OpenRaiser/Intern-Atlas huggingface dataset:
A Proposed Set of Communicative Gestures for Human Robot Interaction and an RGB Image-based Gesture Recognizer Implemented in ROS
Venue: arXiv cs.RO 2021
Year: 2021

We propose a set of communicative gestures and develop a gesture recognition system with the aim of facilitating more intuitive Human-Robot Interaction (HRI) through gestures. First, we propose a set of commands commonly used for human-robot interaction. Next, an online user study with 190 participants was performed to investigate if there was an agreed set of gestures that people intuitively use to communicate the given commands to robots when no guidance or training were given. As we found large variations among the gestures exist between participants, we then proposed a set of gestures for the proposed commands to be used as a common foundation for robot interaction. We collected ~7500 video demonstrations of the proposed gestures and trained a gesture recognition model, adapting 3D Convolutional Neural Networks (CNN) as the classifier, with a final accuracy of 84.1% (sigma=2.4). The resulting model was capable of training successfully with a relatively small amount of training data. We integrated the gesture recognition model into the ROS framework and report details for a demonstrated use case, where a person commands a robot to perform a pick and place task using the proposed set. This integrated ROS gesture recognition system is made available for use, and built with the intention to allow for new adaptations depending on robot model and use case scenarios, for novel user applications.
Endurance-Limited Memories: Capacity and Codes
Venue: arXiv cs.IT 2021
Year: 2021

\emph{Resistive memories}, such as \emph{phase change memories} and \emph{resistive random access memories} have attracted significant attention in recent years due to their better scalability, speed, rewritability, and yet non-volatility. However, their \emph{limited endurance} is still a major drawback that has to be improved before they can be widely adapted in large-scale systems. In this work, in order to reduce the wear out of the cells, we propose a new coding scheme, called \emph{endurance-limited memories} (\emph{ELM}) codes, that increases the endurance of these memories by limiting the number of cell programming operations. Namely, an \emph{$\ell$-change $t$-write ELM code} is a coding scheme that allows to write $t$ messages into some $n$ binary cells while guaranteeing that each cell is programmed at most $\ell$ times. In case $\ell=1$, these codes coincide with the well-studied \emph{write-once memory} (\emph{WOM}) codes. We study some models of these codes which depend upon whether the encoder knows on each write the number of times each cell was programmed, knows only the memory state, or even does not know anything. For the decoder, we consider these similar three cases. We fully characterize the capacity regions and the maximum sum-rates of three models where the encoder knows on each write the number of times each cell was programmed. In particular, it is shown that in these models the maximum sum-rate is $\log \sum_{i=0}^{\ell} {t \choose i}$. We also study and expose the capacity regions of the models where the decoder is informed with the number of times each cell was programmed. Finally we present the most practical model where the encoder read the memory before encoding new data and the decoder has no information about the previous states of the memory.
Identifying biases in legal data: An algorithmic fairness perspective
Venue: arXiv cs.CY 2021
Year: 2021

The need to address representation biases and sentencing disparities in legal case data has long been recognized. Here, we study the problem of identifying and measuring biases in large-scale legal case data from an algorithmic fairness perspective. Our approach utilizes two regression models: A baseline that represents the decisions of a "typical" judge as given by the data and a "fair" judge that applies one of three fairness concepts. Comparing the decisions of the "typical" judge and the "fair" judge allows for quantifying biases across demographic groups, as we demonstrate in four case studies on criminal data from Cook County (Illinois).
3-of-3 Multisignature Approach for Enabling Lightning Network Micro-payments on IoT Devices
Venue: arXiv cs.CR 2021
Year: 2021

Bitcoin's success as a cryptocurrency enabled it to penetrate into many daily life transactions. Its problems regarding the transaction fees and long validation times are addressed through an innovative concept called the Lightning Network (LN) which works on top of Bitcoin by leveraging off-chain transactions. This made Bitcoin an attractive micro-payment solution that can also be used within certain IoT applications (e.g., toll payments) since it eliminates the need for traditional centralized payment systems. Nevertheless, it is not possible to run LN and Bitcoin on resource-constrained IoT devices due to their storage, memory, and processing requirements. Therefore, in this paper, we propose an efficient and secure protocol that enables an IoT device to use LN's functions through a gateway LN node even if it is not trusted. The idea is to involve the IoT device only in signing operations, which is possible by replacing LN's original 2-of-2 multisignature channels with 3-of-3 multisignature channels. Once the gateway is delegated to open a channel for the IoT device in a secure manner, our protocol enforces the gateway to request the IoT device's cryptographic signature for all further operations on the channel such as sending payments or closing the channel. LN's Bitcoin transactions are revised to incorporate the 3-of-3 multisignature channels. In addition, we propose other changes to protect the IoT device's funds from getting stolen in possible revoked state broadcast attempts. We evaluated the proposed protocol using a Raspberry Pi considering a toll payment scenario. Our results show that timely payments can be sent and the computational and communication delays associated with the protocol are negligible.
Fast nonlinear risk assessment for autonomous vehicles using learned conditional probabilistic models of agent futures
Venue: arXiv cs.LG 2021
Year: 2021

This paper presents fast non-sampling based methods to assess the risk for trajectories of autonomous vehicles when probabilistic predictions of other agents' futures are generated by deep neural networks (DNNs). The presented methods address a wide range of representations for uncertain predictions including both Gaussian and non-Gaussian mixture models to predict both agent positions and control inputs conditioned on the scene contexts. We show that the problem of risk assessment when Gaussian mixture models (GMMs) of agent positions are learned can be solved rapidly to arbitrary levels of accuracy with existing numerical methods. To address the problem of risk assessment for non-Gaussian mixture models of agent position, we propose finding upper bounds on risk using nonlinear Chebyshev's Inequality and sums-of-squares (SOS) programming; they are both of interest as the former is much faster while the latter can be arbitrarily tight. These approaches only require higher order statistical moments of agent positions to determine upper bounds on risk. To perform risk assessment when models are learned for agent control inputs as opposed to positions, we propagate the moments of uncertain control inputs through the nonlinear motion dynamics to obtain the exact moments of uncertain position over the planning horizon. To this end, we construct deterministic linear dynamical systems that govern the exact time evolution of the moments of uncertain position in the presence of uncertain control inputs. The presented methods are demonstrated on realistic predictions from DNNs trained on the Argoverse and CARLA datasets and are shown to be effective for rapidly assessing the probability of low probability events.
A temporal logic of epistemic and normative justifications, with an application to the Protagoras paradox
Venue: arXiv cs.LO 2021
Year: 2021

We combine linear temporal logic (with both past and future modalities) with a deontic version of justification logic to provide a framework for reasoning about time and epistemic and normative reasons. In addition to temporal modalities, the resulting logic contains two kinds of justification assertions: epistemic justification assertions and deontic justification assertions. The former presents justification for the agent's knowledge and the latter gives reasons for why a proposition is obligatory. We present two kinds of semantics for the logic: one based on Fitting models and the other based on neighborhood models. The use of neighborhood semantics enables us to define the dual of deontic justification assertions properly, which corresponds to the notion of permission in deontic logic. We then establish the soundness and completeness of an axiom system of the logic with respect to these semantics. Further, we formalize the Protagoras versus Euathlus paradox in this logic and present a precise analysis of the paradox, and also briefly discuss Leibniz's solution.
Something Old, Something New: Grammar-based CCG Parsing with Transformer Models
Venue: arXiv cs.CL 2021
Year: 2021

This report describes the parsing problem for Combinatory Categorial Grammar (CCG), showing how a combination of Transformer-based neural models and a symbolic CCG grammar can lead to substantial gains over existing approaches. The report also documents a 20-year research program, showing how NLP methods have evolved over this time. The staggering accuracy improvements provided by neural models for CCG parsing can be seen as a reflection of the improvements seen in NLP more generally. The report provides a minimal introduction to CCG and CCG parsing, with many pointers to the relevant literature. It then describes the CCG supertagging problem, and some recent work from Tian et al. (2020) which applies Transformer-based models to supertagging with great effect. I use this existing model to develop a CCG multitagger, which can serve as a front-end to an existing CCG parser. Simply using this new multitagger provides substantial gains in parsing accuracy. I then show how a Transformer-based model from the parsing literature can be combined with the grammar-based CCG parser, setting a new state-of-the-art for the CCGbank parsing task of almost 93% F-score for labelled dependencies, with complete sentence accuracies of over 50%.
Comparison of Neural Network based Soft Computing Techniques for Electromagnetic Modeling of a Microstrip Patch Antenna
Venue: arXiv cs.NE 2021
Year: 2021

This paper presents the comparison of various neural networks and algorithms based on accuracy, quickness, and consistency for antenna modelling. Using MATLAB Nntool, 22 different combinations of networks and training algorithms are used to predict the dimensions of a rectangular microstrip antenna using dielectric constant, height of substrate, and frequency of oper-ation as input. Comparison and characterization of networks is done based on accuracy, mean square error, and training time. Algorithms, on the other hand, are analyzed by their accuracy, speed, reliability, and smoothness in the training process. Finally, these results are analyzed, and recommendations are made for each neural network and algorithm based on uses, advantages, and disadvantages. For example, it is observed that Reduced Radial Bias network is the most accurate network and Scaled Conjugate Gradient is the most reliable algorithm for electromagnetic modelling. This paper will help a researcher find the optimum network and algorithm directly without doing time-taking experimentation.
A Novel Structured Natural Gradient Descent for Deep Learning
Venue: arXiv cs.LG 2021
Year: 2021

Natural gradient descent (NGD) provided deep insights and powerful tools to deep neural networks. However the computation of Fisher information matrix becomes more and more difficult as the network structure turns large and complex. This paper proposes a new optimization method whose main idea is to accurately replace the natural gradient optimization by reconstructing the network. More specifically, we reconstruct the structure of the deep neural network, and optimize the new network using traditional gradient descent (GD). The reconstructed network achieves the effect of the optimization way with natural gradient descent. Experimental results show that our optimization method can accelerate the convergence of deep network models and achieve better performance than GD while sharing its computational simplicity.
Knowledge Distillation with Noisy Labels for Natural Language Understanding
Venue: arXiv cs.CL 2021
Year: 2021

Knowledge Distillation (KD) is extensively used to compress and deploy large pre-trained language models on edge devices for real-world applications. However, one neglected area of research is the impact of noisy (corrupted) labels on KD. We present, to the best of our knowledge, the first study on KD with noisy labels in Natural Language Understanding (NLU). We document the scope of the problem and present two methods to mitigate the impact of label noise. Experiments on the GLUE benchmark show that our methods are effective even under high noise levels. Nevertheless, our results indicate that more research is necessary to cope with label noise under the KD.
3D Point Cloud Completion with Geometric-Aware Adversarial Augmentation
Venue: arXiv cs.CV 2021
Year: 2021

With the popularity of 3D sensors in self-driving and other robotics applications, extensive research has focused on designing novel neural network architectures for accurate 3D point cloud completion. However, unlike in point cloud classification and reconstruction, the role of adversarial samples in3D point cloud completion has seldom been explored. In this work, we show that training with adversarial samples can improve the performance of neural networks on 3D point cloud completion tasks. We propose a novel approach to generate adversarial samples that benefit both the performance of clean and adversarial samples. In contrast to the PGD-k attack, our method generates adversarial samples that keep the geometric features in clean samples and contain few outliers. In particular, we use principal directions to constrain the adversarial perturbations for each input point. The gradient components in the mean direction of principal directions are taken as adversarial perturbations. In addition, we also investigate the effect of using the minimum curvature direction. Besides, we adopt attack strength accumulation and auxiliary Batch Normalization layers method to speed up the training process and alleviate the distribution mismatch between clean and adversarial samples. Experimental results show that training with the adversarial samples crafted by our method effectively enhances the performance of PCN on the ShapeNet dataset.
VRMenuDesigner: A toolkit for automatically generating and modifying VR menus
Venue: arXiv cs.HC 2021
Year: 2021

With the rapid development of Virtual Reality (VR) technology, the research of User Interface (UI), especially menus, in the VR environment has attracted more and more attention. However, it is very tedious for researchers to develop UI from scratch or modify existing functions and there are no easy-to-use tools for efficient development. This paper aims to present VRMenuDesigner, a flexible and modular toolkit for automatically generating/modifying VR menus. This toolkit is provided as open-source library and easy to extend to adapt to various requirements. The main contribution of this work is to organize the menus and functions with object-oriented thinking, which makes the system very understandable and extensible. VRMenuDesigner includes two key tools: Creator and Modifier for quickly generating and modifying elements. Moreover, we developed several built-in menus and discussed their usability. After a brief review and taxonomy of 3D menus, the architecture and implementation of the toolbox are introduced.
Towards a computational definition of the tresillo rhythm and its tracing in popular music
Venue: arXiv cs.IR 2021
Year: 2021

This paper discusses the use and popularity of a rhythm, which henceforth is referred to as "Tresillo rhythm". We first define and formalizes the Tresillo rhythm. Given a mathematical representation of the rhythm, it is then traced in the US Billboard Top 20 Charts of the last 20 years. To detect and determine the use of this rhythm in a song, we compute the similarity of a song with this rhythm. The calculated similarity, then indicates how similar the rhythm of a pop song is compared to the prior defined Tresillo rhythm. To assert and cross-validate the computer rhythm similarity, two different formalizations of the Tresillo rhythm have been compiled and several different approaches to calculated rhythm similarities have been tested and compared. This similarity measure is then used to do an empirical study on the usage of the Tresillo rhythm in the US Billboard Top 20 Charts of the past 20 years (1999-2019). Finally, we argue about some of the possible reasons for the observed trend.
Secrecy Offloading Rate Maximization for Multi-Access Mobile Edge Computing Networks
Venue: arXiv cs.IT 2021
Year: 2021

This letter considers a multi-access mobile edge computing (MEC) network consisting of multiple users, multiple base stations, and a malicious eavesdropper. Specifically, the users adopt the partial offloading strategy by partitioning the computation task into several parts. One is executed locally and the others are securely offloaded to multiple MEC servers integrated into the base stations by leveraging the physical layer security to combat the eavesdropping. We jointly optimize power allocation, task partition, subcarrier allocation, and computation resource to maximize the secrecy offloading rate of the users, subject to communication and computation resource constraints. Numerical results demonstrate that our proposed scheme can respectively improve the secrecy offloading rate 1.11%--1.39% and 15.05%--17.35% (versus the increase of tasks' latency requirements), and 1.30%--1.75% and 6.08%--9.22% (versus the increase of the maximum transmit power) compared with the two benchmarks. Moreover, it further emphasizes the necessity of conducting computation offloading over multiple MEC servers.
Assured Neural Network Architectures for Control and Identification of Nonlinear Systems
Venue: arXiv cs.LG 2021
Year: 2021

In this paper, we consider the problem of automatically designing a Rectified Linear Unit (ReLU) Neural Network (NN) architecture (number of layers and number of neurons per layer) with the assurance that it is sufficiently parametrized to control a nonlinear system; i.e. control the system to satisfy a given formal specification. This is unlike current techniques, which provide no assurances on the resultant architecture. Moreover, our approach requires only limited knowledge of the underlying nonlinear system and specification. We assume only that the specification can be satisfied by a Lipschitz-continuous controller with a known bound on its Lipschitz constant; the specific controller need not be known. From this assumption, we bound the number of affine functions needed to construct a Continuous Piecewise Affine (CPWA) function that can approximate any Lipschitz-continuous controller that satisfies the specification. Then we connect this CPWA to a NN architecture using the authors' recent results on the Two-Level Lattice (TLL) NN architecture; the TLL architecture was shown to be parameterized by the number of affine functions present in the CPWA function it realizes.
MITOSIS: Practically Scaling Permissioned Blockchains
Venue: arXiv cs.CR 2021
Year: 2021

Scalability remains one of the biggest challenges to the adoption of permissioned blockchain technologies for large-scale deployments. Permissioned blockchains typically exhibit low latencies, compared to permissionless deployments -- however at the cost of poor scalability. Various solutions were proposed to capture "the best of both worlds", targeting low latency and high scalability simultaneously, the most prominent technique being blockchain sharding. However, most existing sharding proposals exploit features of the permissionless model and are therefore restricted to cryptocurrency applications. We present MITOSIS, a novel approach to practically improve scalability of permissioned blockchains. Our system allows the dynamic creation of blockchains, as more participants join the system, to meet practical scalability requirements. Crucially, it enables the division of an existing blockchain (and its participants) into two -- reminiscent of mitosis, the biological process of cell division. MITOSIS inherits the low latency of permissioned blockchains while preserving high throughput via parallel processing. Newly created chains in our system are fully autonomous, can choose their own consensus protocol, and yet they can interact with each other to share information and assets -- meeting high levels of interoperability. We analyse the security of MITOSIS and evaluate experimentally the performance of our solution when instantiated over Hyperledger Fabric. Our results show that MITOSIS can be ported with little modifications and manageable overhead to existing permissioned blockchains, such as Hyperledger Fabric.
CondNet: Conditional Classifier for Scene Segmentation
Venue: arXiv cs.CV 2021
Year: 2021

The fully convolutional network (FCN) has achieved tremendous success in dense visual recognition tasks, such as scene segmentation. The last layer of FCN is typically a global classifier (1x1 convolution) to recognize each pixel to a semantic label. We empirically show that this global classifier, ignoring the intra-class distinction, may lead to sub-optimal results. In this work, we present a conditional classifier to replace the traditional global classifier, where the kernels of the classifier are generated dynamically conditioned on the input. The main advantages of the new classifier consist of: (i) it attends on the intra-class distinction, leading to stronger dense recognition capability; (ii) the conditional classifier is simple and flexible to be integrated into almost arbitrary FCN architectures to improve the prediction. Extensive experiments demonstrate that the proposed classifier performs favourably against the traditional classifier on the FCN architecture. The framework equipped with the conditional classifier (called CondNet) achieves new state-of-the-art performances on two datasets. The code and models are available at https://git.io/CondNet.
Security-Hardening Software Libraries with Ada and SPARK -- A TCP Stack Use Case
Venue: arXiv cs.CR 2021
Year: 2021

This white paper demonstrates how the assurance, reliability, and security of an existing professional-grade, open-source embedded TCP/IP stack implementation written in the C programming language is significantly enhanced by adopting the SPARK technology. A multifaceted approach achieves this. Firstly, the TCP layer's C code is being replaced with formally verified SPARK, a subset of the Ada programming language supported by formal verification tools. Then the lower layers, still written in C and on which the TCP layer depends, are modeled using SPARK contracts and validated using symbolic execution with KLEE. Finally, formal contracts for the upper layers are defined to call the TCP layer. The work allowed the detection and correction of two bugs in the TCP layer. In an increasingly connected world, where Cyber Security is of paramount importance, the powerful approach detailed in this work can be applied to any existing critical C library to harden their reliability and security significantly.