OpenRaiser/Intern-Atlas huggingface dataset:
Hardware-In-the-Loop for Connected Automated Vehicles Testing in Real Traffic
Venue: arXiv cs.RO 2019
Year: 2019

We present a hardware-in-the-loop (HIL) simulation setup for repeatable testing of Connected Automated Vehicles (CAVs) in dynamic, real-world scenarios. Our goal is to test control and planning algorithms and their distributed implementation on the vehicle hardware and, possibly, in the cloud. The HIL setup combines PreScan for perception sensors, road topography, and signalized intersections; Vissim for traffic micro-simulation; ETAS DESK-LABCAR/a dynamometer for vehicle and powertrain dynamics; and on-board electronic control units for CAV real time control. Models of traffic and signalized intersections are driven by real-world measurements. To demonstrate this HIL simulation setup, we test a Model Predictive Control approach for maximizing energy efficiency of CAVs in urban environments.
Semidefinite Programming Relaxations of the Traveling Salesman Problem and Their Integrality Gaps
Venue: arXiv cs.DS 2019
Year: 2019

The traveling salesman problem (TSP) is a fundamental problem in combinatorial optimization. Several semidefinite programming relaxations have been proposed recently that exploit a variety of mathematical structures including, e.g., algebraic connectivity, permutation matrices, and association schemes. The main results of this paper are twofold. First, de Klerk and Sotirov [9] present an SDP based on permutation matrices and symmetry reduction; they show that it is incomparable to the subtour elimination linear program, but generally dominates it on small instances. We provide a family of \emph{simplicial TSP instances} that shows that the integrality gap of this SDP is unbounded. Second, we show that these simplicial TSP instances imply the unbounded integrality gap of every SDP relaxation of the TSP mentioned in the survey on SDP relaxations of the TSP in Section 2 of Sotirov [24]. In contrast, the subtour LP performs perfectly on simplicial instances. The simplicial instances thus form a natural litmus test for future SDP relaxations of the TSP.
Text-to-Viz: Automatic Generation of Infographics from Proportion-Related Natural Language Statements
Venue: arXiv cs.HC 2019
Year: 2019

Combining data content with visual embellishments, infographics can effectively deliver messages in an engaging and memorable manner. Various authoring tools have been proposed to facilitate the creation of infographics. However, creating a professional infographic with these authoring tools is still not an easy task, requiring much time and design expertise. Therefore, these tools are generally not attractive to casual users, who are either unwilling to take time to learn the tools or lacking in proper design expertise to create a professional infographic. In this paper, we explore an alternative approach: to automatically generate infographics from natural language statements. We first conducted a preliminary study to explore the design space of infographics. Based on the preliminary study, we built a proof-of-concept system that automatically converts statements about simple proportion-related statistics to a set of infographics with pre-designed styles. Finally, we demonstrated the usability and usefulness of the system through sample results, exhibits, and expert reviews.
Reasoning about Social Choice and Games in Monadic Fixed-Point Logic
Venue: arXiv cs.GT 2019
Year: 2019

Whether it be in normal form games, or in fair allocations, or in voter preferences in voting systems, a certain pattern of reasoning is common. From a particular profile, an agent or a group of agents may have an incentive to shift to a new one. This induces a natural graph structure that we call the improvement graph on the strategy space of these systems. We suggest that the monadic fixed-point logic with counting, an extension of monadic first-order logic on graphs with fixed-point and counting quantifiers, is a natural specification language on improvement graphs, and thus for a class of properties that can be interpreted across these domains. The logic has an efficient model checking algorithm (in the size of the improvement graph).
How to Agree without Understanding Each Other: Public Announcement Logic with Boolean Definitions
Venue: arXiv cs.LO 2019
Year: 2019

In standard epistemic logic, knowing that p is the same as knowing that p is true, but it does not say anything about understanding p or knowing its meaning. In this paper, we present a conservative extension of Public Announcement Logic (PAL) in which agents have knowledge or belief about both the truth values and the meanings of propositions. We give a complete axiomatization of PAL with Boolean Definitions and discuss various examples. An agent may understand a proposition without knowing its truth value or the other way round. Moreover, multiple agents can agree on something without agreeing on its meaning and vice versa.
Aggregating Probabilistic Judgments
Venue: arXiv cs.AI 2019
Year: 2019

In this paper we explore the application of methods for classical judgment aggregation in pooling probabilistic opinions on logically related issues. For this reason, we first modify the Boolean judgment aggregation framework in the way that allows handling probabilistic judgments and then define probabilistic aggregation functions obtained by generalization of the classical ones. In addition, we discuss essential desirable properties for the aggregation functions and explore impossibility results.
An Algebraic Approach for Action Based Default Reasoning
Venue: arXiv cs.LO 2019
Year: 2019

Often, we assume that an action is permitted simply because it is not explicitly forbidden; or, similarly, that an action is forbidden simply because it is not explicitly permitted. This kind of assumptions appear, e.g., in autonomous computing systems where decisions must be taken in the presence of an incomplete set of norms regulating a particular scenario. Combining default and deontic reasoning over actions allows us to formally reason about such assumptions. With this in mind, we propose a logical formalism for default reasoning over a deontic action logic. The novelty of our approach is twofold. First, our formalism for default reasoning deals with actions and action operators, and it is based on the deontic action logic originally proposed by Segerberg. Second, inspired by Segerberg's approach, we use tools coming from the theory of Boolean Algebra. These tools allow us to extend Segerberg's algebraic completeness result to the setting of Default Logics.
Real-time Background-aware 3D Textureless Object Pose Estimation
Venue: arXiv cs.CV 2019
Year: 2019

In this work, we present a modified fuzzy decision forest for real-time 3D object pose estimation based on typical template representation. We employ an extra preemptive background rejector node in the decision forest framework to terminate the examination of background locations as early as possible, result in a significantly improvement on efficiency. Our approach is also scalable to large dataset since the tree structure naturally provides a logarithm time complexity to the number of objects. Finally we further reduce the validation stage with a fast breadth-first scheme. The results show that our approach outperform the state-of-the-arts on the efficiency while maintaining a comparable accuracy.
Comparative Evaluation of Multiagent Learning Algorithms in a Diverse Set of Ad Hoc Team Problems
Venue: arXiv cs.MA 2019
Year: 2019

This paper is concerned with evaluating different multiagent learning (MAL) algorithms in problems where individual agents may be heterogenous, in the sense of utilizing different learning strategies, without the opportunity for prior agreements or information regarding coordination. Such a situation arises in ad hoc team problems, a model of many practical multiagent systems applications. Prior work in multiagent learning has often been focussed on homogeneous groups of agents, meaning that all agents were identical and a priori aware of this fact. Also, those algorithms that are specifically designed for ad hoc team problems are typically evaluated in teams of agents with fixed behaviours, as opposed to agents which are adapting their behaviours. In this work, we empirically evaluate five MAL algorithms, representing major approaches to multiagent learning but originally developed with the homogeneous setting in mind, to understand their behaviour in a set of ad hoc team problems. All teams consist of agents which are continuously adapting their behaviours. The algorithms are evaluated with respect to a comprehensive characterisation of repeated matrix games, using performance criteria that include considerations such as attainment of equilibrium, social welfare and fairness. Our main conclusion is that there is no clear winner. However, the comparative evaluation also highlights the relative strengths of different algorithms with respect to the type of performance criteria, e.g., social welfare vs. attainment of equilibrium.
Deep Learning Assisted Sum-Product Detection Algorithm for Faster-than-Nyquist Signaling
Venue: arXiv cs.IT 2019
Year: 2019

A deep learning assisted sum-product detection algorithm (DL-SPA) for faster-than-Nyquist (FTN) signaling is proposed in this paper. The proposed detection algorithm concatenates a neural network to the variable nodes of the conventional factor graph of the FTN system to help the detector converge to the a posterior probabilities based on the received sequence. More specifically, the neural network performs as a function node in the modified factor graph to deal with the residual intersymbol interference (ISI) that is not modeled by the conventional detector with a limited number of ISI taps. We modify the updating rule in the conventional sum-product algorithm so that the neural network assisted detector can be complemented to a Turbo equalization. Furthermore, a simplified convolutional neural network is employed as the neural network function node to enhance the detector's performance and the neural network needs a small number of batches to be trained. Simulation results have shown that the proposed DL-SPA achieves a performance gain up to 2.5 dB with the same bit error rate compared to the conventional sum-product detection algorithm under the same ISI responses.
Robust Approach to Restricted Items Selection Problem
Venue: arXiv cs.DM 2019
Year: 2019

We consider the robust version of items selection problem, in which the goal is to choose representatives from a family of sets, preserving constraints on the allowed items' combinations. We prove NP-hardness of the deterministic version, and establish polynomially solvable special cases. Next, we consider the robust version in which we aim at minimizing the maximum regret of the solution under interval parameter uncertainty. We show that this problem is hard for the second level of polynomial-time hierarchy. We develop an exact solution algorithm for the robust problem, based on cut generation, and present the results of computational experiments.
Quadruplet Selection Methods for Deep Embedding Learning
Venue: arXiv cs.CV 2019
Year: 2019

Recognition of objects with subtle differences has been used in many practical applications, such as car model recognition and maritime vessel identification. For discrimination of the objects in fine-grained detail, we focus on deep embedding learning by using a multi-task learning framework, in which the hierarchical labels (coarse and fine labels) of the samples are utilized both for classification and a quadruplet-based loss function. In order to improve the recognition strength of the learned features, we present a novel feature selection method specifically designed for four training samples of a quadruplet. By experiments, it is observed that the selection of very hard negative samples with relatively easy positive ones from the same coarse and fine classes significantly increases some performance metrics in a fine-grained dataset when compared to selecting the quadruplet samples randomly. The feature embedding learned by the proposed method achieves favorable performance against its state-of-the-art counterparts.
A Simple Yet Effective Approach to Robust Optimization Over Time
Venue: arXiv cs.NE 2019
Year: 2019

Robust optimization over time (ROOT) refers to an optimization problem where its performance is evaluated over a period of future time. Most of the existing algorithms use particle swarm optimization combined with another method which predicts future solutions to the optimization problem. We argue that this approach may perform subpar and suggest instead a method based on a random sampling of the search space. We prove its theoretical guarantees and show that it significantly outperforms the state-of-the-art methods for ROOT.
VRLS: A Unified Reinforcement Learning Scheduler for Vehicle-to-Vehicle Communications
Venue: arXiv cs.NI 2019
Year: 2019

Vehicle-to-vehicle (V2V) communications have distinct challenges that need to be taken into account when scheduling the radio resources. Although centralized schedulers (e.g., located on base stations) could be utilized to deliver high scheduling performance, they cannot be employed in case of coverage gaps. To address the issue of reliable scheduling of V2V transmissions out of coverage, we propose Vehicular Reinforcement Learning Scheduler (VRLS), a centralized scheduler that predictively assigns the resources for V2V communication while the vehicle is still in cellular network coverage. VRLS is a unified reinforcement learning (RL) solution, wherein the learning agent, the state representation, and the reward provided to the agent are applicable to different vehicular environments of interest (in terms of vehicular density, resource configuration, and wireless channel conditions). Such a unified solution eliminates the necessity of redesigning the RL components for a different environment, and facilitates transfer learning from one to another similar environment. We evaluate the performance of VRLS and show its ability to avoid collisions and half-duplex errors, and to reuse the resources better than the state of the art scheduling algorithms. We also show that pre-trained VRLS agent can adapt to different V2V environments with limited retraining, thus enabling real-world deployment in different scenarios.
A Simple Sinuosity-Based Method using GPS data to Support Mitigation Policies for Public Buses GHG Emissions
Venue: arXiv cs.CY 2019
Year: 2019

It is clear by now that climate change mitigation relies on our capacity to guide urban systems towards a low-carbon phase and that the urban transportation sector plays a major role in this transition. It is estimated that around 30% of total CO2 emissions worldwide come from the urban transportation sector. Regardless of its importance, detailed estimations of transport-related emissions in cities are still rare to find, hindering our capacity to understand and reduce them. This work aims to develop a replicable and fast method for GHG estimation from GPS (Global Positioning System) data and to introduce a simple sinuosity-based algorithm for such. We applied the method for 1 year of GPS data in the city of Rio de Janeiro. Our results were compared to top-down estimations from fuel consumption and proved to be valid after a simple data filling process. Our GPS-based approach allowed for much finer spatial and temporal descriptions of emissions and we further showed possible policy insights that can be extracted from the estimated emissions based on the proposed method.
Two-way Parikh Automata
Venue: arXiv cs.FL 2019
Year: 2019

Parikh automata extend automata with counters whose values can only be tested at the end of the computation, with respect to membership into a semi-linear set. Parikh automata have found several applications, for instance in transducer theory, as they enjoy decidable emptiness problem. In this paper, we study two-way Parikh automata. We show that emptiness becomes undecidable in the non-deterministic case. However, it is PSpace-C when the number of visits to any input position is bounded and the semi-linear set is given as an existential Presburger formula. We also give tight complexity bounds for the inclusion, equivalence and universality problems. Finally, we characterise precisely the complexity of those problems when the semi-linear constraint is given by an arbitrary Presburger formula.
Application of Data Stream Processing Technologies in Industry 4.0 -- What is Missing?
Venue: arXiv cs.DB 2019
Year: 2019

Industry 4.0 is becoming more and more important for manufacturers as the developments in the area of Internet of Things advance. Another technology gaining more attention is data stream processing systems. Although such streaming frameworks seem to be a natural fit for Industry 4.0 scenarios, their application in this context is still low. The contributions in this paper are threefold. Firstly, we present industry findings that we derived from site inspections with a focus on Industry 4.0. Moreover, our view on Industry 4.0 and important related aspects is elaborated. As a third contribution, we illustrate our opinion on why data stream processing technologies could act as an enabler for Industry 4.0 and point out possible obstacles on this way.
Satellite-Net: Automatic Extraction of Land Cover Indicators from Satellite Imagery by Deep Learning
Venue: arXiv cs.CV 2019
Year: 2019

In this paper we address the challenge of land cover classification for satellite images via Deep Learning (DL). Land Cover aims to detect the physical characteristics of the territory and estimate the percentage of land occupied by a certain category of entities: vegetation, residential buildings, industrial areas, forest areas, rivers, lakes, etc. DL is a new paradigm for Big Data analytics and in particular for Computer Vision. The application of DL in images classification for land cover purposes has a great potential owing to the high degree of automation and computing performance. In particular, the invention of Convolution Neural Networks (CNNs) was a fundament for the advancements in this field. In [1], the Satellite Task Team of the UN Global Working Group describes the results achieved so far with respect to the use of earth observation for Official Statistics. However, in that study, CNNs have not yet been explored for automatic classification of imagery. This work investigates the usage of CNNs for the estimation of land cover indicators, providing evidence of the first promising results. In particular, the paper proposes a customized model, called Satellite-Net, able to reach an accuracy level up to 98% on test sets.
IsoNN: Isomorphic Neural Network for Graph Representation Learning and Classification
Venue: arXiv cs.LG 2019
Year: 2019

Deep learning models have achieved huge success in numerous fields, such as computer vision and natural language processing. However, unlike such fields, it is hard to apply traditional deep learning models on the graph data due to the 'node-orderless' property. Normally, adjacency matrices will cast an artificial and random node-order on the graphs, which renders the performance of deep models on graph classification tasks extremely erratic, and the representations learned by such models lack clear interpretability. To eliminate the unnecessary node-order constraint, we propose a novel model named Isomorphic Neural Network (IsoNN), which learns the graph representation by extracting its isomorphic features via the graph matching between input graph and templates. IsoNN has two main components: graph isomorphic feature extraction component and classification component. The graph isomorphic feature extraction component utilizes a set of subgraph templates as the kernel variables to learn the possible subgraph patterns existing in the input graph and then computes the isomorphic features. A set of permutation matrices is used in the component to break the node-order brought by the matrix representation. Three fully-connected layers are used as the classification component in IsoNN. Extensive experiments are conducted on benchmark datasets, the experimental results can demonstrate the effectiveness of ISONN, especially compared with both classic and state-of-the-art graph classification methods.
Reservoir Computing Models for Patient-Adaptable ECG Monitoring in Wearable Devices
Venue: arXiv cs.LG 2019
Year: 2019

The reservoir computing paradigm is employed to classify heartbeat anomalies online based on electrocardiogram signals. Inspired by the principles of information processing in the brain, reservoir computing provides a framework to design, train, and analyze recurrent neural networks (RNNs) for processing time-dependent information. Due to its computational efficiency and the fact that training amounts to a simple linear regression, this supervised learning algorithm has been variously considered as a strategy to implement useful computations not only on digital computers but also on emerging unconventional hardware platforms such as neuromorphic microchips. Here, this biological-inspired learning framework is exploited to devise an accurate patient-adaptive model that has the potential to be integrated into wearable cardiac events monitoring devices. The proposed patient-customized model was trained and tested on ECG recordings selected from the MIT-BIH arrhythmia database. Restrictive inclusion criteria were used to conduct the study only on ECGs including, at least, two classes of heartbeats with highly unequal number of instances. The results of extensive simulations showed this model not only provides accurate, cheap and fast patient-customized heartbeat classifier but also circumvents the problem of "imbalanced classes" when the readout weights are trained using weighted ridge-regression.
Vadere: An open-source simulation framework to promote interdisciplinary understanding
Venue: arXiv cs.AI 2019
Year: 2019

Pedestrian dynamics is an interdisciplinary field of research. Psychologists, sociologists, traffic engineers, physicists, mathematicians and computer scientists all strive to understand the dynamics of a moving crowd. In principle, computer simulations offer means to further this understanding. Yet, unlike for many classic dynamical systems in physics, there is no universally accepted locomotion model for crowd dynamics. On the contrary, a multitude of approaches, with very different characteristics, compete. Often only the experts in one special model type are able to assess the consequences these characteristics have on a simulation study. Therefore, scientists from all disciplines who wish to use simulations to analyze pedestrian dynamics need a tool to compare competing approaches. Developers, too, would profit from an easy way to get insight into an alternative modeling ansatz. Vadere meets this interdisciplinary demand by offering an open-source simulation framework that is lightweight in its approach and in its user interface while offering pre-implemented versions of the most widely spread models.