OpenRaiser/Intern-Atlas huggingface dataset:
Towards One-Dollar Robots: An Integrated Design and Fabrication Strategy for Electromechanical Systems
Venue: arXiv cs.RO 2020
Year: 2020

To improve the accessibility of robotics, we propose a design and fabrication strategy to build low-cost electromechanical systems for robotic devices. Our method, based on origami-inspired cut-and-fold and E-textiles techniques, aims at minimizing the resources for robot creation. Specifically, we explore techniques to create robots with the resources restricted to single-layer sheets (e.g. polyester film) and conductive sewing threads. To demonstrate our strategy's feasibility, these techniques are successfully integrated into an electromechanical oscillator (about 0.40 USD), which can generate electrical oscillation under constant-current power and potentially be used as a simple robot controller in lieu of additional external electronics.
CenterFusion: Center-based Radar and Camera Fusion for 3D Object Detection
Venue: arXiv cs.CV 2020
Year: 2020

The perception system in autonomous vehicles is responsible for detecting and tracking the surrounding objects. This is usually done by taking advantage of several sensing modalities to increase robustness and accuracy, which makes sensor fusion a crucial part of the perception system. In this paper, we focus on the problem of radar and camera sensor fusion and propose a middle-fusion approach to exploit both radar and camera data for 3D object detection. Our approach, called CenterFusion, first uses a center point detection network to detect objects by identifying their center points on the image. It then solves the key data association problem using a novel frustum-based method to associate the radar detections to their corresponding object's center point. The associated radar detections are used to generate radar-based feature maps to complement the image features, and regress to object properties such as depth, rotation and velocity. We evaluate CenterFusion on the challenging nuScenes dataset, where it improves the overall nuScenes Detection Score (NDS) of the state-of-the-art camera-based algorithm by more than 12%. We further show that CenterFusion significantly improves the velocity estimation accuracy without using any additional temporal information. The code is available at https://github.com/mrnabati/CenterFusion .
Simultaneous Speech-to-Speech Translation System with Neural Incremental ASR, MT, and TTS
Venue: arXiv cs.CL 2020
Year: 2020

This paper presents a newly developed, simultaneous neural speech-to-speech translation system and its evaluation. The system consists of three fully-incremental neural processing modules for automatic speech recognition (ASR), machine translation (MT), and text-to-speech synthesis (TTS). We investigated its overall latency in the system's Ear-Voice Span and speaking latency along with module-level performance.
STCNet: Spatio-Temporal Cross Network for Industrial Smoke Detection
Venue: arXiv cs.CV 2020
Year: 2020

Industrial smoke emissions present a serious threat to natural ecosystems and human health. Prior works have shown that using computer vision techniques to identify smoke is a low cost and convenient method. However, industrial smoke detection is a challenging task because industrial emission particles are often decay rapidly outside the stacks or facilities and steam is very similar to smoke. To overcome these problems, a novel Spatio-Temporal Cross Network (STCNet) is proposed to recognize industrial smoke emissions. The proposed STCNet involves a spatial pathway to extract texture features and a temporal pathway to capture smoke motion information. We assume that spatial and temporal pathway could guide each other. For example, the spatial path can easily recognize the obvious interference such as trees and buildings, and the temporal path can highlight the obscure traces of smoke movement. If the two pathways could guide each other, it will be helpful for the smoke detection performance. In addition, we design an efficient and concise spatio-temporal dual pyramid architecture to ensure better fusion of multi-scale spatiotemporal information. Finally, extensive experiments on public dataset show that our STCNet achieves clear improvements on the challenging RISE industrial smoke detection dataset against the best competitors by 6.2%. The code will be available at: https://github.com/Caoyichao/STCNet.
Natural Language Inference in Context -- Investigating Contextual Reasoning over Long Texts
Venue: arXiv cs.CL 2020
Year: 2020

Natural language inference (NLI) is a fundamental NLP task, investigating the entailment relationship between two texts. Popular NLI datasets present the task at sentence-level. While adequate for testing semantic representations, they fall short for testing contextual reasoning over long texts, which is a natural part of the human inference process. We introduce ConTRoL, a new dataset for ConTextual Reasoning over Long texts. Consisting of 8,325 expert-designed "context-hypothesis" pairs with gold labels, ConTRoL is a passage-level NLI dataset with a focus on complex contextual reasoning types such as logical reasoning. It is derived from competitive selection and recruitment test (verbal reasoning test) for police recruitment, with expert level quality. Compared with previous NLI benchmarks, the materials in ConTRoL are much more challenging, involving a range of reasoning types. Empirical results show that state-of-the-art language models perform by far worse than educated humans. Our dataset can also serve as a testing-set for downstream tasks like Checking Factual Correctness of Summaries.
Data Flow Refinement Type Inference
Venue: arXiv cs.PL 2020
Year: 2020

Refinement types enable lightweight verification of functional programs. Algorithms for statically inferring refinement types typically work by reduction to solving systems of constrained Horn clauses extracted from typing derivations. An example is Liquid type inference, which solves the extracted constraints using predicate abstraction. However, the reduction to constraint solving in itself already signifies an abstraction of the program semantics that affects the precision of the overall static analysis. To better understand this issue, we study the type inference problem in its entirety through the lens of abstract interpretation. We propose a new refinement type system that is parametric with the choice of the abstract domain of type refinements as well as the degree to which it tracks context-sensitive control flow information. We then derive an accompanying parametric inference algorithm as an abstract interpretation of a novel data flow semantics of functional programs. We further show that the type system is sound and complete with respect to the constructed abstract semantics. Our theoretical development reveals the key abstraction steps inherent in refinement type inference algorithms. The trade-off between precision and efficiency of these abstraction steps is controlled by the parameters of the type system. Existing refinement type systems and their respective inference algorithms, such as Liquid types, are captured by concrete parameter instantiations. We have implemented our framework in a prototype tool and evaluated it for a range of new parameter instantiations (e.g., using octagons and polyhedra for expressing type refinements). The tool compares favorably against other existing tools. Our evaluation indicates that our approach can be used to systematically construct new refinement type inference algorithms that are both robust and precise.
Determining Question-Answer Plausibility in Crowdsourced Datasets Using Multi-Task Learning
Venue: arXiv cs.CL 2020
Year: 2020

Datasets extracted from social networks and online forums are often prone to the pitfalls of natural language, namely the presence of unstructured and noisy data. In this work, we seek to enable the collection of high-quality question-answer datasets from social media by proposing a novel task for automated quality analysis and data cleaning: question-answer (QA) plausibility. Given a machine or user-generated question and a crowd-sourced response from a social media user, we determine if the question and response are valid; if so, we identify the answer within the free-form response. We design BERT-based models to perform the QA plausibility task, and we evaluate the ability of our models to generate a clean, usable question-answer dataset. Our highest-performing approach consists of a single-task model which determines the plausibility of the question, followed by a multi-task model which evaluates the plausibility of the response as well as extracts answers (Question Plausibility AUROC=0.75, Response Plausibility AUROC=0.78, Answer Extraction F1=0.665).
Resource Allocation in One-dimensional Distributed Service Networks with Applications
Venue: arXiv cs.PF 2020
Year: 2020

We consider assignment policies that allocate resources to users, where both resources and users are located on a one-dimensional line. First, we consider unidirectional assignment policies that allocate resources only to users located to their left. We propose the Move to Right (MTR) policy, which scans from left to right assigning nearest rightmost available resource to a user, and contrast it to the Unidirectional Gale-Shapley (UGS) matching policy. While both policies among all unidirectional policies, minimize the expected distance traveled by a request (request distance), MTR is fairer. Moreover, we show that when user and resource locations are modeled by statistical point processes, and resources are allowed to satisfy more than one user, the spatial system under unidirectional policies can be mapped into bulk service queueing systems, thus allowing the application of many queueing theory results that yield closed form expressions. As we consider a case where different resources can satisfy different numbers of users, we also generate new results for bulk service queues. We also consider bidirectional policies where there are no directional restrictions on resource allocation and develop an algorithm for computing the optimal assignment which is more efficient than known algorithms in the literature when there are more resources than users. Numerical evaluation of performance of unidirectional and bidirectional allocation schemes yields design guidelines beneficial for resource placement. \np{Finally, we present a heuristic algorithm, which leverages the optimal dynamic programming scheme for one-dimensional inputs to obtain approximate solutions to the optimal assignment problem for the two-dimensional scenario and empirically yields request distances within a constant factor of the optimal solution.
Characterization and Automatic Update of Deprecated Machine-Learning API Usages
Venue: arXiv cs.SE 2020
Year: 2020

Due to the rise of AI applications, machine learning libraries have become far more accessible, with Python being the most common programming language to write them. Machine learning libraries tend to be updated periodically, which may deprecate existing APIs, making it necessary for developers to update their usages. However, updating usages of deprecated APIs are typically not a priority for developers, leading to widespread usages of deprecated APIs which expose library users to vulnerability issues. In this paper, we built a tool to automate these updates. We first conducted an empirical study to seek a better understanding on how updates of deprecated machine-learning API usages in Python can be done. The study involved a dataset of 112 deprecated APIs from Scikit-Learn, TensorFlow, and PyTorch. We found dimensions of deprecated API migration related to its update operation (i.e., the required operation to perform the migration), API mapping (i.e., the number of deprecated and its corresponding updated APIs),and context dependency (i.e., whether we need to consider surrounding contexts when performing the migration). Guided by the findings on our empirical study, we created MLCatchUp, a tool to automate the update of Python deprecated API usage that automatically infers the API migration transformation through comparison of the deprecated and updated API signatures. These transformations are expressed in a Domain Specific Language (DSL). We evaluated MLCatchUp using test dataset containing 258 files with 514 API usages that we collected from public GitHub repositories. In this evaluation, MLCatchUp achieves a precision of 86.19%. We further improve the precision of MLCatchUp by adding a feature that allows it to accept additional user input to specify the transformation constraints in the DSL for context-dependent API migration, where MLCatchUp achieves a precision of 93.58%.
Unsupervised Contrastive Photo-to-Caricature Translation based on Auto-distortion
Venue: arXiv cs.CV 2020
Year: 2020

Photo-to-caricature translation aims to synthesize the caricature as a rendered image exaggerating the features through sketching, pencil strokes, or other artistic drawings. Style rendering and geometry deformation are the most important aspects in photo-to-caricature translation task. To take both into consideration, we propose an unsupervised contrastive photo-to-caricature translation architecture. Considering the intuitive artifacts in the existing methods, we propose a contrastive style loss for style rendering to enforce the similarity between the style of rendered photo and the caricature, and simultaneously enhance its discrepancy to the photos. To obtain an exaggerating deformation in an unpaired/unsupervised fashion, we propose a Distortion Prediction Module (DPM) to predict a set of displacements vectors for each input image while fixing some controlling points, followed by the thin plate spline interpolation for warping. The model is trained on unpaired photo and caricature while can offer bidirectional synthesizing via inputting either a photo or a caricature. Extensive experiments demonstrate that the proposed model is effective to generate hand-drawn like caricatures compared with existing competitors.
Optimal Locally Repairable Codes: An Improved Bound and Constructions
Venue: arXiv cs.IT 2020
Year: 2020

We study the Singleton-type bound that provides an upper limit on the minimum distance of locally repairable codes. We present an improved bound by carefully analyzing the combinatorial structure of the repair sets. Thus, we show the previous bound is unachievable for certain parameters. We then also provide explicit constructions of optimal codes that show that for certain parameters the new bound is sharp. Additionally, as a byproduct, some previously known codes are shown to attain the new bound and are thus proved to be optimal.
Untangling Dense Knots by Learning Task-Relevant Keypoints
Venue: arXiv cs.RO 2020
Year: 2020

Untangling ropes, wires, and cables is a challenging task for robots due to the high-dimensional configuration space, visual homogeneity, self-occlusions, and complex dynamics. We consider dense (tight) knots that lack space between self-intersections and present an iterative approach that uses learned geometric structure in configurations. We instantiate this into an algorithm, HULK: Hierarchical Untangling from Learned Keypoints, which combines learning-based perception with a geometric planner into a policy that guides a bilateral robot to untangle knots. To evaluate the policy, we perform experiments both in a novel simulation environment modelling cables with varied knot types and textures and in a physical system using the da Vinci surgical robot. We find that HULK is able to untangle cables with dense figure-eight and overhand knots and generalize to varied textures and appearances. We compare two variants of HULK to three baselines and observe that HULK achieves 43.3% higher success rates on a physical system compared to the next best baseline. HULK successfully untangles a cable from a dense initial configuration containing up to two overhand and figure-eight knots in 97.9% of 378 simulation experiments with an average of 12.1 actions per trial. In physical experiments, HULK achieves 61.7% untangling success, averaging 8.48 actions per trial. Supplementary material, code, and videos can be found at https://tinyurl.com/y3a88ycu.
Neural Latent Dependency Model for Sequence Labeling
Venue: arXiv cs.LG 2020
Year: 2020

Sequence labeling is a fundamental problem in machine learning, natural language processing and many other fields. A classic approach to sequence labeling is linear chain conditional random fields (CRFs). When combined with neural network encoders, they achieve very good performance in many sequence labeling tasks. One limitation of linear chain CRFs is their inability to model long-range dependencies between labels. High order CRFs extend linear chain CRFs by modeling dependencies no longer than their order, but the computational complexity grows exponentially in the order. In this paper, we propose the Neural Latent Dependency Model (NLDM) that models dependencies of arbitrary length between labels with a latent tree structure. We develop an end-to-end training algorithm and a polynomial-time inference algorithm of our model. We evaluate our model on both synthetic and real datasets and show that our model outperforms strong baselines.
On the Downlink Performance of RSMA-based UAV Communications
Venue: arXiv cs.IT 2020
Year: 2020

The use of unmanned aerial vehicles (UAVs) as base stations (BSs) is envisaged as a key enabler for the fifth generation (5G) and beyond-5G networks. Specifically, aerial base stations (UAV-BS) are expected to provide ubiquitous connectivity and high spectral efficiency. To this end, we present in this correspondence an in-depth look into the integration of rate-splitting multiple access (RSMA) with UAV-BSs and downlink transmissions. A non-convex problem of joint UAV placement, RSMA precoding, and rate splitting, aiming to maximize the weighted sum data rate of users is formulated. Due to its complexity, two sub-problems are investigated, namely the UAV placement and RSMA parameters optimization. The resulting solutions are then combined to propose a novel alternating optimization method. Simulation results illustrate the latter's efficiency compared to baseline approaches.
OnionBot: A System for Collaborative Computational Cooking
Venue: arXiv cs.HC 2020
Year: 2020

An unsolved challenge in cooking automation is designing for shared kitchen workspaces. In particular, robots struggle with dexterity in the unstructured and dynamic kitchen environment. We propose that human-machine collaboration can be achieved without robotic manipulation. We describe a novel system design using computer vision to inform intelligent cooking interventions. This human-centered approach does not require actuators and promotes dynamic, natural collaboration. We show that automation that assists user-led actions can offer meaningful cooking assistance and can generate the image databases needed for fully autonomous robotic systems of the future. We provide an open source implementation of our work and encourage the research community to build upon it.
Federated Learning via Intelligent Reflecting Surface
Venue: arXiv cs.IT 2020
Year: 2020

Over-the-air computation (AirComp) based federated learning (FL) is capable of achieving fast model aggregation by exploiting the waveform superposition property of multiple access channels. However, the model aggregation performance is severely limited by the unfavorable wireless propagation channels. In this paper, we propose to leverage intelligent reflecting surface (IRS) to achieve fast yet reliable model aggregation for AirComp-based FL. To optimize the learning performance, we formulate an optimization problem that jointly optimizes the device selection, the aggregation beamformer at the base station (BS), and the phase shifts at the IRS to maximize the number of devices participating in the model aggregation of each communication round under certain mean-squared-error (MSE) requirements. To tackle the formulated highly-intractable problem, we propose a two-step optimization framework. Specifically, we induce the sparsity of device selection in the first step, followed by solving a series of MSE minimization problems to find the maximum feasible device set in the second step. We then propose an alternating optimization framework, supported by the difference-of-convex-functions programming algorithm for low-rank optimization, to efficiently design the aggregation beamformers at the BS and phase shifts at the IRS. Simulation results will demonstrate that our proposed algorithm and the deployment of an IRS can achieve a lower training loss and higher FL prediction accuracy than the baseline algorithms.
Decoupled Appearance and Motion Learning for Efficient Anomaly Detection in Surveillance Video
Venue: arXiv cs.CV 2020
Year: 2020

Automating the analysis of surveillance video footage is of great interest when urban environments or industrial sites are monitored by a large number of cameras. As anomalies are often context-specific, it is hard to predefine events of interest and collect labelled training data. A purely unsupervised approach for automated anomaly detection is much more suitable. For every camera, a separate algorithm could then be deployed that learns over time a baseline model of appearance and motion related features of the objects within the camera viewport. Anything that deviates from this baseline is flagged as an anomaly for further analysis downstream. We propose a new neural network architecture that learns the normal behavior in a purely unsupervised fashion. In contrast to previous work, we use latent code predictions as our anomaly metric. We show that this outperforms reconstruction-based and frame prediction-based methods on different benchmark datasets both in terms of accuracy and robustness against changing lighting and weather conditions. By decoupling an appearance and a motion model, our model can also process 16 to 45 times more frames per second than related approaches which makes our model suitable for deploying on the camera itself or on other edge devices.
Network Impacts of Automated Mobility-on-Demand: A Macroscopic Fundamental Diagram Perspective
Venue: arXiv cs.CY 2020
Year: 2020

Technological advancements have brought increasing attention to Automated Mobility on Demand (AMOD) as a promising solution that may improve future urban mobility. During the last decade, extensive research has been conducted on the design and evaluation of AMOD systems using simulation models. This paper adds to this growing body of literature by investigating the network impacts of AMOD through high-fidelity activity- and agent-based traffic simulation, including detailed models of AMOD fleet operations. Through scenario simulations of the entire island of Singapore, we explore network traffic dynamics by employing the concept of the Macroscopic Fundamental Diagram (MFD). Taking into account the spatial variability of density, we are able to capture the hysteresis loops, which inevitably form in a network of this size. Model estimation results at both the vehicle and passenger flow level are documented. Environmental impacts including energy and emissions are also discussed. Findings from the case study of Singapore suggest that the introduction of AMOD may bring about significant impacts on network performance in terms of increased VKT, additional travel delay and energy consumption, while reducing vehicle emissions, with respect to the baseline. Despite the increase in network congestion, production of passenger flows remains relatively unchanged.