OpenRaiser/Intern-Atlas huggingface dataset:
Machine Learning-based Automatic Annotation and Detection of COVID-19 Fake News
Venue: arXiv cs.SI 2022
Year: 2022

COVID-19 impacted every part of the world, although the misinformation about the outbreak traveled faster than the virus. Misinformation spread through online social networks (OSN) often misled people from following correct medical practices. In particular, OSN bots have been a primary source of disseminating false information and initiating cyber propaganda. Existing work neglects the presence of bots that act as a catalyst in the spread and focuses on fake news detection in 'articles shared in posts' rather than the post (textual) content. Most work on misinformation detection uses manually labeled datasets that are hard to scale for building their predictive models. In this research, we overcome this challenge of data scarcity by proposing an automated approach for labeling data using verified fact-checked statements on a Twitter dataset. In addition, we combine textual features with user-level features (such as followers count and friends count) and tweet-level features (such as number of mentions, hashtags and urls in a tweet) to act as additional indicators to detect misinformation. Moreover, we analyzed the presence of bots in tweets and show that bots change their behavior over time and are most active during the misinformation campaign. We collected 10.22 Million COVID-19 related tweets and used our annotation model to build an extensive and original ground truth dataset for classification purposes. We utilize various machine learning models to accurately detect misinformation and our best classification model achieves precision (82%), recall (96%), and false positive rate (3.58%). Also, our bot analysis indicates that bots generated approximately 10% of misinformation tweets. Our methodology results in substantial exposure of false information, thus improving the trustworthiness of information disseminated through social media platforms.
Hardware faults that matter: Understanding and Estimating the safety impact of hardware faults on object detection DNNs
Venue: arXiv cs.CV 2022
Year: 2022

Object detection neural network models need to perform reliably in highly dynamic and safety-critical environments like automated driving or robotics. Therefore, it is paramount to verify the robustness of the detection under unexpected hardware faults like soft errors that can impact a systems perception module. Standard metrics based on average precision produce model vulnerability estimates at the object level rather than at an image level. As we show in this paper, this does not provide an intuitive or representative indicator of the safety-related impact of silent data corruption caused by bit flips in the underlying memory but can lead to an over- or underestimation of typical fault-induced hazards. With an eye towards safety-related real-time applications, we propose a new metric IVMOD (Image-wise Vulnerability Metric for Object Detection) to quantify vulnerability based on an incorrect image-wise object detection due to false positive (FPs) or false negative (FNs) objects, combined with a severity analysis. The evaluation of several representative object detection models shows that even a single bit flip can lead to a severe silent data corruption event with potentially critical safety implications, with e.g., up to (much greater than) 100 FPs generated, or up to approx. 90% of true positives (TPs) are lost in an image. Furthermore, with a single stuck-at-1 fault, an entire sequence of images can be affected, causing temporally persistent ghost detections that can be mistaken for actual objects (covering up to approx. 83% of the image). Furthermore, actual objects in the scene are continuously missed (up to approx. 64% of TPs are lost). Our work establishes a detailed understanding of the safety-related vulnerability of such critical workloads against hardware faults.
On the Importance of Quantifying Visibility for Autonomous Vehicles under Extreme Precipitation
Venue: arXiv cs.RO 2022
Year: 2022

In the context of autonomous driving, vehicles are inherently bound to encounter more extreme weather during which public safety must be ensured. As climate is quickly changing, the frequency of heavy snowstorms is expected to increase and become a major threat to safe navigation. While there is much literature aiming to improve navigation resiliency to winter conditions, there is a lack of standard metrics to quantify the loss of visibility of lidar sensors related to precipitation. This chapter proposes a novel metric to quantify the lidar visibility loss in real time, relying on the notion of visibility from the meteorology research field. We evaluate this metric on the Canadian Adverse Driving Conditions (CADC) dataset, correlate it with the performance of a state-of-the-art lidar-based localization algorithm, and evaluate the benefit of filtering point clouds before the localization process. We show that the Iterative Closest Point (ICP) algorithm is surprisingly robust against snowfalls, but abrupt events, such as snow gusts, can greatly hinder its accuracy. We discuss such events and demonstrate the need for better datasets focusing on these extreme events to quantify their effect.
Picking Up Speed: Continuous-Time Lidar-Only Odometry using Doppler Velocity Measurements
Venue: arXiv cs.RO 2022
Year: 2022

Frequency-Modulated Continuous-Wave (FMCW) lidar is a recently emerging technology that additionally enables per-return instantaneous relative radial velocity measurements via the Doppler effect. In this letter, we present the first continuous-time lidar-only odometry algorithm using these Doppler velocity measurements from an FMCW lidar to aid odometry in geometrically degenerate environments. We apply an existing continuous-time framework that efficiently estimates the vehicle trajectory using Gaussian process regression to compensate for motion distortion due to the scanning-while-moving nature of any mechanically actuated lidar (FMCW and non-FMCW). We evaluate our proposed algorithm on several real-world datasets, including publicly available ones and datasets we collected. Our algorithm outperforms the only existing method that also uses Doppler velocity measurements, and we study difficult conditions where including this extra information greatly improves performance. We additionally demonstrate state-of-the-art performance of lidar-only odometry with and without using Doppler velocity measurements in nominal conditions. Code for this project can be found at: https://github.com/utiasASRL/steam_icp.
Bayesian and Frequentist Semantics for Common Variations of Differential Privacy: Applications to the 2020 Census
Venue: arXiv cs.CR 2022
Year: 2022

The purpose of this paper is to guide interpretation of the semantic privacy guarantees for some of the major variations of differential privacy, which include pure, approximate, Rényi, zero-concentrated, and $f$ differential privacy. We interpret privacy-loss accounting parameters, frequentist semantics, and Bayesian semantics (including new results). The driving application is the interpretation of the confidentiality protections for the 2020 Census Public Law 94-171 Redistricting Data Summary File released August 12, 2021, which, for the first time, were produced with formal privacy guarantees.
Small Proofs from Congruence Closure
Venue: arXiv cs.PL 2022
Year: 2022

Satisfiability Modulo Theory (SMT) solvers and equality saturation engines must generate proof certificates from e-graph-based congruence closure procedures to enable verification and conflict clause generation. Smaller proof certificates speed up these activities. Though the problem of generating proofs of minimal size is known to be NP-complete, existing proof minimization algorithms for congruence closure generate unnecessarily large proofs and introduce asymptotic overhead over the core congruence closure procedure. In this paper, we introduce an O(n^5) time algorithm which generates optimal proofs under a new relaxed "proof tree size" metric that directly bounds proof size. We then relax this approach further to a practical O(n \log(n)) greedy algorithm which generates small proofs with no asymptotic overhead. We implemented our techniques in the egg equality saturation toolkit, yielding the first certifying equality saturation engine. We show that our greedy approach in egg quickly generates substantially smaller proofs than the state-of-the-art Z3 SMT solver on a corpus of 3760 benchmarks.
Information Maximization for Extreme Pose Face Recognition
Venue: arXiv cs.CV 2022
Year: 2022

In this paper, we seek to draw connections between the frontal and profile face images in an abstract embedding space. We exploit this connection using a coupled-encoder network to project frontal/profile face images into a common latent embedding space. The proposed model forces the similarity of representations in the embedding space by maximizing the mutual information between two views of the face. The proposed coupled-encoder benefits from three contributions for matching faces with extreme pose disparities. First, we leverage our pose-aware contrastive learning to maximize the mutual information between frontal and profile representations of identities. Second, a memory buffer, which consists of latent representations accumulated over past iterations, is integrated into the model so it can refer to relatively much more instances than the mini-batch size. Third, a novel pose-aware adversarial domain adaptation method forces the model to learn an asymmetric mapping from profile to frontal representation. In our framework, the coupled-encoder learns to enlarge the margin between the distribution of genuine and imposter faces, which results in high mutual information between different views of the same identity. The effectiveness of the proposed model is investigated through extensive experiments, evaluations, and ablation studies on four benchmark datasets, and comparison with the compelling state-of-the-art algorithms.
So Much in So Little: Creating Lightweight Embeddings of Python Libraries
Venue: arXiv cs.SE 2022
Year: 2022

In software engineering, different approaches and machine learning models leverage different types of data: source code, textual information, historical data. An important part of any project is its dependencies. The list of dependencies is relatively small but carries a lot of semantics with it, which can be used to compare projects or make judgements about them. In this paper, we focus on Python projects and their PyPi dependencies in the form of requirements.txt files. We compile a dataset of 7,132 Python projects and their dependencies, as well as use Git to pull their versions from previous years. Using this data, we build 32-dimensional embeddings of libraries by applying Singular Value Decomposition to the co-occurrence matrix of projects and libraries. We then cluster the embeddings and study their semantic relations. To showcase the usefulness of such lightweight library embeddings, we introduce a prototype tool for suggesting relevant libraries to a given project. The tool computes project embeddings and uses dependencies of projects with similar embeddings to form suggestions. To compare different library recommenders, we have created a benchmark based on the evolution of dependency sets in open-source projects. Approaches based on the created embeddings significantly outperform the baseline of showing the most popular libraries in a given year. We have also conducted a user study that showed that the suggestions differ in quality for different project domains and that even relevant suggestions might be not particularly useful. Finally, to facilitate potentially more useful recommendations, we extended the recommender system with an option to suggest rarer libraries.
Template-based Program Synthesis using Stellensätze
Venue: arXiv cs.PL 2022
Year: 2022

Template-based synthesis, also known as sketching, is a localized approach to program synthesis in which the programmer provides not only a specification, but also a high-level ``sketch'' of the program. The sketch is basically a partial program that models the general intuition of the programmer, while leaving the low-level details as unimplemented ``holes''. The role of the synthesis engine is then to fill in these holes such that the completed program satisfies the desired specification. In this work, we focus on template-based synthesis of polynomial imperative programs with real variables, i.e.~imperative programs in which all expressions appearing in assignments, conditions and guards are polynomials over program variables. While this problem can be solved in a sound and complete manner by a reduction to the first-order theory of the reals, the resulting formulas will contain a quantifier alternation and are extremely hard for modern SMT solvers, even when considering toy programs with a handful of lines. Moreover, the classical algorithms for quantifier elimination are notoriously unscalable and not at all applicable to this use-case. In contrast, our main contribution is an algorithm, based on several well-known theorems in polyhedral and real algebraic geometry, namely Putinar's Positivstellensatz, the Real Nullstellensatz, Handelman's Theorem and Farkas' Lemma, which sidesteps the quantifier elimination difficulty and reduces the problem directly to Quadratic Programming (QP). Alternatively, one can view our algorithm as an efficient way of eliminating quantifiers in the particular formulas that appear in the synthesis problem. The resulting QP instances can then be handled quite easily by SMT solvers. Notably, our reduction to QP is sound and semi-complete, i.e.~it is complete if polynomials of a sufficiently high degree are used in the templates...
IMAP: Individual huMAn mobility Patterns visualizing platform
Venue: arXiv cs.SI 2022
Year: 2022

Understanding human mobility is essential for the development of smart cities and social behavior research. Human mobility models may be used in numerous applications, including pandemic control, urban planning, and traffic management. The existing models' accuracy in predicting users' mobility patterns is less than 25%. The low accuracy may be justified by the flexible nature of the human movement. Indeed, humans are not rigid in their daily movement. In addition, the rigid mobility models may result in missing the hidden regularities in users' records. Thus, we propose a novel perspective to study and analyze human mobility patterns and capture their flexibility. Typically, the mobility patterns are represented by a sequence of locations. We propose to define the mobility patterns by abstracting these locations into a set of places. Labeling these locations will allow us to detect close-to-reality hidden patterns. We present IMAP, an Individual huMAn mobility Patterns visualizing platform. Our platform enables users to visualize a graph of the places they visited based on their history records. In addition, our platform displays the most frequent mobility patterns computed using a modified PrefixSpan approach.
Adaptive Combination of a Genetic Algorithm and Novelty Search for Deep Neuroevolution
Venue: arXiv cs.NE 2022
Year: 2022

Evolutionary Computation (EC) has been shown to be able to quickly train Deep Artificial Neural Networks (DNNs) to solve Reinforcement Learning (RL) problems. While a Genetic Algorithm (GA) is well-suited for exploiting reward functions that are neither deceptive nor sparse, it struggles when the reward function is either of those. To that end, Novelty Search (NS) has been shown to be able to outperform gradient-following optimizers in some cases, while under-performing in others. We propose a new algorithm: Explore-Exploit $γ$-Adaptive Learner ($E^2γAL$, or EyAL). By preserving a dynamically-sized niche of novelty-seeking agents, the algorithm manages to maintain population diversity, exploiting the reward signal when possible and exploring otherwise. The algorithm combines both the exploitation power of a GA and the exploration power of NS, while maintaining their simplicity and elegance. Our experiments show that EyAL outperforms NS in most scenarios, while being on par with a GA -- and in some scenarios it can outperform both. EyAL also allows the substitution of the exploiting component (GA) and the exploring component (NS) with other algorithms, e.g., Evolution Strategy and Surprise Search, thus opening the door for future research.
Enabling Connectivity for Automated Mobility: A Novel MQTT-based Interface Evaluated in a 5G Case Study on Edge-Cloud Lidar Object Detection
Venue: arXiv cs.RO 2022
Year: 2022

Enabling secure and reliable high-bandwidth lowlatency connectivity between automated vehicles and external servers, intelligent infrastructure, and other road users is a central step in making fully automated driving possible. The availability of data interfaces, which allow this kind of connectivity, has the potential to distinguish artificial agents' capabilities in connected, cooperative, and automated mobility systems from the capabilities of human operators, who do not possess such interfaces. Connected agents can for example share data to build collective environment models, plan collective behavior, and learn collectively from the shared data that is centrally combined. This paper presents multiple solutions that allow connected entities to exchange data. In particular, we propose a new universal communication interface which uses the Message Queuing Telemetry Transport (MQTT) protocol to connect agents running the Robot Operating System (ROS). Our work integrates methods to assess the connection quality in the form of various key performance indicators in real-time. We compare a variety of approaches that provide the connectivity necessary for the exemplary use case of edge-cloud lidar object detection in a 5G network. We show that the mean latency between the availability of vehicle-based sensor measurements and the reception of a corresponding object list from the edge-cloud is below 87 ms. All implemented solutions are made open-source and free to use. Source code is available at https://github.com/ika-rwth-aachen/ros-v2x-benchmarking-suite.
Resource Allocation for URLLC and eMBB Traffic in Uplink Wireless Networks
Venue: arXiv cs.NI 2022
Year: 2022

In this paper we consider two resource allocation problems of URLLC traffic and eMBB traffic in uplink 5G networks. We propose to divide frequencies into a common region and a grant-based region. Frequencies in the grant-based region can only be used by eMBB traffic, while frequencies in the common region can be used by eMBB traffic as well as URLLC traffic. In the first resource allocation problem we propose a two-player game to address the size of the grant-based region and the size of the common region. We show that this game has specific pure Nash equilibria. In the second resource allocation problem we determine the number of packets that each eMBB user can transmit in a request-grant cycle. We propose a constrained optimization problem to minimize the variance of the number of packets granted to the eMBB users. We show that a water-filling algorithm solves this constrained optimization problem. From simulation, we show that our scheme, consisting of resource allocation according to Nash equilibria of a game, persistent random retransmission of URLLC packets and allocation of eMBB packets by a water-filling algorithm, works better than four other heuristic methods.
ExplORB-SLAM: Active Visual SLAM Exploiting the Pose-graph Topology
Venue: arXiv cs.RO 2022
Year: 2022

Deploying autonomous robots capable of exploring unknown environments has long been a topic of great relevance to the robotics community. In this work, we take a further step in that direction by presenting an open-source active visual SLAM framework that leverages the accuracy of a state-of-the-art graph-SLAM system and takes advantage of the fast utility computation that exploiting the structure of the underlying pose-graph offers. Through careful estimation of a posteriori weighted pose-graphs, D-optimal decision-making is achieved online with the objective of improving localization and mapping uncertainties as exploration occurs.
What Did I Just Hear? Detecting Pornographic Sounds in Adult Videos Using Neural Networks
Venue: arXiv cs.SD 2022
Year: 2022

Audio-based pornographic detection enables efficient adult content filtering without sacrificing performance by exploiting distinct spectral characteristics. To improve it, we explore pornographic sound modeling based on different neural architectures and acoustic features. We find that CNN trained on log mel spectrogram achieves the best performance on Pornography-800 dataset. Our experiment results also show that log mel spectrogram allows better representations for the models to recognize pornographic sounds. Finally, to classify whole audio waveforms rather than segments, we employ voting segment-to-audio technique that yields the best audio-level detection results.
Towards Responsible Medical Diagnostics Recommendation Systems
Venue: arXiv cs.CY 2022
Year: 2022

The early development and deployment of hospital and healthcare information systems have encouraged the ongoing digitization of processes in hospitals. Many of these processes, which previously required paperwork and telephone arrangements, are now integrated into IT solutions and require physicians and medical staff to interact with appropriate interfaces and tools. Although this shift to digital data management and process support has benefited patient care in many ways, it requires physicians to accurately capture all relevant information digitally for billing and documentation purposes, which takes a lot of time away from actual patient care work. However, systematic collection of healthcare data over a long period of time offers opportunities to improve this process and support medical staff by introducing recommender systems. Based on a practical working example, in this position paper, we will outline the design of a responsible recommender system in the medical context from a technical, application driven perspective and discuss potential design choices and criteria with a specific focus on accountability, safety, and fairness.
FAT Forensics: A Python Toolbox for Implementing and Deploying Fairness, Accountability and Transparency Algorithms in Predictive Systems
Venue: arXiv cs.LG 2022
Year: 2022

Predictive systems, in particular machine learning algorithms, can take important, and sometimes legally binding, decisions about our everyday life. In most cases, however, these systems and decisions are neither regulated nor certified. Given the potential harm that these algorithms can cause, their qualities such as fairness, accountability and transparency (FAT) are of paramount importance. To ensure high-quality, fair, transparent and reliable predictive systems, we developed an open source Python package called FAT Forensics. It can inspect important fairness, accountability and transparency aspects of predictive algorithms to automatically and objectively report them back to engineers and users of such systems. Our toolbox can evaluate all elements of a predictive pipeline: data (and their features), models and predictions. Published under the BSD 3-Clause open source licence, FAT Forensics is opened up for personal and commercial usage.
Presentation: SymDefFix -- Sound Automatic Repair Using Symbolic Execution
Venue: arXiv cs.SE 2022
Year: 2022

In this presentation, we introduce our constraint-based repair approach, called SymDefFix. SymDefFix is based on ExtractFix [3] and replaces the dynamic analysis steps of ExtractFix to detect the error and find the potential fix locations in an input program with symbolic execution. We first briefly motivate and introduce our modifications of ExtractFix, and then demonstrate it with an example.