OpenRaiser/Intern-Atlas huggingface dataset:
IKD+: Reliable Low Complexity Deep Models For Retinopathy Classification
Venue: arXiv cs.LG 2023
Year: 2023

Deep neural network (DNN) models for retinopathy have estimated predictive accuracies in the mid-to-high 90%. However, the following aspects remain unaddressed: State-of-the-art models are complex and require substantial computational infrastructure to train and deploy; The reliability of predictions can vary widely. In this paper, we focus on these aspects and propose a form of iterative knowledge distillation(IKD), called IKD+ that incorporates a tradeoff between size, accuracy and reliability. We investigate the functioning of IKD+ using two widely used techniques for estimating model calibration (Platt-scaling and temperature-scaling), using the best-performing model available, which is an ensemble of EfficientNets with approximately 100M parameters. We demonstrate that IKD+ equipped with temperature-scaling results in models that show up to approximately 500-fold decreases in the number of parameters than the original ensemble without a significant loss in accuracy. In addition, calibration scores (reliability) for the IKD+ models are as good as or better than the base mode
Passive Shape Locking for Multi-Bend Growing Inflated Beam Robots
Venue: arXiv cs.RO 2023
Year: 2023

Shape change enables new capabilities for robots. One class of robots capable of dramatic shape change is soft growing "vine" robots. These robots usually feature global actuation methods for bending that limit them to simple, constant-curvature shapes. Achieving more complex "multi-bend" configurations has also been explored but requires choosing the desired configuration ahead of time, exploiting contact with the environment to maintain previous bends, or using pneumatic actuation for shape locking. In this paper, we present a novel design that enables passive, on-demand shape locking. Our design leverages a passive tip mount to apply hook-and-loop fasteners that hold bends without any pneumatic or electrical input. We characterize the robot's kinematics and ability to hold locked bends. We also experimentally evaluate the effect of hook-and-loop fasteners on beam and joint stiffness. Finally, we demonstrate our proof-of-concept prototype in 2D. Our passive shape locking design is a step towards easily reconfigurable robots that are lightweight, low-cost, and low-power.
Hiding task-oriented programming complexity: an industrial case study
Venue: arXiv cs.RO 2023
Year: 2023

The ease of use of robot programming interfaces represents a barrier to robot adoption in several manufacturing sectors because of the need for more expertise from the end-users. Current robot programming methods are mostly the past heritage, with robot programmers reluctant to adopt new programming paradigms. This work aims to evaluate the impact on non-expert users of introducing a new task-oriented programming interface that hides the complexity of a programming framework based on ROS. The paper compares the programming performance of such an interface with a classic robot-oriented programming method based on a state-of-the-art robot teach pendant. An experimental campaign involved 22 non-expert users working on the programming of two industrial tasks. Task-oriented and robot-oriented programming showed comparable learning time, programming time and the number of questions raised during the programming phases, highlighting the possibility of a smooth introduction to task-oriented programming even to non-expert users.
RoLNiP: Robust Learning Using Noisy Pairwise Comparisons
Venue: arXiv cs.LG 2023
Year: 2023

This paper presents a robust approach for learning from noisy pairwise comparisons. We propose sufficient conditions on the loss function under which the risk minimization framework becomes robust to noise in the pairwise similar dissimilar data. Our approach does not require the knowledge of noise rate in the uniform noise case. In the case of conditional noise, the proposed method depends on the noise rates. For such cases, we offer a provably correct approach for estimating the noise rates. Thus, we propose an end-to-end approach to learning robust classifiers in this setting. We experimentally show that the proposed approach RoLNiP outperforms the robust state-of-the-art methods for learning with noisy pairwise comparisons.
Adaptive Predictive Portfolio Management Agent
Venue: arXiv cs.CE 2023
Year: 2023

The paper presents an advanced version of an adaptive market-making agent capable of performing experiential learning, exploiting a "try and fail" approach relying on a swarm of subordinate agents executed in a virtual environment to determine optimal strategies. The problem is treated as a "Narrow AGI" problem with the scope of goals and environments bound to financial markets, specifically crypto-markets. Such an agent is called an "adaptive multi-strategy agent" as it executes multiple strategies virtually and selects only a few for real execution. The presented version of the agent is extended to solve portfolio optimization and re-balancing across multiple assets so the problem of active portfolio management is being addressed. Also, an attempt is made to apply an experiential learning approach executed in the virtual environment of multi-agent simulation and backtesting based on historical market data, so the agent can learn mappings between specific market conditions and optimal strategies corresponding to these conditions. Additionally, the agent is equipped with the capacity to predict price movements based on social media data, which increases its financial performance.
DiTTO: A Feature Representation Imitation Approach for Improving Cross-Lingual Transfer
Venue: arXiv cs.CL 2023
Year: 2023

Zero-shot cross-lingual transfer is promising, however has been shown to be sub-optimal, with inferior transfer performance across low-resource languages. In this work, we envision languages as domains for improving zero-shot transfer by jointly reducing the feature incongruity between the source and the target language and increasing the generalization capabilities of pre-trained multilingual transformers. We show that our approach, DiTTO, significantly outperforms the standard zero-shot fine-tuning method on multiple datasets across all languages using solely unlabeled instances in the target language. Empirical results show that jointly reducing feature incongruity for multiple target languages is vital for successful cross-lingual transfer. Moreover, our model enables better cross-lingual transfer than standard fine-tuning methods, even in the few-shot setting.
Age of Information of CSMA/CA Based Wireless Networks
Venue: arXiv cs.IT 2023
Year: 2023

We consider a wireless network where N nodes compete for a shared channel over the CSMA/CA protocol to deliver observed updates to a common remote monitor. For this network, we rate the information freshness of the CSMA/CA based network using the age of information (AoI). Different from previous work, the network we consider is unsaturated. To theoretically analyze the transmission behavior of the CSMA/CA based network, we, therefore, develop an equivalent and tractable Markov transmission model. Based on this newly developed model, the transmission probability, collision probability and average AoI of the network are obtained. Our numerical results show that as the packet rate and the number of nodes increase, both the transmission probability and collision probability are increasing; the average AoI first decreases and then increases as the packet rate increases and increases with the number of nodes.
Exploring The Potential Of GANs In Biological Sequence Analysis
Venue: arXiv cs.LG 2023
Year: 2023

Biological sequence analysis is an essential step toward building a deeper understanding of the underlying functions, structures, and behaviors of the sequences. It can help in identifying the characteristics of the associated organisms, like viruses, etc., and building prevention mechanisms to eradicate their spread and impact, as viruses are known to cause epidemics that can become pandemics globally. New tools for biological sequence analysis are provided by machine learning (ML) technologies to effectively analyze the functions and structures of the sequences. However, these ML-based methods undergo challenges with data imbalance, generally associated with biological sequence datasets, which hinders their performance. Although various strategies are present to address this issue, like the SMOTE algorithm, which creates synthetic data, however, they focus on local information rather than the overall class distribution. In this work, we explore a novel approach to handle the data imbalance issue based on Generative Adversarial Networks (GANs) which use the overall data distribution. GANs are utilized to generate synthetic data that closely resembles the real one, thus this generated data can be employed to enhance the ML models' performance by eradicating the class imbalance problem for biological sequence analysis. We perform 3 distinct classification tasks by using 3 different sequence datasets (Influenza A Virus, PALMdb, VDjDB) and our results illustrate that GANs can improve the overall classification performance.
An Exploratory Approach for Game Engine Architecture Recovery
Venue: arXiv cs.SE 2023
Year: 2023

Game engines provide video game developers with a wide range of fundamental subsystems for creating games, such as 2D/3D graphics rendering, input device management, and audio playback. Developers often integrate these subsystems with other applications or extend them via plugins. To integrate or extend correctly, developers need a broad system architectural understanding. However, architectural information is not always readily available and is often overlooked in this kind of system. In this work, we propose an approach for game engine architecture recovery and explore the architecture of three popular open-source game engines (Cocos2d-x, Godot, and Urho3D). We perform manual subsystem detection and use Moose, a platform for software analysis, to generate architectural models. With these models, we answer the following questions: Which subsystems are present in game engines? Which subsystems are more often coupled with one another? Why are these subsystems coupled with each other? Results show that the platform independence, resource management, world editor, and core subsystems are frequently included by others and therefore act as foundations for the game engines. Furthermore, we show that, by applying our approach, game engine developers can understand whether subsystems are related and divide responsibilities. They can also assess whether relationships among subsystems are appropriate for the game engine.
Federated Semi-Supervised Learning with Annotation Heterogeneity
Venue: arXiv cs.LG 2023
Year: 2023

Federated Semi-Supervised Learning (FSSL) aims to learn a global model from different clients in an environment with both labeled and unlabeled data. Most of the existing FSSL work generally assumes that both types of data are available on each client. In this paper, we study a more general problem setup of FSSL with annotation heterogeneity, where each client can hold an arbitrary percentage (0%-100%) of labeled data. To this end, we propose a novel FSSL framework called Heterogeneously Annotated Semi-Supervised LEarning (HASSLE). Specifically, it is a dual-model framework with two models trained separately on labeled and unlabeled data such that it can be simply applied to a client with an arbitrary labeling percentage. Furthermore, a mutual learning strategy called Supervised-Unsupervised Mutual Alignment (SUMA) is proposed for the dual models within HASSLE with global residual alignment and model proximity alignment. Subsequently, the dual models can implicitly learn from both types of data across different clients, although each dual model is only trained locally on a single type of data. Experiments verify that the dual models in HASSLE learned by SUMA can mutually learn from each other, thereby effectively utilizing the information of both types of data across different clients.
Exploiting Implicit Rigidity Constraints via Weight-Sharing Aggregation for Scene Flow Estimation from Point Clouds
Venue: arXiv cs.CV 2023
Year: 2023

Scene flow estimation, which predicts the 3D motion of scene points from point clouds, is a core task in autonomous driving and many other 3D vision applications. Existing methods either suffer from structure distortion due to ignorance of rigid motion consistency or require explicit pose estimation and 3D object segmentation. Errors of estimated poses and segmented objects would yield inaccurate rigidity constraints and in turn mislead scene flow estimation. In this paper, we propose a novel weight-sharing aggregation (WSA) method for feature and scene flow up-sampling. WSA does not rely on estimated poses and segmented objects, and can implicitly enforce rigidity constraints to avoid structure distortion in scene flow estimation. To further exploit geometric information and preserve local structure, we design a deformation degree module aim to keep the local region invariance. We modify the PointPWC-Net and integrate the proposed WSA and deformation degree module into the enhanced PointPWC-Net to derive an end-to-end scene flow estimation network, called WSAFlowNet. Extensive experimental results on the FlyingThings3D and KITTI datasets demonstrate that our WSAFlowNet achieves the state-of-the-art performance and outperforms previous methods by a large margin. We will release the source code at https://github.com/wangyunlhr/WSAFlowNet.git.
MINER: A Hybrid Data-Driven Approach for REST API Fuzzing
Venue: arXiv cs.CR 2023
Year: 2023

In recent years, REST API fuzzing has emerged to explore errors on a cloud service. Its performance highly depends on the sequence construction and request generation. However, existing REST API fuzzers have trouble generating long sequences with well-constructed requests to trigger hard-to-reach states in a cloud service, which limits their performance of finding deep errors and security bugs. Further, they cannot find the specific errors caused by using undefined parameters during request generation. Therefore, in this paper, we propose a novel hybrid data-driven solution, named MINER, with three new designs working together to address the above limitations. First, MINER collects the valid sequences whose requests pass the cloud service's checking as the templates, and assigns more executions to long sequence templates. Second, to improve the generation quality of requests in a sequence template, MINER creatively leverages the state-of-the-art neural network model to predict key request parameters and provide them with appropriate parameter values. Third, MINER implements a new data-driven security rule checker to capture the new kind of errors caused by undefined parameters. We evaluate MINER against the state-of-the-art fuzzer RESTler on GitLab, Bugzilla, and WordPress via 11 REST APIs. The results demonstrate that the average pass rate of MINER is 23.42% higher than RESTler. MINER finds 97.54% more unique errors than RESTler on average and 142.86% more reproducible errors after manual analysis. We have reported all the newly found errors, and 7 of them have been confirmed as logic bugs by the corresponding vendors.
An Empirical Study of Pre-Trained Model Reuse in the Hugging Face Deep Learning Model Registry
Venue: arXiv cs.SE 2023
Year: 2023

Deep Neural Networks (DNNs) are being adopted as components in software systems. Creating and specializing DNNs from scratch has grown increasingly difficult as state-of-the-art architectures grow more complex. Following the path of traditional software engineering, machine learning engineers have begun to reuse large-scale pre-trained models (PTMs) and fine-tune these models for downstream tasks. Prior works have studied reuse practices for traditional software packages to guide software engineers towards better package maintenance and dependency management. We lack a similar foundation of knowledge to guide behaviors in pre-trained model ecosystems. In this work, we present the first empirical investigation of PTM reuse. We interviewed 12 practitioners from the most popular PTM ecosystem, Hugging Face, to learn the practices and challenges of PTM reuse. From this data, we model the decision-making process for PTM reuse. Based on the identified practices, we describe useful attributes for model reuse, including provenance, reproducibility, and portability. Three challenges for PTM reuse are missing attributes, discrepancies between claimed and actual performance, and model risks. We substantiate these identified challenges with systematic measurements in the Hugging Face ecosystem. Our work informs future directions on optimizing deep learning ecosystems by automated measuring useful attributes and potential attacks, and envision future research on infrastructure and standardization for model registries.
Securing Biomedical Images from Unauthorized Training with Anti-Learning Perturbation
Venue: arXiv cs.LG 2023
Year: 2023

The volume of open-source biomedical data has been essential to the development of various spheres of the healthcare community since more `free' data can provide individual researchers more chances to contribute. However, institutions often hesitate to share their data with the public due to the risk of data exploitation by unauthorized third parties for another commercial usage (e.g., training AI models). This phenomenon might hinder the development of the whole healthcare research community. To address this concern, we propose a novel approach termed `unlearnable biomedical image' for protecting biomedical data by injecting imperceptible but delusive noises into the data, making them unexploitable for AI models. We formulate the problem as a bi-level optimization and propose three kinds of anti-learning perturbation generation approaches to solve the problem. Our method is an important step toward encouraging more institutions to contribute their data for the long-term development of the research community.
Knowledge-Based Counterfactual Queries for Visual Question Answering
Venue: arXiv cs.CL 2023
Year: 2023

Visual Question Answering (VQA) has been a popular task that combines vision and language, with numerous relevant implementations in literature. Even though there are some attempts that approach explainability and robustness issues in VQA models, very few of them employ counterfactuals as a means of probing such challenges in a model-agnostic way. In this work, we propose a systematic method for explaining the behavior and investigating the robustness of VQA models through counterfactual perturbations. For this reason, we exploit structured knowledge bases to perform deterministic, optimal and controllable word-level replacements targeting the linguistic modality, and we then evaluate the model's response against such counterfactual inputs. Finally, we qualitatively extract local and global explanations based on counterfactual responses, which are ultimately proven insightful towards interpreting VQA model behaviors. By performing a variety of perturbation types, targeting different parts of speech of the input question, we gain insights to the reasoning of the model, through the comparison of its responses in different adversarial circumstances. Overall, we reveal possible biases in the decision-making process of the model, as well as expected and unexpected patterns, which impact its performance quantitatively and qualitatively, as indicated by our analysis.
Event-based Camera Simulation using Monte Carlo Path Tracing with Adaptive Denoising
Venue: arXiv cs.CV 2023
Year: 2023

This paper presents an algorithm to obtain an event-based video from noisy frames given by physics-based Monte Carlo path tracing over a synthetic 3D scene. Given the nature of dynamic vision sensor (DVS), rendering event-based video can be viewed as a process of detecting the changes from noisy brightness values. We extend a denoising method based on a weighted local regression (WLR) to detect the brightness changes rather than applying denoising to every pixel. Specifically, we derive a threshold to determine the likelihood of event occurrence and reduce the number of times to perform the regression. Our method is robust to noisy video frames obtained from a few path-traced samples. Despite its efficiency, our method performs comparably to or even better than an approach that exhaustively denoises every frame.
Socialbots and the Challenges of Cyberspace Awareness
Venue: arXiv cs.CY 2023
Year: 2023

As security communities brace for the emerging social automation based threats, we examine the mechanisms of developing situation awareness in cyberspace and the governance issues that socialbots bring into this existing paradigm of cyber situation awareness. We point out that an organisation's situation awareness in cyberspace is a phenomena fundamentally distinct from the original conception of situation awareness, requiring continuous data exchange and knowledge management where the standard implementation mechanisms require significant policy attention in light of threats like malicious social automation. We conceptualise Cyberspace Awareness as a socio-technical phenomena with Syntactic, Semantic, and Operatic dimensions - each subject to a number of stressors which are exacerbated under social automation based threats. The paper contributes to the ideas of situational awareness in cyberspace, and characterises the challenges therein around tackling the increasingly social and often pervasive, automation in cyber threat environments.
Swim: A General-Purpose, High-Performing, and Efficient Activation Function for Locomotion Control Tasks
Venue: arXiv cs.LG 2023
Year: 2023

Activation functions play a significant role in the performance of deep learning algorithms. In particular, the Swish activation function tends to outperform ReLU on deeper models, including deep reinforcement learning models, across challenging tasks. Despite this progress, ReLU is the preferred function partly because it is more efficient than Swish. Furthermore, in contrast to the fields of computer vision and natural language processing, the deep reinforcement learning and robotics domains have seen less inclination to adopt new activation functions, such as Swish, and instead continue to use more traditional functions, like ReLU. To tackle those issues, we propose Swim, a general-purpose, efficient, and high-performing alternative to Swish, and then provide an analysis of its properties as well as an explanation for its high-performance relative to Swish, in terms of both reward-achievement and efficiency. We focus on testing Swim on MuJoCo's locomotion continuous control tasks since they exhibit more complex dynamics and would therefore benefit most from a high-performing and efficient activation function. We also use the TD3 algorithm in conjunction with Swim and explain this choice in the context of the robot locomotion domain. We then conclude that Swim is a state-of-the-art activation function for continuous control locomotion tasks and recommend using it with TD3 as a working framework.