OpenRaiser/Intern-Atlas huggingface dataset:
Service Provisioning in Mobile Environments through Opportunistic Computing
Venue: arXiv cs.NI 2022
Year: 2022

Opportunistic computing is a paradigm for completely self-organised pervasive networks. Instead of relying only on fixed infrastructures as the cloud, users' devices act as service providers for each other. They use pairwise contacts to collect information about services provided and amount of time to provide them by the encountered nodes. At each node, upon generation of a service request, this information is used to choose the most efficient service, or composition of services, that satisfy that request, based on local knowledge. Opportunistic computing can be exploited in several scenarios, including mobile social networks, IoT and Internet 4.0. In this paper we propose an opportunistic computing algorithm based on an analytical model, which ranks the available (composition of) services, based on their expected completion time. Through the model, a service requesters picks the one that is expected to be the best. Experiments show that the algorithm is accurate in ranking services, thus providing an effective service-selection policy. Such a policy achieves significantly lower service provisioning times compared to other reference policies. Its performance is tested in a wide range of scenarios varying the nodes mobility, the size of input/output parameters, the level of resource congestion, the computational complexity of service executions.
Improving Road Segmentation in Challenging Domains Using Similar Place Priors
Venue: arXiv cs.CV 2022
Year: 2022

Road segmentation in challenging domains, such as night, snow or rain, is a difficult task. Most current approaches boost performance using fine-tuning, domain adaptation, style transfer, or by referencing previously acquired imagery. These approaches share one or more of three significant limitations: a reliance on large amounts of annotated training data that can be costly to obtain, both anticipation of and training data from the type of environmental conditions expected at inference time, and/or imagery captured from a previous visit to the location. In this research, we remove these restrictions by improving road segmentation based on similar places. We use Visual Place Recognition (VPR) to find similar but geographically distinct places, and fuse segmentations for query images and these similar place priors using a Bayesian approach and novel segmentation quality metric. Ablation studies show the need to re-evaluate notions of VPR utility for this task. We demonstrate the system achieving state-of-the-art road segmentation performance across multiple challenging condition scenarios including night time and snow, without requiring any prior training or previous access to the same geographical locations. Furthermore, we show that this method is network agnostic, improves multiple baseline techniques and is competitive against methods specialised for road prediction.
Efficient textual explanations for complex road and traffic scenarios based on semantic segmentation
Venue: arXiv cs.CV 2022
Year: 2022

The complex driving environment brings great challenges to the visual perception of autonomous vehicles. It's essential to extract clear and explainable information from the complex road and traffic scenarios and offer clues to decision and control. However, the previous scene explanation had been implemented as a separate model. The black box model makes it difficult to interpret the driving environment. It cannot detect comprehensive textual information and requires a high computational load and time consumption. Thus, this study proposed a comprehensive and efficient textual explanation model. From 336k video frames of the driving environment, critical images of complex road and traffic scenarios were selected into a dataset. Through transfer learning, this study established an accurate and efficient segmentation model to obtain the critical traffic elements in the environment. Based on the XGBoost algorithm, a comprehensive model was developed. The model provided textual information about states of traffic elements, the motion of conflict objects, and scenario complexity. The approach was verified on the real-world road. It improved the perception accuracy of critical traffic elements to 78.8%. The time consumption reached 13 minutes for each epoch, which was 11.5 times more efficient than the pre-trained network. The textual information analyzed from the model was also accordant with reality. The findings offer clear and explainable information about the complex driving environment, which lays a foundation for subsequent decision and control. It can improve the visual perception ability and enrich the prior knowledge and judgments of complex traffic situations.
Writes Hurt: Lessons in Cache Design for Optane NVRAM
Venue: arXiv cs.AR 2022
Year: 2022

Intel OptaneTM DC Persistent Memory resides on the memory bus and approaches DRAM in access latency. One avenue for its adoption is to employ it in place of persistent storage; another is to use it as a cheaper and denser extension of DRAM. In pursuit of the latter goal, we present the design of a volatile Optane NVRAM cache as a component in a storage engine underlying MongoDB. The primary innovation in our design is a new cache admission policy. We discover that on Optane NVRAM, known for its limited write throughput, the presence of writes disproportionately affects the throughput of reads, much more so than on DRAM. Therefore, an admission policy that indiscriminately admits new data (and thus generates writes), severely limits the rate of data retrieval and results in exceedingly poor performance for the cache overall. We design an admission policy that balances the rate of admission with the rate of lookups using dynamically observed characteristics of the workload. Our implementation outperforms OpenCAS (an off-the-shelf Optane-based block cache) in all cases, and Intel Memory Mode in cases where the database size exceeds the available NVRAM. Our cache is decoupled from the rest of the storage engine and uses generic metrics to guide its admission policy; therefore our design can be easily adopted in other systems.
Cycle Mutation: Evolving Permutations via Cycle Induction
Venue: arXiv cs.NE 2022
Year: 2022

Evolutionary algorithms solve problems by simulating the evolution of a population of candidate solutions. We focus on evolving permutations for ordering problems like the traveling salesperson problem (TSP), as well as assignment problems like the quadratic assignment problem (QAP) and largest common subgraph (LCS). We propose cycle mutation, a new mutation operator whose inspiration is the well known cycle crossover operator, and the concept of a permutation cycle. We use fitness landscape analysis to explore the problem characteristics for which cycle mutation works best. As a prerequisite, we develop new permutation distance measures: cycle distance, $k$-cycle distance, and cycle edit distance. The fitness landscape analysis predicts that cycle mutation is better suited for assignment and mapping problems than it is for ordering problems. We experimentally validate these findings showing cycle mutation's strengths on problems like QAP and LCS, and its limitations on problems like the TSP, while also showing that it is less prone to local optima than commonly used alternatives. We integrate cycle mutation into the open-source Chips-n-Salsa library, and the new distance metrics into the open-source JavaPermutationTools library.
Meta-Learning Adversarial Bandits
Venue: arXiv cs.LG 2022
Year: 2022

We study online learning with bandit feedback across multiple tasks, with the goal of improving average performance across tasks if they are similar according to some natural task-similarity measure. As the first to target the adversarial setting, we design a unified meta-algorithm that yields setting-specific guarantees for two important cases: multi-armed bandits (MAB) and bandit linear optimization (BLO). For MAB, the meta-algorithm tunes the initialization, step-size, and entropy parameter of the Tsallis-entropy generalization of the well-known Exp3 method, with the task-averaged regret provably improving if the entropy of the distribution over estimated optima-in-hindsight is small. For BLO, we learn the initialization, step-size, and boundary-offset of online mirror descent (OMD) with self-concordant barrier regularizers, showing that task-averaged regret varies directly with a measure induced by these functions on the interior of the action space. Our adaptive guarantees rely on proving that unregularized follow-the-leader combined with multiplicative weights is enough to online learn a non-smooth and non-convex sequence of affine functions of Bregman divergences that upper-bound the regret of OMD.
PSL is Dead. Long Live PSL
Venue: arXiv cs.LG 2022
Year: 2022

Property Specification Language (PSL) is a form of temporal logic that has been mainly used in discrete domains (e.g. formal hardware verification). In this paper, we show that by merging machine learning techniques with PSL monitors, we can extend PSL to work on continuous domains. We apply this technique in machine learning-based anomaly detection to analyze scenarios of real-time streaming events from continuous variables in order to detect abnormal behaviors of a system. By using machine learning with formal models, we leverage the strengths of both machine learning methods and formal semantics of time. On one hand, machine learning techniques can produce distributions on continuous variables, where abnormalities can be captured as deviations from the distributions. On the other hand, formal methods can characterize discrete temporal behaviors and relations that cannot be easily learned by machine learning techniques. Interestingly, the anomalies detected by machine learning and the underlying time representation used are discrete events. We implemented a temporal monitoring package (TEF) that operates in conjunction with normal data science packages for anomaly detection machine learning systems, and we show that TEF can be used to perform accurate interpretation of temporal correlation between events.
Multiscale Voxel Based Decoding For Enhanced Natural Image Reconstruction From Brain Activity
Venue: arXiv cs.CV 2022
Year: 2022

Reconstructing perceived images from human brain activity monitored by functional magnetic resonance imaging (fMRI) is hard, especially for natural images. Existing methods often result in blurry and unintelligible reconstructions with low fidelity. In this study, we present a novel approach for enhanced image reconstruction, in which existing methods for object decoding and image reconstruction are merged together. This is achieved by conditioning the reconstructed image to its decoded image category using a class-conditional generative adversarial network and neural style transfer. The results indicate that our approach improves the semantic similarity of the reconstructed images and can be used as a general framework for enhanced image reconstruction.
Sensing Eating Events in Context: A Smartphone-Only Approach
Venue: arXiv cs.HC 2022
Year: 2022

While the task of automatically detecting eating events has been examined in prior work using various wearable devices, the use of smartphones as standalone devices to infer eating events remains an open issue. This paper proposes a framework that infers eating vs. non-eating events from passive smartphone sensing and evaluates it on a dataset of 58 college students. First, we show that time of the day and features from modalities such as screen usage, accelerometer, app usage, and location are indicative of eating and non-eating events. Then, we show that eating events can be inferred with an AUROC (area under the receiver operating characteristics curve) of 0.65 using subject-independent machine learning models, which can be further improved up to 0.81 for subject-dependent and 0.81 for hybrid models using personalization techniques. Moreover, we show that users have different behavioral and contextual routines around eating episodes requiring specific feature groups to train fully personalized models. These findings are of potential value for future mobile food diary apps that are context-aware by enabling scalable sensing-based eating studies using only smartphones; detecting under-reported eating events, thus increasing data quality in self report-based studies; providing functionality to track food consumption and generate reminders for on-time collection of food diaries; and supporting mobile interventions towards healthy eating practices.
Network Digital Twin: Context, Enabling Technologies and Opportunities
Venue: arXiv cs.NI 2022
Year: 2022

The proliferation of emergent network applications (e.g., telesurgery, metaverse) is increasing the difficulty of managing modern communication networks. These applications entail stringent network requirements (e.g., ultra-low deterministic latency), which hinders network operators to manage their resources efficiently. In this article, we introduce the network digital twin (NDT), a renovated concept of classical network modeling tools whose goal is to build accurate data-driven network models that can operate in real-time. We describe the general architecture of the NDT and argue that modern machine learning (ML) technologies enable building some of its core components. Then, we present a case study that leverages a ML-based NDT for network performance evaluation and apply it to routing optimization in a QoS-aware use case. Lastly, we describe some key open challenges and research opportunities yet to be explored to achieve effective deployment of NDTs in real-world networks.
FedControl: When Control Theory Meets Federated Learning
Venue: arXiv cs.LG 2022
Year: 2022

To date, the most popular federated learning algorithms use coordinate-wise averaging of the model parameters. We depart from this approach by differentiating client contributions according to the performance of local learning and its evolution. The technique is inspired from control theory and its classification performance is evaluated extensively in IID framework and compared with FedAvg.
Image Keypoint Matching using Graph Neural Networks
Venue: arXiv cs.CV 2022
Year: 2022

Image matching is a key component of many tasks in computer vision and its main objective is to find correspondences between features extracted from different natural images. When images are represented as graphs, image matching boils down to the problem of graph matching which has been studied intensively in the past. In recent years, graph neural networks have shown great potential in the graph matching task, and have also been applied to image matching. In this paper, we propose a graph neural network for the problem of image matching. The proposed method first generates initial soft correspondences between keypoints using localized node embeddings and then iteratively refines the initial correspondences using a series of graph neural network layers. We evaluate our method on natural image datasets with keypoint annotations and show that, in comparison to a state-of-the-art model, our method speeds up inference times without sacrificing prediction accuracy.
SHORTSTACK: Distributed, Fault-tolerant, Oblivious Data Access
Venue: arXiv cs.CR 2022
Year: 2022

Many applications that benefit from data offload to cloud services operate on private data. A now-long line of work has shown that, even when data is offloaded in an encrypted form, an adversary can learn sensitive information by analyzing data access patterns. Existing techniques for oblivious data access-that protect against access pattern attacks-require a centralized and stateful trusted proxy to orchestrate data accesses from applications to cloud services. We show that, in failure-prone deployments, such a centralized and stateful proxy results in violation of oblivious data access security guarantees and/or system unavailability. We thus initiate the study of distributed, fault-tolerant, oblivious data access. We present SHORTSTACK, a distributed proxy architecture for oblivious data access in failure-prone deployments. SHORTSTACK achieves the classical obliviousness guarantee--access patterns observed by the adversary being independent of the input--even under a powerful passive persistent adversary that can force failure of arbitrary (bounded-sized) subset of proxy servers at arbitrary times. We also introduce a security model that enables studying oblivious data access with distributed, failure-prone, servers. We provide a formal proof that SHORTSTACK enables oblivious data access under this model, and show empirically that SHORTSTACK performance scales near-linearly with number of distributed proxy servers.
Triple-Band Scheduling with Millimeter Wave and Terahertz Bands for Wireless Backhaul
Venue: arXiv cs.IT 2022
Year: 2022

With the explosive growth of mobile traffic demand, densely deployed small cells underlying macrocells have great potential for 5G and beyond wireless networks. In this paper, we consider the problem of supporting traffic flows with diverse QoS requirements by exploiting three high frequency bands, i.e., the 28GHz band, the E-band, and the Terahertz (THz) band. The cooperation of the three bands is helpful for maximizing the number of flows with their QoS requirements satisfied. To solve the formulated nonlinear integer programming problem, we propose a triple-band scheduling scheme which can select the optimum scheduling band for each flow among three different frequency bands. The proposed scheme also efficiently utilizes the resource to schedule flow transmissions in time slots. Extensive simulations demonstrate the superior performance of the proposed scheme over three baseline schemes with respect to the number of completed flows and the system throughput.
BulletArm: An Open-Source Robotic Manipulation Benchmark and Learning Framework
Venue: arXiv cs.RO 2022
Year: 2022

We present BulletArm, a novel benchmark and learning-environment for robotic manipulation. BulletArm is designed around two key principles: reproducibility and extensibility. We aim to encourage more direct comparisons between robotic learning methods by providing a set of standardized benchmark tasks in simulation alongside a collection of baseline algorithms. The framework consists of 31 different manipulation tasks of varying difficulty, ranging from simple reaching and picking tasks to more realistic tasks such as bin packing and pallet stacking. In addition to the provided tasks, BulletArm has been built to facilitate easy expansion and provides a suite of tools to assist users when adding new tasks to the framework. Moreover, we introduce a set of five benchmarks and evaluate them using a series of state-of-the-art baseline algorithms. By including these algorithms as part of our framework, we hope to encourage users to benchmark their work on any new tasks against these baselines.
Deep Embedded Clustering with Distribution Consistency Preservation for Attributed Networks
Venue: arXiv cs.LG 2022
Year: 2022

Many complex systems in the real world can be characterized by attributed networks. To mine the potential information in these networks, deep embedded clustering, which obtains node representations and clusters simultaneously, has been paid much attention in recent years. Under the assumption of consistency for data in different views, the cluster structure of network topology and that of node attributes should be consistent for an attributed network. However, many existing methods ignore this property, even though they separately encode node representations from network topology and node attributes meanwhile clustering nodes on representation vectors learnt from one of the views. Therefore, in this study, we propose an end-to-end deep embedded clustering model for attributed networks. It utilizes graph autoencoder and node attribute autoencoder to respectively learn node representations and cluster assignments. In addition, a distribution consistency constraint is introduced to maintain the latent consistency of cluster distributions of two views. Extensive experiments on several datasets demonstrate that the proposed model achieves significantly better or competitive performance compared with the state-of-the-art methods. The source code can be found at https://github.com/Zhengymm/DCP.
Ensemble2: Anomaly Detection via EVT-Ensemble Framework for Seasonal KPIs in Communication Network
Venue: arXiv cs.LG 2022
Year: 2022

KPI anomaly detection is one important function of network management system. Traditional methods either require prior knowledge or manually set thresholds. To overcome these shortcomings, we propose the Ensemble2 framework, which applies ensemble learning to improve exogenous capabilities. Meanwhile, automatically adjusts thresholds based on extreme value theory. The model is tested on production datasets to verify its effectiveness. We further optimize the model using online learning, and finally running at a speed of ~10 pts/s on an Intel i5 platform.
Learning to Use Chopsticks in Diverse Gripping Styles
Venue: arXiv cs.GR 2022
Year: 2022

Learning dexterous manipulation skills is a long-standing challenge in computer graphics and robotics, especially when the task involves complex and delicate interactions between the hands, tools and objects. In this paper, we focus on chopsticks-based object relocation tasks, which are common yet demanding. The key to successful chopsticks skills is steady gripping of the sticks that also supports delicate maneuvers. We automatically discover physically valid chopsticks holding poses by Bayesian Optimization (BO) and Deep Reinforcement Learning (DRL), which works for multiple gripping styles and hand morphologies without the need of example data. Given as input the discovered gripping poses and desired objects to be moved, we build physics-based hand controllers to accomplish relocation tasks in two stages. First, kinematic trajectories are synthesized for the chopsticks and hand in a motion planning stage. The key components of our motion planner include a grasping model to select suitable chopsticks configurations for grasping the object, and a trajectory optimization module to generate collision-free chopsticks trajectories. Then we train physics-based hand controllers through DRL again to track the desired kinematic trajectories produced by the motion planner. We demonstrate the capabilities of our framework by relocating objects of various shapes and sizes, in diverse gripping styles and holding positions for multiple hand morphologies. Our system achieves faster learning speed and better control robustness, when compared to vanilla systems that attempt to learn chopstick-based skills without a gripping pose optimization module and/or without a kinematic motion planner.
Data-Driven Evolutionary Multi-Objective Optimization Based on Multiple-Gradient Descent for Disconnected Pareto Fronts
Venue: arXiv cs.NE 2022
Year: 2022

Data-driven evolutionary multi-objective optimization (EMO) has been recognized as an effective approach for multi-objective optimization problems with expensive objective functions. The current research is mainly developed for problems with a 'regular' triangle-like Pareto-optimal front (PF), whereas the performance can significantly deteriorate when the PF consists of disconnected segments. Furthermore, the offspring reproduction in the current data-driven EMO does not fully leverage the latent information of the surrogate model. Bearing these considerations in mind, this paper proposes a data-driven EMO algorithm based on multiple-gradient descent. By leveraging the regularity information provided by the up-to-date surrogate model, it is able to progressively probe a set of well distributed candidate solutions with a convergence guarantee. In addition, its infill criterion recommends a batch of promising candidate solutions to conduct expensive objective function evaluations. Experiments on $33$ benchmark test problem instances with disconnected PFs fully demonstrate the effectiveness of our proposed method against four selected peer algorithms.