OpenRaiser/Intern-Atlas huggingface dataset:
Real-Time Optimal Guidance and Control for Interplanetary Transfers Using Deep Networks
Venue: arXiv cs.NE 2020
Year: 2020

We consider the Earth-Venus mass-optimal interplanetary transfer of a low-thrust spacecraft and show how the optimal guidance can be represented by deep networks in a large portion of the state space and to a high degree of accuracy. Imitation (supervised) learning of optimal examples is used as a network training paradigm. The resulting models are suitable for an on-board, real-time, implementation of the optimal guidance and control system of the spacecraft and are called G&CNETs. A new general methodology called Backward Generation of Optimal Examples is introduced and shown to be able to efficiently create all the optimal state action pairs necessary to train G&CNETs without solving optimal control problems. With respect to previous works, we are able to produce datasets containing a few orders of magnitude more optimal trajectories and obtain network performances compatible with real missions requirements. Several schemes able to train representations of either the optimal policy (thrust profile) or the value function (optimal mass) are proposed and tested. We find that both policy learning and value function learning successfully and accurately learn the optimal thrust and that a spacecraft employing the learned thrust is able to reach the target conditions orbit spending only 2 permil more propellant than in the corresponding mathematically optimal transfer. Moreover, the optimal propellant mass can be predicted (in case of value function learning) within an error well within 1%. All G&CNETs produced are tested during simulations of interplanetary transfers with respect to their ability to reach the target conditions optimally starting from nominal and off-nominal conditions.
SemanticPOSS: A Point Cloud Dataset with Large Quantity of Dynamic Instances
Venue: arXiv cs.RO 2020
Year: 2020

3D semantic segmentation is one of the key tasks for autonomous driving system. Recently, deep learning models for 3D semantic segmentation task have been widely researched, but they usually require large amounts of training data. However, the present datasets for 3D semantic segmentation are lack of point-wise annotation, diversiform scenes and dynamic objects. In this paper, we propose the SemanticPOSS dataset, which contains 2988 various and complicated LiDAR scans with large quantity of dynamic instances. The data is collected in Peking University and uses the same data format as SemanticKITTI. In addition, we evaluate several typical 3D semantic segmentation models on our SemanticPOSS dataset. Experimental results show that SemanticPOSS can help to improve the prediction accuracy of dynamic objects as people, car in some degree. SemanticPOSS will be published at \url{www.poss.pku.edu.cn}.
Is Aligning Embedding Spaces a Challenging Task? A Study on Heterogeneous Embedding Alignment Methods
Venue: arXiv cs.CL 2020
Year: 2020

Representation Learning of words and Knowledge Graphs (KG) into low dimensional vector spaces along with its applications to many real-world scenarios have recently gained momentum. In order to make use of multiple KG embeddings for knowledge-driven applications such as question answering, named entity disambiguation, knowledge graph completion, etc., alignment of different KG embedding spaces is necessary. In addition to multilinguality and domain-specific information, different KGs pose the problem of structural differences making the alignment of the KG embeddings more challenging. This paper provides a theoretical analysis and comparison of the state-of-the-art alignment methods between two embedding spaces representing entity-entity and entity-word. This paper also aims at assessing the capability and short-comings of the existing alignment methods on the pretext of different applications.
Learning to Inpaint by Progressively Growing the Mask Regions
Venue: arXiv cs.CV 2020
Year: 2020

Image inpainting is one of the most challenging tasks in computer vision. Recently, generative-based image inpainting methods have been shown to produce visually plausible images. However, they still have difficulties to generate the correct structures and colors as the masked region grows large. This drawback is due to the training stability issue of the generative models. This work introduces a new curriculum-style training approach in the context of image inpainting. The proposed method increases the masked region size progressively in training time, during test time the user gives variable size and multiple holes at arbitrary locations. Incorporating such an approach in GANs may stabilize the training and provides better color consistencies and captures object continuities. We validate our approach on the MSCOCO and CelebA datasets. We report qualitative and quantitative comparisons of our training approach in different models.
MODMA dataset: a Multi-modal Open Dataset for Mental-disorder Analysis
Venue: arXiv cs.DL 2020
Year: 2020

According to the World Health Organization, the number of mental disorder patients, especially depression patients, has grown rapidly and become a leading contributor to the global burden of disease. However, the present common practice of depression diagnosis is based on interviews and clinical scales carried out by doctors, which is not only labor-consuming but also time-consuming. One important reason is due to the lack of physiological indicators for mental disorders. With the rising of tools such as data mining and artificial intelligence, using physiological data to explore new possible physiological indicators of mental disorder and creating new applications for mental disorder diagnosis has become a new research hot topic. However, good quality physiological data for mental disorder patients are hard to acquire. We present a multi-modal open dataset for mental-disorder analysis. The dataset includes EEG and audio data from clinically depressed patients and matching normal controls. All our patients were carefully diagnosed and selected by professional psychiatrists in hospitals. The EEG dataset includes not only data collected using traditional 128-electrodes mounted elastic cap, but also a novel wearable 3-electrode EEG collector for pervasive applications. The 128-electrodes EEG signals of 53 subjects were recorded as both in resting state and under stimulation; the 3-electrode EEG signals of 55 subjects were recorded in resting state; the audio data of 52 subjects were recorded during interviewing, reading, and picture description. We encourage other researchers in the field to use it for testing their methods of mental-disorder analysis.
Faasm: Lightweight Isolation for Efficient Stateful Serverless Computing
Venue: arXiv cs.DC 2020
Year: 2020

Serverless computing is an excellent fit for big data processing because it can scale quickly and cheaply to thousands of parallel functions. Existing serverless platforms isolate functions in ephemeral, stateless containers, preventing them from directly sharing memory. This forces users to duplicate and serialise data repeatedly, adding unnecessary performance and resource costs. We believe that a new lightweight isolation approach is needed, which supports sharing memory directly between functions and reduces resource overheads. We introduce Faaslets, a new isolation abstraction for high-performance serverless computing. Faaslets isolate the memory of executed functions using software-fault isolation (SFI), as provided by WebAssembly, while allowing memory regions to be shared between functions in the same address space. Faaslets can thus avoid expensive data movement when functions are co-located on the same machine. Our runtime for Faaslets, Faasm, isolates other resources, e.g. CPU and network, using standard Linux cgroups, and provides a low-level POSIX host interface for networking, file system access and dynamic loading. To reduce initialisation times, Faasm restores Faaslets from already-initialised snapshots. We compare Faasm to a standard container-based platform and show that, when training a machine learning model, it achieves a 2x speed-up with 10x less memory; for serving machine learning inference, Faasm doubles the throughput and reduces tail latency by 90%.
The Four Dimensions of Social Network Analysis: An Overview of Research Methods, Applications, and Software Tools
Venue: arXiv cs.SI 2020
Year: 2020

Social network based applications have experienced exponential growth in recent years. One of the reasons for this rise is that this application domain offers a particularly fertile place to test and develop the most advanced computational techniques to extract valuable information from the Web. The main contribution of this work is three-fold: (1) we provide an up-to-date literature review of the state of the art on social network analysis (SNA);(2) we propose a set of new metrics based on four essential features (or dimensions) in SNA; (3) finally, we provide a quantitative analysis of a set of popular SNA tools and frameworks. We have also performed a scientometric study to detect the most active research areas and application domains in this area. This work proposes the definition of four different dimensions, namely Pattern & Knowledge discovery, Information Fusion & Integration, Scalability, and Visualization, which are used to define a set of new metrics (termed degrees) in order to evaluate the different software tools and frameworks of SNA (a set of 20 SNA-software tools are analyzed and ranked following previous metrics). These dimensions, together with the defined degrees, allow evaluating and measure the maturity of social network technologies, looking for both a quantitative assessment of them, as to shed light to the challenges and future trends in this active area.
Learning to Continually Learn
Venue: arXiv cs.LG 2020
Year: 2020

Continual lifelong learning requires an agent or model to learn many sequentially ordered tasks, building on previous knowledge without catastrophically forgetting it. Much work has gone towards preventing the default tendency of machine learning models to catastrophically forget, yet virtually all such work involves manually-designed solutions to the problem. We instead advocate meta-learning a solution to catastrophic forgetting, allowing AI to learn to continually learn. Inspired by neuromodulatory processes in the brain, we propose A Neuromodulated Meta-Learning Algorithm (ANML). It differentiates through a sequential learning process to meta-learn an activation-gating function that enables context-dependent selective activation within a deep neural network. Specifically, a neuromodulatory (NM) neural network gates the forward pass of another (otherwise normal) neural network called the prediction learning network (PLN). The NM network also thus indirectly controls selective plasticity (i.e. the backward pass of) the PLN. ANML enables continual learning without catastrophic forgetting at scale: it produces state-of-the-art continual learning performance, sequentially learning as many as 600 classes (over 9,000 SGD updates).
Coded Federated Learning
Venue: arXiv cs.LG 2020
Year: 2020

Federated learning is a method of training a global model from decentralized data distributed across client devices. Here, model parameters are computed locally by each client device and exchanged with a central server, which aggregates the local models for a global view, without requiring sharing of training data. The convergence performance of federated learning is severely impacted in heterogeneous computing platforms such as those at the wireless edge, where straggling computations and communication links can significantly limit timely model parameter updates. This paper develops a novel coded computing technique for federated learning to mitigate the impact of stragglers. In the proposed Coded Federated Learning (CFL) scheme, each client device privately generates parity training data and shares it with the central server only once at the start of the training phase. The central server can then preemptively perform redundant gradient computations on the composite parity data to compensate for the erased or delayed parameter updates. Our results show that CFL allows the global model to converge nearly four times faster when compared to an uncoded approach
One-Class Graph Neural Networks for Anomaly Detection in Attributed Networks
Venue: arXiv cs.LG 2020
Year: 2020

Nowadays, graph-structured data are increasingly used to model complex systems. Meanwhile, detecting anomalies from graph has become a vital research problem of pressing societal concerns. Anomaly detection is an unsupervised learning task of identifying rare data that differ from the majority. As one of the dominant anomaly detection algorithms, One Class Support Vector Machine has been widely used to detect outliers. However, those traditional anomaly detection methods lost their effectiveness in graph data. Since traditional anomaly detection methods are stable, robust and easy to use, it is vitally important to generalize them to graph data. In this work, we propose One Class Graph Neural Network (OCGNN), a one-class classification framework for graph anomaly detection. OCGNN is designed to combine the powerful representation ability of Graph Neural Networks along with the classical one-class objective. Compared with other baselines, OCGNN achieves significant improvements in extensive experiments.
Anypath Routing Protocol Design via Q-Learning for Underwater Sensor Networks
Venue: arXiv cs.NI 2020
Year: 2020

As a promising technology in the Internet of Underwater Things, underwater sensor networks have drawn a widespread attention from both academia and industry. However, designing a routing protocol for underwater sensor networks is a great challenge due to high energy consumption and large latency in the underwater environment. This paper proposes a Q-learning-based localization-free anypath routing (QLFR) protocol to prolong the lifetime as well as reduce the end-to-end delay for underwater sensor networks. Aiming at optimal routing policies, the Q-value is calculated by jointly considering the residual energy and depth information of sensor nodes throughout the routing process. More specifically, we define two reward functions (i.e., depth-related and energy-related rewards) for Q-learning with the objective of reducing latency and extending network lifetime. In addition, a new holding time mechanism for packet forwarding is designed according to the priority of forwarding candidate nodes. Furthermore, a mathematical analysis is presented to analyze the performance of the proposed routing protocol. Extensive simulation results demonstrate the superiority performance of the proposed routing protocol in terms of the end-to-end delay and the network lifetime.
Data Augmentation for Copy-Mechanism in Dialogue State Tracking
Venue: arXiv cs.CL 2020
Year: 2020

While several state-of-the-art approaches to dialogue state tracking (DST) have shown promising performances on several benchmarks, there is still a significant performance gap between seen slot values (i.e., values that occur in both training set and test set) and unseen ones (values that occur in training set but not in test set). Recently, the copy-mechanism has been widely used in DST models to handle unseen slot values, which copies slot values from user utterance directly. In this paper, we aim to find out the factors that influence the generalization ability of a common copy-mechanism model for DST. Our key observations include: 1) the copy-mechanism tends to memorize values rather than infer them from contexts, which is the primary reason for unsatisfactory generalization performance; 2) greater diversity of slot values in the training set increase the performance on unseen values but slightly decrease the performance on seen values. Moreover, we propose a simple but effective algorithm of data augmentation to train copy-mechanism models, which augments the input dataset by copying user utterances and replacing the real slot values with randomly generated strings. Users could use two hyper-parameters to realize a trade-off between the performances on seen values and unseen ones, as well as a trade-off between overall performance and computational cost. Experimental results on three widely used datasets (WoZ 2.0, DSTC2, and Multi-WoZ 2.0) show the effectiveness of our approach.
Communication-Efficient Edge AI: Algorithms and Systems
Venue: arXiv cs.IT 2020
Year: 2020

Artificial intelligence (AI) has achieved remarkable breakthroughs in a wide range of fields, ranging from speech processing, image classification to drug discovery. This is driven by the explosive growth of data, advances in machine learning (especially deep learning), and easy access to vastly powerful computing resources. Particularly, the wide scale deployment of edge devices (e.g., IoT devices) generates an unprecedented scale of data, which provides the opportunity to derive accurate models and develop various intelligent applications at the network edge. However, such enormous data cannot all be sent from end devices to the cloud for processing, due to the varying channel quality, traffic congestion and/or privacy concerns. By pushing inference and training processes of AI models to edge nodes, edge AI has emerged as a promising alternative. AI at the edge requires close cooperation among edge devices, such as smart phones and smart vehicles, and edge servers at the wireless access points and base stations, which however result in heavy communication overheads. In this paper, we present a comprehensive survey of the recent developments in various techniques for overcoming these communication challenges. Specifically, we first identify key communication challenges in edge AI systems. We then introduce communication-efficient techniques, from both algorithmic and system perspectives for training and inference tasks at the network edge. Potential future research directions are also highlighted.
Concurrent Kleene Algebra with Observations: from Hypotheses to Completeness
Venue: arXiv cs.LO 2020
Year: 2020

Concurrent Kleene Algebra (CKA) extends basic Kleene algebra with a parallel composition operator, which enables reasoning about concurrent programs. However, CKA fundamentally misses tests, which are needed to model standard programming constructs such as conditionals and $\mathsf{while}$-loops. It turns out that integrating tests in CKA is subtle, due to their interaction with parallelism. In this paper we provide a solution in the form of Concurrent Kleene Algebra with Observations (CKAO). Our main contribution is a completeness theorem for CKAO. Our result resorts on a more general study of CKA "with hypotheses", of which CKAO turns out to be an instance: this analysis is of independent interest, as it can be applied to extensions of CKA other than CKAO.
Communication-Efficient Decentralized Learning with Sparsification and Adaptive Peer Selection
Venue: arXiv cs.LG 2020
Year: 2020

Distributed learning techniques such as federated learning have enabled multiple workers to train machine learning models together to reduce the overall training time. However, current distributed training algorithms (centralized or decentralized) suffer from the communication bottleneck on multiple low-bandwidth workers (also on the server under the centralized architecture). Although decentralized algorithms generally have lower communication complexity than the centralized counterpart, they still suffer from the communication bottleneck for workers with low network bandwidth. To deal with the communication problem while being able to preserve the convergence performance, we introduce a novel decentralized training algorithm with the following key features: 1) It does not require a parameter server to maintain the model during training, which avoids the communication pressure on any single peer. 2) Each worker only needs to communicate with a single peer at each communication round with a highly compressed model, which can significantly reduce the communication traffic on the worker. We theoretically prove that our sparsification algorithm still preserves convergence properties. 3) Each worker dynamically selects its peer at different communication rounds to better utilize the bandwidth resources. We conduct experiments with convolutional neural networks on 32 workers to verify the effectiveness of our proposed algorithm compared to seven existing methods. Experimental results show that our algorithm significantly reduces the communication traffic and generally select relatively high bandwidth peers.
Sampling for Deep Learning Model Diagnosis (Technical Report)
Venue: arXiv cs.LG 2020
Year: 2020

Deep learning (DL) models have achieved paradigm-changing performance in many fields with high dimensional data, such as images, audio, and text. However, the black-box nature of deep neural networks is a barrier not just to adoption in applications such as medical diagnosis, where interpretability is essential, but also impedes diagnosis of under performing models. The task of diagnosing or explaining DL models requires the computation of additional artifacts, such as activation values and gradients. These artifacts are large in volume, and their computation, storage, and querying raise significant data management challenges. In this paper, we articulate DL diagnosis as a data management problem, and we propose a general, yet representative, set of queries to evaluate systems that strive to support this new workload. We further develop a novel data sampling technique that produce approximate but accurate results for these model debugging queries. Our sampling technique utilizes the lower dimension representation learned by the DL model and focuses on model decision boundaries for the data in this lower dimensional space. We evaluate our techniques on one standard computer vision and one scientific data set and demonstrate that our sampling technique outperforms a variety of state-of-the-art alternatives in terms of query accuracy.
PoET-BiN: Power Efficient Tiny Binary Neurons
Venue: arXiv cs.LG 2020
Year: 2020

The success of neural networks in image classification has inspired various hardware implementations on embedded platforms such as Field Programmable Gate Arrays, embedded processors and Graphical Processing Units. These embedded platforms are constrained in terms of power, which is mainly consumed by the Multiply Accumulate operations and the memory accesses for weight fetching. Quantization and pruning have been proposed to address this issue. Though effective, these techniques do not take into account the underlying architecture of the embedded hardware. In this work, we propose PoET-BiN, a Look-Up Table based power efficient implementation on resource constrained embedded devices. A modified Decision Tree approach forms the backbone of the proposed implementation in the binary domain. A LUT access consumes far less power than the equivalent Multiply Accumulate operation it replaces, and the modified Decision Tree algorithm eliminates the need for memory accesses. We applied the PoET-BiN architecture to implement the classification layers of networks trained on MNIST, SVHN and CIFAR-10 datasets, with near state-of-the art results. The energy reduction for the classifier portion reaches up to six orders of magnitude compared to a floating point implementations and up to three orders of magnitude when compared to recent binary quantized neural networks.