Reviewerly/exHarmony huggingface dataset:
PHTrans: Parallelly Aggregating Global and Local Representations for Medical Image Segmentation

The success of Transformer in computer vision has attracted increasing attention in the medical imaging community. Especially for medical image segmentation, many excellent hybrid architectures based on convolutional neural networks (CNNs) and Transformer have been presented and achieve impressive performance. However, most of these methods, which embed modular Transformer into CNNs, struggle to reach their full potential. In this paper, we propose a novel hybrid architecture for medical image segmentation called PHTrans, which parallelly hybridizes Transformer and CNN in main building blocks to produce hierarchical representations from global and local features and adaptively aggregate them, aiming to fully exploit their strengths to obtain better segmentation performance. Specifically, PHTrans follows the U-shaped encoder-decoder design and introduces the parallel hybird module in deep stages, where convolution blocks and the modified 3D Swin Transformer learn local features and global dependencies separately, then a sequence-to-volume operation unifies the dimensions of the outputs to achieve feature aggregation. Extensive experimental results on both Multi-Atlas Labeling Beyond the Cranial Vault and Automated Cardiac Diagnosis Challeng datasets corroborate its effectiveness, consistently outperforming state-of-the-art methods. The code is available at: https://github.com/lseventeen/PHTrans.
PiP-X: Online feedback motion planning/replanning in dynamic environments using invariant funnels

Computing kinodynamically feasible motion plans and repairing them on-the-fly as the environment changes is a challenging, yet relevant problem in robot-navigation. We propose a novel online single-query sampling-based motion re-planning algorithm - PiP-X, using finite-time invariant sets - funnels. We combine concepts from sampling-based methods, nonlinear systems analysis and control theory to create a single framework that enables feedback motion re-planning for any general nonlinear dynamical system in dynamic workspaces. A volumetric funnel-graph is constructed using sampling-based methods, and an optimal funnel-path from robot configuration to a desired goal region is then determined by computing the shortest-path subtree in it. Analysing and formally quantifying the stability of trajectories using Lyapunov level-set theory ensures kinodynamic feasibility and guaranteed set-invariance of the solution-paths. The use of incremental search techniques and a pre-computed library of motion-primitives ensure that our method can be used for quick online rewiring of controllable motion plans in densely cluttered and dynamic environments. We represent traversability and sequencibility of trajectories together in the form of an augmented directed-graph, helping us leverage discrete graph-based replanning algorithms to efficiently recompute feasible and controllable motion plans that are volumetric in nature. We validate our approach on a simulated 6DOF quadrotor platform in a variety of scenarios within a maze and random forest environment. From repeated experiments, we analyse the performance in terms of algorithm-success and length of traversed-trajectory.
Pistol: Pupil Invisible Supportive Tool to extract Pupil, Iris, Eye Opening, Eye Movements, Pupil and Iris Gaze Vector, and 2D as well as 3D Gaze

This paper describes a feature extraction and gaze estimation software, named \textit{Pistol} that can be used with Pupil Invisible projects and other eye trackers in the future. In offline mode, our software extracts multiple features from the eye including, the pupil and iris ellipse, eye aperture, pupil vector, iris vector, eye movement types from pupil and iris velocities, marker detection, marker distance, 2D gaze estimation for the pupil center, iris center, pupil vector, and iris vector using Levenberg Marquart fitting and neural networks. The gaze signal is computed in 2D for each eye and each feature separately and for both eyes in 3D also for each feature separately. We hope this software helps other researchers to extract state-of-the-art features for their research out of their recordings. Link: https://es-cloud.cs.uni-tuebingen.de/d/8e2ab8c3fdd444e1a135/?p=%2FPISTOL&mode=list
Planning in Observable POMDPs in Quasipolynomial Time

Partially Observable Markov Decision Processes (POMDPs) are a natural and general model in reinforcement learning that take into account the agent's uncertainty about its current state. In the literature on POMDPs, it is customary to assume access to a planning oracle that computes an optimal policy when the parameters are known, even though the problem is known to be computationally hard. Almost all existing planning algorithms either run in exponential time, lack provable performance guarantees, or require placing strong assumptions on the transition dynamics under every possible policy. In this work, we revisit the planning problem and ask: are there natural and well-motivated assumptions that make planning easy? Our main result is a quasipolynomial-time algorithm for planning in (one-step) observable POMDPs. Specifically, we assume that well-separated distributions on states lead to well-separated distributions on observations, and thus the observations are at least somewhat informative in each step. Crucially, this assumption places no restrictions on the transition dynamics of the POMDP; nevertheless, it implies that near-optimal policies admit quasi-succinct descriptions, which is not true in general (under standard hardness assumptions). Our analysis is based on new quantitative bounds for filter stability -- i.e. the rate at which an optimal filter for the latent state forgets its initialization. Furthermore, we prove matching hardness for planning in observable POMDPs under the Exponential Time Hypothesis.
Plan Your Target and Learn Your Skills: Transferable State-Only Imitation Learning via Decoupled Policy Optimization

Recent progress in state-only imitation learning extends the scope of applicability of imitation learning to real-world settings by relieving the need for observing expert actions. However, existing solutions only learn to extract a state-to-action mapping policy from the data, without considering how the expert plans to the target. This hinders the ability to leverage demonstrations and limits the flexibility of the policy. In this paper, we introduce Decoupled Policy Optimization (DePO), which explicitly decouples the policy as a high-level state planner and an inverse dynamics model. With embedded decoupled policy gradient and generative adversarial training, DePO enables knowledge transfer to different action spaces or state transition dynamics, and can generalize the planner to out-of-demonstration state regions. Our in-depth experimental analysis shows the effectiveness of DePO on learning a generalized target state planner while achieving the best imitation performance. We demonstrate the appealing usage of DePO for transferring across different tasks by pre-training, and the potential for co-training agents with various skills.
Playing with blocks: Toward re-usable deep learning models for side-channel profiled attacks

This paper introduces a deep learning modular network for side-channel analysis. Our deep learning approach features the capability to exchange part of it (modules) with others networks. We aim to introduce reusable trained modules into side-channel analysis instead of building architectures for each evaluation, reducing the body of work when conducting those. Our experiments demonstrate that our architecture feasibly assesses a side-channel evaluation suggesting that learning transferability is possible with the network we propose in this paper.
Plug &amp; Play Attacks: Towards Robust and Flexible Model Inversion Attacks

Model inversion attacks (MIAs) aim to create synthetic images that reflect the class-wise characteristics from a target classifier's private training data by exploiting the model's learned knowledge. Previous research has developed generative MIAs that use generative adversarial networks (GANs) as image priors tailored to a specific target model. This makes the attacks time- and resource-consuming, inflexible, and susceptible to distributional shifts between datasets. To overcome these drawbacks, we present Plug & Play Attacks, which relax the dependency between the target model and image prior, and enable the use of a single GAN to attack a wide range of targets, requiring only minor adjustments to the attack. Moreover, we show that powerful MIAs are possible even with publicly available pre-trained GANs and under strong distributional shifts, for which previous approaches fail to produce meaningful results. Our extensive evaluation confirms the improved robustness and flexibility of Plug & Play Attacks and their ability to create high-quality images revealing sensitive class characteristics.
Posterior Consistency for Bayesian Relevance Vector Machines

Statistical modeling and inference problems with sample sizes substantially smaller than the number of available covariates are challenging. Chakraborty et al. (2012) did a full hierarchical Bayesian analysis of nonlinear regression in such situations using relevance vector machines based on reproducing kernel Hilbert space (RKHS). But they did not provide any theoretical properties associated with their procedure. The present paper revisits their problem, introduces a new class of global-local priors different from theirs, and provides results on posterior consistency as well as posterior contraction rates
Post-Stall Navigation with Fixed-Wing UAVs using Onboard Vision

Recent research has enabled fixed-wing unmanned aerial vehicles (UAVs) to maneuver in constrained spaces through the use of direct nonlinear model predictive control (NMPC). However, this approach has been limited to a priori known maps and ground truth state measurements. In this paper, we present a direct NMPC approach that leverages NanoMap, a light-weight point-cloud mapping framework to generate collision-free trajectories using onboard stereo vision. We first explore our approach in simulation and demonstrate that our algorithm is sufficient to enable vision-based navigation in urban environments. We then demonstrate our approach in hardware using a 42-inch fixed-wing UAV and show that our motion planning algorithm is capable of navigating around a building using a minimalistic set of goal-points. We also show that storing a point-cloud history is important for navigating these types of constrained environments.
Practical Abstraction for Model Checking of Multi-Agent Systems

Model checking of multi-agent systems (MAS) is known to be hard, both theoretically and in practice. A smart abstraction of the state space may significantly reduce the model, and facilitate the verification. In this paper, we propose and study an intuitive agent-based abstraction scheme, based on the removal of variables in the representation of a MAS. This allows to do the reduction without generating the global model of the system. Moreover, the process is easy to understand and control even for domain experts with little knowledge of computer science. We formally prove the correctness of the approach, and evaluate the gains experimentally on models of a postal voting procedure.
Practical Conditional Neural Processes Via Tractable Dependent Predictions

Conditional Neural Processes (CNPs; Garnelo et al., 2018a) are meta-learning models which leverage the flexibility of deep learning to produce well-calibrated predictions and naturally handle off-the-grid and missing data. CNPs scale to large datasets and train with ease. Due to these features, CNPs appear well-suited to tasks from environmental sciences or healthcare. Unfortunately, CNPs do not produce correlated predictions, making them fundamentally inappropriate for many estimation and decision making tasks. Predicting heat waves or floods, for example, requires modelling dependencies in temperature or precipitation over time and space. Existing approaches which model output dependencies, such as Neural Processes (NPs; Garnelo et al., 2018b) or the FullConvGNP (Bruinsma et al., 2021), are either complicated to train or prohibitively expensive. What is needed is an approach which provides dependent predictions, but is simple to train and computationally tractable. In this work, we present a new class of Neural Process models that make correlated predictions and support exact maximum likelihood training that is simple and scalable. We extend the proposed models by using invertible output transformations, to capture non-Gaussian output distributions. Our models can be used in downstream estimation tasks which require dependent function samples. By accounting for output dependencies, our models show improved predictive performance on a range of experiments with synthetic and real data.
Practical tradeoffs between memory, compute, and performance in learned optimizers

Optimization plays a costly and crucial role in developing machine learning systems. In learned optimizers, the few hyperparameters of commonly used hand-designed optimizers, e.g. Adam or SGD, are replaced with flexible parametric functions. The parameters of these functions are then optimized so that the resulting learned optimizer minimizes a target loss on a chosen class of models. Learned optimizers can both reduce the number of required training steps and improve the final test loss. However, they can be expensive to train, and once trained can be expensive to use due to computational and memory overhead for the optimizer itself. In this work, we identify and quantify the design features governing the memory, compute, and performance trade-offs for many learned and hand-designed optimizers. We further leverage our analysis to construct a learned optimizer that is both faster and more memory efficient than previous work. Our model and training code are open source.
Predicting the Future Performance of the Planned Seismic Network in Mainland China: II. Earthquake Early Warning

The China Earthquake Administration (CEA) has launched an ambitious nationwide earthquake early warning (EEW) system project that is currently under development, which will consist of approximately 15,000 seismic stations and be the largest EEW system in the world. The new EEW system is planned to go online by the end of 2022. In 23% and 3% of Mainland China, the inter-station distance will soon be smaller than 50 km and 25 km, respectively. The effectiveness of the EEW system expected inside Mainland China can be quantified via the metric given by the radius of the blind zone (no-warning zone). Using theoretical network-based method, we generate the spatial distribution of the blind zone radii predicted for the new seismic network based on its configuration. The densified new seismic network is expected to have excellent EEW performance from the perspective of blind zone. The area covered by blind zones that are smaller than 30 km will soon rise from 1.6% to 24.3% inside Mainland China, which means that the area will increase by 2.6 million km2 (almost the size of Kazakhstan). We claim that every 1,000,000 RMB (158,000 USD) invested to densifying the planned network will increase the area where the blind zone radius is smaller than 30 km by 3,000 km2. Continuing to increase the density of stations in some key regions with the blind zone radii ranging from 20 to 40 km is still necessary to control the unexpected expansion of blind zones due to the possible (and common) stations failure. Our investigation provides a useful reference for the real functioning and further optimization of the EEW system in Mainland China.
Prediction of terrorism pattern accompanied by cyber-terrorism and the development direction of corresponding legal systems

As the information and communication system has become an essential element for national operation and people's lives, and the dependence on information and communication systems such as national infrastructure systems and facilities increases, cyber terrorism is rapidly emerging as a serious threat to national security in peacetime. As terrorist groups' access to cyber-attack assets improves, the traditional form of terrorism is also expected to change to a form combined with cyber-terrorism. Nevertheless, from a national security point of view, Korea lacks a legal system to prepare for and respond to cyber terrorism. In this paper, based on the development process of the modern military operation concept, we predict the changes in the form of terrorism, analyze the restrictions on the national response to cyber-terrorism based on the current legal system, and propose the development directions.
Preserving Domain Private Representation via Mutual Information Maximization

Recent advances in unsupervised domain adaptation have shown that mitigating the domain divergence by extracting the domain-invariant representation could significantly improve the generalization of a model to an unlabeled data domain. Nevertheless, the existing methods fail to effectively preserve the representation that is private to the label-missing domain, which could adversely affect the generalization. In this paper, we propose an approach to preserve such representation so that the latent distribution of the unlabeled domain could represent both the domain-invariant features and the individual characteristics that are private to the unlabeled domain. In particular, we demonstrate that maximizing the mutual information between the unlabeled domain and its latent space while mitigating the domain divergence can achieve such preservation. We also theoretically and empirically validate that preserving the representation that is private to the unlabeled domain is important and of necessity for the cross-domain generalization. Our approach outperforms state-of-the-art methods on several public datasets.
Privately Estimating Graph Parameters in Sublinear time

We initiate a systematic study of algorithms that are both differentially private and run in sublinear time for several problems in which the goal is to estimate natural graph parameters. Our main result is a differentially-private $(1+\rho)$-approximation algorithm for the problem of computing the average degree of a graph, for every $\rho>0$. The running time of the algorithm is roughly the same as its non-private version proposed by Goldreich and Ron (Sublinear Algorithms, 2005). We also obtain the first differentially-private sublinear-time approximation algorithms for the maximum matching size and the minimum vertex cover size of a graph. An overarching technique we employ is the notion of coupled global sensitivity of randomized algorithms. Related variants of this notion of sensitivity have been used in the literature in ad-hoc ways. Here we formalize the notion and develop it as a unifying framework for privacy analysis of randomized approximation algorithms.
Private Read Update Write (PRUW) with Storage Constrained Databases

We investigate the problem of private read update write (PRUW) in relation to federated submodel learning (FSL) with storage constrained databases. In PRUW, a user privately reads a submodel from a system of $N$ databases containing $M$ submodels, updates it locally, and writes the update back to the databases without revealing the submodel index or the value of the update. The databases considered in this problem are only allowed to store a given amount of information specified by an arbitrary storage constraint. We provide a storage mechanism that determines the contents of each database prior to the application of the PRUW scheme, such that the total communication cost is minimized. We show that the proposed storage scheme achieves a lower total cost compared to what is achieved by using \emph{coded storage} or \emph{divided storage} to meet the given storage constraint.
Probabilistic Rotation Representation With an Efficiently Computable Bingham Loss Function and Its Application to Pose Estimation

In recent years, a deep learning framework has been widely used for object pose estimation. While quaternion is a common choice for rotation representation of 6D pose, it cannot represent an uncertainty of the observation. In order to handle the uncertainty, Bingham distribution is one promising solution because this has suitable features, such as a smooth representation over SO(3), in addition to the ambiguity representation. However, it requires the complex computation of the normalizing constants. This is the bottleneck of loss computation in training neural networks based on Bingham representation. As such, we propose a fast-computable and easy-to-implement loss function for Bingham distribution. We also show not only to examine the parametrization of Bingham distribution but also an application based on our loss function.
Probabilistic Spherical Discriminant Analysis: An Alternative to PLDA for length-normalized embeddings

In speaker recognition, where speech segments are mapped to embeddings on the unit hypersphere, two scoring backends are commonly used, namely cosine scoring or PLDA. Both have advantages and disadvantages, depending on the context. Cosine scoring follows naturally from the spherical geometry, but for PLDA the blessing is mixed -- length normalization Gaussianizes the between-speaker distribution, but violates the assumption of a speaker-independent within-speaker distribution. We propose PSDA, an analogue to PLDA that uses Von Mises-Fisher distributions on the hypersphere for both within and between-class distributions. We show how the self-conjugacy of this distribution gives closed-form likelihood-ratio scores, making it a drop-in replacement for PLDA at scoring time. All kinds of trials can be scored, including single-enroll and multi-enroll verification, as well as more complex likelihood-ratios that could be used in clustering and diarization. Learning is done via an EM-algorithm with closed-form updates. We explain the model and present some first experiments.
Proto-exact categories of modules over semirings and hyperrings

\emph{Proto-exact categories}, introduced by Dyckerhoff and Kapranov, are a generalization of Quillen exact categories which provide a framework for defining algebraic K-theory and Hall algebras in a \emph{non-additive} setting. This formalism is well-suited to the study of categories whose objects have strong combinatorial flavor. In this paper, we show that the categories of modules over semirings and hyperrings - algebraic structures which have gained prominence in tropical geometry - carry proto-exact structures. In the first part, we prove that the category of modules over a semiring is equipped with a proto-exact structure; modules over an idempotent semiring have a strong connection to matroids. We also prove that the category of algebraic lattices $\mathcal{L}$ has a proto-exact structure, and furthermore that the subcategory of $\mathcal{L}$ consisting of finite lattices is equivalent to the category of finite $\mathbb{B}$-modules as proto-exact categories, where $\mathbb{B}$ is the \emph{Boolean semifield}. We also discuss some relations between $\mathcal{L}$ and geometric lattices (simple matroids) from this perspective. In the second part, we prove that the category of modules over a hyperring has a proto-exact structure. In the case of finite modules over the \emph{Krasner hyperfield} $\mathbb{K}$, a well-known relation between finite $\mathbb{K}$-modules and finite incidence geometries yields a combinatorial interpretation of exact sequences.