OpenRaiser/Intern-Atlas huggingface dataset:
Manually Acquiring Targets from Multiple Viewpoints Using Video Feedback
Venue: arXiv cs.HC 2022
Year: 2022

Objective: The effect of camera viewpoint was studied when performing visually obstructed psychomotor targeting tasks. Background: Previous research in laparoscopy and robotic teleoperation found that complex perceptual-motor adaptations associated with misaligned viewpoints corresponded to degraded performance in manipulation. Because optimal camera positioning is often unavailable in restricted environments, alternative viewpoints that might mitigate performance effects are not obvious. Methods: A virtual keyboard-controlled targeting task was remotely distributed to workers of Amazon Mechanical Turk. The experiment was performed by 192 subjects for a static viewpoint with independent parameters of target direction, Fitts' law index of difficulty, viewpoint azimuthal angle (AA), and viewpoint polar angle (PA). A dynamic viewpoint experiment was also performed by 112 subjects in which the viewpoint AA changed after every trial. Results: AA and target direction had significant effects on performance for the static viewpoint experiment. Movement time and travel distance increased while AA increased until there was a discrete improvement in performance for 180°. Increasing AA from 225° to 315° linearly decreased movement time and distance. There were significant main effects of current AA and magnitude of transition for the dynamic viewpoint experiment. Orthogonal direction and no-change viewpoint transitions least affected performance. Conclusions: Viewpoint selection should aim to minimize associated rotations within the manipulation plane when performing targeting tasks whether implementing a static or dynamic viewing solution. Because PA rotations had negligible performance effects, PA adjustments may extend the space of viable viewpoints. Applications: These results can inform viewpoint-selection for visual feedback during psychomotor tasks.
Probability monads with submonads of deterministic states - Extended version
Venue: arXiv cs.LO 2022
Year: 2022

Probability theory can be studied synthetically as the computational effect embodied by a commutative monad. In the recently proposed Markov categories, one works with an abstraction of the Kleisli category and then defines deterministic morphisms equationally in terms of copying and discarding. The resulting difference between 'pure' and 'deterministic' leads us to investigate the 'sober' objects for a probability monad, for which the two concepts coincide. We propose natural conditions on a probability monad which allow us to identify the sober objects and define an idempotent sobrification functor. Our framework applies to many examples of interest, including the Giry monad on measurable spaces, and allows us to sharpen a previously given version of de Finetti's theorem for Markov categories. This is an extended version of the paper accepted for the Logic In Computer Science (LICS) conference 2022. In this document we include more mathematical details, including all the proofs, of the statements and constructions given in the published version.
Optimal Reference for DNA Synthesis
Venue: arXiv cs.IT 2022
Year: 2022

In the recent years, DNA has emerged as a potentially viable storage technology. DNA synthesis, which refers to the task of writing the data into DNA, is perhaps the most costly part of existing storage systems. Accordingly, this high cost and low throughput limits the practical use in available DNA synthesis technologies. It has been found that the homopolymer run (i.e., the repetition of the same nucleotide) is a major factor affecting the synthesis and sequencing errors. Quite recently, [26] studied the role of batch optimization in reducing the cost of large scale DNA synthesis, for a given pool $\mathcal{S}$ of random quaternary strings of fixed length. Among other things, it was shown that the asymptotic cost savings of batch optimization are significantly greater when the strings in $\mathcal{S}$ contain repeats of the same character (homopolymer run of length one), as compared to the case where strings are unconstrained. Following the lead of [26], in this paper, we take a step forward towards the theoretical understanding of DNA synthesis, and study the homopolymer run of length $k\geq1$. Specifically, we are given a set of DNA strands $\mathcal{S}$, randomly drawn from a natural Markovian distribution modeling a general homopolymer run length constraint, that we wish to synthesize. For this problem, we prove that for any $k\geq 1$, the optimal reference strand, minimizing the cost of DNA synthesis is, perhaps surprisingly, the periodic sequence $\overline{\mathsf{ACGT}}$. It turns out that tackling the homopolymer constraint of length $k\geq2$ is a challenging problem; our main technical contribution is the representation of the DNA synthesis process as a certain constrained system, for which string techniques can be applied.
Machine Learning-based Anomaly Detection in Optical Fiber Monitoring
Venue: arXiv cs.NI 2022
Year: 2022

Secure and reliable data communication in optical networks is critical for high-speed Internet. However, optical fibers, serving as the data transmission medium providing connectivity to billons of users worldwide, are prone to a variety of anomalies resulting from hard failures (e.g., fiber cuts) and malicious physical attacks (e.g., optical eavesdropping (fiber tapping)) etc. Such anomalies may cause network disruption and thereby inducing huge financial and data losses, or compromise the confidentiality of optical networks by gaining unauthorized access to the carried data, or gradually degrade the network operations. Therefore, it is highly required to implement efficient anomaly detection, diagnosis, and localization schemes for enhancing the availability and reliability of optical networks. In this paper, we propose a data driven approach to accurately and quickly detect, diagnose, and localize fiber anomalies including fiber cuts, and optical eavesdropping attacks. The proposed method combines an autoencoder-based anomaly detection and an attention-based bidirectional gated recurrent unit algorithm, whereby the former is used for fault detection and the latter is adopted for fault diagnosis and localization once an anomaly is detected by the autoencoder. We verify the efficiency of our proposed approach by experiments under various anomaly scenarios using real operational data. The experimental results demonstrate that: (i) the autoencoder detects any fiber fault or anomaly with an F1 score of 96.86%; and (ii) the attention-based bidirectional gated recurrent unit algorithm identifies the the detected anomalies with an average accuracy of 98.2%, and localizes the faults with an average root mean square error of 0.19 m.
A Unified Analysis of Dynamic Interactive Learning
Venue: arXiv cs.LG 2022
Year: 2022

In this paper we investigate the problem of learning evolving concepts over a combinatorial structure. Previous work by Emamjomeh-Zadeh et al. [2020] introduced dynamics into interactive learning as a way to model non-static user preferences in clustering problems or recommender systems. We provide many useful contributions to this problem. First, we give a framework that captures both of the models analyzed by [Emamjomeh-Zadeh et al., 2020], which allows us to study any type of concept evolution and matches the same query complexity bounds and running time guarantees of the previous models. Using this general model we solve the open problem of closing the gap between the upper and lower bounds on query complexity. Finally, we study an efficient algorithm where the learner simply follows the feedback at each round, and we provide mistake bounds for low diameter graphs such as cliques, stars, and general o(log n) diameter graphs by using a Markov Chain model.
SemiMultiPose: A Semi-supervised Multi-animal Pose Estimation Framework
Venue: arXiv cs.CV 2022
Year: 2022

Multi-animal pose estimation is essential for studying animals' social behaviors in neuroscience and neuroethology. Advanced approaches have been proposed to support multi-animal estimation and achieve state-of-the-art performance. However, these models rarely exploit unlabeled data during training even though real world applications have exponentially more unlabeled frames than labeled frames. Manually adding dense annotations for a large number of images or videos is costly and labor-intensive, especially for multiple instances. Given these deficiencies, we propose a novel semi-supervised architecture for multi-animal pose estimation, leveraging the abundant structures pervasive in unlabeled frames in behavior videos to enhance training, which is critical for sparsely-labeled problems. The resulting algorithm will provide superior multi-animal pose estimation results on three animal experiments compared to the state-of-the-art baseline and exhibits more predictive power in sparsely-labeled data regimes.
Detection of Degraded Acacia tree species using deep neural networks on uav drone imagery
Venue: arXiv cs.CV 2022
Year: 2022

Deep-learning-based image classification and object detection has been applied successfully to tree monitoring. However, studies of tree crowns and fallen trees, especially on flood inundated areas, remain largely unexplored. Detection of degraded tree trunks on natural environments such as water, mudflats, and natural vegetated areas is challenging due to the mixed colour image backgrounds. In this paper, Unmanned Aerial Vehicles (UAVs), or drones, with embedded RGB cameras were used to capture the fallen Acacia Xanthophloea trees from six designated plots around Lake Nakuru, Kenya. Motivated by the need to detect fallen trees around the lake, two well-established deep neural networks, i.e. Faster Region-based Convolution Neural Network (Faster R-CNN) and Retina-Net were used for fallen tree detection. A total of 7,590 annotations of three classes on 256 x 256 image patches were used for this study. Experimental results show the relevance of deep learning in this context, with Retina-Net model achieving 38.9% precision and 57.9% recall.
Synthesizing Analytical SQL Queries from Computation Demonstration
Venue: arXiv cs.PL 2022
Year: 2022

Analytical SQL is widely used in modern database applications and data analysis. However, its partitioning and grouping operators are challenging for novice users. Unfortunately, programming by example, shown effective on standard SQL, are less attractive because examples for analytical queries are more laborious to solve by hand. To make demonstrations easier to create, we designed a new end-user specification, programming by computation demonstration, that allows the user to demonstrate the task using a (possibly incomplete) cell-level computation trace. This specification is exploited in a new abstraction-based synthesis algorithm to prove that a partially formed query cannot be completed to satisfy the specification, allowing us to prune the search space. We implemented our approach in a tool named Sickle and tested it on 80 real-world analytical SQL tasks. Results show that even from small demonstrations, Sickle can solve 76 tasks, in 12.8 seconds on average, while the prior approaches can solve only 60 tasks and are on average 22.5x slower. Our user study with 13 participants reveals that our specification increases user efficiency and confidence on challenging tasks.
FREDA: Flexible Relation Extraction Data Annotation
Venue: arXiv cs.CL 2022
Year: 2022

To effectively train accurate Relation Extraction models, sufficient and properly labeled data is required. Adequately labeled data is difficult to obtain and annotating such data is a tricky undertaking. Previous works have shown that either accuracy has to be sacrificed or the task is extremely time-consuming, if done accurately. We are proposing an approach in order to produce high-quality datasets for the task of Relation Extraction quickly. Neural models, trained to do Relation Extraction on the created datasets, achieve very good results and generalize well to other datasets. In our study, we were able to annotate 10,022 sentences for 19 relations in a reasonable amount of time, and trained a commonly used baseline model for each relation.
Towards Porting Operating Systems with Program Synthesis
Venue: arXiv cs.PL 2022
Year: 2022

The end of Moore's Law has ushered in a diversity of hardware not seen in decades. Operating system (and system software) portability is accordingly becoming increasingly critical. Simultaneously, there has been tremendous progress in program synthesis. We set out to explore the feasibility of using modern program synthesis to generate the machine-dependent parts of an operating system. Our ultimate goal is to generate new ports automatically from descriptions of new machines. One of the issues involved is writing specifications, both for machine-dependent operating system functionality and for instruction set architectures. We designed two domain-specific languages: Alewife for machine-independent specifications of machine-dependent operating system functionality and Cassiopea for describing instruction set architecture semantics. Automated porting also requires an implementation. We developed a toolchain that, given an Alewife specification and a Cassiopea machine description, specializes the machine-independent specification to the target instruction set architecture and synthesizes an implementation in assembly language with a customized symbolic execution engine. Using this approach, we demonstrate successful synthesis of a total of 140 OS components from two pre-existing OSes for four real hardware platforms. We also developed several optimization methods for OS-related assembly synthesis to improve scalability. The effectiveness of our languages and ability to synthesize code for all 140 specifications is evidence of the feasibility of program synthesis for machine-dependent OS code. However, many research challenges remain; we also discuss the benefits and limitations of our synthesis-based approach to automated OS porting.
This Is the Moment for Probabilistic Loops
Venue: arXiv cs.PL 2022
Year: 2022

We present a novel static analysis technique to derive higher moments for program variables for a large class of probabilistic loops with potentially uncountable state spaces. Our approach is fully automatic, meaning it does not rely on externally provided invariants or templates. We employ algebraic techniques based on linear recurrences and introduce program transformations to simplify probabilistic programs while preserving their statistical properties. We develop power reduction techniques to further simplify the polynomial arithmetic of probabilistic programs and define the theory of moment-computable probabilistic loops for which higher moments can precisely be computed. Our work has applications towards recovering probability distributions of random variables and computing tail probabilities. The empirical evaluation of our results demonstrates the applicability of our work on many challenging examples.
Causal Disentanglement with Network Information for Debiased Recommendations
Venue: arXiv cs.IR 2022
Year: 2022

Recommender systems aim to recommend new items to users by learning user and item representations. In practice, these representations are highly entangled as they consist of information about multiple factors, including user's interests, item attributes along with confounding factors such as user conformity, and item popularity. Considering these entangled representations for inferring user preference may lead to biased recommendations (e.g., when the recommender model recommends popular items even if they do not align with the user's interests). Recent research proposes to debias by modeling a recommender system from a causal perspective. The exposure and the ratings are analogous to the treatment and the outcome in the causal inference framework, respectively. The critical challenge in this setting is accounting for the hidden confounders. These confounders are unobserved, making it hard to measure them. On the other hand, since these confounders affect both the exposure and the ratings, it is essential to account for them in generating debiased recommendations. To better approximate hidden confounders, we propose to leverage network information (i.e., user-social and user-item networks), which are shown to influence how users discover and interact with an item. Aside from the user conformity, aspects of confounding such as item popularity present in the network information is also captured in our method with the aid of \textit{causal disentanglement} which unravels the learned representations into independent factors that are responsible for (a) modeling the exposure of an item to the user, (b) predicting the ratings, and (c) controlling the hidden confounders. Experiments on real-world datasets validate the effectiveness of the proposed model for debiasing recommender systems.
Invisible-to-Visible: Privacy-Aware Human Instance Segmentation using Airborne Ultrasound via Collaborative Learning Variational Autoencoder
Venue: arXiv cs.CV 2022
Year: 2022

In action understanding in indoor, we have to recognize human pose and action considering privacy. Although camera images can be used for highly accurate human action recognition, camera images do not preserve privacy. Therefore, we propose a new task for human instance segmentation from invisible information, especially airborne ultrasound, for action recognition. To perform instance segmentation from invisible information, we first convert sound waves to reflected sound directional images (sound images). Although the sound images can roughly identify the location of a person, the detailed shape is ambiguous. To address this problem, we propose a collaborative learning variational autoencoder (CL-VAE) that simultaneously uses sound and RGB images during training. In inference, it is possible to obtain instance segmentation results only from sound images. As a result of performance verification, CL-VAE could estimate human instance segmentations more accurately than conventional variational autoencoder and some other models. Since this method can obtain human segmentations individually, it could be applied to human action recognition tasks with privacy protection.
Characterizing the Efficiency vs. Accuracy Trade-off for Long-Context NLP Models
Venue: arXiv cs.CL 2022
Year: 2022

With many real-world applications of Natural Language Processing (NLP) comprising of long texts, there has been a rise in NLP benchmarks that measure the accuracy of models that can handle longer input sequences. However, these benchmarks do not consider the trade-offs between accuracy, speed, and power consumption as input sizes or model sizes are varied. In this work, we perform a systematic study of this accuracy vs. efficiency trade-off on two widely used long-sequence models - Longformer-Encoder-Decoder (LED) and Big Bird - during fine-tuning and inference on four datasets from the SCROLLS benchmark. To study how this trade-off differs across hyperparameter settings, we compare the models across four sequence lengths (1024, 2048, 3072, 4096) and two model sizes (base and large) under a fixed resource budget. We find that LED consistently achieves better accuracy at lower energy costs than Big Bird. For summarization, we find that increasing model size is more energy efficient than increasing sequence length for higher accuracy. However, this comes at the cost of a large drop in inference speed. For question answering, we find that smaller models are both more efficient and more accurate due to the larger training batch sizes possible under a fixed resource budget.
On Variants of Root Normalised Order-aware Divergence and a Divergence based on Kendall's Tau
Venue: arXiv cs.IR 2022
Year: 2022

This paper reports on a follow-up study of the work reported in Sakai, which explored suitable evaluation measures for ordinal quantification tasks. More specifically, the present study defines and evaluates, in addition to the quantification measures considered earlier, a few variants of an ordinal quantification measure called Root Normalised Order-aware Divergence (RNOD), as well as a measure which we call Divergence based on Kendall's $τ$ (DNKT). The RNOD variants represent alternative design choices based on the idea of Sakai's Distance-Weighted sum of squares (DW), while DNKT is designed to ensure that the system's estimated distribution over classes is faithful to the target priorities over classes. As this Priority Preserving Property (PPP) of DNKT may be useful in some applications, we also consider combining some of the existing quantification measures with DNKT. Our experiments with eight ordinal quantification data sets suggest that the variants of RNOD do not offer any benefit over the original RNOD at least in terms of system ranking consistency, i.e., robustness of the system ranking to the choice of test data. Of all ordinal quantification measures considered in this study (including Normalised Match Distance, a.k.a. Earth Mover's Distance), RNOD is the most robust measure overall. Hence the design choice of RNOD is a good one from this viewpoint. Also, DNKT is the worst performer in terms of system ranking consistency. Hence, if DNKT seems appropriate for a task, sample size design should take its statistical instability into account.
A review of path following control strategies for autonomous robotic vehicles: theory, simulations, and experiments
Venue: arXiv cs.RO 2022
Year: 2022

This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be formulated as the problem of stabilizing a path following error system that describes the dynamics of position and possibly orientation errors of a vehicle with respect to a path, with the errors defined in an appropriate reference frame. In spite of the large variety of path following methods described in the literature we show that, in principle, most of them can be categorized in two groups: stabilization of the path following error system expressed either in the vehicle's body frame or in a frame attached to a "reference point" moving along the path, such as a Frenet-Serret (F-S) frame or a Parallel Transport (P-T) frame. With this observation, we provide a unified formulation that is simple but general enough to cover many methods available in the literature. We then discuss the advantages and disadvantages of each method, comparing them from the design and implementation standpoint. We further show experimental results of the path following methods obtained from field trials testing with under-actuated and fully-actuated autonomous marine vehicles. In addition, we introduce open-source Matlab and Gazebo/ROS simulation toolboxes that are helpful in testing path following methods prior to their integration in the combined guidance, navigation, and control systems of autonomous vehicles.
Preparing for the Future -- Rethinking Proxy Apps
Venue: arXiv cs.DC 2022
Year: 2022

A considerable amount of research and engineering went into designing proxy applications, which represent common high-performance computing workloads, to co-design and evaluate the current generation of supercomputers, e.g., RIKEN's Supercomputer Fugaku, ANL's Aurora, or ORNL's Frontier. This process was necessary to standardize the procurement while avoiding duplicated effort at each HPC center to develop their own benchmarks. Unfortunately, proxy applications force HPC centers and providers (vendors) into a an undesirable state of rigidity, in contrast to the fast-moving trends of current technology and future heterogeneity. To accommodate an extremely-heterogeneous future, we have to reconsider how to co-design supercomputers during the next decade, and avoid repeating the past mistakes. This position paper outlines the current state-of-the-art in system co-design, challenges encountered over the past years, and a proposed plan to move forward.