nils-herrmann/clean_scirepeval huggingface dataset:
Multi-Modal Trajectory Prediction of Surrounding Vehicles with Maneuver based LSTMs

To safely and efficiently navigate through complex traffic scenarios, autonomous vehicles need to have the ability to predict the future motion of surrounding vehicles. Multiple interacting agents, the multi-modal nature of driver behavior, and the inherent uncertainty involved in the task make motion prediction of surrounding vehicles a challenging problem. In this paper, we present an LSTM model for interaction aware motion prediction of surrounding vehicles on freeways. Our model assigns confidence values to maneuvers being performed by vehicles and outputs a multi-modal distribution over future motion based on them. We compare our approach with the prior art for vehicle motion prediction on the publicly available NGSIM US-101 and I-80 datasets. Our results show an improvement in terms of RMS values of prediction error. We also present an ablative analysis of the components of our proposed model and analyze the predictions made by the model in complex traffic scenarios.
Blockchain challenges and opportunities: a survey

Blockchain has numerous benefits such as decentralization, persistency, anonymity and auditability. There is a wide spectrum of blockchain applications ranging from cryptocurrency, financial services, risk management, Internet of Things to public and social services. Although a number of studies focus on using the blockchain technology in various application aspects, there is no comprehensive survey on the blockchain technology in both technological and application perspectives. To fill this gap, we conduct a comprehensive survey on the blockchain technology. In particular, this paper gives the blockchain taxonomy, introduces typical blockchain consensus algorithms, reviews blockchain applications and discusses technical challenges as well as recent advances in tackling the challenges. Moreover, this paper also points out the future directions in the blockchain technology.
Electricity Smart Meters Interfacing the Households

The recent worldwide measures for energy savings call for a larger awareness of the household energy consumption, given the relevant contribution of domestic load to the national energy balance. On the other hand, electricity smart meters together with gas, heat, and water meters can be interconnected in a large network offering a potential value to implement energy savings and other energy-related services, as long as an efficient interface with the final user is implemented. Unfortunately, so far, the interface of such devices is mostly designed and addressed at the utilities supervising the system, giving them relevant advantages, while the communication with the household is often underestimated. This paper addresses this topic by proposing the definition of a local interface for smart meters, by looking at the actual European Union and international regulations, at the technological solutions available on the market, and at those implemented in different countries, and, finally, by proposing specific architectures for a proper consumer-oriented implementation of a smart meter network.
Enhancing Memory Error Detection for Large-Scale Applications and Fuzz Testing

Memory errors are one of the most common vulnerabilities for the popularity of memory unsafe languages including C and C++. Once exploited, it can easily lead to system crash (i.e., denial-of-service attacks) or allow adversaries to fully compromise the victim system. This paper proposes MEDS, a practical memory error detector. MEDS significantly enhances its detection capability by approximating two ideal properties, called an infinite gap and an infinite heap. The approximated infinite gap of MEDS setups large inaccessible memory region between objects (i.e., 4 MB), and the approximated infinite heap allows MEDS to fully utilize virtual address space (i.e., 45-bits memory space). The key idea of MEDS in achieving these properties is a novel user-space memory allocation mechanism, MEDSALLOC. MEDSALLOC leverages a page aliasing mechanism, which allows MEDS to maximize the virtual memory space utilization but minimize the physical memory uses. To highlight the detection capability and practical impacts of MEDS, we evaluated and then compared to Google’s state-of-the-art detection tool, AddressSanitizer. MEDS showed three times better detection rates on four real-world vulnerabilities in Chrome and Firefox. More importantly, when used for a fuzz testing, MEDS was able to identify 68.3% more memory errors than AddressSanitizer for the same amount of a testing time, highlighting its practical aspects in the software testing area. In terms of performance overhead, MEDS slowed down 108% and 86% compared to native execution and AddressSanitizer, respectively, on real-world applications including Chrome, Firefox, Apache, Nginx, and OpenSSL.
An Overview of Dexterous Manipulation

This paper for the ICRA 2000 Symposium on Dexterous Manipulation presents an overview of research in dexterous manipulation. We rst de ne robotic dexterous manipulation in comparison to traditional robotics and human manipulation. Next, kinematics, contact types and forces are used to formulate the dexterous manipulation problem. Dexterous motion planning is described, which includes grasp planning and quality measures. We look at various midand lowlevel control frameworks, and then compare manipulation versus exploration. Finally, we list what we see as the current limiting factors in dexterous manipulation, and review the state of the art and future of the eld.
Elliptic Curve Multiset Hash

A homomorphic, or incremental, multiset hash function, associates a hash value to arbitrary collections of objects (with possible repetitions) in such a way that the hash of the union of two collections is easy to compute from the hashes of the two collections themselves: it is simply their sum under a suitable group operation. In particular, hash values of large collections can be computed incrementally and/or in parallel. Homomorphic hashing is thus a very useful primitive with applications ranging from database integrity verification to streaming set/multiset comparison and network coding. Unfortunately, constructions of homomorphic hash functions in the literature are hampered by two main drawbacks: they tend to be much longer than usual hash functions at the same security level (e.g. to achieve a collision resistance of 2, they are several thousand bits long, as opposed to 256 bits for usual hash functions), and they are also quite slow. In this paper, we introduce the Elliptic Curve Multiset Hash (ECMH), which combines a usual bit string-valued hash function like BLAKE2 with an efficient encoding into binary elliptic curves to overcome both difficulties. On the one hand, the size of ECMH digests is essentially optimal: 2m-bit hash values provideO(2) collision resistance. On the other hand, we demonstrate a highly-efficient software implementation of ECMH, which our thorough empirical evaluation shows to be capable of processing over 3 million set elements per second on a 4 GHz Intel Haswell machine at the 128-bit security level— many times faster than previous practical methods. While incremental hashing based on elliptic curves has been considered previously , the proposed method was less efficient, susceptible to timing attacks, and potentially patent-encumbered [2], and no practical implementation was demonstrated.
The curvelet transform for image denoising

We describe approximate digital implementations of two new mathematical transforms, namely, the ridgelet transform and the curvelet transform. Our implementations offer exact reconstruction, stability against perturbations, ease of implementation, and low computational complexity. A central tool is Fourier-domain computation of an approximate digital Radon transform. We introduce a very simple interpolation in the Fourier space which takes Cartesian samples and yields samples on a rectopolar grid, which is a pseudo-polar sampling set based on a concentric squares geometry. Despite the crudeness of our interpolation, the visual performance is surprisingly good. Our ridgelet transform applies to the Radon transform a special overcomplete wavelet pyramid whose wavelets have compact support in the frequency domain. Our curvelet transform uses our ridgelet transform as a component step, and implements curvelet subbands using a filter bank of a; trous wavelet filters. Our philosophy throughout is that transforms should be overcomplete, rather than critically sampled. We apply these digital transforms to the denoising of some standard images embedded in white noise. In the tests reported here, simple thresholding of the curvelet coefficients is very competitive with "state of the art" techniques based on wavelets, including thresholding of decimated or undecimated wavelet transforms and also including tree-based Bayesian posterior mean methods. Moreover, the curvelet reconstructions exhibit higher perceptual quality than wavelet-based reconstructions, offering visually sharper images and, in particular, higher quality recovery of edges and of faint linear and curvilinear features. Existing theory for curvelet and ridgelet transforms suggests that these new approaches can outperform wavelet methods in certain image reconstruction problems. The empirical results reported here are in encouraging agreement.
Off-policy evaluation for slate recommendation

This paper studies the evaluation of policies that recommend an ordered set of items (e.g., a ranking) based on some context—a common scenario in web search, ads, and recommendation. We build on techniques from combinatorial bandits to introduce a new practical estimator that uses logged data to estimate a policy’s performance. A thorough empirical evaluation on real-world data reveals that our estimator is accurate in a variety of settings, including as a subroutine in a learningto-rank task, where it achieves competitive performance. We derive conditions under which our estimator is unbiased—these conditions are weaker than prior heuristics for slate evaluation—and experimentally demonstrate a smaller bias than parametric approaches, even when these conditions are violated. Finally, our theory and experiments also show exponential savings in the amount of required data compared with general unbiased estimators.
Message Passing for Maximum Weight Independent Set

In this paper, we investigate the use of message-passing algorithms for the problem of finding the max-weight independent set (MWIS) in a graph. First, we study the performance of the classical loopy max-product belief propagation. We show that each fixed-point estimate of max product can be mapped in a natural way to an extreme point of the linear programming (LP) polytope associated with the MWIS problem. However, this extreme point may not be the one that maximizes the value of node weights; the particular extreme point at final convergence depends on the initialization of max product. We then show that if max product is started from the natural initialization of uninformative messages, it always solves the correct LP, if it converges. This result is obtained via a direct analysis of the iterative algorithm, and cannot be obtained by looking only at fixed points. The tightness of the LP relaxation is thus necessary for max-product optimality, but it is not sufficient. Motivated by this observation, we show that a simple modification of max product becomes gradient descent on (a smoothed version of) the dual of the LP, and converges to the dual optimum. We also develop a message-passing algorithm that recovers the primal MWIS solution from the output of the descent algorithm. We show that the MWIS estimate obtained using these two algorithms in conjunction is correct when the graph is bipartite and the MWIS is unique. Finally, we show that any problem of maximum a posteriori (MAP) estimation for probability distributions over finite domains can be reduced to an MWIS problem. We believe this reduction will yield new insights and algorithms for MAP estimation.
A portable, autonomous, urban reconnaissance robot

Portable mobile robots, in the size class of 20 kg or less, could be extremely valuable as autonomous reconnaissance platforms in urban hostage situations and disaster relief. We have developed a prototype urban robot on a novel chassis with articulated tracks that enable stair climbing and scrambling over rubble. Autonomous navigation capabilities of the robot include stereo vision-based obstacle avoidance, visual servoing to user-designated goals, and autonomous vision-guided stair climbing. The system was demonstrated in an urban reconnaissance mission scenario at Fort Sam Houston in October 1999. A two-axis scanning laser rangefinder has been developed and will be integrated in the coming year for indoor mapping and position estimation. This paper describes the robot, its performance in field trials, and some of the technical challenges that remain to enable fieldable urban reconnaissance robots.
Design of a Marx Generator for HEMP filter evaluation taking account of parasitic effect of components

This paper introduces the design of a Marx Generator that can generate high attitude pulses up to 25 kV and 2.5 kA. The pulses have a wave shape representative of that used to test High-altitude ElectroMagnetic (HEMP) filters against the pulse current injection (PCI) requirements. The rise time is 20 ns and the pulse width is 230 ns on a 10 Ω resistor. In the design, it was found that parasitic effect of circuit components could significantly affect the performance of the generator. This is mainly because the pulse width is very narrow and its frequency spectrum is very wideband. The high-frequency circuit models of the components used in the generator were obtained by calculation and optimization, and then further verified by experiment. The verified circuit models were then used to design the three-stage generator. The measured performance agrees very well with the simulated one using the proposed circuit models.
Explainable User Clustering in Short Text Streams

User clustering has been studied from different angles: behavior-based, to identify similar browsing or search patterns, and content-based, to identify shared interests. Once user clusters have been found, they can be used for recommendation and personalization. So far, content-based user clustering has mostly focused on static sets of relatively long documents. Given the dynamic nature of social media, there is a need to dynamically cluster users in the context of short text streams. User clustering in this setting is more challenging than in the case of long documents as it is difficult to capture the users' dynamic topic distributions in sparse data settings. To address this problem, we propose a dynamic user clustering topic model (or UCT for short). UCT adaptively tracks changes of each user's time-varying topic distribution based both on the short texts the user posts during a given time period and on the previously estimated distribution. To infer changes, we propose a Gibbs sampling algorithm where a set of word-pairs from each user is constructed for sampling. The clustering results are explainable and human-understandable, in contrast to many other clustering algorithms. For evaluation purposes, we work with a dataset consisting of users and tweets from each user. Experimental results demonstrate the effectiveness of our proposed clustering model compared to state-of-the-art baselines.
Review of performance metrics for green data centers: a taxonomy study

Data centers now play an important role in modern IT infrastructures. Although much research effort has been made in the field of green data center computing, performance metrics for green data centers have been left ignored. This paper is devoted to categorization of green computing performance metrics in data centers, such as basic metrics like power metrics, thermal metrics and extended performance metrics i.e. multiple data center indicators. Based on a taxonomy of performance metrics, this paper summarizes features of currently available metrics and presents insights for the study on green data center computing.
Wider or Deeper: Revisiting the ResNet Model for Visual Recognition

The trend towards increasingly deep neural networks has been driven by a general observation that increasing depth increases the performance of a network. Recently, however, evidence has been amassing that simply increasing depth may not be the best way to increase performance, particularly given other limitations. Investigations into deep residual networks have also suggested that they may not in fact be operating as a single deep network, but rather as an ensemble of many relatively shallow networks. We examine these issues, and in doing so arrive at a new interpretation of the unravelled view of deep residual networks which explains some of the behaviours that have been observed experimentally. As a result, we are able to derive a new, shallower, architecture of residual networks which significantly outperforms much deeper models such as ResNet-200 on the ImageNet classification dataset. We also show that this performance is transferable to other problem domains by developing a semantic segmentation approach which outperforms the state-of-the-art by a remarkable margin on datasets including PASCAL VOC, PASCAL Context, and Cityscapes. The architecture that we propose thus outperforms its comparators, including very deep ResNets, and yet is more efficient in memory use and sometimes also in training time. The code and models are available at https://github.com/itijyou/ademxapp.
WarpGAN: Automatic Caricature Generation

We propose, WarpGAN, a fully automatic network that can generate caricatures given an input face photo. Besides transferring rich texture styles, WarpGAN learns to automatically predict a set of control points that can warp the photo into a caricature, while preserving identity. We introduce an identity-preserving adversarial loss that aids the discriminator to distinguish between different subjects. Moreover, WarpGAN allows customization of the generated caricatures by controlling the exaggeration extent and the visual styles. Experimental results on a public domain dataset, WebCaricature, show that WarpGAN is capable of generating a diverse set of caricatures while preserving the identities. Five caricature experts suggest that caricatures generated by WarpGAN are visually similar to hand-drawn ones and only prominent facial features are exaggerated. ∗ indicates equal contribution
Global, Dense Multiscale Reconstruction for a Billion Points

We present a variational approach for surface reconstruction from a set of oriented points with scale information. We focus particularly on scenarios with nonuniform point densities due to images taken from different distances. In contrast to previous methods, we integrate the scale information in the objective and globally optimize the signed distance function of the surface on a balanced octree grid. We use a finite element discretization on the dual structure of the octree minimizing the number of variables. The tetrahedral mesh is generated efficiently with a lookup table which allows to map octree cells to the nodes of the finite elements. We optimize memory efficiency by data aggregation, such that robust data terms can be used even on very large scenes. The surface normals are explicitly optimized and used for surface extraction to improve the reconstruction at edges and corners.
Data Integration: After the Teenage Years

The field of data integration has expanded significantly over the years, from providing a uniform query and update interface to structured databases within an enterprise to the ability to search, ex- change, and even update, structured or unstructured data that are within or external to the enterprise. This paper describes the evolution in the landscape of data integration since the work on rewriting queries using views in the mid-1990's. In addition, we describe two important challenges for the field going forward. The first challenge is to develop good open-source tools for different components of data integration pipelines. The second challenge is to provide practitioners with viable solutions for the long-standing problem of systematically combining structured and unstructured data.
A fast method of fog and haze removal

Fog and haze degrade the quality of preview and captured image by reducing the contrast and saturation. As a result the visibility of scene or object degrades. The objective of the present work is to enhance the visibility, saturation, contrast and reduce the noise in a foggy image. We propose a method that uses single frame for enhancing foggy images using multilevel transmission map. The method is fast and free from noise or artifacts that generally arise in such enhancement techniques. A comparison with existing methods shows that the proposed method performs better in terms of both processing time and quality. The proposed method works in real time for VGA resolution. The proposed work also presents a scheme to remove fog, rain and snow in real-time.
Velvet fingers: A dexterous gripper with active surfaces

The design of grasping and manipulation systems is one of the most investigated topics in recent robotic and automation engineering. It is a process that has to take into account many development possibilities and to face different trade offs, as that between application possibilities and design complexity. In this work we present the design of a novel end-effector that merges the essential mechanics and control simplicity of underactuated devices, together with the high levels of manipulability usually featured in dexterous robotic hands. To obtain this enhancement, the proposed gripper considers the possibility offered by active surfaces, i.e. engineered contact surfaces able to simulate different levels of friction and to apply tangential thrust to the contacted object. The actual dexterity enhancement is evaluated by an analytical manipulability analysis and some examples of in hand manipulations and grasps are taken into account. A mechanical solution is presented, which implements the proposed idea through the adoption of one DoF active surfaces mounted on the fingers. The proposed solution presents a manipulability index one order of magnitude higher than common grippers.
Depth Selective Camera: A Direct, On-Chip, Programmable Technique for Depth Selectivity in Photography

Time of flight (ToF) cameras use a temporally modulated light source and measure correlation between the reflected light and a sensor modulation pattern, in order to infer scene depth. In this paper, we show that such correlational sensors can also be used to selectively accept or reject light rays from certain scene depths. The basic idea is to carefully select illumination and sensor modulation patterns such that the correlation is non-zero only in the selected depth range - thus light reflected from objects outside this depth range do not affect the correlational measurements. We demonstrate a prototype depth-selective camera and highlight two potential applications: imaging through scattering media and virtual blue screening. This depth-selectivity can be used to reject back-scattering and reflection from media in front of the subjects of interest, thereby significantly enhancing the ability to image through scattering media-critical for applications such as car navigation in fog and rain. Similarly, such depth selectivity can also be utilized as a virtual blue-screen in cinematography by rejecting light reflecting from background, while selectively retaining light contributions from the foreground subject.