OpenRaiser/Intern-Atlas huggingface dataset:
Internet of Robotic Things: Current Technologies, Applications, Challenges and Future Directions
Venue: arXiv cs.RO 2021
Year: 2021

Nowadays, the Internet of Things (IoT) concept is gaining more and more notoriety bringing the number of connected devices to reach the order of billion units. Its smart technology is influencing the research and developments of advanced solutions in many areas. This paper focuses on the merger between the IoT and robotics named the Internet of Robotic Things (IoRT). Allowing robotic systems to communicate over the internet at a minimal cost is an important technological opportunity. Robots can use the cloud to improve the overall performance and for offloading demanding tasks. Since communicating to the cloud results in latency, data loss, and energy loss, finding efficient techniques is a concern that can be addressed with current machine learning methodologies. Moreover, the use of robotic generates ethical and regulation questions that should be answered for a proper coexistence between humans and robots. This paper aims at providing a better understanding of the new concept of IoRT with its benefits and limitations, as well as guidelines and directions for future research and studies.
COSMOS: Catching Out-of-Context Misinformation with Self-Supervised Learning
Venue: arXiv cs.CV 2021
Year: 2021

Despite the recent attention to DeepFakes, one of the most prevalent ways to mislead audiences on social media is the use of unaltered images in a new but false context. To address these challenges and support fact-checkers, we propose a new method that automatically detects out-of-context image and text pairs. Our key insight is to leverage the grounding of image with text to distinguish out-of-context scenarios that cannot be disambiguated with language alone. We propose a self-supervised training strategy where we only need a set of captioned images. At train time, our method learns to selectively align individual objects in an image with textual claims, without explicit supervision. At test time, we check if both captions correspond to the same object(s) in the image but are semantically different, which allows us to make fairly accurate out-of-context predictions. Our method achieves 85% out-of-context detection accuracy. To facilitate benchmarking of this task, we create a large-scale dataset of 200K images with 450K textual captions from a variety of news websites, blogs, and social media posts. The dataset and source code is publicly available at https://shivangi-aneja.github.io/projects/cosmos/.
Energy-Optimal Goal Assignment of Multi-Agent System with Goal Trajectories in Polynomials
Venue: arXiv cs.MA 2021
Year: 2021

In this paper, we propose an approach for solving an energy-optimal goal assignment problem to generate the desired formation in multi-agent systems. Each agent solves a decentralized optimization problem with only local information about its neighboring agents and the goals. The optimization problem consists of two sub-problems. The first problem seeks to minimize the energy for each agent to reach certain goals, while the second problem entreats an optimal combination of goal and agent pairs that minimizes the energy cost. By assuming the goal trajectories are given in a polynomial form, we prove the solution to the formulated problem exists globally. Finally, the effectiveness of the proposed approach is validated through the simulation.
The Role of Working Memory in Program Tracing
Venue: arXiv cs.HC 2021
Year: 2021

Program tracing, or mentally simulating a program on concrete inputs, is an important part of general program comprehension. Programs involve many kinds of virtual state that must be held in memory, such as variable/value pairs and a call stack. In this work, we examine the influence of short-term working memory (WM) on a person's ability to remember program state during tracing. We first confirm that previous findings in cognitive psychology transfer to the programming domain: people can keep about 7 variable/value pairs in WM, and people will accidentally swap associations between variables due to WM load. We use a restricted focus viewing interface to further analyze the strategies people use to trace through programs, and the relationship of tracing strategy to WM. Given a straight-line program, we find half of our participants traced a program from the top-down line-by-line (linearly), and the other half start at the bottom and trace upward based on data dependencies (on-demand). Participants with an on-demand strategy made more WM errors while tracing straight-line code than with a linear strategy, but the two strategies contained an equal number of WM errors when tracing code with functions. We conclude with the implications of these findings for the design of programming tools: first, programs should be analyzed to identify and refactor human-memory-intensive sections of code. Second, programming environments should interactively visualize variable metadata to reduce WM load in accordance with a person's tracing strategy. Third, tools for program comprehension should enable externalizing program state while tracing.
Privacy Protection of Grid Users Data with Blockchain and Adversarial Machine Learning
Venue: arXiv cs.CR 2021
Year: 2021

Utilities around the world are reported to invest a total of around 30 billion over the next few years for installation of more than 300 million smart meters, replacing traditional analog meters [1]. By mid-decade, with full country wide deployment, there will be almost 1.3 billion smart meters in place [1]. Collection of fine grained energy usage data by these smart meters provides numerous advantages such as energy savings for customers with use of demand optimization, a billing system of higher accuracy with dynamic pricing programs, bidirectional information exchange ability between end-users for better consumer-operator interaction, and so on. However, all these perks associated with fine grained energy usage data collection threaten the privacy of users. With this technology, customers' personal data such as sleeping cycle, number of occupants, and even type and number of appliances stream into the hands of the utility companies and can be subject to misuse. This research paper addresses privacy violation of consumers' energy usage data collected from smart meters and provides a novel solution for the privacy protection while allowing benefits of energy data analytics. First, we demonstrate the successful application of occupancy detection attacks using a deep neural network method that yields high accuracy results. We then introduce Adversarial Machine Learning Occupancy Detection Avoidance with Blockchain (AMLODA-B) framework as a counter-attack by deploying an algorithm based on the Long Short Term Memory (LSTM) model into the standardized smart metering infrastructure to prevent leakage of consumers personal information. Our privacy-aware approach protects consumers' privacy without compromising the correctness of billing and preserves operational efficiency without use of authoritative intermediaries.
Visualizing and Interacting with Geospatial Networks: A Survey and Design Space
Venue: arXiv cs.HC 2021
Year: 2021

This paper surveys visualization and interaction techniques for geospatial networks from a total of 95 papers. Geospatial networks are graphs where nodes and links can be associated with geographic locations. Examples can include social networks, trade and migration, as well as traffic and transport networks. Visualizing geospatial networks poses numerous challenges around the integration of both network and geographical information as well as additional information such as node and link attributes, time, and uncertainty. Our overview analyzes existing techniques along four dimensions: i) the representation of geographical information, ii) the representation of network information, iii) the visual integration of both, and iv) the use of interaction. These four dimensions allow us to discuss techniques with respect to the trade-offs they make between showing information across all these dimensions and how they solve the problem of showing as much information as necessary while maintaining readability of the visualization. https://geonetworks.github.io.
Slider: On the Design and Modeling of a 2D Floating Satellite Platform
Venue: arXiv cs.RO 2021
Year: 2021

In this article, a floating robotic emulation platform for a virtual demonstration of satellite motion in space is presented. The robotic platform design is characterized by its friction-less, levitating, yet planar motion over a hyper-smooth surface. The robotic platform, integrated with sensor and actuator units, is fully designed and manufactured from the Robotics and Artificial Intelligence Team at Luleå University of Technology. A detailed design description along with the mathematical modeling describing the platform's dynamic motion is formulated. Finally, the proposed design is validated in extensive simulation studies, while the overall test bed experimental setup, as well as the vehicle hardware and software architectures, are discussed in detail. Furthermore, the entire design, including 3D printing CAD model and different testbed elements, is provided in an open-source repository and a test campaign is used to showcase its capabilities and illustrate its operations.
A Zero Attentive Relevance Matching Networkfor Review Modeling in Recommendation System
Venue: arXiv cs.IR 2021
Year: 2021

User and item reviews are valuable for the construction of recommender systems. In general, existing review-based methods for recommendation can be broadly categorized into two groups: the siamese models that build static user and item representations from their reviews respectively, and the interaction-based models that encode user and item dynamically according to the similarity or relationships of their reviews. Although the interaction-based models have more model capacity and fit human purchasing behavior better, several problematic model designs and assumptions of the existing interaction-based models lead to its suboptimal performance compared to existing siamese models. In this paper, we identify three problems of the existing interaction-based recommendation models and propose a couple of solutions as well as a new interaction-based model to incorporate review data for rating prediction. Our model implements a relevance matching model with regularized training losses to discover user relevant information from long item reviews, and it also adapts a zero attention strategy to dynamically balance the item-dependent and item-independent information extracted from user reviews. Empirical experiments and case studies on Amazon Product Benchmark datasets show that our model can extract effective and interpretable user/item representations from their reviews and outperforms multiple types of state-of-the-art review-based recommendation models.
Unsupervised Noisy Tracklet Person Re-identification
Venue: arXiv cs.CV 2021
Year: 2021

Existing person re-identification (re-id) methods mostly rely on supervised model learning from a large set of person identity labelled training data per domain. This limits their scalability and usability in large scale deployments. In this work, we present a novel selective tracklet learning (STL) approach that can train discriminative person re-id models from unlabelled tracklet data in an unsupervised manner. This avoids the tedious and costly process of exhaustively labelling person image/tracklet true matching pairs across camera views. Importantly, our method is particularly more robust against arbitrary noisy data of raw tracklets therefore scalable to learning discriminative models from unconstrained tracking data. This differs from a handful of existing alternative methods that often assume the existence of true matches and balanced tracklet samples per identity class. This is achieved by formulating a data adaptive image-to-tracklet selective matching loss function explored in a multi-camera multi-task deep learning model structure. Extensive comparative experiments demonstrate that the proposed STL model surpasses significantly the state-of-the-art unsupervised learning and one-shot learning re-id methods on three large tracklet person re-id benchmarks.
Semi Supervised Deep Quick Instance Detection and Segmentation
Venue: arXiv cs.CV 2021
Year: 2021

In this paper, we present a semi supervised deep quick learning framework for instance detection and pixel-wise semantic segmentation of images in a dense clutter of items. The framework can quickly and incrementally learn novel items in an online manner by real-time data acquisition and generating corresponding ground truths on its own. To learn various combinations of items, it can synthesize cluttered scenes, in real time. The overall approach is based on the tutor-child analogy in which a deep network (tutor) is pretrained for class-agnostic object detection which generates labeled data for another deep network (child). The child utilizes a customized convolutional neural network head for the purpose of quick learning. There are broadly four key components of the proposed framework semi supervised labeling, occlusion aware clutter synthesis, a customized convolutional neural network head, and instance detection. The initial version of this framework was implemented during our participation in Amazon Robotics Challenge (ARC), 2017. Our system was ranked 3rd, 4th and 5th worldwide in pick, stow-pick and stow task respectively. The proposed framework is an improved version over ARC17 where novel features such as instance detection and online learning has been added.
Visual Analytics approach for finding spatiotemporal patterns from COVID19
Venue: arXiv cs.LG 2021
Year: 2021

Bounce Back Loan is amongst a number of UK business financial support schemes launched by UK Government in 2020 amidst pandemic lockdown. Through these schemes, struggling businesses are provided financial support to weather economic slowdown from pandemic lockdown. £43.5bn loan value has been provided as of 17th Dec2020. However, with no major checks for granting these loans and looming prospect of loan losses from write-offs from failed businesses and fraud, this paper theorizes prospect of applying spatiotemporal modelling technique to explore if geospatial patterns and temporal analysis could aid design of loan grant criteria for schemes. Application of Clustering and Visual Analytics framework to business demographics, survival rate and Sector concentration shows Inner and Outer London spatial patterns which historic business failures and reversal of the patterns under COVID-19 implying sector influence on spatial clusters. Combination of unsupervised clustering technique with multinomial logistic regression modelling on research datasets complimented by additional datasets on other support schemes, business structure and financial crime, is recommended for modelling business vulnerability to certain types of financial market or economic condition. The limitations of clustering technique for high dimensional is discussed along with relevance of an applicable model for continuing the research through next steps.
SelfMatch: Combining Contrastive Self-Supervision and Consistency for Semi-Supervised Learning
Venue: arXiv cs.LG 2021
Year: 2021

This paper introduces SelfMatch, a semi-supervised learning method that combines the power of contrastive self-supervised learning and consistency regularization. SelfMatch consists of two stages: (1) self-supervised pre-training based on contrastive learning and (2) semi-supervised fine-tuning based on augmentation consistency regularization. We empirically demonstrate that SelfMatch achieves the state-of-the-art results on standard benchmark datasets such as CIFAR-10 and SVHN. For example, for CIFAR-10 with 40 labeled examples, SelfMatch achieves 93.19% accuracy that outperforms the strong previous methods such as MixMatch (52.46%), UDA (70.95%), ReMixMatch (80.9%), and FixMatch (86.19%). We note that SelfMatch can close the gap between supervised learning (95.87%) and semi-supervised learning (93.19%) by using only a few labels for each class.
Dissecting the Meme Magic: Understanding Indicators of Virality in Image Memes
Venue: arXiv cs.HC 2021
Year: 2021

Despite the increasingly important role played by image memes, we do not yet have a solid understanding of the elements that might make a meme go viral on social media. In this paper, we investigate what visual elements distinguish image memes that are highly viral on social media from those that do not get re-shared, across three dimensions: composition, subjects, and target audience. Drawing from research in art theory, psychology, marketing, and neuroscience, we develop a codebook to characterize image memes, and use it to annotate a set of 100 image memes collected from 4chan's Politically Incorrect Board (/pol/). On the one hand, we find that highly viral memes are more likely to use a close-up scale, contain characters, and include positive or negative emotions. On the other hand, image memes that do not present a clear subject the viewer can focus attention on, or that include long text are not likely to be re-shared by users. We train machine learning models to distinguish between image memes that are likely to go viral and those that are unlikely to be re-shared, obtaining an AUC of 0.866 on our dataset. We also show that the indicators of virality identified by our model can help characterize the most viral memes posted on mainstream online social networks too, as our classifiers are able to predict 19 out of the 20 most popular image memes posted on Twitter and Reddit between 2016 and 2018. Overall, our analysis sheds light on what indicators characterize viral and non-viral visual content online, and set the basis for developing better techniques to create or moderate content that is more likely to catch the viewer's attention.
A Literature Review of Recent Graph Embedding Techniques for Biomedical Data
Venue: arXiv cs.AI 2021
Year: 2021

With the rapid development of biomedical software and hardware, a large amount of relational data interlinking genes, proteins, chemical components, drugs, diseases, and symptoms has been collected for modern biomedical research. Many graph-based learning methods have been proposed to analyze such type of data, giving a deeper insight into the topology and knowledge behind the biomedical data, which greatly benefit to both academic research and industrial application for human healthcare. However, the main difficulty is how to handle high dimensionality and sparsity of the biomedical graphs. Recently, graph embedding methods provide an effective and efficient way to address the above issues. It converts graph-based data into a low dimensional vector space where the graph structural properties and knowledge information are well preserved. In this survey, we conduct a literature review of recent developments and trends in applying graph embedding methods for biomedical data. We also introduce important applications and tasks in the biomedical domain as well as associated public biomedical datasets.
OPAR: Optimized Predictive and Adaptive Routing for Cooperative UAV Networks
Venue: arXiv cs.NI 2021
Year: 2021

Cooperative UAV networks are becoming increasingly popular in military and civilian applications. Alas, the typical ad-hoc routing protocols, which aim at finding the shortest path, lead to significant performance degradation because of the 3-dimension highly-dynamic nature of UAV networks and the uneven distribution of nodes across the network. This paper proposes OPAR, an optimized predictive and adaptive routing protocol, to face this challenging problem. We model the routing problem with linear programming (LP), where the goal is to maximize network performance, considering the path lifetime and path-length together. This model relies on a precise link lifetime prediction mechanism. We support the LP problem with a lightweight algorithm to find the optimized solution with a computation complexity of $O(|E|^2)$, where $|E|$ is the number of network links. We evaluate the OPAR performance and compare it with the well-known routing algorithms AODV, DSDV, and OLSR to cover a wide range of proactive and reactive protocols as well as distance vector and link-state techniques. We performed extensive simulations for different network densities and mobility patterns using the ns-3 simulator. Results show that OPAR prevents a high volume of routing traffic, increases the successful delivery by more than $30\%$, improves the throughput $25\%$ on average, and decreases the flow completion time by an average of $35\%$.
Online Robust Sliding-Windowed LiDAR SLAM in Natural Environments
Venue: arXiv cs.RO 2021
Year: 2021

Despite the growing interest for autonomous environmental monitoring, effective SLAM realization in native habitats remains largely unsolved. In this paper, we fill this gap by presenting a novel online graph-based SLAM system for 2D LiDAR sensor in natural environments. By taking advantage of robust weighting scheme, sliding-windowed optimization, fast scan-matcher and parallel computing, our system not only delivers stable performance in cluttered surroudings but also meets real-time constraint. Simulated and experimental results confirm the feasibility and efficiency in the overall design of the proposed system.
Coarse Temporal Attention Network (CTA-Net) for Driver's Activity Recognition
Venue: arXiv cs.CV 2021
Year: 2021

There is significant progress in recognizing traditional human activities from videos focusing on highly distinctive actions involving discriminative body movements, body-object and/or human-human interactions. Driver's activities are different since they are executed by the same subject with similar body parts movements, resulting in subtle changes. To address this, we propose a novel framework by exploiting the spatiotemporal attention to model the subtle changes. Our model is named Coarse Temporal Attention Network (CTA-Net), in which coarse temporal branches are introduced in a trainable glimpse network. The goal is to allow the glimpse to capture high-level temporal relationships, such as 'during', 'before' and 'after' by focusing on a specific part of a video. These branches also respect the topology of the temporal dynamics in the video, ensuring that different branches learn meaningful spatial and temporal changes. The model then uses an innovative attention mechanism to generate high-level action specific contextual information for activity recognition by exploring the hidden states of an LSTM. The attention mechanism helps in learning to decide the importance of each hidden state for the recognition task by weighing them when constructing the representation of the video. Our approach is evaluated on four publicly accessible datasets and significantly outperforms the state-of-the-art by a considerable margin with only RGB video as input.
Deep Learning-Aided 5G Channel Estimation
Venue: arXiv cs.IT 2021
Year: 2021

Deep learning has demonstrated the important roles in improving the system performance and reducing computational complexity for $5$G-and-beyond networks. In this paper, we propose a new channel estimation method with the assistance of deep learning in order to support the least squares estimation, which is a low-cost method but having relatively high channel estimation errors. This goal is achieved by utilizing a MIMO (multiple-input multiple-output) system with a multi-path channel profile used for simulations in the 5G networks under the severity of Doppler effects. Numerical results demonstrate the superiority of the proposed deep learning-assisted channel estimation method over the other channel estimation methods in previous works in terms of mean square errors.