional utilization of 5G-V2X. Despite that, credential management and edge-initiated security are yet to be resolved under 5G-V2X. To further understand the issue, this paper presents security management as a principle of sustainability and key-management. The performance tradeoff is evaluated with the key-updates required to maintain a secure connection between the vehicles and the 5G-terminals. The proposed approach aims at the utilization of high-speed mmWave-based backhaul for enhancing the security operations between the core and the sub-divided functions at the edge of the network through a dual security management framework. The evaluations are conducted using numerical simulations, which help to understand the impact on the sustainability of connections as well as identification of the fail-safe points for secure and fast operations. Furthermore, the evaluations help to follow the multiple tradeoffs of security and performance based on the metrics like mandatory key updates, the range of operations and the probability of connectivity.
Improving the Learning of Multi-column Convolutional Neural Network for Crowd Counting
Venue: arXiv cs.CV 2019
Year: 2019

Tremendous variation in the scale of people/head size is a critical problem for crowd counting. To improve the scale invariance of feature representation, recent works extensively employ Convolutional Neural Networks with multi-column structures to handle different scales and resolutions. However, due to the substantial redundant parameters in columns, existing multi-column networks invariably exhibit almost the same scale features in different columns, which severely affects counting accuracy and leads to overfitting. In this paper, we attack this problem by proposing a novel Multi-column Mutual Learning (McML) strategy. It has two main innovations: 1) A statistical network is incorporated into the multi-column framework to estimate the mutual information between columns, which can approximately indicate the scale correlation between features from different columns. By minimizing the mutual information, each column is guided to learn features with different image scales. 2) We devise a mutual learning scheme that can alternately optimize each column while keeping the other columns fixed on each mini-batch training data. With such asynchronous parameter update process, each column is inclined to learn different feature representation from others, which can efficiently reduce the parameter redundancy and improve generalization ability. More remarkably, McML can be applied to all existing multi-column networks and is end-to-end trainable. Extensive experiments on four challenging benchmarks show that McML can significantly improve the original multi-column networks and outperform the other state-of-the-art approaches.
A Demonstration of Implication Logic Based on Volatile (Diffusive) Memristors
Venue: arXiv cs.ET 2019
Year: 2019

Implication logic gates that are based on volatile memristors are demonstrated experimentally with the use of relay-based volatile memristor emulators of an original design. The fabricated logic circuit involves two volatile memristors and it is capable of performing four fundamental logic functions (two types of material implication and the negations thereof). Moreover, current-voltage characteristics of individual emulators are recorded and self-sustained oscillations in a resistor-volatile memristor circuit are found. The developed emulator offers a great potential for memristive circuit experiments because of its simplicity, similarity of response with volatile memristors, and low cost. Our findings, which are based on emulators, can easily be reproduced with physical volatile memristors and, thus, open up possibilities for emerging in-memory computing architectures.
Reachability Games with Relaxed Energy Constraints
Venue: arXiv cs.GT 2019
Year: 2019

We study games with reachability objectives under energy constraints. We first prove that under strict energy constraints (either only lower-bound constraint or interval constraint), those games are LOGSPACE-equivalent to energy games with the same energy constraints but without reachability objective (i.e., for infinite runs). We then consider two kinds of relaxations of the upper-bound constraints (while keeping the lower-bound constraint strict): in the first one, called weak upper bound, the upper bound is absorbing, in the sense that it allows receiving more energy when the upper bound is already reached, but the extra energy will not be stored; in the second one, we allow for temporary violations of the upper bound, imposing limits on the number or on the amount of violations. We prove that when considering weak upper bound, reachability objectives require memory, but can still be solved in polynomial-time for one-player arenas; we prove that they are in co-NP in the two-player setting. Allowing for bounded violations makes the problem PSPACE-complete for one-player arenas and EXPTIME-complete for two players.
MetalGAN: a Cluster-based Adaptive Training for Few-Shot Adversarial Colorization
Venue: arXiv cs.LG 2019
Year: 2019

In recent years, the majority of works on deep-learning-based image colorization have focused on how to make a good use of the enormous datasets currently available. What about when the data at disposal are scarce? The main objective of this work is to prove that a network can be trained and can provide excellent colorization results even without a large quantity of data. The adopted approach is a mixed one, which uses an adversarial method for the actual colorization, and a meta-learning technique to enhance the generator model. Also, a clusterization a-priori of the training dataset ensures a task-oriented division useful for meta-learning, and at the same time reduces the per-step number of images. This paper describes in detail the method and its main motivations, and a discussion of results and future developments is provided.
Spatio-Semantic ConvNet-Based Visual Place Recognition
Venue: arXiv cs.CV 2019
Year: 2019

We present a Visual Place Recognition system that follows the two-stage format common to image retrieval pipelines. The system encodes images of places by employing the activations of different layers of a pre-trained, off-the-shelf, VGG16 Convolutional Neural Network (CNN) architecture. In the first stage of our method and given a query image of a place, a number of top candidate images is retrieved from a previously stored database of places. In the second stage, we propose an exhaustive comparison of the query image against these candidates by encoding semantic and spatial information in the form of CNN features. Results from our approach outperform by a large margin state-of-the-art visual place recognition methods on five of the most commonly used benchmark datasets. The performance gain is especially remarkable on the most challenging datasets, with more than a twofold recognition improvement with respect to the latest published work.
Characterizing and Predicting Repeat Food Consumption Behavior for Just-in-Time Interventions
Venue: arXiv cs.IR 2019
Year: 2019

Human beings are creatures of habit. In their daily life, people tend to repeatedly consume similar types of food items over several days and occasionally switch to consuming different types of items when the consumptions become overly monotonous. However, the novel and repeat consumption behaviors have not been studied in food recommendation research. More importantly, the ability to predict daily eating habits of individuals is crucial to improve the effectiveness of food recommender systems in facilitating healthy lifestyle change. In this study, we analyze the patterns of repeat food consumptions using large-scale consumption data from a popular online fitness community called MyFitnessPal (MFP), conduct an offline evaluation of various state-of-the-art algorithms in predicting the next-day food consumption, and analyze their performance across different demographic groups and contexts. The experiment results show that algorithms incorporating the exploration-and-exploitation and temporal dynamics are more effective in the next-day recommendation task than most state-of-the-art algorithms.
Task-Aware Monocular Depth Estimation for 3D Object Detection
Venue: arXiv cs.CV 2019
Year: 2019

Monocular depth estimation enables 3D perception from a single 2D image, thus attracting much research attention for years. Almost all methods treat foreground and background regions ("things and stuff") in an image equally. However, not all pixels are equal. Depth of foreground objects plays a crucial role in 3D object recognition and localization. To date how to boost the depth prediction accuracy of foreground objects is rarely discussed. In this paper, we first analyse the data distributions and interaction of foreground and background, then propose the foreground-background separated monocular depth estimation (ForeSeE) method, to estimate the foreground depth and background depth using separate optimization objectives and depth decoders. Our method significantly improves the depth estimation performance on foreground objects. Applying ForeSeE to 3D object detection, we achieve 7.5 AP gains and set new state-of-the-art results among other monocular methods. Code will be available at: https://github.com/WXinlong/ForeSeE.
Champion Team Paper: Dynamic Passing-Shooting Algorithm Based on CUDA of The RoboCup SSL 2019 Champion
Venue: arXiv cs.RO 2019
Year: 2019

ZJUNlict became the Small Size League Champion of RoboCup 2019 with 6 victories and 1 tie for their 7 games. The overwhelming ability of ball-handling and passing allows ZJUNlict to greatly threaten its opponent and almost kept its goal clear without being threatened. This paper presents the core technology of its ball-handling and robot movement which consist of hardware optimization, dynamic passing and shooting strategy, and multi-agent cooperation and formation. We first describe the mechanical optimization on the placement of the capacitors, the redesign of the damping system of the dribbler and the electrical optimization on the replacement of the core chip. We then describe our passing point algorithm. The passing and shooting strategy can be separated into two different parts, where we search the passing point on SBIP-DPPS and evaluate the point based on the ball model. The statements and the conclusion should be supported by the performances and log of games on Small Size League RoboCup 2019.
An Image Based Visual Servo Approach with Deep Learning for Robotic Manipulation
Venue: arXiv cs.CV 2019
Year: 2019

Aiming at the difficulty of extracting image features and estimating the Jacobian matrix in image based visual servo, this paper proposes an image based visual servo approach with deep learning. With the powerful learning capabilities of convolutional neural networks(CNN), autonomous learning to extract features from images and fitting the nonlinear relationships from image space to task space is achieved, which can greatly facilitate the image based visual servo procedure. Based on the above ideas a two-stream network based on convolutional neural network is designed and the corresponding control scheme is proposed to realize the four degrees of freedom visual servo of the robot manipulator. Collecting images of observed target under different pose parameters of the manipulator as training samples for CNN, the trained network can be used to estimate the nonlinear relationship from 2D image space to 3D Cartesian space. The two-stream network takes the current image and the desirable image as inputs and makes them equal to guide the manipulator to the desirable pose. The effectiveness of the approach is verified with experimental results.
Learn to Segment Organs with a Few Bounding Boxes
Venue: arXiv cs.CV 2019
Year: 2019

Semantic segmentation is an import task in the medical field to identify the exact extent and orientation of significant structures like organs and pathology. Deep neural networks can perform this task well by leveraging the information from a large well-labeled data-set. This paper aims to present a method that mitigates the necessity of an extensive well-labeled data-set. This method also addresses semi-supervision by enabling segmentation based on bounding box annotations, avoiding the need for full pixel-level annotations. The network presented consists of a single U-Net based unbranched architecture that generates a few-shot segmentation for an unseen human organ using just 4 example annotations of that specific organ. The network is trained by alternately minimizing the nearest neighbor loss for prototype learning and a weighted cross-entropy loss for segmentation learning to perform a fast 3D segmentation with a median score of 54.64%.
Algorithm for Training Neural Networks on Resistive Device Arrays
Venue: arXiv cs.LG 2019
Year: 2019

Hardware architectures composed of resistive cross-point device arrays can provide significant power and speed benefits for deep neural network training workloads using stochastic gradient descent (SGD) and backpropagation (BP) algorithm. The training accuracy on this imminent analog hardware however strongly depends on the switching characteristics of the cross-point elements. One of the key requirements is that these resistive devices must change conductance in a symmetrical fashion when subjected to positive or negative pulse stimuli. Here, we present a new training algorithm, so-called the "Tiki-Taka" algorithm, that eliminates this stringent symmetry requirement. We show that device asymmetry introduces an unintentional implicit cost term into the SGD algorithm, whereas in the "Tiki-Taka" algorithm a coupled dynamical system simultaneously minimizes the original objective function of the neural network and the unintentional cost term due to device asymmetry in a self-consistent fashion. We tested the validity of this new algorithm on a range of network architectures such as fully connected, convolutional and LSTM networks. Simulation results on these various networks show that whatever accuracy is achieved using the conventional SGD algorithm with symmetric (ideal) device switching characteristics the same accuracy is also achieved using the "Tiki-Taka" algorithm with non-symmetric (non-ideal) device switching characteristics. Moreover, all the operations performed on the arrays are still parallel and therefore the implementation cost of this new algorithm on array architectures is minimal; and it maintains the aforementioned power and speed benefits. These algorithmic improvements are crucial to relax the material specification and to realize technologically viable resistive crossbar arrays that outperform digital accelerators for similar training tasks.
Distributed Function Minimization in Apache Spark
Venue: arXiv cs.LG 2019
Year: 2019

We report on an open-source implementation for distributed function minimization on top of Apache Spark by using gradient and quasi-Newton methods. We show-case it with an application to Optimal Transport and some scalability tests on classification and regression problems.
What Are You Looking at? Detecting Human Intention in Gaze based Human-Robot Interaction
Venue: arXiv cs.RO 2019
Year: 2019

In gaze based Human-Robot Interaction (HRI), it is important to determine the human intention for further interaction. The gaze intention is often modelled as fixation. However, when looking at an object, it is not natural and it is difficult to maintain the gaze fixating on one point for a long time. Saccades may happen while a human is still focusing on the object. The prediction of human intention will be lost during saccades. In addition, while the human intention is on object, the gazes may be located outside of the object bounding box due to different noise sources, which would cause false negative predictions. In this work, we propose a novel approach to detect whether a human is focusing on an object in HRI application. We determine the gaze intention by comparing the similarity between the hypothetic gazes on objects and the actual gazes. We use Earth Mover's Distance (EMD) to measure the similarity and 1 Nearest Neighbour to classify which object a human is looking at. Our experimental results indicate that, compare to fixation, our method can successfully determine the human intention even during saccadic eye movements and increase the classification accuracy with noisy gaze data. We also demonstrate that, in the interaction with a robot, the proposed approach can obtain a high accuracy of object selection within successful predictions.
Risk Assessment and Planning with Bidirectional Reachability for Autonomous Driving
Venue: arXiv cs.RO 2019
Year: 2019

Knowing and predicting dangerous factors within a scene are two key components during autonomous driving, especially in a crowded urban environment. To navigate safely in environments, risk assessment is needed to quantify and associate the risk of taking a certain action. Risk assessment and planning is usually done by first tracking and predicting trajectories of other agents, such as vehicles and pedestrians, and then choosing an action to avoid collision in the future. However, few existing risk assessment algorithms handle occlusion and other sensory limitations effectively. This paper explores the possibility of efficient risk assessment under occlusion via both forward and backward reachability. The proposed algorithm can not only identify where the risk-induced factors are, but also be used for motion planning by executing low-level commands, such as throttle. The proposed method is evaluated on various four-way highly occluded intersections with up to five other vehicles in the scene. Compared with other risk assessment algorithms, the proposed method shows better efficiency, meaning that the ego vehicle reaches the goal at a higher speed. In addition, it also lowers the median collision rate by 7.5x.