OpenRaiser/Intern-Atlas huggingface dataset:
TRIGGER: A Lightweight Universal Jamming Gripper for Aerial Grasping
Venue: arXiv cs.RO 2023
Year: 2023

This work introduces TRIGGER, the first lighTweight univeRsal jammInG Gripper for aErial gRasping. TRIGGER is an omnidirectional, landing-capable aerial grasping system with resilience and robustness to collisions and inherent passive compliance. In particular, this work presents the design, fabrication, and experimental validation of a novel, intelligent, modular, universal jamming gripper specifically designed for aerial applications. Leveraging recent developments in particle jamming and soft granular materials, TRIGGER produces 15N of holding force with only a relatively small activation force of 2.5N. Experiments show the relationship between fill ratio and activation force and reveal that adding an additive to the membrane's silicone mixture improves the holding force by up to 52%. The concept is validated by mounting TRIGGER onto a multicopter performing a pick-and-release task under laboratory conditions. Based on the experimental data, a model for robotic simulators is introduced to facilitate future controller developments.
Network Slicing for eMBB, URLLC, and mMTC: An Uplink Rate-Splitting Multiple Access Approach
Venue: arXiv cs.IT 2023
Year: 2023

There are three generic services in 5G: enhanced mobile broadband (eMBB), ultra-reliable low-latency communications (URLLC), and massive machine-type communications (mMTC). To guarantee the performance of heterogeneous services, network slicing is proposed to allocate resources to different services. Network slicing is typically done in an orthogonal multiple access (OMA) fashion, which means different services are allocated non-interfering resources. However, as the number of users grows, OMA-based slicing is not always optimal, and a non-orthogonal scheme may achieve a better performance. This work aims to analyse the performances of different slicing schemes in uplink, and a promising scheme based on rate-splitting multiple access (RSMA) is studied. RSMA can provide a more flexible decoding order and theoretically has the largest achievable rate region than OMA and non-orthogonal multiple access (NOMA) without time-sharing. Hence, RSMA has the potential to increase the rate of users requiring different services. In addition, it is not necessary to decode the two split streams of one user successively, so RSMA lets suitable users split messages and designs an appropriate decoding order depending on the service requirements. This work shows that for network slicing RSMA can outperform NOMA counterpart, and obtain significant gains over OMA in some region.
A Comprehensive Study of Real-Time Object Detection Networks Across Multiple Domains: A Survey
Venue: arXiv cs.CV 2023
Year: 2023

Deep neural network based object detectors are continuously evolving and are used in a multitude of applications, each having its own set of requirements. While safety-critical applications need high accuracy and reliability, low-latency tasks need resource and energy-efficient networks. Real-time detectors, which are a necessity in high-impact real-world applications, are continuously proposed, but they overemphasize the improvements in accuracy and speed while other capabilities such as versatility, robustness, resource and energy efficiency are omitted. A reference benchmark for existing networks does not exist, nor does a standard evaluation guideline for designing new networks, which results in ambiguous and inconsistent comparisons. We, thus, conduct a comprehensive study on multiple real-time detectors (anchor-, keypoint-, and transformer-based) on a wide range of datasets and report results on an extensive set of metrics. We also study the impact of variables such as image size, anchor dimensions, confidence thresholds, and architecture layers on the overall performance. We analyze the robustness of detection networks against distribution shifts, natural corruptions, and adversarial attacks. Also, we provide a calibration analysis to gauge the reliability of the predictions. Finally, to highlight the real-world impact, we conduct two unique case studies, on autonomous driving and healthcare applications. To further gauge the capability of networks in critical real-time applications, we report the performance after deploying the detection networks on edge devices. Our extensive empirical study can act as a guideline for the industrial community to make an informed choice on the existing networks. We also hope to inspire the research community towards a new direction in the design and evaluation of networks that focuses on a bigger and holistic overview for a far-reaching impact.
Vox-Surf: Voxel-based Implicit Surface Representation
Venue: arXiv cs.CV 2023
Year: 2023

Virtual content creation and interaction play an important role in modern 3D applications such as AR and VR. Recovering detailed 3D models from real scenes can significantly expand the scope of its applications and has been studied for decades in the computer vision and computer graphics community. We propose Vox-Surf, a voxel-based implicit surface representation. Our Vox-Surf divides the space into finite bounded voxels. Each voxel stores geometry and appearance information in its corner vertices. Vox-Surf is suitable for almost any scenario thanks to sparsity inherited from voxel representation and can be easily trained from multiple view images. We leverage the progressive training procedure to extract important voxels gradually for further optimization so that only valid voxels are preserved, which greatly reduces the number of sampling points and increases rendering speed.The fine voxels can also be considered as the bounding volume for collision detection.The experiments show that Vox-Surf representation can learn delicate surface details and accurate color with less memory and faster rendering speed than other methods.We also show that Vox-Surf can be more practical in scene editing and AR applications.
Enhancement Encoding: A Novel Imbalanced Classification Approach via Encoding the Training Labels
Venue: arXiv cs.LG 2023
Year: 2023

Class imbalance, which is also called long-tailed distribution, is a common problem in classification tasks based on machine learning. If it happens, the minority data will be overwhelmed by the majority, which presents quite a challenge for data science. To address the class imbalance problem, researchers have proposed lots of methods: some people make the data set balanced (SMOTE), some others refine the loss function (Focal Loss), and even someone has noticed the value of labels influences class-imbalanced learning (Yang and Xu. Rethinking the value of labels for improving class-imbalanced learning. In NeurIPS 2020), but no one changes the way to encode the labels of data yet. Nowadays, the most prevailing technique to encode labels is the one-hot encoding due to its nice performance in the general situation. However, it is not a good choice for imbalanced data, because the classifier will treat majority and minority samples equally. In this paper, we innovatively propose the enhancement encoding technique, which is specially designed for the imbalanced classification. The enhancement encoding combines re-weighting and cost-sensitiveness, which can reflect the difference between hard and easy (or minority and majority) classes. To reduce the number of validation samples and the computation cost, we also replace the confusion matrix with a novel soft-confusion matrix which works better with a small validation set. In the experiments, we evaluate the enhancement encoding with three different types of loss. And the results show that enhancement encoding is very effective to improve the performance of the network trained with imbalanced data. Particularly, the performance on minority classes is much better.
SCALE: Online Self-Supervised Lifelong Learning without Prior Knowledge
Venue: arXiv cs.LG 2023
Year: 2023

Unsupervised lifelong learning refers to the ability to learn over time while memorizing previous patterns without supervision. Although great progress has been made in this direction, existing work often assumes strong prior knowledge about the incoming data (e.g., knowing the class boundaries), which can be impossible to obtain in complex and unpredictable environments. In this paper, motivated by real-world scenarios, we propose a more practical problem setting called online self-supervised lifelong learning without prior knowledge. The proposed setting is challenging due to the non-iid and single-pass data, the absence of external supervision, and no prior knowledge. To address the challenges, we propose Self-Supervised ContrAstive Lifelong LEarning without Prior Knowledge (SCALE) which can extract and memorize representations on the fly purely from the data continuum. SCALE is designed around three major components: a pseudo-supervised contrastive loss, a self-supervised forgetting loss, and an online memory update for uniform subset selection. All three components are designed to work collaboratively to maximize learning performance. We perform comprehensive experiments of SCALE under iid and four non-iid data streams. The results show that SCALE outperforms the state-of-the-art algorithm in all settings with improvements up to 3.83%, 2.77% and 5.86% in terms of kNN accuracy on CIFAR-10, CIFAR-100, and TinyImageNet datasets.
New constructions of optimal $(r,δ)$-LRCs via good polynomials
Venue: arXiv cs.IT 2023
Year: 2023

Locally repairable codes (LRCs) are a class of erasure codes that are widely used in distributed storage systems, which allow for efficient recovery of data in the case of node failures or data loss. In 2014, Tamo and Barg introduced Reed-Solomon-like (RS-like) Singleton-optimal $(r,δ)$-LRCs based on polynomial evaluation. These constructions rely on the existence of so-called good polynomial that is constant on each of some pairwise disjoint subsets of $\mathbb{F}_q$. In this paper, we extend the aforementioned constructions of RS-like LRCs and proposed new constructions of $(r,δ)$-LRCs whose code length can be larger. These new $(r,δ)$-LRCs are all distance-optimal, namely, they attain an upper bound on the minimum distance, that will be established in this paper. This bound is sharper than the Singleton-type bound in some cases owing to the extra conditions, it coincides with the Singleton-type bound for certain cases. Combing these constructions with known explicit good polynomials of special forms, we can get various explicit Singleton-optimal $(r,δ)$-LRCs with new parameters, whose code lengths are all larger than that constructed by the RS-like $(r,δ)$-LRCs introduced by Tamo and Barg. Note that the code length of classical RS codes and RS-like LRCs are both bounded by the field size. We explicitly construct the Singleton-optimal $(r,δ)$-LRCs with length $n=q-1+δ$ for any positive integers $r,δ\geq 2$ and $(r+δ-1)\mid (q-1)$. When $δ$ is proportional to $q$, it is asymptotically longer than that constructed via elliptic curves whose length is at most $q+2\sqrt{q}$. Besides, it allows more flexibility on the values of $r$ and $δ$.
Semi-supervised Semantic Segmentation with Mutual Knowledge Distillation
Venue: arXiv cs.CV 2023
Year: 2023

Consistency regularization has been widely studied in recent semisupervised semantic segmentation methods, and promising performance has been achieved. In this work, we propose a new consistency regularization framework, termed mutual knowledge distillation (MKD), combined with data and feature augmentation. We introduce two auxiliary mean-teacher models based on consistency regularization. More specifically, we use the pseudo-labels generated by a mean teacher to supervise the student network to achieve a mutual knowledge distillation between the two branches. In addition to using image-level strong and weak augmentation, we also discuss feature augmentation. This involves considering various sources of knowledge to distill the student network. Thus, we can significantly increase the diversity of the training samples. Experiments on public benchmarks show that our framework outperforms previous state-of-the-art (SOTA) methods under various semi-supervised settings. Code is available at semi-mmseg.
Oracle-free Reinforcement Learning in Mean-Field Games along a Single Sample Path
Venue: arXiv cs.LG 2023
Year: 2023

We consider online reinforcement learning in Mean-Field Games (MFGs). Unlike traditional approaches, we alleviate the need for a mean-field oracle by developing an algorithm that approximates the Mean-Field Equilibrium (MFE) using the single sample path of the generic agent. We call this {\it Sandbox Learning}, as it can be used as a warm-start for any agent learning in a multi-agent non-cooperative setting. We adopt a two time-scale approach in which an online fixed-point recursion for the mean-field operates on a slower time-scale, in tandem with a control policy update on a faster time-scale for the generic agent. Given that the underlying Markov Decision Process (MDP) of the agent is communicating, we provide finite sample convergence guarantees in terms of convergence of the mean-field and control policy to the mean-field equilibrium. The sample complexity of the Sandbox learning algorithm is $\tilde{\mathcal{O}}(ε^{-4})$ where $ε$ is the MFE approximation error. This is similar to works which assume access to oracle. Finally, we empirically demonstrate the effectiveness of the sandbox learning algorithm in diverse scenarios, including those where the MDP does not necessarily have a single communicating class.
CMOS-based area-and-power-efficient neuron and synapse circuits for time-domain analog spiking neural networks
Venue: arXiv cs.NE 2023
Year: 2023

Conventional neural structures tend to communicate through analog quantities such as currents or voltages, however, as CMOS devices shrink and supply voltages decrease, the dynamic range of voltage/current-domain analog circuits becomes narrower, the available margin becomes smaller, and noise immunity decreases. More than that, the use of operational amplifiers (op-amps) and continuous-time or clocked comparators in conventional designs leads to high energy consumption and large chip area, which would be detrimental to building spiking neural networks. In view of this, we propose a neural structure for generating and transmitting time-domain signals, including a neuron module, a synapse module, and two weight modules. The proposed neural structure is driven by a leakage current of MOS transistors and uses an inverter-based comparator to realize a firing function, thus providing higher energy and area efficiency compared to conventional designs. The proposed neural structure is fabricated using TSMC 65 nm CMOS technology. The proposed neuron and synapse occupy the area of 127 μm^{ 2} and 231 μm^{ 2}, respectively, while achieving millisecond time constants. Actual chip measurements show that the proposed structure implements the temporal signal communication function with millisecond time constants, which is a critical step toward hardware reservoir computing for human-computer interaction. Simulation results of the spiking-neural network for reservoir computing with the behavioral model of the proposed neural structure demonstrate the learning function.
Partial Matrix Completion
Venue: arXiv cs.LG 2023
Year: 2023

The matrix completion problem aims to reconstruct a low-rank matrix based on a revealed set of possibly noisy entries. Prior works consider completing the entire matrix with generalization error guarantees. However, the completion accuracy can be drastically different over different entries. This work establishes a new framework of partial matrix completion, where the goal is to identify a large subset of the entries that can be completed with high confidence. We propose an efficient algorithm with the following provable guarantees. Given access to samples from an unknown and arbitrary distribution, it guarantees: (a) high accuracy over completed entries, and (b) high coverage of the underlying distribution. We also consider an online learning variant of this problem, where we propose a low-regret algorithm based on iterative gradient updates. Preliminary empirical evaluations are included.
A Systematic Literature Review on the Impact of Formatting Elements on Code Legibility
Venue: arXiv cs.SE 2023
Year: 2023

Context: Software programs can be written in different but functionally equivalent ways. Even though previous research has compared specific formatting elements to find out which alternatives affect code legibility, seeing the bigger picture of what makes code more or less legible is challenging. Goal: We aim to find which formatting elements have been investigated in empirical studies and which alternatives were found to be more legible for human subjects. Method: We conducted a systematic literature review and identified 15 papers containing human-centric studies that directly compared alternative formatting elements. We analyzed and organized these formatting elements using a card-sorting method. Results: We identified 13 formatting elements (e.g., indentation) and 33 levels of formatting elements (e.g., two-space indentation), which are about formatting styles, spacing, block delimiters, long or complex code lines, and word boundary styles. While some levels were found to be statistically better than other equivalent ones in terms of code legibility, e.g., appropriate use of indentation with blocks, others were not, e.g., formatting layout. For identifier style, we found divergent results, where one study found a significant difference in favor of camel case, while another study found a positive result in favor of snake case. Conclusion: The number of identified papers, some of which are outdated, and the many null and contradictory results emphasize the relative lack of work in this area and underline the importance of more research. There is much to be understood about how formatting elements influence code legibility before the creation of guidelines and automated aids to help developers make their code more legible.
Passive Triangulation Attack on ORide
Venue: arXiv cs.CR 2023
Year: 2023

Privacy preservation in Ride Hailing Services is intended to protect privacy of drivers and riders. ORide is one of the early RHS proposals published at USENIX Security Symposium 2017. In the ORide protocol, riders and drivers, operating in a zone, encrypt their locations using a Somewhat Homomorphic Encryption scheme (SHE) and forward them to the Service Provider (SP). SP homomorphically computes the squared Euclidean distance between riders and available drivers. Rider receives the encrypted distances and selects the optimal rider after decryption. In order to prevent a triangulation attack, SP randomly permutes the distances before sending them to the rider. In this work, we use propose a passive attack that uses triangulation to determine coordinates of all participating drivers whose permuted distances are available from the points of view of multiple honest-but-curious adversary riders. An attack on ORide was published at SAC 2021. The same paper proposes a countermeasure using noisy Euclidean distances to thwart their attack. We extend our attack to determine locations of drivers when given their permuted and noisy Euclidean distances from multiple points of reference, where the noise perturbation comes from a uniform distribution. We conduct experiments with different number of drivers and for different perturbation values. Our experiments show that we can determine locations of all drivers participating in the ORide protocol. For the perturbed distance version of the ORide protocol, our algorithm reveals locations of about 25% to 50% of participating drivers. Our algorithm runs in time polynomial in number of drivers.
COOKIEGRAPH: Understanding and Detecting First-Party Tracking Cookies
Venue: arXiv cs.CR 2023
Year: 2023

As third-party cookie blocking is becoming the norm in browsers, advertisers and trackers have started to use first-party cookies for tracking. We conduct a differential measurement study on 10K websites with third-party cookies allowed and blocked. This study reveals that first-party cookies are used to store and exfiltrate identifiers to known trackers even when third-party cookies are blocked. As opposed to third-party cookie blocking, outright first-party cookie blocking is not practical because it would result in major functionality breakage. We propose CookieGraph, a machine learning-based approach that can accurately and robustly detect first-party tracking cookies. CookieGraph detects first-party tracking cookies with 90.20% accuracy, outperforming the state-of-the-art CookieBlock approach by 17.75%. We show that CookieGraph is fully robust against cookie name manipulation while CookieBlock's acuracy drops by 15.68%. While blocking all first-party cookies results in major breakage on 32% of the sites with SSO logins, and CookieBlock reduces it to 10%, we show that CookieGraph does not cause any major breakage on these sites. Our deployment of CookieGraph shows that first-party tracking cookies are used on 93.43% of the 10K websites. We also find that first-party tracking cookies are set by fingerprinting scripts. The most prevalent first-party tracking cookies are set by major advertising entities such as Google, Facebook, and TikTok.
Robust Prototypical Few-Shot Organ Segmentation with Regularized Neural-ODEs
Venue: arXiv cs.CV 2023
Year: 2023

Despite the tremendous progress made by deep learning models in image semantic segmentation, they typically require large annotated examples, and increasing attention is being diverted to problem settings like Few-Shot Learning (FSL) where only a small amount of annotation is needed for generalisation to novel classes. This is especially seen in medical domains where dense pixel-level annotations are expensive to obtain. In this paper, we propose Regularized Prototypical Neural Ordinary Differential Equation (R-PNODE), a method that leverages intrinsic properties of Neural-ODEs, assisted and enhanced by additional cluster and consistency losses to perform Few-Shot Segmentation (FSS) of organs. R-PNODE constrains support and query features from the same classes to lie closer in the representation space thereby improving the performance over the existing Convolutional Neural Network (CNN) based FSS methods. We further demonstrate that while many existing Deep CNN based methods tend to be extremely vulnerable to adversarial attacks, R-PNODE exhibits increased adversarial robustness for a wide array of these attacks. We experiment with three publicly available multi-organ segmentation datasets in both in-domain and cross-domain FSS settings to demonstrate the efficacy of our method. In addition, we perform experiments with seven commonly used adversarial attacks in various settings to demonstrate R-PNODE's robustness. R-PNODE outperforms the baselines for FSS by significant margins and also shows superior performance for a wide array of attacks varying in intensity and design.
DBE-KT22: A Knowledge Tracing Dataset Based on Online Student Evaluation
Venue: arXiv cs.CY 2023
Year: 2023

Online education has gained an increasing importance over the last decade for providing affordable high-quality education to students worldwide. This has been further magnified during the global pandemic as more students switched to study online. The majority of online education tasks, e.g., course recommendation, exercise recommendation, or automated evaluation, depends on tracking students' knowledge progress. This is known as the \emph{Knowledge Tracing} problem in the literature. Addressing this problem requires collecting student evaluation data that can reflect their knowledge evolution over time. In this paper, we propose a new knowledge tracing dataset named Database Exercises for Knowledge Tracing (DBE-KT22) that is collected from an online student exercise system in a course taught at the Australian National University in Australia. We discuss the characteristics of the DBE-KT22 dataset and contrast it with the existing datasets in the knowledge tracing literature. Our dataset is available for public access through the Australian Data Archive platform.