OpenRaiser/Intern-Atlas huggingface dataset:
GPGM-SLAM: a Robust SLAM System for Unstructured Planetary Environments with Gaussian Process Gradient Maps
Venue: arXiv cs.RO 2021
Year: 2021

Simultaneous Localization and Mapping (SLAM) techniques play a key role towards long-term autonomy of mobile robots due to the ability to correct localization errors and produce consistent maps of an environment over time. Contrarily to urban or man-made environments, where the presence of unique objects and structures offer unique cues for localization, the appearance of unstructured natural environments is often ambiguous and self-similar, hindering the performances of loop closure detection. In this paper, we present an approach to improve the robustness of place recognition in the context of a submap-based stereo SLAM based on Gaussian Process Gradient Maps (GPGMaps). GPGMaps embed a continuous representation of the gradients of the local terrain elevation by means of Gaussian Process regression and Structured Kernel Interpolation, given solely noisy elevation measurements. We leverage the image-like structure of GPGMaps to detect loop closures using traditional visual features and Bag of Words. GPGMap matching is performed as an SE(2) alignment to establish loop closure constraints within a pose graph. We evaluate the proposed pipeline on a variety of datasets recorded on Mt. Etna, Sicily and in the Morocco desert, respectively Moon- and Mars-like environments, and we compare the localization performances with state-of-the-art approaches for visual SLAM and visual loop closure detection.
Just What do You Think You're Doing, Dave?' A Checklist for Responsible Data Use in NLP
Venue: arXiv cs.CL 2021
Year: 2021

A key part of the NLP ethics movement is responsible use of data, but exactly what that means or how it can be best achieved remain unclear. This position paper discusses the core legal and ethical principles for collection and sharing of textual data, and the tensions between them. We propose a potential checklist for responsible data (re-)use that could both standardise the peer review of conference submissions, as well as enable a more in-depth view of published research across the community. Our proposal aims to contribute to the development of a consistent standard for data (re-)use, embraced across NLP conferences.
A Novel Data Encryption Method Inspired by Adversarial Attacks
Venue: arXiv cs.CR 2021
Year: 2021

Due to the advances of sensing and storage technologies, a tremendous amount of data becomes available and, it supports the phenomenal growth of artificial intelligence (AI) techniques especially, deep learning (DL), in various application domains. While the data sources become valuable assets for enabling the success of autonomous decision-making, they also lead to critical vulnerabilities in privacy and security. For example, data leakage can be exploited via querying and eavesdropping in the exploratory phase for black-box attacks against DL-based autonomous decision-making systems. To address this issue, in this work, we propose a novel data encryption method, called AdvEncryption, by exploiting the principle of adversarial attacks. Different from existing encryption technologies, the AdvEncryption method is not developed to prevent attackers from exploiting the dataset. Instead, our proposed method aims to trap the attackers in a misleading feature distillation of the data. To achieve this goal, our AdvEncryption method consists of two essential components: 1) an adversarial attack-inspired encryption mechanism to encrypt the data with stealthy adversarial perturbation, and 2) a decryption mechanism that minimizes the impact of the perturbations on the effectiveness of autonomous decision making. In the performance evaluation section, we evaluate the performance of our proposed AdvEncryption method through case studies considering different scenarios.
Learnable Discrete Wavelet Pooling (LDW-Pooling) For Convolutional Networks
Venue: arXiv cs.CV 2021
Year: 2021

Pooling is a simple but essential layer in modern deep CNN architectures for feature aggregation and extraction. Typical CNN design focuses on the conv layers and activation functions, while leaving the pooling layers with fewer options. We introduce the Learning Discrete Wavelet Pooling (LDW-Pooling) that can be applied universally to replace standard pooling operations to better extract features with improved accuracy and efficiency. Motivated from the wavelet theory, we adopt the low-pass (L) and high-pass (H) filters horizontally and vertically for pooling on a 2D feature map. Feature signals are decomposed into four (LL, LH, HL, HH) subbands to retain features better and avoid information dropping. The wavelet transform ensures features after pooling can be fully preserved and recovered. We next adopt an energy-based attention learning to fine-select crucial and representative features. LDW-Pooling is effective and efficient when compared with other state-of-the-art pooling techniques such as WaveletPooling and LiftPooling. Extensive experimental validation shows that LDW-Pooling can be applied to a wide range of standard CNN architectures and consistently outperform standard (max, mean, mixed, and stochastic) pooling operations.
A Blockchain based Federated Learning for Message Dissemination in Vehicular Networks
Venue: arXiv cs.CR 2021
Year: 2021

Message exchange among vehicles plays an important role in ensuring road safety. Emergency message dissemination is usually carried out by broadcasting. However, high vehicle density and mobility usually lead to challenges in message dissemination such as broadcasting storm and low probability of packet reception. This paper proposes a federated learning based blockchain-assisted message dissemination solution. Similar to the incentive-based Proof-of-Work consensus in blockchain, vehicles compete to become a relay node (miner) by processing the proposed Proof-of-Federated-Learning (PoFL) consensus which is embedded in the smart contract of blockchain. Both theoretical and practical analysis of the proposed solution are provided. Specifically, the proposed blockchain based federated learning results in more number of vehicles uploading their models in a given time, which can potentially lead to a more accurate model in less time as compared to the same solution without using blockchain. It also outperforms the other blockchain approaches for message dissemination by reducing 65.2% of time delay in consensus, improving at least 8.2% message delivery rate and preserving privacy of neighbor vehicle more efficiently. The economic model to incentivize vehicles participating in federated learning and message dissemination is further analyzed using Stackelberg game model.
Non-autoregressive Transformer with Unified Bidirectional Decoder for Automatic Speech Recognition
Venue: arXiv cs.CL 2021
Year: 2021

Non-autoregressive (NAR) transformer models have been studied intensively in automatic speech recognition (ASR), and a substantial part of NAR transformer models is to use the casual mask to limit token dependencies. However, the casual mask is designed for the left-to-right decoding process of the non-parallel autoregressive (AR) transformer, which is inappropriate for the parallel NAR transformer since it ignores the right-to-left contexts. Some models are proposed to utilize right-to-left contexts with an extra decoder, but these methods increase the model complexity. To tackle the above problems, we propose a new non-autoregressive transformer with a unified bidirectional decoder (NAT-UBD), which can simultaneously utilize left-to-right and right-to-left contexts. However, direct use of bidirectional contexts will cause information leakage, which means the decoder output can be affected by the character information from the input of the same position. To avoid information leakage, we propose a novel attention mask and modify vanilla queries, keys, and values matrices for NAT-UBD. Experimental results verify that NAT-UBD can achieve character error rates (CERs) of 5.0%/5.5% on the Aishell1 dev/test sets, outperforming all previous NAR transformer models. Moreover, NAT-UBD can run 49.8x faster than the AR transformer baseline when decoding in a single step.
Learning Based Adaptive Force Control of Robotic Manipulation Based on Real-Time Object Stiffness Detection
Venue: arXiv cs.RO 2021
Year: 2021

Force control is essential for medical robots when touching and contacting the patient's body. To increase the stability and efficiency in force control, an Adaption Module could be used to adjust the parameters for different contact situations. We propose an adaptive controller with an Adaption Module which can produce control parameters based on force feedback and real-time stiffness detection. We develop methods for learning the optimal policies by value iteration and using the data generated from those policies to train the Adaptive Module. We test this controller on different zones of a person's arm. All the parameters used in practice are learned from data. The experiments show that the proposed adaptive controller can exert various target forces on different zones of the arm with fast convergence and good stability.
COVID-Net Clinical ICU: Enhanced Prediction of ICU Admission for COVID-19 Patients via Explainability and Trust Quantification
Venue: arXiv cs.LG 2021
Year: 2021

The COVID-19 pandemic continues to have a devastating global impact, and has placed a tremendous burden on struggling healthcare systems around the world. Given the limited resources, accurate patient triaging and care planning is critical in the fight against COVID-19, and one crucial task within care planning is determining if a patient should be admitted to a hospital's intensive care unit (ICU). Motivated by the need for transparent and trustworthy ICU admission clinical decision support, we introduce COVID-Net Clinical ICU, a neural network for ICU admission prediction based on patient clinical data. Driven by a transparent, trust-centric methodology, the proposed COVID-Net Clinical ICU was built using a clinical dataset from Hospital Sirio-Libanes comprising of 1,925 COVID-19 patient records, and is able to predict when a COVID-19 positive patient would require ICU admission with an accuracy of 96.9% to facilitate better care planning for hospitals amidst the on-going pandemic. We conducted system-level insight discovery using a quantitative explainability strategy to study the decision-making impact of different clinical features and gain actionable insights for enhancing predictive performance. We further leveraged a suite of trust quantification metrics to gain deeper insights into the trustworthiness of COVID-Net Clinical ICU. By digging deeper into when and why clinical predictive models makes certain decisions, we can uncover key factors in decision making for critical clinical decision support tasks such as ICU admission prediction and identify the situations under which clinical predictive models can be trusted for greater accountability.
Semantic Answer Type Prediction using BERT: IAI at the ISWC SMART Task 2020
Venue: arXiv cs.CL 2021
Year: 2021

This paper summarizes our participation in the SMART Task of the ISWC 2020 Challenge. A particular question we are interested in answering is how well neural methods, and specifically transformer models, such as BERT, perform on the answer type prediction task compared to traditional approaches. Our main finding is that coarse-grained answer types can be identified effectively with standard text classification methods, with over 95% accuracy, and BERT can bring only marginal improvements. For fine-grained type detection, on the other hand, BERT clearly outperforms previous retrieval-based approaches.
Why Existing Machine Learning Methods Fails At Extracting the Information of Future Returns Out of Historical Sctock Prices : the Curve-Shape-Feature and Non-Curve-Shape-Feature Modes
Venue: arXiv cs.CE 2021
Year: 2021

The financial time series analysis is important access to touch the complex laws of financial markets. Among many goals of the financial time series analysis, one is to construct a model that can extract the information of the future return out of the known historical stock data, such as stock price, financial news, and e.t.c. To design such a model, prior knowledge on how the future return is correlated with the historical stock prices is needed. In this work, we focus on the issue: in what mode the future return is correlated with the historical stock prices. We manually design several financial time series where the future return is correlated with the historical stock prices in pre-designed modes, namely the curve-shape-feature (CSF) and the non-curve-shape-feature (NCSF) modes. In the CSF mode, the future return can be extracted from the curve shapes of the historical stock prices. By applying various kinds of existing algorithms on those pre-designed time series and real financial time series, we show that: (1) the major information of the future return is not contained in the curve-shape features of historical stock prices. That is, the future return is not mainly correlated with the historical stock prices in the CSF mode. (2) Various kinds of existing machine learning algorithms are good at extracting the curveshape features in the historical stock prices and thus are inappropriate for financial time series analysis although they are successful in the image recognition and natural language processing. That is, new models handling the NCSF series are needed in the financial time series analysis.
Incentivizing Mobile Edge Caching and Sharing: An Evolutionary Game Approach
Venue: arXiv cs.GT 2021
Year: 2021

Mobile Edge Caching is a promising technique to enhance the content delivery quality and reduce the backhaul link congestion, by storing popular content at the network edge or mobile devices (e.g. base stations and smartphones) that are proximate to content requesters. In this work, we study a novel mobile edge caching framework, which enables mobile devices to cache and share popular contents with each other via device-to-device (D2D) links. We are interested in the following incentive problem of mobile device users: whether and which users are willing to cache and share what contents, taking the user mobility and cost/reward into consideration. The problem is challenging in a large-scale network with a large number of users. We introduce the evolutionary game theory, an effective tool for analyzing large-scale dynamic systems, to analyze the mobile users' content caching and sharing strategies. Specifically, we first derive the users' best caching and sharing strategies, and then analyze how these best strategies change dynamically over time, based on which we further characterize the system equilibrium systematically. Simulation results show that the proposed caching scheme outperforms the existing schemes in terms of the total transmission cost and the cellular load. In particular, in our simulation, the total transmission cost can be reduced by 42.5%-55.2% and the cellular load can be reduced by 21.5%-56.4%.
Design and Model Predictive Control of Mars Coaxial Quadrotor
Venue: arXiv cs.RO 2021
Year: 2021

Mars has been a prime candidate for planetary exploration of the solar system because of the science discoveries that support chances of future habitation on this planet. Martian caves and lava tubes like terrains, which consists of uneven ground, poor visibility and confined space, makes it impossible for wheel based rovers to navigate through these areas. In order to address these limitations and advance the exploration capability in a Martian terrain, this article presents the design and control of a novel coaxial quadrotor Micro Aerial Vehicle (MAV). As it will be presented, the key contributions on the design and control architecture of the proposed Mars coaxial quadrotor, are introducing an alternative and more enhanced, from a control point of view concept, when compared in terms of autonomy to Ingenuity. Based on the presented design, the article will introduce the mathematical modelling and automatic control framework of the vehicle that will consist of a linearised model of a co-axial quadrotor and a corresponding Model Predictive Controller (MPC) for the trajectory tracking. Among the many models, proposed for the aerial flight on Mars, a reliable control architecture lacks in the related state of the art. The MPC based closed loop responses of the proposed MAV will be verified in different conditions during the flight with additional disturbances, induced to replicate a real flight scenario. In order to further validate the proposed control architecture and prove the efficacy of the suggested design, the introduced Mars coaxial quadrotor and the MPC scheme will be compared to a PID-type controller, similar to the Ingenuity helicopter's control architecture for the position and the heading.
Predicting Loss Risks for B2B Tendering Processes
Venue: arXiv cs.LG 2021
Year: 2021

Sellers and executives who maintain a bidding pipeline of sales engagements with multiple clients for many opportunities significantly benefit from data-driven insight into the health of each of their bids. There are many predictive models that offer likelihood insights and win prediction modeling for these opportunities. Currently, these win prediction models are in the form of binary classification and only make a prediction for the likelihood of a win or loss. The binary formulation is unable to offer any insight as to why a particular deal might be predicted as a loss. This paper offers a multi-class classification model to predict win probability, with the three loss classes offering specific reasons as to why a loss is predicted, including no bid, customer did not pursue, and lost to competition. These classes offer an indicator of how that opportunity might be handled given the nature of the prediction. Besides offering baseline results on the multi-class classification, this paper also offers results on the model after class imbalance handling, with the results achieving a high accuracy of 85% and an average AUC score of 0.94.
On Decentralized Multi-Transmitter Coded Caching
Venue: arXiv cs.IT 2021
Year: 2021

This paper investigates a setup consisting of multiple transmitters serving multiple cache-enabled clients through a linear network, which covers both wired and wireless transmission situations. We investigate decentralized coded caching scenarios in which there is either no cooperation or limited cooperation between the clients at the cache content placement phase. For the fully decentralized caching case (i.e., no cooperation) we analyze the performance of the system in terms of the Coding Delay metric. Furthermore, we investigate a hybrid cache content placement scenario in which there are two groups of users with different cache content placement situations (i.e., limited cooperation). Also, we examine the effect of finite file size in above scenarios.
A trainable monogenic ConvNet layer robust in front of large contrast changes in image classification
Venue: arXiv cs.CV 2021
Year: 2021

Convolutional Neural Networks (ConvNets) at present achieve remarkable performance in image classification tasks. However, current ConvNets cannot guarantee the capabilities of the mammalian visual systems such as invariance to contrast and illumination changes. Some ideas to overcome the illumination and contrast variations usually have to be tuned manually and tend to fail when tested with other types of data degradation. In this context, we present a new bio-inspired {entry} layer, M6, which detects low-level geometric features (lines, edges, and orientations) which are similar to patterns detected by the V1 visual cortex. This new trainable layer is capable of coping with image classification even with large contrast variations. The explanation for this behavior is the monogenic signal geometry, which represents each pixel value in a 3D space using quaternions, a fact that confers a degree of explainability to the networks. We compare M6 with a conventional convolutional layer (C) and a deterministic quaternion local phase layer (Q9). The experimental setup {is designed to evaluate the robustness} of our M6 enriched ConvNet model and includes three architectures, four datasets, three types of contrast degradation (including non-uniform haze degradations). The numerical results reveal that the models with M6 are the most robust in front of any kind of contrast variations. This amounts to a significant enhancement of the C models, which usually have reasonably good performance only when the same training and test degradation are used, except for the case of maximum degradation. Moreover, the Structural Similarity Index Measure (SSIM) is used to analyze and explain the robustness effect of the M6 feature maps under any kind of contrast degradations.
Measurement and Analysis of GPU-accelerated Applications with HPCToolkit
Venue: arXiv cs.DC 2021
Year: 2021

To address the challenge of performance analysis on the US DOE's forthcoming exascale supercomputers, Rice University has been extending its HPCToolkit performance tools to support measurement and analysis of GPU-accelerated applications. To help developers understand the performance of accelerated applications as a whole, HPCToolkit's measurement and analysis tools attribute metrics to calling contexts that span both CPUs and GPUs. To measure GPU-accelerated applications efficiently, HPCToolkit employs a novel wait-free data structure to coordinate monitoring and attribution of GPU performance. To help developers understand the performance of complex GPU code generated from high-level programming models, HPCToolkit constructs sophisticated approximations of call path profiles for GPU computations. To support fine-grained analysis and tuning, HPCToolkit uses PC sampling and instrumentation to measure and attribute GPU performance metrics to source lines, loops, and inlined code. To supplement fine-grained measurements, HPCToolkit can measure GPU kernel executions using hardware performance counters. To provide a view of how an execution evolves over time, HPCToolkit can collect, analyze, and visualize call path traces within and across nodes. Finally, on NVIDIA GPUs, HPCToolkit can derive and attribute a collection of useful performance metrics based on measurements using GPU PC samples. We illustrate HPCToolkit's new capabilities for analyzing GPU-accelerated applications with several codes developed as part of the Exascale Computing Project.