OpenRaiser/Intern-Atlas huggingface dataset:
Stable Recovery of Weighted Sparse Signals from Phaseless Measurements via Weighted l1 Minimization
Venue: arXiv cs.IT 2021
Year: 2021

The goal of phaseless compressed sensing is to recover an unknown sparse or approximately sparse signal from the magnitude of its measurements. However, it does not take advantage of any support information of the original signal. Therefore, our main contribution in this paper is to extend the theoretical framework for phaseless compressed sensing to incorporate with prior knowledge of the support structure of the signal. Specifically, we investigate two conditions that guarantee stable recovery of a weighted $k$-sparse signal via weighted l1 minimization without any phase information. We first prove that the weighted null space property (WNSP) is a sufficient and necessary condition for the success of weighted l1 minimization for weighted k-sparse phase retrievable. Moreover, we show that if a measurement matrix satisfies the strong weighted restricted isometry property (SWRIP), then the original signal can be stably recovered from the phaseless measurements.
Attack-Aware Synchronization-Free Data Timestamping in LoRaWAN
Venue: arXiv cs.NI 2021
Year: 2021

Low-power wide-area network technologies such as LoRaWAN are promising for collecting low-rate monitoring data from geographically distributed sensors, in which timestamping the sensor data is a critical system function. This paper considers a synchronization-free approach to timestamping LoRaWAN uplink data based on signal arrival time at the gateway, which well matches LoRaWAN's one-hop star topology and releases bandwidth from transmitting timestamps and synchronizing end devices' clocks at all times. However, we show that this approach is susceptible to a {\em frame delay attack} consisting of malicious frame collision and delayed replay. Real experiments show that the attack can affect the end devices in large areas up to about $50,000\,\text{m}^2$. In a broader sense, the attack threatens any system functions requiring timely deliveries of LoRaWAN frames. To address this threat, we propose a $\mathsf{LoRaTS}$ gateway design that integrates a commodity LoRaWAN gateway and a low-power software-defined radio receiver to track the inherent frequency biases of the end devices. Based on an analytic model of LoRa's chirp spread spectrum modulation, we develop signal processing algorithms to estimate the frequency biases with high accuracy beyond that achieved by LoRa's default demodulation. The accurate frequency bias tracking capability enables the detection of the attack that introduces additional frequency biases. We also investigate and implement a more crafty attack that uses advanced radio apparatuses to eliminate the frequency biases. To address this crafty attack, we propose a pseudorandom interval hopping scheme to enhance our frequency bias tracking approach. Extensive experiments show the effectiveness of our approach in deployments with real affecting factors such as temperature variations.
Informing Real-time Corrections in Corrective Shared Autonomy Through Expert Demonstrations
Venue: arXiv cs.RO 2021
Year: 2021

Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a range of task variables (e.g., spinning speed of a tool, applied force, path) to address the specific needs of a task. However, this inherent flexibility makes the choice of what corrections to allow at any given instant difficult to determine. This choice of corrections includes determining appropriate robot state variables, scaling for these variables, and a way to allow a user to specify the corrections in an intuitive manner. This paper enables efficient Corrective Shared Autonomy by providing an automated solution based on Learning from Demonstration to both extract the nominal behavior and address these core problems. Our evaluation shows that this solution enables users to successfully complete a surface cleaning task, identifies different strategies users employed in applying corrections, and points to future improvements for our solution.
HOMRS: High Order Metamorphic Relations Selector for Deep Neural Networks
Venue: arXiv cs.LG 2021
Year: 2021

Deep Neural Networks (DNN) applications are increasingly becoming a part of our everyday life, from medical applications to autonomous cars. Traditional validation of DNN relies on accuracy measures, however, the existence of adversarial examples has highlighted the limitations of these accuracy measures, raising concerns especially when DNN are integrated into safety-critical systems. In this paper, we present HOMRS, an approach to boost metamorphic testing by automatically building a small optimized set of high order metamorphic relations from an initial set of elementary metamorphic relations. HOMRS' backbone is a multi-objective search; it exploits ideas drawn from traditional systems testing such as code coverage, test case, path diversity as well as input validation. We applied HOMRS to MNIST/LeNet and SVHN/VGG and we report evidence that it builds a small but effective set of high-order transformations that generalize well to the input data distribution. Moreover, comparing to similar generation technique such as DeepXplore, we show that our distribution-based approach is more effective, generating valid transformations from an uncertainty quantification point of view, while requiring less computation time by leveraging the generalization ability of the approach.
Weakly-Supervised Classification and Detection of Bird Sounds in the Wild. A BirdCLEF 2021 Solution
Venue: arXiv cs.SD 2021
Year: 2021

It is easier to hear birds than see them, however, they still play an essential role in nature and they are excellent indicators of deteriorating environmental quality and pollution. Recent advances in Machine Learning and Convolutional Neural Networks allow us to detect and classify bird sounds, by doing this, we can assist researchers in monitoring the status and trends of bird populations and biodiversity in ecosystems. We propose a sound detection and classification pipeline for analyzing complex soundscape recordings and identify birdcalls in the background. Our pipeline learns from weak labels, classifies fine-grained bird vocalizations in the wild, and is robust against background sounds (e.g., airplanes, rain, etc). Our solution achieved 10th place of 816 teams at the BirdCLEF 2021 Challenge hosted on Kaggle.
NeuroDB: A Neural Network Framework for Answering Range Aggregate Queries and Beyond
Venue: arXiv cs.DB 2021
Year: 2021

Range aggregate queries (RAQs) are an integral part of many real-world applications, where, often, fast and approximate answers for the queries are desired. Recent work has studied answering RAQs using machine learning models, where a model of the data is learned to answer the queries. However, such modelling choices fail to utilize any query specific information. To capture such information, we observe that RAQs can be represented by query functions, which are functions that take a query instance (i.e., a specific RAQ) as an input and output its corresponding answer. Using this representation, we formulate the problem of learning to approximate the query function, and propose NeuroDB, a query specialized neural network framework, that answers RAQs efficiently. NeuroDB is query-type agnostic (i.e., it does not make any assumption about the underlying query type) and our observation that queries can be represented by functions is not specific to RAQs. Thus, we investigate whether NeuroDB can be used for other query types, by applying it to distance to nearest neighbour queries. We experimentally show that NeuroDB outperforms the state-of-the-art for this query type, often by orders of magnitude. Moreover, the same neural network architecture as for RAQs is used, bringing to light the possibility of using a generic framework to answer any query type efficiently.
Distributed Deep Reinforcement Learning for Intelligent Traffic Monitoring with a Team of Aerial Robots
Venue: arXiv cs.RO 2021
Year: 2021

This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the problem has a non-homogeneous structure as the traffic events arrive at different locations of the road network at different rates. Accordingly, some locations require more visits by the robots compared to other locations. To address these issues, we define an uncertainty metric for each location of the road network and formulate a path planning problem for the aerial robots to minimize the network's average uncertainty. We express this problem as a partially observable Markov decision process (POMDP) and propose a distributed and scalable algorithm based on deep reinforcement learning to solve it. We consider two different scenarios depending on the communication mode between the agents (aerial robots) and the traffic management center (TMC). The first scenario assumes that the agents continuously communicate with the TMC to send/receive real-time information about the traffic events. Hence, the agents have global and real-time knowledge of the environment. However, in the second scenario, we consider a challenging setting where the observation of the aerial robots is partial and limited to their sensing ranges. Moreover, in contrast to the first scenario, the information exchange between the aerial robots and the TMC is restricted to specific time instances. We evaluate the performance of our proposed algorithm in both scenarios for a real road network topology and demonstrate its functionality in a traffic monitoring system.
Dynamics of Opinions with Bounded Confidence in Social Cliques: Emergence of Fluctuations
Venue: arXiv cs.SI 2021
Year: 2021

In this paper, we study the evolution of opinions over social networks with bounded confidence in social cliques. Node initial opinions are independently and identically distributed; at each time step, nodes review the average opinions of a randomly selected local clique. The clique averages may represent local group pressures on peers. Then nodes update their opinions under bounded confidence: only when the difference between an agent individual opinion and the corresponding local clique pressure is below a threshold, this agent opinion is updated according to the DeGroot rule as a weighted average of the two values. As a result, this opinion dynamics is a generalization of the classical Deffuant-Weisbuch model in which only pairwise interactions take place. First of all, we prove conditions under which all node opinions converge to finite limits. We show that in the limits the event that all nodes achieve a consensus, and the event that all nodes achieve pairwise distinct limits, i.e., social disagreements, are both nontrivial events. Next, we show that opinion fluctuations may take place in the sense that at least one agent in the network fails to hold a converging opinion trajectory. In fact, we prove that this fluctuation event happens with a strictly positive probability, and also constructively present an initial value event under which the fluctuation event arises with probability one. These results add to the understanding of the role of bounded confidence in social opinion dynamics, and the possibility of fluctuation reveals that bringing in cliques in Deffuant-Weisbuch models have fundamentally changed the behavior of such opinion dynamical processes.
Prediction Surface Uncertainty Quantification in Object Detection Models for Autonomous Driving
Venue: arXiv cs.CV 2021
Year: 2021

Object detection in autonomous cars is commonly based on camera images and Lidar inputs, which are often used to train prediction models such as deep artificial neural networks for decision making for object recognition, adjusting speed, etc. A mistake in such decision making can be damaging; thus, it is vital to measure the reliability of decisions made by such prediction models via uncertainty measurement. Uncertainty, in deep learning models, is often measured for classification problems. However, deep learning models in autonomous driving are often multi-output regression models. Hence, we propose a novel method called PURE (Prediction sURface uncErtainty) for measuring prediction uncertainty of such regression models. We formulate the object recognition problem as a regression model with more than one outputs for finding object locations in a 2-dimensional camera view. For evaluation, we modified three widely-applied object recognition models (i.e., YoLo, SSD300 and SSD512) and used the KITTI, Stanford Cars, Berkeley DeepDrive, and NEXET datasets. Results showed the statistically significant negative correlation between prediction surface uncertainty and prediction accuracy suggesting that uncertainty significantly impacts the decisions made by autonomous driving.
Semi-Supervised Object Detection with Adaptive Class-Rebalancing Self-Training
Venue: arXiv cs.CV 2021
Year: 2021

This study delves into semi-supervised object detection (SSOD) to improve detector performance with additional unlabeled data. State-of-the-art SSOD performance has been achieved recently by self-training, in which training supervision consists of ground truths and pseudo-labels. In current studies, we observe that class imbalance in SSOD severely impedes the effectiveness of self-training. To address the class imbalance, we propose adaptive class-rebalancing self-training (ACRST) with a novel memory module called CropBank. ACRST adaptively rebalances the training data with foreground instances extracted from the CropBank, thereby alleviating the class imbalance. Owing to the high complexity of detection tasks, we observe that both self-training and data-rebalancing suffer from noisy pseudo-labels in SSOD. Therefore, we propose a novel two-stage filtering algorithm to generate accurate pseudo-labels. Our method achieves satisfactory improvements on MS-COCO and VOC benchmarks. When using only 1\% labeled data in MS-COCO, our method achieves 17.02 mAP improvement over supervised baselines, and 5.32 mAP improvement compared with state-of-the-art methods.
Learning from Crowds with Sparse and Imbalanced Annotations
Venue: arXiv cs.LG 2021
Year: 2021

Traditional supervised learning requires ground truth labels for the training data, whose collection can be difficult in many cases. Recently, crowdsourcing has established itself as an efficient labeling solution through resorting to non-expert crowds. To reduce the labeling error effects, one common practice is to distribute each instance to multiple workers, whereas each worker only annotates a subset of data, resulting in the {\it sparse annotation} phenomenon. In this paper, we note that when meeting with class-imbalance, i.e., when the ground truth labels are {\it class-imbalanced}, the sparse annotations are prone to be skewly distributed, which thus can severely bias the learning algorithm. To combat this issue, we propose one self-training based approach named {\it Self-Crowd} by progressively adding confident pseudo-annotations and rebalancing the annotation distribution. Specifically, we propose one distribution aware confidence measure to select confident pseudo-annotations, which adopts the resampling strategy to oversample the minority annotations and undersample the majority annotations. On one real-world crowdsourcing image classification task, we show that the proposed method yields more balanced annotations throughout training than the distribution agnostic methods and substantially improves the learning performance at different annotation sparsity levels.
A Cloud-Edge-Terminal Collaborative System for Temperature Measurement in COVID-19 Prevention
Venue: arXiv cs.CV 2021
Year: 2021

To prevent the spread of coronavirus disease 2019 (COVID-19), preliminary temperature measurement and mask detection in public areas are conducted. However, the existing temperature measurement methods face the problems of safety and deployment. In this paper, to realize safe and accurate temperature measurement even when a person's face is partially obscured, we propose a cloud-edge-terminal collaborative system with a lightweight infrared temperature measurement model. A binocular camera with an RGB lens and a thermal lens is utilized to simultaneously capture image pairs. Then, a mobile detection model based on a multi-task cascaded convolutional network (MTCNN) is proposed to realize face alignment and mask detection on the RGB images. For accurate temperature measurement, we transform the facial landmarks on the RGB images to the thermal images by an affine transformation and select a more accurate temperature measurement area on the forehead. The collected information is uploaded to the cloud in real time for COVID-19 prevention. Experiments show that the detection model is only 6.1M and the average detection speed is 257ms. At a distance of 1m, the error of indoor temperature measurement is about 3%. That is, the proposed system can realize real-time temperature measurement in public areas.
Zero-Shot Scene Graph Relation Prediction through Commonsense Knowledge Integration
Venue: arXiv cs.CV 2021
Year: 2021

Relation prediction among entities in images is an important step in scene graph generation (SGG), which further impacts various visual understanding and reasoning tasks. Existing SGG frameworks, however, require heavy training yet are incapable of modeling unseen (i.e.,zero-shot) triplets. In this work, we stress that such incapability is due to the lack of commonsense reasoning,i.e., the ability to associate similar entities and infer similar relations based on general understanding of the world. To fill this gap, we propose CommOnsense-integrAted sCenegrapHrElation pRediction (COACHER), a framework to integrate commonsense knowledge for SGG, especially for zero-shot relation prediction. Specifically, we develop novel graph mining pipelines to model the neighborhoods and paths around entities in an external commonsense knowledge graph, and integrate them on top of state-of-the-art SGG frameworks. Extensive quantitative evaluations and qualitative case studies on both original and manipulated datasets from Visual Genome demonstrate the effectiveness of our proposed approach.
LiveView: Dynamic Target-Centered MPI for View Synthesis
Venue: arXiv cs.CV 2021
Year: 2021

Existing Multi-Plane Image (MPI) based view-synthesis methods generate an MPI aligned with the input view using a fixed number of planes in one forward pass. These methods produce fast, high-quality rendering of novel views, but rely on slow and computationally expensive MPI generation methods unsuitable for real-time applications. In addition, most MPI techniques use fixed depth/disparity planes which cannot be modified once the training is complete, hence offering very little flexibility at run-time. We propose LiveView - a novel MPI generation and rendering technique that produces high-quality view synthesis in real-time. Our method can also offer the flexibility to select scene-dependent MPI planes (number of planes and spacing between them) at run-time. LiveView first warps input images to target view (target-centered) and then learns to generate a target view centered MPI, one depth plane at a time (dynamically). The method generates high-quality renderings, while also enabling fast MPI generation and novel view synthesis. As a result, LiveView enables real-time view synthesis applications where an MPI needs to be updated frequently based on a video stream of input views. We demonstrate that LiveView improves the quality of view synthesis while being 70 times faster at run-time compared to state-of-the-art MPI-based methods.
MOOCRep: A Unified Pre-trained Embedding of MOOC Entities
Venue: arXiv cs.LG 2021
Year: 2021

Many machine learning models have been built to tackle information overload issues on Massive Open Online Courses (MOOC) platforms. These models rely on learning powerful representations of MOOC entities. However, they suffer from the problem of scarce expert label data. To overcome this problem, we propose to learn pre-trained representations of MOOC entities using abundant unlabeled data from the structure of MOOCs which can directly be applied to the downstream tasks. While existing pre-training methods have been successful in NLP areas as they learn powerful textual representation, their models do not leverage the richer information about MOOC entities. This richer information includes the graph relationship between the lectures, concepts, and courses along with the domain knowledge about the complexity of a concept. We develop MOOCRep, a novel method based on Transformer language model trained with two pre-training objectives : 1) graph-based objective to capture the powerful signal of entities and relations that exist in the graph, and 2) domain-oriented objective to effectively incorporate the complexity level of concepts. Our experiments reveal that MOOCRep's embeddings outperform state-of-the-art representation learning methods on two tasks important for education community, concept pre-requisite prediction and lecture recommendation.
Provider-centric Allocation of Drone Swarm Services
Venue: arXiv cs.MA 2021
Year: 2021

We propose a novel framework for the allocation of drone swarms for delivery services known as Swarm-based Drone-as-a-Service (SDaaS). The allocation framework ensures minimum cost (aka maximum profit) to drone swarm providers while meeting the time requirement of service consumers. The constraints in the delivery environment (e.g., limited recharging pads) are taken into consideration. We propose three algorithms to select the best allocation of drone swarms given a set of requests from multiple consumers. We conduct a set of experiments to evaluate and compare the efficiency of these algorithms considering the provider's profit, feasibility, requests fulfilment, and drones utilization level.
Software Process Improvement Based on Defect Prevention Using Capability and Testing Model Integration in Extreme Programming
Venue: arXiv cs.SE 2021
Year: 2021

Nowadays, Software Process Improvement popularly known as SPI has been able to receive an immense concern in the continuous process to purify software quality. Several Agile methodologies previously have worked with Extreme programming (XP). Before improving the process, defect prevention (DP) is inevitable. In addition, DP largely depends on defect detection either found earlier in the design and implementation stages or held in the testing phases. However, testing maturity model integration (TMMI) has a crucial aspect in DP as well as process improvement of the software. In particular, when software gets validated by being tested and fixed the defects up, it achieves the maximum capability maturity model integration (CMMI) aiming the process improvement. Here, the article has proposed an improved defect detection and prevention model to enhance the software process following the approach of XP. Besides, as a unique contribution, we have united the capability and testing model integration to ensure better SPI.