OpenRaiser/Intern-Atlas huggingface dataset:
Extended dynamic mode decomposition with dictionary learning using neural ordinary differential equations
Venue: arXiv cs.LG 2022
Year: 2022

Nonlinear phenomena can be analyzed via linear techniques using operator-theoretic approaches. Data-driven method called the extended dynamic mode decomposition (EDMD) and its variants, which approximate the Koopman operator associated with the nonlinear phenomena, have been rapidly developing by incorporating machine learning methods. Neural ordinary differential equations (NODEs), which are a neural network equipped with a continuum of layers, and have high parameter and memory efficiencies, have been proposed. In this paper, we propose an algorithm to perform EDMD using NODEs. NODEs are used to find a parameter-efficient dictionary which provides a good finite-dimensional approximation of the Koopman operator. We show the superiority of the parameter efficiency of the proposed method through numerical experiments.
Planning 5G Networks for Rural Fixed Wireless Access
Venue: arXiv cs.NI 2022
Year: 2022

We study the planning of a rural 5G multi-user massive MIMO fixed wireless access system to offer fixed broadband service to homes. Specifically, we aim to determine the user limit, i.e., the maximum number of homes that can simultaneously receive target minimum bit rates (MBRs) on the downlink (DL) and on the uplink (UL) given a set of network resources and a cell radius. To compute that limit, we must understand how resources should be shared between the DL and UL and how user and stream selection, precoding and combining, and power distribution should be performed. We use block diagonalization and propose a static grouping strategy that organizes homes into fixed groups (of possibly different sizes) in the DL and UL; then we develop a simple approach to compute the user limit that we validate numerically. We study the impact of group size and show that smaller groups yield larger user limits in a 3.5 GHz band. We show how the user limit at different cell radii is impacted by the system bandwidth, the number of antennas at the base station and homes, the transmit power, and the DL and UL MBRs. Lastly, we offer insights into how the network could be operated.
On the Maximum Achievable Sum-rate of the RIS-aided MIMO Broadcast Channel
Venue: arXiv cs.IT 2022
Year: 2022

Reconfigurable intelligent surfaces (RISs) represent a new technology that can shape the radio wave propagation and thus offers a great variety of possible performance and implementation gains. Motivated by this, we investigate the achievable sum-rate optimization in a broadcast channel (BC) in the presence of RISs. We solve this problem by exploiting the well-known duality between the Gaussian multiple-input multiple-output (MIMO) BC and the multiple-access channel (MAC), and we correspondingly derive three algorithms which optimize the users' covariance matrices and the RIS phase shifts in the dual MAC. The users' covariance matrices are optimized by a dual decomposition method with block coordinate maximization (BCM), or by a gradient-based method. The RIS phase shifts are either optimized sequentially by using a closed-form expression, or are computed in parallel by using a gradient-based method. We present a computational complexity analysis for the proposed algorithms. Simulation results show that the proposed algorithms tend to converge to the same achievable sum-rate overall, but may produce different sum-rate performance for some specific situations, due to the non-convexity of the considered problem. Also, the gradient-based optimization methods are generally more time efficient. In addition, we demonstrate that the proposed algorithms can provide a significant gain in the RIS-assisted BC assisted by multiple RISs and that the gain depends on the placement of the RISs.
Set-theoretic Localization for Mobile Robots with Infrastructure-based Sensing
Venue: arXiv cs.RO 2022
Year: 2022

In this paper, we introduce a set-theoretic approach for mobile robot localization with infrastructure-based sensing. The proposed method computes sets that over-bound the robot body and orientation under an assumption of known noise bounds on the sensor and robot motion model. We establish theoretical properties and computational approaches for this set-theoretic localization approach and illustrate its application to an automated valet parking example in simulations and to omnidirectional robot localization problems in real-world experiments. We demonstrate that the set-theoretic localization method can perform robustly against uncertainty set initialization and sensor noises compared to the FastSLAM.
Enabling Cell-Free Massive MIMO Systems with Wireless Millimeter Wave Fronthaul
Venue: arXiv cs.IT 2022
Year: 2022

Cell-free massive MIMO systems have promising data rate and uniform coverage gains. These systems, however, typically rely on optical fiber based fronthaul for the communication between the central processing unit (CPU) and the distributed access points (APs), which increases the infrastructure cost, leads to high installation time, and limits the deployment flexibility and adaptability. To address these challenges, this paper proposes two architectures for cell-free massive MIMO systems based on wireless fronthaul that is operating at a \textit{higher-band} compared to the access links: (i) A wireless-only fronthaul architecture where the CPU has a wireless fronthaul link to each AP, and (ii) a mixed-fronthaul architecture where the CPU has a wireless link to each cluster of APs that are connected together via optical fibers. These dual-band architectures ensure high-data rate fronthaul and provide high capability to synchronize the distributed APs. Further, the wireless fronthaul reduces the infrastructure cost and installation time, and enhances the flexibility, adaptability, and scalability of the network deployment. To investigate the achievable data rates with the proposed architectures, we formulate the end-to-end data rate optimization problem accounting for the various practical aspects of the fronthaul and access links. Then, we develop a low-complexity yet efficient joint beamforming and resource allocation solution for the proposed architectures based on user-centric AP grouping. With this solution, we show that the proposed architectures can achieve comparable data rates to those obtained with optical fiber-based fronthaul under realistic assumptions on the fronthaul bandwidth, hardware constraints, and deployment scenarios. This highlights a promising path for realizing the cell-free massive MIMO gains in practice while reducing the infrastructure and deployment overhead.
System Security Assurance: A Systematic Literature Review
Venue: arXiv cs.CR 2022
Year: 2022

System security assurance provides the confidence that security features, practices, procedures, and architecture of software systems mediate and enforce the security policy and are resilient against security failure and attacks. Alongside the significant benefits of security assurance, the evolution of new information and communication technology (ICT) introduces new challenges regarding information protection. Security assurance methods based on the traditional tools, techniques, and procedures may fail to account new challenges due to poor requirement specifications, static nature, and poor development processes. The common criteria (CC) commonly used for security evaluation and certification process also comes with many limitations and challenges. In this paper, extensive efforts have been made to study the state-of-the-art, limitations and future research directions for security assurance of the ICT and cyber-physical systems (CPS) in a wide range of domains. We conducted a systematic review of requirements, processes, and activities involved in system security assurance including security requirements, security metrics, system and environments and assurance methods. We highlighted the challenges and gaps that have been identified by the existing literature related to system security assurance and corresponding solutions. Finally, we discussed the limitations of the present methods and future research directions.
Season-invariant GNSS-denied visual localization for UAVs
Venue: arXiv cs.RO 2022
Year: 2022

Localization without Global Navigation Satellite Systems (GNSS) is a critical functionality in autonomous operations of unmanned aerial vehicles (UAVs). Vision-based localization on a known map can be an effective solution, but it is burdened by two main problems: places have different appearance depending on weather and season, and the perspective discrepancy between the UAV camera image and the map make matching hard. In this work, we propose a localization solution relying on matching of UAV camera images to georeferenced orthophotos with a trained convolutional neural network model that is invariant to significant seasonal appearance difference (winter-summer) between the camera image and map. We compare the convergence speed and localization accuracy of our solution to six reference methods. The results show major improvements with respect to reference methods, especially under high seasonal variation. We finally demonstrate the ability of the method to successfully localize a real UAV, showing that the proposed method is robust to perspective changes.
FooDI-ML: a large multi-language dataset of food, drinks and groceries images and descriptions
Venue: arXiv cs.CV 2022
Year: 2022

In this paper we introduce the FooDI-ML dataset. This dataset contains over 1.5M unique images and over 9.5M store names, product names descriptions, and collection sections gathered from the Glovo application. The data made available corresponds to food, drinks and groceries products from 37 countries in Europe, the Middle East, Africa and Latin America. The dataset comprehends 33 languages, including 870K samples of languages of countries from Eastern Europe and Western Asia such as Ukrainian and Kazakh, which have been so far underrepresented in publicly available visio-linguistic datasets. The dataset also includes widely spoken languages such as Spanish and English. To assist further research, we include benchmarks over two tasks: text-image retrieval and conditional image generation.
Optimization with Constraint Learning: A Framework and Survey
Venue: arXiv cs.LG 2022
Year: 2022

Many real-life optimization problems frequently contain one or more constraints or objectives for which there are no explicit formulas. If data is however available, these data can be used to learn the constraints. The benefits of this approach are clearly seen, however there is a need for this process to be carried out in a structured manner. This paper therefore provides a framework for Optimization with Constraint Learning (OCL) which we believe will help to formalize and direct the process of learning constraints from data. This framework includes the following steps: (i) setup of the conceptual optimization model, (ii) data gathering and preprocessing, (iii) selection and training of predictive models, (iv) resolution of the optimization model, and (v) verification and improvement of the optimization model. We then review the recent OCL literature in light of this framework, and highlight current trends, as well as areas for future research.
SeanNet: Semantic Understanding Network for Localization Under Object Dynamics
Venue: arXiv cs.RO 2022
Year: 2022

We aim for domestic robots to perform long-term indoor service. Under the object-level scene dynamics induced by daily human activities, a robot needs to robustly localize itself in the environment subject to scene uncertainties. Previous works have addressed visual-based localization in static environments, yet the object-level scene dynamics challenge existing methods for the long-term deployment of the robot. This paper proposes a SEmantic understANding Network (SeanNet) architecture that enables an effective learning process with coupled visual and semantic inputs. With a dataset that contains object dynamics, we propose a cascaded contrastive learning scheme to train the SeanNet for learning a vector scene embedding. Subsequently, we can measure the similarity between the current observed scene and the target scene, whereby enables robust localization under object-level dynamics. In our experiments, we benchmark SeanNet against state-of-the-art image-encoding networks (baselines) on scene similarity measures. The SeanNet architecture with the proposed training method can achieve an 85.02\% accuracy which is higher than baselines. We further integrate the SeanNet and the other networks as the localizers into a visual navigation application. We demonstrate that SeanNet achieves higher success rates compared to the baselines.
Co-training an Unsupervised Constituency Parser with Weak Supervision
Venue: arXiv cs.CL 2022
Year: 2022

We introduce a method for unsupervised parsing that relies on bootstrapping classifiers to identify if a node dominates a specific span in a sentence. There are two types of classifiers, an inside classifier that acts on a span, and an outside classifier that acts on everything outside of a given span. Through self-training and co-training with the two classifiers, we show that the interplay between them helps improve the accuracy of both, and as a result, effectively parse. A seed bootstrapping technique prepares the data to train these classifiers. Our analyses further validate that such an approach in conjunction with weak supervision using prior branching knowledge of a known language (left/right-branching) and minimal heuristics injects strong inductive bias into the parser, achieving 63.1 F$_1$ on the English (PTB) test set. In addition, we show the effectiveness of our architecture by evaluating on treebanks for Chinese (CTB) and Japanese (KTB) and achieve new state-of-the-art results. Our code and pre-trained models are available at https://github.com/Nickil21/weakly-supervised-parsing.
Task-aware Privacy Preservation for Multi-dimensional Data
Venue: arXiv cs.CR 2022
Year: 2022

Local differential privacy (LDP) can be adopted to anonymize richer user data attributes that will be input to sophisticated machine learning (ML) tasks. However, today's LDP approaches are largely task-agnostic and often lead to severe performance loss -- they simply inject noise to all data attributes according to a given privacy budget, regardless of what features are most relevant for the ultimate task. In this paper, we address how to significantly improve the ultimate task performance with multi-dimensional user data by considering a task-aware privacy preservation problem. The key idea is to use an encoder-decoder framework to learn (and anonymize) a task-relevant latent representation of user data. We obtain an analytical near-optimal solution for the linear setting with mean-squared error (MSE) task loss. We also provide an approximate solution through a gradient-based learning algorithm for general nonlinear cases. Extensive experiments demonstrate that our task-aware approach significantly improves ultimate task accuracy compared to standard benchmark LDP approaches with the same level of privacy guarantee.
High-rate storage codes on triangle-free graphs
Venue: arXiv cs.IT 2022
Year: 2022

Consider an assignment of bits to the vertices of a connected graph $G(V,E)$ with the property that the value of each vertex is a function of the values of its neighbors. A collection of such assignments is called a {\em storage code} of length $|V|$ on $G$. The storage code problem can be equivalently formulated as maximizing the probability of success in a {\em guessing game} on graphs, or constructing {\em index codes} of small rate. If $G$ contains many cliques, it is easy to construct codes of rate close to 1, so a natural problem is to construct high-rate codes on triangle-free graphs, where constructing codes of rate $>1/2$ is a nontrivial task, with few known results. In this work we construct infinite families of linear storage codes with high rate relying on coset graphs of binary linear codes. We also derive necessary conditions for such codes to have high rate, and even rate potentially close to one. We also address correction of multiple erasures in the codeword, deriving recovery guarantees based on expansion properties of the graph. Finally, we point out connections between linear storage codes and quantum CSS codes, a link to bootstrap percolation and contagion spread in graphs, and formulate a number of open problems.
KNOT: Knowledge Distillation using Optimal Transport for Solving NLP Tasks
Venue: arXiv cs.CL 2022
Year: 2022

We propose a new approach, Knowledge Distillation using Optimal Transport (KNOT), to distill the natural language semantic knowledge from multiple teacher networks to a student network. KNOT aims to train a (global) student model by learning to minimize the optimal transport cost of its assigned probability distribution over the labels to the weighted sum of probabilities predicted by the (local) teacher models, under the constraints, that the student model does not have access to teacher models' parameters or training data. To evaluate the quality of knowledge transfer, we introduce a new metric, Semantic Distance (SD), that measures semantic closeness between the predicted and ground truth label distributions. The proposed method shows improvements in the global model's SD performance over the baseline across three NLP tasks while performing on par with Entropy-based distillation on standard accuracy and F1 metrics. The implementation pertaining to this work is publicly available at: https://github.com/declare-lab/KNOT.
Coarse-to-Fine Reasoning for Visual Question Answering
Venue: arXiv cs.CV 2022
Year: 2022

Bridging the semantic gap between image and question is an important step to improve the accuracy of the Visual Question Answering (VQA) task. However, most of the existing VQA methods focus on attention mechanisms or visual relations for reasoning the answer, while the features at different semantic levels are not fully utilized. In this paper, we present a new reasoning framework to fill the gap between visual features and semantic clues in the VQA task. Our method first extracts the features and predicates from the image and question. We then propose a new reasoning framework to effectively jointly learn these features and predicates in a coarse-to-fine manner. The intensively experimental results on three large-scale VQA datasets show that our proposed approach achieves superior accuracy comparing with other state-of-the-art methods. Furthermore, our reasoning framework also provides an explainable way to understand the decision of the deep neural network when predicting the answer.
Active Learning for Sound Negotiations
Venue: arXiv cs.LO 2022
Year: 2022

We present two active learning algorithms for sound deterministic negotiations. Sound deterministic negotiations are models of distributed systems, a kind of Petri nets or Zielonka automata with additional structure. We show that this additional structure allows to minimize such negotiations. The two active learning algorithms differ in the type of membership queries they use. Both have similar complexity to Angluin's L* algorithm, in particular, the number of queries is polynomial in the size of the negotiation, and not in the number of configurations.
Adversarial Attacks on Spiking Convolutional Neural Networks for Event-based Vision
Venue: arXiv cs.CV 2022
Year: 2022

Event-based dynamic vision sensors provide very sparse output in the form of spikes, which makes them suitable for low-power applications. Convolutional spiking neural networks model such event-based data and develop their full energy-saving potential when deployed on asynchronous neuromorphic hardware. Event-based vision being a nascent field, the sensitivity of spiking neural networks to potentially malicious adversarial attacks has received little attention so far. We show how white-box adversarial attack algorithms can be adapted to the discrete and sparse nature of event-based visual data, and demonstrate smaller perturbation magnitudes at higher success rates than the current state-of-the-art algorithms. For the first time, we also verify the effectiveness of these perturbations directly on neuromorphic hardware. Finally, we discuss the properties of the resulting perturbations, the effect of adversarial training as a defense strategy, and future directions.
Learning Multi-Objective Curricula for Robotic Policy Learning
Venue: arXiv cs.LG 2022
Year: 2022

Various automatic curriculum learning (ACL) methods have been proposed to improve the sample efficiency and final performance of deep reinforcement learning (DRL). They are designed to control how a DRL agent collects data, which is inspired by how humans gradually adapt their learning processes to their capabilities. For example, ACL can be used for subgoal generation, reward shaping, environment generation, or initial state generation. However, prior work only considers curriculum learning following one of the aforementioned predefined paradigms. It is unclear which of these paradigms are complementary, and how the combination of them can be learned from interactions with the environment. Therefore, in this paper, we propose a unified automatic curriculum learning framework to create multi-objective but coherent curricula that are generated by a set of parametric curriculum modules. Each curriculum module is instantiated as a neural network and is responsible for generating a particular curriculum. In order to coordinate those potentially conflicting modules in unified parameter space, we propose a multi-task hyper-net learning framework that uses a single hyper-net to parameterize all those curriculum modules. In addition to existing hand-designed curricula paradigms, we further design a flexible memory mechanism to learn an abstract curriculum, which may otherwise be difficult to design manually. We evaluate our method on a series of robotic manipulation tasks and demonstrate its superiority over other state-of-the-art ACL methods in terms of sample efficiency and final performance.
Construction Site Safety Monitoring and Excavator Activity Analysis System
Venue: arXiv cs.CV 2022
Year: 2022

With the recent advancements in deep learning and computer vision, the AI-powered construction machine such as autonomous excavator has made significant progress. Safety is the most important section in modern construction, where construction machines are more and more automated. In this paper, we propose a vision-based excavator perception, activity analysis, and safety monitoring system. Our perception system could detect multi-class construction machines and humans in real-time while estimating the poses and actions of the excavator. Then, we present a novel safety monitoring and excavator activity analysis system based on the perception result. To evaluate the performance of our method, we collect a dataset using the Autonomous Excavator System (AES) including multi-class of objects in different lighting conditions with human annotations. We also evaluate our method on a benchmark construction dataset. The results showed our YOLO v5 multi-class objects detection model improved inference speed by 8 times (YOLO v5 x-large) to 34 times (YOLO v5 small) compared with Faster R-CNN/ YOLO v3 model. Furthermore, the accuracy of YOLO v5 models is improved by 2.7% (YOLO v5 x-large) while model size is reduced by 63.9% (YOLO v5 x-large) to 93.9% (YOLO v5 small). The experimental results show that the proposed action recognition approach outperforms the state-of-the-art approaches on top-1 accuracy by about 5.18%. The proposed real-time safety monitoring system is not only designed for our Autonomous Excavator System (AES) in solid waste scenes, it can also be applied to general construction scenarios.