OpenRaiser/Intern-Atlas huggingface dataset:
Finding Control Synthesis for Kinematic Shortest Paths
Venue: arXiv cs.RO 2022
Year: 2022

This work presents the analysis of the properties of the shortest path control synthesis for the rigid body system. The systems we focus on in this work have only kinematic constraints. However, even for seemingly simple systems and constraints, the shortest paths for generic rigid body systems were only found recently, especially for 3D systems. Based on the Pontraygon's Maximum Principle (MPM) and Lagrange equations, we present the necessary conditions for optimal switches, which form the control synthesis boundaries. We formally show that the shortest path for nearby configurations will have similar adjoint functions and parameters, i.e., Lagrange multipliers. We further show that the gradients of the necessary condition equation can be used to verify whether a configuration is inside a control synthesis region or on the boundary. We present a procedure to find the shortest kinematic paths and control synthesis, using the gradients of the control constraints. Given the shortest path and the corresponding control sequences, the optimal control sequence for nearby configurations can be derived if and only if they belong to the same control synthesis region. The proposed procedure can work for both 2D and 3D rigid body systems. We use a 2D Dubins vehicle system to verify the correctness of the proposed approach. More verifications and experiments will be presented in the extensions of this work.
Taxonomy of Benchmarks in Graph Representation Learning
Venue: arXiv cs.LG 2022
Year: 2022

Graph Neural Networks (GNNs) extend the success of neural networks to graph-structured data by accounting for their intrinsic geometry. While extensive research has been done on developing GNN models with superior performance according to a collection of graph representation learning benchmarks, it is currently not well understood what aspects of a given model are probed by them. For example, to what extent do they test the ability of a model to leverage graph structure vs. node features? Here, we develop a principled approach to taxonomize benchmarking datasets according to a $\textit{sensitivity profile}$ that is based on how much GNN performance changes due to a collection of graph perturbations. Our data-driven analysis provides a deeper understanding of which benchmarking data characteristics are leveraged by GNNs. Consequently, our taxonomy can aid in selection and development of adequate graph benchmarks, and better informed evaluation of future GNN methods. Finally, our approach and implementation in $\texttt{GTaxoGym}$ package are extendable to multiple graph prediction task types and future datasets.
Immersion Metrics for Virtual Reality
Venue: arXiv cs.HC 2022
Year: 2022

Technological advances in recent years have promoted the development of virtual reality systems that have a wide variety of hardware and software characteristics, providing varying degrees of immersion. Immersion is an objective property of the virtual reality system that depends on both its hardware and software characteristics. Virtual reality systems are currently attempting to improve immersion as much as possible. However, there is no metric to measure the level of immersion of a virtual reality system based on its characteristics. To date, the influence of these hardware and software variables on immersion has only been considered individually or in small groups. The way these system variables simultaneously affect immersion has not been analyzed either. In this paper, we propose immersion metrics for virtual reality systems based on their hardware and software variables, as well as the development process that led to their formulation. From the conducted experiment and the obtained data, we followed a methodology to find immersion models based on the variables of the system. The immersion metrics presented in this work offer a useful tool in the area of virtual reality and immersive technologies, not only to measure the immersion of any virtual reality system but also to analyze the relationship and importance of the variables of these systems.
Physics-Infused Fuzzy Generative Adversarial Network for Robust Failure Prognosis
Venue: arXiv cs.AI 2022
Year: 2022

Prognostics aid in the longevity of fielded systems or products. Quantifying the system's current health enable prognosis to enhance the operator's decision-making to preserve the system's health. Creating a prognosis for a system can be difficult due to (a) unknown physical relationships and/or (b) irregularities in data appearing well beyond the initiation of a problem. Traditionally, three different modeling paradigms have been used to develop a prognostics model: physics-based (PbM), data-driven (DDM), and hybrid modeling. Recently, the hybrid modeling approach that combines the strength of both PbM and DDM based approaches and alleviates their limitations is gaining traction in the prognostics domain. In this paper, a novel hybrid modeling approach for prognostics applications based on combining concepts from fuzzy logic and generative adversarial networks (GANs) is outlined. The FuzzyGAN based method embeds a physics-based model in the aggregation of the fuzzy implications. This technique constrains the output of the learning method to a realistic solution. Results on a bearing problem showcases the efficacy of adding a physics-based aggregation in a fuzzy logic model to improve GAN's ability to model health and give a more accurate system prognosis.
On Calibrated Model Uncertainty in Deep Learning
Venue: arXiv cs.LG 2022
Year: 2022

Estimated uncertainty by approximate posteriors in Bayesian neural networks are prone to miscalibration, which leads to overconfident predictions in critical tasks that have a clear asymmetric cost or significant losses. Here, we extend the approximate inference for the loss-calibrated Bayesian framework to dropweights based Bayesian neural networks by maximising expected utility over a model posterior to calibrate uncertainty in deep learning. Furthermore, we show that decisions informed by loss-calibrated uncertainty can improve diagnostic performance to a greater extent than straightforward alternatives. We propose Maximum Uncertainty Calibration Error (MUCE) as a metric to measure calibrated confidence, in addition to its prediction especially for high-risk applications, where the goal is to minimise the worst-case deviation between error and estimated uncertainty. In experiments, we show the correlation between error in prediction and estimated uncertainty by interpreting Wasserstein distance as the accuracy of prediction. We evaluated the effectiveness of our approach to detecting Covid-19 from X-Ray images. Experimental results show that our method reduces miscalibration considerably, without impacting the models accuracy and improves reliability of computer-based diagnostics.
High-Resolution Bathymetric Reconstruction From Sidescan Sonar With Deep Neural Networks
Venue: arXiv cs.RO 2022
Year: 2022

We propose a novel data-driven approach for high-resolution bathymetric reconstruction from sidescan. Sidescan sonar (SSS) intensities as a function of range do contain some information about the slope of the seabed. However, that information must be inferred. Additionally, the navigation system provides the estimated trajectory, and normally the altitude along this trajectory is also available. From these we obtain a very coarse seabed bathymetry as an input. This is then combined with the indirect but high-resolution seabed slope information from the sidescan to estimate the full bathymetry. This sparse depth could be acquired by single-beam echo sounder, Doppler Velocity Log (DVL), other bottom tracking sensors or bottom tracking algorithm from sidescan itself. In our work, a fully convolutional network is used to estimate the depth contour and its aleatoric uncertainty from the sidescan images and sparse depth in an end-to-end fashion. The estimated depth is then used together with the range to calculate the point's 3D location on the seafloor. A high-quality bathymetric map can be reconstructed after fusing the depth predictions and the corresponding confidence measures from the neural networks. We show the improvement of the bathymetric map gained by using sparse depths with sidescan over estimates with sidescan alone. We also show the benefit of confidence weighting when fusing multiple bathymetric estimates into a single map.
Generalization Bounds for Data-Driven Numerical Linear Algebra
Venue: arXiv cs.LG 2022
Year: 2022

Data-driven algorithms can adapt their internal structure or parameters to inputs from unknown application-specific distributions, by learning from a training sample of inputs. Several recent works have applied this approach to problems in numerical linear algebra, obtaining significant empirical gains in performance. However, no theoretical explanation for their success was known. In this work we prove generalization bounds for those algorithms, within the PAC-learning framework for data-driven algorithm selection proposed by Gupta and Roughgarden (SICOMP 2017). Our main results are closely matching upper and lower bounds on the fat shattering dimension of the learning-based low rank approximation algorithm of Indyk et al.~(NeurIPS 2019). Our techniques are general, and provide generalization bounds for many other recently proposed data-driven algorithms in numerical linear algebra, covering both sketching-based and multigrid-based methods. This considerably broadens the class of data-driven algorithms for which a PAC-learning analysis is available.
Dual-channel Early Warning Framework for Ethereum Ponzi Schemes
Venue: arXiv cs.CR 2022
Year: 2022

Blockchain technology supports the generation and record of transactions, and maintains the fairness and openness of the cryptocurrency system. However, many fraudsters utilize smart contracts to create fraudulent Ponzi schemes for profiting on Ethereum, which seriously affects financial security. Most existing Ponzi scheme detection techniques suffer from two major restricted problems: the lack of motivation for temporal early warning and failure to fuse multi-source information finally cause the lagging and unsatisfactory performance of Ethereum Ponzi scheme detection. In this paper, we propose a dual-channel early warning framework for Ethereum Ponzi schemes, named Ponzi-Warning, which performs feature extraction and fusion on both code and transaction levels. Moreover, we represent a temporal evolution augmentation strategy for generating transaction graph sequences, which can effectively increase the data scale and introduce temporal information. Comprehensive experiments on our Ponzi scheme datasets demonstrate the effectiveness and timeliness of our framework for detecting the Ponzi contract accounts.
Explainable Models via Compression of Tree Ensembles
Venue: arXiv cs.LG 2022
Year: 2022

Ensemble models (bagging and gradient-boosting) of relational decision trees have proved to be one of the most effective learning methods in the area of probabilistic logic models (PLMs). While effective, they lose one of the most important aspect of PLMs -- interpretability. In this paper we consider the problem of compressing a large set of learned trees into a single explainable model. To this effect, we propose CoTE -- Compression of Tree Ensembles -- that produces a single small decision list as a compressed representation. CoTE first converts the trees to decision lists and then performs the combination and compression with the aid of the original training set. An experimental evaluation demonstrates the effectiveness of CoTE in several benchmark relational data sets.
An Empirical Study on the Effectiveness of Data Resampling Approaches for Cross-Project Software Defect Prediction
Venue: arXiv cs.SE 2022
Year: 2022

Crossp-roject defect prediction (CPDP), where data from different software projects are used to predict defects, has been proposed as a way to provide data for software projects that lack historical data. Evaluations of CPDP models using the Nearest Neighbour (NN) Filter approach have shown promising results in recent studies. A key challenge with defect-prediction datasets is class imbalance, that is highly skewed datasets where non buggy modules dominate the buggy modules. In the past, data resampling approaches have been applied to within-projects defect prediction models to help alleviate the negative effects of class imbalance in the datasets. To address the class imbalance issue in CPDP, the authors assess the impact of data resampling approaches on CPDP models after the NN Filter is applied. The impact on prediction performance of five oversampling approaches (MAHAKIL, SMOTE, Borderline-SMOTE, Random Oversampling, and ADASYN) and three undersampling approaches (Random Undersampling, Tomek Links, and Onesided selection) is investigated and results are compared to approaches without data resampling. The authors' examined six defect prediction models on 34 datasets extracted from the PROMISE repository. The authors results show that there is a significant positive effect of data resampling on CPDP performance, suggesting that software quality teams and researchers should consider applying data resampling approaches for improved recall (pd) and g-measure prediction performance. However if the goal is to improve precision and reduce false alarm (pf) then data resampling approaches should be avoided.
Lifelong Wandering: A realistic few-shot online continual learning setting
Venue: arXiv cs.CV 2022
Year: 2022

Online few-shot learning describes a setting where models are trained and evaluated on a stream of data while learning emerging classes. While prior work in this setting has achieved very promising performance on instance classification when learning from data-streams composed of a single indoor environment, we propose to extend this setting to consider object classification on a series of several indoor environments, which is likely to occur in applications such as robotics. Importantly, our setting, which we refer to as online few-shot continual learning, injects the well-studied issue of catastrophic forgetting into the few-shot online learning paradigm. In this work, we benchmark several existing methods and adapted baselines within our setting, and show there exists a trade-off between catastrophic forgetting and online performance. Our findings motivate the need for future work in this setting, which can achieve better online performance without catastrophic forgetting.
Simple-BEV: What Really Matters for Multi-Sensor BEV Perception?
Venue: arXiv cs.CV 2022
Year: 2022

Building 3D perception systems for autonomous vehicles that do not rely on high-density LiDAR is a critical research problem because of the expense of LiDAR systems compared to cameras and other sensors. Recent research has developed a variety of camera-only methods, where features are differentiably "lifted" from the multi-camera images onto the 2D ground plane, yielding a "bird's eye view" (BEV) feature representation of the 3D space around the vehicle. This line of work has produced a variety of novel "lifting" methods, but we observe that other details in the training setups have shifted at the same time, making it unclear what really matters in top-performing methods. We also observe that using cameras alone is not a real-world constraint, considering that additional sensors like radar have been integrated into real vehicles for years already. In this paper, we first of all attempt to elucidate the high-impact factors in the design and training protocol of BEV perception models. We find that batch size and input resolution greatly affect performance, while lifting strategies have a more modest effect -- even a simple parameter-free lifter works well. Second, we demonstrate that radar data can provide a substantial boost to performance, helping to close the gap between camera-only and LiDAR-enabled systems. We analyze the radar usage details that lead to good performance, and invite the community to re-consider this commonly-neglected part of the sensor platform.
DreamNet: A Deep Riemannian Network based on SPD Manifold Learning for Visual Classification
Venue: arXiv cs.CV 2022
Year: 2022

Image set-based visual classification methods have achieved remarkable performance, via characterising the image set in terms of a non-singular covariance matrix on a symmetric positive definite (SPD) manifold. To adapt to complicated visual scenarios better, several Riemannian networks (RiemNets) for SPD matrix nonlinear processing have recently been studied. However, it is pertinent to ask, whether greater accuracy gains can be achieved by simply increasing the depth of RiemNets. The answer appears to be negative, as deeper RiemNets tend to lose generalization ability. To explore a possible solution to this issue, we propose a new architecture for SPD matrix learning. Specifically, to enrich the deep representations, we adopt SPDNet [1] as the backbone, with a stacked Riemannian autoencoder (SRAE) built on the tail. The associated reconstruction error term can make the embedding functions of both SRAE and of each RAE an approximate identity mapping, which helps to prevent the degradation of statistical information. We then insert several residual-like blocks with shortcut connections to augment the representational capacity of SRAE, and to simplify the training of a deeper network. The experimental evidence demonstrates that our DreamNet can achieve improved accuracy with increased depth of the network.
Image Captioning based on Feature Refinement and Reflective Decoding
Venue: arXiv cs.CV 2022
Year: 2022

Image captioning is the process of automatically generating a description of an image in natural language. Image captioning is one of the significant challenges in image understanding since it requires not only recognizing salient objects in the image but also their attributes and the way they interact. The system must then generate a syntactically and semantically correct caption that describes the image content in natural language. With the significant progress in deep learning models and their ability to effectively encode large sets of images and generate correct sentences, several neural-based captioning approaches have been proposed recently, each trying to achieve better accuracy and caption quality. This paper introduces an encoder-decoder-based image captioning system in which the encoder extracts spatial features from the image using ResNet-101. This stage is followed by a refining model, which uses an attention-on-attention mechanism to extract the visual features of the target image objects, then determine their interactions. The decoder consists of an attention-based recurrent module and a reflective attention module, which collaboratively apply attention to the visual and textual features to enhance the decoder's ability to model long-term sequential dependencies. Extensive experiments performed on Flickr30K, show the effectiveness of the proposed approach and the high quality of the generated captions.
Self-Generated In-Context Learning: Leveraging Auto-regressive Language Models as a Demonstration Generator
Venue: arXiv cs.CL 2022
Year: 2022

Large-scale pre-trained language models (PLMs) are well-known for being capable of solving a task simply by conditioning a few input-label pairs dubbed demonstrations on a prompt without being explicitly tuned for the desired downstream task. Such a process (i.e., in-context learning), however, naturally leads to high reliance on the demonstrations which are usually selected from external datasets. In this paper, we propose self-generated in-context learning (SG-ICL), which generates demonstrations for in-context learning from PLM itself to minimize the reliance on the external demonstration. We conduct experiments on four different text classification tasks and show SG-ICL significantly outperforms zero-shot learning and is generally worth approximately 0.6 gold training samples. Moreover, our generated demonstrations show more consistent performance with low variance compared to randomly selected demonstrations from the training dataset.
On-the-fly Adaptation of Patrolling Strategies in Changing Environments
Venue: arXiv cs.MA 2022
Year: 2022

We consider the problem of efficient patrolling strategy adaptation in a changing environment where the topology of Defender's moves and the importance of guarded targets change unpredictably. The Defender must instantly switch to a new strategy optimized for the new environment, not disrupting the ongoing patrolling task, and the new strategy must be computed promptly under all circumstances. Since strategy switching may cause unintended security risks compromising the achieved protection, our solution includes mechanisms for detecting and mitigating this problem. The efficiency of our framework is evaluated experimentally.
Adaptive versus Static Multi-oracle Algorithms, and Quantum Security of a Split-key PRF
Venue: arXiv cs.CR 2022
Year: 2022

In the first part of the paper, we show a generic compiler that transforms any oracle algorithm that can query multiple oracles adaptively, i.e., can decide on which oracle to query at what point dependent on previous oracle responses, into a static algorithm that fixes these choices at the beginning of the execution. Compared to naive ways of achieving this, our compiler controls the blow-up in query complexity for each oracle individually, and causes a very mild blow-up only. In the second part of the paper, we use our compiler to show the security of the very efficient hash-based split-key PRF proposed by Giacon, Heuer and Poettering (PKC 2018), in the quantum random-oracle model. Using a split-key PRF as the key-derivation function gives rise to a secure KEM combiner. Thus, our result shows that the hash-based construction of Giacon et al. can be safely used in the context of quantum attacks, for instance to combine a well-established but only classically-secure KEM with a candidate KEM that is believed to be quantum-secure. Our security proof for the split-key PRF crucially relies on our adaptive-to-static compiler, but we expect our compiler to be useful beyond this particular application. Indeed, we discuss a couple of other, known results from the literature that would have profitted from our compiler, in that these works had to go though serious complications in order to deal with adaptivity.
RefCrowd: Grounding the Target in Crowd with Referring Expressions
Venue: arXiv cs.CV 2022
Year: 2022

Crowd understanding has aroused the widespread interest in vision domain due to its important practical significance. Unfortunately, there is no effort to explore crowd understanding in multi-modal domain that bridges natural language and computer vision. Referring expression comprehension (REF) is such a representative multi-modal task. Current REF studies focus more on grounding the target object from multiple distinctive categories in general scenarios. It is difficult to applied to complex real-world crowd understanding. To fill this gap, we propose a new challenging dataset, called RefCrowd, which towards looking for the target person in crowd with referring expressions. It not only requires to sufficiently mine the natural language information, but also requires to carefully focus on subtle differences between the target and a crowd of persons with similar appearance, so as to realize the fine-grained mapping from language to vision. Furthermore, we propose a Fine-grained Multi-modal Attribute Contrastive Network (FMAC) to deal with REF in crowd understanding. It first decomposes the intricate visual and language features into attribute-aware multi-modal features, and then captures discriminative but robustness fine-grained attribute features to effectively distinguish these subtle differences between similar persons. The proposed method outperforms existing state-of-the-art (SoTA) methods on our RefCrowd dataset and existing REF datasets. In addition, we implement an end-to-end REF toolbox for the deeper research in multi-modal domain. Our dataset and code can be available at: \url{https://qiuheqian.github.io/datasets/refcrowd/}.