OpenRaiser/Intern-Atlas huggingface dataset:
A fully end-to-end deep learning approach for real-time simultaneous 3D reconstruction and material recognition
Venue: arXiv cs.CV 2017
Year: 2017

This paper addresses the problem of simultaneous 3D reconstruction and material recognition and segmentation. Enabling robots to recognise different materials (concrete, metal etc.) in a scene is important for many tasks, e.g. robotic interventions in nuclear decommissioning. Previous work on 3D semantic reconstruction has predominantly focused on recognition of everyday domestic objects (tables, chairs etc.), whereas previous work on material recognition has largely been confined to single 2D images without any 3D reconstruction. Meanwhile, most 3D semantic reconstruction methods rely on computationally expensive post-processing, using Fully-Connected Conditional Random Fields (CRFs), to achieve consistent segmentations. In contrast, we propose a deep learning method which performs 3D reconstruction while simultaneously recognising different types of materials and labelling them at the pixel level. Unlike previous methods, we propose a fully end-to-end approach, which does not require hand-crafted features or CRF post-processing. Instead, we use only learned features, and the CRF segmentation constraints are incorporated inside the fully end-to-end learned system. We present the results of experiments, in which we trained our system to perform real-time 3D semantic reconstruction for 23 different materials in a real-world application. The run-time performance of the system can be boosted to around 10Hz, using a conventional GPU, which is enough to achieve real-time semantic reconstruction using a 30fps RGB-D camera. To the best of our knowledge, this work is the first real-time end-to-end system for simultaneous 3D reconstruction and material recognition.
Wearing Many (Social) Hats: How Different are Your Different Social Network Personae?
Venue: arXiv cs.SI 2017
Year: 2017

This paper investigates when users create profiles in different social networks, whether they are redundant expressions of the same persona, or they are adapted to each platform. Using the personal webpages of 116,998 users on About.me, we identify and extract matched user profiles on several major social networks including Facebook, Twitter, LinkedIn, and Instagram. We find evidence for distinct site-specific norms, such as differences in the language used in the text of the profile self-description, and the kind of picture used as profile image. By learning a model that robustly identifies the platform given a user's profile image (0.657--0.829 AUC) or self-description (0.608--0.847 AUC), we confirm that users do adapt their behaviour to individual platforms in an identifiable and learnable manner. However, different genders and age groups adapt their behaviour differently from each other, and these differences are, in general, consistent across different platforms. We show that differences in social profile construction correspond to differences in how formal or informal the platform is.
Neural Graph Machines: Learning Neural Networks Using Graphs
Venue: arXiv cs.LG 2017
Year: 2017

Label propagation is a powerful and flexible semi-supervised learning technique on graphs. Neural networks, on the other hand, have proven track records in many supervised learning tasks. In this work, we propose a training framework with a graph-regularised objective, namely "Neural Graph Machines", that can combine the power of neural networks and label propagation. This work generalises previous literature on graph-augmented training of neural networks, enabling it to be applied to multiple neural architectures (Feed-forward NNs, CNNs and LSTM RNNs) and a wide range of graphs. The new objective allows the neural networks to harness both labeled and unlabeled data by: (a) allowing the network to train using labeled data as in the supervised setting, (b) biasing the network to learn similar hidden representations for neighboring nodes on a graph, in the same vein as label propagation. Such architectures with the proposed objective can be trained efficiently using stochastic gradient descent and scaled to large graphs, with a runtime that is linear in the number of edges. The proposed joint training approach convincingly outperforms many existing methods on a wide range of tasks (multi-label classification on social graphs, news categorization, document classification and semantic intent classification), with multiple forms of graph inputs (including graphs with and without node-level features) and using different types of neural networks.
RECOD Titans at ISIC Challenge 2017
Venue: arXiv cs.CV 2017
Year: 2017

This extended abstract describes the participation of RECOD Titans in parts 1 and 3 of the ISIC Challenge 2017 "Skin Lesion Analysis Towards Melanoma Detection" (ISBI 2017). Although our team has a long experience with melanoma classification, the ISIC Challenge 2017 was the very first time we worked on skin-lesion segmentation. For part 1 (segmentation), our final submission used four of our models: two trained with all 2000 samples, without a validation split, for 250 and for 500 epochs respectively; and other two trained and validated with two different 1600/400 splits, for 220 epochs. Those four models, individually, achieved between 0.780 and 0.783 official validation scores. Our final submission averaged the output of those four models achieved a score of 0.793. For part 3 (classification), the submitted test run as well as our last official validation run were the result from a meta-model that assembled seven base deep-learning models: three based on Inception-V4 trained on our largest dataset; three based on Inception trained on our smallest dataset; and one based on ResNet-101 trained on our smaller dataset. The results of those component models were stacked in a meta-learning layer based on an SVM trained on the validation set of our largest dataset.
Robustness analysis of a Maximum Correntropy framework for linear regression
Venue: arXiv cs.SY 2017
Year: 2017

In this paper we formulate a solution of the robust linear regression problem in a general framework of correntropy maximization. Our formulation yields a unified class of estimators which includes the Gaussian and Laplacian kernel-based correntropy estimators as special cases. An analysis of the robustness properties is then provided. The analysis includes a quantitative characterization of the informativity degree of the regression which is appropriate for studying the stability of the estimator. Using this tool, a sufficient condition is expressed under which the parametric estimation error is shown to be bounded. Explicit expression of the bound is given and discussion on its numerical computation is supplied. For illustration purpose, two special cases are numerically studied.
Sparse Named Entity Classification using Factorization Machines
Venue: arXiv cs.CL 2017
Year: 2017

Named entity classification is the task of classifying text-based elements into various categories, including places, names, dates, times, and monetary values. A bottleneck in named entity classification, however, is the data problem of sparseness, because new named entities continually emerge, making it rather difficult to maintain a dictionary for named entity classification. Thus, in this paper, we address the problem of named entity classification using matrix factorization to overcome the problem of feature sparsity. Experimental results show that our proposed model, with fewer features and a smaller size, achieves competitive accuracy to state-of-the-art models.
D2D-Aware Device Caching in MmWave-Cellular Networks
Venue: arXiv cs.IT 2017
Year: 2017

In this paper, we propose a novel policy for device caching that facilitates popular content exchange through high-rate device-to-device (D2D) millimeter-wave (mmWave) communication. The D2D-aware caching (DAC) policy splits the cacheable content into two content groups and distributes it randomly to the user equipment devices (UEs), with the goal to enable D2D connections. By exploiting the high bandwidth availability and the directionality of mmWaves, we ensure high rates for the D2D transmissions, while mitigating the co-channel interference that limits the throughput gains of D2D communication in the sub-6 GHz bands. Furthermore, based on a stochastic-geometry modeling of the network topology, we analytically derive the offloading gain that is achieved by the proposed policy and the distribution of the content retrieval delay considering both half- and full-duplex mode for the D2D communication. The accuracy of the proposed analytical framework is validated through Monte-Carlo simulations. In addition, for a wide range of a content popularity indicator the results show that the proposed policy achieves higher offloading and lower content-retrieval delays than existing state-of-the-art approaches.
Matched bipartite block model with covariates
Venue: arXiv cs.SI 2017
Year: 2017

Community detection or clustering is a fundamental task in the analysis of network data. Many real networks have a bipartite structure which makes community detection challenging. In this paper, we consider a model which allows for matched communities in the bipartite setting, in addition to node covariates with information about the matching. We derive a simple fast algorithm for fitting the model based on variational inference ideas and show its effectiveness on both simulated and real data. A variation of the model to allow for degree-correction is also considered, in addition to a novel approach to fitting such degree-corrected models.
Steerable Discrete Fourier Transform
Venue: arXiv cs.IT 2017
Year: 2017

Directional transforms have recently raised a lot of interest thanks to their numerous applications in signal compression and analysis. In this letter, we introduce a generalization of the discrete Fourier transform, called steerable DFT (SDFT). Since the DFT is used in numerous fields, it may be of interest in a wide range of applications. Moreover, we also show that the SDFT is highly related to other well-known transforms, such as the Fourier sine and cosine transforms and the Hilbert transforms.
A Relational Logic for Higher-Order Programs
Venue: arXiv cs.PL 2017
Year: 2017

Relational program verification is a variant of program verification where one can reason about two programs and as a special case about two executions of a single program on different inputs. Relational program verification can be used for reasoning about a broad range of properties, including equivalence and refinement, and specialized notions such as continuity, information flow security or relative cost. In a higher-order setting, relational program verification can be achieved using relational refinement type systems, a form of refinement types where assertions have a relational interpretation. Relational refinement type systems excel at relating structurally equivalent terms but provide limited support for relating terms with very different structures. We present a logic, called Relational Higher Order Logic (RHOL), for proving relational properties of a simply typed $λ$-calculus with inductive types and recursive definitions. RHOL retains the type-directed flavour of relational refinement type systems but achieves greater expressivity through rules which simultaneously reason about the two terms as well as rules which only contemplate one of the two terms. We show that RHOL has strong foundations, by proving an equivalence with higher-order logic (HOL), and leverage this equivalence to derive key meta-theoretical properties: subject reduction, admissibility of a transitivity rule and set-theoretical soundness. Moreover, we define sound embeddings for several existing relational type systems such as relational refinement types and type systems for dependency analysis and relative cost, and we verify examples that were out of reach of prior work.
How to Stop Consensus Algorithms, locally?
Venue: arXiv cs.DC 2017
Year: 2017

This paper studies problems on locally stopping distributed consensus algorithms over networks where each node updates its state by interacting with its neighbors and decides by itself whether certain level of agreement has been achieved among nodes. Since an individual node is unable to access the states of those beyond its neighbors, this problem becomes challenging. In this work, we first define the stopping problem for generic distributed algorithms. Then, a distributed algorithm is explicitly provided for each node to stop consensus updating by exploring the relationship between the so-called local and global consensus. Finally, we show both in theory and simulation that its effectiveness depends both on the network size and the structure.
Character-based Neural Embeddings for Tweet Clustering
Venue: arXiv cs.IR 2017
Year: 2017

In this paper we show how the performance of tweet clustering can be improved by leveraging character-based neural networks. The proposed approach overcomes the limitations related to the vocabulary explosion in the word-based models and allows for the seamless processing of the multilingual content. Our evaluation results and code are available on-line at https://github.com/vendi12/tweet2vec_clustering
An Analysis of a Simple Local Search Algorithm for Graph Colouring
Venue: arXiv cs.DM 2017
Year: 2017

Vertex Descent is a local search algorithm which forms the basis of a wide spectrum of tabu search, simulated annealing and hybrid evolutionary algorithms for graph colouring. These algorithms are usually treated as experimental and provide strong results on established benchmarks. As a step towards studying these heuristics analytically, an analysis of the behaviour of Vertex Descent is provided. It is shown that Vertex Descent is able to find feasible colourings for several types of instances in expected polynomial time. This includes 2-colouring of paths and 3-colouring of graphs with maximum degree 3. The same also holds for 3-colouring of a subset of 3-colourable graphs with maximum degree 4. As a consequence, Vertex Descent finds a 3-colouring in expected polynomial time for the smallest graph for which Brélaz's heuristic DSATUR needs 4 colours. On the other hand, Vertex Descent may fail for forests with maximum degree 3 with high probability.
Complexity Dichotomies for the Minimum F-Overlay Problem
Venue: arXiv cs.DS 2017
Year: 2017

For a (possibly infinite) fixed family of graphs F, we say that a graph G overlays F on a hypergraph H if V(H) is equal to V(G) and the subgraph of G induced by every hyperedge of H contains some member of F as a spanning subgraph.While it is easy to see that the complete graph on |V(H)| overlays F on a hypergraph H whenever the problem admits a solution, the Minimum F-Overlay problem asks for such a graph with the minimum number of edges.This problem allows to generalize some natural problems which may arise in practice. For instance, if the family F contains all connected graphs, then Minimum F-Overlay corresponds to the Minimum Connectivity Inference problem (also known as Subset Interconnection Design problem) introduced for the low-resolution reconstruction of macro-molecular assembly in structural biology, or for the design of networks.Our main contribution is a strong dichotomy result regarding the polynomial vs. NP-hard status with respect to the considered family F. Roughly speaking, we show that the easy cases one can think of (e.g. when edgeless graphs of the right sizes are in F, or if F contains only cliques) are the only families giving rise to a polynomial problem: all others are NP-complete.We then investigate the parameterized complexity of the problem and give similar sufficient conditions on F that give rise to W[1]-hard, W[2]-hard or FPT problems when the parameter is the size of the solution.This yields an FPT/W[1]-hard dichotomy for a relaxed problem, where every hyperedge of H must contain some member of F as a (non necessarily spanning) subgraph.
Verified type checker for Jolie programming language
Venue: arXiv cs.PL 2017
Year: 2017

Jolie is a service-oriented programming language which comes with the formal specification of its type system. However, there is no tool to ensure that programs in Jolie are well-typed. In this paper we provide the results of building a type checker for Jolie as a part of its syntax and semantics formal model. We express the type checker as a program with dependent types in Agda proof assistant which helps to ascertain that the type checker is correct.
Recursive constructions and their maximum likelihood decoding
Venue: arXiv cs.IT 2017
Year: 2017

We consider recursive decoding techniques for RM codes, their subcodes, and newly designed codes. For moderate lengths up to 512, we obtain near-optimum decoding with feasible complexity.
Recursive decoding of Reed-Muller codes
Venue: arXiv cs.IT 2017
Year: 2017

New soft- and hard decision decoding algorithms are presented for general Reed-Muller codes $\left\{\genfrac{}{}{0pt}{}{m}{r}\right\} $ of length $2^{m}$ and distance $2^{m-r}$. We use Plotkin $(u,u+v)$ construction and decompose code $\left\{\genfrac{}{}{0pt}{}{m}{r}\right\} $ onto subblocks $u\in\left\{\genfrac{}{}{0pt}{}{m-1}{r}\right\} $ and $v\in\left\{\genfrac{}{}{0pt}{}{m-1}{r-1}\right\} .$ In decoding, we first try to find a subblock $v$ from the better protected code and then proceed with the block $u$. The likelihoods of the received symbols are recalculated in a way similar to belief propagation. Thus, decoding is relegated to the two constituent codes. We repeat this recursion and execute decoding only at the end nodes $\left\{\genfrac{}{}{0pt}{}{j}{1}\right\} $ and $\left\{\genfrac{}{}{0pt}{}{j}{j-1}\right\} $. The overall complexity has low order of $n\log n.$ It is shown that this decoding substantially outperforms other algorithms of polynomial complexity known for RM codes. In particular, for medium and high code rates, the algorithm corrects most error patterns of weight $d\ln d/2.$
Recursive List Decoding for Reed-Muller Codes
Venue: arXiv cs.IT 2017
Year: 2017

We consider recursive decoding for Reed-Muller (RM) codes and their subcodes. Two new recursive techniques are described. We analyze asymptotic properties of these algorithms and show that they substantially outperform other decoding algorithms with nonexponential complexity known for RM codes. Decoding performance is further enhanced by using intermediate code lists and permutation procedures. For moderate lengths up to 512, near-optimum decoding with feasible complexity is obtained.
Recursive Decoding and Its Performance for Low-Rate Reed-Muller Codes
Venue: arXiv cs.IT 2017
Year: 2017

Recursive decoding techniques are considered for Reed-Muller (RM) codes of growing length $n$ and fixed order $r.$ An algorithm is designed that has complexity of order $n\log n$ and corrects most error patterns of weight up to $n(1/2-\varepsilon)$ given that $\varepsilon$ exceeds $n^{-1/2^{r}}.$ This improves the asymptotic bounds known for decoding RM codes with nonexponential complexity.
DiVM: Model Checking with LLVM and Graph Memory
Venue: arXiv cs.SE 2017
Year: 2017

In this paper, we introduce the concept of a virtual machine with graph-organised memory as a versatile backend for both explicit-state and abstraction-driven verification of software. Our virtual machine uses the LLVM IR as its instruction set, enriched with a small set of hypercalls. We show that the provided hypercalls are sufficient to implement a small operating system, which can then be linked with applications to provide a POSIX-compatible verification environment. Finally, we demonstrate the viability of the approach through a comparison with a more traditionally-designed LLVM model checker.
3D Vision Guided Robotic Charging Station for Electric and Plug-in Hybrid Vehicles
Venue: arXiv cs.RO 2017
Year: 2017

Electric vehicles (EVs) and plug-in hybrid vehicles (PHEVs) are rapidly gaining popularity on our roads. Besides a comparatively high purchasing price, the main two problems limiting their use are the short driving range and inconvenient charging process. In this paper we address the following by presenting an automatic robot-based charging station with 3D vision guidance for plugging and unplugging the charger. First of all, the whole system concept consisting of a 3D vision system, an UR10 robot and a charging station is presented. Then we show the shape-based matching methods used to successfully identify and get the exact pose of the charging port. The same approach is used to calibrate the camera-robot system by using just known structure of the connector plug and no additional markers. Finally, a three-step robot motion planning procedure for plug-in is presented and functionality is demonstrated in a series of successful experiments.
Large Scale Evolution of Convolutional Neural Networks Using Volunteer Computing
Venue: arXiv cs.NE 2017
Year: 2017

This work presents a new algorithm called evolutionary exploration of augmenting convolutional topologies (EXACT), which is capable of evolving the structure of convolutional neural networks (CNNs). EXACT is in part modeled after the neuroevolution of augmenting topologies (NEAT) algorithm, with notable exceptions to allow it to scale to large scale distributed computing environments and evolve networks with convolutional filters. In addition to multithreaded and MPI versions, EXACT has been implemented as part of a BOINC volunteer computing project, allowing large scale evolution. During a period of two months, over 4,500 volunteered computers on the Citizen Science Grid trained over 120,000 CNNs and evolved networks reaching 98.32% test data accuracy on the MNIST handwritten digits dataset. These results are even stronger as the backpropagation strategy used to train the CNNs was fairly rudimentary (ReLU units, L2 regularization and Nesterov momentum) and these were initial test runs done without refinement of the backpropagation hyperparameters. Further, the EXACT evolutionary strategy is independent of the method used to train the CNNs, so they could be further improved by advanced techniques like elastic distortions, pretraining and dropout. The evolved networks are also quite interesting, showing "organic" structures and significant differences from standard human designed architectures.
A modification to Hirsch index allowing comparisons across different scientific fields
Venue: arXiv cs.DL 2017
Year: 2017

The aim of this paper is to propose a simple modification to the original measure, the relative Hirsch index, which assigns each researcher a value between 0 (the bottom) and 1 (the top), expressing his/her distance to the top in a given field. By this normalization scholars from different scientific disciplines can be compared.