OpenRaiser/Intern-Atlas huggingface dataset:
Finding Causally Different Tests for an Industrial Control System
Venue: arXiv cs.SE 2023
Year: 2023

Industrial control systems (ICSs) are types of cyber-physical systems in which programs, written in languages such as ladder logic or structured text, control industrial processes through sensing and actuating. Given the use of ICSs in critical infrastructure, it is important to test their resilience against manipulations of sensor/actuator inputs. Unfortunately, existing methods fail to test them comprehensively, as they typically focus on finding the simplest-to-craft manipulations for a testing goal, and are also unable to determine when a test is simply a minor permutation of another, i.e. based on the same causal events. In this work, we propose a guided fuzzing approach for finding 'meaningfully different' tests for an ICS via a general formalisation of sensor/actuator-manipulation strategies. Our algorithm identifies the causal events in a test, generalises them to an equivalence class, and then updates the fuzzing strategy so as to find new tests that are causally different from those already identified. An evaluation of our approach on a real-world water treatment system shows that it is able to find 106% more causally different tests than the most comparable fuzzer. While we focus on diversifying the test suite of an ICS, our formalisation may be useful for other fuzzers that intercept communication channels.
Black Box Adversarial Prompting for Foundation Models
Venue: arXiv cs.LG 2023
Year: 2023

Prompting interfaces allow users to quickly adjust the output of generative models in both vision and language. However, small changes and design choices in the prompt can lead to significant differences in the output. In this work, we develop a black-box framework for generating adversarial prompts for unstructured image and text generation. These prompts, which can be standalone or prepended to benign prompts, induce specific behaviors into the generative process, such as generating images of a particular object or generating high perplexity text.
Federated Minimax Optimization with Client Heterogeneity
Venue: arXiv cs.LG 2023
Year: 2023

Minimax optimization has seen a surge in interest with the advent of modern applications such as GANs, and it is inherently more challenging than simple minimization. The difficulty is exacerbated by the training data residing at multiple edge devices or \textit{clients}, especially when these clients can have heterogeneous datasets and local computation capabilities. We propose a general federated minimax optimization framework that subsumes such settings and several existing methods like Local SGDA. We show that naive aggregation of heterogeneous local progress results in optimizing a mismatched objective function -- a phenomenon previously observed in standard federated minimization. To fix this problem, we propose normalizing the client updates by the number of local steps undertaken between successive communication rounds. We analyze the convergence of the proposed algorithm for classes of nonconvex-concave and nonconvex-nonconcave functions and characterize the impact of heterogeneous client data, partial client participation, and heterogeneous local computations. Our analysis works under more general assumptions on the intra-client noise and inter-client heterogeneity than so far considered in the literature. For all the function classes considered, we significantly improve the existing computation and communication complexity results. Experimental results support our theoretical claims.
Gaze Cueing and the Role of Presence in Human-Robot Interaction
Venue: arXiv cs.HC 2023
Year: 2023

Gaze cueing is a fundamental part of social interactions, and broadly studied using Posner task based gaze cueing paradigms. While studies using human stimuli consistently yield a gaze cueing effect, results from studies using robotic stimuli are inconsistent. Typically, these studies use virtual agents or pictures of robots. As previous research has pointed to the significance of physical presence in human-robot interaction, it is of fundamental importance to understand its yet unexplored role in interactions with gaze cues. This paper investigates whether the physical presence of the iCub humanoid robot affects the strength of the gaze cueing effect in human-robot interaction. We exposed 42 participants to a gaze cueing task. We asked participants to react as quickly and accurately as possible to the appearance of a target stimulus that was either congruently or incongruently cued by the gaze of a copresent iCub robot or a virtual version of the same robot. Analysis of the reaction time measurements showed that participants were consistently affected by their robot interaction partner's gaze, independently on the way the robot was presented. Additional analyses of participants' ratings of the robot's anthropomorphism, animacy and likeability further add to the impression that presence does not play a significant role in simple gaze based interactions. Together our findings open up interesting discussions about the possibility to generalize results from studies using virtual agents to real life interactions with copresent robots.
CRL+: A Novel Semi-Supervised Deep Active Contrastive Representation Learning-Based Text Classification Model for Insurance Data
Venue: arXiv cs.CL 2023
Year: 2023

Financial sector and especially the insurance industry collect vast volumes of text on a daily basis and through multiple channels (their agents, customer care centers, emails, social networks, and web in general). The information collected includes policies, expert and health reports, claims and complaints, results of surveys, and relevant social media posts. It is difficult to effectively extract label, classify, and interpret the essential information from such varied and unstructured material. Therefore, the Insurance Industry is among the ones that can benefit from applying technologies for the intelligent analysis of free text through Natural Language Processing (NLP). In this paper, CRL+, a novel text classification model combining Contrastive Representation Learning (CRL) and Active Learning is proposed to handle the challenge of using semi-supervised learning for text classification. In this method, supervised (CRL) is used to train a RoBERTa transformer model to encode the textual data into a contrastive representation space and then classify using a classification layer. This (CRL)-based transformer model is used as the base model in the proposed Active Learning mechanism to classify all the data in an iterative manner. The proposed model is evaluated using unstructured obituary data with objective to determine the cause of the death from the data. This model is compared with the CRL model and an Active Learning model with the RoBERTa base model. The experiment shows that the proposed method can outperform both methods for this specific task.
Geometry of Score Based Generative Models
Venue: arXiv cs.LG 2023
Year: 2023

In this work, we look at Score-based generative models (also called diffusion generative models) from a geometric perspective. From a new view point, we prove that both the forward and backward process of adding noise and generating from noise are Wasserstein gradient flow in the space of probability measures. We are the first to prove this connection. Our understanding of Score-based (and Diffusion) generative models have matured and become more complete by drawing ideas from different fields like Bayesian inference, control theory, stochastic differential equation and Schrodinger bridge. However, many open questions and challenges remain. One problem, for example, is how to decrease the sampling time? We demonstrate that looking from geometric perspective enables us to answer many of these questions and provide new interpretations to some known results. Furthermore, geometric perspective enables us to devise an intuitive geometric solution to the problem of faster sampling. By augmenting traditional score-based generative models with a projection step, we show that we can generate high quality images with significantly fewer sampling-steps.
Robotics in Elderly Healthcare: A Review of 20 Recent Research Projects
Venue: arXiv cs.RO 2023
Year: 2023

Studies show dramatic increase in elderly population of Western Europe over the next few decades, which will put pressure on healthcare systems. Measures must be taken to meet these social challenges. Healthcare robots investigated to facilitate independent living for elderly. This paper aims to review recent projects in robotics for healthcare from 2008 to 2021. We provide an overview of the focus in this area and a roadmap for upcoming research. Our study was initiated with a literature search using three digital databases. Searches were performed for articles, including research projects containing the words elderly care, assisted aging, health monitoring, or elderly health, and any word including the root word robot. The resulting 20 recent research projects are described and categorized in this paper. Then, these projects were analyzed using thematic analysis. Our findings can be summarized in common themes: most projects have a strong focus on care robots functionalities; robots are often seen as products in care settings; there is an emphasis on robots as commercial products; and there is some limited focus on the design and ethical aspects of care robots. The paper concludes with five key points representing a roadmap for future research addressing robotic for elderly people.
A General Mobile Manipulator Automation Framework for Flexible Manufacturing in Hostile Industrial Environments
Venue: arXiv cs.RO 2023
Year: 2023

To enable a mobile manipulator to perform human tasks from a single teaching demonstration is vital to flexible manufacturing. We call our proposed method MMPA (Mobile Manipulator Process Automation with One-shot Teaching). Currently, there is no effective and robust MMPA framework which is not influenced by harsh industrial environments and the mobile base's parking precision. The proposed MMPA framework consists of two stages: collecting data (mobile base's location, environment information, end-effector's path) in the teaching stage for robot learning; letting the end-effector repeat the nearly same path as the reference path in the world frame to reproduce the work in the automation stage. More specifically, in the automation stage, the robot navigates to the specified location without the need of a precise parking. Then, based on colored point cloud registration, the proposed IPE (Iterative Pose Estimation by Eye & Hand) algorithm could estimate the accurate 6D relative parking pose of the robot arm base without the need of any marker. Finally, the robot could learn the error compensation from the parking pose's bias to modify the end-effector's path to make it repeat a nearly same path in the world coordinate system as recorded in the teaching stage. Hundreds of trials have been conducted with a real mobile manipulator to show the superior robustness of the system and the accuracy of the process automation regardless of the harsh industrial conditions and parking precision. For the released code, please contact marketing@amigaga.com
Weakly Supervised Anomaly Detection: A Survey
Venue: arXiv cs.LG 2023
Year: 2023

Anomaly detection (AD) is a crucial task in machine learning with various applications, such as detecting emerging diseases, identifying financial frauds, and detecting fake news. However, obtaining complete, accurate, and precise labels for AD tasks can be expensive and challenging due to the cost and difficulties in data annotation. To address this issue, researchers have developed AD methods that can work with incomplete, inexact, and inaccurate supervision, collectively summarized as weakly supervised anomaly detection (WSAD) methods. In this study, we present the first comprehensive survey of WSAD methods by categorizing them into the above three weak supervision settings across four data modalities (i.e., tabular, graph, time-series, and image/video data). For each setting, we provide formal definitions, key algorithms, and potential future directions. To support future research, we conduct experiments on a selected setting and release the source code, along with a collection of WSAD methods and data.
MAPS: A Noise-Robust Progressive Learning Approach for Source-Free Domain Adaptive Keypoint Detection
Venue: arXiv cs.CV 2023
Year: 2023

Existing cross-domain keypoint detection methods always require accessing the source data during adaptation, which may violate the data privacy law and pose serious security concerns. Instead, this paper considers a realistic problem setting called source-free domain adaptive keypoint detection, where only the well-trained source model is provided to the target domain. For the challenging problem, we first construct a teacher-student learning baseline by stabilizing the predictions under data augmentation and network ensembles. Built on this, we further propose a unified approach, Mixup Augmentation and Progressive Selection (MAPS), to fully exploit the noisy pseudo labels of unlabeled target data during training. On the one hand, MAPS regularizes the model to favor simple linear behavior in-between the target samples via self-mixup augmentation, preventing the model from over-fitting to noisy predictions. On the other hand, MAPS employs the self-paced learning paradigm and progressively selects pseudo-labeled samples from `easy' to `hard' into the training process to reduce noise accumulation. Results on four keypoint detection datasets show that MAPS outperforms the baseline and achieves comparable or even better results in comparison to previous non-source-free counterparts.
A Novel Approach for Auto-Formulation of Optimization Problems
Venue: arXiv cs.CL 2023
Year: 2023

In the Natural Language for Optimization (NL4Opt) NeurIPS 2022 competition, competitors focus on improving the accessibility and usability of optimization solvers, with the aim of subtask 1: recognizing the semantic entities that correspond to the components of the optimization problem; subtask 2: generating formulations for the optimization problem. In this paper, we present the solution of our team. First, we treat subtask 1 as a named entity recognition (NER) problem with the solution pipeline including pre-processing methods, adversarial training, post-processing methods and ensemble learning. Besides, we treat subtask 2 as a generation problem with the solution pipeline including specially designed prompts, adversarial training, post-processing methods and ensemble learning. Our proposed methods have achieved the F1-score of 0.931 in subtask 1 and the accuracy of 0.867 in subtask 2, which won the fourth and third places respectively in this competition. Our code is available at https://github.com/bigdata-ustc/nl4opt.
Domain Generalization by Functional Regression
Venue: arXiv cs.LG 2023
Year: 2023

The problem of domain generalization is to learn, given data from different source distributions, a model that can be expected to generalize well on new target distributions which are only seen through unlabeled samples. In this paper, we study domain generalization as a problem of functional regression. Our concept leads to a new algorithm for learning a linear operator from marginal distributions of inputs to the corresponding conditional distributions of outputs given inputs. Our algorithm allows a source distribution-dependent construction of reproducing kernel Hilbert spaces for prediction, and, satisfies finite sample error bounds for the idealized risk. Numerical implementations and source code are available.
RTClean: Context-aware Tabular Data Cleaning using Real-time OFDs
Venue: arXiv cs.DB 2023
Year: 2023

Nowadays, machine learning plays a key role in developing plenty of applications, e.g., smart homes, smart medical assistance, and autonomous driving. A major challenge of these applications is preserving high quality of the training and the serving data. Nevertheless, existing data cleaning methods cannot exploit context information. Thus, they usually fail to track shifts in the data distributions or the associated error profiles. To overcome these limitations, we introduce, in this paper, a novel method for automated tabular data cleaning powered by dynamic functional dependency rules extracted from a live context model. As a proof of concept, we create a smart home use case to collect data while preserving the context information. Using two different data sets, our evaluations show that the proposed cleaning method outperforms a set of baseline methods in terms of the detection and repair accuracy.
A Biomedical Knowledge Graph for Biomarker Discovery in Cancer
Venue: arXiv cs.AI 2023
Year: 2023

Structured and unstructured data and facts about drugs, genes, protein, viruses, and their mechanism are spread across a huge number of scientific articles. These articles are a large-scale knowledge source and can have a huge impact on disseminating knowledge about the mechanisms of certain biological processes. A domain-specific knowledge graph~(KG) is an explicit conceptualization of a specific subject-matter domain represented w.r.t semantically interrelated entities and relations. A KG can be constructed by integrating such facts and data and be used for data integration, exploration, and federated queries. However, exploration and querying large-scale KGs is tedious for certain groups of users due to a lack of knowledge about underlying data assets or semantic technologies. Such a KG will not only allow deducing new knowledge and question answering(QA) but also allows domain experts to explore. Since cross-disciplinary explanations are important for accurate diagnosis, it is important to query the KG to provide interactive explanations about learned biomarkers. Inspired by these, we construct a domain-specific KG, particularly for cancer-specific biomarker discovery. The KG is constructed by integrating cancer-related knowledge and facts from multiple sources. First, we construct a domain-specific ontology, which we call OncoNet Ontology (ONO). The ONO ontology is developed to enable semantic reasoning for verification of the predictions for relations between diseases and genes. The KG is then developed and enriched by harmonizing the ONO, additional metadata schemas, ontologies, controlled vocabularies, and additional concepts from external sources using a BERT-based information extraction method. BioBERT and SciBERT are finetuned with the selected articles crawled from PubMed. We listed down some queries and some examples of QA and deducing knowledge based on the KG.
An $O(\log k)$-Approximation for Directed Steiner Tree in Planar Graphs
Venue: arXiv cs.DS 2023
Year: 2023

We present an $O(\log k)$-approximation for both the edge-weighted and node-weighted versions of \DST in planar graphs where $k$ is the number of terminals. We extend our approach to \MDST (in general graphs \MDST and \DST are easily seen to be equivalent but in planar graphs this is not the case necessarily) in which we get an $O(R+\log k)$-approximation for planar graphs for where $R$ is the number of roots.
A Large-Scale Multilingual Study of Visual Constraints on Linguistic Selection of Descriptions
Venue: arXiv cs.CL 2023
Year: 2023

We present a large, multilingual study into how vision constrains linguistic choice, covering four languages and five linguistic properties, such as verb transitivity or use of numerals. We propose a novel method that leverages existing corpora of images with captions written by native speakers, and apply it to nine corpora, comprising 600k images and 3M captions. We study the relation between visual input and linguistic choices by training classifiers to predict the probability of expressing a property from raw images, and find evidence supporting the claim that linguistic properties are constrained by visual context across languages. We complement this investigation with a corpus study, taking the test case of numerals. Specifically, we use existing annotations (number or type of objects) to investigate the effect of different visual conditions on the use of numeral expressions in captions, and show that similar patterns emerge across languages. Our methods and findings both confirm and extend existing research in the cognitive literature. We additionally discuss possible applications for language generation.
To Perceive or Not to Perceive: Lightweight Stacked Hourglass Network
Venue: arXiv cs.CV 2023
Year: 2023

Human pose estimation (HPE) is a classical task in computer vision that focuses on representing the orientation of a person by identifying the positions of their joints. We design a lighterversion of the stacked hourglass network with minimal loss in performance of the model. The lightweight 2-stacked hourglass has a reduced number of channels with depthwise separable convolutions, residual connections with concatenation, and residual connections between the necks of the hourglasses. The final model has a marginal drop in performance with 79% reduction in the number of parameters and a similar drop in MAdds
GCI: A (G)raph (C)oncept (I)nterpretation Framework
Venue: arXiv cs.LG 2023
Year: 2023

Explainable AI (XAI) underwent a recent surge in research on concept extraction, focusing on extracting human-interpretable concepts from Deep Neural Networks. An important challenge facing concept extraction approaches is the difficulty of interpreting and evaluating discovered concepts, especially for complex tasks such as molecular property prediction. We address this challenge by presenting GCI: a (G)raph (C)oncept (I)nterpretation framework, used for quantitatively measuring alignment between concepts discovered from Graph Neural Networks (GNNs) and their corresponding human interpretations. GCI encodes concept interpretations as functions, which can be used to quantitatively measure the alignment between a given interpretation and concept definition. We demonstrate four applications of GCI: (i) quantitatively evaluating concept extractors, (ii) measuring alignment between concept extractors and human interpretations, (iii) measuring the completeness of interpretations with respect to an end task and (iv) a practical application of GCI to molecular property prediction, in which we demonstrate how to use chemical functional groups to explain GNNs trained on molecular property prediction tasks, and implement interpretations with a 0.76 AUCROC completeness score.
Fee-Redistribution Smart Contracts for Transaction-Fee-Based Regime of Blockchains with the Longest Chain Rule
Venue: arXiv cs.CR 2023
Year: 2023

In this paper, we review the undercutting attacks in the transaction-fee-based regime of proof-of-work (PoW) blockchains with the longest chain fork-choice rule. Next, we focus on the problem of fluctuations in mining revenue and the mining gap - i.e., a situation, in which the immediate reward from transaction fees does not cover miners' expenditures. To mitigate these issues, we propose a solution that splits transaction fees from a mined block into two parts - (1) an instant reward for the miner of a block and (2) a deposit sent to one or more fee-redistribution smart contracts ($\mathcal{FRSC}$s) that are part of the consensus protocol. At the same time, these redistribution smart contracts reward the miner of a block with a certain fraction of the accumulated funds of the incoming fees over a predefined time. This setting enables us to achieve several interesting properties that are beneficial for the incentive stability and security of the protocol. With our solution, the fraction of Default-Compliant miners who strictly do not execute undercutting attacks is lowered from the state-of-the-art result of 66% to 30%.