OpenRaiser/Intern-Atlas huggingface dataset:
Towards Courteous Behavior and Trajectory Planning for Automated Driving
Venue: arXiv cs.RO 2019
Year: 2019

Efficient behavior and trajectory planning is one of the major challenges for automated driving. Especially intersection scenarios are very demanding due to their complexity arising from the variety of maneuver possibilities and other traffic participants. A key challenge is to generate behaviors which optimize the comfort and progress of the ego vehicle but at the same time are not too aggressive towards other traffic participants. In order to maintain real time capability for courteous behavior and trajectory planning, an efficient formulation of the optimal control problem and corresponding solving algorithms are required. Consequently, a novel planning framework is presented which considers comfort and progress as well as the courtesy of actions in a graph-based behavior planning module. Utilizing the low level trajectory generation, the behavior result can be further optimized for driving comfort while satisfying constraints over the whole planning horizon. According experiments show the practicability and real time capability of the framework.
Overview and Results: CL-SciSumm Shared Task 2019
Venue: arXiv cs.CL 2019
Year: 2019

The CL-SciSumm Shared Task is the first medium-scale shared task on scientific document summarization in the computational linguistics~(CL) domain. In 2019, it comprised three tasks: (1A) identifying relationships between citing documents and the referred document, (1B) classifying the discourse facets, and (2) generating the abstractive summary. The dataset comprised 40 annotated sets of citing and reference papers of the CL-SciSumm 2018 corpus and 1000 more from the SciSummNet dataset. All papers are from the open access research papers in the CL domain. This overview describes the participation and the official results of the CL-SciSumm 2019 Shared Task, organized as a part of the 42nd Annual Conference of the Special Interest Group in Information Retrieval (SIGIR), held in Paris, France in July 2019. We compare the participating systems in terms of two evaluation metrics and discuss the use of ROUGE as an evaluation metric. The annotated dataset used for this shared task and the scripts used for evaluation can be accessed and used by the community at: https://github.com/WING-NUS/scisumm-corpus.
DeepDA: LSTM-based Deep Data Association Network for Multi-Targets Tracking in Clutter
Venue: arXiv cs.LG 2019
Year: 2019

The Long Short-Term Memory (LSTM) neural network based data association algorithm named as DeepDA for multi-target tracking in clutters is proposed to deal with the NP-hard combinatorial optimization problem in this paper. Different from the classical data association methods involving complex models and accurate prior knowledge on clutter density, filter covariance or associated gating etc, data-driven deep learning methods have been extensively researched for this topic. Firstly, data association mathematical problem for multitarget tracking on unknown target number, missed detection and clutter, which is beyond one-to-one mapping between observations and targets is redefined formally. Subsequently, an LSTM network is designed to learn the measurement-to-track association probability from radar noisy measurements and exist tracks. Moreover, an LSTM-based data-driven deep neural network after a supervised training through the BPTT and RMSprop optimization method can get the association probability directly. Experimental results on simulated data show a significant performance on association ratio, target ID switching and time-consuming for tracking multiple targets even they are crossing each other in the complicated clutter environment.
Floating Displacement-Force Conversion Mechanism as a Robotic Mechanism
Venue: arXiv cs.RO 2019
Year: 2019

To attach and detach permanent magnets with an operation force smaller than their attractive force, Internally-Balanced Magnetic Unit (IB Magnet) has been developed. The unit utilizes a nonlinear spring with an inverse characteristic of magnetic attraction to produce a balancing force for canceling the internal force applied on the magnet. This paper extends the concept of shifting the equilibrium point of a system with a small operation force to linear systems such as conventional springs. Aligning a linear system and its inverse characteristic spring in series enables a mechanism to convert displacement into force generated by a spring with theoretically zero operation force. To verify the proposed principle, the authors realized a prototype model of inverse characteristic linear spring with an uncircular pulley. Experiments showed that the generating force of a linear spring can be controlled by a small and steady operation force.
Keystone: An Open Framework for Architecting TEEs
Venue: arXiv cs.CR 2019
Year: 2019

Trusted execution environments (TEEs) are being used in all the devices from embedded sensors to cloud servers and encompass a range of cost, power constraints, and security threat model choices. On the other hand, each of the current vendor-specific TEEs makes a fixed set of trade-offs with little room for customization. We present Keystone -- the first open-source framework for building customized TEEs. Keystone uses simple abstractions provided by the hardware such as memory isolation and a programmable layer underneath untrusted components (e.g., OS). We build reusable TEE core primitives from these abstractions while allowing platform-specific modifications and application features. We showcase how Keystone-based TEEs run on unmodified RISC-V hardware and demonstrate the strengths of our design in terms of security, TCB size, execution of a range of benchmarks, applications, kernels, and deployment models.
CMU-01 at the SIGMORPHON 2019 Shared Task on Crosslinguality and Context in Morphology
Venue: arXiv cs.CL 2019
Year: 2019

This paper presents the submission by the CMU-01 team to the SIGMORPHON 2019 task 2 of Morphological Analysis and Lemmatization in Context. This task requires us to produce the lemma and morpho-syntactic description of each token in a sequence, for 107 treebanks. We approach this task with a hierarchical neural conditional random field (CRF) model which predicts each coarse-grained feature (eg. POS, Case, etc.) independently. However, most treebanks are under-resourced, thus making it challenging to train deep neural models for them. Hence, we propose a multi-lingual transfer training regime where we transfer from multiple related languages that share similar typology.
Dr.Quad at MEDIQA 2019: Towards Textual Inference and Question Entailment using contextualized representations
Venue: arXiv cs.CL 2019
Year: 2019

This paper presents the submissions by Team Dr.Quad to the ACL-BioNLP 2019 shared task on Textual Inference and Question Entailment in the Medical Domain. Our system is based on the prior work Liu et al. (2019) which uses a multi-task objective function for textual entailment. In this work, we explore different strategies for generalizing state-of-the-art language understanding models to the specialized medical domain. Our results on the shared task demonstrate that incorporating domain knowledge through data augmentation is a powerful strategy for addressing challenges posed by specialized domains such as medicine.
Conf-Net: Toward High-Confidence Dense 3D Point-Cloud with Error-Map Prediction
Venue: arXiv cs.CV 2019
Year: 2019

This work proposes a method for depth completion of sparse LiDAR data using a convolutional neural network which can be used to generate semi-dense depth maps and "almost" full 3D point-clouds with significantly lower root mean squared error (RMSE) over state-of-the-art methods. We add an "Error Prediction" unit to our network and present a novel and simple end-to-end method that learns to predict an error-map of depth regression task. An "almost" dense high-confidence/low-variance point-cloud is more valuable for safety-critical applications specifically real-world autonomous driving than a full point-cloud with high error rate and high error variance. Using our predicted error-map, we demonstrate that by up-filling a LiDAR point cloud from 18,000 points to 285,000 points, versus 300,000 points for full depth, we can reduce the RMSE error from 1004 to 399. This error is approximately 60% less than the state-of-the-art and 50% less than the state-of-the-art with RGB guidance (we did not use RGB guidance in our algorithm). In addition to analyzing our results on Kitti depth completion dataset, we also demonstrate the ability of our proposed method to extend to new tasks by deploying our "Error Prediction" unit to improve upon the state-of-the-art for monocular depth estimation. Codes and demo videos are available at http://github.com/hekmak/Conf-net.
Handling Numerous Stakeholders Requirements A Research Agenda and Preliminary Outcomes
Venue: arXiv cs.SE 2019
Year: 2019

This research aims to design and develop a new requirements prioritization approach for analyzing and prioritizing stakeholders requirements which are mentioned in the feedback for software products. This paper presents a PhD research agenda and preliminary outcomes from the early analysis. A roadmap to the proposed research methodology that is to be followed to achieve the targeted outcomes is also outlined. Outcomes to date show that the requirements prioritization problem has been researched extensively, however, gaps still remain when considering techniques that handle a large number of crowdsourced requirements. Furthermore, requirements prioritization as a problem affects many domains beyond software engineering. Hence, knowledge from other fields could be useful for informing requirements prioritization practice in the software engineering space.
Movement science needs different pose tracking algorithms
Venue: arXiv cs.CV 2019
Year: 2019

Over the last decade, computer science has made progress towards extracting body pose from single camera photographs or videos. This promises to enable movement science to detect disease, quantify movement performance, and take the science out of the lab into the real world. However, current pose tracking algorithms fall short of the needs of movement science; the types of movement data that matter are poorly estimated. For instance, the metrics currently used for evaluating pose tracking algorithms use noisy hand-labeled ground truth data and do not prioritize precision of relevant variables like three-dimensional position, velocity, acceleration, and forces which are crucial for movement science. Here, we introduce the scientific disciplines that use movement data, the types of data they need, and discuss the changes needed to make pose tracking truly transformative for movement science.
An FPT algorithm for orthogonal buttons and scissors
Venue: arXiv cs.DS 2019
Year: 2019

We study the puzzle game Buttons and Scissors in which the goal is to remove all buttons from an $n\times m$ grid by a series of horizontal and vertical cuts. We show that the corresponding parameterized problem has an algorithm with time complexity $2^{O(k^2 \log k)} (n+m)^{O(1)}$, where $k$ is an upper bound on the number of cuts.
Interpretable Classification of Time-Series Data using Efficient Enumerative Techniques
Venue: arXiv cs.LG 2019
Year: 2019

Cyber-physical system applications such as autonomous vehicles, wearable devices, and avionic systems generate a large volume of time-series data. Designers often look for tools to help classify and categorize the data. Traditional machine learning techniques for time-series data offer several solutions to solve these problems; however, the artifacts trained by these algorithms often lack interpretability. On the other hand, temporal logics, such as Signal Temporal Logic (STL) have been successfully used in the formal methods community as specifications of time-series behaviors. In this work, we propose a new technique to automatically learn temporal logic formulae that are able to cluster and classify real-valued time-series data. Previous work on learning STL formulas from data either assumes a formula-template to be given by the user, or assumes some special fragment of STL that enables exploring the formula structure in a systematic fashion. In our technique, we relax these assumptions, and provide a way to systematically explore the space of all STL formulas. As the space of all STL formulas is very large, and contains many semantically equivalent formulas, we suggest a technique to heuristically prune the space of formulas considered. Finally, we illustrate our technique on various case studies from the automotive, transportation and healthcare domain.
Segmenting Objects in Day and Night:Edge-Conditioned CNN for Thermal Image Semantic Segmentation
Venue: arXiv cs.CV 2019
Year: 2019

Despite much research progress in image semantic segmentation, it remains challenging under adverse environmental conditions caused by imaging limitations of visible spectrum. While thermal infrared cameras have several advantages over cameras for the visible spectrum, such as operating in total darkness, insensitive to illumination variations, robust to shadow effects and strong ability to penetrate haze and smog. These advantages of thermal infrared cameras make the segmentation of semantic objects in day and night. In this paper, we propose a novel network architecture, called edge-conditioned convolutional neural network (EC-CNN), for thermal image semantic segmentation. Particularly, we elaborately design a gated feature-wise transform layer in EC-CNN to adaptively incorporate edge prior knowledge. The whole EC-CNN is end-to-end trained, and can generate high-quality segmentation results with the edge guidance. Meanwhile, we also introduce a new benchmark dataset named "Segment Objects in Day And night"(SODA) for comprehensive evaluations in thermal image semantic segmentation. SODA contains over 7,168 manually annotated and synthetically generated thermal images with 20 semantic region labels and from a broad range of viewpoints and scene complexities. Extensive experiments on SODA demonstrate the effectiveness of the proposed EC-CNN against the state-of-the-art methods.
Anti-unification in Constraint Logic Programming
Venue: arXiv cs.LO 2019
Year: 2019

Anti-unification refers to the process of generalizing two (or more) goals into a single, more general, goal that captures some of the structure that is common to all initial goals. In general one is typically interested in computing what is often called a most specific generalization, that is a generalization that captures a maximal amount of shared structure. In this work we address the problem of anti-unification in CLP, where goals can be seen as unordered sets of atoms and/or constraints. We show that while the concept of a most specific generalization can easily be defined in this context, computing it becomes an NP-complete problem. We subsequently introduce a generalization algorithm that computes a well-defined abstraction whose computation can be bound to a polynomial execution time. Initial experiments show that even a naive implementation of our algorithm produces acceptable generalizations in an efficient way. Under consideration for acceptance in TPLP.
Delving Deep into Liver Focal Lesion Detection: A Preliminary Study
Venue: arXiv cs.CV 2019
Year: 2019

Hepatocellular carcinoma (HCC) is the second most frequent cause of malignancy-related death and is one of the diseases with the highest incidence in the world. Because the liver is the only organ in the human body that is supplied by two major vessels: the hepatic artery and the portal vein, various types of malignant tumors can spread from other organs to the liver. And due to the liver masses' heterogeneous and diffusive shape, the tumor lesions are very difficult to be recognized, thus automatic lesion detection is necessary for the doctors with huge workloads. To assist doctors, this work uses the existing large-scale annotation medical image data to delve deep into liver lesion detection from multiple directions. To solve technical difficulties, such as the image-recognition task, traditional deep learning with convolution neural networks (CNNs) has been widely applied in recent years. However, this kind of neural network, such as Faster Regions with CNN features (R-CNN), cannot leverage the spatial information because it is applied in natural images (2D) rather than medical images (3D), such as computed tomography (CT) images. To address this issue, we propose a novel algorithm that is appropriate for liver CT imaging. Furthermore, according to radiologists' experience in clinical diagnosis and the characteristics of CT images of liver cancer, a liver cancer-detection framework with CNN, including image processing, feature extraction, region proposal, image registration, and classification recognition, was proposed to facilitate the effective detection of liver lesions.
Unbabel's Participation in the WMT19 Translation Quality Estimation Shared Task
Venue: arXiv cs.CL 2019
Year: 2019

We present the contribution of the Unbabel team to the WMT 2019 Shared Task on Quality Estimation. We participated on the word, sentence, and document-level tracks, encompassing 3 language pairs: English-German, English-Russian, and English-French. Our submissions build upon the recent OpenKiwi framework: we combine linear, neural, and predictor-estimator systems with new transfer learning approaches using BERT and XLM pre-trained models. We compare systems individually and propose new ensemble techniques for word and sentence-level predictions. We also propose a simple technique for converting word labels into document-level predictions. Overall, our submitted systems achieve the best results on all tracks and language pairs by a considerable margin.
Self-attention based BiLSTM-CNN classifier for the prediction of ischemic and non-ischemic cardiomyopathy
Venue: arXiv cs.LG 2019
Year: 2019

Heart Failure is a major component of healthcare expenditure and a leading cause of mortality worldwide. Despite higher inter-rater variability, endomyocardial biopsy (EMB) is still regarded as the standard technique, used to identify the cause (e.g. ischemic or non-ischemic cardiomyopathy, coronary artery disease, myocardial infarction etc.) of unexplained heart failure. In this paper, we focus on identifying cardiomyopathy as ischemic or non-ischemic. For this, we propose and implement a new unified architecture comprising CNN (inception-V3 model) and bidirectional LSTM (BiLSTM) with self-attention mechanism to predict the ischemic or non-ischemic to classify cardiomyopathy using histopathological images. The proposed model is based on self-attention that implicitly focuses on the information outputted from the hidden layers of BiLSTM. Through our results we demonstrate that this framework carries a high learning capacity and is able to improve the classification performance.
Towards automatic estimation of conversation floors within F-formations
Venue: arXiv cs.MA 2019
Year: 2019

The detection of free-standing conversing groups has received significant attention in recent years. In the absence of a formal definition, most studies operationalize the notion of a conversation group either through a spatial or a temporal lens. Spatially, the most commonly used representation is the F-formation, defined by social scientists as the configuration in which people arrange themselves to sustain an interaction. However, the use of this representation is often accompanied with the simplifying assumption that a single conversation occurs within an F-formation. Temporally, various categories have been used to organize conversational units; these include, among others, turn, topic, and floor. Some of these concepts are hard to define objectively by themselves. The present work constitutes an initial exploration into unifying these perspectives by primarily posing the question: can we use the observation of simultaneous speaker turns to infer whether multiple conversation floors exist within an F-formation? We motivate a metric for the existence of distinct conversation floors based on simultaneous speaker turns, and provide an analysis using this metric to characterize conversations across F-formations of varying cardinality. We contribute two key findings: firstly, at the average speaking turn duration of about two seconds for humans, there is evidence for the existence of multiple floors within an F-formation; and secondly, an increase in the cardinality of an F-formation correlates with a decrease in duration of simultaneous speaking turns.
Less (Data) Is More: Why Small Data Holds the Key to the Future of Artificial Intelligence
Venue: arXiv cs.CY 2019
Year: 2019

The claims that big data holds the key to enterprise successes and that Artificial Intelligence is going to replace humanity have become increasingly more popular over the past few years, both in academia and in the industry. However, while these claims may indeed capture some truth, they have also been massively oversold, or so we contend here. The goal of this paper is two-fold. First, we provide a qualified defence of the value of less data within the context of AI. This is done by carefully reviewing two distinct problems for big data driven AI, namely a) the limited track record of Deep Learning in key areas such as Natural Language Processing, b) the regulatory and business significance of being able to learn from few data points. Second, we briefly sketch what we refer to as a case of AI with humans and for humans, namely an AI paradigm whereby the systems we build are privacy-oriented and focused on human-machine collaboration, not competition. Combining our claims above, we conclude that when seen through the lens of cognitively inspired AI, the bright future of the discipline is about less data, not more, and more humans, not fewer.
Dense Feature Aggregation and Pruning for RGBT Tracking
Venue: arXiv cs.CV 2019
Year: 2019

How to perform effective information fusion of different modalities is a core factor in boosting the performance of RGBT tracking. This paper presents a novel deep fusion algorithm based on the representations from an end-to-end trained convolutional neural network. To deploy the complementarity of features of all layers, we propose a recursive strategy to densely aggregate these features that yield robust representations of target objects in each modality. In different modalities, we propose to prune the densely aggregated features of all modalities in a collaborative way. In a specific, we employ the operations of global average pooling and weighted random selection to perform channel scoring and selection, which could remove redundant and noisy features to achieve more robust feature representation. Experimental results on two RGBT tracking benchmark datasets suggest that our tracker achieves clear state-of-the-art against other RGB and RGBT tracking methods.
The Complexity of Computational Problems about Nash Equilibria in Symmetric Win-Lose Games
Venue: arXiv cs.CC 2019
Year: 2019

We revisit the complexity of deciding, given a {\it bimatrix game,} whether it has a {\it Nash equilibrium} with certain natural properties; such decision problems were early known to be ${\mathcal{NP}}$-hard~\cite{GZ89}. We show that ${\mathcal{NP}}$-hardness still holds under two significant restrictions in simultaneity: the game is {\it win-lose} (that is, all {\it utilities} are $0$ or $1$) and {\it symmetric}. To address the former restriction, we design win-lose {\it gadgets} and a win-lose reduction; to accomodate the latter restriction, we employ and analyze the classical {\it ${\mathsf{GHR}}$-symmetrization}~\cite{GHR63} in the win-lose setting. Thus, {\it symmetric win-lose bimatrix games} are as complex as general bimatrix games with respect to such decision problems. As a byproduct of our techniques, we derive hardness results for search, counting and parity problems about Nash equilibria in symmetric win-lose bimatrix games.