Reviewerly/exHarmony huggingface dataset:
aaeCAPTCHA: The Design and Implementation of Audio Adversarial CAPTCHA

CAPTCHAs are designed to prevent malicious bot programs from abusing websites. Most online service providers deploy audio CAPTCHAs as an alternative to text and image CAPTCHAs for visually impaired users. However, prior research investigating the security of audio CAPTCHAs found them highly vulnerable to automated attacks using Automatic Speech Recognition (ASR) systems. To improve the robustness of audio CAPTCHAs against automated abuses, we present the design and implementation of an audio adversarial CAPTCHA (aaeCAPTCHA) system in this paper. The aaeCAPTCHA system exploits audio adversarial examples as CAPTCHAs to prevent the ASR systems from automatically solving them. Furthermore, we conducted a rigorous security evaluation of our new audio CAPTCHA design against five state-of-the-art DNN-based ASR systems and three commercial Speech-to-Text (STT) services. Our experimental evaluations demonstrate that aaeCAPTCHA is highly secure against these speech recognition technologies, even when the attacker has complete knowledge of the current attacks against audio adversarial examples. We also conducted a usability evaluation of the proof-of-concept implementation of the aaeCAPTCHA scheme. Our results show that it achieves high robustness at a moderate usability cost compared to normal audio CAPTCHAs. Finally, our extensive analysis highlights that aaeCAPTCHA can significantly enhance the security and robustness of traditional audio CAPTCHA systems while maintaining similar usability.
A hybrid quantum image edge detector for the NISQ era

Abstract Edges are image locations where the gray value intensity changes suddenly. They are among the most important features to understand and segment an image. Edge detection is a standard task in digital image processing, solved, for example, using filtering techniques. However, the amount of data to be processed grows rapidly and pushes even supercomputers to their limits. Quantum computing promises exponentially lower memory usage in terms of the number of qubits compared to the number of classical bits. In this paper, we propose a hybrid method for quantum edge detection based on the idea of a quantum artificial neuron. Our method can be practically implemented on quantum computers, especially on those of the current noisy intermediate-scale quantum era. We compare six variants of the method to reduce the number of circuits and thus the time required for the quantum edge detection. Taking advantage of the scalability of our method, we can practically detect edges in images considerably larger than reached before.
ARM 4-BIT PQ: SIMD-Based Acceleration for Approximate Nearest Neighbor Search on ARM

We accelerate the 4-bit product quantization (PQ) on the ARM architecture. Notably, the drastic performance of the conventional 4-bit PQ strongly relies on x64-specific SIMD register, such as AVX2; hence, we cannot yet achieve such good performance on ARM. To fill this gap, we first bundle two 128-bit registers as one 256-bit component. We then apply shuffle operations for each using the ARM-specific NEON instruction. By making this simple but critical modification, we achieve a dramatic speedup for the 4-bit PQ on an ARM architecture. Experiments show that the proposed method consistently achieves a 10x improvement over the naive PQ with the same accuracy.
Asynchronous Reinforcement Learning for Real-Time Control of Physical Robots

An oft-ignored challenge of real-world reinforcement learning is that the real world does not pause when agents make learning updates. As standard simulated environments do not address this real-time aspect of learning, most available implementations of RL algorithms process environment interactions and learning updates sequentially. As a consequence, when such implementations are deployed in the real world, they may make decisions based on significantly delayed observations and not act responsively. Asynchronous learning has been proposed to solve this issue, but no systematic comparison between sequential and asynchronous reinforcement learning was conducted using real-world environments. In this work, we set up two vision-based tasks with a robotic arm, implement an asynchronous learning system that extends a previous architecture, and compare sequential and asynchronous reinforcement learning across different action cycle times, sensory data dimensions, and mini-batch sizes. Our experiments show that when the time cost of learning updates increases, the action cycle time in sequential implementation could grow excessively long, while the asynchronous implementation can always maintain an appropriate action cycle time. Consequently, when learning updates are expensive, the performance of sequential learning diminishes and is outperformed by asynchronous learning by a substantial margin. Our system learns in real-time to reach and track visual targets from pixels within two hours of experience and does so directly using real robots, learning completely from scratch. Our code is available at: https://github.com/YufengYuan/ur5_async_r1.
Bit-GraphBLAS: Bit-Level Optimizations of Matrix-Centric Graph Processing on GPU

In a general graph data structure like an adjacency matrix, when edges are homogeneous, the connectivity of two nodes can be sufficiently represented using a single bit. This insight has, however, not yet been adequately exploited by the existing matrix-centric graph processing frameworks. This work fills the void by systematically exploring the bit-level representation of graphs and the corresponding optimizations to the graph operations. It proposes a two-level representation named Bit-Block Compressed Sparse Row (B2SR) and presents a series of optimizations to the graph operations on B2SR by leveraging the intrinsics of modern GPUs. Evaluations on NVIDIA Pascal and Volta GPUs show that the optimizations bring up to 40× and 6555× for essential GraphBLAS kernels SpMV and SpGEMM, respectively, making GraphBLAS-based BFS accelerate up to 433×, SSSP, PR, and CC up to 35×, and TC up to 52×.
Building a Performance Model for Deep Learning Recommendation Model Training on GPUs

We devise a performance model for GPU training of Deep Learning Recommendation Models (DLRM), which has low GPU utilization (i.e., the percentage of per-batch training time when kernels are running on the device) compared to other well-optimized vision (CV) and natural language processing (NLP) models. We show that both the device active time (the sum of kernel runtimes) and idle time are important components of the overall device time, and can be tackled separately by (1) flexibly adopting heuristic- and ML-based kernel performance models for kernels that dominate the device active time, and (2) categorizing operator overheads into five types to quantitatively determine their contribution to the overall device time. Combining these two parts, we propose a critical-path-based algorithm to predict the per-batch training time of DLRM by traversing its execution graph. We achieve less than 10% geometric mean absolute error (GMAE) in all kernel performance modeling, and 5.23% and 7.96% geomean errors, respectively, for GPU active time and overall end-to-end per-batch training time prediction on the highly-customized and multi-factor dominated DLRM architectures. We also demonstrate our performance model’s ability to generalize to other compute-bound DL models targeted by most previous methods and better assist general model-system co-design than previous work.
Conditional Measurement Density Estimation in Sequential Monte Carlo via Normalizing Flow

Tuning of measurement models is challenging in real-world applications of sequential Monte Carlo methods. Re-cent advances in differentiable particle filters have led to various efforts to learn measurement models through neural networks. But existing approaches in the differentiable particle filter frame-work do not admit valid probability densities in constructing measurement models, leading to incorrect quantification of the measurement uncertainty given state information. We propose to learn expressive and valid probability densities in measurement models through conditional normalizing flows, to capture the complex likelihood of measurements given states. We show that the proposed approach leads to improved estimation performance and faster training convergence in a visual tracking experiment.
Cut And Continuous Paste Towards Real-Time Deep Fall Detection

Deep learning based fall detection is one of the crucial tasks for intelligent video surveillance systems, which aims to detect unintentional falls of humans and alarm dangerous situations. In this work, we propose a simple and efficient framework to detect falls through a single and small-sized convolutional neural network. To this end, we first introduce a new image synthesis method that represents human motion in a single frame. This simplifies the fall detection task as an image classification task. Besides, the proposed synthetic data generation method enables to generate a sufficient amount of training dataset, resulting in satisfactory performance even with the small model. At the inference step, we also represent real human motion in a single image by estimating mean of input frames. In the experiment, we conduct both qualitative and quantitative evaluations on URFD and AIHub airport datasets to show the effectiveness of our method.
Demonstration of PI2: Interactive Visualization Interface Generation for SQL Analysis in Notebook

We demonstrate PI2, the first notebook extension that can automatically generate interactive visualization interfaces during SQL-based analyses.
Distributed Image Transmission Using Deep Joint Source-Channel Coding

We study the problem of deep joint source-channel coding (D-JSCC) for correlated image sources, where each source is transmitted through a noisy independent channel to the common receiver. In particular, we consider a pair of images captured by two cameras with probably overlapping fields of view transmitted over wireless channels and reconstructed in the center node. The challenging problem involves designing a practical code to utilize both source and channel correlations to improve transmission efficiency without additional transmission overhead. To tackle this, we need to consider the common information across two stereo images as well as the differences between two transmission channels. In this case, we propose a deep neural networks solution that includes lightweight edge encoders and a powerful center decoder. Besides, in the decoder, we propose a novel channel state information aware cross attention module to highlight the overlapping fields and leverage the relevance between two noisy feature maps. Our results show the impressive improvement of reconstruction quality in both links by exploiting the noisy representations of the other link. Moreover, the proposed scheme shows competitive results compared to the separated schemes with capacity-achieving channel codes.
Domain-Generalized Textured Surface Anomaly Detection

Anomaly detection aims to identify abnormal data that deviates from the normal ones, while typically requiring a sufficient amount of normal data to train the model for performing this task. Despite the success of recent anomaly detection methods, performing anomaly detection in an unseen domain remain a challenging task. In this paper, we address the task of domain-generalized textured surface anomaly detection. By observing normal and abnormal surface data across multiple source domains, our model is expected to be generalized to an unseen textured surface of interest, in which only a small number of normal data can be observed during testing. Although with only image-level labels observed in the training data, our patch-based meta-learning model exhibits promising generalization ability: not only can it generalize to unseen image domains, but it can also localize abnormal regions in the query image. Our experiments verify that our model performs favorably against state-of-the-art anomaly detection and domain generalization approaches in various settings.
Dual Preference Distribution Learning for Item Recommendation

Recommender systems can automatically recommend users with items that they probably like. The goal of them is to model the user-item interaction by effectively representing the users and items. Existing methods have primarily learned the user's preferences and item's features with vectorized embeddings, and modeled the user's general preferences to items by the interaction of them. In fact, users have their specific preferences to item attributes and different preferences are usually related. Therefore, exploring the fine-grained preferences as well as modeling the relationships among user's different preferences could improve the recommendation performance. Toward this end, we propose a dual preference distribution learning framework (DUPLE), which aims to jointly learn a general preference distribution and a specific preference distribution for a given user, where the former corresponds to the user's general preference to items and the latter refers to the user's specific preference to item attributes. Notably, the mean vector of each Gaussian distribution can capture the user's preferences, and the covariance matrix can learn their relationship. Moreover, we can summarize a preferred attribute profile for each user, depicting his/her preferred item attributes. We then can provide the explanation for each recommended item by checking the overlap between its attributes and the user's preferred attribute profile. Extensive quantitative and qualitative experiments on six public datasets demonstrate the effectiveness and explainability of the DUPLE method.
Efficient Strong Privacy-Preserving Conjunctive Keyword Search Over Encrypted Cloud Data

Searchable symmetric encryption (SSE) supports keyword search over outsourced symmetrically encrypted data. Dynamic searchable symmetric encryption (DSSE), a variant of SSE, further enables data updating. Most DSSE works with conjunctive keyword search primarily consider forward and backward privacy. Ideally, the server should only learn the result sets involving all keywords in the conjunction. However, existing schemes suffer from keyword pair result pattern (KPRP) leakage, revealing the partial result sets containing two of query keywords. We propose the first DSSE scheme to address aforementioned concerns that achieves strong privacy-preserving conjunctive keyword search. Specifically, our scheme can maintain forward and backward privacy and eliminate KPRP leakage, offering a higher level of security. The search complexity scales with the number of documents stored in the database in several existing schemes. However, the complexity of our scheme scales with the update frequency of the least frequent keyword in the conjunction, which is much smaller than the size of the entire database. Besides, we devise a least frequent keyword acquisition protocol to reduce frequent interactions between clients. Finally, we analyze the security of our scheme and evaluate its performance theoretically and experimentally. The results show that our scheme has strong privacy preservation and efficiency.
GraphZeppelin: Storage-Friendly Sketching for Connected Components on Dynamic Graph Streams

Finding the connected components of a graph is a fundamental problem with uses throughout computer science and engineering. The task of computing connected components becomes more difficult when graphs are very large, or when they are dynamic, meaning the edge set changes over time subject to a stream of edge insertions and deletions. A natural approach to computing the connected components on a large, dynamic graph stream is to buy enough RAM to store the entire graph. However, the requirement that the graph fit in RAM is prohibitive for very large graphs. Thus, there is an unmet need for systems that can process dense dynamic graphs, especially when those graphs are larger than available RAM.
HAR-GCNN: Deep Graph CNNs for Human Activity Recognition From Highly Unlabeled Mobile Sensor Data

The problem of human activity recognition from mobile sensor data applies to multiple domains, such as health monitoring, personal fitness, daily life logging, and senior care. A critical challenge for training human activity recognition models is data quality. Acquiring balanced datasets containing accurate activity labels requires humans to correctly annotate and potentially interfere with the subjects' normal activities in real-time. Despite the likelihood of incorrect annotation or lack thereof, there is often an inherent chronology to human behavior. For example, we take a shower after we exercise. This implicit chronology can be used to learn unknown labels and classify future activities. In this work, we propose HAR-GCCN, a deep graph CNN model that leverages the correlation between chronologically adjacent sensor measurements to predict the correct labels for unclassified activities that have at least one activity label. We propose a new training strategy enforcing that the model predicts the missing activity labels by leveraging the known ones. HAR-GCCN shows superior performance relative to previously used baseline methods, improving classification accuracy by about 25% and up to 68% on different datasets. Code is available at \url{https://github.com/abduallahmohamed/HAR-GCNN}.
Imitation and Adaptation Based on Consistency: A Quadruped Robot Imitates Animals from Videos Using Deep Reinforcement Learning

The essence of quadruped movements is the move-ment of the center of gravity, which has a pattern in the movement of quadrupeds. However, planning the gait motion of the quadruped robot is time consuming. Animals in nature can provide a large amount of gait information for robots to imitate skills. Common methods learn the posture of animals with a motion capture system or numerous motion data points. In this paper, we propose a video imitation adaptation network that can imitate the action of animals from a few seconds of video and adapt skills to the robot. The deep learning model extracts key points of animal motion from videos. A motion adaptor that eliminates noise and extracts key information of motion is proposed; the information of the extracted movements was used as a motion pattern to help deep reinforcement learning complete the imitation of skills. To ensure similarity between the learning result and the animal motion in the video, we introduce rewards that are based on the consistency of the motion. The results show that our framework can help robots learn periodic and aperiodic skills from several seconds of videos of different types of animals. And we deploy the trained model to the real robot to complete the walking and backflip tasks without fine-tuning.
Imputing Out-of-Vocabulary Embeddings with LOVE Makes LanguageModels Robust with Little Cost

State-of-the-art NLP systems represent inputs with word embeddings, but these are brittle when faced with Out-of-Vocabulary (OOV) words.To address this issue, we follow the principle of mimick-like models to generate vectors for unseen words, by learning the behavior of pre-trained embeddings using only the surface form of words.We present a simple contrastive learning framework, LOVE, which extends the word representation of an existing pre-trained language model (such as BERT), and makes it robust to OOV with few additional parameters.Extensive evaluations demonstrate that our lightweight model achieves similar or even better performances than prior competitors, both on original datasets and on corrupted variants.Moreover, it can be used in a plug-and-play fashion with FastText and BERT, where it significantly improves their robustness.
Jerk Constrained Velocity Planning for an Autonomous Vehicle: Linear Programming Approach

Velocity Planning for self-driving vehicles in a complex environment is one of the most challenging tasks. It must satisfy the following three requirements: safety with regards to collisions; respect of the maximum velocity limits defined by the traffic rules; comfort of the passengers. In order to achieve these goals, the jerk and dynamic objects should be considered, however, it makes the problem as complex as a non-convex optimization problem. In this paper, we propose a linear programming (LP) based velocity planning method with jerk limit and obstacle avoidance constraints for an autonomous driving system. To confirm the efficiency of the proposed method, a comparison is made with several optimization-based approaches, and we show that our method can generate a velocity profile which satisfies the aforementioned requirements more efficiently than the compared methods. In addition, we tested our algorithm on a real vehicle at a test field to validate the effectiveness of the proposed method.
KinoJGM: A framework for efficient and accurate quadrotor trajectory generation and tracking in dynamic environments

Unmapped areas and aerodynamic disturbances render autonomous navigation with quadrotors extremely challenging. To fly safely and efficiently, trajectory planners and trackers must be able to navigate unknown environments with unpredictable aerodynamic effects in real-time. When encountering aerodynamic effects such as strong winds, most current approaches to quadrotor trajectory planning and tracking will not attempt to deviate from a determined plan, even if it is risky, in the hope that any aerodynamic disturbances can be resisted by a robust controller. This paper presents a novel systematic trajectory planning and tracking framework for autonomous quadrotors. We propose a Kinodynamic Jump Space Search (Kino-JSS) to generate a safe and efficient route in unknown environments with aerodynamic disturbances. A real-time Gaussian Process is employed to model the errors caused by aerodynamic disturbances, which we then integrate with a Model Predictive Controller to achieve efficient and accurate trajectory optimization and tracking. We demonstrate our system to improve the efficiency of trajectory generation in unknown environments by up to 75% in the cases tested, compared with recent state-of-the-art. We also show that our system improves the accuracy of tracking in selected environments with unpredictable aerodynamic effects. Our implementation is available in an open source package <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sup> <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sup> https://github.com/Alex-yanranwang/Imperial-KinoJGM.