OpenRaiser/Intern-Atlas huggingface dataset:
Mutual-Information Regularization in Markov Decision Processes and Actor-Critic Learning
Venue: arXiv cs.LG 2019
Year: 2019

Cumulative entropy regularization introduces a regulatory signal to the reinforcement learning (RL) problem that encourages policies with high-entropy actions, which is equivalent to enforcing small deviations from a uniform reference marginal policy. This has been shown to improve exploration and robustness, and it tackles the value overestimation problem. It also leads to a significant performance increase in tabular and high-dimensional settings, as demonstrated via algorithms such as soft Q-learning (SQL) and soft actor-critic (SAC). Cumulative entropy regularization has been extended to optimize over the reference marginal policy instead of keeping it fixed, yielding a regularization that minimizes the mutual information between states and actions. While this has been initially proposed for Markov Decision Processes (MDPs) in tabular settings, it was recently shown that a similar principle leads to significant improvements over vanilla SQL in RL for high-dimensional domains with discrete actions and function approximators. Here, we follow the motivation of mutual-information regularization from an inference perspective and theoretically analyze the corresponding Bellman operator. Inspired by this Bellman operator, we devise a novel mutual-information regularized actor-critic learning (MIRACLE) algorithm for continuous action spaces that optimizes over the reference marginal policy. We empirically validate MIRACLE in the Mujoco robotics simulator, where we demonstrate that it can compete with contemporary RL methods. Most notably, it can improve over the model-free state-of-the-art SAC algorithm which implicitly assumes a fixed reference policy.
Towards Gradually Typed Capabilities in the Pi-Calculus
Venue: arXiv cs.PL 2019
Year: 2019

Gradual typing is an approach to integrating static and dynamic typing within the same language, and puts the programmer in control of which regions of code are type checked at compile-time and which are type checked at run-time. In this paper, we focus on the pi-calculus equipped with types for the modeling of input-output capabilities of channels. We present our preliminary work towards a gradually typed version of this calculus. We present a type system, a cast insertion procedure that automatically inserts run-time checks, and an operational semantics of a pi-calculus that handles casts on channels. Although we do not claim any theoretical results on our formulations, we demonstrate our calculus with an example and discuss our future plans.
Reinforcement Learning: a Comparison of UCB Versus Alternative Adaptive Policies
Venue: arXiv cs.LG 2019
Year: 2019

In this paper we consider the basic version of Reinforcement Learning (RL) that involves computing optimal data driven (adaptive) policies for Markovian decision process with unknown transition probabilities. We provide a brief survey of the state of the art of the area and we compare the performance of the classic UCB policy of \cc{bkmdp97} with a new policy developed herein which we call MDP-Deterministic Minimum Empirical Divergence (MDP-DMED), and a method based on Posterior sampling (MDP-PS).
LSTM-Based Anomaly Detection: Detection Rules from Extreme Value Theory
Venue: arXiv cs.LG 2019
Year: 2019

In this paper, we explore various statistical techniques for anomaly detection in conjunction with the popular Long Short-Term Memory (LSTM) deep learning model for transportation networks. We obtain the prediction errors from an LSTM model, and then apply three statistical models based on (i) the Gaussian distribution, (ii) Extreme Value Theory (EVT), and (iii) the Tukey's method. Using statistical tests and numerical studies, we find strong evidence against the widely employed Gaussian distribution based detection rule on the prediction errors. Next, motivated by fundamental results from Extreme Value Theory, we propose a detection technique that does not assume any parent distribution on the prediction errors. Through numerical experiments conducted on several real-world traffic data sets, we show that the EVT-based detection rule is superior to other detection rules, and is supported by statistical evidence.
Human Following for Wheeled Robot with Monocular Pan-tilt Camera
Venue: arXiv cs.RO 2019
Year: 2019

Human following on mobile robots has witnessed significant advances due to its potentials for real-world applications. Currently most human following systems are equipped with depth sensors to obtain distance information between human and robot, which suffer from the perception requirements and noises. In this paper, we design a wheeled mobile robot system with monocular pan-tilt camera to follow human, which can stay the target in the field of view and keep following simultaneously. The system consists of fast human detector, real-time and accurate visual tracker, and unified controller for mobile robot and pan-tilt camera. In visual tracking algorithm, both Siamese networks and optical flow information are exploited to locate and regress human simultaneously. In order in perform following with a monocular camera, the constraint of human height is introduced to design the controller. In experiments, human following are conducted and analysed in simulations and a real robot platform, which demonstrate the effectiveness and robustness of the overall system.
Relative Generalized Hamming weights of affine Cartesian codes
Venue: arXiv cs.IT 2019
Year: 2019

We explicitly determine all the relative generalized Hamming weights of affine Cartesian codes using the notion of footprints and results from extremal combinatorics. This generalizes the previous works on the determination of relative generalized Hamming weights of Reed-Muller codes by Geil and Martin, as well as the determination of all the generalized Hamming weights of the affine Cartesian codes by Beelen and Datta.
Neural Architectures for Fine-Grained Propaganda Detection in News
Venue: arXiv cs.CL 2019
Year: 2019

This paper describes our system (MIC-CIS) details and results of participation in the fine-grained propaganda detection shared task 2019. To address the tasks of sentence (SLC) and fragment level (FLC) propaganda detection, we explore different neural architectures (e.g., CNN, LSTM-CRF and BERT) and extract linguistic (e.g., part-of-speech, named entity, readability, sentiment, emotion, etc.), layout and topical features. Specifically, we have designed multi-granularity and multi-tasking neural architectures to jointly perform both the sentence and fragment level propaganda detection. Additionally, we investigate different ensemble schemes such as majority-voting, relax-voting, etc. to boost overall system performance. Compared to the other participating systems, our submissions are ranked 3rd and 4th in FLC and SLC tasks, respectively.
HapPenIng: Happen, Predict, Infer -- Event Series Completion in a Knowledge Graph
Venue: arXiv cs.SI 2019
Year: 2019

Event series, such as the Wimbledon Championships and the US presidential elections, represent important happenings in key societal areas including sports, culture and politics. However, semantic reference sources, such as Wikidata, DBpedia and EventKG knowledge graphs, provide only an incomplete event series representation. In this paper we target the problem of event series completion in a knowledge graph. We address two tasks: 1) prediction of sub-event relations, and 2) inference of real-world events that happened as a part of event series and are missing in the knowledge graph. To address these problems, our proposed supervised HapPenIng approach leverages structural features of event series. HapPenIng does not require any external knowledge - the characteristics making it unique in the context of event inference. Our experimental evaluation demonstrates that HapPenIng outperforms the baselines by 44 and 52 percentage points in terms of precision for the sub-event prediction and the inference tasks, correspondingly.
Characterising circular-arc contact $B_0$-VPG graphs
Venue: arXiv cs.DM 2019
Year: 2019

A contact $B_0$-VPG graph is a graph for which there exists a collection of nontrivial pairwise interiorly disjoint horizontal and vertical segments in one-to-one correspondence with its vertex set such that two vertices are adjacent if and only if the corresponding segments touch. It was shown by Deniz et al. that Recognition is $\mathsf{NP}$-complete for contact $B_0$-VPG graphs. In this paper we present a minimal forbidden induced subgraph characterisation of contact $B_0$-VPG graphs within the class of circular-arc graphs and provide a polynomial-time algorithm for recognising these graphs.
Parameterized Convolutional Neural Networks for Aspect Level Sentiment Classification
Venue: arXiv cs.CL 2019
Year: 2019

We introduce a novel parameterized convolutional neural network for aspect level sentiment classification. Using parameterized filters and parameterized gates, we incorporate aspect information into convolutional neural networks (CNN). Experiments demonstrate that our parameterized filters and parameterized gates effectively capture the aspect-specific features, and our CNN-based models achieve excellent results on SemEval 2014 datasets.
MRI Brain Tumor Segmentation using Random Forests and Fully Convolutional Networks
Venue: arXiv cs.CV 2019
Year: 2019

In this paper, we propose a novel learning based method for automated segmentation of brain tumor in multimodal MRI images, which incorporates two sets of machine -learned and hand crafted features. Fully convolutional networks (FCN) forms the machine learned features and texton based features are considered as hand-crafted features. Random forest (RF) is used to classify the MRI image voxels into normal brain tissues and different parts of tumors, i.e. edema, necrosis and enhancing tumor. The method was evaluated on BRATS 2017 challenge dataset. The results show that the proposed method provides promising segmentations. The mean Dice overlap measure for automatic brain tumor segmentation against ground truth is 0.86, 0.78 and 0.66 for whole tumor, core and enhancing tumor, respectively.
Local Decode and Update for Big Data Compression
Venue: arXiv cs.IT 2019
Year: 2019

This paper investigates data compression that simultaneously allows local decoding and local update. The main result is a universal compression scheme for memoryless sources with the following features. The rate can be made arbitrarily close to the entropy of the underlying source, contiguous fragments of the source can be recovered or updated by probing or modifying a number of codeword bits that is on average linear in the size of the fragment, and the overall encoding and decoding complexity is quasilinear in the blocklength of the source. In particular, the local decoding or update of a single message symbol can be performed by probing or modifying a constant number of codeword bits. This latter part improves over previous best known results for which local decodability or update efficiency grows logarithmically with blocklength.
Flight Controller Synthesis Via Deep Reinforcement Learning
Venue: arXiv cs.LG 2019
Year: 2019

Traditional control methods are inadequate in many deployment settings involving control of Cyber-Physical Systems (CPS). In such settings, CPS controllers must operate and respond to unpredictable interactions, conditions, or failure modes. Dealing with such unpredictability requires the use of executive and cognitive control functions that allow for planning and reasoning. Motivated by the sport of drone racing, this dissertation addresses these concerns for state-of-the-art flight control by investigating the use of deep neural networks to bring essential elements of higher-level cognition for constructing low level flight controllers. This thesis reports on the development and release of an open source, full solution stack for building neuro-flight controllers. This stack consists of the methodology for constructing a multicopter digital twin for synthesize the flight controller unique to a specific aircraft, a tuning framework for implementing training environments (GymFC), and a firmware for the world's first neural network supported flight controller (Neuroflight). GymFC's novel approach fuses together the digital twinning paradigm for flight control training to provide seamless transfer to hardware. Additionally, this thesis examines alternative reward system functions as well as changes to the software environment to bridge the gap between the simulation and real world deployment environments. Work summarized in this thesis demonstrates that reinforcement learning is able to be leveraged for training neural network controllers capable, not only of maintaining stable flight, but also precision aerobatic maneuvers in real world settings. As such, this work provides a foundation for developing the next generation of flight control systems.
Harnessing Indirect Training Data for End-to-End Automatic Speech Translation: Tricks of the Trade
Venue: arXiv cs.CL 2019
Year: 2019

For automatic speech translation (AST), end-to-end approaches are outperformed by cascaded models that transcribe with automatic speech recognition (ASR), then translate with machine translation (MT). A major cause of the performance gap is that, while existing AST corpora are small, massive datasets exist for both the ASR and MT subsystems. In this work, we evaluate several data augmentation and pretraining approaches for AST, by comparing all on the same datasets. Simple data augmentation by translating ASR transcripts proves most effective on the English--French augmented LibriSpeech dataset, closing the performance gap from 8.2 to 1.4 BLEU, compared to a very strong cascade that could directly utilize copious ASR and MT data. The same end-to-end approach plus fine-tuning closes the gap on the English--Romanian MuST-C dataset from 6.7 to 3.7 BLEU. In addition to these results, we present practical recommendations for augmentation and pretraining approaches. Finally, we decrease the performance gap to 0.01 BLEU using a Transformer-based architecture.
Solving Service Robot Tasks: UT Austin Villa@Home 2019 Team Report
Venue: arXiv cs.RO 2019
Year: 2019

RoboCup@Home is an international robotics competition based on domestic tasks requiring autonomous capabilities pertaining to a large variety of AI technologies. Research challenges are motivated by these tasks both at the level of individual technologies and the integration of subsystems into a fully functional, robustly autonomous system. We describe the progress made by the UT Austin Villa 2019 RoboCup@Home team which represents a significant step forward in AI-based HRI due to the breadth of tasks accomplished within a unified system. Presented are the competition tasks, component technologies they rely on, our initial approaches both to the components and their integration, and directions for future research.
Private and Atomic Exchange of Assets over Zero Knowledge Based Payment Ledger
Venue: arXiv cs.CR 2019
Year: 2019

Bitcoin brings a new type of digital currency that does not rely on a central system to maintain transactions. By benefiting from the concept of decentralized ledger, users who do not know or trust each other can still conduct transactions in a peer-to-peer manner. Inspired by Bitcoin, other cryptocurrencies were invented in recent years such as Ethereum, Dash, Zcash, Monero, Grin, etc. Some of these focus on enhancing privacy for instance crypto note or systems that apply the similar concept of encrypted notes used for transactions to enhance privacy (e.g., Zcash, Monero). However, there are few mechanisms to support the exchange of privacy-enhanced notes or assets on the chain, and at the same time preserving the privacy of the exchange operations. Existing approaches for fair exchanges of assets with privacy mostly rely on off-chain/side-chain, escrow or centralized services. Thus, we propose a solution that supports oblivious and privacy-protected fair exchange of crypto notes or privacy enhanced crypto assets. The technology is demonstrated by extending zero-knowledge based crypto notes. To address "privacy" and "multi-currency", we build a new zero-knowledge proving system and extend note format with new property to represent various types of tokenized assets or cryptocurrencies. By extending the payment protocol, exchange operations are realized through privacy enhanced transactions (e.g., shielded transactions). Based on the possible scenarios during the exchange operation, we add new constraints and conditions to the zero-knowledge proving system used for validating transactions publicly.
IEEE 802.15.4.e TSCH-Based Scheduling for Throughput Optimization: A Combinatorial Multi-Armed Bandit Approach
Venue: arXiv cs.NI 2019
Year: 2019

In TSCH, which is a MAC mechanism set of the IEEE 802.15.4e amendment, calculation, construction, and maintenance of the packet transmission schedules are not defined. Moreover, to ensure optimal throughput, most of the existing scheduling methods are based on the assumption that instantaneous and accurate Channel State Information (CSI) is available. However, due to the inevitable errors in the channel estimation process, this assumption cannot be materialized in many practical scenarios. In this paper, we propose two alternative and realistic approaches. In our first approach, we assume that only the statistical knowledge of CSI is available a priori. Armed with this knowledge, the average packet rate on each link is computed and then, using the results, the throughput-optimal schedule for the assignment of (slot-frame) cells to links can be formulated as a max-weight bipartite matching problem, which can be solved efficiently using the well-known Hungarian algorithm. In the second approach, we assume that no CSI knowledge (even statistical) is available at the design stage. For this zero-knowledge setting, we introduce a machine learning-based algorithm by formally modeling the scheduling problem in terms of a combinatorial multi-armed bandit (CMAB) process. Our CMAB-based scheme is widely applicable to many real operational environments, thanks to its reduced reliance on design-time knowledge. Simulation results show that the average throughput obtained by the statistical CSI-based method is within the margin of 15% from the theoretical upper bound associated with perfect instantaneous CSI. The aforesaid margin is around 18% for our learning-theoretic solution.
Cognitive swarming in complex environments with attractor dynamics and oscillatory computing
Venue: arXiv cs.MA 2019
Year: 2019

Neurobiological theories of spatial cognition developed with respect to recording data from relatively small and/or simplistic environments compared to animals' natural habitats. It has been unclear how to extend theoretical models to large or complex spaces. Complementarily, in autonomous systems technology, applications have been growing for distributed control methods that scale to large numbers of low-footprint mobile platforms. Animals and many-robot groups must solve common problems of navigating complex and uncertain environments. Here, we introduce the 'NeuroSwarms' control framework to investigate whether adaptive, autonomous swarm control of minimal artificial agents can be achieved by direct analogy to neural circuits of rodent spatial cognition. NeuroSwarms analogizes agents to neurons and swarming groups to recurrent networks. We implemented neuron-like agent interactions in which mutually visible agents operate as if they were reciprocally-connected place cells in an attractor network. We attributed a phase state to agents to enable patterns of oscillatory synchronization similar to hippocampal models of theta-rhythmic (5-12 Hz) sequence generation. We demonstrate that multi-agent swarming and reward-approach dynamics can be expressed as a mobile form of Hebbian learning and that NeuroSwarms supports a single-entity paradigm that directly informs theoretical models of animal cognition. We present emergent behaviors including phase-organized rings and trajectory sequences that interact with environmental cues and geometry in large, fragmented mazes. Thus, NeuroSwarms is a model artificial spatial system that integrates autonomous control and theoretical neuroscience to potentially uncover common principles to advance both domains.
Road Network Reconstruction from Satellite Images with Machine Learning Supported by Topological Methods
Venue: arXiv cs.CV 2019
Year: 2019

Automatic Extraction of road network from satellite images is a goal that can benefit and even enable new technologies. Methods that combine machine learning (ML) and computer vision have been proposed in recent years which make the task semi-automatic by requiring the user to provide curated training samples. The process can be fully automatized if training samples can be produced algorithmically. Of course, this requires a robust algorithm that can reconstruct the road networks from satellite images reliably so that the output can be fed as training samples. In this work, we develop such a technique by infusing a persistence-guided discrete Morse based graph reconstruction algorithm into ML framework. We elucidate our contributions in two phases. First, in a semi-automatic framework, we combine a discrete-Morse based graph reconstruction algorithm with an existing CNN framework to segment input satellite images. We show that this leads to reconstructions with better connectivity and less noise. Next, in a fully automatic framework, we leverage the power of the discrete-Morse based graph reconstruction algorithm to train a CNN from a collection of images without labelled data and use the same algorithm to produce the final output from the segmented images created by the trained CNN. We apply the discrete-Morse based graph reconstruction algorithm iteratively to improve the accuracy of the CNN. We show promising experimental results of this new framework on datasets from SpaceNet Challenge.
Target-Focused Feature Selection Using a Bayesian Approach
Venue: arXiv cs.LG 2019
Year: 2019

In many real-world scenarios where data is high dimensional, test time acquisition of features is a non-trivial task due to costs associated with feature acquisition and evaluating feature value. The need for highly confident models with an extremely frugal acquisition of features can be addressed by allowing a feature selection method to become target aware. We introduce an approach to feature selection that is based on Bayesian learning, allowing us to report target-specific levels of uncertainty, false positive, and false negative rates. In addition, measuring uncertainty lifts the restriction on feature selection being target agnostic, allowing for feature acquisition based on a single target of focus out of many. We show that acquiring features for a specific target is at least as good as common linear feature selection approaches for small non-sparse datasets, and surpasses these when faced with real-world healthcare data that is larger in scale and in sparseness.