OpenRaiser/Intern-Atlas huggingface dataset:
Policy Search for Model Predictive Control with Application to Agile Drone Flight
Venue: arXiv cs.RO 2021
Year: 2021

Policy Search and Model Predictive Control~(MPC) are two different paradigms for robot control: policy search has the strength of automatically learning complex policies using experienced data, while MPC can offer optimal control performance using models and trajectory optimization. An open research question is how to leverage and combine the advantages of both approaches. In this work, we provide an answer by using policy search for automatically choosing high-level decision variables for MPC, which leads to a novel policy-search-for-model-predictive-control framework. Specifically, we formulate the MPC as a parameterized controller, where the hard-to-optimize decision variables are represented as high-level policies. Such a formulation allows optimizing policies in a self-supervised fashion. We validate this framework by focusing on a challenging problem in agile drone flight: flying a quadrotor through fast-moving gates. Experiments show that our controller achieves robust and real-time control performance in both simulation and the real world. The proposed framework offers a new perspective for merging learning and control.
Reducing Target Group Bias in Hate Speech Detectors
Venue: arXiv cs.CL 2021
Year: 2021

The ubiquity of offensive and hateful content on online fora necessitates the need for automatic solutions that detect such content competently across target groups. In this paper we show that text classification models trained on large publicly available datasets despite having a high overall performance, may significantly under-perform on several protected groups. On the \citet{vidgen2020learning} dataset, we find the accuracy to be 37\% lower on an under annotated Black Women target group and 12\% lower on Immigrants, where hate speech involves a distinct style. To address this, we propose to perform token-level hate sense disambiguation, and utilize tokens' hate sense representations for detection, modeling more general signals. On two publicly available datasets, we observe that the variance in model accuracy across target groups drops by at least 30\%, improving the average target group performance by 4\% and worst case performance by 13\%.
Is Complexity Important for Philosophy of Mind?
Venue: arXiv cs.LO 2021
Year: 2021

Computational complexity has often been ignored in philosophy of mind, in philosophical artificial intelligence studies. The purpose of this paper is threefold. First and foremost, to show the importance of complexity rather than computability in philosophical and AI problems. Second, to rephrase the notion of computability in terms of solvability, i.e. treating computability as non-sufficient for establishing intelligence. The Church-Turing thesis is therefore revisited and rephrased in order to capture the ontological background of spatial and temporal complexity. Third, to emphasize ontological differences between different time complexities, which seem to provide a solid base towards better understanding of artificial intelligence in general.
Scalable 3D Semantic Segmentation for Gun Detection in CT Scans
Venue: arXiv cs.CV 2021
Year: 2021

With the increased availability of 3D data, the need for solutions processing those also increased rapidly. However, adding dimension to already reliably accurate 2D approaches leads to immense memory consumption and higher computational complexity. These issues cause current hardware to reach its limitations, with most methods forced to reduce the input resolution drastically. Our main contribution is a novel deep 3D semantic segmentation method for gun detection in baggage CT scans that enables fast training and low video memory consumption for high-resolution voxelized volumes. We introduce a moving pyramid approach that utilizes multiple forward passes at inference time for segmenting an instance.
Estimating Quality of Transmission in a Live Production Network using Machine Learning
Venue: arXiv cs.NI 2021
Year: 2021

We demonstrate QoT estimation in a live network utilizing neural networks trained on synthetic data spanning a large parameter space. The ML-model predicts the measured lightpath performance with <0.5dB SNR error over a wide configuration range.
Presentation Attack Detection Methods based on Gaze Tracking and Pupil Dynamic: A Comprehensive Survey
Venue: arXiv cs.CV 2021
Year: 2021

Purpose of the research: In the biometric community, visible human characteristics are popular and viable for verification and identification on mobile devices. However, imposters are able to spoof such characteristics by creating fake and artificial biometrics to fool the system. Visible biometric systems have suffered a high-security risk of presentation attack. Methods: In the meantime, challenge-based methods, in particular, gaze tracking and pupil dynamic appear to be more secure methods than others for contactless biometric systems. We review the existing work that explores gaze tracking and pupil dynamic liveness detection. The principal results: This research analyzes various aspects of gaze tracking and pupil dynamic presentation attacks, such as state-of-the-art liveness detection algorithms, various kinds of artifacts, the accessibility of public databases, and a summary of standardization in this area. In addition, we discuss future work and the open challenges to creating a secure liveness detection based on challenge-based systems.
A Transferable Approach for Partitioning Machine Learning Models on Multi-Chip-Modules
Venue: arXiv cs.LG 2021
Year: 2021

Multi-Chip-Modules (MCMs) reduce the design and fabrication cost of machine learning (ML) accelerators while delivering performance and energy efficiency on par with a monolithic large chip. However, ML compilers targeting MCMs need to solve complex optimization problems optimally and efficiently to achieve this high performance. One such problem is the multi-chip partitioning problem where compilers determine the optimal partitioning and placement of operations in tensor computation graphs on chiplets in MCMs. Partitioning ML graphs for MCMs is particularly hard as the search space grows exponentially with the number of chiplets available and the number of nodes in the neural network. Furthermore, the constraints imposed by the underlying hardware produce a search space where valid solutions are extremely sparse. In this paper, we present a strategy using a deep reinforcement learning (RL) framework to emit a possibly invalid candidate partition that is then corrected by a constraint solver. Using the constraint solver ensures that RL encounters valid solutions in the sparse space frequently enough to converge with fewer samples as compared to non-learned strategies. The architectural choices we make for the policy network allow us to generalize across different ML graphs. Our evaluation of a production-scale model, BERT, on real hardware reveals that the partitioning generated using RL policy achieves 6.11% and 5.85% higher throughput than random search and simulated annealing. In addition, fine-tuning the pre-trained RL policy reduces the search time from 3 hours to only 9 minutes, while achieving the same throughput as training RL policy from scratch.
Hyper-parameter optimization based on soft actor critic and hierarchical mixture regularization
Venue: arXiv cs.LG 2021
Year: 2021

Hyper-parameter optimization is a crucial problem in machine learning as it aims to achieve the state-of-the-art performance in any model. Great efforts have been made in this field, such as random search, grid search, Bayesian optimization. In this paper, we model hyper-parameter optimization process as a Markov decision process, and tackle it with reinforcement learning. A novel hyper-parameter optimization method based on soft actor critic and hierarchical mixture regularization has been proposed. Experiments show that the proposed method can obtain better hyper-parameters in a shorter time.
An Investigation of Drivers' Dynamic Situational Trust in Conditionally Automated Driving
Venue: arXiv cs.HC 2021
Year: 2021

Understanding how trust is built over time is essential, as trust plays an important role in the acceptance and adoption of automated vehicles (AVs). This study aimed to investigate the effects of system performance and participants' trust preconditions on dynamic situational trust during takeover transitions. We evaluated the dynamic situational trust of 42 participants using both self-reported and behavioral measures while watching 30 videos with takeover scenarios. The study was a 3 by 2 mixed-subjects design, where the within-subjects variable was the system performance (i.e., accuracy levels of 95\%, 80\%, and 70\%) and the between-subjects variable was the preconditions of the participants' trust (i.e., overtrust and undertrust). Our results showed that participants quickly adjusted their self-reported situational trust (SST) levels which were consistent with different accuracy levels of system performance in both trust preconditions. However, participants' behavioral situational trust (BST) was affected by their trust preconditions across different accuracy levels. For instance, the overtrust precondition significantly increased the agreement fraction compared to the undertrust precondition. The undertrust precondition significantly decreased the switch fraction compared to the overtrust precondition. These results have important implications for designing an in-vehicle trust calibration system for conditional AVs.
ESAFE: Enterprise Security and Forensics at Scale
Venue: arXiv cs.CR 2021
Year: 2021

Securing enterprise networks presents challenges in terms of both their size and distributed structure. Data required to detect and characterize malicious activities may be diffused and may be located across network and endpoint devices. Further, cyber-relevant data routinely exceeds total available storage, bandwidth, and analysis capability, often by several orders of magnitude. Real-time detection of threats within or across very large enterprise networks is not simply an issue of scale, but also a challenge due to the variable nature of malicious activities and their presentations. The system seeks to develop a hierarchy of cyber reasoning layers to detect malicious behavior, characterize novel attack vectors and present an analyst with a contextualized human-readable output from a series of machine learning models. We developed machine learning algorithms for scalable throughput and improved recall for our Multi-Resolution Joint Optimization for Enterprise Security and Forensics (ESAFE) solution. This Paper will provide an overview of ESAFE's Machine Learning Modules, Attack Ontologies, and Automated Smart Alert generation which provide multi-layer reasoning over cross-correlated sensors for analyst consumption.
Mobile BCI dataset of scalp- and ear-EEGs with ERP and SSVEP paradigms while standing, walking, and running
Venue: arXiv cs.HC 2021
Year: 2021

We present a mobile dataset obtained from electroencephalography (EEG) of the scalp and around the ear as well as from locomotion sensors by 24 participants moving at four different speeds while performing two brain-computer interface (BCI) tasks. The data were collected from 32-channel scalp-EEG, 14-channel ear-EEG, 4-channel electrooculography, and 9-channel inertial measurement units placed at the forehead, left ankle, and right ankle. The recording conditions were as follows: standing, slow walking, fast walking, and slight running at speeds of 0, 0.8, 1.6, and 2.0m/s, respectively. For each speed, two different BCI paradigms, event-related potential and steady-state visual evoked potential, were recorded. To evaluate the signal quality, scalp- and ear-EEG data were qualitatively and quantitatively validated during each speed. We believe that the dataset will facilitate BCIs in diverse mobile environments to analyze brain activities and evaluate the performance quantitatively for expanding the use of practical BCIs.
A Fast Algorithm for PAC Combinatorial Pure Exploration
Venue: arXiv cs.LG 2021
Year: 2021

We consider the problem of Combinatorial Pure Exploration (CPE), which deals with finding a combinatorial set or arms with a high reward, when the rewards of individual arms are unknown in advance and must be estimated using arm pulls. Previous algorithms for this problem, while obtaining sample complexity reductions in many cases, are highly computationally intensive, thus making them impractical even for mildly large problems. In this work, we propose a new CPE algorithm in the PAC setting, which is computationally light weight, and so can easily be applied to problems with tens of thousands of arms. This is achieved since the proposed algorithm requires a very small number of combinatorial oracle calls. The algorithm is based on successive acceptance of arms, along with elimination which is based on the combinatorial structure of the problem. We provide sample complexity guarantees for our algorithm, and demonstrate in experiments its usefulness on large problems, whereas previous algorithms are impractical to run on problems of even a few dozen arms. The code for the algorithms and experiments is provided at https://github.com/noabdavid/csale.
Adversarial Parametric Pose Prior
Venue: arXiv cs.CV 2021
Year: 2021

The Skinned Multi-Person Linear (SMPL) model can represent a human body by mapping pose and shape parameters to body meshes. This has been shown to facilitate inferring 3D human pose and shape from images via different learning models. However, not all pose and shape parameter values yield physically-plausible or even realistic body meshes. In other words, SMPL is under-constrained and may thus lead to invalid results when used to reconstruct humans from images, either by directly optimizing its parameters, or by learning a mapping from the image to these parameters. In this paper, we therefore learn a prior that restricts the SMPL parameters to values that produce realistic poses via adversarial training. We show that our learned prior covers the diversity of the real-data distribution, facilitates optimization for 3D reconstruction from 2D keypoints, and yields better pose estimates when used for regression from images. We found that the prior based on spherical distribution gets the best results. Furthermore, in all these tasks, it outperforms the state-of-the-art VAE-based approach to constraining the SMPL parameters.
Do Pedestrians Pay Attention? Eye Contact Detection in the Wild
Venue: arXiv cs.CV 2021
Year: 2021

In urban or crowded environments, humans rely on eye contact for fast and efficient communication with nearby people. Autonomous agents also need to detect eye contact to interact with pedestrians and safely navigate around them. In this paper, we focus on eye contact detection in the wild, i.e., real-world scenarios for autonomous vehicles with no control over the environment or the distance of pedestrians. We introduce a model that leverages semantic keypoints to detect eye contact and show that this high-level representation (i) achieves state-of-the-art results on the publicly-available dataset JAAD, and (ii) conveys better generalization properties than leveraging raw images in an end-to-end network. To study domain adaptation, we create LOOK: a large-scale dataset for eye contact detection in the wild, which focuses on diverse and unconstrained scenarios for real-world generalization. The source code and the LOOK dataset are publicly shared towards an open science mission.
Tutorial on communication between access networks and the 5G core
Venue: arXiv cs.NI 2021
Year: 2021

Fifth-generation (5G) networks enable a variety of use cases that require differentiated connectivity, e.g., Ultra-Reliable and Low-Latency Communications (URLLC), enhanced Mobile Broadband (eMBB), and massive Machine Type Communication (mMTC). To explore the full potential of these use cases, it is mandatory to understand the communication along with the 5G network segments and architecture components. User Equipment (UE), Radio Access Network (RAN), and 5G Core (5GC) are the main components that support these new network concepts and paradigms. 3rd Generation Partnership Project has recently published Release 16, including the protocols used to communicate between RANs and 5GC, i.e., Non-Access Stratum (NAS) and NG Application Protocol (NGAP). The main goal of this work is to present a comprehensive tutorial about NAS and NGAP specifications using a didactic and practical approach. The tutorial describes the protocol stacks and aspects of the functionality of these protocols in 5G networks, such as authentication and identification procedures, data session establishment, and resource allocation. Moreover, we review the message flows related to these protocols in UE and Next Generation Node B (gNodeB) registration. To illustrate the concepts presented in the tutorial, we developed the my5G Tester: a 5GC tester that implements NAS and NGAP for evaluating three open-source 5GC projects using a black-box testing methodology.
On the Use of Unrealistic Predictions in Hundreds of Papers Evaluating Graph Representations
Venue: arXiv cs.LG 2021
Year: 2021

Prediction using the ground truth sounds like an oxymoron in machine learning. However, such an unrealistic setting was used in hundreds, if not thousands of papers in the area of finding graph representations. To evaluate the multi-label problem of node classification by using the obtained representations, many works assume in the prediction stage that the number of labels of each test instance is known. In practice such ground truth information is rarely available, but we point out that such an inappropriate setting is now ubiquitous in this research area. We detailedly investigate why the situation occurs. Our analysis indicates that with unrealistic information, the performance is likely over-estimated. To see why suitable predictions were not used, we identify difficulties in applying some multi-label techniques. For the use in future studies, we propose simple and effective settings without using practically unknown information. Finally, we take this chance to conduct a fair and serious comparison of major graph-representation learning methods on multi-label node classification.
PageRank for Edges: Axiomatic Characterization
Venue: arXiv cs.SI 2021
Year: 2021

Edge centrality measures are functions that evaluate the importance of edges in a network. They can be used to assess the role of a backlink for the popularity of a website as well as the importance of a flight in virus spreading. Various node centralities have been translated to apply for edges, including Edge Betweenness, Eigenedge (edge version of Eigenvector centrality) and Edge PageRank. With this paper, we initiate the discussion on the axiomatic properties of edge centrality measures. We do it by proposing an axiomatic characterization of Edge PageRank. Our characterization is the first characterization of any edge centrality measure in the literature.
Ethical and social risks of harm from Language Models
Venue: arXiv cs.CL 2021
Year: 2021

This paper aims to help structure the risk landscape associated with large-scale Language Models (LMs). In order to foster advances in responsible innovation, an in-depth understanding of the potential risks posed by these models is needed. A wide range of established and anticipated risks are analysed in detail, drawing on multidisciplinary expertise and literature from computer science, linguistics, and social sciences. We outline six specific risk areas: I. Discrimination, Exclusion and Toxicity, II. Information Hazards, III. Misinformation Harms, V. Malicious Uses, V. Human-Computer Interaction Harms, VI. Automation, Access, and Environmental Harms. The first area concerns the perpetuation of stereotypes, unfair discrimination, exclusionary norms, toxic language, and lower performance by social group for LMs. The second focuses on risks from private data leaks or LMs correctly inferring sensitive information. The third addresses risks arising from poor, false or misleading information including in sensitive domains, and knock-on risks such as the erosion of trust in shared information. The fourth considers risks from actors who try to use LMs to cause harm. The fifth focuses on risks specific to LLMs used to underpin conversational agents that interact with human users, including unsafe use, manipulation or deception. The sixth discusses the risk of environmental harm, job automation, and other challenges that may have a disparate effect on different social groups or communities. In total, we review 21 risks in-depth. We discuss the points of origin of different risks and point to potential mitigation approaches. Lastly, we discuss organisational responsibilities in implementing mitigations, and the role of collaboration and participation. We highlight directions for further research, particularly on expanding the toolkit for assessing and evaluating the outlined risks in LMs.
Player Modeling using Behavioral Signals in Competitive Online Games
Venue: arXiv cs.GT 2021
Year: 2021

Competitive online games use rating systems to match players with similar skills to ensure a satisfying experience for players. In this paper, we focus on the importance of addressing different aspects of playing behavior when modeling players for creating match-ups. To this end, we engineer several behavioral features from a dataset of over 75,000 battle royale matches and create player models based on the retrieved features. We then use the created models to predict ranks for different groups of players in the data. The predicted ranks are compared to those of three popular rating systems. Our results show the superiority of simple behavioral models over mainstream rating systems. Some behavioral features provided accurate predictions for all groups of players while others proved useful for certain groups of players. The results of this study highlight the necessity of considering different aspects of the player's behavior such as goals, strategy, and expertise when making assignments.
Reproducing software environments: a prerequisite for reproducible research
Venue: arXiv cs.SE 2021
Year: 2021

As software has become an integral part of scientific workflows, reproducible research practices must take it into account. In what way? Archiving source code is a necessary but insufficient condition. The ability to redeploy software environments, which at first sight may be viewed as a technical detail, is in fact a requirement. This article explores tools and methods to achieve this goal.
Truth-tracking via Approval Voting: Size Matters
Venue: arXiv cs.GT 2021
Year: 2021

Epistemic social choice aims at unveiling a hidden ground truth given votes, which are interpreted as noisy signals about it. We consider here a simple setting where votes consist of approval ballots: each voter approves a set of alternatives which they believe can possibly be the ground truth. Based on the intuitive idea that more reliable votes contain fewer alternatives, we define several noise models that are approval voting variants of the Mallows model. The likelihood-maximizing alternative is then characterized as the winner of a weighted approval rule, where the weight of a ballot decreases with its cardinality. We have conducted an experiment on three image annotation datasets; they conclude that rules based on our noise model outperform standard approval voting; the best performance is obtained by a variant of the Condorcet noise model.