OpenRaiser/Intern-Atlas huggingface dataset:
F3 Hand: A Versatile Robot Hand Inspired by Human Thumb and Index Fingers
Venue: arXiv cs.RO 2022
Year: 2022

It is challenging to grasp numerous objects with varying sizes and shapes with a single robot hand. To address this, we propose a new robot hand called the 'F3 hand' inspired by the complex movements of human index finger and thumb. The F3 hand attempts to realize complex human-like grasping movements by combining a parallel motion finger and a rotational motion finger with an adaptive function. In order to confirm the performance of our hand, we attached it to a mobile manipulator - the Toyota Human Support Robot (HSR) and conducted grasping experiments. In our results, we show that it is able to grasp all YCB objects (82 in total), including washers with outer diameters as small as 6.4mm. We also built a system for intuitive operation with a 3D mouse and grasp an additional 24 objects, including small toothpicks and paper clips and large pitchers and cracker boxes. The F3 hand is able to achieve a 98% success rate in grasping even under imprecise control and positional offsets. Furthermore, owing to the finger's adaptive function, we demonstrate characteristics of the F3 hand that facilitate the grasping of soft objects such as strawberries in a desirable posture.
CHQ-Summ: A Dataset for Consumer Healthcare Question Summarization
Venue: arXiv cs.CL 2022
Year: 2022

The quest for seeking health information has swamped the web with consumers' health-related questions. Generally, consumers use overly descriptive and peripheral information to express their medical condition or other healthcare needs, contributing to the challenges of natural language understanding. One way to address this challenge is to summarize the questions and distill the key information of the original question. To address this issue, we introduce a new dataset, CHQ-Summ that contains 1507 domain-expert annotated consumer health questions and corresponding summaries. The dataset is derived from the community question-answering forum and therefore provides a valuable resource for understanding consumer health-related posts on social media. We benchmark the dataset on multiple state-of-the-art summarization models to show the effectiveness of the dataset.
Exploring speaker enrolment for few-shot personalisation in emotional vocalisation prediction
Venue: arXiv cs.SD 2022
Year: 2022

In this work, we explore a novel few-shot personalisation architecture for emotional vocalisation prediction. The core contribution is an `enrolment' encoder which utilises two unlabelled samples of the target speaker to adjust the output of the emotion encoder; the adjustment is based on dot-product attention, thus effectively functioning as a form of `soft' feature selection. The emotion and enrolment encoders are based on two standard audio architectures: CNN14 and CNN10. The two encoders are further guided to forget or learn auxiliary emotion and/or speaker information. Our best approach achieves a CCC of $.650$ on the ExVo Few-Shot dev set, a $2.5\%$ increase over our baseline CNN14 CCC of $.634$.
Causal Discovery for Fairness
Venue: arXiv cs.AI 2022
Year: 2022

It is crucial to consider the social and ethical consequences of AI and ML based decisions for the safe and acceptable use of these emerging technologies. Fairness, in particular, guarantees that the ML decisions do not result in discrimination against individuals or minorities. Identifying and measuring reliably fairness/discrimination is better achieved using causality which considers the causal relation, beyond mere association, between the sensitive attribute (e.g. gender, race, religion, etc.) and the decision (e.g. job hiring, loan granting, etc.). The big impediment to the use of causality to address fairness, however, is the unavailability of the causal model (typically represented as a causal graph). Existing causal approaches to fairness in the literature do not address this problem and assume that the causal model is available. In this paper, we do not make such assumption and we review the major algorithms to discover causal relations from observable data. This study focuses on causal discovery and its impact on fairness. In particular, we show how different causal discovery approaches may result in different causal models and, most importantly, how even slight differences between causal models can have significant impact on fairness/discrimination conclusions. These results are consolidated by empirical analysis using synthetic and standard fairness benchmark datasets. The main goal of this study is to highlight the importance of the causal discovery step to appropriately address fairness using causality.
Visual Radial Basis Q-Network
Venue: arXiv cs.CV 2022
Year: 2022

While reinforcement learning (RL) from raw images has been largely investigated in the last decade, existing approaches still suffer from a number of constraints. The high input dimension is often handled using either expert knowledge to extract handcrafted features or environment encoding through convolutional networks. Both solutions require numerous parameters to be optimized. In contrast, we propose a generic method to extract sparse features from raw images with few trainable parameters. We achieved this using a Radial Basis Function Network (RBFN) directly on raw image. We evaluate the performance of the proposed approach for visual extraction in Q-learning tasks in the Vizdoom environment. Then, we compare our results with two Deep Q-Network, one trained directly on images and another one trained on feature extracted by a pretrained auto-encoder. We show that the proposed approach provides similar or, in some cases, even better performances with fewer trainable parameters while being conceptually simpler.
Muntjac -- Open Source Multicore RV64 Linux-capable SoC
Venue: arXiv cs.AR 2022
Year: 2022

Muntjac is an open-source collection of components which can be used to build a multicore, Linux-capable system-on-chip. This includes a 64-bit RISC-V core, a cache subsystem, and TileLink interconnect allowing cache-coherent multicore configurations. Each component is easy to understand, verify, and extend, with most being configurable enough to be useful across a wide range of applications.
Peripheral Vision Transformer
Venue: arXiv cs.CV 2022
Year: 2022

Human vision possesses a special type of visual processing systems called peripheral vision. Partitioning the entire visual field into multiple contour regions based on the distance to the center of our gaze, the peripheral vision provides us the ability to perceive various visual features at different regions. In this work, we take a biologically inspired approach and explore to model peripheral vision in deep neural networks for visual recognition. We propose to incorporate peripheral position encoding to the multi-head self-attention layers to let the network learn to partition the visual field into diverse peripheral regions given training data. We evaluate the proposed network, dubbed PerViT, on ImageNet-1K and systematically investigate the inner workings of the model for machine perception, showing that the network learns to perceive visual data similarly to the way that human vision does. The performance improvements in image classification over the baselines across different model sizes demonstrate the efficacy of the proposed method.
Architectural patterns for handling runtime uncertainty of data-driven models in safety-critical perception
Venue: arXiv cs.SE 2022
Year: 2022

Data-driven models (DDM) based on machine learning and other AI techniques play an important role in the perception of increasingly autonomous systems. Due to the merely implicit definition of their behavior mainly based on the data used for training, DDM outputs are subject to uncertainty. This poses a challenge with respect to the realization of safety-critical perception tasks by means of DDMs. A promising approach to tackling this challenge is to estimate the uncertainty in the current situation during operation and adapt the system behavior accordingly. In previous work, we focused on runtime estimation of uncertainty and discussed approaches for handling uncertainty estimations. In this paper, we present additional architectural patterns for handling uncertainty. Furthermore, we evaluate the four patterns qualitatively and quantitatively with respect to safety and performance gains. For the quantitative evaluation, we consider a distance controller for vehicle platooning where performance gains are measured by considering how much the distance can be reduced in different operational situations. We conclude that the consideration of context information of the driving situation makes it possible to accept more or less uncertainty depending on the inherent risk of the situation, which results in performance gains.
On Provably Robust Meta-Bayesian Optimization
Venue: arXiv cs.LG 2022
Year: 2022

Bayesian optimization (BO) has become popular for sequential optimization of black-box functions. When BO is used to optimize a target function, we often have access to previous evaluations of potentially related functions. This begs the question as to whether we can leverage these previous experiences to accelerate the current BO task through meta-learning (meta-BO), while ensuring robustness against potentially harmful dissimilar tasks that could sabotage the convergence of BO. This paper introduces two scalable and provably robust meta-BO algorithms: robust meta-Gaussian process-upper confidence bound (RM-GP-UCB) and RM-GP-Thompson sampling (RM-GP-TS). We prove that both algorithms are asymptotically no-regret even when some or all previous tasks are dissimilar to the current task, and show that RM-GP-UCB enjoys a better theoretical robustness than RM-GP-TS. We also exploit the theoretical guarantees to optimize the weights assigned to individual previous tasks through regret minimization via online learning, which diminishes the impact of dissimilar tasks and hence further enhances the robustness. Empirical evaluations show that (a) RM-GP-UCB performs effectively and consistently across various applications, and (b) RM-GP-TS, despite being less robust than RM-GP-UCB both in theory and in practice, performs competitively in some scenarios with less dissimilar tasks and is more computationally efficient.
Does Open Access Really Increase Impact? A Large-Scale Randomized Analysis
Venue: arXiv cs.DL 2022
Year: 2022

The Open Access Citation Advantage (OACA) has been a major topic of discussion in the literature over the past twenty years. In this paper, we propose a method to constitute a control group to isolate the OACA effect. Thus, we compared citation impact (MNCS) of 2,458,378 publications in fully OA journals to that (weighted MNCS) of a control group of non-OA publications (\#10,310,842). Similarly, we did the same exercise for OA publications in hybrid journals (\#1,024,430) and their control group (\#11,533,001), over the period 2010-2020. The results showed that there is no OACA for publications in fully OA journals, and that there is rather a disadvantage. Conversely, the OACA seems to be a reality in hybrid journals, suggesting that a better accessibility in this context tends to improve the visibility of publications. The lack of OACA for publications in fully OA journals is to be expected, as a great proportion of OA journals are newly created and less attractive to high-impact senior researchers.Another striking result of this paper is the fall of the OACA from 2016. The citation advantage fell from 70% to 9% between 2016 and 2020 (for publications in hybrid journals). We wonder if this fall is linked to the increase in the notoriety of pirate sites (eg Sci-Hub) from 2016. In other words, the democratization of pirate sites instantly cancels the positive effect of OA publication insofar as the question of access to scientific content no longer arises.
Creating a Secure Underlay for the Internet
Venue: arXiv cs.NI 2022
Year: 2022

Adversaries can exploit inter-domain routing vulnerabilities to intercept communication and compromise the security of critical Internet applications. Meanwhile the deployment of secure routing solutions such as Border Gateway Protocol Security (BGPsec) and Scalability, Control and Isolation On Next-generation networks (SCION) are still limited. How can we leverage emerging secure routing backbones and extend their security properties to the broader Internet? We design and deploy an architecture to bootstrap secure routing. Our key insight is to abstract the secure routing backbone as a virtual Autonomous System (AS), called Secure Backbone AS (SBAS). While SBAS appears as one AS to the Internet, it is a federated network where routes are exchanged between participants using a secure backbone. SBAS makes BGP announcements for its customers' IP prefixes at multiple locations (referred to as Points of Presence or PoPs) allowing traffic from non-participating hosts to be routed to a nearby SBAS PoP (where it is then routed over the secure backbone to the true prefix owner). In this manner, we are the first to integrate a federated secure non-BGP routing backbone with the BGP-speaking Internet. We present a real-world deployment of our architecture that uses SCIONLab to emulate the secure backbone and the PEERING framework to make BGP announcements to the Internet. A combination of real-world attacks and Internet-scale simulations shows that SBAS substantially reduces the threat of routing attacks. Finally, we survey network operators to better understand optimal governance and incentive models.
Cloud Property Graph: Connecting Cloud Security Assessments with Static Code Analysis
Venue: arXiv cs.CR 2022
Year: 2022

In this paper, we present the Cloud Property Graph (CloudPG), which bridges the gap between static code analysis and runtime security assessment of cloud services. The CloudPG is able to resolve data flows between cloud applications deployed on different resources, and contextualizes the graph with runtime information, such as encryption settings. To provide a vendor- and technology-independent representation of a cloud service's security posture, the graph is based on an ontology of cloud resources, their functionalities and security features. We show, using an example, that our CloudPG framework can be used by security experts to identify weaknesses in their cloud deployments, spanning multiple vendors or technologies, such as AWS, Azure and Kubernetes. This includes misconfigurations, such as publicly accessible storages or undesired data flows within a cloud service, as restricted by regulations such as GDPR.
Continual-Learning-as-a-Service (CLaaS): On-Demand Efficient Adaptation of Predictive Models
Venue: arXiv cs.LG 2022
Year: 2022

Predictive machine learning models nowadays are often updated in a stateless and expensive way. The two main future trends for companies that want to build machine learning-based applications and systems are real-time inference and continual updating. Unfortunately, both trends require a mature infrastructure that is hard and costly to realize on-premise. This paper defines a novel software service and model delivery infrastructure termed Continual Learning-as-a-Service (CLaaS) to address these issues. Specifically, it embraces continual machine learning and continuous integration techniques. It provides support for model updating and validation tools for data scientists without an on-premise solution and in an efficient, stateful and easy-to-use manner. Finally, this CL model service is easy to encapsulate in any machine learning infrastructure or cloud system. This paper presents the design and implementation of a CLaaS instantiation, called LiquidBrain, evaluated in two real-world scenarios. The former is a robotic object recognition setting using the CORe50 dataset while the latter is a named category and attribute prediction using the DeepFashion-C dataset in the fashion domain. Our preliminary results suggest the usability and efficiency of the Continual Learning model services and the effectiveness of the solution in addressing real-world use-cases regardless of where the computation happens in the continuum Edge-Cloud.
DeepTPI: Test Point Insertion with Deep Reinforcement Learning
Venue: arXiv cs.LG 2022
Year: 2022

Test point insertion (TPI) is a widely used technique for testability enhancement, especially for logic built-in self-test (LBIST) due to its relatively low fault coverage. In this paper, we propose a novel TPI approach based on deep reinforcement learning (DRL), named DeepTPI. Unlike previous learning-based solutions that formulate the TPI task as a supervised-learning problem, we train a novel DRL agent, instantiated as the combination of a graph neural network (GNN) and a Deep Q-Learning network (DQN), to maximize the test coverage improvement. Specifically, we model circuits as directed graphs and design a graph-based value network to estimate the action values for inserting different test points. The policy of the DRL agent is defined as selecting the action with the maximum value. Moreover, we apply the general node embeddings from a pre-trained model to enhance node features, and propose a dedicated testability-aware attention mechanism for the value network. Experimental results on circuits with various scales show that DeepTPI significantly improves test coverage compared to the commercial DFT tool. The code of this work is available at https://github.com/cure-lab/DeepTPI.
Low-Latency MAC Design for Pairwise Random Networks
Venue: arXiv cs.IT 2022
Year: 2022

Feasibility of using unlicensed spectrum for ultra reliable low latency communications (URLLC) is still a question for beyond 5G wireless networks. Low latency access to the channel and efficiently sharing spectrum among the multiple users are the main requirements for exploiting unlicensed spectrum for URLLC. Listen before talk and back-off procedures implemented to avoid the collisions in channel access hinder the low latency communication. In this paper, we propose a novel low-latency medium access control (MAC) scheme based on the collision resolution for a pairwise random wireless network. We use geometric sequence decomposition for collision resolution among the competing users. This enables the system to tackle collisions and thus removing the need for carrier sensing and back-off procedures. This saves time in obtaining access to the channel and improves the efficiency of the system. We implement our approach in the synchronized time slotted system and show that it yields significant improvement over existing MAC schemes.
Federated Optimization Algorithms with Random Reshuffling and Gradient Compression
Venue: arXiv cs.LG 2022
Year: 2022

Gradient compression is a popular technique for improving communication complexity of stochastic first-order methods in distributed training of machine learning models. However, the existing works consider only with-replacement sampling of stochastic gradients. In contrast, it is well-known in practice and recently confirmed in theory that stochastic methods based on without-replacement sampling, e.g., Random Reshuffling (RR) method, perform better than ones that sample the gradients with-replacement. In this work, we close this gap in the literature and provide the first analysis of methods with gradient compression and without-replacement sampling. We first develop a naïve combination of random reshuffling with gradient compression (Q-RR). Perhaps surprisingly, but the theoretical analysis of Q-RR does not show any benefits of using RR. Our extensive numerical experiments confirm this phenomenon. This happens due to the additional compression variance. To reveal the true advantages of RR in the distributed learning with compression, we propose a new method called DIANA-RR that reduces the compression variance and has provably better convergence rates than existing counterparts with with-replacement sampling of stochastic gradients. Next, to have a better fit to Federated Learning applications, we incorporate local computation, i.e., we propose and analyze the variants of Q-RR and DIANA-RR -- Q-NASTYA and DIANA-NASTYA that use local gradient steps and different local and global stepsizes. Finally, we conducted several numerical experiments to illustrate our theoretical results.
Text Generation with Text-Editing Models
Venue: arXiv cs.CL 2022
Year: 2022

Text-editing models have recently become a prominent alternative to seq2seq models for monolingual text-generation tasks such as grammatical error correction, simplification, and style transfer. These tasks share a common trait - they exhibit a large amount of textual overlap between the source and target texts. Text-editing models take advantage of this observation and learn to generate the output by predicting edit operations applied to the source sequence. In contrast, seq2seq models generate outputs word-by-word from scratch thus making them slow at inference time. Text-editing models provide several benefits over seq2seq models including faster inference speed, higher sample efficiency, and better control and interpretability of the outputs. This tutorial provides a comprehensive overview of text-editing models and current state-of-the-art approaches, and analyzes their pros and cons. We discuss challenges related to productionization and how these models can be used to mitigate hallucination and bias, both pressing challenges in the field of text generation.
Sequential Optimization Numbers and Conjecture about Edge-Symmetry and Weight-Symmetry Shortest Weight-Constrained Path
Venue: arXiv cs.DS 2022
Year: 2022

This paper defines multidimensional sequential optimization numbers and prove that the unsigned Stirling numbers of first kind are 1-dimensional sequential optimization numbers. This paper gives a recurrence formula and an upper bound of multidimensional sequential optimization numbers. We proof that the k-dimensional sequential optimization numbers, denoted by O_k (n,m), are almost in {O_k (n,a)}, where a belong to[1,eklog(n-1)+(epi)^2/6(2^k-1)+M_1], n is the size of k-dimensional sequential optimization numbers and M_1 is large positive integer. Many achievements of the Stirling numbers of first kind can be transformed into the properties of k-dimensional sequential optimization numbers by k-dimensional extension and we give some examples. Shortest weight-constrained path is NP-complete problem [1]. In the case of edge symmetry and weight symmetry, we use the definition of the optimization set to design 2-dimensional Bellman-Ford algorithm to solve it. According to the fact that P_1 (n,m>M) less than or equal to e^(-M_1 ), where M=elog(n-1)+e+M_1, M_1 is a positive integer and P_1 (n,m) is the probability of 1-dimensional sequential optimization numbers, this paper conjecture that the probability of solving edge-symmetry and weight-symmetry shortest weight-constrained path problem in polynomial time approaches 1 exponentially with the increase of constant term in algorithm complexity. The results of a large number of simulation experiments agree with this conjecture.
Measuring Inconsistency in Declarative Process Specifications
Venue: arXiv cs.AI 2022
Year: 2022

We address the problem of measuring inconsistency in declarative process specifications, with an emphasis on linear temporal logic on fixed traces (LTLff). As we will show, existing inconsistency measures for classical logic cannot provide a meaningful assessment of inconsistency in LTL in general, as they cannot adequately handle the temporal operators. We therefore propose a novel paraconsistent semantics as a framework for inconsistency measurement. We then present two new inconsistency measures based on these semantics and show that they satisfy important desirable properties. We show how these measures can be applied to declarative process models and investigate the computational complexity of the introduced approach.