OpenRaiser/Intern-Atlas huggingface dataset:
Accelerating Training of Deep Neural Networks with a Standardization Loss
Venue: arXiv cs.LG 2019
Year: 2019

A significant advance in accelerating neural network training has been the development of normalization methods, permitting the training of deep models both faster and with better accuracy. These advances come with practical challenges: for instance, batch normalization ties the prediction of individual examples with other examples within a batch, resulting in a network that is heavily dependent on batch size. Layer normalization and group normalization are data-dependent and thus must be continually used, even at test-time. To address the issues that arise from using explicit normalization techniques, we propose to replace existing normalization methods with a simple, secondary objective loss that we term a standardization loss. This formulation is flexible and robust across different batch sizes and surprisingly, this secondary objective accelerates learning on the primary training objective. Because it is a training loss, it is simply removed at test-time, and no further effort is needed to maintain normalized activations. We find that a standardization loss accelerates training on both small- and large-scale image classification experiments, works with a variety of architectures, and is largely robust to training across different batch sizes.
Prediction of Human Trajectory Following a Haptic Robotic Guide Using Recurrent Neural Networks
Venue: arXiv cs.RO 2019
Year: 2019

Social intelligence is an important requirement for enabling robots to collaborate with people. In particular, human path prediction is an essential capability for robots in that it prevents potential collision with a human and allows the robot to safely make larger movements. In this paper, we present a method for predicting the trajectory of a human who follows a haptic robotic guide without using sight, which is valuable for assistive robots that aid the visually impaired. We apply a deep learning method based on recurrent neural networks using multimodal data: (1) human trajectory, (2) movement of the robotic guide, (3) haptic input data measured from the physical interaction between the human and the robot, (4) human depth data. We collected actual human trajectory and multimodal response data through indoor experiments. Our model outperformed the baseline result while using only the robot data with the observed human trajectory, and it shows even better results when using additional haptic and depth data.
Spatiotemporal Pyramid Network for Video Action Recognition
Venue: arXiv cs.CV 2019
Year: 2019

Two-stream convolutional networks have shown strong performance in video action recognition tasks. The key idea is to learn spatiotemporal features by fusing convolutional networks spatially and temporally. However, it remains unclear how to model the correlations between the spatial and temporal structures at multiple abstraction levels. First, the spatial stream tends to fail if two videos share similar backgrounds. Second, the temporal stream may be fooled if two actions resemble in short snippets, though appear to be distinct in the long term. We propose a novel spatiotemporal pyramid network to fuse the spatial and temporal features in a pyramid structure such that they can reinforce each other. From the architecture perspective, our network constitutes hierarchical fusion strategies which can be trained as a whole using a unified spatiotemporal loss. A series of ablation experiments support the importance of each fusion strategy. From the technical perspective, we introduce the spatiotemporal compact bilinear operator into video analysis tasks. This operator enables efficient training of bilinear fusion operations which can capture full interactions between the spatial and temporal features. Our final network achieves state-of-the-art results on standard video datasets.
A caloritronics-based Mott neuristor
Venue: arXiv cs.ET 2019
Year: 2019

Machine learning imitates the basic features of biological neural networks to efficiently perform tasks such as pattern recognition. This has been mostly achieved at a software level, and a strong effort is currently being made to mimic neurons and synapses with hardware components, an approach known as neuromorphic computing. CMOS-based circuits have been used for this purpose, but they are non-scalable, limiting the device density and motivating the search for neuromorphic materials. While recent advances in resistive switching have provided a path to emulate synapses at the 10 nm scale, a scalable neuron analogue is yet to be found. Here, we show how heat transfer can be utilized to mimic neuron functionalities in Mott nanodevices. We use the Joule heating created by current spikes to trigger the insulator-to-metal transition in a biased VO2 nanogap. We show that thermal dynamics allow the implementation of the basic neuron functionalities: activity, leaky integrate-and-fire, volatility and rate coding. By using local temperature as the internal variable, we avoid the need of external capacitors, which reduces neuristor size by several orders of magnitude. This approach could enable neuromorphic hardware to take full advantage of the rapid advances in memristive synapses, allowing for much denser and complex neural networks. More generally, we show that heat dissipation is not always an undesirable effect: it can perform computing tasks if properly engineered.
NoRML: No-Reward Meta Learning
Venue: arXiv cs.LG 2019
Year: 2019

Efficiently adapting to new environments and changes in dynamics is critical for agents to successfully operate in the real world. Reinforcement learning (RL) based approaches typically rely on external reward feedback for adaptation. However, in many scenarios this reward signal might not be readily available for the target task, or the difference between the environments can be implicit and only observable from the dynamics. To this end, we introduce a method that allows for self-adaptation of learned policies: No-Reward Meta Learning (NoRML). NoRML extends Model Agnostic Meta Learning (MAML) for RL and uses observable dynamics of the environment instead of an explicit reward function in MAML's finetune step. Our method has a more expressive update step than MAML, while maintaining MAML's gradient based foundation. Additionally, in order to allow more targeted exploration, we implement an extension to MAML that effectively disconnects the meta-policy parameters from the fine-tuned policies' parameters. We first study our method on a number of synthetic control problems and then validate our method on common benchmark environments, showing that NoRML outperforms MAML when the dynamics change between tasks.
Differentiable Causal Computations via Delayed Trace
Venue: arXiv cs.LO 2019
Year: 2019

We investigate causal computations taking sequences of inputs to sequences of outputs where the $n$th output depends on the first $n$ inputs only. We model these in category theory via a construction taking a Cartesian category $C$ to another category $St(C)$ with a novel trace-like operation called "delayed trace", which misses yanking and dinaturality axioms of the usual trace. The delayed trace operation provides a feedback mechanism in $St(C)$ with an implicit guardedness guarantee. When $C$ is equipped with a Cartesian differential operator, we construct a differential operator for $St(C)$ using an abstract version of backpropagation through time, a technique from machine learning based on unrolling of functions. This obtains a swath of properties for backpropagation through time, including a chain rule and Schwartz theorem. Our differential operator is also able to compute the derivative of a stateful network without requiring the network to be unrolled.
Fully Distributed DC Optimal Power Flow Based on Distributed Economic Dispatch and Distributed State Estimation
Venue: arXiv cs.SY 2019
Year: 2019

Optimal power flow (OPF) is an important technique for power systems to achieve optimal operation while satisfying multiple constraints. The traditional OPF are mostly centralized methods which are executed in the centralized control center. This paper introduces a totally Distributed DC Optimal Power Flow (DDCOPF) method for future power systems which have more and more distributed generators. The proposed method is based on the Distributed Economic Dispatch (DED) method and the Distributed State Estimation (DSE) method. In this proposed scheme, the DED method is used to achieve the optimal power dispatch with the lowest cost, and the DSE method provides power flow information of the power system to the proposed DDCOPF algorithm. In the proposed method, the Auto-Regressive (AR) model is used to predict the load variation so that the proposed algorithm can prevent overflow. In addition, a method called constraint algorithm is developed to correct the results of DED with the proposed correction algorithm and penalty term so that the constraints for the power system will not be violated. Different from existing research, the proposed method is completely distributed without need for any centralized facility.
Trajectory Replanning for Quadrotors Using Kinodynamic Search and Elastic Optimization
Venue: arXiv cs.RO 2019
Year: 2019

We focus on a replanning scenario for quadrotors where considering time efficiency, non-static initial state and dynamical feasibility is of great significance. We propose a real-time B-spline based kinodynamic (RBK) search algorithm, which transforms a position-only shortest path search (such as A* and Dijkstra) into an efficient kinodynamic search, by exploring the properties of B-spline parameterization. The RBK search is greedy and produces a dynamically feasible time-parameterized trajectory efficiently, which facilitates non-static initial state of the quadrotor. To cope with the limitation of the greedy search and the discretization induced by a grid structure, we adopt an elastic optimization (EO) approach as a post-optimization process, to refine the control point placement provided by the RBK search. The EO approach finds the optimal control point placement inside an expanded elastic tube which represents the free space, by solving a Quadratically Constrained Quadratic Programming (QCQP) problem. We design a receding horizon replanner based on the local control property of B-spline. A systematic comparison of our method against two state-of-the-art methods is provided. We integrate our replanning system with a monocular vision-based quadrotor and validate our performance onboard.
Learning STRIPS Action Models with Classical Planning
Venue: arXiv cs.AI 2019
Year: 2019

This paper presents a novel approach for learning STRIPS action models from examples that compiles this inductive learning task into a classical planning task. Interestingly, the compilation approach is flexible to different amounts of available input knowledge; the learning examples can range from a set of plans (with their corresponding initial and final states) to just a pair of initial and final states (no intermediate action or state is given). Moreover, the compilation accepts partially specified action models and it can be used to validate whether the observation of a plan execution follows a given STRIPS action model, even if this model is not fully specified.
Workflow Scheduling in the Cloud with Weighted Upward-rank Priority Scheme Using Random Walk and Uniform Spare Budget Splitting
Venue: arXiv cs.DC 2019
Year: 2019

We study a difficult problem of how to schedule complex workflows with precedence constraints under a limited budget in the cloud environment. We first formulate the scheduling problem as an integer programming problem, which can be optimized and used as the baseline of performance. We then consider the traditional approach of scheduling jobs in a prioritized order based on the upward-rank of each job. For those jobs with no precedence constraints among themselves, the plain upward-rank priority scheme assigns priorities in an arbitrary way. We propose a job prioritization scheme that uses Markovian chain stationary probabilities as a measure of importance of jobs. The scheme keeps the precedence order for the jobs that have precedence constraints between each other, and assigns priorities according to the jobs' importance for the jobs without precedence constraints. We finally design a uniform spare budget splitting strategy, which splits the spare budget uniformly across all the jobs. We test our algorithms on a variety of workflows, including FFT, Gaussian elimination, typical scientific workflows, randomly generated workflows and workflows from an in-production cluster of an online streaming service company. We compare our algorithms with the-state-of-art algorithms. The empirical results show that the uniform spare budget splitting scheme outperforms the splitting scheme in proportion to extra demand in average for most cases, and the Markovian based prioritization further improves the workflow makespan.
Evolving Spiking Neural Networks for Nonlinear Control Problems
Venue: arXiv cs.NE 2019
Year: 2019

Spiking Neural Networks are powerful computational modelling tools that have attracted much interest because of the bioinspired modelling of synaptic interactions between neurons. Most of the research employing spiking neurons has been non-behavioural and discontinuous. Comparatively, this paper presents a recurrent spiking controller that is capable of solving nonlinear control problems in continuous domains using a popular topology evolution algorithm as the learning mechanism. We propose two mechanisms necessary to the decoding of continuous signals from discrete spike transmission: (i) a background current component to maintain frequency sufficiency for spike rate decoding, and (ii) a general network structure that derives strength from topology evolution. We demonstrate that the proposed spiking controller can learn significantly faster to discover functional solutions than sigmoidal neural networks in solving a classic nonlinear control problem.
Unsupervised Domain Adaptation Learning Algorithm for RGB-D Staircase Recognition
Venue: arXiv cs.CV 2019
Year: 2019

Detection and recognition of staircase as upstairs, downstairs and negative (e.g., ladder) are the fundamental of assisting the visually impaired to travel independently in unfamiliar environments. Previous researches have focused on using massive amounts of RGB-D scene data to train traditional machine learning (ML) based models to detect and recognize the staircase. However, the performance of traditional ML techniques is limited by the amount of labeled RGB-D staircase data. In this paper, we apply an unsupervised domain adaptation approach in deep architectures to transfer knowledge learned from the labeled RGB-D stationary staircase dataset to the unlabeled RGB-D escalator dataset. By utilizing the domain adaptation method, our feedforward convolutional neural networks (CNN) based feature extractor with 5 convolution layers can achieve 100% classification accuracy on testing the labeled stationary staircase data and 80.6% classification accuracy on testing the unlabeled escalator data. We demonstrate the success of the approach for classifying staircase on two domains with a limited amount of data. To further demonstrate the effectiveness of the approach, we also validate the same CNN model without domain adaptation and compare its results with those of our proposed architecture.
Understanding the Mechanism of Deep Learning Framework for Lesion Detection in Pathological Images with Breast Cancer
Venue: arXiv cs.CV 2019
Year: 2019

The computer-aided detection (CADe) systems are developed to assist pathologists in slide assessment, increasing diagnosis efficiency and reducing missing inspections. Many studies have shown such a CADe system with deep learning approaches outperforms the one using conventional methods that rely on hand-crafted features based on field-knowledge. However, most developers who adopted deep learning models directly focused on the efficacy of outcomes, without providing comprehensive explanations on why their proposed frameworks can work effectively. In this study, we designed four experiments to verify the consecutive concepts, showing that the deep features learned from pathological patches are interpretable by domain knowledge of pathology and enlightening for clinical diagnosis in the task of lesion detection. The experimental results show the activation features work as morphological descriptors for specific cells or tissues, which agree with the clinical rules in classification. That is, the deep learning framework not only detects the distribution of tumor cells but also recognizes lymphocytes, collagen fibers, and some other non-cell structural tissues. Most of the characteristics learned by the deep learning models have summarized the detection rules that can be recognized by the experienced pathologists, whereas there are still some features may not be intuitive to domain experts but discriminative in classification for machines. Those features are worthy to be further studied in order to find out the reasonable correlations to pathological knowledge, from which pathological experts may draw inspirations for exploring new characteristics in diagnosis.
Planning Activities in Software Testing Process: A Literature Review and Suggestions for Future Research
Venue: arXiv cs.SE 2019
Year: 2019

Software testing process consists of activities that implemented after it is planned and including to document related testing activities. Test processes must be applied necessarily for able to clearly see the quality of software, the degree of reliability, whether it is ready for delivery, the degree of effectiveness and remains of how much testing. One of the most important phase of these processes is test planning activities. Test planning activities directly affects the project's success in software projects. In this study, software testing process, and test planning activities carried out in this process was first clearly demonstrated by the literature review. Later, a basic software testing process and test planning process were determined and explained step by step. In this way, it was aimed to give a different and deep perspective to the test planning activities and to raise awareness on the topic. As a result of the research, it was seen that the test planning activities are not applied adequately at present, software testers, experts or researchers do not have enough knowledge about the details of the method, and this situation causes very serious negative results in the delivery and cost in software projects. Finally, the topic was discussed in detail, and some conclusions and recommendations were given for the personnel in the field of software testing. In this point, the study is expected to contribute the literature.
Performance Analysis of Energy Harvesting Underlay Cooperative Cognitive Radio Relay Networks with Randomly Located Nodes
Venue: arXiv cs.IT 2019
Year: 2019

In this work, we investigate the successful data communication probability of an energy harvesting co-operative cognitive radio network (CRN) in the presence of Poisson field of primary users (PU). We consider the scenario where, after harvesting energy from primary transmitters (PTs), the secondary transmitter (ST) would transmit its symbol towards secondary destination (SD) through a suitable secondary relay from group of randomly scattered idle nodes within a circular region. We have considered several relay selection criteria in our work for a better relay node selection. We have also analytically evaluated the performance of secondary transmitter in terms of probability of successful symbol transmission. The relationship between the performance of ST and several network entities like density of PUs, transmit power of PTs and required transmit power of ST have been investigated through detailed analysis. The non-trivial trade-off between benefit of energy harvesting and interference from PTs has been explored in this present work. Numerical results are provided to verify the precision of derived analytical expressions.
Graph Neural Networks for Modelling Traffic Participant Interaction
Venue: arXiv cs.LG 2019
Year: 2019

By interpreting a traffic scene as a graph of interacting vehicles, we gain a flexible abstract representation which allows us to apply Graph Neural Network (GNN) models for traffic prediction. These naturally take interaction between traffic participants into account while being computationally efficient and providing large model capacity. We evaluate two state-of-the art GNN architectures and introduce several adaptations for our specific scenario. We show that prediction error in scenarios with much interaction decreases by 30% compared to a model that does not take interactions into account. This suggests that interaction is important, and shows that we can model it using graphs. This makes GNNs a worthwhile addition to traffic prediction systems.
Asymptotics of MAP Inference in Deep Networks
Venue: arXiv cs.IT 2019
Year: 2019

Deep generative priors are a powerful tool for reconstruction problems with complex data such as images and text. Inverse problems using such models require solving an inference problem of estimating the input and hidden units of the multi-layer network from its output. Maximum a priori (MAP) estimation is a widely-used inference method as it is straightforward to implement, and has been successful in practice. However, rigorous analysis of MAP inference in multi-layer networks is difficult. This work considers a recently-developed method, multi-layer vector approximate message passing (ML-VAMP), to study MAP inference in deep networks. It is shown that the mean squared error of the ML-VAMP estimate can be exactly and rigorously characterized in a certain high-dimensional random limit. The proposed method thus provides a tractable method for MAP inference with exact performance guarantees.
Reduced Focal Loss: 1st Place Solution to xView object detection in Satellite Imagery
Venue: arXiv cs.CV 2019
Year: 2019

This paper describes our approach to the DIUx xView 2018 Detection Challenge [1]. This challenge focuses on a new satellite imagery dataset. The dataset contains 60 object classes that are highly imbalanced. Due to the imbalanced nature of the dataset, the training process becomes significantly more challenging. To address this problem, we introduce a novel Reduced Focal Loss function, which brought us 1st place in the DIUx xView 2018 Detection Challenge.
A complete formalized knowledge representation model for advanced digital forensics timeline analysis
Venue: arXiv cs.CY 2019
Year: 2019

Having a clear view of events that occurred over time is a difficult objective to achieve in digital investigations (DI). Event reconstruction, which allows investigators to understand the timeline of a crime, is one of the most important step of a DI process. This complex task requires exploration of a large amount of events due to the pervasiveness of new technologies nowadays. Any evidence produced at the end of the investigative process must also meet the requirements of the courts, such as reproducibility, verifiability, validation, etc. For this purpose, we propose a new methodology, supported by theoretical concepts, that can assist investigators through the whole process including the construction and the interpretation of the events describing the case. The proposed approach is based on a model which integrates knowledge of experts from the fields of digital forensics and software development to allow a semantically rich representation of events related to the incident. The main purpose of this model is to allow the analysis of these events in an automatic and efficient way. This paper describes the approach and then focuses on the main conceptual and formal aspects: a formal incident modelization and operators for timeline reconstruction and analysis.