OpenRaiser/Intern-Atlas huggingface dataset:
Implicit Shape Completion via Adversarial Shape Priors
Venue: arXiv cs.CV 2022
Year: 2022

We present a novel neural implicit shape method for partial point cloud completion. To that end, we combine a conditional Deep-SDF architecture with learned, adversarial shape priors. More specifically, our network converts partial inputs into a global latent code and then recovers the full geometry via an implicit, signed distance generator. Additionally, we train a PointNet++ discriminator that impels the generator to produce plausible, globally consistent reconstructions. In that way, we effectively decouple the challenges of predicting shapes that are both realistic, i.e. imitate the training set's pose distribution, and accurate in the sense that they replicate the partial input observations. In our experiments, we demonstrate state-of-the-art performance for completing partial shapes, considering both man-made objects (e.g. airplanes, chairs, ...) and deformable shape categories (human bodies). Finally, we show that our adversarial training approach leads to visually plausible reconstructions that are highly consistent in recovering missing parts of a given object.
Resilient robot teams: a review integrating decentralised control, change-detection, and learning
Venue: arXiv cs.RO 2022
Year: 2022

Purpose of review: This paper reviews opportunities and challenges for decentralised control, change-detection, and learning in the context of resilient robot teams. Recent findings: Exogenous fault detection methods can provide a generic detection or a specific diagnosis with a recovery solution. Robot teams can perform active and distributed sensing for detecting changes in the environment, including identifying and tracking dynamic anomalies, as well as collaboratively mapping dynamic environments. Resilient methods for decentralised control have been developed in learning perception-action-communication loops, multi-agent reinforcement learning, embodied evolution, offline evolution with online adaptation, explicit task allocation, and stigmergy in swarm robotics. Summary: Remaining challenges for resilient robot teams are integrating change-detection and trial-and-error learning methods, obtaining reliable performance evaluations under constrained evaluation time, improving the safety of resilient robot teams, theoretical results demonstrating rapid adaptation to given environmental perturbations, and designing realistic and compelling case studies.
Viko 2.0: A Hierarchical Gecko-inspired Adhesive Gripper with Visuotactile Sensor
Venue: arXiv cs.RO 2022
Year: 2022

Robotic grippers with visuotactile sensors have access to rich tactile information for grasping tasks but encounter difficulty in partially encompassing large objects with sufficient grip force. While hierarchical gecko-inspired adhesives are a potential technique for bridging performance gaps, they require a large contact area for efficient usage. In this work, we present a new version of an adaptive gecko gripper called Viko 2.0 that effectively combines the advantage of adhesives and visuotactile sensors. Compared with a non-hierarchical structure, a hierarchical structure with a multimaterial design achieves approximately a 1.5 times increase in normal adhesion and double in contact area. The integrated visuotactile sensor captures a deformation image of the hierarchical structure and provides a real-time measurement of contact area, shear force, and incipient slip detection at 24 Hz. The gripper is implemented on a robotic arm to demonstrate an adaptive grasping pose based on contact area, and grasps objects with a wide range of geometries and textures.
Content negotiation on the Web: State of the art
Venue: arXiv cs.IR 2022
Year: 2022

The openness and accessibility of the Web has contributed greatly to its worldwide adoption. Uniform Resource Identifiers (URIs) are used for resource identification on the Web. A resource on the Web can be described in many ways, which makes it difficult for a user to find an adequate representation. This situation has motivated fruitful research on content negotiation to satisfy user requirements efficiently and effectively. We focus on the important topic of content negotiation, and our goal is to present the first comprehensive state of the art. Our contributions include (1) identifying the characteristics of content negotiation scenarios (styles, dimensions, and means of conveying constraints), (2) comparing and classifying existing contributions, (3) identifying use cases that the current state of content negotiation struggles to address, (4) suggesting research directions for future work. The results of the state of the art show that the problem of content negotiation is relevant and far from being solved.
A case for using rotation invariant features in state of the art feature matchers
Venue: arXiv cs.CV 2022
Year: 2022

The aim of this paper is to demonstrate that a state of the art feature matcher (LoFTR) can be made more robust to rotations by simply replacing the backbone CNN with a steerable CNN which is equivariant to translations and image rotations. It is experimentally shown that this boost is obtained without reducing performance on ordinary illumination and viewpoint matching sequences.
IIITDWD-ShankarB@ Dravidian-CodeMixi-HASOC2021: mBERT based model for identification of offensive content in south Indian languages
Venue: arXiv cs.CL 2022
Year: 2022

In recent years, there has been a lot of focus on offensive content. The amount of offensive content generated by social media is increasing at an alarming rate. This created a greater need to address this issue than ever before. To address these issues, the organizers of "Dravidian-Code Mixed HASOC-2020" have created two challenges. Task 1 involves identifying offensive content in Malayalam data, whereas Task 2 includes Malayalam and Tamil Code Mixed Sentences. Our team participated in Task 2. In our suggested model, we experiment with multilingual BERT to extract features, and three different classifiers are used on extracted features. Our model received a weighted F1 score of 0.70 for Malayalam data and was ranked fifth; we also received a weighted F1 score of 0.573 for Tamil Code Mixed data and were ranked eleventh.
Unsupervised Numerical Reasoning to Extract Phenotypes from Clinical Text by Leveraging External Knowledge
Venue: arXiv cs.CL 2022
Year: 2022

Extracting phenotypes from clinical text has been shown to be useful for a variety of clinical use cases such as identifying patients with rare diseases. However, reasoning with numerical values remains challenging for phenotyping in clinical text, for example, temperature 102F representing Fever. Current state-of-the-art phenotyping models are able to detect general phenotypes, but perform poorly when they detect phenotypes requiring numerical reasoning. We present a novel unsupervised methodology leveraging external knowledge and contextualized word embeddings from ClinicalBERT for numerical reasoning in a variety of phenotypic contexts. Comparing against unsupervised benchmarks, it shows a substantial performance improvement with absolute gains on generalized Recall and F1 scores up to 79% and 71%, respectively. In the supervised setting, it also surpasses the performance of alternative approaches with absolute gains on generalized Recall and F1 scores up to 70% and 44%, respectively.
SpaceE: Knowledge Graph Embedding by Relational Linear Transformation in the Entity Space
Venue: arXiv cs.CL 2022
Year: 2022

Translation distance based knowledge graph embedding (KGE) methods, such as TransE and RotatE, model the relation in knowledge graphs as translation or rotation in the vector space. Both translation and rotation are injective; that is, the translation or rotation of different vectors results in different results. In knowledge graphs, different entities may have a relation with the same entity; for example, many actors starred in one movie. Such a non-injective relation pattern cannot be well modeled by the translation or rotation operations in existing translation distance based KGE methods. To tackle the challenge, we propose a translation distance-based KGE method called SpaceE to model relations as linear transformations. The proposed SpaceE embeds both entities and relations in knowledge graphs as matrices and SpaceE naturally models non-injective relations with singular linear transformations. We theoretically demonstrate that SpaceE is a fully expressive model with the ability to infer multiple desired relation patterns, including symmetry, skew-symmetry, inversion, Abelian composition, and non-Abelian composition. Experimental results on link prediction datasets illustrate that SpaceE substantially outperforms many previous translation distance based knowledge graph embedding methods, especially on datasets with many non-injective relations. The code is available based on the PaddlePaddle deep learning platform https://www.paddlepaddle.org.cn.
DooDLeNet: Double DeepLab Enhanced Feature Fusion for Thermal-color Semantic Segmentation
Venue: arXiv cs.LG 2022
Year: 2022

In this paper we present a new approach for feature fusion between RGB and LWIR Thermal images for the task of semantic segmentation for driving perception. We propose DooDLeNet, a double DeepLab architecture with specialized encoder-decoders for thermal and color modalities and a shared decoder for final segmentation. We combine two strategies for feature fusion: confidence weighting and correlation weighting. We report state-of-the-art mean IoU results on the MF dataset.
Cellular Topology Optimization on Differentiable Voronoi Diagrams
Venue: arXiv cs.GR 2022
Year: 2022

Cellular structures manifest their outstanding mechanical properties in many biological systems. One key challenge for designing and optimizing these geometrically complicated structures lies in devising an effective geometric representation to characterize the system's spatially varying cellular evolution driven by objective sensitivities. A conventional discrete cellular structure, e.g., a Voronoi diagram, whose representation relies on discrete Voronoi cells and faces, lacks its differentiability to facilitate large-scale, gradient-based topology optimizations. We propose a topology optimization algorithm based on a differentiable and generalized Voronoi representation that can evolve the cellular structure as a continuous field. The central piece of our method is a hybrid particle-grid representation to encode the previously discrete Voronoi diagram into a continuous density field defined in a Euclidean space. Based on this differentiable representation, we further extend it to tackle anisotropic cells, free boundaries, and functionally-graded cellular structures. Our differentiable Voronoi diagram enables the integration of an effective cellular representation into the state-of-the-art topology optimization pipelines, which defines a novel design space for cellular structures to explore design options effectively that were impractical for previous approaches. We showcase the efficacy of our approach by optimizing cellular structures with up to thousands of anisotropic cells, including femur bone and Odonata wing.
Adversarial Contrastive Learning by Permuting Cluster Assignments
Venue: arXiv cs.LG 2022
Year: 2022

Contrastive learning has gained popularity as an effective self-supervised representation learning technique. Several research directions improve traditional contrastive approaches, e.g., prototypical contrastive methods better capture the semantic similarity among instances and reduce the computational burden by considering cluster prototypes or cluster assignments, while adversarial instance-wise contrastive methods improve robustness against a variety of attacks. To the best of our knowledge, no prior work jointly considers robustness, cluster-wise semantic similarity and computational efficiency. In this work, we propose SwARo, an adversarial contrastive framework that incorporates cluster assignment permutations to generate representative adversarial samples. We evaluate SwARo on multiple benchmark datasets and against various white-box and black-box attacks, obtaining consistent improvements over state-of-the-art baselines.
Passport: Improving Automated Formal Verification Using Identifiers
Venue: arXiv cs.PL 2022
Year: 2022

Formally verifying system properties is one of the most effective ways of improving system quality, but its high manual effort requirements often render it prohibitively expensive. Tools that automate formal verification, by learning from proof corpora to suggest proofs, have just begun to show their promise. These tools are effective because of the richness of the data the proof corpora contain. This richness comes from the stylistic conventions followed by communities of proof developers, together with the logical systems beneath proof assistants. However, this richness remains underexploited, with most work thus far focusing on architecture rather than making the most of the proof data. In this paper, we develop Passport, a fully-automated proof-synthesis tool that systematically explores how to most effectively exploit one aspect of that proof data: identifiers. Passport enriches a predictive Coq model with three new encoding mechanisms for identifiers: category vocabulary indexing, subword sequence modeling, and path elaboration. We compare Passport to three existing base tools which Passport can enhance: ASTactic, Tac, and Tok. In head-to-head comparisons, Passport automatically proves 29% more theorems than the best-performing of these base tools. Combining the three Passport-enhanced tools automatically proves 38% more theorems than the three base tools together, without Passport's enhancements. Finally, together, these base tools and Passport-enhanced tools prove 45% more theorems than the combined base tools without Passport's enhancements. Overall, our findings suggest that modeling identifiers can play a significant role in improving proof synthesis, leading to higher-quality software.
Interpolation of Missing Swaption Volatility Data using Gibbs Sampling on Variational Autoencoders
Venue: arXiv cs.LG 2022
Year: 2022

Albeit of crucial interest for both financial practitioners and researchers, market-implied volatility data of European swaptions often exhibit large portions of missing quotes due to illiquidity of the various underlying swaption instruments. In this case, standard stochastic interpolation tools like the common SABR model often cannot be calibrated to observed implied volatility smiles, due to data being only available for the at-the-money quote of the respective underlying swaption. Here, we propose to infer the geometry of the full unknown implied volatility cube by learning stochastic latent representations of implied volatility cubes via variational autoencoders, enabling inference about the missing volatility data conditional on the observed data by an approximate Gibbs sampling approach. Imputed estimates of missing quotes can afterwards be used to fit a standard stochastic volatility model. Since training data for the employed variational autoencoder model is usually sparsely available, we test the robustness of the approach for a model trained on synthetic data on real market quotes and we show that SABR interpolated volatilites calibrated to reconstructed volatility cubes with artificially imputed missing values differ by not much more than two basis points compared to SABR fits calibrated to the complete cube. Moreover, we show how the imputation can be used to successfully set up delta-neutral portfolios for hedging purposes.
Decomposition Without Regret
Venue: arXiv cs.PL 2022
Year: 2022

Programming languages are embracing both functional and object-oriented paradigms. A key difference between the two paradigms is the way of achieving data abstraction. That is, how to organize data with associated operations. There are important tradeoffs between functional and object-oriented decomposition in terms of extensibility and expressiveness. Unfortunately, programmers are usually forced to select a particular decomposition style in the early stage of programming. Once the wrong design decision has been made, the price for switching to the other decomposition style could be rather high since pervasive manual refactoring is often needed. To address this issue, this paper presents a bidirectional transformation system between functional and object-oriented decomposition. We formalize the core of the system in the FOOD calculus, which captures the essence of functional and object-oriented decomposition. We prove that the transformation preserves the type and semantics of the original program. We further implement FOOD in Scala as a translation tool called Cook and conduct several case studies to demonstrate the applicability and effectiveness of Cook.
Hardness of Approximation in P via Short Cycle Removal: Cycle Detection, Distance Oracles, and Beyond
Venue: arXiv cs.DS 2022
Year: 2022

We present a new technique for efficiently removing almost all short cycles in a graph without unintentionally removing its triangles. Consequently, triangle finding problems do not become easy even in almost $k$-cycle free graphs, for any constant $k\geq 4$. Triangle finding is at the base of many conditional lower bounds in P, mainly for distance computation problems, and the existence of many $4$- or $5$-cycles in a worst-case instance had been the obstacle towards resolving major open questions. Hardness of approximation: Are there distance oracles with $m^{1+o(1)}$ preprocessing time and $m^{o(1)}$ query time that achieve a constant approximation? Existing algorithms with such desirable time bounds only achieve super-constant approximation factors, while only $3-ε$ factors were conditionally ruled out (Pătraşcu, Roditty, and Thorup; FOCS 2012). We prove that no $O(1)$ approximations are possible, assuming the $3$-SUM or APSP conjectures. In particular, we prove that $k$-approximations require $Ω(m^{1+1/ck})$ time, which is tight up to the constant $c$. The lower bound holds even for the offline version where we are given the queries in advance, and extends to other problems such as dynamic shortest paths. The $4$-Cycle problem: An infamous open question in fine-grained complexity is to establish any surprising consequences from a subquadratic or even linear-time algorithm for detecting a $4$-cycle in a graph. We prove that $Ω(m^{1.1194})$ time is needed for $k$-cycle detection for all $k\geq 4$, unless we can detect a triangle in $\sqrt{n}$-degree graphs in $O(n^{2-δ})$ time; a breakthrough that is not known to follow even from optimal matrix multiplication algorithms.
NLP Based Anomaly Detection for Categorical Time Series
Venue: arXiv cs.LG 2022
Year: 2022

Identifying anomalies in large multi-dimensional time series is a crucial and difficult task across multiple domains. Few methods exist in the literature that address this task when some of the variables are categorical in nature. We formalize an analogy between categorical time series and classical Natural Language Processing and demonstrate the strength of this analogy for anomaly detection and root cause investigation by implementing and testing three different machine learning anomaly detection and root cause investigation models based upon it.
Gravity aided navigation using Viterbi map matching algorithm
Venue: arXiv cs.RO 2022
Year: 2022

In GNSS-denied environments, aiding a vehicle's inertial navigation system (INS) is crucial to reducing the accumulated navigation drift caused by sensor errors (e.g. bias and noise). One potential solution is to use measurements of gravity as an aiding source. The measurements are matched to a geo-referenced map of Earth's gravity in order to estimate the vehicle's position. In this paper, we propose a novel formulation of the map matching problem using a hidden Markov model (HMM). Specifically, we treat the spatial cells of the map as the hidden states of the HMM and present a Viterbi style algorithm to estimate the most likely sequence of states, i.e. most likely sequence of vehicle positions, that results in the sequence of observed gravity measurements. Using a realistic gravity map, we demonstrate the accuracy of our Viterbi map matching algorithm in a navigation scenario and illustrate its robustness compared to existing methods.
Application of Federated Learning in Building a Robust COVID-19 Chest X-ray Classification Model
Venue: arXiv cs.LG 2022
Year: 2022

While developing artificial intelligence (AI)-based algorithms to solve problems, the amount of data plays a pivotal role - large amount of data helps the researchers and engineers to develop robust AI algorithms. In the case of building AI-based models for problems related to medical imaging, these data need to be transferred from the medical institutions where they were acquired to the organizations developing the algorithms. This movement of data involves time-consuming formalities like complying with HIPAA, GDPR, etc.There is also a risk of patients' private data getting leaked, compromising their confidentiality. One solution to these problems is using the Federated Learning framework. Federated Learning (FL) helps AI models to generalize better and create a robust AI model by using data from different sources having different distributions and data characteristics without moving all the data to a central server. In our paper, we apply the FL framework for training a deep learning model to solve a binary classification problem of predicting the presence or absence of COVID-19. We took three different sources of data and trained individual models on each source. Then we trained an FL model on the complete data and compared all the model performances. We demonstrated that the FL model performs better than the individual models. Moreover, the FL model performed at par with the model trained on all the data combined at a central server. Thus Federated Learning leads to generalized AI models without the cost of data transfer and regulatory overhead.
A survey on the parameterized complexity of the independent set and (connected) dominating set reconfiguration problems
Venue: arXiv cs.CC 2022
Year: 2022

A graph vertex-subset problem defines which subsets of the vertices of an input graph are feasible solutions. We view a feasible solution as a set of tokens placed on the vertices of the graph. A reconfiguration variant of a vertex-subset problem asks, given two feasible solutions of size $k$, whether it is possible to transform one into the other by a sequence of token slides (along edges of the graph) or token jumps (between arbitrary vertices of the graph) such that each intermediate set remains a feasible solution of size $k$. Many algorithmic questions present themselves in the form of reconfiguration problems: Given the description of an initial system state and the description of a target state, is it possible to transform the system from its initial state into the target one while preserving certain properties of the system in the process? Such questions have received a substantial amount of attention under the so-called combinatorial reconfiguration framework. We consider reconfiguration variants of three fundamental underlying graph vertex-subset problems, namely Independent Set, Dominating Set, and Connected Dominating Set. We survey both older and more recent work on the parameterized complexity of all three problems when parameterized by the number of tokens $k$. The emphasis will be on positive results and the most common techniques for the design of fixed-parameter tractable algorithms.