OpenRaiser/Intern-Atlas huggingface dataset:
Quantifying Daily Evolution of Mobile Software Based on Memory Allocator Churn
Venue: arXiv cs.SE 2022
Year: 2022

The pace and volume of code churn necessary to evolve modern software systems present challenges for analyzing the performance impact of any set of code changes. Traditional methods used in performance analysis rely on extensive data collection and profiling, which often takes days. For large organizations utilizing Continuous Integration (CI) and Continuous Deployment (CD), these traditional techniques often fail to provide timely and actionable data. A different impact analysis method that allows for more efficient detection of performance regressions is needed. We propose the utilization of user mode memory allocator churn as a novel approach to performance engineering. User mode allocator churn acts as a proxy metric to evaluate the relative change in the cost of specific tasks. We prototyped the memory allocation churn methodology while engaged in performance engineering for a major iOS application. We find that calculating and analyzing memory allocator churn (a) results in deterministic measurements, (b) is efficient for determining the presence of both individual performance regressions and general performance-related trends, and (c) is a suitable alternative to measuring the task completion time.
UX Personas for defining robot's character and personality
Venue: arXiv cs.RO 2022
Year: 2022

This paper describes the use of UX Personas for defining a stable character for the Pepper robot. This approach generated from the first analysis of the social interactions that occurred between Pepper and a group of children with autism working with the robot in a therapeutic laboratory on autonomy.
Self-Supervision, Remote Sensing and Abstraction: Representation Learning Across 3 Million Locations
Venue: arXiv cs.CV 2022
Year: 2022

Self-supervision based deep learning classification approaches have received considerable attention in academic literature. However, the performance of such methods on remote sensing imagery domains remains under-explored. In this work, we explore contrastive representation learning methods on the task of imagery-based city classification, an important problem in urban computing. We use satellite and map imagery across 2 domains, 3 million locations and more than 1500 cities. We show that self-supervised methods can build a generalizable representation from as few as 200 cities, with representations achieving over 95\% accuracy in unseen cities with minimal additional training. We also find that the performance discrepancy of such methods, when compared to supervised methods, induced by the domain discrepancy between natural imagery and abstract imagery is significant for remote sensing imagery. We compare all analysis against existing supervised models from academic literature and open-source our models for broader usage and further criticism.
TriggerZoo: A Dataset of Android Applications Automatically Infected with Logic Bombs
Venue: arXiv cs.CR 2022
Year: 2022

Many Android apps analyzers rely, among other techniques, on dynamic analysis to monitor their runtime behavior and detect potential security threats. However, malicious developers use subtle, though efficient, techniques to bypass dynamic analyzers. Logic bombs are examples of popular techniques where the malicious code is triggered only under specific circumstances, challenging comprehensive dynamic analyses. The research community has proposed various approaches and tools to detect logic bombs. Unfortunately, rigorous assessment and fair comparison of state-of-the-art techniques are impossible due to the lack of ground truth. In this paper, we present TriggerZoo, a new dataset of 406 Android apps containing logic bombs and benign trigger-based behavior that we release only to the research community using authenticated API. These apps are real-world apps from Google Play that have been automatically infected by our tool AndroBomb. The injected pieces of code implementing the logic bombs cover a large pallet of realistic logic bomb types that we have manually characterized from a set of real logic bombs. Researchers can exploit this dataset as ground truth to assess their approaches and provide comparisons against other tools.
Contextual Networks and Unsupervised Ranking of Sentences
Venue: arXiv cs.CL 2022
Year: 2022

We construct a contextual network to represent a document with syntactic and semantic relations between word-sentence pairs, based on which we devise an unsupervised algorithm called CNATAR (Contextual Network And Text Analysis Rank) to score sentences, and rank them through a bi-objective 0-1 knapsack maximization problem over topic analysis and sentence scores. We show that CNATAR outperforms the combined ranking of the three human judges provided on the SummBank dataset under both ROUGE and BLEU metrics, which in term significantly outperforms each individual judge's ranking. Moreover, CNATAR produces so far the highest ROUGE scores over DUC-02, and outperforms previous supervised algorithms on the CNN/DailyMail and NYT datasets. We also compare the performance of CNATAR and the latest supervised neural-network summarization models and compute oracle results.
On the Evaluation of Answer-Agnostic Paragraph-level Multi-Question Generation
Venue: arXiv cs.CL 2022
Year: 2022

We study the task of predicting a set of salient questions from a given paragraph without any prior knowledge of the precise answer. We make two main contributions. First, we propose a new method to evaluate a set of predicted questions against the set of references by using the Hungarian algorithm to assign predicted questions to references before scoring the assigned pairs. We show that our proposed evaluation strategy has better theoretical and practical properties compared to prior methods because it can properly account for the coverage of references. Second, we compare different strategies to utilize a pre-trained seq2seq model to generate and select a set of questions related to a given paragraph. The code is available.
Multi-Agent Policy Transfer via Task Relationship Modeling
Venue: arXiv cs.AI 2022
Year: 2022

Team adaptation to new cooperative tasks is a hallmark of human intelligence, which has yet to be fully realized in learning agents. Previous work on multi-agent transfer learning accommodate teams of different sizes, heavily relying on the generalization ability of neural networks for adapting to unseen tasks. We believe that the relationship among tasks provides the key information for policy adaptation. In this paper, we try to discover and exploit common structures among tasks for more efficient transfer, and propose to learn effect-based task representations as a common space of tasks, using an alternatively fixed training scheme. We demonstrate that the task representation can capture the relationship among tasks, and can generalize to unseen tasks. As a result, the proposed method can help transfer learned cooperation knowledge to new tasks after training on a few source tasks. We also find that fine-tuning the transferred policies help solve tasks that are hard to learn from scratch.
Onception: Active Learning with Expert Advice for Real World Machine Translation
Venue: arXiv cs.CL 2022
Year: 2022

Active learning can play an important role in low-resource settings (i.e., where annotated data is scarce), by selecting which instances may be more worthy to annotate. Most active learning approaches for Machine Translation assume the existence of a pool of sentences in a source language, and rely on human annotators to provide translations or post-edits, which can still be costly. In this article, we assume a real world human-in-the-loop scenario in which: (i) the source sentences may not be readily available, but instead arrive in a stream; (ii) the automatic translations receive feedback in the form of a rating, instead of a correct/edited translation, since the human-in-the-loop might be a user looking for a translation, but not be able to provide one. To tackle the challenge of deciding whether each incoming pair source-translations is worthy to query for human feedback, we resort to a number of stream-based active learning query strategies. Moreover, since we not know in advance which query strategy will be the most adequate for a certain language pair and set of Machine Translation models, we propose to dynamically combine multiple strategies using prediction with expert advice. Our experiments show that using active learning allows to converge to the best Machine Translation systems with fewer human interactions. Furthermore, combining multiple strategies using prediction with expert advice often outperforms several individual active learning strategies with even fewer interactions.
MLNav: Learning to Safely Navigate on Martian Terrains
Venue: arXiv cs.RO 2022
Year: 2022

We present MLNav, a learning-enhanced path planning framework for safety-critical and resource-limited systems operating in complex environments, such as rovers navigating on Mars. MLNav makes judicious use of machine learning to enhance the efficiency of path planning while fully respecting safety constraints. In particular, the dominant computational cost in such safety-critical settings is running a model-based safety checker on the proposed paths. Our learned search heuristic can simultaneously predict the feasibility for all path options in a single run, and the model-based safety checker is only invoked on the top-scoring paths. We validate in high-fidelity simulations using both real Martian terrain data collected by the Perseverance rover, as well as a suite of challenging synthetic terrains. Our experiments show that: (i) compared to the baseline ENav path planner on board the Perserverance rover, MLNav can provide a significant improvement in multiple key metrics, such as a 10x reduction in collision checks when navigating real Martian terrains, despite being trained with synthetic terrains; and (ii) MLNav can successfully navigate highly challenging terrains where the baseline ENav fails to find a feasible path before timing out.
All You Need is LUV: Unsupervised Collection of Labeled Images using Invisible UV Fluorescent Indicators
Venue: arXiv cs.CV 2022
Year: 2022

Large-scale semantic image annotation is a significant challenge for learning-based perception systems in robotics. Current approaches often rely on human labelers, which can be expensive, or simulation data, which can visually or physically differ from real data. This paper proposes Labels from UltraViolet (LUV), a novel framework that enables rapid, labeled data collection in real manipulation environments without human labeling. LUV uses transparent, ultraviolet-fluorescent paint with programmable ultraviolet LEDs to collect paired images of a scene in standard lighting and UV lighting to autonomously extract segmentation masks and keypoints via color segmentation. We apply LUV to a suite of diverse robot perception tasks to evaluate its labeling quality, flexibility, and data collection rate. Results suggest that LUV is 180-2500 times faster than a human labeler across the tasks. We show that LUV provides labels consistent with human annotations on unpainted test images. The networks trained on these labels are used to smooth and fold crumpled towels with 83% success rate and achieve 1.7mm position error with respect to human labels on a surgical needle pose estimation task. The low cost of LUV makes it ideal as a lightweight replacement for human labeling systems, with the one-time setup costs at $300 equivalent to the cost of collecting around 200 semantic segmentation labels on Amazon Mechanical Turk. Code, datasets, visualizations, and supplementary material can be found at https://sites.google.com/berkeley.edu/luv
CP-ViT: Cascade Vision Transformer Pruning via Progressive Sparsity Prediction
Venue: arXiv cs.CV 2022
Year: 2022

Vision transformer (ViT) has achieved competitive accuracy on a variety of computer vision applications, but its computational cost impedes the deployment on resource-limited mobile devices. We explore the sparsity in ViT and observe that informative patches and heads are sufficient for accurate image recognition. In this paper, we propose a cascade pruning framework named CP-ViT by predicting sparsity in ViT models progressively and dynamically to reduce computational redundancy while minimizing the accuracy loss. Specifically, we define the cumulative score to reserve the informative patches and heads across the ViT model for better accuracy. We also propose the dynamic pruning ratio adjustment technique based on layer-aware attention range. CP-ViT has great general applicability for practical deployment, which can be applied to a wide range of ViT models and can achieve superior accuracy with or without fine-tuning. Extensive experiments on ImageNet, CIFAR-10, and CIFAR-100 with various pre-trained models have demonstrated the effectiveness and efficiency of CP-ViT. By progressively pruning 50\% patches, our CP-ViT method reduces over 40\% FLOPs while maintaining accuracy loss within 1\%.
Reinforced Meta Active Learning
Venue: arXiv cs.LG 2022
Year: 2022

In stream-based active learning, the learning procedure typically has access to a stream of unlabeled data instances and must decide for each instance whether to label it and use it for training or to discard it. There are numerous active learning strategies which try to minimize the number of labeled samples required for training in this setting by identifying and retaining the most informative data samples. Most of these schemes are rule-based and rely on the notion of uncertainty, which captures how small the distance of a data sample is from the classifier's decision boundary. Recently, there have been some attempts to learn optimal selection strategies directly from the data, but many of them are still lacking generality for several reasons: 1) They focus on specific classification setups, 2) They rely on rule-based metrics, 3) They require offline pre-training of the active learner on related tasks. In this work we address the above limitations and present an online stream-based meta active learning method which learns on the fly an informativeness measure directly from the data, and is applicable to a general class of classification problems without any need for pretraining of the active learner on related tasks. The method is based on reinforcement learning and combines episodic policy search and a contextual bandits approach which are used to train the active learner in conjunction with training of the model. We demonstrate on several real datasets that this method learns to select training samples more efficiently than existing state-of-the-art methods.
Representation, learning, and planning algorithms for geometric task and motion planning
Venue: arXiv cs.RO 2022
Year: 2022

We present a framework for learning to guide geometric task and motion planning (GTAMP). GTAMP is a subclass of task and motion planning in which the goal is to move multiple objects to target regions among movable obstacles. A standard graph search algorithm is not directly applicable, because GTAMP problems involve hybrid search spaces and expensive action feasibility checks. To handle this, we introduce a novel planner that extends basic heuristic search with random sampling and a heuristic function that prioritizes feasibility checking on promising state action pairs. The main drawback of such pure planners is that they lack the ability to learn from planning experience to improve their efficiency. We propose two learning algorithms to address this. The first is an algorithm for learning a rank function that guides the discrete task level search, and the second is an algorithm for learning a sampler that guides the continuous motionlevel search. We propose design principles for designing data efficient algorithms for learning from planning experience and representations for effective generalization. We evaluate our framework in challenging GTAMP problems, and show that we can improve both planning and data efficiency
Electrical Vehicle Fleet Routing Accounting for Dynamic Battery Degradation
Venue: arXiv cs.CE 2022
Year: 2022

The increasing uptake of electrical vehicles (EVs) has increased the awareness of battery degradation costs and how they can be minimized. However, from a planning perspective it is difficult to integrate battery degradation models into existing route planning models and to assess how policies that aim at reducing battery degradation affect route planning costs and degradation across the fleet. In this paper, a simple transportation vehicle routing problem (VRP) is formulated as a mixed-integer nonlinear problem (MINLP), with a modification that allows monitoring the maximum and minimum depth-of-discharge (DoD) of the entire fleet. This allows us to measure the battery health degradation during the online optimization process. The results show that accounting for the impact of different route characteristics on battery degradation can have an impact on the route planning of the entire fleet as well as the battery degradation for all vehicles. The latter is achieved by forcing vehicles to adapt to certain DoD boundaries in the long term.
The Cross-evaluation of Machine Learning-based Network Intrusion Detection Systems
Venue: arXiv cs.CR 2022
Year: 2022

Enhancing Network Intrusion Detection Systems (NIDS) with supervised Machine Learning (ML) is tough. ML-NIDS must be trained and evaluated, operations requiring data where benign and malicious samples are clearly labelled. Such labels demand costly expert knowledge, resulting in a lack of real deployments, as well as on papers always relying on the same outdated data. The situation improved recently, as some efforts disclosed their labelled datasets. However, most past works used such datasets just as a 'yet another' testbed, overlooking the added potential provided by such availability. In contrast, we promote using such existing labelled data to cross-evaluate ML-NIDS. Such approach received only limited attention and, due to its complexity, requires a dedicated treatment. We hence propose the first cross-evaluation model. Our model highlights the broader range of realistic use-cases that can be assessed via cross-evaluations, allowing the discovery of still unknown qualities of state-of-the-art ML-NIDS. For instance, their detection surface can be extended--at no additional labelling cost. However, conducting such cross-evaluations is challenging. Hence, we propose the first framework, XeNIDS, for reliable cross-evaluations based on Network Flows. By using XeNIDS on six well-known datasets, we demonstrate the concealed potential, but also the risks, of cross-evaluations of ML-NIDS.
ModulE: Module Embedding for Knowledge Graphs
Venue: arXiv cs.AI 2022
Year: 2022

Knowledge graph embedding (KGE) has been shown to be a powerful tool for predicting missing links of a knowledge graph. However, existing methods mainly focus on modeling relation patterns, while simply embed entities to vector spaces, such as real field, complex field and quaternion space. To model the embedding space from a more rigorous and theoretical perspective, we propose a novel general group theory-based embedding framework for rotation-based models, in which both entities and relations are embedded as group elements. Furthermore, in order to explore more available KGE models, we utilize a more generic group structure, module, a generalization notion of vector space. Specifically, under our framework, we introduce a more generic embedding method, ModulE, which projects entities to a module. Following the method of ModulE, we build three instantiating models: ModulE$_{\mathbb{R},\mathbb{C}}$, ModulE$_{\mathbb{R},\mathbb{H}}$ and ModulE$_{\mathbb{H},\mathbb{H}}$, by adopting different module structures. Experimental results show that ModulE$_{\mathbb{H},\mathbb{H}}$ which embeds entities to a module over non-commutative ring, achieves state-of-the-art performance on multiple benchmark datasets.
LEMON: LanguagE ModeL for Negative Sampling of Knowledge Graph Embeddings
Venue: arXiv cs.AI 2022
Year: 2022

Knowledge Graph Embedding models have become an important area of machine learning.Those models provide a latent representation of entities and relations in a knowledge graph which can then be used in downstream machine learning tasks such as link prediction. The learning process of such models can be performed by contrasting positive and negative triples. While all triples of a KG are considered positive, negative triples are usually not readily available. Therefore, the choice of the sampling method to obtain the negative triples play a crucial role in the performance and effectiveness of Knowledge Graph Embedding models. Most of the current methods fetch negative samples from a random distribution of entities in the underlying Knowledge Graph which also often includes meaningless triples. Other known methods use adversarial techniques or generative neural networks which consequently reduce the efficiency of the process. In this paper, we propose an approach for generating informative negative samples considering available complementary knowledge about entities. Particularly, Pre-trained Language Models are used to form neighborhood clusters by utilizing the distances between entities to obtain representations of symbolic entities via their textual information. Our comprehensive evaluations demonstrate the effectiveness of the proposed approach on benchmark Knowledge Graphs with textual information for the link prediction task.
P2M: A Processing-in-Pixel-in-Memory Paradigm for Resource-Constrained TinyML Applications
Venue: arXiv cs.LG 2022
Year: 2022

The demand to process vast amounts of data generated from state-of-the-art high resolution cameras has motivated novel energy-efficient on-device AI solutions. Visual data in such cameras are usually captured in the form of analog voltages by a sensor pixel array, and then converted to the digital domain for subsequent AI processing using analog-to-digital converters (ADC). Recent research has tried to take advantage of massively parallel low-power analog/digital computing in the form of near- and in-sensor processing, in which the AI computation is performed partly in the periphery of the pixel array and partly in a separate on-board CPU/accelerator. Unfortunately, high-resolution input images still need to be streamed between the camera and the AI processing unit, frame by frame, causing energy, bandwidth, and security bottlenecks. To mitigate this problem, we propose a novel Processing-in-Pixel-in-memory (P2M) paradigm, that customizes the pixel array by adding support for analog multi-channel, multi-bit convolution, batch normalization, and ReLU (Rectified Linear Units). Our solution includes a holistic algorithm-circuit co-design approach and the resulting P2M paradigm can be used as a drop-in replacement for embedding memory-intensive first few layers of convolutional neural network (CNN) models within foundry-manufacturable CMOS image sensor platforms. Our experimental results indicate that P2M reduces data transfer bandwidth from sensors and analog to digital conversions by ~21x, and the energy-delay product (EDP) incurred in processing a MobileNetV2 model on a TinyML use case for visual wake words dataset (VWW) by up to ~11x compared to standard near-processing or in-sensor implementations, without any significant drop in test accuracy.