OpenRaiser/Intern-Atlas huggingface dataset:
Search-based Planning for Active Sensing in Goal-Directed Coverage Tasks
Venue: arXiv cs.RO 2020
Year: 2020

Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over onboard observational sensors during navigation. In this paper, we tackle the problem of planning robot and sensor trajectories that maximize information gain in such tasks where the robot needs to cover points of interest with its sensor footprint. Search-based planners in general guarantee completeness and provable bounds on suboptimality with respect to an underlying graph discretization. However, searching for kinodynamically feasible paths in the joint space of robot and sensor state variables with standard search is computationally expensive. We propose two alternative search-based approaches to this problem. The first solves for robot and sensor trajectories independently in decoupled state spaces while maintaining a history of sensor headings during the search. The second is a two-step approach that first quickly computes a solution in decoupled state spaces and then refines it by searching its local neighborhood in the joint space for a better solution. We evaluate our approaches in simulation with a kinodynamically constrained unmanned aerial vehicle performing coverage over a 2D environment and show their benefits.
Tiny-CFA: A Minimalistic Approach for Control-Flow Attestation Using Verified Proofs of Execution
Venue: arXiv cs.CR 2020
Year: 2020

The design of tiny trust anchors has received significant attention over the past decade, to secure low-end MCU-s that cannot afford expensive security mechanisms. In particular, hardware/software (hybrid) co-designs offer low hardware cost, while retaining similar security guarantees as (more expensive) hardware-based techniques. Hybrid trust anchors support security services, such as remote attestation, proofs of software update/erasure/reset, proofs of remote software execution, in resource-constrained MCU-s, e.g., MSP430 and AVR AtMega32. Despite these advances, detection of control-flow attacks in low-end MCU-s remains a challenge, since hardware requirements of the cheapest related architectures are often more expensive than the MCU-s themselves. In this work, we tackle this challenge by designing Tiny-CFA - a control-flow attestation (CFA) technique with a single hardware requirement - the ability to generate proofs of remote software execution (PoX). In turn, PoX can be implemented very efficiently and securely in low-end MCU-s. Consequently, our design achieves the lowest hardware overhead of any CFA architecture (i.e., two orders of magnitude cheaper), while relying on a formally verified PoX architecture as its sole hardware requirement. With respect to runtime overhead, Tiny-CFA also achieves better performance than prior CFA techniques based on code instrumentation. We implement and evaluate Tiny-CFA, analyze its security, and demonstrate its practicality using real-world publicly available applications.
Accounting for Affect in Pain Level Recognition
Venue: arXiv cs.CV 2020
Year: 2020

In this work, we address the importance of affect in automated pain assessment and the implications in real-world settings. To achieve this, we curate a new physiological dataset by merging the publicly available bioVid pain and emotion datasets. We then investigate pain level recognition on this dataset simulating participants' naturalistic affective behaviors. Our findings demonstrate that acknowledging affect in pain assessment is essential. We observe degradation in recognition performance when simulating the existence of affect to validate pain assessment models that do not account for it. Conversely, we observe a performance boost in recognition when we account for affect.
Dynamic backdoor attacks against federated learning
Venue: arXiv cs.LG 2020
Year: 2020

Federated Learning (FL) is a new machine learning framework, which enables millions of participants to collaboratively train machine learning model without compromising data privacy and security. Due to the independence and confidentiality of each client, FL does not guarantee that all clients are honest by design, which makes it vulnerable to adversarial attack naturally. In this paper, we focus on dynamic backdoor attacks under FL setting, where the goal of the adversary is to reduce the performance of the model on targeted tasks while maintaining a good performance on the main task, current existing studies are mainly focused on static backdoor attacks, that is the poison pattern injected is unchanged, however, FL is an online learning framework, and adversarial targets can be changed dynamically by attacker, traditional algorithms require learning a new targeted task from scratch, which could be computationally expensive and require a large number of adversarial training examples, to avoid this, we bridge meta-learning and backdoor attacks under FL setting, in which case we can learn a versatile model from previous experiences, and fast adapting to new adversarial tasks with a few of examples. We evaluate our algorithm on different datasets, and demonstrate that our algorithm can achieve good results with respect to dynamic backdoor attacks. To the best of our knowledge, this is the first paper that focus on dynamic backdoor attacks research under FL setting.
Enhance Gender and Identity Preservation in Face Aging Simulation for Infants and Toddlers
Venue: arXiv cs.CV 2020
Year: 2020

Realistic age-progressed photos provide invaluable biometric information in a wide range of applications. In recent years, deep learning-based approaches have made remarkable progress in modeling the aging process of the human face. Nevertheless, it remains a challenging task to generate accurate age-progressed faces from infant or toddler photos. In particular, the lack of visually detectable gender characteristics and the drastic appearance changes in early life contribute to the difficulty of the task. We propose a new deep learning method inspired by the successful Conditional Adversarial Autoencoder (CAAE, 2017) model. In our approach, we extend the CAAE architecture to 1) incorporate gender information, and 2) augment the model's overall architecture with an identity-preserving component based on facial features. We trained our model using the publicly available UTKFace dataset and evaluated our model by simulating up to 100 years of aging on 1,156 male and 1,207 female infant and toddler face photos. Compared to the CAAE approach, our new model demonstrates noticeable visual improvements. Quantitatively, our model exhibits an overall gain of 77.0% (male) and 13.8% (female) in gender fidelity measured by a gender classifier for the simulated photos across the age spectrum. Our model also demonstrates a 22.4% gain in identity preservation measured by a facial recognition neural network.
Joint Placement Optimization and RNC in UAV-based Wireless Multicast Networks
Venue: arXiv cs.IT 2020
Year: 2020

Random network coding (RNC) is an efficient coding scheme to improve the performance of the broadband networks, especially for multimedia applications which are popular in 5G network. However, it is a challenging work to transmit the real time media data because of the time limitation and wide band requirement. Moreover, the topology of the network changes due to users' movement, causing huge channel heterogeneity in large wireless network area. In this case, the fixed macro base station (BS) or access point may not fit the real-time user distributions. Accordingly, the UAV-based BS with high mobility can provide flexible service by adjusting it position according to users' locations to fit the dynamic topology of the network. Therefore, in this paper, we propose a UAV-based adaptive RNC (UARNC) scheme that jointly optimizes the UAV's location and RNC packet scheduling to maximize the throughput in a multicast network while guaranteeing the service quality of the bottleneck users. This problem is formulated as an optimization problem, and the greedy scheduling techniques and particle swarm optimization (PSO) algorithm are adopted to solve it. Finally, the simulation results prove the effectiveness of the proposed scheme.
Echo-CGC: A Communication-Efficient Byzantine-tolerant Distributed Machine Learning Algorithm in Single-Hop Radio Network
Venue: arXiv cs.DC 2020
Year: 2020

In this paper, we focus on a popular DML framework -- the parameter server computation paradigm and iterative learning algorithms that proceed in rounds. We aim to reduce the communication complexity of Byzantine-tolerant DML algorithms in the single-hop radio network. Inspired by the CGC filter developed by Gupta and Vaidya, PODC 2020, we propose a gradient descent-based algorithm, Echo-CGC. Our main novelty is a mechanism to utilize the broadcast properties of the radio network to avoid transmitting the raw gradients (full $d$-dimensional vectors). In the radio network, each worker is able to overhear previous gradients that were transmitted to the parameter server. Roughly speaking, in Echo-CGC, if a worker "agrees" with a combination of prior gradients, it will broadcast the "echo message" instead of the its raw local gradient. The echo message contains a vector of coefficients (of size at most $n$) and the ratio of the magnitude between two gradients (a float). In comparison, the traditional approaches need to send $n$ local gradients in each round, where each gradient is typically a vector in an ultra-high dimensional space ($d\gg n$). The improvement on communication complexity of our algorithm depends on multiple factors, including number of nodes, number of faulty workers in an execution, and the cost function. We numerically analyze the improvement, and show that with a large number of nodes, Echo-CGC reduces $80\%$ of the communication under standard assumptions.
Performance Analysis of an Interference-Limited RIS-Aided Network
Venue: arXiv cs.PF 2020
Year: 2020

In this work, the performance of reconfigurable intelligent surface (RIS)-aided communication systems corrupted by the co-channel interference (CCI) at the destination is investigated. Assuming Rayleigh fading and equal-power CCI, we present the analysis for the outage probability (OP), average bit error rate (BER), and ergodic capacity. In addition, an asymptotic outage analysis is carried in order to obtain further insights. Our analysis shows that the number of reflecting elements as well as the number of interferers have a great impact on the overall system performance.
Removable Weak Keys for Discrete Logarithm Based Cryptography
Venue: arXiv cs.CR 2020
Year: 2020

We describe a novel type of weak cryptographic private key that can exist in any discrete logarithm based public-key cryptosystem set in a group of prime order $p$ where $p-1$ has small divisors. Unlike the weak private keys based on \textit{numerical size} (such as smaller private keys, or private keys lying in an interval) that will \textit{always} exist in any DLP cryptosystems, our type of weak private keys occurs purely due to parameter choice of $p$, and hence, can be removed with appropriate value of $p$. Using the theory of implicit group representations, we present algorithms that can determine whether a key is weak, and if so, recover the private key from the corresponding public key. We analyze several elliptic curves proposed in the literature and in various standards, giving counts of the number of keys that can be broken with relatively small amounts of computation. Our results show that many of these curves, including some from standards, have a considerable number of such weak private keys. We also use our methods to show that none of the 14 outstanding Certicom Challenge problem instances are weak in our sense, up to a certain weakness bound.
FDD Massive MIMO -- Antenna Duplex Pattern an-Reciprocity : A Missing Brick
Venue: arXiv cs.IT 2020
Year: 2020

Obtaining down link (DL) channel state information (CSI) at the base station (BS) is challenging for frequencydivision-duplex (FDD) massive MIMO (MM) systems. Considerable overhead is required for DL training and feedback. Instead studies often assume highly correlated average spatial signal signatures (i.e. directional clusters) between FDD duplex links. These assumptions, however, only represent use of antennas with the same radiation pattern over the duplex band, leading to illumination of the same cluster. In this paper, we investigate pattern reciprocity, over the duplex band, for practical user handsets. We first show how a population of measured contemporary phones exhibits noticeable duplex pattern divergence. We then show measured complex pattern duplex divergence of a mock-up phone, where depolarization comes on top of gain differences. Thus we reveal a significant but overlooked brick in DL CSI assessment for FDD MM operation. Namely, in order for the FDD MM performance studies to be realistic, practical user handsets have to be considered.
FAIR: Fair Adversarial Instance Re-weighting
Venue: arXiv cs.LG 2020
Year: 2020

With growing awareness of societal impact of artificial intelligence, fairness has become an important aspect of machine learning algorithms. The issue is that human biases towards certain groups of population, defined by sensitive features like race and gender, are introduced to the training data through data collection and labeling. Two important directions of fairness ensuring research have focused on (i) instance weighting in order to decrease the impact of more biased instances and (ii) adversarial training in order to construct data representations informative of the target variable, but uninformative of the sensitive attributes. In this paper we propose a Fair Adversarial Instance Re-weighting (FAIR) method, which uses adversarial training to learn instance weighting function that ensures fair predictions. Merging the two paradigms, it inherits desirable properties from both -- interpretability of reweighting and end-to-end trainability of adversarial training. We propose four different variants of the method and, among other things, demonstrate how the method can be cast in a fully probabilistic framework. Additionally, theoretical analysis of FAIR models' properties have been studied extensively. We compare FAIR models to 7 other related and state-of-the-art models and demonstrate that FAIR is able to achieve a better trade-off between accuracy and unfairness. To the best of our knowledge, this is the first model that merges reweighting and adversarial approaches by means of a weighting function that can provide interpretable information about fairness of individual instances.
Automated Intersection Management with MiniZinc
Venue: arXiv cs.AI 2020
Year: 2020

Ill-managed intersections are the primary reasons behind the increasing traffic problem in urban areas, leading to nonoptimal traffic-flow and unnecessary deadlocks. In this paper, we propose an automated intersection management system that extracts data from a well-defined grid of sensors and optimizes traffic flow by controlling traffic signals. The data extraction mechanism is independent of the optimization algorithm and this paper primarily emphasizes the later one. We have used MiniZinc modeling language to define our system as a constraint satisfaction problem which can be solved using any off-the-shelf solver. The proposed system performs much better than the systems currently in use. Our system reduces the mean waiting time and standard deviation of the waiting time of vehicles and avoids deadlocks.
Pix2Streams: Dynamic Hydrology Maps from Satellite-LiDAR Fusion
Venue: arXiv cs.CV 2020
Year: 2020

Where are the Earth's streams flowing right now? Inland surface waters expand with floods and contract with droughts, so there is no one map of our streams. Current satellite approaches are limited to monthly observations that map only the widest streams. These are fed by smaller tributaries that make up much of the dendritic surface network but whose flow is unobserved. A complete map of our daily waters can give us an early warning for where droughts are born: the receding tips of the flowing network. Mapping them over years can give us a map of impermanence of our waters, showing where to expect water, and where not to. To that end, we feed the latest high-res sensor data to multiple deep learning models in order to map these flowing networks every day, stacking the times series maps over many years. Specifically, i) we enhance water segmentation to $50$ cm/pixel resolution, a 60$\times$ improvement over previous state-of-the-art results. Our U-Net trained on 30-40cm WorldView3 images can detect streams as narrow as 1-3m (30-60$\times$ over SOTA). Our multi-sensor, multi-res variant, WasserNetz, fuses a multi-day window of 3m PlanetScope imagery with 1m LiDAR data, to detect streams 5-7m wide. Both U-Nets produce a water probability map at the pixel-level. ii) We integrate this water map over a DEM-derived synthetic valley network map to produce a snapshot of flow at the stream level. iii) We apply this pipeline, which we call Pix2Streams, to a 2-year daily PlanetScope time-series of three watersheds in the US to produce the first high-fidelity dynamic map of stream flow frequency. The end result is a new map that, if applied at the national scale, could fundamentally improve how we manage our water resources around the world.
Unsupervised Contrastive Learning of Sound Event Representations
Venue: arXiv cs.SD 2020
Year: 2020

Self-supervised representation learning can mitigate the limitations in recognition tasks with few manually labeled data but abundant unlabeled data---a common scenario in sound event research. In this work, we explore unsupervised contrastive learning as a way to learn sound event representations. To this end, we propose to use the pretext task of contrasting differently augmented views of sound events. The views are computed primarily via mixing of training examples with unrelated backgrounds, followed by other data augmentations. We analyze the main components of our method via ablation experiments. We evaluate the learned representations using linear evaluation, and in two in-domain downstream sound event classification tasks, namely, using limited manually labeled data, and using noisy labeled data. Our results suggest that unsupervised contrastive pre-training can mitigate the impact of data scarcity and increase robustness against noisy labels, outperforming supervised baselines.
Good proctor or "Big Brother"? AI Ethics and Online Exam Supervision Technologies
Venue: arXiv cs.CY 2020
Year: 2020

This article philosophically analyzes online exam supervision technologies, which have been thrust into the public spotlight due to campus lockdowns during the COVID-19 pandemic and the growing demand for online courses. Online exam proctoring technologies purport to provide effective oversight of students sitting online exams, using artificial intelligence (AI) systems and human invigilators to supplement and review those systems. Such technologies have alarmed some students who see them as `Big Brother-like', yet some universities defend their judicious use. Critical ethical appraisal of online proctoring technologies is overdue. This article philosophically analyzes these technologies, focusing on the ethical concepts of academic integrity, fairness, non-maleficence, transparency, privacy, respect for autonomy, liberty, and trust. Most of these concepts are prominent in the new field of AI ethics and all are relevant to the education context. The essay provides ethical considerations that educational institutions will need to carefully review before electing to deploy and govern specific online proctoring technologies.
Application of Virtualization Technologies in Novel Industrial Automation: Catalyst or Show-Stopper?
Venue: arXiv cs.NI 2020
Year: 2020

Industry 4.0 describes an adaptive and changeable production, where its factory cells have to be reconfigured at very short intervals, e.g. after each workpiece. Furthermore, this scenario cannot be realized with traditional devices, such as programmable logic controllers. Here the use of well-proven technologies of the information technology are conquering the production hall (IT-OT convergence). Therefore, both virtualization and novel communication technologies are being introduced in the field of industrial automation. In addition, these technologies are seen as the key for facilitating various emerging use cases. However, it is not yet clear whether each of the dedicated hardware and software components, which have been developed for specific control tasks and have performed well over decades, can be upgraded without major adjustments. In this paper, we examine the opportunities and challenges of hardware and operating system-level virtualization based on the stringent requirements imposed by industrial applications. For that purpose, benchmarks for different virtualization technologies are set by determining their computational and networking overhead, configuration effort, accessibility, scalability, and security.
Forking Without Clicking: on How to Identify Software Repository Forks
Venue: arXiv cs.SE 2020
Year: 2020

The notion of software ''fork'' has been shifting over time from the (negative) phenomenon of community disagreements that result in the creation of separate development lines and ultimately software products, to the (positive) practice of using distributed version control system (VCS) repositories to collaboratively improve a single product without stepping on each others toes. In both cases the VCS repositories participating in a fork share parts of a common development history. Studies of software forks generally rely on hosting platform metadata, such as GitHub, as the source of truth for what constitutes a fork. These ''forge forks'' however can only identify as forks repositories that have been created on the platform, e.g., by clicking a ''fork'' button on the platform user interface. The increased diversity in code hosting platforms (e.g., GitLab) and the habits of significant development communities (e.g., the Linux kernel, which is not primarily hosted on any single platform) call into question the reliability of trusting code hosting platforms to identify forks. Doing so might introduce selection and methodological biases in empirical studies. In this article we explore various definitions of ''software forks'', trying to capture forking workflows that exist in the real world. We quantify the differences in how many repositories would be identified as forks on GitHub according to the various definitions, confirming that a significant number could be overlooked by only considering forge forks. We study the structure and size of fork networks , observing how they are affected by the proposed definitions and discuss the potential impact on empirical research.