OpenRaiser/Intern-Atlas huggingface dataset:
A Survey of Sound Source Localization with Deep Learning Methods
Venue: arXiv cs.SD 2022
Year: 2022

This article is a survey on deep learning methods for single and multiple sound source localization. We are particularly interested in sound source localization in indoor/domestic environment, where reverberation and diffuse noise are present. We provide an exhaustive topography of the neural-based localization literature in this context, organized according to several aspects: the neural network architecture, the type of input features, the output strategy (classification or regression), the types of data used for model training and evaluation, and the model training strategy. This way, an interested reader can easily comprehend the vast panorama of the deep learning-based sound source localization methods. Tables summarizing the literature survey are provided at the end of the paper for a quick search of methods with a given set of target characteristics.
Towards Natural Language Interfaces for Data Visualization: A Survey
Venue: arXiv cs.HC 2022
Year: 2022

Utilizing Visualization-oriented Natural Language Interfaces (V-NLI) as a complementary input modality to direct manipulation for visual analytics can provide an engaging user experience. It enables users to focus on their tasks rather than having to worry about how to operate visualization tools on the interface. In the past two decades, leveraging advanced natural language processing technologies, numerous V-NLI systems have been developed in academic research and commercial software, especially in recent years. In this article, we conduct a comprehensive review of the existing V-NLIs. In order to classify each paper, we develop categorical dimensions based on a classic information visualization pipeline with the extension of a V-NLI layer. The following seven stages are used: query interpretation, data transformation, visual mapping, view transformation, human interaction, dialogue management, and presentation. Finally, we also shed light on several promising directions for future work in the V-NLI community.
Unsupervised Detection and Clustering of Malicious TLS Flows
Venue: arXiv cs.CR 2022
Year: 2022

Malware abuses TLS to encrypt its malicious traffic, preventing examination by content signatures and deep packet inspection. Network detection of malicious TLS flows is an important, but challenging, problem. Prior works have proposed supervised machine learning detectors using TLS features. However, by trying to represent all malicious traffic, supervised binary detectors produce models that are too loose, thus introducing errors. Furthermore, they do not distinguish flows generated by different malware. On the other hand, supervised multi-class detectors produce tighter models and can classify flows by malware family, but require family labels, which are not available for many samples. To address these limitations, this work proposes a novel unsupervised approach to detect and cluster malicious TLS flows. Our approach takes as input network traces from sandboxes. It clusters similar TLS flows using 90 features that capture properties of the TLS client, TLS server, certificate, and encrypted payload; and uses the clusters to build an unsupervised detector that can assign a malicious flow to the cluster it belongs to, or determine it is benign. We evaluate our approach using 972K traces from a commercial sandbox and 35M TLS flows from a research network. Our clustering shows very high precision and recall with an F1 score of 0.993. We compare our unsupervised detector with two state-of-the-art approaches, showing that it outperforms both. The false detection rate of our detector is 0.032% measured over four months of traffic.
Age-Aware Stochastic Hybrid Systems: Stability, Solutions, and Applications
Venue: arXiv cs.IT 2022
Year: 2022

In this paper, we analyze status update systems modeled through the Stochastic Hybrid Systems (SHSs) tool. Contrary to previous works, we allow the system's transition dynamics to be polynomial functions of the Age of Information (AoI). This dependence allows us to encapsulate many applications and opens the door for more sophisticated systems to be studied. However, this same dependence on the AoI engenders technical and analytical difficulties that we address in this paper. Specifically, we first showcase several characteristics of the age processes modeled through the SHSs tool. Then, we provide a framework to establish the Lagrange stability and positive recurrence of these processes. Building on this, we provide an approach to compute the m-th moment of the age processes. Interestingly, this technique allows us to approximate the average age by solving a simple set of linear equations. Equipped with this approach, we also provide a sequential convex approximation method to optimize the average age by calibrating the parameters of the system. Finally, we consider an age-dependent CSMA environment where the backoff duration depends on the instantaneous age. By leveraging our analysis, we contrast its performance to the age-blind CSMA and showcase the age performance gain provided by the former.
Supervised Contrastive Learning for Detecting Anomalous Driving Behaviours from Multimodal Videos
Venue: arXiv cs.CV 2022
Year: 2022

Distracted driving is one of the major reasons for vehicle accidents. Therefore, detecting distracted driving behaviors is of paramount importance to reduce the millions of deaths and injuries occurring worldwide. Distracted or anomalous driving behaviors are deviations from 'normal' driving that need to be identified correctly to alert the driver. However, these driving behaviors do not comprise one specific type of driving style and their distribution can be different during the training and test phases of a classifier. We formulate this problem as a supervised contrastive learning approach to learn a visual representation to detect normal, and seen and unseen anomalous driving behaviors. We made a change to the standard contrastive loss function to adjust the similarity of negative pairs to aid the optimization. Normally, in a (self) supervised contrastive framework, the projection head layers are omitted during the test phase as the encoding layers are considered to contain general visual representative information. However, we assert that for a video-based supervised contrastive learning task, including a projection head can be beneficial. We showed our results on a driver anomaly detection dataset that contains 783 minutes of video recordings of normal and anomalous driving behaviors of 31 drivers from the various top and front cameras (both depth and infrared). Out of 9 video modalities combinations, our proposed contrastive approach improved the ROC AUC on 6 in comparison to the baseline models (from 4.23% to 8.91% for different modalities). We performed statistical tests that showed evidence that our proposed method performs better than the baseline contrastive learning setup. Finally, the results showed that the fusion of depth and infrared modalities from the top and front views achieved the best AUC ROC of 0.9738 and AUC PR of 0.9772.
Mapping the Structure and Evolution of Software Testing Research Over the Past Three Decades
Venue: arXiv cs.DL 2022
Year: 2022

Background: The field of software testing is growing and rapidly-evolving. Aims: Based on keywords assigned to publications, we seek to identify predominant research topics and understand how they are connected and have evolved. Method: We apply co-word analysis to map the topology of testing research as a network where author-assigned keywords are connected by edges indicating co-occurrence in publications. Keywords are clustered based on edge density and frequency of connection. We examine the most popular keywords, summarize clusters into high-level research topics, examine how topics connect, and examine how the field is changing. Results: Testing research can be divided into 16 high-level topics and 18 subtopics. Creation guidance, automated test generation, evolution and maintenance, and test oracles have particularly strong connections to other topics, highlighting their multidisciplinary nature. Emerging keywords relate to web and mobile apps, machine learning, energy consumption, automated program repair and test generation, while emerging connections have formed between web apps, test oracles, and machine learning with many topics. Random and requirements-based testing show potential decline. Conclusions: Our observations, advice, and map data offer a deeper understanding of the field and inspiration regarding challenges and connections to explore.
Learning Cross-Scale Visual Representations for Real-Time Image Geo-Localization
Venue: arXiv cs.CV 2022
Year: 2022

Robot localization remains a challenging task in GPS denied environments. State estimation approaches based on local sensors, e.g. cameras or IMUs, are drifting-prone for long-range missions as error accumulates. In this study, we aim to address this problem by localizing image observations in a 2D multi-modal geospatial map. We introduce the cross-scale dataset and a methodology to produce additional data from cross-modality sources. We propose a framework that learns cross-scale visual representations without supervision. Experiments are conducted on data from two different domains, underwater and aerial. In contrast to existing studies in cross-view image geo-localization, our approach a) performs better on smaller-scale multi-modal maps; b) is more computationally efficient for real-time applications; c) can serve directly in concert with state estimation pipelines.
An Experimental Study of Class Imbalance in Federated Learning
Venue: arXiv cs.LG 2022
Year: 2022

Federated learning is a distributed machine learning paradigm that trains a global model for prediction based on a number of local models at clients while local data privacy is preserved. Class imbalance is believed to be one of the factors that degrades the global model performance. However, there has been very little research on if and how class imbalance can affect the global performance. class imbalance in federated learning is much more complex than that in traditional non-distributed machine learning, due to different class imbalance situations at local clients. Class imbalance needs to be re-defined in distributed learning environments. In this paper, first, we propose two new metrics to define class imbalance -- the global class imbalance degree (MID) and the local difference of class imbalance among clients (WCS). Then, we conduct extensive experiments to analyze the impact of class imbalance on the global performance in various scenarios based on our definition. Our results show that a higher MID and a larger WCS degrade more the performance of the global model. Besides, WCS is shown to slow down the convergence of the global model by misdirecting the optimization.
DAN: Decentralized Attention-based Neural Network for the MinMax Multiple Traveling Salesman Problem
Venue: arXiv cs.RO 2022
Year: 2022

The multiple traveling salesman problem (mTSP) is a well-known NP-hard problem with numerous real-world applications. In particular, this work addresses MinMax mTSP, where the objective is to minimize the max tour length among all agents. Many robotic deployments require recomputing potentially large mTSP instances frequently, making the natural trade-off between computing time and solution quality of great importance. However, exact and heuristic algorithms become inefficient as the number of cities increases, due to their computational complexity. Encouraged by the recent developments in deep reinforcement learning (dRL), this work approaches the mTSP as a cooperative task and introduces DAN, a decentralized attention-based neural method that aims at tackling this key trade-off. In DAN, agents learn fully decentralized policies to collaboratively construct a tour, by predicting each other's future decisions. Our model relies on the Transformer architecture and is trained using multi-agent RL with parameter sharing, providing natural scalability to the numbers of agents and cities. Our experimental results on small- to large-scale mTSP instances ($50$ to $1000$ cities and $5$ to $20$ agents) show that DAN is able to match or outperform state-of-the-art solvers while keeping planning times low. In particular, given the same computation time budget, DAN outperforms all conventional and dRL-based baselines on larger-scale instances (more than 100 cities, more than 5 agents), and exhibits enhanced agent collaboration. A video explaining our approach and presenting our results is available at \url{https://youtu.be/xi3cLsDsLvs}.
Cartography Active Learning
Venue: arXiv cs.CL 2022
Year: 2022

We propose Cartography Active Learning (CAL), a novel Active Learning (AL) algorithm that exploits the behavior of the model on individual instances during training as a proxy to find the most informative instances for labeling. CAL is inspired by data maps, which were recently proposed to derive insights into dataset quality (Swayamdipta et al., 2020). We compare our method on popular text classification tasks to commonly used AL strategies, which instead rely on post-training behavior. We demonstrate that CAL is competitive to other common AL methods, showing that training dynamics derived from small seed data can be successfully used for AL. We provide insights into our new AL method by analyzing batch-level statistics utilizing the data maps. Our results further show that CAL results in a more data-efficient learning strategy, achieving comparable or better results with considerably less training data.
IFBiD: Inference-Free Bias Detection
Venue: arXiv cs.CV 2022
Year: 2022

This paper is the first to explore an automatic way to detect bias in deep convolutional neural networks by simply looking at their weights. Furthermore, it is also a step towards understanding neural networks and how they work. We show that it is indeed possible to know if a model is biased or not simply by looking at its weights, without the model inference for an specific input. We analyze how bias is encoded in the weights of deep networks through a toy example using the Colored MNIST database and we also provide a realistic case study in gender detection from face images using state-of-the-art methods and experimental resources. To do so, we generated two databases with 36K and 48K biased models each. In the MNIST models we were able to detect whether they presented a strong or low bias with more than 99% accuracy, and we were also able to classify between four levels of bias with more than 70% accuracy. For the face models, we achieved 90% accuracy in distinguishing between models biased towards Asian, Black, or Caucasian ethnicity.
Copy-Move Image Forgery Detection Based on Evolving Circular Domains Coverage
Venue: arXiv cs.CV 2022
Year: 2022

The aim of this paper is to improve the accuracy of copy-move forgery detection (CMFD) in image forensics by proposing a novel scheme and the main contribution is evolving circular domains coverage (ECDC) algorithm. The proposed scheme integrates both block-based and keypoint-based forgery detection methods. Firstly, the speed-up robust feature (SURF) in log-polar space and the scale invariant feature transform (SIFT) are extracted from an entire image. Secondly, generalized 2 nearest neighbor (g2NN) is employed to get massive matched pairs. Then, random sample consensus (RANSAC) algorithm is employed to filter out mismatched pairs, thus allowing rough localization of counterfeit areas. To present these forgery areas more accurately, we propose the efficient and accurate ECDC algorithm to present them. This algorithm can find satisfactory threshold areas by extracting block features from jointly evolving circular domains, which are centered on matched pairs. Finally, morphological operation is applied to refine the detected forgery areas. Experimental results indicate that the proposed CMFD scheme can achieve better detection performance under various attacks compared with other state-of-the-art CMFD schemes.
BDPGO: Balanced Distributed Pose Graph Optimization Framework for Swarm Robotics
Venue: arXiv cs.RO 2022
Year: 2022

Distributed pose graph optimization (DPGO) is one of the fundamental techniques of swarm robotics. Currently, the sub-problems of DPGO are built on the native poses. Our validation proves that this approach may introduce an imbalance in the sizes of the sub-problems in real-world scenarios, which affects the speed of DPGO optimization, and potentially increases communication requirements. In addition, the coherence of the estimated poses is not guaranteed when the robots in the swarm fail, or partial robots are disconnected. In this paper, we propose BDPGO, a balanced distributed pose graph optimization framework using the idea of decoupling the robot poses and DPGO. BDPGO re-distributes the poses in the pose graph to the robot swarm in a balanced way by introducing a two-stage graph partitioning method to build balanced subproblems. Our validation demonstrates that BDPGO significantly improves the optimization speed without changing the specific algorithm of DPGO in realistic datasets. What's more, we also validate that BDPGO is robust to robot failure, changes in the wireless network. BDPGO has capable of keeps the coherence of the estimated poses in these situations. The framework also has the potential to be applied to other collaborative simultaneous localization and mapping (CSLAM) problems involved in distributedly solving the factor graph.
Bootstrapped Meta-Learning
Venue: arXiv cs.LG 2022
Year: 2022

Meta-learning empowers artificial intelligence to increase its efficiency by learning how to learn. Unlocking this potential involves overcoming a challenging meta-optimisation problem. We propose an algorithm that tackles this problem by letting the meta-learner teach itself. The algorithm first bootstraps a target from the meta-learner, then optimises the meta-learner by minimising the distance to that target under a chosen (pseudo-)metric. Focusing on meta-learning with gradients, we establish conditions that guarantee performance improvements and show that the metric can control meta-optimisation. Meanwhile, the bootstrapping mechanism can extend the effective meta-learning horizon without requiring backpropagation through all updates. We achieve a new state-of-the art for model-free agents on the Atari ALE benchmark and demonstrate that it yields both performance and efficiency gains in multi-task meta-learning. Finally, we explore how bootstrapping opens up new possibilities and find that it can meta-learn efficient exploration in an epsilon-greedy Q-learning agent, without backpropagating through the update rule.
Notes on Generalizing the Maximum Entropy Principle to Uncertain Data
Venue: arXiv cs.IT 2022
Year: 2022

The principle of maximum entropy is a broadly applicable technique for computing a distribution with the least amount of information possible constrained to match empirical data, for instance, feature expectations. We seek to generalize this principle to scenarios where the empirical feature expectations cannot be computed because the model variables are only partially observed, which introduces a dependency on the learned model. Generalizing the principle of latent maximum entropy, we introduce uncertain maximum entropy and describe an expectation-maximization based solution to approximately solve these problems. We show that our technique additionally generalizes the principle of maximum entropy. We additionally discuss the use of black box classifiers with our technique, which simplifies the process of utilizing sparse, large data sets.
Probabilistic Guaranteed Path Planning for Safe Urban Air Mobility Using Chance Constrained RRT
Venue: arXiv cs.RO 2022
Year: 2022

Safety is a critical concern for the success of urban air mobility, especially in dynamic and uncertain environments. This paper proposes a path planning algorithm based on RRT in conjunction with chance constraints in the presence of uncertain obstacles. The chance-constrained formulation for Gaussian distributed obstacles is developed by converting the probabilistic constraints to deterministic constraints in terms of distribution parameters. The probabilistic feasible region at every time step can be established through the simulation of the system state and the evaluation of convex constraints. Through establishing chance-constrained RRT, the algorithm not only enjoys the benefits of sampling-based algorithms but also incorporates uncertainty into the formulation. Simulation results demonstrate that the planning for a trajectory connecting the starting and goal point in accordance with the requirement of probabilistic obstacle avoidance can be achieved by the utilization of this algorithm.
Autonomous and Adaptive Navigation for Terrestrial-Aerial Bimodal Vehicles
Venue: arXiv cs.RO 2022
Year: 2022

Terrestrial-aerial bimodal vehicles bloom in both academia and industry because they incorporate both the high mobility of aerial vehicles and the long endurance of ground vehicles. In this work, we present an autonomous and adaptive navigation framework to bring complete autonomy to this class of vehicles. The framework mainly includes 1) a hierarchical motion planner that generates safe and low-power terrestrial-aerial trajectories in unknown environments and 2) a unified motion controller which dynamically adjusts energy consumption in terrestrial locomotion. Extensive real-world experiments and benchmark comparisons are conducted on a customized robot platform to validate the proposed framework's robustness and performance. During the tests, the robot safely traverses complex environments with terrestrial-aerial integrated mobility, and achieves $7\times$ energy savings in terrestrial locomotion. Finally, we will release our code and hardware configuration for the reference of the community.
Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments
Venue: arXiv cs.RO 2022
Year: 2022

As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times, giving rise to the challenge of determining how to best perceive the environment given a continuously updated motion plan. We provide the first investigation into a `smart' controller for gaze control with the objective of providing effective perception of the environment for obstacle avoidance and motion planning in dynamic and unknown environments. We detail the novel problem of determining the best head camera behaviour for mobile robots when constrained by a trajectory. Furthermore, we propose a greedy optimisation-based solution that uses a combination of voxelised rewards and motion primitives. We demonstrate that our method outperforms the benchmark methods in 2D and 3D environments, in respect of both the ability to explore the local surroundings, as well as in a superior success rate of finding collision-free trajectories -- our method is shown to provide 7.4x better map exploration while consistently achieving a higher success rate for generating collision-free trajectories. We verify our findings on a physical Toyota Human Support Robot (HSR) using a GPU-accelerated perception framework.