OpenRaiser/Intern-Atlas huggingface dataset:
An Axiomatic Approach to Formalized Responsibility Ascription
Venue: arXiv cs.GT 2022
Year: 2022

A formalized and quantifiable responsibility score is a crucial component in many aspects of the development and application of multi-agent systems and autonomous agents. We can employ it to inform decision making processes based on ethical considerations, as a measure to ensure redundancy that helps us in avoiding system failure, as well as for verifying that autonomous systems remain trustworthy by testing for unwanted responsibility voids in advance. We follow recent proposals to use probabilities as the basis for responsibility ascription in uncertain environments rather than the deterministic causal views employed in much of the previous formal philosophical literature. Using an axiomatic approach we formally evaluate the qualities of (classes of) proposed responsibility functions. To this end, we decompose the computation of the responsibility a group carries for an outcome into the computation of values that we assign to its members for individual decisions leading to that outcome, paired with an appropriate aggregation function. Next, we discuss a number of intuitively desirable properties for each of these contributing functions. We find an incompatibility between axioms determining upper and lower bounds for the values assigned at the member level. Regarding the aggregation from member-level values to group-level responsibility we are able to axiomatically characterize one promising aggregation function. Finally, we present two maximally axiom compliant group-level responsibility measures -- one respecting the lower bound axioms at the member level and one respecting the corresponding upper bound axioms.
Speeding Up Entmax
Venue: arXiv cs.CL 2022
Year: 2022

Softmax is the de facto standard in modern neural networks for language processing when it comes to normalizing logits. However, by producing a dense probability distribution each token in the vocabulary has a nonzero chance of being selected at each generation step, leading to a variety of reported problems in text generation. $α$-entmax of Peters et al. (2019, arXiv:1905.05702) solves this problem, but is considerably slower than softmax. In this paper, we propose an alternative to $α$-entmax, which keeps its virtuous characteristics, but is as fast as optimized softmax and achieves on par or better performance in machine translation task.
The self-supervised spectral-spatial attention-based transformer network for automated, accurate prediction of crop nitrogen status from UAV imagery
Venue: arXiv cs.CV 2022
Year: 2022

Nitrogen (N) fertilizer is routinely applied by farmers to increase crop yields. At present, farmers often over-apply N fertilizer in some locations or at certain times because they do not have high-resolution crop N status data. N-use efficiency can be low, with the remaining N lost to the environment, resulting in higher production costs and environmental pollution. Accurate and timely estimation of N status in crops is crucial to improving cropping systems' economic and environmental sustainability. Destructive approaches based on plant tissue analysis are time consuming and impractical over large fields. Recent advances in remote sensing and deep learning have shown promise in addressing the aforementioned challenges in a non-destructive way. In this work, we propose a novel deep learning framework: a self-supervised spectral-spatial attention-based vision transformer (SSVT). The proposed SSVT introduces a Spectral Attention Block (SAB) and a Spatial Interaction Block (SIB), which allows for simultaneous learning of both spatial and spectral features from UAV digital aerial imagery, for accurate N status prediction in wheat fields. Moreover, the proposed framework introduces local-to-global self-supervised learning to help train the model from unlabelled data. The proposed SSVT has been compared with five state-of-the-art models including: ResNet, RegNet, EfficientNet, EfficientNetV2 and the original vision transformer on both testing and independent datasets. The proposed approach achieved high accuracy (0.96) with good generalizability and reproducibility for wheat N status estimation.
Robust Multi-Robot Trajectory Optimization Using Alternating Direction Method of Multiplier
Venue: arXiv cs.RO 2022
Year: 2022

We propose a variant of alternating direction method of multiplier (ADMM) to solve constrained trajectory optimization problems. Our ADMM framework breaks a joint optimization into small sub-problems, leading to a low iteration cost and decentralized parameter updates. Starting from a collision-free initial trajectory, our method inherits the theoretical properties of primal interior point method (P-IPM), i.e., guaranteed collision avoidance and homotopy preservation throughout optimization, while being orders of magnitude faster. We have analyzed the convergence and evaluated our method for time-optimal multi-UAV trajectory optimizations and simultaneous goal-reaching of multiple robot arms, where we take into consider kinematics-, dynamics-limits, and homotopy-preserving collision constraints. Our method highlights an order of magnitude's speedup, while generating trajectories of comparable qualities as state-of-the-art P-IPM solver.
Choriented Maps: Visualizing SDG Data on Mobile Devices
Venue: arXiv cs.HC 2022
Year: 2022

Choropleth maps and graduated symbol maps are often used to visualize quantitative geographic data. However, as the number of classes grows, distinguishing between adjacent classes increasingly becomes challenging. To mitigate this issue, this work introduces two new visualization types: choriented maps (maps that use colour and orientation as variables to encode geographic information) and choriented mobile (an optimization of choriented maps for mobile devices). The maps were evaluated in a graphical perception study featuring the comparison of SDG (Sustainable Development Goal) data for several European countries. Choriented maps and choriented mobile visualizations resulted in comparable, sometimes better effectiveness and confidence scores than choropleth and graduated symbol maps. Choriented maps and choriented mobile visualizations also performed well regarding efficiency overall and performed worse only than graduated symbol maps. These results suggest that the use of colour and orientation as visual variables in combination can improve the selectivity of map symbols and user performance during the exploration of geographic data in some scenarios.
Invariant Risk Minimisation for Cross-Organism Inference: Substituting Mouse Data for Human Data in Human Risk Factor Discovery
Venue: arXiv cs.LG 2022
Year: 2022

Human medical data can be challenging to obtain due to data privacy concerns, difficulties conducting certain types of experiments, or prohibitive associated costs. In many settings, data from animal models or in-vitro cell lines are available to help augment our understanding of human data. However, this data is known for having low etiological validity in comparison to human data. In this work, we augment small human medical datasets with in-vitro data and animal models. We use Invariant Risk Minimisation (IRM) to elucidate invariant features by considering cross-organism data as belonging to different data-generating environments. Our models identify genes of relevance to human cancer development. We observe a degree of consistency between varying the amounts of human and mouse data used, however, further work is required to obtain conclusive insights. As a secondary contribution, we enhance existing open source datasets and provide two uniformly processed, cross-organism, homologue gene-matched datasets to the community.
Co-segmentation Inspired Attention Module for Video-based Computer Vision Tasks
Venue: arXiv cs.CV 2022
Year: 2022

Video-based computer vision tasks can benefit from estimation of the salient regions and interactions between those regions. Traditionally, this has been done by identifying the object regions in the images by utilizing pre-trained models to perform object detection, object segmentation and/or object pose estimation. Although using pre-trained models is a viable approach, it has several limitations in the need for an exhaustive annotation of object categories, a possible domain gap between datasets, and a bias that is typically present in pre-trained models. In this work, we propose to utilize the common rationale that a sequence of video frames capture a set of common objects and interactions between them, thus a notion of co-segmentation between the video frame features may equip the model with the ability to automatically focus on task-specific salient regions and improve the underlying task's performance in an end-to-end manner. In this regard, we propose a generic module called ``Co-Segmentation inspired Attention Module'' (COSAM) that can be plugged in to any CNN model to promote the notion of co-segmentation based attention among a sequence of video frame features. We show the application of COSAM in three video-based tasks namely: 1) Video-based person re-ID, 2) Video captioning, & 3) Video action classification and demonstrate that COSAM is able to capture the task-specific salient regions in video frames, thus leading to notable performance improvements along with interpretable attention maps for a variety of video-based vision tasks, with possible application to other video-based vision tasks as well.
Resilience of IOTA Consensus
Venue: arXiv cs.CR 2022
Year: 2022

Blockchains are appealing technologies with various applications ranging from banking to networking. IOTA blockchain is one of the most prominent blockchain specifically designed for IoT environments. In this paper we investigate the convergence of IOTA consensus algorithms: Fast Probabilistic Consensus and Cellular Consensus, when run on top of various topologies. Furthermore, we investigate their resilience to various types of adversaries. Our extensive simulations show that both Cellular Consensus and Fast Probabilistic Consensus have poor convergence rates even under low power adversaries and have poor scaling performances except for the case of Watts Strogatz topologies. Our study points out that the design of IOTs dedicated blockchains is still an open research problem and gives hints design.
iBOT: Image BERT Pre-Training with Online Tokenizer
Venue: arXiv cs.CV 2022
Year: 2022

The success of language Transformers is primarily attributed to the pretext task of masked language modeling (MLM), where texts are first tokenized into semantically meaningful pieces. In this work, we study masked image modeling (MIM) and indicate the advantages and challenges of using a semantically meaningful visual tokenizer. We present a self-supervised framework iBOT that can perform masked prediction with an online tokenizer. Specifically, we perform self-distillation on masked patch tokens and take the teacher network as the online tokenizer, along with self-distillation on the class token to acquire visual semantics. The online tokenizer is jointly learnable with the MIM objective and dispenses with a multi-stage training pipeline where the tokenizer needs to be pre-trained beforehand. We show the prominence of iBOT by achieving an 82.3% linear probing accuracy and an 87.8% fine-tuning accuracy evaluated on ImageNet-1K. Beyond the state-of-the-art image classification results, we underline emerging local semantic patterns, which helps the models to obtain strong robustness against common corruptions and achieve leading results on dense downstream tasks, eg., object detection, instance segmentation, and semantic segmentation.
On-Demand Unlabeled Personalized Federated Learning
Venue: arXiv cs.LG 2022
Year: 2022

In Federated Learning (FL), multiple clients collaborate to learn a shared model through a central server while keeping data decentralized. Personalized Federated Learning (PFL) further extends FL by learning a personalized model per client. In both FL and PFL, all clients participate in the training process and their labeled data are used for training. However, in reality, novel clients may wish to join a prediction service after it has been deployed, obtaining predictions for their own \textbf{unlabeled} data. Here, we introduce a new learning setup, On-Demand Unlabeled PFL (OD-PFL), where a system trained on a set of clients, needs to be later applied to novel unlabeled clients at inference time. We propose a novel approach to this problem, ODPFL-HN, which learns to produce a new model for the late-to-the-party client. Specifically, we train an encoder network that learns a representation for a client given its unlabeled data. That client representation is fed to a hypernetwork that generates a personalized model for that client. Evaluated on five benchmark datasets, we find that ODPFL-HN generalizes better than the current FL and PFL methods, especially when the novel client has a large shift from training clients. We also analyzed the generalization error for novel clients, and showed analytically and experimentally how novel clients can apply differential privacy.
HiRID-ICU-Benchmark -- A Comprehensive Machine Learning Benchmark on High-resolution ICU Data
Venue: arXiv cs.LG 2022
Year: 2022

The recent success of machine learning methods applied to time series collected from Intensive Care Units (ICU) exposes the lack of standardized machine learning benchmarks for developing and comparing such methods. While raw datasets, such as MIMIC-IV or eICU, can be freely accessed on Physionet, the choice of tasks and pre-processing is often chosen ad-hoc for each publication, limiting comparability across publications. In this work, we aim to improve this situation by providing a benchmark covering a large spectrum of ICU-related tasks. Using the HiRID dataset, we define multiple clinically relevant tasks in collaboration with clinicians. In addition, we provide a reproducible end-to-end pipeline to construct both data and labels. Finally, we provide an in-depth analysis of current state-of-the-art sequence modeling methods, highlighting some limitations of deep learning approaches for this type of data. With this benchmark, we hope to give the research community the possibility of a fair comparison of their work.
Communication by means of Modulated Johnson Noise
Venue: arXiv cs.NI 2022
Year: 2022

We present the design of a new passive wireless communication system that does not rely on ambient or generated RF sources. Instead, we exploit the Johnson (thermal) noise generated by a resistor to transmit information bits wirelessly. By switching the load connected to an antenna between a resistor and open circuit, we can achieve data rates of up to 26bps and distances of up to 7.3 meters. This communication method is orders of magnitude less power consuming than conventional communication schemes and presents the opportunity to enable wireless communication in areas with a complete lack of connectivity.
ARKitScenes: A Diverse Real-World Dataset For 3D Indoor Scene Understanding Using Mobile RGB-D Data
Venue: arXiv cs.CV 2022
Year: 2022

Scene understanding is an active research area. Commercial depth sensors, such as Kinect, have enabled the release of several RGB-D datasets over the past few years which spawned novel methods in 3D scene understanding. More recently with the launch of the LiDAR sensor in Apple's iPads and iPhones, high quality RGB-D data is accessible to millions of people on a device they commonly use. This opens a whole new era in scene understanding for the Computer Vision community as well as app developers. The fundamental research in scene understanding together with the advances in machine learning can now impact people's everyday experiences. However, transforming these scene understanding methods to real-world experiences requires additional innovation and development. In this paper we introduce ARKitScenes. It is not only the first RGB-D dataset that is captured with a now widely available depth sensor, but to our best knowledge, it also is the largest indoor scene understanding data released. In addition to the raw and processed data from the mobile device, ARKitScenes includes high resolution depth maps captured using a stationary laser scanner, as well as manually labeled 3D oriented bounding boxes for a large taxonomy of furniture. We further analyze the usefulness of the data for two downstream tasks: 3D object detection and color-guided depth upsampling. We demonstrate that our dataset can help push the boundaries of existing state-of-the-art methods and it introduces new challenges that better represent real-world scenarios.
Edge Computing in IoT: A 6G Perspective
Venue: arXiv cs.NI 2022
Year: 2022

Edge computing is one of the key driving forces to enable Beyond 5G (B5G) and 6G networks. Due to the unprecedented increase in traffic volumes and computation demands of future networks, multi-access (or mobile) edge computing (MEC) is considered as a promising solution to provide cloud-computing capabilities within the radio access network (RAN) closer to the end users. There has been a significant amount of research on MEC and its potential applications; however, very little has been said about the key factors of MEC deployment to meet the diverse demands of future applications. In this article, we present key considerations for edge deployments in B5G/6G networks including edge architecture, server location and capacity, user density, security etc. We further provide state-of-the-art edge-centric services in future B5G/6G networks. The paper also present experimental evaluation of edge-based services deployment including video transcoding and deep learning inference. Lastly, we present some interesting insights and open research problems in edge computing for 6G networks.
Using Convolutional Neural Networks to Detect Compression Algorithms
Venue: arXiv cs.CV 2022
Year: 2022

Machine learning is penetrating various domains virtually, thereby proliferating excellent results. It has also found an outlet in digital forensics, wherein it is becoming the prime driver of computational efficiency. A prominent feature that exhibits the effectiveness of ML algorithms is feature extraction that can be instrumental in the applications for digital forensics. Convolutional Neural Networks are further used to identify parts of the file. To this end, we observed that the literature does not include sufficient information about the identification of the algorithms used to compress file fragments. With this research, we attempt to address this gap as compression algorithms are beneficial in generating higher entropy comparatively as they make the data more compact. We used a base dataset, compressed every file with various algorithms, and designed a model based on that. The used model was accurately able to identify files compressed using compress, lzip and bzip2.
Privacy-preserving Federated Learning for Residential Short Term Load Forecasting
Venue: arXiv cs.LG 2022
Year: 2022

With high levels of intermittent power generation and dynamic demand patterns, accurate forecasts for residential loads have become essential. Smart meters can play an important role when making these forecasts as they provide detailed load data. However, using smart meter data for load forecasting is challenging due to data privacy requirements. This paper investigates how these requirements can be addressed through a combination of federated learning and privacy preserving techniques such as differential privacy and secure aggregation. For our analysis, we employ a large set of residential load data and simulate how different federated learning models and privacy preserving techniques affect performance and privacy. Our simulations reveal that combining federated learning and privacy preserving techniques can secure both high forecasting accuracy and near-complete privacy. Specifically, we find that such combinations enable a high level of information sharing while ensuring privacy of both the processed load data and forecasting models. Moreover, we identify and discuss challenges of applying federated learning, differential privacy and secure aggregation for residential short-term load forecasting.
Hybrid Feedback for Autonomous Navigation in Environments with Arbitrary Convex Obstacles
Venue: arXiv cs.RO 2022
Year: 2022

We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global asymptotic stabilization of the robot towards a predefined target location while ensuring the forward invariance of the obstacle-free workspace. The main idea consists in designing an appropriate switching strategy between the move-to-target mode and the obstacle-avoidance mode based on the proximity of the robot with respect to the nearest obstacle. The proposed hybrid controller generates continuous velocity input trajectories when the robot is initialized away from the boundaries of the unsafe regions. Finally, we provide an algorithmic procedure for the sensor-based implementation of the proposed hybrid controller and validate its effectiveness through some simulation results.
SUB-Depth: Self-distillation and Uncertainty Boosting Self-supervised Monocular Depth Estimation
Venue: arXiv cs.CV 2022
Year: 2022

We propose SUB-Depth, a universal multi-task training framework for self-supervised monocular depth estimation (SDE). Depth models trained with SUB-Depth outperform the same models trained in a standard single-task SDE framework. By introducing an additional self-distillation task into a standard SDE training framework, SUB-Depth trains a depth network, not only to predict the depth map for an image reconstruction task, but also to distill knowledge from a trained teacher network with unlabelled data. To take advantage of this multi-task setting, we propose homoscedastic uncertainty formulations for each task to penalize areas likely to be affected by teacher network noise, or violate SDE assumptions. We present extensive evaluations on KITTI to demonstrate the improvements achieved by training a range of existing networks using the proposed framework, and we achieve state-of-the-art performance on this task. Additionally, SUB-Depth enables models to estimate uncertainty on depth output.
Efficiently Transforming Tables for Joinability
Venue: arXiv cs.DB 2022
Year: 2022

Data from different sources rarely conform to a single formatting even if they describe the same set of entities, and this raises concerns when data from multiple sources must be joined or cross-referenced. Such a formatting mismatch is unavoidable when data is gathered from various public and third-party sources. Commercial database systems are not able to perform the join when there exist differences in data representation or formatting, and manual reformatting is both time consuming and error-prone. We study the problem of efficiently joining textual data under the condition that the join columns are not formatted the same and cannot be equi-joined, but they become joinable under some transformations. The problem is challenging simply because the number of possible transformations explodes with both the length of the input and the number of rows, even if each transformation is formed using very few basic units. We show that an efficient algorithm can be developed based on the common characteristics of the joined columns, and develop one such algorithm over a rich set of basic operations that can be composed to form transformations. We compare both the coverage and the running time of our algorithm to a state-of-the-art approach, and show that our algorithm covers every transformation that is covered in the state-of-the-art approach but is a few orders of magnitude faster, as evaluated on various real and synthetic data.