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Non-salient region erasure for time series augmentation

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Frontiers of computer science 2022年第6期16卷 203-205页

作者： Pin LIU Xiaohui GUO Bin SHI Rui WANG Tianyu WO Xudong LIU State Key Lab of Software Development Environment(SKLSDE) Beihang UniversityBeijing100191China Beijing Advanced Innovation Center for Big Data and Brain Computing(BDBC) Beijing100191China Hangzhou Innovation Institute Beihang UniversityHangzhou310052China School of Computer Science and Technology Xi’an Jiaotong UniversityXi’an710049China

1 Introduction Time seriesaugmentationis an essential approachto solvethe overfitting problem on the time series classification(TSC)task[1,2].Although existing approaches perform better in mitigating this problem,none of them focus on protecting saliency regions on time *** key informative shapelets contained in these regions are the core basis for distinguishing categories(e.g.,upward spikes in ECG and high amplitude in Sensor).

关键词： Sensor series series

Attack End-to-End Autonomous Driving through Module-Wise Noise

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arXiv 2024年

作者： Wang, Lu Zhang, Tianyuan Han, Yikai Fang, Muyang Jin, Ting Kang, Jiaqi School of Computer Science and Engineering Beihang University Beijing China Shen Yuan Honors College Beihang University Beijing China State Key Lab of Software Development Environment Beihang University Beijing China School of Software Beihang University Beijing China

With recent breakthroughs in deep neural networks, numerous tasks within autonomous driving have exhibited remarkable performance. However, deep learning models are susceptible to adversarial attacks, presenting significant security risks to autonomous driving systems. Presently, end-to-end architectures have emerged as the predominant solution for autonomous driving, owing to their collaborative nature across different tasks. Yet, the implications of adversarial attacks on such models remain relatively unexplored. In this paper, we conduct comprehensive adversarial security research on the modular end-to-end autonomous driving model for the first time. We thoroughly consider the potential vulnerabilities in the model inference process and design a universal attack scheme through module-wise noise injection. We conduct large-scale experiments on the full-stack autonomous driving model and demonstrate that our attack method outperforms previous attack methods. We trust that our research will offer fresh insights into ensuring the safety and reliability of autonomous driving systems. © 2024, CC BY-NC-ND.

关键词： Deep neural networks

STAL3D: Unsupervised Domain Adaptation for 3D Object Detection via Collaborating Self-Training and Adversarial Learning

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arXiv 2024年

作者： Zhang, Yanan Zhou, Chao Huang, Di The State Key Laboratory of Software Development Environment School of Computer Science and Engineering Beihang University Beijing100191 China The Hangzhou Innovation Institute Beihang University Hangzhou310051 China

Existing 3D object detection suffers from expensive annotation costs and poor transferability to unknown data due to the domain gap, Unsupervised Domain Adaptation (UDA) aims to generalize detection models trained in labeled source domains to perform robustly on unexplored target domains, providing a promising solution for cross-domain 3D object detection. Although Self-Training (ST) based cross-domain 3D detection methods with the assistance of pseudo-labeling techniques have achieved remarkable progress, they still face the issue of low-quality pseudo-labels when there are significant domain disparities due to the absence of a process for feature distribution alignment. While Adversarial Learning (AL) based methods can effectively align the feature distributions of the source and target domains, the inability to obtain labels in the target domain forces the adoption of asymmetric optimization losses, resulting in a challenging issue of source domain bias. To overcome these limitations, we propose a novel unsupervised domain adaptation framework for 3D object detection via collaborating ST and AL, dubbed as STAL3D, unleashing the complementary advantages of pseudo labels and feature distribution alignment. Additionally, a Background Suppression Adversarial Learning (BS-AL) module and a Scale Filtering Module (SFM) are designed tailored for 3D cross-domain scenes, effectively alleviating the issues of the large proportion of background interference and source domain size bias. Our STAL3D achieves state-of-the-art performance on multiple cross-domain tasks and even surpasses the Oracle results on Waymo → KITTI and Waymo → KITTI-rain. Copyright © 2024, The Authors. All rights reserved.

关键词： Object detection

FuseFPS: Accelerating Farthest Point Sampling with Fusing KD-tree Construction for Point Clouds

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FuseFPS: Accelerating Farthest Point Sampling with Fusing KD...

Asia and South Pacific Design Automation Conference

作者： Meng Han Liang Wang Limin Xiao Hao Zhang Chenhao Zhang Xilong Xie Shuai Zheng Jin Dong State Key Laboratory of Software Development Environment Beijing China School of Computer Science and Engineering Beihang University Beijing China Beijing Academy of Blockchain and Edge Computing Beijing China

Point cloud analytics has become a critical workload for embedded and mobile platforms across various applications. Farthest point sampling (FPS) is a fundamental and widely used kernel in point cloud processing. However, the heavy external memory access makes FPS a performance bottleneck for real-time point cloud processing. Although bucket-based farthest point sampling can significantly reduce unnecessary memory accesses during the point sampling stage, the KD-tree construction stage becomes the predominant contributor to execution time. In this paper, we present FuseFPS, an architecture and algorithm co-design for bucket-based farthest point sampling. We first propose a hardware-friendly sampling-driven KD-tree construction algorithm. The algorithm fuses the KD-tree construction stage into the point sampling stage, further reducing memory accesses. Then, we design an efficient accelerator for bucket-based point sampling. The accelerator can offload the entire bucket-based FPS kernel at a low hardware cost. Finally, we evaluate our approach on various point cloud datasets. The detailed experiments show that compared to the state-of-the-art accelerator QuickFPS, FuseFPS achieves about $4.3\times $ and about $6.1\times $ improvements on speed and power efficiency, respectively.

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SCPS:A Secure and Copyright-Preserving System for IIoT Based on Hyperledger Fabric 9

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SCPS:A Secure and Copyright-Preserving System for IIoT Based...

9th International Conference on Advanced Cloud and Big Data, CBD 2021

作者： Peng, Jiahui Li, Chunpei Yuan, Bo Meng, Hongwei Yu, Feng Li, Xianxian Guangxi Normal University Guangxi Key Lab of Multi-Source Information Mining Security GuiLin China Beihang University Development Environment School of Computer Science and Engineering State Key Laboratory of Software Beijing100191 China Xiong'An Intelligent City Innovation Federation Blockchain Lab Beijing China

ISBN: (纸本)9781665407458

Data, a key asset in Industrial Internet of Things(IIoT), has fueled the emergence of a new data trading in-dustry, which can be collected and traded for better development of IIoT. However, copyright protection is not considered in traditional transactions, resulting in the loss of copyright control of the data after the data was sold. A large number of piracy activities will reduce the enthusiasm of data owners to collect data. The solution we proposed was to use blockchain and smart contract to achieve a decentralized and secure copyright protection scheme. The Trusted Execution environment(TEE) helped our system realized the piracy tracking. To be specific, our solution effectively achieves a secure and copyright protection system of IIoT data, we realize the real simulation on Hyperledger Fabric shows the good performance of our system. © 2022 IEEE.

关键词： Blockchain

Further Explanations on "SAT Requires Exhaustive Search"

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arXiv 2024年

作者： Dong, Qingxiu Zhou, Guangyan Xu, Ke School of Computer Science Peking University China Department of Mathematics and Statistics Beijing Technology and Business University China State Key Lab of Software Development Environment Beihang University China

Recently, Xu and Zhou [2023] introduced a constructive approach for exploring computational hardness, proving that SAT requires exhaustive search. In light of certain misinterpretations concerning the contributions and proofs in that paper, we focus on providing detailed explanations in this work. We begin by delineating the core innovation of the constructive approach, shedding light on the pivotal concept of algorithm designability. We address the overlooked white-box diagonalization method and highlight the concept of an almost independent solution space. In response to specific misunderstandings, such as the concerns surrounding the assumptions of Lemma 3.1, we offer comprehensive clarifications aimed at improving the comprehension of the proof. We are grateful for the feedback received on our prior paper and hope this work can foster a more well-informed discussion. Copyright © 2024, The Authors. All rights reserved.

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Generalizing 6-DoF Grasp Detection via Domain Prior Knowledge

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arXiv 2024年

作者： Ma, Haoxiang Shi, Modi Gao, Boyang Huang, Di State Key Laboratory of Software Development Environment Beihang University Beijing China School of Computer Science and Engineering Beihang University Beijing China School of Computer Science and Technology Harbin Institute of Technology Harbin China Geometry Robotics China

We focus on the generalization ability of the 6-DoF grasp detection method in this paper. While learning-based grasp detection methods can predict grasp poses for unseen objects using the grasp distribution learned from the training set, they often exhibit a significant performance drop when encountering objects with diverse shapes and structures. To enhance the grasp detection methods’ generalization ability, we incorporate domain prior knowledge of robotic grasping, enabling better adaptation to objects with significant shape and structure differences. More specifically, we employ the physical constraint regularization during the training phase to guide the model towards predicting grasps that comply with the physical rule on grasping. For the unstable grasp poses predicted on novel objects, we design a contact-score joint optimization using the projection contact map to refine these poses in cluttered scenarios. Extensive experiments conducted on the GraspNet-1billion benchmark demonstrate a substantial performance gain on the novel object set and the real-world grasping experiments also demonstrate the effectiveness of our generalizing 6-DoF grasp detection method. Code is available at https://***/mahaoxiang822/ Generalizing-Grasp. Copyright © 2024, The Authors. All rights reserved.

关键词： Benchmarking

RGB-D Grasp Detection via Depth Guided Learning with Cross-modal Attention

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RGB-D Grasp Detection via Depth Guided Learning with Cross-m...

IEEE International Conference on Robotics and Automation (ICRA)

作者： Ran Qin Haoxiang Ma Boyang Gao Di Huang State Key Laboratory of Software Development Environment School of Computer Science and Engineering Beihang University Beijing China Geometry Robotics and the School of Computer Science and Technology Harbin Institute of Technology Harbin China

Planar grasp detection is one of the most fundamental tasks to robotic manipulation, and the recent progress of consumer-grade RGB-D sensors enables delivering more comprehensive features from both the texture and shape modalities. However, depth maps are generally of a relatively lower quality with much stronger noise compared to RGB images, making it challenging to acquire grasp depth and fuse multi-modal clues. To address the two issues, this paper proposes a novel learning based approach to RGB-D grasp detection, namely Depth Guided Cross-modal Attention Network (DGCAN). To better leverage the geometry information recorded in the depth channel, a complete 6-dimensional rectangle representation is adopted with the grasp depth dedicatedly considered in addition to those defined in the common 5-dimensional one. The prediction of the extra grasp depth substantially strengthens feature learning, thereby leading to more accurate results. Moreover, to reduce the negative impact caused by the discrepancy of data quality in two modalities, a Local Cross-modal Attention (LCA) module is designed, where the depth features are refined according to cross-modal relations and concatenated to the RGB ones for more sufficient fusion. Extensive simulation and physical evaluations are conducted and the experimental results highlight the superiority of the proposed approach.

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A study on the impact of pre-trained model on Just-In-Time defect prediction

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arXiv 2023年

作者： Guo, Yuxiang Gao, Xiaopeng Zhang, Zhenyu Chan, W.K. Jiang, Bo State Key Laboratory of Software Development Environment School of Computer Science and Engineering Beihang University Beijing China State Key Laboratory of Computer Science Institute of Software Chinese Academy of Sciences Beijing China Department of Computer Science City University of Hong Kong Hong Kong

Previous researchers conducting Just-In-Time (JIT) defect prediction tasks have primarily focused on the performance of individual pre-trained models, without exploring the relationship between different pre-trained models as backbones. In this study, we build six models: RoBERTaJIT, CodeBERTJIT, BARTJIT, PLBARTJIT, GPT2JIT, and CodeGPTJIT, each with a distinct pre-trained model as its backbone. We systematically explore the differences and connections between these models. Specifically, we investigate the performance of the models when using Commit code and Commit message as inputs, as well as the relationship between training efficiency and model distribution among these six models. Additionally, we conduct an ablation experiment to explore the sensitivity of each model to inputs. Furthermore, we investigate how the models perform in zero-shot and few-shot scenarios. Our findings indicate that each model based on different backbones shows improvements, and when the backbone’s pre-training model is similar, the training resources that need to be consumed are closer. We also observe that Commit code plays a significant role in defect detection, and different pre-trained models demonstrate better defect detection ability with a balanced dataset under few-shot scenarios. These results provide new insights for optimizing JIT defect prediction tasks using pre-trained models and highlight the factors that require more attention when constructing such models. Additionally, CodeGPTJIT and GPT2JIT achieved better performance than DeepJIT and CC2Vec on the two datasets respectively under 2000 training samples. These findings emphasize the effectiveness of transformer-based pre-trained models in JIT defect prediction tasks, especially in scenarios with limited training data. Copyright © 2023, The Authors. All rights reserved.

关键词： Forecasting