OpenRaiser/Intern-Atlas huggingface dataset:
Virtual Reality via Object Pose Estimation and Active Learning: Realizing Telepresence Robots with Aerial Manipulation Capabilities
Venue: arXiv cs.RO 2023
Year: 2023

This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides real-time 3D displays of the robot's workspace as well as a haptic guidance to its remotely located operator. To realize this, multiple sensors namely a LiDAR, cameras and IMUs are utilized. For processing of the acquired sensory data, pose estimation pipelines are devised for industrial objects of both known and unknown geometries. We further propose an active learning pipeline in order to increase the sample efficiency of a pipeline component that relies on Deep Neural Networks (DNNs) based object detection. All these algorithms jointly address various challenges encountered during the execution of perception tasks in industrial scenarios. In the experiments, exhaustive ablation studies are provided to validate the proposed pipelines. Methodologically, these results commonly suggest how an awareness of the algorithms' own failures and uncertainty (`introspection') can be used tackle the encountered problems. Moreover, outdoor experiments are conducted to evaluate the effectiveness of the overall system in enhancing aerial manipulation capabilities. In particular, with flight campaigns over days and nights, from spring to winter, and with different users and locations, we demonstrate over 70 robust executions of pick-and-place, force application and peg-in-hole tasks with the DLR cable-Suspended Aerial Manipulator (SAM). As a result, we show the viability of the proposed system in future industrial applications.
Analysis of Convolutions, Non-linearity and Depth in Graph Neural Networks using Neural Tangent Kernel
Venue: arXiv cs.LG 2023
Year: 2023

The fundamental principle of Graph Neural Networks (GNNs) is to exploit the structural information of the data by aggregating the neighboring nodes using a `graph convolution' in conjunction with a suitable choice for the network architecture, such as depth and activation functions. Therefore, understanding the influence of each of the design choice on the network performance is crucial. Convolutions based on graph Laplacian have emerged as the dominant choice with the symmetric normalization of the adjacency matrix as the most widely adopted one. However, some empirical studies show that row normalization of the adjacency matrix outperforms it in node classification. Despite the widespread use of GNNs, there is no rigorous theoretical study on the representation power of these convolutions, that could explain this behavior. Similarly, the empirical observation of the linear GNNs performance being on par with non-linear ReLU GNNs lacks rigorous theory. In this work, we theoretically analyze the influence of different aspects of the GNN architecture using the Graph Neural Tangent Kernel in a semi-supervised node classification setting. Under the population Degree Corrected Stochastic Block Model, we prove that: (i) linear networks capture the class information as good as ReLU networks; (ii) row normalization preserves the underlying class structure better than other convolutions; (iii) performance degrades with network depth due to over-smoothing, but the loss in class information is the slowest in row normalization; (iv) skip connections retain the class information even at infinite depth, thereby eliminating over-smoothing. We finally validate our theoretical findings numerically and on real datasets such as Cora and Citeseer.
Alibaba-Translate China's Submission for WMT 2022 Quality Estimation Shared Task
Venue: arXiv cs.CL 2023
Year: 2023

In this paper, we present our submission to the sentence-level MQM benchmark at Quality Estimation Shared Task, named UniTE (Unified Translation Evaluation). Specifically, our systems employ the framework of UniTE, which combined three types of input formats during training with a pre-trained language model. First, we apply the pseudo-labeled data examples for the continuously pre-training phase. Notably, to reduce the gap between pre-training and fine-tuning, we use data pruning and a ranking-based score normalization strategy. For the fine-tuning phase, we use both Direct Assessment (DA) and Multidimensional Quality Metrics (MQM) data from past years' WMT competitions. Finally, we collect the source-only evaluation results, and ensemble the predictions generated by two UniTE models, whose backbones are XLM-R and InfoXLM, respectively. Results show that our models reach 1st overall ranking in the Multilingual and English-Russian settings, and 2nd overall ranking in English-German and Chinese-English settings, showing relatively strong performances in this year's quality estimation competition.
RoseMatcher: Identifying the Impact of User Reviews on App Updates
Venue: arXiv cs.SE 2023
Year: 2023

$\textbf{Context}$: The release planning of mobile apps has become an area of active research, with most studies centering on app analysis through release notes in the Apple App Store and tracking user reviews via issue trackers. However, the correlation between these release notes and user reviews in App Store remains understudied. $\textbf{Objective}$: In this paper, we introduce $\textit{RoseMatcher}$, a novel automatic approach to match relevant user reviews with app release notes and identify matched pairs with high confidence. $\textbf{Methods}$: We collected 944 release notes and 1,046,862 user reviews from 5 mobile apps in the Apple App Store as research data to evaluate the effectiveness and accuracy of $\textit{RoseMatcher}$, and conducted deep content analysis on matched pairs. $\textbf{Results}$: Our evaluation shows that $\textit{RoseMatcher}$ can reach a hit ratio of 0.718 for identifying relevant matched pairs, and with the manual labeling and content analysis of 984 relevant pairs, we identify 8 roles that user reviews play in app updates according to the relationship between release notes and user reviews in the relevant matched pairs. $\textbf{Conclusions}$: Our findings indicate that both app development teams and users pay close attention to release notes and user reviews, with release notes typically addressing feature requests, bug reports, and complaints, and user reviews offering positive, negative, and constructive feedback. Overall, the study highlights the importance of the communication between app development teams and users in the release planning of mobile apps, with relevant reviews tending to be posed within a short period before and after the release of release notes, with the average time interval between the post time of release notes and user reviews being approximately one year.
End-to-End Entity Detection with Proposer and Regressor
Venue: arXiv cs.CL 2023
Year: 2023

Named entity recognition is a traditional task in natural language processing. In particular, nested entity recognition receives extensive attention for the widespread existence of the nesting scenario. The latest research migrates the well-established paradigm of set prediction in object detection to cope with entity nesting. However, the manual creation of query vectors, which fail to adapt to the rich semantic information in the context, limits these approaches. An end-to-end entity detection approach with proposer and regressor is presented in this paper to tackle the issues. First, the proposer utilizes the feature pyramid network to generate high-quality entity proposals. Then, the regressor refines the proposals for generating the final prediction. The model adopts encoder-only architecture and thus obtains the advantages of the richness of query semantics, high precision of entity localization, and easiness of model training. Moreover, we introduce the novel spatially modulated attention and progressive refinement for further improvement. Extensive experiments demonstrate that our model achieves advanced performance in flat and nested NER, achieving a new state-of-the-art F1 score of 80.74 on the GENIA dataset and 72.38 on the WeiboNER dataset.
SignReLU neural network and its approximation ability
Venue: arXiv cs.LG 2023
Year: 2023

Deep neural networks (DNNs) have garnered significant attention in various fields of science and technology in recent years. Activation functions define how neurons in DNNs process incoming signals for them. They are essential for learning non-linear transformations and for performing diverse computations among successive neuron layers. In the last few years, researchers have investigated the approximation ability of DNNs to explain their power and success. In this paper, we explore the approximation ability of DNNs using a different activation function, called SignReLU. Our theoretical results demonstrate that SignReLU networks outperform rational and ReLU networks in terms of approximation performance. Numerical experiments are conducted comparing SignReLU with the existing activations such as ReLU, Leaky ReLU, and ELU, which illustrate the competitive practical performance of SignReLU.
On the Perturbation Function of Ranking and Balance for Weighted Online Bipartite Matching
Venue: arXiv cs.DS 2023
Year: 2023

Ranking and Balance are arguably the two most important algorithms in the online matching literature. They achieve the same optimal competitive ratio of $1-1/e$ for the integral version and fractional version of online bipartite matching by Karp, Vazirani, and Vazirani (STOC 1990) respectively. The two algorithms have been generalized to weighted online bipartite matching problems, including vertex-weighted online bipartite matching and AdWords, by utilizing a perturbation function. The canonical choice of the perturbation function is $f(x)=1-e^{x-1}$ as it leads to the optimal competitive ratio of $1-1/e$ in both settings. We advance the understanding of the weighted generalizations of Ranking and Balance in this paper, with a focus on studying the effect of different perturbation functions. First, we prove that the canonical perturbation function is the \emph{unique} optimal perturbation function for vertex-weighted online bipartite matching. In stark contrast, all perturbation functions achieve the optimal competitive ratio of $1-1/e$ in the unweighted setting. Second, we prove that the generalization of Ranking to AdWords with unknown budgets using the canonical perturbation function is at most $0.624$ competitive, refuting a conjecture of Vazirani (2021). More generally, as an application of the first result, we prove that no perturbation function leads to the prominent competitive ratio of $1-1/e$ by establishing an upper bound of $1-1/e-0.0003$. Finally, we propose the online budget-additive welfare maximization problem that is intermediate between AdWords and AdWords with unknown budgets, and we design an optimal $1-1/e$ competitive algorithm by generalizing Balance.
Kirin: Hitting the Internet with Millions of Distributed IPv6 Announcements
Venue: arXiv cs.NI 2023
Year: 2023

The Internet is a critical resource in the day-to-day life of billions of users. To support the growing number of users and their increasing demands, operators have to continuously scale their network footprint -- e.g., by joining Internet Exchange Points -- and adopt relevant technologies -- such as IPv6. IPv6, however, has a vastly larger address space compared to its predecessor, which allows for new kinds of attacks on the Internet routing infrastructure. In this paper, we revisit prefix de-aggregation attacks in the light of these two changes and introduce Kirin -- an advanced BGP prefix de-aggregation attack that sources millions of IPv6 routes and distributes them via thousands of sessions across various IXPs to overflow the memory of border routers within thousands of remote ASes. Kirin's highly distributed nature allows it to bypass traditional route-flooding defense mechanisms, such as per-session prefix limits or route flap damping. We analyze the theoretical feasibility of the attack by formulating it as a Integer Linear Programming problem, test for practical hurdles by deploying the infrastructure required to perform a small-scale Kirin attack using 4 IXPs, and validate our assumptions via BGP data analysis, real-world measurements, and router testbed experiments. Despite its low deployment cost, we find Kirin capable of injecting lethal amounts of IPv6 routes in the routers of thousands of ASes.
MMRNet: Improving Reliability for Multimodal Object Detection and Segmentation for Bin Picking via Multimodal Redundancy
Venue: arXiv cs.CV 2023
Year: 2023

Recently, there has been tremendous interest in industry 4.0 infrastructure to address labor shortages in global supply chains. Deploying artificial intelligence-enabled robotic bin picking systems in real world has become particularly important for reducing stress and physical demands of workers while increasing speed and efficiency of warehouses. To this end, artificial intelligence-enabled robotic bin picking systems may be used to automate order picking, but with the risk of causing expensive damage during an abnormal event such as sensor failure. As such, reliability becomes a critical factor for translating artificial intelligence research to real world applications and products. In this paper, we propose a reliable object detection and segmentation system with MultiModal Redundancy (MMRNet) for tackling object detection and segmentation for robotic bin picking using data from different modalities. This is the first system that introduces the concept of multimodal redundancy to address sensor failure issues during deployment. In particular, we realize the multimodal redundancy framework with a gate fusion module and dynamic ensemble learning. Finally, we present a new label-free multi-modal consistency (MC) score that utilizes the output from all modalities to measure the overall system output reliability and uncertainty. Through experiments, we demonstrate that in an event of missing modality, our system provides a much more reliable performance compared to baseline models. We also demonstrate that our MC score is a more reliability indicator for outputs during inference time compared to the model generated confidence scores that are often over-confident.
Geo6D: Geometric Constraints Learning for 6D Pose Estimation
Venue: arXiv cs.CV 2023
Year: 2023

Numerous 6D pose estimation methods have been proposed that employ end-to-end regression to directly estimate the target pose parameters. Since the visible features of objects are implicitly influenced by their poses, the network allows inferring the pose by analyzing the differences in features in the visible region. However, due to the unpredictable and unrestricted range of pose variations, the implicitly learned visible feature-pose constraints are insufficiently covered by the training samples, making the network vulnerable to unseen object poses. To tackle these challenges, we proposed a novel geometric constraints learning approach called Geo6D for direct regression 6D pose estimation methods. It introduces a pose transformation formula expressed in relative offset representation, which is leveraged as geometric constraints to reconstruct the input and output targets of the network. These reconstructed data enable the network to estimate the pose based on explicit geometric constraints and relative offset representation mitigates the issue of the pose distribution gap. Extensive experimental results show that when equipped with Geo6D, the direct 6D methods achieve state-of-the-art performance on multiple datasets and demonstrate significant effectiveness, even with only 10% amount of data.
Tele-Knowledge Pre-training for Fault Analysis
Venue: arXiv cs.AI 2023
Year: 2023

In this work, we share our experience on tele-knowledge pre-training for fault analysis, a crucial task in telecommunication applications that requires a wide range of knowledge normally found in both machine log data and product documents. To organize this knowledge from experts uniformly, we propose to create a Tele-KG (tele-knowledge graph). Using this valuable data, we further propose a tele-domain language pre-training model TeleBERT and its knowledge-enhanced version, a tele-knowledge re-training model KTeleBERT. which includes effective prompt hints, adaptive numerical data encoding, and two knowledge injection paradigms. Concretely, our proposal includes two stages: first, pre-training TeleBERT on 20 million tele-related corpora, and then re-training it on 1 million causal and machine-related corpora to obtain KTeleBERT. Our evaluation on multiple tasks related to fault analysis in tele-applications, including root-cause analysis, event association prediction, and fault chain tracing, shows that pre-training a language model with tele-domain data is beneficial for downstream tasks. Moreover, the KTeleBERT re-training further improves the performance of task models, highlighting the effectiveness of incorporating diverse tele-knowledge into the model.
Real-World Chaos-Based Cryptography Using Synchronised Chua Chaotic Circuits
Venue: arXiv cs.CR 2023
Year: 2023

This work presents the hardware demonstrator of a secure encryption system based on synchronised Chua chaotic circuits. In particular, the presented encryption system comprises two Chua circuits that are synchronised using a dedicated bidirectional synchronisation line. One of them forms part of the transmitter, while the other of the receiver. Both circuits are tuned to operate in a chaotic mode. The output (chaotic) signal of the first circuit (transmitter) is digitised and then combined with the message to be encrypted, through an XOR gate. The second Chua circuit (receiver) is used for the decryption; the output chaotic signal of this circuit is similarly digitised and combined with the encrypted message to retrieve the original message. Our hardware demonstrator proves that this method can be used in order to provide extremely lightweight real-world, chaos-based cryptographic solutions.
H4VDM: H.264 Video Device Matching
Venue: arXiv cs.CV 2023
Year: 2023

Methods that can determine if two given video sequences are captured by the same device (e.g., mobile telephone or digital camera) can be used in many forensics tasks. In this paper we refer to this as "video device matching". In open-set video forensics scenarios it is easier to determine if two video sequences were captured with the same device than identifying the specific device. In this paper, we propose a technique for open-set video device matching. Given two H.264 compressed video sequences, our method can determine if they are captured by the same device, even if our method has never encountered the device in training. We denote our proposed technique as H.264 Video Device Matching (H4VDM). H4VDM uses H.264 compression information extracted from video sequences to make decisions. It is more robust against artifacts that alter camera sensor fingerprints, and it can be used to analyze relatively small fragments of the H.264 sequence. We trained and tested our method on a publicly available video forensics dataset consisting of 35 devices, where our proposed method demonstrated good performance.
LOT: Layer-wise Orthogonal Training on Improving $\ell_2$ Certified Robustness
Venue: arXiv cs.LG 2023
Year: 2023

Recent studies show that training deep neural networks (DNNs) with Lipschitz constraints are able to enhance adversarial robustness and other model properties such as stability. In this paper, we propose a layer-wise orthogonal training method (LOT) to effectively train 1-Lipschitz convolution layers via parametrizing an orthogonal matrix with an unconstrained matrix. We then efficiently compute the inverse square root of a convolution kernel by transforming the input domain to the Fourier frequency domain. On the other hand, as existing works show that semi-supervised training helps improve empirical robustness, we aim to bridge the gap and prove that semi-supervised learning also improves the certified robustness of Lipschitz-bounded models. We conduct comprehensive evaluations for LOT under different settings. We show that LOT significantly outperforms baselines regarding deterministic l2 certified robustness, and scales to deeper neural networks. Under the supervised scenario, we improve the state-of-the-art certified robustness for all architectures (e.g. from 59.04% to 63.50% on CIFAR-10 and from 32.57% to 34.59% on CIFAR-100 at radius rho = 36/255 for 40-layer networks). With semi-supervised learning over unlabelled data, we are able to improve state-of-the-art certified robustness on CIFAR-10 at rho = 108/255 from 36.04% to 42.39%. In addition, LOT consistently outperforms baselines on different model architectures with only 1/3 evaluation time.
Local Bayesian optimization via maximizing probability of descent
Venue: arXiv cs.LG 2023
Year: 2023

Local optimization presents a promising approach to expensive, high-dimensional black-box optimization by sidestepping the need to globally explore the search space. For objective functions whose gradient cannot be evaluated directly, Bayesian optimization offers one solution -- we construct a probabilistic model of the objective, design a policy to learn about the gradient at the current location, and use the resulting information to navigate the objective landscape. Previous work has realized this scheme by minimizing the variance in the estimate of the gradient, then moving in the direction of the expected gradient. In this paper, we re-examine and refine this approach. We demonstrate that, surprisingly, the expected value of the gradient is not always the direction maximizing the probability of descent, and in fact, these directions may be nearly orthogonal. This observation then inspires an elegant optimization scheme seeking to maximize the probability of descent while moving in the direction of most-probable descent. Experiments on both synthetic and real-world objectives show that our method outperforms previous realizations of this optimization scheme and is competitive against other, significantly more complicated baselines.
Multi-view Semantic Matching of Question retrieval using Fine-grained Semantic Representations
Venue: arXiv cs.IR 2023
Year: 2023

As a key task of question answering, question retrieval has attracted much attention from the communities of academia and industry. Previous solutions mainly focus on the translation model, topic model, and deep learning techniques. Distinct from the previous solutions, we propose to construct fine-grained semantic representations of a question by a learned importance score assigned to each keyword, so that we can achieve a fine-grained question matching solution with these semantic representations of different lengths. Accordingly, we propose a multi-view semantic matching model by reusing the important keywords in multiple semantic representations. As a key of constructing fine-grained semantic representations, we are the first to use a cross-task weakly supervised extraction model that applies question-question labelled signals to supervise the keyword extraction process (i.e. to learn the keyword importance). The extraction model integrates the deep semantic representation and lexical matching information with statistical features to estimate the importance of keywords. We conduct extensive experiments on three public datasets and the experimental results show that our proposed model significantly outperforms the state-of-the-art solutions.