OpenRaiser/Intern-Atlas huggingface dataset:
Trust Calibration and Trust Respect: A Method for Building Team Cohesion in Human Robot Teams
Venue: arXiv cs.RO 2021
Year: 2021

Recent advances in the areas of human-robot interaction (HRI) and robot autonomy are changing the world. Today robots are used in a variety of applications. People and robots work together in human autonomous teams (HATs) to accomplish tasks that, separately, cannot be easily accomplished. Trust between robots and humans in HATs is vital to task completion and effective team cohesion. For optimal performance and safety of human operators in HRI, human trust should be adjusted to the actual performance and reliability of the robotic system. The cost of poor trust calibration in HRI, is at a minimum, low performance, and at higher levels it causes human injury or critical task failures. While the role of trust calibration is vital to team cohesion it is also important for a robot to be able to assess whether or not a human is exhibiting signs of mistrust due to some other factor such as anger, distraction or frustration. In these situations the robot chooses not to calibrate trust, instead the robot chooses to respect trust. The decision to respect trust is determined by the robots knowledge of whether or not a human should trust the robot based on its actions(successes and failures) and its feedback to the human. We show that the feedback in the form of trust calibration cues(TCCs) can effectively change the trust level in humans. This information is potentially useful in aiding a robot it its decision to respect trust.
Demonstrator Game Showcasing Indoor Positioning via BLE Signal Strength
Venue: arXiv cs.CY 2021
Year: 2021

For a non-technical audience, new concepts from computer science and engineering are often hard to grasp. In order to introduce a general audience to topics related to Industry 4.0, we designed and developed a demonstrator game. The Who-wants-to-be-a-millionaire?-style quiz game lets the player experience indoor positioning based on Bluetooth signal strength firsthand. We found that such an interactive game demonstrator can function as a conversation-opener and is useful in helping introduce concepts relevant for many future jobs.
Improving Users' Mental Model with Attention-directed Counterfactual Edits
Venue: arXiv cs.CV 2021
Year: 2021

In the domain of Visual Question Answering (VQA), studies have shown improvement in users' mental model of the VQA system when they are exposed to examples of how these systems answer certain Image-Question (IQ) pairs. In this work, we show that showing controlled counterfactual image-question examples are more effective at improving the mental model of users as compared to simply showing random examples. We compare a generative approach and a retrieval-based approach to show counterfactual examples. We use recent advances in generative adversarial networks (GANs) to generate counterfactual images by deleting and inpainting certain regions of interest in the image. We then expose users to changes in the VQA system's answer on those altered images. To select the region of interest for inpainting, we experiment with using both human-annotated attention maps and a fully automatic method that uses the VQA system's attention values. Finally, we test the user's mental model by asking them to predict the model's performance on a test counterfactual image. We note an overall improvement in users' accuracy to predict answer change when shown counterfactual explanations. While realistic retrieved counterfactuals obviously are the most effective at improving the mental model, we show that a generative approach can also be equally effective.
Considering user agreement in learning to predict the aesthetic quality
Venue: arXiv cs.CV 2021
Year: 2021

How to robustly rank the aesthetic quality of given images has been a long-standing ill-posed topic. Such challenge stems mainly from the diverse subjective opinions of different observers about the varied types of content. There is a growing interest in estimating the user agreement by considering the standard deviation of the scores, instead of only predicting the mean aesthetic opinion score. Nevertheless, when comparing a pair of contents, few studies consider how confident are we regarding the difference in the aesthetic scores. In this paper, we thus propose (1) a re-adapted multi-task attention network to predict both the mean opinion score and the standard deviation in an end-to-end manner; (2) a brand-new confidence interval ranking loss that encourages the model to focus on image-pairs that are less certain about the difference of their aesthetic scores. With such loss, the model is encouraged to learn the uncertainty of the content that is relevant to the diversity of observers' opinions, i.e., user disagreement. Extensive experiments have demonstrated that the proposed multi-task aesthetic model achieves state-of-the-art performance on two different types of aesthetic datasets, i.e., AVA and TMGA.
Bandits Don't Follow Rules: Balancing Multi-Facet Machine Translation with Multi-Armed Bandits
Venue: arXiv cs.CL 2021
Year: 2021

Training data for machine translation (MT) is often sourced from a multitude of large corpora that are multi-faceted in nature, e.g. containing contents from multiple domains or different levels of quality or complexity. Naturally, these facets do not occur with equal frequency, nor are they equally important for the test scenario at hand. In this work, we propose to optimize this balance jointly with MT model parameters to relieve system developers from manual schedule design. A multi-armed bandit is trained to dynamically choose between facets in a way that is most beneficial for the MT system. We evaluate it on three different multi-facet applications: balancing translationese and natural training data, or data from multiple domains or multiple language pairs. We find that bandit learning leads to competitive MT systems across tasks, and our analysis provides insights into its learned strategies and the underlying data sets.
Out-of-Distribution Robustness in Deep Learning Compression
Venue: arXiv cs.LG 2021
Year: 2021

In recent years, deep neural network (DNN) compression systems have proved to be highly effective for designing source codes for many natural sources. However, like many other machine learning systems, these compressors suffer from vulnerabilities to distribution shifts as well as out-of-distribution (OOD) data, which reduces their real-world applications. In this paper, we initiate the study of OOD robust compression. Considering robustness to two types of ambiguity sets (Wasserstein balls and group shifts), we propose algorithmic and architectural frameworks built on two principled methods: one that trains DNN compressors using distributionally-robust optimization (DRO), and the other which uses a structured latent code. Our results demonstrate that both methods enforce robustness compared to a standard DNN compressor, and that using a structured code can be superior to the DRO compressor. We observe tradeoffs between robustness and distortion and corroborate these findings theoretically for a specific class of sources.
Random Walks with Variable Restarts for Negative-Example-Informed Label Propagation
Venue: arXiv cs.SI 2021
Year: 2021

Label propagation is frequently encountered in machine learning and data mining applications on graphs, either as a standalone problem or as part of node classification. Many label propagation algorithms utilize random walks (or network propagation), which provide limited ability to take into account negatively-labeled nodes (i.e., nodes that are known to be not associated with the label of interest). Specialized algorithms to incorporate negatively labeled samples generally focus on learning or readjusting the edge weights to drive walks away from negatively-labeled nodes and toward positively-labeled nodes. This approach has several disadvantages, as it increases the number of parameters to be learned, and does not necessarily drive the walk away from regions of the network that are rich in negatively-labeled nodes. We reformulate random walk with restarts and network propagation to enable "variable restarts", that is the increased likelihood of restarting at a positively-labeled node when a negatively-labeled node is encountered. Based on this reformulation, we develop CusTaRd, an algorithm that effectively combines variable restart probabilities and edge re-weighting to avoid negatively-labeled nodes. In addition to allowing variable restarts, CusTaRd samples negatively-labeled nodes from neighbors of positively-labeled nodes to better characterize the difference between positively and negatively labeled nodes. To assess the performance of CusTaRd, we perform comprehensive experiments on four network datasets commonly used in benchmarking label propagation and node classification algorithms. Our results show that CusTaRd consistently outperforms competing algorithms that learn/readjust edge weights, and sampling of negatives from the close neighborhood of positives further improves predictive accuracy.
Competitive Multi-Agent Load Balancing with Adaptive Policies in Wireless Networks
Venue: arXiv cs.NI 2021
Year: 2021

Using Machine Learning (ML) techniques for the next generation wireless networks have shown promising results in the recent years, due to high learning and adaptation capability of ML algorithms. More specifically, ML techniques have been used for load balancing in Self-Organizing Networks (SON). In the context of load balancing and ML, several studies propose network management automation (NMA) from the perspective of a single and centralized agent. However, a single agent domain does not consider the interaction among the agents. In this paper, we propose a more realistic load balancing approach using novel Multi-Agent Deep Deterministic Policy Gradient with Adaptive Policies (MADDPG-AP) scheme that considers throughput, resource block utilization and latency in the network. We compare our proposal with a single-agent RL algorithm named Clipped Double Q-Learning (CDQL) . Simulation results reveal a significant improvement in latency, packet loss ratio and convergence time
Fast Hand Detection in Collaborative Learning Environments
Venue: arXiv cs.CV 2021
Year: 2021

Long-term object detection requires the integration of frame-based results over several seconds. For non-deformable objects, long-term detection is often addressed using object detection followed by video tracking. Unfortunately, tracking is inapplicable to objects that undergo dramatic changes in appearance from frame to frame. As a related example, we study hand detection over long video recordings in collaborative learning environments. More specifically, we develop long-term hand detection methods that can deal with partial occlusions and dramatic changes in appearance. Our approach integrates object-detection, followed by time projections, clustering, and small region removal to provide effective hand detection over long videos. The hand detector achieved average precision (AP) of 72% at 0.5 intersection over union (IoU). The detection results were improved to 81% by using our optimized approach for data augmentation. The method runs at 4.7x the real-time with AP of 81% at 0.5 intersection over the union. Our method reduced the number of false-positive hand detections by 80% by improving IoU ratios from 0.2 to 0.5. The overall hand detection system runs at 4x real-time.
Integrated Path Planning and Tracking Control of Marine Current Turbine in Uncertain Ocean Environments
Venue: arXiv cs.RO 2021
Year: 2021

This paper presents an integrated path planning and tracking control of marine hydrokinetic energy harvesting devices. To address the highly nonlinear and uncertain oceanic environment, the path planner is designed based on a reinforcement learning (RL) approach by fully exploring the historical ocean current profiles. The planner will search for a path to optimize a chosen cost criterion, such as maximizing the total harvested energy for a given time. Model predictive control (MPC) is then utilized to design the tracking control for the optimal path command from the planner subject to problem constraints. The planner and the tracking control are accommodated in an integrated framework to optimize these two parts in a real-time manner. The proposed approach is validated on a marine current turbine (MCT) that executes vertical waypoint path searching to maximize the net power due to spatiotemporal uncertainties in the ocean environment, as well as the path following via an MPC tracking controller to navigate the MCT to the optimal path. Results demonstrate that the path planning increases harnessed power compared to the baseline (i.e., maintaining MCT at an equilibrium depth), and the tracking controller can successfully follow the reference path under different shear profiles.
Bandwidth Utilization Side-Channel on ML Inference Accelerators
Venue: arXiv cs.CR 2021
Year: 2021

Accelerators used for machine learning (ML) inference provide great performance benefits over CPUs. Securing confidential model in inference against off-chip side-channel attacks is critical in harnessing the performance advantage in practice. Data and memory address encryption has been recently proposed to defend against off-chip attacks. In this paper, we demonstrate that bandwidth utilization on the interface between accelerators and the weight storage can serve a side-channel for leaking confidential ML model architecture. This side channel is independent of the type of interface, leaks even in the presence of data and memory address encryption and can be monitored through performance counters or through bus contention from an on-chip unprivileged process.
Semi-supervised Multi-task Learning for Semantics and Depth
Venue: arXiv cs.CV 2021
Year: 2021

Multi-Task Learning (MTL) aims to enhance the model generalization by sharing representations between related tasks for better performance. Typical MTL methods are jointly trained with the complete multitude of ground-truths for all tasks simultaneously. However, one single dataset may not contain the annotations for each task of interest. To address this issue, we propose the Semi-supervised Multi-Task Learning (SemiMTL) method to leverage the available supervisory signals from different datasets, particularly for semantic segmentation and depth estimation tasks. To this end, we design an adversarial learning scheme in our semi-supervised training by leveraging unlabeled data to optimize all the task branches simultaneously and accomplish all tasks across datasets with partial annotations. We further present a domain-aware discriminator structure with various alignment formulations to mitigate the domain discrepancy issue among datasets. Finally, we demonstrate the effectiveness of the proposed method to learn across different datasets on challenging street view and remote sensing benchmarks.
Causal Transformers Perform Below Chance on Recursive Nested Constructions, Unlike Humans
Venue: arXiv cs.CL 2021
Year: 2021

Recursive processing is considered a hallmark of human linguistic abilities. A recent study evaluated recursive processing in recurrent neural language models (RNN-LMs) and showed that such models perform below chance level on embedded dependencies within nested constructions -- a prototypical example of recursion in natural language. Here, we study if state-of-the-art Transformer LMs do any better. We test four different Transformer LMs on two different types of nested constructions, which differ in whether the embedded (inner) dependency is short or long range. We find that Transformers achieve near-perfect performance on short-range embedded dependencies, significantly better than previous results reported for RNN-LMs and humans. However, on long-range embedded dependencies, Transformers' performance sharply drops below chance level. Remarkably, the addition of only three words to the embedded dependency caused Transformers to fall from near-perfect to below-chance performance. Taken together, our results reveal Transformers' shortcoming when it comes to recursive, structure-based, processing.
DI-AA: An Interpretable White-box Attack for Fooling Deep Neural Networks
Venue: arXiv cs.LG 2021
Year: 2021

White-box Adversarial Example (AE) attacks towards Deep Neural Networks (DNNs) have a more powerful destructive capacity than black-box AE attacks in the fields of AE strategies. However, almost all the white-box approaches lack interpretation from the point of view of DNNs. That is, adversaries did not investigate the attacks from the perspective of interpretable features, and few of these approaches considered what features the DNN actually learns. In this paper, we propose an interpretable white-box AE attack approach, DI-AA, which explores the application of the interpretable approach of the deep Taylor decomposition in the selection of the most contributing features and adopts the Lagrangian relaxation optimization of the logit output and L_p norm to further decrease the perturbation. We compare DI-AA with six baseline attacks (including the state-of-the-art attack AutoAttack) on three datasets. Experimental results reveal that our proposed approach can 1) attack non-robust models with comparatively low perturbation, where the perturbation is closer to or lower than the AutoAttack approach; 2) break the TRADES adversarial training models with the highest success rate; 3) the generated AE can reduce the robust accuracy of the robust black-box models by 16% to 31% in the black-box transfer attack.
Topic-time Heatmaps for Human-in-the-loop Topic Detection and Tracking
Venue: arXiv cs.IR 2021
Year: 2021

The essential task of Topic Detection and Tracking (TDT) is to organize a collection of news media into clusters of stories that pertain to the same real-world event. To apply TDT models to practical applications such as search engines and discovery tools, human guidance is needed to pin down the scope of an "event" for the corpus of interest. In this work in progress, we explore a human-in-the-loop method that helps users iteratively fine-tune TDT algorithms so that both the algorithms and the users themselves better understand the nature of the events. We generate a visual overview of the entire corpus, allowing the user to select regions of interest from the overview, and then ask a series of questions to affirm (or reject) that the selected documents belong to the same event. The answers to these questions supplement the training data for the event similarity model that underlies the system.
Unsupervised Text Mining of COVID-19 Records
Venue: arXiv cs.CL 2021
Year: 2021

Since the beginning of coronavirus, the disease has spread worldwide and drastically changed many aspects of the human's lifestyle. Twitter as a powerful tool can help researchers measure public health in response to COVID-19. According to the high volume of data production on social networks, automated text mining approaches can help search, read and summarize helpful information. This paper preprocessed the existing medical dataset regarding COVID-19 named CORD-19 and annotated the dataset for supervised classification tasks. At this time of the COVID-19 pandemic, we made a preprocessed dataset for the research community. This may contribute towards finding new solutions for some social interventions that COVID-19 has made. The preprocessed version of the mentioned dataset is publicly available through Github.
Socially assistive robots' deployment in healthcare settings: a global perspective
Venue: arXiv cs.RO 2021
Year: 2021

One of the major areas where social robots are finding their place in society is for healthcare-related applications. Yet, very little research has mapped the deployment of socially assistive robots (SARs) in real settings. Using a documentary research method, we were able to trace back 279 experiences of SARs deployments in hospitals, elderly care centers, occupational health centers, private homes, and educational institutions worldwide from 33 different countries, and involving 52 different robot models. We retrieved, analyzed, and classified the functions that SARs develop in these experiences, the areas in which they are deployed, the principal manufacturers, and the robot models that are being adopted. The functions we identified for SARs are entertainment, companionship, telepresence, edutainment, providing general and personalized information or advice, monitoring, promotion of physical exercise and rehabilitation, testing and pre-diagnosis, delivering supplies, patient registration, giving location indications, patient simulator, protective measure enforcement, medication and well-being adherence, translating and having conversations in multiple languages, psychological therapy, patrolling, interacting with digital devices, and disinfection. Our work provides an in-depth picture of the current state of the art of SARs' deployment in real scenarios for healthcare-related applications and contributes to understanding better the role of these machines in the healthcare sector.
Hybrid Quantum-Classical Neural Network for Cloud-supported In-Vehicle Cyberattack Detection
Venue: arXiv cs.LG 2021
Year: 2021

A classical computer works with ones and zeros, whereas a quantum computer uses ones, zeros, and superpositions of ones and zeros, which enables quantum computers to perform a vast number of calculations simultaneously compared to classical computers. In a cloud-supported cyber-physical system environment, running a machine learning application in quantum computers is often difficult, due to the existing limitations of the current quantum devices. However, with the combination of quantum-classical neural networks (NN), complex and high-dimensional features can be extracted by the classical NN to a reduced but more informative feature space to be processed by the existing quantum computers. In this study, we develop a hybrid quantum-classical NN to detect an amplitude shift cyber-attack on an in-vehicle control area network (CAN) dataset. We show that using the hybrid quantum classical NN, it is possible to achieve an attack detection accuracy of 94%, which is higher than a Long short-term memory (LSTM) NN (87%) or quantum NN alone (62%)
VABO: Violation-Aware Bayesian Optimization for Closed-Loop Control Performance Optimization with Unmodeled Constraints
Venue: arXiv cs.LG 2021
Year: 2021

We study the problem of performance optimization of closed-loop control systems with unmodeled dynamics. Bayesian optimization (BO) has been demonstrated effective for improving closed-loop performance by automatically tuning controller gains or reference setpoints in a model-free manner. However, BO methods have rarely been tested on dynamical systems with unmodeled constraints. In this paper, we propose a violation-aware BO algorithm (VABO) that optimizes closed-loop performance while simultaneously learning constraint-feasible solutions. Unlike classical constrained BO methods which allow an unlimited constraint violations, or safe BO algorithms that are conservative and try to operate with near-zero violations, we allow budgeted constraint violations to improve constraint learning and accelerate optimization. We demonstrate the effectiveness of our proposed VABO method for energy minimization of industrial vapor compression systems.
Simple Baseline for Single Human Motion Forecasting
Venue: arXiv cs.CV 2021
Year: 2021

Global human motion forecasting is important in many fields, which is the combination of global human trajectory prediction and local human pose prediction. Visual and social information are often used to boost model performance, however, they may consume too much computational resource. In this paper, we establish a simple but effective baseline for single human motion forecasting without visual and social information, equipped with useful training tricks. Our method "futuremotion_ICCV21" outperforms existing methods by a large margin on SoMoF benchmark. We hope our work provide new ideas for future research.