OpenRaiser/Intern-Atlas huggingface dataset:
PODDP: Partially Observable Differential Dynamic Programming for Latent Belief Space Planning
Venue: arXiv cs.RO 2019
Year: 2019

Autonomous agents are limited in their ability to observe the world state. Partially observable Markov decision processes (POMDPs) formally model the problem of planning under world state uncertainty, but POMDPs with continuous actions and nonlinear dynamics suitable for robotics applications are challenging to solve. In this paper, we present an efficient differential dynamic programming (DDP) algorithm for belief space planning in POMDPs with uncertainty over a discrete latent state, and continuous states, actions, observations, and nonlinear dynamics. This representation allows planning of dynamic trajectories which are sensitive to structured uncertainty over discrete latent world states. We develop dynamic programming techniques to optimize a contingency plan over a tree of possible observations and belief space trajectories, and also derive a hierarchical version of the algorithm. Our method is applicable to problems with uncertainty over the cost or reward function (e.g., the configuration of goals or obstacles), uncertainty over the dynamics (e.g., the dynamical mode of a hybrid system), and uncertainty about interactions, where other agents' behavior is conditioned on latent intentions. Benchmarks show that our algorithm outperforms popular heuristic approaches to planning under uncertainty, and results from an autonomous lane changing task demonstrate that our algorithm can synthesize robust interactive trajectories.
Artificial Intelligence Techniques for Security Vulnerability Prevention
Venue: arXiv cs.CR 2019
Year: 2019

Computer security has been a concern for decades and artificial intelligence techniques have been applied to the area for nearly as long. Most of the techniques are being applied to the detection of attacks to running systems, but recent improvements in machine learning (for example, in natural language processing) have enabled the opportunity to process software and specifications to detect vulnerabilities in a system before it is deployed. This paper presents a survey of artificial intelligence techniques (including machine learning) to detect or repair security vulnerabilities before product introduction. In the surveyed papers, techniques are presented for using NLP to analyze requirements documents for security standard completeness, performing neural fuzz testing of software, generating exploits to detect risk, and more. We categorize current techniques into 3 groups: vulnerability detection, vulnerability repair, and specification analysis. Generally, while AI techniques have become quite useful in this area, we show that AI techniques still tend to be limited in scope, providing a collection of tools which can augment but not replace careful system development to reduce vulnerability risks.
Survivor: A Fine-Grained Intrusion Response and Recovery Approach for Commodity Operating Systems
Venue: arXiv cs.CR 2019
Year: 2019

Despite the deployment of preventive security mechanisms to protect the assets and computing platforms of users, intrusions eventually occur. We propose a novel intrusion survivability approach to withstand ongoing intrusions. Our approach relies on an orchestration of fine-grained recovery and per-service responses (e.g., privileges removal). Such an approach may put the system into a degraded mode. This degraded mode prevents attackers to reinfect the system or to achieve their goals if they managed to reinfect it. It maintains the availability of core functions while waiting for patches to be deployed. We devised a cost-sensitive response selection process to ensure that while the service is in a degraded mode, its core functions are still operating. We built a Linux-based prototype and evaluated the effectiveness of our approach against different types of intrusions. The results show that our solution removes the effects of the intrusions, that it can select appropriate responses, and that it allows services to survive when reinfected. In terms of performance overhead, in most cases, we observed a small overhead, except in the rare case of services that write many small files asynchronously in a burst, where we observed a higher but acceptable overhead.
Attending Form and Context to Generate Specialized Out-of-VocabularyWords Representations
Venue: arXiv cs.LG 2019
Year: 2019

We propose a new contextual-compositional neural network layer that handles out-of-vocabulary (OOV) words in natural language processing (NLP) tagging tasks. This layer consists of a model that attends to both the character sequence and the context in which the OOV words appear. We show that our model learns to generate task-specific \textit{and} sentence-dependent OOV word representations without the need for pre-training on an embedding table, unlike previous attempts. We insert our layer in the state-of-the-art tagging model of \citet{plank2016multilingual} and thoroughly evaluate its contribution on 23 different languages on the task of jointly tagging part-of-speech and morphosyntactic attributes. Our OOV handling method successfully improves performances of this model on every language but one to achieve a new state-of-the-art on the Universal Dependencies Dataset 1.4.
Adapting Behaviour for Learning Progress
Venue: arXiv cs.LG 2019
Year: 2019

Determining what experience to generate to best facilitate learning (i.e. exploration) is one of the distinguishing features and open challenges in reinforcement learning. The advent of distributed agents that interact with parallel instances of the environment has enabled larger scales and greater flexibility, but has not removed the need to tune exploration to the task, because the ideal data for the learning algorithm necessarily depends on its process of learning. We propose to dynamically adapt the data generation by using a non-stationary multi-armed bandit to optimize a proxy of the learning progress. The data distribution is controlled by modulating multiple parameters of the policy (such as stochasticity, consistency or optimism) without significant overhead. The adaptation speed of the bandit can be increased by exploiting the factored modulation structure. We demonstrate on a suite of Atari 2600 games how this unified approach produces results comparable to per-task tuning at a fraction of the cost.
Skeleton-Based Action Recognition with Multi-Stream Adaptive Graph Convolutional Networks
Venue: arXiv cs.CV 2019
Year: 2019

Graph convolutional networks (GCNs), which generalize CNNs to more generic non-Euclidean structures, have achieved remarkable performance for skeleton-based action recognition. However, there still exist several issues in the previous GCN-based models. First, the topology of the graph is set heuristically and fixed over all the model layers and input data. This may not be suitable for the hierarchy of the GCN model and the diversity of the data in action recognition tasks. Second, the second-order information of the skeleton data, i.e., the length and orientation of the bones, is rarely investigated, which is naturally more informative and discriminative for the human action recognition. In this work, we propose a novel multi-stream attention-enhanced adaptive graph convolutional neural network (MS-AAGCN) for skeleton-based action recognition. The graph topology in our model can be either uniformly or individually learned based on the input data in an end-to-end manner. This data-driven approach increases the flexibility of the model for graph construction and brings more generality to adapt to various data samples. Besides, the proposed adaptive graph convolutional layer is further enhanced by a spatial-temporal-channel attention module, which helps the model pay more attention to important joints, frames and features. Moreover, the information of both the joints and bones, together with their motion information, are simultaneously modeled in a multi-stream framework, which shows notable improvement for the recognition accuracy. Extensive experiments on the two large-scale datasets, NTU-RGBD and Kinetics-Skeleton, demonstrate that the performance of our model exceeds the state-of-the-art with a significant margin.
Faster than Flash: An In-Depth Study of System Challenges for Emerging Ultra-Low Latency SSDs
Venue: arXiv cs.OS 2019
Year: 2019

Emerging storage systems with new flash exhibit ultra-low latency (ULL) that can address performance disparities between DRAM and conventional solid state drives (SSDs) in the memory hierarchy. Considering the advanced low-latency characteristics, different types of I/O completion methods (polling/hybrid) and storage stack architecture (SPDK) are proposed. While these new techniques are expected to take costly software interventions off the critical path in ULL-applied systems, unfortunately no study exists to quantitatively analyze system-level characteristics and challenges of combining such newly-introduced techniques with real ULL SSDs. In this work, we comprehensively perform empirical evaluations with 800GB ULL SSD prototypes and characterize ULL behaviors by considering a wide range of I/O path parameters, such as different queues and access patterns. We then analyze the efficiencies and challenges of the polled-mode and hybrid polling I/O completion methods (added into Linux kernels 4.4 and 4.10, respectively) and compare them with the efficiencies of a conventional interrupt-based I/O path. In addition, we revisit the common expectations of SPDK by examining all the system resources and parameters. Finally, we demonstrate the challenges of ULL SSDs in a real SPDK-enabled server-client system. Based on the performance behaviors that this study uncovers, we also discuss several system implications, which are required to take a full advantage of ULL SSD in the future.
One-Shot Induction of Generalized Logical Concepts via Human Guidance
Venue: arXiv cs.AI 2019
Year: 2019

We consider the problem of learning generalized first-order representations of concepts from a single example. To address this challenging problem, we augment an inductive logic programming learner with two novel algorithmic contributions. First, we define a distance measure between candidate concept representations that improves the efficiency of search for target concept and generalization. Second, we leverage richer human inputs in the form of advice to improve the sample-efficiency of learning. We prove that the proposed distance measure is semantically valid and use that to derive a PAC bound. Our experimental analysis on diverse concept learning tasks demonstrates both the effectiveness and efficiency of the proposed approach over a first-order concept learner using only examples.
Aggressive Online Control of a Quadrotor via Deep Network Representations of Optimality Principles
Venue: arXiv cs.RO 2019
Year: 2019

Optimal control holds great potential to improve a variety of robotic applications. The application of optimal control on-board limited platforms has been severely hindered by the large computational requirements of current state of the art implementations. In this work, we make use of a deep neural network to directly map the robot states to control actions. The network is trained offline to imitate the optimal control computed by a time consuming direct nonlinear method. A mixture of time optimality and power optimality is considered with a continuation parameter used to select the predominance of each objective. We apply our networks (termed G\&CNets) to aggressive quadrotor control, first in simulation and then in the real world. We give insight into the factors that influence the `reality gap' between the quadrotor model used by the offline optimal control method and the real quadrotor. Furthermore, we explain how we set up the model and the control structure on-board of the real quadrotor to successfully close this gap and perform time-optimal maneuvers in the real world. Finally, G\&CNet's performance is compared to state-of-the-art differential-flatness-based optimal control methods. We show, in the experiments, that G\&CNets lead to significantly faster trajectory execution due to, in part, the less restrictive nature of the allowed state-to-input mappings.
Transductive Zero-Shot Learning for 3D Point Cloud Classification
Venue: arXiv cs.CV 2019
Year: 2019

Zero-shot learning, the task of learning to recognize new classes not seen during training, has received considerable attention in the case of 2D image classification. However despite the increasing ubiquity of 3D sensors, the corresponding 3D point cloud classification problem has not been meaningfully explored and introduces new challenges. This paper extends, for the first time, transductive Zero-Shot Learning (ZSL) and Generalized Zero-Shot Learning (GZSL) approaches to the domain of 3D point cloud classification. To this end, a novel triplet loss is developed that takes advantage of unlabeled test data. While designed for the task of 3D point cloud classification, the method is also shown to be applicable to the more common use-case of 2D image classification. An extensive set of experiments is carried out, establishing state-of-the-art for ZSL and GZSL in the 3D point cloud domain, as well as demonstrating the applicability of the approach to the image domain.
Internal-transfer Weighting of Multi-task Learning for Lung Cancer Detection
Venue: arXiv cs.CV 2019
Year: 2019

Recently, multi-task networks have shown to both offer additional estimation capabilities, and, perhaps more importantly, increased performance over single-task networks on a "main/primary" task. However, balancing the optimization criteria of multi-task networks across different tasks is an area of active exploration. Here, we extend a previously proposed 3D attention-based network with four additional multi-task subnetworks for the detection of lung cancer and four auxiliary tasks (diagnosis of asthma, chronic bronchitis, chronic obstructive pulmonary disease, and emphysema). We introduce and evaluate a learning policy, Periodic Focusing Learning Policy (PFLP), that alternates the dominance of tasks throughout the training. To improve performance on the primary task, we propose an Internal-Transfer Weighting (ITW) strategy to suppress the loss functions on auxiliary tasks for the final stages of training. To evaluate this approach, we examined 3386 patients (single scan per patient) from the National Lung Screening Trial (NLST) and de-identified data from the Vanderbilt Lung Screening Program, with a 2517/277/592 (scans) split for training, validation, and testing. Baseline networks include a single-task strategy and a multi-task strategy without adaptive weights (PFLP/ITW), while primary experiments are multi-task trials with either PFLP or ITW or both. On the test set for lung cancer prediction, the baseline single-task network achieved prediction AUC of 0.8080 and the multi-task baseline failed to converge (AUC 0.6720). However, applying PFLP helped multi-task network clarify and achieved test set lung cancer prediction AUC of 0.8402. Furthermore, our ITW technique boosted the PFLP enabled multi-task network and achieved an AUC of 0.8462 (McNemar test, p < 0.01).
Pairwise-based Multi-Attribute Decision Making Approach for Wireless Network
Venue: arXiv cs.NI 2019
Year: 2019

In the wireless network applications, such as routing decision, network selection, etc., the Multi-Attribute Decision Making (MADM) has been widely used. The MADM approach can address the multi-objective decision making issues effectively.However, when the parameters vary greatly, the traditionalMADM algorithm is not effective anymore. To solve this problem,in this paper, we propose the pairwise-based MADM algorithm.In the PMADM, only two nodes utilities are calculated and compared each time. The PMADM algorithm is much more accurate than the traditional MADM algorithm. Moreover, we also prove that our PMADM algorithm is sensitive to the parameters which vary seriously and in-sensitive to the parameters which change slightly. This property is better than that of the traditional MADM algorithm. Additionally, the PMADM algorithm is more stable than the traditional MADM algorithm. For reducing the computational complexity of the PMADM algorithm, we propose the low-complexity PMADM algorithm. For analyzing the computational complexity of the lPMADM algorithm, we propose the tree-based decomposing algorithm in this paper. The lPMADM algorithm has the same properties and performances as that of the PMADM algorithm; however, it is simpler than the PMADM algorithm. The simulation results show that the PMADM and lPMADM algorithms are much more effective than the traditional MADM algorithm.
VLSI Mask Optimization: From Shallow To Deep Learning
Venue: arXiv cs.LG 2019
Year: 2019

VLSI mask optimization is one of the most critical stages in manufacturability aware design, which is costly due to the complicated mask optimization and lithography simulation. Recent researches have shown prominent advantages of machine learning techniques dealing with complicated and big data problems, which bring potential of dedicated machine learning solution for DFM problems and facilitate the VLSI design cycle. In this paper, we focus on a heterogeneous OPC framework that assists mask layout optimization. Preliminary results show the efficiency and effectiveness of proposed frameworks that have the potential to be alternatives to existing EDA solutions.
RoboCup 2019 AdultSize Winner NimbRo: Deep Learning Perception, In-Walk Kick, Push Recovery, and Team Play Capabilities
Venue: arXiv cs.RO 2019
Year: 2019

Individual and team capabilities are challenged every year by rule changes and the increasing performance of the soccer teams at RoboCup Humanoid League. For RoboCup 2019 in the AdultSize class, the number of players (2 vs. 2 games) and the field dimensions were increased, which demanded for team coordination and robust visual perception and localization modules. In this paper, we present the latest developments that lead team NimbRo to win the soccer tournament, drop-in games, technical challenges and the Best Humanoid Award of the RoboCup Humanoid League 2019 in Sydney. These developments include a deep learning vision system, in-walk kicks, step-based push-recovery, and team play strategies.
Improving Conversation Quality for VoIP Through Block Erasure Coding
Venue: arXiv cs.IT 2019
Year: 2019

The conversational quality of voice over IP (VoIP) depends on packet-loss rates, burstiness of packet loss, and delays (or latencies). The benefits for conversational voice quality of erasure coding attributable to its reduction in packet loss rates are widely appreciated. When block erasure coding is used, our analysis shows how those benefits are reduced or even eliminated by increases in delays and in a measure of burstiness of packet loss. We nevertheless show that the net effect of those three factors is still positive over a wide range of network loss rates provided that block sizes are sufficiently small and the sizes of decoding buffers have been optimized for real-time media. To perform this analysis, we develop a new analytical model describing the effects of block erasure coding on end-to-end network performance.
Image Manipulation with Natural Language using Two-sidedAttentive Conditional Generative Adversarial Network
Venue: arXiv cs.CV 2019
Year: 2019

Altering the content of an image with photo editing tools is a tedious task for an inexperienced user. Especially, when modifying the visual attributes of a specific object in an image without affecting other constituents such as background etc. To simplify the process of image manipulation and to provide more control to users, it is better to utilize a simpler interface like natural language. Therefore, in this paper, we address the challenge of manipulating images using natural language description. We propose the Two-sidEd Attentive conditional Generative Adversarial Network (TEA-cGAN) to generate semantically manipulated images while preserving other contents such as background intact. TEA-cGAN uses fine-grained attention both in the generator and discriminator of Generative Adversarial Network (GAN) based framework at different scales. Experimental results show that TEA-cGAN which generates 128x128 and 256x256 resolution images outperforms existing methods on CUB and Oxford-102 datasets both quantitatively and qualitatively.
Visualizing Planar and Space Implicit Real Algebraic Curves with Singularities
Venue: arXiv cs.SC 2019
Year: 2019

We present a new method for visualizing implicit real algebraic curves inside a bounding box in the $2$-D or $3$-D ambient space based on numerical continuation and critical point methods. The underlying techniques work also for tracing space curve in higher-dimensional space. Since the topology of a curve near a singular point of it is not numerically stable, we trace only the curve outside neighborhoods of singular points and replace each neighborhood simply by a point, which produces a polygonal approximation that is $ε$-close to the curve. Such an approximation is more stable for defining the numerical connectedness of the complement of the projection of the curve in $\mathbb{R}^2$, which is important for applications such as solving bi-parametric polynomial systems. The algorithm starts by computing three types of key points of the curve, namely the intersection of the curve with small spheres centered at singular points, regular critical points of every connected components of the curve, as well as intersection points of the curve with the given bounding box. It then traces the curve starting with and in the order of the above three types of points. This basic scheme is further enhanced by several optimizations, such as grouping singular points in natural clusters, tracing the curve by a try-and-resume strategy and handling "pseudo singular points". The effectiveness of the algorithm is illustrated by numerous examples. This manuscript extends our preliminary results that appeared in CASC 2018.
Following the footsteps of giants: Modeling the mobility of historically notable individuals using Wikipedia
Venue: arXiv cs.SI 2019
Year: 2019

The steady growth of digitized historical information is continuously stimulating new different approaches to the fields of Digital Humanities and Computational Social Science. In this work, we use Natural Language Processing techniques to retrieve large amounts of historical information from Wikipedia. In particular, the pages of a set of historically notable individuals are processed to catch the locations and the date of people's movements. This information is then structured in a geographical network of mobility patterns. We analyze the mobility of historically notable individuals from different perspectives to better understand the role of migrations and international collaborations in the context of innovation and cultural development. In this work, we first present some general characteristics of the dataset from a social and geographical perspective. Then, we build a spatial network of cities, and we model and quantify the tendency to explore by a set of people that can be considered historically and culturally notable. In this framework, we show that by using a multilevel radiation model for human mobility, we are able to catch important features of migration's behavior. Results show that the choice of the target migration place for historically and culturally relevant people is limited to a small number of locations and that it depends on the discipline a notable is interested in and on the number of opportunities she/he can find there.