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With the advanced request to employ a team of robots to perform a task collaboratively, the research community has become increasingly interested in collaborative simultaneous localization and mapping. Unfortunately, existing datasets are limited in the scale and variation of the collaborative trajectories they capture, even though generalization between inter-trajectories among different agents is crucial to the overall viability of collaborative tasks. To help align the research community's contributions with real-world multiagent ordinated SLAM problems, we introduce S3E, a novel large-scale multimodal dataset captured by a fleet of unmanned ground vehicles along four designed collaborative trajectory paradigms. S3E consists of 7 outdoor and 5 indoor scenes that each exceed 200 seconds, consisting of well synchronized and calibrated high-quality stereo camera, LiDAR, and high-frequency IMU data. Crucially, our effort exceeds previous attempts regarding dataset size, scene variability, and complexity. It has 4x as much average recording time as the pioneering EuRoC dataset. We also provide careful dataset analysis as well as baselines for collaborative SLAM and single counterparts. Find data, code, and more up-to-date information at //github.com/PengYu-Team/S3E.

Dynamic heterogeneous networks describe the temporal evolution of interactions among nodes and edges of different types. While there is a rich literature on finding communities in dynamic networks, the application of these methods to dynamic heterogeneous networks can be inappropriate, due to the involvement of different types of nodes and edges and the need to treat them differently.In this paper, we propose a statistical framework for detecting common communities in dynamic and heterogeneous networks. Under this framework, we develop a fast community detection method called DHNet that can efficiently estimate the community label as well as the number of communities. An attractive feature of DHNet is that it does not require the number of communities to be known a priori, a common assumption in community detection methods. While DHNet does not require any parametric assumptions on the underlying network model, we show that the identified label is consistent under a time-varying heterogeneous stochastic block model with a temporal correlation structure and edge sparsity. We further illustrate the utility of DHNet through simulations and an application to review data from Yelp, where DHNet shows improvements both in terms of accuracy and interpretability over existing solutions.

Financial fraud cases are on the rise even with the current technological advancements. Due to the lack of inter-organization synergy and because of privacy concerns, authentic financial transaction data is rarely available. On the other hand, data-driven technologies like machine learning need authentic data to perform precisely in real-world systems. This study proposes a blockchain and smart contract-based approach to achieve robust Machine Learning (ML) algorithm for e-commerce fraud detection by facilitating inter-organizational collaboration. The proposed method uses blockchain to secure the privacy of the data. Smart contract deployed inside the network fully automates the system. An ML model is incrementally upgraded from collaborative data provided by the organizations connected to the blockchain. To incentivize the organizations, we have introduced an incentive mechanism that is adaptive to the difficulty level in updating a model. The organizations receive incentives based on the difficulty faced in updating the ML model. A mining criterion has been proposed to mine the block efficiently. And finally, the blockchain network istested under different difficulty levels and under different volumes of data to test its efficiency. The model achieved 98.93% testing accuracy and 98.22% Fbeta score (recall-biased f measure) over eight incremental updates. Our experiment shows that both data volume and difficulty level of blockchain impacts the mining time. For difficulty level less than five, mining time and difficulty level has a positive correlation. For difficulty level two and three, less than a second is required to mine a block in our system. Difficulty level five poses much more difficulties to mine the blocks.

Federated Learning (FL) enables collaborative model building among a large number of participants without the need for explicit data sharing. But this approach shows vulnerabilities when privacy inference attacks are applied to it. In particular, in the event of a gradient leakage attack, which has a higher success rate in retrieving sensitive data from the model gradients, FL models are at higher risk due to the presence of communication in their inherent architecture. The most alarming thing about this gradient leakage attack is that it can be performed in such a covert way that it does not hamper the training performance while the attackers backtrack from the gradients to get information about the raw data. Two of the most common approaches proposed as solutions to this issue are homomorphic encryption and adding noise with differential privacy parameters. These two approaches suffer from two major drawbacks. They are: the key generation process becomes tedious with the increasing number of clients, and noise-based differential privacy suffers from a significant drop in global model accuracy. As a countermeasure, we propose a mixed-precision quantized FL scheme, and we empirically show that both of the issues addressed above can be resolved. In addition, our approach can ensure more robustness as different layers of the deep model are quantized with different precision and quantization modes. We empirically proved the validity of our method with three benchmark datasets and found a minimal accuracy drop in the global model after applying quantization.

Since out-of-distribution generalization is a generally ill-posed problem, various proxy targets (e.g., calibration, adversarial robustness, algorithmic corruptions, invariance across shifts) were studied across different research programs resulting in different recommendations. While sharing the same aspirational goal, these approaches have never been tested under the same experimental conditions on real data. In this paper, we take a unified view of previous work, highlighting message discrepancies that we address empirically, and providing recommendations on how to measure the robustness of a model and how to improve it. To this end, we collect 172 publicly available dataset pairs for training and out-of-distribution evaluation of accuracy, calibration error, adversarial attacks, environment invariance, and synthetic corruptions. We fine-tune over 31k networks, from nine different architectures in the many- and few-shot setting. Our findings confirm that in- and out-of-distribution accuracies tend to increase jointly, but show that their relation is largely dataset-dependent, and in general more nuanced and more complex than posited by previous, smaller scale studies.

Automatically understanding the contents of an image is a highly relevant problem in practice. In e-commerce and social media settings, for example, a common problem is to automatically categorize user-provided pictures. Nowadays, a standard approach is to fine-tune pre-trained image models with application-specific data. Besides images, organizations however often also collect collaborative signals in the context of their application, in particular how users interacted with the provided online content, e.g., in forms of viewing, rating, or tagging. Such signals are commonly used for item recommendation, typically by deriving latent user and item representations from the data. In this work, we show that such collaborative information can be leveraged to improve the classification process of new images. Specifically, we propose a multitask learning framework, where the auxiliary task is to reconstruct collaborative latent item representations. A series of experiments on datasets from e-commerce and social media demonstrates that considering collaborative signals helps to significantly improve the performance of the main task of image classification by up to 9.1%.

Deep neural networks achieve remarkable performances on a wide range of tasks with the aid of large-scale labeled datasets. Yet these datasets are time-consuming and labor-exhaustive to obtain on realistic tasks. To mitigate the requirement for labeled data, self-training is widely used in semi-supervised learning by iteratively assigning pseudo labels to unlabeled samples. Despite its popularity, self-training is well-believed to be unreliable and often leads to training instability. Our experimental studies further reveal that the bias in semi-supervised learning arises from both the problem itself and the inappropriate training with potentially incorrect pseudo labels, which accumulates the error in the iterative self-training process. To reduce the above bias, we propose Debiased Self-Training (DST). First, the generation and utilization of pseudo labels are decoupled by two parameter-independent classifier heads to avoid direct error accumulation. Second, we estimate the worst case of self-training bias, where the pseudo labeling function is accurate on labeled samples, yet makes as many mistakes as possible on unlabeled samples. We then adversarially optimize the representations to improve the quality of pseudo labels by avoiding the worst case. Extensive experiments justify that DST achieves an average improvement of 6.3% against state-of-the-art methods on standard semi-supervised learning benchmark datasets and 18.9%$ against FixMatch on 13 diverse tasks. Furthermore, DST can be seamlessly adapted to other self-training methods and help stabilize their training and balance performance across classes in both cases of training from scratch and finetuning from pre-trained models.

Federated learning (FL) is an emerging, privacy-preserving machine learning paradigm, drawing tremendous attention in both academia and industry. A unique characteristic of FL is heterogeneity, which resides in the various hardware specifications and dynamic states across the participating devices. Theoretically, heterogeneity can exert a huge influence on the FL training process, e.g., causing a device unavailable for training or unable to upload its model updates. Unfortunately, these impacts have never been systematically studied and quantified in existing FL literature. In this paper, we carry out the first empirical study to characterize the impacts of heterogeneity in FL. We collect large-scale data from 136k smartphones that can faithfully reflect heterogeneity in real-world settings. We also build a heterogeneity-aware FL platform that complies with the standard FL protocol but with heterogeneity in consideration. Based on the data and the platform, we conduct extensive experiments to compare the performance of state-of-the-art FL algorithms under heterogeneity-aware and heterogeneity-unaware settings. Results show that heterogeneity causes non-trivial performance degradation in FL, including up to 9.2% accuracy drop, 2.32x lengthened training time, and undermined fairness. Furthermore, we analyze potential impact factors and find that device failure and participant bias are two potential factors for performance degradation. Our study provides insightful implications for FL practitioners. On the one hand, our findings suggest that FL algorithm designers consider necessary heterogeneity during the evaluation. On the other hand, our findings urge system providers to design specific mechanisms to mitigate the impacts of heterogeneity.

Adversarial attack is a technique for deceiving Machine Learning (ML) models, which provides a way to evaluate the adversarial robustness. In practice, attack algorithms are artificially selected and tuned by human experts to break a ML system. However, manual selection of attackers tends to be sub-optimal, leading to a mistakenly assessment of model security. In this paper, a new procedure called Composite Adversarial Attack (CAA) is proposed for automatically searching the best combination of attack algorithms and their hyper-parameters from a candidate pool of \textbf{32 base attackers}. We design a search space where attack policy is represented as an attacking sequence, i.e., the output of the previous attacker is used as the initialization input for successors. Multi-objective NSGA-II genetic algorithm is adopted for finding the strongest attack policy with minimum complexity. The experimental result shows CAA beats 10 top attackers on 11 diverse defenses with less elapsed time (\textbf{6 $\times$ faster than AutoAttack}), and achieves the new state-of-the-art on $l_{\infty}$, $l_{2}$ and unrestricted adversarial attacks.

As data are increasingly being stored in different silos and societies becoming more aware of data privacy issues, the traditional centralized training of artificial intelligence (AI) models is facing efficiency and privacy challenges. Recently, federated learning (FL) has emerged as an alternative solution and continue to thrive in this new reality. Existing FL protocol design has been shown to be vulnerable to adversaries within or outside of the system, compromising data privacy and system robustness. Besides training powerful global models, it is of paramount importance to design FL systems that have privacy guarantees and are resistant to different types of adversaries. In this paper, we conduct the first comprehensive survey on this topic. Through a concise introduction to the concept of FL, and a unique taxonomy covering: 1) threat models; 2) poisoning attacks and defenses against robustness; 3) inference attacks and defenses against privacy, we provide an accessible review of this important topic. We highlight the intuitions, key techniques as well as fundamental assumptions adopted by various attacks and defenses. Finally, we discuss promising future research directions towards robust and privacy-preserving federated learning.