OpenRaiser/Intern-Atlas huggingface dataset:
From Google Maps to a Fine-Grained Catalog of Street trees
Venue: arXiv cs.CV 2019
Year: 2019

Up-to-date catalogs of the urban tree population are important for municipalities to monitor and improve quality of life in cities. Despite much research on automation of tree mapping, mainly relying on dedicated airborne LiDAR or hyperspectral campaigns, trees are still mostly mapped manually in practice. We present a fully automated tree detection and species recognition pipeline to process thousands of trees within a few hours using publicly available aerial and street view images of Google MapsTM. These data provide rich information (viewpoints, scales) from global tree shapes to bark textures. Our work-flow is built around a supervised classification that automatically learns the most discriminative features from thousands of trees and corresponding, public tree inventory data. In addition, we introduce a change tracker to keep urban tree inventories up-to-date. Changes of individual trees are recognized at city-scale by comparing street-level images of the same tree location at two different times. Drawing on recent advances in computer vision and machine learning, we apply convolutional neural networks (CNN) for all classification tasks. We propose the following pipeline: download all available panoramas and overhead images of an area of interest, detect trees per image and combine multi-view detections in a probabilistic framework, adding prior knowledge; recognize fine-grained species of detected trees. In a later, separate module, track trees over time and identify the type of change. We believe this is the first work to exploit publicly available image data for fine-grained tree mapping at city-scale, respectively over many thousands of trees. Experiments in the city of Pasadena, California, USA show that we can detect > 70% of the street trees, assign correct species to > 80% for 40 different species, and correctly detect and classify changes in > 90% of the cases.
Distributed Distance-$r$ Dominating Set on Sparse High-Girth Graphs
Venue: arXiv cs.DC 2019
Year: 2019

The dominating set problem and its generalization, the distance-$r$ dominating set problem, are among the well-studied problems in the sequential settings. In distributed models of computation, unlike for domination, not much is known about distance-r domination. This is actually the case for other important closely-related covering problem, namely, the distance-$r$ independent set problem. By result of Kuhn et al. we know the distributed domination problem is hard on high girth graphs; we study the problem on a slightly restricted subclass of these graphs: graphs of bounded expansion with high girth, i.e. their girth should be at least $4r + 3$. We show that in such graphs, for every constant $r$, a simple greedy CONGEST algorithm provides a constant-factor approximation of the minimum distance-$r$ dominating set problem, in a constant number of rounds. More precisely, our constants are dependent to $r$, not to the size of the graph. This is the first algorithm that shows there are non-trivial constant factor approximations in constant number of rounds for any distance $r$-covering problem in distributed settings. To show the dependency on r is inevitable, we provide an unconditional lower bound showing the same problem is hard already on rings. We also show that our analysis of the algorithm is relatively tight, that is any significant improvement to the approximation factor requires new algorithmic ideas.
Policies Modulating Trajectory Generators
Venue: arXiv cs.RO 2019
Year: 2019

We propose an architecture for learning complex controllable behaviors by having simple Policies Modulate Trajectory Generators (PMTG), a powerful combination that can provide both memory and prior knowledge to the controller. The result is a flexible architecture that is applicable to a class of problems with periodic motion for which one has an insight into the class of trajectories that might lead to a desired behavior. We illustrate the basics of our architecture using a synthetic control problem, then go on to learn speed-controlled locomotion for a quadrupedal robot by using Deep Reinforcement Learning and Evolutionary Strategies. We demonstrate that a simple linear policy, when paired with a parametric Trajectory Generator for quadrupedal gaits, can induce walking behaviors with controllable speed from 4-dimensional IMU observations alone, and can be learned in under 1000 rollouts. We also transfer these policies to a real robot and show locomotion with controllable forward velocity.
Leveraging Vision Reconstruction Pipelines for Satellite Imagery
Venue: arXiv cs.CV 2019
Year: 2019

Reconstructing 3D geometry from satellite imagery is an important topic of research. However, disparities exist between how this 3D reconstruction problem is handled in the remote sensing context and how multi-view reconstruction pipelines have been developed in the computer vision community. In this paper, we explore whether state-of-the-art reconstruction pipelines from the vision community can be applied to the satellite imagery. Along the way, we address several challenges adapting vision-based structure from motion and multi-view stereo methods. We show that vision pipelines can offer competitive speed and accuracy in the satellite context.
Improving Neural Machine Translation Robustness via Data Augmentation: Beyond Back Translation
Venue: arXiv cs.CL 2019
Year: 2019

Neural Machine Translation (NMT) models have been proved strong when translating clean texts, but they are very sensitive to noise in the input. Improving NMT models robustness can be seen as a form of "domain" adaption to noise. The recently created Machine Translation on Noisy Text task corpus provides noisy-clean parallel data for a few language pairs, but this data is very limited in size and diversity. The state-of-the-art approaches are heavily dependent on large volumes of back-translated data. This paper has two main contributions: Firstly, we propose new data augmentation methods to extend limited noisy data and further improve NMT robustness to noise while keeping the models small. Secondly, we explore the effect of utilizing noise from external data in the form of speech transcripts and show that it could help robustness.
IRF: Interactive Recommendation through Dialogue
Venue: arXiv cs.IR 2019
Year: 2019

Recent research focuses beyond recommendation accuracy, towards human factors that influence the acceptance of recommendations, such as user satisfaction, trust, transparency and sense of control.We present a generic interactive recommender framework that can add interaction functionalities to non-interactive recommender systems.We take advantage of dialogue systems to interact with the user and we design a middleware layer to provide the interaction functions, such as providing explanations for the recommendations, managing users preferences learnt from dialogue, preference elicitation and refining recommendations based on learnt preferences.
Impact of Inference Accelerators on hardware selection
Venue: arXiv cs.DC 2019
Year: 2019

As opportunities for AI-assisted healthcare grow steadily, model deployment faces challenges due to the specific characteristics of the industry. The configuration choice for a production device can impact model performance while influencing operational costs. Moreover, in healthcare some situations might require fast, but not real time, inference. We study different configurations and conduct a cost-performance analysis to determine the optimized hardware for the deployment of a model subject to healthcare domain constraints. We observe that a naive performance comparison may not lead to an optimal configuration selection. In fact, given realistic domain constraints, CPU execution might be preferable to GPU accelerators. Hence, defining beforehand precise expectations for model deployment is crucial.
DSPatch: Dual Spatial Pattern Prefetcher
Venue: arXiv cs.AR 2019
Year: 2019

High main memory latency continues to limit performance of modern high-performance out-of-order cores. While DRAM latency has remained nearly the same over many generations, DRAM bandwidth has grown significantly due to higher frequencies, newer architectures (DDR4, LPDDR4, GDDR5) and 3D-stacked memory packaging (HBM). Current state-of-the-art prefetchers do not do well in extracting higher performance when higher DRAM bandwidth is available. Prefetchers need the ability to dynamically adapt to available bandwidth, boosting prefetch count and prefetch coverage when headroom exists and throttling down to achieve high accuracy when the bandwidth utilization is close to peak. To this end, we present the Dual Spatial Pattern Prefetcher (DSPatch) that can be used as a standalone prefetcher or as a lightweight adjunct spatial prefetcher to the state-of-the-art delta-based Signature Pattern Prefetcher (SPP). DSPatch builds on a novel and intuitive use of modulated spatial bit-patterns. The key idea is to: (1) represent program accesses on a physical page as a bit-pattern anchored to the first "trigger" access, (2) learn two spatial access bit-patterns: one biased towards coverage and another biased towards accuracy, and (3) select one bit-pattern at run-time based on the DRAM bandwidth utilization to generate prefetches. Across a diverse set of workloads, using only 3.6KB of storage, DSPatch improves performance over an aggressive baseline with a PC-based stride prefetcher at the L1 cache and the SPP prefetcher at the L2 cache by 6% (9% in memory-intensive workloads and up to 26%). Moreover, the performance of DSPatch+SPP scales with increasing DRAM bandwidth, growing from 6% over SPP to 10% when DRAM bandwidth is doubled.
INTERACTION Dataset: An INTERnational, Adversarial and Cooperative moTION Dataset in Interactive Driving Scenarios with Semantic Maps
Venue: arXiv cs.RO 2019
Year: 2019

Behavior-related research areas such as motion prediction/planning, representation/imitation learning, behavior modeling/generation, and algorithm testing, require support from high-quality motion datasets containing interactive driving scenarios with different driving cultures. In this paper, we present an INTERnational, Adversarial and Cooperative moTION dataset (INTERACTION dataset) in interactive driving scenarios with semantic maps. Five features of the dataset are highlighted. 1) The interactive driving scenarios are diverse, including urban/highway/ramp merging and lane changes, roundabouts with yield/stop signs, signalized intersections, intersections with one/two/all-way stops, etc. 2) Motion data from different countries and different continents are collected so that driving preferences and styles in different cultures are naturally included. 3) The driving behavior is highly interactive and complex with adversarial and cooperative motions of various traffic participants. Highly complex behavior such as negotiations, aggressive/irrational decisions and traffic rule violations are densely contained in the dataset, while regular behavior can also be found from cautious car-following, stop, left/right/U-turn to rational lane-change and cycling and pedestrian crossing, etc. 4) The levels of criticality span wide, from regular safe operations to dangerous, near-collision maneuvers. Real collision, although relatively slight, is also included. 5) Maps with complete semantic information are provided with physical layers, reference lines, lanelet connections and traffic rules. The data is recorded from drones and traffic cameras. Statistics of the dataset in terms of number of entities and interaction density are also provided, along with some utilization examples in a variety of behavior-related research areas. The dataset can be downloaded via https://interaction-dataset.com.
Tactical Reward Shaping: Bypassing Reinforcement Learning with Strategy-Based Goals
Venue: arXiv cs.AI 2019
Year: 2019

Deep Reinforcement Learning (DRL) has shown its promising capabilities to learn optimal policies directly from trial and error. However, learning can be hindered if the goal of the learning, defined by the reward function, is "not optimal". We demonstrate that by setting the goal/target of competition in a counter-intuitive but intelligent way, instead of heuristically trying solutions through many hours the DRL simulation can quickly converge into a winning strategy. The ICRA-DJI RoboMaster AI Challenge is a game of cooperation and competition between robots in a partially observable environment, quite similar to the Counter-Strike game. Unlike the traditional approach to games, where the reward is given at winning the match or hitting the enemy, our DRL algorithm rewards our robots when in a geometric-strategic advantage, which implicitly increases the winning chances. Furthermore, we use Deep Q Learning (DQL) to generate multi-agent paths for moving, which improves the cooperation between two robots by avoiding the collision. Finally, we implement a variant A* algorithm with the same implicit geometric goal as DQL and compare results. We conclude that a well-set goal can put in question the need for learning algorithms, with geometric-based searches outperforming DQL in many orders of magnitude.
Software Engineering Practice in the Development of Deep Learning Applications
Venue: arXiv cs.SE 2019
Year: 2019

Deep-Learning(DL) applications have been widely employed to assist in various tasks. They are constructed based on a data-driven programming paradigm that is different from conventional software applications. Given the increasing popularity and importance of DL applications, software engineering practitioners have some techniques specifically for them. However, little research is conducted to identify the challenges and lacks in practice. To fill this gap, in this paper, we surveyed 195 practitioners to understand their insight and experience in the software engineering practice of DL applications. Specifically, we asked the respondents to identify lacks and challenges in the practice of the development life cycle of DL applications. The results present 13 findings that provide us with a better understanding of software engineering practice of DL applications. Further, we distil these findings into 7 actionable recommendations for software engineering researchers and practitioners to improve the development of DL applications.
Model-based Behavioral Cloning with Future Image Similarity Learning
Venue: arXiv cs.RO 2019
Year: 2019

We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be expensive/dangerous. We present a new approach to address this problem by learning a future scene prediction model solely on a collection of expert trajectories consisting of unlabeled example videos and actions, and by enabling generalized action cloning using future image similarity. The robot learns to visually predict the consequences of taking an action, and obtains the policy by evaluating how similar the predicted future image is to an expert image. We develop a stochastic action-conditioned convolutional autoencoder, and present how we take advantage of future images for robot learning. We conduct experiments in simulated and real-life environments using a ground mobility robot with and without obstacles, and compare our models to multiple baseline methods.
Insider Threat Detection via Hierarchical Neural Temporal Point Processes
Venue: arXiv cs.CR 2019
Year: 2019

Insiders usually cause significant losses to organizations and are hard to detect. Currently, various approaches have been proposed to achieve insider threat detection based on analyzing the audit data that record information of the employee's activity type and time. However, the existing approaches usually focus on modeling the users' activity types but do not consider the activity time information. In this paper, we propose a hierarchical neural temporal point process model by combining the temporal point processes and recurrent neural networks for insider threat detection. Our model is capable of capturing a general nonlinear dependency over the history of all activities by the two-level structure that effectively models activity times, activity types, session durations, and session intervals information. Experimental results on two datasets demonstrate that our model outperforms the models that only consider information of the activity types or time alone.
Metric Pose Estimation for Human-Machine Interaction Using Monocular Vision
Venue: arXiv cs.CV 2019
Year: 2019

The rapid growth of collaborative robotics in production requires new automation technologies that take human and machine equally into account. In this work, we describe a monocular camera based system to detect human-machine interactions from a bird's-eye perspective. Our system predicts poses of humans and robots from a single wide-angle color image. Even though our approach works on 2D color input, we lift the majority of detections to a metric 3D space. Our system merges pose information with predefined virtual sensors to coordinate human-machine interactions. We demonstrate the advantages of our system in three use cases.
Riposte! A Large Corpus of Counter-Arguments
Venue: arXiv cs.CL 2019
Year: 2019

Constructive feedback is an effective method for improving critical thinking skills. Counter-arguments (CAs), one form of constructive feedback, have been proven to be useful for critical thinking skills. However, little work has been done for constructing a large-scale corpus of them which can drive research on automatic generation of CAs for fallacious micro-level arguments (i.e. a single claim and premise pair). In this work, we cast providing constructive feedback as a natural language processing task and create Riposte!, a corpus of CAs, towards this goal. Produced by crowdworkers, Riposte! contains over 18k CAs. We instruct workers to first identify common fallacy types and produce a CA which identifies the fallacy. We analyze how workers create CAs and construct a baseline model based on our analysis.
Parallel Online Algorithms for the Bin Packing Problem
Venue: arXiv cs.DS 2019
Year: 2019

We study \emph{parallel} online algorithms: For some fixed integer $k$, a collective of $k$ parallel processes that perform online decisions on the same sequence of events forms a $k$-\emph{copy algorithm}. For any given time and input sequence, the overall performance is determined by the best of the $k$ individual total results. Problems of this type have been considered for online makespan minimization; they are also related to optimization with \emph{advice} on future events, i.e., a number of bits available in advance. We develop \textsc{Predictive Harmonic}$_3$ (PH3), a relatively simple family of $k$-copy algorithms for the online Bin Packing Problem, whose joint competitive factor converges to 1.5 for increasing $k$. In particular, we show that $k=6$ suffices to guarantee a factor of $1.5714$ for PH3, which is better than $1.57829$, the performance of the best known 1-copy algorithm \textsc{Advanced Harmonic}, while $k=11$ suffices to achieve a factor of $1.5406$, beating the known lower bound of $1.54278$ for a single online algorithm. In the context of online optimization with advice, our approach implies that 4 bits suffice to achieve a factor better than this bound of $1.54278$, which is considerably less than the previous bound of 15 bits.
Eyenet: Attention based Convolutional Encoder-Decoder Network for Eye Region Segmentation
Venue: arXiv cs.CV 2019
Year: 2019

With the immersive development in the field of augmented and virtual reality, accurate and speedy eye-tracking is required. Facebook Research has organized a challenge, named OpenEDS Semantic Segmentation challenge for per-pixel segmentation of the key eye regions: the sclera, the iris, the pupil, and everything else (background). There are two constraints set for the participants viz MIOU and the computational complexity of the model. More recently, researchers have achieved quite a good result using the convolutional neural networks (CNN) in segmenting eyeregions. However, the environmental challenges involved in this task such as low resolution, blur, unusual glint and, illumination, off-angles, off-axis, use of glasses and different color of iris region hinder the accuracy of segmentation. To address the challenges in eye segmentation, the present work proposes a robust and computationally efficient attention-based convolutional encoder-decoder network for segmenting all the eye regions. Our model, named EyeNet, includes modified residual units as the backbone, two types of attention blocks and multi-scale supervision for segmenting the aforesaid four eye regions. Our proposed model achieved a total score of 0.974(EDS Evaluation metric) on test data, which demonstrates superior results compared to the baseline methods.
Negative Space: Workspace Awareness in 3D Face-to-Face Remote Collaboration
Venue: arXiv cs.HC 2019
Year: 2019

Face-to-face telepresence promotes the sense of "being there" and can improve collaboration by allowing immediate understanding of remote people's nonverbal cues. Several approaches successfully explored interactions with 2D content using a see-through whiteboard metaphor. However, with 3D content, there is a decrease in awareness due to ambiguities originated by participants' opposing points-of-view. In this paper, we investigate how people and content should be presented for discussing 3D renderings within face-to-face collaborative sessions. To this end, we performed a user evaluation to compare four different conditions, in which we varied reflections of both workspace and remote people representation. Results suggest potentially more benefits to remote collaboration from workspace consistency rather than people's representation fidelity. We contribute a novel design space, the Negative Space, for remote face-to-face collaboration focusing on 3D content.
When Specialization Helps: Using Pooled Contextualized Embeddings to Detect Chemical and Biomedical Entities in Spanish
Venue: arXiv cs.CL 2019
Year: 2019

The recognition of pharmacological substances, compounds and proteins is an essential preliminary work for the recognition of relations between chemicals and other biomedically relevant units. In this paper, we describe an approach to Task 1 of the PharmaCoNER Challenge, which involves the recognition of mentions of chemicals and drugs in Spanish medical texts. We train a state-of-the-art BiLSTM-CRF sequence tagger with stacked Pooled Contextualized Embeddings, word and sub-word embeddings using the open-source framework FLAIR. We present a new corpus composed of articles and papers from Spanish health science journals, termed the Spanish Health Corpus, and use it to train domain-specific embeddings which we incorporate in our model training. We achieve a result of 89.76% F1-score using pre-trained embeddings and are able to improve these results to 90.52% F1-score using specialized embeddings.
Overcoming the Rare Word Problem for Low-Resource Language Pairs in Neural Machine Translation
Venue: arXiv cs.CL 2019
Year: 2019

Among the six challenges of neural machine translation (NMT) coined by (Koehn and Knowles, 2017), rare-word problem is considered the most severe one, especially in translation of low-resource languages. In this paper, we propose three solutions to address the rare words in neural machine translation systems. First, we enhance source context to predict the target words by connecting directly the source embeddings to the output of the attention component in NMT. Second, we propose an algorithm to learn morphology of unknown words for English in supervised way in order to minimize the adverse effect of rare-word problem. Finally, we exploit synonymous relation from the WordNet to overcome out-of-vocabulary (OOV) problem of NMT. We evaluate our approaches on two low-resource language pairs: English-Vietnamese and Japanese-Vietnamese. In our experiments, we have achieved significant improvements of up to roughly +1.0 BLEU points in both language pairs.