OpenRaiser/Intern-Atlas huggingface dataset:
A Two-Phase Approach for Abstractive Podcast Summarization
Venue: arXiv cs.CL 2020
Year: 2020

Podcast summarization is different from summarization of other data formats, such as news, patents, and scientific papers in that podcasts are often longer, conversational, colloquial, and full of sponsorship and advertising information, which imposes great challenges for existing models. In this paper, we focus on abstractive podcast summarization and propose a two-phase approach: sentence selection and seq2seq learning. Specifically, we first select important sentences from the noisy long podcast transcripts. The selection is based on sentence similarity to the reference to reduce the redundancy and the associated latent topics to preserve semantics. Then the selected sentences are fed into a pre-trained encoder-decoder framework for the summary generation. Our approach achieves promising results regarding both ROUGE-based measures and human evaluations.
Examining the Feasibility of Off-the-Shelf Algorithms for Masking Directly Identifiable Information in Social Media Data
Venue: arXiv cs.HC 2020
Year: 2020

The identification and removal/replacement of protected information from social media data is an understudied problem, despite being desirable from an ethical and legal perspective. This paper identifies types of potentially directly identifiable information (inspired by protected health information in clinical texts) contained in tweets that may be readily removed using off-the-shelf algorithms, introduces an English dataset of tweets annotated for identifiable information, and compiles these off-the-shelf algorithms into a tool (Nightjar) to evaluate the feasibility of using Nightjar to remove directly identifiable information from the tweets. Nightjar as well as the annotated data can be retrieved from https://bitbucket.org/mdredze/nightjar.
Knowledge-Augmented Dexterous Grasping with Incomplete Sensing
Venue: arXiv cs.RO 2020
Year: 2020

Humans can determine a proper strategy to grasp an object according to the measured physical attributes or the prior knowledge of the object. This paper proposes an approach to determining the strategy of dexterous grasping by using an anthropomorphic robotic hand simply based on a label or a description of an object. Object attributes are parsed from natural-language descriptions and augmented with an object knowledge base that is scraped from retailer websites. A novel metric named joint probability distance is defined to measure distance between object attributes. The probability distribution of grasp types for the given object is learned using a deep neural network which takes in object features as input. The action of the multi-fingered hand with redundant degrees of freedom (DoF) is controlled by a linear inverse-kinematics model of grasp topology and scales. The grasping strategy generated by the proposed approach is evaluated both by simulation and execution on a Sawyer robot with an AR10 robotic hand.
Sub-clusters of Normal Data for Anomaly Detection
Venue: arXiv cs.LG 2020
Year: 2020

Anomaly detection in data analysis is an interesting but still challenging research topic in real world applications. As the complexity of data dimension increases, it requires to understand the semantic contexts in its description for effective anomaly characterization. However, existing anomaly detection methods show limited performances with high dimensional data such as ImageNet. Existing studies have evaluated their performance on low dimensional, clean and well separated data set such as MNIST and CIFAR-10. In this paper, we study anomaly detection with high dimensional and complex normal data. Our observation is that, in general, anomaly data is defined by semantically explainable features which are able to be used in defining semantic sub-clusters of normal data as well. We hypothesize that if there exists reasonably good feature space semantically separating sub-clusters of given normal data, unseen anomaly also can be well distinguished in the space from the normal data. We propose to perform semantic clustering on given normal data and train a classifier to learn the discriminative feature space where anomaly detection is finally performed. Based on our careful and extensive experimental evaluations with MNIST, CIFAR-10, and ImageNet with various combinations of normal and anomaly data, we show that our anomaly detection scheme outperforms state of the art methods especially with high dimensional real world images.
Quantifying Sources of Uncertainty in Deep Learning-Based Image Reconstruction
Venue: arXiv cs.CV 2020
Year: 2020

Image reconstruction methods based on deep neural networks have shown outstanding performance, equalling or exceeding the state-of-the-art results of conventional approaches, but often do not provide uncertainty information about the reconstruction. In this work we propose a scalable and efficient framework to simultaneously quantify aleatoric and epistemic uncertainties in learned iterative image reconstruction. We build on a Bayesian deep gradient descent method for quantifying epistemic uncertainty, and incorporate the heteroscedastic variance of the noise to account for the aleatoric uncertainty. We show that our method exhibits competitive performance against conventional benchmarks for computed tomography with both sparse view and limited angle data. The estimated uncertainty captures the variability in the reconstructions, caused by the restricted measurement model, and by missing information, due to the limited angle geometry.
Improved Visual-Inertial Localization for Low-cost Rescue Robots
Venue: arXiv cs.RO 2020
Year: 2020

This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimation suffers from big noise on the measurements of the inertial sensors due to ground contact forces, especially for low-cost sensors. Therefore, we propose \textit{Threshold}-based and \textit{Dynamic Time Warping}-based methods to detect abnormal measurements and mitigate such faults. The two methods are embedded into the popular VINS-Mono system to evaluate their performance. Experiments are performed on simulation and real robot data, which show that both methods increase the pose estimation accuracy. Moreover, the \textit{Threshold}-based method performs better when the noise is small and the \textit{Dynamic Time Warping}-based one shows greater potential on large noise.
Edge Intelligence for Energy-efficient Computation Offloading and Resource Allocation in 5G Beyond
Venue: arXiv cs.LG 2020
Year: 2020

5G beyond is an end-edge-cloud orchestrated network that can exploit heterogeneous capabilities of the end devices, edge servers, and the cloud and thus has the potential to enable computation-intensive and delay-sensitive applications via computation offloading. However, in multi user wireless networks, diverse application requirements and the possibility of various radio access modes for communication among devices make it challenging to design an optimal computation offloading scheme. In addition, having access to complete network information that includes variables such as wireless channel state, and available bandwidth and computation resources, is a major issue. Deep Reinforcement Learning (DRL) is an emerging technique to address such an issue with limited and less accurate network information. In this paper, we utilize DRL to design an optimal computation offloading and resource allocation strategy for minimizing system energy consumption. We first present a multi-user end-edge-cloud orchestrated network where all devices and base stations have computation capabilities. Then, we formulate the joint computation offloading and resource allocation problem as a Markov Decision Process (MDP) and propose a new DRL algorithm to minimize system energy consumption. Numerical results based on a real-world dataset demonstrate that the proposed DRL-based algorithm significantly outperforms the benchmark policies in terms of system energy consumption. Extensive simulations show that learning rate, discount factor, and number of devices have considerable influence on the performance of the proposed algorithm.
Optimal diameter computation within bounded clique-width graphs
Venue: arXiv cs.DS 2020
Year: 2020

Coudert et al. (SODA'18) proved that under the Strong Exponential-Time Hypothesis, for any $ε>0$, there is no ${\cal O}(2^{o(k)}n^{2-ε})$-time algorithm for computing the diameter within the $n$-vertex cubic graphs of clique-width at most $k$. We present an algorithm which given an $n$-vertex $m$-edge graph $G$ and a $k$-expression, computes all the eccentricities in ${\cal O}(2^{{\cal O}(k)}(n+m)^{1+o(1)})$ time, thus matching their conditional lower bound. It can be modified in order to compute the Wiener index and the median set of $G$ within the same amount of time. On our way, we get a distance-labeling scheme for $n$-vertex $m$-edge graphs of clique-width at most $k$, using ${\cal O}(k\log^2{n})$ bits per vertex and constructible in ${\cal O}(k(n+m)\log{n})$ time from a given $k$-expression. Doing so, we match the label size obtained by Courcelle and Vanicat (DAM 2016), while we considerably improve the dependency on $k$ in their scheme. As a corollary, we get an ${\cal O}(kn^2\log{n})$-time algorithm for computing All-Pairs Shortest-Paths on $n$-vertex graphs of clique-width at most $k$. This partially answers an open question of Kratsch and Nelles (STACS'20).
Deep Reinforcement Learning and Permissioned Blockchain for Content Caching in Vehicular Edge Computing and Networks
Venue: arXiv cs.CR 2020
Year: 2020

Vehicular Edge Computing (VEC) is a promising paradigm to enable huge amount of data and multimedia content to be cached in proximity to vehicles. However, high mobility of vehicles and dynamic wireless channel condition make it challenge to design an optimal content caching policy. Further, with much sensitive personal information, vehicles may be not willing to caching their contents to an untrusted caching provider. Deep Reinforcement Learning (DRL) is an emerging technique to solve the problem with high-dimensional and time-varying features. Permission blockchain is able to establish a secure and decentralized peer-to-peer transaction environment. In this paper, we integrate DRL and permissioned blockchain into vehicular networks for intelligent and secure content caching. We first propose a blockchain empowered distributed content caching framework where vehicles perform content caching and base stations maintain the permissioned blockchain. Then, we exploit the advanced DRL approach to design an optimal content caching scheme with taking mobility into account. Finally, we propose a new block verifier selection method, Proof-of-Utility (PoU), to accelerate block verification process. Security analysis shows that our proposed blockchain empowered content caching can achieve security and privacy protection. Numerical results based on a real dataset from Uber indicate that the DRL-inspired content caching scheme significantly outperforms two benchmark policies.
Learning Dense Rewards for Contact-Rich Manipulation Tasks
Venue: arXiv cs.RO 2020
Year: 2020

Rewards play a crucial role in reinforcement learning. To arrive at the desired policy, the design of a suitable reward function often requires significant domain expertise as well as trial-and-error. Here, we aim to minimize the effort involved in designing reward functions for contact-rich manipulation tasks. In particular, we provide an approach capable of extracting dense reward functions algorithmically from robots' high-dimensional observations, such as images and tactile feedback. In contrast to state-of-the-art high-dimensional reward learning methodologies, our approach does not leverage adversarial training, and is thus less prone to the associated training instabilities. Instead, our approach learns rewards by estimating task progress in a self-supervised manner. We demonstrate the effectiveness and efficiency of our approach on two contact-rich manipulation tasks, namely, peg-in-hole and USB insertion. The experimental results indicate that the policies trained with the learned reward function achieves better performance and faster convergence compared to the baselines.
Preventing Repeated Real World AI Failures by Cataloging Incidents: The AI Incident Database
Venue: arXiv cs.CY 2020
Year: 2020

Mature industrial sectors (e.g., aviation) collect their real world failures in incident databases to inform safety improvements. Intelligent systems currently cause real world harms without a collective memory of their failings. As a result, companies repeatedly make the same mistakes in the design, development, and deployment of intelligent systems. A collection of intelligent system failures experienced in the real world (i.e., incidents) is needed to ensure intelligent systems benefit people and society. The AI Incident Database is an incident collection initiated by an industrial/non-profit cooperative to enable AI incident avoidance and mitigation. The database supports a variety of research and development use cases with faceted and full text search on more than 1,000 incident reports archived to date.
ACSC: Automatic Calibration for Non-repetitive Scanning Solid-State LiDAR and Camera Systems
Venue: arXiv cs.CV 2020
Year: 2020

Recently, the rapid development of Solid-State LiDAR (SSL) enables low-cost and efficient obtainment of 3D point clouds from the environment, which has inspired a large quantity of studies and applications. However, the non-uniformity of its scanning pattern, and the inconsistency of the ranging error distribution bring challenges to its calibration task. In this paper, we proposed a fully automatic calibration method for the non-repetitive scanning SSL and camera systems. First, a temporal-spatial-based geometric feature refinement method is presented, to extract effective features from SSL point clouds; then, the 3D corners of the calibration target (a printed checkerboard) are estimated with the reflectance distribution of points. Based on the above, a target-based extrinsic calibration method is finally proposed. We evaluate the proposed method on different types of LiDAR and camera sensor combinations in real conditions, and achieve accuracy and robustness calibration results. The code is available at https://github.com/HViktorTsoi/ACSC.git .
Building Movie Map -- A Tool for Exploring Areas in a City -- and its Evaluation
Venue: arXiv cs.MM 2020
Year: 2020

We propose a new Movie Map system, with an interface for exploring cities. The system consists of four stages; acquisition, analysis, management, and interaction. In the acquisition stage, omnidirectional videos are taken along streets in target areas. Frames of the video are localized on the map, intersections are detected, and videos are segmented. Turning views at intersections are subsequently generated. By connecting the video segments following the specified movement in an area, we can view the streets better. The interface allows for easy exploration of a target area, and it can show virtual billboards of stores in the view. We conducted user studies to compare our system to the GSV in a scenario where users could freely move and explore to find a landmark. The experiment showed that our system had a better user experience than GSV.
Empowering Things with Intelligence: A Survey of the Progress, Challenges, and Opportunities in Artificial Intelligence of Things
Venue: arXiv cs.AI 2020
Year: 2020

In the Internet of Things (IoT) era, billions of sensors and devices collect and process data from the environment, transmit them to cloud centers, and receive feedback via the internet for connectivity and perception. However, transmitting massive amounts of heterogeneous data, perceiving complex environments from these data, and then making smart decisions in a timely manner are difficult. Artificial intelligence (AI), especially deep learning, is now a proven success in various areas including computer vision, speech recognition, and natural language processing. AI introduced into the IoT heralds the era of artificial intelligence of things (AIoT). This paper presents a comprehensive survey on AIoT to show how AI can empower the IoT to make it faster, smarter, greener, and safer. Specifically, we briefly present the AIoT architecture in the context of cloud computing, fog computing, and edge computing. Then, we present progress in AI research for IoT from four perspectives: perceiving, learning, reasoning, and behaving. Next, we summarize some promising applications of AIoT that are likely to profoundly reshape our world. Finally, we highlight the challenges facing AIoT and some potential research opportunities.
Adversarial Training for Multi-domain Speaker Recognition
Venue: arXiv cs.SD 2020
Year: 2020

In real-life applications, the performance of speaker recognition systems always degrades when there is a mismatch between training and evaluation data. Many domain adaptation methods have been successfully used for eliminating the domain mismatches in speaker recognition. However, usually both training and evaluation data themselves can be composed of several subsets. These inner variances of each dataset can also be considered as different domains. Different distributed subsets in source or target domain dataset can also cause multi-domain mismatches, which are influential to speaker recognition performance. In this study, we propose to use adversarial training for multi-domain speaker recognition to solve the domain mismatch and the dataset variance problems. By adopting the proposed method, we are able to obtain both multi-domain-invariant and speaker-discriminative speech representations for speaker recognition. Experimental results on DAC13 dataset indicate that the proposed method is not only effective to solve the multi-domain mismatch problem, but also outperforms the compared unsupervised domain adaptation methods.
New (k,l,m)-verifiable multi-secret sharing schemes based on XTR public key system
Venue: arXiv cs.CR 2020
Year: 2020

Secret sharing was proposed primarily in 1979 to solve the problem of key distribution. In recent decades, researchers have proposed many improvement schemes. Among all these schemes, the verifiable multi-secret sharing (VMSS) schemes are studied sufficiently, which share multiple secrets simultaneously and perceive malicious dealer as well as participants. By pointing out that the schemes presented by Dehkordi and Mashhadi in 2008 cannot detect some vicious behaviors of the dealer, we propose two new VMSS schemes by adding validity check in the verification phase to overcome this drawback. Our new schemes are based on XTR public key system, and can realize $GF(p^{6})$ security by computations in $GF(p^{2})$ without explicit constructions of $GF(p^{6})$, where $p$ is a prime. Compared with the VMSS schemes using RSA and linear feedback shift register (LFSR) public key cryptosystems, our schemes can achieve the same security level with shorter parameters by using trace function. What's more, our schemes are much simpler to operate than those schemes based on Elliptic Curve Cryptography (ECC). In addition, our schemes are dynamic and threshold changeable, which means that it is efficient to implement our schemes according to the actual situation when participants, secrets or the threshold needs to be changed.
Reducing the Variance of Variational Estimates of Mutual Information by Limiting the Critic's Hypothesis Space to RKHS
Venue: arXiv cs.LG 2020
Year: 2020

Mutual information (MI) is an information-theoretic measure of dependency between two random variables. Several methods to estimate MI, from samples of two random variables with unknown underlying probability distributions have been proposed in the literature. Recent methods realize parametric probability distributions or critic as a neural network to approximate unknown density ratios. The approximated density ratios are used to estimate different variational lower bounds of MI. While these methods provide reliable estimation when the true MI is low, they produce high variance estimates in cases of high MI. We argue that the high variance characteristic is due to the uncontrolled complexity of the critic's hypothesis space. In support of this argument, we use the data-driven Rademacher complexity of the hypothesis space associated with the critic's architecture to analyse generalization error bound of variational lower bound estimates of MI. In the proposed work, we show that it is possible to negate the high variance characteristics of these estimators by constraining the critic's hypothesis space to Reproducing Hilbert Kernel Space (RKHS), which corresponds to a kernel learned using Automated Spectral Kernel Learning (ASKL). By analysing the aforementioned generalization error bounds, we augment the overall optimisation objective with effective regularisation term. We empirically demonstrate the efficacy of this regularization in enforcing proper bias variance tradeoff on four variational lower bounds, namely NWJ, MINE, JS and SMILE.
User Clustering in mmWave-NOMA Systems with User Decoding Capability Constraints for B5G Networks
Venue: arXiv cs.IT 2020
Year: 2020

This paper proposes a millimeter wave-NOMA (mmWave-NOMA) system that takes into account the end-user signal processing capabilities, an important practical consideration. The implementation of NOMA in the downlink (DL) direction requires successive interference cancellation (SIC) to be performed at the user terminals, which comes at the cost of additional complexity. In NOMA, the weakest user only has to decode its own signal, while the strongest user has to decode the signals of all other users in the SIC procedure. Hence, the additional implementation complexity required of the user to perform SIC for DL NOMA depends on its position in the SIC decoding order. Beyond fifth-generation (B5G) communication systems are expected to support a wide variety of end-user devices, each with their own processing capabilities. We envision a system where users report their SIC decoding capability to the base station (BS), i.e., the number of other users signals a user is capable of decoding in the SIC procedure. We investigate the rate maximization problem in such a system, by breaking it down into a user clustering and ordering problem (UCOP), followed by a power allocation problem. We propose a NOMA minimum exact cover (NOMA-MEC) heuristic algorithm that converts the UCOP into a cluster minimization problem from a derived set of valid cluster combinations after factoring in the SIC decoding capability. The complexity of NOMA-MEC is analyzed for various algorithm and system parameters. For a homogeneous system of users that all have the same decoding capabilities, we show that this equates to a simple maximum number of users per cluster constraint and propose a lower complexity NOMA-best beam (NOMA-BB) algorithm. Simulation results demonstrate the performance superiority in terms of sum rate compared to orthogonal multiple access (OMA) and traditional NOMA
One Stop Career Centre for People with Disabilities
Venue: arXiv cs.SE 2020
Year: 2020

Career is a journey of life that made the field of profession or employment options as a way to live. Careers are basis to generate income to sustain the needs of everyday life. Disabled people also need a job and benefit from the job same as a normal person. However, the attitudes of some prejudice community against the disabled people to find a job. The purpose of this paper is to discuss about website namely as one stop career centre for disabled people. This website helps disabled people who graduate from high school to find a job according to their qualifications and skills. Through this website, they can get information related to employment areas that they serve. Therefore, this website will help disabled people to get a job and to reduce the unemployment rate among them in Malaysia.