OpenRaiser/Intern-Atlas huggingface dataset:
The Autonomous Siemens Tram
Venue: arXiv cs.RO 2021
Year: 2021

This paper presents the Autonomous Siemens Tram that was publicly demonstrated in Potsdam, Germany during the InnoTrans 2018 exhibition. The system was built on a Siemens Combino tram and used a multi-modal sensor suite to localize the vehicle, and to detect and respond to traffic signals and obstacles. An overview of the hardware and the developed localization, signal handling, and obstacle handling components is presented, along with a summary of their performance.
Two-Dimensional Golay Complementary Array Sets from Generalized Boolean Functions
Venue: arXiv cs.IT 2021
Year: 2021

The one-dimensional (1-D) Golay complementary set (GCS) has many well-known properties and has been widely employed in engineering. The concept of 1-D GCS can be extended to the two-dimensional (2-D) Golay complementary array set (GCAS) where the 2-D aperiodic autocorrelation of constituent arrays sum to zero except for the 2-D zero shift. The 2-D GCAS includes the 2-D Golay complementary array pair (GCAP) as a special case when the set size is 2. In this paper, 2-D generalized Boolean functions are introduced and novel constructions of 2-D GCAPs, 2-D GCASs, and 2-D Golay complementary array mates based on generalized Boolean functions are proposed. Explicit expressions of 2-D Boolean functions for 2-D GCAPs and 2-D GCASs are given. Therefore, they are all direct constructions without the aid of other existing 1-D or 2-D sequences. Moreover, for the column sequences and row sequences of the constructed 2-D GCAPs, their peak-to-average power ratio (PAPR) properties are also investigated.
Improving filling level classification with adversarial training
Venue: arXiv cs.CV 2021
Year: 2021

We investigate the problem of classifying - from a single image - the level of content in a cup or a drinking glass. This problem is made challenging by several ambiguities caused by transparencies, shape variations and partial occlusions, and by the availability of only small training datasets. In this paper, we tackle this problem with an appropriate strategy for transfer learning. Specifically, we use adversarial training in a generic source dataset and then refine the training with a task-specific dataset. We also discuss and experimentally evaluate several training strategies and their combination on a range of container types of the CORSMAL Containers Manipulation dataset. We show that transfer learning with adversarial training in the source domain consistently improves the classification accuracy on the test set and limits the overfitting of the classifier to specific features of the training data.
In-Order Chart-Based Constituent Parsing
Venue: arXiv cs.CL 2021
Year: 2021

We propose a novel in-order chart-based model for constituent parsing. Compared with previous CKY-style and top-down models, our model gains advantages from in-order traversal of a tree (rich features, lookahead information and high efficiency) and makes a better use of structural knowledge by encoding the history of decisions. Experiments on the Penn Treebank show that our model outperforms previous chart-based models and achieves competitive performance compared with other discriminative single models.
Learning Curve Theory
Venue: arXiv cs.LG 2021
Year: 2021

Recently a number of empirical "universal" scaling law papers have been published, most notably by OpenAI. `Scaling laws' refers to power-law decreases of training or test error w.r.t. more data, larger neural networks, and/or more compute. In this work we focus on scaling w.r.t. data size $n$. Theoretical understanding of this phenomenon is largely lacking, except in finite-dimensional models for which error typically decreases with $n^{-1/2}$ or $n^{-1}$, where $n$ is the sample size. We develop and theoretically analyse the simplest possible (toy) model that can exhibit $n^{-β}$ learning curves for arbitrary power $β>0$, and determine whether power laws are universal or depend on the data distribution.
Fast and Reliable Probabilistic Face Embeddings in the Wild
Venue: arXiv cs.CV 2021
Year: 2021

Probabilistic Face Embeddings (PFE) can improve face recognition performance in unconstrained scenarios by integrating data uncertainty into the feature representation. However, existing PFE methods tend to be over-confident in estimating uncertainty and is too slow to apply to large-scale face matching. This paper proposes a regularized probabilistic face embedding method to improve the robustness and speed of PFE. Specifically, the mutual likelihood score (MLS) metric used in PFE is simplified to speedup the matching of face feature pairs. Then, an output-constraint loss is proposed to penalize the variance of the uncertainty output, which can regularize the output of the neural network. In addition, an identification preserving loss is proposed to improve the discriminative of the MLS metric, and a multi-layer feature fusion module is proposed to improve the neural network's uncertainty estimation ability. Comprehensive experiments show that the proposed method can achieve comparable or better results in 9 benchmarks than the state-of-the-art methods, and can improve the performance of risk-controlled face recognition. The code of our work is publicly available in GitHub (https://github.com/KaenChan/ProbFace).
Online Clustering-based Multi-Camera Vehicle Tracking in Scenarios with overlapping FOVs
Venue: arXiv cs.CV 2021
Year: 2021

Multi-Target Multi-Camera (MTMC) vehicle tracking is an essential task of visual traffic monitoring, one of the main research fields of Intelligent Transportation Systems. Several offline approaches have been proposed to address this task; however, they are not compatible with real-world applications due to their high latency and post-processing requirements. In this paper, we present a new low-latency online approach for MTMC tracking in scenarios with partially overlapping fields of view (FOVs), such as road intersections. Firstly, the proposed approach detects vehicles at each camera. Then, the detections are merged between cameras by applying cross-camera clustering based on appearance and location. Lastly, the clusters containing different detections of the same vehicle are temporally associated to compute the tracks on a frame-by-frame basis. The experiments show promising low-latency results while addressing real-world challenges such as the a priori unknown and time-varying number of targets and the continuous state estimation of them without performing any post-processing of the trajectories.
Clinical Outcome Prediction from Admission Notes using Self-Supervised Knowledge Integration
Venue: arXiv cs.CL 2021
Year: 2021

Outcome prediction from clinical text can prevent doctors from overlooking possible risks and help hospitals to plan capacities. We simulate patients at admission time, when decision support can be especially valuable, and contribute a novel admission to discharge task with four common outcome prediction targets: Diagnoses at discharge, procedures performed, in-hospital mortality and length-of-stay prediction. The ideal system should infer outcomes based on symptoms, pre-conditions and risk factors of a patient. We evaluate the effectiveness of language models to handle this scenario and propose clinical outcome pre-training to integrate knowledge about patient outcomes from multiple public sources. We further present a simple method to incorporate ICD code hierarchy into the models. We show that our approach improves performance on the outcome tasks against several baselines. A detailed analysis reveals further strengths of the model, including transferability, but also weaknesses such as handling of vital values and inconsistencies in the underlying data.
Deep Reinforcement Learning for the Control of Robotic Manipulation: A Focussed Mini-Review
Venue: arXiv cs.RO 2021
Year: 2021

Deep learning has provided new ways of manipulating, processing and analyzing data. It sometimes may achieve results comparable to, or surpassing human expert performance, and has become a source of inspiration in the era of artificial intelligence. Another subfield of machine learning named reinforcement learning, tries to find an optimal behavior strategy through interactions with the environment. Combining deep learning and reinforcement learning permits resolving critical issues relative to the dimensionality and scalability of data in tasks with sparse reward signals, such as robotic manipulation and control tasks, that neither method permits resolving when applied on its own. In this paper, we present recent significant progress of deep reinforcement learning algorithms, which try to tackle the problems for the application in the domain of robotic manipulation control, such as sample efficiency and generalization. Despite these continuous improvements, currently, the challenges of learning robust and versatile manipulation skills for robots with deep reinforcement learning are still far from being resolved for real world applications.
Reviewable Automated Decision-Making: A Framework for Accountable Algorithmic Systems
Venue: arXiv cs.CY 2021
Year: 2021

This paper introduces reviewability as a framework for improving the accountability of automated and algorithmic decision-making (ADM) involving machine learning. We draw on an understanding of ADM as a socio-technical process involving both human and technical elements, beginning before a decision is made and extending beyond the decision itself. While explanations and other model-centric mechanisms may assist some accountability concerns, they often provide insufficient information of these broader ADM processes for regulatory oversight and assessments of legal compliance. Reviewability involves breaking down the ADM process into technical and organisational elements to provide a systematic framework for determining the contextually appropriate record-keeping mechanisms to facilitate meaningful review - both of individual decisions and of the process as a whole. We argue that a reviewability framework, drawing on administrative law's approach to reviewing human decision-making, offers a practical way forward towards more a more holistic and legally-relevant form of accountability for ADM.
The Sanction of Authority: Promoting Public Trust in AI
Venue: arXiv cs.CY 2021
Year: 2021

Trusted AI literature to date has focused on the trust needs of users who knowingly interact with discrete AIs. Conspicuously absent from the literature is a rigorous treatment of public trust in AI. We argue that public distrust of AI originates from the under-development of a regulatory ecosystem that would guarantee the trustworthiness of the AIs that pervade society. Drawing from structuration theory and literature on institutional trust, we offer a model of public trust in AI that differs starkly from models driving Trusted AI efforts. This model provides a theoretical scaffolding for Trusted AI research which underscores the need to develop nothing less than a comprehensive and visibly functioning regulatory ecosystem. We elaborate the pivotal role of externally auditable AI documentation within this model and the work to be done to ensure it is effective, and outline a number of actions that would promote public trust in AI. We discuss how existing efforts to develop AI documentation within organizations -- both to inform potential adopters of AI components and support the deliberations of risk and ethics review boards -- is necessary but insufficient assurance of the trustworthiness of AI. We argue that being accountable to the public in ways that earn their trust, through elaborating rules for AI and developing resources for enforcing these rules, is what will ultimately make AI trustworthy enough to be woven into the fabric of our society.
SceML - A Graphical Modeling Framework for Scenario-based Testing of Autonomous Vehicles
Venue: arXiv cs.SE 2021
Year: 2021

Ensuring the functional correctness and safety of autonomous vehicles is a major challenge for the automotive industry. However, exhaustive physical test drives are not feasible, as billions of driven kilometers would be required to obtain reliable results. Scenariobased testing is an approach to tackle this problem and reduce necessary test drives by replacing driven kilometers with simulations of relevant or interesting scenarios. These scenarios can be generated or extracted from recorded data with machine learning algorithms or created by experts. In this paper, we propose a novel graphical scenario modeling language. The graphical framework allows experts to create new scenarios or review ones designed by other experts or generated by machine learning algorithms. The scenario description is modeled as a graph and based on behavior trees. It supports different abstraction levels of scenario description during software and test development. Additionally, the graphbased structure provides modularity and reusable sub-scenarios, an important use case in scenario modeling. A graphical visualization of the scenario enhances comprehensibility for different users. The presented approach eases the scenario creation process and increases the usage of scenarios within development and testing processes.
Validating Optimal COVID-19 Vaccine Distribution Models
Venue: arXiv cs.CY 2021
Year: 2021

With the approval of vaccines for the coronavirus disease by many countries worldwide, most developed nations have begun, and developing nations are gearing up for the vaccination process. This has created an urgent need to provide a solution to optimally distribute the available vaccines once they are received by the authorities. In this paper, we propose a clustering-based solution to select optimal distribution centers and a Constraint Satisfaction Problem framework to optimally distribute the vaccines taking into consideration two factors namely priority and distance. We demonstrate the efficiency of the proposed models using real-world data obtained from the district of Chennai, India. The model provides the decision making authorities with optimal distribution centers across the district and the optimal allocation of individuals across these distribution centers with the flexibility to accommodate a wide range of demographics.
AI Development for the Public Interest: From Abstraction Traps to Sociotechnical Risks
Venue: arXiv cs.CY 2021
Year: 2021

Despite interest in communicating ethical problems and social contexts within the undergraduate curriculum to advance Public Interest Technology (PIT) goals, interventions at the graduate level remain largely unexplored. This may be due to the conflicting ways through which distinct Artificial Intelligence (AI) research tracks conceive of their interface with social contexts. In this paper we track the historical emergence of sociotechnical inquiry in three distinct subfields of AI research: AI Safety, Fair Machine Learning (Fair ML) and Human-in-the-Loop (HIL) Autonomy. We show that for each subfield, perceptions of PIT stem from the particular dangers faced by past integration of technical systems within a normative social order. We further interrogate how these histories dictate the response of each subfield to conceptual traps, as defined in the Science and Technology Studies literature. Finally, through a comparative analysis of these currently siloed fields, we present a roadmap for a unified approach to sociotechnical graduate pedagogy in AI.
Throwing a Sofa Through the Window
Venue: arXiv cs.CG 2021
Year: 2021

We study several variants of the problem of moving a convex polytope $K$, with $n$ edges, in three dimensions through a flat rectangular (and sometimes more general) window. Specifically: $\bullet$ We study variants where the motion is restricted to translations only, discuss situations where such a motion can be reduced to sliding (translation in a fixed direction), and present efficient algorithms for those variants, which run in time close to $O(n^{8/3})$. $\bullet$ We consider the case of a `gate' (an unbounded window with two parallel infinite edges), and show that $K$ can pass through such a window, by any collision-free rigid motion, if and only if it can slide through it. $\bullet$ We consider arbitrary compact convex windows, and show that if $K$ can pass through such a window $W$ (by any motion) then $K$ can slide through a gate of width equal to the diameter of $W$. $\bullet$ We study the case of a circular window $W$, and show that, for the regular tetrahedron $K$ of edge length $1$, there are two thresholds $1 > δ_1\approx 0.901388 > δ_2\approx 0.895611$, such that (a) $K$ can slide through $W$ if the diameter $d$ of $W$ is $\ge 1$, (b) $K$ cannot slide through $W$ but can pass through it by a purely translational motion when $δ_1\le d < 1$, (c) $K$ cannot pass through $W$ by a purely translational motion but can do it when rotations are allowed when $δ_2 \le d < δ_1$, and (d) $K$ cannot pass through $W$ at all when $d < δ_2$. $\bullet$ Finally, we explore the general setup, where we want to plan a general motion (with all six degrees of freedom) for $K$ through a rectangular window $W$, and present an efficient algorithm for this problem, with running time close to $O(n^4)$.
Overhead MNIST: A Benchmark Satellite Dataset
Venue: arXiv cs.CV 2021
Year: 2021

The research presents an overhead view of 10 important objects and follows the general formatting requirements of the most popular machine learning task: digit recognition with MNIST. This dataset offers a public benchmark extracted from over a million human-labelled and curated examples. The work outlines the key multi-class object identification task while matching with prior work in handwriting, cancer detection, and retail datasets. A prototype deep learning approach with transfer learning and convolutional neural networks (MobileNetV2) correctly identifies the ten overhead classes with an average accuracy of 96.7%. This model exceeds the peak human performance of 93.9%. For upgrading satellite imagery and object recognition, this new dataset benefits diverse endeavors such as disaster relief, land use management, and other traditional remote sensing tasks. The work extends satellite benchmarks with new capabilities to identify efficient and compact algorithms that might work on-board small satellites, a practical task for future multi-sensor constellations. The dataset is available on Kaggle and Github.
RL-Scope: Cross-Stack Profiling for Deep Reinforcement Learning Workloads
Venue: arXiv cs.LG 2021
Year: 2021

Deep reinforcement learning (RL) has made groundbreaking advancements in robotics, data center management and other applications. Unfortunately, system-level bottlenecks in RL workloads are poorly understood; we observe fundamental structural differences in RL workloads that make them inherently less GPU-bound than supervised learning (SL). To explain where training time is spent in RL workloads, we propose RL-Scope, a cross-stack profiler that scopes low-level CPU/GPU resource usage to high-level algorithmic operations, and provides accurate insights by correcting for profiling overhead. Using RL-Scope, we survey RL workloads across its major dimensions including ML backend, RL algorithm, and simulator. For ML backends, we explain a $2.3\times$ difference in runtime between equivalent PyTorch and TensorFlow algorithm implementations, and identify a bottleneck rooted in overly abstracted algorithm implementations. For RL algorithms and simulators, we show that on-policy algorithms are at least $3.5\times$ more simulation-bound than off-policy algorithms. Finally, we profile a scale-up workload and demonstrate that GPU utilization metrics reported by commonly used tools dramatically inflate GPU usage, whereas RL-Scope reports true GPU-bound time. RL-Scope is an open-source tool available at https://github.com/UofT-EcoSystem/rlscope .
Operation is the hardest teacher: estimating DNN accuracy looking for mispredictions
Venue: arXiv cs.SE 2021
Year: 2021

Deep Neural Networks (DNN) are typically tested for accuracy relying on a set of unlabelled real world data (operational dataset), from which a subset is selected, manually labelled and used as test suite. This subset is required to be small (due to manual labelling cost) yet to faithfully represent the operational context, with the resulting test suite containing roughly the same proportion of examples causing misprediction (i.e., failing test cases) as the operational dataset. However, while testing to estimate accuracy, it is desirable to also learn as much as possible from the failing tests in the operational dataset, since they inform about possible bugs of the DNN. A smart sampling strategy may allow to intentionally include in the test suite many examples causing misprediction, thus providing this way more valuable inputs for DNN improvement while preserving the ability to get trustworthy unbiased estimates. This paper presents a test selection technique (DeepEST) that actively looks for failing test cases in the operational dataset of a DNN, with the goal of assessing the DNN expected accuracy by a small and ''informative'' test suite (namely with a high number of mispredictions) for subsequent DNN improvement. Experiments with five subjects, combining four DNN models and three datasets, are described. The results show that DeepEST provides DNN accuracy estimates with precision close to (and often better than) those of existing sampling-based DNN testing techniques, while detecting from 5 to 30 times more mispredictions, with the same test suite size.
A Real-time Defense against Website Fingerprinting Attacks
Venue: arXiv cs.CR 2021
Year: 2021

Anonymity systems like Tor are vulnerable to Website Fingerprinting (WF) attacks, where a local passive eavesdropper infers the victim's activity. Current WF attacks based on deep learning classifiers have successfully overcome numerous proposed defenses. While recent defenses leveraging adversarial examples offer promise, these adversarial examples can only be computed after the network session has concluded, thus offer users little protection in practical settings. We propose Dolos, a system that modifies user network traffic in real time to successfully evade WF attacks. Dolos injects dummy packets into traffic traces by computing input-agnostic adversarial patches that disrupt deep learning classifiers used in WF attacks. Patches are then applied to alter and protect user traffic in real time. Importantly, these patches are parameterized by a user-side secret, ensuring that attackers cannot use adversarial training to defeat Dolos. We experimentally demonstrate that Dolos provides 94+% protection against state-of-the-art WF attacks under a variety of settings. Against prior defenses, Dolos outperforms in terms of higher protection performance and lower information leakage and bandwidth overhead. Finally, we show that Dolos is robust against a variety of adaptive countermeasures to detect or disrupt the defense.
Evolving Neuronal Plasticity Rules using Cartesian Genetic Programming
Venue: arXiv cs.NE 2021
Year: 2021

We formulate the search for phenomenological models of synaptic plasticity as an optimization problem. We employ Cartesian genetic programming to evolve biologically plausible human-interpretable plasticity rules that allow a given network to successfully solve tasks from specific task families. While our evolving-to-learn approach can be applied to various learning paradigms, here we illustrate its power by evolving plasticity rules that allow a network to efficiently determine the first principal component of its input distribution. We demonstrate that the evolved rules perform competitively with known hand-designed solutions. We explore how the statistical properties of the datasets used during the evolutionary search influences the form of the plasticity rules and discover new rules which are adapted to the structure of the corresponding datasets.