OpenRaiser/Intern-Atlas huggingface dataset:
1-degree-of-freedom Robotic Gripper With Infinite Self-Twist Function
Venue: arXiv cs.RO 2022
Year: 2022

This study proposed a novel robotic gripper that can achieve grasping and infinite wrist twisting motions using a single actuator. The gripper is equipped with a differential gear mechanism that allows switching between the grasping and twisting motions according to the magnitude of the tip force applied to the finger. The grasping motion is activated when the tip force is below a set value, and the wrist twisting motion is activated when the tip force exceeds this value. "Twist grasping," a special grasping mode that allows the wrapping of a flexible thin object around the fingers of the gripper, can be achieved by the twisting motion. Twist grasping is effective for handling objects with flexible thin parts, such as laminated packaging pouches, that are difficult to grasp using conventional antipodal grasping. In this study, the gripper design is presented, and twist grasping is analyzed. The gripper performance is experimentally validated.
Contrastive Self-Supervised Learning for Skeleton Representations
Venue: arXiv cs.CV 2022
Year: 2022

Human skeleton point clouds are commonly used to automatically classify and predict the behaviour of others. In this paper, we use a contrastive self-supervised learning method, SimCLR, to learn representations that capture the semantics of skeleton point clouds. This work focuses on systematically evaluating the effects that different algorithmic decisions (including augmentations, dataset partitioning and backbone architecture) have on the learned skeleton representations. To pre-train the representations, we normalise six existing datasets to obtain more than 40 million skeleton frames. We evaluate the quality of the learned representations with three downstream tasks: skeleton reconstruction, motion prediction, and activity classification. Our results demonstrate the importance of 1) combining spatial and temporal augmentations, 2) including additional datasets for encoder training, and 3) and using a graph neural network as an encoder.
Parameterized Complexity of Weighted Local Hamiltonian Problems and the Quantum Exponential Time Hypothesis
Venue: arXiv cs.CC 2022
Year: 2022

We study a parameterized version of the local Hamiltonian problem, called the weighted local Hamiltonian problem, where the relevant quantum states are superpositions of computational basis states of Hamming weight $k$. The Hamming weight constraint can have a physical interpretation as a constraint on the number of excitations allowed or particle number in a system. We prove that this problem is in QW[1], the first level of the quantum weft hierarchy and that it is hard for QM[1], the quantum analogue of M[1]. Our results show that this problem cannot be fixed-parameter quantum tractable (FPQT) unless certain natural quantum analogue of the exponential time hypothesis (ETH) is false.
Efficient Unsupervised Video Object Segmentation Network Based on Motion Guidance
Venue: arXiv cs.CV 2022
Year: 2022

Due to the problem of performance constraints of unsupervised video object detection, its large-scale application is limited. In response to this pain point, we propose another excellent method to solve this problematic point. By incorporating motion characterization in unsupervised video object detection, detection accuracy is improved while reducing the computational amount of the network. The whole network structure consists of dual-stream network, motion guidance module, and multi-scale progressive fusion module. The appearance and motion representations of the detection target are obtained through a dual-stream network. Then, the semantic features of the motion representation are obtained through the local attention mechanism in the motion guidance module to obtain the high-level semantic features of the appearance representation. The multi-scale progressive fusion module then fuses the features of different deep semantic features in the dual-stream network further to improve the detection effect of the overall network. We have conducted numerous experiments on the three datasets of DAVIS 16, FBMS, and ViSal. The verification results show that the proposed method achieves superior accuracy and performance and proves the superiority and robustness of the algorithm.
MSDT: Masked Language Model Scoring Defense in Text Domain
Venue: arXiv cs.CL 2022
Year: 2022

Pre-trained language models allowed us to process downstream tasks with the help of fine-tuning, which aids the model to achieve fairly high accuracy in various Natural Language Processing (NLP) tasks. Such easily-downloaded language models from various websites empowered the public users as well as some major institutions to give a momentum to their real-life application. However, it was recently proven that models become extremely vulnerable when they are backdoor attacked with trigger-inserted poisoned datasets by malicious users. The attackers then redistribute the victim models to the public to attract other users to use them, where the models tend to misclassify when certain triggers are detected within the training sample. In this paper, we will introduce a novel improved textual backdoor defense method, named MSDT, that outperforms the current existing defensive algorithms in specific datasets. The experimental results illustrate that our method can be effective and constructive in terms of defending against backdoor attack in text domain. Code is available at https://github.com/jcroh0508/MSDT.
Multi-Scenario Bimetric-Balanced IoT Resource Allocation: An Evolutionary Approach
Venue: arXiv cs.CY 2022
Year: 2022

In this paper, we allocate IoT devices as resources for smart services with time-constrained resource requirements. The allocation method named as BRAD can work under multiple resource scenarios with diverse resource richnesses, availabilities and costs, such as the intelligent healthcare system deployed by Harbin Institute of Technology (HIT-IHC). The allocation aims for bimetric-balancing under the multi-scenario case, i.e., the profit and cost associated with service satisfaction are jointly optimised and balanced wisely. Besides, we abstract IoT devices as digital objects (DO) to make them easier to interact with during resource allocation. Considering that the problem is NP-Hard and the optimisation objective is not differentiable, we utilise Grey Wolf Optimisation (GWO) algorithm as the model optimiser. Specifically, we tackle the deficiencies of GWO and significantly improve its performance by introducing three new mechanisms to form the BRAD-GWA algorithm. Comprehensive experiments are conducted on realistic HIT-IHC IoT testbeds and several algorithms are compared, including the allocation method originally used by HIT-IHC system to verify the effectiveness of the BRAD-GWA. The BRAD-GWA achieves a 3.14 times and 29.6% objective reduction compared with the HIT-IHC and the original GWO algorithm, respectively.
EvEntS ReaLM: Event Reasoning of Entity States via Language Models
Venue: arXiv cs.CL 2022
Year: 2022

This paper investigates models of event implications. Specifically, how well models predict entity state-changes, by targeting their understanding of physical attributes. Nominally, Large Language models (LLM) have been exposed to procedural knowledge about how objects interact, yet our benchmarking shows they fail to reason about the world. Conversely, we also demonstrate that existing approaches often misrepresent the surprising abilities of LLMs via improper task encodings and that proper model prompting can dramatically improve performance of reported baseline results across multiple tasks. In particular, our results indicate that our prompting technique is especially useful for unseen attributes (out-of-domain) or when only limited data is available.
A metaheuristic multi-objective interaction-aware feature selection method
Venue: arXiv cs.AI 2022
Year: 2022

Multi-objective feature selection is one of the most significant issues in the field of pattern recognition. It is challenging because it maximizes the classification performance and, at the same time, minimizes the number of selected features, and the mentioned two objectives are usually conflicting. To achieve a better Pareto optimal solution, metaheuristic optimization methods are widely used in many studies. However, the main drawback is the exploration of a large search space. Another problem with multi-objective feature selection approaches is the interaction between features. Selecting correlated features has negative effect on classification performance. To tackle these problems, we present a novel multi-objective feature selection method that has several advantages. Firstly, it considers the interaction between features using an advanced probability scheme. Secondly, it is based on the Pareto Archived Evolution Strategy (PAES) method that has several advantages such as simplicity and its speed in exploring the solution space. However, we improve the structure of PAES in such a way that generates the offsprings, intelligently. Thus, the proposed method utilizes the introduced probability scheme to produce more promising offsprings. Finally, it is equipped with a novel strategy that guides it to find the optimum number of features through the process of evolution. The experimental results show a significant improvement in finding the optimal Pareto front compared to state-of-the-art methods on different real-world datasets.
DrawMon: A Distributed System for Detection of Atypical Sketch Content in Concurrent Pictionary Games
Venue: arXiv cs.CV 2022
Year: 2022

Pictionary, the popular sketch-based guessing game, provides an opportunity to analyze shared goal cooperative game play in restricted communication settings. However, some players occasionally draw atypical sketch content. While such content is occasionally relevant in the game context, it sometimes represents a rule violation and impairs the game experience. To address such situations in a timely and scalable manner, we introduce DrawMon, a novel distributed framework for automatic detection of atypical sketch content in concurrently occurring Pictionary game sessions. We build specialized online interfaces to collect game session data and annotate atypical sketch content, resulting in AtyPict, the first ever atypical sketch content dataset. We use AtyPict to train CanvasNet, a deep neural atypical content detection network. We utilize CanvasNet as a core component of DrawMon. Our analysis of post deployment game session data indicates DrawMon's effectiveness for scalable monitoring and atypical sketch content detection. Beyond Pictionary, our contributions also serve as a design guide for customized atypical content response systems involving shared and interactive whiteboards. Code and datasets are available at https://drawm0n.github.io.
Semantic Learning and Emulation Based Cross-platform Binary Vulnerability Seeker
Venue: arXiv cs.CR 2022
Year: 2022

Clone detection is widely exploited for software vulnerability search. The approaches based on source code analysis cannot be applied to binary clone detection because the same source code can produce significantly different binaries. In this paper, we present BinSeeker, a cross-platform binary seeker that integrates semantic learning and emulation. With the help of the labeled semantic flow graph, BinSeeker can quickly identify M candidate functions that are most similar to the vulnerability from the target binary. The value of M is relatively large so this semantic learning procedure essentially eliminates those functions that are very unlikely to have the vulnerability. Then, semantic emulation is conducted on these M candidates to obtain their dynamic signature sequences. By comparing signature sequences, BinSeeker produces top-N functions that exhibit most similar behavior to that of the vulnerability. With fast filtering of semantic learning and accurate comparison of semantic emulation, BinSeeker seeks vulnerability precisely with little overhead. The experiments on six widely used programs with fifteen known CVE vulnerabilities demonstrate that BinSeeker outperforms three state-of-the-art tools Genius, Gemini and CACompare. Regarding search accuracy, BinSeeker achieves an MRR value of 0.65 in the target programs, whereas the MRR values by Genius, Gemini and CACompare are 0.17, 0.07 and 0.42, respectively. If we consider ranking a function with the targeted vulnerability in the top-5 as accurate, BinSeeker achieves the accuracy of 93.33 percent, while the accuracy of the other three tools is merely 33.33, 13.33 and 53.33 percent, respectively. Such accuracy is achieved with 0.27s on average to determine whether the target binary function contains a known vulnerability, and the time for the other three tools are 1.57s, 0.15s and 0.98s, respectively.
An O(loglog n)-Approximation for Submodular Facility Location
Venue: arXiv cs.DS 2022
Year: 2022

In the Submodular Facility Location problem (SFL) we are given a collection of $n$ clients and $m$ facilities in a metric space. A feasible solution consists of an assignment of each client to some facility. For each client, one has to pay the distance to the associated facility. Furthermore, for each facility $f$ to which we assign the subset of clients $S^f$, one has to pay the opening cost $g(S^f)$, where $g(\cdot)$ is a monotone submodular function with $g(\emptyset)=0$. SFL is APX-hard since it includes the classical (metric uncapacitated) Facility Location problem (with uniform facility costs) as a special case. Svitkina and Tardos [SODA'06] gave the current-best $O(\log n)$ approximation algorithm for SFL. The same authors pose the open problem whether SFL admits a constant approximation and provide such an approximation for a very restricted special case of the problem. We make some progress towards the solution of the above open problem by presenting an $O(\log\log n)$ approximation. Our approach is rather flexible and can be easily extended to generalizations and variants of SFL. In more detail, we achieve the same approximation factor for the practically relevant generalizations of SFL where the opening cost of each facility $f$ is of the form $p_f+g(S^f)$ or $w_f\cdot g(S^f)$, where $p_f,w_f \geq 0$ are input values. We also obtain an improved approximation algorithm for the related Universal Stochastic Facility Location problem. In this problem one is given a classical (metric) facility location instance and has to a priori assign each client to some facility. Then a subset of active clients is sampled from some given distribution, and one has to pay (a posteriori) only the connection and opening costs induced by the active clients. The expected opening cost of each facility $f$ can be modelled with a submodular function of the set of clients assigned to $f$.
Discrepancy Minimization via Regularization
Venue: arXiv cs.DS 2022
Year: 2022

We introduce a new algorithmic framework for discrepancy minimization based on regularization. We demonstrate how varying the regularizer allows us to re-interpret several breakthrough works in algorithmic discrepancy, ranging from Spencer's theorem [Spencer 1985, Bansal 2010] to Banaszczyk's bounds [Banaszczyk 1998, Bansal-Dadush-Garg 2016]. Using our techniques, we also show that the Beck-Fiala and Komlós conjectures are true in a new regime of pseudorandom instances.
Training and Serving Machine Learning Models at Scale
Venue: arXiv cs.SE 2022
Year: 2022

In recent years, Web services are becoming more and more intelligent (e.g., in understanding user preferences) thanks to the integration of components that rely on Machine Learning (ML). Before users can interact (inference phase) with an ML-based service (ML-Service), the underlying ML model must learn (training phase) from existing data, a process that requires long-lasting batch computations. The management of these two, diverse phases is complex and meeting time and quality requirements can hardly be done with manual approaches. This paper highlights some of the major issues in managing ML-services in both training and inference modes and presents some initial solutions that are able to meet set requirements with minimum user inputs. A preliminary evaluation demonstrates that our solutions allow these systems to become more efficient and predictable with respect to their response time and accuracy.
MGiaD: Multigrid in all dimensions. Efficiency and robustness by coarsening in resolution and channel dimensions
Venue: arXiv cs.CV 2022
Year: 2022

Current state-of-the-art deep neural networks for image classification are made up of 10 - 100 million learnable weights and are therefore inherently prone to overfitting. The complexity of the weight count can be seen as a function of the number of channels, the spatial extent of the input and the number of layers of the network. Due to the use of convolutional layers the scaling of weight complexity is usually linear with regards to the resolution dimensions, but remains quadratic with respect to the number of channels. Active research in recent years in terms of using multigrid inspired ideas in deep neural networks have shown that on one hand a significant number of weights can be saved by appropriate weight sharing and on the other that a hierarchical structure in the channel dimension can improve the weight complexity to linear. In this work, we combine these multigrid ideas to introduce a joint framework of multigrid inspired architectures, that exploit multigrid structures in all relevant dimensions to achieve linear weight complexity scaling and drastically reduced weight counts. Our experiments show that this structured reduction in weight count is able to reduce overfitting and thus shows improved performance over state-of-the-art ResNet architectures on typical image classification benchmarks at lower network complexity.
Mobile Robot Motion Control Using a Combination of Fuzzy Logic Method and Kinematic Model
Venue: arXiv cs.RO 2022
Year: 2022

Mobile robots have been widely used in various aspects of human life. When a robot moves between different positions in the working area to perform the task, controlling motion to follow a pre-defined path is the primary task of a mobile robot. Furthermore, the robot must remain at its desired speed to cooperate with other agents. This paper presents a development of a motion controller, in which the fuzzy logic method is combined with a kinematic model of a differential drive robot. The simulation results are compared well with experimental results indicate that the method is effective and applicable for actual mobile robots.
A Brief Survey on Representation Learning based Graph Dimensionality Reduction Techniques
Venue: arXiv cs.LG 2022
Year: 2022

Dimensionality reduction techniques map data represented on higher dimensions onto lower dimensions with varying degrees of information loss. Graph dimensionality reduction techniques adopt the same principle of providing latent representations of the graph structure with minor adaptations to the output representations along with the input data. There exist several cutting edge techniques that are efficient at generating embeddings from graph data and projecting them onto low dimensional latent spaces. Due to variations in the operational philosophy, the benefits of a particular graph dimensionality reduction technique might not prove advantageous to every scenario or rather every dataset. As a result, some techniques are efficient at representing the relationship between nodes at lower dimensions, while others are good at encapsulating the entire graph structure on low dimensional space. We present this survey to outline the benefits as well as problems associated with the existing graph dimensionality reduction techniques. We also attempted to connect the dots regarding the potential improvements to some of the techniques. This survey could be helpful for upcoming researchers interested in exploring the usage of graph representation learning to effectively produce low-dimensional graph embeddings with varying degrees of granularity.
Moving beyond word lists: towards abstractive topic labels for human-like topics of scientific documents
Venue: arXiv cs.CL 2022
Year: 2022

Topic models represent groups of documents as a list of words (the topic labels). This work asks whether an alternative approach to topic labeling can be developed that is closer to a natural language description of a topic than a word list. To this end, we present an approach to generating human-like topic labels using abstractive multi-document summarization (MDS). We investigate our approach with an exploratory case study. We model topics in citation sentences in order to understand what further research needs to be done to fully operationalize MDS for topic labeling. Our case study shows that in addition to more human-like topics there are additional advantages to evaluation by using clustering and summarization measures instead of topic model measures. However, we find that there are several developments needed before we can design a well-powered study to evaluate MDS for topic modeling fully. Namely, improving cluster cohesion, improving the factuality and faithfulness of MDS, and increasing the number of documents that might be supported by MDS. We present a number of ideas on how these can be tackled and conclude with some thoughts on how topic modeling can also be used to improve MDS in general.
UAV Traffic Management : A Survey On Communication Security
Venue: arXiv cs.CR 2022
Year: 2022

Unmanned Aerial Systems (UAS) have a wide variety of applications, and their development in terms of capabilities is continuously evolving. Many missions performed by an Unmanned Aerial Vehicle (UAV) require flying in public airspace. This requires very high safety standards, similar to those mandatory in commercial civil aviation. A safe UAV Traffic Management (UTM) requires several communication links between aircraft, their pilots and UTM systems. The integrity of these communication links is critical for the safety of operations. Several security requirements also have to be met on each of these links. Unfortunately, current cryptographic standards used over the internet are most often not suitable to UAS due to their limited resources and dynamic nature. This survey discusses the security required for every communication link in order to enable a safe traffic management. Research works focusing on the security of communication links using cryptographic primitives are then presented and discussed. Authentication protocols developed for UAVs or other constrained systems are compared and evaluated as solutions for UAS security. Symmetrical alternatives to the AES algorithm are also presented. Works to secure current UTM protocols such as ADS-B and RemoteID are discussed. The analysis reveals a need for the development of a complete secure architecture able to provide authentication and integrity to external systems (other aircraft, UTM systems...).
Early Performance Results on 4th Gen Intel(R) Xeon (R) Scalable Processors with DDR and Intel(R) Xeon(R) processors, codenamed Sapphire Rapids with HBM
Venue: arXiv cs.DC 2022
Year: 2022

The Crossroads supercomputer was designed to simulate some of the most complex physical devices in the world. These simulations routinely require 1/2 petabyte or more of system memory running on thousands of compute nodes for months at a time on the most powerful supercomputers. Improvements in time to solutions for these workloads can have major impact on our mission capabilities. In this paper we present early results of representative application workloads on 4th Gen Intel Xeon and Intel Xeon Processors codenamed Sapphire Rapids with HBM. These results demonstrate an extremely promising 8.57x improvement (node to node) over our prior generation Intel Broadwell (BDW) based HPC systems. No code modifications were required to achieve this speedup, providing a compelling path forward toward major reductions in time to solution and the complexity of physical systems that can be simulated in the future.