OpenRaiser/Intern-Atlas huggingface dataset:
A constrained control-planning strategy for redundant manipulators
Venue: arXiv cs.RO 2018
Year: 2018

This paper presents an interconnected control-planning strategy for redundant manipulators, subject to system and environmental constraints. The method incorporates low-level control characteristics and high-level planning components into a robust strategy for manipulators acting in complex environments, subject to joint limits. This strategy is formulated using an adaptive control rule, the estimated dynamic model of the robotic system and the nullspace of the linearized constraints. A path is generated that takes into account the capabilities of the platform. The proposed method is computationally efficient, enabling its implementation on a real multi-body robotic system. Through experimental results with a 7 DOF manipulator, we demonstrate the performance of the method in real-world scenarios.
Learning Noun Cases Using Sequential Neural Networks
Venue: arXiv cs.CL 2018
Year: 2018

Morphological declension, which aims to inflect nouns to indicate number, case and gender, is an important task in natural language processing (NLP). This research proposal seeks to address the degree to which Recurrent Neural Networks (RNNs) are efficient in learning to decline noun cases. Given the challenge of data sparsity in processing morphologically rich languages and also, the flexibility of sentence structures in such languages, we believe that modeling morphological dependencies can improve the performance of neural network models. It is suggested to carry out various experiments to understand the interpretable features that may lead to a better generalization of the learned models on cross-lingual tasks.
Learning Converged Propagations with Deep Prior Ensemble for Image Enhancement
Venue: arXiv cs.CV 2018
Year: 2018

Enhancing visual qualities of images plays very important roles in various vision and learning applications. In the past few years, both knowledge-driven maximum a posterior (MAP) with prior modelings and fully data-dependent convolutional neural network (CNN) techniques have been investigated to address specific enhancement tasks. In this paper, by exploiting the advantages of these two types of mechanisms within a complementary propagation perspective, we propose a unified framework, named deep prior ensemble (DPE), for solving various image enhancement tasks. Specifically, we first establish the basic propagation scheme based on the fundamental image modeling cues and then introduce residual CNNs to help predicting the propagation direction at each stage. By designing prior projections to perform feedback control, we theoretically prove that even with experience-inspired CNNs, DPE is definitely converged and the output will always satisfy our fundamental task constraints. The main advantage against conventional optimization-based MAP approaches is that our descent directions are learned from collected training data, thus are much more robust to unwanted local minimums. While, compared with existing CNN type networks, which are often designed in heuristic manners without theoretical guarantees, DPE is able to gain advantages from rich task cues investigated on the bases of domain knowledges. Therefore, DPE actually provides a generic ensemble methodology to integrate both knowledge and data-based cues for different image enhancement tasks. More importantly, our theoretical investigations verify that the feedforward propagations of DPE are properly controlled toward our desired solution. Experimental results demonstrate that the proposed DPE outperforms state-of-the-arts on a variety of image enhancement tasks in terms of both quantitative measure and visual perception quality.
Selective Distillation of Weakly Annotated GTD for Vision-based Slab Identification System
Venue: arXiv cs.CV 2018
Year: 2018

This paper proposes an algorithm for recognizing slab identification numbers in factory scenes. In the development of a deep-learning based system, manual labeling to make ground truth data (GTD) is an important but expensive task. Furthermore, the quality of GTD is closely related to the performance of a supervised learning algorithm. To reduce manual work in the labeling process, we generated weakly annotated GTD by marking only character centroids. Whereas bounding-boxes for characters require at least a drag-and-drop operation or two clicks to annotate a character location, the weakly annotated GTD requires a single click to record a character location. The main contribution of this paper is on selective distillation to improve the quality of the weakly annotated GTD. Because manual GTD are usually generated by many people, it may contain personal bias or human error. To address this problem, the information in manual GTD is integrated and refined by selective distillation. In the process of selective distillation, a fully convolutional network is trained using the weakly annotated GTD, and its prediction maps are selectively used to revise locations and boundaries of semantic regions of characters in the initial GTD. The modified GTD are used in the main training stage, and a post-processing is conducted to retrieve text information. Experiments were thoroughly conducted on actual industry data collected at a steelmaking factory to demonstrate the effectiveness of the proposed method.
Coloured and task-based stencil codes
Venue: arXiv cs.MS 2018
Year: 2018

Simple stencil codes are and remain an important building block in scientific computing. On shared memory nodes, they are traditionally parallelised through colouring or (recursive) tiling. New OpenMP versions alternatively allow users to specify data dependencies explicitly and to outsource the decision how to distribute the work to the runtime system. We evaluate traditional multithreading strategies on both Broadwell and KNL, study the arising assignment of tasks to threads and, from there, derive two efficient ways to parallelise stencil codes on regular Cartesian grids that fuse colouring and task-based approaches.
Learn the Manipulation of Deformable Objects Using Tangent Space Point Set Registration
Venue: arXiv cs.RO 2018
Year: 2018

Point set registration is a powerful method that enables robots to manipulate deformable objects. By mapping the point cloud of the current object to the pre-trained point cloud, a transformation function can be constructed. The manipulator's trajectory for pre-trained shapes can be warped with this transformation function, yielding a feasible trajectory for the new shape. However, usually this transformation function regards objects as discrete points, and dismisses the topological structures. Therefore, it risks over-stretching or over-compression during manipulation. To tackle this problem, this paper proposes a tangent space point set registration method. A tangent space representation of an object is constructed by defining an angle for each node on the object. Point set registration algorithm runs in this newly-constructed tangent space, yielding a tangent space trajectory. The trajectory is then converted back to Cartesian space and carried out by the robot. Compared to its counterpart in Cartesian space, tangent space point set registration is safer and more robust, succeeding in a series of experiments such as rope straightening, rope knotting, cloth folding and unfolding.
TRAMP: Tracking by a Real-time AMbisonic-based Particle filter
Venue: arXiv cs.SD 2018
Year: 2018

This article presents a multiple sound source localization and tracking system, fed by the Eigenmike array. The First Order Ambisonics (FOA) format is used to build a pseudointensity-based spherical histogram, from which the source position estimates are deduced. These instantaneous estimates are processed by a wellknown tracking system relying on a set of particle filters. While the novelty within localization and tracking is incremental, the fully-functional, complete and real-time running system based on these algorithms is proposed for the first time. As such, it could serve as an additional baseline method of the LOCATA challenge.
Decoupled Strategy for Imbalanced Workloads in MapReduce Frameworks
Venue: arXiv cs.DC 2018
Year: 2018

In this work, we consider the integration of MPI one-sided communication and non-blocking I/O in HPC-centric MapReduce frameworks. Using a decoupled strategy, we aim to overlap the Map and Reduce phases of the algorithm by allowing processes to communicate and synchronize using solely one-sided operations. Hence, we effectively increase the performance in situations where the workload per process is unexpectedly unbalanced. Using a Word-Count implementation and a large dataset from the Purdue MapReduce Benchmarks Suite (PUMA), we demonstrate that our approach can provide up to 23% performance improvement on average compared to a reference MapReduce implementation that uses state-of-the-art MPI collective communication and I/O.
Exploring the Vision Processing Unit as Co-processor for Inference
Venue: arXiv cs.DC 2018
Year: 2018

The success of the exascale supercomputer is largely debated to remain dependent on novel breakthroughs in technology that effectively reduce the power consumption and thermal dissipation requirements. In this work, we consider the integration of co-processors in high-performance computing (HPC) to enable low-power, seamless computation offloading of certain operations. In particular, we explore the so-called Vision Processing Unit (VPU), a highly-parallel vector processor with a power envelope of less than 1W. We evaluate this chip during inference using a pre-trained GoogLeNet convolutional network model and a large image dataset from the ImageNet ILSVRC challenge. Preliminary results indicate that a multi-VPU configuration provides similar performance compared to reference CPU and GPU implementations, while reducing the thermal-design power (TDP) up to 8x in comparison.
A Note On the Size of Largest Bins Using Placement With Linear Transformations
Venue: arXiv cs.DM 2018
Year: 2018

We study the placement of n balls into n bins where balls and bins are represented as two vector spaces over Z 2 . The placement is done according to a linear transformation between the two vector spaces. We analyze the expected size of a largest bin. The only currently known upper bound is O(log n log log n) by Alon et al. and holds for placing n log n balls into n bins. We show that this bound can be improved to O(log n) in the case when n balls are placed into n bins. We use the same basic technique as Alon et al. but give a tighter analysis for this case.
Deep Neural Network Compression for Aircraft Collision Avoidance Systems
Venue: arXiv cs.LG 2018
Year: 2018

One approach to designing decision making logic for an aircraft collision avoidance system frames the problem as a Markov decision process and optimizes the system using dynamic programming. The resulting collision avoidance strategy can be represented as a numeric table. This methodology has been used in the development of the Airborne Collision Avoidance System X (ACAS X) family of collision avoidance systems for manned and unmanned aircraft, but the high dimensionality of the state space leads to very large tables. To improve storage efficiency, a deep neural network is used to approximate the table. With the use of an asymmetric loss function and a gradient descent algorithm, the parameters for this network can be trained to provide accurate estimates of table values while preserving the relative preferences of the possible advisories for each state. By training multiple networks to represent subtables, the network also decreases the required runtime for computing the collision avoidance advisory. Simulation studies show that the network improves the safety and efficiency of the collision avoidance system. Because only the network parameters need to be stored, the required storage space is reduced by a factor of 1000, enabling the collision avoidance system to operate using current avionics systems.
Distributed Wildfire Surveillance with Autonomous Aircraft using Deep Reinforcement Learning
Venue: arXiv cs.RO 2018
Year: 2018

Teams of autonomous unmanned aircraft can be used to monitor wildfires, enabling firefighters to make informed decisions. However, controlling multiple autonomous fixed-wing aircraft to maximize forest fire coverage is a complex problem. The state space is high dimensional, the fire propagates stochastically, the sensor information is imperfect, and the aircraft must coordinate with each other to accomplish their mission. This work presents two deep reinforcement learning approaches for training decentralized controllers that accommodate the high dimensionality and uncertainty inherent in the problem. The first approach controls the aircraft using immediate observations of the individual aircraft. The second approach allows aircraft to collaborate on a map of the wildfire's state and maintain a time history of locations visited, which are used as inputs to the controller. Simulation results show that both approaches allow the aircraft to accurately track wildfire expansions and outperform an online receding horizon controller. Additional simulations demonstrate that the approach scales with different numbers of aircraft and generalizes to different wildfire shapes.
Trapezoidal Generalization over Linear Constraints
Venue: arXiv cs.LO 2018
Year: 2018

We are developing a model-based fuzzing framework that employs mathematical models of system behavior to guide the fuzzing process. Whereas traditional fuzzing frameworks generate tests randomly, a model-based framework can deduce tests from a behavioral model using a constraint solver. Because the state space being explored by the fuzzer is often large, the rapid generation of test vectors is crucial. The need to generate tests quickly, however, is antithetical to the use of a constraint solver. Our solution to this problem is to use the constraint solver to generate an initial solution, to generalize that solution relative to the system model, and then to perform rapid, repeated, randomized sampling of the generalized solution space to generate fuzzing tests. Crucial to the success of this endeavor is a generalization procedure with reasonable size and performance costs that produces generalized solution spaces that can be sampled efficiently. This paper describes a generalization technique for logical formulae expressed in terms of Boolean combinations of linear constraints that meets the unique performance requirements of model-based fuzzing. The technique represents generalizations using trapezoidal solution sets consisting of ordered, hierarchical conjunctions of linear constraints that are more expressive than simple intervals but are more efficient to manipulate and sample than generic polytopes. Supporting materials contain an ACL2 proof that verifies the correctness of a low-level implementation of the generalization algorithm against a specification of generalization correctness. Finally a post-processing procedure is described that results in a restricted trapezoidal solution that can be sampled (solved) rapidly and efficiently without backtracking, even for integer domains. While informal correctness arguments are provided, a formal proof of the correctness of the restriction algorithm remains as future work.
Incremental SAT Library Integration Using Abstract Stobjs
Venue: arXiv cs.LO 2018
Year: 2018

We describe an effort to soundly use off-the-shelf incremental SAT solvers within ACL2 by modeling the behavior of a SAT solver library as an abstract stobj. The interface allows ACL2 programs to use incremental SAT solvers, and the abstract stobj model allows us to reason about the behavior of an incremental SAT library so as to show that algorithms implemented using it are correct, as long as the library is bug-free.
Spectrum Sharing for Internet of Things: A Survey
Venue: arXiv cs.IT 2018
Year: 2018

The Internet of Things (IoT) is a promising paradigm to accommodate massive device connections in 5G and beyond. To pave the way for future IoT, the spectrum should be planed in advance. Spectrum sharing is a preferable solution for IoT due to the scarcity of available spectrum resource. In particular, mobile operators are inclined to exploit the existing standards and infrastructures of current cellular networks and deploy IoT within licensed cellular spectrum. Yet, proprietary companies prefer to deploy IoT within unlicensed spectrum to avoid any licence fee. In this paper, we provide a survey on prevalent IoT technologies deployed within licensed cellular spectrum and unlicensed spectrum. Notably, emphasis will be on the spectrum sharing solutions including the shared spectrum, interference model, and interference management. To this end, we discuss both advantages and disadvantages of different IoT technologies. Finally, we identify challenges for future IoT and suggest potential research directions.
Global Search with Bernoulli Alternation Kernel for Task-oriented Grasping Informed by Simulation
Venue: arXiv cs.RO 2018
Year: 2018

We develop an approach that benefits from large simulated datasets and takes full advantage of the limited online data that is most relevant. We propose a variant of Bayesian optimization that alternates between using informed and uninformed kernels. With this Bernoulli Alternation Kernel we ensure that discrepancies between simulation and reality do not hinder adapting robot control policies online. The proposed approach is applied to a challenging real-world problem of task-oriented grasping with novel objects. Our further contribution is a neural network architecture and training pipeline that use experience from grasping objects in simulation to learn grasp stability scores. We learn task scores from a labeled dataset with a convolutional network, which is used to construct an informed kernel for our variant of Bayesian optimization. Experiments on an ABB Yumi robot with real sensor data demonstrate success of our approach, despite the challenge of fulfilling task requirements and high uncertainty over physical properties of objects.
Cutting Throughput on the Edge:App-Aware Placement in Fog Computing
Venue: arXiv cs.NI 2018
Year: 2018

Fog computing extends cloud computing technology to the edge of the infrastructure to let IoT applications access objects' data with reduced latency, location awareness and dynamic computation. By displacing workloads from the central cloud to the edge devices, fog computing overcomes communication bottlenecks avoiding raw data transfer to the central cloud, thus paving the way for the next generation IoT-based applications. In this paper we study scheduling and placement of applications in fog computing, which is key to ensure profitability for the involved stakeholders. We consider a scenario where the emerging microservice architecture allows for the design of applications as cascades of coupled microservice modules. It results into a mixed integer non linear problem involving constraints on both application data flows and computation placement. Due to the complexity of the original problem, we resort to a simplified version, which is further solved using a greedy algorithm. This algorithm is the core placement logic of the FogAtlas platform, a fog computing platform based on existing virtualization technologies. Extensive numerical results validate the model and the scalability of the proposed solution, showing it attains performance close to the optimal solution and, in our real implementation, it scales well with respect to the number of served applications.
Let's take a Walk on Superpixels Graphs: Deformable Linear Objects Segmentation and Model Estimation
Venue: arXiv cs.CV 2018
Year: 2018

While robotic manipulation of rigid objects is quite straightforward, coping with deformable objects is an open issue. More specifically, tasks like tying a knot, wiring a connector or even surgical suturing deal with the domain of Deformable Linear Objects (DLOs). In particular the detection of a DLO is a non-trivial problem especially under clutter and occlusions (as well as self-occlusions). The pose estimation of a DLO results into the identification of its parameters related to a designed model, e.g. a basis spline. It follows that the stand-alone segmentation of a DLO might not be sufficient to conduct a full manipulation task. This is why we propose a novel framework able to perform both a semantic segmentation and b-spline modeling of multiple deformable linear objects simultaneously without strict requirements about environment (i.e. the background). The core algorithm is based on biased random walks over the Region Adiacency Graph built on a superpixel oversegmentation of the source image. The algorithm is initialized by a Convolutional Neural Networks that detects the DLO's endcaps. An open source implementation of the proposed approach is also provided to easy the reproduction of the whole detection pipeline along with a novel cables dataset in order to encourage further experiments.
Analysis Of Congestion Control In Data Channels With Frequent Frame Loss
Venue: arXiv cs.NI 2018
Year: 2018

Development of optimal control procedures for congested networks is a key factor in maintaining efficient network utilization. The absence of congestion control mechanism or its failure can lead to the lack of availability for certain network segments, and in severe cases -- for the entire network. The paper presents an analytical model describing the operation of the TCP Reno congestion control algorithm in terms of differential calculus and queuing systems. The purpose of this research is to explore the possibilities and ways of increasing the virtual channel capacity utilization efficiency in a lossy environment.
Multi-class Classification Model Inspired by Quantum Detection Theory
Venue: arXiv cs.LG 2018
Year: 2018

Machine Learning has become very famous currently which assist in identifying the patterns from the raw data. Technological advancement has led to substantial improvement in Machine Learning which, thus helping to improve prediction. Current Machine Learning models are based on Classical Theory, which can be replaced by Quantum Theory to improve the effectiveness of the model. In the previous work, we developed binary classifier inspired by Quantum Detection Theory. In this extended abstract, our main goal is to develop multi-class classifier. We generally use the terminology multinomial classification or multi-class classification when we have a classification problem for classifying observations or instances into one of three or more classes.
LIRS: Enabling efficient machine learning on NVM-based storage via a lightweight implementation of random shuffling
Venue: arXiv cs.PF 2018
Year: 2018

Machine learning algorithms, such as Support Vector Machine (SVM) and Deep Neural Network (DNN), have gained a lot of interests recently. When training a machine learning algorithm, randomly shuffle all the training data can improve the testing accuracy and boost the convergence rate. Nevertheless, realizing training data random shuffling in a real system is not a straightforward process due to the slow random accesses in hard disk drive (HDD). To avoid frequent random disk access, the effect of random shuffling is often limited in existing approaches. With the emerging non-volatile memory-based storage device, such as Intel Optane SSD, which provides fast random accesses, we propose a lightweight implementation of random shuffling (LIRS) to randomly shuffle the indexes of the entire training dataset, and the selected training instances are directly accessed from the storage and packed into batches. Experimental results show that LIRS can reduce the total training time of SVM and DNN by 49.9% and 43.5% on average, and improve the final testing accuracy on DNN by 1.01%.