OpenRaiser/Intern-Atlas huggingface dataset:
Visualizing Local Minima in Multi-Robot Motion Planning using Multilevel Morse Theory
Venue: arXiv cs.RO 2020
Year: 2020

Multi-robot motion planning problems often have many local minima. It is essential to visualize those local minima such that we can better understand, debug and interact with multi-robot systems. Towards this goal, we present the multi-robot motion explorer, an algorithm which extends previous results on multilevel Morse theory by introducing a component-based framework, where we reduce multi-robot configuration spaces by reducing each robots component space using fiber bundles. Our algorithm exploits this component structure to search for and visualize local minima. A user of the algorithm can specify a multilevel abstraction and an optimization algorithm. We use this information to incrementally build a local minima tree for a given problem. We demonstrate this algorithm on several multi-robot systems of up to 20 degrees of freedom.
Data User-Based Attribute-Based Encryption
Venue: arXiv cs.CR 2020
Year: 2020

Attribute-Based Encryption (ABE) has emerged as an information-centric public-key cryptographic system which allows a data owner to share data, according to access policy, with multiple data users based on the attributes they possess, without knowing their identities. In the original ABE schemes, a central authority administrates the system and issues secret keys to data users based on their attributes and both the owner and users need to trust a specific CA. However, in certain real-world applications, the data users would not trust anyone but themselves. For such situations, we introduce a new decentralization model of ABE, termed Data User-based ABE (DU-ABE), which is managed jointly by the data users. DU-ABE is the first decentralized ABE scheme that replaces the authorities with the data users without employing any other extra entities.
Feature Importance Estimation with Self-Attention Networks
Venue: arXiv cs.LG 2020
Year: 2020

Black-box neural network models are widely used in industry and science, yet are hard to understand and interpret. Recently, the attention mechanism was introduced, offering insights into the inner workings of neural language models. This paper explores the use of attention-based neural networks mechanism for estimating feature importance, as means for explaining the models learned from propositional (tabular) data. Feature importance estimates, assessed by the proposed Self-Attention Network (SAN) architecture, are compared with the established ReliefF, Mutual Information and Random Forest-based estimates, which are widely used in practice for model interpretation. For the first time we conduct scale-free comparisons of feature importance estimates across algorithms on ten real and synthetic data sets to study the similarities and differences of the resulting feature importance estimates, showing that SANs identify similar high-ranked features as the other methods. We demonstrate that SANs identify feature interactions which in some cases yield better predictive performance than the baselines, suggesting that attention extends beyond interactions of just a few key features and detects larger feature subsets relevant for the considered learning task.
The Rumour Mill: Making the Spread of Misinformation Explicit and Tangible
Venue: arXiv cs.CL 2020
Year: 2020

Misinformation spread presents a technological and social threat to society. With the advance of AI-based language models, automatically generated texts have become difficult to identify and easy to create at scale. We present "The Rumour Mill", a playful art piece, designed as a commentary on the spread of rumours and automatically-generated misinformation. The mill is a tabletop interactive machine, which invites a user to experience the process of creating believable text by interacting with different tangible controls on the mill. The user manipulates visible parameters to adjust the genre and type of an automatically generated text rumour. The Rumour Mill is a physical demonstration of the state of current technology and its ability to generate and manipulate natural language text, and of the act of starting and spreading rumours.
zeek-osquery: Host-Network Correlation for Advanced Monitoring and Intrusion Detection
Venue: arXiv cs.CR 2020
Year: 2020

Intrusion Detection Systems (IDSs) can analyze network traffic for signs of attacks and intrusions. However, encrypted communication limits their visibility and sophisticated attackers additionally try to evade their detection. To overcome these limitations, we extend the scope of Network IDSs (NIDSs) with additional data from the hosts. For that, we propose the integrated open-source zeek-osquery platform that combines the Zeek IDS with the osquery host monitor. Our platform can collect, process, and correlate host and network data at large scale, e.g., to attribute network flows to processes and users. The platform can be flexibly extended with own detection scripts using already correlated, but also additional and dynamically retrieved host data. A distributed deployment enables it to scale with an arbitrary number of osquery hosts. Our evaluation results indicate that a single Zeek instance can manage more than 870 osquery hosts and can attribute more than 96% of TCP connections to host-side applications and users in real-time.
Predicting drug properties with parameter-free machine learning: Pareto-Optimal Embedded Modeling (POEM)
Venue: arXiv cs.LG 2020
Year: 2020

The prediction of absorption, distribution, metabolism, excretion, and toxicity (ADMET) of small molecules from their molecular structure is a central problem in medicinal chemistry with great practical importance in drug discovery. Creating predictive models conventionally requires substantial trial-and-error for the selection of molecular representations, machine learning (ML) algorithms, and hyperparameter tuning. A generally applicable method that performs well on all datasets without tuning would be of great value but is currently lacking. Here, we describe Pareto-Optimal Embedded Modeling (POEM), a similarity-based method for predicting molecular properties. POEM is a non-parametric, supervised ML algorithm developed to generate reliable predictive models without need for optimization. POEMs predictive strength is obtained by combining multiple different representations of molecular structures in a context-specific manner, while maintaining low dimensionality. We benchmark POEM relative to industry-standard ML algorithms and published results across 17 classifications tasks. POEM performs well in all cases and reduces the risk of overfitting.
Characterizing network paths in and out of the clouds
Venue: arXiv cs.NI 2020
Year: 2020

Commercial Cloud computing is becoming mainstream, with funding agencies moving beyond prototyping and starting to fund production campaigns, too. An important aspect of any scientific computing production campaign is data movement, both incoming and outgoing. And while the performance and cost of VMs is relatively well understood, the network performance and cost is not. This paper provides a characterization of networking in various regions of Amazon Web Services, Microsoft Azure and Google Cloud Platform, both between Cloud resources and major DTNs in the Pacific Research Platform, including OSG data federation caches in the network backbone, and inside the clouds themselves. The paper contains both a qualitative analysis of the results as well as latency and throughput measurements. It also includes an analysis of the costs involved with Cloud-based networking.
WatchDog: Real-time Vehicle Tracking on Geo-distributed Edge Nodes
Venue: arXiv cs.DC 2020
Year: 2020

Vehicle tracking, a core application to smart city video analytics, is becoming more widely deployed than ever before thanks to the increasing number of traffic cameras and recent advances of computer vision and machine learning. Due to the constraints of bandwidth, latency, and privacy concerns, tracking tasks are more preferable to run on edge devices sitting close to the cameras. However, edge devices are provisioned with a fixed amount of compute budget, making them incompetent to adapt to time-varying tracking workloads caused by traffic dynamics. In coping with this challenge, we propose WatchDog, a real-time vehicle tracking system fully utilizes edge nodes across the road network. WatchDog leverages computer vision tasks with different resource-accuracy trade-offs, and decompose and schedule tracking tasks judiciously across edge devices based on the current workload to maximize the number of tasks while ensuring a provable response time bound at each edge device. Extensive evaluations have been conducted using real-world city-wide vehicle trajectory datasets, showing a 100% tracking coverage with real-time guarantee.
Ask the Experts: What Should Be on an IoT Privacy and Security Label?
Venue: arXiv cs.CY 2020
Year: 2020

Information about the privacy and security of Internet of Things (IoT) devices is not readily available to consumers who want to consider it before making purchase decisions. While legislators have proposed adding succinct, consumer accessible, labels, they do not provide guidance on the content of these labels. In this paper, we report on the results of a series of interviews and surveys with privacy and security experts, as well as consumers, where we explore and test the design space of the content to include on an IoT privacy and security label. We conduct an expert elicitation study by following a three-round Delphi process with 22 privacy and security experts to identify the factors that experts believed are important for consumers when comparing the privacy and security of IoT devices to inform their purchase decisions. Based on how critical experts believed each factor is in conveying risk to consumers, we distributed these factors across two layers---a primary layer to display on the product package itself or prominently on a website, and a secondary layer available online through a web link or a QR code. We report on the experts' rationale and arguments used to support their choice of factors. Moreover, to study how consumers would perceive the privacy and security information specified by experts, we conducted a series of semi-structured interviews with 15 participants, who had purchased at least one IoT device (smart home device or wearable). Based on the results of our expert elicitation and consumer studies, we propose a prototype privacy and security label to help consumers make more informed IoT-related purchase decisions.
Neuroevolution of Neural Network Architectures Using CoDeepNEAT and Keras
Venue: arXiv cs.NE 2020
Year: 2020

Machine learning is a huge field of study in computer science and statistics dedicated to the execution of computational tasks through algorithms that do not require explicit instructions but instead rely on learning patterns from data samples to automate inferences. A large portion of the work involved in a machine learning project is to define the best type of algorithm to solve a given problem. Neural networks - especially deep neural networks - are the predominant type of solution in the field. However, the networks themselves can produce very different results according to the architectural choices made for them. Finding the optimal network topology and configurations for a given problem is a challenge that requires domain knowledge and testing efforts due to a large number of parameters that need to be considered. The purpose of this work is to propose an adapted implementation of a well-established evolutionary technique from the neuroevolution field that manages to automate the tasks of topology and hyperparameter selection. It uses a popular and accessible machine learning framework - Keras - as the back-end, presenting results and proposed changes concerning the original algorithm. The implementation is available at GitHub (https://github.com/sbcblab/Keras-CoDeepNEAT) with documentation and examples to reproduce the experiments performed for this work.
Analyzing, Exploring, and Visualizing Complex Networks via Hypergraphs using SimpleHypergraphs.jl
Venue: arXiv cs.SI 2020
Year: 2020

Real-world complex networks are usually being modeled as graphs. The concept of graphs assumes that the relations within the network are binary (for instance, between pairs of nodes); however, this is not always true for many real-life scenarios, such as peer-to-peer communication schemes, paper co-authorship, or social network interactions. For such scenarios, it is often the case that the underlying network is better and more naturally modeled by hypergraphs. A hypergraph is a generalization of a graph in which a single (hyper)edge can connect any number of vertices. Hypergraphs allow modelers to have a complete representation of multi-relational (many-to-many) networks; hence, they are extremely suitable for analyzing and discovering more subtle dependencies in such data structures. Working with hypergraphs requires new software libraries that make it possible to perform operations on them, from basic algorithms (such as searching or traversing the network) to computing significant hypergraph measures, to including more challenging algorithms (such as community detection). In this paper, we present a new software library, SimpleHypergraphs.jl, written in the Julia language and designed for high-performance computing on hypergraphs and propose two new algorithms for analyzing their properties: s-betweenness and modified label propagation. We also present various approaches for hypergraph visualization integrated into our tool. In order to demonstrate how to exploit the library in practice, we discuss two case studies based on the 2019 Yelp Challenge dataset and the collaboration network built upon the Game of Thrones TV series. The results are promising and they confirm the ability of hypergraphs to provide more insight than standard graph-based approaches.
MFFW: A new dataset for multi-focus image fusion
Venue: arXiv cs.CV 2020
Year: 2020

Multi-focus image fusion (MFF) is a fundamental task in the field of computational photography. Current methods have achieved significant performance improvement. It is found that current methods are evaluated on simulated image sets or Lytro dataset. Recently, a growing number of researchers pay attention to defocus spread effect, a phenomenon of real-world multi-focus images. Nonetheless, defocus spread effect is not obvious in simulated or Lytro datasets, where popular methods perform very similar. To compare their performance on images with defocus spread effect, this paper constructs a new dataset called MFF in the wild (MFFW). It contains 19 pairs of multi-focus images collected on the Internet. We register all pairs of source images, and provide focus maps and reference images for part of pairs. Compared with Lytro dataset, images in MFFW significantly suffer from defocus spread effect. In addition, the scenes of MFFW are more complex. The experiments demonstrate that most state-of-the-art methods on MFFW dataset cannot robustly generate satisfactory fusion images. MFFW can be a new baseline dataset to test whether an MMF algorithm is able to deal with defocus spread effect.
A Visual-inertial Navigation Method for High-Speed Unmanned Aerial Vehicles
Venue: arXiv cs.CV 2020
Year: 2020

This paper investigates the localization problem of high-speed high-altitude unmanned aerial vehicle (UAV) with a monocular camera and inertial navigation system. It proposes a navigation method utilizing the complementarity of vision and inertial devices to overcome the singularity which arises from the horizontal flight of UAV. Furthermore, it modifies the mathematical model of localization problem via separating linear parts from nonlinear parts and replaces a nonlinear least-squares problem with a linearly equality-constrained optimization problem. In order to avoid the ill-condition property near the optimal point of sequential unconstrained minimization techniques(penalty methods), it constructs a semi-implicit continuous method with a trust-region technique based on a differential-algebraic dynamical system to solve the linearly equality-constrained optimization problem. It also analyzes the global convergence property of the semi-implicit continuous method in an infinity integrated interval other than the traditional convergence analysis of numerical methods for ordinary differential equations in a finite integrated interval. Finally, the promising numerical results are also presented.
A Simple General Approach to Balance Task Difficulty in Multi-Task Learning
Venue: arXiv cs.LG 2020
Year: 2020

In multi-task learning, difficulty levels of different tasks are varying. There are many works to handle this situation and we classify them into five categories, including the direct sum approach, the weighted sum approach, the maximum approach, the curriculum learning approach, and the multi-objective optimization approach. Those approaches have their own limitations, for example, using manually designed rules to update task weights, non-smooth objective function, and failing to incorporate other functions than training losses. In this paper, to alleviate those limitations, we propose a Balanced Multi-Task Learning (BMTL) framework. Different from existing studies which rely on task weighting, the BMTL framework proposes to transform the training loss of each task to balance difficulty levels among tasks based on an intuitive idea that tasks with larger training losses will receive more attention during the optimization procedure. We analyze the transformation function and derive necessary conditions. The proposed BMTL framework is very simple and it can be combined with most multi-task learning models. Empirical studies show the state-of-the-art performance of the proposed BMTL framework.
The {0,1}-knapsack problem with qualitative levels
Venue: arXiv cs.DS 2020
Year: 2020

A variant of the classical knapsack problem is considered in which each item is associated with an integer weight and a qualitative level. We define a dominance relation over the feasible subsets of the given item set and show that this relation defines a preorder. We propose a dynamic programming algorithm to compute the entire set of non-dominated rank cardinality vectors and we state two greedy algorithms, which efficiently compute a single efficient solution.
LUCID: A Practical, Lightweight Deep Learning Solution for DDoS Attack Detection
Venue: arXiv cs.CR 2020
Year: 2020

Distributed Denial of Service (DDoS) attacks are one of the most harmful threats in today's Internet, disrupting the availability of essential services. The challenge of DDoS detection is the combination of attack approaches coupled with the volume of live traffic to be analysed. In this paper, we present a practical, lightweight deep learning DDoS detection system called LUCID, which exploits the properties of Convolutional Neural Networks (CNNs) to classify traffic flows as either malicious or benign. We make four main contributions; (1) an innovative application of a CNN to detect DDoS traffic with low processing overhead, (2) a dataset-agnostic preprocessing mechanism to produce traffic observations for online attack detection, (3) an activation analysis to explain LUCID's DDoS classification, and (4) an empirical validation of the solution on a resource-constrained hardware platform. Using the latest datasets, LUCID matches existing state-of-the-art detection accuracy whilst presenting a 40x reduction in processing time, as compared to the state-of-the-art. With our evaluation results, we prove that the proposed approach is suitable for effective DDoS detection in resource-constrained operational environments.
Vision, Requirements, and Technology Trend of 6G: How to Tackle the Challenges of System Coverage, Capacity,User Data-Rate and Movement Speed
Venue: arXiv cs.IT 2020
Year: 2020

Since 5G new radio comes with non-standalone (NSA) and standalone (SA) versions in 3GPP, research on 6G has been on schedule by academics and industries. Though 6G is supposed to have much higher capabilities than 5G, yet there is no clear description about what 6G is. In this article, a comprehensive discussion of 6G is given based on the review of 5G developments, covering visions and requirements, technology trends and challenges, aiming at tackling the challenge of coverage, capacity, the user data rate and movement speed of mobile communication system. The vision of 6G is to fully support the development of a Ubiquitous Intelligent Mobile Society with intelligent life and industries. Finally, the roadmap of the 6G standard is suggested for the future.
Towards Precise Intra-camera Supervised Person Re-identification
Venue: arXiv cs.CV 2020
Year: 2020

Intra-camera supervision (ICS) for person re-identification (Re-ID) assumes that identity labels are independently annotated within each camera view and no inter-camera identity association is labeled. It is a new setting proposed recently to reduce the burden of annotation while expect to maintain desirable Re-ID performance. However, the lack of inter-camera labels makes the ICS Re-ID problem much more challenging than the fully supervised counterpart. By investigating the characteristics of ICS, this paper proposes camera-specific non-parametric classifiers, together with a hybrid mining quintuplet loss, to perform intra-camera learning. Then, an inter-camera learning module consisting of a graph-based ID association step and a Re-ID model updating step is conducted. Extensive experiments on three large-scale Re-ID datasets show that our approach outperforms all existing ICS works by a great margin. Our approach performs even comparable to state-of-the-art fully supervised methods in two of the datasets.
Joint Embedding in Named Entity Linking on Sentence Level
Venue: arXiv cs.CL 2020
Year: 2020

Named entity linking is to map an ambiguous mention in documents to an entity in a knowledge base. The named entity linking is challenging, given the fact that there are multiple candidate entities for a mention in a document. It is difficult to link a mention when it appears multiple times in a document, since there are conflicts by the contexts around the appearances of the mention. In addition, it is difficult since the given training dataset is small due to the reason that it is done manually to link a mention to its mapping entity. In the literature, there are many reported studies among which the recent embedding methods learn vectors of entities from the training dataset at document level. To address these issues, we focus on how to link entity for mentions at a sentence level, which reduces the noises introduced by different appearances of the same mention in a document at the expense of insufficient information to be used. We propose a new unified embedding method by maximizing the relationships learned from knowledge graphs. We confirm the effectiveness of our method in our experimental studies.
Fast Planning Over Roadmaps via Selective Densification
Venue: arXiv cs.RO 2020
Year: 2020

We propose the Selective Densification method for fast motion planning through configuration space. We create a sequence of roadmaps by iteratively adding configurations. We organize these roadmaps into layers and add edges between identical configurations between layers. We find a path using best-first search, guided by our proposed estimate of remaining planning time. This estimate prefers to expand nodes closer to the goal and nodes on sparser layers. We present proofs of the path quality and maximum depth of nodes expanded using our proposed graph and heuristic. We also present experiments comparing Selective Densification to bidirectional RRT-connect, as well as many graph search approaches. In difficult environments that require exploration on the dense layers we find Selective Densification finds solutions faster than all other approaches.