OpenRaiser/Intern-Atlas huggingface dataset:
Indoor positioning system using WLAN channel estimates as fingerprints for mobile devices
Venue: arXiv cs.NI 2019
Year: 2019

With the growing integration of location based services (LBS) such as GPS in mobile devices, indoor position systems (IPS) have become an important role for research. There are several IPS methods such as AOA, TOA, TDOA, which use trilateration for indoor location estimation but are generally based on line-of-sight. Other methods rely on classification such as fingerprinting which uses WLAN indoor signals. This paper re-examines the classical WLAN fingerprinting accuracy which uses received signal strength (RSS) measurements by introducing channel estimates for improvements in the classification of indoor locations. The purpose of this paper is to improve existing classification algorithms used in fingerprinting by introducing channel estimates when there are a low number of APs available. The channel impulse response, or in this case the channel estimation from the receiver, should characterize a complex indoor area which usually has multipath, thus providing a unique signature for each location which proves useful for better pattern recognition. In this experiment, channel estimates are extracted from a Software-Defined Radio (SDR) environment, thus exploiting the benefits of SDR from a NI-USRP model and LabVIEW software. Measurements are taken from a known building, and several scenarios with one and two access points (APs) are used in this experiment. Also, three granularities in distance between locations are analyzed. A Support Vector Machine (SVM) is used as the algorithm for pattern recognition of different locations based on the samples taken from RSS and channel estimation coefficients.
Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments
Venue: arXiv cs.RO 2019
Year: 2019

In this paper, we propose a complete and robust motion planning system for the aggressive flight of autonomous quadrotors. The proposed method is built upon on a classical teach-and-repeat framework, which is widely adopted in infrastructure inspection, aerial transportation, and search-and-rescue. For these applications, human's intention is essential to decide the topological structure of the flight trajectory of the drone. However, poor teaching trajectories and changing environments prevent a simple teach-and-repeat system from being applied flexibly and robustly. In this paper, instead of commanding the drone to precisely follow a teaching trajectory, we propose a method to automatically convert a human-piloted trajectory, which can be arbitrarily jerky, to a topologically equivalent one. The generated trajectory is guaranteed to be smooth, safe, and kinodynamically feasible, with a human preferable aggressiveness. Also, to avoid unmapped or dynamic obstacles during flights, a sliding-windowed local perception and re-planning method are introduced to our system, to generate safe local trajectories onboard. We name our system as teach-repeat-replan. It can capture users' intention of a flight mission, convert an arbitrarily jerky teaching path to a smooth repeating trajectory, and generate safe local re-plans to avoid unmapped or moving obstacles. The proposed planning system is integrated into a complete autonomous quadrotor with global and local perception and localization sub-modules. Our system is validated by performing aggressive flights in challenging indoor/outdoor environments. We release all components in our quadrotor system as open-source ros-packages.
Exponential-time quantum algorithms for graph coloring problems
Venue: arXiv cs.DS 2019
Year: 2019

The fastest known classical algorithm deciding the $k$-colorability of $n$-vertex graph requires running time $Ω(2^n)$ for $k\ge 5$. In this work, we present an exponential-space quantum algorithm computing the chromatic number with running time $O(1.9140^n)$ using quantum random access memory (QRAM). Our approach is based on Ambainis et al's quantum dynamic programming with applications of Grover's search to branching algorithms. We also present a polynomial-space quantum algorithm not using QRAM for the graph $20$-coloring problem with running time $O(1.9575^n)$. In the polynomial-space quantum algorithm, we essentially show $(4-ε)^n$-time classical algorithms that can be improved quadratically by Grover's search.
Large Area 3D Human Pose Detection Via Stereo Reconstruction in Panoramic Cameras
Venue: arXiv cs.CV 2019
Year: 2019

We propose a novel 3D human pose detector using two panoramic cameras. We show that transforming fisheye perspectives to rectilinear views allows a direct application of two-dimensional deep-learning pose estimation methods, without the explicit need for a costly re-training step to compensate for fisheye image distortions. By utilizing panoramic cameras, our method is capable of accurately estimating human poses over a large field of view. This renders our method suitable for ergonomic analyses and other pose based assessments.
Cosine similarity-based adversarial process
Venue: arXiv cs.LG 2019
Year: 2019

An adversarial process between two deep neural networks is a promising approach to train a robust model. In this paper, we propose an adversarial process using cosine similarity, whereas conventional adversarial processes are based on inverted categorical cross entropy (CCE). When used for training an identification model, the adversarial process induces the competition of two discriminative models; one for a primary task such as speaker identification or image recognition, the other one for a subsidiary task such as channel identification or domain identification. In particular, the adversarial process degrades the performance of the subsidiary model by eliminating the subsidiary information in the input which, in assumption, may degrade the performance of the primary model. The conventional adversarial processes maximize the CCE of the subsidiary model to degrade the performance. We have studied a framework for training robust discriminative models by eliminating channel or domain information (subsidiary information) by applying such an adversarial process. However, we found through experiments that using the process of maximizing the CCE does not guarantee the performance degradation of the subsidiary model. In the proposed adversarial process using cosine similarity, on the contrary, the performance of the subsidiary model can be degraded more efficiently by searching feature space orthogonal to the subsidiary model. The experiments on speaker identification and image recognition show that we found features that make the outputs of the subsidiary models independent of the input, and the performances of the primary models are improved.
Model-free Friction Observers for Flexible Joint Robots with Torque Measurements
Venue: arXiv cs.RO 2019
Year: 2019

This paper tackles a friction compensation problem without using a friction model. The unique feature of the proposed friction observer is that the nominal motor-side signal is fed back into the controller instead of the measured signal. By doing so, asymptotic stability and passivity of the controller are maintained. Another advantage of the proposed observer is that it provides a clear understanding for the stiction compensation which is hard to be captured in model-free approaches. This allows to design observers that do not overcompensate for the stiction. The proposed scheme is validated through simulations and experiments.
Neural Dynamics Discovery via Gaussian Process Recurrent Neural Networks
Venue: arXiv cs.LG 2019
Year: 2019

Latent dynamics discovery is challenging in extracting complex dynamics from high-dimensional noisy neural data. Many dimensionality reduction methods have been widely adopted to extract low-dimensional, smooth and time-evolving latent trajectories. However, simple state transition structures, linear embedding assumptions, or inflexible inference networks impede the accurate recovery of dynamic portraits. In this paper, we propose a novel latent dynamic model that is capable of capturing nonlinear, non-Markovian, long short-term time-dependent dynamics via recurrent neural networks and tackling complex nonlinear embedding via non-parametric Gaussian process. Due to the complexity and intractability of the model and its inference, we also provide a powerful inference network with bi-directional long short-term memory networks that encode both past and future information into posterior distributions. In the experiment, we show that our model outperforms other state-of-the-art methods in reconstructing insightful latent dynamics from both simulated and experimental neural datasets with either Gaussian or Poisson observations, especially in the low-sample scenario. Our codes and additional materials are available at https://github.com/sheqi/GP-RNN_UAI2019.
Avoiding Implementation Pitfalls of "Matrix Capsules with EM Routing" by Hinton et al
Venue: arXiv cs.LG 2019
Year: 2019

The recent progress on capsule networks by Hinton et al. has generated considerable excitement in the machine learning community. The idea behind a capsule is inspired by a cortical minicolumn in the brain, whereby a vertically organised group of around 100 neurons receive common inputs, have common outputs, are interconnected, and may well constitute a fundamental computation unit of the cerebral cortex. However, Hinton's paper on "Matrix Capsule with EM Routing'" was unfortunately not accompanied by a release of source code, which left interested researchers attempting to implement the architecture and reproduce the benchmarks on their own. This has certainly slowed the progress of research building on this work. While writing our own implementation, we noticed several common mistakes in other open source implementations that we came across. In this paper we share some of these learnings, specifically focusing on three implementation pitfalls and how to avoid them: (1) parent capsules with only one child; (2) normalising the amount of data assigned to parent capsules; (3) parent capsules at different positions compete for child capsules. While our implementation is a considerable improvement over currently available implementations, it still falls slightly short of the performance reported by Hinton et al. (2018). The source code for this implementation is available on GitHub at the following URL: https://github.com/IBM/matrix-capsules-with-em-routing.
The Resale Price Prediction of Secondhand Jewelry Items Using a Multi-modal Deep Model with Iterative Co-Attention
Venue: arXiv cs.CV 2019
Year: 2019

The resale price assessment of secondhand jewelry items relies heavily on the individual knowledge and skill of domain experts. In this paper, we propose a methodology for reconstructing an AI system that autonomously assesses the resale prices of secondhand jewelry items without the need for professional knowledge. As shown in recent studies on fashion items, multimodal approaches combining specifications and visual information of items have succeeded in obtaining fine-grained representations of fashion items, although they generally apply simple vector operations through a multimodal fusion. We similarly build a multimodal model using images and attributes of the product and further employ state-of-the-art multimodal deep neural networks applied in computer vision to achieve a practical performance level. In addition, we model the pricing procedure of an expert using iterative co-attention networks in which the appearance and attributes of the product are carefully and iteratively observed. Herein, we demonstrate the effectiveness of our model using a large dataset of secondhand no brand jewelry items received from a collaborating fashion retailer, and show that the iterative co-attention process operates effectively in the context of resale price prediction. Our model architecture is widely applicable to other fashion items where appearance and specifications are important aspects.
Online Primary Channel Selection for Dynamic Channel Bonding in High-Density WLANs
Venue: arXiv cs.NI 2019
Year: 2019

In order to dynamically adapt the transmission bandwidth in wireless local area networks (WLANs), dynamic channel bonding (DCB) was introduced in IEEE 802.11n. It has been extended since then, and it is expected to be a key element in IEEE 802.11ax and future amendments such as IEEE 802.11be. While DCB is proven to be a compelling mechanism by itself, its performance is deeply tied to the primary channel selection, especially in high-density (HD) deployments, where multiple nodes contend for the spectrum. Traditionally, this primary channel selection relied on picking the most free one without any further consideration. In this paper, in contrast, we propose dynamic-wise (DyWi), a light-weight, decentralized, online primary channel selection algorithm for DCB that maximizes the expected WLAN throughput by considering not only the occupancy of the target primary channel but also the activity of the secondary channels. Even when assuming important delay costs due to primary switching, simulation results show a significant improvement both in terms of average delay and throughput.
Two-stage Optimization for Machine Learning Workflow
Venue: arXiv cs.LG 2019
Year: 2019

Machines learning techniques plays a preponderant role in dealing with massive amount of data and are employed in almost every possible domain. Building a high quality machine learning model to be deployed in production is a challenging task, from both, the subject matter experts and the machine learning practitioners. For a broader adoption and scalability of machine learning systems, the construction and configuration of machine learning workflow need to gain in automation. In the last few years, several techniques have been developed in this direction, known as autoML. In this paper, we present a two-stage optimization process to build data pipelines and configure machine learning algorithms. First, we study the impact of data pipelines compared to algorithm configuration in order to show the importance of data preprocessing over hyperparameter tuning. The second part presents policies to efficiently allocate search time between data pipeline construction and algorithm configuration. Those policies are agnostic from the metaoptimizer. Last, we present a metric to determine if a data pipeline is specific or independent from the algorithm, enabling fine-grain pipeline pruning and meta-learning for the coldstart problem.
Scene Text Magnifier
Venue: arXiv cs.CV 2019
Year: 2019

Scene text magnifier aims to magnify text in natural scene images without recognition. It could help the special groups, who have myopia or dyslexia to better understand the scene. In this paper, we design the scene text magnifier through interacted four CNN-based networks: character erasing, character extraction, character magnify, and image synthesis. The architecture of the networks are extended based on the hourglass encoder-decoders. It inputs the original scene text image and outputs the text magnified image while keeps the background unchange. Intermediately, we can get the side-output results of text erasing and text extraction. The four sub-networks are first trained independently and fine-tuned in end-to-end mode. The training samples for each stage are processed through a flow with original image and text annotation in ICDAR2013 and Flickr dataset as input, and corresponding text erased image, magnified text annotation, and text magnified scene image as output. To evaluate the performance of text magnifier, the Structural Similarity is used to measure the regional changes in each character region. The experimental results demonstrate our method can magnify scene text effectively without effecting the background.
Evidential distance measure in complex belief function theory
Venue: arXiv cs.AI 2019
Year: 2019

In this paper, an evidential distance measure is proposed which can measure the difference or dissimilarity between complex basic belief assignments (CBBAs), in which the CBBAs are composed of complex numbers. When the CBBAs are degenerated from complex numbers to real numbers, i.e., BBAs, the proposed distance will degrade into the Jousselme et al.'s distance. Therefore, the proposed distance provides a promising way to measure the differences between evidences in a more general framework of complex plane space.
Location Anomalies Detection for Connected and Autonomous Vehicles
Venue: arXiv cs.LG 2019
Year: 2019

Future Connected and Automated Vehicles (CAV), and more generally ITS, will form a highly interconnected system. Such a paradigm is referred to as the Internet of Vehicles (herein Internet of CAVs) and is a prerequisite to orchestrate traffic flows in cities. For optimal decision making and supervision, traffic centres will have access to suitably anonymized CAV mobility information. Safe and secure operations will then be contingent on early detection of anomalies. In this paper, a novel unsupervised learning model based on deep autoencoder is proposed to detect the self-reported location anomaly in CAVs, using vehicle locations and the Received Signal Strength Indicator (RSSI) as features. Quantitative experiments on simulation datasets show that the proposed approach is effective and robust in detecting self-reported location anomalies.
Exponential Separations in Local Differential Privacy
Venue: arXiv cs.LG 2019
Year: 2019

We prove a general connection between the communication complexity of two-player games and the sample complexity of their multi-player locally private analogues. We use this connection to prove sample complexity lower bounds for locally differentially private protocols as straightforward corollaries of results from communication complexity. In particular, we 1) use a communication lower bound for the hidden layers problem to prove an exponential sample complexity separation between sequentially and fully interactive locally private protocols, and 2) use a communication lower bound for the pointer chasing problem to prove an exponential sample complexity separation between $k$ round and $k+1$ round sequentially interactive locally private protocols, for every $k$.
The directed 2-linkage problem with length constraints
Venue: arXiv cs.CC 2019
Year: 2019

The {\sc weak 2-linkage} problem for digraphs asks for a given digraph and vertices $s_1,s_2,t_1,t_2$ whether $D$ contains a pair of arc-disjoint paths $P_1,P_2$ such that $P_i$ is an $(s_i,t_i)$-path. This problem is NP-complete for general digraphs but polynomially solvable for acyclic digraphs \cite{fortuneTCS10}. Recently it was shown \cite{bercziESA17} that if $D$ is equipped with a weight function $w$ on the arcs which satisfies that all edges have positive weight, then there is a polynomial algorithm for the variant of the weak-2-linkage problem when both paths have to be shortest paths in $D$. In this paper we consider the unit weight case and prove that for every pair constants $k_1,k_2$, there is a polynomial algorithm which decides whether the input digraph $D$ has a pair of arc-disjoint paths $P_1,P_2$ such that $P_i$ is an $(s_i,t_i)$-path and the length of $P_i$ is no more than $d(s_i,t_i)+k_i$, for $i=1,2$, where $d(s_i,t_i)$ denotes the length of the shortest $(s_i,t_i)$-path. We prove that, unless the exponential time hypothesis (ETH) fails, there is no polynomial algorithm for deciding the existence of a solution $P_1,P_2$ to the {\sc weak 2-linkage} problem where each path $P_i$ has length at most $d(s_i,t_i)+ c\log^{1+ε}{}n$ for some constant $c$. We also prove that the {\sc weak 2-linkage} problem remains NP-complete if we require one of the two paths to be a shortest path while the other path has no restriction on the length.
Neural Logic Rule Layers
Venue: arXiv cs.LG 2019
Year: 2019

Despite their great success in recent years, deep neural networks (DNN) are mainly black boxes where the results obtained by running through the network are difficult to understand and interpret. Compared to e.g. decision trees or bayesian classifiers, DNN suffer from bad interpretability where we understand by interpretability, that a human can easily derive the relations modeled by the network. A reasonable way to provide interpretability for humans are logical rules. In this paper we propose neural logic rule layers (NLRL) which are able to represent arbitrary logic rules in terms of their conjunctive and disjunctive normal forms. Using various NLRL within one layer and correspondingly stacking various layers, we are able to represent arbitrary complex rules by the resulting neural network architecture. The NLRL are end-to-end trainable allowing to learn logic rules directly from available data sets. Experiments show that NLRL-enhanced neural networks can learn to model arbitrary complex logic and perform arithmetic operation over the input values.
Computational Design of Skinned Quad-Robots
Venue: arXiv cs.GR 2019
Year: 2019

We present a computational design system that assists users to model, optimize, and fabricate quad-robots with soft skins.Our system addresses the challenging task of predicting their physical behavior by fully integrating the multibody dynamics of the mechanical skeleton and the elastic behavior of the soft skin. The developed motion control strategy uses an alternating optimization scheme to avoid expensive full space time-optimization, interleaving space-time optimization for the skeleton and frame-by-frame optimization for the full dynamics. The output are motor torques to drive the robot to achieve a user prescribed motion trajectory.We also provide a collection of convenient engineering tools and empirical manufacturing guidance to support the fabrication of the designed quad-robot. We validate the feasibility of designs generated with our system through physics simulations and with a physically-fabricated prototype.
Comment on "Adv-BNN: Improved Adversarial Defense through Robust Bayesian Neural Network"
Venue: arXiv cs.LG 2019
Year: 2019

A recent paper by Liu et al. combines the topics of adversarial training and Bayesian Neural Networks (BNN) and suggests that adversarially trained BNNs are more robust against adversarial attacks than their non-Bayesian counterparts. Here, I analyze the proposed defense and suggest that one needs to adjust the adversarial attack to incorporate the stochastic nature of a Bayesian network to perform an accurate evaluation of its robustness. Using this new type of attack I show that there appears to be no strong evidence for higher robustness of the adversarially trained BNNs.
Engineering Token Economy with System Modeling
Venue: arXiv cs.MA 2019
Year: 2019

Cryptocurrencies and blockchain networks have attracted tremendous attention from their volatile price movements and the promise of decentralization. However, most projects run on business narratives with no way to test and verify their assumptions and promises about the future. The complex nature of system dynamics within networked economies has rendered it difficult to reason about the growth and evolution of these networks. This paper drew concepts from differential games, classical control engineering, and stochastic dynamical system to come up with a framework and example to model, simulate, and engineer networked token economies. A model on a generalized token economy is proposed where miners provide service to a platform in exchange for a cryptocurrency and users consume service from the platform. Simulations of this model allow us to observe outcomes of complex dynamics and reason about the evolution of the system. Speculative price movements and engineered block rewards were then experimented to observe their impact on system dynamics and network-level goals. The model presented is necessarily limited so we conclude by exploring those limitations and outlining future research directions.