OpenRaiser/Intern-Atlas huggingface dataset:
A Comprehensive Guide to CAN IDS Data & Introduction of the ROAD Dataset
Venue: arXiv cs.CR 2024
Year: 2024

Although ubiquitous in modern vehicles, Controller Area Networks (CANs) lack basic security properties and are easily exploitable. A rapidly growing field of CAN security research has emerged that seeks to detect intrusions on CANs. Producing vehicular CAN data with a variety of intrusions is out of reach for most researchers as it requires expensive assets and expertise. To assist researchers, we present the first comprehensive guide to the existing open CAN intrusion datasets, including a quality analysis of each dataset and an enumeration of each's benefits, drawbacks, and suggested use case. Current public CAN IDS datasets are limited to real fabrication (simple message injection) attacks and simulated attacks often in synthetic data, which lack fidelity. In general, the physical effects of attacks on the vehicle are not verified in the available datasets. Only one dataset provides signal-translated data but not a corresponding raw binary version. Overall, the available data pigeon-holes CAN IDS works into testing on limited, often inappropriate data (usually with attacks that are too easily detectable to truly test the method), and this lack data has stymied comparability and reproducibility of results. As our primary contribution, we present the ROAD (Real ORNL Automotive Dynamometer) CAN Intrusion Dataset, consisting of over 3.5 hours of one vehicle's CAN data. ROAD contains ambient data recorded during a diverse set of activities, and attacks of increasing stealth with multiple variants and instances of real fuzzing, fabrication, and unique advanced attacks, as well as simulated masquerade attacks. To facilitate benchmarking CAN IDS methods that require signal-translated inputs, we also provide the signal time series format for many of the CAN captures. Our contributions aim to facilitate appropriate benchmarking and needed comparability in the CAN IDS field.
Double-Adversarial Activation Anomaly Detection: Adversarial Autoencoders are Anomaly Generators
Venue: arXiv cs.LG 2024
Year: 2024

Anomaly detection is a challenging task for machine learning algorithms due to the inherent class imbalance. It is costly and time-demanding to manually analyse the observed data, thus usually only few known anomalies if any are available. Inspired by generative models and the analysis of the hidden activations of neural networks, we introduce a novel unsupervised anomaly detection method called DA3D. Here, we use adversarial autoencoders to generate anomalous counterexamples based on the normal data only. These artificial anomalies used during training allow the detection of real, yet unseen anomalies. With our novel generative approach, we transform the unsupervised task of anomaly detection to a supervised one, which is more tractable by machine learning and especially deep learning methods. DA3D surpasses the performance of state-of-the-art anomaly detection methods in a purely data-driven way, where no domain knowledge is required.
Yet Another Representation of Binary Decision Trees: A Mathematical Demonstration
Venue: arXiv cs.LG 2024
Year: 2024

A decision tree looks like a simple directed acyclic computational graph, where only the leaf nodes specify the output values and the non-terminals specify their tests or split conditions. From the numerical perspective, we express decision trees in the language of computational graph. We explicitly parameterize the test phase, traversal phase and prediction phase of decision trees based on the bitvectors of non-terminal nodes. As shown, the decision tree is a shallow binary network in some sense. Especially, we introduce the bitvector matrix to implement the tree traversal in numerical approach, where the core is to convert the logical `AND' operation to arithmetic operations. And we apply this numerical representation to extend and unify diverse decision trees in concept.
Alternating Direction Method of Multipliers-Based Parallel Optimization for Multi-Agent Collision-Free Model Predictive Control
Venue: arXiv cs.MA 2024
Year: 2024

This paper investigates the collision-free control problem for multi-agent systems. For such multi-agent systems, it is the typical situation where conventional methods using either the usual centralized model predictive control (MPC), or even the distributed counterpart, would suffer from substantial difficulty in balancing optimality and computational efficiency. Additionally, the non-convex characteristics that invariably arise in such collision-free control and optimization problems render it difficult to effectively derive a reliable solution (and also to thoroughly analyze the associated convergence properties). To overcome these challenging issues, this work establishes a suitably novel parallel computation framework through an innovative mathematical problem formulation; and then with this framework and formulation, a parallel algorithm based on alternating direction method of multipliers (ADMM) is presented to solve the sub-problems arising from the resulting parallel structure. Furthermore, an efficient and intuitive initialization procedure is developed to accelerate the optimization process, and the optimum is thus determined with significantly improved computational efficiency. As supported by rigorous proofs, the convergence of the proposed ADMM iterations for this non-convex optimization problem is analyzed and discussed in detail. Finally, a simulation with a group of unmanned aerial vehicles (UAVs) serves as an illustrative example here to demonstrate the effectiveness and efficiency of the proposed approach. Also, the simulation results verify significant improvements in accuracy and computational efficiency compared to other baselines, including primal quadratic mixed integer programming (PQ-MIP), non-convex quadratic mixed integer programming (NC-MIP), and non-convex quadratically constrained quadratic programming (NC-QCQP).
On Codes for the Noisy Substring Channel
Venue: arXiv cs.IT 2024
Year: 2024

We consider the problem of coding for the substring channel, in which information strings are observed only through their (multisets of) substrings. Due to existing DNA sequencing techniques and applications in DNA-based storage systems, interest in this channel has renewed in recent years. In contrast to existing literature, we consider a noisy channel model where information is subject to noise before its substrings are sampled, motivated by in-vivo storage. We study two separate noise models, substitutions or deletions. In both cases, we examine families of codes which may be utilized for error-correction and present combinatorial bounds on their sizes. Through a generalization of the concept of repeat-free strings, we show that the added required redundancy due to this imperfect observation assumption is sublinear, either when the fraction of errors in the observed substring length is sufficiently small, or when that length is sufficiently long. This suggests that no asymptotic cost in rate is incurred by this channel model in these cases. Moreover, we develop an efficient encoder for such constrained strings in some cases. Finally, we show how a similar encoder can be used to avoid formation of secondary-structures in coded DNA strands, even when accounting for imperfect structures.
Monaural Speech Enhancement with Complex Convolutional Block Attention Module and Joint Time Frequency Losses
Venue: arXiv cs.SD 2024
Year: 2024

Deep complex U-Net structure and convolutional recurrent network (CRN) structure achieve state-of-the-art performance for monaural speech enhancement. Both deep complex U-Net and CRN are encoder and decoder structures with skip connections, which heavily rely on the representation power of the complex-valued convolutional layers. In this paper, we propose a complex convolutional block attention module (CCBAM) to boost the representation power of the complex-valued convolutional layers by constructing more informative features. The CCBAM is a lightweight and general module which can be easily integrated into any complex-valued convolutional layers. We integrate CCBAM with the deep complex U-Net and CRN to enhance their performance for speech enhancement. We further propose a mixed loss function to jointly optimize the complex models in both time-frequency (TF) domain and time domain. By integrating CCBAM and the mixed loss, we form a new end-to-end (E2E) complex speech enhancement framework. Ablation experiments and objective evaluations show the superior performance of the proposed approaches (https://github.com/modelscope/ClearerVoice-Studio).
Towards Sneaking as a Playful Input Modality for Virtual Environments
Venue: arXiv cs.HC 2024
Year: 2024

Using virtual reality setups, users can fade out of their surroundings and dive fully into a thrilling and appealing virtual environment. The success of such immersive experiences depends heavily on natural and engaging interactions with the virtual world. As developers tend to focus on intuitive hand controls, other aspects of the broad range of full-body capabilities are easily left vacant. One repeatedly overlooked input modality is the user's gait. Even though users may walk physically to explore the environment, it usually does not matter how they move. However, gait-based interactions, using the variety of information contained in human gait, could offer interesting benefits for immersive experiences. For instance, stealth VR-games could profit from this additional range of interaction fidelity in the form of a sneaking-based input modality. In our work, we explore the potential of sneaking as a playful input modality for virtual environments. Therefore, we discuss possible sneaking-based gameplay mechanisms and develop three technical approaches, including precise foot-tracking and two abstraction levels. Our evaluation reveals the potential of sneaking-based interactions in IVEs, offering unique challenges and thrilling gameplay. For these interactions, precise tracking of individual footsteps is unnecessary, as a more abstract approach focusing on the players' intention offers the same experience while providing better comprehensible feedback. Based on these findings, we discuss the broader potential and individual strengths of our gait-centered interactions.
Placing Green Bridges Optimally, with a Multivariate Analysis
Venue: arXiv cs.CC 2024
Year: 2024

We study the problem of placing wildlife crossings, such as green bridges, over human-made obstacles to challenge habitat fragmentation. The main task herein is, given a graph describing habitats or routes of wildlife animals and possibilities of building green bridges, to find a low-cost placement of green bridges that connects the habitats. We develop different problem models for this task and study them from a computational complexity and parameterized algorithmics perspective.
INSTA-YOLO: Real-Time Instance Segmentation
Venue: arXiv cs.CV 2024
Year: 2024

Instance segmentation has gained recently huge attention in various computer vision applications. It aims at providing different IDs to different object of the scene, even if they belong to the same class. This is useful in various scenarios, especially in occlusions. Instance segmentation is usually performed as a two-stage pipeline. First, an object is detected, then semantic segmentation within the detected box area. This process involves costly up-sampling, especially for the segmentation part. Moreover, for some applications, such as LiDAR point clouds and aerial object detection, it is often required to predict oriented boxes, which add extra complexity to the two-stage pipeline. In this paper, we propose Insta-YOLO, a novel one-stage end-to-end deep learning model for real-time instance segmentation. The proposed model is inspired by the YOLO one-shot object detector, with the box regression loss is replaced with polynomial regression in the localization head. This modification enables us to skip the segmentation up-sampling decoder altogether and produces the instance segmentation contour from the polynomial output coefficients. In addition, this architecture is a natural fit for oriented objects. We evaluate our model on three datasets, namely, Carnva, Cityscapes and Airbus. The results show our model achieves competitive accuracy in terms of mAP with significant improvement in speed by 2x on GTX-1080 GPU.
Proactive DP: A Multple Target Optimization Framework for DP-SGD
Venue: arXiv cs.LG 2024
Year: 2024

We introduce a multiple target optimization framework for DP-SGD referred to as pro-active DP. In contrast to traditional DP accountants, which are used to track the expenditure of privacy budgets, the pro-active DP scheme allows one to a-priori select parameters of DP-SGD based on a fixed privacy budget (in terms of $ε$ and $δ$) in such a way to optimize the anticipated utility (test accuracy) the most. To achieve this objective, we first propose significant improvements to the moment account method, presenting a closed-form $(ε,δ)$-DP guarantee that connects all parameters in the DP-SGD setup. We show that DP-SGD is $(ε<0.5,δ=1/N)$-DP if $σ=\sqrt{2(ε+\ln(1/δ))/ε}$ with $T$ at least $\approx 2k^2/ε$ and $(2/e)^2k^2-1/2\geq \ln(N)$, where $T$ is the total number of rounds, and $K=kN$ is the total number of gradient computations where $k$ measures $K$ in number of epochs of size $N$ of the local data set. We prove that our expression is close to tight in that if $T$ is more than a constant factor $\approx 4$ smaller than the lower bound $\approx 2k^2/ε$, then the $(ε,δ)$-DP guarantee is violated. The above DP guarantee can be enhanced in thatDP-SGD is $(ε, δ)$-DP if $σ= \sqrt{2(ε+\ln(1/δ))/ε}$ with $T$ at least $\approx 2k^2/ε$ together with two additional, less intuitive, conditions that allow larger $ε\geq 0.5$. Our DP theory allows us to create a utility graph and DP calculator. These tools link privacy and utility objectives and search for optimal experiment setups, efficiently taking into account both accuracy and privacy objectives, as well as implementation goals. We furnish a comprehensive implementation flow of our proactive DP, with rigorous experiments to showcase the proof-of-concept.
Grounded Relational Inference: Domain Knowledge Driven Explainable Autonomous Driving
Venue: arXiv cs.AI 2024
Year: 2024

Explainability is essential for autonomous vehicles and other robotics systems interacting with humans and other objects during operation. Humans need to understand and anticipate the actions taken by the machines for trustful and safe cooperation. In this work, we aim to develop an explainable model that generates explanations consistent with both human domain knowledge and the model's inherent causal relation. In particular, we focus on an essential building block of autonomous driving, multi-agent interaction modeling. We propose Grounded Relational Inference (GRI). It models an interactive system's underlying dynamics by inferring an interaction graph representing the agents' relations. We ensure a semantically meaningful interaction graph by grounding the relational latent space into semantic interactive behaviors defined with expert domain knowledge. We demonstrate that it can model interactive traffic scenarios under both simulation and real-world settings, and generate semantic graphs explaining the vehicle's behavior by their interactions.
Quantifying Indirect Gender Discrimination on Collaborative Platforms
Venue: arXiv cs.SI 2024
Year: 2024

Digital collaborative platforms have become crucial venues of career advancement and individual success in many creative fields, from engineering to the arts. Indirect gender discrimination is a key component to gendered disadvantage on platforms. Such platforms carried the promise of opening avenues of advancement to previously discriminated groups, such as women, as platforms lack managerial gatekeepers with conventional prejudice. We analyzed the extent of indirect gender discriminatory on two diverse platforms, GitHub and Behance, focused on software development and fine arts and design. We found that the main cause of women's disadvantage in attention, success, and survival is largely due to indirect discrimination that varies between 60-90\% of total female disadvantage. Men and women are penalized if they follow highly female-like behavior, while categorical gender's impact varies by outcome and field. As platforms employ algorithmic tools and AI systems to manage users' activity, visibility and recommend new projects to collaborate, stereotypes rooted in behavior can have long-lasting consequences.
Follow Your Nose -- Which Code Smells are Worth Chasing?
Venue: arXiv cs.SE 2024
Year: 2024

The common use case of code smells assumes causality: Identify a smell, remove it, and by doing so improve the code. We empirically investigate their fitness to this use. We present a list of properties that code smells should have if they indeed cause lower quality. We evaluated the smells in 31,687 Java files from 677 GitHub repositories, all the repositories with 200+ commits in 2019. We measured the influence of smells on four metrics for quality, productivity, and bug detection efficiency. Out of 151 code smells computed by the CheckStyle smell detector, less than 20% were found to be potentially causal, and only a handful are rather robust. The strongest smells deal with simplicity, defensive programming, and abstraction. Files without the potentially causal smells are 50% more likely to be of high quality. Unfortunately, most smells are not removed, and developers tend to remove the easy ones and not the effective ones.
DWDN: Deep Wiener Deconvolution Network for Non-Blind Image Deblurring
Venue: arXiv cs.CV 2024
Year: 2024

We present a simple and effective approach for non-blind image deblurring, combining classical techniques and deep learning. In contrast to existing methods that deblur the image directly in the standard image space, we propose to perform an explicit deconvolution process in a feature space by integrating a classical Wiener deconvolution framework with learned deep features. A multi-scale cascaded feature refinement module then predicts the deblurred image from the deconvolved deep features, progressively recovering detail and small-scale structures. The proposed model is trained in an end-to-end manner and evaluated on scenarios with simulated Gaussian noise, saturated pixels, or JPEG compression artifacts as well as real-world images. Moreover, we present detailed analyses of the benefit of the feature-based Wiener deconvolution and of the multi-scale cascaded feature refinement as well as the robustness of the proposed approach. Our extensive experimental results show that the proposed deep Wiener deconvolution network facilitates deblurred results with visibly fewer artifacts and quantitatively outperforms state-of-the-art non-blind image deblurring methods by a wide margin.
ClawCraneNet: Leveraging Object-level Relation for Text-based Video Segmentation
Venue: arXiv cs.CV 2024
Year: 2024

Text-based video segmentation is a challenging task that segments out the natural language referred objects in videos. It essentially requires semantic comprehension and fine-grained video understanding. Existing methods introduce language representation into segmentation models in a bottom-up manner, which merely conducts vision-language interaction within local receptive fields of ConvNets. We argue that such interaction is not fulfilled since the model can barely construct region-level relationships given partial observations, which is contrary to the description logic of natural language/referring expressions. In fact, people usually describe a target object using relations with other objects, which may not be easily understood without seeing the whole video. To address the issue, we introduce a novel top-down approach by imitating how we human segment an object with the language guidance. We first figure out all candidate objects in videos and then choose the refereed one by parsing relations among those high-level objects. Three kinds of object-level relations are investigated for precise relationship understanding, i.e., positional relation, text-guided semantic relation, and temporal relation. Extensive experiments on A2D Sentences and J-HMDB Sentences show our method outperforms state-of-the-art methods by a large margin. Qualitative results also show our results are more explainable.
Approximately Counting Answers to Conjunctive Queries with Disequalities and Negations
Venue: arXiv cs.DM 2024
Year: 2024

We study the complexity of approximating the number of answers to a small query $φ$ in a large database $\mathcal{D}$. We establish an exhaustive classification into tractable and intractable cases if $φ$ is a conjunctive query with disequalities and negations: $\bullet$ If there is a constant bound on the arity of $φ$, and if the randomised Exponential Time Hypothesis (rETH) holds, then the problem has a fixed-parameter tractable approximation scheme (FPTRAS) if and only if the treewidth of $φ$ is bounded. $\bullet$ If the arity is unbounded and we allow disequalities only, then the problem has an FPTRAS if and only if the adaptive width of $φ$ (a width measure strictly more general than treewidth) is bounded; the lower bound relies on the rETH as well. Additionally we show that our results cannot be strengthened to achieve a fully polynomial randomised approximation scheme (FPRAS): We observe that, unless $\mathrm{NP} =\mathrm{RP}$, there is no FPRAS even if the treewidth (and the adaptive width) is $1$. However, if there are neither disequalities nor negations, we prove the existence of an FPRAS for queries of bounded fractional hypertreewidth, strictly generalising the recently established FPRAS for conjunctive queries with bounded hypertreewidth due to Arenas, Croquevielle, Jayaram and Riveros (STOC 2021).
Active Inference Tree Search in Large POMDPs
Venue: arXiv cs.AI 2024
Year: 2024

The ability to plan ahead efficiently is key for both living organisms and artificial systems. Model-based planning and prospection are widely studied in cognitive neuroscience and artificial intelligence (AI), but from different perspectives--and with different desiderata in mind (biological realism versus scalability) that are difficult to reconcile. Here, we introduce a novel method to plan in POMDPs--Active Inference Tree Search (AcT)--that combines the normative character and biological realism of a leading planning theory in neuroscience (Active Inference) and the scalability of tree search methods in AI. This unification enhances both approaches. On the one hand, tree searches enable the biologically grounded, first principle method of active inference to be applied to large-scale problems. On the other hand, active inference provides a principled solution to the exploration-exploitation dilemma, which is often addressed heuristically in tree search methods. Our simulations show that AcT successfully navigates binary trees that are challenging for sampling-based methods, problems that require adaptive exploration, and the large POMDP problem 'RockSample'--in which AcT reproduces state-of-the-art POMDP solutions. Furthermore, we illustrate how AcT can be used to simulate neurophysiological responses (e.g., in the hippocampus and prefrontal cortex) of humans and other animals that solve large planning problems. These numerical analyses show that Active Tree Search is a principled realisation of neuroscientific and AI planning theories, which offer both biological realism and scalability.