OpenRaiser/Intern-Atlas huggingface dataset:
NBcoded: network attack classifiers based on Encoder and Naive Bayes model for resource limited devices
Venue: arXiv cs.LG 2021
Year: 2021

In the recent years, cybersecurity has gained high relevance, converting the detection of attacks or intrusions into a key task. In fact, a small breach in a system, application, or network, can cause huge damage for the companies. However, when this attack detection encounters the Artificial Intelligence paradigm, it can be addressed using high-quality classifiers which often need high resource demands in terms of computation or memory usage. This situation has a high impact when the attack classifiers need to be used with limited resourced devices or without overloading the performance of the devices, as it happens for example in IoT devices, or in industrial systems. For overcoming this issue, NBcoded, a novel light attack classification tool is proposed in this work. NBcoded works in a pipeline combining the removal of noisy data properties of the encoders with the low resources and timing consuming obtained by the Naive Bayes classifier. This work compares three different NBcoded implementations based on three different Naive Bayes likelihood distribution assumptions (Gaussian, Complement and Bernoulli). Then, the best NBcoded is compared with state of the art classifiers like Multilayer Perceptron and Random Forest. Our implementation shows to be the best model reducing the impact of training time and disk usage, even if it is outperformed by the other two in terms of Accuracy and F1-score (~ 2%).
DROMO: Distributionally Robust Offline Model-based Policy Optimization
Venue: arXiv cs.LG 2021
Year: 2021

We consider the problem of offline reinforcement learning with model-based control, whose goal is to learn a dynamics model from the experience replay and obtain a pessimism-oriented agent under the learned model. Current model-based constraint includes explicit uncertainty penalty and implicit conservative regularization that pushes Q-values of out-of-distribution state-action pairs down and the in-distribution up. While the uncertainty estimation, on which the former relies on, can be loosely calibrated for complex dynamics, the latter performs slightly better. To extend the basic idea of regularization without uncertainty quantification, we propose distributionally robust offline model-based policy optimization (DROMO), which leverages the ideas in distributionally robust optimization to penalize a broader range of out-of-distribution state-action pairs beyond the standard empirical out-of-distribution Q-value minimization. We theoretically show that our method optimizes a lower bound on the ground-truth policy evaluation, and it can be incorporated into any existing policy gradient algorithms. We also analyze the theoretical properties of DROMO's linear and non-linear instantiations.
FFAVOD: Feature Fusion Architecture for Video Object Detection
Venue: arXiv cs.CV 2021
Year: 2021

A significant amount of redundancy exists between consecutive frames of a video. Object detectors typically produce detections for one image at a time, without any capabilities for taking advantage of this redundancy. Meanwhile, many applications for object detection work with videos, including intelligent transportation systems, advanced driver assistance systems and video surveillance. Our work aims at taking advantage of the similarity between video frames to produce better detections. We propose FFAVOD, standing for feature fusion architecture for video object detection. We first introduce a novel video object detection architecture that allows a network to share feature maps between nearby frames. Second, we propose a feature fusion module that learns to merge feature maps to enhance them. We show that using the proposed architecture and the fusion module can improve the performance of three base object detectors on two object detection benchmarks containing sequences of moving road users. Additionally, to further increase performance, we propose an improvement to the SpotNet attention module. Using our architecture on the improved SpotNet detector, we obtain the state-of-the-art performance on the UA-DETRAC public benchmark as well as on the UAVDT dataset. Code is available at https://github.com/hu64/FFAVOD.
Expertise Affects Drone Racing Performance
Venue: arXiv cs.RO 2021
Year: 2021

First-person view drone racing has become a popular televised sport. However, very little is known about the perceptual and motor skills of professional drone racing pilots. A better understanding of these skills may inform path planning and control algorithms for autonomous multirotor flight. By using a real-world drone racing track and a large-scale position tracking system, we compare the drone racing performance of five professional and five beginner pilots. Results show that professional pilots consistently outperform beginner pilots by achieving faster lap times, higher velocity, and more efficiently executing the challenging maneuvers. Trajectory analysis shows that experienced pilots choose more optimal racing lines than beginner pilots. Our results provide strong evidence for a contribution of expertise to performances in real-world human-piloted drone racing. We discuss the implications of these results for future work on autonomous fast and agile flight. We make our data openly available.
A Systematic Literature Review on Wearable Health Data Publishing under Differential Privacy
Venue: arXiv cs.CR 2021
Year: 2021

Wearable devices generate different types of physiological data about the individuals. These data can provide valuable insights for medical researchers and clinicians that cannot be availed through traditional measures. Researchers have historically relied on survey responses or observed behavior. Interestingly, physiological data can provide a richer amount of user cognition than that obtained from any other sources, including the user himself. Therefore, the inexpensive consumer-grade wearable devices have become a point of interest for the health researchers. In addition, they are also used in continuous remote health monitoring and sometimes by the insurance companies. However, the biggest concern for such kind of use cases is the privacy of the individuals. There are a few privacy mechanisms, such as abstraction and k-anonymity, are widely used in information systems. Recently, Differential Privacy (DP) has emerged as a proficient technique to publish privacy sensitive data, including data from wearable devices. In this paper, we have conducted a Systematic Literature Review (SLR) to identify, select and critically appraise researches in DP as well as to understand different techniques and exiting use of DP in wearable data publishing. Based on our study we have identified the limitations of proposed solutions and provided future directions.
Comparing decision mining approaches with regard to the meaningfulness of their results
Venue: arXiv cs.LG 2021
Year: 2021

Decisions and the underlying rules are indispensable for driving process execution during runtime, i.e., for routing process instances at alternative branches based on the values of process data. Decision rules can comprise unary data conditions, e.g., age > 40, binary data conditions where the relation between two or more variables is relevant, e.g. temperature1 < temperature2, and more complex conditions that refer to, for example, parts of a medical image. Decision discovery aims at automatically deriving decision rules from process event logs. Existing approaches focus on the discovery of unary, or in some instances binary data conditions. The discovered decision rules are usually evaluated using accuracy, but not with regards to their semantics and meaningfulness, although this is crucial for validation and the subsequent implementation/adaptation of the decision rules. Hence, this paper compares three decision mining approaches, i.e., two existing ones and one newly described approach, with respect to the meaningfulness of their results. For comparison, we use one synthetic data set for a realistic manufacturing case and the two real-world BPIC 2017/2020 logs. The discovered rules are discussed with regards to their semantics and meaningfulness.
Modular Neural Ordinary Differential Equations
Venue: arXiv cs.LG 2021
Year: 2021

The laws of physics have been written in the language of dif-ferential equations for centuries. Neural Ordinary Differen-tial Equations (NODEs) are a new machine learning architecture which allows these differential equations to be learned from a dataset. These have been applied to classical dynamics simulations in the form of Lagrangian Neural Net-works (LNNs) and Second Order Neural Differential Equations (SONODEs). However, they either cannot represent the most general equations of motion or lack interpretability. In this paper, we propose Modular Neural ODEs, where each force component is learned with separate modules. We show how physical priors can be easily incorporated into these models. Through a number of experiments, we demonstrate these result in better performance, are more interpretable, and add flexibility due to their modularity.
DCUR: Data Curriculum for Teaching via Samples with Reinforcement Learning
Venue: arXiv cs.LG 2021
Year: 2021

Deep reinforcement learning (RL) has shown great empirical successes, but suffers from brittleness and sample inefficiency. A potential remedy is to use a previously-trained policy as a source of supervision. In this work, we refer to these policies as teachers and study how to transfer their expertise to new student policies by focusing on data usage. We propose a framework, Data CUrriculum for Reinforcement learning (DCUR), which first trains teachers using online deep RL, and stores the logged environment interaction history. Then, students learn by running either offline RL or by using teacher data in combination with a small amount of self-generated data. DCUR's central idea involves defining a class of data curricula which, as a function of training time, limits the student to sampling from a fixed subset of the full teacher data. We test teachers and students using state-of-the-art deep RL algorithms across a variety of data curricula. Results suggest that the choice of data curricula significantly impacts student learning, and that it is beneficial to limit the data during early training stages while gradually letting the data availability grow over time. We identify when the student can learn offline and match teacher performance without relying on specialized offline RL algorithms. Furthermore, we show that collecting a small fraction of online data provides complementary benefits with the data curriculum. Supplementary material is available at https://tinyurl.com/teach-dcur.
Multi View Spatial-Temporal Model for Travel Time Estimation
Venue: arXiv cs.LG 2021
Year: 2021

Taxi arrival time prediction is essential for building intelligent transportation systems. Traditional prediction methods mainly rely on extracting features from traffic maps, which cannot model complex situations and nonlinear spatial and temporal relationships. Therefore, we propose Multi-View Spatial-Temporal Model (MVSTM) to capture the mutual dependence of spatial-temporal relations and trajectory features. Specifically, we use graph2vec to model the spatial view, dual-channel temporal module to model the trajectory view, and structural embedding to model traffic semantics. Experiments on large-scale taxi trajectory data have shown that our approach is more effective than the existing novel methods. The source code can be found at https://github.com/775269512/SIGSPATIAL-2021-GISCUP-4th-Solution.
BERT is Robust! A Case Against Synonym-Based Adversarial Examples in Text Classification
Venue: arXiv cs.CL 2021
Year: 2021

Deep Neural Networks have taken Natural Language Processing by storm. While this led to incredible improvements across many tasks, it also initiated a new research field, questioning the robustness of these neural networks by attacking them. In this paper, we investigate four word substitution-based attacks on BERT. We combine a human evaluation of individual word substitutions and a probabilistic analysis to show that between 96% and 99% of the analyzed attacks do not preserve semantics, indicating that their success is mainly based on feeding poor data to the model. To further confirm that, we introduce an efficient data augmentation procedure and show that many adversarial examples can be prevented by including data similar to the attacks during training. An additional post-processing step reduces the success rates of state-of-the-art attacks below 5%. Finally, by looking at more reasonable thresholds on constraints for word substitutions, we conclude that BERT is a lot more robust than research on attacks suggests.
Semi-supervised Contrastive Learning for Label-efficient Medical Image Segmentation
Venue: arXiv cs.CV 2021
Year: 2021

The success of deep learning methods in medical image segmentation tasks heavily depends on a large amount of labeled data to supervise the training. On the other hand, the annotation of biomedical images requires domain knowledge and can be laborious. Recently, contrastive learning has demonstrated great potential in learning latent representation of images even without any label. Existing works have explored its application to biomedical image segmentation where only a small portion of data is labeled, through a pre-training phase based on self-supervised contrastive learning without using any labels followed by a supervised fine-tuning phase on the labeled portion of data only. In this paper, we establish that by including the limited label in formation in the pre-training phase, it is possible to boost the performance of contrastive learning. We propose a supervised local contrastive loss that leverages limited pixel-wise annotation to force pixels with the same label to gather around in the embedding space. Such loss needs pixel-wise computation which can be expensive for large images, and we further propose two strategies, downsampling and block division, to address the issue. We evaluate our methods on two public biomedical image datasets of different modalities. With different amounts of labeled data, our methods consistently outperform the state-of-the-art contrast-based methods and other semi-supervised learning techniques.
Timely Updating with Intermittent Energy and Data for Multiple Sources over Erasure Channels
Venue: arXiv cs.IT 2021
Year: 2021

A status updating system is considered in which multiple data sources generate packets to be delivered to a destination through a shared energy harvesting sensor. Only one source's data, when available, can be transmitted by the sensor at a time, subject to energy availability. Transmissions are prune to erasures, and each successful transmission constitutes a status update for its corresponding source at the destination. The goal is to schedule source transmissions such that the collective long-term average age-of-information (AoI) is minimized. AoI is defined as the time elapsed since the latest successfully-received data has been generated at its source. To solve this problem, the case with a single source is first considered, with a focus on threshold waiting policies, in which the sensor attempts transmission only if the time until both energy and data are available grows above a certain threshold. The distribution of the AoI is fully characterized under such a policy. This is then used to analyze the performance of the multiple sources case under maximum-age-first scheduling, in which the sensor's resources are dedicated to the source with the maximum AoI at any given time. The achievable collective long-term average AoI is derived in closed-form. Multiple numerical evaluations are demonstrated to show how the optimal threshold value behaves as a function of the system parameters, and showcase the benefits of a threshold-based waiting policy with intermittent energy and data arrivals.
Learning Robot Structure and Motion Embeddings using Graph Neural Networks
Venue: arXiv cs.RO 2021
Year: 2021

We propose a learning framework to find the representation of a robot's kinematic structure and motion embedding spaces using graph neural networks (GNN). Finding a compact and low-dimensional embedding space for complex phenomena is a key for understanding its behaviors, which may lead to a better learning performance, as we observed in other domains of images or languages. However, although numerous robotics applications deal with various types of data, the embedding of the generated data has been relatively less studied by roboticists. To this end, our work aims to learn embeddings for two types of robotic data: the robot's design structure, such as links, joints, and their relationships, and the motion data, such as kinematic joint positions. Our method exploits the tree structure of the robot to train appropriate embeddings to the given robot data. To avoid overfitting, we formulate multi-task learning to find a general representation of the embedding spaces. We evaluate the proposed learning method on a robot with a simple linear structure and visualize the learned embeddings using t-SNE. We also study a few design choices of the learning framework, such as network architectures and message passing schemes.
RAFT-Stereo: Multilevel Recurrent Field Transforms for Stereo Matching
Venue: arXiv cs.CV 2021
Year: 2021

We introduce RAFT-Stereo, a new deep architecture for rectified stereo based on the optical flow network RAFT. We introduce multi-level convolutional GRUs, which more efficiently propagate information across the image. A modified version of RAFT-Stereo can perform accurate real-time inference. RAFT-stereo ranks first on the Middlebury leaderboard, outperforming the next best method on 1px error by 29% and outperforms all published work on the ETH3D two-view stereo benchmark. Code is available at https://github.com/princeton-vl/RAFT-Stereo.
Multi-Task Learning with Sequence-Conditioned Transporter Networks
Venue: arXiv cs.LG 2021
Year: 2021

Enabling robots to solve multiple manipulation tasks has a wide range of industrial applications. While learning-based approaches enjoy flexibility and generalizability, scaling these approaches to solve such compositional tasks remains a challenge. In this work, we aim to solve multi-task learning through the lens of sequence-conditioning and weighted sampling. First, we propose a new suite of benchmark specifically aimed at compositional tasks, MultiRavens, which allows defining custom task combinations through task modules that are inspired by industrial tasks and exemplify the difficulties in vision-based learning and planning methods. Second, we propose a vision-based end-to-end system architecture, Sequence-Conditioned Transporter Networks, which augments Goal-Conditioned Transporter Networks with sequence-conditioning and weighted sampling and can efficiently learn to solve multi-task long horizon problems. Our analysis suggests that not only the new framework significantly improves pick-and-place performance on novel 10 multi-task benchmark problems, but also the multi-task learning with weighted sampling can vastly improve learning and agent performances on individual tasks.
Network representation learning systematic review: ancestors and current development state
Venue: arXiv cs.LG 2021
Year: 2021

Real-world information networks are increasingly occurring across various disciplines including online social networks and citation networks. These network data are generally characterized by sparseness, nonlinearity and heterogeneity bringing different challenges to the network analytics task to capture inherent properties from network data. Artificial intelligence and machine learning have been recently leveraged as powerful systems to learn insights from network data and deal with presented challenges. As part of machine learning techniques, graph embedding approaches are originally conceived for graphs constructed from feature represented datasets, like image dataset, in which links between nodes are explicitly defined. These traditional approaches cannot cope with network data challenges. As a new learning paradigm, network representation learning has been proposed to map a real-world information network into a low-dimensional space while preserving inherent properties of the network. In this paper, we present a systematic comprehensive survey of network representation learning, known also as network embedding, from birth to the current development state. Through the undertaken survey, we provide a comprehensive view of reasons behind the emergence of network embedding and, types of settings and models used in the network embedding pipeline. Thus, we introduce a brief history of representation learning and word representation learning ancestor of network embedding. We provide also formal definitions of basic concepts required to understand network representation learning followed by a description of network embedding pipeline. Most commonly used downstream tasks to evaluate embeddings, their evaluation metrics and popular datasets are highlighted. Finally, we present the open-source libraries for network embedding.
Interpretable Additive Recurrent Neural Networks For Multivariate Clinical Time Series
Venue: arXiv cs.LG 2021
Year: 2021

Time series models with recurrent neural networks (RNNs) can have high accuracy but are unfortunately difficult to interpret as a result of feature-interactions, temporal-interactions, and non-linear transformations. Interpretability is important in domains like healthcare where constructing models that provide insight into the relationships they have learned are required to validate and trust model predictions. We want accurate time series models where users can understand the contribution of individual input features. We present the Interpretable-RNN (I-RNN) that balances model complexity and accuracy by forcing the relationship between variables in the model to be additive. Interactions are restricted between hidden states of the RNN and additively combined at the final step. I-RNN specifically captures the unique characteristics of clinical time series, which are unevenly sampled in time, asynchronously acquired, and have missing data. Importantly, the hidden state activations represent feature coefficients that correlate with the prediction target and can be visualized as risk curves that capture the global relationship between individual input features and the outcome. We evaluate the I-RNN model on the Physionet 2012 Challenge dataset to predict in-hospital mortality, and on a real-world clinical decision support task: predicting hemodynamic interventions in the intensive care unit. I-RNN provides explanations in the form of global and local feature importances comparable to highly intelligible models like decision trees trained on hand-engineered features while significantly outperforming them. I-RNN remains intelligible while providing accuracy comparable to state-of-the-art decay-based and interpolation-based recurrent time series models. The experimental results on real-world clinical datasets refute the myth that there is a tradeoff between accuracy and interpretability.