OpenRaiser/Intern-Atlas huggingface dataset:
Robust Learning-Based Incipient Slip Detection using the PapillArray Optical Tactile Sensor for Improved Robotic Gripping
Venue: arXiv cs.RO 2023
Year: 2023

The ability to detect slip, particularly incipient slip, enables robotic systems to take corrective measures to prevent a grasped object from being dropped. Therefore, slip detection can enhance the overall security of robotic gripping. However, accurately detecting incipient slip remains a significant challenge. In this paper, we propose a novel learning-based approach to detect incipient slip using the PapillArray (Contactile, Australia) tactile sensor. The resulting model is highly effective in identifying patterns associated with incipient slip, achieving a detection success rate of 95.6% when tested with an offline dataset. Furthermore, we introduce several data augmentation methods to enhance the robustness of our model. When transferring the trained model to a robotic gripping environment distinct from where the training data was collected, our model maintained robust performance, with a success rate of 96.8%, providing timely feedback for stabilizing several practical gripping tasks. Our project website: https://sites.google.com/view/incipient-slip-detection.
A Strong Composition Theorem for Junta Complexity and the Boosting of Property Testers
Venue: arXiv cs.CC 2023
Year: 2023

We prove a strong composition theorem for junta complexity and show how such theorems can be used to generically boost the performance of property testers. The $\varepsilon$-approximate junta complexity of a function $f$ is the smallest integer $r$ such that $f$ is $\varepsilon$-close to a function that depends only on $r$ variables. A strong composition theorem states that if $f$ has large $\varepsilon$-approximate junta complexity, then $g \circ f$ has even larger $\varepsilon'$-approximate junta complexity, even for $\varepsilon' \gg \varepsilon$. We develop a fairly complete understanding of this behavior, proving that the junta complexity of $g \circ f$ is characterized by that of $f$ along with the multivariate noise sensitivity of $g$. For the important case of symmetric functions $g$, we relate their multivariate noise sensitivity to the simpler and well-studied case of univariate noise sensitivity. We then show how strong composition theorems yield boosting algorithms for property testers: with a strong composition theorem for any class of functions, a large-distance tester for that class is immediately upgraded into one for small distances. Combining our contributions yields a booster for junta testers, and with it new implications for junta testing. This is the first boosting-type result in property testing, and we hope that the connection to composition theorems adds compelling motivation to the study of both topics.
Contagion Source Detection in Epidemic and Infodemic Outbreaks: Mathematical Analysis and Network Algorithms
Venue: arXiv cs.SI 2023
Year: 2023

This monograph provides an overview of the mathematical theories and computational algorithm design for contagion source detection in large networks. By leveraging network centrality as a tool for statistical inference, we can accurately identify the source of contagions, trace their spread, and predict future trajectories. This approach provides fundamental insights into surveillance capability and asymptotic behavior of contagion spreading in networks. Mathematical theory and computational algorithms are vital to understanding contagion dynamics, improving surveillance capabilities, and developing effective strategies to prevent the spread of infectious diseases and misinformation.
Random Position Adversarial Patch for Vision Transformers
Venue: arXiv cs.CV 2023
Year: 2023

Previous studies have shown the vulnerability of vision transformers to adversarial patches, but these studies all rely on a critical assumption: the attack patches must be perfectly aligned with the patches used for linear projection in vision transformers. Due to this stringent requirement, deploying adversarial patches for vision transformers in the physical world becomes impractical, unlike their effectiveness on CNNs. This paper proposes a novel method for generating an adversarial patch (G-Patch) that overcomes the alignment constraint, allowing the patch to launch a targeted attack at any position within the field of view. Specifically, instead of directly optimizing the patch using gradients, we employ a GAN-like structure to generate the adversarial patch. Our experiments show the effectiveness of the adversarial patch in achieving universal attacks on vision transformers, both in digital and physical-world scenarios. Additionally, further analysis reveals that the generated adversarial patch exhibits robustness to brightness restriction, color transfer, and random noise. Real-world attack experiments validate the effectiveness of the G-Patch to launch robust attacks even under some very challenging conditions.
The extended codes of a family of reversible MDS cyclic codes
Venue: arXiv cs.IT 2023
Year: 2023

A linear code with parameters $[n, k, n-k+1]$ is called a maximum distance separable (MDS for short) code. A linear code with parameters $[n, k, n-k]$ is said to be almost maximum distance separable (AMDS for short). A linear code is said to be near maximum distance separable (NMDS for short) if both the code and its dual are AMDS. MDS codes are very important in both theory and practice. There is a classical construction of a $[q+1, 2u-1, q-2u+3]$ MDS code for each $u$ with $1 \leq u \leq \lfloor\frac{q+1}2\rfloor$, which is a reversible and cyclic code. The objective of this paper is to study the extended codes of this family of MDS codes. Two families of MDS codes and several families of NMDS codes are obtained. The NMDS codes have applications in finite geometry, cryptography and distributed and cloud data storage systems. The weight distributions of some of the extended codes are determined.
CMDFusion: Bidirectional Fusion Network with Cross-modality Knowledge Distillation for LIDAR Semantic Segmentation
Venue: arXiv cs.CV 2023
Year: 2023

2D RGB images and 3D LIDAR point clouds provide complementary knowledge for the perception system of autonomous vehicles. Several 2D and 3D fusion methods have been explored for the LIDAR semantic segmentation task, but they suffer from different problems. 2D-to-3D fusion methods require strictly paired data during inference, which may not be available in real-world scenarios, while 3D-to-2D fusion methods cannot explicitly make full use of the 2D information. Therefore, we propose a Bidirectional Fusion Network with Cross-Modality Knowledge Distillation (CMDFusion) in this work. Our method has two contributions. First, our bidirectional fusion scheme explicitly and implicitly enhances the 3D feature via 2D-to-3D fusion and 3D-to-2D fusion, respectively, which surpasses either one of the single fusion schemes. Second, we distillate the 2D knowledge from a 2D network (Camera branch) to a 3D network (2D knowledge branch) so that the 3D network can generate 2D information even for those points not in the FOV (field of view) of the camera. In this way, RGB images are not required during inference anymore since the 2D knowledge branch provides 2D information according to the 3D LIDAR input. We show that our CMDFusion achieves the best performance among all fusion-based methods on SemanticKITTI and nuScenes datasets. The code will be released at https://github.com/Jun-CEN/CMDFusion.
Class-Incremental Mixture of Gaussians for Deep Continual Learning
Venue: arXiv cs.LG 2023
Year: 2023

Continual learning models for stationary data focus on learning and retaining concepts coming to them in a sequential manner. In the most generic class-incremental environment, we have to be ready to deal with classes coming one by one, without any higher-level grouping. This requirement invalidates many previously proposed methods and forces researchers to look for more flexible alternative approaches. In this work, we follow the idea of centroid-driven methods and propose end-to-end incorporation of the mixture of Gaussians model into the continual learning framework. By employing the gradient-based approach and designing losses capable of learning discriminative features while avoiding degenerate solutions, we successfully combine the mixture model with a deep feature extractor allowing for joint optimization and adjustments in the latent space. Additionally, we show that our model can effectively learn in memory-free scenarios with fixed extractors. In the conducted experiments, we empirically demonstrate the effectiveness of the proposed solutions and exhibit the competitiveness of our model when compared with state-of-the-art continual learning baselines evaluated in the context of image classification problems.
Optimal Transport Posterior Alignment for Cross-lingual Semantic Parsing
Venue: arXiv cs.CL 2023
Year: 2023

Cross-lingual semantic parsing transfers parsing capability from a high-resource language (e.g., English) to low-resource languages with scarce training data. Previous work has primarily considered silver-standard data augmentation or zero-shot methods, however, exploiting few-shot gold data is comparatively unexplored. We propose a new approach to cross-lingual semantic parsing by explicitly minimizing cross-lingual divergence between probabilistic latent variables using Optimal Transport. We demonstrate how this direct guidance improves parsing from natural languages using fewer examples and less training. We evaluate our method on two datasets, MTOP and MultiATIS++SQL, establishing state-of-the-art results under a few-shot cross-lingual regime. Ablation studies further reveal that our method improves performance even without parallel input translations. In addition, we show that our model better captures cross-lingual structure in the latent space to improve semantic representation similarity.
Enhancing Building Semantic Segmentation Accuracy with Super Resolution and Deep Learning: Investigating the Impact of Spatial Resolution on Various Datasets
Venue: arXiv cs.CV 2023
Year: 2023

The development of remote sensing and deep learning techniques has enabled building semantic segmentation with high accuracy and efficiency. Despite their success in different tasks, the discussions on the impact of spatial resolution on deep learning based building semantic segmentation are quite inadequate, which makes choosing a higher cost-effective data source a big challenge. To address the issue mentioned above, in this study, we create remote sensing images among three study areas into multiple spatial resolutions by super-resolution and down-sampling. After that, two representative deep learning architectures: UNet and FPN, are selected for model training and testing. The experimental results obtained from three cities with two deep learning models indicate that the spatial resolution greatly influences building segmentation results, and with a better cost-effectiveness around 0.3m, which we believe will be an important insight for data selection and preparation.
Efficient Approximation Algorithms for Scheduling Coflows with Precedence Constraints in Identical Parallel Networks to Minimize Weighted Completion Time
Venue: arXiv cs.DS 2023
Year: 2023

This paper focuses on the problem of coflow scheduling with precedence constraints in identical parallel networks, which is a well-known $\mathcal{NP}$-hard problem. Coflow is a relatively new network abstraction used to characterize communication patterns in data centers. Both flow-level scheduling and coflow-level scheduling problems are examined, with the key distinction being the scheduling granularity. The proposed algorithm effectively determines the scheduling order of coflows by employing the primal-dual method. When considering workload sizes and weights that are dependent on the network topology in the input instances, our proposed algorithm for the flow-level scheduling problem achieves an approximation ratio of $O(χ)$ where $χ$ is the coflow number of the longest path in the directed acyclic graph (DAG). Additionally, when taking into account workload sizes that are topology-dependent, the algorithm achieves an approximation ratio of $O(Rχ)$, where $R$ represents the ratio of maximum weight to minimum weight. For the coflow-level scheduling problem, the proposed algorithm achieves an approximation ratio of $O(mχ)$, where $m$ is the number of network cores, when considering workload sizes and weights that are topology-dependent. Moreover, when considering workload sizes that are topology-dependent, the algorithm achieves an approximation ratio of $O(Rmχ)$. In the coflows of multi-stage job scheduling problem, the proposed algorithm achieves an approximation ratio of $O(χ)$. Although our theoretical results are based on a limited set of input instances, experimental findings show that the results for general input instances outperform the theoretical results, thereby demonstrating the effectiveness and practicality of the proposed algorithm.
Mitosis Detection from Partial Annotation by Dataset Generation via Frame-Order Flipping
Venue: arXiv cs.CV 2023
Year: 2023

Detection of mitosis events plays an important role in biomedical research. Deep-learning-based mitosis detection methods have achieved outstanding performance with a certain amount of labeled data. However, these methods require annotations for each imaging condition. Collecting labeled data involves time-consuming human labor. In this paper, we propose a mitosis detection method that can be trained with partially annotated sequences. The base idea is to generate a fully labeled dataset from the partial labels and train a mitosis detection model with the generated dataset. First, we generate an image pair not containing mitosis events by frame-order flipping. Then, we paste mitosis events to the image pair by alpha-blending pasting and generate a fully labeled dataset. We demonstrate the performance of our method on four datasets, and we confirm that our method outperforms other comparisons which use partially labeled sequences.
ECL: Class-Enhancement Contrastive Learning for Long-tailed Skin Lesion Classification
Venue: arXiv cs.CV 2023
Year: 2023

Skin image datasets often suffer from imbalanced data distribution, exacerbating the difficulty of computer-aided skin disease diagnosis. Some recent works exploit supervised contrastive learning (SCL) for this long-tailed challenge. Despite achieving significant performance, these SCL-based methods focus more on head classes, yet ignoring the utilization of information in tail classes. In this paper, we propose class-Enhancement Contrastive Learning (ECL), which enriches the information of minority classes and treats different classes equally. For information enhancement, we design a hybrid-proxy model to generate class-dependent proxies and propose a cycle update strategy for parameters optimization. A balanced-hybrid-proxy loss is designed to exploit relations between samples and proxies with different classes treated equally. Taking both "imbalanced data" and "imbalanced diagnosis difficulty" into account, we further present a balanced-weighted cross-entropy loss following curriculum learning schedule. Experimental results on the classification of imbalanced skin lesion data have demonstrated the superiority and effectiveness of our method.
Intrusion Resilience Systems for Modern Vehicles
Venue: arXiv cs.CR 2023
Year: 2023

Current vehicular Intrusion Detection and Prevention Systems either incur high false-positive rates or do not capture zero-day vulnerabilities, leading to safety-critical risks. In addition, prevention is limited to few primitive options like dropping network packets or extreme options, e.g., ECU Bus-off state. To fill this gap, we introduce the concept of vehicular Intrusion Resilience Systems (IRS) that ensures the resilience of critical applications despite assumed faults or zero-day attacks, as long as threat assumptions are met. IRS enables running a vehicular application in a replicated way, i.e., as a Replicated State Machine, over several ECUs, and then requiring the replicated processes to reach a form of Byzantine agreement before changing their local state. Our study rides the mutation of modern vehicular environments, which are closing the gap between simple and resource-constrained "real-time and embedded systems", and complex and powerful "information technology" ones. It shows that current vehicle (e.g., Zonal) architectures and networks are becoming plausible for such modular fault and intrusion tolerance solutions,deemed too heavy in the past. Our evaluation on a simulated Automotive Ethernet network running two state-of-the-art agreement protocols (Damysus and Hotstuff) shows that the achieved latency and throughout are feasible for many Automotive applications.
Sharper Asymptotically Optimal CDC Schemes via Combinatorial Designs
Venue: arXiv cs.IT 2023
Year: 2023

Coded distributed computing (CDC) was introduced to greatly reduce the communication load for MapReduce computing systems. Such a system has $K$ nodes, $N$ input files, and $Q$ Reduce functions. Each input file is mapped by $r$ nodes and each Reduce function is computed by $s$ nodes. The architecture must allow for coding techniques that achieve the maximum multicast gain. Some CDC schemes that achieve optimal communication load have been proposed before. The parameters $N$ and $Q$ in those schemes, however, grow too fast with respect to $K$ to be of great practical value. To improve the situation, researchers have come up with some asymptotically optimal cascaded CDC schemes with $s+r=K$ from symmetric designs. In this paper, we propose new asymptotically optimal cascaded CDC schemes. Akin to known schemes, ours have $r+s=K$ and make use of symmetric designs as construction tools. Unlike previous schemes, ours have much smaller communication loads, given the same set of parameters $K$, $r$, $N$, and $Q$. We also expand the construction tools to include almost difference sets. Using them, we have managed to construct a new asymptotically optimal cascaded CDC scheme.
Frequency-Domain Model of Microfluidic Molecular Communication Channels with Graphene BioFET-based Receivers
Venue: arXiv cs.ET 2023
Year: 2023

Molecular Communication (MC) is a bio-inspired communication paradigm utilizing molecules for information transfer. Research on this unconventional communication technique has recently started to transition from theoretical investigations to practical testbed implementations, primarily harnessing microfluidics and sensor technologies. Developing accurate models for input-output relationships on these platforms, which mirror real-world scenarios, is crucial for assessing modulation and detection techniques, devising optimized MC methods, and understanding the impact of physical parameters on performance. In this study, we consider a practical microfluidic MC system equipped with a graphene field effect transistor biosensor (bioFET)-based MC receiver as the model system, and develop an analytical end-to-end frequency-domain model. The model provides practical insights into the dispersion and distortion of received signals, thus potentially informing the design of new frequency-domain MC techniques, such as modulation and detection methods. The accuracy of the developed model is verified through particle-based spatial stochastic simulations of pulse transmission in microfluidic channels and ligand-receptor binding reactions on the receiver surface.
Thriving Innovation Ecosystems: Synergy Among Stakeholders, Tools, and People
Venue: arXiv cs.CY 2023
Year: 2023

An innovation ecosystem is a multi-stakeholder environment, where different stakeholders interact to solve complex socio-technical challenges. We explored how stakeholders use digital tools, human resources, and their combination to gather information and make decisions in innovation ecosystems. To comprehensively understand stakeholders' motivations, information needs and practices, we conducted a three-part interview study across five stakeholder groups (N=13) using an interactive digital dashboard. We found that stakeholders were primarily motivated to participate in innovation ecosystems by the potential social impact of their contributions. We also found that stakeholders used digital tools to seek "high-level" information to scaffold initial decision-making efforts but ultimately relied on contextual information provided by human networks to enact final decisions. Therefore, people, not digital tools, appear to be the key source of information in these ecosystems. Guided by our findings, we explored how technology might nevertheless enhance stakeholders' decision-making efforts and enable robust and equitable innovation ecosystems.
Generalizing Graph ODE for Learning Complex System Dynamics across Environments
Venue: arXiv cs.LG 2023
Year: 2023

Learning multi-agent system dynamics has been extensively studied for various real-world applications, such as molecular dynamics in biology. Most of the existing models are built to learn single system dynamics from observed historical data and predict the future trajectory. In practice, however, we might observe multiple systems that are generated across different environments, which differ in latent exogenous factors such as temperature and gravity. One simple solution is to learn multiple environment-specific models, but it fails to exploit the potential commonalities among the dynamics across environments and offers poor prediction results where per-environment data is sparse or limited. Here, we present GG-ODE (Generalized Graph Ordinary Differential Equations), a machine learning framework for learning continuous multi-agent system dynamics across environments. Our model learns system dynamics using neural ordinary differential equations (ODE) parameterized by Graph Neural Networks (GNNs) to capture the continuous interaction among agents. We achieve the model generalization by assuming the dynamics across different environments are governed by common physics laws that can be captured via learning a shared ODE function. The distinct latent exogenous factors learned for each environment are incorporated into the ODE function to account for their differences. To improve model performance, we additionally design two regularization losses to (1) enforce the orthogonality between the learned initial states and exogenous factors via mutual information minimization; and (2) reduce the temporal variance of learned exogenous factors within the same system via contrastive learning. Experiments over various physical simulations show that our model can accurately predict system dynamics, especially in the long range, and can generalize well to new systems with few observations.