OpenRaiser/Intern-Atlas huggingface dataset:
Simultaneous Localisation and Mapping with Quadric Surfaces
Venue: arXiv cs.RO 2022
Year: 2022

There are many possibilities for how to represent the map in simultaneous localisation and mapping (SLAM). While sparse, keypoint-based SLAM systems have achieved impressive levels of accuracy and robustness, their maps may not be suitable for many robotic tasks. Dense SLAM systems are capable of producing dense reconstructions, but can be computationally expensive and, like sparse systems, lack higher-level information about the structure of a scene. Human-made environments contain a lot of structure, and we seek to take advantage of this by enabling the use of quadric surfaces as features in SLAM systems. We introduce a minimal representation for quadric surfaces and show how this can be included in a least-squares formulation. We also show how our representation can be easily extended to include additional constraints on quadrics such as those found in quadrics of revolution. Finally, we introduce a proof-of-concept SLAM system using our representation, and provide some experimental results using an RGB-D dataset.
Seeking Commonness and Inconsistencies: A Jointly Smoothed Approach to Multi-view Subspace Clustering
Venue: arXiv cs.CV 2022
Year: 2022

Multi-view subspace clustering aims to discover the hidden subspace structures from multiple views for robust clustering, and has been attracting considerable attention in recent years. Despite significant progress, most of the previous multi-view subspace clustering algorithms are still faced with two limitations. First, they usually focus on the consistency (or commonness) of multiple views, yet often lack the ability to capture the cross-view inconsistencies in subspace representations. Second, many of them overlook the local structures of multiple views and cannot jointly leverage multiple local structures to enhance the subspace representation learning. To address these two limitations, in this paper, we propose a jointly smoothed multi-view subspace clustering (JSMC) approach. Specifically, we simultaneously incorporate the cross-view commonness and inconsistencies into the subspace representation learning. The view-consensus grouping effect is presented to jointly exploit the local structures of multiple views to regularize the view-commonness representation, which is further associated with the low-rank constraint via the nuclear norm to strengthen its cluster structure. Thus the cross-view commonness and inconsistencies, the view-consensus grouping effect, and the low-rank representation are seamlessly incorporated into a unified objective function, upon which an alternating optimization algorithm is performed to achieve a robust subspace representation for clustering. Experimental results on a variety of real-world multi-view datasets confirm the superiority of our approach. Code available: https://github.com/huangdonghere/JSMC.
Point Separation and Obstacle Removal by Finding and Hitting Odd Cycles
Venue: arXiv cs.CG 2022
Year: 2022

Suppose we are given a pair of points $s, t$ and a set $S$ of $n$ geometric objects in the plane, called obstacles. We show that in polynomial time one can construct an auxiliary (multi-)graph $G$ with vertex set $S$ and every edge labeled from $\{0, 1\}$, such that a set $S_d \subseteq S$ of obstacles separates $s$ from $t$ if and only if $G[S_d]$ contains a cycle whose sum of labels is odd. Using this structural characterization of separating sets of obstacles we obtain the following algorithmic results. In the Obstacle-Removal problem the task is to find a curve in the plane connecting s to t intersecting at most q obstacles. We give a $2.3146^qn^{O(1)}$ algorithm for Obstacle-Removal, significantly improving upon the previously best known $q^{O(q^3)} n^{O(1)}$ algorithm of Eiben and Lokshtanov (SoCG'20). We also obtain an alternative proof of a constant factor approximation algorithm for Obstacle-Removal, substantially simplifying the arguments of Kumar et al. (SODA'21). In the Generalized Points-Separation problem, the input consists of the set S of obstacles, a point set A of k points and p pairs $(s_1, t_1),... (s_p, t_p)$ of points from A. The task is to find a minimum subset $S_r \subseteq S$ such that for every $i$, every curve from $s_i$ to $t_i$ intersects at least one obstacle in $S_r$. We obtain $2^{O(p)} n^{O(k)}$-time algorithm for Generalized Points-Separation problem. This resolves an open problem of Cabello and Giannopoulos (SoCG'13), who asked about the existence of such an algorithm for the special case where $(s_1, t_1), ... (s_p, t_p)$ contains all the pairs of points in A. Finally, we improve the running time of our algorithm to $f(p,k) n^{O(\sqrt{k})}$ when the obstacles are unit disks, where $f(p,k) = 2^O(p) k^{O(k)}$, and show that, assuming the Exponential Time Hypothesis (ETH), the running time dependence on $k$ of our algorithms is essentially optimal.
Auto-Gait: Automatic Ataxia Risk Assessment with Computer Vision on Gait Task Videos
Venue: arXiv cs.CV 2022
Year: 2022

In this paper, we investigated whether we can 1) detect participants with ataxia-specific gait characteristics (risk-prediction), and 2) assess severity of ataxia from gait (severity-assessment) using computer vision. We created a dataset of 155 videos from 89 participants, 24 controls and 65 diagnosed with (or are pre-manifest) spinocerebellar ataxias (SCAs), performing the gait task of the Scale for the Assessment and Rating of Ataxia (SARA) from 11 medical sites located in 8 different states across the United States. We develop a computer vision pipeline to detect, track, and separate out the participants from their surroundings and construct several features from their body pose coordinates to capture gait characteristics like step width, step length, swing, stability, speed, etc. Our risk-prediction model achieves 83.06% accuracy and an 80.23% F1 score. Similarly, our severity-assessment model achieves a mean absolute error (MAE) score of 0.6225 and a Pearson's correlation coefficient score of 0.7268. Our models still performed competitively when evaluated on data from sites not used during training. Furthermore, through feature importance analysis, we found that our models associate wider steps, decreased walking speed, and increased instability with greater ataxia severity, which is consistent with previously established clinical knowledge. Our models create possibilities for remote ataxia assessment in non-clinical settings in the future, which could significantly improve accessibility of ataxia care. Furthermore, our underlying dataset was assembled from a geographically diverse cohort, highlighting its potential to further increase equity. The code used in this study is open to the public, and the anonymized body pose landmark dataset is also available upon request.
Toward Improving Attentive Neural Networks in Legal Text Processing
Venue: arXiv cs.CL 2022
Year: 2022

In recent years, thanks to breakthroughs in neural network techniques especially attentive deep learning models, natural language processing has made many impressive achievements. However, automated legal word processing is still a difficult branch of natural language processing. Legal sentences are often long and contain complicated legal terminologies. Hence, models that work well on general documents still face challenges in dealing with legal documents. We have verified the existence of this problem with our experiments in this work. In this dissertation, we selectively present the main achievements in improving attentive neural networks in automatic legal document processing. Language models tend to grow larger and larger, though, without expert knowledge, these models can still fail in domain adaptation, especially for specialized fields like law.
Internet-based Social Engineering Attacks, Defenses and Psychology: A Survey
Venue: arXiv cs.CR 2022
Year: 2022

Social engineering attacks are a major cyber threat because they often serve as a first step for an attacker to break into an otherwise well-defended network, steal victims' credentials, and cause financial losses. The problem has received due amount of attention with many publications proposing defenses against them. Despite this, the situation has not improved. In this paper, we aim to understand and explain this phenomenon by looking into the root cause of the problem. To this end, we examine the literature on attacks and defenses through a unique lens we propose -- {\em psychological factors (PFs) and techniques (PTs)}. We find that there is a big discrepancy between attacks and defenses: Attacks have deliberately exploited PFs by leveraging PTs, but defenses rarely take either of these into consideration, preferring technical solutions. This explains why existing defenses have achieved limited success. This prompts us to propose a roadmap for a more systematic approach towards designing effective defenses against social engineering attacks.
Hyperdecoders: Instance-specific decoders for multi-task NLP
Venue: arXiv cs.CL 2022
Year: 2022

We investigate input-conditioned hypernetworks for multi-tasking in NLP, generating parameter-efficient adaptations for a decoder using a hypernetwork conditioned on the output of an encoder. This approach produces a unique decoder adaptation for every input instance, allowing the network a larger degree of flexibility than prior work that only produces one decoder adaptation per task. We apply our method to sequence classification tasks, extractive QA, and summarisation and find that it surpasses previous parameter efficient fine-tuning methods and often outperforms fully finetuning the underlying model. An analysis of the embeddings used by our hypernetwork shows that they are sensitive to output label and type, suggesting that our approach better maps from encoder representations to output labels. Our code is publicly available at https://github.com/allenai/hyperdecoders.
Minimum Height Drawings of Ordered Trees in Polynomial Time: Homotopy Height of Tree Duals
Venue: arXiv cs.CG 2022
Year: 2022

We consider drawings of graphs in the plane in which vertices are assigned distinct points in the plane and edges are drawn as simple curves connecting the vertices and such that the edges intersect only at their common endpoints. There is an intuitive quality measure for drawings of a graph that measures the height of a drawing $ϕ: G \rightarrow \mathbb{R}^2$ as follows. For a vertical line $\ell$ in $\mathbb{R}^2$, let the height of $\ell$ be the cardinality of the set $\ell \cap ϕ(G)$. The height of a drawing of $G$ is the maximum height over all vertical lines. In this paper, instead of abstract graphs, we fix a drawing and consider plane graphs. In other words, we are looking for a homeomorphism of the plane that minimizes the height of the resulting drawing. This problem is equivalent to the homotopy height problem in the plane, and the homotopic Fréchet distance problem. These problems were recently shown to lie in NP, but no polynomial-time algorithm or NP-hardness proof has been found since their formulation in 2009. We present the first polynomial-time algorithm for drawing trees with optimal height. This corresponds to a polynomial-time algorithm for the homotopy height where the triangulation has only one vertex (that is, a set of loops incident to a single vertex), so that its dual is a tree.
Real Robot Challenge 2021: Cartesian Position Control with Triangle Grasp and Trajectory Interpolation
Venue: arXiv cs.RO 2022
Year: 2022

We present our runner-up approach for the Real Robot Challenge 2021. We build upon our previous approach used in Real Robot Challenge 2020. To solve the task of sequential goal-reaching we focus on two aspects to achieving near-optimal trajectory: Grasp stability and Controller performance. In the RRC 2021 simulated challenge, our method relied on a hand-designed Pinch grasp combined with Trajectory Interpolation for better stability during the motion for fast goal-reaching. In Stage 1, we observe reverting to a Triangular grasp to provide a more stable grasp when combined with Trajectory Interpolation, possibly due to the sim2real gap. The video demonstration for our approach is available at https://youtu.be/dlOueoaRWrM. The code is publicly available at https://github.com/madan96/benchmark-rrc.
Thinking about GPT-3 In-Context Learning for Biomedical IE? Think Again
Venue: arXiv cs.CL 2022
Year: 2022

The strong few-shot in-context learning capability of large pre-trained language models (PLMs) such as GPT-3 is highly appealing for application domains such as biomedicine, which feature high and diverse demands of language technologies but also high data annotation costs. In this paper, we present the first systematic and comprehensive study to compare the few-shot performance of GPT-3 in-context learning with fine-tuning smaller (i.e., BERT-sized) PLMs on two highly representative biomedical information extraction tasks, named entity recognition and relation extraction. We follow the true few-shot setting to avoid overestimating models' few-shot performance by model selection over a large validation set. We also optimize GPT-3's performance with known techniques such as contextual calibration and dynamic in-context example retrieval. However, our results show that GPT-3 still significantly underperforms compared to simply fine-tuning a smaller PLM. In addition, GPT-3 in-context learning also yields smaller gains in accuracy when more training data becomes available. Our in-depth analyses further reveal issues of the in-context learning setting that may be detrimental to information extraction tasks in general. Given the high cost of experimenting with GPT-3, we hope our study provides guidance for biomedical researchers and practitioners towards more promising directions such as fine-tuning small PLMs.
Structurally Diverse Sampling for Sample-Efficient Training and Comprehensive Evaluation
Venue: arXiv cs.CL 2022
Year: 2022

A growing body of research has demonstrated the inability of NLP models to generalize compositionally and has tried to alleviate it through specialized architectures, training schemes, and data augmentation, among other approaches. In this work, we study a different approach: training on instances with diverse structures. We propose a model-agnostic algorithm for subsampling such sets of instances from a labeled instance pool with structured outputs. Evaluating on both compositional template splits and traditional IID splits of 5 semantic parsing datasets of varying complexity, we show that structurally diverse training using our algorithm leads to comparable or better generalization than prior algorithms in 9 out of 10 dataset-split type pairs. In general, we find structural diversity to consistently improve sample efficiency compared to random train sets. Moreover, we show that structurally diverse sampling yields comprehensive test sets that are a lot more challenging than IID test sets. Finally, we provide two explanations for improved generalization from diverse train sets: 1) improved coverage of output substructures, and 2) a reduction in spurious correlations between these substructures.
E-KAR: A Benchmark for Rationalizing Natural Language Analogical Reasoning
Venue: arXiv cs.CL 2022
Year: 2022

The ability to recognize analogies is fundamental to human cognition. Existing benchmarks to test word analogy do not reveal the underneath process of analogical reasoning of neural models. Holding the belief that models capable of reasoning should be right for the right reasons, we propose a first-of-its-kind Explainable Knowledge-intensive Analogical Reasoning benchmark (E-KAR). Our benchmark consists of 1,655 (in Chinese) and 1,251 (in English) problems sourced from the Civil Service Exams, which require intensive background knowledge to solve. More importantly, we design a free-text explanation scheme to explain whether an analogy should be drawn, and manually annotate them for each and every question and candidate answer. Empirical results suggest that this benchmark is very challenging for some state-of-the-art models for both explanation generation and analogical question answering tasks, which invites further research in this area.
Dynamic Grass Color Scale Display Technique Based on Grass Length for Green Landscape-Friendly Animation Display
Venue: arXiv cs.GR 2022
Year: 2022

Recently, public displays such as liquid crystal displays (LCDs) are often used in urban green spaces, however, the display devices can spoil green landscape of urban green spaces because they look like artificial materials. We previously proposed a green landscape-friendly grass animation display method by controlling a pixel-by-pixel grass color dynamically. The grass color can be changed by moving a green grass length in yellow grass, and the grass animation display can play simple animations using grayscale images. In the previous research, the color scale was mapped to the green grass length subjectively, however, this method has not achieved displaying the grass colors corresponding to the color scale based on objective evaluations. Here, we introduce a dynamic grass color scale display technique based on a grass length. In this paper, we developed a grass color scale setting procedure to map the grass length to the color scale with five levels through image processing. Through the outdoor experiment of the grass color scale setting procedure, the color scale can correspond to the green grass length based on a viewpoint. After the experiments, we demonstrated a grass animation display to show the animations with the color scale using the experiment results.
How darknet market users learned to worry more and love PGP: Analysis of security advice on darknet marketplaces
Venue: arXiv cs.CR 2022
Year: 2022

Darknet marketplaces, accessible through, Tor are where users can buy illicit goods, and learn to hide from law enforcement. We surveyed the advice on these markets and found valid security advice mixed up with paranoid threat models and a reliance on privacy tools dismissed as unusable by the mainstream.
MIMO-GAN: Generative MIMO Channel Modeling
Venue: arXiv cs.IT 2022
Year: 2022

We propose generative channel modeling to learn statistical channel models from channel input-output measurements. Generative channel models can learn more complicated distributions and represent the field data more faithfully. They are tractable and easy to sample from, which can potentially speed up the simulation rounds. To achieve this, we leverage advances in GAN, which helps us learn an implicit distribution over stochastic MIMO channels from observed measurements. In particular, our approach MIMO-GAN implicitly models the wireless channel as a distribution of time-domain band-limited impulse responses. We evaluate MIMO-GAN on 3GPP TDL MIMO channels and observe high-consistency in capturing power, delay and spatial correlation statistics of the underlying channel. In particular, we observe MIMO-GAN achieve errors of under 3.57 ns average delay and -18.7 dB power.
Generic Lithography Modeling with Dual-band Optics-Inspired Neural Networks
Venue: arXiv cs.OH 2022
Year: 2022

Lithography simulation is a critical step in VLSI design and optimization for manufacturability. Existing solutions for highly accurate lithography simulation with rigorous models are computationally expensive and slow, even when equipped with various approximation techniques. Recently, machine learning has provided alternative solutions for lithography simulation tasks such as coarse-grained edge placement error regression and complete contour prediction. However, the impact of these learning-based methods has been limited due to restrictive usage scenarios or low simulation accuracy. To tackle these concerns, we introduce an dual-band optics-inspired neural network design that considers the optical physics underlying lithography. To the best of our knowledge, our approach yields the first published via/metal layer contour simulation at 1nm^2/pixel resolution with any tile size. Compared to previous machine learning based solutions, we demonstrate that our framework can be trained much faster and offers a significant improvement on efficiency and image quality with 20X smaller model size. We also achieve 85X simulation speedup over traditional lithography simulator with 1% accuracy loss.
Coverage Optimization of Camera Network for Continuous Deformable Object
Venue: arXiv cs.CV 2022
Year: 2022

In this paper, a deformable object is considered for cameras deployment with the aim of visual coverage. The object contour is discretized into sampled points as meshes, and the deformation is represented as continuous trajectories for the sampled points. To reduce the computational complexity, some feature points are carefully selected representing the continuous deformation process, and the visual coverage for the deformable object is transferred to cover the specific feature points. In particular, the vertexes of a rectangle that can contain the entire deformation trajectory of every sampled point on the object contour are chosen as the feature points. An improved wolf pack algorithm is then proposed to solve the optimization problem. Finally, simulation results are given to demonstrate the effectiveness of the proposed deployment method of camera network.
Modeling the obsolescence of research literature in disciplinary journals through the age of their cited references
Venue: arXiv cs.DL 2022
Year: 2022

There are different citation habits in the research fields that influence the obsolescence of the research literature. We analyze the distinctive obsolescence of research literature in disciplinary journals in eight scientific subfields based on cited references distribution, as a synchronous approach. We use both Negative Binomial (NB) and Poisson distributions to capture this obsolescence. The corpus being examined is published in 2019 and covers 22,559 papers citing 872,442 references. Moreover, three measures to analyze the tail of the distribution are proposed: (i) cited reference survival rate, (ii) cited reference mortality rate, and (iii) cited reference percentile. These measures are interesting because the tail of the distribution collects the behavior of the citations at the time when the document starts to get obsolete in the sense that it is little cited (used). As main conclusion, the differences observed in obsolescence are so important even between disciplinary journals in the same subfield, that it would be necessary to use some measure for the tail of the citation distribution, such as those proposed in this paper, when analyzing in an appropriate way the long time impact of a journal.
Graph Neural Networks for Multiparallel Word Alignment
Venue: arXiv cs.CL 2022
Year: 2022

After a period of decrease, interest in word alignments is increasing again for their usefulness in domains such as typological research, cross-lingual annotation projection, and machine translation. Generally, alignment algorithms only use bitext and do not make use of the fact that many parallel corpora are multiparallel. Here, we compute high-quality word alignments between multiple language pairs by considering all language pairs together. First, we create a multiparallel word alignment graph, joining all bilingual word alignment pairs in one graph. Next, we use graph neural networks (GNNs) to exploit the graph structure. Our GNN approach (i) utilizes information about the meaning, position, and language of the input words, (ii) incorporates information from multiple parallel sentences, (iii) adds and removes edges from the initial alignments, and (iv) yields a prediction model that can generalize beyond the training sentences. We show that community detection provides valuable information for multiparallel word alignment. Our method outperforms previous work on three word-alignment datasets and on a downstream task.