OpenRaiser/Intern-Atlas huggingface dataset:
A transparent referendum protocol with immutable proceedings and verifiable outcome for trustless networks
Venue: arXiv cs.CR 2019
Year: 2019

High voter turnout in elections and referendums is very desirable in order to ensure a robust democracy. Secure electronic voting is a vision for the future of elections and referendums. Such a system can counteract factors that hinder strong voter turnout such as the requirement of physical presence during limited hours at polling stations. However, this vision brings transparency and confidentiality requirements that render the design of such solutions challenging. Specifically, the counting must be implemented in a reproducible way and the ballots of individual voters must remain concealed. In this paper, we propose and evaluate a referendum protocol that ensures transparency, confidentiality, and integrity, in trustless networks. The protocol is built by combining Secure Multi-Party Computation (SMPC) and Distributed Ledger or Blockchain technology. The persistence and immutability of the protocol communication allows verifiability of the referendum outcome on the client side. Voters therefore do not need to trust in third parties. We provide a formal description and conduct a thorough security evaluation of our proposal.
Learning to Communicate and Energize: Modulation, Coding and Multiple Access Designs for Wireless Information-Power Transmission
Venue: arXiv cs.IT 2019
Year: 2019

The explosion of the number of low-power devices in the next decades calls for a re-thinking of wireless network design, namely, unifying wireless transmission of information and power so as to make the best use of the RF spectrum, radiation, and infrastructure for the dual purpose of communicating and energizing. This paper provides a novel learning-based approach towards such wireless network design. To that end, a parametric model of a practical energy harvester, accounting for various sources of nonlinearities, is proposed using a nonlinear regression algorithm applied over collected real data. Relying on the proposed model, the learning problem of modulation design for Simultaneous Wireless Information-Power Transmission (SWIPT) over a point-to-point link is studied. Joint optimization of the transmitter and the receiver is implemented using Neural Network (NN)-based autoencoders. The results reveal that by increasing the receiver power demand, the baseband transmit modulation constellation converges to an On-Off keying signalling. Utilizing the observations obtained via learning, an algorithmic SWIPT modulation design is proposed. It is observed via numerical results that the performance loss of the proposed modulations are negligible compared to the ones obtained from learning. Extension of the studied problem to learning modulation design for multi-user SWIPT scenarios and coded modulation design for point-to-point SWIPT are considered. The major conclusion of this work is to utilize learning-based results to design non learning-based algorithms, which perform as well. In particular, inspired by the results obtained via learning, an algorithmic approach for coded modulation design is proposed, which performs very close to its learning counterparts, and is significantly superior due to its high real-time adaptability to new system design parameters.
PUFchain: Hardware-Assisted Blockchain for Sustainable Simultaneous Device and Data Security in the Internet of Everything (IoE)
Venue: arXiv cs.CR 2019
Year: 2019

This article presents the first-ever blockchain which can simultaneously handle device and data security, which is important for the emerging Internet-of-Everything (IoE). This article presents a unique concept of blockchain that integrates hardware security primitives called Physical Unclonable Functions (PUFs) to solve scalability, latency, and energy requirement challenges and is called PUFchain. Data management and security (and privacy) of data, devices, and individuals, are some of the issues in the IoE architectures that need to be resolved. Integrating the blockchain into the IoE environment can help solve these issues and helps in the aspects of data storage and security. This article introduces a new blockchain architecture called PUFchain and introduces a new consensus algorithm called "Proof of PUF-Enabled Authentication" (PoP) for deployment in PUFchain. The proposed PoP is the PUF integration into our previously proposed Proof-of-Authentication (PoAh) consensus algorithm and can be called "Hardware-Assisted Proof-of-Authentication (HA-PoAh)". However, PUF integration is possible in the existing and new consensus algorithms. PoP utilizes PUFs which are responsible for generating a unique key that cannot be cloned and hence provide the highest level of security. A PUF uses the nanoelectronic manufacturing variations that are introduced during the fabrication of an integrated circuit to generate the keys. Hence, once generated from a PUF module, the keys cannot be cloned or generated from any other module. PUFchain uses a PUF and Hashing module which performs the necessary cryptographic functions. Hence the mining process is offloaded to the hardware module which reduces the processing times. PoP is approximately 1,000X faster than the well-established Proof-of-Work (PoW) and 5X faster than Proof-of-Authentication (PoAh).
Building Second-Order Mental Models for Human-Robot Interaction
Venue: arXiv cs.RO 2019
Year: 2019

The mental models that humans form of other agents---encapsulating human beliefs about agent goals, intentions, capabilities, and more---create an underlying basis for interaction. These mental models have the potential to affect both the human's decision making during the interaction and the human's subjective assessment of the interaction. In this paper, we surveyed existing methods for modeling how humans view robots, then identified a potential method for improving these estimates through inferring a human's model of a robot agent directly from their actions. Then, we conducted an online study to collect data in a grid-world environment involving humans moving an avatar past a virtual agent. Through our analysis, we demonstrated that participants' action choices leaked information about their mental models of a virtual agent. We conclude by discussing the implications of these findings and the potential for such a method to improve human-robot interactions.
Multi-view and Multi-source Transfers in Neural Topic Modeling with Pretrained Topic and Word Embeddings
Venue: arXiv cs.CL 2019
Year: 2019

Though word embeddings and topics are complementary representations, several past works have only used pre-trained word embeddings in (neural) topic modeling to address data sparsity problem in short text or small collection of documents. However, no prior work has employed (pre-trained latent) topics in transfer learning paradigm. In this paper, we propose an approach to (1) perform knowledge transfer using latent topics obtained from a large source corpus, and (2) jointly transfer knowledge via the two representations (or views) in neural topic modeling to improve topic quality, better deal with polysemy and data sparsity issues in a target corpus. In doing so, we first accumulate topics and word representations from one or many source corpora to build a pool of topics and word vectors. Then, we identify one or multiple relevant source domain(s) and take advantage of corresponding topics and word features via the respective pools to guide meaningful learning in the sparse target domain. We quantify the quality of topic and document representations via generalization (perplexity), interpretability (topic coherence) and information retrieval (IR) using short-text, long-text, small and large document collections from news and medical domains. We have demonstrated the state-of-the-art results on topic modeling with the proposed framework.
Torchmeta: A Meta-Learning library for PyTorch
Venue: arXiv cs.LG 2019
Year: 2019

The constant introduction of standardized benchmarks in the literature has helped accelerating the recent advances in meta-learning research. They offer a way to get a fair comparison between different algorithms, and the wide range of datasets available allows full control over the complexity of this evaluation. However, for a large majority of code available online, the data pipeline is often specific to one dataset, and testing on another dataset requires significant rework. We introduce Torchmeta, a library built on top of PyTorch that enables seamless and consistent evaluation of meta-learning algorithms on multiple datasets, by providing data-loaders for most of the standard benchmarks in few-shot classification and regression, with a new meta-dataset abstraction. It also features some extensions for PyTorch to simplify the development of models compatible with meta-learning algorithms. The code is available here: https://github.com/tristandeleu/pytorch-meta
Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control
Venue: arXiv cs.RO 2019
Year: 2019

Dynamic legged locomotion is a challenging topic because of the lack of established control schemes which can handle aerial phases, short stance times, and high-speed leg swings. In this paper, we propose a controller combining whole-body control (WBC) and model predictive control (MPC). In our framework, MPC finds an optimal reaction force profile over a longer time horizon with a simple model, and WBC computes joint torque, position, and velocity commands based on the reaction forces computed from MPC. Unlike existing WBCs, which attempt to track commanded body trajectories, our controller is focused more on the reaction force command, which allows it to accomplish high speed dynamic locomotion with aerial phases. The newly devised WBC is integrated with MPC and tested on the Mini-Cheetah quadruped robot. To demonstrate the robustness and versatility, the controller is tested on six different gaits in a number of different environments, including outdoors and on a treadmill, reaching a top speed of 3.7 m/s.
Sem-LSD: A Learning-based Semantic Line Segment Detector
Venue: arXiv cs.CV 2019
Year: 2019

In this paper, we introduces a new type of line-shaped image representation, named semantic line segment (Sem-LS) and focus on solving its detection problem. Sem-LS contains high-level semantics and is a compact scene representation where only visually salient line segments with stable semantics are preserved. Combined with high-level semantics, Sem-LS is more robust under cluttered environment compared with existing line-shaped representations. The compactness of Sem-LS facilitates its use in large-scale applications, such as city-scale SLAM (simultaneously localization and mapping) and LCD (loop closure detection). Sem-LS detection is a challenging task due to its significantly different appearance from existing learning-based image representations such as wireframes and objects. For further investigation, we first label Sem-LS on two well-known datasets, KITTI and KAIST URBAN, as new benchmarks. Then, we propose a learning-based Sem-LS detector (Sem-LSD) and devise new module as well as metrics to address unique challenges in Sem-LS detection. Experimental results have shown both the efficacy and efficiency of Sem-LSD. Finally, the effectiveness of the proposed Sem-LS is supported by two experiments on detector repeatability and a city-scale LCD problem. Labeled datasets and code will be released shortly.
Oracle-Supported Dynamic Exploit Generation for Smart Contracts
Venue: arXiv cs.CR 2019
Year: 2019

Despite the high stakes involved in smart contracts, they are often developed in an undisciplined manner, leaving the security and reliability of blockchain transactions at risk. In this paper, we introduce ContraMaster: an oracle-supported dynamic exploit generation framework for smart contracts. Existing approaches mutate only single transactions; ContraMaster exceeds these by mutating the transaction sequences. ContraMaster uses data-flow, control-flow, and the dynamic contract state to guide its mutations. It then monitors the executions of target contract programs, and validates the results against a general-purpose semantic test oracle to discover vulnerabilities. Being a dynamic technique, it guarantees that each discovered vulnerability is a violation of the test oracle and is able to generate the attack script to exploit this vulnerability. In contrast to rule-based approaches, ContraMaster has not shown any false positives, and it easily generalizes to unknown types of vulnerabilities (e.g., logic errors). We evaluate ContraMaster on 218 vulnerable smart contracts. The experimental results confirm its practical applicability and advantages over the state-of-the-art techniques, and also reveal three new types of attacks.
Efficiency Metrics for Data-Driven Models: A Text Summarization Case Study
Venue: arXiv cs.CL 2019
Year: 2019

Using data-driven models for solving text summarization or similar tasks has become very common in the last years. Yet most of the studies report basic accuracy scores only, and nothing is known about the ability of the proposed models to improve when trained on more data. In this paper, we define and propose three data efficiency metrics: data score efficiency, data time deficiency and overall data efficiency. We also propose a simple scheme that uses those metrics and apply it for a more comprehensive evaluation of popular methods on text summarization and title generation tasks. For the latter task, we process and release a huge collection of 35 million abstract-title pairs from scientific articles. Our results reveal that among the tested models, the Transformer is the most efficient on both tasks.
LRS-DAG: Low Resource Supervised Domain Adaptation with Generalization Across Domains
Venue: arXiv cs.LG 2019
Year: 2019

Current state of the art methods in Domain Adaptation follow adversarial approaches, making training a challenge. Existing non-adversarial methods learn mappings between the source and target domains, to achieve reasonable performance. However, even these methods do not focus on a key aspect: maintaining performance on the source domain, even after optimizing over the target domain. Additionally, there exist very few methods in low resource supervised domain adaptation. This work proposes a method, LRS-DAG, that aims to solve these current issues in the field. By adding a set of "encoder layers" which map the target domain to the source, and can be removed when dealing directly with the source data, the model learns to perform optimally on both domains. LRS-DAG showcases its uniqueness by being a new algorithm for low resource domain adaptation which maintains performance over the source domain, with a new metric for learning mappings between domains being introduced. We show that, in the case of FCNs, when transferring from MNIST to SVHN, LRS-DAG performs comparably to fine tuning, with the advantage of maintaining performance over the source domain. LRS-DAG outperforms fine tuning when transferring to a synthetic dataset similar to MNIST, which is a setting more representative of low resource supervised domain adaptation.
Nowhere dense graph classes and algorithmic applications. A tutorial at Highlights of Logic, Games and Automata 2019
Venue: arXiv cs.DM 2019
Year: 2019

The notion of nowhere dense graph classes was introduced by Nešetřil and Ossona de Mendez and provides a robust concept of uniform sparseness of graph classes. Nowhere dense classes generalize many familiar classes of sparse graphs such as classes that exclude a fixed graph as a minor or topological minor. They admit several seemingly unrelated natural characterizations that lead to strong algorithmic applications. In particular, the model-checking problem for first-order logic is fixed-parameter tractable over these classes. These notes, prepared for a tutorial at Highlights of Logic, Games and Automata 2019, are a brief introduction to the theory of nowhere denseness, driven by algorithmic applications.
OpenMPR: Recognize Places Using Multimodal Data for People with Visual Impairments
Venue: arXiv cs.CV 2019
Year: 2019

Place recognition plays a crucial role in navigational assistance, and is also a challenging issue of assistive technology. The place recognition is prone to erroneous localization owing to various changes between database and query images. Aiming at the wearable assistive device for visually impaired people, we propose an open-sourced place recognition algorithm OpenMPR, which utilizes the multimodal data to address the challenging issues of place recognition. Compared with conventional place recognition, the proposed OpenMPR not only leverages multiple effective descriptors, but also assigns different weights to those descriptors in image matching. Incorporating GNSS data into the algorithm, the cone-based sequence searching is used for robust place recognition. The experiments illustrate that the proposed algorithm manages to solve the place recognition issue in the real-world scenarios and surpass the state-of-the-art algorithms in terms of assistive navigation performance. On the real-world testing dataset, the online OpenMPR achieves 88.7% precision at 100% recall without illumination changes, and achieves 57.8% precision at 99.3% recall with illumination changes. The OpenMPR is available at https://github.com/chengricky/OpenMultiPR.
A Robust Closed-Loop Biped Locomotion Planner Based on Time Varying Model Predictive Control
Venue: arXiv cs.RO 2019
Year: 2019

Developing robust locomotion for humanoid robots is a complex task due to the unstable nature of these robots and also to the unpredictability of the terrain. A robust locomotion planner is one of the fundamental components for generating stable biped locomotion. This paper presents an optimal closed-loop biped locomotion planner which can plan reference trajectories even in challenging conditions. The proposed planner is designed based on a Time-Varying Model Predictive Control~(TVMPC) scheme to be able to consider some constraints in the states, inputs and outputs of the system and also mixed input-output. Moreover, the proposed planner takes into account the vertical motion of the Center of Mass~(COM) to generate walking with mostly stretched knees which is more human-like. Additionally, the planner uses the concept of Divergent Component of Motion~(DCM) to modify the reference ZMP online to improve the withstanding level of the robot in the presence of severe disturbances. The performance and also the robustness of the proposed planner are validated by performing several simulations using~\mbox{MATLAB}. The simulation results show that the proposed planner is capable of generating the biped locomotion robustly.
Non-Causal Tracking by Deblatting
Venue: arXiv cs.CV 2019
Year: 2019

Tracking by Deblatting stands for solving an inverse problem of deblurring and image matting for tracking motion-blurred objects. We propose non-causal Tracking by Deblatting which estimates continuous, complete and accurate object trajectories. Energy minimization by dynamic programming is used to detect abrupt changes of motion, called bounces. High-order polynomials are fitted to segments, which are parts of the trajectory separated by bounces. The output is a continuous trajectory function which assigns location for every real-valued time stamp from zero to the number of frames. Additionally, we show that from the trajectory function precise physical calculations are possible, such as radius, gravity or sub-frame object velocity. Velocity estimation is compared to the high-speed camera measurements and radars. Results show high performance of the proposed method in terms of Trajectory-IoU, recall and velocity estimation.
Brno Urban Dataset -- The New Data for Self-Driving Agents and Mapping Tasks
Venue: arXiv cs.RO 2019
Year: 2019

Autonomous driving is a dynamically growing field of research, where quality and amount of experimental data is critical. Although several rich datasets are available these days, the demands of researchers and technical possibilities are evolving. Through this paper, we bring a new dataset recorded in Brno, Czech Republic. It offers data from four WUXGA cameras, two 3D LiDARs, inertial measurement unit, infrared camera and especially differential RTK GNSS receiver with centimetre accuracy which, to the best knowledge of the authors, is not available from any other public dataset so far. In addition, all the data are precisely timestamped with sub-millisecond precision to allow wider range of applications. At the time of publishing of this paper, recordings of more than 350 km of rides in varying environment are shared at: https: //github.com/RoboticsBUT/Brno-Urban-Dataset.
X-ToM: Explaining with Theory-of-Mind for Gaining Justified Human Trust
Venue: arXiv cs.AI 2019
Year: 2019

We present a new explainable AI (XAI) framework aimed at increasing justified human trust and reliance in the AI machine through explanations. We pose explanation as an iterative communication process, i.e. dialog, between the machine and human user. More concretely, the machine generates sequence of explanations in a dialog which takes into account three important aspects at each dialog turn: (a) human's intention (or curiosity); (b) human's understanding of the machine; and (c) machine's understanding of the human user. To do this, we use Theory of Mind (ToM) which helps us in explicitly modeling human's intention, machine's mind as inferred by the human as well as human's mind as inferred by the machine. In other words, these explicit mental representations in ToM are incorporated to learn an optimal explanation policy that takes into account human's perception and beliefs. Furthermore, we also show that ToM facilitates in quantitatively measuring justified human trust in the machine by comparing all the three mental representations. We applied our framework to three visual recognition tasks, namely, image classification, action recognition, and human body pose estimation. We argue that our ToM based explanations are practical and more natural for both expert and non-expert users to understand the internal workings of complex machine learning models. To the best of our knowledge, this is the first work to derive explanations using ToM. Extensive human study experiments verify our hypotheses, showing that the proposed explanations significantly outperform the state-of-the-art XAI methods in terms of all the standard quantitative and qualitative XAI evaluation metrics including human trust, reliance, and explanation satisfaction.