OpenRaiser/Intern-Atlas huggingface dataset:
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Venue: arXiv cs.RO 2021
Year: 2021

This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, it presents the techniques utilized within the Tunnel (2019) and Urban (2020) competitions, where CoSTAR achieved 2nd and 1st place, respectively. We also discuss CoSTAR's demonstrations in Martian-analog surface and subsurface (lava tubes) exploration. The paper introduces our autonomy solution, referred to as NeBula (Networked Belief-aware Perceptual Autonomy). NeBula is an uncertainty-aware framework that aims at enabling resilient and modular autonomy solutions by performing reasoning and decision making in the belief space (space of probability distributions over the robot and world states). We discuss various components of the NeBula framework, including: (i) geometric and semantic environment mapping; (ii) a multi-modal positioning system; (iii) traversability analysis and local planning; (iv) global motion planning and exploration behavior; (i) risk-aware mission planning; (vi) networking and decentralized reasoning; and (vii) learning-enabled adaptation. We discuss the performance of NeBula on several robot types (e.g. wheeled, legged, flying), in various environments. We discuss the specific results and lessons learned from fielding this solution in the challenging courses of the DARPA Subterranean Challenge competition.
An Empirical Study of OSS-Fuzz Bugs
Venue: arXiv cs.SE 2021
Year: 2021

Continuous fuzzing is an increasingly popular technique for automated quality and security assurance. Google maintains OSS-Fuzz: a continuous fuzzing service for open source software. We conduct the first empirical study of OSS-Fuzz, analyzing 23,907 bugs found in 316 projects. We examine the characteristics of fuzzer-found faults, the lifecycles of such faults, and the evolution of fuzzing campaigns over time. We find that OSS-Fuzz is often effective at quickly finding bugs, and developers are often quick to patch them. However, flaky bugs, timeouts, and out of memory errors are problematic, people rarely file CVEs for security vulnerabilities, and fuzzing campaigns often exhibit punctuated equilibria, where developers might be surprised by large spikes in bugs found. Our findings have implications on future fuzzing research and practice.
psc2code: Denoising Code Extraction from Programming Screencasts
Venue: arXiv cs.SE 2021
Year: 2021

In this paper, we propose an approach named psc2code to denoise the process of extracting source code from programming screencasts. First, psc2code leverages the Convolutional Neural Network based image classification to remove non-code and noisy-code frames. Then, psc2code performs edge detection and clustering-based image segmentation to detect sub-windows in a code frame, and based on the detected sub-windows, it identifies and crops the screen region that is most likely to be a code editor. Finally, psc2code calls the API of a professional OCR tool to extract source code from the cropped code regions and leverages the OCRed cross-frame information in the programming screencast and the statistical language model of a large corpus of source code to correct errors in the OCRed source code. We conduct an experiment on 1,142 programming screencasts from YouTube. We find that our CNN-based image classification technique can effectively remove the non-code and noisy-code frames, which achieves an F1-score of 0.95 on the valid code frames. Based on the source code denoised by psc2code, we implement two applications: 1) a programming screencast search engine; 2) an interaction-enhanced programming screencast watching tool. Based on the source code extracted from the 1,142 collected programming screencasts, our experiments show that our programming screencast search engine achieves the precision@5, 10, and 20 of 0.93, 0.81, and 0.63, respectively.
Multi-Transmitter Coded Caching Networks with Transmitter-side Knowledge of File Popularity
Venue: arXiv cs.IT 2021
Year: 2021

This work presents a new way of exploiting non-uniform file popularity in coded caching networks. Focusing on a fully-connected fully-interfering wireless setting with multiple cache-enabled transmitters and receivers, we show how non-uniform file popularity can be used very efficiently to accelerate the impact of transmitter-side data redundancy on receiver-side coded caching. This approach is motivated by the recent discovery that, under any realistic file-size constraint, having content appear in multiple transmitters can in fact dramatically boost the speed-up factor attributed to coded caching. We formulate an optimization problem that exploits file popularity to optimize the placement of files at the transmitters. We then provide a proof that reduces significantly the variable search space, and propose a new search algorithm that solves the problem at hand. We also prove an analytical performance upper bound, which is in fact met by our algorithm in the regime of many receivers. Our work reflects the benefits of allocating higher cache redundancy to more popular files, but also reflects a law of diminishing returns where for example very popular files may in fact benefit from minimum redundancy. In the end, this work reveals that in the context of coded caching, employing multiple transmitters can be a catalyst in fully exploiting file popularity, as it avoids various asymmetry complications that appear when file popularity is used to alter the receiver-side cache placement.
Applying CodeBERT for Automated Program Repair of Java Simple Bugs
Venue: arXiv cs.SE 2021
Year: 2021

Software debugging, and program repair are among the most time-consuming and labor-intensive tasks in software engineering that would benefit a lot from automation. In this paper, we propose a novel automated program repair approach based on CodeBERT, which is a transformer-based neural architecture pre-trained on large corpus of source code. We fine-tune our model on the ManySStuBs4J small and large datasets to automatically generate the fix codes. The results show that our technique accurately predicts the fixed codes implemented by the developers in 19-72% of the cases, depending on the type of datasets, in less than a second per bug. We also observe that our method can generate varied-length fixes (short and long) and can fix different types of bugs, even if only a few instances of those types of bugs exist in the training dataset.
Optimization for Arbitrary-Oriented Object Detection via Representation Invariance Loss
Venue: arXiv cs.CV 2021
Year: 2021

Arbitrary-oriented objects exist widely in natural scenes, and thus the oriented object detection has received extensive attention in recent years. The mainstream rotation detectors use oriented bounding boxes (OBB) or quadrilateral bounding boxes (QBB) to represent the rotating objects. However, these methods suffer from the representation ambiguity for oriented object definition, which leads to suboptimal regression optimization and the inconsistency between the loss metric and the localization accuracy of the predictions. In this paper, we propose a Representation Invariance Loss (RIL) to optimize the bounding box regression for the rotating objects. Specifically, RIL treats multiple representations of an oriented object as multiple equivalent local minima, and hence transforms bounding box regression into an adaptive matching process with these local minima. Then, the Hungarian matching algorithm is adopted to obtain the optimal regression strategy. We also propose a normalized rotation loss to alleviate the weak correlation between different variables and their unbalanced loss contribution in OBB representation. Extensive experiments on remote sensing datasets and scene text datasets show that our method achieves consistent and substantial improvement. The source code and trained models are available at https://github.com/ming71/RIDet.
AET-EFN: A Versatile Design for Static and Dynamic Event-Based Vision
Venue: arXiv cs.CV 2021
Year: 2021

The neuromorphic event cameras, which capture the optical changes of a scene, have drawn increasing attention due to their high speed and low power consumption. However, the event data are noisy, sparse, and nonuniform in the spatial-temporal domain with an extremely high temporal resolution, making it challenging to design backend algorithms for event-based vision. Existing methods encode events into point-cloud-based or voxel-based representations, but suffer from noise and/or information loss. Additionally, there is little research that systematically studies how to handle static and dynamic scenes with one universal design for event-based vision. This work proposes the Aligned Event Tensor (AET) as a novel event data representation, and a neat framework called Event Frame Net (EFN), which enables our model for event-based vision under static and dynamic scenes. The proposed AET and EFN are evaluated on various datasets, and proved to surpass existing state-of-the-art methods by large margins. Our method is also efficient and achieves the fastest inference speed among others.
Space Lower Bounds for Approximating Maximum Matching in the Edge Arrival Model
Venue: arXiv cs.DS 2021
Year: 2021

The bipartite matching problem in the online and streaming settings has received a lot of attention recently. The classical vertex arrival setting, for which the celebrated Karp, Vazirani and Vazirani (KVV) algorithm achieves a $1-1/e$ approximation, is rather well understood: the $1-1/e$ approximation is optimal in both the online and semi-streaming setting, where the algorithm is constrained to use $n\cdot \log^{O(1)} n$ space. The more challenging the edge arrival model has seen significant progress recently in the online algorithms literature. For the strictly online model (no preemption) approximations better than trivial factor $1/2$ have been ruled out [Gamlath et al'FOCS'19]. For the less restrictive online preemptive model a better than $\frac1{1+\ln 2}$-approximation [Epstein et al'STACS'12] and even a better than $(2-\sqrt{2})$-approximation[Huang et al'SODA'19] have been ruled out. The recent hardness results for online preemptive matching in the edge arrival model are based on the idea of stringing together multiple copies of a KVV hard instance using edge arrivals. In this paper, we show how to implement such constructions using ideas developed in the literature on Ruzsa-Szemerédi graphs. As a result, we show that any single pass streaming algorithm that approximates the maximum matching in a bipartite graph with $n$ vertices to a factor better than $\frac1{1+\ln 2}\approx 0.59$ requires $n^{1+Ω(1/\log\log n)}\gg n \log^{O(1)} n$ space. This gives the first separation between the classical one sided vertex arrival setting and the edge arrival setting in the semi-streaming model.
Stochastic Geometry Modeling and Analysis for THz-mmWave Hybrid IoT Networks
Venue: arXiv cs.NI 2021
Year: 2021

Terahertz (THz) band contains abundant spectrum resources that can offer ultra-high data rates. However, due to the THz band's inherent characteristics, i.e., low penetrability, high path loss, and non-negligible molecular absorption effect, THz communication can only provide limited coverage. To overcome these fundamental obstacles and fully utilize the THz band, we consider a hybrid Internet-of-Things (IoT) network consisting of THz and millimeter wave (mmWave) cells. A hybrid IoT network can dynamically switch between mmWave and THz links to ensure reliable and ultra-fast data connection. We use a stochastic geometric framework to evaluate the proposed hybrid IoT network's coverage probability and spectral efficiency and validate the analysis through numerical simulation. In this paper, we derive a closed-form expression of the Laplace transform of the interference while considering an accurate multi-level Flat-top (MLFT) antenna pattern. We observed that a large antenna array with a strong bias to the THz base station (TBS) improves the end-to-end network performance through numerical results. Furthermore, we recognized a fundamental trade-off relation between the TBS's node density and the bias to mmWave/THz; e.g., high TBS density with a strong bias to the TBS may degrade the network performance.
Learning physical properties of anomalous random walks using graph neural networks
Venue: arXiv cs.LG 2021
Year: 2021

Single particle tracking allows probing how biomolecules interact physically with their natural environments. A fundamental challenge when analysing recorded single particle trajectories is the inverse problem of inferring the physical model or class of models of the underlying random walks. Reliable inference is made difficult by the inherent stochastic nature of single particle motion, by experimental noise, and by the short duration of most experimental trajectories. Model identification is further complicated by the fact that main physical properties of random walk models are only defined asymptotically, and are thus degenerate for short trajectories. Here, we introduce a new, fast approach to inferring random walk properties based on graph neural networks (GNNs). Our approach consists in associating a vector of features with each observed position, and a sparse graph structure with each observed trajectory. By performing simulation-based supervised learning on this construct [1], we show that we can reliably learn models of random walks and their anomalous exponents. The method can naturally be applied to trajectories of any length. We show its efficiency in analysing various anomalous random walks of biological relevance that were proposed in the AnDi challenge [2]. We explore how information is encoded in the GNN, and we show that it learns relevant physical features of the random walks. We furthermore evaluate its ability to generalize to types of trajectories not seen during training, and we show that the GNN retains high accuracy even with few parameters. We finally discuss the possibility to leverage these networks to analyse experimental data.
End-to-end Precoding Validation over a Live GEO Satellite Forward Link
Venue: arXiv cs.IT 2021
Year: 2021

In this paper we demonstrate end-to-end precoded multi-user multiple-input single-output (MU-MISO) communications over a live GEO satellite link. Precoded communications enable full frequency reuse (FFR) schemes in satellite communications (SATCOM) to achieve broader service availability and higher spectrum efficiency than with the conventional four-color (4CR) and two-color (2CR) reuse approaches. In this scope, we develop an over-the-air test-bed for end-to-end precoding validations. We use an actual multi-beam satellite to transmit and receive precoded signals using the DVB-S2X standard based gateway and user terminals. The developed system is capable of end-to-end real-time communications over the satellite link including channel measurements and precompensation. It is shown, that by successfully canceling inter-user interference in the actual satellite FFR link precoding brings gains in terms of enhanced SINR and increased system goodput.
Extracting Semantic Process Information from the Natural Language in Event Logs
Venue: arXiv cs.CL 2021
Year: 2021

Process mining focuses on the analysis of recorded event data in order to gain insights about the true execution of business processes. While foundational process mining techniques treat such data as sequences of abstract events, more advanced techniques depend on the availability of specific kinds of information, such as resources in organizational mining and business objects in artifact-centric analysis. However, this information is generally not readily available, but rather associated with events in an ad hoc manner, often even as part of unstructured textual attributes. Given the size and complexity of event logs, this calls for automated support to extract such process information and, thereby, enable advanced process mining techniques. In this paper, we present an approach that achieves this through so-called semantic role labeling of event data. We combine the analysis of textual attribute values, based on a state-of-the-art language model, with a novel attribute classification technique. In this manner, our approach extracts information about up to eight semantic roles per event. We demonstrate the approach's efficacy through a quantitative evaluation using a broad range of event logs and demonstrate the usefulness of the extracted information in a case study.
Design and Performance Analysis of a Chaotic Pseudo Orthogonal Carriers Multi-Access Communication System
Venue: arXiv cs.IT 2021
Year: 2021

A Chaotic Pseudo Orthogonal Carriers Multi-Access (CPOCMA) communication based on Chaotic Pseudo Orthogonal Shape-forming Filter (CPOSF) bank, Chaotic Pseudo Orthogonal Matched Filter (CPOMF) bank and Chaotic Pseudo Orthogonal Correlation Filter (CPOCF) bank is proposed in this work. At the transmitter, the multiple CPOSFs are used to generate pseudo orthogonal signals. It provides a good trade-off between spectrum efficiency and high bit transmission rate. At the receiver, the CPOMF bank and CPOCF bank are used to maximize the Signal-to-Noise Ratio (SNR) and extract the received information from each sub-channel, respectively. The received signal is demodulated by averaging the sampled sequence from the matched filter bank output and sorting the sampling sequence from the CPOCF bank output to recover the transmitted information bits. The proposed CPOCMA communication system not only offers multiuser access with high reliability and high data transmission rate, but also achieves higher spectrum efficiency. Analytical Bit Error Rate (BER) expression is derived. The proposed communication system performance has been evaluated in Additive White Gaussian Noise (AWGN) channel and wireless channel by both numerical simulations and experiments based on a Wireless open-Access Research Platform (WARP), the results show the effectiveness and the superiority of the proposed method.
DeepStyle: User Style Embedding for Authorship Attribution of Short Texts
Venue: arXiv cs.CL 2021
Year: 2021

Authorship attribution (AA), which is the task of finding the owner of a given text, is an important and widely studied research topic with many applications. Recent works have shown that deep learning methods could achieve significant accuracy improvement for the AA task. Nevertheless, most of these proposed methods represent user posts using a single type of feature (e.g., word bi-grams) and adopt a text classification approach to address the task. Furthermore, these methods offer very limited explainability of the AA results. In this paper, we address these limitations by proposing DeepStyle, a novel embedding-based framework that learns the representations of users' salient writing styles. We conduct extensive experiments on two real-world datasets from Twitter and Weibo. Our experiment results show that DeepStyle outperforms the state-of-the-art baselines on the AA task.
Data Cleansing for Deep Neural Networks with Storage-efficient Approximation of Influence Functions
Venue: arXiv cs.LG 2021
Year: 2021

Identifying the influence of training data for data cleansing can improve the accuracy of deep learning. An approach with stochastic gradient descent (SGD) called SGD-influence to calculate the influence scores was proposed, but, the calculation costs are expensive. It is necessary to temporally store the parameters of the model during training phase for inference phase to calculate influence sores. In close connection with the previous method, we propose a method to reduce cache files to store the parameters in training phase for calculating inference score. We only adopt the final parameters in last epoch for influence functions calculation. In our experiments on classification, the cache size of training using MNIST dataset with our approach is 1.236 MB. On the other hand, the previous method used cache size of 1.932 GB in last epoch. It means that cache size has been reduced to 1/1,563. We also observed the accuracy improvement by data cleansing with removal of negatively influential data using our approach as well as the previous method. Moreover, our simple and general proposed method to calculate influence scores is available on our auto ML tool without programing, Neural Network Console. The source code is also available.
MasakhaNER: Named Entity Recognition for African Languages
Venue: arXiv cs.CL 2021
Year: 2021

We take a step towards addressing the under-representation of the African continent in NLP research by creating the first large publicly available high-quality dataset for named entity recognition (NER) in ten African languages, bringing together a variety of stakeholders. We detail characteristics of the languages to help researchers understand the challenges that these languages pose for NER. We analyze our datasets and conduct an extensive empirical evaluation of state-of-the-art methods across both supervised and transfer learning settings. We release the data, code, and models in order to inspire future research on African NLP.
Detecting Racial Bias in Jury Selection
Venue: arXiv cs.LG 2021
Year: 2021

To support the 2019 U.S. Supreme Court case "Flowers v. Mississippi", APM Reports collated historical court records to assess whether the State exhibited a racial bias in striking potential jurors. This analysis used backward stepwise logistic regression to conclude that race was a significant factor, however this method for selecting relevant features is only a heuristic, and additionally cannot consider interactions between features. We apply Optimal Feature Selection to identify the globally-optimal subset of features and affirm that there is significant evidence of racial bias in the strike decisions. We also use Optimal Classification Trees to segment the juror population subgroups with similar characteristics and probability of being struck, and find that three of these subgroups exhibit significant racial disparity in strike rate, pinpointing specific areas of bias in the dataset.
Studying Moral-based Differences in the Framing of Political Tweets
Venue: arXiv cs.SI 2021
Year: 2021

In this paper, we study the moral framing of political content on Twitter. Specifically, we examine differences in moral framing in two datasets: (i) tweets from US-based politicians annotated with political affiliation and (ii) COVID-19 related tweets in German from followers of the leaders of the five major Austrian political parties. Our research is based on recent work that introduces an unsupervised approach to extract framing bias and intensity in news using a dictionary of moral virtues and vices. In this paper, we use a more extensive dictionary and adapt it to German-language tweets. Overall, in both datasets, we observe a moral framing that is congruent with the public perception of the political parties. In the US dataset, democrats have a tendency to frame tweets in terms of care, while loyalty is a characteristic frame for republicans. In the Austrian dataset, we find that the followers of the governing conservative party emphasize care, which is a key message and moral frame in the party's COVID-19 campaign slogan. Our work complements existing studies on moral framing in social media. Also, our empirical findings provide novel insights into moral-based framing on COVID-19 in Austria.