OpenRaiser/Intern-Atlas huggingface dataset:
Rethinking Trust in Social Robotics
Venue: arXiv cs.RO 2021
Year: 2021

In 2018 the European Commission highlighted the demand of a human-centered approach to AI. Such a claim is gaining even more relevance considering technologies specifically designed to directly interact and physically collaborate with human users in the real world. This is notably the case of social robots. The domain of Human-Robot Interaction (HRI) emerged to investigate these issues. "Human-robot trust" has been highlighted as one of the most challenging and intriguing factors influencing HRI. On the one hand, user studies and technical experts underline how trust is a key element to facilitate users' acceptance, consequently increasing the chances to pursue the given task. On the other hand, such a phenomenon raises also ethical and philosophical concerns leading scholars in these domains to argue that humans should not trust robots. However, trust in HRI is not an index of fragility, it is rooted in anthropomorphism, and it is a natural characteristic of every human being. Thus, instead of focusing solely on how to inspire user trust in social robots, this paper argues that what should be investigated is to what extent and for which purpose it is suitable to trust robots. Such an endeavour requires an interdisciplinary approach taking into account (i) technical needs and (ii) psychological implications.
Automatic hippocampal surface generation via 3D U-net and active shape modeling with hybrid particle swarm optimization
Venue: arXiv cs.NE 2021
Year: 2021

In this paper, we proposed and validated a fully automatic pipeline for hippocampal surface generation via 3D U-net coupled with active shape modeling (ASM). Principally, the proposed pipeline consisted of three steps. In the beginning, for each magnetic resonance image, a 3D U-net was employed to obtain the automatic hippocampus segmentation at each hemisphere. Secondly, ASM was performed on a group of pre-obtained template surfaces to generate mean shape and shape variation parameters through principal component analysis. Ultimately, hybrid particle swarm optimization was utilized to search for the optimal shape variation parameters that best match the segmentation. The hippocampal surface was then generated from the mean shape and the shape variation parameters. The proposed pipeline was observed to provide hippocampal surfaces at both hemispheres with high accuracy, correct anatomical topology, and sufficient smoothness.
Agile, Antifragile, Artificial-Intelligence-Enabled, Command and Control
Venue: arXiv cs.AI 2021
Year: 2021

Artificial Intelligence (AI) is rapidly becoming integrated into military Command and Control (C2) systems as a strategic priority for many defence forces. The successful implementation of AI is promising to herald a significant leap in C2 agility through automation. However, realistic expectations need to be set on what AI can achieve in the foreseeable future. This paper will argue that AI could lead to a fragility trap, whereby the delegation of C2 functions to an AI could increase the fragility of C2, resulting in catastrophic strategic failures. This calls for a new framework for AI in C2 to avoid this trap. We will argue that antifragility along with agility should form the core design principles for AI-enabled C2 systems. This duality is termed Agile, Antifragile, AI-Enabled Command and Control (A3IC2). An A3IC2 system continuously improves its capacity to perform in the face of shocks and surprises through overcompensation from feedback during the C2 decision-making cycle. An A3IC2 system will not only be able to survive within a complex operational environment, it will also thrive, benefiting from the inevitable shocks and volatility of war.
Decision-Focused Summarization
Venue: arXiv cs.CL 2021
Year: 2021

Relevance in summarization is typically defined based on textual information alone, without incorporating insights about a particular decision. As a result, to support risk analysis of pancreatic cancer, summaries of medical notes may include irrelevant information such as a knee injury. We propose a novel problem, decision-focused summarization, where the goal is to summarize relevant information for a decision. We leverage a predictive model that makes the decision based on the full text to provide valuable insights on how a decision can be inferred from text. To build a summary, we then select representative sentences that lead to similar model decisions as using the full text while accounting for textual non-redundancy. To evaluate our method (DecSum), we build a testbed where the task is to summarize the first ten reviews of a restaurant in support of predicting its future rating on Yelp. DecSum substantially outperforms text-only summarization methods and model-based explanation methods in decision faithfulness and representativeness. We further demonstrate that DecSum is the only method that enables humans to outperform random chance in predicting which restaurant will be better rated in the future.
Probabilistic Analysis of Euclidean Capacitated Vehicle Routing
Venue: arXiv cs.DS 2021
Year: 2021

We give a probabilistic analysis of the unit-demand Euclidean capacitated vehicle routing problem in the random setting, where the input distribution consists of $n$ unit-demand customers modeled as independent, identically distributed uniform random points in the two-dimensional plane. The objective is to visit every customer using a set of routes of minimum total length, such that each route visits at most $k$ customers, where $k$ is the capacity of a vehicle. All of the following results are in the random setting and hold asymptotically almost surely. The best known polynomial-time approximation for this problem is the iterated tour partitioning (ITP) algorithm, introduced in 1985 by Haimovich and Rinnooy Kan. They showed that the ITP algorithm is near-optimal when $k$ is either $o(\sqrt{n})$ or $ω(\sqrt{n})$, and they asked whether the ITP algorithm was also effective in the intermediate range. In this work, we show that when $k=\sqrt{n}$, the ITP algorithm is at best a $(1+c_0)$-approximation for some positive constant $c_0$. On the other hand, the approximation ratio of the ITP algorithm was known to be at most $0.995+α$ due to Bompadre, Dror, and Orlin, where $α$ is the approximation ratio of an algorithm for the traveling salesman problem. In this work, we improve the upper bound on the approximation ratio of the ITP algorithm to $0.915+α$. Our analysis is based on a new lower bound on the optimal cost for the metric capacitated vehicle routing problem, which may be of independent interest.
Multi-modal Wound Classification using Wound Image and Location by Deep Neural Network
Venue: arXiv cs.CV 2021
Year: 2021

Wound classification is an essential step of wound diagnosis. An efficient classifier can assist wound specialists in classifying wound types with less financial and time costs and help them decide an optimal treatment procedure. This study developed a deep neural network-based multi-modal classifier using wound images and their corresponding locations to categorize wound images into multiple classes, including diabetic, pressure, surgical, and venous ulcers. A body map is also developed to prepare the location data, which can help wound specialists tag wound locations more efficiently. Three datasets containing images and their corresponding location information are designed with the help of wound specialists. The multi-modal network is developed by concatenating the image-based and location-based classifier's outputs with some other modifications. The maximum accuracy on mixed-class classifications (containing background and normal skin) varies from 77.33% to 100% on different experiments. The maximum accuracy on wound-class classifications (containing only diabetic, pressure, surgical, and venous) varies from 72.95% to 98.08% on different experiments. The proposed multi-modal network also shows a significant improvement in results from the previous works of literature.
Algorithmic Auditing and Social Justice: Lessons from the History of Audit Studies
Venue: arXiv cs.CY 2021
Year: 2021

Algorithmic audits have been embraced as tools to investigate the functioning and consequences of sociotechnical systems. Though the term is used somewhat loosely in the algorithmic context and encompasses a variety of methods, it maintains a close connection to audit studies in the social sciences--which have, for decades, used experimental methods to measure the prevalence of discrimination across domains like housing and employment. In the social sciences, audit studies originated in a strong tradition of social justice and participatory action, often involving collaboration between researchers and communities; but scholars have argued that, over time, social science audits have become somewhat distanced from these original goals and priorities. We draw from this history in order to highlight difficult tensions that have shaped the development of social science audits, and to assess their implications in the context of algorithmic auditing. In doing so, we put forth considerations to assist in the development of robust and engaged assessments of sociotechnical systems that draw from auditing's roots in racial equity and social justice.
WIP: Medical Incident Prediction Through Analysis of Electronic Medical Records Using Machine Lerning: Fall Prediction
Venue: arXiv cs.LG 2021
Year: 2021

This paper reports our preliminary work on medical incident prediction in general, and fall risk prediction in specific, using machine learning. Data for the machine learning are generated only from the particular subset of the electronic medical records (EMR) at Osaka Medical and Pharmaceutical University Hospital. As a result of conducting three experiments such as (1) machine learning algorithm comparison, (2) handling imbalance, and (3) investigation of explanatory variable contribution to the fall incident prediction, we find the investigation of explanatory variables the most effective.
Optimal Cycling of a Heterogenous Battery Bank via Reinforcement Learning
Venue: arXiv cs.LG 2021
Year: 2021

We consider the problem of optimal charging/discharging of a bank of heterogenous battery units, driven by stochastic electricity generation and demand processes. The batteries in the battery bank may differ with respect to their capacities, ramp constraints, losses, as well as cycling costs. The goal is to minimize the degradation costs associated with battery cycling in the long run; this is posed formally as a Markov decision process. We propose a linear function approximation based Q-learning algorithm for learning the optimal solution, using a specially designed class of kernel functions that approximate the structure of the value functions associated with the MDP. The proposed algorithm is validated via an extensive case study.
Universal Adversarial Attack on Deep Learning Based Prognostics
Venue: arXiv cs.LG 2021
Year: 2021

Deep learning-based time series models are being extensively utilized in engineering and manufacturing industries for process control and optimization, asset monitoring, diagnostic and predictive maintenance. These models have shown great improvement in the prediction of the remaining useful life (RUL) of industrial equipment but suffer from inherent vulnerability to adversarial attacks. These attacks can be easily exploited and can lead to catastrophic failure of critical industrial equipment. In general, different adversarial perturbations are computed for each instance of the input data. This is, however, difficult for the attacker to achieve in real time due to higher computational requirement and lack of uninterrupted access to the input data. Hence, we present the concept of universal adversarial perturbation, a special imperceptible noise to fool regression based RUL prediction models. Attackers can easily utilize universal adversarial perturbations for real-time attack since continuous access to input data and repetitive computation of adversarial perturbations are not a prerequisite for the same. We evaluate the effect of universal adversarial attacks using NASA turbofan engine dataset. We show that addition of universal adversarial perturbation to any instance of the input data increases error in the output predicted by the model. To the best of our knowledge, we are the first to study the effect of the universal adversarial perturbation on time series regression models. We further demonstrate the effect of varying the strength of perturbations on RUL prediction models and found that model accuracy decreases with the increase in perturbation strength of the universal adversarial attack. We also showcase that universal adversarial perturbation can be transferred across different models.
Fusion with Hierarchical Graphs for Mulitmodal Emotion Recognition
Venue: arXiv cs.MM 2021
Year: 2021

Automatic emotion recognition (AER) based on enriched multimodal inputs, including text, speech, and visual clues, is crucial in the development of emotionally intelligent machines. Although complex modality relationships have been proven effective for AER, they are still largely underexplored because previous works predominantly relied on various fusion mechanisms with simply concatenated features to learn multimodal representations for emotion classification. This paper proposes a novel hierarchical fusion graph convolutional network (HFGCN) model that learns more informative multimodal representations by considering the modality dependencies during the feature fusion procedure. Specifically, the proposed model fuses multimodality inputs using a two-stage graph construction approach and encodes the modality dependencies into the conversation representation. We verified the interpretable capabilities of the proposed method by projecting the emotional states to a 2D valence-arousal (VA) subspace. Extensive experiments showed the effectiveness of our proposed model for more accurate AER, which yielded state-of-the-art results on two public datasets, IEMOCAP and MELD.
MISSFormer: An Effective Medical Image Segmentation Transformer
Venue: arXiv cs.CV 2021
Year: 2021

The CNN-based methods have achieved impressive results in medical image segmentation, but they failed to capture the long-range dependencies due to the inherent locality of the convolution operation. Transformer-based methods are recently popular in vision tasks because of their capacity for long-range dependencies and promising performance. However, it lacks in modeling local context. In this paper, taking medical image segmentation as an example, we present MISSFormer, an effective and powerful Medical Image Segmentation tranSFormer. MISSFormer is a hierarchical encoder-decoder network with two appealing designs: 1) A feed-forward network is redesigned with the proposed Enhanced Transformer Block, which enhances the long-range dependencies and supplements the local context, making the feature more discriminative. 2) We proposed Enhanced Transformer Context Bridge, different from previous methods of modeling only global information, the proposed context bridge with the enhanced transformer block extracts the long-range dependencies and local context of multi-scale features generated by our hierarchical transformer encoder. Driven by these two designs, the MISSFormer shows a solid capacity to capture more discriminative dependencies and context in medical image segmentation. The experiments on multi-organ and cardiac segmentation tasks demonstrate the superiority, effectiveness and robustness of our MISSFormer, the experimental results of MISSFormer trained from scratch even outperform state-of-the-art methods pre-trained on ImageNet. The core designs can be generalized to other visual segmentation tasks. The code has been released on Github: https://github.com/ZhifangDeng/MISSFormer
Transformer-based Language Models for Factoid Question Answering at BioASQ9b
Venue: arXiv cs.CL 2021
Year: 2021

In this work, we describe our experiments and participating systems in the BioASQ Task 9b Phase B challenge of biomedical question answering. We have focused on finding the ideal answers and investigated multi-task fine-tuning and gradual unfreezing techniques on transformer-based language models. For factoid questions, our ALBERT-based systems ranked first in test batch 1 and fourth in test batch 2. Our DistilBERT systems outperformed the ALBERT variants in test batches 4 and 5 despite having 81% fewer parameters than ALBERT. However, we observed that gradual unfreezing had no significant impact on the model's accuracy compared to standard fine-tuning.
Learning Mathematical Properties of Integers
Venue: arXiv cs.CL 2021
Year: 2021

Embedding words in high-dimensional vector spaces has proven valuable in many natural language applications. In this work, we investigate whether similarly-trained embeddings of integers can capture concepts that are useful for mathematical applications. We probe the integer embeddings for mathematical knowledge, apply them to a set of numerical reasoning tasks, and show that by learning the representations from mathematical sequence data, we can substantially improve over number embeddings learned from English text corpora.
Regressive Ensemble for Machine Translation Quality Evaluation
Venue: arXiv cs.CL 2021
Year: 2021

This work introduces a simple regressive ensemble for evaluating machine translation quality based on a set of novel and established metrics. We evaluate the ensemble using a correlation to expert-based MQM scores of the WMT 2021 Metrics workshop. In both monolingual and zero-shot cross-lingual settings, we show a significant performance improvement over single metrics. In the cross-lingual settings, we also demonstrate that an ensemble approach is well-applicable to unseen languages. Furthermore, we identify a strong reference-free baseline that consistently outperforms the commonly-used BLEU and METEOR measures and significantly improves our ensemble's performance.
Enhancing Clinical Information Extraction with Transferred Contextual Embeddings
Venue: arXiv cs.CL 2021
Year: 2021

The Bidirectional Encoder Representations from Transformers (BERT) model has achieved the state-of-the-art performance for many natural language processing (NLP) tasks. Yet, limited research has been contributed to studying its effectiveness when the target domain is shifted from the pre-training corpora, for example, for biomedical or clinical NLP applications. In this paper, we applied it to a widely studied a hospital information extraction (IE) task and analyzed its performance under the transfer learning setting. Our application became the new state-of-the-art result by a clear margin, compared with a range of existing IE models. Specifically, on this nursing handover data set, the macro-average F1 score from our model was 0.438, whilst the previous best deep learning models had 0.416. In conclusion, we showed that BERT based pre-training models can be transferred to health-related documents under mild conditions and with a proper fine-tuning process.
Towards Precise Pruning Points Detection using Semantic-Instance-Aware Plant Models for Grapevine Winter Pruning Automation
Venue: arXiv cs.RO 2021
Year: 2021

Grapevine winter pruning is a complex task, that requires skilled workers to execute it correctly. The complexity makes it time consuming. It is an operation that requires about 80-120 hours per hectare annually, making an automated robotic system that helps in speeding up the process a crucial tool in large-size vineyards. We will describe (a) a novel expert annotated dataset for grapevine segmentation, (b) a state of the art neural network implementation and (c) generation of pruning points following agronomic rules, leveraging the simplified structure of the plant. With this approach, we are able to generate a set of pruning points on the canes, paving the way towards a correct automation of grapevine winter pruning.
Towards a new approach of continuous process improvement based on CMMI and PMBOK
Venue: arXiv cs.SE 2021
Year: 2021

A process-centric approach helps an organization to improve the way it works with. It allows scalability and provides a way to capitalize knowledge on best practices. It also makes better use of resources and helps to understand trends. PMBOK is a project management methodology, while CMMI is a model for process improvement. In this paper, we conduct a study on PMBOK and CMMI frameworks to show that they can be converged and complementary. We expect this paper research will be useful for organizations to deploy a new approach of continuous process improvement based on pooling CMMI and PMBOK.
Linear-Time Contact and Friction Dynamics in Maximal Coordinates using Variational Integrators
Venue: arXiv cs.RO 2021
Year: 2021

Simulation of contact and friction dynamics is an important basis for control- and learning-based algorithms. However, the numerical difficulties of contact interactions pose a challenge for robust and efficient simulators. A maximal-coordinate representation of the dynamics enables efficient solving algorithms, but current methods in maximal coordinates require constraint stabilization schemes. Therefore, we propose an interior-point algorithm for the numerically robust treatment of rigid-body dynamics with contact interactions in maximal coordinates. Additionally, we discretize the dynamics with a variational integrator to prevent constraint drift. Our algorithm achieves linear-time complexity both in the number of contact points and the number of bodies, which is shown theoretically and demonstrated with an implementation. Furthermore, we simulate two robotic systems to highlight the applicability of the proposed algorithm.
Scope resolution of predicted negation cues: A two-step neural network-based approach
Venue: arXiv cs.CL 2021
Year: 2021

Neural network-based methods are the state of the art in negation scope resolution. However, they often use the unrealistic assumption that cue information is completely accurate. Even if this assumption holds, there remains a dependency on engineered features from state-of-the-art machine learning methods. The current study adopted a two-step negation resolving apporach to assess whether a Bidirectional Long Short-Term Memory-based method can be used for cue detection as well, and how inaccurate cue predictions would affect the scope resolution performance. Results suggest that this method is not suitable for negation detection. Scope resolution performance is most robust against inaccurate information for models with a recurrent layer only, compared to extensions with a Conditional Random Fields layer or a post-processing algorithm. We advocate for more research into the application of deep learning on negation detection and the effect of imperfect information on scope resolution.
Sequential Point Cloud Prediction in Interactive Scenarios: A Survey
Venue: arXiv cs.RO 2021
Year: 2021

Point cloud has been widely used in the field of autonomous driving since it can provide a more comprehensive three-dimensional representation of the environment than 2D images. Point-wise prediction based on point cloud sequence (PCS) is an essential part of environment understanding, which can assist in the decision-making and motion-planning of autonomous vehicles. However, PCS prediction has not been deeply researched in the literature. This paper proposes a brief review of the sequential point cloud prediction methods, focusing on interactive scenarios. Firstly, we define the PCS prediction problem and introduce commonly-used frameworks. Secondly, by reviewing non-predictive problems, we analyze and summarize the spatio-temporal feature extraction methods based on PCS. On this basis, we review two types of PCS prediction tasks, scene flow estimation (SFE) and point cloud location prediction (PCLP), highlighting their connections and differences. Finally, we discuss some opening issues and point out some potential research directions.