OpenRaiser/Intern-Atlas huggingface dataset:
AICP: Augmented Informative Cooperative Perception
Venue: arXiv cs.MM 2022
Year: 2022

Connected vehicles, whether equipped with advanced driver-assistance systems or fully autonomous, require human driver supervision and are currently constrained to visual information in their line-of-sight. A cooperative perception system among vehicles increases their situational awareness by extending their perception range. Existing solutions focus on improving perspective transformation and fast information collection. However, such solutions fail to filter out large amounts of less relevant data and thus impose significant network and computation load. Moreover, presenting all this less relevant data can overwhelm the driver and thus actually hinder them. To address such issues, we present Augmented Informative Cooperative Perception (AICP), the first fast-filtering system which optimizes the informativeness of shared data at vehicles to improve the fused presentation. To this end, an informativeness maximization problem is presented for vehicles to select a subset of data to display to their drivers. Specifically, we propose (i) a dedicated system design with custom data structure and lightweight routing protocol for convenient data encapsulation, fast interpretation and transmission, and (ii) a comprehensive problem formulation and efficient fitness-based sorting algorithm to select the most valuable data to display at the application layer. We implement a proof-of-concept prototype of AICP with a bandwidth-hungry, latency-constrained real-life augmented reality application. The prototype adds only 12.6 milliseconds of latency to a current informativeness-unaware system. Next, we test the networking performance of AICP at scale and show that ACIP effectively filters out less relevant packets and decreases the channel busy time.
U-Noise: Learnable Noise Masks for Interpretable Image Segmentation
Venue: arXiv cs.CV 2022
Year: 2022

Deep Neural Networks (DNNs) are widely used for decision making in a myriad of critical applications, ranging from medical to societal and even judicial. Given the importance of these decisions, it is crucial for us to be able to interpret these models. We introduce a new method for interpreting image segmentation models by learning regions of images in which noise can be applied without hindering downstream model performance. We apply this method to segmentation of the pancreas in CT scans, and qualitatively compare the quality of the method to existing explainability techniques, such as Grad-CAM and occlusion sensitivity. Additionally we show that, unlike other methods, our interpretability model can be quantitatively evaluated based on the downstream performance over obscured images.
Auto-weighted Robust Federated Learning with Corrupted Data Sources
Venue: arXiv cs.LG 2022
Year: 2022

Federated learning provides a communication-efficient and privacy-preserving training process by enabling learning statistical models with massive participants while keeping their data in local clients. However, standard federated learning techniques that naively minimize an average loss function are vulnerable to data corruptions from outliers, systematic mislabeling, or even adversaries. In addition, it is often prohibited for service providers to verify the quality of data samples due to the increasing concern of user data privacy. In this paper, we address this challenge by proposing Auto-weighted Robust Federated Learning (arfl), a novel approach that jointly learns the global model and the weights of local updates to provide robustness against corrupted data sources. We prove a learning bound on the expected risk with respect to the predictor and the weights of clients, which guides the definition of the objective for robust federated learning. The weights are allocated by comparing the empirical loss of a client with the average loss of the best p clients (p-average), thus we can downweight the clients with significantly high losses, thereby lower their contributions to the global model. We show that this approach achieves robustness when the data of corrupted clients is distributed differently from benign ones. To optimize the objective function, we propose a communication-efficient algorithm based on the blockwise minimization paradigm. We conduct experiments on multiple benchmark datasets, including CIFAR-10, FEMNIST and Shakespeare, considering different deep neural network models. The results show that our solution is robust against different scenarios including label shuffling, label flipping and noisy features, and outperforms the state-of-the-art methods in most scenarios.
TridentNet: A Conditional Generative Model for Dynamic Trajectory Generation
Venue: arXiv cs.RO 2022
Year: 2022

In recent years, various state of the art autonomous vehicle systems and architectures have been introduced. These methods include planners that depend on high-definition (HD) maps and models that learn an autonomous agent's controls in an end-to-end fashion. While end-to-end models are geared towards solving the scalability constraints from HD maps, they do not generalize for different vehicles and sensor configurations. To address these shortcomings, we introduce an approach that leverages lightweight map representations, explicitly enforcing geometric constraints, and learns feasible trajectories using a conditional generative model. Additional contributions include a new dataset that is used to verify our proposed models quantitatively. The results indicate low relative errors that can potentially translate to traversable trajectories. The dataset created as part of this work has been made available online.
Screening for Sparse Online Learning
Venue: arXiv cs.LG 2022
Year: 2022

Sparsity promoting regularizers are widely used to impose low-complexity structure (e.g. l1-norm for sparsity) to the regression coefficients of supervised learning. In the realm of deterministic optimization, the sequence generated by iterative algorithms (such as proximal gradient descent) exhibit "finite activity identification", namely, they can identify the low-complexity structure in a finite number of iterations. However, most online algorithms (such as proximal stochastic gradient descent) do not have the property owing to the vanishing step-size and non-vanishing variance. In this paper, by combining with a screening rule, we show how to eliminate useless features of the iterates generated by online algorithms, and thereby enforce finite activity identification. One consequence is that when combined with any convergent online algorithm, sparsity properties imposed by the regularizer can be exploited for computational gains. Numerically, significant acceleration can be obtained.
Computability of Data-Word Transductions over Different Data Domains
Venue: arXiv cs.FL 2022
Year: 2022

In this paper, we investigate the problem of synthesizing computable functions of infinite words over an infinite alphabet (data $ω$-words). The notion of computability is defined through Turing machines with infinite inputs which can produce the corresponding infinite outputs in the limit. We use non-deterministic transducers equipped with registers, an extension of register automata with outputs, to describe specifications. Being non-deterministic, such transducers may not define functions but more generally relations of data $ω$-words. In order to increase the expressive power of these machines, we even allow guessing of arbitrary data values when updating their registers. For functions over data $ω$-words, we identify a sufficient condition (the possibility of determining the next letter to be outputted, which we call next letter problem) under which computability (resp. uniform computability) and continuity (resp. uniform continuity) coincide. We focus on two kinds of data domains: first, the general setting of oligomorphic data, which encompasses any data domain with equality, as well as the setting of rational numbers with linear order; and second, the set of natural numbers equipped with linear order. For both settings, we prove that functionality, i.e. determining whether the relation recognized by the transducer is actually a function, is decidable. We also show that the so-called next letter problem is decidable, yielding equivalence between (uniform) continuity and (uniform) computability. Last, we provide characterizations of (uniform) continuity, which allow us to prove that these notions, and thus also (uniform) computability, are decidable. We even show that all these decision problems are PSpace-complete for $(\mathbb{N},<)$ and for a large class of oligomorphic data domains, including for instance $(\mathbb{Q},<)$.
DECT-2020 New Radio: The Next Step Towards 5G Massive Machine-Type Communications
Venue: arXiv cs.NI 2022
Year: 2022

Massive machine type communications (mMTC) is one of the cornerstone services that have to be supported by 5G systems. 3GPP has already introduced LTE-M and NB-IoT, often referred to as cellular IoT, in 3GPP Releases 13, 14, and 15 and submitted these technologies as part of 3GPP IMT-2020 (i.e., 5G) technology submission to ITU-R. Even though NB-IoT and LTE-M have shown to satisfy 5G mMTC requirements defined by ITU-R, it is expected that these cellular IoT solutions will not address all aspects of IoT and ongoing digitalization, including the support for direct communication between "things" with flexible deployments, different business models, as well as support for even higher node densities and enhanced coverage. In this paper, we introduce the DECT-2020 standard recently published by ETSI for mMTC communications. We evaluate its performance and compare it to the existing LPWAN solutions showing that it outperforms those in terms of supported density of nodes while still keeping delay and loss guarantees at the required level.
The Surprising Positive Knowledge Transfer in Continual 3D Object Shape Reconstruction
Venue: arXiv cs.LG 2022
Year: 2022

Continual learning has been extensively studied for classification tasks with methods developed to primarily avoid catastrophic forgetting, a phenomenon where earlier learned concepts are forgotten at the expense of more recent samples. In this work, we present a set of continual 3D object shape reconstruction tasks, including complete 3D shape reconstruction from different input modalities, as well as visible surface (2.5D) reconstruction which, surprisingly demonstrate positive knowledge (backward and forward) transfer when training with solely standard SGD and without additional heuristics. We provide evidence that continuously updated representation learning of single-view 3D shape reconstruction improves the performance on learned and novel categories over time. We provide a novel analysis of knowledge transfer ability by looking at the output distribution shift across sequential learning tasks. Finally, we show that the robustness of these tasks leads to the potential of having a proxy representation learning task for continual classification. The codebase, dataset and pre-trained models released with this article can be found at https://github.com/rehg-lab/CLRec
A DCNN-based Arbitrarily-Oriented Object Detector for Quality Control and Inspection Application
Venue: arXiv cs.CV 2022
Year: 2022

Following the success of machine vision systems for on-line automated quality control and inspection processes, an object recognition solution is presented in this work for two different specific applications, i.e., the detection of quality control items in surgery toolboxes prepared for sterilizing in a hospital, as well as the detection of defects in vessel hulls to prevent potential structural failures. The solution has two stages. First, a feature pyramid architecture based on Single Shot MultiBox Detector (SSD) is used to improve the detection performance, and a statistical analysis based on ground truth is employed to select parameters of a range of default boxes. Second, a lightweight neural network is exploited to achieve oriented detection results using a regression method. The first stage of the proposed method is capable of detecting the small targets considered in the two scenarios. In the second stage, despite the simplicity, it is efficient to detect elongated targets while maintaining high running efficiency.
Automated Verification and Synthesis of Stochastic Hybrid Systems: A Survey
Venue: arXiv cs.LO 2022
Year: 2022

Stochastic hybrid systems have received significant attentions as a relevant modelling framework describing many systems, from engineering to the life sciences: they enable the study of numerous applications, including transportation networks, biological systems and chemical reaction networks, smart energy and power grids, and beyond. Automated verification and policy synthesis for stochastic hybrid systems can be inherently challenging: this is due to the heterogeneity of their dynamics (presence of continuous and discrete components), the presence of uncertainty, and in some applications the large dimension of state and input sets. Over the past few years, a few hundred articles have investigated these models, and developed diverse and powerful approaches to mitigate difficulties encountered in the analysis and synthesis of such complex stochastic systems. In this survey, we overview the most recent results in the literature and discuss different approaches, including (in)finite abstractions, verification and synthesis for temporal logic specifications, stochastic similarity relations, (control) barrier certificates, compositional techniques, and a selection of results on continuous-time stochastic systems; we finally survey recently developed software tools that implement the discussed approaches. Throughout the manuscript we discuss a few open topics to be considered as potential future research directions: we hope that this survey will guide younger researchers through a comprehensive understanding of the various challenges, tools, and solutions in this enticing and rich scientific area.
General Decidability Results for Asynchronous Shared-Memory Programs: Higher-Order and Beyond
Venue: arXiv cs.FL 2022
Year: 2022

The model of asynchronous programming arises in many contexts, from low-level systems software to high-level web programming. We take a language-theoretic perspective and show general decidability and undecidability results for asynchronous programs that capture all known results as well as show decidability of new and important classes. As a main consequence, we show decidability of safety, termination and boundedness verification for higher-order asynchronous programs -- such as OCaml programs using Lwt -- and undecidability of liveness verification already for order-2 asynchronous programs. We show that under mild assumptions, surprisingly, safety and termination verification of asynchronous programs with handlers from a language class are decidable iff emptiness is decidable for the underlying language class. Moreover, we show that configuration reachability and liveness (fair termination) verification are equivalent, and decidability of these problems implies decidability of the well-known "equal-letters" problem on languages. Our results close the decidability frontier for asynchronous programs.
SoK: Decentralized Finance (DeFi)
Venue: arXiv cs.CR 2022
Year: 2022

Decentralized Finance (DeFi), a blockchain powered peer-to-peer financial system, is mushrooming. Two years ago the total value locked in DeFi systems was approximately 700m USD, now, as of April 2022, it stands at around 150bn USD. The frenetic evolution of the ecosystem has created challenges in understanding the basic principles of these systems and their security risks. In this Systematization of Knowledge (SoK) we delineate the DeFi ecosystem along the following axes: its primitives, its operational protocol types and its security. We provide a distinction between technical security, which has a healthy literature, and economic security, which is largely unexplored, connecting the latter with new models and thereby synthesizing insights from computer science, economics and finance. Finally, we outline the open research challenges in the ecosystem across these security types.
A Robust Blockchain Readiness Index Model
Venue: arXiv cs.CR 2022
Year: 2022

As the blockchain ecosystem gets more mature many businesses, investors, and entrepreneurs are seeking opportunities on working with blockchain systems and cryptocurrencies. A critical challenge for these actors is to identify the most suitable environment to start or evolve their businesses. In general, the question is to identify which countries are offering the most suitable conditions to host their blockchain-based activities and implement their innovative projects. The Blockchain Readiness Index (BRI) provides a numerical metric (referred to as the blockchain readiness score) in measuring the maturity/readiness levels of a country in adopting blockchain and cryptocurrencies. In doing so, BRI leverages on techniques from information retrieval to algorithmically derive an index ranking for a set of countries. The index considers a range of indicators organized under five pillars: Government Regulation, Research, Technology, Industry, and User Engagement. In this paper, we further extent BRI with the capability of deriving the index - at the country level - even in the presence of missing information for the indicators. In doing so, we are proposing two weighting schemes namely, linear and sigmoid weighting for refining the initial estimates for the indicator values. A classification framework was employed to evaluate the effectiveness of the developed techniques which yielded to a significant classification accuracy.
A2P-MANN: Adaptive Attention Inference Hops Pruned Memory-Augmented Neural Networks
Venue: arXiv cs.CL 2022
Year: 2022

In this work, to limit the number of required attention inference hops in memory-augmented neural networks, we propose an online adaptive approach called A2P-MANN. By exploiting a small neural network classifier, an adequate number of attention inference hops for the input query is determined. The technique results in elimination of a large number of unnecessary computations in extracting the correct answer. In addition, to further lower computations in A2P-MANN, we suggest pruning weights of the final FC (fully-connected) layers. To this end, two pruning approaches, one with negligible accuracy loss and the other with controllable loss on the final accuracy, are developed. The efficacy of the technique is assessed by using the twenty question-answering (QA) tasks of bAbI dataset. The analytical assessment reveals, on average, more than 42% fewer computations compared to the baseline MANN at the cost of less than 1% accuracy loss. In addition, when used along with the previously published zero-skipping technique, a computation count reduction of up to 68% is achieved. Finally, when the proposed approach (without zero-skipping) is implemented on the CPU and GPU platforms, up to 43% runtime reduction is achieved.
Encrypted Internet traffic classification using a supervised Spiking Neural Network
Venue: arXiv cs.LG 2022
Year: 2022

Internet traffic recognition is an essential tool for access providers since recognizing traffic categories related to different data packets transmitted on a network help them define adapted priorities. That means, for instance, high priority requirements for an audio conference and low ones for a file transfer, to enhance user experience. As internet traffic becomes increasingly encrypted, the mainstream classic traffic recognition technique, payload inspection, is rendered ineffective. This paper uses machine learning techniques for encrypted traffic classification, looking only at packet size and time of arrival. Spiking neural networks (SNN), largely inspired by how biological neurons operate, were used for two reasons. Firstly, they are able to recognize time-related data packet features. Secondly, they can be implemented efficiently on neuromorphic hardware with a low energy footprint. Here we used a very simple feedforward SNN, with only one fully-connected hidden layer, and trained in a supervised manner using the newly introduced method known as Surrogate Gradient Learning. Surprisingly, such a simple SNN reached an accuracy of 95.9% on ISCX datasets, outperforming previous approaches. Besides better accuracy, there is also a very significant improvement on simplicity: input size, number of neurons, trainable parameters are all reduced by one to four orders of magnitude. Next, we analyzed the reasons for this good accuracy. It turns out that, beyond spatial (i.e. packet size) features, the SNN also exploits temporal ones, mostly the nearly synchronous (within a 200ms range) arrival times of packets with certain sizes. Taken together, these results show that SNNs are an excellent fit for encrypted internet traffic classification: they can be more accurate than conventional artificial neural networks (ANN), and they could be implemented efficiently on low power embedded systems.
Towards Practical Robustness Analysis for DNNs based on PAC-Model Learning
Venue: arXiv cs.LG 2022
Year: 2022

To analyse local robustness properties of deep neural networks (DNNs), we present a practical framework from a model learning perspective. Based on black-box model learning with scenario optimisation, we abstract the local behaviour of a DNN via an affine model with the probably approximately correct (PAC) guarantee. From the learned model, we can infer the corresponding PAC-model robustness property. The innovation of our work is the integration of model learning into PAC robustness analysis: that is, we construct a PAC guarantee on the model level instead of sample distribution, which induces a more faithful and accurate robustness evaluation. This is in contrast to existing statistical methods without model learning. We implement our method in a prototypical tool named DeepPAC. As a black-box method, DeepPAC is scalable and efficient, especially when DNNs have complex structures or high-dimensional inputs. We extensively evaluate DeepPAC, with 4 baselines (using formal verification, statistical methods, testing and adversarial attack) and 20 DNN models across 3 datasets, including MNIST, CIFAR-10, and ImageNet. It is shown that DeepPAC outperforms the state-of-the-art statistical method PROVERO, and it achieves more practical robustness analysis than the formal verification tool ERAN. Also, its results are consistent with existing DNN testing work like DeepGini.
Graph Neural Network for Traffic Forecasting: A Survey
Venue: arXiv cs.LG 2022
Year: 2022

Traffic forecasting is important for the success of intelligent transportation systems. Deep learning models, including convolution neural networks and recurrent neural networks, have been extensively applied in traffic forecasting problems to model spatial and temporal dependencies. In recent years, to model the graph structures in transportation systems as well as contextual information, graph neural networks have been introduced and have achieved state-of-the-art performance in a series of traffic forecasting problems. In this survey, we review the rapidly growing body of research using different graph neural networks, e.g. graph convolutional and graph attention networks, in various traffic forecasting problems, e.g. road traffic flow and speed forecasting, passenger flow forecasting in urban rail transit systems, and demand forecasting in ride-hailing platforms. We also present a comprehensive list of open data and source resources for each problem and identify future research directions. To the best of our knowledge, this paper is the first comprehensive survey that explores the application of graph neural networks for traffic forecasting problems. We have also created a public GitHub repository where the latest papers, open data, and source resources will be updated.