OpenRaiser/Intern-Atlas huggingface dataset:
Vision-based Navigation of Autonomous Vehicle in Roadway Environments with Unexpected Hazards
Venue: arXiv cs.CV 2019
Year: 2019

Vision-based navigation of autonomous vehicles primarily depends on the Deep Neural Network (DNN) based systems in which the controller obtains input from sensors/detectors, such as cameras and produces a vehicle control output, such as a steering wheel angle to navigate the vehicle safely in a roadway traffic environment. Typically, these DNN-based systems of the autonomous vehicle are trained through supervised learning; however, recent studies show that a trained DNN-based system can be compromised by perturbation or adversarial inputs. Similarly, this perturbation can be introduced into the DNN-based systems of autonomous vehicle by unexpected roadway hazards, such as debris and roadblocks. In this study, we first introduce a roadway hazardous environment (both intentional and unintentional roadway hazards) that can compromise the DNN-based navigational system of an autonomous vehicle, and produces an incorrect steering wheel angle, which can cause crashes resulting in fatality and injury. Then, we develop a DNN-based autonomous vehicle driving system using object detection and semantic segmentation to mitigate the adverse effect of this type of hazardous environment, which helps the autonomous vehicle to navigate safely around such hazards. We find that our developed DNN-based autonomous vehicle driving system including hazardous object detection and semantic segmentation improves the navigational ability of an autonomous vehicle to avoid a potential hazard by 21% compared to the traditional DNN-based autonomous vehicle driving system.
Interpretable Spatio-temporal Attention for Video Action Recognition
Venue: arXiv cs.CV 2019
Year: 2019

Inspired by the observation that humans are able to process videos efficiently by only paying attention where and when it is needed, we propose an interpretable and easy plug-in spatial-temporal attention mechanism for video action recognition. For spatial attention, we learn a saliency mask to allow the model to focus on the most salient parts of the feature maps. For temporal attention, we employ a convolutional LSTM based attention mechanism to identify the most relevant frames from an input video. Further, we propose a set of regularizers to ensure that our attention mechanism attends to coherent regions in space and time. Our model not only improves video action recognition accuracy, but also localizes discriminative regions both spatially and temporally, despite being trained in a weakly-supervised manner with only classification labels (no bounding box labels or time frame temporal labels). We evaluate our approach on several public video action recognition datasets with ablation studies. Furthermore, we quantitatively and qualitatively evaluate our model's ability to localize discriminative regions spatially and critical frames temporally. Experimental results demonstrate the efficacy of our approach, showing superior or comparable accuracy with the state-of-the-art methods while increasing model interpretability.
True2F: Backdoor-resistant authentication tokens
Venue: arXiv cs.CR 2019
Year: 2019

We present True2F, a system for second-factor authentication that provides the benefits of conventional authentication tokens in the face of phishing and software compromise, while also providing strong protection against token faults and backdoors. To do so, we develop new lightweight two-party protocols for generating cryptographic keys and ECDSA signatures, and we implement new privacy defenses to prevent cross-origin token-fingerprinting attacks. To facilitate real-world deployment, our system is backwards-compatible with today's U2F-enabled web services and runs on commodity hardware tokens after a firmware modification. A True2F-protected authentication takes just 57ms to complete on the token, compared with 23ms for unprotected U2F.
Google QUIC performance over a public SATCOM access
Venue: arXiv cs.NI 2019
Year: 2019

Google QUIC accounts for almost 10% of the Internet traffic and the protocol is not standardized at the IETF yet. We distinguish Google QUIC (GQUIC) and IETF QUIC (IQUIC) since there may be differences between the two. Both Google and IETF versions run over UDP and cannot be split the way satellite systems usually do with TCP connections. The need for adapting any-QUIC parameters needs to be evaluated. Since GQUIC is available, we analyze its behavior over a satellite communication system. In our evaluations, GQUIC quick connection establishment does not compensate an inappropriate congestion control. The resulting page downloading time doubles when using GQUIC as opposed to the performance with optimized split TCP connections. This paper concludes that specific tuning are required when any-QUIC runs over a high BDP network.
An Enhanced Approach to Cloud-based Privacy-preserving Benchmarking (Long Version)
Venue: arXiv cs.CR 2019
Year: 2019

Benchmarking is an important measure for companies to investigate their performance and to increase efficiency. As companies usually are reluctant to provide their key performance indicators (KPIs) for public benchmarks, privacy-preserving benchmarking systems are required. In this paper, we present an enhanced privacy-preserving benchmarking protocol that is based on homomorphic encryption. It enables cloud-based KPI comparison including the statistical measures mean, variance, median, maximum, best-in-class, bottom quartile, and top quartile. The theoretical and empirical evaluation of our benchmarking system underlines its practicability. Even under worst-case assumptions regarding connection quality and asymmetric encryption key-security, it fulfils the performance requirements of typical KPI benchmarking systems.
USBCaptchaIn: Preventing (Un)Conventional Attacks from Promiscuously Used USB Devices in Industrial Control Systems
Venue: arXiv cs.CR 2019
Year: 2019

Industrial Control Systems (ICS) are sensible targets for high profile attackers and advanced persistent threats, which are known to exploit USB thumb drives as an effective spreading vector. In ICSes, thumb drives are widely used to transfer files among disconnected systems and represent a serious security risks, since, they may be promiscuously used in both critical and regular systems. The threats come both from malware hidden in files stored in the thumb drives and from BadUSB attacks [16]. BadUSB leverages the modification of firmware of USB devices in order to mimic the behaviour of a keyboard and send malicious commands to the host. We present a solution that allows a promiscuous use of USB thumbs drives while protecting critical machines from malware, that spread by regular file infection or by firmware infection. The main component of the architecture we propose is an hardware, called USBCaptchaIn, intended to be in the middle between a critical machine and all USB devices. We do not require users to change the way they use thumb drives. To avoid human-errors, we do not require users to take any decision. The proposed approach is highly compatible with already deployed products of a ICS environment and proactively blocks malware before they reach their targets. We describe our solution, provide a thorough analysis of the security of our approach in the ICS context, and report the informal feedback of some experts regarding our first prototypes.
Resilient Sparse Controller Design with Guaranteed Disturbance Attenuation
Venue: arXiv cs.SY 2019
Year: 2019

We design resilient sparse state-feedback controllers for a linear time-invariant (LTI) control system while attaining a pre-specified guarantee on ${\mathcal{H}}_\infty$ performance measure. We leverage a technique from non-fragile control theory to identify a region of resilient state-feedback controllers. Afterward, we explore the region to identify a sparse controller. To this end, we use two different techniques: the greedy method of sparsification, as well as the re-weighted $\ell_1$ norm minimization. Our approach highlights a tradeoff between the sparsity of the feedback gain, performance measure, and fragility of the design. To best of our knowledge, this work is the first framework providing performance guarantees for sparse feedback gain design.
An algebraic-geometric approach for linear regression without correspondences
Venue: arXiv cs.LG 2019
Year: 2019

Linear regression without correspondences is the problem of performing a linear regression fit to a dataset for which the correspondences between the independent samples and the observations are unknown. Such a problem naturally arises in diverse domains such as computer vision, data mining, communications and biology. In its simplest form, it is tantamount to solving a linear system of equations, for which the entries of the right hand side vector have been permuted. This type of data corruption renders the linear regression task considerably harder, even in the absence of other corruptions, such as noise, outliers or missing entries. Existing methods are either applicable only to noiseless data or they are very sensitive to initialization or they work only for partially shuffled data. In this paper we address these issues via an algebraic geometric approach, which uses symmetric polynomials to extract permutation-invariant constraints that the parameters $ξ^* \in \Re^n$ of the linear regression model must satisfy. This naturally leads to a polynomial system of $n$ equations in $n$ unknowns, which contains $ξ^*$ in its root locus. Using the machinery of algebraic geometry we prove that as long as the independent samples are generic, this polynomial system is always consistent with at most $n!$ complex roots, regardless of any type of corruption inflicted on the observations. The algorithmic implication of this fact is that one can always solve this polynomial system and use its most suitable root as initialization to the Expectation Maximization algorithm. To the best of our knowledge, the resulting method is the first working solution for small values of $n$ able to handle thousands of fully shuffled noisy observations in milliseconds.
Feature Learning for Fault Detection in High-Dimensional Condition-Monitoring Signals
Venue: arXiv cs.AI 2019
Year: 2019

Complex industrial systems are continuously monitored by a large number of heterogeneous sensors. The diversity of their operating conditions and the possible fault types make it impossible to collect enough data for learning all the possible fault patterns. The paper proposes an integrated automatic unsupervised feature learning and one-class classification for fault detection that uses data on healthy conditions only for its training. The approach is based on stacked Extreme Learning Machines (namely Hierarchical, or HELM) and comprises an autoencoder, performing unsupervised feature learning, stacked with a one-class classifier monitoring the distance of the test data to the training healthy class, thereby assessing the health of the system. This study provides a comprehensive evaluation of HELM fault detection capability compared to other machine learning approaches, such as stand-alone one-class classifiers (ELM and SVM), these same one-class classifiers combined with traditional dimensionality reduction methods (PCA) and a Deep Belief Network. The performance is first evaluated on a synthetic dataset that encompasses typical characteristics of condition monitoring data. Subsequently, the approach is evaluated on a real case study of a power plant fault. The proposed algorithm for fault detection, combining feature learning with the one-class classifier, demonstrates a better performance, particularly in cases where condition monitoring data contain several non-informative signals.
A Survey and Critique of Multiagent Deep Reinforcement Learning
Venue: arXiv cs.MA 2019
Year: 2019

Deep reinforcement learning (RL) has achieved outstanding results in recent years. This has led to a dramatic increase in the number of applications and methods. Recent works have explored learning beyond single-agent scenarios and have considered multiagent learning (MAL) scenarios. Initial results report successes in complex multiagent domains, although there are several challenges to be addressed. The primary goal of this article is to provide a clear overview of current multiagent deep reinforcement learning (MDRL) literature. Additionally, we complement the overview with a broader analysis: (i) we revisit previous key components, originally presented in MAL and RL, and highlight how they have been adapted to multiagent deep reinforcement learning settings. (ii) We provide general guidelines to new practitioners in the area: describing lessons learned from MDRL works, pointing to recent benchmarks, and outlining open avenues of research. (iii) We take a more critical tone raising practical challenges of MDRL (e.g., implementation and computational demands). We expect this article will help unify and motivate future research to take advantage of the abundant literature that exists (e.g., RL and MAL) in a joint effort to promote fruitful research in the multiagent community.
Approximating Pairwise Correlations in the Ising Model
Venue: arXiv cs.DS 2019
Year: 2019

In the Ising model, we consider the problem of estimating the covariance of the spins at two specified vertices. In the ferromagnetic case, it is easy to obtain an additive approximation to this covariance by repeatedly sampling from the relevant Gibbs distribution. However, we desire a multiplicative approximation, and it is not clear how to achieve this by sampling, given that the covariance can be exponentially small. Our main contribution is a fully polynomial time randomised approximation scheme (FPRAS) for the covariance. We also show that that the restriction to the ferromagnetic case is essential --- there is no FPRAS for multiplicatively estimating the covariance of an antiferromagnetic Ising model unless RP = #P. In fact, we show that even determining the sign of the covariance is #P-hard in the antiferromagnetic case.
On Greedy and Strategic Evaders in Sequential Interdiction Settings with Incomplete Information
Venue: arXiv cs.GT 2019
Year: 2019

We consider a class of sequential network interdiction problem settings where the interdictor has incomplete initial information about the network while the evader has complete knowledge of the network including its structure and arc costs. In each decision epoch, the interdictor can block (for the duration of the epoch) at most $k$ arcs known to him/her. By observing the evader's actions, the interdictor learns about the network structure and costs and thus, can adjust his/her actions in subsequent decision epochs. It is known from the literature that if the evader is greedy (i.e., the shortest available path is used in each decision epoch), then under some assumptions the greedy interdiction policies that block $k$-most vital arcs in each epoch are efficient and have a finite regret. In this paper, we consider the evader's perspective and explore deterministic "strategic" evasion policies under the assumption that the interdictor is greedy. We first study the theoretical computational complexity of the evader's problem. Then we derive basic constructive properties of optimal evasion policies for two decision epochs when the interdictor has no initial information about the network structure. These properties are then exploited for the design of a heuristic algorithm for a strategic evader in a general setting with an arbitrary time horizon and any initial information available to the interdictor. Our computational experiments demonstrate that the proposed heuristic outperforms the greedy evasion policy on several classes of synthetic network instances under either perfect or noisy information feedback. Finally, some interesting insights from our theoretical and computational results conclude the paper.
An Empirical Study on Crosslingual Transfer in Probabilistic Topic Models
Venue: arXiv cs.CL 2019
Year: 2019

Probabilistic topic modeling is a popular choice as the first step of crosslingual tasks to enable knowledge transfer and extract multilingual features. While many multilingual topic models have been developed, their assumptions on the training corpus are quite varied, and it is not clear how well the models can be applied under various training conditions. In this paper, we systematically study the knowledge transfer mechanisms behind different multilingual topic models, and through a broad set of experiments with four models on ten languages, we provide empirical insights that can inform the selection and future development of multilingual topic models.
Every Pixel Counts ++: Joint Learning of Geometry and Motion with 3D Holistic Understanding
Venue: arXiv cs.CV 2019
Year: 2019

Learning to estimate 3D geometry in a single frame and optical flow from consecutive frames by watching unlabeled videos via deep convolutional network has made significant progress recently. Current state-of-the-art (SoTA) methods treat the two tasks independently. One typical assumption of the existing depth estimation methods is that the scenes contain no independent moving objects. while object moving could be easily modeled using optical flow. In this paper, we propose to address the two tasks as a whole, i.e. to jointly understand per-pixel 3D geometry and motion. This eliminates the need of static scene assumption and enforces the inherent geometrical consistency during the learning process, yielding significantly improved results for both tasks. We call our method as "Every Pixel Counts++" or "EPC++". Specifically, during training, given two consecutive frames from a video, we adopt three parallel networks to predict the camera motion (MotionNet), dense depth map (DepthNet), and per-pixel optical flow between two frames (OptFlowNet) respectively. The three types of information are fed into a holistic 3D motion parser (HMP), and per-pixel 3D motion of both rigid background and moving objects are disentangled and recovered. Comprehensive experiments were conducted on datasets with different scenes, including driving scenario (KITTI 2012 and KITTI 2015 datasets), mixed outdoor/indoor scenes (Make3D) and synthetic animation (MPI Sintel dataset). Performance on the five tasks of depth estimation, optical flow estimation, odometry, moving object segmentation and scene flow estimation shows that our approach outperforms other SoTA methods. Code will be available at: https://github.com/chenxuluo/EPC.
3D Feature Pyramid Attention Module for Robust Visual Speech Recognition
Venue: arXiv cs.CV 2019
Year: 2019

Visual speech recognition is the task to decode the speech content from a video based on visual information, especially the movements of lips. It is also referenced as lipreading. Motivated by two problems existing in lipreading, words with similar pronunciation and the variation of word duration, we propose a novel 3D Feature Pyramid Attention (3D-FPA) module to jointly improve the representation power of features in both the spatial and temporal domains. Specifically, the input features are downsampled for 3 times in both the spatial and temporal dimensions to construct spatiotemporal feature pyramids. Then high-level features are upsampled and combined with low-level features, finally generating a pixel-level soft attention mask to be multiplied with the input features.It enhances the discriminative power of features and exploits the temporal multi-scale information while decoding the visual speeches. Also, this module provides a new method to construct and utilize temporal pyramid structures in video analysis tasks. The field of temporal featrue pyramids are still under exploring compared to the plentiful works on spatial feature pyramids for image analysis tasks. To validate the effectiveness and adaptability of our proposed module, we embed the module in a sentence-level lipreading model, LipNet, with the result of 3.6% absolute decrease in word error rate, and a word-level model, with the result of 1.4% absolute improvement in accuracy.
Deep Imitative Models for Flexible Inference, Planning, and Control
Venue: arXiv cs.LG 2019
Year: 2019

Imitation Learning (IL) is an appealing approach to learn desirable autonomous behavior. However, directing IL to achieve arbitrary goals is difficult. In contrast, planning-based algorithms use dynamics models and reward functions to achieve goals. Yet, reward functions that evoke desirable behavior are often difficult to specify. In this paper, we propose Imitative Models to combine the benefits of IL and goal-directed planning. Imitative Models are probabilistic predictive models of desirable behavior able to plan interpretable expert-like trajectories to achieve specified goals. We derive families of flexible goal objectives, including constrained goal regions, unconstrained goal sets, and energy-based goals. We show that our method can use these objectives to successfully direct behavior. Our method substantially outperforms six IL approaches and a planning-based approach in a dynamic simulated autonomous driving task, and is efficiently learned from expert demonstrations without online data collection. We also show our approach is robust to poorly specified goals, such as goals on the wrong side of the road.
Learn Fast, Forget Slow: Safe Predictive Learning Control for Systems with Unknown and Changing Dynamics Performing Repetitive Tasks
Venue: arXiv cs.RO 2019
Year: 2019

We present a control method for improved repetitive path following for a ground vehicle that is geared towards long-term operation where the operating conditions can change over time and are initially unknown. We use weighted Bayesian Linear Regression (wBLR) to model the unknown dynamics, and show how this simple model is more accurate in both its estimate of the mean behaviour and model uncertainty than Gaussian Process Regression and generalizes to novel operating conditions with little or no tuning. In addition, wBLR allows us to use fast adaptation and long-term learning in one, unified framework, to adapt quickly to new operating conditions and learn repetitive model errors over time. This comes with the added benefit of lower computational cost, longer look-ahead, and easier optimization when the model is used in a stochastic Model Predictive Controller (MPC). In order to fully capitalize on the long prediction horizons that are possible with this new approach, we use Tube MPC to reduce the growth of predicted uncertainty. We demonstrate the effectiveness of our approach in experiment on a 900\,kg ground robot showing results over 3.0\,km of driving with both physical and artificial changes to the robot's dynamics. All of our experiments are conducted using a stereo camera for localization.
StructVIO : Visual-inertial Odometry with Structural Regularity of Man-made Environments
Venue: arXiv cs.RO 2019
Year: 2019

We propose a novel visual-inertial odometry approach that adopts structural regularity in man-made environments. Instead of using Manhattan world assumption, we use Atlanta world model to describe such regularity. An Atlanta world is a world that contains multiple local Manhattan worlds with different heading directions. Each local Manhattan world is detected on-the-fly, and their headings are gradually refined by the state estimator when new observations are coming. With fully exploration of structural lines that aligned with each local Manhattan worlds, our visual-inertial odometry method become more accurate and robust, as well as much more flexible to different kinds of complex man-made environments. Through extensive benchmark tests and real-world tests, the results show that the proposed approach outperforms existing visual-inertial systems in large-scale man-made environments