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Statistical analysis of large dataset is a challenge because of the limitation of computing devices memory and excessive computation time. Divide and Conquer (DC) algorithm is an effective solution path, but the DC algorithm has some limitations. Empirical likelihood is an important semiparametric and nonparametric statistical method for parameter estimation and statistical inference, and the estimating equation builds a bridge between empirical likelihood and traditional statistical methods, which makes empirical likelihood widely used in various traditional statistical models. In this paper, we propose a novel approach to address the challenges posed by empirical likelihood with massive data, which called split sample mean empirical likelihood(SSMEL). We show that the SSMEL estimator has the same estimation efficiency as the empirical likelihood estimatior with the full dataset, and maintains the important statistical property of Wilks' theorem, allowing our proposed approach to be used for statistical inference. The effectiveness of the proposed approach is illustrated using simulation studies and real data analysis.

This work addresses the task of risk evaluation in traffic scenarios with limited observability due to restricted sensorial coverage. Here, we concentrate on intersection scenarios that are difficult to access visually. To identify the area of sight, we employ ray casting on a local dynamic map providing geometrical information and road infrastructure. Based on the area with reduced visibility, we first model scene entities that pose a potential risk without being visually perceivable yet. Then, we predict a worst-case trajectory in the survival analysis for collision risk estimation. Resulting risk indicators are utilized to evaluate the driver's current behavior, to warn the driver in critical situations, to give suggestions on how to act safely or to plan safe trajectories. We validate our approach by applying the resulting intersection warning system on real world scenarios. The proposed system's behavior reveals to mimic the general behavior of a correctly acting human driver.

Nowadays, numerous applications incorporate machine learning (ML) algorithms due to their prominent achievements. However, many studies in the field of computer vision have shown that ML can be fooled by intentionally crafted instances, called adversarial examples. These adversarial examples take advantage of the intrinsic vulnerability of ML models. Recent research raises many concerns in the cybersecurity field. An increasing number of researchers are studying the feasibility of such attacks on security systems based on ML algorithms, such as Intrusion Detection Systems (IDS). The feasibility of such adversarial attacks would be influenced by various domain-specific constraints. This can potentially increase the difficulty of crafting adversarial examples. Despite the considerable amount of research that has been done in this area, much of it focuses on showing that it is possible to fool a model using features extracted from the raw data but does not address the practical side, i.e., the reverse transformation from theory to practice. For this reason, we propose a review browsing through various important papers to provide a comprehensive analysis. Our analysis highlights some challenges that have not been addressed in the reviewed papers.

Uncertainty estimation is a key factor that makes deep learning reliable in practical applications. Recently proposed evidential neural networks explicitly account for different uncertainties by treating the network's outputs as evidence to parameterize the Dirichlet distribution, and achieve impressive performance in uncertainty estimation. However, for high data uncertainty samples but annotated with the one-hot label, the evidence-learning process for those mislabeled classes is over-penalized and remains hindered. To address this problem, we propose a novel method, Fisher Information-based Evidential Deep Learning ($\mathcal{I}$-EDL). In particular, we introduce Fisher Information Matrix (FIM) to measure the informativeness of evidence carried by each sample, according to which we can dynamically reweight the objective loss terms to make the network more focused on the representation learning of uncertain classes. The generalization ability of our network is further improved by optimizing the PAC-Bayesian bound. As demonstrated empirically, our proposed method consistently outperforms traditional EDL-related algorithms in multiple uncertainty estimation tasks, especially in the more challenging few-shot classification settings.

Private set intersection (PSI) aims to allow users to find out the commonly shared items among the users without revealing other membership information. The most recently proposed approach to PSI in the database community was Prism, which is built upon secret sharing and the assumption that multiple non-colluding servers are available. One limitation of Prism lies in its semantic security: the encoding on the servers is deterministic, implying that the scheme cannot be indistinguishable under a chosen-plaintext attack (IND-CPA). This paper extends the original PSI scheme of Prism by two orthogonal primitives, namely Kaleido-RND and Kaleido-AES: the former exhibits highly efficient performance with randomized encoding and the latter is provably secure under CPA attacks with more computational overhead. A system prototype is implemented and deployed on a 34-node cluster of SQLite instances. Extensive experiments on the TPC-H benchmark and three real-world applications confirm the effectiveness of the proposed Kaleido primitives.

Drawing from memory the face of a friend you have not seen in years is a difficult task. However, if you happen to cross paths, you would easily recognize each other. The biological memory is equipped with an impressive compression algorithm that can store the essential, and then infer the details to match perception. The Willshaw Memory is a simple abstract model for cortical computations which implements mechanisms of biological memories. Using our recently proposed sparse coding prescription for visual patterns [34], this model can store and retrieve an impressive amount of real-world data in a fault-tolerant manner. In this paper, we extend the capabilities of the basic Associative Memory Model by using a Multiple-Modality framework. In this setting, the memory stores several modalities (e.g., visual, or textual) of each pattern simultaneously. After training, the memory can be used to infer missing modalities when just a subset is perceived. Using a simple encoder-memory decoder architecture, and a newly proposed iterative retrieval algorithm for the Willshaw Model, we perform experiments on the MNIST dataset. By storing both the images and labels as modalities, a single Memory can be used not only to retrieve and complete patterns but also to classify and generate new ones. We further discuss how this model could be used for other learning tasks, thus serving as a biologically-inspired framework for learning.

We present a force feedback controller for a dexterous robotic hand equipped with force sensors on its fingertips. Our controller uses the conditional postural synergies framework to generate the grasp postures, i.e. the finger configuration of the robot, at each time step based on forces measured on the robot's fingertips. Using this framework we are able to control the hand during different grasp types using only one variable, the grasp size, which we define as the distance between the tip of the thumb and the index finger. Instead of controlling the finger limbs independently, our controller generates control signals for all the hand joints in a (low-dimensional) shared space (i.e. synergy space). In addition, our approach is modular, which allows to execute various types of precision grips, by changing the synergy space according to the type of grasp. We show that our controller is able to lift objects of various weights and materials, adjust the grasp configuration during changes in the object's weight, and perform object placements and object handovers.

Benefit from the quick development of deep learning techniques, salient object detection has achieved remarkable progresses recently. However, there still exists following two major challenges that hinder its application in embedded devices, low resolution output and heavy model weight. To this end, this paper presents an accurate yet compact deep network for efficient salient object detection. More specifically, given a coarse saliency prediction in the deepest layer, we first employ residual learning to learn side-output residual features for saliency refinement, which can be achieved with very limited convolutional parameters while keep accuracy. Secondly, we further propose reverse attention to guide such side-output residual learning in a top-down manner. By erasing the current predicted salient regions from side-output features, the network can eventually explore the missing object parts and details which results in high resolution and accuracy. Experiments on six benchmark datasets demonstrate that the proposed approach compares favorably against state-of-the-art methods, and with advantages in terms of simplicity, efficiency (45 FPS) and model size (81 MB).

It is a common paradigm in object detection frameworks to treat all samples equally and target at maximizing the performance on average. In this work, we revisit this paradigm through a careful study on how different samples contribute to the overall performance measured in terms of mAP. Our study suggests that the samples in each mini-batch are neither independent nor equally important, and therefore a better classifier on average does not necessarily mean higher mAP. Motivated by this study, we propose the notion of Prime Samples, those that play a key role in driving the detection performance. We further develop a simple yet effective sampling and learning strategy called PrIme Sample Attention (PISA) that directs the focus of the training process towards such samples. Our experiments demonstrate that it is often more effective to focus on prime samples than hard samples when training a detector. Particularly, On the MSCOCO dataset, PISA outperforms the random sampling baseline and hard mining schemes, e.g. OHEM and Focal Loss, consistently by more than 1% on both single-stage and two-stage detectors, with a strong backbone ResNeXt-101.

It is important to detect anomalous inputs when deploying machine learning systems. The use of larger and more complex inputs in deep learning magnifies the difficulty of distinguishing between anomalous and in-distribution examples. At the same time, diverse image and text data are available in enormous quantities. We propose leveraging these data to improve deep anomaly detection by training anomaly detectors against an auxiliary dataset of outliers, an approach we call Outlier Exposure (OE). This enables anomaly detectors to generalize and detect unseen anomalies. In extensive experiments on natural language processing and small- and large-scale vision tasks, we find that Outlier Exposure significantly improves detection performance. We also observe that cutting-edge generative models trained on CIFAR-10 may assign higher likelihoods to SVHN images than to CIFAR-10 images; we use OE to mitigate this issue. We also analyze the flexibility and robustness of Outlier Exposure, and identify characteristics of the auxiliary dataset that improve performance.