OpenRaiser/Intern-Atlas huggingface dataset:
Automatically Determining a Network Reconnaissance Scope Using Passive Scanning Techniques
Venue: arXiv cs.CR 2021
Year: 2021

The starting point of securing a network is having a concise overview of it. As networks are becoming more and more complex both in general and with the introduction of IoT technology and their topological peculiarities in particular, this is increasingly difficult to achieve. Especially in cyber-physical environments, such as smart factories, gaining a reliable picture of the network can be, due to intertwining of a vast amount of devices and different protocols, a tedious task. Nevertheless, this work is necessary to conduct security audits, compare documentation with actual conditions or found vulnerabilities using an attacker's view, for all of which a reliable topology overview is pivotal. For security auditors, however, there might not much information, such as asset management access, be available beforehand, which is why this paper assumes network to audit as a complete black box. The goal is therefore to set security auditors in a condition of, without having any a priori knowledge at all, automatically gaining a topology oversight. This paper describes, in the context of a bigger system that uses active scanning to determine the network topology, an approach to automate the first steps of this procedure: passively scanning the network and determining the network's scope, as well as gaining a valid address to perform the active scanning. This allows for bootstrapping an automatic network discovery process without prior knowledge.
Dynamic Urban Planning: an Agent-Based Model Coupling Mobility Mode and Housing Choice. Use case Kendall Square
Venue: arXiv cs.MA 2021
Year: 2021

As cities become increasingly populated, urban planning plays a key role in ensuring the equitable and inclusive development of metropolitan areas. MIT City Science group created a data-driven tangible platform, CityScope, to help different stakeholders, such as government representatives, urban planners, developers, and citizens, collaboratively shape the urban scenario through the real-time impact analysis of different urban interventions. This paper presents an agent-based model that characterizes citizens' behavioural patterns with respect to housing and mobility choice that will constitute the first step in the development of a dynamic incentive system for an open interactive governance process. The realistic identification and representation of the criteria that affect this decision-making process will help understand and evaluate the impacts of potential housing incentives that aim to promote urban characteristics such as equality, diversity, walkability, and efficiency. The calibration and validation of the model have been performed in a well-known geographic area for the Group: Kendall Square in Cambridge, MA.
Quantifying Social Biases in NLP: A Generalization and Empirical Comparison of Extrinsic Fairness Metrics
Venue: arXiv cs.CL 2021
Year: 2021

Measuring bias is key for better understanding and addressing unfairness in NLP/ML models. This is often done via fairness metrics which quantify the differences in a model's behaviour across a range of demographic groups. In this work, we shed more light on the differences and similarities between the fairness metrics used in NLP. First, we unify a broad range of existing metrics under three generalized fairness metrics, revealing the connections between them. Next, we carry out an extensive empirical comparison of existing metrics and demonstrate that the observed differences in bias measurement can be systematically explained via differences in parameter choices for our generalized metrics.
Dataset and Benchmarking of Real-Time Embedded Object Detection for RoboCup SSL
Venue: arXiv cs.CV 2021
Year: 2021

When producing a model to object detection in a specific context, the first obstacle is to have a dataset labeling the desired classes. In RoboCup, some leagues already have more than one dataset to train and evaluate a model. However, in the Small Size League (SSL), there is not such dataset available yet. This paper presents an open-source dataset to be used as a benchmark for real-time object detection in SSL. This work also presented a pipeline to train, deploy, and evaluate Convolutional Neural Networks (CNNs) models in a low-power embedded system. This pipeline was used to evaluate the proposed dataset with state-of-art optimized models. In this dataset, the MobileNet SSD v1 achieves 44.88% AP (68.81% AP50) at 94 Frames Per Second (FPS) while running on an SSL robot.
The Reward-Penalty-Selection Problem
Venue: arXiv cs.CC 2021
Year: 2021

The Set Cover Problem (SCP) and the Hitting Set Problem (HSP) are well-studied optimization problems. In this paper we introduce the Reward-Penalty-Selection Problem (RPSP) which can be understood as a combination of the SCP and the HSP where the objectives of both problems are contrary to each other. Applications of the RPSP can be found in the context of combinatorial exchanges in order to solve the corresponding winner determination problem. We give complexity results for the minimization and the maximization problem as well as for several variants with additional restrictions. Further, we provide an algorithm that runs in polynomial time for the special case of laminar sets and a dynamic programming approach for the case where the instance can be represented by a tree or a graph with bounded tree-width. We further present a graph theoretical generalization of this problem and results regarding its complexity.
Classification of Contract-Amendment Relationships
Venue: arXiv cs.CL 2021
Year: 2021

In Contract Life-cycle Management (CLM), managing and tracking the master agreements and their associated amendments is essential, in order to be kept informed with different due dates and obligations. An automatic solution can facilitate the daily jobs and improve the efficiency of legal practitioners. In this paper, we propose an approach based on machine learning (ML) and Natural Language Processing (NLP) to detect the amendment relationship between two documents. The algorithm takes two PDF documents preprocessed by OCR (Optical Character Recognition) and NER (Named Entity Recognition) as input, and then it builds the features of each document pair and classifies the relationship. We experimented with different configurations on a dataset consisting of 1124 pairs of contract-amendment documents in English and French. The best result obtained a F1-score of 91%, which outperformed 23% compared to a heuristic-based baseline.
SwarmPaint: Human-Swarm Interaction for Trajectory Generation and Formation Control by DNN-based Gesture Interface
Venue: arXiv cs.RO 2021
Year: 2021

Teleoperation tasks with multi-agent systems have a high potential in supporting human-swarm collaborative teams in exploration and rescue operations. However, it requires an intuitive and adaptive control approach to ensure swarm stability in a cluttered and dynamically shifting environment. We propose a novel human-swarm interaction system, allowing the user to control swarm position and formation by either direct hand motion or by trajectory drawing with a hand gesture interface based on the DNN gesture recognition. The key technology of the SwarmPaint is the user's ability to perform various tasks with the swarm without additional devices by switching between interaction modes. Two types of interaction were proposed and developed to adjust a swarm behavior: free-form trajectory generation control and shaped formation control. Two preliminary user studies were conducted to explore user's performance and subjective experience from human-swarm interaction through the developed control modes. The experimental results revealed a sufficient accuracy in the trajectory tracing task (mean error of 5.6 cm by gesture draw and 3.1 cm by mouse draw with the pattern of dimension 1 m by 1 m) over three evaluated trajectory patterns and up to 7.3 cm accuracy in targeting task with two target patterns of 1 m achieved by SwarmPaint interface. Moreover, the participants evaluated the trajectory drawing interface as more intuitive (12.9 %) and requiring less effort to utilize (22.7%) than direct shape and position control by gestures, although its physical workload and failure in performance were presumed as more significant (by 9.1% and 16.3%, respectively).
Unsupervised Discovery of Actions in Instructional Videos
Venue: arXiv cs.CV 2021
Year: 2021

In this paper we address the problem of automatically discovering atomic actions in unsupervised manner from instructional videos. Instructional videos contain complex activities and are a rich source of information for intelligent agents, such as, autonomous robots or virtual assistants, which can, for example, automatically `read' the steps from an instructional video and execute them. However, videos are rarely annotated with atomic activities, their boundaries or duration. We present an unsupervised approach to learn atomic actions of structured human tasks from a variety of instructional videos. We propose a sequential stochastic autoregressive model for temporal segmentation of videos, which learns to represent and discover the sequential relationship between different atomic actions of the task, and which provides automatic and unsupervised self-labeling for videos. Our approach outperforms the state-of-the-art unsupervised methods with large margins. We will open source the code.
Instantaneous Capture Input for Balancing the Variable Height Inverted Pendulum
Venue: arXiv cs.RO 2021
Year: 2021

Balancing is a fundamental need for legged robots due to their unstable floating-base nature. Balance control has been thoroughly studied for simple models such as the linear inverted pendulum thanks to the concept of the instantaneous capture point (ICP), yet the constant center of mass height assumption limits the application. This paper explores balancing of the variable-height inverted pendulum (VHIP) model by introducing the \emph{instantaneous capture input} (ICI), an extension of the ICP based on its key properties. Namely, the ICI can be computed as a function of the state, and when this function is used as the control policy, the ICI is rendered stationary and the system will eventually come to a stop. This characterization induces an analytical region of capturable states for the VHIP, which can be used to conceptually guide where to step. To further address state and control constraints during recovery, we present and theoretically analyze an explicit ICI-based controller with online optimal feedback gains. Simulations demonstrate the validity of our controller for capturability maintenance compared to an approach based on the divergent component of motion.
Measuring close proximity interactions in summer camps during the COVID-19 pandemic
Venue: arXiv cs.NI 2021
Year: 2021

Policy makers have implemented multiple non-pharmaceutical strategies to mitigate the COVID-19 worldwide crisis. Interventions had the aim of reducing close proximity interactions, which drive the spread of the disease. A deeper knowledge of human physical interactions has revealed necessary, especially in all settings involving children, whose education and gathering activities should be preserved. Despite their relevance, almost no data are available on close proximity contacts among children in schools or other educational settings during the pandemic. Contact data are usually gathered via Bluetooth, which nonetheless offers a low temporal and spatial resolution. Recently, ultra-wideband (UWB) radios emerged as a more accurate alternative that nonetheless exhibits a significantly higher energy consumption, limiting in-field studies. In this paper, we leverage a novel approach, embodied by the Janus system that combines these radios by exploiting their complementary benefits. The very accurate proximity data gathered in-field by Janus, once augmented with several metadata, unlocks unprecedented levels of information, enabling the development of novel multi-level risk analyses. By means of this technology, we have collected real contact data of children and educators in three summer camps during summer 2020 in the province of Trento, Italy. The wide variety of performed daily activities induced multiple individual behaviors, allowing a rich investigation of social environments from the contagion risk perspective. We consider risk based on duration and proximity of contacts and classify interactions according to different risk levels. We can then evaluate the summer camps' organization, observe the effect of partition in small groups, or social bubbles, and identify the organized activities that mitigate the riskier behaviors. [...]
Nash Social Welfare for 2-value Instances
Venue: arXiv cs.GT 2021
Year: 2021

This paper is merged with arXiv:2107.08965v2. We refer the reader to the full and updated version. We study the problem of allocating a set of indivisible goods among agents with 2-value additive valuations. Our goal is to find an allocation with maximum Nash social welfare, i.e., the geometric mean of the valuations of the agents. We give a polynomial-time algorithm to find a Nash social welfare maximizing allocation when the valuation functions are integrally 2-valued, i.e., each agent has a value either $1$ or $p$ for each good, for some positive integer $p$. We then extend our algorithm to find a better approximation factor for general 2-value instances.
Iris Presentation Attack Detection by Attention-based and Deep Pixel-wise Binary Supervision Network
Venue: arXiv cs.CV 2021
Year: 2021

Iris presentation attack detection (PAD) plays a vital role in iris recognition systems. Most existing CNN-based iris PAD solutions 1) perform only binary label supervision during the training of CNNs, serving global information learning but weakening the capture of local discriminative features, 2) prefer the stacked deeper convolutions or expert-designed networks, raising the risk of overfitting, 3) fuse multiple PAD systems or various types of features, increasing difficulty for deployment on mobile devices. Hence, we propose a novel attention-based deep pixel-wise binary supervision (A-PBS) method. Pixel-wise supervision is first able to capture the fine-grained pixel/patch-level cues. Then, the attention mechanism guides the network to automatically find regions that most contribute to an accurate PAD decision. Extensive experiments are performed on LivDet-Iris 2017 and three other publicly available databases to show the effectiveness and robustness of proposed A-PBS methods. For instance, the A-PBS model achieves an HTER of 6.50% on the IIITD-WVU database outperforming state-of-the-art methods.
Design Considerations for Data Daemons: Co-creating Design Futures to Explore Ethical Personal Data Management
Venue: arXiv cs.HC 2021
Year: 2021

Mobile applications and online service providers track our virtual and physical behaviour more actively and with a broader scope than ever before. This has given rise to growing concerns about ethical personal data management. Even though regulation and awareness around data ethics are increasing, end-users are seldom engaged when defining and designing what a future with ethical personal data management should look like. We explore a participatory process that uses design futures, the Future workshop method and design fictions to envision ethical personal data management with end-users and designers. To engage participants effectively, we needed to bridge their differential expertise and make the abstract concepts of data and ethics tangible. By concretely presenting personal data management and control as fictitious entities called Data Daemons, we created a shared understanding of these abstract concepts, and empowered non-expert end-users and designers to become actively engaged in the design process.
Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversals
Venue: arXiv cs.CV 2021
Year: 2021

Accurately predicting the future motion of surrounding vehicles requires reasoning about the inherent uncertainty in driving behavior. This uncertainty can be loosely decoupled into lateral (e.g., keeping lane, turning) and longitudinal (e.g., accelerating, braking). We present a novel method that combines learned discrete policy rollouts with a focused decoder on subsets of the lane graph. The policy rollouts explore different goals given current observations, ensuring that the model captures lateral variability. Longitudinal variability is captured by our latent variable model decoder that is conditioned on various subsets of the lane graph. Our model achieves state-of-the-art performance on the nuScenes motion prediction dataset, and qualitatively demonstrates excellent scene compliance. Detailed ablations highlight the importance of the policy rollouts and the decoder architecture.
Untidy Data: The Unreasonable Effectiveness of Tables
Venue: arXiv cs.HC 2021
Year: 2021

Working with data in table form is usually considered a preparatory and tedious step in the sensemaking pipeline; a way of getting the data ready for more sophisticated visualization and analytical tools. But for many people, spreadsheets -- the quintessential table tool -- remain a critical part of their information ecosystem, allowing them to interact with their data in ways that are hidden or abstracted in more complex tools. This is particularly true for data workers: people who work with data as part of their job but do not identify as professional analysts or data scientists. We report on a qualitative study of how these workers interact with and reason about their data. Our findings show that data tables serve a broader purpose beyond data cleanup at the initial stage of a linear analytic flow: users want to see and "get their hands on" the underlying data throughout the analytics process, reshaping and augmenting it to support sensemaking. They reorganize, mark up, layer on levels of detail, and spawn alternatives within the context of the base data. These direct interactions and human-readable table representations form a rich and cognitively important part of building understanding of what the data mean and what they can do with it. We argue that interactive tables are an important visualization idiom in their own right; that the direct data interaction they afford offers a fertile design space for visual analytics; and that sense making can be enriched by more flexible human-data interaction than is currently supported in visual analytics tools.
Cross-domain error minimization for unsupervised domain adaptation
Venue: arXiv cs.LG 2021
Year: 2021

Unsupervised domain adaptation aims to transfer knowledge from a labeled source domain to an unlabeled target domain. Previous methods focus on learning domain-invariant features to decrease the discrepancy between the feature distributions as well as minimizing the source error and have made remarkable progress. However, a recently proposed theory reveals that such a strategy is not sufficient for a successful domain adaptation. It shows that besides a small source error, both the discrepancy between the feature distributions and the discrepancy between the labeling functions should be small across domains. The discrepancy between the labeling functions is essentially the cross-domain errors which are ignored by existing methods. To overcome this issue, in this paper, a novel method is proposed to integrate all the objectives into a unified optimization framework. Moreover, the incorrect pseudo labels widely used in previous methods can lead to error accumulation during learning. To alleviate this problem, the pseudo labels are obtained by utilizing structural information of the target domain besides source classifier and we propose a curriculum learning based strategy to select the target samples with more accurate pseudo-labels during training. Comprehensive experiments are conducted, and the results validate that our approach outperforms state-of-the-art methods.
An End-to-End Autofocus Camera for Iris on the Move
Venue: arXiv cs.CV 2021
Year: 2021

For distant iris recognition, a long focal length lens is generally used to ensure the resolution ofiris images, which reduces the depth of field and leads to potential defocus blur. To accommodate users at different distances, it is necessary to control focus quickly and accurately. While for users in motion, it is expected to maintain the correct focus on the iris area continuously. In this paper, we introduced a novel rapid autofocus camera for active refocusing ofthe iris area ofthe moving objects using a focus-tunable lens. Our end-to-end computational algorithm can predict the best focus position from one single blurred image and generate a lens diopter control signal automatically. This scene-based active manipulation method enables real-time focus tracking of the iris area ofa moving object. We built a testing bench to collect real-world focal stacks for evaluation of the autofocus methods. Our camera has reached an autofocus speed ofover 50 fps. The results demonstrate the advantages of our proposed camera for biometric perception in static and dynamic scenes. The code is available at https://github.com/Debatrix/AquulaCam.
The Price of Selfishness: Conjunctive Query Entailment for ALCSelf is 2ExpTime-hard
Venue: arXiv cs.LO 2021
Year: 2021

In logic-based knowledge representation, query answering has essentially replaced mere satisfiability checking as the inferencing problem of primary interest. For knowledge bases in the basic description logic ALC, the computational complexity of conjunctive query (CQ) answering is well known to be ExpTime-complete and hence not harder than satisfiability. This does not change when the logic is extended by certain features (such as counting or role hierarchies), whereas adding others (inverses, nominals or transitivity together with role-hierarchies) turns CQ answering exponentially harder. We contribute to this line of results by showing the surprising fact that even extending ALC by just the Self operator - which proved innocuous in many other contexts - increases the complexity of CQ entailment to 2ExpTime. As common for this type of problem, our proof establishes a reduction from alternating Turing machines running in exponential space, but several novel ideas and encoding tricks are required to make the approach work in that specific, restricted setting.
End-to-end Waveform Learning Through Joint Optimization of Pulse and Constellation Shaping
Venue: arXiv cs.IT 2021
Year: 2021

As communication systems are foreseen to enable new services such as joint communication and sensing and utilize parts of the sub-THz spectrum, the design of novel waveforms that can support these emerging applications becomes increasingly challenging. We present in this work an end-to-end learning approach to design waveforms through joint learning of pulse shaping and constellation geometry, together with a neural network (NN)-based receiver. Optimization is performed to maximize an achievable information rate, while satisfying constraints on out-of-band emission and power envelope. Our results show that the proposed approach enables up to orders of magnitude smaller adjacent channel leakage ratios (ACLRs) with peak-to-average power ratios (PAPRs) competitive with traditional filters, without significant loss of information rate on an additive white Gaussian noise (AWGN) channel, and no additional complexity at the transmitter.