OpenRaiser/Intern-Atlas huggingface dataset:
BlendTorch: A Real-Time, Adaptive Domain Randomization Library
Venue: arXiv cs.CV 2020
Year: 2020

Solving complex computer vision tasks by deep learning techniques relies on large amounts of (supervised) image data, typically unavailable in industrial environments. The lack of training data starts to impede the successful transfer of state-of-the-art methods in computer vision to industrial applications. We introduce BlendTorch, an adaptive Domain Randomization (DR) library, to help creating infinite streams of synthetic training data. BlendTorch generates data by massively randomizing low-fidelity simulations and takes care of distributing artificial training data for model learning in real-time. We show that models trained with BlendTorch repeatedly perform better in an industrial object detection task than those trained on real or photo-realistic datasets.
On Benchmarking Iris Recognition within a Head-mounted Display for AR/VR Application
Venue: arXiv cs.CV 2020
Year: 2020

Augmented and virtual reality is being deployed in different fields of applications. Such applications might involve accessing or processing critical and sensitive information, which requires strict and continuous access control. Given that Head-Mounted Displays (HMD) developed for such applications commonly contains internal cameras for gaze tracking purposes, we evaluate the suitability of such setup for verifying the users through iris recognition. In this work, we first evaluate a set of iris recognition algorithms suitable for HMD devices by investigating three well-established handcrafted feature extraction approaches, and to complement it, we also present the analysis using four deep learning models. While taking into consideration the minimalistic hardware requirements of stand-alone HMD, we employ and adapt a recently developed miniature segmentation model (EyeMMS) for segmenting the iris. Further, to account for non-ideal and non-collaborative capture of iris, we define a new iris quality metric that we termed as Iris Mask Ratio (IMR) to quantify the iris recognition performance. Motivated by the performance of iris recognition, we also propose the continuous authentication of users in a non-collaborative capture setting in HMD. Through the experiments on a publicly available OpenEDS dataset, we show that performance with EER = 5% can be achieved using deep learning methods in a general setting, along with high accuracy for continuous user authentication.
Using Conditional Generative Adversarial Networks to Reduce the Effects of Latency in Robotic Telesurgery
Venue: arXiv cs.CV 2020
Year: 2020

The introduction of surgical robots brought about advancements in surgical procedures. The applications of remote telesurgery range from building medical clinics in underprivileged areas, to placing robots abroad in military hot-spots where accessibility and diversity of medical experience may be limited. Poor wireless connectivity may result in a prolonged delay, referred to as latency, between a surgeon's input and action a robot takes. In surgery, any micro-delay can injure a patient severely and in some cases, result in fatality. One was to increase safety is to mitigate the effects of latency using deep learning aided computer vision. While the current surgical robots use calibrated sensors to measure the position of the arms and tools, in this work we present a purely optical approach that provides a measurement of the tool position in relation to the patient's tissues. This research aimed to produce a neural network that allowed a robot to detect its own mechanical manipulator arms. A conditional generative adversarial networks (cGAN) was trained on 1107 frames of mock gastrointestinal robotic surgery data from the 2015 EndoVis Instrument Challenge and corresponding hand-drawn labels for each frame. When run on new testing data, the network generated near-perfect labels of the input images which were visually consistent with the hand-drawn labels and was able to do this in 299 milliseconds. These accurately generated labels can then be used as simplified identifiers for the robot to track its own controlled tools. These results show potential for conditional GANs as a reaction mechanism such that the robot can detect when its arms move outside the operating area within a patient. This system allows for more accurate monitoring of the position of surgical instruments in relation to the patient's tissue, increasing safety measures that are integral to successful telesurgery systems.
Trajectory Tracking for Robotic Arms with Input Saturation and Only Position Measurements
Venue: arXiv cs.RO 2020
Year: 2020

In this work, we propose a passivity-based control approach that addresses the trajectory tracking problem for a class of mechanical systems that comprises a broad range of robotic arms. The resulting controllers can be naturally saturated and do not require velocity measurements. Moreover, the proposed methodology does not require the implementation of observers, and the structure of the closed-loop system permits the identification of a Lyapunov function, which eases the convergence analysis. To corroborate the effectiveness of the methodology, we perform experiments with the Philips Experimental Robot Arm.
Conformance Checking for a Medical Training Process Using Petri net Simulation and Sequence Alignment
Venue: arXiv cs.AI 2020
Year: 2020

Process Mining has recently gained popularity in healthcare due to its potential to provide a transparent, objective and data-based view on processes. Conformance checking is a sub-discipline of process mining that has the potential to answer how the actual process executions deviate from existing guidelines. In this work, we analyze a medical training process for a surgical procedure. Ten students were trained to install a Central Venous Catheters (CVC) with ultrasound. Event log data was collected directly after instruction by the supervisors during a first test run and additionally after a subsequent individual training phase. In order to provide objective performance measures, we formulate an optimal, global sequence alignment problem inspired by approaches in bioinformatics. Therefore, we use the Petri net model representation of the medical process guideline to simulate a representative set of guideline conform sequences. Next, we calculate the optimal, global sequence alignment of the recorded and simulated event logs. Finally, the output measures and visualization of aligned sequences are provided for objective feedback.
Multifaceted Context Representation using Dual Attention for Ontology Alignment
Venue: arXiv cs.AI 2020
Year: 2020

Ontology Alignment is an important research problem that finds application in various fields such as data integration, data transfer, data preparation etc. State-of-the-art (SOTA) architectures in Ontology Alignment typically use naive domain-dependent approaches with handcrafted rules and manually assigned values, making them unscalable and inefficient. Deep Learning approaches for ontology alignment use domain-specific architectures that are not only in-extensible to other datasets and domains, but also typically perform worse than rule-based approaches due to various limitations including over-fitting of models, sparsity of datasets etc. In this work, we propose VeeAlign, a Deep Learning based model that uses a dual-attention mechanism to compute the contextualized representation of a concept in order to learn alignments. By doing so, not only does our approach exploit both syntactic and semantic structure of ontologies, it is also, by design, flexible and scalable to different domains with minimal effort. We validate our approach on various datasets from different domains and in multilingual settings, and show its superior performance over SOTA methods.
Prediction-Based GNSS Spoofing Attack Detection for Autonomous Vehicles
Venue: arXiv cs.RO 2020
Year: 2020

Global Navigation Satellite System (GNSS) provides Positioning, Navigation, and Timing (PNT) services for autonomous vehicles (AVs) using satellites and radio communications. Due to the lack of encryption, open-access of the coarse acquisition (C/A) codes, and low strength of the signal, GNSS is vulnerable to spoofing attacks compromising the navigational capability of the AV. A spoofed attack is difficult to detect as a spoofer (attacker who performs spoofing attack) can mimic the GNSS signal and transmit inaccurate location coordinates to an AV. In this study, we have developed a prediction-based spoofing attack detection strategy using the long short-term memory (LSTM) model, a recurrent neural network model. The LSTM model is used to predict the distance traveled between two consecutive locations of an autonomous vehicle. In order to develop the LSTM prediction model, we have used a publicly available real-world comma2k19 driving dataset. The training dataset contains different features (i.e., acceleration, steering wheel angle, speed, and distance traveled between two consecutive locations) extracted from the controlled area network (CAN), GNSS, and inertial measurement unit (IMU) sensors of AVs. Based on the predicted distance traveled between the current location and the immediate future location of an autonomous vehicle, a threshold value is established using the positioning error of the GNSS device and prediction error (i.e., maximum absolute error) related to distance traveled between the current location and the immediate future location. Our analysis revealed that the prediction-based spoofed attack detection strategy can successfully detect the attack in real-time.
What do CNN neurons learn: Visualization & Clustering
Venue: arXiv cs.CV 2020
Year: 2020

In recent years convolutional neural networks (CNN) have shown striking progress in various tasks. However, despite the high performance, the training and prediction process remains to be a black box, leaving it a mystery to extract what neurons learn in CNN. In this paper, we address the problem of interpreting a CNN from the aspects of the input image's focus and preference, and the neurons' domination, activation and contribution to a concrete final prediction. Specifically, we use two techniques - visualization and clustering - to tackle the problems above. Visualization means the method of gradient descent on image pixel, and in clustering section two algorithms are proposed to cluster respectively over image categories and network neurons. Experiments and quantitative analyses have demonstrated the effectiveness of the two methods in explaining the question: what do neurons learn.
Multi-Radar Tracking Optimization for Collaborative Combat
Venue: arXiv cs.AI 2020
Year: 2020

Smart Grids of collaborative netted radars accelerate kill chains through more efficient cross-cueing over centralized command and control. In this paper, we propose two novel reward-based learning approaches to decentralized netted radar coordination based on black-box optimization and Reinforcement Learning (RL). To make the RL approach tractable, we use a simplification of the problem that we proved to be equivalent to the initial formulation. We apply these techniques on a simulation where radars can follow multiple targets at the same time and show they can learn implicit cooperation by comparing them to a greedy baseline.
Identification of deep breath while moving forward based on multiple body regions and graph signal analysis
Venue: arXiv cs.CV 2020
Year: 2020

This paper presents an unobtrusive solution that can automatically identify deep breath when a person is walking past the global depth camera. Existing non-contact breath assessments achieve satisfactory results under restricted conditions when human body stays relatively still. When someone moves forward, the breath signals detected by depth camera are hidden within signals of trunk displacement and deformation, and the signal length is short due to the short stay time, posing great challenges for us to establish models. To overcome these challenges, multiple region of interests (ROIs) based signal extraction and selection method is proposed to automatically obtain the signal informative to breath from depth video. Subsequently, graph signal analysis (GSA) is adopted as a spatial-temporal filter to wipe the components unrelated to breath. Finally, a classifier for identifying deep breath is established based on the selected breath-informative signal. In validation experiments, the proposed approach outperforms the comparative methods with the accuracy, precision, recall and F1 of 75.5%, 76.2%, 75.0% and 75.2%, respectively. This system can be extended to public places to provide timely and ubiquitous help for those who may have or are going through physical or mental trouble.
Optimising Stochastic Routing for Taxi Fleets with Model Enhanced Reinforcement Learning
Venue: arXiv cs.LG 2020
Year: 2020

The future of mobility-as-a-Service (Maas)should embrace an integrated system of ride-hailing, street-hailing and ride-sharing with optimised intelligent vehicle routing in response to a real-time, stochastic demand pattern. We aim to optimise routing policies for a large fleet of vehicles for street-hailing services, given a stochastic demand pattern in small to medium-sized road networks. A model-based dispatch algorithm, a high performance model-free reinforcement learning based algorithm and a novel hybrid algorithm combining the benefits of both the top-down approach and the model-free reinforcement learning have been proposed to route the \emph{vacant} vehicles. We design our reinforcement learning based routing algorithm using proximal policy optimisation and combined intrinsic and extrinsic rewards to strike a balance between exploration and exploitation. Using a large-scale agent-based microscopic simulation platform to evaluate our proposed algorithms, our model-free reinforcement learning and hybrid algorithm show excellent performance on both artificial road network and community-based Singapore road network with empirical demands, and our hybrid algorithm can significantly accelerate the model-free learner in the process of learning.
The Role of Machine Learning for Trajectory Prediction in Cooperative Driving
Venue: arXiv cs.LG 2020
Year: 2020

In this paper, we study the role that machine learning can play in cooperative driving. Given the increasing rate of connectivity in modern vehicles, and road infrastructure, cooperative driving is a promising first step in automated driving. The example scenario we explored in this paper, is coordinated lane merge, with data collection, test and evaluation all conducted in an automotive test track. The assumption is that vehicles are a mix of those equipped with communication units on board, i.e. connected vehicles, and those that are not connected. However, roadside cameras are connected and can capture all vehicles including those without connectivity. We develop a Traffic Orchestrator that suggests trajectories based on these two sources of information, i.e. connected vehicles, and connected roadside cameras. Recommended trajectories are built, which are then communicated back to the connected vehicles. We explore the use of different machine learning techniques in accurately and timely prediction of trajectories.
CUNI Systems for the Unsupervised and Very Low Resource Translation Task in WMT20
Venue: arXiv cs.CL 2020
Year: 2020

This paper presents a description of CUNI systems submitted to the WMT20 task on unsupervised and very low-resource supervised machine translation between German and Upper Sorbian. We experimented with training on synthetic data and pre-training on a related language pair. In the fully unsupervised scenario, we achieved 25.5 and 23.7 BLEU translating from and into Upper Sorbian, respectively. Our low-resource systems relied on transfer learning from German-Czech parallel data and achieved 57.4 BLEU and 56.1 BLEU, which is an improvement of 10 BLEU points over the baseline trained only on the available small German-Upper Sorbian parallel corpus.
Deep learning prediction of patient response time course from early data via neural-pharmacokinetic/pharmacodynamic modeling
Venue: arXiv cs.LG 2020
Year: 2020

The longitudinal analysis of patient response time course following doses of therapeutics is currently performed using Pharmacokinetic/Pharmacodynamic (PK/PD) methodologies, which requires significant human experience and expertise in the modeling of dynamical systems. By utilizing recent advancements in deep learning, we show that the governing differential equations can be learnt directly from longitudinal patient data. In particular, we propose a novel neural-PK/PD framework that combines key pharmacological principles with neural ordinary differential equations. We applied it to an analysis of drug concentration and platelet response from a clinical dataset consisting of over 600 patients. We show that the neural-PK/PD model improves upon a state-of-the-art model with respect to metrics for temporal prediction. Furthermore, by incorporating key PK/PD concepts into its architecture, the model can generalize and enable the simulations of patient responses to untested dosing regimens. These results demonstrate the potential of neural-PK/PD for automated predictive analytics of patient response time course.
Equation satisfiability in solvable groups
Venue: arXiv cs.CC 2020
Year: 2020

The study of the complexity of the equation satisfiability problem in finite groups had been initiated by Goldmann and Russell (2002) where they showed that this problem is in polynomial time for nilpotent groups while it is NP-complete for non-solvable groups. Since then, several results have appeared showing that the problem can be solved in polynomial time in certain solvable groups $G$ having a nilpotent normal subgroup $H$ with nilpotent factor $G/H$. This paper shows that such normal subgroup must exist in each finite group with equation satisfiability solvable in polynomial time, unless the Exponential Time Hypothesis fails.
STAR: A Schema-Guided Dialog Dataset for Transfer Learning
Venue: arXiv cs.CL 2020
Year: 2020

We present STAR, a schema-guided task-oriented dialog dataset consisting of 127,833 utterances and knowledge base queries across 5,820 task-oriented dialogs in 13 domains that is especially designed to facilitate task and domain transfer learning in task-oriented dialog. Furthermore, we propose a scalable crowd-sourcing paradigm to collect arbitrarily large datasets of the same quality as STAR. Moreover, we introduce novel schema-guided dialog models that use an explicit description of the task(s) to generalize from known to unknown tasks. We demonstrate the effectiveness of these models, particularly for zero-shot generalization across tasks and domains.
Transcription Is All You Need: Learning to Separate Musical Mixtures with Score as Supervision
Venue: arXiv cs.SD 2020
Year: 2020

Most music source separation systems require large collections of isolated sources for training, which can be difficult to obtain. In this work, we use musical scores, which are comparatively easy to obtain, as a weak label for training a source separation system. In contrast with previous score-informed separation approaches, our system does not require isolated sources, and score is used only as a training target, not required for inference. Our model consists of a separator that outputs a time-frequency mask for each instrument, and a transcriptor that acts as a critic, providing both temporal and frequency supervision to guide the learning of the separator. A harmonic mask constraint is introduced as another way of leveraging score information during training, and we propose two novel adversarial losses for additional fine-tuning of both the transcriptor and the separator. Results demonstrate that using score information outperforms temporal weak-labels, and adversarial structures lead to further improvements in both separation and transcription performance.
Scientific Claim Verification with VERT5ERINI
Venue: arXiv cs.CL 2020
Year: 2020

This work describes the adaptation of a pretrained sequence-to-sequence model to the task of scientific claim verification in the biomedical domain. We propose VERT5ERINI that exploits T5 for abstract retrieval, sentence selection and label prediction, which are three critical sub-tasks of claim verification. We evaluate our pipeline on SCIFACT, a newly curated dataset that requires models to not just predict the veracity of claims but also provide relevant sentences from a corpus of scientific literature that support this decision. Empirically, our pipeline outperforms a strong baseline in each of the three steps. Finally, we show VERT5ERINI's ability to generalize to two new datasets of COVID-19 claims using evidence from the ever-expanding CORD-19 corpus.
Minimal Exposure Dubins Orienteering Problem
Venue: arXiv cs.RO 2020
Year: 2020

Different applications, such as environmental monitoring and military operations, demand the observation of predefined target locations, and an autonomous mobile robot can assist in these tasks. In this context, the Orienteering Problem (OP) is a well-known routing problem, in which the goal is to maximize the objective function by visiting the most rewarding locations, however, respecting a limited travel budget (e.g., length, time, energy). However, traditional formulations for routing problems generally neglect some environment peculiarities, such as obstacles or threatening zones. In this paper, we tackle the OP considering Dubins vehicles in the presence of a known deployed sensor field. We propose a novel multi-objective formulation called Minimal Exposure Dubins Orienteering Problem (MEDOP), whose main objectives are: (i) maximize the collected reward, and (ii) minimize the exposure of the agent, i.e., the probability of being detected. The solution is based on an evolutionary algorithm that iteratively varies the subset and sequence of locations to be visited, the orientations on each location, and the turning radius used to determine the paths. Results show that our approach can efficiently find a diverse set of solutions that simultaneously optimize both objectives.
Automated Environmental Compliance Monitoring with IoT and Open Government Data
Venue: arXiv cs.CY 2020
Year: 2020

Negative environmental impacts on societies and ecosystems are frequently driven by human activity and amplified by increasing climatic variability. Properly managing these impacts relies on a government's ability to ensure environmental regulatory compliance in the face of increasing uncertainty. Water flow rates are the most widely used evaluation metric for river regulatory compliance. Specifically, compliance thresholds are set by calculating the minimum flow rates required by aquatic species such as fish. These are then designated as the minimum "environmental flows" (eflows) for each river. In this paper, we explore how IoT-generated open government data can be used to enhance the development of an automated IoT-based eflows compliance system. To reduce development and operational costs, the proposed solution relies on routinely collected river monitoring data. Our approach allows for any authority with similar data to rapidly develop, test and verify a scalable solution for eflow regulatory compliance monitoring and evaluation. Furthermore, we demonstrate a real-world application of our system using open government data from Estonia's national river monitoring network. The main novelty of this work is that the proposed IoT-based system provides a simple evaluation tool that re-purposes IoT-generated open government data to evaluate compliance and improve monitoring at a national scale. This work showcases a new paradigm of IoT-based solutions using open government data and provides a real-world example of how the solution can automatically evaluate environmental compliance in increasingly uncertain environments.