OpenRaiser/Intern-Atlas huggingface dataset:
CoUAV: A Cooperative UAV Fleet Control and Monitoring Platform
Venue: arXiv cs.RO 2019
Year: 2019

In the past decade, unmanned aerial vehicles (UAVs) have been widely used in various civilian applications, most of which only require a single UAV. In the near future, it is expected that more and more applications will be enabled by the cooperation of multiple UAVs. To facilitate such applications, it is desirable to utilize a general control platform for cooperative UAVs. However, existing open-source control platforms cannot fulfill such a demand because (1) they only support the leader-follower mode, which limits the design options for fleet control, (2) existing platforms can support only certain UAVs and thus lack of compatibility, and (3) these platforms cannot accurately simulate a flight mission, which may cause a big gap between simulation and real flight. To address these issues, we propose a general control and monitoring platform for cooperative UAV fleet, namely, CoUAV, which provides a set of core cooperation services of UAVs, including synchronization, connectivity management, path planning, energy simulation, etc. To verify the applicability of CoUAV, we design and develop a prototype and we use the new system to perform an emergency search application that aims to complete a task with the minimum flying time. To achieve this goal, we design and implement a path planning service that takes both the UAV network connectivity and coverage into consideration so as to maximize the efficiency of a fleet. Experimental results by both simulation and field test demonstrate that the proposed system is viable.
Software Engineering in Civic Tech: A Case Study about Code for Ireland
Venue: arXiv cs.SE 2019
Year: 2019

Civic grassroots have proven their ability to create useful and scalable software that addresses pressing social needs. Although software engineering plays a fundamental role in the process of creating civic technology, academic literature that analyses the software development processes of civic tech grassroots is scarce. This paper aims to advance the understanding of how civic grassroots tackle the different activities in their software development processes. In this study, we followed the formation of two projects in a civic tech group (Code for Ireland) seeking to understand how their development processes evolved over time, and how the group carried out their work in creating new technology. Our preliminary findings show that such groups are capable of setting up systematic software engineering processes that address software specification, development, validation, and evolution. While they were able to deliver software according to self-specified quality standards, the group has challenges in requirements specification, stakeholder engagement, and reorienting from development to product delivery. Software engineering methods and tools can effectively support the future of civic technologies and potentially improve their management, quality, and durability.
Data-driven Economic NMPC using Reinforcement Learning
Venue: arXiv cs.SY 2019
Year: 2019

Reinforcement Learning (RL) is a powerful tool to perform data-driven optimal control without relying on a model of the system. However, RL struggles to provide hard guarantees on the behavior of the resulting control scheme. In contrast, Nonlinear Model Predictive Control (NMPC) and Economic NMPC (ENMPC) are standard tools for the closed-loop optimal control of complex systems with constraints and limitations, and benefit from a rich theory to assess their closed-loop behavior. Unfortunately, the performance of (E)NMPC hinges on the quality of the model underlying the control scheme. In this paper, we show that an (E)NMPC scheme can be tuned to deliver the optimal policy of the real system even when using a wrong model. This result also holds for real systems having stochastic dynamics. This entails that ENMPC can be used as a new type of function approximator within RL. Furthermore, we investigate our results in the context of ENMPC and formally connect them to the concept of dissipativity, which is central for the ENMPC stability. Finally, we detail how these results can be used to deploy classic RL tools for tuning (E)NMPC schemes. We apply these tools on both a classical linear MPC setting and a standard nonlinear example from the ENMPC literature.
Contextual Affective Analysis: A Case Study of People Portrayals in Online #MeToo Stories
Venue: arXiv cs.SI 2019
Year: 2019

In October 2017, numerous women accused producer Harvey Weinstein of sexual harassment. Their stories encouraged other women to voice allegations of sexual harassment against many high profile men, including politicians, actors, and producers. These events are broadly referred to as the #MeToo movement, named for the use of the hashtag "#metoo" on social media platforms like Twitter and Facebook. The movement has widely been referred to as "empowering" because it has amplified the voices of previously unheard women over those of traditionally powerful men. In this work, we investigate dynamics of sentiment, power and agency in online media coverage of these events. Using a corpus of online media articles about the #MeToo movement, we present a contextual affective analysis---an entity-centric approach that uses contextualized lexicons to examine how people are portrayed in media articles. We show that while these articles are sympathetic towards women who have experienced sexual harassment, they consistently present men as most powerful, even after sexual assault allegations. While we focus on media coverage of the #MeToo movement, our method for contextual affective analysis readily generalizes to other domains.
Delay-Aware Flow Migration for Embedded Services in 5G Core Networks
Venue: arXiv cs.NI 2019
Year: 2019

Service-oriented virtual network deployment is based on statistical resource demands of different services, while data traffic from each service fluctuates over time. In this paper, a delay-aware flow migration problem for embedded services is studied to meet end-to-end (E2E) delay requirement with time-varying traffic. A non-convex multi-objective mixed integer optimization problem is formulated, addressing the trade-off between maximum load balancing and minimum reconfiguration overhead due to flow migrations, under processing and transmission resource constraints and QoS requirement constraints. Since the original problem is non-solvable in optimization solvers due to unsupported types of quadratic constraints, it is transformed to a tractable mixed integer quadratically constrained programming (MIQCP) problem. The optimality gap between the two problems is proved to be zero, so we can obtain the optimum of the original problem through solving the MIQCP problem with some post-processing. Numerical results are presented to demonstrate the aforementioned trade-off, as well as the benefit from flow migration in terms of E2E delay performance guarantee.
Symbolic Abstractions for Quantum Protocol Verification
Venue: arXiv cs.CR 2019
Year: 2019

Quantum protocols such as the BB84 Quantum Key Distribution protocol exchange qubits to achieve information-theoretic security guarantees. Many variants thereof were proposed, some of them being already deployed. Existing security proofs in that field are mostly tedious, error-prone pen-and-paper proofs of the core protocol only that rarely account for other crucial components such as authentication. This calls for formal and automated verification techniques that exhaustively explore all possible intruder behaviors and that scale well. The symbolic approach offers rigorous, mathematical frameworks and automated tools to analyze security protocols. Based on well-designed abstractions, it has allowed for large-scale formal analyses of real-life protocols such as TLS 1.3 and mobile telephony protocols. Hence a natural question is: Can we use this successful line of work to analyze quantum protocols? This paper proposes a first positive answer and motivates further research on this unexplored path.
Dynamics of Pedestrian Crossing Decisions Based on Vehicle Trajectories in Large-Scale Simulated and Real-World Data
Venue: arXiv cs.HC 2019
Year: 2019

Humans, as both pedestrians and drivers, generally skillfully navigate traffic intersections. Despite the uncertainty, danger, and the non-verbal nature of communication commonly found in these interactions, there are surprisingly few collisions considering the total number of interactions. As the role of automation technology in vehicles grows, it becomes increasingly critical to understand the relationship between pedestrian and driver behavior: how pedestrians perceive the actions of a vehicle/driver and how pedestrians make crossing decisions. The relationship between time-to-arrival (TTA) and pedestrian gap acceptance (i.e., whether a pedestrian chooses to cross under a given window of time to cross) has been extensively investigated. However, the dynamic nature of vehicle trajectories in the context of non-verbal communication has not been systematically explored. Our work provides evidence that trajectory dynamics, such as changes in TTA, can be powerful signals in the non-verbal communication between drivers and pedestrians. Moreover, we investigate these effects in both simulated and real-world datasets, both larger than have previously been considered in literature to the best of our knowledge.
Junta correlation is testable
Venue: arXiv cs.CC 2019
Year: 2019

The problem of tolerant junta testing is a natural and challenging problem which asks if the property of a function having some specified correlation with a $k$-Junta is testable. In this paper we give an affirmative answer to this question: We show that given distance parameters $\frac{1}{2} >c_u>c_{\ell} \ge 0$, there is a tester which given oracle access to $f:\{-1,1\}^n \rightarrow \{-1,1\}$, with query complexity $ 2^k \cdot \mathsf{poly}(k,1/|c_u-c_{\ell}|)$ and distinguishes between the following cases: $\mathbf{1.}$ The distance of $f$ from any $k$-junta is at least $c_u$; $\mathbf{2.}$ There is a $k$-junta $g$ which has distance at most $c_\ell$ from $f$. This is the first non-trivial tester (i.e., query complexity is independent of $n$) which works for all $1/2 > c_u > c_\ell \ge 0$. The best previously known results by Blais \emph{et~ al.}, required $c_u \ge 16 c_\ell$. In fact, with the same query complexity, we accomplish the stronger goal of identifying the most correlated $k$-junta, up to permutations of the coordinates. We can further improve the query complexity to $\mathsf{poly}(k, 1/|c_u-c_{\ell}|)$ for the (weaker) task of distinguishing between the following cases: $\mathbf{1.}$ The distance of $f$ from any $k'$-junta is at least $c_u$. $\mathbf{2.}$ There is a $k$-junta $g$ which is at a distance at most $c_\ell$ from $f$. Here $k'=O(k^2/|c_u-c_\ell|)$. Our main tools are Fourier analysis based algorithms that simulate oracle access to influential coordinates of functions.
A Multi-Observer Based Estimation Framework for Nonlinear Systems under Sensor Attacks
Venue: arXiv cs.SY 2019
Year: 2019

We address the problem of state estimation and attack isolation for general discrete-time nonlinear systems when sensors are corrupted by (potentially unbounded) attack signals. For a large class of nonlinear plants and observers, we provide a general estimation scheme, built around the idea of sensor redundancy and multi-observer, capable of reconstructing the system state in spite of sensor attacks and noise. This scheme has been proposed by others for linear systems/observers and here we propose a unifying framework for a much larger class of nonlinear systems/observers. Using the proposed estimator, we provide an isolation algorithm to pinpoint attacks on sensors during sliding time windows. Simulation results are presented to illustrate the performance of our tools.
Efficient Passive ICS Device Discovery and Identification by MAC Address Correlation
Venue: arXiv cs.CR 2019
Year: 2019

Owing to a growing number of attacks, the assessment of Industrial Control Systems (ICSs) has gained in importance. An integral part of an assessment is the creation of a detailed inventory of all connected devices, enabling vulnerability evaluations. For this purpose, scans of networks are crucial. Active scanning, which generates irregular traffic, is a method to get an overview of connected and active devices. Since such additional traffic may lead to an unexpected behavior of devices, active scanning methods should be avoided in critical infrastructure networks. In such cases, passive network monitoring offers an alternative, which is often used in conjunction with complex deep-packet inspection techniques. There are very few publications on lightweight passive scanning methodologies for industrial networks. In this paper, we propose a lightweight passive network monitoring technique using an efficient Media Access Control (MAC) address-based identification of industrial devices. Based on an incomplete set of known MAC address to device associations, the presented method can guess correct device and vendor information. Proving the feasibility of the method, an implementation is also introduced and evaluated regarding its efficiency. The feasibility of predicting a specific device/vendor combination is demonstrated by having similar devices in the database. In our ICS testbed, we reached a host discovery rate of 100% at an identification rate of more than 66%, outperforming the results of existing tools.
Analysis of Commutativity with State-Chart Graph Representation of Concurrent Programs
Venue: arXiv cs.DC 2019
Year: 2019

We present a new approach to check for commutativity in concurrent programs from their state-chart graphs. A set of operations are commutative if changing the order of their execution on an object does not affect the abstract state of the object and returns the same response. Concurrent operations that commute at object-level can be executed concurrently at transaction-level, which boosts performance while preserving the appearance of atomicity and isolation. Utilizing object-level commutativity in transactional execution enables the reuse of existing non-blocking programming techniques for thread-level synchronization. In our approach, we generate state-chart graphs by tracking data on the atomic instructions invoked on the concurrent object during model checking and represent the atomic instructions as states in a state-transition representation. Considering the non-deterministic nature of concurrent programs, we determine commutativity by exhaustively searching for identical object states captured at a thread-level granularity across all thread interleavings. With this methodology, a user can not only verify commutativity among operations, but also can visually check ways in which methods commute at object-level, which is an edge over current state-of-the-art tools. The object-level commutative information helps in identifying faulty implementations and performance improvement considerations. We use the graph database, Neo4j, to represent object states as nodes that further assists the user to check for concurrency properties using Cypher queries.
Sketchforme: Composing Sketched Scenes from Text Descriptions for Interactive Applications
Venue: arXiv cs.HC 2019
Year: 2019

Sketching and natural languages are effective communication media for interactive applications. We introduce Sketchforme, the first neural-network-based system that can generate sketches based on text descriptions specified by users. Sketchforme is capable of gaining high-level and low-level understanding of multi-object sketched scenes without being trained on sketched scene datasets annotated with text descriptions. The sketches composed by Sketchforme are expressive and realistic: we show in our user study that these sketches convey descriptions better than human-generated sketches in multiple cases, and 36.5% of those sketches are considered to be human-generated. We develop multiple interactive applications using these generated sketches, and show that Sketchforme can significantly improve language learning applications and support intelligent language-based sketching assistants.
$L_0$-ARM: Network Sparsification via Stochastic Binary Optimization
Venue: arXiv cs.LG 2019
Year: 2019

We consider network sparsification as an $L_0$-norm regularized binary optimization problem, where each unit of a neural network (e.g., weight, neuron, or channel, etc.) is attached with a stochastic binary gate, whose parameters are jointly optimized with original network parameters. The Augment-Reinforce-Merge (ARM), a recently proposed unbiased gradient estimator, is investigated for this binary optimization problem. Compared to the hard concrete gradient estimator from Louizos et al., ARM demonstrates superior performance of pruning network architectures while retaining almost the same accuracies of baseline methods. Similar to the hard concrete estimator, ARM also enables conditional computation during model training but with improved effectiveness due to the exact binary stochasticity. Thanks to the flexibility of ARM, many smooth or non-smooth parametric functions, such as scaled sigmoid or hard sigmoid, can be used to parameterize this binary optimization problem and the unbiasness of the ARM estimator is retained, while the hard concrete estimator has to rely on the hard sigmoid function to achieve conditional computation and thus accelerated training. Extensive experiments on multiple public datasets demonstrate state-of-the-art pruning rates with almost the same accuracies of baseline methods. The resulting algorithm $L_0$-ARM sparsifies the Wide-ResNet models on CIFAR-10 and CIFAR-100 while the hard concrete estimator cannot. The code is public available at https://github.com/leo-yangli/l0-arm.
Mixing syntagmatic and paradigmatic information for concept detection
Venue: arXiv cs.CL 2019
Year: 2019

In the last decades, philosophers have begun using empirical data for conceptual analysis, but corpus-based conceptual analysis has so far failed to develop, in part because of the absence of reliable methods to automatically detect concepts in textual data. Previous attempts have shown that topic models can constitute efficient concept detection heuristics, but while they leverage the syntagmatic relations in a corpus, they fail to exploit paradigmatic relations, and thus probably fail to model concepts accurately. In this article, we show that using a topic model that models concepts on a space of word embeddings (Hu and Tsujii, 2016) can lead to significant increases in concept detection performance, as well as enable the target concept to be expressed in more flexible ways using word vectors.
Second Order and Moderate Deviation Analysis of a Block Fading Channel with Deterministic and Energy Harvesting Power Constraints
Venue: arXiv cs.IT 2019
Year: 2019

We consider a block fading additive white Gaussian noise (AWGN) channel with perfect channel state information (CSI) at the transmitter and the receiver. First, for a given codeword length and non-vanishing average probability of error, we obtain lower and upper bounds on the maximum transmission rate. We derive bounds for three kinds of power constraints inherent to a wireless transmitter. These include the canonical peak power constraint and average power constraint. In addition, we consider a time varying peak power constraint imposed by an \emph{energy harvesting device}-a mechanism that powers many modern-day wireless transmitters. The bounds characterize \emph{second order} deviation of finite blocklength coding rates from the channel capacity, which is in turn achieved by \textit{water-filling} power allocation across time. The bounds obtained also indicate the rate enhancement possible due to CSI at the transmitter in the finite blocklength regime. Next, we provide bounds on the optimal exponent with which error probability drops to zero when channel coding rate is simultaneously allowed to approach capacity \emph{at a certain rate}, as the codeword length increases. These bounds identify what is known as the moderate deviation regime of the block fading channel. We compare the bounds numerically to bring out the efficacy of our results.
Convolutional Temporal Attention Model for Video-based Person Re-identification
Venue: arXiv cs.CV 2019
Year: 2019

The goal of video-based person re-identification is to match two input videos, so that the distance of the two videos is small if two videos contain the same person. A common approach for person re-identification is to first extract image features for all frames in the video, then aggregate all the features to form a video-level feature. The video-level features of two videos can then be used to calculate the distance of the two videos. In this paper, we propose a temporal attention approach for aggregating frame-level features into a video-level feature vector for re-identification. Our method is motivated by the fact that not all frames in a video are equally informative. We propose a fully convolutional temporal attention model for generating the attention scores. Fully convolutional network (FCN) has been widely used in semantic segmentation for generating 2D output maps. In this paper, we formulate video based person re-identification as a sequence labeling problem like semantic segmentation. We establish a connection between them and modify FCN to generate attention scores to represent the importance of each frame. Extensive experiments on three different benchmark datasets (i.e. iLIDS-VID, PRID-2011 and SDU-VID) show that our proposed method outperforms other state-of-the-art approaches.
High-Resolution Representations for Labeling Pixels and Regions
Venue: arXiv cs.CV 2019
Year: 2019

High-resolution representation learning plays an essential role in many vision problems, e.g., pose estimation and semantic segmentation. The high-resolution network (HRNet)~\cite{SunXLW19}, recently developed for human pose estimation, maintains high-resolution representations through the whole process by connecting high-to-low resolution convolutions in \emph{parallel} and produces strong high-resolution representations by repeatedly conducting fusions across parallel convolutions. In this paper, we conduct a further study on high-resolution representations by introducing a simple yet effective modification and apply it to a wide range of vision tasks. We augment the high-resolution representation by aggregating the (upsampled) representations from all the parallel convolutions rather than only the representation from the high-resolution convolution as done in~\cite{SunXLW19}. This simple modification leads to stronger representations, evidenced by superior results. We show top results in semantic segmentation on Cityscapes, LIP, and PASCAL Context, and facial landmark detection on AFLW, COFW, $300$W, and WFLW. In addition, we build a multi-level representation from the high-resolution representation and apply it to the Faster R-CNN object detection framework and the extended frameworks. The proposed approach achieves superior results to existing single-model networks on COCO object detection. The code and models have been publicly available at \url{https://github.com/HRNet}.