OpenRaiser/Intern-Atlas huggingface dataset:
Development of an automatic 3D human head scanning-printing system
Venue: arXiv cs.RO 2022
Year: 2022

Three-dimensional (3D) technologies have been developing rapidly recent years, and have influenced industrial, medical, cultural, and many other fields. In this paper, we introduce an automatic 3D human head scanning-printing system, which provides a complete pipeline to scan, reconstruct, select, and finally print out physical 3D human heads. To enhance the accuracy of our system, we developed a consumer-grade composite sensor (including a gyroscope, an accelerometer, a digital compass, and a Kinect v2 depth sensor) as our sensing device. This sensing device is then mounted on a robot, which automatically rotates around the human subject with approximate 1-meter radius, to capture the full-view information. The data streams are further processed and fused into a 3D model of the subject using a tablet located on the robot. In addition, an automatic selection method, based on our specific system configurations, is proposed to select the head portion. We evaluated the accuracy of the proposed system by comparing our generated 3D head models, from both standard human head model and real human subjects, with the ones reconstructed from FastSCAN and Cyberware commercial laser scanning systems through computing and visualizing Hausdorff distances. Computational cost is also provided to further assess our proposed system.
Deterministic counting Lovász local lemma beyond linear programming
Venue: arXiv cs.DS 2022
Year: 2022

We give a simple combinatorial algorithm to deterministically approximately count the number of satisfying assignments of general constraint satisfaction problems (CSPs). Suppose that the CSP has domain size $q=O(1)$, each constraint contains at most $k=O(1)$ variables, shares variables with at most $Δ=O(1)$ constraints, and is violated with probability at most $p$ by a uniform random assignment. The algorithm returns in polynomial time in an improved local lemma regime: \[ q^2\cdot k\cdot p\cdotΔ^5\le C_0\quad\text{for a suitably small absolute constant }C_0. \] Here the key term $Δ^5$ improves the previously best known $Δ^7$ for general CSPs [JPV21b] and $Δ^{5.714}$ for the special case of $k$-CNF [JPV21a, HSW21]. Our deterministic counting algorithm is a derandomization of the very recent fast sampling algorithm in [HWY22]. It departs substantially from all previous deterministic counting Lovász local lemma algorithms which relied on linear programming, and gives a deterministic approximate counting algorithm that straightforwardly derandomizes a fast sampling algorithm, hence unifying the fast sampling and deterministic approximate counting in the same algorithmic framework. To obtain the improved regime, in our analysis we develop a refinement of the $\{2,3\}$-trees that were used in the previous analyses of counting/sampling LLL. Similar techniques can be applied to the previous LP-based algorithms to obtain the same improved regime and may be of independent interests.
Guidance Through Surrogate: Towards a Generic Diagnostic Attack
Venue: arXiv cs.LG 2022
Year: 2022

Adversarial training is an effective approach to make deep neural networks robust against adversarial attacks. Recently, different adversarial training defenses are proposed that not only maintain a high clean accuracy but also show significant robustness against popular and well studied adversarial attacks such as PGD. High adversarial robustness can also arise if an attack fails to find adversarial gradient directions, a phenomenon known as `gradient masking'. In this work, we analyse the effect of label smoothing on adversarial training as one of the potential causes of gradient masking. We then develop a guided mechanism to avoid local minima during attack optimization, leading to a novel attack dubbed Guided Projected Gradient Attack (G-PGA). Our attack approach is based on a `match and deceive' loss that finds optimal adversarial directions through guidance from a surrogate model. Our modified attack does not require random restarts, large number of attack iterations or search for an optimal step-size. Furthermore, our proposed G-PGA is generic, thus it can be combined with an ensemble attack strategy as we demonstrate for the case of Auto-Attack, leading to efficiency and convergence speed improvements. More than an effective attack, G-PGA can be used as a diagnostic tool to reveal elusive robustness due to gradient masking in adversarial defenses.
Self-organization Preserved Graph Structure Learning with Principle of Relevant Information
Venue: arXiv cs.LG 2022
Year: 2022

Most Graph Neural Networks follow the message-passing paradigm, assuming the observed structure depicts the ground-truth node relationships. However, this fundamental assumption cannot always be satisfied, as real-world graphs are always incomplete, noisy, or redundant. How to reveal the inherent graph structure in a unified way remains under-explored. We proposed PRI-GSL, a Graph Structure Learning framework guided by the Principle of Relevant Information, providing a simple and unified framework for identifying the self-organization and revealing the hidden structure. PRI-GSL learns a structure that contains the most relevant yet least redundant information quantified by von Neumann entropy and Quantum Jensen-Shannon divergence. PRI-GSL incorporates the evolution of quantum continuous walk with graph wavelets to encode node structural roles, showing in which way the nodes interplay and self-organize with the graph structure. Extensive experiments demonstrate the superior effectiveness and robustness of PRI-GSL.
Multi-Finger Haptics: Analysis of Human Hand Grasp towards a Tripod Three-Finger Haptic Grasp model
Venue: arXiv cs.RO 2022
Year: 2022

Grasping is an incredible ability of animals using their arms and limbs in their daily life. The human hand is an especially astonishing multi-fingered tool for precise grasping, which helped humans to develop the modern world. The implementation of the human grasp to virtual reality and telerobotics is always interesting and challenging at the same time. In this work, authors surveyed, studied, and analyzed the human hand-grasping behavior for the possibilities of haptic grasping in the virtual and remote environment. This work is focused on the motion and force analysis of fingers in human hand grasping scenarios and the paper describes the transition of the human hand grasping towards a tripod haptic grasp model for effective interaction in virtual reality.
Long-Term Online Multi-Session Graph-Based SPLAM with Memory Management
Venue: arXiv cs.RO 2022
Year: 2022

For long-term simultaneous planning, localization and mapping (SPLAM), a robot should be able to continuously update its map according to the dynamic changes of the environment and the new areas explored. With limited onboard computation capabilities, a robot should also be able to limit the size of the map used for online localization and mapping. This paper addresses these challenges using a memory management mechanism, which identifies locations that should remain in a Working Memory (WM) for online processing from locations that should be transferred to a Long-Term Memory (LTM). When revisiting previously mapped areas that are in LTM, the mechanism can retrieve these locations and place them back in WM for online SPLAM. The approach is tested on a robot equipped with a short-range laser rangefinder and a RGB-D camera, patrolling autonomously 10.5 km in an indoor environment over 11 sessions while having encountered 139 people.
A Mapping of Assurance Techniques for Learning Enabled Autonomous Systems to the Systems Engineering Lifecycle
Venue: arXiv cs.SE 2022
Year: 2022

Learning enabled autonomous systems provide increased capabilities compared to traditional systems. However, the complexity of and probabilistic nature in the underlying methods enabling such capabilities present challenges for current systems engineering processes for assurance, and test, evaluation, verification, and validation (TEVV). This paper provides a preliminary attempt to map recently developed technical approaches in the assurance and TEVV of learning enabled autonomous systems (LEAS) literature to a traditional systems engineering v-model. This mapping categorizes such techniques into three main approaches: development, acquisition, and sustainment. We review the latest techniques to develop safe, reliable, and resilient learning enabled autonomous systems, without recommending radical and impractical changes to existing systems engineering processes. By performing this mapping, we seek to assist acquisition professionals by (i) informing comprehensive test and evaluation planning, and (ii) objectively communicating risk to leaders.
Impact Invariant Trajectory Optimization of 5-Link Biped Robot Using Hybrid Optimization
Venue: arXiv cs.RO 2022
Year: 2022

Bipedal robots have received much attention because of the variety of motion maneuvers that they can produce, and the many applications they have in various areas including rehabilitation. One of these motion maneuvers is walking. In this study, we presented a framework for the trajectory optimization of a 5-link (planar) Biped Robot using hybrid optimization. The walking is modeled with two phases of single-stance (support) phase and the collision phase. The dynamic equations of the robot in each phase are extracted by the Lagrange method. It is assumed that the robot heel strike to the ground is full plastic. The gait is optimized with a method called hybrid optimization. The objective function of this problem is considered to be the integral of torque-squared along the trajectory, and also various constraints such as zero dynamics are satisfied without any approximation. Furthermore, in a new framework, there is presented a constraint called impact invariance, which ensures the periodicity of the time-varying trajectories. On the other hand, other constraints provide better and more human-like movement.
Quantum Machine Learning Applied to the Classification of Diabetes
Venue: arXiv cs.LG 2022
Year: 2022

Quantum Machine Learning (QML) shows how it maintains certain significant advantages over machine learning methods. It now shows that hybrid quantum methods have great scope for deployment and optimisation, and hold promise for future industries. As a weakness, quantum computing does not have enough qubits to justify its potential. This topic of study gives us encouraging results in the improvement of quantum coding, being the data preprocessing an important point in this research we employ two dimensionality reduction techniques LDA and PCA applying them in a hybrid way Quantum Support Vector Classifier (QSVC) and Variational Quantum Classifier (VQC) in the classification of Diabetes.
Broad Learning System with Takagi-Sugeno Fuzzy Subsystem for Tobacco Origin Identification based on Near Infrared Spectroscopy
Venue: arXiv cs.LG 2022
Year: 2022

Tobacco origin identification is significantly important in tobacco industry. Modeling analysis for sensor data with near infrared spectroscopy has become a popular method for rapid detection of internal features. However, for sensor data analysis using traditional artificial neural network or deep network models, the training process is extremely time-consuming. In this paper, a novel broad learning system with Takagi-Sugeno (TS) fuzzy subsystem is proposed for rapid identification of tobacco origin. Incremental learning is employed in the proposed method, which obtains the weight matrix of the network after a very small amount of computation, resulting in much shorter training time for the model, with only about 3 seconds for the extra step training. The experimental results show that the TS fuzzy subsystem can extract features from the near infrared data and effectively improve the recognition performance. The proposed method can achieve the highest prediction accuracy (95.59 %) in comparison to the traditional classification algorithms, artificial neural network, and deep convolutional neural network, and has a great advantage in the training time with only about 128 seconds.
Power of Decision Trees with Monotone Queries
Venue: arXiv cs.CC 2022
Year: 2022

In this paper, we initiate study of the computational power of adaptive and non-adaptive monotone decision trees - decision trees where each query is a monotone function on the input bits. In the most general setting, the monotone decision tree height (or size) can be viewed as a measure of non-monotonicity of a given Boolean function. We also study the restriction of the model by restricting (in terms of circuit complexity) the monotone functions that can be queried at each node. This naturally leads to complexity classes of the form DT(mon-C) for any circuit complexity class C, where the height of the tree is O(log n), and the query functions can be computed by monotone circuits in the class C. In the above context, we prove the following characterizations and bounds. For any Boolean function f, we show that the minimum monotone decision tree height can be exactly characterized (both in the adaptive and non-adaptive versions of the model) in terms of its alternation (alt(f) is defined as the maximum number of times that the function value changes, in any chain in the Boolean lattice). We also characterize the non-adaptive decision tree height with a natural generalization of certification complexity of a function. Similarly, we determine the complexity of non-deterministic and randomized variants of monotone decision trees in terms of alt(f). We show that DT(mon-C) = C when C contains monotone circuits for the threshold functions (for e.g., if C = TC0). For C = AC0, we are able to show that any function in AC0 can be computed by a sub-linear height monotone decision tree with queries having monotone AC0 circuits. To understand the logarithmic height case in case of AC0 i.e., DT(mon-AC0), we show that functions in DT(mon-AC0) have AC0 circuits with few negation gates.
Computational Charisma -- A Brick by Brick Blueprint for Building Charismatic Artificial Intelligence
Venue: arXiv cs.HC 2022
Year: 2022

Charisma is considered as one's ability to attract and potentially also influence others. Clearly, there can be considerable interest from an artificial intelligence's (AI) perspective to provide it with such skill. Beyond, a plethora of use cases opens up for computational measurement of human charisma, such as for tutoring humans in the acquisition of charisma, mediating human-to-human conversation, or identifying charismatic individuals in big social data. A number of models exist that base charisma on various dimensions, often following the idea that charisma is given if someone could and would help others. Examples include influence (could help) and affability (would help) in scientific studies or power (could help), presence, and warmth (both would help) as a popular concept. Modelling high levels in these dimensions for humanoid robots or virtual agents, seems accomplishable. Beyond, also automatic measurement appears quite feasible with the recent advances in the related fields of Affective Computing and Social Signal Processing. Here, we, thereforem present a blueprint for building machines that can appear charismatic, but also analyse the charisma of others. To this end, we first provide the psychological perspective including different models of charisma and behavioural cues of it. We then switch to conversational charisma in spoken language as an exemplary modality that is essential for human-human and human-computer conversations. The computational perspective then deals with the recognition and generation of charismatic behaviour by AI. This includes an overview of the state of play in the field and the aforementioned blueprint. We then name exemplary use cases of computational charismatic skills before switching to ethical aspects and concluding this overview and perspective on building charisma-enabled AI.
Attentional Graph Convolutional Network for Structure-aware Audio-Visual Scene Classification
Venue: arXiv cs.CV 2022
Year: 2022

Audio-Visual scene understanding is a challenging problem due to the unstructured spatial-temporal relations that exist in the audio signals and spatial layouts of different objects and various texture patterns in the visual images. Recently, many studies have focused on abstracting features from convolutional neural networks while the learning of explicit semantically relevant frames of sound signals and visual images has been overlooked. To this end, we present an end-to-end framework, namely attentional graph convolutional network (AGCN), for structure-aware audio-visual scene representation. First, the spectrogram of sound and input image is processed by a backbone network for feature extraction. Then, to build multi-scale hierarchical information of input features, we utilize an attention fusion mechanism to aggregate features from multiple layers of the backbone network. Notably, to well represent the salient regions and contextual information of audio-visual inputs, the salient acoustic graph (SAG) and contextual acoustic graph (CAG), salient visual graph (SVG), and contextual visual graph (CVG) are constructed for the audio-visual scene representation. Finally, the constructed graphs pass through a graph convolutional network for structure-aware audio-visual scene recognition. Extensive experimental results on the audio, visual and audio-visual scene recognition datasets show that promising results have been achieved by the AGCN methods. Visualizing graphs on the spectrograms and images have been presented to show the effectiveness of proposed CAG/SAG and CVG/SVG that could focus on the salient and semantic relevant regions.
Modeling social resilience: Questions, answers, open problems
Venue: arXiv cs.SI 2022
Year: 2022

Resilience denotes the capacity of a system to withstand shocks and its ability to recover from them. We develop a framework to quantify the resilience of highly volatile, non-equilibrium social organizations, such as collectives or collaborating teams. It consists of four steps: (i) \emph{delimitation}, i.e., narrowing down the target systems, (ii) \emph{conceptualization}, .e., identifying how to approach social organizations, (iii) formal \emph{representation} using a combination of agent-based and network models, (iv) \emph{operationalization}, i.e. specifying measures and demonstrating how they enter the calculation of resilience. Our framework quantifies two dimensions of resilience, the \emph{robustness} of social organizations and their \emph{adaptivity}, and combines them in a novel resilience measure. It allows monitoring resilience instantaneously using longitudinal data instead of an ex-post evaluation.
Mapping Knowledge Representations to Concepts: A Review and New Perspectives
Venue: arXiv cs.AI 2022
Year: 2022

The success of neural networks builds to a large extent on their ability to create internal knowledge representations from real-world high-dimensional data, such as images, sound, or text. Approaches to extract and present these representations, in order to explain the neural network's decisions, is an active and multifaceted research field. To gain a deeper understanding of a central aspect of this field, we have performed a targeted review focusing on research that aims to associate internal representations with human understandable concepts. In doing this, we added a perspective on the existing research by using primarily deductive nomological explanations as a proposed taxonomy. We find this taxonomy and theories of causality, useful for understanding what can be expected, and not expected, from neural network explanations. The analysis additionally uncovers an ambiguity in the reviewed literature related to the goal of model explainability; is it understanding the ML model or, is it actionable explanations useful in the deployment domain?
A Comparative Study of Image Disguising Methods for Confidential Outsourced Learning
Venue: arXiv cs.CR 2022
Year: 2022

Large training data and expensive model tweaking are standard features of deep learning for images. As a result, data owners often utilize cloud resources to develop large-scale complex models, which raises privacy concerns. Existing solutions are either too expensive to be practical or do not sufficiently protect the confidentiality of data and models. In this paper, we study and compare novel \emph{image disguising} mechanisms, DisguisedNets and InstaHide, aiming to achieve a better trade-off among the level of protection for outsourced DNN model training, the expenses, and the utility of data. DisguisedNets are novel combinations of image blocktization, block-level random permutation, and two block-level secure transformations: random multidimensional projection (RMT) and AES pixel-level encryption (AES). InstaHide is an image mixup and random pixel flipping technique \cite{huang20}. We have analyzed and evaluated them under a multi-level threat model. RMT provides a better security guarantee than InstaHide, under the Level-1 adversarial knowledge with well-preserved model quality. In contrast, AES provides a security guarantee under the Level-2 adversarial knowledge, but it may affect model quality more. The unique features of image disguising also help us to protect models from model-targeted attacks. We have done an extensive experimental evaluation to understand how these methods work in different settings for different datasets.
Political representation bias in DBpedia and Wikidata as a challenge for downstream processing
Venue: arXiv cs.CL 2022
Year: 2022

Diversity Searcher is a tool originally developed to help analyse diversity in news media texts. It relies on a form of automated content analysis and thus rests on prior assumptions and depends on certain design choices related to diversity and fairness. One such design choice is the external knowledge source(s) used. In this article, we discuss implications that these sources can have on the results of content analysis. We compare two data sources that Diversity Searcher has worked with - DBpedia and Wikidata - with respect to their ontological coverage and diversity, and describe implications for the resulting analyses of text corpora. We describe a case study of the relative over- or under-representation of Belgian political parties between 1990 and 2020 in the English-language DBpedia, the Dutch-language DBpedia, and Wikidata, and highlight the many decisions needed with regard to the design of this data analysis and the assumptions behind it, as well as implications from the results. In particular, we came across a staggering over-representation of the political right in the English-language DBpedia.