OpenRaiser/Intern-Atlas huggingface dataset:
On the Measure of Intelligence
Venue: arXiv cs.AI 2019
Year: 2019

To make deliberate progress towards more intelligent and more human-like artificial systems, we need to be following an appropriate feedback signal: we need to be able to define and evaluate intelligence in a way that enables comparisons between two systems, as well as comparisons with humans. Over the past hundred years, there has been an abundance of attempts to define and measure intelligence, across both the fields of psychology and AI. We summarize and critically assess these definitions and evaluation approaches, while making apparent the two historical conceptions of intelligence that have implicitly guided them. We note that in practice, the contemporary AI community still gravitates towards benchmarking intelligence by comparing the skill exhibited by AIs and humans at specific tasks such as board games and video games. We argue that solely measuring skill at any given task falls short of measuring intelligence, because skill is heavily modulated by prior knowledge and experience: unlimited priors or unlimited training data allow experimenters to "buy" arbitrary levels of skills for a system, in a way that masks the system's own generalization power. We then articulate a new formal definition of intelligence based on Algorithmic Information Theory, describing intelligence as skill-acquisition efficiency and highlighting the concepts of scope, generalization difficulty, priors, and experience. Using this definition, we propose a set of guidelines for what a general AI benchmark should look like. Finally, we present a benchmark closely following these guidelines, the Abstraction and Reasoning Corpus (ARC), built upon an explicit set of priors designed to be as close as possible to innate human priors. We argue that ARC can be used to measure a human-like form of general fluid intelligence and that it enables fair general intelligence comparisons between AI systems and humans.
Benchmarking Simulated Robotic Manipulation through a Real World Dataset
Venue: arXiv cs.RO 2019
Year: 2019

We present a benchmark to facilitate simulated manipulation; an attempt to overcome the obstacles of physical benchmarks through the distribution of a real world, ground truth dataset. Users are given various simulated manipulation tasks with assigned protocols having the objective of replicating the real world results of a recorded dataset. The benchmark comprises of a range of metrics used to characterise the successes of submitted environments whilst providing insight into their deficiencies. We apply our benchmark to two simulation environments, PyBullet and V-Rep, and publish the results. All materials required to benchmark an environment, including protocols and the dataset, can be found at the benchmarks' website https://research.csiro.au/robotics/manipulation-benchmark/.
Bounds for the Number of Tests in Non-Adaptive Randomized Algorithms for Group Testing
Venue: arXiv cs.LG 2019
Year: 2019

We study the group testing problem with non-adaptive randomized algorithms. Several models have been discussed in the literature to determine how to randomly choose the tests. For a model ${\cal M}$, let $m_{\cal M}(n,d)$ be the minimum number of tests required to detect at most $d$ defectives within $n$ items, with success probability at least $1-δ$, for some constant $δ$. In this paper, we study the measures $$c_{\cal M}(d)=\lim_{n\to \infty} \frac{m_{\cal M}(n,d)}{\ln n} \mbox{ and } c_{\cal M}=\lim_{d\to \infty} \frac{c_{\cal M}(d)}{d}.$$ In the literature, the analyses of such models only give upper bounds for $c_{\cal M}(d)$ and $c_{\cal M}$, and for some of them, the bounds are not tight. We give new analyses that yield tight bounds for $c_{\cal M}(d)$ and $c_{\cal M}$ for all the known models~${\cal M}$.
Gym-Ignition: Reproducible Robotic Simulations for Reinforcement Learning
Venue: arXiv cs.RO 2019
Year: 2019

This paper presents Gym-Ignition, a new framework to create reproducible robotic environments for reinforcement learning research. It interfaces with the new generation of Gazebo, part of the Ignition Robotics suite, which provides three main improvements for reinforcement learning applications compared to the alternatives: 1) the modular architecture enables using the simulator as a C++ library, simplifying the interconnection with external software; 2) multiple physics and rendering engines are supported as plugins, simplifying their selection during the execution; 3) the new distributed simulation capability allows simulating complex scenarios while sharing the load on multiple workers and machines. The core of Gym-Ignition is a component that contains the Ignition Gazebo simulator and exposes a simple interface for its configuration and execution. We provide a Python package that allows developers to create robotic environments simulated in Ignition Gazebo. Environments expose the common OpenAI Gym interface, making them compatible out-of-the-box with third-party frameworks containing reinforcement learning algorithms. Simulations can be executed in both headless and GUI mode, the physics engine can run in accelerated mode, and instances can be parallelized. Furthermore, the Gym-Ignition software architecture provides abstraction of the Robot and the Task, making environments agnostic on the specific runtime. This abstraction allows their execution also in a real-time setting on actual robotic platforms, even if driven by different middlewares.
Some New Results on Splitter Sets
Venue: arXiv cs.IT 2019
Year: 2019

Splitter sets have been widely studied due to their applications in flash memories, and their close relations with lattice tilings and conflict avoiding codes. In this paper, we give necessary and sufficient conditions for the existence of nonsingular perfect splitter sets, $B[-k_1,k_2](p)$ sets, where $0\le k_{1}\leq k_{2}=4$. Meanwhile, constructions of nonsingular perfect splitter sets are given. When perfect splitter sets do not exist, we present four new constructions of quasi-perfect splitter sets. Finally, we give a connection between nonsingular splitter sets and Cayley graphs, and as a byproduct, a general lower bound on the maximum size of nonsingular splitter sets is given.
Detecting and Tracking Small Moving Objects in Wide Area Motion Imagery (WAMI) Using Convolutional Neural Networks (CNNs)
Venue: arXiv cs.CV 2019
Year: 2019

This paper proposes an approach to detect moving objects in Wide Area Motion Imagery (WAMI), in which the objects are both small and well separated. Identifying the objects only using foreground appearance is difficult since a $100-$pixel vehicle is hard to distinguish from objects comprising the background. Our approach is based on background subtraction as an efficient and unsupervised method that is able to output the shape of objects. In order to reliably detect low contrast and small objects, we configure the background subtraction to extract foreground regions that might be objects of interest. While this dramatically increases the number of false alarms, a Convolutional Neural Network (CNN) considering both spatial and temporal information is then trained to reject the false alarms. In areas with heavy traffic, the background subtraction yields merged detections. To reduce the complexity of multi-target tracker needed, we train another CNN to predict the positions of multiple moving objects in an area. Our approach shows competitive detection performance on smaller objects relative to the state-of-the-art. We adopt a GM-PHD filter to associate detections over time and analyse the resulting performance.
New Optimizations and Heuristics for Determinization of Büchi Automata
Venue: arXiv cs.FL 2019
Year: 2019

In this work, we present multiple new optimizations and heuristics for the determinization of Büchi automata that exploit a number of semantic and structural properties, most of which may be applied together with any determinization procedure. We built a prototype implementation where all the presented heuristics can be freely combined and evaluated them, comparing our implementation with the state-of-the-art tool spot on multiple data sets with different characteristics. Our results show that the proposed optimizations and heuristics can in some cases significantly decrease the size of the resulting deterministic automaton.
Self-Attention and Ingredient-Attention Based Model for Recipe Retrieval from Image Queries
Venue: arXiv cs.IR 2019
Year: 2019

Direct computer vision based-nutrient content estimation is a demanding task, due to deformation and occlusions of ingredients, as well as high intra-class and low inter-class variability between meal classes. In order to tackle these issues, we propose a system for recipe retrieval from images. The recipe information can subsequently be used to estimate the nutrient content of the meal. In this study, we utilize the multi-modal Recipe1M dataset, which contains over 1 million recipes accompanied by over 13 million images. The proposed model can operate as a first step in an automatic pipeline for the estimation of nutrition content by supporting hints related to ingredient and instruction. Through self-attention, our model can directly process raw recipe text, making the upstream instruction sentence embedding process redundant and thus reducing training time, while providing desirable retrieval results. Furthermore, we propose the use of an ingredient attention mechanism, in order to gain insight into which instructions, parts of instructions or single instruction words are of importance for processing a single ingredient within a certain recipe. Attention-based recipe text encoding contributes to solving the issue of high intra-class/low inter-class variability by focusing on preparation steps specific to the meal. The experimental results demonstrate the potential of such a system for recipe retrieval from images. A comparison with respect to two baseline methods is also presented.
A QoS Aware Approach to Service-Oriented Communication in Future Automotive Networks
Venue: arXiv cs.NI 2019
Year: 2019

Service-Oriented Architecture (SOA) is about to enter automotive networks based on the SOME/IP middleware and an Ethernet high-bandwidth communication layer. It promises to meet the growing demands on connectivity and flexibility for software components in modern cars. Largely heterogeneous service requirements and time-sensitive network functions make Quality-of-Service (QoS) agreements a vital building block within future automobiles. Existing middleware solutions, however, do not allow for a dynamic selection of QoS. This paper presents a service-oriented middleware for QoS aware communication in future cars. We contribute a protocol for dynamic QoS negotiation along with a multi-protocol stack, which supports the different communication classes as derived from a thorough requirements analysis. We validate the feasibility of our approach in a case study and evaluate its performance in a simulation model of a realistic in-car network. Our findings indicate that QoS aware communication can indeed meet the requirements, while the impact of the service negotiations and setup times of the network remain acceptable provided the cross-traffic during negotiations stays below 70% of the available bandwidth.
On Connectivity and Robustness in Random Intersection Graphs
Venue: arXiv cs.DM 2019
Year: 2019

Random intersection graphs have received much attention recently and been used in a wide range of applications ranging from key predistribution in wireless sensor networks to modeling social networks. For these graphs, each node is equipped with a set of objects in a random manner, and two nodes have an undirected edge in between if they have at least one object in common. In this paper, we investigate connectivity and robustness in a general random intersection graph model. Specifically, we establish sharp asymptotic zero-one laws for k-connectivity and k-robustness, as well as the asymptotically exact probability of k-connectivity, for any positive integer k. The k-connectivity property quantifies how resilient is the connectivity of a graph against node or edge failures, while k-robustness measures the effectiveness of local-information-based consensus algorithms (that do not use global graph topology information) in the presence of adversarial nodes. In addition to presenting the results under the general random intersection graph model, we consider two special cases of the general model, a binomial random intersection graph and a uniform random intersection graph, which both have numerous applications as well. For these two specialized graphs, our results on asymptotically exact probabilities of k-connectivity and asymptotic zero-one laws for k-robustness are also novel in the literature.
BlenderProc
Venue: arXiv cs.CV 2019
Year: 2019

BlenderProc is a modular procedural pipeline, which helps in generating real looking images for the training of convolutional neural networks. These can be used in a variety of use cases including segmentation, depth, normal and pose estimation and many others. A key feature of our extension of blender is the simple to use modular pipeline, which was designed to be easily extendable. By offering standard modules, which cover a variety of scenarios, we provide a starting point on which new modules can be created.
OtoMechanic: Auditory Automobile Diagnostics via Query-by-Example
Venue: arXiv cs.SD 2019
Year: 2019

Early detection and repair of failing components in automobiles reduces the risk of vehicle failure in life-threatening situations. Many automobile components in need of repair produce characteristic sounds. For example, loose drive belts emit a high-pitched squeaking sound, and bad starter motors have a characteristic whirring or clicking noise. Often drivers can tell that the sound of their car is not normal, but may not be able to identify the cause. To mitigate this knowledge gap, we have developed OtoMechanic, a web application to detect and diagnose vehicle component issues from their corresponding sounds. It compares a user's recording of a problematic sound to a database of annotated sounds caused by failing automobile components. OtoMechanic returns the most similar sounds, and provides weblinks for more information on the diagnosis associated with each sound, along with an estimate of the similarity of each retrieved sound. In user studies, we find that OtoMechanic significantly increases diagnostic accuracy relative to a baseline accuracy of consumer performance.
Spatial-Temporal Cluster Relations -- A Foundation for Trajectory Cluster Lifetime Analysis
Venue: arXiv cs.DB 2019
Year: 2019

Spatial-temporal data, that is information about objects that exist at a particular location and time period, are rich in value and, as a consequence, the target of so many initiative efforts. Clustering approaches aim at grouping datapoints based on similar properties for classification tasks. These approaches have been widely used in domains such as human mobility, ecology, health and astronomy. However, clustering approaches typically address only the static nature of a cluster, and do not take into consideration its dynamic aspects. A desirable approach needs to investigate relations between dynamic clusters and their elements that can be used to derive new insights about what happened to the clusters during their lifetimes. A fundamental step towards this goal is to provide a formal definition of spatial-temporal cluster relations. This report introduces, describes, and formalizes 14 novel spatial-temporal cluster relations that may occur during the existence of a cluster and involve both trajectory-cluster membership conditions and cluster-cluster comparisons. We evaluate the proposed relations with a discussion on how they are able to interpret complex cases that are difficult to be distinguished without a formal relation specification. We conclude the report by summarizing our results and describing avenues for further research.
Contextual Grounding of Natural Language Entities in Images
Venue: arXiv cs.CV 2019
Year: 2019

In this paper, we introduce a contextual grounding approach that captures the context in corresponding text entities and image regions to improve the grounding accuracy. Specifically, the proposed architecture accepts pre-trained text token embeddings and image object features from an off-the-shelf object detector as input. Additional encoding to capture the positional and spatial information can be added to enhance the feature quality. There are separate text and image branches facilitating respective architectural refinements for different modalities. The text branch is pre-trained on a large-scale masked language modeling task while the image branch is trained from scratch. Next, the model learns the contextual representations of the text tokens and image objects through layers of high-order interaction respectively. The final grounding head ranks the correspondence between the textual and visual representations through cross-modal interaction. In the evaluation, we show that our model achieves the state-of-the-art grounding accuracy of 71.36% over the Flickr30K Entities dataset. No additional pre-training is necessary to deliver competitive results compared with related work that often requires task-agnostic and task-specific pre-training on cross-modal dadasets. The implementation is publicly available at https://gitlab.com/necla-ml/grounding.
Fast Transformer Decoding: One Write-Head is All You Need
Venue: arXiv cs.NE 2019
Year: 2019

Multi-head attention layers, as used in the Transformer neural sequence model, are a powerful alternative to RNNs for moving information across and between sequences. While training these layers is generally fast and simple, due to parallelizability across the length of the sequence, incremental inference (where such paralleization is impossible) is often slow, due to the memory-bandwidth cost of repeatedly loading the large "keys" and "values" tensors. We propose a variant called multi-query attention, where the keys and values are shared across all of the different attention "heads", greatly reducing the size of these tensors and hence the memory bandwidth requirements of incremental decoding. We verify experimentally that the resulting models can indeed be much faster to decode, and incur only minor quality degradation from the baseline.
SRINet: Learning Strictly Rotation-Invariant Representations for Point Cloud Classification and Segmentation
Venue: arXiv cs.CV 2019
Year: 2019

Point cloud analysis has drawn broader attentions due to its increasing demands in various fields. Despite the impressive performance has been achieved on several databases, researchers neglect the fact that the orientation of those point cloud data is aligned. Varying the orientation of point cloud may lead to the degradation of performance, restricting the capacity of generalizing to real applications where the prior of orientation is often unknown. In this paper, we propose the point projection feature, which is invariant to the rotation of the input point cloud. A novel architecture is designed to mine features of different levels. We adopt a PointNet-based backbone to extract global feature for point cloud, and the graph aggregation operation to perceive local shape structure. Besides, we introduce an efficient key point descriptor to assign each point with different response and help recognize the overall geometry. Mathematical analyses and experimental results demonstrate that the proposed method can extract strictly rotation-invariant representations for point cloud recognition and segmentation without data augmentation, and outperforms other state-of-the-art methods.
Interpretable Self-Attention Temporal Reasoning for Driving Behavior Understanding
Venue: arXiv cs.CV 2019
Year: 2019

Performing driving behaviors based on causal reasoning is essential to ensure driving safety. In this work, we investigated how state-of-the-art 3D Convolutional Neural Networks (CNNs) perform on classifying driving behaviors based on causal reasoning. We proposed a perturbation-based visual explanation method to inspect the models' performance visually. By examining the video attention saliency, we found that existing models could not precisely capture the causes (e.g., traffic light) of the specific action (e.g., stopping). Therefore, the Temporal Reasoning Block (TRB) was proposed and introduced to the models. With the TRB models, we achieved the accuracy of $\mathbf{86.3\%}$, which outperform the state-of-the-art 3D CNNs from previous works. The attention saliency also demonstrated that TRB helped models focus on the causes more precisely. With both numerical and visual evaluations, we concluded that our proposed TRB models were able to provide accurate driving behavior prediction by learning the causal reasoning of the behaviors.
A Latent Feelings-aware RNN Model for User Churn Prediction with Behavioral Data
Venue: arXiv cs.AI 2019
Year: 2019

Predicting user churn and taking personalized measures to retain users is a set of common and effective practices for online game operators. However, different from the traditional user churn relevant researches that can involve demographic, economic, and behavioral data, most online games can only obtain logs of user behavior and have no access to users' latent feelings. There are mainly two challenges in this work: 1. The latent feelings, which cannot be directly observed in this work, need to be estimated and verified; 2. User churn needs to be predicted with only behavioral data. In this work, a Recurrent Neural Network(RNN) called LaFee (Latent Feeling) is proposed, which can get the users' latent feelings while predicting user churn. Besides, we proposed a method named BMM-UCP (Behavior-based Modeling Method for User Churn Prediction) to help models predict user churn with only behavioral data. The latent feelings are names as satisfaction and aspiration in this work. We designed experiments on a real dataset and the results show that our methods outperform baselines and are more suitable for long-term sequential learning. The latent feelings learned are fully discussed and proven meaningful.
Breaching the 2-Approximation Barrier for Connectivity Augmentation: a Reduction to Steiner Tree
Venue: arXiv cs.DS 2019
Year: 2019

The basic goal of survivable network design is to build a cheap network that maintains the connectivity between given sets of nodes despite the failure of a few edges/nodes. The Connectivity Augmentation Problem (CAP) is arguably one of the most basic problems in this area: given a $k$(-edge)-connected graph $G$ and a set of extra edges (links), select a minimum cardinality subset $A$ of links such that adding $A$ to $G$ increases its edge connectivity to $k+1$. Intuitively, one wants to make an existing network more reliable by augmenting it with extra edges. The best known approximation factor for this NP-hard problem is $2$, and this can be achieved with multiple approaches (the first such result is in [Frederickson and Jájá'81]). It is known [Dinitz et al.'76] that CAP can be reduced to the case $k=1$, a.k.a. the Tree Augmentation Problem (TAP), for odd $k$, and to the case $k=2$, a.k.a. the Cactus Augmentation Problem (CacAP), for even $k$. Several better than $2$ approximation algorithms are known for TAP, culminating with a recent $1.458$ approximation [Grandoni et al.'18]. However, for CacAP the best known approximation is $2$. In this paper we breach the $2$ approximation barrier for CacAP, hence for CAP, by presenting a polynomial-time $2\ln(4)-\frac{967}{1120}+ε<1.91$ approximation. Previous approaches exploit properties of TAP that do not seem to generalize to CacAP. We instead use a reduction to the Steiner tree problem which was previously used in parameterized algorithms [Basavaraju et al.'14]. This reduction is not approximation preserving, and using the current best approximation factor for Steiner tree [Byrka et al.'13] as a black-box would not be good enough to improve on $2$. To achieve the latter goal, we ``open the box'' and exploit the specific properties of the instances of Steiner tree arising from CacAP.