OpenRaiser/Intern-Atlas huggingface dataset:
Parameterized DAWGs: efficient constructions and bidirectional pattern searches
Venue: arXiv cs.DS 2022
Year: 2022

Two strings $x$ and $y$ over $Σ\cup Π$ of equal length are said to \emph{parameterized match} (\emph{p-match}) if there is a renaming bijection $f:Σ\cup Π\rightarrow Σ\cup Π$ that is identity on $Σ$ and transforms $x$ to $y$ (or vice versa). The \emph{p-matching} problem is to look for substrings in a text that p-match a given pattern. In this paper, we propose \emph{parameterized suffix automata} (\emph{p-suffix automata}) and \emph{parameterized directed acyclic word graphs} (\emph{PDAWGs}) which are the p-matching versions of suffix automata and DAWGs. While suffix automata and DAWGs are equivalent for standard strings, we show that p-suffix automata can have $Θ(n^2)$ nodes and edges but PDAWGs have only $O(n)$ nodes and edges, where $n$ is the length of an input string. We also give an $O(n |Π| \log (|Π| + |Σ|))$-time $O(n)$-space algorithm that builds the PDAWG in a left-to-right online manner. As a byproduct, it is shown that the \emph{parameterized suffix tree} for the reversed string can also be built in the same time and space, in a right-to-left online manner. This duality also leads us to two further efficient algorithms for p-matching: Given the parameterized suffix tree for the reversal of the input string $T$, one can build the PDAWG of $T$ in $O(n)$ time in an offline manner; One can perform \emph{bidirectional} p-matching in $O(m \log (|Π|+|Σ|) + \mathit{occ})$ time using $O(n)$ space, where $m$ denotes the pattern length and $\mathit{occ}$ is the number of pattern occurrences in the text $T$.
Efficient Construction of Behavior Graphs for Uncertain Event Data
Venue: arXiv cs.DS 2022
Year: 2022

The discipline of process mining deals with analyzing execution data of operational processes, extracting models from event data, checking the conformance between event data and normative models, and enhancing all aspects of processes. Recently, new techniques have been developed to analyze event data containing uncertainty; these techniques strongly rely on representing uncertain event data through graph-based models capturing uncertainty. In this paper we present a novel approach to efficiently compute a graph representation of the behavior contained in an uncertain process trace. We present our new algorithm, analyze its time complexity, and report experimental results showing order-of-magnitude performance improvements for behavior graph construction.
On the Search for Feedback in Reinforcement Learning
Venue: arXiv cs.LG 2022
Year: 2022

The problem of Reinforcement Learning (RL) in an unknown nonlinear dynamical system is equivalent to the search for an optimal feedback law utilizing the simulations/ rollouts of the dynamical system. Most RL techniques search over a complex global nonlinear feedback parametrization making them suffer from high training times as well as variance. Instead, we advocate searching over a local feedback representation consisting of an open-loop sequence, and an associated optimal linear feedback law completely determined by the open-loop. We show that this alternate approach results in highly efficient training, the answers obtained are repeatable and hence reliable, and the resulting closed performance is superior to global state-of-the-art RL techniques. Finally, if we replan, whenever required, which is feasible due to the fast and reliable local solution, it allows us to recover global optimality of the resulting feedback law.
End-to-end Emotion-Cause Pair Extraction via Learning to Link
Venue: arXiv cs.CL 2022
Year: 2022

Emotion-cause pair extraction (ECPE), as an emergent natural language processing task, aims at jointly investigating emotions and their underlying causes in documents. It extends the previous emotion cause extraction (ECE) task, yet without requiring a set of pre-given emotion clauses as in ECE. Existing approaches to ECPE generally adopt a two-stage method, i.e., (1) emotion and cause detection, and then (2) pairing the detected emotions and causes. Such pipeline method, while intuitive, suffers from two critical issues, including error propagation across stages that may hinder the effectiveness, and high computational cost that would limit the practical application of the method. To tackle these issues, we propose a multi-task learning model that can extract emotions, causes and emotion-cause pairs simultaneously in an end-to-end manner. Specifically, our model regards pair extraction as a link prediction task, and learns to link from emotion clauses to cause clauses, i.e., the links are directional. Emotion extraction and cause extraction are incorporated into the model as auxiliary tasks, which further boost the pair extraction. Experiments are conducted on an ECPE benchmarking dataset. The results show that our proposed model outperforms a range of state-of-the-art approaches.
Robust High-Transparency Haptic Exploration for Dexterous Telemanipulation
Venue: arXiv cs.RO 2022
Year: 2022

Robotic teleoperation will allow us to perform complex manipulation tasks in dangerous or remote environments, such as needed for planetary exploration or nuclear decommissioning. This work proposes a novel telemanipulation architecture using a passive Fractal Impedance Controller (FIC), which does not depend upon an active viscous component for stability guarantees. Compared to a traditional impedance controller in ideal conditions (no delays and maximum communication bandwidth), our proposed method yields higher transparency in interaction and demonstrates superior dexterity and capability in our telemanipulation test scenarios. We also validate its performance with extreme delays up to 1 s and communication bandwidths as low as 10 Hz. All results validate a consistent stability when using the proposed controller in challenging conditions, regardless of operator expertise.
Unifying Graph Embedding Features with Graph Convolutional Networks for Skeleton-based Action Recognition
Venue: arXiv cs.CV 2022
Year: 2022

Combining skeleton structure with graph convolutional networks has achieved remarkable performance in human action recognition. Since current research focuses on designing basic graph for representing skeleton data, these embedding features contain basic topological information, which cannot learn more systematic perspectives from skeleton data. In this paper, we overcome this limitation by proposing a novel framework, which unifies 15 graph embedding features into the graph convolutional network for human action recognition, aiming to best take advantage of graph information to distinguish key joints, bones, and body parts in human action, instead of being exclusive to a single feature or domain. Additionally, we fully investigate how to find the best graph features of skeleton structure for improving human action recognition. Besides, the topological information of the skeleton sequence is explored to further enhance the performance in a multi-stream framework. Moreover, the unified graph features are extracted by the adaptive methods on the training process, which further yields improvements. Our model is validated by three large-scale datasets, namely NTU-RGB+D, Kinetics and SYSU-3D, and outperforms the state-of-the-art methods. Overall, our work unified graph embedding features to promotes systematic research on human action recognition.
A Survey on Deep Hashing Methods
Venue: arXiv cs.CV 2022
Year: 2022

Nearest neighbor search aims to obtain the samples in the database with the smallest distances from them to the queries, which is a basic task in a range of fields, including computer vision and data mining. Hashing is one of the most widely used methods for its computational and storage efficiency. With the development of deep learning, deep hashing methods show more advantages than traditional methods. In this survey, we detailedly investigate current deep hashing algorithms including deep supervised hashing and deep unsupervised hashing. Specifically, we categorize deep supervised hashing methods into pairwise methods, ranking-based methods, pointwise methods as well as quantization according to how measuring the similarities of the learned hash codes. Moreover, deep unsupervised hashing is categorized into similarity reconstruction-based methods, pseudo-label-based methods and prediction-free self-supervised learning-based methods based on their semantic learning manners. We also introduce three related important topics including semi-supervised deep hashing, domain adaption deep hashing and multi-modal deep hashing. Meanwhile, we present some commonly used public datasets and the scheme to measure the performance of deep hashing algorithms. Finally, we discuss some potential research directions in conclusion.
Balanced Independent and Dominating Sets on Colored Interval Graphs
Venue: arXiv cs.DS 2022
Year: 2022

We study two new versions of independent and dominating set problems on vertex-colored interval graphs, namely $f$-Balanced Independent Set ($f$-BIS) and $f$-Balanced Dominating Set ($f$-BDS). Let $G=(V,E)$ be a vertex-colored interval graph with a color assignment function $γ\colon V \rightarrow \{1,\ldots,k\}$ that maps all vertices in $G$ onto $k$ colors. A subset of vertices $S\subseteq V$ is called $f$-balanced if $S$ contains $f$ vertices from each color class. In the $f$-BIS and $f$-BDS problems, the objective is to compute an independent set or a dominating set that is $f$-balanced. We show that both problems are NP-complete even on proper interval graphs. For the $f$-BIS problem, we design two FPT algorithms, one parameterized by $(f,k)$ for interval graphs and the other parameterized by the vertex cover number for general graphs. Moreover, for an optimization variant of BIS on interval graphs, we show that a simple greedy approach achieves an approximation ratio of $2$.
The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth
Venue: arXiv cs.RO 2022
Year: 2022

In this paper we present a large dataset with a variety of mobile mapping sensors collected using a handheld device carried at typical walking speeds for nearly 2.2 km through New College, Oxford. The dataset includes data from two commercially available devices - a stereoscopic-inertial camera and a multi-beam 3D LiDAR, which also provides inertial measurements. Additionally, we used a tripod-mounted survey grade LiDAR scanner to capture a detailed millimeter-accurate 3D map of the test location (containing $\sim$290 million points). Using the map we inferred centimeter-accurate 6 Degree of Freedom (DoF) ground truth for the position of the device for each LiDAR scan to enable better evaluation of LiDAR and vision localisation, mapping and reconstruction systems. This ground truth is the particular novel contribution of this dataset and we believe that it will enable systematic evaluation which many similar datasets have lacked. The dataset combines both built environments, open spaces and vegetated areas so as to test localization and mapping systems such as vision-based navigation, visual and LiDAR SLAM, 3D LIDAR reconstruction and appearance-based place recognition. The dataset is available at: ori.ox.ac.uk/datasets/newer-college-dataset
clDice -- A Novel Topology-Preserving Loss Function for Tubular Structure Segmentation
Venue: arXiv cs.CV 2022
Year: 2022

Accurate segmentation of tubular, network-like structures, such as vessels, neurons, or roads, is relevant to many fields of research. For such structures, the topology is their most important characteristic; particularly preserving connectedness: in the case of vascular networks, missing a connected vessel entirely alters the blood-flow dynamics. We introduce a novel similarity measure termed centerlineDice (short clDice), which is calculated on the intersection of the segmentation masks and their (morphological) skeleta. We theoretically prove that clDice guarantees topology preservation up to homotopy equivalence for binary 2D and 3D segmentation. Extending this, we propose a computationally efficient, differentiable loss function (soft-clDice) for training arbitrary neural segmentation networks. We benchmark the soft-clDice loss on five public datasets, including vessels, roads and neurons (2D and 3D). Training on soft-clDice leads to segmentation with more accurate connectivity information, higher graph similarity, and better volumetric scores.
Book Embeddings of Nonplanar Graphs with Small Faces in Few Pages
Venue: arXiv cs.CG 2022
Year: 2022

An embedding of a graph in a book, called book embedding, consists of a linear ordering of its vertices along the spine of the book and an assignment of its edges to the pages of the book, so that no two edges on the same page cross. The book thickness of a graph is the minimum number of pages over all its book embeddings. For planar graphs, a fundamental result is due to Yannakakis, who proposed an algorithm to compute embeddings of planar graphs in books with four pages. Our main contribution is a technique that generalizes this result to a much wider family of nonplanar graphs, which is characterized by a biconnected skeleton of crossing-free edges whose faces have bounded degree. Notably, this family includes all 1-planar, all optimal 2-planar, and all k-map (with bounded k) graphs as subgraphs. We prove that this family of graphs has bounded book thickness, and as a corollary, we obtain the first constant upper bound for the book thickness of optimal 2-planar and k-map graphs.
Face Anti-Spoofing by Learning Polarization Cues in a Real-World Scenario
Venue: arXiv cs.CV 2022
Year: 2022

Face anti-spoofing is the key to preventing security breaches in biometric recognition applications. Existing software-based and hardware-based face liveness detection methods are effective in constrained environments or designated datasets only. Deep learning method using RGB and infrared images demands a large amount of training data for new attacks. In this paper, we present a face anti-spoofing method in a real-world scenario by automatic learning the physical characteristics in polarization images of a real face compared to a deceptive attack. A computational framework is developed to extract and classify the unique face features using convolutional neural networks and SVM together. Our real-time polarized face anti-spoofing (PAAS) detection method uses a on-chip integrated polarization imaging sensor with optimized processing algorithms. Extensive experiments demonstrate the advantages of the PAAS technique to counter diverse face spoofing attacks (print, replay, mask) in uncontrolled indoor and outdoor conditions by learning polarized face images of 33 people. A four-directional polarized face image dataset is released to inspire future applications within biometric anti-spoofing field.
Improving the Robustness to Data Inconsistency between Training and Testing for Code Completion by Hierarchical Language Model
Venue: arXiv cs.SE 2022
Year: 2022

In the field of software engineering, applying language models to the token sequence of source code is the state-of-art approach to build a code recommendation system. The syntax tree of source code has hierarchical structures. Ignoring the characteristics of tree structures decreases the model performance. Current LSTM model handles sequential data. The performance of LSTM model will decrease sharply if the noise unseen data is distributed everywhere in the test suite. As code has free naming conventions, it is common for a model trained on one project to encounter many unknown words on another project. If we set many unseen words as UNK just like the solution in natural language processing, the number of UNK will be much greater than the sum of the most frequently appeared words. In an extreme case, just predicting UNK at everywhere may achieve very high prediction accuracy. Thus, such solution cannot reflect the true performance of a model when encountering noise unseen data. In this paper, we only mark a small number of rare words as UNK and show the prediction performance of models under in-project and cross-project evaluation. We propose a novel Hierarchical Language Model (HLM) to improve the robustness of LSTM model to gain the capacity about dealing with the inconsistency of data distribution between training and testing. The newly proposed HLM takes the hierarchical structure of code tree into consideration to predict code. HLM uses BiLSTM to generate embedding for sub-trees according to hierarchies and collects the embedding of sub-trees in context to predict next code. The experiments on inner-project and cross-project data sets indicate that the newly proposed Hierarchical Language Model (HLM) performs better than the state-of-art LSTM model in dealing with the data inconsistency between training and testing and achieves averagely 11.2\% improvement in prediction accuracy.
Enumeration of Irredundant Forests
Venue: arXiv cs.DM 2022
Year: 2022

Reverse search is a convenient method for enumerating structured objects, that can be used both to address theoretical issues and to solve data mining problems. This method has already been successfully developed to handle unordered trees. If the literature proposes solutions to enumerate singletons of trees, we study in this article a more general problem, the enumeration of sets of trees -- forests. Specifically, we mainly study irredundant forests, i.e., where no tree is a subtree of another. By compressing each such forest into a Directed Acyclic Graph (DAG), we develop a reverse search like method to enumerate DAGs compressing irredundant forests. Remarkably, we prove that these DAGs are in bijection with the row-Fishburn matrices, a well-studied class of combinatorial objects. In a second step, we derive our irredundant forest enumeration to provide algorithms for tackling related problems: (i) enumeration of forests in their classical sense (where redundancy is allowed); (ii) the enumeration of "subforests" of a forest, and (iii) the frequent "subforest" mining problem. All the methods presented in this article enumerate each item uniquely, up to isomorphism.
Scattering GCN: Overcoming Oversmoothness in Graph Convolutional Networks
Venue: arXiv cs.LG 2022
Year: 2022

Graph convolutional networks (GCNs) have shown promising results in processing graph data by extracting structure-aware features. This gave rise to extensive work in geometric deep learning, focusing on designing network architectures that ensure neuron activations conform to regularity patterns within the input graph. However, in most cases the graph structure is only accounted for by considering the similarity of activations between adjacent nodes, which limits the capabilities of such methods to discriminate between nodes in a graph. Here, we propose to augment conventional GCNs with geometric scattering transforms and residual convolutions. The former enables band-pass filtering of graph signals, thus alleviating the so-called oversmoothing often encountered in GCNs, while the latter is introduced to clear the resulting features of high-frequency noise. We establish the advantages of the presented Scattering GCN with both theoretical results establishing the complementary benefits of scattering and GCN features, as well as experimental results showing the benefits of our method compared to leading graph neural networks for semi-supervised node classification, including the recently proposed GAT network that typically alleviates oversmoothing using graph attention mechanisms.
Convex Hulls of Random Order Types
Venue: arXiv cs.CG 2022
Year: 2022

We establish the following two main results on order types of points in general position in the plane (realizable simple planar order types, realizable uniform acyclic oriented matroids of rank $3$): (a) The number of extreme points in an $n$-point order type, chosen uniformly at random from all such order types, is on average $4+o(1)$. For labeled order types, this number has average $4- \frac{8}{n^2 - n +2}$ and variance at most $3$. (b) The (labeled) order types read off a set of $n$ points sampled independently from the uniform measure on a convex planar domain, smooth or polygonal, or from a Gaussian distribution are concentrated, i.e. such sampling typically encounters only a vanishingly small fraction of all order types of the given size. Result (a) generalizes to arbitrary dimension $d$ for labeled order types with the average number of extreme points $2d+o(1)$ and constant variance. We also discuss to what extent our methods generalize to the abstract setting of uniform acyclic oriented matroids. Moreover, our methods allow to show the following relative of the Erdős-Szekeres theorem: for any fixed $k$, as $n \to \infty$, a proportion $1 - O(1/n)$ of the $n$-point simple order types contain a triangle enclosing a convex $k$-chain over an edge. For the unlabeled case in (a), we prove that for any antipodal, finite subset of the $2$-dimensional sphere, the group of orientation preserving bijections is cyclic, dihedral or one of $A_4$, $S_4$ or $A_5$ (and each case is possible). These are the finite subgroups of $SO(3)$ and our proof follows the lines of their characterization by Felix Klein.
Risk-Aware Submodular Optimization for Multi-Robot Coordination
Venue: arXiv cs.RO 2022
Year: 2022

We study the problem of incorporating risk while making combinatorial decisions under uncertainty. We formulate a discrete submodular maximization problem for selecting a set using Conditional-Value-at-Risk (CVaR), a risk metric commonly used in financial analysis. While CVaR has recently been used in optimization of linear cost functions in robotics, we take the first step towards extending this to discrete submodular optimization and provide several positive results. Specifically, we propose the Sequential Greedy Algorithm that provides an approximation guarantee on finding the maxima of the CVaR cost function under a matroidal constraint. The approximation guarantee shows that the solution produced by our algorithm is within a constant factor of the optimal and an additive term that depends on the optimal. Our analysis uses the curvature of the submodular set function, and proves that the algorithm runs in polynomial time. This formulates a number of combinatorial optimization problems that appear in robotics. We use two such problems, vehicle assignment under uncertainty for mobility-on-demand and sensor selection with failures for environmental monitoring, as case studies to demonstrate the efficacy of our formulation. In particular, for the mobility-on-demand study, we propose an online triggering assignment algorithm that triggers a new assignment only can potentially lead to reducing the waiting time at demand locations. We verify the performance of the Sequential Greedy Algorithm and the online triggering assignment algorithm through simulations.