OpenRaiser/Intern-Atlas huggingface dataset:
Sociotechnical Specification for the Broader Impacts of Autonomous Vehicles
Venue: arXiv cs.CY 2022
Year: 2022

Autonomous Vehicles (AVs) will have a transformative impact on society. Beyond the local safety and efficiency of individual vehicles, these effects will also change how people interact with the entire transportation system. This will generate a diverse range of large and foreseeable effects on social outcomes, as well as how those outcomes are distributed. However, the ability to control both the individual behavior of AVs and the overall flow of traffic also provides new affordances that permit AVs to control these effects. This comprises a problem of sociotechnical specification: the need to distinguish which essential features of the transportation system are in or out of scope for AV development. We present this problem space in terms of technical, sociotechnical, and social problems, and illustrate examples of each for the transport system components of social mobility, public infrastructure, and environmental impacts. The resulting research methodology sketches a path for developers to incorporate and evaluate more transportation system features within AV system components over time.
TNN7: A Custom Macro Suite for Implementing Highly Optimized Designs of Neuromorphic TNNs
Venue: arXiv cs.AR 2022
Year: 2022

Temporal Neural Networks (TNNs), inspired from the mammalian neocortex, exhibit energy-efficient online sensory processing capabilities. Recent works have proposed a microarchitecture framework for implementing TNNs and demonstrated competitive performance on vision and time-series applications. Building on these previous works, this work proposes TNN7, a suite of nine highly optimized custom macros developed using a predictive 7nm Process Design Kit (PDK), to enhance the efficiency, modularity and flexibility of the TNN design framework. TNN prototypes for two applications are used for evaluation of TNN7. An unsupervised time-series clustering TNN delivering competitive performance can be implemented within 40 uW power and 0.05 mm^2 area, while a 4-layer TNN that achieves an MNIST error rate of 1% consumes only 18 mW and 24.63 mm^2. On average, the proposed macros reduce power, delay, area, and energy-delay product by 14%, 16%, 28%, and 45%, respectively. Furthermore, employing TNN7 significantly reduces the synthesis runtime of TNN designs (by more than 3x), allowing for highly-scaled TNN implementations to be realized.
Phishing Detection Leveraging Machine Learning and Deep Learning: A Review
Venue: arXiv cs.CR 2022
Year: 2022

Phishing attacks trick victims into disclosing sensitive information. To counter rapidly evolving attacks, we must explore machine learning and deep learning models leveraging large-scale data. We discuss models built on different kinds of data, along with their advantages and disadvantages, and present multiple deployment options to detect phishing attacks.
Frequency selective extrapolation with residual filtering for image error concealment
Venue: arXiv cs.CV 2022
Year: 2022

The purpose of signal extrapolation is to estimate unknown signal parts from known samples. This task is especially important for error concealment in image and video communication. For obtaining a high quality reconstruction, assumptions have to be made about the underlying signal in order to solve this underdetermined problem. Among existent reconstruction algorithms, frequency selective extrapolation (FSE) achieves high performance by assuming that image signals can be sparsely represented in the frequency domain. However, FSE does not take into account the low-pass behaviour of natural images. In this paper, we propose a modified FSE that takes this prior knowledge into account for the modelling, yielding significant PSNR gains.
Efficient Knowledge Compilation Beyond Weighted Model Counting
Venue: arXiv cs.AI 2022
Year: 2022

Quantitative extensions of logic programming often require the solution of so called second level inference tasks, i.e., problems that involve a third operation, such as maximization or normalization, on top of addition and multiplication, and thus go beyond the well-known weighted or algebraic model counting setting of probabilistic logic programming under the distribution semantics. We introduce Second Level Algebraic Model Counting (2AMC) as a generic framework for these kinds of problems. As 2AMC is to (algebraic) model counting what forall-exists-SAT is to propositional satisfiability, it is notoriously hard to solve. First level techniques based on Knowledge Compilation (KC) have been adapted for specific 2AMC instances by imposing variable order constraints on the resulting circuit. However, those constraints can severely increase the circuit size and thus decrease the efficiency of such approaches. We show that we can exploit the logical structure of a 2AMC problem to omit parts of these constraints, thus limiting the negative effect. Furthermore, we introduce and implement a strategy to generate a sufficient set of constraints statically, with a priori guarantees for the performance of KC. Our empirical evaluation on several benchmarks and tasks confirms that our theoretical results can translate into more efficient solving in practice. Under consideration for acceptance in TPLP.
Wasserstein t-SNE
Venue: arXiv cs.LG 2022
Year: 2022

Scientific datasets often have hierarchical structure: for example, in surveys, individual participants (samples) might be grouped at a higher level (units) such as their geographical region. In these settings, the interest is often in exploring the structure on the unit level rather than on the sample level. Units can be compared based on the distance between their means, however this ignores the within-unit distribution of samples. Here we develop an approach for exploratory analysis of hierarchical datasets using the Wasserstein distance metric that takes into account the shapes of within-unit distributions. We use t-SNE to construct 2D embeddings of the units, based on the matrix of pairwise Wasserstein distances between them. The distance matrix can be efficiently computed by approximating each unit with a Gaussian distribution, but we also provide a scalable method to compute exact Wasserstein distances. We use synthetic data to demonstrate the effectiveness of our Wasserstein t-SNE, and apply it to data from the 2017 German parliamentary election, considering polling stations as samples and voting districts as units. The resulting embedding uncovers meaningful structure in the data.
The AI Teacher Test: Measuring the Pedagogical Ability of Blender and GPT-3 in Educational Dialogues
Venue: arXiv cs.CL 2022
Year: 2022

How can we test whether state-of-the-art generative models, such as Blender and GPT-3, are good AI teachers, capable of replying to a student in an educational dialogue? Designing an AI teacher test is challenging: although evaluation methods are much-needed, there is no off-the-shelf solution to measuring pedagogical ability. This paper reports on a first attempt at an AI teacher test. We built a solution around the insight that you can run conversational agents in parallel to human teachers in real-world dialogues, simulate how different agents would respond to a student, and compare these counterpart responses in terms of three abilities: speak like a teacher, understand a student, help a student. Our method builds on the reliability of comparative judgments in education and uses a probabilistic model and Bayesian sampling to infer estimates of pedagogical ability. We find that, even though conversational agents (Blender in particular) perform well on conversational uptake, they are quantifiably worse than real teachers on several pedagogical dimensions, especially with regard to helpfulness (Blender: Δ ability = -0.75; GPT-3: Δ ability = -0.93).
Attacking and Defending Deep Reinforcement Learning Policies
Venue: arXiv cs.LG 2022
Year: 2022

Recent studies have shown that deep reinforcement learning (DRL) policies are vulnerable to adversarial attacks, which raise concerns about applications of DRL to safety-critical systems. In this work, we adopt a principled way and study the robustness of DRL policies to adversarial attacks from the perspective of robust optimization. Within the framework of robust optimization, optimal adversarial attacks are given by minimizing the expected return of the policy, and correspondingly a good defense mechanism should be realized by improving the worst-case performance of the policy. Considering that attackers generally have no access to the training environment, we propose a greedy attack algorithm, which tries to minimize the expected return of the policy without interacting with the environment, and a defense algorithm, which performs adversarial training in a max-min form. Experiments on Atari game environments show that our attack algorithm is more effective and leads to worse return of the policy than existing attack algorithms, and our defense algorithm yields policies more robust than existing defense methods to a range of adversarial attacks (including our proposed attack algorithm).
A Fast Attention Network for Joint Intent Detection and Slot Filling on Edge Devices
Venue: arXiv cs.CL 2022
Year: 2022

Intent detection and slot filling are two main tasks in natural language understanding and play an essential role in task-oriented dialogue systems. The joint learning of both tasks can improve inference accuracy and is popular in recent works. However, most joint models ignore the inference latency and cannot meet the need to deploy dialogue systems at the edge. In this paper, we propose a Fast Attention Network (FAN) for joint intent detection and slot filling tasks, guaranteeing both accuracy and latency. Specifically, we introduce a clean and parameter-refined attention module to enhance the information exchange between intent and slot, improving semantic accuracy by more than 2%. FAN can be implemented on different encoders and delivers more accurate models at every speed level. Our experiments on the Jetson Nano platform show that FAN inferences fifteen utterances per second with a small accuracy drop, showing its effectiveness and efficiency on edge devices.
CONSENT: Context Sensitive Transformer for Bold Words Classification
Venue: arXiv cs.CV 2022
Year: 2022

We present CONSENT, a simple yet effective CONtext SENsitive Transformer framework for context-dependent object classification within a fully-trainable end-to-end deep learning pipeline. We exemplify the proposed framework on the task of bold words detection proving state-of-the-art results. Given an image containing text of unknown font-types (e.g. Arial, Calibri, Helvetica), unknown language, taken under various degrees of illumination, angle distortion and scale variation, we extract all the words and learn a context-dependent binary classification (i.e. bold versus non-bold) using an end-to-end transformer-based neural network ensemble. To prove the extensibility of our framework, we demonstrate competitive results against state-of-the-art for the game of rock-paper-scissors by training the model to determine the winner given a sequence with $2$ pictures depicting hand poses.
CQR-SQL: Conversational Question Reformulation Enhanced Context-Dependent Text-to-SQL Parsers
Venue: arXiv cs.CL 2022
Year: 2022

Context-dependent text-to-SQL is the task of translating multi-turn questions into database-related SQL queries. Existing methods typically focus on making full use of history context or previously predicted SQL for currently SQL parsing, while neglecting to explicitly comprehend the schema and conversational dependency, such as co-reference, ellipsis and user focus change. In this paper, we propose CQR-SQL, which uses auxiliary Conversational Question Reformulation (CQR) learning to explicitly exploit schema and decouple contextual dependency for SQL parsing. Specifically, we first present a schema enhanced recursive CQR method to produce domain-relevant self-contained questions. Secondly, we train CQR-SQL models to map the semantics of multi-turn questions and auxiliary self-contained questions into the same latent space through schema grounding consistency task and tree-structured SQL parsing consistency task, which enhances the abilities of SQL parsing by adequately contextual understanding. At the time of writing, our CQR-SQL achieves new state-of-the-art results on two context-dependent text-to-SQL benchmarks SParC and CoSQL.
Let's Trace It: Fine-Grained Serverless Benchmarking using Synchronous and Asynchronous Orchestrated Applications
Venue: arXiv cs.DC 2022
Year: 2022

Making serverless computing widely applicable requires detailed performance understanding. Although contemporary benchmarking approaches exist, they report only coarse results, do not apply distributed tracing, do not consider asynchronous applications, and provide limited capabilities for (root cause) analysis. Addressing this gap, we design and implement ServiBench, a serverless benchmarking suite. ServiBench (i) leverages synchronous and asynchronous serverless applications representative of production usage, (ii) extrapolates cloud-provider data to generate realistic workloads, (iii) conducts comprehensive, end-to-end experiments to capture application-level performance, (iv) analyzes results using a novel approach based on (distributed) serverless tracing, and (v) supports comprehensively serverless performance analysis. With ServiBench, we conduct comprehensive experiments on AWS, covering five common performance factors: median latency, cold starts, tail latency, scalability, and dynamic workloads. We find that the median end-to-end latency of serverless applications is often dominated not by function computation but by external service calls, orchestration, or trigger-based coordination. We release collected experimental data under FAIR principles and ServiBench as a tested, extensible open-source tool.
The Influence of Dimensions on the Complexity of Computing Decision Trees
Venue: arXiv cs.CC 2022
Year: 2022

A decision tree recursively splits a feature space $\mathbb{R}^{d}$ and then assigns class labels based on the resulting partition. Decision trees have been part of the basic machine-learning toolkit for decades. A large body of work treats heuristic algorithms to compute a decision tree from training data, usually aiming to minimize in particular the size of the resulting tree. In contrast, little is known about the complexity of the underlying computational problem of computing a minimum-size tree for the given training data. We study this problem with respect to the number $d$ of dimensions of the feature space. We show that it can be solved in $O(n^{2d + 1}d)$ time, but under reasonable complexity-theoretic assumptions it is not possible to achieve $f(d) \cdot n^{o(d / \log d)}$ running time, where $n$ is the number of training examples. The problem is solvable in $(dR)^{O(dR)} \cdot n^{1+o(1)}$ time, if there are exactly two classes and $R$ is an upper bound on the number of tree leaves labeled with the first~class.
An Experimental Comparison of Floating Base Estimators for Humanoid Robots with Flat Feet
Venue: arXiv cs.RO 2022
Year: 2022

Extended Kalman filtering is a common approach to achieve floating base estimation of a humanoid robot. These filters rely on measurements from an Inertial Measurement Unit (IMU) and relative forward kinematics for estimating the base position-and-orientation and its linear velocity along with the augmented states of feet position-and-orientation, thus giving them their name, flat-foot filters. However, the availability of only partial measurements often poses the question of consistency in the filter design. In this paper, we perform an experimental comparison of state-of-the-art flat-foot filters based on the representation choice of state, observation, matrix Lie group error and system dynamics evaluated for filter consistency and trajectory errors. The comparison is performed over simulated and real-world experiments conducted on the iCub humanoid platform.
A BenchCouncil View on Benchmarking Emerging and Future Computing
Venue: arXiv cs.ET 2022
Year: 2022

The measurable properties of the artifacts or objects in the computer, management, or finance disciplines are extrinsic, not inherent -- dependent on their problem definitions and solution instantiations. Only after the instantiation can the solutions to the problem be measured. The processes of definition, instantiation, and measurement are entangled, and they have complex mutual influences. Meanwhile, the technology inertia brings instantiation bias -- trapped into a subspace or even a point at a high-dimension solution space. These daunting challenges, which emerging computing aggravates, make metrology can not work for benchmark communities. It is pressing to establish independent benchmark science and engineering. This article presents a unifying benchmark definition, a conceptual framework, and a traceable and supervised learning-based benchmarking methodology, laying the foundation for benchmark science and engineering. I also discuss BenchCouncil's plans for emerging and future computing. The ongoing projects include defining the challenges of intelligence, instinct, quantum computers, Metaverse, planet-scale computers, and reformulating data centers, artificial intelligence for science, and CPU benchmark suites. Also, BenchCouncil will collaborate with ComputerCouncil on open-source computer systems for planet-scale computing, AI for science systems, and Metaverse.
Unlabeled Multi-Robot Motion Planning with Tighter Separation Bounds
Venue: arXiv cs.CG 2022
Year: 2022

We consider the unlabeled motion-planning problem of $m$ unit-disc robots moving in a simple polygonal workspace of $n$ edges. The goal is to find a motion plan that moves the robots to a given set of $m$ target positions. For the unlabeled variant, it does not matter which robot reaches which target position as long as all target positions are occupied in the end. If the workspace has narrow passages such that the robots cannot fit through them, then the free configuration space, representing all possible unobstructed positions of the robots, will consist of multiple connected components. Even if in each component of the free space the number of targets matches the number of start positions, the motion-planning problem does not always have a solution when the robots and their targets are positioned very densely. In this paper, we prove tight bounds on how much separation between start and target positions is necessary to always guarantee a solution. Moreover, we describe an algorithm that always finds a solution in time $O(n \log n + mn + m^2)$ if the separation bounds are met. Specifically, we prove that the following separation is sufficient: any two start positions are at least distance $4$ apart, any two target positions are at least distance $4$ apart, and any pair of a start and a target positions is at least distance $3$ apart. We further show that when the free space consists of a single connected component, the separation between start and target positions is not necessary.
Whole-Body Human Kinematics Estimation using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter
Venue: arXiv cs.RO 2022
Year: 2022

Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model-based whole-body kinematics estimation algorithm using wearable distributed inertial and force-torque sensing. This is done by extending the existing dynamical optimization-based Inverse Kinematics (IK) approach for joint state estimation, in cascade, to include a center of pressure-based contact detector and a contact-aided Kalman filter on Lie groups for floating base pose estimation. The proposed method is tested in an experimental scenario where a human equipped with a sensorized suit and shoes performs walking motions. The proposed method is demonstrated to obtain a reliable reconstruction of the whole-body human motion.
Heterogeneous Domain Adaptation with Adversarial Neural Representation Learning: Experiments on E-Commerce and Cybersecurity
Venue: arXiv cs.LG 2022
Year: 2022

Learning predictive models in new domains with scarce training data is a growing challenge in modern supervised learning scenarios. This incentivizes developing domain adaptation methods that leverage the knowledge in known domains (source) and adapt to new domains (target) with a different probability distribution. This becomes more challenging when the source and target domains are in heterogeneous feature spaces, known as heterogeneous domain adaptation (HDA). While most HDA methods utilize mathematical optimization to map source and target data to a common space, they suffer from low transferability. Neural representations have proven to be more transferable; however, they are mainly designed for homogeneous environments. Drawing on the theory of domain adaptation, we propose a novel framework, Heterogeneous Adversarial Neural Domain Adaptation (HANDA), to effectively maximize the transferability in heterogeneous environments. HANDA conducts feature and distribution alignment in a unified neural network architecture and achieves domain invariance through adversarial kernel learning. Three experiments were conducted to evaluate the performance against the state-of-the-art HDA methods on major image and text e-commerce benchmarks. HANDA shows statistically significant improvement in predictive performance. The practical utility of HANDA was shown in real-world dark web online markets. HANDA is an important step towards successful domain adaptation in e-commerce applications.
Depression Diagnosis and Forecast based on Mobile Phone Sensor Data
Venue: arXiv cs.LG 2022
Year: 2022

Previous studies have shown the correlation between sensor data collected from mobile phones and human depression states. Compared to the traditional self-assessment questionnaires, the passive data collected from mobile phones is easier to access and less time-consuming. In particular, passive mobile phone data can be collected on a flexible time interval, thus detecting moment-by-moment psychological changes and helping achieve earlier interventions. Moreover, while previous studies mainly focused on depression diagnosis using mobile phone data, depression forecasting has not received sufficient attention. In this work, we extract four types of passive features from mobile phone data, including phone call, phone usage, user activity, and GPS features. We implement a long short-term memory (LSTM) network in a subject-independent 10-fold cross-validation setup to model both a diagnostic and a forecasting tasks. Experimental results show that the forecasting task achieves comparable results with the diagnostic task, which indicates the possibility of forecasting depression from mobile phone sensor data. Our model achieves an accuracy of 77.0 % for major depression forecasting (binary), an accuracy of 53.7 % for depression severity forecasting (5 classes), and a best RMSE score of 4.094 (PHQ-9, range from 0 to 27).