Miracle-dz/UniFAR-FTUs huggingface dataset:
Learning and Generalization for Matching Problems

We study a classic algorithmic problem through the lens of statistical learning. That is, we consider a matching problem where the input graph is sampled from some distribution. This distribution is unknown to the algorithm; however, an additional graph which is sampled from the same distribution is given during a training phase (preprocessing). More specifically, the algorithmic problem is to match $k$ out of $n$ items that arrive online to $d$ categories ($d\ll k \ll n$). Our goal is to design a two-stage online algorithm that retains a small subset of items in the first stage which contains an offline matching of maximum weight. We then compute this optimal matching in a second stage. The added statistical component is that before the online matching process begins, our algorithms learn from a training set consisting of another matching instance drawn from the same unknown distribution. Using this training set, we learn a policy that we apply during the online matching process. We consider a class of online policies that we term \emph{thresholds policies}. For this class, we derive uniform convergence results both for the number of retained items and the value of the optimal matching. We show that the number of retained items and the value of the offline optimal matching deviate from their expectation by $O(\sqrt{k})$. This requires usage of less-standard concentration inequalities (standard ones give deviations of $O(\sqrt{n})$). Furthermore, we design an algorithm that outputs the optimal offline solution with high probability while retaining only $O(k\log \log n)$ items in expectation.
A bistable soft gripper with mechanically embedded sensing and actuation for fast closed-loop grasping

Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their usage have been restricted in highly dynamic grasping tasks. This paper presents a soft robotic gripper with tunable bistable properties for sensor-less dynamic grasping. The bistable mechanism allows us to store arbitrarily large strain energy in the soft system which is then released upon contact. The mechanism also provides flexibility on the type of actuation mechanism as the grasping and sensing phase is completely passive. Theoretical background behind the mechanism is presented with finite element analysis to provide insights into design parameters. Finally, we experimentally demonstrate sensor-less dynamic grasping of an unknown object within 0.02 seconds, including the time to sense and actuate.
A Formal Approach to Physics-based Attacks in Cyber-physical Systems

We apply formal methods to lay and streamline theoretical foundations to reason about Cyber-Physical Systems (CPSs) and physics-based attacks, i.e., attacks targeting physical devices. We focus on a formal treatment of both integrity and denial of service attacks to sensors and actuators of CPSs, and on the timing aspects of these attacks. Our contributions are fourfold. (1) We define a hybrid process calculus to model both CPSs and physics-based attacks. (2) We formalise a threat model that specifies MITM attacks that can manipulate sensor readings or control commands to drive a CPS into an undesired state; we group these attacks into classes and provide the means to assess attack tolerance/vulnerability with respect to a given class of attacks, based on a proper notion of most powerful physics-based attack. (3) We formalise how to estimate the impact of a successful attack on a CPS and investigate possible quantifications of the success chances of an attack. (4) We illustrate our definitions and results by formalising a non-trivial running example in UPPAAL SMC, the statistical extension of the UPPAAL model checker; we use UPPAAL SMC as an automatic tool for carrying out a static security analysis of our running example in isolation and when exposed to three different physics-based attacks with different impacts.
Explainable Text-Driven Neural Network for Stock Prediction

It has been shown that financial news leads to the fluctuation of stock prices. However, previous work on news-driven financial market prediction focused only on predicting stock price movement without providing an explanation. In this paper, we propose a dual-layer attention-based neural network to address this issue. In the initial stage, we introduce a knowledge-based method to adaptively extract relevant financial news. Then, we use an input attention to pay more attention to the more influential news and concatenate the day embeddings with the output of the news representation. Finally, we use an output attention mechanism to allocate different weights to different days in terms of their contribution to stock price movement. Thorough empirical studies based upon historical prices of several individual stocks demonstrate the superiority of our proposed method in stock price prediction compared to state-of-the-art methods.
On the Convergence of Extended Variational Inference for Non-Gaussian Statistical Models

Variational inference (VI) is a widely used framework in Bayesian estimation. For most of the non-Gaussian statistical models, it is infeasible to find an analytically tractable solution to estimate the posterior distributions of the parameters. Recently, an improved framework, namely the extended variational inference (EVI), has been introduced and applied to derive analytically tractable solution by employing lower-bound approximation to the variational objective function. Two conditions required for EVI implementation, namely the weak condition and the strong condition, are discussed and compared in this paper. In practical implementation, the convergence of the EVI depends on the selection of the lower-bound approximation, no matter with the weak condition or the strong condition. In general, two approximation strategies, the single lower-bound (SLB) approximation and the multiple lower-bounds (MLB) approximation, can be applied to carry out the lower-bound approximation. To clarify the differences between the SLB and the MLB, we will also discuss the convergence properties of the aforementioned two approximations. Extensive comparisons are made based on some existing EVI-based non-Gaussian statistical models. Theoretical analysis are conducted to demonstrate the differences between the weak and the strong conditions. Qualitative and quantitative experimental results are presented to show the advantages of the SLB approximation.
Computing the Yolk in Spatial Voting Games without Computing Median Lines

The yolk is an important concept in spatial voting games: the yolk center generalises the equilibrium and the yolk radius bounds the uncovered set. We present near-linear time algorithms for computing the yolk in the plane. To the best of our knowledge our algorithm is the first that does not precompute median lines, and hence is able to break the best known upper bound of O(n4/3) on the number of limiting median lines. We avoid this requirement by carefully applying Megiddo’s parametric search technique, which is a powerful framework that could lead to faster algorithms for other spatial voting problems.
Gated2Depth: Real-Time Dense Lidar From Gated Images

We present an imaging framework which converts three images from a gated camera into high-resolution depth maps with depth accuracy comparable to pulsed lidar measurements. Existing scanning lidar systems achieve low spatial resolution at large ranges due to mechanically-limited angular sampling rates, restricting scene understanding tasks to close-range clusters with dense sampling. Moreover, today's pulsed lidar scanners suffer from high cost, power consumption, large form-factors, and they fail in the presence of strong backscatter. We depart from point scanning and demonstrate that it is possible to turn a low-cost CMOS gated imager into a dense depth camera with at least 80m range - by learning depth from three gated images. The proposed architecture exploits semantic context across gated slices, and is trained on a synthetic discriminator loss without the need of dense depth labels. The proposed replacement for scanning lidar systems is real-time, handles back-scatter and provides dense depth at long ranges. We validate our approach in simulation and on real-world data acquired over 4,000km driving in northern Europe. Data and code are available at https://github.com/gruberto/Gated2Depth.
Modified Second-Order Generalized Integrators With Modified Frequency Locked Loop for Fast Harmonics Estimation of Distorted Single-Phase Signals

This article proposes modified second-order generalized integrators (mSOGIs) for a fast estimation of all harmonic components of arbitrarily distorted single-phase signals, such as voltages or currents in power systems. The estimation is based on the internal model principle leading to an overall observer consisting of parallelized mSOGIs. The observer is tuned by pole placement. For a constant fundamental frequency, the observer is capable of estimating all harmonic components with prescribed settling time by choosing the observer poles appropriately. For time-varying fundamental frequencies, the harmonic estimation is combined with a modified frequency locked loop (mFLL) with gain normalization, sign-correct antiwindup, and rate limitation. The estimation performances of the proposed parallelized mSOGIs with and without mFLL are illustrated and validated by measurement results. The results are compared to standard approaches such as parallelized standard SOGIs (sSOGIs) and adaptive notch filters (ANFs).
Automatic Labeled LiDAR Data Generation based on Precise Human Model

Following improvements in deep neural networks, state-of-the-art networks have been proposed for human recognition using point clouds captured by LiDAR. However, the performance of these networks strongly depends on the training data. An issue with collecting training data is labeling. Labeling by humans is necessary to obtain the ground truth label; however, labeling requires huge costs. Therefore, we propose an automatic labeled data generation pipeline, for which we can change any parameters or data generation environments. Our approach uses a human model named Dhaiba and a background of Miraikan and consequently generated realistic artificial data. We present 500k + data generated by the proposed pipeline. This paper also describes the specification of the pipeline and data details with evaluations of various approaches.
UrbanFM: Inferring Fine-Grained Urban Flows

Urban flow monitoring systems play important roles in smart city efforts around the world. However, the ubiquitous deployment of monitoring devices, such as CCTVs, induces a long-lasting and enormous cost for maintenance and operation. This suggests the need for a technology that can reduce the number of deployed devices, while preventing the degeneration of data accuracy and granularity. In this paper, we aim to infer the real-time and fine-grained crowd flows throughout a city based on coarse-grained observations. This task is challenging due to the two essential reasons: the spatial correlations between coarse- and fine-grained urban flows, and the complexities of external impacts. To tackle these issues, we develop a method entitled UrbanFM based on deep neural networks. Our model consists of two major parts: 1) an inference network to generate fine-grained flow distributions from coarse-grained inputs by using a feature extraction module and a novel distributional upsampling module; 2) a general fusion subnet to further boost the performance by considering the influences of different external factors. Extensive experiments on two real-world datasets validate the effectiveness and efficiency of our method, demonstrating its state-of-the-art performance on this problem.
Scoping Review: Physical Activity and Social Functioning in Young People With Autism Spectrum Disorder

Autism Spectrum Disorder (ASD) affects ~1 in 59 people in North America and diagnoses continue to rise (Center for Disease Control and Prevention, 2018). Unfortunately, the exact cause of ASD is unknown and therapy remains the primary means of intervention. People with ASD experience social and behavioral deficits associated with the disorder, which affect all aspects of life such as academics, relationships, and physical activity. Research has shown a relationship between physical activity and social skills in typically developing individuals; however, this relationship is less understood in people with ASD. The purpose of this scoping review was to uncover what is known about ASD, physical activity, and social functioning. The authors searched four databases and included 40 primary research articles in the review, most of which demonstrated a relationship between physical activity and social functioning for people with ASD. The relationship appears bidirectional: social functioning influences physical activity (to a lesser extent) and physical activity influences social functioning (to a greater extent). Regrettably, there were many limitations in these articles, such as small sample sizes and the under-representation of females and adults. Therefore, the review highlights several directions for future research.
Improving performance and inference on audio classification tasks using capsule networks

Classification of audio samples is an important part of many auditory systems. Deep learning models based on the Convolutional and the Recurrent layers are state-of-the-art in many such tasks. In this paper, we approach audio classification tasks using capsule networks trained by recently proposed dynamic routing-by-agreement mechanism. We propose an architecture for capsule networks fit for audio classification tasks and study the impact of various parameters on classification accuracy. Further, we suggest modifications for regularization and multi-label classification. We also develop insights into the data using capsule outputs and show the utility of the learned network for transfer learning. We perform experiments on 7 datasets of different domains and sizes and show significant improvements in performance compared to strong baseline models. To the best of our knowledge, this is the first detailed study about the application of capsule networks in the audio domain.
Recurrent Neural Networks with Stochastic Layers for Acoustic Novelty Detection

In this paper, we adapt Recurrent Neural Networks with Stochastic Layers, which are the state-of-the-art for generating text, music and speech, to the problem of acoustic novelty detection. By integrating uncertainty into the hidden states, this type of network is able to learn the distribution of complex sequences. Because the learned distribution can be calculated explicitly in terms of probability, we can evaluate how likely an observation is then detect low-probability events as novel. The model is robust, highly unsupervised, end-to-end and requires minimum preprocessing, feature engineering or hyperparameter tuning. An experiment on a benchmark dataset shows that our model outperforms the state-of-the-art acoustic novelty detectors.
Gauge Equivariant Convolutional Networks and the Icosahedral CNN

The principle of equivariance to symmetry transformations enables a theoretically grounded approach to neural network architecture design. Equivariant networks have shown excellent performance and data efficiency on vision and medical imaging problems that exhibit symmetries. Here we show how this principle can be extended beyond global symmetries to local gauge transformations. This enables the development of a very general class of convolutional neural networks on manifolds that depend only on the intrinsic geometry, and which includes many popular methods from equivariant and geometric deep learning. We implement gauge equivariant CNNs for signals defined on the surface of the icosahedron, which provides a reasonable approximation of the sphere. By choosing to work with this very regular manifold, we are able to implement the gauge equivariant convolution using a single conv2d call, making it a highly scalable and practical alternative to Spherical CNNs. Using this method, we demonstrate substantial improvements over previous methods on the task of segmenting omnidirectional images and global climate patterns.
Anytime Tail Averaging

Tail averaging consists in averaging the last examples in a stream. Common techniques either have a memory requirement which grows with the number of samples to average, are not available at every timestep or do not accomodate growing windows. We propose two techniques with a low constant memory cost that perform tail averaging with access to the average at every time step. We also show how one can improve the accuracy of that average at the cost of increased memory consumption.
Learning Generative Models of Structured Signals from Their Superposition Using GANs with Application to Denoising and Demixing

Recently, Generative Adversarial Networks (GANs) have emerged as a popular alternative for modeling complex high dimensional distributions. Most of the existing works implicitly assume that the clean samples from the target distribution are easily available. However, in many applications, this assumption is violated. In this paper, we consider the observation setting when the samples from target distribution are given by the superposition of two structured components and leverage GANs for learning the structure of the components. We propose two novel frameworks: denoising-GAN and demixing-GAN. The denoising-GAN assumes access to clean samples from the second component and try to learn the other distribution, whereas demixing-GAN learns the distribution of the components at the same time. Through extensive numerical experiments, we demonstrate that proposed frameworks can generate clean samples from unknown distributions, and provide competitive performance in tasks such as denoising, demixing, and compressive sensing.
Salus: Fine-Grained GPU Sharing Primitives for Deep Learning Applications

GPU computing is becoming increasingly more popular with the proliferation of deep learning (DL) applications. However, unlike traditional resources such as CPU or the network, modern GPUs do not natively support fine-grained sharing primitives. Consequently, implementing common policies such as time sharing and preemption are expensive. Worse, when a DL application cannot completely use a GPU's resources, the GPU cannot be efficiently shared between multiple applications, leading to GPU underutilization. We present Salus to enable two GPU sharing primitives: fast job switching and memory sharing, in order to achieve fine-grained GPU sharing among multiple DL applications. Salus implements an efficient, consolidated execution service that exposes the GPU to different DL applications, and enforces fine-grained sharing by performing iteration scheduling and addressing associated memory management issues. We show that these primitives can then be used to implement flexible sharing policies such as fairness, prioritization, and packing for various use cases. Our integration of Salus with TensorFlow and evaluation on popular DL jobs show that Salus can improve the average completion time of DL training jobs by $3.19\times$, GPU utilization for hyper-parameter tuning by $2.38\times$, and GPU utilization of DL inference applications by $42\times$ over not sharing the GPU and $7\times$ over NVIDIA MPS with small overhead.
Improving Facial Emotion Recognition Systems Using Gradient and Laplacian Images

In this work, we have proposed several enhancements to improve the performance of any facial emotion recognition (FER) system. We believe that the changes in the positions of the fiducial points and the intensities capture the crucial information regarding the emotion of a face image. We propose the use of the gradient and the Laplacian of the input image together with the original input into a convolutional neural network (CNN). These modifications help the network learn additional information from the gradient and Laplacian of the images. However, the plain CNN is not able to extract this information from the raw images. We have performed a number of experiments on two well known datasets KDEF and FERplus. Our approach enhances the already high performance of state-of-the-art FER systems by 3 to 5%.
Learning Theory and Support Vector Machines - a primer

The main goal of statistical learning theory is to provide a fundamental framework for the problem of decision making and model construction based on sets of data. Here, we present a brief introduction to the fundamentals of statistical learning theory, in particular the difference between empirical and structural risk minimization, including one of its most prominent implementations, i.e. the Support Vector Machine.
Crowd Work on a CV? Understanding How AMT Fits into Turkers' Career Goals and Professional Profiles

In 2013, scholars laid out a framework for a sustainable, ethical future of crowd work, recommending career ladders so that crowd work can lead to career advancement and more economic mobility. Five years later, we consider this vision in the context of Amazon Mechanical Turk (AMT). To understand how workers currently view their experiences on AMT, and how they publicly present and share these experiences in their professional lives, we conducted a survey study with workers on AMT (n=98). The survey we administered included a combination of multiple choice, binary, and open-ended (short paragraph) items gauging Turkers' perceptions of their experiences on AMT within the context of their broader work experience and career goals. This work extends existing understandings of who crowd workers are and why they crowd work by seeking to better understand how crowd work factors into Turkers' professional profiles, and how we can subsequently better support crowd workers in their career advancement. Our survey results can inform the design of better tools to empower crowd workers in their professional development both inside and outside of AMT.
Steady-State Performance of an Adaptive Combined MISO Filter Using the Multichannel Affine Projection Algorithm

The combination of adaptive filters is an effective approach to improve filtering performance. In this paper, we investigate the performance of an adaptive combined scheme between two adaptive multiple-input single-output (MISO) filters, which can be easily extended to the case of multiple outputs. In order to generalize the analysis, we consider the multichannel affine projection algorithm (APA) to update the coefficients of the MISO filters, which increases the possibility of exploiting the capabilities of the filtering scheme. Using energy conservation relations, we derive a theoretical behavior of the proposed adaptive combination scheme at steady state. Such analysis entails some further theoretical insights with respect to the single channel combination scheme. Simulation results prove both the validity of the theoretical steady-state analysis and the effectiveness of the proposed combined scheme.