OpenRaiser/Intern-Atlas huggingface dataset:
Analysis of a 3-RUU Parallel Manipulator
Venue: arXiv cs.RO 2021
Year: 2021

The aim of this paper is to give a detailed examination of the input and output singularities of a 3-RUU parallel manipulator in the translational operation mode. This task is achieved by using algebraic constraint equations. For this type of manipulator a complete workspace representation in Study coordinates is presented after elimination of the input parameters. Both, input and output singularities are mapped into a Study subspace as well as into the joint space. Therewith a detailed singularity investigation of the translational operation mode of a 3-RUU parallel manipulator is provided. This paper is an extended version of a previous publication. The addendum comprises the discovery of a possible transition between two operation modes as well as a self motion and an examination of another component of the output singularity surface, most of them for arbitrary design parameters.
OmniFair: A Declarative System for Model-Agnostic Group Fairness in Machine Learning
Venue: arXiv cs.CY 2021
Year: 2021

Machine learning (ML) is increasingly being used to make decisions in our society. ML models, however, can be unfair to certain demographic groups (e.g., African Americans or females) according to various fairness metrics. Existing techniques for producing fair ML models either are limited to the type of fairness constraints they can handle (e.g., preprocessing) or require nontrivial modifications to downstream ML training algorithms (e.g., in-processing). We propose a declarative system OmniFair for supporting group fairness in ML. OmniFair features a declarative interface for users to specify desired group fairness constraints and supports all commonly used group fairness notions, including statistical parity, equalized odds, and predictive parity. OmniFair is also model-agnostic in the sense that it does not require modifications to a chosen ML algorithm. OmniFair also supports enforcing multiple user declared fairness constraints simultaneously while most previous techniques cannot. The algorithms in OmniFair maximize model accuracy while meeting the specified fairness constraints, and their efficiency is optimized based on the theoretically provable monotonicity property regarding the trade-off between accuracy and fairness that is unique to our system. We conduct experiments on commonly used datasets that exhibit bias against minority groups in the fairness literature. We show that OmniFair is more versatile than existing algorithmic fairness approaches in terms of both supported fairness constraints and downstream ML models. OmniFair reduces the accuracy loss by up to $94.8\%$ compared with the second best method. OmniFair also achieves similar running time to preprocessing methods, and is up to $270\times$ faster than in-processing methods.
Interpretable Deep Learning for the Remote Characterisation of Ambulation in Multiple Sclerosis using Smartphones
Venue: arXiv cs.LG 2021
Year: 2021

The emergence of digital technologies such as smartphones in healthcare applications have demonstrated the possibility of developing rich, continuous, and objective measures of multiple sclerosis (MS) disability that can be administered remotely and out-of-clinic. In this work, deep convolutional neural networks (DCNN) applied to smartphone inertial sensor data were shown to better distinguish healthy from MS participant ambulation, compared to standard Support Vector Machine (SVM) feature-based methodologies. To overcome the typical limitations associated with remotely generated health data, such as low subject numbers, sparsity, and heterogeneous data, a transfer learning (TL) model from similar large open-source datasets was proposed. Our TL framework utilised the ambulatory information learned on Human Activity Recognition (HAR) tasks collected from similar smartphone-based sensor data. A lack of transparency of "black-box" deep networks remains one of the largest stumbling blocks to the wider acceptance of deep learning for clinical applications. Ensuing work therefore aimed to visualise DCNN decisions attributed by relevance heatmaps using Layer-Wise Relevance Propagation (LRP). Through the LRP framework, the patterns captured from smartphone-based inertial sensor data that were reflective of those who are healthy versus persons with MS (PwMS) could begin to be established and understood. Interpretations suggested that cadence-based measures, gait speed, and ambulation-related signal perturbations were distinct characteristics that distinguished MS disability from healthy participants. Robust and interpretable outcomes, generated from high-frequency out-of-clinic assessments, could greatly augment the current in-clinic assessment picture for PwMS, to inform better disease management techniques, and enable the development of better therapeutic interventions.
Workflows Community Summit: Bringing the Scientific Workflows Community Together
Venue: arXiv cs.DC 2021
Year: 2021

Scientific workflows have been used almost universally across scientific domains, and have underpinned some of the most significant discoveries of the past several decades. Many of these workflows have high computational, storage, and/or communication demands, and thus must execute on a wide range of large-scale platforms, from large clouds to upcoming exascale high-performance computing (HPC) platforms. These executions must be managed using some software infrastructure. Due to the popularity of workflows, workflow management systems (WMSs) have been developed to provide abstractions for creating and executing workflows conveniently, efficiently, and portably. While these efforts are all worthwhile, there are now hundreds of independent WMSs, many of which are moribund. As a result, the WMS landscape is segmented and presents significant barriers to entry due to the hundreds of seemingly comparable, yet incompatible, systems that exist. As a result, many teams, small and large, still elect to build their own custom workflow solution rather than adopt, or build upon, existing WMSs. This current state of the WMS landscape negatively impacts workflow users, developers, and researchers. The "Workflows Community Summit" was held online on January 13, 2021. The overarching goal of the summit was to develop a view of the state of the art and identify crucial research challenges in the workflow community. Prior to the summit, a survey sent to stakeholders in the workflow community (including both developers of WMSs and users of workflows) helped to identify key challenges in this community that were translated into 6 broad themes for the summit, each of them being the object of a focused discussion led by a volunteer member of the community. This report documents and organizes the wealth of information provided by the participants before, during, and after the summit.
Clandestino or Rifugiato? Anti-immigration Facebook Ad Targeting in Italy
Venue: arXiv cs.SI 2021
Year: 2021

Monitoring advertising around controversial issues is an important step in ensuring accountability and transparency of political processes. To that end, we use the Facebook Ads Library to collect 2312 migration-related advertising campaigns in Italy over one year. Our pro- and anti-immigration classifier (F1=0.85) reveals a partisan divide among the major Italian political parties, with anti-immigration ads accounting for nearly 15M impressions. Although composing 47.6% of all migration-related ads, anti-immigration ones receive 65.2% of impressions. We estimate that about two thirds of all captured campaigns use some kind of demographic targeting by location, gender, or age. We find sharp divides by age and gender: for instance, anti-immigration ads from major parties are 17% more likely to be seen by a male user than a female. Unlike pro-migration parties, we find that anti-immigration ones reach a similar demographic to their own voters. However their audience change with topic: an ad from anti-immigration parties is 24% more likely to be seen by a male user when the ad speaks about migration, than if it does not. Furthermore, the viewership of such campaigns tends to follow the volume of mainstream news around immigration, supporting the theory that political advertisers try to "ride the wave" of current news. We conclude with policy implications for political communication: since the Facebook Ads Library does not allow to distinguish between advertisers intentions and algorithmic targeting, we argue that more details should be shared by platforms regarding the targeting configuration of socio-political campaigns.
Active fall prevention: robotic vision in AAL
Venue: arXiv cs.RO 2021
Year: 2021

Effective methods of preventing falls significantly improve the quality of life of the Elderly. Nowadays, people focus mainly on the proper provision of the apartment with handrails and fall detection systems once they have occurred. The article presents a~system of active detection and classification of the risk of falls in the home space using a~service robot equipped with a~vision sensor. Hazard classification allows for effective performance of tasks assigned to the robot while maintaining a~high level of user safety.
Softermax: Hardware/Software Co-Design of an Efficient Softmax for Transformers
Venue: arXiv cs.AR 2021
Year: 2021

Transformers have transformed the field of natural language processing. This performance is largely attributed to the use of stacked self-attention layers, each of which consists of matrix multiplies as well as softmax operations. As a result, unlike other neural networks, the softmax operation accounts for a significant fraction of the total run-time of Transformers. To address this, we propose Softermax, a hardware-friendly softmax design. Softermax consists of base replacement, low-precision softmax computations, and an online normalization calculation. We show Softermax results in 2.35x the energy efficiency at 0.90x the size of a comparable baseline, with negligible impact on network accuracy.
A Neural Passage Model for Ad-hoc Document Retrieval
Venue: arXiv cs.IR 2021
Year: 2021

Traditional statistical retrieval models often treat each document as a whole. In many cases, however, a document is relevant to a query only because a small part of it contain the targeted information. In this work, we propose a neural passage model (NPM) that uses passage-level information to improve the performance of ad-hoc retrieval. Instead of using a single window to extract passages, our model automatically learns to weight passages with different granularities in the training process. We show that the passage-based document ranking paradigm from previous studies can be directly derived from our neural framework. Also, our experiments on a TREC collection showed that the NPM can significantly outperform the existing passage-based retrieval models.
iContractBot: A Chatbot for Smart Contracts' Specification and Code Generation
Venue: arXiv cs.SE 2021
Year: 2021

Recently, Blockchain technology adoption has expanded to many application areas due to the evolution of smart contracts. However, developing smart contracts is non-trivial and challenging due to the lack of tools and expertise in this field. A promising solution to overcome this issue is to use Model-Driven Engineering (MDE), however, using models still involves a learning curve and might not be suitable for non-technical users. To tackle this challenge, chatbot or conversational interfaces can be used to assess the non-technical users to specify a smart contract in gradual and interactive manner. In this paper, we propose iContractBot, a chatbot for modeling and developing smart contracts. Moreover, we investigate how to integrate iContractBot with iContractML, a domain-specific modeling language for developing smart contracts, and instantiate intention models from the chatbot. The iContractBot framework provides a domain-specific language (DSL) based on the user intention and performs model-to-text transformation to generate the smart contract code. A smart contract use case is presented to demonstrate how iContractBot can be utilized for creating models and generating the deployment artifacts for smart contracts based on a simple conversation.
Deep Time Series Models for Scarce Data
Venue: arXiv cs.LG 2021
Year: 2021

Time series data have grown at an explosive rate in numerous domains and have stimulated a surge of time series modeling research. A comprehensive comparison of different time series models, for a considered data analytics task, provides useful guidance on model selection for data analytics practitioners. Data scarcity is a universal issue that occurs in a vast range of data analytics problems, due to the high costs associated with collecting, generating, and labeling data as well as some data quality issues such as missing data. In this paper, we focus on the temporal classification/regression problem that attempts to build a mathematical mapping from multivariate time series inputs to a discrete class label or a real-valued response variable. For this specific problem, we identify two types of scarce data: scarce data with small samples and scarce data with sparsely and irregularly observed time series covariates. Observing that all existing works are incapable of utilizing the sparse time series inputs for proper modeling building, we propose a model called sparse functional multilayer perceptron (SFMLP) for handling the sparsity in the time series covariates. The effectiveness of the proposed SFMLP under each of the two types of data scarcity, in comparison with the conventional deep sequential learning models (e.g., Recurrent Neural Network, and Long Short-Term Memory), is investigated through mathematical arguments and numerical experiments.
Technical Report: Scalable Active Information Acquisition for Multi-Robot Systems
Venue: arXiv cs.RO 2021
Year: 2021

This paper proposes a novel highly scalable non-myopic planning algorithm for multi-robot Active Information Acquisition (AIA) tasks. AIA scenarios include target localization and tracking, active SLAM, surveillance, environmental monitoring and others. The objective is to compute control policies for multiple robots which minimize the accumulated uncertainty of a static hidden state over an a priori unknown horizon. The majority of existing AIA approaches are centralized and, therefore, face scaling challenges. To mitigate this issue, we propose an online algorithm that relies on decomposing the AIA task into local tasks via a dynamic space-partitioning method. The local subtasks are formulated online and require the robots to switch between exploration and active information gathering roles depending on their functionality in the environment. The switching process is tightly integrated with optimizing information gathering giving rise to a hybrid control approach. We show that the proposed decomposition-based algorithm is probabilistically complete for homogeneous sensor teams and under linearity and Gaussian assumptions. We provide extensive simulation results that show that the proposed algorithm can address large-scale estimation tasks that are computationally challenging to solve using existing centralized approaches.
Semi-Supervised Learning for Eye Image Segmentation
Venue: arXiv cs.CV 2021
Year: 2021

Recent advances in appearance-based models have shown improved eye tracking performance in difficult scenarios like occlusion due to eyelashes, eyelids or camera placement, and environmental reflections on the cornea and glasses. The key reason for the improvement is the accurate and robust identification of eye parts (pupil, iris, and sclera regions). The improved accuracy often comes at the cost of labeling an enormous dataset, which is complex and time-consuming. This work presents two semi-supervised learning frameworks to identify eye-parts by taking advantage of unlabeled images where labeled datasets are scarce. With these frameworks, leveraging the domain-specific augmentation and novel spatially varying transformations for image segmentation, we show improved performance on various test cases. For instance, for a model trained on just 48 labeled images, these frameworks achieved an improvement of 0.38% and 0.65% in segmentation performance over the baseline model, which is trained only with the labeled dataset.
Triplet-Watershed for Hyperspectral Image Classification
Venue: arXiv cs.CV 2021
Year: 2021

Hyperspectral images (HSI) consist of rich spatial and spectral information, which can potentially be used for several applications. However, noise, band correlations and high dimensionality restrict the applicability of such data. This is recently addressed using creative deep learning network architectures such as ResNet, SSRN, and A2S2K. However, the last layer, i.e the classification layer, remains unchanged and is taken to be the softmax classifier. In this article, we propose to use a watershed classifier. Watershed classifier extends the watershed operator from Mathematical Morphology for classification. In its vanilla form, the watershed classifier does not have any trainable parameters. In this article, we propose a novel approach to train deep learning networks to obtain representations suitable for the watershed classifier. The watershed classifier exploits the connectivity patterns, a characteristic of HSI datasets, for better inference. We show that exploiting such characteristics allows the Triplet-Watershed to achieve state-of-art results in supervised and semi-supervised contexts. These results are validated on Indianpines (IP), University of Pavia (UP), Kennedy Space Center (KSC) and University of Houston (UH) datasets, relying on simple convnet architecture using a quarter of parameters compared to previous state-of-the-art networks. The source code for reproducing the experiments and supplementary material (high resolution images) is available at https://github.com/ac20/TripletWatershed Code.
OGB-LSC: A Large-Scale Challenge for Machine Learning on Graphs
Venue: arXiv cs.LG 2021
Year: 2021

Enabling effective and efficient machine learning (ML) over large-scale graph data (e.g., graphs with billions of edges) can have a great impact on both industrial and scientific applications. However, existing efforts to advance large-scale graph ML have been largely limited by the lack of a suitable public benchmark. Here we present OGB Large-Scale Challenge (OGB-LSC), a collection of three real-world datasets for facilitating the advancements in large-scale graph ML. The OGB-LSC datasets are orders of magnitude larger than existing ones, covering three core graph learning tasks -- link prediction, graph regression, and node classification. Furthermore, we provide dedicated baseline experiments, scaling up expressive graph ML models to the massive datasets. We show that expressive models significantly outperform simple scalable baselines, indicating an opportunity for dedicated efforts to further improve graph ML at scale. Moreover, OGB-LSC datasets were deployed at ACM KDD Cup 2021 and attracted more than 500 team registrations globally, during which significant performance improvements were made by a variety of innovative techniques. We summarize the common techniques used by the winning solutions and highlight the current best practices in large-scale graph ML. Finally, we describe how we have updated the datasets after the KDD Cup to further facilitate research advances. The OGB-LSC datasets, baseline code, and all the information about the KDD Cup are available at https://ogb.stanford.edu/docs/lsc/ .
Learning Descriptor of Constrained Task from Demonstration
Venue: arXiv cs.RO 2021
Year: 2021

Constrained objects, such as doors and drawers are often complex and share a similar structure in the human environment. A robot needs to interact accurately with constrained objects to safely and successfully complete a task. Learning from Demonstration offers an appropriate path to learn the object structure of the demonstration for unknown objects for unknown tasks. There is work that extracts the kinematic model from motion. However, the gap remains when the robot faces a new object with a similar model but different contexts, e.g. size, appearance, etc. In this paper, we propose a framework that integrates all the information needed to learn a constrained motion from a depth camera into a descriptor of the constrained task. The descriptor consists of object information, grasping point model, constrained model, and reference frame model. By associating constrained learning and reference frame with the constrained object, we demonstrate that the robot can learn the book opening model and parameter of the constraints from demonstration and generalize to novel books.
Hessian Chain Bracketing
Venue: arXiv cs.MS 2021
Year: 2021

Second derivatives of mathematical models for real-world phenomena are fundamental ingredients of a wide range of numerical simulation methods including parameter sensitivity analysis, uncertainty quantification, nonlinear optimization and model calibration. The evaluation of such Hessians often dominates the overall computational effort. The combinatorial {\sc Hessian Accumulation} problem aiming to minimize the number of floating-point operations required for the computation of a Hessian turns out to be NP-complete. We propose a dynamic programming formulation for the solution of {\sc Hessian Accumulation} over a sub-search space. This approach yields improvements by factors of ten and higher over the state of the art based on second-order tangent and adjoint algorithmic differentiation.
Sample-based Federated Learning via Mini-batch SSCA
Venue: arXiv cs.LG 2021
Year: 2021

In this paper, we investigate unconstrained and constrained sample-based federated optimization, respectively. For each problem, we propose a privacy preserving algorithm using stochastic successive convex approximation (SSCA) techniques, and show that it can converge to a Karush-Kuhn-Tucker (KKT) point. To the best of our knowledge, SSCA has not been used for solving federated optimization, and federated optimization with nonconvex constraints has not been investigated. Next, we customize the two proposed SSCA-based algorithms to two application examples, and provide closed-form solutions for the respective approximate convex problems at each iteration of SSCA. Finally, numerical experiments demonstrate inherent advantages of the proposed algorithms in terms of convergence speed, communication cost and model specification.
CNN Model & Tuning for Global Road Damage Detection
Venue: arXiv cs.CV 2021
Year: 2021

This paper provides a report on our solution including model selection, tuning strategy and results obtained for Global Road Damage Detection Challenge. This Big Data Cup Challenge was held as a part of IEEE International Conference on Big Data 2020. We assess single and multi-stage network architectures for object detection and provide a benchmark using popular state-of-the-art open-source PyTorch frameworks like Detectron2 and Yolov5. Data preparation for provided Road Damage training dataset, captured using smartphone camera from Czech, India and Japan is discussed. We studied the effect of training on a per country basis with respect to a single generalizable model. We briefly describe the tuning strategy for the experiments conducted on two-stage Faster R-CNN with Deep Residual Network (Resnet) and Feature Pyramid Network (FPN) backbone. Additionally, we compare this to a one-stage Yolov5 model with Cross Stage Partial Network (CSPNet) backbone. We show a mean F1 score of 0.542 on Test2 and 0.536 on Test1 datasets using a multi-stage Faster R-CNN model, with Resnet-50 and Resnet-101 backbones respectively. This shows the generalizability of the Resnet-50 model when compared to its more complex counterparts. Experiments were conducted using Google Colab having K80 and a Linux PC with 1080Ti, NVIDIA consumer grade GPU. A PyTorch based Detectron2 code to preprocess, train, test and submit the Avg F1 score to is made available at https://github.com/vishwakarmarhl/rdd2020