OpenRaiser/Intern-Atlas huggingface dataset:
6RLR-ABC: 6LoWPAN Routing Protocol With Local Repair Using Bio Inspired Artificial Bee Colony
Venue: arXiv cs.NI 2020
Year: 2020

In recent years, Micro-Electro-Mechanical System (MEMS) has successfully enabled the development of IPv6 over Low power Wireless Personal Area Network (6LoWPAN). This network is equipped with low-cost, low-power, lightweight and varied functions devices. These devices are capable of amassing, storing, processing environmental information and conversing with neighbouring sensors. These requisites pose a new and interesting challenge for the development of IEEE 802.15.4 together with routing protocol. In this work, 6LoWPAN Routing Protocol with Local Repair Using Bio Inspired Artificial Bee Colony (6RLR-ABC) has been introduced. This protocol supports connection establishment between nodes in an energy-efficient manner while maintaining high packet delivery ratio and throughput and minimizing average end-to-end delay. This protocol has been evaluated based on increasing generated traffic. The performance of the designed 6RLR-ABC routing protocol has been evaluated compared to 6LoWPAN Ad-hoc On-Demand Distance Vector (LOAD) routing protocol. LOAD protocol has been chosen since it is the most relevant existed 6LoWPANrouting protocol. The simulation results show that the introduced 6RLR-ABC protocol achieves lower packet average end-to-end delay and lower energy consumption compared to LOAD protocol.Additionally,the packet delivery ratio of the designed protocol is much higher than LOAD protocol. The proposed 6RLR-ABC achieved about 39% higher packet delivery ratio and about 54.8% higher throughput while simultaneously offering lower average end-to-end delay and lower average energy consumption than LOAD protocol.
Lifted Inference in 2-Variable Markov Logic Networks with Function and Cardinality Constraints Using Discrete Fourier Transform
Venue: arXiv cs.AI 2020
Year: 2020

In this paper we show that inference in 2-variable Markov logic networks (MLNs) with cardinality and function constraints is domain-liftable. To obtain this result we use existing domain-lifted algorithms for weighted first-order model counting (Van den Broeck et al, KR 2014) together with discrete Fourier transform of certain distributions associated to MLNs.
Analyzing Differentiable Fuzzy Implications
Venue: arXiv cs.AI 2020
Year: 2020

Combining symbolic and neural approaches has gained considerable attention in the AI community, as it is often argued that the strengths and weaknesses of these approaches are complementary. One such trend in the literature are weakly supervised learning techniques that employ operators from fuzzy logics. In particular, they use prior background knowledge described in such logics to help the training of a neural network from unlabeled and noisy data. By interpreting logical symbols using neural networks (or grounding them), this background knowledge can be added to regular loss functions, hence making reasoning a part of learning. In this paper, we investigate how implications from the fuzzy logic literature behave in a differentiable setting. In such a setting, we analyze the differences between the formal properties of these fuzzy implications. It turns out that various fuzzy implications, including some of the most well-known, are highly unsuitable for use in a differentiable learning setting. A further finding shows a strong imbalance between gradients driven by the antecedent and the consequent of the implication. Furthermore, we introduce a new family of fuzzy implications (called sigmoidal implications) to tackle this phenomenon. Finally, we empirically show that it is possible to use Differentiable Fuzzy Logics for semi-supervised learning, and show that sigmoidal implications outperform other choices of fuzzy implications.
VALUE: Large Scale Voting-based Automatic Labelling for Urban Environments
Venue: arXiv cs.CV 2020
Year: 2020

This paper presents a simple and robust method for the automatic localisation of static 3D objects in large-scale urban environments. By exploiting the potential to merge a large volume of noisy but accurately localised 2D image data, we achieve superior performance in terms of both robustness and accuracy of the recovered 3D information. The method is based on a simple distributed voting schema which can be fully distributed and parallelised to scale to large-scale scenarios. To evaluate the method we collected city-scale data sets from New York City and San Francisco consisting of almost 400k images spanning the area of 40 km$^2$ and used it to accurately recover the 3D positions of traffic lights. We demonstrate a robust performance and also show that the solution improves in quality over time as the amount of data increases.
A Meta-Bayesian Model of Intentional Visual Search
Venue: arXiv cs.CV 2020
Year: 2020

We propose a computational model of visual search that incorporates Bayesian interpretations of the neural mechanisms that underlie categorical perception and saccade planning. To enable meaningful comparisons between simulated and human behaviours, we employ a gaze-contingent paradigm that required participants to classify occluded MNIST digits through a window that followed their gaze. The conditional independencies imposed by a separation of time scales in this task are embodied by constraints on the hierarchical structure of our model; planning and decision making are cast as a partially observable Markov Decision Process while proprioceptive and exteroceptive signals are integrated by a dynamic model that facilitates approximate inference on visual information and its latent causes. Our model is able to recapitulate human behavioural metrics such as classification accuracy while retaining a high degree of interpretability, which we demonstrate by recovering subject-specific parameters from observed human behaviour.
Beyond Domain APIs: Task-oriented Conversational Modeling with Unstructured Knowledge Access
Venue: arXiv cs.CL 2020
Year: 2020

Most prior work on task-oriented dialogue systems are restricted to a limited coverage of domain APIs, while users oftentimes have domain related requests that are not covered by the APIs. In this paper, we propose to expand coverage of task-oriented dialogue systems by incorporating external unstructured knowledge sources. We define three sub-tasks: knowledge-seeking turn detection, knowledge selection, and knowledge-grounded response generation, which can be modeled individually or jointly. We introduce an augmented version of MultiWOZ 2.1, which includes new out-of-API-coverage turns and responses grounded on external knowledge sources. We present baselines for each sub-task using both conventional and neural approaches. Our experimental results demonstrate the need for further research in this direction to enable more informative conversational systems.
Higher-Order Explanations of Graph Neural Networks via Relevant Walks
Venue: arXiv cs.LG 2020
Year: 2020

Graph Neural Networks (GNNs) are a popular approach for predicting graph structured data. As GNNs tightly entangle the input graph into the neural network structure, common explainable AI approaches are not applicable. To a large extent, GNNs have remained black-boxes for the user so far. In this paper, we show that GNNs can in fact be naturally explained using higher-order expansions, i.e. by identifying groups of edges that jointly contribute to the prediction. Practically, we find that such explanations can be extracted using a nested attribution scheme, where existing techniques such as layer-wise relevance propagation (LRP) can be applied at each step. The output is a collection of walks into the input graph that are relevant for the prediction. Our novel explanation method, which we denote by GNN-LRP, is applicable to a broad range of graph neural networks and lets us extract practically relevant insights on sentiment analysis of text data, structure-property relationships in quantum chemistry, and image classification.
High-level Modeling of Manufacturing Faults in Deep Neural Network Accelerators
Venue: arXiv cs.LG 2020
Year: 2020

The advent of data-driven real-time applications requires the implementation of Deep Neural Networks (DNNs) on Machine Learning accelerators. Google's Tensor Processing Unit (TPU) is one such neural network accelerator that uses systolic array-based matrix multiplication hardware for computation in its crux. Manufacturing faults at any state element of the matrix multiplication unit can cause unexpected errors in these inference networks. In this paper, we propose a formal model of permanent faults and their propagation in a TPU using the Discrete-Time Markov Chain (DTMC) formalism. The proposed model is analyzed using the probabilistic model checking technique to reason about the likelihood of faulty outputs. The obtained quantitative results show that the classification accuracy is sensitive to the type of permanent faults as well as their location, bit position and the number of layers in the neural network. The conclusions from our theoretical model have been validated using experiments on a digit recognition-based DNN.
LDP-Fed: Federated Learning with Local Differential Privacy
Venue: arXiv cs.LG 2020
Year: 2020

This paper presents LDP-Fed, a novel federated learning system with a formal privacy guarantee using local differential privacy (LDP). Existing LDP protocols are developed primarily to ensure data privacy in the collection of single numerical or categorical values, such as click count in Web access logs. However, in federated learning model parameter updates are collected iteratively from each participant and consist of high dimensional, continuous values with high precision (10s of digits after the decimal point), making existing LDP protocols inapplicable. To address this challenge in LDP-Fed, we design and develop two novel approaches. First, LDP-Fed's LDP Module provides a formal differential privacy guarantee for the repeated collection of model training parameters in the federated training of large-scale neural networks over multiple individual participants' private datasets. Second, LDP-Fed implements a suite of selection and filtering techniques for perturbing and sharing select parameter updates with the parameter server. We validate our system deployed with a condensed LDP protocol in training deep neural networks on public data. We compare this version of LDP-Fed, coined CLDP-Fed, with other state-of-the-art approaches with respect to model accuracy, privacy preservation, and system capabilities.
Robust Face Verification via Disentangled Representations
Venue: arXiv cs.CV 2020
Year: 2020

We introduce a robust algorithm for face verification, i.e., deciding whether twoimages are of the same person or not. Our approach is a novel take on the idea ofusing deep generative networks for adversarial robustness. We use the generativemodel during training as an online augmentation method instead of a test-timepurifier that removes adversarial noise. Our architecture uses a contrastive loss termand a disentangled generative model to sample negative pairs. Instead of randomlypairing two real images, we pair an image with its class-modified counterpart whilekeeping its content (pose, head tilt, hair, etc.) intact. This enables us to efficientlysample hard negative pairs for the contrastive loss. We experimentally show that, when coupled with adversarial training, the proposed scheme converges with aweak inner solver and has a higher clean and robust accuracy than state-of-the-art-methods when evaluated against white-box physical attacks.
sEMG Gesture Recognition with a Simple Model of Attention
Venue: arXiv cs.LG 2020
Year: 2020

Myoelectric control is one of the leading areas of research in the field of robotic prosthetics. We present our research in surface electromyography (sEMG) signal classification, where our simple and novel attention-based approach now leads the industry, universally beating more complex, state-of-the-art models. Our novel attention-based model achieves benchmark leading results on multiple industry-standard datasets including 53 finger, wrist, and grasping motions, improving over both sophisticated signal processing and CNN-based approaches. Our strong results with a straightforward model also indicate that sEMG represents a promising avenue for future machine learning research, with applications not only in prosthetics, but also in other important areas, such as diagnosis and prognostication of neurodegenerative diseases, computationally mediated surgeries, and advanced robotic control. We reinforce this suggestion with extensive ablative studies, demonstrating that a neural network can easily extract higher order spatiotemporal features from noisy sEMG data collected by affordable, consumer-grade sensors.
Prague Dependency Treebank -- Consolidated 1.0
Venue: arXiv cs.CL 2020
Year: 2020

We present a richly annotated and genre-diversified language resource, the Prague Dependency Treebank-Consolidated 1.0 (PDT-C 1.0), the purpose of which is - as it always been the case for the family of the Prague Dependency Treebanks - to serve both as a training data for various types of NLP tasks as well as for linguistically-oriented research. PDT-C 1.0 contains four different datasets of Czech, uniformly annotated using the standard PDT scheme (albeit not everything is annotated manually, as we describe in detail here). The texts come from different sources: daily newspaper articles, Czech translation of the Wall Street Journal, transcribed dialogs and a small amount of user-generated, short, often non-standard language segments typed into a web translator. Altogether, the treebank contains around 180,000 sentences with their morphological, surface and deep syntactic annotation. The diversity of the texts and annotations should serve well the NLP applications as well as it is an invaluable resource for linguistic research, including comparative studies regarding texts of different genres. The corpus is publicly and freely available.
UDPipe at EvaLatin 2020: Contextualized Embeddings and Treebank Embeddings
Venue: arXiv cs.CL 2020
Year: 2020

We present our contribution to the EvaLatin shared task, which is the first evaluation campaign devoted to the evaluation of NLP tools for Latin. We submitted a system based on UDPipe 2.0, one of the winners of the CoNLL 2018 Shared Task, The 2018 Shared Task on Extrinsic Parser Evaluation and SIGMORPHON 2019 Shared Task. Our system places first by a wide margin both in lemmatization and POS tagging in the open modality, where additional supervised data is allowed, in which case we utilize all Universal Dependency Latin treebanks. In the closed modality, where only the EvaLatin training data is allowed, our system achieves the best performance in lemmatization and in classical subtask of POS tagging, while reaching second place in cross-genre and cross-time settings. In the ablation experiments, we also evaluate the influence of BERT and XLM-RoBERTa contextualized embeddings, and the treebank encodings of the different flavors of Latin treebanks.
Learning from Non-Random Data in Hilbert Spaces: An Optimal Recovery Perspective
Venue: arXiv cs.LG 2020
Year: 2020

The notion of generalization in classical Statistical Learning is often attached to the postulate that data points are independent and identically distributed (IID) random variables. While relevant in many applications, this postulate may not hold in general, encouraging the development of learning frameworks that are robust to non-IID data. In this work, we consider the regression problem from an Optimal Recovery perspective. Relying on a model assumption comparable to choosing a hypothesis class, a learner aims at minimizing the worst-case error, without recourse to any probabilistic assumption on the data. We first develop a semidefinite program for calculating the worst-case error of any recovery map in finite-dimensional Hilbert spaces. Then, for any Hilbert space, we show that Optimal Recovery provides a formula which is user-friendly from an algorithmic point-of-view, as long as the hypothesis class is linear. Interestingly, this formula coincides with kernel ridgeless regression in some cases, proving that minimizing the average error and worst-case error can yield the same solution. We provide numerical experiments in support of our theoretical findings.
Skedulix: Hybrid Cloud Scheduling for Cost-Efficient Execution of Serverless Applications
Venue: arXiv cs.DC 2020
Year: 2020

We present a framework for scheduling multifunction serverless applications over a hybrid public-private cloud. A set of serverless jobs is input as a batch, and the objective is to schedule function executions over the hybrid platform to minimize the cost of public cloud use, while completing all jobs by a specified deadline. As this scheduling problem is NP-Hard, we propose a greedy algorithm that dynamically determines both the order and placement of each function execution using predictive models of function execution time and network latencies. We present a prototype implementation of our framework that uses AWS Lambda and OpenFaaS, for the public and private cloud, respectively. We evaluate our prototype in live experiments using a mixture of compute and I/O heavy serverless applications. Our results show that our framework can achieve a speedup in batch processing of up to 1.92 times that of an approach that uses only the private cloud, at 40.5% the cost of an approach that uses only the public cloud.
Auxiliary Signal-Guided Knowledge Encoder-Decoder for Medical Report Generation
Venue: arXiv cs.CV 2020
Year: 2020

Beyond the common difficulties faced in the natural image captioning, medical report generation specifically requires the model to describe a medical image with a fine-grained and semantic-coherence paragraph that should satisfy both medical commonsense and logic. Previous works generally extract the global image features and attempt to generate a paragraph that is similar to referenced reports; however, this approach has two limitations. Firstly, the regions of primary interest to radiologists are usually located in a small area of the global image, meaning that the remainder parts of the image could be considered as irrelevant noise in the training procedure. Secondly, there are many similar sentences used in each medical report to describe the normal regions of the image, which causes serious data bias. This deviation is likely to teach models to generate these inessential sentences on a regular basis. To address these problems, we propose an Auxiliary Signal-Guided Knowledge Encoder-Decoder (ASGK) to mimic radiologists' working patterns. In more detail, ASGK integrates internal visual feature fusion and external medical linguistic information to guide medical knowledge transfer and learning. The core structure of ASGK consists of a medical graph encoder and a natural language decoder, inspired by advanced Generative Pre-Training (GPT). Experiments on the CX-CHR dataset and our COVID-19 CT Report dataset demonstrate that our proposed ASGK is able to generate a robust and accurate report, and moreover outperforms state-of-the-art methods on both medical terminology classification and paragraph generation metrics.
Thruster-assisted center manifold shaping in bipedal legged locomotion
Venue: arXiv cs.RO 2020
Year: 2020

This work tries to contribute to the design of legged robots with capabilities boosted through thruster-assisted locomotion. Our long-term goal is the development of robots capable of negotiating unstructured environments, including land and air, by leveraging legs and thrusters collaboratively. These robots could be used in a broad number of applications including search and rescue operations, space exploration, automated package handling in residential spaces and digital agriculture, to name a few. In all of these examples, the unique capability of thruster-assisted mobility greatly broadens the locomotion designs possibilities for these systems. In an effort to demonstrate thrusters effectiveness in the robustification and efficiency of bipedal locomotion gaits, this work explores their effects on the gait limit cycles and proposes new design paradigms based on shaping these center manifolds with strong foliations. Unilateral contact force feasibility conditions are resolved in an optimal control scheme.
A ROS-based Framework for Monitoring Human and Robot Conditions in a Human-Multi-robot Team
Venue: arXiv cs.RO 2020
Year: 2020

This paper presents a framework for monitoring human and robot conditions in human multi-robot interactions. The proposed framework consists of four modules: 1) human and robot conditions monitoring interface, 2) synchronization time filter, 3) data feature extraction interface, and 4) condition monitoring interface. The framework is based on Robot Operating System (ROS), and it supports physiological and behavioral sensors and devices and robot systems, as well as custom programs. Furthermore, it allows synchronizing the monitoring conditions and sharing them simultaneously. In order to validate the proposed framework, we present experiment results and analysis obtained from the user study where 30 human subjects participated and simulated robot experiments.
Scaling Equilibrium Propagation to Deep ConvNets by Drastically Reducing its Gradient Estimator Bias
Venue: arXiv cs.NE 2020
Year: 2020

Equilibrium Propagation (EP) is a biologically-inspired algorithm for convergent RNNs with a local learning rule that comes with strong theoretical guarantees. The parameter updates of the neural network during the credit assignment phase have been shown mathematically to approach the gradients provided by Backpropagation Through Time (BPTT) when the network is infinitesimally nudged toward its target. In practice, however, training a network with the gradient estimates provided by EP does not scale to visual tasks harder than MNIST. In this work, we show that a bias in the gradient estimate of EP, inherent in the use of finite nudging, is responsible for this phenomenon and that cancelling it allows training deep ConvNets by EP. We show that this bias can be greatly reduced by using symmetric nudging (a positive nudging and a negative one). We also generalize previous EP equations to the case of cross-entropy loss (by opposition to squared error). As a result of these advances, we are able to achieve a test error of 11.7% on CIFAR-10 by EP, which approaches the one achieved by BPTT and provides a major improvement with respect to the standard EP approach with same-sign nudging that gives 86% test error. We also apply these techniques to train an architecture with asymmetric forward and backward connections, yielding a 13.2% test error. These results highlight EP as a compelling biologically-plausible approach to compute error gradients in deep neural networks.
On the Maximum Cardinality Cut Problem in Proper Interval Graphs and Related Graph Classes
Venue: arXiv cs.DS 2020
Year: 2020

Although it has been claimed in two different papers that the maximum cardinality cut problem is polynomial-time solvable for proper interval graphs, both of them turned out to be erroneous. In this paper, we give FPT algorithms for the maximum cardinality cut problem in classes of graphs containing proper interval graphs and mixed unit interval graphs when parameterized by some new parameters that we introduce. These new parameters are related to a generalization of the so-called bubble representations of proper interval graphs and mixed unit interval graphs and to clique-width decompositions.