OpenRaiser/Intern-Atlas huggingface dataset:
Deep learning based 2.5D flow field estimation for maximum intensity projections of 4D optical coherence tomography
Venue: arXiv cs.CV 2019
Year: 2019

In microsurgery, lasers have emerged as precise tools for bone ablation. A challenge is automatic control of laser bone ablation with 4D optical coherence tomography (OCT). OCT as high resolution imaging modality provides volumetric images of tissue and foresees information of bone position and orientation (pose) as well as thickness. However, existing approaches for OCT based laser ablation control rely on external tracking systems or invasively ablated artificial landmarks for tracking the pose of the OCT probe relative to the tissue. This can be superseded by estimating the scene flow caused by relative movement between OCT-based laser ablation system and patient. Therefore, this paper deals with 2.5D scene flow estimation of volumetric OCT images for application in laser ablation. We present a semi-supervised convolutional neural network based tracking scheme for subsequent 3D OCT volumes and apply it to a realistic semi-synthetic data set of ex vivo human temporal bone specimen. The scene flow is estimated in a two-stage approach. In the first stage, 2D lateral scene flow is computed on census-transformed en-face arguments-of-maximum intensity projections. Subsequent to this, the projections are warped by predicted lateral flow and 1D depth flow is estimated. The neural network is trained semi-supervised by combining error to ground truth and the reconstruction error of warped images with assumptions of spatial flow smoothness. Quantitative evaluation reveals a mean endpoint error of $ (4.7\pm{}3.5) $ voxel or $ 27.5 \pm 20.5 μ\mathrm{m} $ for scene flow estimation caused by simulated relative movement between the OCT probe and bone. The scene flow estimation for 4D OCT enables its use for markerless tracking of mastoid bone structures for image guidance in general, and automated laser ablation control.
Deep Intrinsically Motivated Continuous Actor-Critic for Efficient Robotic Visuomotor Skill Learning
Venue: arXiv cs.LG 2019
Year: 2019

In this paper, we present a new intrinsically motivated actor-critic algorithm for learning continuous motor skills directly from raw visual input. Our neural architecture is composed of a critic and an actor network. Both networks receive the hidden representation of a deep convolutional autoencoder which is trained to reconstruct the visual input, while the centre-most hidden representation is also optimized to estimate the state value. Separately, an ensemble of predictive world models generates, based on its learning progress, an intrinsic reward signal which is combined with the extrinsic reward to guide the exploration of the actor-critic learner. Our approach is more data-efficient and inherently more stable than the existing actor-critic methods for continuous control from pixel data. We evaluate our algorithm for the task of learning robotic reaching and grasping skills on a realistic physics simulator and on a humanoid robot. The results show that the control policies learned with our approach can achieve better performance than the compared state-of-the-art and baseline algorithms in both dense-reward and challenging sparse-reward settings.
Position weighted backpressure intersection control for urban networks
Venue: arXiv cs.SY 2019
Year: 2019

Decentralized intersection control techniques have received attention in the literature as tools that address scalability issues of network intersection control. Chief among these techniques are backpressure (BP) control algorithms, which were originally developed of for large wireless networks. In addition to being light-weight computationally, they come with guarantees of performance at the network level, specifically network-wide stability. The dynamics in backpressure control are represented using networks of point queues and this also applies to all of the applications to traffic control. As such, BP in traffic fail to capture the spatial distribution of vehicles along the intersection links and, consequently, spill-back dynamics. This paper derives a position weighted backpressure (PWBP) control policy for network traffic applying continuum modeling principles of traffic dynamics and thus capture the spatial distribution of vehicles along network roads and spill-back dynamics. PWBP inherits the computational advantages of traditional BP. To prove stability of PWBP, (i) a Lyapunov functional that captures the spatial distribution of vehicles is developed; (ii) the capacity region of the network is formally defined in the context of macroscopic network traffic; and (iii) it is proved, when exogenous arrival rates are within the capacity region, that PWBP control is network stabilizing. We conduct comparisons against a real-world adaptive control implementation for an isolated intersection. Comparisons are also performed against other BP approaches in addition to optimized fixed timing control at the network level. These experiments demonstrate the superiority of PWBP over the other control policies in terms of capacity region, network-wide delay, congestion propagation speed, recoverability from heavy congestion (outside of the capacity region), and response to incidents.
Synthesizing Symmetric Lenses
Venue: arXiv cs.PL 2019
Year: 2019

Lenses are programs that can be run both "front to back" and "back to front," allowing updates to either their source or their target data to be transferred in both directions. Lenses have been extensively studied, extended, and applied. Recent work has demonstrated how techniques from type-directed program synthesis can be used to efficiently synthesize a simple class of lenses---bijective lenses over string data---given a pair of types (regular expressions) and examples. We extend this synthesis algorithm to a broader class of lenses, called simple symmetric lenses, including all bijective lenses, all of the popular category of "asymmetric" lenses, and a subset of the "symmetric lenses" proposed by Hofmann et al. Intuitively, simple symmetric lenses allow some information to be present on one side but not the other and vice versa. They are of independent theoretical interest, being the largest class of symmetric lenses that do not use persistent internal state. Synthesizing simple symmetric lenses is more challenging than synthesizing bijective lenses: Since some of the information on each side can be "disconnected" from the other side, there will typically be many lenses that agree with a given example. To guide the search process, we use stochastic regular expressions and information theory to estimate the amount of information propagated by a candidate lens, preferring lenses that propagate more information, as well as user annotations marking parts of the source and target formats as either irrelevant or essential. We describe an implementation of simple symmetric lenses and our synthesis procedure as extensions to the Boomerang language. We evaluate its performance on 48 benchmark examples drawn from Flash Fill, Augeas, and the bidirectional programming literature. Our implementation can synthesize each of these lenses in under 30 seconds.
Enhanced CNN for image denoising
Venue: arXiv cs.CV 2019
Year: 2019

Owing to flexible architectures of deep convolutional neural networks (CNNs), CNNs are successfully used for image denoising. However, they suffer from the following drawbacks: (i) deep network architecture is very difficult to train. (ii) Deeper networks face the challenge of performance saturation. In this study, the authors propose a novel method called enhanced convolutional neural denoising network (ECNDNet). Specifically, they use residual learning and batch normalisation techniques to address the problem of training difficulties and accelerate the convergence of the network. In addition, dilated convolutions are used in the proposed network to enlarge the context information and reduce the computational cost. Extensive experiments demonstrate that the ECNDNet outperforms the state-of-the-art methods for image denoising.
MaxHedge: Maximising a Maximum Online
Venue: arXiv cs.LG 2019
Year: 2019

We introduce a new online learning framework where, at each trial, the learner is required to select a subset of actions from a given known action set. Each action is associated with an energy value, a reward and a cost. The sum of the energies of the actions selected cannot exceed a given energy budget. The goal is to maximise the cumulative profit, where the profit obtained on a single trial is defined as the difference between the maximum reward among the selected actions and the sum of their costs. Action energy values and the budget are known and fixed. All rewards and costs associated with each action change over time and are revealed at each trial only after the learner's selection of actions. Our framework encompasses several online learning problems where the environment changes over time; and the solution trades-off between minimising the costs and maximising the maximum reward of the selected subset of actions, while being constrained to an action energy budget. The algorithm that we propose is efficient and general in that it may be specialised to multiple natural online combinatorial problems.
Near-Linear Time Insertion-Deletion Codes and (1+$\varepsilon$)-Approximating Edit Distance via Indexing
Venue: arXiv cs.DS 2019
Year: 2019

We introduce fast-decodable indexing schemes for edit distance which can be used to speed up edit distance computations to near-linear time if one of the strings is indexed by an indexing string $I$. In particular, for every length $n$ and every $\varepsilon >0$, one can in near linear time construct a string $I \in Σ'^n$ with $|Σ'| = O_{\varepsilon}(1)$, such that, indexing any string $S \in Σ^n$, symbol-by-symbol, with $I$ results in a string $S' \in Σ''^n$ where $Σ'' = Σ\times Σ'$ for which edit distance computations are easy, i.e., one can compute a $(1+\varepsilon)$-approximation of the edit distance between $S'$ and any other string in $O(n \text{poly}(\log n))$ time. Our indexing schemes can be used to improve the decoding complexity of state-of-the-art error correcting codes for insertions and deletions. In particular, they lead to near-linear time decoding algorithms for the insertion-deletion codes of [Haeupler, Shahrasbi; STOC `17] and faster decoding algorithms for list-decodable insertion-deletion codes of [Haeupler, Shahrasbi, Sudan; ICALP `18]. Interestingly, the latter codes are a crucial ingredient in the construction of fast-decodable indexing schemes.
Unsupervised Evaluation Metrics and Learning Criteria for Non-Parallel Textual Transfer
Venue: arXiv cs.CL 2019
Year: 2019

We consider the problem of automatically generating textual paraphrases with modified attributes or properties, focusing on the setting without parallel data (Hu et al., 2017; Shen et al., 2017). This setting poses challenges for evaluation. We show that the metric of post-transfer classification accuracy is insufficient on its own, and propose additional metrics based on semantic preservation and fluency as well as a way to combine them into a single overall score. We contribute new loss functions and training strategies to address the different metrics. Semantic preservation is addressed by adding a cyclic consistency loss and a loss based on paraphrase pairs, while fluency is improved by integrating losses based on style-specific language models. We experiment with a Yelp sentiment dataset and a new literature dataset that we propose, using multiple models that extend prior work (Shen et al., 2017). We demonstrate that our metrics correlate well with human judgments, at both the sentence-level and system-level. Automatic and manual evaluation also show large improvements over the baseline method of Shen et al. (2017). We hope that our proposed metrics can speed up system development for new textual transfer tasks while also encouraging the community to address our three complementary aspects of transfer quality.
Sensitivity of $\ell_{1}$ minimization to parameter choice
Venue: arXiv cs.IT 2019
Year: 2019

The use of generalized LASSO is a common technique for recovery of structured high-dimensional signals. Each generalized LASSO program has a governing parameter whose optimal value depends on properties of the data. At this optimal value, compressed sensing theory explains why LASSO programs recover structured high-dimensional signals with minimax order-optimal error. Unfortunately in practice, the optimal choice is generally unknown and must be estimated. Thus, we investigate stability of each LASSO program with respect to its governing parameter. Our goal is to aid the practitioner in answering the following question: given real data, which LASSO program should be used? We take a step towards answering this by analyzing the case where the measurement matrix is identity (the so-called proximal denoising setup) and we use $\ell_{1}$ regularization. For each LASSO program, we specify settings in which that program is provably unstable with respect to its governing parameter. We support our analysis with detailed numerical simulations. For example, there are settings where a 0.1% underestimate of a LASSO parameter can increase the error significantly; and a 50% underestimate can cause the error to increase by a factor of $10^{9}$.
A tutorial on the synthesis and validation of a closed-loop wind farm controller using a steady-state surrogate model
Venue: arXiv cs.SY 2019
Year: 2019

In wind farms, wake interaction leads to losses in power capture and accelerated structural degradation when compared to freestanding turbines. One method to reduce wake losses is by misaligning the rotor with the incoming flow using its yaw actuator, thereby laterally deflecting the wake away from downstream turbines. However, this demands an accurate and computationally tractable model of the wind farm dynamics. This problem calls for a closed-loop solution. This tutorial paper fills the scientific gap by demonstrating the full closed-loop controller synthesis cycle using a steady-state surrogate model. Furthermore, a novel, computationally efficient and modular communication interface is presented that enables researchers to straight-forwardly test their control algorithms in large-eddy simulations. High-fidelity simulations of a 9-turbine farm show a power production increase of up to 11% using the proposed closed-loop controller compared to traditional, greedy wind farm operation.
Optimal Output Regulation for Square, Over-Actuated and Under-Actuated Linear Systems
Venue: arXiv cs.SY 2019
Year: 2019

This paper considers two different problems in trajectory tracking control for linear systems. First, if the control is not unique which is most input energy efficient. Second, if exact tracking is infeasible which control performs most accurately. These are typical challenges for over-actuated systems and for under-actuated systems, respectively. We formulate both goals as optimal output regulation problems. Then we contribute two new sets of regulator equations to output regulation theory that provide the desired solutions. A thorough study indicates solvability and uniqueness under weak assumptions. E.g., we can always determine the solution of the classical regulator equations that is most input energy efficient. This is of great value if there are infinitely many solutions. We derive our results by a linear quadratic tracking approach and establish a useful link to output regulation theory.
Investigating IoT Middleware Platforms for Smart Application Development
Venue: arXiv cs.DC 2019
Year: 2019

With the growing number of Internet of Things (IoT) devices, the data generated through these devices is also increasing. By 2030, it is been predicted that the number of IoT devices will exceed the number of human beings on earth. This gives rise to the requirement of middleware platform that can manage IoT devices, intelligently store and process gigantic data generated for building smart applications such as Smart Cities, Smart Healthcare, Smart Industry, and others. At present, market is overwhelming with the number of IoT middleware platforms with specific features. This raises one of the most serious and least discussed challenge for application developer to choose suitable platform for their application development. Across the literature, very little attempt is done in classifying or comparing IoT middleware platforms for the applications. This paper categorizes IoT platforms into four categories namely-publicly traded, open source, developer friendly and end-to-end connectivity. Some of the popular middleware platforms in each category are investigated based on general IoT architecture. Comparison of IoT middleware platforms in each category, based on basic, sensing, communication and application development features is presented. This study can be useful for IoT application developers to select the most appropriate platform according to their application requirement.
Spoken Language Understanding on the Edge
Venue: arXiv cs.CL 2019
Year: 2019

We consider the problem of performing Spoken Language Understanding (SLU) on small devices typical of IoT applications. Our contributions are twofold. First, we outline the design of an embedded, private-by-design SLU system and show that it has performance on par with cloud-based commercial solutions. Second, we release the datasets used in our experiments in the interest of reproducibility and in the hope that they can prove useful to the SLU community.
Learning Cross-Lingual Sentence Representations via a Multi-task Dual-Encoder Model
Venue: arXiv cs.CL 2019
Year: 2019

A significant roadblock in multilingual neural language modeling is the lack of labeled non-English data. One potential method for overcoming this issue is learning cross-lingual text representations that can be used to transfer the performance from training on English tasks to non-English tasks, despite little to no task-specific non-English data. In this paper, we explore a natural setup for learning cross-lingual sentence representations: the dual-encoder. We provide a comprehensive evaluation of our cross-lingual representations on a number of monolingual, cross-lingual, and zero-shot/few-shot learning tasks, and also give an analysis of different learned cross-lingual embedding spaces.
Cooperative Holistic Scene Understanding: Unifying 3D Object, Layout, and Camera Pose Estimation
Venue: arXiv cs.CV 2019
Year: 2019

Holistic 3D indoor scene understanding refers to jointly recovering the i) object bounding boxes, ii) room layout, and iii) camera pose, all in 3D. The existing methods either are ineffective or only tackle the problem partially. In this paper, we propose an end-to-end model that simultaneously solves all three tasks in real-time given only a single RGB image. The essence of the proposed method is to improve the prediction by i) parametrizing the targets (e.g., 3D boxes) instead of directly estimating the targets, and ii) cooperative training across different modules in contrast to training these modules individually. Specifically, we parametrize the 3D object bounding boxes by the predictions from several modules, i.e., 3D camera pose and object attributes. The proposed method provides two major advantages: i) The parametrization helps maintain the consistency between the 2D image and the 3D world, thus largely reducing the prediction variances in 3D coordinates. ii) Constraints can be imposed on the parametrization to train different modules simultaneously. We call these constraints "cooperative losses" as they enable the joint training and inference. We employ three cooperative losses for 3D bounding boxes, 2D projections, and physical constraints to estimate a geometrically consistent and physically plausible 3D scene. Experiments on the SUN RGB-D dataset shows that the proposed method significantly outperforms prior approaches on 3D object detection, 3D layout estimation, 3D camera pose estimation, and holistic scene understanding.
Audio Source Separation Using Variational Autoencoders and Weak Class Supervision
Venue: arXiv cs.SD 2019
Year: 2019

In this paper, we propose a source separation method that is trained by observing the mixtures and the class labels of the sources present in the mixture without any access to isolated sources. Since our method does not require source class labels for every time-frequency bin but only a single label for each source constituting the mixture signal, we call this scenario as weak class supervision. We associate a variational autoencoder (VAE) with each source class within a non-negative (compositional) model. Each VAE provides a prior model to identify the signal from its associated class in a sound mixture. After training the model on mixtures, we obtain a generative model for each source class and demonstrate our method on one-second mixtures of utterances of digits from 0 to 9. We show that the separation performance obtained by source class supervision is as good as the performance obtained by source signal supervision.
A general system of differential equations to model first order adaptive algorithms
Venue: arXiv cs.LG 2019
Year: 2019

First order optimization algorithms play a major role in large scale machine learning. A new class of methods, called adaptive algorithms, were recently introduced to adjust iteratively the learning rate for each coordinate. Despite great practical success in deep learning, their behavior and performance on more general loss functions are not well understood. In this paper, we derive a non-autonomous system of differential equations, which is the continuous time limit of adaptive optimization methods. We prove global well-posedness of the system and we investigate the numerical time convergence of its forward Euler approximation. We study, furthermore, the convergence of its trajectories and give conditions under which the differential system, underlying all adaptive algorithms, is suitable for optimization. We discuss convergence to a critical point in the non-convex case and give conditions for the dynamics to avoid saddle points and local maxima. For convex and deterministic loss function, we introduce a suitable Lyapunov functional which allow us to study its rate of convergence. Several other properties of both the continuous and discrete systems are briefly discussed. The differential system studied in the paper is general enough to encompass many other classical algorithms (such as Heavy ball and Nesterov's accelerated method) and allow us to recover several known results for these algorithms.
Matching Based Two-Timescale Resource Allocation for Cooperative D2D Communication
Venue: arXiv cs.IT 2019
Year: 2019

We consider a cooperative device-to-device (D2D) communication system, where the D2D transmitters (DTs) act as relays to assist cellular users (CUs) in exchange for the opportunities to use the licensed spectrum. To reduce the overhead, we propose a novel two-timescale resource allocation scheme, in which the pairing between CUs and D2D pairs is decided at a long timescale and time allocation factor for CU and D2D pair is determined at a short timescale. Specifically, to characterize the long-term payoff of each potential CU-D2D pair, we investigate the optimal cooperation policy to decide the time allocation factor based on the instantaneous channel state information (CSI). We prove that the optimal policy is a threshold policy. Since CUs and D2D pairs are self-interested, they are paired only when they agree to cooperate mutually. Therefore, to study the behaviors of CUs and D2D pairs, we formulate the pairing problem as a matching game, based on the long-term payoff of each possible pairing. Furthermore, unlike most previous matching model in D2D networks, we allow transfer between CUs and D2D pairs to improve the performance. Besides, we propose an algorithm, which converges to an epsilon-stable matching.