OpenRaiser/Intern-Atlas huggingface dataset:
Mechatronic Design of a Dribbling System for RoboCup Small Size Robot
Venue: arXiv cs.RO 2019
Year: 2019

RoboCup SSL is an excellent platform for researching artificial intelligence and robotics. The dribbling system is an essential issue, which is the main part for completing advanced soccer skills such as trapping and dribbling. In this paper, we designed a new dribbling system for SSL robots, including mechatronics design and control algorithms. For the mechatronics design, we analysed and exposed the 3-touch-point model with the simulation in ADAMS. In the motor controller algorithm, we use reinforcement learning to control the torque output. Finally we verified the results on the robot.
Bi-objective Framework for Sensor Fusion in RGB-D Multi-View Systems: Applications in Calibration
Venue: arXiv cs.CV 2019
Year: 2019

Complete and textured 3D reconstruction of dynamic scenes has been facilitated by mapped RGB and depth information acquired by RGB-D cameras based multi-view systems. One of the most critical steps in such multi-view systems is to determine the relative poses of all cameras via a process known as extrinsic calibration. In this work, we propose a sensor fusion framework based on a weighted bi-objective optimization for refinement of extrinsic calibration tailored for RGB-D multi-view systems. The weighted bi-objective cost function, which makes use of 2D information from RGB images and 3D information from depth images, is analytically derived via the Maximum Likelihood (ML) method. The weighting factor appears as a function of noise in 2D and 3D measurements and takes into account the affect of residual errors on the optimization. We propose an iterative scheme to estimate noise variances in 2D and 3D measurements, for simultaneously computing the weighting factor together with the camera poses. An extensive quantitative and qualitative evaluation of the proposed approach shows improved calibration performance as compared to refinement schemes which use only 2D or 3D measurement information.
Scene Induced Multi-Modal Trajectory Forecasting via Planning
Venue: arXiv cs.RO 2019
Year: 2019

We address multi-modal trajectory forecasting of agents in unknown scenes by formulating it as a planning problem. We present an approach consisting of three models; a goal prediction model to identify potential goals of the agent, an inverse reinforcement learning model to plan optimal paths to each goal, and a trajectory generator to obtain future trajectories along the planned paths. Analysis of predictions on the Stanford drone dataset, shows generalizability of our approach to novel scenes.
Characterizing Certain DNS DDoS Attacks
Venue: arXiv cs.CR 2019
Year: 2019

This paper details data science research in the area of Cyber Threat Intelligence applied to a specific type of Distributed Denial of Service (DDoS) attack. We study a DDoS technique prevalent in the Domain Name System (DNS) for which little malware have been recovered. Using data from a globally distributed set of a passive collectors (pDNS), we create a statistical classifier to identify these attacks and then use unsupervised learning to investigate the attack events and the malware that generates them. The first known major study of this technique, we discovered that current attacks have little resemblance to published descriptions and identify several previously unpublished features of the attacks. Through a combination of text and time series features, we are able to characterize the dominant malware and demonstrate that the number of global-scale attack systems is relatively small.
On Recurrent Neural Networks for Sequence-based Processing in Communications
Venue: arXiv cs.IT 2019
Year: 2019

In this work, we analyze the capabilities and practical limitations of neural networks (NNs) for sequence-based signal processing which can be seen as an omnipresent property in almost any modern communication systems. In particular, we train multiple state-of-the-art recurrent neural network (RNN) structures to learn how to decode convolutional codes allowing a clear benchmarking with the corresponding maximum likelihood (ML) Viterbi decoder. We examine the decoding performance for various kinds of NN architectures, beginning with classical types like feedforward layers and gated recurrent unit (GRU)-layers, up to more recently introduced architectures such as temporal convolutional networks (TCNs) and differentiable neural computers (DNCs) with external memory. As a key limitation, it turns out that the training complexity increases exponentially with the length of the encoding memory $ν$ and, thus, practically limits the achievable bit error rate (BER) performance. To overcome this limitation, we introduce a new training-method by gradually increasing the number of ones within the training sequences, i.e., we constrain the amount of possible training sequences in the beginning until first convergence. By consecutively adding more and more possible sequences to the training set, we finally achieve training success in cases that did not converge before via naive training. Further, we show that our network can learn to jointly detect and decode a quadrature phase shift keying (QPSK) modulated code with sub-optimal (anti-Gray) labeling in one-shot at a performance that would require iterations between demapper and decoder in classic detection schemes.
Accuracy-Memory Tradeoffs and Phase Transitions in Belief Propagation
Venue: arXiv cs.IT 2019
Year: 2019

The analysis of Belief Propagation and other algorithms for the {\em reconstruction problem} plays a key role in the analysis of community detection in inference on graphs, phylogenetic reconstruction in bioinformatics, and the cavity method in statistical physics. We prove a conjecture of Evans, Kenyon, Peres, and Schulman (2000) which states that any bounded memory message passing algorithm is statistically much weaker than Belief Propagation for the reconstruction problem. More formally, any recursive algorithm with bounded memory for the reconstruction problem on the trees with the binary symmetric channel has a phase transition strictly below the Belief Propagation threshold, also known as the Kesten-Stigum bound. The proof combines in novel fashion tools from recursive reconstruction, information theory, and optimal transport, and also establishes an asymptotic normality result for BP and other message-passing algorithms near the critical threshold.
Pose-adaptive Hierarchical Attention Network for Facial Expression Recognition
Venue: arXiv cs.CV 2019
Year: 2019

Multi-view facial expression recognition (FER) is a challenging task because the appearance of an expression varies in poses. To alleviate the influences of poses, recent methods either perform pose normalization or learn separate FER classifiers for each pose. However, these methods usually have two stages and rely on good performance of pose estimators. Different from existing methods, we propose a pose-adaptive hierarchical attention network (PhaNet) that can jointly recognize the facial expressions and poses in unconstrained environment. Specifically, PhaNet discovers the most relevant regions to the facial expression by an attention mechanism in hierarchical scales, and the most informative scales are then selected to learn the pose-invariant and expression-discriminative representations. PhaNet is end-to-end trainable by minimizing the hierarchical attention losses, the FER loss and pose loss with dynamically learned loss weights. We validate the effectiveness of the proposed PhaNet on three multi-view datasets (BU-3DFE, Multi-pie, and KDEF) and two in-the-wild FER datasets (AffectNet and SFEW). Extensive experiments demonstrate that our framework outperforms the state-of-the-arts under both within-dataset and cross-dataset settings, achieving the average accuracies of 84.92\%, 93.53\%, 88.5\%, 54.82\% and 31.25\% respectively.
A Customised App to Attract Female Teenagers to Coding
Venue: arXiv cs.SE 2019
Year: 2019

The number of women in IT-related disciplines is far below the number of men, especially in developed countries. Middle-school girls appear to be engaged in coding courses, but when they choose academic majors relevant to their future careers, only few pursue computer science as a major. In order to show students a new way of learning and to engage them with coding activities, we used the learning app Pocket Code. In the "No One Left Behind" H2020 European project, the app was evaluated in several school subjects. An evaluation of the attractiveness of the app shows that students were motivated by Pocket Code's ease of use and its appealing design; however, girls rated the app less enthusiastically. To appeal to female teenagers in particular, a tailored version of the app "Luna&Cat" has been developed. This customised version stands in contrast to the "one size fits all" solution Pocket Code, which may discourage certain user groups. For apps to have a higher chance to appeal to a specific target group, it is, among many other points, necessary to optimise their store listing on app stores, especially as we found that app stores are the most effective way to reach teenagers. Thus, this paper covers the following research question. What customizations are necessary in Pocket Code to reinforce female teenagers in their coding activities? To answer this question, a focus group discussion was performed. This discussion first brought insights about our target group and suggested names and designs for the new app; and second, allowed each student to make proposals for their desired games. Later, these game ideas were analysed, graphically designed, and further developed together with university design students. By showing female teenagers games designed by other young women in their age group, we help them to get ideas and inspiration to code their own programs.
PCC Net: Perspective Crowd Counting via Spatial Convolutional Network
Venue: arXiv cs.CV 2019
Year: 2019

Crowd counting from a single image is a challenging task due to high appearance similarity, perspective changes and severe congestion. Many methods only focus on the local appearance features and they cannot handle the aforementioned challenges. In order to tackle them, we propose a Perspective Crowd Counting Network (PCC Net), which consists of three parts: 1) Density Map Estimation (DME) focuses on learning very local features for density map estimation; 2) Random High-level Density Classification (R-HDC) extracts global features to predict the coarse density labels of random patches in images; 3) Fore-/Background Segmentation (FBS) encodes mid-level features to segments the foreground and background. Besides, the DULR module is embedded in PCC Net to encode the perspective changes on four directions (Down, Up, Left and Right). The proposed PCC Net is verified on five mainstream datasets, which achieves the state-of-the-art performance on the one and attains the competitive results on the other four datasets. The source code is available at https://github.com/gjy3035/PCC-Net.
ACNet: Attention Based Network to Exploit Complementary Features for RGBD Semantic Segmentation
Venue: arXiv cs.CV 2019
Year: 2019

Compared to RGB semantic segmentation, RGBD semantic segmentation can achieve better performance by taking depth information into consideration. However, it is still problematic for contemporary segmenters to effectively exploit RGBD information since the feature distributions of RGB and depth (D) images vary significantly in different scenes. In this paper, we propose an Attention Complementary Network (ACNet) that selectively gathers features from RGB and depth branches. The main contributions lie in the Attention Complementary Module (ACM) and the architecture with three parallel branches. More precisely, ACM is a channel attention-based module that extracts weighted features from RGB and depth branches. The architecture preserves the inference of the original RGB and depth branches, and enables the fusion branch at the same time. Based on the above structures, ACNet is capable of exploiting more high-quality features from different channels. We evaluate our model on SUN-RGBD and NYUDv2 datasets, and prove that our model outperforms state-of-the-art methods. In particular, a mIoU score of 48.3\% on NYUDv2 test set is achieved with ResNet50. We will release our source code based on PyTorch and the trained segmentation model at https://github.com/anheidelonghu/ACNet.
Deep Model Predictive Control with Online Learning for Complex Physical Systems
Venue: arXiv cs.LG 2019
Year: 2019

The control of complex systems is of critical importance in many branches of science, engineering, and industry. Controlling an unsteady fluid flow is particularly important, as flow control is a key enabler for technologies in energy (e.g., wind, tidal, and combustion), transportation (e.g., planes, trains, and automobiles), security (e.g., tracking airborne contamination), and health (e.g., artificial hearts and artificial respiration). However, the high-dimensional, nonlinear, and multi-scale dynamics make real-time feedback control infeasible. Fortunately, these high-dimensional systems exhibit dominant, low-dimensional patterns of activity that can be exploited for effective control in the sense that knowledge of the entire state of a system is not required. Advances in machine learning have the potential to revolutionize flow control given its ability to extract principled, low-rank feature spaces characterizing such complex systems. We present a novel deep learning model predictive control (DeepMPC) framework that exploits low-rank features of the flow in order to achieve considerable improvements to control performance. Instead of predicting the entire fluid state, we use a recurrent neural network (RNN) to accurately predict the control relevant quantities of the system. The RNN is then embedded into a MPC framework to construct a feedback loop, and incoming sensor data is used to perform online updates to improve prediction accuracy. The results are validated using varying fluid flow examples of increasing complexity.
Generative adversarial network based on chaotic time series
Venue: arXiv cs.LG 2019
Year: 2019

Generative adversarial network (GAN) is gaining increased importance in artificially constructing natural images and related functionalities wherein two networks called generator and discriminator are evolving through adversarial mechanisms. Using deep convolutional neural networks and related techniques, high-resolution, highly realistic scenes, human faces, among others have been generated. While GAN in general needs a large amount of genuine training data sets, it is noteworthy that vast amounts of pseudorandom numbers are required. Here we utilize chaotic time series generated experimentally by semiconductor lasers for the latent variables of GAN whereby the inherent nature of chaos can be reflected or transformed into the generated output data. We show that the similarity in proximity, which is a degree of robustness of the generated images with respects to a minute change in the input latent variables, is enhanced while the versatility as a whole is not severely degraded. Furthermore, we demonstrate that the surrogate chaos time series eliminates the signature of generated images that is originally observed corresponding to the negative autocorrelation inherent in the chaos sequence. We also discuss the impact of utilizing chaotic time series in retrieving images from the trained generator.
Low-pass-filter-based shock response spectrum and the evaluation method of transmissibility between equipment and sensitive components interfaces
Venue: arXiv cs.CE 2019
Year: 2019

According to the features of the sources of pyroshock and ballistic shock, this study considers the pyroshock and ballistic shock generated by their respective impulsive sources as damped harmonic waves with different frequencies. According to the linear superposition assumption of damped harmonic waves in a linear elastic structure, a shock analysis method based on low-pass-filtered shock signals and their corresponding shock response spectrum (SRS), termed as low-pass-filter-based shock response spectrum (LPSRS), is proposed. LPSRS contains rich information of the frequency distribution of the shock excitation signal. A method to calculate shock transmissibility is proposed based on LPSRS and basic modal information of the equipment structure. LPSRS and SRS curves can be predicted at any given position of the equipment structure. The prediction method is validated by finite element method (FEM) simulation.
New ways to multiply 3 x 3-matrices
Venue: arXiv cs.SC 2019
Year: 2019

It is known since the 1970s that no more than 23 multiplications are required for computing the product of two 3 x 3-matrices. It is not known whether this can also be done with fewer multiplications. However, there are several mutually inequivalent ways of doing the job with 23 multiplications. In this article, we extend this list considerably by providing more than 13 000 new and mutually inequivalent schemes for multiplying 3 x 3-matrices using 23 multiplications. Moreover, we show that the set of all these schemes is a manifold of dimension at least 17.
A Comparison and Strategy of Semantic Segmentation on Remote Sensing Images
Venue: arXiv cs.CV 2019
Year: 2019

In recent years, with the development of aerospace technology, we use more and more images captured by satellites to obtain information. But a large number of useless raw images, limited data storage resource and poor transmission capability on satellites hinder our use of valuable images. Therefore, it is necessary to deploy an on-orbit semantic segmentation model to filter out useless images before data transmission. In this paper, we present a detailed comparison on the recent deep learning models. Considering the computing environment of satellites, we compare methods from accuracy, parameters and resource consumption on the same public dataset. And we also analyze the relation between them. Based on experimental results, we further propose a viable on-orbit semantic segmentation strategy. It will be deployed on the TianZhi-2 satellite which supports deep learning methods and will be lunched soon.
Entropy-based Motion Intention Identification for Brain-Computer Interface
Venue: arXiv cs.HC 2019
Year: 2019

The identification of intentionally delivered commands is a challenge in Brain Computer Interfaces (BCIs) based on Sensory-Motor Rhythms (SMR). It is of fundamental importance that BCI systems controlling a robotic device (i.e., upper limb prosthesis) are capable of detecting if the user is in the so called Intentional Non-Control (INC) state (i.e., holding the prosthesis in a given position). In this work, we propose a novel approach based on the entropy of the Electroencephalogram (EEG) signals to provide a continuous identification of motion intention. Results from ten healthy subjects suggest that the proposed system can be used for reliably predicting motion in real-time at a framerate of 8 Hz with $80\% \pm 5\%$ of accuracy. Moreover, motion intention can be detected more than 1 second before muscular activation with an average accuracy of $76\% \pm 11\%$.
Rank3DGAN: Semantic mesh generation using relative attributes
Venue: arXiv cs.CV 2019
Year: 2019

In this paper, we investigate a novel problem of using generative adversarial networks in the task of 3D shape generation according to semantic attributes. Recent works map 3D shapes into 2D parameter domain, which enables training Generative Adversarial Networks (GANs) for 3D shape generation task. We extend these architectures to the conditional setting, where we generate 3D shapes with respect to subjective attributes defined by the user. Given pairwise comparisons of 3D shapes, our model performs two tasks: it learns a generative model with a controlled latent space, and a ranking function for the 3D shapes based on their multi-chart representation in 2D. The capability of the model is demonstrated with experiments on HumanShape, Basel Face Model and reconstructed 3D CUB datasets. We also present various applications that benefit from our model, such as multi-attribute exploration, mesh editing, and mesh attribute transfer.
Performance-Feedback Autoscaling with Budget Constraints for Cloud-based Workloads of Workflows
Venue: arXiv cs.DC 2019
Year: 2019

The growing popularity of workflows in the cloud domain promoted the development of sophisticated autoscaling policies that allow automatic allocation and deallocation of resources. However, many state-of-the-art autoscaling policies for workflows are mostly plan-based or designed for batches (ensembles) of workflows. This reduces their flexibility when dealing with workloads of workflows, as the workloads are often subject to unpredictable resource demand fluctuations. Moreover, autoscaling in clouds almost always imposes budget constraints that should be satisfied. The budget-aware autoscalers for workflows usually require task runtime estimates to be provided beforehand, which is not always possible when dealing with workloads due to their dynamic nature. To address these issues, we propose a novel Performance-Feedback Autoscaler (PFA) that is budget-aware and does not require task runtime estimates for its operation. Instead, it uses the performance-feedback loop that monitors the average throughput on each resource type. We implement PFA in the popular Apache Airflow workflow management system, and compare the performance of our autoscaler with other two state-of-the-art autoscalers, and with the optimal solution obtained with the Mixed Integer Programming approach. Our results show that PFA outperforms other considered online autoscalers, as it effectively minimizes the average job slowdown by up to 47% while still satisfying the budget constraints. Moreover, PFA shows by up to 76% lower average runtime than the competitors.
Tiresias: Predicting Security Events Through Deep Learning
Venue: arXiv cs.CR 2019
Year: 2019

With the increased complexity of modern computer attacks, there is a need for defenders not only to detect malicious activity as it happens, but also to predict the specific steps that will be taken by an adversary when performing an attack. However this is still an open research problem, and previous research in predicting malicious events only looked at binary outcomes (e.g., whether an attack would happen or not), but not at the specific steps that an attacker would undertake. To fill this gap we present Tiresias, a system that leverages Recurrent Neural Networks (RNNs) to predict future events on a machine, based on previous observations. We test Tiresias on a dataset of 3.4 billion security events collected from a commercial intrusion prevention system, and show that our approach is effective in predicting the next event that will occur on a machine with a precision of up to 0.93. We also show that the models learned by Tiresias are reasonably stable over time, and provide a mechanism that can identify sudden drops in precision and trigger a retraining of the system. Finally, we show that the long-term memory typical of RNNs is key in performing event prediction, rendering simpler methods not up to the task.
Unsupervised Community Detection with Modularity-Based Attention Model
Venue: arXiv cs.SI 2019
Year: 2019

In this paper we take a problem of unsupervised nodes clustering on graphs and show how recent advances in attention models can be applied successfully in a "hard" regime of the problem. We propose an unsupervised algorithm that encodes Bethe Hessian embeddings by optimizing soft modularity loss and argue that our model is competitive to both classical and Graph Neural Network (GNN) models while it can be trained on a single graph.