OpenRaiser/Intern-Atlas huggingface dataset:
Towards Collaborative Drilling with a Cobot Using Admittance Controller
Venue: arXiv cs.RO 2020
Year: 2020

In the near future, collaborative robots (cobots) are expected to play a vital role in the manufacturing and automation sectors. It is predicted that workers will work side by side in collaboration with cobots to surpass fully automated factories. In this regard, physical human-robot interaction (pHRI) aims to develop natural communication between the partners to bring speed, flexibility, and ergonomics to the execution of complex manufacturing tasks. One challenge in pHRI is to design an optimal interaction controller to balance the limitations introduced by the contradicting nature of transparency and stability requirements. In this paper, a general methodology to design an admittance controller for a pHRI system is developed by considering the stability and transparency objectives. In our approach, collaborative robot constrains the movement of human operator to help with a pHRI task while an augmented reality (AR) interface informs the operator about its phases. To this end, dynamical characterization of the collaborative robot (LBR IIWA 7 R800, KUKA Inc.) is presented first. Then, the stability and transparency analyses for our pHRI task involving collaborative drilling with this robot are reported. A range of allowable parameters for the admittance controller is determined by superimposing the stability and transparency graphs. Finally, three different sets of parameters are selected from the allowable range and the effect of admittance controllers utilizing these parameter sets on the task performance is investigated.
Learning Object-conditioned Exploration using Distributed Soft Actor Critic
Venue: arXiv cs.RO 2020
Year: 2020

Object navigation is defined as navigating to an object of a given label in a complex, unexplored environment. In its general form, this problem poses several challenges for Robotics: semantic exploration of unknown environments in search of an object and low-level control. In this work we study object-guided exploration and low-level control, and present an end-to-end trained navigation policy achieving a success rate of 0.68 and SPL of 0.58 on unseen, visually complex scans of real homes. We propose a highly scalable implementation of an off-policy Reinforcement Learning algorithm, distributed Soft Actor Critic, which allows the system to utilize 98M experience steps in 24 hours on 8 GPUs. Our system learns to control a differential drive mobile base in simulation from a stack of high dimensional observations commonly used on robotic platforms. The learned policy is capable of object-guided exploratory behaviors and low-level control learned from pure experiences in realistic environments.
Improved Handling of Repeats and Jumps in Audio-Sheet Image Synchronization
Venue: arXiv cs.MM 2020
Year: 2020

This paper studies the problem of automatically generating piano score following videos given an audio recording and raw sheet music images. Whereas previous works focus on synthetic sheet music where the data has been cleaned and preprocessed, we instead focus on developing a system that can cope with the messiness of raw, unprocessed sheet music PDFs from IMSLP. We investigate how well existing systems cope with real scanned sheet music, filler pages and unrelated pieces or movements, and discontinuities due to jumps and repeats. We find that a significant bottleneck in system performance is handling jumps and repeats correctly. In particular, we find that a previously proposed Jump DTW algorithm does not perform robustly when jump locations are unknown a priori. We propose a novel alignment algorithm called Hierarchical DTW that can handle jumps and repeats even when jump locations are not known. It first performs alignment at the feature level on each sheet music line, and then performs a second alignment at the segment level. By operating at the segment level, it is able to encode domain knowledge about how likely a particular jump is. Through carefully controlled experiments on unprocessed sheet music PDFs from IMSLP, we show that Hierarachical DTW significantly outperforms Jump DTW in handling various types of jumps.
Pooling Regularized Graph Neural Network for fMRI Biomarker Analysis
Venue: arXiv cs.CV 2020
Year: 2020

Understanding how certain brain regions relate to a specific neurological disorder has been an important area of neuroimaging research. A promising approach to identify the salient regions is using Graph Neural Networks (GNNs), which can be used to analyze graph structured data, e.g. brain networks constructed by functional magnetic resonance imaging (fMRI). We propose an interpretable GNN framework with a novel salient region selection mechanism to determine neurological brain biomarkers associated with disorders. Specifically, we design novel regularized pooling layers that highlight salient regions of interests (ROIs) so that we can infer which ROIs are important to identify a certain disease based on the node pooling scores calculated by the pooling layers. Our proposed framework, Pooling Regularized-GNN (PR-GNN), encourages reasonable ROI-selection and provides flexibility to preserve either individual- or group-level patterns. We apply the PR-GNN framework on a Biopoint Autism Spectral Disorder (ASD) fMRI dataset. We investigate different choices of the hyperparameters and show that PR-GNN outperforms baseline methods in terms of classification accuracy. The salient ROI detection results show high correspondence with the previous neuroimaging-derived biomarkers for ASD.
Towards a Backdoorless Network Architecture Based on Remote Attestation and Backdoor Inspection
Venue: arXiv cs.CR 2020
Year: 2020

To keep a system secure, all devices in the system need to be benign. To avoid malicious and/or compromised devices, network access control such as authentication using a credential and remote attestation based on trusted hardware has been used. These techniques ensure the authenticity and integrity of the devices, but do not mitigate risks of a backdoor embedded in the devices by the developer. To tackle this problem, we propose a novel architecture that integrates remote attestation and backdoor inspection. Specifically, the backdoor inspection result is stored in a server and the verifier retrieves and checks the backdoor inspection result when the remote attestation is performed. Moreover, we discuss issues to deploy the proposed architecture to the real world.
A Hybrid Adaptive Educational eLearning Project based on Ontologies Matching and Recommendation System
Venue: arXiv cs.IR 2020
Year: 2020

The implementation of teaching interventions in learning needs has received considerable attention, as the provision of the same educational conditions to all students, is pedagogically ineffective. In contrast, more effectively considered the pedagogical strategies that adapt to the real individual skills of the students. An important innovation in this direction is the Adaptive Educational Systems (AES) that support automatic modeling study and adjust the teaching content on educational needs and students' skills. Effective utilization of these educational approaches can be enhanced with Artificial Intelligence (AI) technologies in order to the substantive content of the web acquires structure and the published information is perceived by the search engines. This study proposes a novel Adaptive Educational eLearning System (AEeLS) that has the capacity to gather and analyze data from learning repositories and to adapt these to the educational curriculum according to the student skills and experience. It is a novel hybrid machine learning system that combines a Semi-Supervised Classification method for ontology matching and a Recommendation Mechanism that uses a hybrid method from neighborhood-based collaborative and content-based filtering techniques, in order to provide a personalized educational environment for each student.
Towards Domain-Specific Characterization of Misinformation
Venue: arXiv cs.CY 2020
Year: 2020

The rapid dissemination of health misinformation poses an increasing risk to public health. To best understand the way of combating health misinformation, it is important to acknowledge how the fundamental characteristics of misinformation differ from domain to domain. This paper presents a pathway towards domain-specific characterization of misinformation so that we can address the concealed behavior of health misinformation compared to others and take proper initiative accordingly for combating it. With this aim, we have mentioned several possible approaches to identify discriminating features of medical misinformation from other types of misinformation. Thereafter, we briefly propose a research plan followed by possible challenges to meet up. The findings of the proposed research idea will provide new directions to the misinformation research community.
Constructing Partial MDS Codes from Reducible Curves
Venue: arXiv cs.IT 2020
Year: 2020

We propose reducible algebraic curves as a mechanism to construct Partial MDS (PMDS) codes geometrically. We obtain new general existence results, new explicit constructions and improved estimates on the smallest field sizes over which such codes can exist. Our results are obtained by combining ideas from projective algebraic geometry, combinatorics and probability theory.
Difficulty-aware Glaucoma Classification with Multi-Rater Consensus Modeling
Venue: arXiv cs.CV 2020
Year: 2020

Medical images are generally labeled by multiple experts before the final ground-truth labels are determined. Consensus or disagreement among experts regarding individual images reflects the gradeability and difficulty levels of the image. However, when being used for model training, only the final ground-truth label is utilized, while the critical information contained in the raw multi-rater gradings regarding the image being an easy/hard case is discarded. In this paper, we aim to take advantage of the raw multi-rater gradings to improve the deep learning model performance for the glaucoma classification task. Specifically, a multi-branch model structure is proposed to predict the most sensitive, most specifical and a balanced fused result for the input images. In order to encourage the sensitivity branch and specificity branch to generate consistent results for consensus labels and opposite results for disagreement labels, a consensus loss is proposed to constrain the output of the two branches. Meanwhile, the consistency/inconsistency between the prediction results of the two branches implies the image being an easy/hard case, which is further utilized to encourage the balanced fusion branch to concentrate more on the hard cases. Compared with models trained only with the final ground-truth labels, the proposed method using multi-rater consensus information has achieved superior performance, and it is also able to estimate the difficulty levels of individual input images when making the prediction.
Decoding machine learning benchmarks
Venue: arXiv cs.LG 2020
Year: 2020

Despite the availability of benchmark machine learning (ML) repositories (e.g., UCI, OpenML), there is no standard evaluation strategy yet capable of pointing out which is the best set of datasets to serve as gold standard to test different ML algorithms. In recent studies, Item Response Theory (IRT) has emerged as a new approach to elucidate what should be a good ML benchmark. This work applied IRT to explore the well-known OpenML-CC18 benchmark to identify how suitable it is on the evaluation of classifiers. Several classifiers ranging from classical to ensembles ones were evaluated using IRT models, which could simultaneously estimate dataset difficulty and classifiers' ability. The Glicko-2 rating system was applied on the top of IRT to summarize the innate ability and aptitude of classifiers. It was observed that not all datasets from OpenML-CC18 are really useful to evaluate classifiers. Most datasets evaluated in this work (84%) contain easy instances in general (e.g., around 10% of difficult instances only). Also, 80% of the instances in half of this benchmark are very discriminating ones, which can be of great use for pairwise algorithm comparison, but not useful to push classifiers abilities. This paper presents this new evaluation methodology based on IRT as well as the tool decodIRT, developed to guide IRT estimation over ML benchmarks.
Performance Analysis of Meta-heuristic Algorithms for a Quadratic Assignment Problem
Venue: arXiv cs.NE 2020
Year: 2020

A quadratic assignment problem (QAP) is a combinatorial optimization problem that belongs to the class of NP-hard ones. So, it is difficult to solve in the polynomial time even for small instances. Research on the QAP has thus focused on obtaining a method to overcome this problem. Heuristics and meta-heuristics algorithm are prevalent solution methods for this problem. This paper is one of comparative studies to apply different metaheuristic algorithms for solving the QAP. One of the most popular approaches for categorizing meta-heuristic algorithms is based on a search strategy, including (1) local search improvement meta-heuristics and (2) global search-based meta-heuristics. The matter that distinguishes this paper from the other is the comparative performance of local and global search (both EA and SI), in which meta-heuristics that consist of genetic algorithm (GA), particle swarm optimization (PSO), hybrid GA-PSO, grey wolf optimization (GWO), harmony search algorithm (HAS) and simulated annealing (SA). Also, one improvement heuristic algorithm (ie, 2-Opt) is used to compare with others. The PSO, GWO and 2-Opt algorithms are improved to achieve the better comparison toward the other algorithms for evaluation. In order to analysis the comparative advantage of these algorithms, eight different factors are presented. By taking into account all these factors, the test is implemented in six test problems of the QAP Library (QAPLIB) from different sizes. Another contribution of this paper is to measure a strong convergence condition for each algorithm in a new way.
EOSFuzzer: Fuzzing EOSIO Smart Contracts for Vulnerability Detection
Venue: arXiv cs.SE 2020
Year: 2020

EOSIO is one typical public blockchain platform. It is scalable in terms of transaction speeds and has a growing ecosystem supporting smart contracts and decentralized applications. However, the vulnerabilities within the EOSIO smart contracts have led to serious attacks, which caused serious financial loss to its end users. In this work, we systematically analyzed three typical EOSIO smart contract vulnerabilities and their related attacks. Then we presented EOSFuzzer, a general black-box fuzzing framework to detect vulnerabilities within EOSIO smart contracts. In particular, EOSFuzzer proposed effective attacking scenarios and test oracles for EOSIO smart contract fuzzing. Our fuzzing experiment on 3963 EOSIO smart contracts shows that EOSFuzzer is both effective and efficient to detect EOSIO smart contract vulnerabilities with high accuracy.
Fantastic Embeddings and How to Align Them: Zero-Shot Inference in a Multi-Shop Scenario
Venue: arXiv cs.IR 2020
Year: 2020

This paper addresses the challenge of leveraging multiple embedding spaces for multi-shop personalization, proving that zero-shot inference is possible by transferring shopping intent from one website to another without manual intervention. We detail a machine learning pipeline to train and optimize embeddings within shops first, and support the quantitative findings with additional qualitative insights. We then turn to the harder task of using learned embeddings across shops: if products from different shops live in the same vector space, user intent - as represented by regions in this space - can then be transferred in a zero-shot fashion across websites. We propose and benchmark unsupervised and supervised methods to "travel" between embedding spaces, each with its own assumptions on data quantity and quality. We show that zero-shot personalization is indeed possible at scale by testing the shared embedding space with two downstream tasks, event prediction and type-ahead suggestions. Finally, we curate a cross-shop anonymized embeddings dataset to foster an inclusive discussion of this important business scenario.
Secure Computation Framework for Multiple Data Providers Against Malicious Adversaries
Venue: arXiv cs.CR 2020
Year: 2020

Due to the great development of secure multi-party computation, many practical secure computation schemes have been proposed. As an example, different secure auction mechanisms have been widely studied, which can protect bid privacy while satisfying various economic properties. However, as far as we know, none of them solve the secure computation problems for multiple data providers (e.g., secure cloud resource auctions) in the malicious security model. In this paper, we use the techniques of cut-and-choose and garbled circuits to propose a general secure computation framework for multiple data providers against malicious adversaries. Specifically, our framework checks input consistency with the cut-and-choose paradigm, conducts maliciously secure computations by running two independent garbled circuits, and verifies the correctness of output by comparing two versions of outputs. Theoretical analysis shows that our framework is secure against a malicious computation party, or a subset of malicious data providers. Taking secure cloud resource auctions as an example, we implement our framework. Extensive experimental evaluations show that the performance of the proposed framework is acceptable in practice.
Compressing Deep Neural Networks via Layer Fusion
Venue: arXiv cs.LG 2020
Year: 2020

This paper proposes \textit{layer fusion} - a model compression technique that discovers which weights to combine and then fuses weights of similar fully-connected, convolutional and attention layers. Layer fusion can significantly reduce the number of layers of the original network with little additional computation overhead, while maintaining competitive performance. From experiments on CIFAR-10, we find that various deep convolution neural networks can remain within 2\% accuracy points of the original networks up to a compression ratio of 3.33 when iteratively retrained with layer fusion. For experiments on the WikiText-2 language modelling dataset where pretrained transformer models are used, we achieve compression that leads to a network that is 20\% of its original size while being within 5 perplexity points of the original network. We also find that other well-established compression techniques can achieve competitive performance when compared to their original networks given a sufficient number of retraining steps. Generally, we observe a clear inflection point in performance as the amount of compression increases, suggesting a bound on the amount of compression that can be achieved before an exponential degradation in performance.
Two Dimensional $\left( α,β\right) $-Constacyclic Codes of arbitrary length over a Finite Field
Venue: arXiv cs.IT 2020
Year: 2020

In this paper we characterize the algebraic structure of two-dimensional $(α,β)$-constacyclic codes of arbitrary length $s.\ell$ and of their duals. For $α,β\in \{1,-1\}$, we give necessary and sufficient conditions for a two-dimensional $(α,β)$-constacyclic code to be self-dual. We also show that a two-dimensional $(α,1 )$-constacyclic code $\mathcal{C}$ of length $n=s.\ell$ can not be self-dual if $\gcd(s,q)= 1$. Finally, we give some examples of self-dual, isodual, MDS and quasi-twisted codes corresponding to two-dimensional $(α,β)$-constacyclic codes.
Reliable Broadcast in Practical Networks: Algorithm and Evaluation
Venue: arXiv cs.DC 2020
Year: 2020

Reliable broadcast is an important primitive to ensure that a source node can reliably disseminate a message to all the non-faulty nodes in an asynchronous and failure-prone networked system. Byzantine Reliable Broadcast protocols were first proposed by Bracha in 1987, and have been widely used in fault-tolerant systems and protocols. Several recent protocols have improved the round and bit complexity of these algorithms. Motivated by the constraints in practical networks, we revisit the problem. In particular, we use cryptographic hash functions and erasure coding to reduce communication and computation complexity and simplify the protocol design. We also identify the fundamental trade-offs of Byzantine Reliable Broadcast protocols with respect to resilience (number of nodes), local computation, round complexity, and bit complexity. Finally, we also design and implement a general testing framework for similar communication protocols. We evaluate our protocols using our framework. The results demonstrate that our protocols have superior performance in practical networks.
Metamodel Based Forward and Inverse Design for Passive Vibration Suppression
Venue: arXiv cs.CE 2020
Year: 2020

Aperiodic metamaterials represent a class of structural systems that are composed of different building blocks (cells), instead of a self-repeating chain of the same unit cells. Optimizing aperiodic cellular structural systems thus presents high-dimensional problems that are challenging to solve using purely high-fidelity structural optimization approaches. Specialized analytical modeling along with metamodel based optimization can provide a more tractable alternative solution approach. To this end, this paper presents a design automation framework applied to a 1D metamaterial system, namely a drill string, where vibration suppression is of utmost importance. The drill string comprises a set of nonuniform rings attached to the outer surface of a longitudinal rod. As such, the resultant system can now be perceived as an aperiodic 1D metamaterial with each ring/gap representing a cell. Despite being a 1D system, the simultaneous consideration of multiple DoF (i.e., torsional, axial, and lateral motions) poses significant computational challenges. Therefore, a transfer matrix method (TMM) is employed to analytically determine the frequency response of the drill string. A suite of neural networks (ANN) is trained on TMM samples (which present minute-scale computing costs per evaluation), to model the frequency response. ANN-based optimization is then performed to minimize mass subject to constraints on the gap between consecutive resonance peaks in one case, and minimizing this gap in the second case, leading to crucial improvements over baselines. Further novel contribution occurs through the development of an inverse modeling approach that can instantaneously produce the 1D metamaterial design with minimum mass for a given desired non-resonant frequency range. This is accomplished by using invertible neural networks, and results show promising alignment with forward solutions.
Finding Local Experts for Dynamic Recommendations Using Lazy Random Walk
Venue: arXiv cs.IR 2020
Year: 2020

Statistics based privacy-aware recommender systems make suggestions more powerful by extracting knowledge from the log of social contacts interactions, but unfortunately, they are static. Moreover, advice from local experts effective in finding specific business categories in a particular area. We propose a dynamic recommender algorithm based on a lazy random walk that recommends top-rank shopping places to potentially interested visitors. We consider local authority and topical authority. The algorithm tested on FourSquare shopping data sets of 5 cities in Indonesia with k-steps of 5,7,9 of (lazy) random walks and compared the results with other state-of-the-art ranking techniques. The results show that it can reach high score precisions (0.5, 0.37, and 0.26 respectively on precision at 1, precision at 3, and precision at 5 for k=5). The algorithm also shows scalability concerning execution time. The advantage of dynamicity is the database used to power the recommender system; no need to be very frequently updated to produce a good recommendation.