OpenRaiser/Intern-Atlas huggingface dataset:
Sample Complexity Bounds for Two Timescale Value-based Reinforcement Learning Algorithms
Venue: arXiv cs.LG 2020
Year: 2020

Two timescale stochastic approximation (SA) has been widely used in value-based reinforcement learning algorithms. In the policy evaluation setting, it can model the linear and nonlinear temporal difference learning with gradient correction (TDC) algorithms as linear SA and nonlinear SA, respectively. In the policy optimization setting, two timescale nonlinear SA can also model the greedy gradient-Q (Greedy-GQ) algorithm. In previous studies, the non-asymptotic analysis of linear TDC and Greedy-GQ has been studied in the Markovian setting, with diminishing or accuracy-dependent stepsize. For the nonlinear TDC algorithm, only the asymptotic convergence has been established. In this paper, we study the non-asymptotic convergence rate of two timescale linear and nonlinear TDC and Greedy-GQ under Markovian sampling and with accuracy-independent constant stepsize. For linear TDC, we provide a novel non-asymptotic analysis and show that it attains an $ε$-accurate solution with the optimal sample complexity of $\mathcal{O}(ε^{-1}\log(1/ε))$ under a constant stepsize. For nonlinear TDC and Greedy-GQ, we show that both algorithms attain $ε$-accurate stationary solution with sample complexity $\mathcal{O}(ε^{-2})$. It is the first non-asymptotic convergence result established for nonlinear TDC under Markovian sampling and our result for Greedy-GQ outperforms the previous result orderwisely by a factor of $\mathcal{O}(ε^{-1}\log(1/ε))$.
Alleviating Cold-Start Problems in Recommendation through Pseudo-Labelling over Knowledge Graph
Venue: arXiv cs.IR 2020
Year: 2020

Solving cold-start problems is indispensable to provide meaningful recommendation results for new users and items. Under sparsely observed data, unobserved user-item pairs are also a vital source for distilling latent users' information needs. Most present works leverage unobserved samples for extracting negative signals. However, such an optimisation strategy can lead to biased results toward already popular items by frequently handling new items as negative instances. In this study, we tackle the cold-start problems for new users/items by appropriately leveraging unobserved samples. We propose a knowledge graph (KG)-aware recommender based on graph neural networks, which augments labelled samples through pseudo-labelling. Our approach aggressively employs unobserved samples as positive instances and brings new items into the spotlight. To avoid exhaustive label assignments to all possible pairs of users and items, we exploit a KG for selecting probably positive items for each user. We also utilise an improved negative sampling strategy and thereby suppress the exacerbation of popularity biases. Through experiments, we demonstrate that our approach achieves improvements over the state-of-the-art KG-aware recommenders in a variety of scenarios; in particular, our methodology successfully improves recommendation performance for cold-start users/items.
Multi-pooled Inception features for no-reference image quality assessment
Venue: arXiv cs.CV 2020
Year: 2020

Image quality assessment (IQA) is an important element of a broad spectrum of applications ranging from automatic video streaming to display technology. Furthermore, the measurement of image quality requires a balanced investigation of image content and features. Our proposed approach extracts visual features by attaching global average pooling (GAP) layers to multiple Inception modules of on an ImageNet database pretrained convolutional neural network (CNN). In contrast to previous methods, we do not take patches from the input image. Instead, the input image is treated as a whole and is run through a pretrained CNN body to extract resolution-independent, multi-level deep features. As a consequence, our method can be easily generalized to any input image size and pretrained CNNs. Thus, we present a detailed parameter study with respect to the CNN base architectures and the effectiveness of different deep features. We demonstrate that our best proposal - called MultiGAP-NRIQA - is able to provide state-of-the-art results on three benchmark IQA databases. Furthermore, these results were also confirmed in a cross database test using the LIVE In the Wild Image Quality Challenge database.
Multi-modal, multi-task, multi-attention (M3) deep learning detection of reticular pseudodrusen: towards automated and accessible classification of age-related macular degeneration
Venue: arXiv cs.CV 2020
Year: 2020

Objective Reticular pseudodrusen (RPD), a key feature of age-related macular degeneration (AMD), are poorly detected by human experts on standard color fundus photography (CFP) and typically require advanced imaging modalities such as fundus autofluorescence (FAF). The objective was to develop and evaluate the performance of a novel 'M3' deep learning framework on RPD detection. Materials and Methods A deep learning framework M3 was developed to detect RPD presence accurately using CFP alone, FAF alone, or both, employing >8000 CFP-FAF image pairs obtained prospectively (Age-Related Eye Disease Study 2). The M3 framework includes multi-modal (detection from single or multiple image modalities), multi-task (training different tasks simultaneously to improve generalizability), and multi-attention (improving ensembled feature representation) operation. Performance on RPD detection was compared with state-of-the-art deep learning models and 13 ophthalmologists; performance on detection of two other AMD features (geographic atrophy and pigmentary abnormalities) was also evaluated. Results For RPD detection, M3 achieved area under receiver operating characteristic (AUROC) 0.832, 0.931, and 0.933 for CFP alone, FAF alone, and both, respectively. M3 performance on CFP was very substantially superior to human retinal specialists (median F1-score 0.644 versus 0.350). External validation (on Rotterdam Study, Netherlands) demonstrated high accuracy on CFP alone (AUROC 0.965). The M3 framework also accurately detected geographic atrophy and pigmentary abnormalities (AUROC 0.909 and 0.912, respectively), demonstrating its generalizability. Conclusion This study demonstrates the successful development, robust evaluation, and external validation of a novel deep learning framework that enables accessible, accurate, and automated AMD diagnosis and prognosis.
A Multi-Plant Disease Diagnosis Method using Convolutional Neural Network
Venue: arXiv cs.CV 2020
Year: 2020

A disease that limits a plant from its maximal capacity is defined as plant disease. From the perspective of agriculture, diagnosing plant disease is crucial, as diseases often limit plants' production capacity. However, manual approaches to recognize plant diseases are often temporal, challenging, and time-consuming. Therefore, computerized recognition of plant diseases is highly desired in the field of agricultural automation. Due to the recent improvement of computer vision, identifying diseases using leaf images of a particular plant has already been introduced. Nevertheless, the most introduced model can only diagnose diseases of a specific plant. Hence, in this chapter, we investigate an optimal plant disease identification model combining the diagnosis of multiple plants. Despite relying on multi-class classification, the model inherits a multilabel classification method to identify the plant and the type of disease in parallel. For the experiment and evaluation, we collected data from various online sources that included leaf images of six plants, including tomato, potato, rice, corn, grape, and apple. In our investigation, we implement numerous popular convolutional neural network (CNN) architectures. The experimental results validate that the Xception and DenseNet architectures perform better in multi-label plant disease classification tasks. Through architectural investigation, we imply that skip connections, spatial convolutions, and shorter hidden layer connectivity cause better results in plant disease classification.
Amadeus: Scalable, Privacy-Preserving Live Video Analytics
Venue: arXiv cs.CR 2020
Year: 2020

Smart-city applications ranging from traffic management to public-safety alerts rely on live analytics of video from surveillance cameras in public spaces. However, a growing number of government regulations stipulate how data collected from these cameras must be handled in order to protect citizens' privacy. This paper describes Amadeus, which balances privacy and utility by redacting video in near realtime for smart-city applications. Our main insight is that whitelisting objects, or blocking by default, is crucial for scalable, privacy-preserving video analytics. In the context of modern object detectors, we prove that whitelisting reduces the risk of an object-detection error leading to a privacy violation, and helps Amadeus scale to a large and diverse set of applications. In particular, Amadeus utilizes whitelisting to generate composable encrypted object-specific live streams, which simultaneously meet the requirements of multiple applications in a privacy-preserving fashion, while reducing the compute and streaming-bandwidth requirements at the edge. Experiments with our Amadeus prototype show that compared to blacklisting objects, whitelisting yields significantly better privacy (up to ~28x) and bandwidth savings (up to ~5.5x). Additionally, our experiments also indicate that the composable live streams generated by Amadeus are usable by real-world applications with minimum utility loss.
Generation of Human-aware Navigation Maps using Graph Neural Networks
Venue: arXiv cs.RO 2020
Year: 2020

Minimising the discomfort caused by robots when navigating in social situations is crucial for them to be accepted. The paper presents a machine learning-based framework that bootstraps existing one-dimensional datasets to generate a cost map dataset and a model combining Graph Neural Network and Convolutional Neural Network layers to produce cost maps for human-aware navigation in real-time. The proposed framework is evaluated against the original one-dimensional dataset and in simulated navigation tasks. The results outperform similar state-of-the-art-methods considering the accuracy on the dataset and the navigation metrics used. The applications of the proposed framework are not limited to human-aware navigation, it could be applied to other fields where map generation is needed.
Computing Delay-Constrained Least-Cost Paths for Segment Routing is Easier Than You Think
Venue: arXiv cs.NI 2020
Year: 2020

With the growth of demands for quasi-instantaneous communication services such as real-time video streaming, cloud gaming, and industry 4.0 applications, multi-constraint Traffic Engineering (TE) becomes increasingly important. While legacy TE management planes have proven laborious to deploy, Segment Routing (SR) drastically eases the deployment of TE paths and thus became the most appropriate technology for many operators. The flexibility of SR sparked demands in ways to compute more elaborate paths. In particular, there exists a clear need in computing and deploying Delay-Constrained Least-Cost paths (DCLC) for real-time applications requiring both low delay and high bandwidth routes. However, most current DCLC solutions are heuristics not specifically tailored for SR. In this work, we leverage both inherent limitations in the accuracy of delay measurements and an operational constraint added by SR. We include these characteristics in the design of BEST2COP, an exact but efficient ECMP-aware algorithm that natively solves DCLC in SR domains. Through an extensive performance evaluation, we first show that BEST2COP scales well even in large random networks. In real networks having up to thousands of destinations, our algorithm returns all DCLC solutions encoded as SR paths in way less than a second.
MotePy: A domain specific language for low-overhead machine learning and data processing
Venue: arXiv cs.PL 2020
Year: 2020

A domain specific language (DSL), named MotePy is presented. The DSL offers a high level syntax with low overheads for ML/data processing in time constrained or memory constrained systems. The DSL-to-C compiler has a novel static memory allocator that tracks object lifetimes and reuses the static memory, which we call the compiler-managed heap.
Pixel precise unsupervised detection of viral particle proliferation in cellular imaging data
Venue: arXiv cs.CV 2020
Year: 2020

Cellular and molecular imaging techniques and models have been developed to characterize single stages of viral proliferation after focal infection of cells in vitro. The fast and automatic classification of cell imaging data may prove helpful prior to any further comparison of representative experimental data to mathematical models of viral propagation in host cells. Here, we use computer generated images drawn from a reproduction of an imaging model from a previously published study of experimentally obtained cell imaging data representing progressive viral particle proliferation in host cell monolayers. Inspired by experimental time-based imaging data, here in this study viral particle increase in time is simulated by a one-by-one increase, across images, in black or gray single pixels representing dead or partially infected cells, and hypothetical remission by a one-by-one increase in white pixels coding for living cells in the original image model. The image simulations are submitted to unsupervised learning by a Self-Organizing Map (SOM) and the Quantization Error in the SOM output (SOM-QE) is used for automatic classification of the image simulations as a function of the represented extent of viral particle proliferation or cell recovery. Unsupervised classification by SOM-QE of 160 model images, each with more than three million pixels, is shown to provide a statistically reliable, pixel precise, and fast classification model that outperforms human computer-assisted image classification by RGB image mean computation. The automatic classification procedure proposed here provides a powerful approach to understand finely tuned mechanisms in the infection and proliferation of virus in cell lines in vitro or other cells.
On-line force capability evaluation based on efficient polytope vertex search
Venue: arXiv cs.RO 2020
Year: 2020

Ellipsoid-based manipulability measures are often used to characterize the force/velocity task-space capabilities of robots. While computationally simple, this approach largely approximate and underestimate the true capabilities. Force/velocity polytopes appear to be a more appropriate representation to characterize robot's task-space capabilities. However, due to the computational complexity of the associated vertex search problem, the polytope approach is mostly restricted to offline use, e.g. as a tool aiding robot mechanical design, robot placement in work-space and offline trajectory planning. In this paper, a novel on-line polytope vertex search algorithm is proposed. It exploits the parallelotop geometry of actuator constraints. The proposed algorithm significantly reduces the complexity and computation time of the vertex search problem in comparison to commonly used algorithms. In order to highlight the on-line capability of the proposed algorithm and its potential for robot control, a challenging experiment with two collaborating Franka Emika Panda robots, carrying a load of 12 kilograms, is proposed. In this experiment, the load distribution is adapted on-line, as a function of the configuration dependant task-space force capability of each robot, in order to avoid, as much as possible, the saturation of their capacity.
Game Semantics: Easy as Pi
Venue: arXiv cs.PL 2020
Year: 2020

Game semantics has proven to be a robust method to give compositional semantics for a variety of higher-order programming languages. However, due to the complexity of most game models, game semantics has remained unapproachable for non-experts. In this paper, we aim at making game semantics more accessible by viewing it as a syntactic translation into a session typed pi-calculus, referred to as metalanguage, followed by a semantics interpretation of the metalanguage into a particular game model. The syntactic translation can be defined for a wide range of programming languages without knowledge of the particular game model used. Simple reasoning on the model (soundness, and adequacy) can be done at the level of the metalanguage, escaping tedious technical proofs usually found in game semantics. We call this methodology programming game semantics. We design a metalanguage (PiDiLL) inspired from Differential Linear Logic (DiLL), which is concise but expressive enough to support features required by concurrent game semantics. We then demonstrate our methodology by yielding the first causal, non-angelic and interactive game model of CML, a higher-order call-by-value language with shared memory concurrency. We translate CML into PiDiLL and show that the translation is adequate. We give a causal and non-angelic game semantics model using event structures, which supports a simple semantics interpretation of PiDiLL. Combining both of these results, we obtain the first interactive model of a concurrent language of this expressivity which is adequate with respect to the standard weak bisimulation, and fully abstract for the contextual equivalence on second-order terms. We have implemented a prototype which can explore the generated causal object from a subset of OCaml.
Coordinated Aerial-Ground Robot Exploration via Monte-Carlo View Quality Rendering
Venue: arXiv cs.RO 2020
Year: 2020

We present a framework for a ground-aerial robotic team to explore large, unstructured, and unknown environments. In such exploration problems, the effectiveness of existing exploration-boosting heuristics often scales poorly with the environments' size and complexity. This work proposes a novel framework combining incremental frontier distribution, goal selection with Monte-Carlo view quality rendering, and an automatic-differentiable information gain measure to improve exploration efficiency. Simulated with multiple complex environments, we demonstrate that the proposed method effectively utilizes collaborative aerial and ground robots, consistently guides agents to informative viewpoints, improves exploration paths' information gain, and reduces planning time.
Topological Regularization via Persistence-Sensitive Optimization
Venue: arXiv cs.LG 2020
Year: 2020

Optimization, a key tool in machine learning and statistics, relies on regularization to reduce overfitting. Traditional regularization methods control a norm of the solution to ensure its smoothness. Recently, topological methods have emerged as a way to provide a more precise and expressive control over the solution, relying on persistent homology to quantify and reduce its roughness. All such existing techniques back-propagate gradients through the persistence diagram, which is a summary of the topological features of a function. Their downside is that they provide information only at the critical points of the function. We propose a method that instead builds on persistence-sensitive simplification and translates the required changes to the persistence diagram into changes on large subsets of the domain, including both critical and regular points. This approach enables a faster and more precise topological regularization, the benefits of which we illustrate with experimental evidence.
On Estimating the Training Cost of Conversational Recommendation Systems
Venue: arXiv cs.LG 2020
Year: 2020

Conversational recommendation systems have recently gain a lot of attention, as users can continuously interact with the system over multiple conversational turns. However, conversational recommendation systems are based on complex neural architectures, thus the training cost of such models is high. To shed light on the high computational training time of state-of-the art conversational models, we examine five representative strategies and demonstrate this issue. Furthermore, we discuss possible ways to cope with the high training cost following knowledge distillation strategies, where we detail the key challenges to reduce the online inference time of the high number of model parameters in conversational recommendation systems
Selective Spatio-Temporal Aggregation Based Pose Refinement System: Towards Understanding Human Activities in Real-World Videos
Venue: arXiv cs.CV 2020
Year: 2020

Taking advantage of human pose data for understanding human activities has attracted much attention these days. However, state-of-the-art pose estimators struggle in obtaining high-quality 2D or 3D pose data due to occlusion, truncation and low-resolution in real-world un-annotated videos. Hence, in this work, we propose 1) a Selective Spatio-Temporal Aggregation mechanism, named SST-A, that refines and smooths the keypoint locations extracted by multiple expert pose estimators, 2) an effective weakly-supervised self-training framework which leverages the aggregated poses as pseudo ground-truth instead of handcrafted annotations for real-world pose estimation. Extensive experiments are conducted for evaluating not only the upstream pose refinement but also the downstream action recognition performance on four datasets, Toyota Smarthome, NTU-RGB+D, Charades, and Kinetics-50. We demonstrate that the skeleton data refined by our Pose-Refinement system (SSTA-PRS) is effective at boosting various existing action recognition models, which achieves competitive or state-of-the-art performance.
PACSET (Packed Serialized Trees): Reducing Inference Latency for Tree Ensemble Deployment
Venue: arXiv cs.DC 2020
Year: 2020

We present methods to serialize and deserialize tree ensembles that optimize inference latency when models are not already loaded into memory. This arises whenever models are larger than memory, but also systematically when models are deployed on low-resource devices, such as in the Internet of Things, or run as Web micro-services where resources are allocated on demand. Our packed serialized trees (PACSET) encode reference locality in the layout of a tree ensemble using principles from external memory algorithms. The layout interleaves correlated nodes across multiple trees, uses leaf cardinality to collocate the nodes on the most popular paths and is optimized for the I/O blocksize. The result is that each I/O yields a higher fraction of useful data, leading to a 2-6 times reduction in classification latency for interactive workloads.