OpenRaiser/Intern-Atlas huggingface dataset:
Attentive Symmetric Autoencoder for Brain MRI Segmentation
Venue: arXiv cs.CV 2022
Year: 2022

Self-supervised learning methods based on image patch reconstruction have witnessed great success in training auto-encoders, whose pre-trained weights can be transferred to fine-tune other downstream tasks of image understanding. However, existing methods seldom study the various importance of reconstructed patches and the symmetry of anatomical structures, when they are applied to 3D medical images. In this paper we propose a novel Attentive Symmetric Auto-encoder (ASA) based on Vision Transformer (ViT) for 3D brain MRI segmentation tasks. We conjecture that forcing the auto-encoder to recover informative image regions can harvest more discriminative representations, than to recover smooth image patches. Then we adopt a gradient based metric to estimate the importance of each image patch. In the pre-training stage, the proposed auto-encoder pays more attention to reconstruct the informative patches according to the gradient metrics. Moreover, we resort to the prior of brain structures and develop a Symmetric Position Encoding (SPE) method to better exploit the correlations between long-range but spatially symmetric regions to obtain effective features. Experimental results show that our proposed attentive symmetric auto-encoder outperforms the state-of-the-art self-supervised learning methods and medical image segmentation models on three brain MRI segmentation benchmarks.
Towards advanced robotic manipulation
Venue: arXiv cs.RO 2022
Year: 2022

Robotic manipulation and control has increased in importance in recent years. However, state of the art techniques still have limitations when required to operate in real world applications. This paper explores Hindsight Experience Replay both in simulated and real environments, highlighting its weaknesses and proposing reinforcement-learning based alternatives based on reward and goal shaping. Additionally, several research questions are identified along with potential research directions that could be explored to tackle those questions.
Gap-ETH-Tight Approximation Schemes for Red-Green-Blue Separation and Bicolored Noncrossing Euclidean Travelling Salesman Tours
Venue: arXiv cs.DS 2022
Year: 2022

In this paper, we study problems of connecting classes of points via noncrossing structures. Given a set of colored terminal points, we want to find a graph for each color that connects all terminals of its color with the restriction that no two graphs cross each other. We consider these problems both on the Euclidean plane and in planar graphs. On the algorithmic side, we give a Gap-ETH-tight EPTAS for the two-colored traveling salesman problem as well as for the red-blue-green separation problem (in which we want to separate terminals of three colors with two noncrossing polygons of minimum length), both on the Euclidean plane. This improves the work of Arora and Chang (ICALP 2003) who gave a slower PTAS for the simpler red-blue separation problem. For the case of unweighted plane graphs, we also show a PTAS for the two-colored traveling salesman problem. All these results are based on our new patching procedure that might be of independent interest. On the negative side, we show that the problem of connecting terminal pairs with noncrossing paths is NP-hard on the Euclidean plane, and that the problem of finding two noncrossing spanning trees is NP-hard in plane graphs.
OPR-Miner: Order-preserving rule mining for time series
Venue: arXiv cs.DB 2022
Year: 2022

Discovering frequent trends in time series is a critical task in data mining. Recently, order-preserving matching was proposed to find all occurrences of a pattern in a time series, where the pattern is a relative order (regarded as a trend) and an occurrence is a sub-time series whose relative order coincides with the pattern. Inspired by the order-preserving matching, the existing order-preserving pattern (OPP) mining algorithm employs order-preserving matching to calculate the support, which leads to low efficiency. To address this deficiency, this paper proposes an algorithm called efficient frequent OPP miner (EFO-Miner) to find all frequent OPPs. EFO-Miner is composed of four parts: a pattern fusion strategy to generate candidate patterns, a matching process for the results of sub-patterns to calculate the support of super-patterns, a screening strategy to dynamically reduce the size of prefix and suffix arrays, and a pruning strategy to further dynamically prune candidate patterns. Moreover, this paper explores the order-preserving rule (OPR) mining and proposes an algorithm called OPR-Miner to discover strong rules from all frequent OPPs using EFO-Miner. Experimental results verify that OPR-Miner gives better performance than other competitive algorithms. More importantly, clustering and classification experiments further validate that OPR-Miner achieves good performance.
Latent Plans for Task-Agnostic Offline Reinforcement Learning
Venue: arXiv cs.RO 2022
Year: 2022

Everyday tasks of long-horizon and comprising a sequence of multiple implicit subtasks still impose a major challenge in offline robot control. While a number of prior methods aimed to address this setting with variants of imitation and offline reinforcement learning, the learned behavior is typically narrow and often struggles to reach configurable long-horizon goals. As both paradigms have complementary strengths and weaknesses, we propose a novel hierarchical approach that combines the strengths of both methods to learn task-agnostic long-horizon policies from high-dimensional camera observations. Concretely, we combine a low-level policy that learns latent skills via imitation learning and a high-level policy learned from offline reinforcement learning for skill-chaining the latent behavior priors. Experiments in various simulated and real robot control tasks show that our formulation enables producing previously unseen combinations of skills to reach temporally extended goals by "stitching" together latent skills through goal chaining with an order-of-magnitude improvement in performance upon state-of-the-art baselines. We even learn one multi-task visuomotor policy for 25 distinct manipulation tasks in the real world which outperforms both imitation learning and offline reinforcement learning techniques.
MMF3: Neural Code Summarization Based on Multi-Modal Fine-Grained Feature Fusion
Venue: arXiv cs.SE 2022
Year: 2022

Background: Code summarization automatically generates the corresponding natural language descriptions according to the input code. Comprehensiveness of code representation is critical to code summarization task. However, most existing approaches typically use coarse-grained fusion methods to integrate multi-modal features. They generally represent different modalities of a piece of code, such as an Abstract Syntax Tree (AST) and a token sequence, as two embeddings and then fuse the two ones at the AST/code levels. Such a coarse integration makes it difficult to learn the correlations between fine-grained code elements across modalities effectively. Aims: This study intends to improve the model's prediction performance for high-quality code summarization by accurately aligning and fully fusing semantic and syntactic structure information of source code at node/token levels. Method: This paper proposes a Multi-Modal Fine-grained Feature Fusion approach (MMF3) for neural code summarization. We introduce a novel fine-grained fusion method, which allows fine-grained fusion of multiple code modalities at the token and node levels. Specifically, we use this method to fuse information from both token and AST modalities and apply the fused features to code summarization. Results: We conduct experiments on one Java and one Python datasets, and evaluate generated summaries using four metrics. The results show that: 1) the performance of our model outperforms the current state-of-the-art models, and 2) the ablation experiments show that our proposed fine-grained fusion method can effectively improve the accuracy of generated summaries. Conclusion: MMF3 can mine the relationships between crossmodal elements and perform accurate fine-grained element-level alignment fusion accordingly. As a result, more clues can be provided to improve the accuracy of the generated code summaries.
MSVIPER: Improved Policy Distillation for Reinforcement-Learning-Based Robot Navigation
Venue: arXiv cs.RO 2022
Year: 2022

We present Multiple Scenario Verifiable Reinforcement Learning via Policy Extraction (MSVIPER), a new method for policy distillation to decision trees for improved robot navigation. MSVIPER learns an "expert" policy using any Reinforcement Learning (RL) technique involving learning a state-action mapping and then uses imitation learning to learn a decision-tree policy from it. We demonstrate that MSVIPER results in efficient decision trees and can accurately mimic the behavior of the expert policy. Moreover, we present efficient policy distillation and tree-modification techniques that take advantage of the decision tree structure to allow improvements to a policy without retraining. We use our approach to improve the performance of RL-based robot navigation algorithms for indoor and outdoor scenes. We demonstrate the benefits in terms of reduced freezing and oscillation behaviors (by up to 95\% reduction) for mobile robots navigating among dynamic obstacles and reduced vibrations and oscillation (by up to 17\%) for outdoor robot navigation on complex, uneven terrains.
TASKED: Transformer-based Adversarial learning for human activity recognition using wearable sensors via Self-KnowledgE Distillation
Venue: arXiv cs.CV 2022
Year: 2022

Wearable sensor-based human activity recognition (HAR) has emerged as a principal research area and is utilized in a variety of applications. Recently, deep learning-based methods have achieved significant improvement in the HAR field with the development of human-computer interaction applications. However, they are limited to operating in a local neighborhood in the process of a standard convolution neural network, and correlations between different sensors on body positions are ignored. In addition, they still face significant challenging problems with performance degradation due to large gaps in the distribution of training and test data, and behavioral differences between subjects. In this work, we propose a novel Transformer-based Adversarial learning framework for human activity recognition using wearable sensors via Self-KnowledgE Distillation (TASKED), that accounts for individual sensor orientations and spatial and temporal features. The proposed method is capable of learning cross-domain embedding feature representations from multiple subjects datasets using adversarial learning and the maximum mean discrepancy (MMD) regularization to align the data distribution over multiple domains. In the proposed method, we adopt the teacher-free self-knowledge distillation to improve the stability of the training procedure and the performance of human activity recognition. Experimental results show that TASKED not only outperforms state-of-the-art methods on the four real-world public HAR datasets (alone or combined) but also improves the subject generalization effectively.
Improving Accuracy and Explainability of Online Handwriting Recognition
Venue: arXiv cs.CV 2022
Year: 2022

Handwriting recognition technology allows recognizing a written text from a given data. The recognition task can target letters, symbols, or words, and the input data can be a digital image or recorded by various sensors. A wide range of applications from signature verification to electronic document processing can be realized by implementing efficient and accurate handwriting recognition algorithms. Over the years, there has been an increasing interest in experimenting with different types of technology to collect handwriting data, create datasets, and develop algorithms to recognize characters and symbols. More recently, the OnHW-chars dataset has been published that contains multivariate time series data of the English alphabet collected using a ballpoint pen fitted with sensors. The authors of OnHW-chars also provided some baseline results through their machine learning (ML) and deep learning (DL) classifiers. In this paper, we develop handwriting recognition models on the OnHW-chars dataset and improve the accuracy of previous models. More specifically, our ML models provide $11.3\%$-$23.56\%$ improvements over the previous ML models, and our optimized DL models with ensemble learning provide $3.08\%$-$7.01\%$ improvements over the previous DL models. In addition to our accuracy improvements over the spectrum, we aim to provide some level of explainability for our models to provide more logic behind chosen methods and why the models make sense for the data type in the dataset. Our results are verifiable and reproducible via the provided public repository.
Operationalizing Machine Learning: An Interview Study
Venue: arXiv cs.SE 2022
Year: 2022

Organizations rely on machine learning engineers (MLEs) to operationalize ML, i.e., deploy and maintain ML pipelines in production. The process of operationalizing ML, or MLOps, consists of a continual loop of (i) data collection and labeling, (ii) experimentation to improve ML performance, (iii) evaluation throughout a multi-staged deployment process, and (iv) monitoring of performance drops in production. When considered together, these responsibilities seem staggering -- how does anyone do MLOps, what are the unaddressed challenges, and what are the implications for tool builders? We conducted semi-structured ethnographic interviews with 18 MLEs working across many applications, including chatbots, autonomous vehicles, and finance. Our interviews expose three variables that govern success for a production ML deployment: Velocity, Validation, and Versioning. We summarize common practices for successful ML experimentation, deployment, and sustaining production performance. Finally, we discuss interviewees' pain points and anti-patterns, with implications for tool design.
SD-Based Low-Complexity Precoder Design for Gaussian MIMO Wiretap Channels
Venue: arXiv cs.IT 2022
Year: 2022

This paper considers a Gaussian multi-input multi-output (MIMO) multiple access wiretap (MAC-WT) channel, where an eavesdropper (Eve) wants to extract the confidential information of all users. Assuming that both the legitimate receiver and Eve jointly decode their interested messages, we aim to maximize the sum secrecy rate of the system by precoder design. Although this problem could be solved by first using the iterative majorization minimization (MM) based algorithm to get a sequence of convex log-determinant optimization subproblems and then using some general tools, e.g., the interior point method, to deal with each subproblem, this strategy involves quite high computational complexity. Therefore, we propose a simultaneous diagonalization based low-complexity (SDLC) method to maximize the secrecy rate of a simple one-user wiretap channel, and then use this method to iteratively optimize the covariance matrix of each user. Simulation results show that in contrast to the existing approaches, the SDLC scheme achieves similar secrecy performance but requires much lower complexity.
A Masked Bounding-Box Selection Based ResNet Predictor for Text Rotation Prediction
Venue: arXiv cs.CV 2022
Year: 2022

The existing Optical Character Recognition (OCR) systems are capable of recognizing images with horizontal texts. However, when the rotation of the texts increases, it becomes harder to recognizing these texts. The performance of the OCR systems decreases. Thus predicting the rotations of the texts and correcting the images are important. Previous work mainly uses traditional Computer Vision methods like Hough Transform and Deep Learning methods like Convolutional Neural Network. However, all of these methods are prone to background noises commonly existing in general images with texts. To tackle this problem, in this work, we introduce a new masked bounding-box selection method, that incorporating the bounding box information into the system. By training a ResNet predictor to focus on the bounding box as the region of interest (ROI), the predictor learns to overlook the background noises. Evaluations on the text rotation prediction tasks show that our method improves the performance by a large margin.
Use Classifier as Generator
Venue: arXiv cs.CV 2022
Year: 2022

Image recognition/classification is a widely studied problem, but its reverse problem, image generation, has drawn much less attention until recently. But the vast majority of current methods for image generation require training/retraining a classifier and/or a generator with certain constraints, which can be hard to achieve. In this paper, we propose a simple approach to directly use a normally trained classifier to generate images. We evaluate our method on MNIST and show that it produces recognizable results for human eyes with limited quality with experiments.
Non-Imaging Medical Data Synthesis for Trustworthy AI: A Comprehensive Survey
Venue: arXiv cs.LG 2022
Year: 2022

Data quality is the key factor for the development of trustworthy AI in healthcare. A large volume of curated datasets with controlled confounding factors can help improve the accuracy, robustness and privacy of downstream AI algorithms. However, access to good quality datasets is limited by the technical difficulty of data acquisition and large-scale sharing of healthcare data is hindered by strict ethical restrictions. Data synthesis algorithms, which generate data with a similar distribution as real clinical data, can serve as a potential solution to address the scarcity of good quality data during the development of trustworthy AI. However, state-of-the-art data synthesis algorithms, especially deep learning algorithms, focus more on imaging data while neglecting the synthesis of non-imaging healthcare data, including clinical measurements, medical signals and waveforms, and electronic healthcare records (EHRs). Thus, in this paper, we will review the synthesis algorithms, particularly for non-imaging medical data, with the aim of providing trustworthy AI in this domain. This tutorial-styled review paper will provide comprehensive descriptions of non-imaging medical data synthesis on aspects including algorithms, evaluations, limitations and future research directions.
Distributed Semi-supervised Fuzzy Regression with Interpolation Consistency Regularization
Venue: arXiv cs.LG 2022
Year: 2022

Recently, distributed semi-supervised learning (DSSL) algorithms have shown their effectiveness in leveraging unlabeled samples over interconnected networks, where agents cannot share their original data with each other and can only communicate non-sensitive information with their neighbors. However, existing DSSL algorithms cannot cope with data uncertainties and may suffer from high computation and communication overhead problems. To handle these issues, we propose a distributed semi-supervised fuzzy regression (DSFR) model with fuzzy if-then rules and interpolation consistency regularization (ICR). The ICR, which was proposed recently for semi-supervised problem, can force decision boundaries to pass through sparse data areas, thus increasing model robustness. However, its application in distributed scenarios has not been considered yet. In this work, we proposed a distributed Fuzzy C-means (DFCM) method and a distributed interpolation consistency regularization (DICR) built on the well-known alternating direction method of multipliers to respectively locate parameters in antecedent and consequent components of DSFR. Notably, the DSFR model converges very fast since it does not involve back-propagation procedure and is scalable to large-scale datasets benefiting from the utilization of DFCM and DICR. Experiments results on both artificial and real-world datasets show that the proposed DSFR model can achieve much better performance than the state-of-the-art DSSL algorithm in terms of both loss value and computational cost.
Collaborative Human-Robot Exploration via Implicit Coordination
Venue: arXiv cs.RO 2022
Year: 2022

This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the robotic team. Few works consider how to embed the human partner alongside robots to provide guidance in the field. A remaining challenge for collaborative human-robot exploration is efficient communication of goals from the human to the robot. In this paper we develop a methodology that implicitly communicates a region of interest from a helmet-mounted depth camera on the human's head to the robot and an information gain-based exploration objective that biases motion planning within the viewpoint provided by the human. The result is an aerial system that safely accesses regions of interest that may not be immediately viewable or reachable by the human. The approach is evaluated in simulation and with hardware experiments in a motion capture arena. Videos of the simulation and hardware experiments are available at: https://youtu.be/7jgkBpVFIoE.
The Ability of Image-Language Explainable Models to Resemble Domain Expertise
Venue: arXiv cs.LG 2022
Year: 2022

Recent advances in vision and language (V+L) models have a promising impact in the healthcare field. However, such models struggle to explain how and why a particular decision was made. In addition, model transparency and involvement of domain expertise are critical success factors for machine learning models to make an entrance into the field. In this work, we study the use of the local surrogate explainability technique to overcome the problem of black-box deep learning models. We explore the feasibility of resembling domain expertise using the local surrogates in combination with an underlying V+L to generate multi-modal visual and language explanations. We demonstrate that such explanations can serve as helpful feedback in guiding model training for data scientists and machine learning engineers in the field.
Activity report analysis with automatic single or multispan answer extraction
Venue: arXiv cs.CL 2022
Year: 2022

In the era of loT (Internet of Things) we are surrounded by a plethora of Al enabled devices that can transcribe images, video, audio, and sensors signals into text descriptions. When such transcriptions are captured in activity reports for monitoring, life logging and anomaly detection applications, a user would typically request a summary or ask targeted questions about certain sections of the report they are interested in. Depending on the context and the type of question asked, a question answering (QA) system would need to automatically determine whether the answer covers single-span or multi-span text components. Currently available QA datasets primarily focus on single span responses only (such as SQuAD[4]) or contain a low proportion of examples with multiple span answers (such as DROP[3]). To investigate automatic selection of single/multi-span answers in the use case described, we created a new smart home environment dataset comprised of questions paired with single-span or multi-span answers depending on the question and context queried. In addition, we propose a RoBERTa[6]-based multiple span extraction question answering (MSEQA) model returning the appropriate answer span for a given question. Our experiments show that the proposed model outperforms state-of-the-art QA models on our dataset while providing comparable performance on published individual single/multi-span task datasets.