OpenRaiser/Intern-Atlas huggingface dataset:
Kernel based regression with robust loss function via iteratively reweighted least squares
Venue: arXiv cs.LG 2020
Year: 2020

Least squares kernel based methods have been widely used in regression problems due to the simple implementation and good generalization performance. Among them, least squares support vector regression (LS-SVR) and extreme learning machine (ELM) are popular techniques. However, the noise sensitivity is a major bottleneck. To address this issue, a generalized loss function, called $\ell_s$-loss, is proposed in this paper. With the support of novel loss function, two kernel based regressors are constructed by replacing the $\ell_2$-loss in LS-SVR and ELM with the proposed $\ell_s$-loss for better noise robustness. Important properties of $\ell_s$-loss, including robustness, asymmetry and asymptotic approximation behaviors, are verified theoretically. Moreover, iteratively reweighted least squares (IRLS) is utilized to optimize and interpret the proposed methods from a weighted viewpoint. The convergence of the proposal are proved, and detailed analyses of robustness are given. Experiments on both artificial and benchmark datasets confirm the validity of the proposed methods.
TossingBot: Learning to Throw Arbitrary Objects with Residual Physics
Venue: arXiv cs.RO 2020
Year: 2020

We investigate whether a robot arm can learn to pick and throw arbitrary objects into selected boxes quickly and accurately. Throwing has the potential to increase the physical reachability and picking speed of a robot arm. However, precisely throwing arbitrary objects in unstructured settings presents many challenges: from acquiring reliable pre-throw conditions (e.g. initial pose of object in manipulator) to handling varying object-centric properties (e.g. mass distribution, friction, shape) and dynamics (e.g. aerodynamics). In this work, we propose an end-to-end formulation that jointly learns to infer control parameters for grasping and throwing motion primitives from visual observations (images of arbitrary objects in a bin) through trial and error. Within this formulation, we investigate the synergies between grasping and throwing (i.e., learning grasps that enable more accurate throws) and between simulation and deep learning (i.e., using deep networks to predict residuals on top of control parameters predicted by a physics simulator). The resulting system, TossingBot, is able to grasp and throw arbitrary objects into boxes located outside its maximum reach range at 500+ mean picks per hour (600+ grasps per hour with 85% throwing accuracy); and generalizes to new objects and target locations. Videos are available at https://tossingbot.cs.princeton.edu
A Provable Defense for Deep Residual Networks
Venue: arXiv cs.LG 2020
Year: 2020

We present a training system, which can provably defend significantly larger neural networks than previously possible, including ResNet-34 and DenseNet-100. Our approach is based on differentiable abstract interpretation and introduces two novel concepts: (i) abstract layers for fine-tuning the precision and scalability of the abstraction, (ii) a flexible domain specific language (DSL) for describing training objectives that combine abstract and concrete losses with arbitrary specifications. Our training method is implemented in the DiffAI system.
RefineLoc: Iterative Refinement for Weakly-Supervised Action Localization
Venue: arXiv cs.CV 2020
Year: 2020

Video action detectors are usually trained using datasets with fully-supervised temporal annotations. Building such datasets is an expensive task. To alleviate this problem, recent methods have tried to leverage weak labeling, where videos are untrimmed and only a video-level label is available. In this paper, we propose RefineLoc, a novel weakly-supervised temporal action localization method. RefineLoc uses an iterative refinement approach by estimating and training on snippet-level pseudo ground truth at every iteration. We show the benefit of this iterative approach and present an extensive analysis of five different pseudo ground truth generators. We show the effectiveness of our model on two standard action datasets, ActivityNet v1.2 and THUMOS14. RefineLoc shows competitive results with the state-of-the-art in weakly-supervised temporal localization. Additionally, our iterative refinement process is able to significantly improve the performance of two state-of-the-art methods, setting a new state-of-the-art on THUMOS14.
COCO-GAN: Generation by Parts via Conditional Coordinating
Venue: arXiv cs.LG 2020
Year: 2020

Humans can only interact with part of the surrounding environment due to biological restrictions. Therefore, we learn to reason the spatial relationships across a series of observations to piece together the surrounding environment. Inspired by such behavior and the fact that machines also have computational constraints, we propose \underline{CO}nditional \underline{CO}ordinate GAN (COCO-GAN) of which the generator generates images by parts based on their spatial coordinates as the condition. On the other hand, the discriminator learns to justify realism across multiple assembled patches by global coherence, local appearance, and edge-crossing continuity. Despite the full images are never generated during training, we show that COCO-GAN can produce \textbf{state-of-the-art-quality} full images during inference. We further demonstrate a variety of novel applications enabled by teaching the network to be aware of coordinates. First, we perform extrapolation to the learned coordinate manifold and generate off-the-boundary patches. Combining with the originally generated full image, COCO-GAN can produce images that are larger than training samples, which we called "beyond-boundary generation". We then showcase panorama generation within a cylindrical coordinate system that inherently preserves horizontally cyclic topology. On the computation side, COCO-GAN has a built-in divide-and-conquer paradigm that reduces memory requisition during training and inference, provides high-parallelism, and can generate parts of images on-demand.
Efficient Concurrent Execution of Smart Contracts in Blockchains using Object-based Transactional Memory
Venue: arXiv cs.DC 2020
Year: 2020

This paper proposes an efficient framework to execute Smart Contract Transactions (SCTs) concurrently based on object semantics, using optimistic Single-Version Object-based Software Transactional Memory Systems (SVOSTMs) and Multi-Version OSTMs (MVOSTMs). In our framework, a multi-threaded miner constructs a Block Graph (BG), capturing the object-conflicts relations between SCTs, and stores it in the block. Later, validators re-execute the same SCTs concurrently and deterministically relying on this BG. A malicious miner can modify the BG to harm the blockchain, e.g., to cause double-spending. To identify malicious miners, we propose Smart Multi-threaded Validator (SMV). Experimental analysis shows that the proposed multi-threaded miner and validator achieve significant performance gains over state-of-the-art SCT execution framework.
A Survey of Code-switched Speech and Language Processing
Venue: arXiv cs.CL 2020
Year: 2020

Code-switching, the alternation of languages within a conversation or utterance, is a common communicative phenomenon that occurs in multilingual communities across the world. This survey reviews computational approaches for code-switched Speech and Natural Language Processing. We motivate why processing code-switched text and speech is essential for building intelligent agents and systems that interact with users in multilingual communities. As code-switching data and resources are scarce, we list what is available in various code-switched language pairs with the language processing tasks they can be used for. We review code-switching research in various Speech and NLP applications, including language processing tools and end-to-end systems. We conclude with future directions and open problems in the field.
Guided Meta-Policy Search
Venue: arXiv cs.LG 2020
Year: 2020

Reinforcement learning (RL) algorithms have demonstrated promising results on complex tasks, yet often require impractical numbers of samples since they learn from scratch. Meta-RL aims to address this challenge by leveraging experience from previous tasks so as to more quickly solve new tasks. However, in practice, these algorithms generally also require large amounts of on-policy experience during the meta-training process, making them impractical for use in many problems. To this end, we propose to learn a reinforcement learning procedure in a federated way, where individual off-policy learners can solve the individual meta-training tasks, and then consolidate these solutions into a single meta-learner. Since the central meta-learner learns by imitating the solutions to the individual tasks, it can accommodate either the standard meta-RL problem setting or a hybrid setting where some or all tasks are provided with example demonstrations. The former results in an approach that can leverage policies learned for previous tasks without significant amounts of on-policy data during meta-training, whereas the latter is particularly useful in cases where demonstrations are easy for a person to provide. Across a number of continuous control meta-RL problems, we demonstrate significant improvements in meta-RL sample efficiency in comparison to prior work as well as the ability to scale to domains with visual observations.
Evolving Plasticity for Autonomous Learning under Changing Environmental Conditions
Venue: arXiv cs.NE 2020
Year: 2020

A fundamental aspect of learning in biological neural networks is the plasticity property which allows them to modify their configurations during their lifetime. Hebbian learning is a biologically plausible mechanism for modeling the plasticity property in artificial neural networks (ANNs), based on the local interactions of neurons. However, the emergence of a coherent global learning behavior from local Hebbian plasticity rules is not very well understood. The goal of this work is to discover interpretable local Hebbian learning rules that can provide autonomous global learning. To achieve this, we use a discrete representation to encode the learning rules in a finite search space. These rules are then used to perform synaptic changes, based on the local interactions of the neurons. We employ genetic algorithms to optimize these rules to allow learning on two separate tasks (a foraging and a prey-predator scenario) in online lifetime learning settings. The resulting evolved rules converged into a set of well-defined interpretable types, that are thoroughly discussed. Notably, the performance of these rules, while adapting the ANNs during the learning tasks, is comparable to that of offline learning methods such as hill climbing.
GFF: Gated Fully Fusion for Semantic Segmentation
Venue: arXiv cs.CV 2020
Year: 2020

Semantic segmentation generates comprehensive understanding of scenes through densely predicting the category for each pixel. High-level features from Deep Convolutional Neural Networks already demonstrate their effectiveness in semantic segmentation tasks, however the coarse resolution of high-level features often leads to inferior results for small/thin objects where detailed information is important. It is natural to consider importing low level features to compensate for the lost detailed information in high-level features.Unfortunately, simply combining multi-level features suffers from the semantic gap among them. In this paper, we propose a new architecture, named Gated Fully Fusion (GFF), to selectively fuse features from multiple levels using gates in a fully connected way. Specifically, features at each level are enhanced by higher-level features with stronger semantics and lower-level features with more details, and gates are used to control the propagation of useful information which significantly reduces the noises during fusion. We achieve the state of the art results on four challenging scene parsing datasets including Cityscapes, Pascal Context, COCO-stuff and ADE20K.
Unsupervised User Stance Detection on Twitter
Venue: arXiv cs.SI 2020
Year: 2020

We present a highly effective unsupervised framework for detecting the stance of prolific Twitter users with respect to controversial topics. In particular, we use dimensionality reduction to project users onto a low-dimensional space, followed by clustering, which allows us to find core users that are representative of the different stances. Our framework has three major advantages over pre-existing methods, which are based on supervised or semi-supervised classification. First, we do not require any prior labeling of users: instead, we create clusters, which are much easier to label manually afterwards, e.g., in a matter of seconds or minutes instead of hours. Second, there is no need for domain- or topic-level knowledge either to specify the relevant stances (labels) or to conduct the actual labeling. Third, our framework is robust in the face of data skewness, e.g., when some users or some stances have greater representation in the data. We experiment with different combinations of user similarity features, dataset sizes, dimensionality reduction methods, and clustering algorithms to ascertain the most effective and most computationally efficient combinations across three different datasets (in English and Turkish). We further verified our results on additional tweet sets covering six different controversial topics. Our best combination in terms of effectiveness and efficiency uses retweeted accounts as features, UMAP for dimensionality reduction, and Mean Shift for clustering, and yields a small number of high-quality user clusters, typically just 2--3, with more than 98\% purity. The resulting user clusters can be used to train downstream classifiers. Moreover, our framework is robust to variations in the hyper-parameter values and also with respect to random initialization.
GEDI: Gammachirp Envelope Distortion Index for Predicting Intelligibility of Enhanced Speech
Venue: arXiv cs.SD 2020
Year: 2020

In this study, we propose a new concept, the gammachirp envelope distortion index (GEDI), based on the signal-to-distortion ratio in the auditory envelope, SDRenv to predict the intelligibility of speech enhanced by nonlinear algorithms. The objective of GEDI is to calculate the distortion between enhanced and clean-speech representations in the domain of a temporal envelope extracted by the gammachirp auditory filterbank and modulation filterbank. We also extend GEDI with multi-resolution analysis (mr-GEDI) to predict the speech intelligibility of sounds under non-stationary noise conditions. We evaluate GEDI in terms of speech intelligibility predictions of speech sounds enhanced by a classic spectral subtraction and a Wiener filtering method. The predictions are compared with human results for various signal-to-noise ratio conditions with additive pink and babble noises. The results showed that mr-GEDI predicted the intelligibility curves better than short-time objective intelligibility (STOI) measure, extended-STOI (ESTOI) measure, and hearing-aid speech perception index (HASPI) under pink-noise conditions, and better than HASPI under babble-noise conditions. The mr-GEDI method does not present an overestimation tendency and is considered a more conservative approach than STOI and ESTOI. Therefore, the evaluation with mr-GEDI may provide additional information in the development of speech enhancement algorithms.
HopSkipJumpAttack: A Query-Efficient Decision-Based Attack
Venue: arXiv cs.LG 2020
Year: 2020

The goal of a decision-based adversarial attack on a trained model is to generate adversarial examples based solely on observing output labels returned by the targeted model. We develop HopSkipJumpAttack, a family of algorithms based on a novel estimate of the gradient direction using binary information at the decision boundary. The proposed family includes both untargeted and targeted attacks optimized for $\ell_2$ and $\ell_\infty$ similarity metrics respectively. Theoretical analysis is provided for the proposed algorithms and the gradient direction estimate. Experiments show HopSkipJumpAttack requires significantly fewer model queries than Boundary Attack. It also achieves competitive performance in attacking several widely-used defense mechanisms. (HopSkipJumpAttack was named Boundary Attack++ in a previous version of the preprint.)
TLS 1.3 for engineers: An exploration of the TLS 1.3 specification and OpenJDK's Java implementation
Venue: arXiv cs.CR 2020
Year: 2020

The Internet delivered in excess of forty terabytes per second in 2017 (Cisco, 2018), and over half of today's Internet traffic is encrypted (Sandvine, 2018); enabling trade worth trillions of dollars (Statista, 2017). Yet, the underlying encryption technology is only understood by a select few. This manuscript broadens understanding by exploring TLS, an encryption technology used to protect application layer communication (including HTTP, FTP and SMTP traffic), and by examining Oracle's Java implementation. We focus on the most recent TLS release, namely, version 1.3, which is defined by RFC 8446.
Algebraic Characterization of Essential Matrices and Their Averaging in Multiview Settings
Venue: arXiv cs.CV 2020
Year: 2020

Essential matrix averaging, i.e., the task of recovering camera locations and orientations in calibrated, multiview settings, is a first step in global approaches to Euclidean structure from motion. A common approach to essential matrix averaging is to separately solve for camera orientations and subsequently for camera positions. This paper presents a novel approach that solves simultaneously for both camera orientations and positions. We offer a complete characterization of the algebraic conditions that enable a unique Euclidean reconstruction of $n$ cameras from a collection of $(^n_2)$ essential matrices. We next use these conditions to formulate essential matrix averaging as a constrained optimization problem, allowing us to recover a consistent set of essential matrices given a (possibly partial) set of measured essential matrices computed independently for pairs of images. We finally use the recovered essential matrices to determine the global positions and orientations of the $n$ cameras. We test our method on common SfM datasets, demonstrating high accuracy while maintaining efficiency and robustness, compared to existing methods.
Planning under non-rational perception of uncertain spatial costs
Venue: arXiv cs.RO 2020
Year: 2020

This work investigates the design of risk-perception-aware motion-planning strategies that incorporate non-rational perception of risks associated with uncertain spatial costs. Our proposed method employs the Cumulative Prospect Theory (CPT) to generate a perceived risk map over a given environment. CPT-like perceived risks and path-length metrics are then combined to define a cost function that is compliant with the requirements of asymptotic optimality of sampling-based motion planners (RRT*). The modeling power of CPT is illustrated in theory and in simulation, along with a comparison to other risk perception models like Conditional Value at Risk (CVaR). Theoretically, we define a notion of expressiveness for a risk perception model and show that CPT's is higher than that of CVaR and expected risk. We then show that this expressiveness translates to our path planning setting, where we observe that a planner equipped with CPT together with a simultaneous perturbation stochastic approximation (SPSA) method can better approximate arbitrary paths in an environment. Additionally, we show in simulation that our planner captures a rich set of meaningful paths, representative of different risk perceptions in a custom environment. We then compare the performance of our planner with T-RRT* (a planner for continuous cost spaces) and Risk-RRT* (a risk-aware planner for dynamic human obstacles) through simulations in cluttered and dynamic environments respectively, showing the advantage of our proposed planner.
Segment Routing: a Comprehensive Survey of Research Activities, Standardization Efforts and Implementation Results
Venue: arXiv cs.NI 2020
Year: 2020

Fixed and mobile telecom operators, enterprise network operators and cloud providers strive to face the challenging demands coming from the evolution of IP networks (e.g. huge bandwidth requirements, integration of billions of devices and millions of services in the cloud). Proposed in the early 2010s, Segment Routing (SR) architecture helps face these challenging demands, and it is currently being adopted and deployed. SR architecture is based on the concept of source routing and has interesting scalability properties, as it dramatically reduces the amount of state information to be configured in the core nodes to support complex services. SR architecture was first implemented with the MPLS dataplane and then, quite recently, with the IPv6 dataplane (SRv6). IPv6 SR architecture (SRv6) has been extended from the simple steering of packets across nodes to a general network programming approach, making it very suitable for use cases such as Service Function Chaining and Network Function Virtualization. In this paper we present a tutorial and a comprehensive survey on SR technology, analyzing standardization efforts, patents, research activities and implementation results. We start with an introduction on the motivations for Segment Routing and an overview of its evolution and standardization. Then, we provide a tutorial on Segment Routing technology, with a focus on the novel SRv6 solution. We discuss the standardization efforts and the patents providing details on the most important documents and mentioning other ongoing activities. We then thoroughly analyze research activities according to a taxonomy. We have identified 8 main categories during our analysis of the current state of play: Monitoring, Traffic Engineering, Failure Recovery, Centrally Controlled Architectures, Path Encoding, Network Programming, Performance Evaluation and Miscellaneous...
DeepSEED: 3D Squeeze-and-Excitation Encoder-Decoder Convolutional Neural Networks for Pulmonary Nodule Detection
Venue: arXiv cs.CV 2020
Year: 2020

Pulmonary nodule detection plays an important role in lung cancer screening with low-dose computed tomography (CT) scans. It remains challenging to build nodule detection deep learning models with good generalization performance due to unbalanced positive and negative samples. In order to overcome this problem and further improve state-of-the-art nodule detection methods, we develop a novel deep 3D convolutional neural network with an Encoder-Decoder structure in conjunction with a region proposal network. Particularly, we utilize a dynamically scaled cross entropy loss to reduce the false positive rate and combat the sample imbalance problem associated with nodule detection. We adopt the squeeze-and-excitation structure to learn effective image features and utilize inter-dependency information of different feature maps. We have validated our method based on publicly available CT scans with manually labelled ground-truth obtained from LIDC/IDRI dataset and its subset LUNA16 with thinner slices. Ablation studies and experimental results have demonstrated that our method could outperform state-of-the-art nodule detection methods by a large margin.