OpenRaiser/Intern-Atlas huggingface dataset:
Joint Adaptive Neighbours and Metric Learning for Multi-view Subspace Clustering
Venue: arXiv cs.CV 2017
Year: 2017

Due to the existence of various views or representations in many real-world data, multi-view learning has drawn much attention recently. Multi-view spectral clustering methods based on similarity matrixes or graphs are pretty popular. Generally, these algorithms learn informative graphs by directly utilizing original data. However, in the real-world applications, original data often contain noises and outliers that lead to unreliable graphs. In addition, different views may have different contributions to data clustering. In this paper, a novel Multiview Subspace Clustering method unifying Adaptive neighbours and Metric learning (MSCAM), is proposed to address the above problems. In this method, we use the subspace representations of different views to adaptively learn a consensus similarity matrix, uncovering the subspace structure and avoiding noisy nature of original data. For all views, we also learn different Mahalanobis matrixes that parameterize the squared distances and consider the contributions of different views. Further, we constrain the graph constructed by the similarity matrix to have exact c (c is the number of clusters) connected components. An iterative algorithm is developed to solve this optimization problem. Moreover, experiments on a synthetic dataset and different real-world datasets demonstrate the effectiveness of MSCAM.
Straight-Leg Walking Through Underconstrained Whole-Body Control
Venue: arXiv cs.RO 2017
Year: 2017

We present an approach for achieving a natural, efficient gait on bipedal robots using straightened legs and toe-off. Our algorithm avoids complex height planning by allowing a whole-body controller to determine the straightest possible leg configuration at run-time. The controller solutions are biased towards a straight leg configuration by projecting leg joint angle objectives into the null-space of the other quadratic program motion objectives. To allow the legs to remain straight throughout the gait, toe-off was utilized to increase the kinematic reachability of the legs. The toe-off motion is achieved through underconstraining the foot position, allowing it to emerge naturally. We applied this approach of under-specifying the motion objectives to the Atlas humanoid, allowing it to walk over a variety of terrain. We present both experimental and simulation results and discuss performance limitations and potential improvements.
Small-footprint Keyword Spotting Using Deep Neural Network and Connectionist Temporal Classifier
Venue: arXiv cs.CL 2017
Year: 2017

Mainly for the sake of solving the lack of keyword-specific data, we propose one Keyword Spotting (KWS) system using Deep Neural Network (DNN) and Connectionist Temporal Classifier (CTC) on power-constrained small-footprint mobile devices, taking full advantage of general corpus from continuous speech recognition which is of great amount. DNN is to directly predict the posterior of phoneme units of any personally customized key-phrase, and CTC to produce a confidence score of the given phoneme sequence as responsive decision-making mechanism. The CTC-KWS has competitive performance in comparison with purely DNN based keyword specific KWS, but not increasing any computational complexity.
Capture Point Trajectories for Reduced Knee Bend using Step Time Optimization
Venue: arXiv cs.RO 2017
Year: 2017

Traditional force-controlled bipedal walking utilizes highly bent knees, resulting in high torques as well as inefficient, and unnatural motions. Even with advanced planning of center of mass height trajectories, significant amounts of knee-bend can be required due to arbitrarily chosen step timing. In this work, we present a method that examines the effects of adjusting the step timing to produce plans that only require a specified amount of knee bend to execute. We define a quadratic program that optimizes the step timings and is executed using a simple iterative feedback approach to account for higher order terms. We then illustrate the effectiveness of this algorithm by comparing the walking gait of the simulated Atlas humanoid with and without the algorithm, showing that the algorithm significantly reduces the required knee bend for execution. We aim to later use this approach to achieve natural, efficient walking motions on humanoid robot platforms.
Optimal On The Fly Index Selection in Polynomial Time
Venue: arXiv cs.DB 2017
Year: 2017

The index selection problem (ISP) is an important problem for accelerating the execution of relational queries, and it has received a lot of attention as a combinatorial knapsack problem in the past. Various solutions to this very hard problem have been provided. In contrast to existing literature, we change the underlying assumptions of the problem definition: we adapt the problem for systems that store relations in memory, and use complex specification languages, e.g., Datalog. In our framework, we decompose complex queries into primitive searches that select tuples in a relation for which an equality predicate holds. A primitive search can be accelerated by an index exhibiting a worst-case run-time complexity of log-linear time in the size of the output result of the primitive search. However, the overheads associated with maintaining indexes are very costly in terms of memory and computing time. In this work, we present an optimal polynomial-time algorithm that finds the minimal set of indexes of a relation for a given set of primitive searches. An index may cover more than one primitive search due to the algebraic properties of the search predicate, which is a conjunction of equalities over the attributes of a relation. The index search space exhibits a exponential complexity in the number of attributes in a relation, and, hence brute-force algorithms searching for solutions in the index domain are infeasible. As a scaffolding for designing a polynomial-time algorithm, we build a partial order on search operations and use a constructive version of Dilworth's theorem. We show a strong relationship between chains of primitive searches (forming a partial order) and indexes. We demonstrate the effectiveness and efficiency of our algorithm for an in-memory Datalog compiler that is able to process relations with billions of entries in memory.
Enhanced Random Access and Beam Training for mmWave Wireless Local Networks with High User Density
Venue: arXiv cs.NI 2017
Year: 2017

As low frequency band becomes more and more crowded, millimeter-wave (mmWave) has attracted significant attention recently. IEEE has released the 802.11ad standard to satisfy the demand of ultra-high-speed communication. It adopts beamforming technology that can generate directional beams to compensate for high path loss. In the Association Beamforming Training (A-BFT) phase of beamforming (BF) training, a station (STA) randomly selects an A-BFT slot to contend for training opportunity. Due to the limited number of A-BFT slots, A-BFT phase suffers high probability of collisions in dense user scenarios, resulting in inefficient training performance. Based on the evaluation of the IEEE 802.11ad standard and 802.11ay draft in dense user scenarios of mmWave wireless networks, we propose an enhanced A-BFT beam training and random access mechanism, including the Separated A-BFT (SA-BFT) and Secondary Backoff A-BFT (SBA-BFT). The SA-BFT can provide more A-BFT slots and divide A-BFT slots into two regions by defining a new `E-A-BFT Length' field compared to the legacy 802.11ad A-BFT, thereby maintaining compatibility when 802.11ay devices are mixed with 802.11ad devices. It can also reduce the collision probability in dense user scenarios greatly. The SBA-BFT performs secondary backoff with very small overhead of transmission opportunities within one A-BFT slot, which not only further reduces collision probability, but also improves the A-BFT slots utilization. Furthermore, we propose a three-dimensional Markov model to analyze the performance of the SBA-BFT. The analytical and simulation results show that both the SA-BFT and the SBA-BFT can significantly improve BF training efficiency, which are beneficial to the optimization design of dense user wireless networks based on the IEEE 802.11ay standard and mmWave technology.
Towards Stabilization of Distributed Systems under Denial-of-Service
Venue: arXiv cs.SY 2017
Year: 2017

In this paper, we consider networked distributed systems in the presence of Denial-of-Service (DoS) attacks, namely attacks that prevent transmissions over the communication network. First, we consider a simple and typical scenario where communication sequence is purely Round-robin and we explicitly calculate a bound of attack frequency and duration, under which the interconnected large-scale system is asymptotically stable. Second, trading-off system resilience and communication load, we design a hybrid transmission strategy consisting of Zeno-free distributed event-triggered control and Round-robin. We show that with lower communication loads, the hybrid communication strategy enables the systems to have the same resilience as in pure Round-robin.
Security Trust Zone in 5G Networks
Venue: arXiv cs.NI 2017
Year: 2017

Fifth Generation (5G) telecommunication system is going to deliver a flexible radio access network (RAN). Security functions such as authorization, authentication and accounting (AAA) are expected to be distributed from central clouds to edge clouds. We propose a novel architectural security solution that applies to 5G networks. It is called Trust Zone (TZ) that is designed as an enhancement of the 5G AAA in the edge cloud. TZ also provides an autonomous and decentralized security policy for different tenants under variable network conditions. TZ also initiates an ability of disaster cognition and extends the security functionalities to a set of flexible and highly available emergency services in the edge cloud.
Emotion Recognition in the Wild using Deep Neural Networks and Bayesian Classifiers
Venue: arXiv cs.CV 2017
Year: 2017

Group emotion recognition in the wild is a challenging problem, due to the unstructured environments in which everyday life pictures are taken. Some of the obstacles for an effective classification are occlusions, variable lighting conditions, and image quality. In this work we present a solution based on a novel combination of deep neural networks and Bayesian classifiers. The neural network works on a bottom-up approach, analyzing emotions expressed by isolated faces. The Bayesian classifier estimates a global emotion integrating top-down features obtained through a scene descriptor. In order to validate the system we tested the framework on the dataset released for the Emotion Recognition in the Wild Challenge 2017. Our method achieved an accuracy of 64.68% on the test set, significantly outperforming the 53.62% competition baseline.
Imitation Learning for Vision-based Lane Keeping Assistance
Venue: arXiv cs.LG 2017
Year: 2017

This paper aims to investigate direct imitation learning from human drivers for the task of lane keeping assistance in highway and country roads using grayscale images from a single front view camera. The employed method utilizes convolutional neural networks (CNN) to act as a policy that is driving a vehicle. The policy is successfully learned via imitation learning using real-world data collected from human drivers and is evaluated in closed-loop simulated environments, demonstrating good driving behaviour and a robustness for domain changes. Evaluation is based on two proposed performance metrics measuring how well the vehicle is positioned in a lane and the smoothness of the driven trajectory.
Distributed Estimation Recovery under Sensor Failure
Venue: arXiv cs.SY 2017
Year: 2017

Single time-scale distributed estimation of dynamic systems via a network of sensors/estimators is addressed in this letter. In single time-scale distributed estimation, the two fusion steps, consensus and measurement exchange, are implemented only once, in contrast to, e.g., a large number of consensus iterations at every step of the system dynamics. We particularly discuss the problem of failure in the sensor/estimator network and how to recover for distributed estimation by adding new sensor measurements from equivalent states. We separately discuss the recovery for two types of sensors, namely αand βsensors. We propose polynomial order algorithms to find equivalent state nodes in graph representation of system to recover for distributed observability. The polynomial order solution is particularly significant for large-scale systems.
Conflict-Free Coloring of Intersection Graphs
Venue: arXiv cs.CG 2017
Year: 2017

A conflict-free $k$-coloring of a graph $G=(V,E)$ assigns one of $k$ different colors to some of the vertices such that, for every vertex $v$, there is a color that is assigned to exactly one vertex among $v$ and $v$'s neighbors. Such colorings have applications in wireless networking, robotics, and geometry, and are well studied in graph theory. Here we study the conflict-free coloring of geometric intersection graphs. We demonstrate that the intersection graph of $n$ geometric objects without fatness properties and size restrictions may have conflict-free chromatic number in $Ω(\log n/\log\log n)$ and in $Ω(\sqrt{\log n})$ for disks or squares of different sizes; it is known for general graphs that the worst case is in $Θ(\log^2 n)$. For unit-disk intersection graphs, we prove that it is NP-complete to decide the existence of a conflict-free coloring with one color; we also show that six colors always suffice, using an algorithm that colors unit disk graphs of restricted height with two colors. We conjecture that four colors are sufficient, which we prove for unit squares instead of unit disks. For interval graphs, we establish a tight worst-case bound of two.
Specious rules: an efficient and effective unifying method for removing misleading and uninformative patterns in association rule mining
Venue: arXiv cs.AI 2017
Year: 2017

We present theoretical analysis and a suite of tests and procedures for addressing a broad class of redundant and misleading association rules we call \emph{specious rules}. Specious dependencies, also known as \emph{spurious}, \emph{apparent}, or \emph{illusory associations}, refer to a well-known phenomenon where marginal dependencies are merely products of interactions with other variables and disappear when conditioned on those variables. The most extreme example is Yule-Simpson's paradox where two variables present positive dependence in the marginal contingency table but negative in all partial tables defined by different levels of a confounding factor. It is accepted wisdom that in data of any nontrivial dimensionality it is infeasible to control for all of the exponentially many possible confounds of this nature. In this paper, we consider the problem of specious dependencies in the context of statistical association rule mining. We define specious rules and show they offer a unifying framework which covers many types of previously proposed redundant or misleading association rules. After theoretical analysis, we introduce practical algorithms for detecting and pruning out specious association rules efficiently under many key goodness measures, including mutual information and exact hypergeometric probabilities. We demonstrate that the procedure greatly reduces the number of associations discovered, providing an elegant and effective solution to the problem of association mining discovering large numbers of misleading and redundant rules.
Human Associations Help to Detect Conventionalized Multiword Expressions
Venue: arXiv cs.CL 2017
Year: 2017

In this paper we show that if we want to obtain human evidence about conventionalization of some phrases, we should ask native speakers about associations they have to a given phrase and its component words. We have shown that if component words of a phrase have each other as frequent associations, then this phrase can be considered as conventionalized. Another type of conventionalized phrases can be revealed using two factors: low entropy of phrase associations and low intersection of component word and phrase associations. The association experiments were performed for the Russian language.
Deep Reinforcement Learning with Surrogate Agent-Environment Interface
Venue: arXiv cs.LG 2017
Year: 2017

In this paper, we propose surrogate agent-environment interface (SAEI) in reinforcement learning. We also state that learning based on probability surrogate agent-environment interface provides optimal policy of task agent-environment interface. We introduce surrogate probability action and develop the probability surrogate action deterministic policy gradient (PSADPG) algorithm based on SAEI. This algorithm enables continuous control of discrete action. The experiments show PSADPG achieves the performance of DQN in certain tasks with the stochastic optimal policy nature in the initial training stage.
Constant Space Complexity Environment Representation for Vision-based Navigation
Venue: arXiv cs.RO 2017
Year: 2017

This paper presents a preliminary conceptual investigation into an environment representation that has constant space complexity with respect to the camera image space. This type of representation allows the planning algorithms of a mobile agent to bypass what are often complex and noisy transformations between camera image space and Euclidean space. The approach is to compute per-pixel potential values directly from processed camera data, which results in a discrete potential field that has constant space complexity with respect to the image plane. This can enable planning and control algorithms, whose complexity often depends on the size of the environment representation, to be defined with constant run-time. This type of approach can be particularly useful for platforms with strict resource constraints, such as embedded and real-time systems.
Local Community Detection in Dynamic Networks
Venue: arXiv cs.SI 2017
Year: 2017

Given a time-evolving network, how can we detect communities over periods of high internal and low external interactions? To address this question we generalize traditional local community detection in graphs to the setting of dynamic networks. Adopting existing static-network approaches in an "aggregated" graph of all temporal interactions is not appropriate for the problem as dynamic communities may be short-lived and thus lost when mixing interactions over long periods. Hence, dynamic community mining requires the detection of both the community nodes and an optimal time interval in which they are actively interacting. We propose a filter-and-verify framework for dynamic community detection. To scale to long intervals of graph evolution, we employ novel spectral bounds for dynamic community conductance and employ them to filter suboptimal periods in near-linear time. We also design a time-and-graph-aware locality sensitive hashing family to effectively spot promising community cores. Our method PHASR discovers communities of consistently higher quality (2 to 67 times better) than those of baselines. At the same time, our bounds allow for pruning between $55\%$ and $95\%$ of the search space, resulting in significant savings in running time compared to exhaustive alternatives for even modest time intervals of graph evolution.
ENORM: A Framework For Edge NOde Resource Management
Venue: arXiv cs.DC 2017
Year: 2017

Current computing techniques using the cloud as a centralised server will become untenable as billions of devices get connected to the Internet. This raises the need for fog computing, which leverages computing at the edge of the network on nodes, such as routers, base stations and switches, along with the cloud. However, to realise fog computing the challenge of managing edge nodes will need to be addressed. This paper is motivated to address the resource management challenge. We develop the first framework to manage edge nodes, namely the Edge NOde Resource Management (ENORM) framework. Mechanisms for provisioning and auto-scaling edge node resources are proposed. The feasibility of the framework is demonstrated on a PokeMon Go-like online game use-case. The benefits of using ENORM are observed by reduced application latency between 20% - 80% and reduced data transfer and communication frequency between the edge node and the cloud by up to 95\%. These results highlight the potential of fog computing for improving the quality of service and experience.
Variational Reasoning for Question Answering with Knowledge Graph
Venue: arXiv cs.LG 2017
Year: 2017

Knowledge graph (KG) is known to be helpful for the task of question answering (QA), since it provides well-structured relational information between entities, and allows one to further infer indirect facts. However, it is challenging to build QA systems which can learn to reason over knowledge graphs based on question-answer pairs alone. First, when people ask questions, their expressions are noisy (for example, typos in texts, or variations in pronunciations), which is non-trivial for the QA system to match those mentioned entities to the knowledge graph. Second, many questions require multi-hop logic reasoning over the knowledge graph to retrieve the answers. To address these challenges, we propose a novel and unified deep learning architecture, and an end-to-end variational learning algorithm which can handle noise in questions, and learn multi-hop reasoning simultaneously. Our method achieves state-of-the-art performance on a recent benchmark dataset in the literature. We also derive a series of new benchmark datasets, including questions for multi-hop reasoning, questions paraphrased by neural translation model, and questions in human voice. Our method yields very promising results on all these challenging datasets.
Meta Networks for Neural Style Transfer
Venue: arXiv cs.CV 2017
Year: 2017

In this paper we propose a new method to get the specified network parameters through one time feed-forward propagation of the meta networks and explore the application to neural style transfer. Recent works on style transfer typically need to train image transformation networks for every new style, and the style is encoded in the network parameters by enormous iterations of stochastic gradient descent. To tackle these issues, we build a meta network which takes in the style image and produces a corresponding image transformations network directly. Compared with optimization-based methods for every style, our meta networks can handle an arbitrary new style within $19ms$ seconds on one modern GPU card. The fast image transformation network generated by our meta network is only 449KB, which is capable of real-time executing on a mobile device. We also investigate the manifold of the style transfer networks by operating the hidden features from meta networks. Experiments have well validated the effectiveness of our method. Code and trained models has been released https://github.com/FalongShen/styletransfer.