OpenRaiser/Intern-Atlas huggingface dataset:
Human-Robot Interaction via a Joint-Initiative Supervised Autonomy (JISA) Framework
Venue: arXiv cs.RO 2021
Year: 2021

In this paper, we propose and validate a Joint-Initiative Supervised Autonomy (JISA) framework for Human-Robot Interaction (HRI), in which a robot maintains a measure of its self-confidence (SC) while performing a task, and only prompts the human supervisor for help when its SC drops. At the same time, during task execution, a human supervisor can intervene in the task being performed, based on his/her Situation Awareness (SA). To evaluate the applicability and utility of JISA, it is implemented on two different HRI tasks: grid-based collaborative simultaneous localization and mapping (SLAM) and automated jigsaw puzzle reconstruction. Augmented Reality (AR) (for SLAM) and two-dimensional graphical user interfaces (GUI) (for puzzle reconstruction) are custom-designed to enhance human SA and allow intuitive interaction between the human and the agent. The superiority of the JISA framework is demonstrated in experiments. In SLAM, the superior maps produced by JISA preclude the need for post processing of any SLAM stock maps; furthermore, JISA reduces the required mapping time by approximately 50 percent versus traditional approaches. In automated puzzle reconstruction, the JISA framework outperforms both fully autonomous solutions, as well as those resulting from on-demand human intervention prompted by the agent.
How Does Blockchain Security Dictate Blockchain Implementation?
Venue: arXiv cs.CR 2021
Year: 2021

Blockchain protocols come with a variety of security guarantees. For example, BFT-inspired protocols such as Algorand tend to be secure in the partially synchronous setting, while longest chain protocols like Bitcoin will normally require stronger synchronicity to be secure. Another fundamental distinction, directly relevant to scalability solutions such as sharding, is whether or not a single untrusted user is able to point to *certificates*, which provide incontrovertible proof of block confirmation. Algorand produces such certificates, while Bitcoin does not. Are these properties accidental? Or are they inherent consequences of the paradigm of protocol design? Our aim in this paper is to understand what, fundamentally, governs the nature of security for permissionless blockchain protocols. Using the framework developed in (Lewis-Pye and Roughgarden, 2021), we prove general results showing that these questions relate directly to properties of the user selection process, i.e., the method (such as proof-of-work or proof-of-stake) which is used to select users with the task of updating state. Our results suffice to establish, for example, that the production of certificates is impossible for proof-of-work protocols, but is automatic for standard forms of proof-of-stake protocols. As a byproduct of our work, we also define a number of security notions and identify the equivalences and inequivalences among them.
Learning to Swarm with Knowledge-Based Neural Ordinary Differential Equations
Venue: arXiv cs.RO 2021
Year: 2021

Understanding decentralized dynamics from collective behaviors in swarms is crucial for informing robot controller designs in artificial swarms and multiagent robotic systems. However, the complexity in agent-to-agent interactions and the decentralized nature of most swarms pose a significant challenge to the extraction of single-robot control laws from global behavior. In this work, we consider the important task of learning decentralized single-robot controllers based solely on the state observations of a swarm's trajectory. We present a general framework by adopting knowledge-based neural ordinary differential equations (KNODE) -- a hybrid machine learning method capable of combining artificial neural networks with known agent dynamics. Our approach distinguishes itself from most prior works in that we do not require action data for learning. We apply our framework to two different flocking swarms in 2D and 3D respectively, and demonstrate efficient training by leveraging the graphical structure of the swarms' information network. We further show that the learnt single-robot controllers can not only reproduce flocking behavior in the original swarm but also scale to swarms with more robots.
Constructions of Binary Cross Z-Complementary Pairs With Large CZC Ratio
Venue: arXiv cs.IT 2021
Year: 2021

Cross Z-complementary pairs (CZCPs) are a special kind of Z-complementary pairs (ZCPs) having zero autocorrelation sums around the in-phase position and end-shift position, also having zero cross-correlation sums around the end-shift position. It can be utilized as a key component in designing optimal training sequences for broadband spatial modulation (SM) systems over frequency selective channels. In this paper, we focus on designing new CZCPs with large cross Z-complementary ratio $(\mathrm{CZC}_{\mathrm{ratio}})$ by exploring two promising approaches. The first one of CZCPs via properly cascading sequences from a Golay complementary pair (GCP). The proposed construction leads to $(28L,13L)-\mathrm{CZCPs}$, $(28L,13L+\frac{L}{2})-\mathrm{CZCPs}$ and $(30L,13L-1)-\mathrm{CZCPs}$, where $L$ is the length of a binary GCP. Besides, we emphasize that, our proposed CZCPs have the largest $\mathrm{CZC}_{\mathrm{ratio}}=\frac{27}{28}$, compared with known CZCPs but no-perfect CZCPs in the literature. Specially, we proposed optimal binary CZCPs with $(28,13)-\mathrm{CZCP}$ and $(56,27)-\mathrm{CZCP}$. The second one of CZCPs based on Boolean functions (BFs), and the construction of CZCPs have the largest $\mathrm{CZC}_{\mathrm{ratio}}=\frac{13}{14}$, compared with known CZCPs but no-perfect CZCPs in the literature.
Fairness without the sensitive attribute via Causal Variational Autoencoder
Venue: arXiv cs.LG 2021
Year: 2021

In recent years, most fairness strategies in machine learning models focus on mitigating unwanted biases by assuming that the sensitive information is observed. However this is not always possible in practice. Due to privacy purposes and var-ious regulations such as RGPD in EU, many personal sensitive attributes are frequently not collected. We notice a lack of approaches for mitigating bias in such difficult settings, in particular for achieving classical fairness objectives such as Demographic Parity and Equalized Odds. By leveraging recent developments for approximate inference, we propose an approach to fill this gap. Based on a causal graph, we rely on a new variational auto-encoding based framework named SRCVAE to infer a sensitive information proxy, that serve for bias mitigation in an adversarial fairness approach. We empirically demonstrate significant improvements over existing works in the field. We observe that the generated proxy's latent space recovers sensitive information and that our approach achieves a higher accuracy while obtaining the same level of fairness on two real datasets, as measured using com-mon fairness definitions.
Optimizing a domestic battery and solar photovoltaic system with deep reinforcement learning
Venue: arXiv cs.LG 2021
Year: 2021

A lowering in the cost of batteries and solar PV systems has led to a high uptake of solar battery home systems. In this work, we use the deep deterministic policy gradient algorithm to optimise the charging and discharging behaviour of a battery within such a system. Our approach outputs a continuous action space when it charges and discharges the battery, and can function well in a stochastic environment. We show good performance of this algorithm by lowering the expenditure of a single household on electricity to almost \$1AUD for large batteries across selected weeks within a year.
GPU Algorithms for Efficient Exascale Discretizations
Venue: arXiv cs.DC 2021
Year: 2021

In this paper we describe the research and development activities in the Center for Efficient Exascale Discretization within the US Exascale Computing Project, targeting state-of-the-art high-order finite-element algorithms for high-order applications on GPU-accelerated platforms. We discuss the GPU developments in several components of the CEED software stack, including the libCEED, MAGMA, MFEM, libParanumal, and Nek projects. We report performance and capability improvements in several CEED-enabled applications on both NVIDIA and AMD GPU systems.
A semi-supervised self-training method to develop assistive intelligence for segmenting multiclass bridge elements from inspection videos
Venue: arXiv cs.CV 2021
Year: 2021

Bridge inspection is an important step in preserving and rehabilitating transportation infrastructure for extending their service lives. The advancement of mobile robotic technology allows the rapid collection of a large amount of inspection video data. However, the data are mainly images of complex scenes, wherein a bridge of various structural elements mix with a cluttered background. Assisting bridge inspectors in extracting structural elements of bridges from the big complex video data, and sorting them out by classes, will prepare inspectors for the element-wise inspection to determine the condition of bridges. This paper is motivated to develop an assistive intelligence model for segmenting multiclass bridge elements from inspection videos captured by an aerial inspection platform. With a small initial training dataset labeled by inspectors, a Mask Region-based Convolutional Neural Network (Mask R-CNN) pre-trained on a large public dataset was transferred to the new task of multiclass bridge element segmentation. Besides, the temporal coherence analysis attempts to recover false negatives and identify the weakness that the neural network can learn to improve. Furthermore, a semi-supervised self-training (S$^3$T) method was developed to engage experienced inspectors in refining the network iteratively. Quantitative and qualitative results from evaluating the developed deep neural network demonstrate that the proposed method can utilize a small amount of time and guidance from experienced inspectors (3.58 hours for labeling 66 images) to build the network of excellent performance (91.8% precision, 93.6% recall, and 92.7% f1-score). Importantly, the paper illustrates an approach to leveraging the domain knowledge and experiences of bridge professionals into computational intelligence models to efficiently adapt the models to varied bridges in the National Bridge Inventory.
No Size Fits All: Automated Radio Configuration for LPWANs
Venue: arXiv cs.NI 2021
Year: 2021

Low power long-range networks like LoRa have become increasingly mainstream for Internet of Things deployments. Given the versatility of applications that these protocols enable, they support many data rates and bandwidths. Yet, for a given network that supports hundreds of devices over multiple miles, the network operator typically needs to specify the same configuration or among a small subset of configurations for all the client devices to communicate with the gateway. This one-size-fits-all approach is highly inefficient in large networks. We propose an alternative approach -- we allow network devices to transmit at any data rate they choose. The gateway uses the first few symbols in the preamble to classify the correct data rate, switches its configuration, and then decodes the data. Our design leverages the inherent asymmetry in outdoor IoT deployments where the clients are power-starved and resource-constrained, but the gateway is not. Our gateway design, Proteus, runs a neural network architecture and is backward compatible with existing LoRa protocols. Our experiments reveal that Proteus can identify the correct configuration with over 97% accuracy in both indoor and outdoor deployments. Our network architecture leads to a 3.8 to 11 times increase in throughput for our LoRa testbed.
Machine learning reveals how personalized climate communication can both succeed and backfire
Venue: arXiv cs.LG 2021
Year: 2021

Different advertising messages work for different people. Machine learning can be an effective way to personalise climate communications. In this paper we use machine learning to reanalyse findings from a recent study, showing that online advertisements increased some people's belief in climate change while resulting in decreased belief in others. In particular, we show that the effect of the advertisements could change depending on people's age and ethnicity.
Discovering Technology Gaps using the IntSight Knowledge Navigator
Venue: arXiv cs.DB 2021
Year: 2021

Knowledge analysis is an important application of knowledge graphs. In this paper, we present a complex knowledge analysis problem that discovers the gaps in the technology areas of interest to an organization. Our knowledge graph is developed on a heterogeneous data management platform. The analysis combines semantic search, graph analytics, and polystore query optimization.
Making Table Understanding Work in Practice
Venue: arXiv cs.DB 2021
Year: 2021

Understanding the semantics of tables at scale is crucial for tasks like data integration, preparation, and search. Table understanding methods aim at detecting a table's topic, semantic column types, column relations, or entities. With the rise of deep learning, powerful models have been developed for these tasks with excellent accuracy on benchmarks. However, we observe that there exists a gap between the performance of these models on these benchmarks and their applicability in practice. In this paper, we address the question: what do we need for these models to work in practice? We discuss three challenges of deploying table understanding models and propose a framework to address them. These challenges include 1) difficulty in customizing models to specific domains, 2) lack of training data for typical database tables often found in enterprises, and 3) lack of confidence in the inferences made by models. We present SigmaTyper which implements this framework for the semantic column type detection task. SigmaTyper encapsulates a hybrid model trained on GitTables and integrates a lightweight human-in-the-loop approach to customize the model. Lastly, we highlight avenues for future research that further close the gap towards making table understanding effective in practice.
A Novel Intrinsic Measure of Data Separability
Venue: arXiv cs.LG 2021
Year: 2021

In machine learning, the performance of a classifier depends on both the classifier model and the separability/complexity of datasets. To quantitatively measure the separability of datasets, we create an intrinsic measure -- the Distance-based Separability Index (DSI), which is independent of the classifier model. We consider the situation in which different classes of data are mixed in the same distribution to be the most difficult for classifiers to separate. We then formally show that the DSI can indicate whether the distributions of datasets are identical for any dimensionality. And we verify the DSI to be an effective separability measure by comparing to several state-of-the-art separability/complexity measures using synthetic and real datasets. Having demonstrated the DSI's ability to compare distributions of samples, we also discuss some of its other promising applications, such as measuring the performance of generative adversarial networks (GANs) and evaluating the results of clustering methods.
Existence conditions for hidden feedback loops in online recommender systems
Venue: arXiv cs.IR 2021
Year: 2021

We explore a hidden feedback loops effect in online recommender systems. Feedback loops result in degradation of online multi-armed bandit (MAB) recommendations to a small subset and loss of coverage and novelty. We study how uncertainty and noise in user interests influence the existence of feedback loops. First, we show that an unbiased additive random noise in user interests does not prevent a feedback loop. Second, we demonstrate that a non-zero probability of resetting user interests is sufficient to limit the feedback loop and estimate the size of the effect. Our experiments confirm the theoretical findings in a simulated environment for four bandit algorithms.
BGT-Net: Bidirectional GRU Transformer Network for Scene Graph Generation
Venue: arXiv cs.CV 2021
Year: 2021

Scene graphs are nodes and edges consisting of objects and object-object relationships, respectively. Scene graph generation (SGG) aims to identify the objects and their relationships. We propose a bidirectional GRU (BiGRU) transformer network (BGT-Net) for the scene graph generation for images. This model implements novel object-object communication to enhance the object information using a BiGRU layer. Thus, the information of all objects in the image is available for the other objects, which can be leveraged later in the object prediction step. This object information is used in a transformer encoder to predict the object class as well as to create object-specific edge information via the use of another transformer encoder. To handle the dataset bias induced by the long-tailed relationship distribution, softening with a log-softmax function and adding a bias adaptation term to regulate the bias for every relation prediction individually showed to be an effective approach. We conducted an elaborate study on experiments and ablations using open-source datasets, i.e., Visual Genome, Open-Images, and Visual Relationship Detection datasets, demonstrating the effectiveness of the proposed model over state of the art.
Hybrid Workload Scheduling on HPC Systems
Venue: arXiv cs.DC 2021
Year: 2021

Traditionally, on-demand, rigid, and malleable applications have been scheduled and executed on separate systems. The ever-growing workload demands and rapidly developing HPC infrastructure trigger the interest of converging these applications on a single HPC system. Although allocating the hybrid workloads within one system could potentially improve system efficiency, it is difficult to balance the tradeoff between the responsiveness of on-demand requests, the incentive for malleable jobs, and the performance of rigid applications. In this study, we present several scheduling mechanisms to address the issues involved in co-scheduling on-demand, rigid, and malleable jobs on a single HPC system. We extensively evaluate and compare their performance under various configurations and workloads. Our experimental results show that our proposed mechanisms are capable of serving on-demand workloads with minimal delay, offering incentives for declaring malleability, and improving system performance.
Ohm-GPU: Integrating New Optical Network and Heterogeneous Memory into GPU Multi-Processors
Venue: arXiv cs.AR 2021
Year: 2021

Traditional graphics processing units (GPUs) suffer from the low memory capacity and demand for high memory bandwidth. To address these challenges, we propose Ohm-GPU, a new optical network based heterogeneous memory design for GPUs. Specifically, Ohm-GPU can expand the memory capacity by combing a set of high-density 3D XPoint and DRAM modules as heterogeneous memory. To prevent memory channels from throttling throughput of GPU memory system, Ohm-GPU replaces the electrical lanes in the traditional memory channel with a high-performance optical network. However, the hybrid memory can introduce frequent data migrations between DRAM and 3D XPoint, which can unfortunately occupy the memory channel and increase the optical network traffic. To prevent the intensive data migrations from blocking normal memory services, Ohm-GPU revises the existing memory controller and designs a new optical network infrastructure, which enables the memory channel to serve the data migrations and memory requests, in parallel. Our evaluation results reveal that Ohm-GPU can improve the performance by 181% and 27%, compared to a DRAM-based GPU memory system and the baseline optical network based heterogeneous memory system, respectively.
LEA-Net: Layer-wise External Attention Network for Efficient Color Anomaly Detection
Venue: arXiv cs.CV 2021
Year: 2021

The utilization of prior knowledge about anomalies is an essential issue for anomaly detections. Recently, the visual attention mechanism has become a promising way to improve the performance of CNNs for some computer vision tasks. In this paper, we propose a novel model called Layer-wise External Attention Network (LEA-Net) for efficient image anomaly detection. The core idea relies on the integration of unsupervised and supervised anomaly detectors via the visual attention mechanism. Our strategy is as follows: (i) Prior knowledge about anomalies is represented as the anomaly map generated by unsupervised learning of normal instances, (ii) The anomaly map is translated to an attention map by the external network, (iii) The attention map is then incorporated into intermediate layers of the anomaly detection network. Notably, this layer-wise external attention can be applied to any CNN model in an end-to-end training manner. For a pilot study, we validate LEA-Net on color anomaly detection tasks. Through extensive experiments on PlantVillage, MVTec AD, and Cloud datasets, we demonstrate that the proposed layer-wise visual attention mechanism consistently boosts anomaly detection performances of an existing CNN model, even on imbalanced datasets. Moreover, we show that our attention mechanism successfully boosts the performance of several CNN models.
An Unsupervised Deep-Learning Method for Fingerprint Classification: the CCAE Network and the Hybrid Clustering Strategy
Venue: arXiv cs.CV 2021
Year: 2021

The fingerprint classification is an important and effective method to quicken the process and improve the accuracy in the fingerprint matching process. Conventional supervised methods need a large amount of pre-labeled data and thus consume immense human resources. In this paper, we propose a new and efficient unsupervised deep learning method that can extract fingerprint features and classify fingerprint patterns automatically. In this approach, a new model named constraint convolutional auto-encoder (CCAE) is used to extract fingerprint features and a hybrid clustering strategy is applied to obtain the final clusters. A set of experiments in the NIST-DB4 dataset shows that the proposed unsupervised method exhibits the efficient performance on fingerprint classification. For example, the CCAE achieves an accuracy of 97.3% on only 1000 unlabeled fingerprints in the NIST-DB4.
Report From The Trenches: A Case Study In Modernizing Software Development Practices
Venue: arXiv cs.SE 2021
Year: 2021

One factor of success in software development companies is their ability to deliver good quality products, fast. For this, they need to improve their software development practices. We work with a medium-sized company modernizing its development practices. The company introduced several practices recommended in agile development. If the benefits of these practices are well documented, the impact of such changes on the developers is less well known. We follow this modernization before and during the COVID-19 outbreak. This paper presents an empirical study of the perceived benefit and drawback of these practices as well as the impact of COVID-19 on the company's employees. One of the conclusions, is the additional difficulties created by obsolete technologies to adapt the technology itself and the development practices it encourages to modern standards.