OpenRaiser/Intern-Atlas huggingface dataset:
Parallelised Diffeomorphic Sampling-based Motion Planning
Venue: arXiv cs.RO 2021
Year: 2021

We propose Parallelised Diffeomorphic Sampling-based Motion Planning (PDMP). PDMP is a novel parallelised framework that uses bijective and differentiable mappings, or diffeomorphisms, to transform sampling distributions of sampling-based motion planners, in a manner akin to normalising flows. Unlike normalising flow models which use invertible neural network structures to represent these diffeomorphisms, we develop them from gradient information of desired costs, and encode desirable behaviour, such as obstacle avoidance. These transformed sampling distributions can then be used for sampling-based motion planning. A particular example is when we wish to imbue the sampling distribution with knowledge of the environment geometry, such that drawn samples are less prone to be in collisions. To this end, we propose to learn a continuous occupancy representation from environment occupancy data, such that gradients of the representation defines a valid diffeomorphism and is amenable to fast parallel evaluation. We use this to "morph" the sampling distribution to draw far fewer collision-prone samples. PDMP is able to leverage gradient information of costs, to inject specifications, in a manner similar to optimisation-based motion planning methods, but relies on drawing from a sampling distribution, retaining the tendency to find more global solutions, thereby bridging the gap between trajectory optimisation and sampling-based planning methods.
Understanding Money Trails of Suspicious Activities in a cryptocurrency-based Blockchain
Venue: arXiv cs.CR 2021
Year: 2021

The decentralization, redundancy, and pseudo-anonymity features have made permission-less public blockchain platforms attractive for adoption as technology platforms for cryptocurrencies. However, such adoption has enabled cybercriminals to exploit vulnerabilities in blockchain platforms and target the users through social engineering to carry out malicious activities. Most of the state-of-the-art techniques for detecting malicious actors depend on the transactional behavior of individual wallet addresses but do not analyze the money trails. We propose a heuristics-based approach that adds new features associated with money trails to analyze and find suspicious activities in cryptocurrency blockchains. Here, we focus only on the cyclic behavior and identify hidden patterns present in the temporal transactions graphs in a blockchain. We demonstrate our methods on the transaction data of the Ethereum blockchain. We find that malicious activities (such as Gambling, Phishing, and Money Laundering) have different cyclic patterns in Ethereum. We also identify two suspicious temporal cyclic path-based transfers in Ethereum. Our techniques may apply to other cryptocurrency blockchains with appropriate modifications adapted to the nature of the crypto-currency under investigation.
Enabling SQL-based Training Data Debugging for Federated Learning
Venue: arXiv cs.LG 2021
Year: 2021

How can we debug a logistical regression model in a federated learning setting when seeing the model behave unexpectedly (e.g., the model rejects all high-income customers' loan applications)? The SQL-based training data debugging framework has proved effective to fix this kind of issue in a non-federated learning setting. Given an unexpected query result over model predictions, this framework automatically removes the label errors from training data such that the unexpected behavior disappears in the retrained model. In this paper, we enable this powerful framework for federated learning. The key challenge is how to develop a security protocol for federated debugging which is proved to be secure, efficient, and accurate. Achieving this goal requires us to investigate how to seamlessly integrate the techniques from multiple fields (Databases, Machine Learning, and Cybersecurity). We first propose FedRain, which extends Rain, the state-of-the-art SQL-based training data debugging framework, to our federated learning setting. We address several technical challenges to make FedRain work and analyze its security guarantee and time complexity. The analysis results show that FedRain falls short in terms of both efficiency and security. To overcome these limitations, we redesign our security protocol and propose Frog, a novel SQL-based training data debugging framework tailored for federated learning. Our theoretical analysis shows that Frog is more secure, more accurate, and more efficient than FedRain. We conduct extensive experiments using several real-world datasets and a case study. The experimental results are consistent with our theoretical analysis and validate the effectiveness of Frog in practice.
Human operator cognitive availability aware Mixed-Initiative control
Venue: arXiv cs.RO 2021
Year: 2021

This paper presents a Cognitive Availability Aware Mixed-Initiative Controller for remotely operated mobile robots. The controller enables dynamic switching between different levels of autonomy (LOA), initiated by either the AI or the human operator. The controller leverages a state-of-the-art computer vision method and an off-the-shelf web camera to infer the cognitive availability of the operator and inform the AI-initiated LOA switching. This constitutes a qualitative advancement over previous Mixed-Initiative (MI) controllers. The controller is evaluated in a disaster response experiment, in which human operators have to conduct an exploration task with a remote robot. MI systems are shown to effectively assist the operators, as demonstrated by quantitative and qualitative results in performance and workload. Additionally, some insights into the experimental difficulties of evaluating complex MI controllers are presented.
H2OPUS-TLR: High Performance Tile Low Rank Symmetric Factorizations using Adaptive Randomized Approximation
Venue: arXiv cs.DC 2021
Year: 2021

Tile low rank representations of dense matrices partition them into blocks of roughly uniform size, where each off-diagonal tile is compressed and stored as its own low rank factorization. They offer an attractive representation for many data-sparse dense operators that appear in practical applications, where substantial compression and a much smaller memory footprint can be achieved. TLR matrices are a compromise between the simplicity of a regular perfectly-strided data structure and the optimal complexity of the unbalanced trees of hierarchically low rank matrices, and provide a convenient performance-tuning parameter through their tile size that can be proportioned to take into account the cache size where the tiles reside in the memory hierarchy. There are currently no high-performance algorithms that can generate Cholesky and $LDL^T$ factorizations, particularly on GPUs. The difficulties in achieving high performance when factoring TLR matrices come from the expensive compression operations that must be performed during the factorization process and the adaptive rank distribution of the tiles that causes an irregular work pattern for the processing cores. In this work, we develop a dynamic batching operation and combine it with batched adaptive randomized approximations to achieve high performance both on GPUs and CPUs. Our implementation attains over 1.2 TFLOP/s in double precision on the V100 GPU, and is limited by the performance of batched GEMM operations. The Cholesky factorization of covariance matrix of size $N = 131K$ arising in spatial statistics can be factored to an accuracy $ε=10^{-2}$ in just a few seconds. We believe the proposed GEMM-centric algorithm allows it to be readily ported to newer hardware such as the tensor cores that are optimized for small GEMM operations.
SAUCE: Truncated Sparse Document Signature Bit-Vectors for Fast Web-Scale Corpus Expansion
Venue: arXiv cs.CL 2021
Year: 2021

Recent advances in text representation have shown that training on large amounts of text is crucial for natural language understanding. However, models trained without predefined notions of topical interest typically require careful fine-tuning when transferred to specialized domains. When a sufficient amount of within-domain text may not be available, expanding a seed corpus of relevant documents from large-scale web data poses several challenges. First, corpus expansion requires scoring and ranking each document in the collection, an operation that can quickly become computationally expensive as the web corpora size grows. Relying on dense vector spaces and pairwise similarity adds to the computational expense. Secondly, as the domain concept becomes more nuanced, capturing the long tail of domain-specific rare terms becomes non-trivial, especially under limited seed corpora scenarios. In this paper, we consider the problem of fast approximate corpus expansion given a small seed corpus with a few relevant documents as a query, with the goal of capturing the long tail of a domain-specific set of concept terms. To efficiently collect large-scale domain-specific corpora with limited relevance feedback, we propose a novel truncated sparse document bit-vector representation, termed Signature Assisted Unsupervised Corpus Expansion (SAUCE). Experimental results show that SAUCE can reduce the computational burden while ensuring high within-domain lexical coverage.
Classification of Emotions and Evaluation of Customer Satisfaction from Speech in Real World Acoustic Environments
Venue: arXiv cs.SD 2021
Year: 2021

This paper focuses on finding suitable features to robustly recognize emotions and evaluate customer satisfaction from speech in real acoustic scenarios. The classification of emotions is based on standard and well-known corpora and the evaluation of customer satisfaction is based on recordings of real opinions given by customers about the received service during phone calls with call-center agents. The feature sets considered in this study include two speaker models, namely x-vectors and i-vectors, and also the well known feature set introduced in the Interspeech 2010 Paralinguistics Challenge (I2010PC). Additionally, we introduce the use of phonation, articulation and prosody features extracted with the DisVoice framework as alternative feature sets to robustly model emotions and customer satisfaction from speech. The results indicate that the I2010PC feature set is the best approach to classify emotions in the standard databases typically used in the literature. When considering the recordings collected in the call-center, without any control over the acoustic conditions, the best results are obtained with our articulation features. The I2010PC feature set includes 1584 measures while the articulation approach only includes 488 measures. We think that the proposed approach is more suitable for real-world applications where the acoustic conditions are not controlled and also it is potentially more convenient for industrial applications.
Robust Motion Planning in the Presence of Estimation Uncertainty
Venue: arXiv cs.RO 2021
Year: 2021

Motion planning is a fundamental problem and focuses on finding control inputs that enable a robot to reach a goal region while safely avoiding obstacles. However, in many situations, the state of the system may not be known but only estimated using, for instance, a Kalman filter. This results in a novel motion planning problem where safety must be ensured in the presence of state estimation uncertainty. Previous approaches to this problem are either conservative or integrate state estimates optimistically which leads to non-robust solutions. Optimistic solutions require frequent replanning to not endanger the safety of the system. We propose a new formulation to this problem with the aim to be robust to state estimation errors while not being overly conservative. In particular, we formulate a stochastic optimal control problem that contains robustified risk-aware safety constraints by incorporating robustness margins to account for state estimation errors. We propose a novel sampling-based approach that builds trees exploring the reachable space of Gaussian distributions that capture uncertainty both in state estimation and in future measurements. We provide robustness guarantees and show, both in theory and simulations, that the induced robustness margins constitute a trade-off between conservatism and robustness for planning under estimation uncertainty that allows to control the frequency of replanning.
On Psychometric Instruments in Software Engineering Research: An Ongoing Study
Venue: arXiv cs.SE 2021
Year: 2021

[Context] Although software development is an inherently human activity, research in software engineering (SE) has long focused mostly on processes and tools, failing to recall about the human factors behind. Even when explored, researchers typically do not properly use psychology background to better understand human factors in SE, such as the psychometric instruments, which aim to measure human factors. [Objective] Our goal is to provide a critical review on the use of psychometric instruments in SE research regarding personality. [Method] We present a two-step study. First, a systematic mapping of the literature in order to generate a catalog of the psychometric instruments used; second, a preliminary survey to be conducted with social sciences researchers to assess their adoption in SE research. [Results and Conclusion] The results so far are quite initial. The next steps direct us to finish the data extraction to finalize the catalog (systematic mapping) and to refine the survey design and apply it with social sciences researchers.
Understanding the Logit Distributions of Adversarially-Trained Deep Neural Networks
Venue: arXiv cs.LG 2021
Year: 2021

Adversarial defenses train deep neural networks to be invariant to the input perturbations from adversarial attacks. Almost all defense strategies achieve this invariance through adversarial training i.e. training on inputs with adversarial perturbations. Although adversarial training is successful at mitigating adversarial attacks, the behavioral differences between adversarially-trained (AT) models and standard models are still poorly understood. Motivated by a recent study on learning robustness without input perturbations by distilling an AT model, we explore what is learned during adversarial training by analyzing the distribution of logits in AT models. We identify three logit characteristics essential to learning adversarial robustness. First, we provide a theoretical justification for the finding that adversarial training shrinks two important characteristics of the logit distribution: the max logit values and the "logit gaps" (difference between the logit max and next largest values) are on average lower for AT models. Second, we show that AT and standard models differ significantly on which samples are high or low confidence, then illustrate clear qualitative differences by visualizing samples with the largest confidence difference. Finally, we find learning information about incorrect classes to be essential to learning robustness by manipulating the non-max logit information during distillation and measuring the impact on the student's robustness. Our results indicate that learning some adversarial robustness without input perturbations requires a model to learn specific sample-wise confidences and incorrect class orderings that follow complex distributions.
Semantic-Based Self-Critical Training For Question Generation
Venue: arXiv cs.CL 2021
Year: 2021

Question generation is a conditioned language generation task that consists in generating a context-aware question given a context and the targeted answer. Train language modelling with a mere likelihood maximization has been widely used while suffering from exposure bias and the discordance between the training and the test metrics. In the way of addressing this issue, The presented work portrays a fully Transformer-based reinforcement learning generator-evaluation architecture for neural question generation. To edge the flexibility of the generation, a semantic-based reward score was externally infused during the training to drive the training of the language model. The global architecture is laid out in a generator-evaluator fashion optimized directly to n-gram and semantic-based metrics. Evaluation metrics for language modelling only based on n-gram overlapping do not consider semantic relations between reference and candidate sequences. To improve the evaluation step, a two-fold evaluation was carried out. On the one side, an n-gram overlapping evaluation using the BLEU score. On the other side, a semantic-based assessment using BERTScore and NUBIA. The results were corroborated by a binary human evaluation of the semantic relatedness of the generated question and the ground truth. The results obtained showed that use a semantic-based REINFORCE algorithm for the question generation syntactically reshapes the generated questions while preserving their underlying semantic meaning. Many downstream applications can be drawn from a successful question generation including the enlargement of question answering datasets, the improvement of conversational systems, the enhancement of autonomous educational assessment systems, and so forth.
Predicting Stable Configurations for Semantic Placement of Novel Objects
Venue: arXiv cs.RO 2021
Year: 2021

Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem down into two parts: (1) finding physically valid locations for the objects and (2) determining if those poses satisfy learned, high-level semantic relationships. We build our models and training from the ground up to be tightly integrated with our proposed planning algorithm for semantic placement of unknown objects. We train our models purely in simulation, with no fine-tuning needed for use in the real world. Our approach enables motion planning for semantic rearrangement of unknown objects in scenes with varying geometry from only RGB-D sensing. Our experiments through a set of simulated ablations demonstrate that using a relational classifier alone is not sufficient for reliable planning. We further demonstrate the ability of our planner to generate and execute diverse manipulation plans through a set of real-world experiments with a variety of objects.
Lingxi: A Diversity-aware Chinese Modern Poetry Generation System
Venue: arXiv cs.CL 2021
Year: 2021

Poetry generation has been a difficult task in natural language processing. Unlike plain neural text generation tasks, poetry has a high requirement for novelty, since an easily-understood sentence with too many high frequency words might not be considered as poetic, while adequately ambiguous sentences with low frequency words can possibly be novel and creative. Inspired by this, we present Lingxi, a diversity-aware Chinese modern poetry generation system. We propose nucleus sampling with randomized head (NS-RH) algorithm, which randomizes the high frequency part ("head") of the predicted distribution, in order to emphasize on the "comparatively low frequency" words. The proposed algorithm can significantly increase the novelty of generated poetry compared with traditional sampling methods. The permutation of distribution is controllable by tuning the filtering parameter that determines the "head" to permutate, achieving diversity-aware sampling. We find that even when a large portion of filtered vocabulary is randomized, it can actually generate fluent poetry but with notably higher novelty. We also propose a semantic-similarity-based rejection sampling algorithm, which creates longer and more informative context on the basis of the short input poetry title while maintaining high semantic similarity to the title, alleviating the off-topic issue.
Task-aware Warping Factors in Mask-based Speech Enhancement
Venue: arXiv cs.SD 2021
Year: 2021

This paper proposes the use of two task-aware warping factors in mask-based speech enhancement (SE). One controls the balance between speech-maintenance and noise-removal in training phases, while the other controls SE power applied to specific downstream tasks in testing phases. Our intention is to alleviate the problem that SE systems trained to improve speech quality often fail to improve other downstream tasks, such as automatic speaker verification (ASV) and automatic speech recognition (ASR), because they do not share the same objects. It is easy to apply the proposed dual-warping factors approach to any mask-based SE method, and it allows a single SE system to handle multiple tasks without task-dependent training. The effectiveness of our proposed approach has been confirmed on the SITW dataset for ASV evaluation and the LibriSpeech dataset for ASR and speech quality evaluations of 0-20dB. We show that different warping values are necessary for a single SE to achieve optimal performance w.r.t. the three tasks. With the use of task-dependent warping factors, speech quality was improved by an 84.7% PESQ increase, ASV had a 22.4% EER reduction, and ASR had a 52.2% WER reduction, on 0dB speech. The effectiveness of the task-dependent warping factors were also cross-validated on VoxCeleb-1 test set for ASV and LibriSpeech dev-clean set for ASV and quality evaluations. The proposed method is highly effective and easy to apply in practice.
Secoco: Self-Correcting Encoding for Neural Machine Translation
Venue: arXiv cs.CL 2021
Year: 2021

This paper presents Self-correcting Encoding (Secoco), a framework that effectively deals with input noise for robust neural machine translation by introducing self-correcting predictors. Different from previous robust approaches, Secoco enables NMT to explicitly correct noisy inputs and delete specific errors simultaneously with the translation decoding process. Secoco is able to achieve significant improvements over strong baselines on two real-world test sets and a benchmark WMT dataset with good interpretability. We will make our code and dataset publicly available soon.
Dealing with Typos for BERT-based Passage Retrieval and Ranking
Venue: arXiv cs.IR 2021
Year: 2021

Passage retrieval and ranking is a key task in open-domain question answering and information retrieval. Current effective approaches mostly rely on pre-trained deep language model-based retrievers and rankers. These methods have been shown to effectively model the semantic matching between queries and passages, also in presence of keyword mismatch, i.e. passages that are relevant to a query but do not contain important query keywords. In this paper we consider the Dense Retriever (DR), a passage retrieval method, and the BERT re-ranker, a popular passage re-ranking method. In this context, we formally investigate how these models respond and adapt to a specific type of keyword mismatch -- that caused by keyword typos occurring in queries. Through empirical investigation, we find that typos can lead to a significant drop in retrieval and ranking effectiveness. We then propose a simple typos-aware training framework for DR and BERT re-ranker to address this issue. Our experimental results on the MS MARCO passage ranking dataset show that, with our proposed typos-aware training, DR and BERT re-ranker can become robust to typos in queries, resulting in significantly improved effectiveness compared to models trained without appropriately accounting for typos.