OpenRaiser/Intern-Atlas huggingface dataset:
From Low to High Order Motion Planners: Safe Robot Navigation using Motion Prediction and Reference Governor
Venue: arXiv cs.RO 2022
Year: 2022

Safe navigation around obstacles is a fundamental challenge for highly dynamic robots. The state-of-the-art approach for adapting simple reference path planners to complex robot dynamics using trajectory optimization and tracking control is brittle and requires significant replanning cycles. In this paper, we introduce a novel feedback motion planning framework that extends the applicability of low-order (e.g. position-/velocity-controlled) reference motion planners to high-order (e.g., acceleration-/jerk-controlled) robot models using motion prediction and reference governors. We use predicted robot motion range for safety assessment and establish a bidirectional interface between high-level planning and low-level control via a reference governor. We describe the generic fundamental building blocks of our feedback motion planning framework and give specific example constructions for motion control, prediction, and reference planning. We prove the correctness of our planning framework and demonstrate its performance in numerical simulations. We conclude that accurate motion prediction is crucial for closing the gap between high-level planning and low-level control.
Convergence of a New Learning Algorithm
Venue: arXiv cs.NE 2022
Year: 2022

A new learning algorithm proposed by Brandt and Lin for neural network [1], [2] has been shown to be mathematically equivalent to the conventional back-propagation learning algorithm, but has several advantages over the backpropagation algorithm, including feedback-network-free implementation and biological plausibility. In this paper, we investigate the convergence of the new algorithm. A necessary and sufficient condition for the algorithm to converge is derived. A convergence measure is proposed to measure the convergence rate of the new algorithm. Simulation studies are conducted to investigate the convergence of the algorithm with respect to the number of neurons, the connection distance, the connection density, the ratio of excitatory/inhibitory synapses, the membrane potentials, and the synapse strengths.
Individual Fairness in Feature-Based Pricing for Monopoly Markets
Venue: arXiv cs.GT 2022
Year: 2022

We study fairness in the context of feature-based price discrimination in monopoly markets. We propose a new notion of individual fairness, namely, α-fairness, which guarantees that individuals with similar features face similar prices. First, we study discrete valuation space and give an analytical solution for optimal fair feature-based pricing. We show that the cost of fair pricing is defined as the ratio of expected revenue in an optimal feature-based pricing to the expected revenue in an optimal fair feature-based pricing (CoF) can be arbitrarily large in general. When the revenue function is continuous and concave with respect to the prices, we show that one can achieve CoF strictly less than 2, irrespective of the model parameters. Finally, we provide an algorithm to compute fair feature-based pricing strategy that achieves this CoF.
Dynamic size counting in population protocols
Venue: arXiv cs.DC 2022
Year: 2022

The population protocol model describes a network of anonymous agents that interact asynchronously in pairs chosen at random. Each agent starts in the same initial state $s$. We introduce the *dynamic size counting* problem: approximately counting the number of agents in the presence of an adversary who at any time can remove any number of agents or add any number of new agents in state $s$. A valid solution requires that after each addition/removal event, resulting in population size $n$, with high probability each agent "quickly" computes the same constant-factor estimate of the value $\log_2 n$ (how quickly is called the *convergence* time), which remains the output of every agent for as long as possible (the *holding* time). Since the adversary can remove agents, the holding time is necessarily finite: even after the adversary stops altering the population, it is impossible to *stabilize* to an output that never again changes. We first show that a protocol solves the dynamic size counting problem if and only if it solves the *loosely-stabilizing counting* problem: that of estimating $\log n$ in a *fixed-size* population, but where the adversary can initialize each agent in an arbitrary state, with the same convergence time and holding time. We then show a protocol solving the loosely-stabilizing counting problem with the following guarantees: if the population size is $n$, $M$ is the largest initial estimate of $\log n$, and s is the maximum integer initially stored in any field of the agents' memory, we have expected convergence time $O(\log n + \log M)$, expected polynomial holding time, and expected memory usage of $O(\log^2 (s) + (\log \log n)^2)$ bits. Interpreted as a dynamic size counting protocol, when changing from population size $n_{prev}$ to $n_{next}$, the convergence time is $O(\log n_{next} + \log \log n_{prev})$.
Learning to Identify Perceptual Bugs in 3D Video Games
Venue: arXiv cs.SE 2022
Year: 2022

Automated Bug Detection (ABD) in video games is composed of two distinct but complementary problems: automated game exploration and bug identification. Automated game exploration has received much recent attention, spurred on by developments in fields such as reinforcement learning. The complementary problem of identifying the bugs present in a player's experience has for the most part relied on the manual specification of rules. Although it is widely recognised that many bugs of interest cannot be identified with such methods, little progress has been made in this direction. In this work we show that it is possible to identify a range of perceptual bugs using learning-based methods by making use of only the rendered game screen as seen by the player. To support our work, we have developed World of Bugs (WOB) an open platform for testing ABD methods in 3D game environments.
The evolution of scientific literature as metastable knowledge states
Venue: arXiv cs.DL 2022
Year: 2022

The problem of identifying common concepts in the sciences and deciding when new ideas have emerged is an open one. Metascience researchers have sought to formalize principles underlying stages in the life-cycle of scientific research, determine how knowledge is transferred between scientists and stakeholders, and understand how new ideas are generated and take hold. Here, we model the state of scientific knowledge immediately preceding new directions of research as a metastable state and the creation of new concepts as combinatorial innovation. We find that, through the combined use of natural language clustering and citation graph analysis, we can predict the evolution of ideas over time and thus connect a single scientific article to past and future concepts in a way that goes beyond traditional citation and reference connections.
A Brief Survey on Adaptive Video Streaming Quality Assessment
Venue: arXiv cs.MM 2022
Year: 2022

Quality of experience (QoE) assessment for adaptive video streaming plays a significant role in advanced network management systems. It is especially challenging in case of dynamic adaptive streaming schemes over HTTP (DASH) which has increasingly complex characteristics including additional playback issues. In this paper, we provide a brief overview of adaptive video streaming quality assessment. Upon our review of related works, we analyze and compare different variations of objective QoE assessment models with or without using machine learning techniques for adaptive video streaming. Through the performance analysis, we observe that hybrid models perform better than both quality-of-service (QoS) driven QoE approaches and signal fidelity measurement. Moreover, the machine learning-based model slightly outperforms the model without using machine learning for the same setting. In addition, we find that existing video streaming QoE assessment models still have limited performance, which makes it difficult to be applied in practical communication systems. Therefore, based on the success of deep learned feature representations for traditional video quality prediction, we also apply the off-the-shelf deep convolutional neural network (DCNN) to evaluate the perceptual quality of streaming videos, where the spatio-temporal properties of streaming videos are taken into consideration. Experiments demonstrate its superiority, which sheds light on the future development of specifically designed deep learning frameworks for adaptive video streaming quality assessment. We believe this survey can serve as a guideline for QoE assessment of adaptive video streaming.
Attacks and Faults Injection in Self-Driving Agents on the Carla Simulator -- Experience Report
Venue: arXiv cs.AI 2022
Year: 2022

Machine Learning applications are acknowledged at the foundation of autonomous driving, because they are the enabling technology for most driving tasks. However, the inclusion of trained agents in automotive systems exposes the vehicle to novel attacks and faults, that can result in safety threats to the driv-ing tasks. In this paper we report our experimental campaign on the injection of adversarial attacks and software faults in a self-driving agent running in a driving simulator. We show that adversarial attacks and faults injected in the trained agent can lead to erroneous decisions and severely jeopardize safety. The paper shows a feasible and easily-reproducible approach based on open source simula-tor and tools, and the results clearly motivate the need of both protective measures and extensive testing campaigns.
Integrated multimodal artificial intelligence framework for healthcare applications
Venue: arXiv cs.LG 2022
Year: 2022

Artificial intelligence (AI) systems hold great promise to improve healthcare over the next decades. Specifically, AI systems leveraging multiple data sources and input modalities are poised to become a viable method to deliver more accurate results and deployable pipelines across a wide range of applications. In this work, we propose and evaluate a unified Holistic AI in Medicine (HAIM) framework to facilitate the generation and testing of AI systems that leverage multimodal inputs. Our approach uses generalizable data pre-processing and machine learning modeling stages that can be readily adapted for research and deployment in healthcare environments. We evaluate our HAIM framework by training and characterizing 14,324 independent models based on HAIM-MIMIC-MM, a multimodal clinical database (N=34,537 samples) containing 7,279 unique hospitalizations and 6,485 patients, spanning all possible input combinations of 4 data modalities (i.e., tabular, time-series, text, and images), 11 unique data sources and 12 predictive tasks. We show that this framework can consistently and robustly produce models that outperform similar single-source approaches across various healthcare demonstrations (by 6-33%), including 10 distinct chest pathology diagnoses, along with length-of-stay and 48-hour mortality predictions. We also quantify the contribution of each modality and data source using Shapley values, which demonstrates the heterogeneity in data modality importance and the necessity of multimodal inputs across different healthcare-relevant tasks. The generalizable properties and flexibility of our Holistic AI in Medicine (HAIM) framework could offer a promising pathway for future multimodal predictive systems in clinical and operational healthcare settings.
Decision Making in Non-Stationary Environments with Policy-Augmented Monte Carlo Tree Search
Venue: arXiv cs.AI 2022
Year: 2022

Decision-making under uncertainty (DMU) is present in many important problems. An open challenge is DMU in non-stationary environments, where the dynamics of the environment can change over time. Reinforcement Learning (RL), a popular approach for DMU problems, learns a policy by interacting with a model of the environment offline. Unfortunately, if the environment changes the policy can become stale and take sub-optimal actions, and relearning the policy for the updated environment takes time and computational effort. An alternative is online planning approaches such as Monte Carlo Tree Search (MCTS), which perform their computation at decision time. Given the current environment, MCTS plans using high-fidelity models to determine promising action trajectories. These models can be updated as soon as environmental changes are detected to immediately incorporate them into decision making. However, MCTS's convergence can be slow for domains with large state-action spaces. In this paper, we present a novel hybrid decision-making approach that combines the strengths of RL and planning while mitigating their weaknesses. Our approach, called Policy Augmented MCTS (PA-MCTS), integrates a policy's actin-value estimates into MCTS, using the estimates to seed the action trajectories favored by the search. We hypothesize that PA-MCTS will converge more quickly than standard MCTS while making better decisions than the policy can make on its own when faced with nonstationary environments. We test our hypothesis by comparing PA-MCTS with pure MCTS and an RL agent applied to the classical CartPole environment. We find that PC-MCTS can achieve higher cumulative rewards than the policy in isolation under several environmental shifts while converging in significantly fewer iterations than pure MCTS.
Multi-view Gradient Consistency for SVBRDF Estimation of Complex Scenes under Natural Illumination
Venue: arXiv cs.CV 2022
Year: 2022

This paper presents a process for estimating the spatially varying surface reflectance of complex scenes observed under natural illumination. In contrast to previous methods, our process is not limited to scenes viewed under controlled lighting conditions but can handle complex indoor and outdoor scenes viewed under arbitrary illumination conditions. An end-to-end process uses a model of the scene's geometry and several images capturing the scene's surfaces from arbitrary viewpoints and under various natural illumination conditions. We develop a differentiable path tracer that leverages least-square conformal mapping for handling multiple disjoint objects appearing in the scene. We follow a two-step optimization process and introduce a multi-view gradient consistency loss which results in up to 30-50% improvement in the image reconstruction loss and can further achieve better disentanglement of the diffuse and specular BRDFs compared to other state-of-the-art. We demonstrate the process in real-world indoor and outdoor scenes from images in the wild and show that we can produce realistic renders consistent with actual images using the estimated reflectance properties. Experiments show that our technique produces realistic results for arbitrary outdoor scenes with complex geometry. The source code is publicly available at: https://gitlab.com/alen.joy/multi-view-gradient-consistency-for-svbrdf-estimation-of-complex-scenes-under-natural-illumination
HCIL: Hierarchical Class Incremental Learning for Longline Fishing Visual Monitoring
Venue: arXiv cs.CV 2022
Year: 2022

The goal of electronic monitoring of longline fishing is to visually monitor the fish catching activities on fishing vessels based on cameras, either for regulatory compliance or catch counting. The previous hierarchical classification method demonstrates efficient fish species identification of catches from longline fishing, where fishes are under severe deformation and self-occlusion during the catching process. Although the hierarchical classification mitigates the laborious efforts of human reviews by providing confidence scores in different hierarchical levels, its performance drops dramatically under the class incremental learning (CIL) scenario. A CIL system should be able to learn about more and more classes over time from a stream of data, i.e., only the training data for a small number of classes have to be present at the beginning and new classes can be added progressively. In this work, we introduce a Hierarchical Class Incremental Learning (HCIL) model, which significantly improves the state-of-the-art hierarchical classification methods under the CIL scenario.
Towards Revenue Maximization with Popular and Profitable Products
Venue: arXiv cs.AI 2022
Year: 2022

Economic-wise, a common goal for companies conducting marketing is to maximize the return revenue/profit by utilizing the various effective marketing strategies. Consumer behavior is crucially important in economy and targeted marketing, in which behavioral economics can provide valuable insights to identify the biases and profit from customers. Finding credible and reliable information on products' profitability is, however, quite difficult since most products tends to peak at certain times w.r.t. seasonal sales cycle in a year. On-Shelf Availability (OSA) plays a key factor for performance evaluation. Besides, staying ahead of hot product trends means we can increase marketing efforts without selling out the inventory. To fulfill this gap, in this paper, we first propose a general profit-oriented framework to address the problem of revenue maximization based on economic behavior, and compute the 0n-shelf Popular and most Profitable Products (OPPPs) for the targeted marketing. To tackle the revenue maximization problem, we model the k-satisfiable product concept and propose an algorithmic framework for searching OPPP and its variants. Extensive experiments are conducted on several real-world datasets to evaluate the effectiveness and efficiency of the proposed algorithm.
Utility and Feasibility of a Center Surround Event Camera
Venue: arXiv cs.CV 2022
Year: 2022

Standard dynamic vision sensor (DVS) event cameras output a stream of spatially-independent log-intensity brightness change events so they cannot suppress spatial redundancy. Nearly all biological retinas use an antagonistic center-surround organization. This paper proposes a practical method of implementing a compact, energy-efficient Center Surround DVS (CSDVS) with a surround smoothing network that uses compact polysilicon resistors for lateral resistance. The paper includes behavioral simulation results for the CSDVS (see sites.google.com/view/csdvs/home). The CSDVS would significantly reduce events caused by low spatial frequencies, but amplify the informative high frequency spatiotemporal events.
Improved Hard Example Mining Approach for Single Shot Object Detectors
Venue: arXiv cs.CV 2022
Year: 2022

Hard example mining methods generally improve the performance of the object detectors, which suffer from imbalanced training sets. In this work, two existing hard example mining approaches (LRM and focal loss, FL) are adapted and combined in a state-of-the-art real-time object detector, YOLOv5. The effectiveness of the proposed approach for improving the performance on hard examples is extensively evaluated. The proposed method increases mAP by 3% compared to using the original loss function and around 1-2% compared to using the hard-mining methods (LRM or FL) individually on 2021 Anti-UAV Challenge Dataset.
Symmetric Convolutional Filters: A Novel Way to Constrain Parameters in CNN
Venue: arXiv cs.CV 2022
Year: 2022

We propose a novel technique to constrain parameters in CNN based on symmetric filters. We investigate the impact on SOTA networks when varying the combinations of symmetricity. We demonstrate that our models offer effective generalisation and a structured elimination of redundancy in parameters. We conclude by comparing our method with other pruning techniques.
Sustainability using Renewable Electricity (SuRE) towards NetZero Emissions
Venue: arXiv cs.AI 2022
Year: 2022

Demand for energy has increased significantly across the globe due to increase in population and economic growth. Growth in energy demand poses serious threat to the environment since majority of the energy sources are non-renewable and based on fossil fuels, which leads to emission of harmful greenhouse gases. Organizations across the world are facing challenges in transitioning from fossil fuels-based sources to greener sources to reduce their carbon footprint. As a step towards achieving Net-Zero emission target, we present a scalable AI based solution that can be used by organizations to increase their overall renewable electricity share in total energy consumption. Our solution provides facilities with accurate energy demand forecast, recommendation for procurement of renewable electricity to optimize cost and carbon offset recommendations to compensate for Greenhouse Gas (GHG) emissions. This solution has been used in production for more than a year for four facilities and has increased their renewable electricity share significantly.
BeDivFuzz: Integrating Behavioral Diversity into Generator-based Fuzzing
Venue: arXiv cs.SE 2022
Year: 2022

A popular metric to evaluate the performance of fuzzers is branch coverage. However, we argue that focusing solely on covering many different branches (i.e., the richness) is not sufficient since the majority of the covered branches may have been exercised only once, which does not inspire a high confidence in the reliability of the covered code. Instead, the distribution of the executed branches (i.e., the evenness) should also be considered. That is, behavioral diversity is only given if the generated inputs not only trigger many different branches, but also trigger them evenly often with diverse inputs. We introduce BeDivFuzz, a feedback-driven fuzzing technique for generator-based fuzzers. BeDivFuzz distinguishes between structure-preserving and structure-changing mutations in the space of syntactically valid inputs, and biases its mutation strategy towards validity and behavioral diversity based on the received program feedback. We have evaluated BeDivFuzz on Ant, Maven, Rhino, Closure, Nashorn, and Tomcat. The results show that BeDivFuzz achieves better behavioral diversity than the state of the art, measured by established biodiversity metrics, namely the Hill numbers, from the field of ecology.
Semantic Soundness for Language Interoperability
Venue: arXiv cs.PL 2022
Year: 2022

Programs are rarely implemented in a single language, and thus questions of type soundness should address not only the semantics of a single language, but how it interacts with others. Even between type-safe languages, disparate features frustrate interoperability, as invariants from one language can easily be violated in the other. In their seminal 2007 paper, Matthews and Findler proposed a multi-language construction that augments the interoperating languages with a pair of boundaries that allow code from one language to be embedded in the other. While the technique has been widely applied, their syntactic source-level interoperability doesn't reflect practical implementations, where behavior of interaction is defined after compilation to a common target, and any safety must be ensured by target invariants or inserted target-level "glue code." In this paper, we present a framework for the design and verification of sound language interoperability that follows an interoperation-after-compilation strategy. Language designers specify what data can be converted between types of the languages via a relation $τ_A \sim τ_B$ and specify target glue code implementing conversions. Then, by giving a semantic model of source types as sets of target terms, we can establish soundness of conversions: i.e., whenever $τ_A \sim τ_B$, the corresponding pair of conversions convert target terms that behave as $τ_A$ to target terms that behave as $τ_B$, and vice versa. We can then prove semantic type soundness for the entire system. We illustrate our framework via a series of case studies that demonstrate how our semantic interoperation-after-compilation approach allows us both to account for complex differences in language semantics and make efficiency trade-offs based on particularities of compilers or targets.