OpenRaiser/Intern-Atlas huggingface dataset:
A Nested Bi-level Optimization Framework for Robust Few Shot Learning
Venue: arXiv cs.LG 2021
Year: 2021

Model-Agnostic Meta-Learning (MAML), a popular gradient-based meta-learning framework, assumes that the contribution of each task or instance to the meta-learner is equal. Hence, it fails to address the domain shift between base and novel classes in few-shot learning. In this work, we propose a novel robust meta-learning algorithm, NestedMAML, which learns to assign weights to training tasks or instances. We consider weights as hyper-parameters and iteratively optimize them using a small set of validation tasks set in a nested bi-level optimization approach (in contrast to the standard bi-level optimization in MAML). We then apply NestedMAML in the meta-training stage, which involves (1) several tasks sampled from a distribution different from the meta-test task distribution, or (2) some data samples with noisy labels. Extensive experiments on synthetic and real-world datasets demonstrate that NestedMAML efficiently mitigates the effects of "unwanted" tasks or instances, leading to significant improvement over the state-of-the-art robust meta-learning methods.
SHAD3S: A model to Sketch, Shade and Shadow
Venue: arXiv cs.GR 2021
Year: 2021

Hatching is a common method used by artists to accentuate the third dimension of a sketch, and to illuminate the scene. Our system SHAD3S attempts to compete with a human at hatching generic three-dimensional (3D) shapes, and also tries to assist her in a form exploration exercise. The novelty of our approach lies in the fact that we make no assumptions about the input other than that it represents a 3D shape, and yet, given a contextual information of illumination and texture, we synthesise an accurate hatch pattern over the sketch, without access to 3D or pseudo 3D. In the process, we contribute towards a) a cheap yet effective method to synthesise a sufficiently large high fidelity dataset, pertinent to task; b) creating a pipeline with conditional generative adversarial network (CGAN); and c) creating an interactive utility with GIMP, that is a tool for artists to engage with automated hatching or a form-exploration exercise. User evaluation of the tool suggests that the model performance does generalise satisfactorily over diverse input, both in terms of style as well as shape. A simple comparison of inception scores suggest that the generated distribution is as diverse as the ground truth.
Online Object-Oriented Semantic Mapping and Map Updating
Venue: arXiv cs.RO 2021
Year: 2021

Creating and maintaining an accurate representation of the environment is an essential capability for every service robot. Especially for household robots acting in indoor environments, semantic information is important. In this paper, we present a semantic mapping framework with modular map representations. Our system is capable of online mapping and object updating given object detections from RGB-D data and provides various 2D and 3D~representations of the mapped objects. To undo wrong data associations, we perform a refinement step when updating object shapes. Furthermore, we maintain an existence likelihood for each object to deal with false positive and false negative detections and keep the map updated. Our mapping system is highly efficient and achieves a run time of more than 10 Hz. We evaluated our approach in various environments using two different robots, i.e., a Toyota HSR and a Fraunhofer Care-O-Bot-4. As the experimental results demonstrate, our system is able to generate maps that are close to the ground truth and outperforms an existing approach in terms of intersection over union, different distance metrics, and the number of correct object mappings
Finding optimal Pulse Repetion Intervals with Many-objective Evolutionary Algorithms
Venue: arXiv cs.NE 2021
Year: 2021

In this paper we consider the problem of finding Pulse Repetition Intervals allowing the best compromises mitigating range and Doppler ambiguities in a Pulsed-Doppler radar system. We revisit a problem that was proposed to the Evolutionary Computation community as a real-world case to test Many-objective Optimization algorithms. We use it as a baseline to compare several Evolutionary Algorithms for black-box optimization with different metrics. Resulting data is aggregated to build a reference set of Pareto optimal points and is the starting point for further analysis and operational use by the radar designer.
Query-based Targeted Action-Space Adversarial Policies on Deep Reinforcement Learning Agents
Venue: arXiv cs.LG 2021
Year: 2021

Advances in computing resources have resulted in the increasing complexity of cyber-physical systems (CPS). As the complexity of CPS evolved, the focus has shifted from traditional control methods to deep reinforcement learning-based (DRL) methods for control of these systems. This is due to the difficulty of obtaining accurate models of complex CPS for traditional control. However, to securely deploy DRL in production, it is essential to examine the weaknesses of DRL-based controllers (policies) towards malicious attacks from all angles. In this work, we investigate targeted attacks in the action-space domain, also commonly known as actuation attacks in CPS literature, which perturbs the outputs of a controller. We show that a query-based black-box attack model that generates optimal perturbations with respect to an adversarial goal can be formulated as another reinforcement learning problem. Thus, such an adversarial policy can be trained using conventional DRL methods. Experimental results showed that adversarial policies that only observe the nominal policy's output generate stronger attacks than adversarial policies that observe the nominal policy's input and output. Further analysis reveals that nominal policies whose outputs are frequently at the boundaries of the action space are naturally more robust towards adversarial policies. Lastly, we propose the use of adversarial training with transfer learning to induce robust behaviors into the nominal policy, which decreases the rate of successful targeted attacks by 50%.
tvopt: A Python Framework for Time-Varying Optimization
Venue: arXiv cs.MS 2021
Year: 2021

This paper introduces tvopt, a Python framework for prototyping and benchmarking time-varying (or online) optimization algorithms. The paper first describes the theoretical approach that informed the development of tvopt. Then it discusses the different components of the framework and their use for modeling and solving time-varying optimization problems. In particular, tvopt provides functionalities for defining both centralized and distributed online problems, and a collection of built-in algorithms to solve them, for example gradient-based methods, ADMM and other splitting methods. Moreover, the framework implements prediction strategies to improve the accuracy of the online solvers. The paper then proposes some numerical results on a benchmark problem and discusses their implementation using tvopt. The code for tvopt is available at https://github.com/nicola-bastianello/tvopt.
A Hybrid Approach for Improved Low Resource Neural Machine Translation using Monolingual Data
Venue: arXiv cs.CL 2021
Year: 2021

Many language pairs are low resource, meaning the amount and/or quality of available parallel data is not sufficient to train a neural machine translation (NMT) model which can reach an acceptable standard of accuracy. Many works have explored using the readily available monolingual data in either or both of the languages to improve the standard of translation models in low, and even high, resource languages. One of the most successful of such works is the back-translation that utilizes the translations of the target language monolingual data to increase the amount of the training data. The quality of the backward model which is trained on the available parallel data has been shown to determine the performance of the back-translation approach. Despite this, only the forward model is improved on the monolingual target data in standard back-translation. A previous study proposed an iterative back-translation approach for improving both models over several iterations. But unlike in the traditional back-translation, it relied on both the target and source monolingual data. This work, therefore, proposes a novel approach that enables both the backward and forward models to benefit from the monolingual target data through a hybrid of self-learning and back-translation respectively. Experimental results have shown the superiority of the proposed approach over the traditional back-translation method on English-German low resource neural machine translation. We also proposed an iterative self-learning approach that outperforms the iterative back-translation while also relying only on the monolingual target data and require the training of less models.
Robust and Efficient Multilevel-ILU Preconditioning of Hybrid Newton-GMRES for Incompressible Navier-Stokes Equations
Venue: arXiv cs.CE 2021
Year: 2021

We introduce a robust and efficient preconditioner for a hybrid Newton-GMRES method for solving the nonlinear systems arising from incompressible Navier-Stokes equations. When the Reynolds number is relatively high, these systems often involve millions of degrees of freedom (DOFs), and the nonlinear systems are difficult to converge, partially due to the strong asymmetry of the system and the saddle-point structure. In this work, we propose to alleviate these issues by leveraging a multilevel ILU preconditioner called HILUCSI, which is particularly effective for saddle-point problems and can enable robust and rapid convergence of the inner iterations in Newton-GMRES. We further use Picard iterations with the Oseen systems to hot-start Newton-GMRES to achieve global convergence, also preconditioned using HILUCSI. To further improve efficiency and robustness, we use the Oseen operators as physics-based sparsifiers when building preconditioners for Newton iterations and introduce adaptive refactorization and iterative refinement in HILUCSI. We refer to the resulting preconditioned hybrid Newton-GMRES as HILUNG. We demonstrate the effectiveness of HILUNG by solving the standard 2D driven-cavity problem with Re 5000 and a 3D flow-over-cylinder problem with low viscosity. We compare HILUNG with some state-of-the-art customized preconditioners for INS, including two variants of augmented Lagrangian preconditioners and two physics-based preconditioners, as well as some general-purpose approximate-factorization techniques. Our comparison shows that HILUNG is much more robust for solving high-Re problems and it is also more efficient in both memory and runtime for moderate-Re problems.
Power Side-Channel Attacks on BNN Accelerators in Remote FPGAs
Venue: arXiv cs.CR 2021
Year: 2021

To lower cost and increase the utilization of Cloud Field-Programmable Gate Arrays (FPGAs), researchers have recently been exploring the concept of multi-tenant FPGAs, where multiple independent users simultaneously share the same remote FPGA. Despite its benefits, multi-tenancy opens up the possibility of malicious users co-locating on the same FPGA as a victim user, and extracting sensitive information. This issue becomes especially serious when the user is running a machine learning algorithm that is processing sensitive or private information. To demonstrate the dangers, this paper presents a remote, power-based side-channel attack on a deep neural network accelerator running in a variety of Xilinx FPGAs and also on Cloud FPGAs using Amazon Web Services (AWS) F1 instances. This work in particular shows how to remotely obtain voltage estimates as a deep neural network inference circuit executes, and how the information can be used to recover the inputs to the neural network. The attack is demonstrated with a binarized convolutional neural network used to recognize handwriting images from the MNIST handwritten digit database. With the use of precise time-to-digital converters for remote voltage estimation, the MNIST inputs can be successfully recovered with a maximum normalized cross-correlation of 79% between the input image and the recovered image on local FPGA boards and 72% on AWS F1 instances. The attack requires no physical access nor modifications to the FPGA hardware.
Real-Time Polyp Detection, Localization and Segmentation in Colonoscopy Using Deep Learning
Venue: arXiv cs.CV 2021
Year: 2021

Computer-aided detection, localisation, and segmentation methods can help improve colonoscopy procedures. Even though many methods have been built to tackle automatic detection and segmentation of polyps, benchmarking of state-of-the-art methods still remains an open problem. This is due to the increasing number of researched computer vision methods that can be applied to polyp datasets. Benchmarking of novel methods can provide a direction to the development of automated polyp detection and segmentation tasks. Furthermore, it ensures that the produced results in the community are reproducible and provide a fair comparison of developed methods. In this paper, we benchmark several recent state-of-the-art methods using Kvasir-SEG, an open-access dataset of colonoscopy images for polyp detection, localisation, and segmentation evaluating both method accuracy and speed. Whilst, most methods in literature have competitive performance over accuracy, we show that the proposed ColonSegNet achieved a better trade-off between an average precision of 0.8000 and mean IoU of 0.8100, and the fastest speed of 180 frames per second for the detection and localisation task. Likewise, the proposed ColonSegNet achieved a competitive dice coefficient of 0.8206 and the best average speed of 182.38 frames per second for the segmentation task. Our comprehensive comparison with various state-of-the-art methods reveals the importance of benchmarking the deep learning methods for automated real-time polyp identification and delineations that can potentially transform current clinical practices and minimise miss-detection rates.
Stein Variational Model Predictive Control
Venue: arXiv cs.RO 2021
Year: 2021

Decision making under uncertainty is critical to real-world, autonomous systems. Model Predictive Control (MPC) methods have demonstrated favorable performance in practice, but remain limited when dealing with complex probability distributions. In this paper, we propose a generalization of MPC that represents a multitude of solutions as posterior distributions. By casting MPC as a Bayesian inference problem, we employ variational methods for posterior computation, naturally encoding the complexity and multi-modality of the decision making problem. We present a Stein variational gradient descent method to estimate the posterior directly over control parameters, given a cost function and observed state trajectories. We show that this framework leads to successful planning in challenging, non-convex optimal control problems.
Drone LAMS: A Drone-based Face Detection Dataset with Large Angles and Many Scenarios
Venue: arXiv cs.CV 2021
Year: 2021

This work presented a new drone-based face detection dataset Drone LAMS in order to solve issues of low performance of drone-based face detection in scenarios such as large angles which was a predominant working condition when a drone flies high. The proposed dataset captured images from 261 videos with over 43k annotations and 4.0k images with pitch or yaw angle in the range of -90° to 90°. Drone LAMS showed significant improvement over currently available drone-based face detection datasets in terms of detection performance, especially with large pitch and yaw angle. Detailed analysis of how key factors, such as duplication rate, annotation method, etc., impact dataset performance was also provided to facilitate further usage of a drone on face detection.
Towards Collaborative Optimization of Cluster Configurations for Distributed Dataflow Jobs
Venue: arXiv cs.DC 2021
Year: 2021

Analyzing large datasets with distributed dataflow systems requires the use of clusters. Public cloud providers offer a large variety and quantity of resources that can be used for such clusters. However, picking the appropriate resources in both type and number can often be challenging, as the selected configuration needs to match a distributed dataflow job's resource demands and access patterns. A good cluster configuration avoids hardware bottlenecks and maximizes resource utilization, avoiding costly overprovisioning. We propose a collaborative approach for finding optimal cluster configurations based on sharing and learning from historical runtime data of distributed dataflow jobs. Collaboratively shared data can be utilized to predict runtimes of future job executions through the use of specialized regression models. However, training prediction models on historical runtime data that were produced by different users and in diverse contexts requires the models to take these contexts into account.
A General Numerical Method to Model Anisotropy in Discretized Bond-Based Peridynamics
Venue: arXiv cs.CE 2021
Year: 2021

This work proposes a novel, general and robust method of determining bond micromoduli for anisotropic linear elastic bond-based peridynamics. The problem of finding a discrete distribution of bond micromoduli that reproduces an anisotropic peridynamic stiffness tensor is cast as a least-squares problem. The proposed numerical method is able to find a distribution of bond micromoduli that is able to exactly reproduce a desired anisotropic stiffness tensor provided conditions of Cauchy's relations are met. Examples of all eight possible elastic material symmetries, from triclinic to isotropic are given and discussed in depth. Parametric studies are conducted to demonstrate that the numerical method is robust enough to handle a variety of horizon sizes, neighborhood shapes, influence functions and lattice rotation effects. Finally, an example problem is presented to demonstrate that the proposed method is physically sound and that the solution agrees with the analytical solution from classical elasticity. The proposed method has great potential for modeling of deformation and fracture in anisotropic materials with bond-based peridynamics.
On the Effectiveness of Vision Transformers for Zero-shot Face Anti-Spoofing
Venue: arXiv cs.CV 2021
Year: 2021

The vulnerability of face recognition systems to presentation attacks has limited their application in security-critical scenarios. Automatic methods of detecting such malicious attempts are essential for the safe use of facial recognition technology. Although various methods have been suggested for detecting such attacks, most of them over-fit the training set and fail in generalizing to unseen attacks and environments. In this work, we use transfer learning from the vision transformer model for the zero-shot anti-spoofing task. The effectiveness of the proposed approach is demonstrated through experiments in publicly available datasets. The proposed approach outperforms the state-of-the-art methods in the zero-shot protocols in the HQ-WMCA and SiW-M datasets by a large margin. Besides, the model achieves a significant boost in cross-database performance as well.
Deep Learning -- A first Meta-Survey of selected Reviews across Scientific Disciplines, their Commonalities, Challenges and Research Impact
Venue: arXiv cs.DL 2021
Year: 2021

Deep learning belongs to the field of artificial intelligence, where machines perform tasks that typically require some kind of human intelligence. Similar to the basic structure of a brain, a deep learning algorithm consists of an artificial neural network, which resembles the biological brain structure. Mimicking the learning process of humans with their senses, deep learning networks are fed with (sensory) data, like texts, images, videos or sounds. These networks outperform the state-of-the-art methods in different tasks and, because of this, the whole field saw an exponential growth during the last years. This growth resulted in way over 10,000 publications per year in the last years. For example, the search engine PubMed alone, which covers only a sub-set of all publications in the medical field, provides already over 11,000 results in Q3 2020 for the search term 'deep learning', and around 90% of these results are from the last three years. Consequently, a complete overview over the field of deep learning is already impossible to obtain and, in the near future, it will potentially become difficult to obtain an overview over a subfield. However, there are several review articles about deep learning, which are focused on specific scientific fields or applications, for example deep learning advances in computer vision or in specific tasks like object detection. With these surveys as a foundation, the aim of this contribution is to provide a first high-level, categorized meta-survey of selected reviews on deep learning across different scientific disciplines. The categories (computer vision, language processing, medical informatics and additional works) have been chosen according to the underlying data sources (image, language, medical, mixed). In addition, we review the common architectures, methods, pros, cons, evaluations, challenges and future directions for every sub-category.
Conversion Between Cubic Bezier Curves and Catmull-Rom Splines
Venue: arXiv cs.GR 2021
Year: 2021

Splines are one of the main methods of mathematically representing complicated shapes, which have become the primary technique in the fields of Computer Graphics (CG) and Computer-Aided Geometric Design (CAGD) for modeling complex surfaces. Among all, Bézier and Catmull-Rom splines are the most common in the sub-fields of engineering. In this paper, we focus on conversion between cubic Bézier and Catmull-Rom curve segments, rather than going through their properties. By deriving the conversion equations, we aim at converting the original set of the control points of either of the Catmull-Rom or Bézier cubic curves to a new set of control points, which corresponds to approximately the same shape as the original curve, when considered as the set of the control points of the other curve. Due to providing simple linear transformations of control points, the method is very simple, efficient, and easy to implement, which is further validated in this paper using some numerical and visual examples.