OpenRaiser/Intern-Atlas huggingface dataset:
CAN-MM: Multiplexed Message Authentication Code for Controller Area Network message authentication in road vehicles
Venue: arXiv cs.CR 2024
Year: 2024

The automotive market is increasingly profitable for cyberattacks with the constant shift toward fully interconnected vehicles. Electronic Control Units (ECUs) installed on cars often operate in a critical and hostile environment. Hence, both carmakers and governments have decided to support a series of initiatives to mitigate risks and threats belonging to the automotive domain. The Controller Area Network (CAN) is the primary communication protocol in the automotive field, and the integrity of the communication over this network is assured through Message Authentication Codes (MAC). However, limitations in throughput and frame size limit the application of this technique to specific versions of the CAN protocol, leaving several vehicles still unprotected. This paper presents CAN Multiplexed MAC (CAN-MM), a new approach exploiting frequency modulation to multiplex MAC data with standard CAN communication. CAN-MM allows transmitting MAC payloads maintaining full-back compatibility with all versions of the standard CAN protocol. Moreover, multiplexing allows sending DATA and MAC simultaneously.
Control with Patterns: A D-learning Method
Venue: arXiv cs.RO 2024
Year: 2024

Learning-based control policies are widely used in various tasks in the field of robotics and control. However, formal (Lyapunov) stability guarantees for learning-based controllers with nonlinear dynamical systems are difficult to obtain. We propose a novel control approach, namely Control with Patterns (CWP), to address the stability issue over data sets corresponding to nonlinear dynamical systems. For such data sets, we introduce a new definition, namely exponential attraction on data sets, to describe the nonlinear dynamical systems under consideration. The problem of exponential attraction on data sets is transformed into a problem of pattern classification one based on the data sets and parameterized Lyapunov functions. Furthermore, D-learning is proposed as a method to perform CWP without knowledge of the system dynamics. Finally, the effectiveness of CWP based on D-learning is demonstrated through simulations and real flight experiments. In these experiments, the position of the multicopter is stabilized using real-time images as feedback, which can be considered as an Image-Based Visual Servoing (IBVS) problem.
Achieving Zero Constraint Violation for Constrained Reinforcement Learning via Conservative Natural Policy Gradient Primal-Dual Algorithm
Venue: arXiv cs.LG 2024
Year: 2024

We consider the problem of constrained Markov decision process (CMDP) in continuous state-actions spaces where the goal is to maximize the expected cumulative reward subject to some constraints. We propose a novel Conservative Natural Policy Gradient Primal-Dual Algorithm (C-NPG-PD) to achieve zero constraint violation while achieving state of the art convergence results for the objective value function. For general policy parametrization, we prove convergence of value function to global optimal upto an approximation error due to restricted policy class. We even improve the sample complexity of existing constrained NPG-PD algorithm \cite{Ding2020} from $\mathcal{O}(1/ε^6)$ to $\mathcal{O}(1/ε^4)$. To the best of our knowledge, this is the first work to establish zero constraint violation with Natural policy gradient style algorithms for infinite horizon discounted CMDPs. We demonstrate the merits of proposed algorithm via experimental evaluations.
On the explainable properties of 1-Lipschitz Neural Networks: An Optimal Transport Perspective
Venue: arXiv cs.AI 2024
Year: 2024

Input gradients have a pivotal role in a variety of applications, including adversarial attack algorithms for evaluating model robustness, explainable AI techniques for generating Saliency Maps, and counterfactual explanations.However, Saliency Maps generated by traditional neural networks are often noisy and provide limited insights. In this paper, we demonstrate that, on the contrary, the Saliency Maps of 1-Lipschitz neural networks, learned with the dual loss of an optimal transportation problem, exhibit desirable XAI properties:They are highly concentrated on the essential parts of the image with low noise, significantly outperforming state-of-the-art explanation approaches across various models and metrics. We also prove that these maps align unprecedentedly well with human explanations on ImageNet.To explain the particularly beneficial properties of the Saliency Map for such models, we prove this gradient encodes both the direction of the transportation plan and the direction towards the nearest adversarial attack. Following the gradient down to the decision boundary is no longer considered an adversarial attack, but rather a counterfactual explanation that explicitly transports the input from one class to another. Thus, Learning with such a loss jointly optimizes the classification objective and the alignment of the gradient, i.e. the Saliency Map, to the transportation plan direction.These networks were previously known to be certifiably robust by design, and we demonstrate that they scale well for large problems and models, and are tailored for explainability using a fast and straightforward method.
Beyond Words: An Experimental Study of Signaling in Crowdfunding
Venue: arXiv cs.HC 2024
Year: 2024

Increasingly, crowdfunding is transforming financing for many people worldwide. Yet we know relatively little about how, why, and when funding outcomes are impacted by signaling between funders. We conduct two studies of N=500 and N=750 participants involved in crowdfunding to investigate the effect of certain characteristics of ``crowd signals'' on the decision to fund. We find that, under a variety of conditions, contributions of heterogeneous amounts arriving at varying time intervals are significantly more likely to be selected than homogeneous contribution amounts and times. The impact of signaling is strongest among participants who are susceptible to social influence. The effect is remarkably general across different project types, fundraising goals, participant interest in the projects, and participants' altruistic attitudes. Critically, the role of crowd signals in decision-making is typically unrecognized by participants. Our results underscore the fundamental nature of social signaling in crowdfunding, informing strategies for platforms, funders, and project creators.
Blockchain based Secure Energy Marketplace Scheme to Motivate Peer to Peer Microgrids
Venue: arXiv cs.CR 2024
Year: 2024

In the past years trend of microgrids is increasing very fast to reduce peak-hour costs. However, in these systems, third parties are still involved in selling surplus energy. This results in increased cost of energy and there are many operational and security barriers in such systems. These issues can be solved by the decentralized distributed system of microgrids where a consumer can locally sell their surplus energy to another consumer. To deploy such a system, one must consider security barriers for the transaction of energy. This paper proposes a solution to these problems by devising a scheme as a marketplace where users interact with each other to buy and sell energy at better rates and get energy-generating resources on lease so that users do not have to worry about capital investment. Agreement between owner of resources and consumer is recorded on blockchain based smart contracts. In this paper, a survey is performed for existing well known, decentralized energy solutions. This paper also proposes an extra layer of security to leverage a shielded execution environment so that information of energy generated, utilized, and shared cannot be changed by consumers and third parties even if the system is compromised.
On the Identifiability of Nonlinear ICA: Sparsity and Beyond
Venue: arXiv cs.LG 2024
Year: 2024

Nonlinear independent component analysis (ICA) aims to recover the underlying independent latent sources from their observable nonlinear mixtures. How to make the nonlinear ICA model identifiable up to certain trivial indeterminacies is a long-standing problem in unsupervised learning. Recent breakthroughs reformulate the standard independence assumption of sources as conditional independence given some auxiliary variables (e.g., class labels and/or domain/time indexes) as weak supervision or inductive bias. However, nonlinear ICA with unconditional priors cannot benefit from such developments. We explore an alternative path and consider only assumptions on the mixing process, such as Structural Sparsity. We show that under specific instantiations of such constraints, the independent latent sources can be identified from their nonlinear mixtures up to a permutation and a component-wise transformation, thus achieving nontrivial identifiability of nonlinear ICA without auxiliary variables. We provide estimation methods and validate the theoretical results experimentally. The results on image data suggest that our conditions may hold in a number of practical data generating processes.
DenseMTL: Cross-task Attention Mechanism for Dense Multi-task Learning
Venue: arXiv cs.CV 2024
Year: 2024

Multi-task learning has recently emerged as a promising solution for a comprehensive understanding of complex scenes. In addition to being memory-efficient, multi-task models, when appropriately designed, can facilitate the exchange of complementary signals across tasks. In this work, we jointly address 2D semantic segmentation and three geometry-related tasks: dense depth estimation, surface normal estimation, and edge estimation, demonstrating their benefits on both indoor and outdoor datasets. We propose a novel multi-task learning architecture that leverages pairwise cross-task exchange through correlation-guided attention and self-attention to enhance the overall representation learning for all tasks. We conduct extensive experiments across three multi-task setups, showing the advantages of our approach compared to competitive baselines in both synthetic and real-world benchmarks. Additionally, we extend our method to the novel multi-task unsupervised domain adaptation setting. Our code is available at https://github.com/cv-rits/DenseMTL
The Impact of Variable Ordering on Bayesian Network Structure Learning
Venue: arXiv cs.LG 2024
Year: 2024

Causal Bayesian Networks provide an important tool for reasoning under uncertainty with potential application to many complex causal systems. Structure learning algorithms that can tell us something about the causal structure of these systems are becoming increasingly important. In the literature, the validity of these algorithms is often tested for sensitivity over varying sample sizes, hyper-parameters, and occasionally objective functions. In this paper, we show that the order in which the variables are read from data can have much greater impact on the accuracy of the algorithm than these factors. Because the variable ordering is arbitrary, any significant effect it has on learnt graph accuracy is concerning, and this raises questions about the validity of the results produced by algorithms that are sensitive to, but have not been assessed against, different variable orderings.
NAS-Bench-Graph: Benchmarking Graph Neural Architecture Search
Venue: arXiv cs.LG 2024
Year: 2024

Graph neural architecture search (GraphNAS) has recently aroused considerable attention in both academia and industry. However, two key challenges seriously hinder the further research of GraphNAS. First, since there is no consensus for the experimental setting, the empirical results in different research papers are often not comparable and even not reproducible, leading to unfair comparisons. Secondly, GraphNAS often needs extensive computations, which makes it highly inefficient and inaccessible to researchers without access to large-scale computation. To solve these challenges, we propose NAS-Bench-Graph, a tailored benchmark that supports unified, reproducible, and efficient evaluations for GraphNAS. Specifically, we construct a unified, expressive yet compact search space, covering 26,206 unique graph neural network (GNN) architectures and propose a principled evaluation protocol. To avoid unnecessary repetitive training, we have trained and evaluated all of these architectures on nine representative graph datasets, recording detailed metrics including train, validation, and test performance in each epoch, the latency, the number of parameters, etc. Based on our proposed benchmark, the performance of GNN architectures can be directly obtained by a look-up table without any further computation, which enables fair, fully reproducible, and efficient comparisons. To demonstrate its usage, we make in-depth analyses of our proposed NAS-Bench-Graph, revealing several interesting findings for GraphNAS. We also showcase how the benchmark can be easily compatible with GraphNAS open libraries such as AutoGL and NNI. To the best of our knowledge, our work is the first benchmark for graph neural architecture search.
Multistream Gaze Estimation with Anatomical Eye Region Isolation by Synthetic to Real Transfer Learning
Venue: arXiv cs.CV 2024
Year: 2024

We propose a novel neural pipeline, MSGazeNet, that learns gaze representations by taking advantage of the eye anatomy information through a multistream framework. Our proposed solution comprises two components, first a network for isolating anatomical eye regions, and a second network for multistream gaze estimation. The eye region isolation is performed with a U-Net style network which we train using a synthetic dataset that contains eye region masks for the visible eyeball and the iris region. The synthetic dataset used in this stage is procured using the UnityEyes simulator, and consists of 80,000 eye images. Successive to training, the eye region isolation network is then transferred to the real domain for generating masks for the real-world eye images. In order to successfully make the transfer, we exploit domain randomization in the training process, which allows for the synthetic images to benefit from a larger variance with the help of augmentations that resemble artifacts. The generated eye region masks along with the raw eye images are then used together as a multistream input to our gaze estimation network, which consists of wide residual blocks. The output embeddings from these encoders are fused in the channel dimension before feeding into the gaze regression layers. We evaluate our framework on three gaze estimation datasets and achieve strong performances. Our method surpasses the state-of-the-art by 7.57% and 1.85% on two datasets, and obtains competitive results on the other. We also study the robustness of our method with respect to the noise in the data and demonstrate that our model is less sensitive to noisy data. Lastly, we perform a variety of experiments including ablation studies to evaluate the contribution of different components and design choices in our solution.
LordNet: An Efficient Neural Network for Learning to Solve Parametric Partial Differential Equations without Simulated Data
Venue: arXiv cs.LG 2024
Year: 2024

Neural operators, as a powerful approximation to the non-linear operators between infinite-dimensional function spaces, have proved to be promising in accelerating the solution of partial differential equations (PDE). However, it requires a large amount of simulated data, which can be costly to collect. This can be avoided by learning physics from the physics-constrained loss, which we refer to it as mean squared residual (MSR) loss constructed by the discretized PDE. We investigate the physical information in the MSR loss, which we called long-range entanglements, and identify the challenge that the neural network requires the capacity to model the long-range entanglements in the spatial domain of the PDE, whose patterns vary in different PDEs. To tackle the challenge, we propose LordNet, a tunable and efficient neural network for modeling various entanglements. Inspired by the traditional solvers, LordNet models the long-range entanglements with a series of matrix multiplications, which can be seen as the low-rank approximation to the general fully-connected layers and extracts the dominant pattern with reduced computational cost. The experiments on solving Poisson's equation and (2D and 3D) Navier-Stokes equation demonstrate that the long-range entanglements from the MSR loss can be well modeled by the LordNet, yielding better accuracy and generalization ability than other neural networks. The results show that the Lordnet can be $40\times$ faster than traditional PDE solvers. In addition, LordNet outperforms other modern neural network architectures in accuracy and efficiency with the smallest parameter size.
Log-GPIS-MOP: A Unified Representation for Mapping, Odometry and Planning
Venue: arXiv cs.RO 2024
Year: 2024

Whereas dedicated scene representations are required for each different task in conventional robotic systems, this paper demonstrates that a unified representation can be used directly for multiple key tasks. We propose the Log-Gaussian Process Implicit Surface for Mapping, Odometry and Planning (Log-GPIS-MOP): a probabilistic framework for surface reconstruction, localisation and navigation based on a unified representation. Our framework applies a logarithmic transformation to a Gaussian Process Implicit Surface (GPIS) formulation to recover a global representation that accurately captures the Euclidean distance field with gradients and, at the same time, the implicit surface. By directly estimating the distance field and its gradient through Log-GPIS inference, the proposed incremental odometry technique computes the optimal alignment of an incoming frame and fuses it globally to produce a map. Concurrently, an optimisation-based planner computes a safe collision-free path using the same Log-GPIS surface representation. We validate the proposed framework on simulated and real datasets in 2D and 3D and benchmark against the state-of-the-art approaches. Our experiments show that Log-GPIS-MOP produces competitive results in sequential odometry, surface mapping and obstacle avoidance.
Meta Reinforcement Learning with Finite Training Tasks -- a Density Estimation Approach
Venue: arXiv cs.LG 2024
Year: 2024

In meta reinforcement learning (meta RL), an agent learns from a set of training tasks how to quickly solve a new task, drawn from the same task distribution. The optimal meta RL policy, a.k.a. the Bayes-optimal behavior, is well defined, and guarantees optimal reward in expectation, taken with respect to the task distribution. The question we explore in this work is how many training tasks are required to guarantee approximately optimal behavior with high probability. Recent work provided the first such PAC analysis for a model-free setting, where a history-dependent policy was learned from the training tasks. In this work, we propose a different approach: directly learn the task distribution, using density estimation techniques, and then train a policy on the learned task distribution. We show that our approach leads to bounds that depend on the dimension of the task distribution. In particular, in settings where the task distribution lies in a low-dimensional manifold, we extend our analysis to use dimensionality reduction techniques and account for such structure, obtaining significantly better bounds than previous work, which strictly depend on the number of states and actions. The key of our approach is the regularization implied by the kernel density estimation method. We further demonstrate that this regularization is useful in practice, when `plugged in' the state-of-the-art VariBAD meta RL algorithm.
Adaptive Sampling-based Particle Filter for Visual-inertial Gimbal in the Wild
Venue: arXiv cs.RO 2024
Year: 2024

In this paper, we present a Computer Vision (CV) based tracking and fusion algorithm, dedicated to a 3D printed gimbal system on drones operating in nature. The whole gimbal system can stabilize the camera orientation robustly in a challenging nature scenario by using skyline and ground plane as references. Our main contributions are the following: a) a light-weight Resnet-18 backbone network model was trained from scratch, and deployed onto the Jetson Nano platform to segment the image into binary parts (ground and sky); b) our geometry assumption from nature cues delivers the potential for robust visual tracking by using the skyline and ground plane as a reference; c) a spherical surface-based adaptive particle sampling, can fuse orientation from multiple sensor sources flexibly. The whole algorithm pipeline is tested on our customized gimbal module including Jetson and other hardware components. The experiments were performed on top of a building in the real landscape.
Guided Exploration in Reinforcement Learning via Monte Carlo Critic Optimization
Venue: arXiv cs.LG 2024
Year: 2024

The class of deep deterministic off-policy algorithms is effectively applied to solve challenging continuous control problems. Current approaches commonly utilize random noise as an exploration method, which has several drawbacks, including the need for manual adjustment for a given task and the absence of exploratory calibration during the training process. We address these challenges by proposing a novel guided exploration method that uses an ensemble of Monte Carlo Critics for calculating exploratory action correction. The proposed method enhances the traditional exploration scheme by dynamically adjusting exploration. Subsequently, we present a novel algorithm that leverages the proposed exploratory module for both policy and critic modification. The presented algorithm demonstrates superior performance compared to modern reinforcement learning algorithms across a variety of problems in the DMControl suite.
Multi-view Feature Augmentation with Adaptive Class Activation Mapping
Venue: arXiv cs.CV 2024
Year: 2024

We propose an end-to-end-trainable feature augmentation module built for image classification that extracts and exploits multi-view local features to boost model performance. Different from using global average pooling (GAP) to extract vectorized features from only the global view, we propose to sample and ensemble diverse multi-view local features to improve model robustness. To sample class-representative local features, we incorporate a simple auxiliary classifier head (comprising only one 1$\times$1 convolutional layer) which efficiently and adaptively attends to class-discriminative local regions of feature maps via our proposed AdaCAM (Adaptive Class Activation Mapping). Extensive experiments demonstrate consistent and noticeable performance gains achieved by our multi-view feature augmentation module.