OpenRaiser/Intern-Atlas huggingface dataset:
Towards Automated Safety Coverage and Testing for Autonomous Vehicles with Reinforcement Learning
Venue: arXiv cs.LG 2020
Year: 2020

The kind of closed-loop verification likely to be required for autonomous vehicle (AV) safety testing is beyond the reach of traditional test methodologies and discrete verification. Validation puts the autonomous vehicle system to the test in scenarios or situations that the system would likely encounter in everyday driving after its release. These scenarios can either be controlled directly in a physical (closed-course proving ground) or virtual (simulation of predefined scenarios) environment, or they can arise spontaneously during operation in the real world (open-road testing or simulation of randomly generated scenarios). In AV testing, simulation serves primarily two purposes: to assist the development of a robust autonomous vehicle and to test and validate the AV before release. A challenge arises from the sheer number of scenario variations that can be constructed from each of the above sources due to the high number of variables involved (most of which are continuous). Even with continuous variables discretized, the possible number of combinations becomes practically infeasible to test. To overcome this challenge we propose using reinforcement learning (RL) to generate failure examples and unexpected traffic situations for the AV software implementation. Although reinforcement learning algorithms have achieved notable results in games and some robotic manipulations, this technique has not been widely scaled up to the more challenging real world applications like autonomous driving.
Learning LWF Chain Graphs: an Order Independent Algorithm
Venue: arXiv cs.AI 2020
Year: 2020

LWF chain graphs combine directed acyclic graphs and undirected graphs. We present a PC-like algorithm that finds the structure of chain graphs under the faithfulness assumption to resolve the problem of scalability of the proposed algorithm by Studeny (1997). We prove that our PC-like algorithm is order dependent, in the sense that the output can depend on the order in which the variables are given. This order dependence can be very pronounced in high-dimensional settings. We propose two modifications of the PC-like algorithm that remove part or all of this order dependence. Simulation results under a variety of settings demonstrate the competitive performance of the PC-like algorithms in comparison with the decomposition-based method, called LCD algorithm, proposed by Ma et al. (2008) in low-dimensional settings and improved performance in high-dimensional settings.
Exploiting Non-Linear Redundancy for Neural Model Compression
Venue: arXiv cs.LG 2020
Year: 2020

Deploying deep learning models, comprising of non-linear combination of millions, even billions, of parameters is challenging given the memory, power and compute constraints of the real world. This situation has led to research into model compression techniques most of which rely on suboptimal heuristics and do not consider the parameter redundancies due to linear dependence between neuron activations in overparametrized networks. In this paper, we propose a novel model compression approach based on exploitation of linear dependence, that compresses networks by elimination of entire neurons and redistribution of their activations over other neurons in a manner that is provably lossless while training. We combine this approach with an annealing algorithm that may be applied during training, or even on a trained model, and demonstrate, using popular datasets, that our method results in a reduction of up to 99\% in overall network size with small loss in performance. Furthermore, we provide theoretical results showing that in overparametrized, locally linear (ReLU) neural networks where redundant features exist, and with correct hyperparameter selection, our method is indeed able to capture and suppress those dependencies.
Unsupervised learning of multimodal image registration using domain adaptation with projected Earth Move's discrepancies
Venue: arXiv cs.CV 2020
Year: 2020

Multimodal image registration is a very challenging problem for deep learning approaches. Most current work focuses on either supervised learning that requires labelled training scans and may yield models that bias towards annotated structures or unsupervised approaches that are based on hand-crafted similarity metrics and may therefore not outperform their classical non-trained counterparts. We believe that unsupervised domain adaptation can be beneficial in overcoming the current limitations for multimodal registration, where good metrics are hard to define. Domain adaptation has so far been mainly limited to classification problems. We propose the first use of unsupervised domain adaptation for discrete multimodal registration. Based on a source domain for which quantised displacement labels are available as supervision, we transfer the output distribution of the network to better resemble the target domain (other modality) using classifier discrepancies. To improve upon the sliced Wasserstein metric for 2D histograms, we present a novel approximation that projects predictions into 1D and computes the L1 distance of their cumulative sums. Our proof-of-concept demonstrates the applicability of domain transfer from mono- to multimodal (multi-contrast) 2D registration of canine MRI scans and improves the registration accuracy from 33% (using sliced Wasserstein) to 44%.
Self-supervised Modal and View Invariant Feature Learning
Venue: arXiv cs.CV 2020
Year: 2020

Most of the existing self-supervised feature learning methods for 3D data either learn 3D features from point cloud data or from multi-view images. By exploring the inherent multi-modality attributes of 3D objects, in this paper, we propose to jointly learn modal-invariant and view-invariant features from different modalities including image, point cloud, and mesh with heterogeneous networks for 3D data. In order to learn modal- and view-invariant features, we propose two types of constraints: cross-modal invariance constraint and cross-view invariant constraint. Cross-modal invariance constraint forces the network to maximum the agreement of features from different modalities for same objects, while the cross-view invariance constraint forces the network to maximum agreement of features from different views of images for same objects. The quality of learned features has been tested on different downstream tasks with three modalities of data including point cloud, multi-view images, and mesh. Furthermore, the invariance cross different modalities and views are evaluated with the cross-modal retrieval task. Extensive evaluation results demonstrate that the learned features are robust and have strong generalizability across different tasks.
What is SemEval evaluating? A Systematic Analysis of Evaluation Campaigns in NLP
Venue: arXiv cs.CL 2020
Year: 2020

SemEval is the primary venue in the NLP community for the proposal of new challenges and for the systematic empirical evaluation of NLP systems. This paper provides a systematic quantitative analysis of SemEval aiming to evidence the patterns of the contributions behind SemEval. By understanding the distribution of task types, metrics, architectures, participation and citations over time we aim to answer the question on what is being evaluated by SemEval.
SourceFinder: Finding Malware Source-Code from Publicly Available Repositories
Venue: arXiv cs.CR 2020
Year: 2020

Where can we find malware source code? This question is motivated by a real need: there is a dearth of malware source code, which impedes various types of security research. Our work is driven by the following insight: public archives, like GitHub, have a surprising number of malware repositories. Capitalizing on this opportunity, we propose, SourceFinder, a supervised-learning approach to identify repositories of malware source code efficiently. We evaluate and apply our approach using 97K repositories from GitHub. First, we show that our approach identifies malware repositories with 89% precision and 86% recall using a labeled dataset. Second, we use SourceFinder to identify 7504 malware source code repositories, which arguably constitutes the largest malware source code database. Finally, we study the fundamental properties and trends of the malware repositories and their authors. The number of such repositories appears to be growing by an order of magnitude every 4 years, and 18 malware authors seem to be "professionals" with well-established online reputation. We argue that our approach and our large repository of malware source code can be a catalyst for research studies, which are currently not possible.
An Observer Design for Visual Simultaneous Localisation and Mapping with Output Equivariance
Venue: arXiv cs.RO 2020
Year: 2020

Visual Simultaneous Localisation and Mapping (VSLAM) is a key enabling technology for small embedded robotic systems such as aerial vehicles. Recent advances in equivariant filter and observer design offer the potential of a new generation of highly robust algorithms with low memory and computation requirements for embedded system applications. This paper studies observer design on the symmetry group proposed in previous work by the authors, in the case where inverse depth measurements are available. Exploiting this symmetry leads to a simple fully non-linear gradient based observer with almost global asymptotic and local exponential stability properties. Simulation experiments verify the observer design, and demonstrate that the proposed observer achieves similar accuracy to the widely used Extended Kalman Filter with significant gains in processing time (linear verses quadratic bounds with respect to number of landmarks) and qualitative improvements in robustness.
Bayesian network structure learning with causal effects in the presence of latent variables
Venue: arXiv cs.LG 2020
Year: 2020

Latent variables may lead to spurious relationships that can be misinterpreted as causal relationships. In Bayesian Networks (BNs), this challenge is known as learning under causal insufficiency. Structure learning algorithms that assume causal insufficiency tend to reconstruct the ancestral graph of a BN, where bi-directed edges represent confounding and directed edges represent direct or ancestral relationships. This paper describes a hybrid structure learning algorithm, called CCHM, which combines the constraint-based part of cFCI with hill-climbing score-based learning. The score-based process incorporates Pearl s do-calculus to measure causal effects and orientate edges that would otherwise remain undirected, under the assumption the BN is a linear Structure Equation Model where data follow a multivariate Gaussian distribution. Experiments based on both randomised and well-known networks show that CCHM improves the state-of-the-art in terms of reconstructing the true ancestral graph.
Algorithms for reconstruction over single and multiple deletion channels
Venue: arXiv cs.IT 2020
Year: 2020

Recent advances in DNA sequencing technology and DNA storage systems have rekindled the interest in deletion channels. Multiple recent works have looked at variants of sequence reconstruction over a single and over multiple deletion channels, a notoriously difficult problem due to its highly combinatorial nature. Although works in theoretical computer science have provided algorithms which guarantee perfect reconstruction with multiple independent observations from the deletion channel, they are only applicable in the large blocklength regime and more restrictively, when the number of observations is also large. Indeed, with only a few observations, perfect reconstruction of the input sequence may not even be possible in most cases. In such situations, maximum likelihood (ML) and maximum aposteriori (MAP) estimates for the deletion channels are natural questions that arise and these have remained open to the best of our knowledge. In this work, we take steps to answer the two aforementioned questions. Specifically: 1. We show that solving for the ML estimate over the single deletion channel (which can be cast as a discrete optimization problem) is equivalent to solving its relaxation, a continuous optimization problem; 2. We exactly compute the symbolwise posterior distributions (under some assumptions on the priors) for both the single as well as multiple deletion channels. As part of our contributions, we also introduce tools to visualize and analyze error events, which we believe could be useful in other related problems concerning deletion channels.
DC-NAS: Divide-and-Conquer Neural Architecture Search
Venue: arXiv cs.LG 2020
Year: 2020

Most applications demand high-performance deep neural architectures costing limited resources. Neural architecture searching is a way of automatically exploring optimal deep neural networks in a given huge search space. However, all sub-networks are usually evaluated using the same criterion; that is, early stopping on a small proportion of the training dataset, which is an inaccurate and highly complex approach. In contrast to conventional methods, here we present a divide-and-conquer (DC) approach to effectively and efficiently search deep neural architectures. Given an arbitrary search space, we first extract feature representations of all sub-networks according to changes in parameters or output features of each layer, and then calculate the similarity between two different sampled networks based on the representations. Then, a k-means clustering is conducted to aggregate similar architectures into the same cluster, separately executing sub-network evaluation in each cluster. The best architecture in each cluster is later merged to obtain the optimal neural architecture. Experimental results conducted on several benchmarks illustrate that DC-NAS can overcome the inaccurate evaluation problem, achieving a $75.1\%$ top-1 accuracy on the ImageNet dataset, which is higher than that of state-of-the-art methods using the same search space.
Weakly Supervised Lesion Localization With Probabilistic-CAM Pooling
Venue: arXiv cs.CV 2020
Year: 2020

Localizing thoracic diseases on chest X-ray plays a critical role in clinical practices such as diagnosis and treatment planning. However, current deep learning based approaches often require strong supervision, e.g. annotated bounding boxes, for training such systems, which is infeasible to harvest in large-scale. We present Probabilistic Class Activation Map (PCAM) pooling, a novel global pooling operation for lesion localization with only image-level supervision. PCAM pooling explicitly leverages the excellent localization ability of CAM during training in a probabilistic fashion. Experiments on the ChestX-ray14 dataset show a ResNet-34 model trained with PCAM pooling outperforms state-of-the-art baselines on both the classification task and the localization task. Visual examination on the probability maps generated by PCAM pooling shows clear and sharp boundaries around lesion regions compared to the localization heatmaps generated by CAM. PCAM pooling is open sourced at https://github.com/jfhealthcare/Chexpert.
Unconstrained Matching of 2D and 3D Descriptors for 6-DOF Pose Estimation
Venue: arXiv cs.CV 2020
Year: 2020

This paper proposes a novel concept to directly match feature descriptors extracted from 2D images with feature descriptors extracted from 3D point clouds. We use this concept to directly localize images in a 3D point cloud. We generate a dataset of matching 2D and 3D points and their corresponding feature descriptors, which is used to learn a Descriptor-Matcher classifier. To localize the pose of an image at test time, we extract keypoints and feature descriptors from the query image. The trained Descriptor-Matcher is then used to match the features from the image and the point cloud. The locations of the matched features are used in a robust pose estimation algorithm to predict the location and orientation of the query image. We carried out an extensive evaluation of the proposed method for indoor and outdoor scenarios and with different types of point clouds to verify the feasibility of our approach. Experimental results demonstrate that direct matching of feature descriptors from images and point clouds is not only a viable idea but can also be reliably used to estimate the 6-DOF poses of query cameras in any type of 3D point cloud in an unconstrained manner with high precision.
Lightweight Blockchain Framework for Location-aware Peer-to-Peer Energy Trading
Venue: arXiv cs.CR 2020
Year: 2020

Peer-to-Peer (P2P) energy trading can facilitate integration of a large number of small-scale producers and consumers into energy markets. Decentralized management of these new market participants is challenging in terms of market settlement, participant reputation and consideration of grid constraints. This paper proposes a blockchain-enabled framework for P2P energy trading among producer and consumer agents in a smart grid. A fully decentralized market settlement mechanism is designed, which does not rely on a centralized entity to settle the market and encourages producers and consumers to negotiate on energy trading with their nearby agents truthfully. To this end, the electrical distance of agents is considered in the pricing mechanism to encourage agents to trade with their neighboring agents. In addition, a reputation factor is considered for each agent, reflecting its past performance in delivering the committed energy. Before starting the negotiation, agents select their trading partners based on their preferences over the reputation and proximity of the trading partners. An Anonymous Proof of Location (A-PoL) algorithm is proposed that allows agents to prove their location without revealing their real identity. The practicality of the proposed framework is illustrated through several case studies, and its security and privacy are analyzed in detail.
DEMO: Extracting Physical-Layer BLE Advertisement Information from Broadcom and Cypress Chips
Venue: arXiv cs.CR 2020
Year: 2020

Multiple initiatives propose utilizing Bluetooth Low Energy (BLE) advertisements for contact tracing and SARS-CoV-2 exposure notifications. This demo shows a research tool to analyze BLE advertisements; if universally enabled by the vendors, the uncovered features could improve exposure notifications for everyone. We reverse-engineer the firmware-internal implementation of BLE advertisements on Broadcom and Cypress chips and show how to extract further physical-layer information at the receiver. The analyzed firmware works on hundreds of millions of devices, such as all iPhones, the European Samsung Galaxy S series, and Raspberry Pis.
Fair Classification via Unconstrained Optimization
Venue: arXiv cs.LG 2020
Year: 2020

Achieving the Bayes optimal binary classification rule subject to group fairness constraints is known to be reducible, in some cases, to learning a group-wise thresholding rule over the Bayes regressor. In this paper, we extend this result by proving that, in a broader setting, the Bayes optimal fair learning rule remains a group-wise thresholding rule over the Bayes regressor but with a (possible) randomization at the thresholds. This provides a stronger justification to the post-processing approach in fair classification, in which (1) a predictor is learned first, after which (2) its output is adjusted to remove bias. We show how the post-processing rule in this two-stage approach can be learned quite efficiently by solving an unconstrained optimization problem. The proposed algorithm can be applied to any black-box machine learning model, such as deep neural networks, random forests and support vector machines. In addition, it can accommodate many fairness criteria that have been previously proposed in the literature, such as equalized odds and statistical parity. We prove that the algorithm is Bayes consistent and motivate it, furthermore, via an impossibility result that quantifies the tradeoff between accuracy and fairness across multiple demographic groups. Finally, we conclude by validating the algorithm on the Adult benchmark dataset.
Stealth UAV through Coanda Effect
Venue: arXiv cs.RO 2020
Year: 2020

This paper uses Coanda Effect to reduce motors, the source of noise, and finds low noise materials with sufficient lift force so that it can achieve acoustical stealth UAVs.According to NASA research [1], the noise of UAVs is better heard to people. But there must be some moments when we need to operate the drones quietly, so how can we reduce the noise? In previous research, there have also been steady attempts to produce UAVs using Coanda Effect, but have never tried to achieve Acoustic Stealth through Coanda UAVs. But Coanda Effect uses only one motor and is structurally quiet. So we tried to find quiet methods (materials, structures) while at the same time having sufficient stimulus through the Coanda Effect. Verification went through experiments. The control group used the most common type of Quadrone, and determine if the hypothesis is correct by testing various structures and materials under the same conditions, and measuring noise. UAVs using Coanda Effect are not of any shape or structure that is not changeable, and internal space is also empty. That's why the Coanda Effect UAV we present can be improved through follow-up research. That's why the Coanda Effect UAV could open up a new frontier for the Stealth UAVs.
Implementation of Self-Organizing Network (SON) on Cellular Technology base on Big Data Analytic
Venue: arXiv cs.NI 2020
Year: 2020

The development of cellular technology will be directly proportional to the increasing requirement in various aspects, such as the speed of data transmission (velocity), data variations (variety), and data storage media (volume). The increase in various aspects will have a direct impact on the growth of internet users worldwide. In relation to that, the demand for increased capacity and coverage becomes a necessity because users access the networks using the same resources by utilizing resource sharing mechanism. Self Organizing Network (SON) is one of the solutions to make the system more efficient with guaranteed Quality of Experiment (QoE). SON can create an automated network with a self-optimization, self-configuration and self-healing mechanism. Big Data is leveraged in the network analytics as a reference for decision-making activities in the network automation process. In this paper, SON using Big Data analytics on 5G network is compared with SON on 4G network as the previous network technology. It is suggested that on 5G networks, Big Data changes the SON detection paradigm from reactive to proactive. Detecting problems starts with data collection and analysis of possible network problems. By predicting network problems early, solving network problems can be done faster. Additionally, by using Multi-hop relay, the distance between User Equipment (EU) and Base Station (BS) will be shorter. Therefore, the aim of increasing capacity and coverage can be fulfilled.