OpenRaiser/Intern-Atlas huggingface dataset:
Hierarchical Needs Based Self-Adaptive Framework For Cooperative Multi-Robot System
Venue: arXiv cs.RO 2020
Year: 2020

Research in multi-robot and swarm systems has seen significant interest in cooperation of agents in complex and dynamic environments. To effectively adapt to unknown environments and maximize the utility of the group, robots need to cooperate, share information, and make a suitable plan according to the specific scenario. Inspired by Maslow's hierarchy of human needs and systems theory, we introduce Robot's Need Hierarchy and propose a new solution called Self-Adaptive Swarm System (SASS). It combines multi-robot perception, communication, planning, and execution with the cooperative management of conflicts through a distributed Negotiation-Agreement Mechanism that prioritizes robot's needs. We also decompose the complex tasks into simple executable behaviors through several Atomic Operations, such as selection, formation, and routing. We evaluate SASS through simulating static and dynamic tasks and comparing them with the state-of-the-art collision-aware task assignment method integrated into our framework.
Cooperative Perception with Deep Reinforcement Learning for Connected Vehicles
Venue: arXiv cs.AI 2020
Year: 2020

Sensor-based perception on vehicles are becoming prevalent and important to enhance the road safety. Autonomous driving systems use cameras, LiDAR, and radar to detect surrounding objects, while human-driven vehicles use them to assist the driver. However, the environmental perception by individual vehicles has the limitations on coverage and/or detection accuracy. For example, a vehicle cannot detect objects occluded by other moving/static obstacles. In this paper, we present a cooperative perception scheme with deep reinforcement learning to enhance the detection accuracy for the surrounding objects. By using the deep reinforcement learning to select the data to transmit, our scheme mitigates the network load in vehicular communication networks and enhances the communication reliability. To design, test, and verify the cooperative perception scheme, we develop a Cooperative & Intelligent Vehicle Simulation (CIVS) Platform, which integrates three software components: traffic simulator, vehicle simulator, and object classifier. We evaluate that our scheme decreases packet loss and thereby increases the detection accuracy by up to 12%, compared to the baseline protocol.
Distilling Knowledge from Refinement in Multiple Instance Detection Networks
Venue: arXiv cs.CV 2020
Year: 2020

Weakly supervised object detection (WSOD) aims to tackle the object detection problem using only labeled image categories as supervision. A common approach used in WSOD to deal with the lack of localization information is Multiple Instance Learning, and in recent years methods started adopting Multiple Instance Detection Networks (MIDN), which allows training in an end-to-end fashion. In general, these methods work by selecting the best instance from a pool of candidates and then aggregating other instances based on similarity. In this work, we claim that carefully selecting the aggregation criteria can considerably improve the accuracy of the learned detector. We start by proposing an additional refinement step to an existing approach (OICR), which we call refinement knowledge distillation. Then, we present an adaptive supervision aggregation function that dynamically changes the aggregation criteria for selecting boxes related to one of the ground-truth classes, background, or even ignored during the generation of each refinement module supervision. Experiments in Pascal VOC 2007 demonstrate that our Knowledge Distillation and smooth aggregation function significantly improves the performance of OICR in the weakly supervised object detection and weakly supervised object localization tasks. These improvements make the Boosted-OICR competitive again versus other state-of-the-art approaches.
Constructing Geographic and Long-term Temporal Graph for Traffic Forecasting
Venue: arXiv cs.LG 2020
Year: 2020

Traffic forecasting influences various intelligent transportation system (ITS) services and is of great significance for user experience as well as urban traffic control. It is challenging due to the fact that the road network contains complex and time-varying spatial-temporal dependencies. Recently, deep learning based methods have achieved promising results by adopting graph convolutional network (GCN) to extract the spatial correlations and recurrent neural network (RNN) to capture the temporal dependencies. However, the existing methods often construct the graph only based on road network connectivity, which limits the interaction between roads. In this work, we propose Geographic and Long term Temporal Graph Convolutional Recurrent Neural Network (GLT-GCRNN), a novel framework for traffic forecasting that learns the rich interactions between roads sharing similar geographic or longterm temporal patterns. Extensive experiments on a real-world traffic state dataset validate the effectiveness of our method by showing that GLT-GCRNN outperforms the state-of-the-art methods in terms of different metrics.
Metric-Learning-Assisted Domain Adaptation
Venue: arXiv cs.LG 2020
Year: 2020

Domain alignment (DA) has been widely used in unsupervised domain adaptation. Many existing DA methods assume that a low source risk, together with the alignment of distributions of source and target, means a low target risk. In this paper, we show that this does not always hold. We thus propose a novel metric-learning-assisted domain adaptation (MLA-DA) method, which employs a novel triplet loss for helping better feature alignment. We explore the relationship between the second largest probability of a target sample's prediction and its distance to the decision boundary. Based on the relationship, we propose a novel mechanism to adaptively adjust the margin in the triplet loss according to target predictions. Experimental results show that the use of proposed triplet loss can achieve clearly better results. We also demonstrate the performance improvement of MLA-DA on all four standard benchmarks compared with the state-of-the-art unsupervised domain adaptation methods. Furthermore, MLA-DA shows stable performance in robust experiments.
Location-Aware Feature Selection Text Detection Network
Venue: arXiv cs.CV 2020
Year: 2020

Regression-based text detection methods have already achieved promising performances with simple network structure and high efficiency. However, they are behind in accuracy comparing with recent segmentation-based text detectors. In this work, we discover that one important reason to this case is that regression-based methods usually utilize a fixed feature selection way, i.e. selecting features in a single location or in neighbor regions, to predict components of the bounding box, such as the distances to the boundaries or the rotation angle. The features selected through this way sometimes are not the best choices for predicting every component of a text bounding box and thus degrade the accuracy performance. To address this issue, we propose a novel Location-Aware feature Selection text detection Network (LASNet). LASNet selects suitable features from different locations to separately predict the five components of a bounding box and gets the final bounding box through the combination of these components. Specifically, instead of using the classification score map to select one feature for predicting the whole bounding box as most of the existing methods did, the proposed LASNet first learn five new confidence score maps to indicate the prediction accuracy of the bounding box components, respectively. Then, a Location-Aware Feature Selection mechanism (LAFS) is designed to weightily fuse the top-$K$ prediction results for each component according to their confidence score, and to combine the all five fused components into a final bounding box. As a result, LASNet predicts the more accurate bounding boxes by using a learnable feature selection way. The experimental results demonstrate that our LASNet achieves state-of-the-art performance with single-model and single-scale testing, outperforming all existing regression-based detectors.
Semantically-Oriented Mutation Operator in Cartesian Genetic Programming for Evolutionary Circuit Design
Venue: arXiv cs.NE 2020
Year: 2020

Despite many successful applications, Cartesian Genetic Programming (CGP) suffers from limited scalability, especially when used for evolutionary circuit design. Considering the multiplier design problem, for example, the 5x5-bit multiplier represents the most complex circuit evolved from a randomly generated initial population. The efficiency of CGP highly depends on the performance of the point mutation operator, however, this operator is purely stochastic. This contrasts with the recent developments in Genetic Programming (GP), where advanced informed approaches such as semantic-aware operators are incorporated to improve the search space exploration capability of GP. In this paper, we propose a semantically-oriented mutation operator (SOMO) suitable for the evolutionary design of combinational circuits. SOMO uses semantics to determine the best value for each mutated gene. Compared to the common CGP and its variants as well as the recent versions of Semantic GP, the proposed method converges on common Boolean benchmarks substantially faster while keeping the phenotype size relatively small. The successfully evolved instances presented in this paper include 10-bit parity, 10+10-bit adder and 5x5-bit multiplier. The most complex circuits were evolved in less than one hour with a single-thread implementation running on a common CPU.
BOLD: An Ontology-based Log Debugger for C Programs
Venue: arXiv cs.SE 2020
Year: 2020

The different activities related to debugging such as program instrumentation, representation of execution trace and analysis of trace are not typically performed in an unified framework. We propose \textit{BOLD}, an Ontology-based Log Debugger to unify and standardize the activities in debugging. The syntactical information of programs can be represented in the from of Resource Description Framework (RDF) triples. Using the BOLD framework, the programs can be automatically instrumented by using declarative specifications over these triples. A salient feature of the framework is to store the execution trace of the program also as RDF triples called \textit{trace triples}. These triples can be queried to implement the common debug operations. The novelty of the framework is to abstract these triples as \textit{spans} for high-level reasoning. A span gives a way of examining the values of a particular variable over certain portion of the program execution. The properties of the spans are defined formally as a Web Ontology Language (OWL) ontology called \textit{Program Debug (PD) Ontology}. Using the span abstraction and PD ontology, end-users can debug a given buggy program in a standard manner. A notable feature of using ontology is that users can accurately debug in some cases of missing information, which can be practically useful. To demonstrate the feasibility of the proposed framework, we have debugged the programs in a standard bug benchmark suite Software-artifact Infrastructure Repository (SIR). Experiments show that the querying time is almost the same as in \texttt{gdb}. The reasoning time depends on the sub-language of OWL. We find that the expressibility offered by OWL-DL language is sufficient for the bugs in SIR programs; but to achieve scalability in reasoning, a restricted OWL-RL language is required.
The Creation and Detection of Deepfakes: A Survey
Venue: arXiv cs.CV 2020
Year: 2020

Generative deep learning algorithms have progressed to a point where it is difficult to tell the difference between what is real and what is fake. In 2018, it was discovered how easy it is to use this technology for unethical and malicious applications, such as the spread of misinformation, impersonation of political leaders, and the defamation of innocent individuals. Since then, these `deepfakes' have advanced significantly. In this paper, we explore the creation and detection of deepfakes and provide an in-depth view of how these architectures work. The purpose of this survey is to provide the reader with a deeper understanding of (1) how deepfakes are created and detected, (2) the current trends and advancements in this domain, (3) the shortcomings of the current defense solutions, and (4) the areas which require further research and attention.
On the computation of the M{ö}bius transform
Venue: arXiv cs.DS 2020
Year: 2020

The M{ö}bius transform is a crucial transformation into the Boolean world; it allows to change the Boolean representation between the True Table and Algebraic Normal Form. In this work, we introduce a new algebraic point of view of this transformation based on the polynomial form of Boolean functions. It appears that we can perform a new notion: the M{ö}bius computation variable by variable and new computation properties. As a consequence, we propose new algorithms which can produce a huge speed up of the M{ö}bius computation for sub-families of Boolean function. Furthermore we compute directly the M{ö}bius transformation of some particular Boolean functions. Finally, we show that for some of them the Hamming weight is directly related to the algebraic degree of specific factors.
SIGN: Scalable Inception Graph Neural Networks
Venue: arXiv cs.LG 2020
Year: 2020

Graph representation learning has recently been applied to a broad spectrum of problems ranging from computer graphics and chemistry to high energy physics and social media. The popularity of graph neural networks has sparked interest, both in academia and in industry, in developing methods that scale to very large graphs such as Facebook or Twitter social networks. In most of these approaches, the computational cost is alleviated by a sampling strategy retaining a subset of node neighbors or subgraphs at training time. In this paper we propose a new, efficient and scalable graph deep learning architecture which sidesteps the need for graph sampling by using graph convolutional filters of different size that are amenable to efficient precomputation, allowing extremely fast training and inference. Our architecture allows using different local graph operators (e.g. motif-induced adjacency matrices or Personalized Page Rank diffusion matrix) to best suit the task at hand. We conduct extensive experimental evaluation on various open benchmarks and show that our approach is competitive with other state-of-the-art architectures, while requiring a fraction of the training and inference time. Moreover, we obtain state-of-the-art results on ogbn-papers100M, the largest public graph dataset, with over 110 million nodes and 1.5 billion edges.
Correct Me If You Can: Learning from Error Corrections and Markings
Venue: arXiv cs.CL 2020
Year: 2020

Sequence-to-sequence learning involves a trade-off between signal strength and annotation cost of training data. For example, machine translation data range from costly expert-generated translations that enable supervised learning, to weak quality-judgment feedback that facilitate reinforcement learning. We present the first user study on annotation cost and machine learnability for the less popular annotation mode of error markings. We show that error markings for translations of TED talks from English to German allow precise credit assignment while requiring significantly less human effort than correcting/post-editing, and that error-marked data can be used successfully to fine-tune neural machine translation models.
QUANOS- Adversarial Noise Sensitivity Driven Hybrid Quantization of Neural Networks
Venue: arXiv cs.LG 2020
Year: 2020

Deep Neural Networks (DNNs) have been shown to be vulnerable to adversarial attacks, wherein, a model gets fooled by applying slight perturbations on the input. With the advent of Internet-of-Things and the necessity to enable intelligence in embedded devices, low-power and secure hardware implementation of DNNs is vital. In this paper, we investigate the use of quantization to potentially resist adversarial attacks. Several recent studies have reported remarkable results in reducing the energy requirement of a DNN through quantization. However, no prior work has considered the relationship between adversarial sensitivity of a DNN and its effect on quantization. We propose QUANOS- a framework that performs layer-specific hybrid quantization based on Adversarial Noise Sensitivity (ANS). We identify a novel noise stability metric (ANS) for DNNs, i.e., the sensitivity of each layer's computation to adversarial noise. ANS allows for a principled way of determining optimal bit-width per layer that incurs adversarial robustness as well as energy-efficiency with minimal loss in accuracy. Essentially, QUANOS assigns layer significance based on its contribution to adversarial perturbation and accordingly scales the precision of the layers. A key advantage of QUANOS is that it does not rely on a pre-trained model and can be applied in the initial stages of training. We evaluate the benefits of QUANOS on precision scalable Multiply and Accumulate (MAC) hardware architectures with data gating and subword parallelism capabilities. Our experiments on CIFAR10, CIFAR100 datasets show that QUANOS outperforms homogenously quantized 8-bit precision baseline in terms of adversarial robustness (3%-4% higher) while yielding improved compression (>5x) and energy savings (>2x) at iso-accuracy.
Weakly Supervised Learning Guided by Activation Mapping Applied to a Novel Citrus Pest Benchmark
Venue: arXiv cs.CV 2020
Year: 2020

Pests and diseases are relevant factors for production losses in agriculture and, therefore, promote a huge investment in the prevention and detection of its causative agents. In many countries, Integrated Pest Management is the most widely used process to prevent and mitigate the damages caused by pests and diseases in citrus crops. However, its results are credited by humans who visually inspect the orchards in order to identify the disease symptoms, insects and mite pests. In this context, we design a weakly supervised learning process guided by saliency maps to automatically select regions of interest in the images, significantly reducing the annotation task. In addition, we create a large citrus pest benchmark composed of positive samples (six classes of mite species) and negative samples. Experiments conducted on two large datasets demonstrate that our results are very promising for the problem of pest and disease classification in the agriculture field.
Bayesian Verification of Chemical Reaction Networks
Venue: arXiv cs.CE 2020
Year: 2020

We present a data-driven verification approach that determines whether or not a given chemical reaction network (CRN) satisfies a given property, expressed as a formula in a modal logic. Our approach consists of three phases, integrating formal verification over models with learning from data. First, we consider a parametric set of possible models based on a known stoichiometry and classify them against the property of interest. Secondly, we utilise Bayesian inference to update a probability distribution of the parameters within a parametric model with data gathered from the underlying CRN. In the third and final stage, we combine the results of both steps to compute the probability that the underlying CRN satisfies the given property. We apply the new approach to a case study and compare it to Bayesian statistical model checking.
Developing Concurrent Coding: An unconventional encoding scheme applied to visible light communications
Venue: arXiv cs.IT 2020
Year: 2020

An unconventional encoding scheme called concurrent coding, has recently been demonstrated and shown to offer interesting features and benefits in comparison to conventional techniques, e.g. robustness against burst errors and improved efficiency of transmitted power. This concept has been demonstrated for the first time with optical communications where standard light emitting diodes (LEDs) have been used to transmit information encoded with concurrent coding. The technique successfully transmits and decodes data despite unpredictable interruptions to the transmission causing significant drop-outs to the detected signal. The technique also shows how it is possible to send a single block of data in isolation with no pre-synchronisation required between transmitter and receiver, and no specific synchronisation sequence appended to the transmission. This work also demonstrates for the first time the successful use of multithreaded (overlaid) concurrent codes
Self-supervised Learning for Astronomical Image Classification
Venue: arXiv cs.CV 2020
Year: 2020

In Astronomy, a huge amount of image data is generated daily by photometric surveys, which scan the sky to collect data from stars, galaxies and other celestial objects. In this paper, we propose a technique to leverage unlabeled astronomical images to pre-train deep convolutional neural networks, in order to learn a domain-specific feature extractor which improves the results of machine learning techniques in setups with small amounts of labeled data available. We show that our technique produces results which are in many cases better than using ImageNet pre-training.
From Physics-Based Models to Predictive Digital Twins via Interpretable Machine Learning
Venue: arXiv cs.CE 2020
Year: 2020

This work develops a methodology for creating a data-driven digital twin from a library of physics-based models representing various asset states. The digital twin is updated using interpretable machine learning. Specifically, we use optimal trees---a recently developed scalable machine learning method---to train an interpretable data-driven classifier. Training data for the classifier are generated offline using simulated scenarios solved by the library of physics-based models. These data can be further augmented using experimental or other historical data. In operation, the classifier uses observational data from the asset to infer which physics-based models in the model library are the best candidates for the updated digital twin. The approach is demonstrated through the development of a structural digital twin for a 12ft wingspan unmanned aerial vehicle. This digital twin is built from a library of reduced-order models of the vehicle in a range of structural states. The data-driven digital twin dynamically updates in response to structural damage or degradation and enables the aircraft to replan a safe mission accordingly. Within this context, we study the performance of the optimal tree classifiers and demonstrate how their interpretability enables explainable structural assessments from sparse sensor measurements, and also informs optimal sensor placement.
Live Trojan Attacks on Deep Neural Networks
Venue: arXiv cs.CR 2020
Year: 2020

Like all software systems, the execution of deep learning models is dictated in part by logic represented as data in memory. For decades, attackers have exploited traditional software programs by manipulating this data. We propose a live attack on deep learning systems that patches model parameters in memory to achieve predefined malicious behavior on a certain set of inputs. By minimizing the size and number of these patches, the attacker can reduce the amount of network communication and memory overwrites, with minimal risk of system malfunctions or other detectable side effects. We demonstrate the feasibility of this attack by computing efficient patches on multiple deep learning models. We show that the desired trojan behavior can be induced with a few small patches and with limited access to training data. We describe the details of how this attack is carried out on real systems and provide sample code for patching TensorFlow model parameters in Windows and in Linux. Lastly, we present a technique for effectively manipulating entropy on perturbed inputs to bypass STRIP, a state-of-the-art run-time trojan detection technique.