OpenRaiser/Intern-Atlas huggingface dataset:
Planning and Navigation of Climbing Robots in Low-Gravity Environments
Venue: arXiv cs.RO 2018
Year: 2018

Advances in planetary robotics have led to wheeled robots that have beamed back invaluable science data from the surface of the Moon and Mars. However, these large wheeled robots are unable to access rugged environments such as cliffs, canyons and crater walls that contain exposed rock-faces and are geological time-capsules into the early Moon and Mars. We have proposed the SphereX robot with a mass of 3 kg, 30 cm diameter that can hop, roll and fly short distances. A single robot may slip and fall, however, a multirobot system can work cooperatively by being interlinked using spring-tethers and work much like a team of mountaineers to systematically climb a slope. We consider a team of four or more robots that are interlinked with tethers in an 'x' configuration. Each robot secures itself to a slope using spiny gripping actuators, and one by one each robot moves upwards by crawling, rolling or hopping up the slope. In this paper, we present a human devised autonomous climbing algorithm and evaluate it using a high-fidelity dynamics simulator. The climbing surfaces contain impassable obstacles and some loosely held rocks that can dislodge. Under these conditions, the robots need to autonomously map, plan and navigate up or down these steep environments. Autonomous mapping and navigation capability is evaluated using simulated lasers, vision sensors. The human devised planning algorithm uses a new algorithm called bounded-leg A*. Our early simulation results show much promise in these techniques and our future plans include demonstration on real robots in a controlled laboratory environment and outdoors in the canyons of Arizona.
Securely Solving the Distributed Graph Coloring Problem
Venue: arXiv cs.CR 2018
Year: 2018

Combinatorial optimization is a fundamental problem found in many fields. In many real life situations, the constraints and the objective function forming the optimization problem are naturally distributed amongst different sites in some fashion. A typical approach for solving such problem is to collect all of this information together and centrally solve the problem. However, this requires all parties to completely share their information, which may lead to serious privacy issues. Thus, it is desirable to propose a privacy preserving technique that can securely solve specific combinatorial optimization problems. A further complicating factor is that combinatorial optimization problems are typically NP-hard, requiring approximation algorithms or heuristics to provide a practical solution. In this paper, we focus on a very well-known hard problem -- the distributed graph coloring problem, which has been utilized to model many real world problems in scheduling and resource allocation. We propose efficient protocols to securely solve such fundamental problem. We analyze the security of our approach and experimentally demonstrate the effectiveness of our approach.
Online Fault Identification of Digital Hydraulic Valves Using a Combined Model-Based and Data-Driven Approach
Venue: arXiv cs.SY 2018
Year: 2018

Robustness and fault-tolerance are desirable properties for hydraulic working machines and field robots. In applications where service personnel do not have easy access to the machine, it is important that the machine can continue its operation despite single machinery faults. Digital hydraulics enables a design which is inherently fault-tolerant by having each hydraulic actuator controlled by a number of parallel on/off valves. The exact state operation of a digital hydraulic system enables model based diagnostics of the hydraulic components and the possibility to compensate for identified faults. This paper presents an approach for identifying faulty valves based on combination of pressure measurements made during the normal operation of the machine and a mathematical model describing the flow balance of the hydraulic system.
What Catches the Eye? Visualizing and Understanding Deep Saliency Models
Venue: arXiv cs.CV 2018
Year: 2018

Deep convolutional neural networks have demonstrated high performances for fixation prediction in recent years. How they achieve this, however, is less explored and they remain to be black box models. Here, we attempt to shed light on the internal structure of deep saliency models and study what features they extract for fixation prediction. Specifically, we use a simple yet powerful architecture, consisting of only one CNN and a single resolution input, combined with a new loss function for pixel-wise fixation prediction during free viewing of natural scenes. We show that our simple method is on par or better than state-of-the-art complicated saliency models. Furthermore, we propose a method, related to saliency model evaluation metrics, to visualize deep models for fixation prediction. Our method reveals the inner representations of deep models for fixation prediction and provides evidence that saliency, as experienced by humans, is likely to involve high-level semantic knowledge in addition to low-level perceptual cues. Our results can be useful to measure the gap between current saliency models and the human inter-observer model and to build new models to close this gap.
A Study of Car-to-Train Assignment Problem for Rail Express Cargos on Scheduled and Unscheduled Train Service Network
Venue: arXiv cs.AI 2018
Year: 2018

Freight train services in a railway network system are generally divided into two categories: one is the unscheduled train, whose operating frequency fluctuates with origin-destination (OD) demands; the other is the scheduled train, which is running based on regular timetable just like the passenger trains. The timetable will be released to the public if determined and it would not be influenced by OD demands. Typically, the total capacity of scheduled trains can usually satisfy the predicted demands of express cargos in average. However, the demands are changing in practice. Therefore, how to distribute the shipments between different stations to unscheduled and scheduled train services has become an important research field in railway transportation. This paper focuses on the coordinated optimization of the rail express cargos distribution in two service networks. On the premise of fully utilizing the capacity of scheduled service network first, we established a Car-to-Train (CTT) assignment model to assign rail express cargos to scheduled and unscheduled trains scientifically. The objective function is to maximize the net income of transporting the rail express cargos. The constraints include the capacity restriction on the service arcs, flow balance constraints, logical relationship constraint between two groups of decision variables and the due date constraint. The last constraint is to ensure that the total transportation time of a shipment would not be longer than its predefined due date. Finally, we discuss the linearization techniques to simplify the model proposed in this paper, which make it possible for obtaining global optimal solution by using the commercial software.
A predictor-corrector method for the training of deep neural networks
Venue: arXiv cs.CV 2018
Year: 2018

The training of deep neural nets is expensive. We present a predictor- corrector method for the training of deep neural nets. It alternates a predictor pass with a corrector pass using stochastic gradient descent with backpropagation such that there is no loss in validation accuracy. No special modifications to SGD with backpropagation is required by this methodology. Our experiments showed a time improvement of 9% on the CIFAR-10 dataset.
Temporal Human Action Segmentation via Dynamic Clustering
Venue: arXiv cs.CV 2018
Year: 2018

We present an effective dynamic clustering algorithm for the task of temporal human action segmentation, which has comprehensive applications such as robotics, motion analysis, and patient monitoring. Our proposed algorithm is unsupervised, fast, generic to process various types of features, and applicable in both the online and offline settings. We perform extensive experiments of processing data streams, and show that our algorithm achieves the state-of-the-art results for both online and offline settings.
Sharing and Preserving Computational Analyses for Posterity with encapsulator
Venue: arXiv cs.DL 2018
Year: 2018

Open data and open-source software may be part of the solution to science's "reproducibility crisis", but they are insufficient to guarantee reproducibility. Requiring minimal end-user expertise, encapsulator creates a "time capsule" with reproducible code in a self-contained computational environment. encapsulator provides end-users with a fully-featured desktop environment for reproducible research.
Image Registration Based Flicker Solving in Video Face Replacement and Analysis Based Sub-pixel Image Registration
Venue: arXiv cs.CV 2018
Year: 2018

In this paper, a framework of video face replacement is proposed and it deals with the flicker of swapped face in video sequence. This framework contains two main innovations: 1) the technique of image registration is exploited to align the source and target video faces for eliminating the flicker or jitter of the segmented video face sequence; 2) a fast subpixel image registration method is proposed for farther accuracy and efficiency. Unlike the priori works, it minimizes the overlapping region and takes spatiotemporal coherence into account. Flicker in resulted videos is usually caused by the frequently changed bound of the blending target face and unregistered faces between and along video sequences. The subpixel image registration method is proposed to solve the flicker problem. During the alignment process, integer pixel registration is formulated by maximizing the similarity of images with down sampling strategy speeding up the process and sub-pixel image registration is a single-step image match via analytic method. Experimental results show the proposed algorithm reduces the computation time and gets a high accuracy when conducting experiments on different data sets.
Practical volume computation of structured convex bodies, and an application to modeling portfolio dependencies and financial crises
Venue: arXiv cs.CG 2018
Year: 2018

We examine volume computation of general-dimensional polytopes and more general convex bodies, defined as the intersection of a simplex by a family of parallel hyperplanes, and another family of parallel hyperplanes or a family of concentric ellipsoids. Such convex bodies appear in modeling and predicting financial crises. The impact of crises on the economy (labor, income, etc.) makes its detection of prime interest. Certain features of dependencies in the markets clearly identify times of turmoil. We describe the relationship between asset characteristics by means of a copula; each characteristic is either a linear or quadratic form of the portfolio components, hence the copula can be constructed by computing volumes of convex bodies. We design and implement practical algorithms in the exact and approximate setting, we experimentally juxtapose them and study the tradeoff of exactness and accuracy for speed. We analyze the following methods in order of increasing generality: rejection sampling relying on uniformly sampling the simplex, which is the fastest approach, but inaccurate for small volumes; exact formulae based on the computation of integrals of probability distribution functions; an optimized Lawrence sign decomposition method, since the polytopes at hand are shown to be simple; Markov chain Monte Carlo algorithms using random walks based on the hit-and-run paradigm generalized to nonlinear convex bodies and relying on new methods for computing a ball enclosed; the latter is experimentally extended to non-convex bodies with very encouraging results. Our C++ software, based on CGAL and Eigen and available on github, is shown to be very effective in up to 100 dimensions. Our results offer novel, effective means of computing portfolio dependencies and an indicator of financial crises, which is shown to correctly identify past crises.
Contrasting information theoretic decompositions of modulatory and arithmetic interactions in neural information processing systems
Venue: arXiv cs.IT 2018
Year: 2018

Biological and artificial neural systems are composed of many local processors, and their capabilities depend upon the transfer function that relates each local processor's outputs to its inputs. This paper uses a recent advance in the foundations of information theory to study the properties of local processors that use contextual input to amplify or attenuate transmission of information about their driving inputs. This advance enables the information transmitted by processors with two distinct inputs to be decomposed into those components unique to each input, that shared between the two inputs, and that which depends on both though it is in neither, i.e. synergy. The decompositions that we report here show that contextual modulation has information processing properties that contrast with those of all four simple arithmetic operators, that it can take various forms, and that the form used in our previous studies of artificial neural nets composed of local processors with both driving and contextual inputs is particularly well-suited to provide the distinctive capabilities of contextual modulation under a wide range of conditions. We argue that the decompositions reported here could be compared with those obtained from empirical neurobiological and psychophysical data under conditions thought to reflect contextual modulation. That would then shed new light on the underlying processes involved. Finally, we suggest that such decompositions could aid the design of context-sensitive machine learning algorithms.
An Optimal Algorithm to Compute the Inverse Beacon Attraction Region
Venue: arXiv cs.CG 2018
Year: 2018

The beacon model is a recent paradigm for guiding the trajectory of messages or small robotic agents in complex environments. A beacon is a fixed point with an attraction pull that can move points within a given polygon. Points move greedily towards a beacon: if unobstructed, they move along a straight line to the beacon, and otherwise they slide on the edges of the polygon. The Euclidean distance from a moving point to a beacon is monotonically decreasing. A given beacon attracts a point if the point eventually reaches the beacon. The problem of attracting all points within a polygon with a set of beacons can be viewed as a variation of the art gallery problem. Unlike most variations, the beacon attraction has the intriguing property of being asymmetric, leading to separate definitions of attraction region and inverse attraction region. The attraction region of a beacon is the set of points that it attracts. It is connected and can be computed in linear time for simple polygons. By contrast, it is known that the inverse attraction region of a point---the set of beacon positions that attract it---could have $Ω(n)$ disjoint connected components. In this paper, we prove that, in spite of this, the total complexity of the inverse attraction region of a point in a simple polygon is linear, and present a $O(n \log n)$ time algorithm to construct it. This improves upon the best previous algorithm which required $O(n^3)$ time and $O(n^2)$ space. Furthermore we prove a matching $Ω(n\log n)$ lower bound for this task in the algebraic computation tree model of computation, even if the polygon is monotone.
Control Inversion: A Clustering-Based Method for Distributed Wide-Area Control of Power Systems
Venue: arXiv cs.SY 2018
Year: 2018

Wide-area control (WAC) has been shown to be an effective tool for damping low-frequency oscillations in power systems. In the current state of art, WAC is challenged by two main factors - namely, scalability of design and complexity of implementation. In this paper we present a control design called control inversion that bypasses both of these challenges using the idea of clustering. The basic philosophy behind this method is to project the original power system model into a lower-dimensional state-space through clustering and aggregation of generator states, and then designing an LQR controller for the lower-dimensional model. This controller is finally projected back to the original coordinates for wide-area implementation. The main problem is, therefore, posed as finding the projection which best matches the closed-loop performance of the WAC controller with that of a reference LQR controller for damping low-frequency oscillations. We verify the effectiveness of the proposed design using the NPCC 48-machine power system model.
Database Perspectives on Blockchains
Venue: arXiv cs.DB 2018
Year: 2018

Modern blockchain systems are a fresh look at the paradigm of distributed computing, applied under assumptions of large-scale public networks. They can be used to store and share information without a trusted central party. There has been much effort to develop blockchain systems for a myriad of uses, ranging from cryptocurrencies to identity control, supply chain management, etc. None of this work has directly studied the fundamental database issues that arise when using blockchains as the underlying infrastructure to manage data. The key difference between using blockchains to store data and centrally controlled databases is that transactions are accepted to a blockchain via a consensus mechanism. Hence, once a user has issued a transaction, she cannot be certain if it will be accepted. Moreover, a yet unaccepted transaction cannot be retracted by the user, and may be appended to the blockchain in the future. This causes difficulties as the user may wish to reissue a transaction, if it was not accepted. Yet this data may then become appended twice to the blockchain. In this paper we present a database perspective on blockchains by introducing formal foundations for blockchains as a storage layer that underlies a database. The main issue that we tackle is uncertainty in transaction appending that is a result of the consensus mechanism. We study two flavors of transaction appending problems: (1) the complexity of determining whether it is possible for a denial constraint to be contradicted, given the state of the blockchain, pending transactions, and integrity constraints and (2) the complexity of generating transactions that are mutually (in)consistent with given subsets of pending transactions. Solving these problems is critical to ensure that users can issue transactions consistent with their intentions. Finally, we chart important directions for future work.
Deep Multiple Instance Learning for Zero-shot Image Tagging
Venue: arXiv cs.CV 2018
Year: 2018

In-line with the success of deep learning on traditional recognition problem, several end-to-end deep models for zero-shot recognition have been proposed in the literature. These models are successful to predict a single unseen label given an input image, but does not scale to cases where multiple unseen objects are present. In this paper, we model this problem within the framework of Multiple Instance Learning (MIL). To the best of our knowledge, we propose the first end-to-end trainable deep MIL framework for the multi-label zero-shot tagging problem. Due to its novel design, the proposed framework has several interesting features: (1) Unlike previous deep MIL models, it does not use any off-line procedure (e.g., Selective Search or EdgeBoxes) for bag generation. (2) During test time, it can process any number of unseen labels given their semantic embedding vectors. (3) Using only seen labels per image as weak annotation, it can produce a bounding box for each predicted labels. We experiment with the NUS-WIDE dataset and achieve superior performance across conventional, zero-shot and generalized zero-shot tagging tasks.
Object Captioning and Retrieval with Natural Language
Venue: arXiv cs.CV 2018
Year: 2018

We address the problem of jointly learning vision and language to understand the object in a fine-grained manner. The key idea of our approach is the use of object descriptions to provide the detailed understanding of an object. Based on this idea, we propose two new architectures to solve two related problems: object captioning and natural language-based object retrieval. The goal of the object captioning task is to simultaneously detect the object and generate its associated description, while in the object retrieval task, the goal is to localize an object given an input query. We demonstrate that both problems can be solved effectively using hybrid end-to-end CNN-LSTM networks. The experimental results on our new challenging dataset show that our methods outperform recent methods by a fair margin, while providing a detailed understanding of the object and having fast inference time. The source code will be made available.
Regular and First Order List Functions
Venue: arXiv cs.FL 2018
Year: 2018

We define two classes of functions, called regular (respectively, first-order) list functions, which manipulate objects such as lists, lists of lists, pairs of lists, lists of pairs of lists, etc. The definition is in the style of regular expressions: the functions are constructed by starting with some basic functions (e.g. projections from pairs, or head and tail operations on lists) and putting them together using four combinators (most importantly, composition of functions). Our main results are that first-order list functions are exactly the same as first-order transductions, under a suitable encoding of the inputs; and the regular list functions are exactly the same as MSO-transductions.
Downlink coverage probability in cellular networks with Poisson-Poisson cluster deployed base stations
Venue: arXiv cs.IT 2018
Year: 2018

Poisson-Poisson cluster processes (PPCPs) are a class of point processes exhibiting attractive point patterns. Recently, PPCPs are actively studied for modeling and analysis of heterogeneous cellular networks or device-to-device networks. However, surprisingly, to the best knowledge of the author, there is no exact derivation of downlink coverage probability in a numerically computable form for a cellular network with base stations (BSs) deployed according to a PPCP within the most fundamental setup such as single-tier, Rayleigh fading and nearest BS association. In this paper, we consider this fundamental model and derive a numerically computable form of coverage probability. To validate the analysis, we compare the results of numerical computations with those by Monte Carlo simulations and confirm the good agreement.
The ARM Scalable Vector Extension
Venue: arXiv cs.AR 2018
Year: 2018

This article describes the ARM Scalable Vector Extension (SVE). Several goals guided the design of the architecture. First was the need to extend the vector processing capability associated with the ARM AArch64 execution state to better address the computational requirements in domains such as high-performance computing, data analytics, computer vision, and machine learning. Second was the desire to introduce an extension that can scale across multiple implementations, both now and into the future, allowing CPU designers to choose the vector length most suitable for their power, performance, and area targets. Finally, the architecture should avoid imposing a software development cost as the vector length changes and where possible reduce it by improving the reach of compiler auto-vectorization technologies. SVE achieves these goals. It allows implementations to choose a vector register length between 128 and 2,048 bits. It supports a vector-length agnostic programming model that lets code run and scale automatically across all vector lengths without recompilation. Finally, it introduces several innovative features that begin to overcome some of the traditional barriers to autovectorization.