OpenRaiser/Intern-Atlas huggingface dataset:
A Probabilistic U-Net for Segmentation of Ambiguous Images
Venue: arXiv cs.CV 2019
Year: 2019

Many real-world vision problems suffer from inherent ambiguities. In clinical applications for example, it might not be clear from a CT scan alone which particular region is cancer tissue. Therefore a group of graders typically produces a set of diverse but plausible segmentations. We consider the task of learning a distribution over segmentations given an input. To this end we propose a generative segmentation model based on a combination of a U-Net with a conditional variational autoencoder that is capable of efficiently producing an unlimited number of plausible hypotheses. We show on a lung abnormalities segmentation task and on a Cityscapes segmentation task that our model reproduces the possible segmentation variants as well as the frequencies with which they occur, doing so significantly better than published approaches. These models could have a high impact in real-world applications, such as being used as clinical decision-making algorithms accounting for multiple plausible semantic segmentation hypotheses to provide possible diagnoses and recommend further actions to resolve the present ambiguities.
Multilevel Artificial Neural Network Training for Spatially Correlated Learning
Venue: arXiv cs.LG 2019
Year: 2019

Multigrid modeling algorithms are a technique used to accelerate relaxation models running on a hierarchy of similar graphlike structures. We introduce and demonstrate a new method for training neural networks which uses multilevel methods. Using an objective function derived from a graph-distance metric, we perform orthogonally-constrained optimization to find optimal prolongation and restriction maps between graphs. We compare and contrast several methods for performing this numerical optimization, and additionally present some new theoretical results on upper bounds of this type of objective function. Once calculated, these optimal maps between graphs form the core of Multiscale Artificial Neural Network (MsANN) training, a new procedure we present which simultaneously trains a hierarchy of neural network models of varying spatial resolution. Parameter information is passed between members of this hierarchy according to standard coarsening and refinement schedules from the multiscale modelling literature. In our machine learning experiments, these models are able to learn faster than default training, achieving a comparable level of error in an order of magnitude fewer training examples.
Non-asymptotic Identification of LTI Systems from a Single Trajectory
Venue: arXiv cs.LG 2019
Year: 2019

We consider the problem of learning a realization for a linear time-invariant (LTI) dynamical system from input/output data. Given a single input/output trajectory, we provide finite time analysis for learning the system's Markov parameters, from which a balanced realization is obtained using the classical Ho-Kalman algorithm. By proving a stability result for the Ho-Kalman algorithm and combining it with the sample complexity results for Markov parameters, we show how much data is needed to learn a balanced realization of the system up to a desired accuracy with high probability.
Surprising Negative Results for Generative Adversarial Tree Search
Venue: arXiv cs.LG 2019
Year: 2019

While many recent advances in deep reinforcement learning (RL) rely on model-free methods, model-based approaches remain an alluring prospect for their potential to exploit unsupervised data to learn environment model. In this work, we provide an extensive study on the design of deep generative models for RL environments and propose a sample efficient and robust method to learn the model of Atari environments. We deploy this model and propose generative adversarial tree search (GATS) a deep RL algorithm that learns the environment model and implements Monte Carlo tree search (MCTS) on the learned model for planning. While MCTS on the learned model is computationally expensive, similar to AlphaGo, GATS follows depth limited MCTS. GATS employs deep Q network (DQN) and learns a Q-function to assign values to the leaves of the tree in MCTS. We theoretical analyze GATS vis-a-vis the bias-variance trade-off and show GATS is able to mitigate the worst-case error in the Q-estimate. While we were expecting GATS to enjoy a better sample complexity and faster converges to better policies, surprisingly, GATS fails to outperform DQN. We provide a study on which we show why depth limited MCTS fails to perform desirably.
Part-Aware Fine-grained Object Categorization using Weakly Supervised Part Detection Network
Venue: arXiv cs.CV 2019
Year: 2019

Fine-grained object categorization aims for distinguishing objects of subordinate categories that belong to the same entry-level object category. The task is challenging due to the facts that (1) training images with ground-truth labels are difficult to obtain, and (2) variations among different subordinate categories are subtle. It is well established that characterizing features of different subordinate categories are located on local parts of object instances. In fact, careful part annotations are available in many fine-grained categorization datasets. However, manually annotating object parts requires expertise, which is also difficult to generalize to new fine-grained categorization tasks. In this work, we propose a Weakly Supervised Part Detection Network (PartNet) that is able to detect discriminative local parts for use of fine-grained categorization. A vanilla PartNet builds on top of a base subnetwork two parallel streams of upper network layers, which respectively compute scores of classification probabilities (over subordinate categories) and detection probabilities (over a specified number of discriminative part detectors) for local regions of interest (RoIs). The image-level prediction is obtained by aggregating element-wise products of these region-level probabilities. To generate a diverse set of RoIs as inputs of PartNet, we propose a simple Discretized Part Proposals module (DPP) that directly targets for proposing candidates of discriminative local parts, with no bridging via object-level proposals. Experiments on the benchmark CUB-200-2011 and Oxford Flower 102 datasets show the efficacy of our proposed method for both discriminative part detection and fine-grained categorization. In particular, we achieve the new state-of-the-art performance on CUB-200-2011 dataset when ground-truth part annotations are not available.
Power-Grid Controller Anomaly Detection with Enhanced Temporal Deep Learning
Venue: arXiv cs.CR 2019
Year: 2019

Controllers of security-critical cyber-physical systems, like the power grid, are a very important class of computer systems. Attacks against the control code of a power-grid system, especially zero-day attacks, can be catastrophic. Earlier detection of the anomalies can prevent further damage. However, detecting zero-day attacks is extremely challenging because they have no known code and have unknown behavior. Furthermore, if data collected from the controller is transferred to a server through networks for analysis and detection of anomalous behavior, this creates a very large attack surface and also delays detection. In order to address this problem, we propose Reconstruction Error Distribution (RED) of Hardware Performance Counters (HPCs), and a data-driven defense system based on it. Specifically, we first train a temporal deep learning model, using only normal HPC readings from legitimate processes that run daily in these power-grid systems, to model the normal behavior of the power-grid controller. Then, we run this model using real-time data from commonly available HPCs. We use the proposed RED to enhance the temporal deep learning detection of anomalous behavior, by estimating distribution deviations from the normal behavior with an effective statistical test. Experimental results on a real power-grid controller show that we can detect anomalous behavior with high accuracy (>99.9%), nearly zero false positives and short (<360ms) latency.
RenderNet: A deep convolutional network for differentiable rendering from 3D shapes
Venue: arXiv cs.CV 2019
Year: 2019

Traditional computer graphics rendering pipeline is designed for procedurally generating 2D quality images from 3D shapes with high performance. The non-differentiability due to discrete operations such as visibility computation makes it hard to explicitly correlate rendering parameters and the resulting image, posing a significant challenge for inverse rendering tasks. Recent work on differentiable rendering achieves differentiability either by designing surrogate gradients for non-differentiable operations or via an approximate but differentiable renderer. These methods, however, are still limited when it comes to handling occlusion, and restricted to particular rendering effects. We present RenderNet, a differentiable rendering convolutional network with a novel projection unit that can render 2D images from 3D shapes. Spatial occlusion and shading calculation are automatically encoded in the network. Our experiments show that RenderNet can successfully learn to implement different shaders, and can be used in inverse rendering tasks to estimate shape, pose, lighting and texture from a single image.
Matching Observations to Distributions: Efficient Estimation via Sparsified Hungarian Algorithm
Venue: arXiv cs.DS 2019
Year: 2019

Suppose we are given observations, where each observation is drawn independently from one of $k$ known distributions. The goal is to match each observation to the distribution from which it was drawn. We observe that the maximum likelihood estimator (MLE) for this problem can be computed using weighted bipartite matching, even when $n$, the number of observations per distribution, exceeds one. This is achieved by instantiating $n$ duplicates of each distribution node. However, in the regime where the number of observations per distribution is much larger than the number of distributions, the Hungarian matching algorithm for computing the weighted bipartite matching requires $\mathcal O(n^3)$ time. We introduce a novel randomized matching algorithm that reduces the runtime to $\tilde{\mathcal O}(n^2)$ by sparsifying the original graph, returning the exact MLE with high probability. Next, we give statistical justification for using the MLE by bounding the excess risk of the MLE, where the loss is defined as the negative log-likelihood. We test these bounds for the case of isotropic Gaussians with equal covariances and whose means are separated by a distance $η$, and find (1) that $\gg \log k$ separation suffices to drive the proportion of mismatches of the MLE to 0, and (2) that the expected fraction of mismatched observations goes to zero at rate $\mathcal O({(\log k)}^2/η^2)$.
Soft Sampling for Robust Object Detection
Venue: arXiv cs.CV 2019
Year: 2019

We study the robustness of object detection under the presence of missing annotations. In this setting, the unlabeled object instances will be treated as background, which will generate an incorrect training signal for the detector. Interestingly, we observe that after dropping 30% of the annotations (and labeling them as background), the performance of CNN-based object detectors like Faster-RCNN only drops by 5% on the PASCAL VOC dataset. We provide a detailed explanation for this result. To further bridge the performance gap, we propose a simple yet effective solution, called Soft Sampling. Soft Sampling re-weights the gradients of RoIs as a function of overlap with positive instances. This ensures that the uncertain background regions are given a smaller weight compared to the hardnegatives. Extensive experiments on curated PASCAL VOC datasets demonstrate the effectiveness of the proposed Soft Sampling method at different annotation drop rates. Finally, we show that on OpenImagesV3, which is a real-world dataset with missing annotations, Soft Sampling outperforms standard detection baselines by over 3%.
Surrogate Outcomes and Transportability
Venue: arXiv cs.AI 2019
Year: 2019

Identification of causal effects is one of the most fundamental tasks of causal inference. We consider an identifiability problem where some experimental and observational data are available but neither data alone is sufficient for the identification of the causal effect of interest. Instead of the outcome of interest, surrogate outcomes are measured in the experiments. This problem is a generalization of identifiability using surrogate experiments and we label it as surrogate outcome identifiability. We show that the concept of transportability provides a sufficient criteria for determining surrogate outcome identifiability for a large class of queries.
Spatio-Temporal Channel Correlation Networks for Action Classification
Venue: arXiv cs.CV 2019
Year: 2019

The work in this paper is driven by the question if spatio-temporal correlations are enough for 3D convolutional neural networks (CNN)? Most of the traditional 3D networks use local spatio-temporal features. We introduce a new block that models correlations between channels of a 3D CNN with respect to temporal and spatial features. This new block can be added as a residual unit to different parts of 3D CNNs. We name our novel block 'Spatio-Temporal Channel Correlation' (STC). By embedding this block to the current state-of-the-art architectures such as ResNext and ResNet, we improved the performance by 2-3\% on Kinetics dataset. Our experiments show that adding STC blocks to current state-of-the-art architectures outperforms the state-of-the-art methods on the HMDB51, UCF101 and Kinetics datasets. The other issue in training 3D CNNs is about training them from scratch with a huge labeled dataset to get a reasonable performance. So the knowledge learned in 2D CNNs is completely ignored. Another contribution in this work is a simple and effective technique to transfer knowledge from a pre-trained 2D CNN to a randomly initialized 3D CNN for a stable weight initialization. This allows us to significantly reduce the number of training samples for 3D CNNs. Thus, by fine-tuning this network, we beat the performance of generic and recent methods in 3D CNNs, which were trained on large video datasets, e.g. Sports-1M, and fine-tuned on the target datasets, e.g. HMDB51/UCF101.
Beyond Basins of Attraction: Quantifying Robustness of Natural Dynamics
Venue: arXiv cs.RO 2019
Year: 2019

Properly designing a system to exhibit favorable natural dynamics can greatly simplify designing or learning the control policy. However, it is still unclear what constitutes favorable natural dynamics and how to quantify its effect. Most studies of simple walking and running models have focused on the basins of attraction of passive limit-cycles and the notion of self-stability. We instead emphasize the importance of stepping beyond basins of attraction. We show an approach based on viability theory to quantify robust sets in state-action space. These sets are valid for the family of all robust control policies, which allows us to quantify the robustness inherent to the natural dynamics before designing the control policy or specifying a control objective. We illustrate our formulation using spring-mass models, simple low dimensional models of running systems. We then show an example application by optimizing robustness of a simulated planar monoped, using a gradient-free optimization scheme. Both case studies result in a nonlinear effective stiffness providing more robustness.
Learning Transposition-Invariant Interval Features from Symbolic Music and Audio
Venue: arXiv cs.SD 2019
Year: 2019

Many music theoretical constructs (such as scale types, modes, cadences, and chord types) are defined in terms of pitch intervals---relative distances between pitches. Therefore, when computer models are employed in music tasks, it can be useful to operate on interval representations rather than on the raw musical surface. Moreover, interval representations are transposition-invariant, valuable for tasks like audio alignment, cover song detection and music structure analysis. We employ a gated autoencoder to learn fixed-length, invertible and transposition-invariant interval representations from polyphonic music in the symbolic domain and in audio. An unsupervised training method is proposed yielding an organization of intervals in the representation space which is musically plausible. Based on the representations, a transposition-invariant self-similarity matrix is constructed and used to determine repeated sections in symbolic music and in audio, yielding competitive results in the MIREX task "Discovery of Repeated Themes and Sections".
Emotion-Recognition Using Smart Watch Sensor Data: Mixed-Design Study
Venue: arXiv cs.HC 2019
Year: 2019

This study investigates the use of movement sensor data from a smart watch to infer an individual's emotional state. We present our findings on a user study with 50 participants. The experimental design is a mixed-design study; within-subjects (emotions; happy, sad, neutral) and between-subjects (stimulus type: audio-visual "movie clips", audio "music clips"). Each participant experienced both emotions in a single stimulus type. All participants walked 250m while wearing a smart watch on one wrist and a heart rate monitor strap on their chest. They also had to answer a short questionnaire (20 items; PANAS) before and after experiencing each emotion. The heart rate monitor served as supplementary information to our data. We performed time-series analysis on the data from the smart watch and a t-test on the questionnaire items to measure the change in emotional state. The heart rate data was analyzed using one-way ANOVA. We extracted features from the time-series using sliding windows and used the features to train and validate classifiers that determined an individual's emotion. Participants reported feeling less negative affect after watching sad videos or after listening to the sad music, P < .006. For the task of emotion recognition using classifiers, our results show that the personal models outperformed personal baselines, and achieved median accuracies higher than 78% for all conditions of the design study for the binary classification of happiness vs sadness. Our findings show that we are able to detect the changes in emotional state with data obtained from the smartwatch as well as behavioral responses.
Continuous Learning in Single-Incremental-Task Scenarios
Venue: arXiv cs.LG 2019
Year: 2019

It was recently shown that architectural, regularization and rehearsal strategies can be used to train deep models sequentially on a number of disjoint tasks without forgetting previously acquired knowledge. However, these strategies are still unsatisfactory if the tasks are not disjoint but constitute a single incremental task (e.g., class-incremental learning). In this paper we point out the differences between multi-task and single-incremental-task scenarios and show that well-known approaches such as LWF, EWC and SI are not ideal for incremental task scenarios. A new approach, denoted as AR1, combining architectural and regularization strategies is then specifically proposed. AR1 overhead (in term of memory and computation) is very small thus making it suitable for online learning. When tested on CORe50 and iCIFAR-100, AR1 outperformed existing regularization strategies by a good margin.
Model-Predictive Control with Inverse Statics Optimization for Tensegrity Spine Robots
Venue: arXiv cs.SY 2019
Year: 2019

Robots with flexible spines based on tensegrity structures have potential advantages over traditional designs with rigid torsos. However, these robots can be difficult to control due to their high-dimensional nonlinear dynamics and actuator constraints. This work presents two controllers for tensegrity spine robots, using model-predictive control (MPC) and inverse statics optimization. The controllers introduce two different approaches to making the control problem computationally tractable. The first utilizes smoothing terms in the MPC problem. The second uses a new inverse statics optimization algorithm, which gives the first feasible solutions to the problem for certain tensegrity robots, to generate reference input trajectories in combination with MPC. Tracking the inverse statics reference input trajectory significantly reduces the number of tuning parameters. The controllers are validated against simulations of two-dimensional and three-dimensional tensegrity spines. Both approaches show noise insensitivity and low tracking error, and can be used for different control goals. The results here demonstrate the first closed-loop control of such structures.
Edge and Central Cloud Computing: A Perfect Pairing for High Energy Efficiency and Low-latency
Venue: arXiv cs.NI 2019
Year: 2019

In this paper, we study the coexistence and synergy between edge and central cloud computing in a heterogeneous cellular network (HetNet), which contains a multi-antenna macro base station (MBS), multiple multi-antenna small base stations (SBSs) and multiple single-antenna user equipment (UEs). The SBSs are empowered by edge clouds offering limited computing services for UEs, whereas the MBS provides high-performance central cloud computing services to UEs via a restricted multiple-input multiple-output (MIMO) backhaul to their associated SBSs. With processing latency constraints at the central and edge networks, we aim to minimize the system energy consumption used for task offloading and computation. The problem is formulated by jointly optimizing the cloud selection, the UEs' transmit powers, the SBSs' receive beamformers, and the SBSs' transmit covariance matrices, which is {a mixed-integer and non-convex optimization problem}. Based on methods such as decomposition approach and successive pseudoconvex approach, a tractable solution is proposed via an iterative algorithm. The simulation results show that our proposed solution can achieve great performance gain over conventional schemes using edge or central cloud alone. Also, with large-scale antennas at the MBS, the massive MIMO backhaul can significantly reduce the complexity of the proposed algorithm and obtain even better performance.
Explainable Outfit Recommendation with Joint Outfit Matching and Comment Generation
Venue: arXiv cs.IR 2019
Year: 2019

Most previous work on outfit recommendation focuses on designing visual features to enhance recommendations. Existing work neglects user comments of fashion items, which have been proved to be effective in generating explanations along with better recommendation results. We propose a novel neural network framework, neural outfit recommendation (NOR), that simultaneously provides outfit recommendations and generates abstractive comments. NOR consists of two parts: outfit matching and comment generation. For outfit matching, we propose a convolutional neural network with a mutual attention mechanism to extract visual features. The visual features are then decoded into a rating score for the matching prediction. For abstractive comment generation, we propose a gated recurrent neural network with a cross-modality attention mechanism to transform visual features into a concise sentence. The two parts are jointly trained based on a multi-task learning framework in an end-to-end back-propagation paradigm. Extensive experiments conducted on an existing dataset and a collected real-world dataset show NOR achieves significant improvements over state-of-the-art baselines for outfit recommendation. Meanwhile, our generated comments achieve impressive ROUGE and BLEU scores in comparison to human-written comments. The generated comments can be regarded as explanations for the recommendation results. We release the dataset and code to facilitate future research.