OpenRaiser/Intern-Atlas huggingface dataset:
Integrating Fast Regional Optimization into Sampling-based Kinodynamic Planning for Multirotor Flight
Venue: arXiv cs.RO 2021
Year: 2021

For real-time multirotor kinodynamic motion planning, the efficiency of sampling-based methods is usually hindered by difficult-to-sample homotopy classes like narrow passages. In this paper, we address this issue by a hybrid scheme. We firstly propose a fast regional optimizer exploiting the information of local environments and then integrate it into a global sampling process to ensure faster convergence. The incorporation of local optimization on different sampling-based methods shows significantly improved success rates and less planning time in various types of challenging environments. We also present a refinement module that fully investigates the resulting trajectory of the global sampling and greatly improves its smoothness with negligible computation effort. Benchmark results illustrate that compared to the state-of-the-art ones, our proposed method can better exploit a previous trajectory. The planning methods are applied to generate trajectories for a simulated quadrotor system, and its capability is validated in real-time applications.
Sustainability: Delivering Agility's Promise
Venue: arXiv cs.SE 2021
Year: 2021

Sustainability is a promise by agile development, as it is part of both the Agile Alliance's and the Scrum Alliance's vision. Thus far, not much has been delivered on this promise. This paper explores the Agile Manifesto and points out how agility could contribute to sustainability in its three dimensions - social, economic, and environmental. Additionally, this paper provides some sample cases of companies focusing on both sustainability (partially or holistically) and agile development.
Performing Creativity With Computational Tools
Venue: arXiv cs.CY 2021
Year: 2021

The introduction of new tools in people's workflow has always been promotive of new creative paths. This paper discusses the impact of using computational tools in the performance of creative tasks, especially focusing on graphic design. The study was driven by a grounded theory methodology, applied to a set of semi-structured interviews, made to twelve people working in the areas of graphic design, data science, computer art, music and data visualisation. Among other questions, the results suggest some scenarios in which it is or it is not worth investing in the development of new intelligent creativity-aiding tools.
PeQES: A Platform for Privacy-enhanced Quantitative Empirical Studies
Venue: arXiv cs.CR 2021
Year: 2021

Empirical sciences and in particular psychology suffer a methodological crisis due to the non-reproducibility of results, and in rare cases, questionable research practices. Pre-registered studies and the publication of raw data sets have emerged as effective countermeasures. However, this approach represents only a conceptual procedure and may in some cases exacerbate privacy issues associated with data publications. We establish a novel, privacy-enhanced workflow for pre-registered studies. We also introduce PeQES, a corresponding platform that technically enforces the appropriate execution while at the same time protecting the participants' data from unauthorized use or data repurposing. Our PeQES prototype proves the overall feasibility of our privacy-enhanced workflow while introducing only a negligible performance overhead for data acquisition and data analysis of an actual study. Using trusted computing mechanisms, PeQES is the first platform to enable privacy-enhanced studies, to ensure the integrity of study protocols, and to safeguard the confidentiality of participants' data at the same time.
FAIR1M: A Benchmark Dataset for Fine-grained Object Recognition in High-Resolution Remote Sensing Imagery
Venue: arXiv cs.CV 2021
Year: 2021

With the rapid development of deep learning, many deep learning-based approaches have made great achievements in object detection task. It is generally known that deep learning is a data-driven method. Data directly impact the performance of object detectors to some extent. Although existing datasets have included common objects in remote sensing images, they still have some limitations in terms of scale, categories, and images. Therefore, there is a strong requirement for establishing a large-scale benchmark on object detection in high-resolution remote sensing images. In this paper, we propose a novel benchmark dataset with more than 1 million instances and more than 15,000 images for Fine-grAined object recognItion in high-Resolution remote sensing imagery which is named as FAIR1M. All objects in the FAIR1M dataset are annotated with respect to 5 categories and 37 sub-categories by oriented bounding boxes. Compared with existing detection datasets dedicated to object detection, the FAIR1M dataset has 4 particular characteristics: (1) it is much larger than other existing object detection datasets both in terms of the quantity of instances and the quantity of images, (2) it provides more rich fine-grained category information for objects in remote sensing images, (3) it contains geographic information such as latitude, longitude and resolution, (4) it provides better image quality owing to a careful data cleaning procedure. To establish a baseline for fine-grained object recognition, we propose a novel evaluation method and benchmark fine-grained object detection tasks and a visual classification task using several State-Of-The-Art (SOTA) deep learning-based models on our FAIR1M dataset. Experimental results strongly indicate that the FAIR1M dataset is closer to practical application and it is considerably more challenging than existing datasets.
Repairing Serializability Bugs in Distributed Database Programs via Automated Schema Refactoring
Venue: arXiv cs.PL 2021
Year: 2021

Serializability is a well-understood concurrency control mechanism that eases reasoning about highly-concurrent database programs. Unfortunately, enforcing serializability has a high-performance cost, especially on geographically distributed database clusters. Consequently, many databases allow programmers to choose when a transaction must be executed under serializability, with the expectation that transactions would only be so marked when necessary to avoid serious concurrency bugs. However, this is a significant burden to impose on developers, requiring them to (a) reason about subtle concurrent interactions among potentially interfering transactions, (b) determine when such interactions would violate desired invariants, and (c) then identify the minimum number of transactions whose executions should be serialized to prevent these violations. To mitigate this burden, in this paper we present a sound and fully automated schema refactoring procedure that transforms a program's data layout -- rather than its concurrency control logic -- to eliminate statically identified concurrency bugs, allowing more transactions to be safely executed under weaker and more performant database guarantees. Experimental results over a range of database benchmarks indicate that our approach is highly effective in eliminating concurrency bugs, with safe refactored programs showing an average of 120% higher throughput and 45% lower latency compared to the baselines.
The Agda Universal Algebra Library, Part 1: Foundation
Venue: arXiv cs.LO 2021
Year: 2021

The Agda Universal Algebra Library (UALib) is a library of types and programs (theorems and proofs) we developed to formalize the foundations of universal algebra in dependent type theory using the Agda programming language and proof assistant. The UALib includes a substantial collection of definitions, theorems, and proofs from general algebra and equational logic, including many examples that exhibit the power of inductive and dependent types for representing and reasoning about relations, algebraic structures, and equational theories. In this paper we discuss the logical foundations on which the library is built, and describe the types defined in the first 13 modules of the library. Special attention is given to aspects of the library that seem most interesting or challenging from a type theory or mathematical foundations perspective.
Exact and Approximate Pattern Counting in Degenerate Graphs: New Algorithms, Hardness Results, and Complexity Dichotomies
Venue: arXiv cs.CC 2021
Year: 2021

We study the problems of counting the homomorphisms, counting the copies, and counting the induced copies of a $k$-vertex graph $H$ in a $d$-degenerate $n$-vertex graph $G$. Our main result establishes exhaustive and explicit complexity classifications for counting subgraphs and induced subgraphs. We show that the (not necessarily induced) copies of $H$ in $G$ can be counted in time $f(k,d)\cdot n^{\max(\mathsf{imn}(H),1)}\cdot \log n$, where $f$ is some computable function and $\mathsf{imn}(H)$ is the size of the largest induced matching of $H$. Whenever the class of allowed patterns has unbounded induced matching number, this algorithm is essentially optimal: Unless the Exponential Time Hypothesis (ETH) fails, there is no algorithm running in time $f(k,d)\cdot n^{o(\mathsf{imn}(H)/\log \mathsf{imn}(H))}$ for any function $f$. In case of counting induced subgraphs, we obtain a similar classification along the independence number $α$: we can count the induced copies of $H$ in $G$ in time $f(k,d)\cdot n^{α(H)}\cdot \log n$, and if the class of allowed patterns has unbounded independence number, an algorithm running in time $f(k,d)\cdot n^{o(α(H)/\log α(H))}$ is impossible, unless ETH fails. In the language of parameterized complexity, our results yield dichotomies in fixed-parameter tractable and $\#\mathsf{W}[1]$-hard cases if we parameterize by the size of the pattern and the degeneracy of the host graph. Our results imply that several patterns cannot be counted in time $f(k,d)\cdot n^{o(k/\log k)}$, including $k$-matchings, $k$-independent sets, (induced) $k$-paths, (induced) $k$-cycles, and induced $(k,k)$-bicliques, unless ETH fails. Those lower bounds for exact counting are complemented with new algorithms for approximate counting of subgraphs and induced subgraphs in degenerate graphs.
A Gradient Estimator for Time-Varying Electrical Networks with Non-Linear Dissipation
Venue: arXiv cs.LG 2021
Year: 2021

We propose a method for extending the technique of equilibrium propagation for estimating gradients in fixed-point neural networks to the more general setting of directed, time-varying neural networks by modeling them as electrical circuits. We use electrical circuit theory to construct a Lagrangian capable of describing deep, directed neural networks modeled using nonlinear capacitors and inductors, linear resistors and sources, and a special class of nonlinear dissipative elements called fractional memristors. We then derive an estimator for the gradient of the physical parameters of the network, such as synapse conductances, with respect to an arbitrary loss function. This estimator is entirely local, in that it only depends on information locally available to each synapse. We conclude by suggesting methods for extending these results to networks of biologically plausible neurons, e.g. Hodgkin-Huxley neurons.
Explaining dimensionality reduction results using Shapley values
Venue: arXiv cs.LG 2021
Year: 2021

Dimensionality reduction (DR) techniques have been consistently supporting high-dimensional data analysis in various applications. Besides the patterns uncovered by these techniques, the interpretation of DR results based on each feature's contribution to the low-dimensional representation supports new finds through exploratory analysis. Current literature approaches designed to interpret DR techniques do not explain the features' contributions well since they focus only on the low-dimensional representation or do not consider the relationship among features. This paper presents ClusterShapley to address these problems, using Shapley values to generate explanations of dimensionality reduction techniques and interpret these algorithms using a cluster-oriented analysis. ClusterShapley explains the formation of clusters and the meaning of their relationship, which is useful for exploratory data analysis in various domains. We propose novel visualization techniques to guide the interpretation of features' contributions on clustering formation and validate our methodology through case studies of publicly available datasets. The results demonstrate our approach's interpretability and analysis power to generate insights about pathologies and patients in different conditions using DR results.
Automatic code generation from sketches of mobile applications in end-user development using Deep Learning
Venue: arXiv cs.HC 2021
Year: 2021

A common need for mobile application development by end-users or in computing education is to transform a sketch of a user interface into wireframe code using App Inventor, a popular block-based programming environment. As this task is challenging and time-consuming, we present the Sketch2aia approach that automates this process. Sketch2aia employs deep learning to detect the most frequent user interface components and their position on a hand-drawn sketch creating an intermediate representation of the user interface and then automatically generates the App Inventor code of the wireframe. The approach achieves an average user interface component classification accuracy of 87,72% and results of a preliminary user evaluation indicate that it generates wireframes that closely mirror the sketches in terms of visual similarity. The approach has been implemented as a web tool and can be used to support the end-user development of mobile applications effectively and efficiently as well as the teaching of user interface design in K-12.
Simple Flagellated Soft Robot for Locomotion near Air-Fluid Interface
Venue: arXiv cs.RO 2021
Year: 2021

A wide range of microorganisms, e.g. bacteria, propel themselves by rotation of soft helical tails, also known as flagella. Due to the small size of these organisms, viscous forces overwhelm inertial effects and the flow is at low Reynolds number. In this fluid-structure problem, a competition between elastic forces and hydrodynamic (viscous) forces leads to a net propulsive force forward. A thorough understanding of this highly coupled fluid-structure interaction problem can not only help us better understand biological propulsion but also help us design bio-inspired functional robots with applications in oil spill cleanup, water quality monitoring, and infrastructure inspection. Here, we introduce arguably the simplest soft robot with a single binary control signal, which is capable of moving along an arbitrary 2D trajectory near air-fluid interface and at the interface between two fluids. The robot exploits the variation in viscosity to move along the prescribed trajectory. Our analysis of this newly introduced soft robot consists of three main components. First, we fabricate this simple robot and use it as an experimental testbed. Second, a discrete differential geometry-based modeling framework is used for simulation of the robot. Upon validation of the simulation tool, the third part of this study employs the simulations to develop a control scheme with a single binary input to make the robot follow any prescribed path.
A New K means Grey Wolf Algorithm for Engineering Problems
Venue: arXiv cs.AI 2021
Year: 2021

Purpose: The development of metaheuristic algorithms has increased by researchers to use them extensively in the field of business, science, and engineering. One of the common metaheuristic optimization algorithms is called Grey Wolf Optimization (GWO). The algorithm works based on imitation of the wolves' searching and the process of attacking grey wolves. The main purpose of this paper to overcome the GWO problem which is trapping into local optima. Design or Methodology or Approach: In this paper, the K-means clustering algorithm is used to enhance the performance of the original Grey Wolf Optimization by dividing the population into different parts. The proposed algorithm is called K-means clustering Grey Wolf Optimization (KMGWO). Findings: Results illustrate the efficiency of KMGWO is superior to GWO. To evaluate the performance of the KMGWO, KMGWO applied to solve 10 CEC2019 benchmark test functions. Results prove that KMGWO is better compared to GWO. KMGWO is also compared to Cat Swarm Optimization (CSO), Whale Optimization Algorithm-Bat Algorithm (WOA-BAT), and WOA, so, KMGWO achieves the first rank in terms of performance. Statistical results proved that KMGWO achieved a higher significant value compared to the compared algorithms. Also, the KMGWO is used to solve a pressure vessel design problem and it has outperformed results. Originality/value: Results prove that KMGWO is superior to GWO. KMGWO is also compared to cat swarm optimization (CSO), whale optimization algorithm-bat algorithm (WOA-BAT), WOA, and GWO so KMGWO achieved the first rank in terms of performance. Also, the KMGWO is used to solve a classical engineering problem and it is superior
An extension of the avalanche criterion in the context of c-differentials
Venue: arXiv cs.CR 2021
Year: 2021

The Strict Avalanche Criterion (SAC) is a property of vectorial Boolean functions that is used in the construction of strong S-boxes. We show in this paper how to generalize the concept of SAC to address possible c-differential attacks, in the realm of finite fields. We define the concepts of c-Strict Avalanche Criterion (c-SAC) and c-Strict Avalanche Criterion of order m (c-SAC(m)), and generalize results of (Li and Cusick, 2005). We also show computationally how the new definition is not equivalent to the existing concepts of c-bent1-ness (Stanica et al., 2020), nor (for n = m) PcN-ness (Ellingsen et al., 2020)
Equi-Joins Over Encrypted Data for Series of Queries
Venue: arXiv cs.CR 2021
Year: 2021

Encryption provides a method to protect data outsourced to a DBMS provider, e.g., in the cloud. However, performing database operations over encrypted data requires specialized encryption schemes that carefully balance security and performance. In this paper, we present a new encryption scheme that can efficiently perform equi-joins over encrypted data with better security than the state-of-the-art. In particular, our encryption scheme reduces the leakage to equality of rows that match a selection criterion and only reveals the transitive closure of the sum of the leakages of each query in a series of queries. Our encryption scheme is provable secure. We implemented our encryption scheme and evaluated it over a dataset from the TPC-H benchmark.
Universal Approximation of Residual Flows in Maximum Mean Discrepancy
Venue: arXiv cs.LG 2021
Year: 2021

Normalizing flows are a class of flexible deep generative models that offer easy likelihood computation. Despite their empirical success, there is little theoretical understanding of their expressiveness. In this work, we study residual flows, a class of normalizing flows composed of Lipschitz residual blocks. We prove residual flows are universal approximators in maximum mean discrepancy. We provide upper bounds on the number of residual blocks to achieve approximation under different assumptions.
Towards Strengthening Deep Learning-based Side Channel Attacks with Mixup
Venue: arXiv cs.CR 2021
Year: 2021

In recent years, various deep learning techniques have been exploited in side channel attacks, with the anticipation of obtaining more appreciable attack results. Most of them concentrate on improving network architectures or putting forward novel algorithms, assuming that there are adequate profiling traces available to train an appropriate neural network. However, in practical scenarios, profiling traces are probably insufficient, which makes the network learn deficiently and compromises attack performance. In this paper, we investigate a kind of data augmentation technique, called mixup, and first propose to exploit it in deep-learning based side channel attacks, for the purpose of expanding the profiling set and facilitating the chances of mounting a successful attack. We perform Correlation Power Analysis for generated traces and original traces, and discover that there exists consistency between them regarding leakage information. Our experiments show that mixup is truly capable of enhancing attack performance especially for insufficient profiling traces. Specifically, when the size of the training set is decreased to 30% of the original set, mixup can significantly reduce acquired attacking traces. We test three mixup parameter values and conclude that generally all of them can bring about improvements. Besides, we compare three leakage models and unexpectedly find that least significant bit model, which is less frequently used in previous works, actually surpasses prevalent identity model and hamming weight model in terms of attack results.
BIKED: A Dataset for Computational Bicycle Design with Machine Learning Benchmarks
Venue: arXiv cs.LG 2021
Year: 2021

In this paper, we present "BIKED," a dataset comprised of 4500 individually designed bicycle models sourced from hundreds of designers. We expect BIKED to enable a variety of data-driven design applications for bicycles and support the development of data-driven design methods. The dataset is comprised of a variety of design information including assembly images, component images, numerical design parameters, and class labels. In this paper, we first discuss the processing of the dataset, then highlight some prominent research questions that BIKED can help address. Of these questions, we further explore the following in detail: 1) Are there prominent gaps in the current bicycle market and design space? We explore the design space using unsupervised dimensionality reduction methods. 2) How does one identify the class of a bicycle and what factors play a key role in defining it? We address the bicycle classification task by training a multitude of classifiers using different forms of design data and identifying parameters of particular significance through permutation-based interpretability analysis. 3) How does one synthesize new bicycles using different representation methods? We consider numerous machine learning methods to generate new bicycle models as well as interpolate between and extrapolate from existing models using Variational Autoencoders. The dataset and code are available at http://decode.mit.edu/projects/biked/.
Novel tile segmentation scheme for omnidirectional video
Venue: arXiv cs.CV 2021
Year: 2021

Regular omnidirectional video encoding technics use map projection to flatten a scene from a spherical shape into one or several 2D shapes. Common projection methods including equirectangular and cubic projection have varying levels of interpolation that create a large number of non-information-carrying pixels that lead to wasted bitrate. In this paper, we propose a tile based omnidirectional video segmentation scheme which can save up to 28% of pixel area and 20% of BD-rate averagely compared to the traditional equirectangular projection based approach.
Some results about double cyclic codes over $\mathbb{F}_{q}+v\mathbb{F}_{q}+v^2\mathbb{F}_{q}$
Venue: arXiv cs.IT 2021
Year: 2021

Let $\mathbb{F}_{q}$ be the finite field with $q$ elements. This paper mainly researches the polynomial representation of double cyclic codes over $\mathbb{F}_{q}+v\mathbb{F}_{q}+v^2\mathbb{F}_{q}$ with $v^3=v$. Firstly, we give the generating polynomials of these double cyclic codes. Secondly, we show the generating matrices of them. Meanwhile, we get quantitative information related to them by the matrix forms. Finally, we investigate the relationship between the generators of double cyclic codes and their duals.