OpenRaiser/Intern-Atlas huggingface dataset:
Bringing data minimization to digital wallets at scale with general-purpose zero-knowledge proofs
Venue: arXiv cs.CR 2023
Year: 2023

Today, digital identity management for individuals is either inconvenient and error-prone or creates undesirable lock-in effects and violates privacy and security expectations. These shortcomings inhibit the digital transformation in general and seem particularly concerning in the context of novel applications such as access control for decentralized autonomous organizations and identification in the Metaverse. Decentralized or self-sovereign identity (SSI) aims to offer a solution to this dilemma by empowering individuals to manage their digital identity through machine-verifiable attestations stored in a "digital wallet" application on their edge devices. However, when presented to a relying party, these attestations typically reveal more attributes than required and allow tracking end users' activities. Several academic works and practical solutions exist to reduce or avoid such excessive information disclosure, from simple selective disclosure to data-minimizing anonymous credentials based on zero-knowledge proofs (ZKPs). We first demonstrate that the SSI solutions that are currently built with anonymous credentials still lack essential features such as scalable revocation, certificate chaining, and integration with secure elements. We then argue that general-purpose ZKPs in the form of zk-SNARKs can appropriately address these pressing challenges. We describe our implementation and conduct performance tests on different edge devices to illustrate that the performance of zk-SNARK-based anonymous credentials is already practical. We also discuss further advantages that general-purpose ZKPs can easily provide for digital wallets, for instance, to create "designated verifier presentations" that facilitate new design options for digital identity infrastructures that previously were not accessible because of the threat of man-in-the-middle attacks.
Follow the Timeline! Generating Abstractive and Extractive Timeline Summary in Chronological Order
Venue: arXiv cs.CL 2023
Year: 2023

Nowadays, time-stamped web documents related to a general news query floods spread throughout the Internet, and timeline summarization targets concisely summarizing the evolution trajectory of events along the timeline. Unlike traditional document summarization, timeline summarization needs to model the time series information of the input events and summarize important events in chronological order. To tackle this challenge, in this paper, we propose a Unified Timeline Summarizer (UTS) that can generate abstractive and extractive timeline summaries in time order. Concretely, in the encoder part, we propose a graph-based event encoder that relates multiple events according to their content dependency and learns a global representation of each event. In the decoder part, to ensure the chronological order of the abstractive summary, we propose to extract the feature of event-level attention in its generation process with sequential information remained and use it to simulate the evolutionary attention of the ground truth summary. The event-level attention can also be used to assist in extracting summary, where the extracted summary also comes in time sequence. We augment the previous Chinese large-scale timeline summarization dataset and collect a new English timeline dataset. Extensive experiments conducted on these datasets and on the out-of-domain Timeline 17 dataset show that UTS achieves state-of-the-art performance in terms of both automatic and human evaluations.
MAUD: An Expert-Annotated Legal NLP Dataset for Merger Agreement Understanding
Venue: arXiv cs.CL 2023
Year: 2023

Reading comprehension of legal text can be a particularly challenging task due to the length and complexity of legal clauses and a shortage of expert-annotated datasets. To address this challenge, we introduce the Merger Agreement Understanding Dataset (MAUD), an expert-annotated reading comprehension dataset based on the American Bar Association's 2021 Public Target Deal Points Study, with over 39,000 examples and over 47,000 total annotations. Our fine-tuned Transformer baselines show promising results, with models performing well above random on most questions. However, on a large subset of questions, there is still room for significant improvement. As the only expert-annotated merger agreement dataset, MAUD is valuable as a benchmark for both the legal profession and the NLP community.
Timescales: the choreography of classical and unconventional computing
Venue: arXiv cs.ET 2023
Year: 2023

Tasks that one wishes to have done by a computer often come with conditions that relate to timescales. For instance, the processing must terminate within a given time limit; or a signal processing computer must integrate input information across several timescales; or a robot motor controller must react to sensor signals with a short latency. For classical digital computing machines such requirements pose no fundamental problems as long as the physical clock rate is fast enough for the fastest relevant timescales. However, when digital microchips become scaled down into the few-nanometer range where quantum noise and device mismatch become unavoidable, or when the digital computing paradigm is altogether abandoned in analog neuromorphic systems or other unconventional hardware bases, it can become difficult to relate timescale conditions to the physical hardware dynamics. Here we explore the relations between task-defined timescale conditions and physical hardware timescales in some depth. The article has two main parts. In the first part we develop an abstract model of a generic computational system that admits a unified discussion of computational timescales. This model is general enough to cover digital computing systems as well as analog neuromorphic or other unconventional ones. We identify four major types of timescales which require separate considerations: causal physical timescales; timescales of phenomenal change which characterize the ``speed'' of how something changes in time; timescales of reactivity which describe how fast a computing system can react to incoming trigger information; and memory timescales. In the second part we survey twenty known computational mechanisms that can be used to obtain desired task-related timescale characteristics from the physical givens of the available hardware.
Deep reinforcement learning for irrigation scheduling using high-dimensional sensor feedback
Venue: arXiv cs.LG 2023
Year: 2023

Deep reinforcement learning has considerable potential to improve irrigation scheduling in many cropping systems by applying adaptive amounts of water based on various measurements over time. The goal is to discover an intelligent decision rule that processes information available to growers and prescribes sensible irrigation amounts for the time steps considered. Due to the technical novelty, however, the research on the technique remains sparse and impractical. To accelerate the progress, the paper proposes a principled framework and actionable procedure that allow researchers to formulate their own optimisation problems and implement solution algorithms based on deep reinforcement learning. The effectiveness of the framework was demonstrated using a case study of irrigated wheat grown in a productive region of Australia where profits were maximised. Specifically, the decision rule takes nine state variable inputs: crop phenological stage, leaf area index, extractable soil water for each of the five top layers, cumulative rainfall and cumulative irrigation. It returns a probabilistic prescription over five candidate irrigation amounts (0, 10, 20, 30 and 40 mm) every day. The production system was simulated at Goondiwindi using the APSIM-Wheat crop model. After training in the learning environment using 1981-2010 weather data, the learned decision rule was tested individually for each year of 2011-2020. The results were compared against the benchmark profits obtained by a conventional rule common in the region. The discovered decision rule prescribed daily irrigation amounts that uniformly improved on the conventional rule for all the testing years, and the largest improvement reached 17% in 2018. The framework is general and applicable to a wide range of cropping systems with realistic optimisation problems.
Causal Inference in Recommender Systems: A Survey of Strategies for Bias Mitigation, Explanation, and Generalization
Venue: arXiv cs.IR 2023
Year: 2023

In the era of information overload, recommender systems (RSs) have become an indispensable part of online service platforms. Traditional RSs estimate user interests and predict their future behaviors by utilizing correlations in the observational historical activities, their profiles, and the content of interacted items. However, since the inherent causal reasons that lead to the observed users' behaviors are not considered, multiple types of biases could exist in the generated recommendations. In addition, the causal motives that drive user activities are usually entangled in these RSs, where the explainability and generalization abilities of recommendations cannot be guaranteed. To address these drawbacks, recent years have witnessed an upsurge of interest in enhancing traditional RSs with causal inference techniques. In this survey, we provide a systematic overview of causal RSs and help readers gain a comprehensive understanding of this promising area. We start with the basic concepts of traditional RSs and their limitations due to the lack of causal reasoning ability. We then discuss how different causal inference techniques can be introduced to address these challenges, with an emphasis on debiasing, explainability promotion, and generalization improvement. Furthermore, we thoroughly analyze various evaluation strategies for causal RSs, focusing especially on how to reliably estimate their performance with biased data if the causal effects of interests are unavailable. Finally, we provide insights into potential directions for future causal RS research.
Control and Dynamic Motion Planning for a Hybrid Air-Underwater Quadrotor: Minimizing Energy Use in a Flooded Cave Environment
Venue: arXiv cs.RO 2023
Year: 2023

We present a dynamic path planning algorithm to navigate an amphibious rotor craft through a concave time-invariant obstacle field while attempting to minimize energy usage. We create a nonlinear quaternion state model that represents the rotor craft dynamics above and below the water. The 6 degree of freedom dynamics used within a layered architecture to generate motion paths for the vehicle to follow and the required control inputs. The rotor craft has a 3 dimensional map of its surroundings that is updated via limited range onboard sensor readings within the current medium (air or water). Path planning is done via PRM and D* Lite.
Metalearning generalizable dynamics from trajectories
Venue: arXiv cs.LG 2023
Year: 2023

We present the interpretable meta neural ordinary differential equation (iMODE) method to rapidly learn generalizable (i.e., not parameter-specific) dynamics from trajectories of multiple dynamical systems that vary in their physical parameters. The iMODE method learns meta-knowledge, the functional variations of the force field of dynamical system instances without knowing the physical parameters, by adopting a bi-level optimization framework: an outer level capturing the common force field form among studied dynamical system instances and an inner level adapting to individual system instances. A priori physical knowledge can be conveniently embedded in the neural network architecture as inductive bias, such as conservative force field and Euclidean symmetry. With the learned meta-knowledge, iMODE can model an unseen system within seconds, and inversely reveal knowledge on the physical parameters of a system, or as a Neural Gauge to "measure" the physical parameters of an unseen system with observed trajectories. We test the validity of the iMODE method on bistable, double pendulum, Van der Pol, Slinky, and reaction-diffusion systems.
e-Inu: Simulating A Quadruped Robot With Emotional Sentience
Venue: arXiv cs.RO 2023
Year: 2023

Quadruped robots are currently used in industrial robotics as mechanical aid to automate several routine tasks. However, presently, the usage of such a robot in a domestic setting is still very much a part of the research. This paper discusses the understanding and virtual simulation of such a robot capable of detecting and understanding human emotions, generating its gait, and responding via sounds and expression on a screen. To this end, we use a combination of reinforcement learning and software engineering concepts to simulate a quadruped robot that can understand emotions, navigate through various terrains and detect sound sources, and respond to emotions using audio-visual feedback. This paper aims to establish the framework of simulating a quadruped robot that is emotionally intelligent and can primarily respond to audio-visual stimuli using motor or audio response. The emotion detection from the speech was not as performant as ERANNs or Zeta Policy learning, still managing an accuracy of 63.5%. The video emotion detection system produced results that are almost at par with the state of the art, with an accuracy of 99.66%. Due to its "on-policy" learning process, the PPO algorithm was extremely rapid to learn, allowing the simulated dog to demonstrate a remarkably seamless gait across the different cadences and variations. This enabled the quadruped robot to respond to generated stimuli, allowing us to conclude that it functions as predicted and satisfies the aim of this work.
Joint Optimization of Video-based AI Inference Tasks in MEC-assisted Augmented Reality Systems
Venue: arXiv cs.NI 2023
Year: 2023

The high computational complexity and energy consumption of artificial intelligence (AI) algorithms hinder their application in augmented reality (AR) systems. However, mobile edge computing (MEC) makes it possible to solve this problem. This paper considers the scene of completing video-based AI inference tasks in the MEC system. We formulate a mixed-integer nonlinear programming problem (MINLP) to reduce inference delays, energy consumption and to improve recognition accuracy. We give a simplified expression of the inference complexity model and accuracy model through derivation and experimentation. The problem is then solved iteratively by using alternating optimization. Specifically, by assuming that the offloading decision is given, the problem is decoupled into two sub-problems, i.e., the resource allocation problem for the devices set that completes the inference tasks locally, and that for the devices set that offloads tasks. For the problem of offloading decision optimization, we propose a Channel-Aware heuristic algorithm. To further reduce the complexity, we propose an alternating direction method of multipliers (ADMM) based distributed algorithm. The ADMM-based algorithm has a low computational complexity that grows linearly with the number of devices. Numerical experiments show the effectiveness of proposed algorithms. The trade-off relationship between delay, energy consumption, and accuracy is also analyzed.
Dissecting Continual Learning a Structural and Data Analysis
Venue: arXiv cs.CV 2023
Year: 2023

Continual Learning (CL) is a field dedicated to devise algorithms able to achieve lifelong learning. Overcoming the knowledge disruption of previously acquired concepts, a drawback affecting deep learning models and that goes by the name of catastrophic forgetting, is a hard challenge. Currently, deep learning methods can attain impressive results when the data modeled does not undergo a considerable distributional shift in subsequent learning sessions, but whenever we expose such systems to this incremental setting, performance drop very quickly. Overcoming this limitation is fundamental as it would allow us to build truly intelligent systems showing stability and plasticity. Secondly, it would allow us to overcome the onerous limitation of retraining these architectures from scratch with the new updated data. In this thesis, we tackle the problem from multiple directions. In a first study, we show that in rehearsal-based techniques (systems that use memory buffer), the quantity of data stored in the rehearsal buffer is a more important factor over the quality of the data. Secondly, we propose one of the early works of incremental learning on ViTs architectures, comparing functional, weight and attention regularization approaches and propose effective novel a novel asymmetric loss. At the end we conclude with a study on pretraining and how it affects the performance in Continual Learning, raising some questions about the effective progression of the field. We then conclude with some future directions and closing remarks.
Uptrendz: API-Centric Real-time Recommendations in Multi-Domain Settings
Venue: arXiv cs.IR 2023
Year: 2023

In this work, we tackle the problem of adapting a real-time recommender system to multiple application domains, and their underlying data models and customization requirements. To do that, we present Uptrendz, a multi-domain recommendation platform that can be customized to provide real-time recommendations in an API-centric way. We demonstrate (i) how to set up a real-time movie recommender using the popular MovieLens-100k dataset, and (ii) how to simultaneously support multiple application domains based on the use-case of recommendations in entrepreneurial start-up founding. For that, we differentiate between domains on the item- and system-level. We believe that our demonstration shows a convenient way to adapt, deploy and evaluate a recommender system in an API-centric way. The source-code and documentation that demonstrates how to utilize the configured Uptrendz API is available on GitHub.
Analysis of Label-Flip Poisoning Attack on Machine Learning Based Malware Detector
Venue: arXiv cs.CR 2023
Year: 2023

With the increase in machine learning (ML) applications in different domains, incentives for deceiving these models have reached more than ever. As data is the core backbone of ML algorithms, attackers shifted their interest toward polluting the training data. Data credibility is at even higher risk with the rise of state-of-art research topics like open design principles, federated learning, and crowd-sourcing. Since the machine learning model depends on different stakeholders for obtaining data, there are no reliable automated mechanisms to verify the veracity of data from each source. Malware detection is arduous due to its malicious nature with the addition of metamorphic and polymorphic ability in the evolving samples. ML has proven to solve the zero-day malware detection problem, which is unresolved by traditional signature-based approaches. The poisoning of malware training data can allow the malware files to go undetected by the ML-based malware detectors, helping the attackers to fulfill their malicious goals. A feasibility analysis of the data poisoning threat in the malware detection domain is still lacking. Our work will focus on two major sections: training ML-based malware detectors and poisoning the training data using the label-poisoning approach. We will analyze the robustness of different machine learning models against data poisoning with varying volumes of poisoning data.
A Theory of I/O-Efficient Sparse Neural Network Inference
Venue: arXiv cs.DC 2023
Year: 2023

As the accuracy of machine learning models increases at a fast rate, so does their demand for energy and compute resources. On a low level, the major part of these resources is consumed by data movement between different memory units. Modern hardware architectures contain a form of fast memory (e.g., cache, registers), which is small, and a slow memory (e.g., DRAM), which is larger but expensive to access. We can only process data that is stored in fast memory, which incurs data movement (input/output-operations, or I/Os) between the two units. In this paper, we provide a rigorous theoretical analysis of the I/Os needed in sparse feedforward neural network (FFNN) inference. We establish bounds that determine the optimal number of I/Os up to a factor of 2 and present a method that uses a number of I/Os within that range. Much of the I/O-complexity is determined by a few high-level properties of the FFNN (number of inputs, outputs, neurons, and connections), but if we want to get closer to the exact lower bound, the instance-specific sparsity patterns need to be considered. Departing from the 2-optimal computation strategy, we show how to reduce the number of I/Os further with simulated annealing. Complementing this result, we provide an algorithm that constructively generates networks with maximum I/O-efficiency for inference. We test the algorithms and empirically verify our theoretical and algorithmic contributions. In our experiments on real hardware we observe speedups of up to 45$\times$ relative to the standard way of performing inference.
BS3D: Building-scale 3D Reconstruction from RGB-D Images
Venue: arXiv cs.CV 2023
Year: 2023

Various datasets have been proposed for simultaneous localization and mapping (SLAM) and related problems. Existing datasets often include small environments, have incomplete ground truth, or lack important sensor data, such as depth and infrared images. We propose an easy-to-use framework for acquiring building-scale 3D reconstruction using a consumer depth camera. Unlike complex and expensive acquisition setups, our system enables crowd-sourcing, which can greatly benefit data-hungry algorithms. Compared to similar systems, we utilize raw depth maps for odometry computation and loop closure refinement which results in better reconstructions. We acquire a building-scale 3D dataset (BS3D) and demonstrate its value by training an improved monocular depth estimation model. As a unique experiment, we benchmark visual-inertial odometry methods using both color and active infrared images.
Information Aided Navigation: A Review
Venue: arXiv cs.RO 2023
Year: 2023

The performance of inertial navigation systems is largely dependent on the stable flow of external measurements and information to guarantee continuous filter updates and bind the inertial solution drift. Platforms in different operational environments may be prevented at some point from receiving external measurements, thus exposing their navigation solution to drift. Over the years, a wide variety of works have been proposed to overcome this shortcoming, by exploiting knowledge of the system current conditions and turning it into an applicable source of information to update the navigation filter. This paper aims to provide an extensive survey of information aided navigation, broadly classified into direct, indirect, and model aiding. Each approach is described by the notable works that implemented its concept, use cases, relevant state updates, and their corresponding measurement models. By matching the appropriate constraint to a given scenario, one will be able to improve the navigation solution accuracy, compensate for the lost information, and uncover certain internal states, that would otherwise remain unobservable.