OpenRaiser/Intern-Atlas huggingface dataset:
Communicative Robot Signals: Presenting a New Typology for Human-Robot Interaction
Venue: arXiv cs.RO 2023
Year: 2023

We present a new typology for classifying signals from robots when they communicate with humans. For inspiration, we use ethology, the study of animal behaviour and previous efforts from literature as guides in defining the typology. The typology is based on communicative signals that consist of five properties: the origin where the signal comes from, the deliberateness of the signal, the signal's reference, the genuineness of the signal, and its clarity (i.e., how implicit or explicit it is). Using the accompanying worksheet, the typology is straightforward to use to examine communicative signals from previous human-robot interactions and provides guidance for designers to use the typology when designing new robot behaviours.
Parma: Confidential Containers via Attested Execution Policies
Venue: arXiv cs.CR 2023
Year: 2023

Container-based technologies empower cloud tenants to develop highly portable software and deploy services in the cloud at a rapid pace. Cloud privacy, meanwhile, is important as a large number of container deployments operate on privacy-sensitive data, but challenging due to the increasing frequency and sophistication of attacks. State-of-the-art confidential container-based designs leverage process-based trusted execution environments (TEEs), but face security and compatibility issues that limits their practical deployment. We propose Parma, an architecture that provides lift-and-shift deployment of unmodified containers while providing strong security protection against a powerful attacker who controls the untrusted host and hypervisor. Parma leverages VM-level isolation to execute a container group within a unique VM-based TEE. Besides container integrity and user data confidentiality and integrity, Parma also offers container attestation and execution integrity based on an attested execution policy. Parma execution policies provide an inductive proof over all future states of the container group. This proof, which is established during initialization, forms a root of trust that can be used for secure operations within the container group without requiring any modifications of the containerized workflow itself (aside from the inclusion of the execution policy.) We evaluate Parma on AMD SEV-SNP processors by running a diverse set of workloads demonstrating that workflows exhibit 0-26% additional overhead in performance over running outside the enclave, with a mean 13% overhead on SPEC2017, while requiring no modifications to their program code. Adding execution policies introduces less than 1% additional overhead. Furthermore, we have deployed Parma as the underlying technology driving Confidential Containers on Azure Container Instances.
Multiview Representation Learning from Crowdsourced Triplet Comparisons
Venue: arXiv cs.HC 2023
Year: 2023

Crowdsourcing has been used to collect data at scale in numerous fields. Triplet similarity comparison is a type of crowdsourcing task, in which crowd workers are asked the question ``among three given objects, which two are more similar?'', which is relatively easy for humans to answer. However, the comparison can be sometimes based on multiple views, i.e., different independent attributes such as color and shape. Each view may lead to different results for the same three objects. Although an algorithm was proposed in prior work to produce multiview embeddings, it involves at least two problems: (1) the existing algorithm cannot independently predict multiview embeddings for a new sample, and (2) different people may prefer different views. In this study, we propose an end-to-end inductive deep learning framework to solve the multiview representation learning problem. The results show that our proposed method can obtain multiview embeddings of any object, in which each view corresponds to an independent attribute of the object. We collected two datasets from a crowdsourcing platform to experimentally investigate the performance of our proposed approach compared to conventional baseline methods.
A Compendium on Distributed Systems
Venue: arXiv cs.DC 2023
Year: 2023

Computer systems have evolved over the years starting from sizable, single-user, slow, and expensive machines to multi-user, fast, cheaper, and small-sized machines. The use of multi-user computer networks has given rise to a new paradigm of computing known as Distributed Systems. A distributed system is regarded as software consisting of a collection of dependent network communication and computational nodes. This paradigm yields high performance while also maintaining high efficiency due to the decentralization of various computer related tasks to several computer nodes that are interconnected. Even if distributed systems have proven to be beneficial over the years it also has some design flaws, security concerns and challenges. In this paper, the main objective is to define these issues, challenges and security concerns while also examining the various solutions developed over the years to resolve them. This paper also briefly covers the components as well as the working of Distributed Systems.
FR-LIO: Fast and Robust Lidar-Inertial Odometry by Tightly-Coupled Iterated Kalman Smoother and Robocentric Voxels
Venue: arXiv cs.RO 2023
Year: 2023

This paper presents a fast lidar-inertial odometry (LIO) that is robust to aggressive motion. To achieve robust tracking in aggressive motion scenes, we exploit the continuous scanning property of lidar to adaptively divide the full scan into multiple partial scans (named sub-frames) according to the motion intensity. And to avoid the degradation of sub-frames resulting from insufficient constraints, we propose a robust state estimation method based on a tightly-coupled iterated error state Kalman smoother (ESKS) framework. Furthermore, we propose a robocentric voxel map (RC-Vox) to improve the system's efficiency. The RC-Vox allows efficient maintenance of map points and k nearest neighbor (k-NN) queries by mapping local map points into a fixed-size, two-layer 3D array structure. Extensive experiments are conducted on 27 sequences from 4 public datasets and our own dataset. The results show that our system can achieve stable tracking in aggressive motion scenes (angular velocity up to 21.8 rad/s) that cannot be handled by other state-of-the-art methods, while our system can achieve competitive performance with these methods in general scenes. Furthermore, thanks to the RC-Vox, our system is much faster than the most efficient LIO system currently published.
Revisit the Algorithm Selection Problem for TSP with Spatial Information Enhanced Graph Neural Networks
Venue: arXiv cs.LG 2023
Year: 2023

Algorithm selection is a well-known problem where researchers investigate how to construct useful features representing the problem instances and then apply feature-based machine learning models to predict which algorithm works best with the given instance. However, even for simple optimization problems such as Euclidean Traveling Salesman Problem (TSP), there lacks a general and effective feature representation for problem instances. The important features of TSP are relatively well understood in the literature, based on extensive domain knowledge and post-analysis of the solutions. In recent years, Convolutional Neural Network (CNN) has become a popular approach to select algorithms for TSP. Compared to traditional feature-based machine learning models, CNN has an automatic feature-learning ability and demands less domain expertise. However, it is still required to generate intermediate representations, i.e., multiple images to represent TSP instances first. In this paper, we revisit the algorithm selection problem for TSP, and propose a novel Graph Neural Network (GNN), called GINES. GINES takes the coordinates of cities and distances between cities as input. It is composed of a new message-passing mechanism and a local neighborhood feature extractor to learn spatial information of TSP instances. We evaluate GINES on two benchmark datasets. The results show that GINES outperforms CNN and the original GINE models. It is better than the traditional handcrafted feature-based approach on one dataset. The code and dataset will be released in the final version of this paper.
Automating Code-Related Tasks Through Transformers: The Impact of Pre-training
Venue: arXiv cs.SE 2023
Year: 2023

Transformers have gained popularity in the software engineering (SE) literature. These deep learning models are usually pre-trained through a self-supervised objective, meant to provide the model with basic knowledge about a language of interest (e.g., Java). A classic pre-training objective is the masked language model (MLM), in which a percentage of tokens from the input (e.g., a Java method) is masked, with the model in charge of predicting them. Once pre-trained, the model is then fine-tuned to support the specific downstream task of interest (e.g., code summarization). While there is evidence suggesting the boost in performance provided by pre-training, little is known about the impact of the specific pre-training objective(s) used. Indeed, MLM is just one of the possible pre-training objectives and recent work from the natural language processing field suggest that pre-training objectives tailored for the specific downstream task of interest may substantially boost the model's performance. In this study, we focus on the impact of pre-training objectives on the performance of transformers when automating code-related tasks. We start with a systematic literature review aimed at identifying the pre-training objectives used in SE. Then, we pre-train 32 transformers using both (i) generic pre-training objectives usually adopted in SE; and (ii) pre-training objectives tailored to specific code-related tasks subject of our experimentation, namely bug-fixing, code summarization, and code completion. We also compare the pre-trained models with non pre-trained ones. Our results show that: (i) pre-training helps in boosting performance only if the amount of fine-tuning data available is small; (ii) the MLM objective is usually sufficient to maximize the prediction performance of the model, even when comparing it with pre-training objectives specialized for the downstream task at hand.
Reception Reader: Exploring Text Reuse in Early Modern British Publications
Venue: arXiv cs.DL 2023
Year: 2023

The Reception Reader is a web tool for studying text reuse in the Early English Books Online (EEBO-TCP) and Eighteenth Century Collections Online (ECCO) data. Users can: 1) explore a visual overview of the reception of a work, or its incoming connections, across time based on shared text segments, 2) interactively survey the details of connected documents, and 3) examine the context of reused text for "close reading". We show examples of how the tool streamlines research and exploration tasks, and discuss the utility and limitations of the user interface along with its current data sources.
The Effect of Structural Equation Modeling on Chatbot Usage: An Investigation of Dialogflow
Venue: arXiv cs.HC 2023
Year: 2023

This study aims to understand users' perceptions of using the Dialogflow framework and verify the relationships among service awareness, task-technology fit, output quality, and TAM variables. Generalized Structured Component Analysis was employed to experiment with six hypotheses. Two hundred twenty-seven participants were recruited through the purposive non-random sampling technique. Google Forms was utilized as a medium to develop and distribute survey questionnaires to subjects of interest. The experimental results indicated that perceived ease of use and usefulness had a statistically significant and positive influence on behavioral intention. Awareness of service and output quality was considered reliable predictors of perceived usefulness. Also, perceived task-technology fit positively affected perceived ease of use. The model specification accounted for 50.04% of the total variation. The findings can be leveraged to reinforce TAM in future research in a comparative academic context to validate the hypothesis. Several practitioner recommendations and the study's limitations have been presented.
Learning Graph-Enhanced Commander-Executor for Multi-Agent Navigation
Venue: arXiv cs.RO 2023
Year: 2023

This paper investigates the multi-agent navigation problem, which requires multiple agents to reach the target goals in a limited time. Multi-agent reinforcement learning (MARL) has shown promising results for solving this issue. However, it is inefficient for MARL to directly explore the (nearly) optimal policy in the large search space, which is exacerbated as the agent number increases (e.g., 10+ agents) or the environment is more complex (e.g., 3D simulator). Goal-conditioned hierarchical reinforcement learning (HRL) provides a promising direction to tackle this challenge by introducing a hierarchical structure to decompose the search space, where the low-level policy predicts primitive actions in the guidance of the goals derived from the high-level policy. In this paper, we propose Multi-Agent Graph-Enhanced Commander-Executor (MAGE-X), a graph-based goal-conditioned hierarchical method for multi-agent navigation tasks. MAGE-X comprises a high-level Goal Commander and a low-level Action Executor. The Goal Commander predicts the probability distribution of goals and leverages them to assign each agent the most appropriate final target. The Action Executor utilizes graph neural networks (GNN) to construct a subgraph for each agent that only contains crucial partners to improve cooperation. Additionally, the Goal Encoder in the Action Executor captures the relationship between the agent and the designated goal to encourage the agent to reach the final target. The results show that MAGE-X outperforms the state-of-the-art MARL baselines with a 100% success rate with only 3 million training steps in multi-agent particle environments (MPE) with 50 agents, and at least a 12% higher success rate and 2x higher data efficiency in a more complicated quadrotor 3D navigation task.
ASTRIDE: Adaptive Symbolization for Time Series Databases
Venue: arXiv cs.LG 2023
Year: 2023

We introduce ASTRIDE (Adaptive Symbolization for Time seRIes DatabasEs), a novel symbolic representation of time series, along with its accelerated variant FASTRIDE (Fast ASTRIDE). Unlike most symbolization procedures, ASTRIDE is adaptive during both the segmentation step by performing change-point detection and the quantization step by using quantiles. Instead of proceeding signal by signal, ASTRIDE builds a dictionary of symbols that is common to all signals in a data set. We also introduce D-GED (Dynamic General Edit Distance), a novel similarity measure on symbolic representations based on the general edit distance. We demonstrate the performance of the ASTRIDE and FASTRIDE representations compared to SAX (Symbolic Aggregate approXimation), 1d-SAX, SFA (Symbolic Fourier Approximation), and ABBA (Adaptive Brownian Bridge-based Aggregation) on reconstruction and, when applicable, on classification tasks. These algorithms are evaluated on 86 univariate equal-size data sets from the UCR Time Series Classification Archive. An open source GitHub repository called astride is made available to reproduce all the experiments in Python.
Source Code Recommender Systems: The Practitioners' Perspective
Venue: arXiv cs.SE 2023
Year: 2023

The automatic generation of source code is one of the long-lasting dreams in software engineering research. Several techniques have been proposed to speed up the writing of new code. For example, code completion techniques can recommend to developers the next few tokens they are likely to type, while retrieval-based approaches can suggest code snippets relevant for the task at hand. Also, deep learning has been used to automatically generate code statements starting from a natural language description. While research in this field is very active, there is no study investigating what the users of code recommender systems (i.e., software practitioners) actually need from these tools. We present a study involving 80 software developers to investigate the characteristics of code recommender systems they consider important. The output of our study is a taxonomy of 70 "requirements" that should be considered when designing code recommender systems. For example, developers would like the recommended code to use the same coding style of the code under development. Also, code recommenders being "aware" of the developers' knowledge (e.g., what are the framework/libraries they already used in the past) and able to customize the recommendations based on this knowledge would be appreciated by practitioners. The taxonomy output of our study points to a wide set of future research directions for code recommenders.
Explainable Label-flipping Attacks on Human Emotion Assessment System
Venue: arXiv cs.LG 2023
Year: 2023

This paper's main goal is to provide an attacker's point of view on data poisoning assaults that use label-flipping during the training phase of systems that use electroencephalogram (EEG) signals to evaluate human emotion. To attack different machine learning classifiers such as Adaptive Boosting (AdaBoost) and Random Forest dedicated to the classification of 4 different human emotions using EEG signals, this paper proposes two scenarios of label-flipping methods. The results of the studies show that the proposed data poison attacksm based on label-flipping are successful regardless of the model, but different models show different degrees of resistance to the assaults. In addition, numerous Explainable Artificial Intelligence (XAI) techniques are used to explain the data poison attacks on EEG signal-based human emotion evaluation systems.
Resistance Distances in Directed Graphs: Definitions, Properties, and Applications
Venue: arXiv cs.NI 2023
Year: 2023

Resistance distance has been studied extensively in the past years, with the majority of previous studies devoted to undirected networks, in spite of the fact that various realistic networks are directed. Although several generalizations of resistance distance on directed graphs have been proposed, they either have no physical interpretation or are not a metric. In this paper, we first extend the definition of resistance distance to strongly connected directed graphs based on random walks and show that the two-node resistance distance on directed graphs is a metric. Then, we introduce the Laplacian matrix for directed graphs that subsumes the Laplacian matrix of undirected graphs as a particular case and use its pseudoinverse to express the two-node resistance distance, and many other relevant quantities derived from resistance distances. Moreover, we define the resistance distance between a vertex and a vertex group on directed graphs and further define a problem of optimally selecting a group of fixed number of nodes, such that their resistance distance is minimized. Since this combinatorial optimization problem is NP-hard, we present a greedy algorithm with a proved approximation ratio, and conduct experiments on model and realistic networks to validate the performance of this approximation algorithm.
Predicting the performance of hybrid ventilation in buildings using a multivariate attention-based biLSTM Encoder-Decoder neural network
Venue: arXiv cs.LG 2023
Year: 2023

Hybrid ventilation is an energy-efficient solution to provide fresh air for most climates, given that it has a reliable control system. To operate such systems optimally, a high-fidelity control-oriented modesl is required. It should enable near-real time forecast of the indoor air temperature based on operational conditions such as window opening and HVAC operating schedules. However, physics-based control-oriented models (i.e., white-box models) are labour-intensive and computationally expensive. Alternatively, black-box models based on artificial neural networks can be trained to be good estimators for building dynamics. This paper investigates the capabilities of a deep neural network (DNN), which is a multivariate multi-head attention-based long short-term memory (LSTM) encoder-decoder neural network, to predict indoor air temperature when windows are opened or closed. Training and test data are generated from a detailed multi-zone office building model (EnergyPlus). Pseudo-random signals are used for the indoor air temperature setpoints and window opening instances. The results indicate that the DNN is able to accurately predict the indoor air temperature of five zones whenever windows are opened or closed. The prediction error plateaus after the 24th step ahead prediction (6 hr ahead prediction).
Online Resource Allocation: Bandits feedback and Advice on Time-varying Demands
Venue: arXiv cs.LG 2023
Year: 2023

We consider a general online resource allocation model with bandit feedback and time-varying demands. While online resource allocation has been well studied in the literature, most existing works make the strong assumption that the demand arrival process is stationary. In practical applications, such as online advertisement and revenue management, however, this process may be exogenous and non-stationary, like the constantly changing internet traffic. Motivated by the recent Online Algorithms with Advice framework [Mitazenmacher and Vassilvitskii, \emph{Commun. ACM} 2022], we explore how online advice can inform policy design. We establish an impossibility result that any algorithm perform poorly in terms of regret without any advice in our setting. In contrast, we design an robust online algorithm that leverages the online predictions on the total demand volumes. Empowered with online advice, our proposed algorithm is shown to have both theoretical performance and promising numerical results compared with other algorithms in literature. We also provide two explicit examples for the time-varying demand scenarios and derive corresponding theoretical performance guarantees. Finally, we adapt our model to a network revenue management problem, and numerically demonstrate that our algorithm can still performs competitively compared to existing baselines.
Efficient Joint Learning for Clinical Named Entity Recognition and Relation Extraction Using Fourier Networks: A Use Case in Adverse Drug Events
Venue: arXiv cs.CL 2023
Year: 2023

Current approaches for clinical information extraction are inefficient in terms of computational costs and memory consumption, hindering their application to process large-scale electronic health records (EHRs). We propose an efficient end-to-end model, the Joint-NER-RE-Fourier (JNRF), to jointly learn the tasks of named entity recognition and relation extraction for documents of variable length. The architecture uses positional encoding and unitary batch sizes to process variable length documents and uses a weight-shared Fourier network layer for low-complexity token mixing. Finally, we reach the theoretical computational complexity lower bound for relation extraction using a selective pooling strategy and distance-aware attention weights with trainable polynomial distance functions. We evaluated the JNRF architecture using the 2018 N2C2 ADE benchmark to jointly extract medication-related entities and relations in variable-length EHR summaries. JNRF outperforms rolling window BERT with selective pooling by 0.42%, while being twice as fast to train. Compared to state-of-the-art BiLSTM-CRF architectures on the N2C2 ADE benchmark, results show that the proposed approach trains 22 times faster and reduces GPU memory consumption by 1.75 folds, with a reasonable performance tradeoff of 90%, without the use of external tools, hand-crafted rules or post-processing. Given the significant carbon footprint of deep learning models and the current energy crises, these methods could support efficient and cleaner information extraction in EHRs and other types of large-scale document databases.