OpenRaiser/Intern-Atlas huggingface dataset:
Balancing Cooperativeness and Adaptiveness in the (Noisy) Iterated Prisoner's Dilemma
Venue: arXiv cs.GT 2023
Year: 2023

Ever since Axelrod's seminal work, tournaments served as the main benchmark for evaluating strategies in the Iterated Prisoner's Dilemma (IPD). In this work, we first introduce a strategy for the IPD which outperforms previous tournament champions when evaluated against the 239 strategies in the Axelrod library, at noise levels in the IPD ranging from 0% to 10%. The basic idea behind our strategy is to start playing a version of tit-for-tat which forgives unprovoked defections if their rate is not significantly above the noise level, while building a (memory-1) model of the opponent; then switch to a strategy which is optimally adapted to the model of the opponent. We then argue that the above strategy (like other prominent strategies) lacks a couple of desirable properties which are not well tested for by tournaments, but which will be relevant in other contexts: we want our strategy to be self-cooperating, i.e., cooperate with a clone with high probability, even at high noise levels; and we want it to be cooperation-inducing, i.e., optimal play against it should entail cooperating with high probability. We show that we can guarantee these properties, at a modest cost in tournament performance, by reverting from the strategy adapted to the opponent to the forgiving tit-for-tat strategy under suitable conditions
IoHRT: An Open-Source Unified Framework Towards the Internet of Humans and Robotic Things with Cloud Computing for Home-Care Applications
Venue: arXiv cs.RO 2023
Year: 2023

The accelerating aging population has led to an increasing demand for domestic robotics to ease caregivers' burden. The integration of Internet of Things (IoT), robotics, and human-robot interaction (HRI) technologies is essential for home-care applications. Although the concept of the Internet of Robotic Things (IoRT) has been utilized in various fields, most existing IoRT frameworks lack ergonomic HRI interfaces and are limited to specific tasks. This paper presents an open-source unified Internet of Humans and Robotic Things (IoHRT) framework with cloud computing, which combines personalized HRI interfaces with intelligent robotics and IoT techniques. This proposed open-source framework demonstrates characteristics of high security, compatibility, and modularity, allowing unlimited user access. Two case studies were conducted to evaluate the proposed framework's functionalities, evaluating its effectiveness in home-care scenarios. Users' feedback was collected via questionnaires, which indicates the IoHRT framework's high potential for home-care applications.
MindSculpt: Using a Brain-Computer Interface to Enable Designers to Create Diverse Geometries by Thinking
Venue: arXiv cs.HC 2023
Year: 2023

MindSculpt enables users to generate a wide range of hybrid geometries in Grasshopper in real time simply by thinking about those geometries. This design tool combines a brain-computer interface (BCI) with the parametric design platform Grasshopper, creating an intuitive design workflow that shortens the latency between ideation and implementation compared to traditional computer-aided design tools based on mouse-and-keyboard paradigms. The project arises from transdisciplinary research between neuroscience and architecture, with the goal of building a cyber-human collaborative tool that is capable of leveraging the complex and fluid nature of thinking in the design process. MindSculpt applies a supervised machine-learning approach, based on the support vector machine model (SVM), to identify patterns of brain waves that occur in EEG data when participants mentally rotate four different solid geometries. The researchers tested MindSculpt with participants who had no prior experience in design and found that the tool was enjoyable to use and could contribute to design ideation and artistic endeavors.
Can Membership Inferencing be Refuted?
Venue: arXiv cs.LG 2023
Year: 2023

Membership inference (MI) attack is currently the most popular test for measuring privacy leakage in machine learning models. Given a machine learning model, a data point and some auxiliary information, the goal of an MI attack is to determine whether the data point was used to train the model. In this work, we study the reliability of membership inference attacks in practice. Specifically, we show that a model owner can plausibly refute the result of a membership inference test on a data point $x$ by constructing a proof of repudiation that proves that the model was trained without $x$. We design efficient algorithms to construct proofs of repudiation for all data points of the training dataset. Our empirical evaluation demonstrates the practical feasibility of our algorithm by constructing proofs of repudiation for popular machine learning models on MNIST and CIFAR-10. Consequently, our results call for a re-evaluation of the implications of membership inference attacks in practice.
Fairness-aware Maximal Biclique Enumeration on Bipartite Graphs
Venue: arXiv cs.DS 2023
Year: 2023

Maximal biclique enumeration is a fundamental problem in bipartite graph data analysis. Existing biclique enumeration methods mainly focus on non-attributed bipartite graphs and also ignore the \emph{fairness} of graph attributes. In this paper, we introduce the concept of fairness into the biclique model for the first time and study the problem of fairness-aware biclique enumeration. Specifically, we propose two fairness-aware biclique models, called \nonesidebc~and \ntwosidebc~respectively. To efficiently enumerate all {\nonesidebc}s, we first present two non-trivial pruning techniques, called fair $α$-$β$ core pruning and colorful fair $α$-$β$ core pruning, to reduce the graph size without losing accuracy. Then, we develop a branch and bound algorithm, called \onesideFBCEM, to enumerate all single-side fair bicliques on the reduced bipartite graph. To further improve the efficiency, we propose an efficient branch and bound algorithm with a carefully-designed combinatorial enumeration technique. Note that all of our techniques can also be extended to enumerate all bi-side fair bicliques. We also extend the two fairness-aware biclique models by constraining the ratio of the number of vertices of each attribute to the total number of vertices and present corresponding enumeration algorithms. Extensive experimental results on five large real-world datasets demonstrate our methods' efficiency, effectiveness, and scalability.
Querying Shortest Path on Large Time-Dependent Road Networks with Shortcuts
Venue: arXiv cs.DB 2023
Year: 2023

Querying the shortest path between two vertexes is a fundamental operation in a variety of applications, which has been extensively studied over static road networks. However, in reality, the travel costs of road segments evolve over time, and hence the road network can be modeled as a time-dependent graph. In this paper, we study the shortest path query over large-scale time-dependent road networks. Existing work focuses on a hierarchical partition structure, which makes the index construction and travel cost query inefficient. To improve the efficiency of such queries, we propose a novel index by decomposing a road network into a tree structure and selecting a set of shortcuts on the tree to speed up the query processing. Specifically, we first formally define a shortcut selection problem over the tree decomposition of the time-dependent road network. This problem, which is proven to be NP-hard, aims to select and build the most effective shortcut set. We first devise a dynamic programming method with exact results to solve the selection problem. To obtain the optimal shortcut set quickly, we design an approximation algorithm that guarantees a 0.5-approximation ratio. Based on the novel tree structure, we devise a shortcut-based algorithm to answer the shortest path query over time-dependent road networks. Finally, we conduct extensive performance studies using large-scale real-world road networks. The results demonstrate that our method can achieve better efficiency and scalability than the state-of-the-art method.
Learning Bipedal Walking for Humanoids with Current Feedback
Venue: arXiv cs.RO 2023
Year: 2023

Recent advances in deep reinforcement learning (RL) based techniques combined with training in simulation have offered a new approach to developing robust controllers for legged robots. However, the application of such approaches to real hardware has largely been limited to quadrupedal robots with direct-drive actuators and light-weight bipedal robots with low gear-ratio transmission systems. Application to real, life-sized humanoid robots has been less common arguably due to a large sim2real gap. In this paper, we present an approach for effectively overcoming the sim2real gap issue for humanoid robots arising from inaccurate torque-tracking at the actuator level. Our key idea is to utilize the current feedback from the actuators on the real robot, after training the policy in a simulation environment artificially degraded with poor torque-tracking. Our approach successfully trains a unified, end-to-end policy in simulation that can be deployed on a real HRP-5P humanoid robot to achieve bipedal locomotion. Through ablations, we also show that a feedforward policy architecture combined with targeted dynamics randomization is sufficient for zero-shot sim2real success, thus eliminating the need for computationally expensive, memory-based network architectures. Finally, we validate the robustness of the proposed RL policy by comparing its performance against a conventional model-based controller for walking on uneven terrain with the real robot.
Graph Decision Transformer
Venue: arXiv cs.LG 2023
Year: 2023

Offline reinforcement learning (RL) is a challenging task, whose objective is to learn policies from static trajectory data without interacting with the environment. Recently, offline RL has been viewed as a sequence modeling problem, where an agent generates a sequence of subsequent actions based on a set of static transition experiences. However, existing approaches that use transformers to attend to all tokens naively can overlook the dependencies between different tokens and limit long-term dependency learning. In this paper, we propose the Graph Decision Transformer (GDT), a novel offline RL approach that models the input sequence into a causal graph to capture potential dependencies between fundamentally different concepts and facilitate temporal and causal relationship learning. GDT uses a graph transformer to process the graph inputs with relation-enhanced mechanisms, and an optional sequence transformer to handle fine-grained spatial information in visual tasks. Our experiments show that GDT matches or surpasses the performance of state-of-the-art offline RL methods on image-based Atari and OpenAI Gym.
Daml: A Smart Contract Language for Securely Automating Real-World Multi-Party Business Workflows
Venue: arXiv cs.PL 2023
Year: 2023

Distributed ledger technologies, also known as blockchains for enterprises, promise to significantly reduce the high cost of automating multi-party business workflows. We argue that a programming language for writing such on-ledger logic should satisfy three desiderata: (1) Provide concepts to capture the legal rules that govern real-world business workflows. (2) Include simple means for specifying policies for access and authorization. (3) Support the composition of simple workflows into complex ones, even when the simple workflows have already been deployed. We present the open-source smart contract language Daml based on Haskell with strict evaluation. Daml achieves these desiderata by offering novel primitives for representing, accessing, and modifying data on the ledger, which are mimicking the primitives of today's legal systems. Robust access and authorization policies are specified as part of these primitives, and Daml's built-in authorization rules enable delegation, which is key for workflow composability. These properties make Daml well-suited for orchestrating business workflows across multiple, otherwise heterogeneous parties. Daml contracts run (1) on centralized ledgers backed by a database, (2) on distributed deployments with Byzantine fault tolerant consensus, and (3) on top of conventional blockchains, as a second layer via an atomic commit protocol.
Benchmarking and Security Considerations of Wi-Fi FTM for Ranging in IoT Devices
Venue: arXiv cs.NI 2023
Year: 2023

The IEEE 802.11mc standard introduces fine time measurement (Wi-Fi FTM), allowing high-precision synchronization between peers and round-trip time calculation (Wi-Fi RTT) for location estimation - typically with a precision of one to two meters. This has considerable advantages over received signal strength (RSS)-based trilateration, which is prone to errors due to multipath reflections. We examine different commercial radios which support Wi-Fi RTT and benchmark Wi-Fi FTM ranging over different spectrums and bandwidths. Importantly, we find that while Wi-Fi FTM supports localization accuracy to within one to two meters in ideal conditions during outdoor line-of-sight experiments, for indoor environments at short ranges similar accuracy was only achievable on chipsets supporting Wi-Fi FTM on wider (VHT80) channel bandwidths rather than narrower (HT20) channel bandwidths. Finally, we explore the security implications of Wi-Fi FTM and use an on-air sniffer to demonstrate that Wi-Fi FTM messages are unprotected. We consequently propose a threat model with possible mitigations and directions for further research.
Parsing Line Segments of Floor Plan Images Using Graph Neural Networks
Venue: arXiv cs.CV 2023
Year: 2023

In this paper, we present a GNN-based Line Segment Parser (GLSP), which uses a junction heatmap to predict line segments' endpoints, and graph neural networks to extract line segments and their categories. Different from previous floor plan recognition methods, which rely on semantic segmentation, our proposed method is able to output vectorized line segment and requires less post-processing steps to be put into practical use. Our experiments show that the methods outperform state-of-the-art line segment detection models on multi-class line segment detection tasks with floor plan images. In the paper, we use our floor plan dataset named Large-scale Residential Floor Plan data (LRFP). The dataset contains a total of 271,035 floor plan images. The label corresponding to each picture contains the scale information, the categories and outlines of rooms, and the endpoint positions of line segments such as doors, windows, and walls. Our augmentation method makes the dataset adaptable to the drawing styles of as many countries and regions as possible.
A Next-Generation Digital Procurement Workspace Focusing on Information Integration, Automation, Analytics, and Sustainability
Venue: arXiv cs.CY 2023
Year: 2023

Recent events such as wars, sanctions, pandemics, and climate change have shown the importance of proper supply network management. A key step in managing supply networks is procurement. We present an approach for realizing a next-generation procurement workspace that aims to facilitate resilience and sustainability. To achieve this, the approach encompasses a novel way of information integration, automation tools as well as analytical techniques. As a result, the procurement can be viewed from the perspective of the environmental impact, comprising and aggregating sustainability scores along the supply chain. We suggest and present an implementation of our approach, which is meanwhile used in a global Fortune 500 company. We further present the results of an empirical evaluation study, where we performed in-depth interviews with the stakeholders of the novel procurement platform to validate its adequacy, usability, and innovativeness.
AI Usage Cards: Responsibly Reporting AI-generated Content
Venue: arXiv cs.CY 2023
Year: 2023

Given AI systems like ChatGPT can generate content that is indistinguishable from human-made work, the responsible use of this technology is a growing concern. Although understanding the benefits and harms of using AI systems requires more time, their rapid and indiscriminate adoption in practice is a reality. Currently, we lack a common framework and language to define and report the responsible use of AI for content generation. Prior work proposed guidelines for using AI in specific scenarios (e.g., robotics or medicine) which are not transferable to conducting and reporting scientific research. Our work makes two contributions: First, we propose a three-dimensional model consisting of transparency, integrity, and accountability to define the responsible use of AI. Second, we introduce ``AI Usage Cards'', a standardized way to report the use of AI in scientific research. Our model and cards allow users to reflect on key principles of responsible AI usage. They also help the research community trace, compare, and question various forms of AI usage and support the development of accepted community norms. The proposed framework and reporting system aims to promote the ethical and responsible use of AI in scientific research and provide a standardized approach for reporting AI usage across different research fields. We also provide a free service to easily generate AI Usage Cards for scientific work via a questionnaire and export them in various machine-readable formats for inclusion in different work products at https://ai-cards.org.
GaussianMLR: Learning Implicit Class Significance via Calibrated Multi-Label Ranking
Venue: arXiv cs.LG 2023
Year: 2023

Existing multi-label frameworks only exploit the information deduced from the bipartition of the labels into a positive and negative set. Therefore, they do not benefit from the ranking order between positive labels, which is the concept we introduce in this paper. We propose a novel multi-label ranking method: GaussianMLR, which aims to learn implicit class significance values that determine the positive label ranks instead of treating them as of equal importance, by following an approach that unifies ranking and classification tasks associated with multi-label ranking. Due to the scarcity of public datasets, we introduce eight synthetic datasets generated under varying importance factors to provide an enriched and controllable experimental environment for this study. On both real-world and synthetic datasets, we carry out extensive comparisons with relevant baselines and evaluate the performance on both of the two sub-tasks. We show that our method is able to accurately learn a representation of the incorporated positive rank order, which is not only consistent with the ground truth but also proportional to the underlying information. We strengthen our claims empirically by conducting comprehensive experimental studies. Code is available at https://github.com/MrGranddy/GaussianMLR.
Client-specific Property Inference against Secure Aggregation in Federated Learning
Venue: arXiv cs.CR 2023
Year: 2023

Federated learning has become a widely used paradigm for collaboratively training a common model among different participants with the help of a central server that coordinates the training. Although only the model parameters or other model updates are exchanged during the federated training instead of the participant's data, many attacks have shown that it is still possible to infer sensitive information such as membership, property, or outright reconstruction of participant data. Although differential privacy is considered an effective solution to protect against privacy attacks, it is also criticized for its negative effect on utility. Another possible defense is to use secure aggregation which allows the server to only access the aggregated update instead of each individual one, and it is often more appealing because it does not degrade model quality. However, combining only the aggregated updates, which are generated by a different composition of clients in every round, may still allow the inference of some client-specific information. In this paper, we show that simple linear models can effectively capture client-specific properties only from the aggregated model updates due to the linearity of aggregation. We formulate an optimization problem across different rounds in order to infer a tested property of every client from the output of the linear models, for example, whether they have a specific sample in their training data (membership inference) or whether they misbehave and attempt to degrade the performance of the common model by poisoning attacks. Our reconstruction technique is completely passive and undetectable. We demonstrate the efficacy of our approach on several scenarios which shows that secure aggregation provides very limited privacy guarantees in practice. The source code will be released upon publication.
Robust Semi-Supervised Anomaly Detection via Adversarially Learned Continuous Noise Corruption
Venue: arXiv cs.LG 2023
Year: 2023

Anomaly detection is the task of recognising novel samples which deviate significantly from pre-establishednormality. Abnormal classes are not present during training meaning that models must learn effective rep-resentations solely across normal class data samples. Deep Autoencoders (AE) have been widely used foranomaly detection tasks, but suffer from overfitting to a null identity function. To address this problem, weimplement a training scheme applied to a Denoising Autoencoder (DAE) which introduces an efficient methodof producing Adversarially Learned Continuous Noise (ALCN) to maximally globally corrupt the input priorto denoising. Prior methods have applied similar approaches of adversarial training to increase the robustnessof DAE, however they exhibit limitations such as slow inference speed reducing their real-world applicabilityor producing generalised obfuscation which is more trivial to denoise. We show through rigorous evaluationthat our ALCN method of regularisation during training improves AUC performance during inference whileremaining efficient over both classical, leave-one-out novelty detection tasks with the variations-: 9 (normal)vs. 1 (abnormal) & 1 (normal) vs. 9 (abnormal); MNIST - AUCavg: 0.890 & 0.989, CIFAR-10 - AUCavg: 0.670& 0.742, in addition to challenging real-world anomaly detection tasks: industrial inspection (MVTEC-AD -AUCavg: 0.780) and plant disease detection (Plant Village - AUC: 0.770) when compared to prior approaches.
The Linear Correlation of $P$ and $NP$
Venue: arXiv cs.CC 2023
Year: 2023

$P \overset{\text{?}}{=} NP$ or $P\ vs\ NP$ is the core problem in computational complexity theory. In this paper, we proposed a definition of linear correlation of derived matrix and system, and discussed the linear correlation of $P$ and $NP$. We draw a conclusion that $P$ is linearly dependent and there exists $NP$ which is is linearly independent and take a 3SAT instance which belongs to $NP$ as the example , that is, $P \neq NP$.