OpenRaiser/Intern-Atlas huggingface dataset:
Eye-based Continuous Affect Prediction
Venue: arXiv cs.HC 2020
Year: 2020

Eye-based information channels include the pupils, gaze, saccades, fixational movements, and numerous forms of eye opening and closure. Pupil size variation indicates cognitive load and emotion, while a person's gaze direction is said to be congruent with the motivation to approach or avoid stimuli. The eyelids are involved in facial expressions that can encode basic emotions. Additionally, eye-based cues can have implications for human annotators of emotions or feelings. Despite these facts, the use of eye-based cues in affective computing is in its infancy, however, and this work is intended to start to address this. Eye-based feature sets, incorporating data from all of the aforementioned information channels, that can be estimated from video are proposed. Feature set refinement is provided by way of continuous arousal and valence learning and prediction experiments on the RECOLA validation set. The eye-based features are then combined with a speech feature set to provide confirmation of their usefulness and assess affect prediction performance compared with group-of-humans-level performance on the RECOLA test set. The core contribution of this paper, a refined eye-based feature set, is shown to provide benefits for affect prediction. It is hoped that this work stimulates further research into eye-based affective computing.
Speech, Head, and Eye-based Cues for Continuous Affect Prediction
Venue: arXiv cs.HC 2020
Year: 2020

Continuous affect prediction involves the discrete time-continuous regression of affect dimensions. Dimensions to be predicted often include arousal and valence. Continuous affect prediction researchers are now embracing multimodal model input. This provides motivation for researchers to investigate previously unexplored affective cues. Speech-based cues have traditionally received the most attention for affect prediction, however, non-verbal inputs have significant potential to increase the performance of affective computing systems and in addition, allow affect modelling in the absence of speech. However, non-verbal inputs that have received little attention for continuous affect prediction include eye and head-based cues. The eyes are involved in emotion displays and perception while head-based cues have been shown to contribute to emotion conveyance and perception. Additionally, these cues can be estimated non-invasively from video, using modern computer vision tools. This work exploits this gap by comprehensively investigating head and eye-based features and their combination with speech for continuous affect prediction. Hand-crafted, automatically generated and CNN-learned features from these modalities will be investigated for continuous affect prediction. The highest performing feature sets and feature set combinations will answer how effective these features are for the prediction of an individual's affective state.
Dynamic Facial Expression Generation on Hilbert Hypersphere with Conditional Wasserstein Generative Adversarial Nets
Venue: arXiv cs.CV 2020
Year: 2020

In this work, we propose a novel approach for generating videos of the six basic facial expressions given a neutral face image. We propose to exploit the face geometry by modeling the facial landmarks motion as curves encoded as points on a hypersphere. By proposing a conditional version of manifold-valued Wasserstein generative adversarial network (GAN) for motion generation on the hypersphere, we learn the distribution of facial expression dynamics of different classes, from which we synthesize new facial expression motions. The resulting motions can be transformed to sequences of landmarks and then to images sequences by editing the texture information using another conditional Generative Adversarial Network. To the best of our knowledge, this is the first work that explores manifold-valued representations with GAN to address the problem of dynamic facial expression generation. We evaluate our proposed approach both quantitatively and qualitatively on two public datasets; Oulu-CASIA and MUG Facial Expression. Our experimental results demonstrate the effectiveness of our approach in generating realistic videos with continuous motion, realistic appearance and identity preservation. We also show the efficiency of our framework for dynamic facial expressions generation, dynamic facial expression transfer and data augmentation for training improved emotion recognition models.
Reflective-AR Display: An Interaction Methodology for Virtual-Real Alignment in Medical Robotics
Venue: arXiv cs.RO 2020
Year: 2020

Robot-assisted minimally invasive surgery has shown to improve patient outcomes, as well as reduce complications and recovery time for several clinical applications. While increasingly configurable robotic arms can maximize reach and avoid collisions in cluttered environments, positioning them appropriately during surgery is complicated because safety regulations prevent automatic driving. We propose a head-mounted display (HMD) based augmented reality (AR) system designed to guide optimal surgical arm set up. The staff equipped with HMD aligns the robot with its planned virtual counterpart. In this user-centric setting, the main challenge is the perspective ambiguities hindering such collaborative robotic solution. To overcome this challenge, we introduce a novel registration concept for intuitive alignment of AR content to its physical counterpart by providing a multi-view AR experience via reflective-AR displays that simultaneously show the augmentations from multiple viewpoints. Using this system, users can visualize different perspectives while actively adjusting the pose to determine the registration transformation that most closely superimposes the virtual onto the real. The experimental results demonstrate improvement in the interactive alignment of a virtual and real robot when using a reflective-AR display. We also present measurements from configuring a robotic manipulator in a simulated trocar placement surgery using the AR guidance methodology.
Classification from Triplet Comparison Data
Venue: arXiv cs.LG 2020
Year: 2020

Learning from triplet comparison data has been extensively studied in the context of metric learning, where we want to learn a distance metric between two instances, and ordinal embedding, where we want to learn an embedding in an Euclidean space of the given instances that preserves the comparison order as well as possible. Unlike fully-labeled data, triplet comparison data can be collected in a more accurate and human-friendly way. Although learning from triplet comparison data has been considered in many applications, an important fundamental question of whether we can learn a classifier only from triplet comparison data has remained unanswered. In this paper, we give a positive answer to this important question by proposing an unbiased estimator for the classification risk under the empirical risk minimization framework. Since the proposed method is based on the empirical risk minimization framework, it inherently has the advantage that any surrogate loss function and any model, including neural networks, can be easily applied. Furthermore, we theoretically establish an estimation error bound for the proposed empirical risk minimizer. Finally, we provide experimental results to show that our method empirically works well and outperforms various baseline methods.
Classified Regression for Bayesian Optimization: Robot Learning with Unknown Penalties
Venue: arXiv cs.LG 2020
Year: 2020

Learning robot controllers by minimizing a black-box objective cost using Bayesian optimization (BO) can be time-consuming and challenging. It is very often the case that some roll-outs result in failure behaviors, causing premature experiment detention. In such cases, the designer is forced to decide on heuristic cost penalties because the acquired data is often scarce, or not comparable with that of the stable policies. To overcome this, we propose a Bayesian model that captures exactly what we know about the cost of unstable controllers prior to data collection: Nothing, except that it should be a somewhat large number. The resulting Bayesian model, approximated with a Gaussian process, predicts high cost values in regions where failures are likely to occur. In this way, the model guides the BO exploration toward regions of stability. We demonstrate the benefits of the proposed model in several illustrative and statistical synthetic benchmarks, and also in experiments on a real robotic platform. In addition, we propose and experimentally validate a new BO method to account for unknown constraints. Such method is an extension of Max-Value Entropy Search, a recent information-theoretic method, to solve unconstrained global optimization problems.
Understanding Adversarial Attacks on Deep Learning Based Medical Image Analysis Systems
Venue: arXiv cs.CV 2020
Year: 2020

Deep neural networks (DNNs) have become popular for medical image analysis tasks like cancer diagnosis and lesion detection. However, a recent study demonstrates that medical deep learning systems can be compromised by carefully-engineered adversarial examples/attacks with small imperceptible perturbations. This raises safety concerns about the deployment of these systems in clinical settings. In this paper, we provide a deeper understanding of adversarial examples in the context of medical images. We find that medical DNN models can be more vulnerable to adversarial attacks compared to models for natural images, according to two different viewpoints. Surprisingly, we also find that medical adversarial attacks can be easily detected, i.e., simple detectors can achieve over 98% detection AUC against state-of-the-art attacks, due to fundamental feature differences compared to normal examples. We believe these findings may be a useful basis to approach the design of more explainable and secure medical deep learning systems.
On Reciprocity in Physically Consistent TDD Systems with Coupled Antennas
Venue: arXiv cs.IT 2020
Year: 2020

We consider the reciprocity of the information-theoretic channel of Time Division Duplex (TDD) Multi-User-Multiple Input Multiple Output (MU-MIMO) systems in the up- and downlink. Specifically, we assume that the transmit and receive chains are reciprocal. We take the mutual coupling between the antenna elements at the base station and at the mobiles into account. Mutual coupling influences how to calculate transmit power and noise covariance. The analysis is based on the Multiport Communication Theory, which ensures that the information-theoretic model is consistent with physics. It also includes a detailed noise model. We show that due to the coupling, the information-theoretic up- and downlink channels do not fulfill the ordinary reciprocity relation, even if the input-output relation of the transmit voltage sources and the receive load voltages, i.e., the channel which is estimated with the help of pilot signals in the uplink, is reciprocal. This is a fundamental effect that is not considered otherwise. We show via Monte Carlo simulations that both, using the ordinary reciprocity relation, and not taking the coupling into account, significantly decreases the ergodic rates in single-user and the ergodic sum rates in multi-user systems.
Warp and Learn: Novel Views Generation for Vehicles and Other Objects
Venue: arXiv cs.CV 2020
Year: 2020

In this work we introduce a new self-supervised, semi-parametric approach for synthesizing novel views of a vehicle starting from a single monocular image. Differently from parametric (i.e. entirely learning-based) methods, we show how a-priori geometric knowledge about the object and the 3D world can be successfully integrated into a deep learning based image generation framework. As this geometric component is not learnt, we call our approach semi-parametric. In particular, we exploit man-made object symmetry and piece-wise planarity to integrate rich a-priori visual information into the novel viewpoint synthesis process. An Image Completion Network (ICN) is then trained to generate a realistic image starting from this geometric guidance. This careful blend between parametric and non-parametric components allows us to i) operate in a real-world scenario, ii) preserve high-frequency visual information such as textures, iii) handle truly arbitrary 3D roto-translations of the input and iv) perform shape transfer to completely different 3D models. Eventually, we show that our approach can be easily complemented with synthetic data and extended to other rigid objects with completely different topology, even in presence of concave structures and holes (e.g. chairs). A comprehensive experimental analysis against state-of-the-art competitors shows the efficacy of our method both from a quantitative and a perceptive point of view. Supplementary material, animated results, code and data are available at: https://github.com/ndrplz/semiparametric
Exploiting the Redundancy in Convolutional Filters for Parameter Reduction
Venue: arXiv cs.CV 2020
Year: 2020

Convolutional Neural Networks (CNNs) have achieved state-of-the-art performance in many computer vision tasks over the years. However, this comes at the cost of heavy computation and memory intensive network designs, suggesting potential improvements in efficiency. Convolutional layers of CNNs partly account for such an inefficiency, as they are known to learn redundant features. In this work, we exploit this redundancy, observing it as the correlation between convolutional filters of a layer, and propose an alternative approach to reproduce it efficiently. The proposed 'LinearConv' layer learns a set of orthogonal filters, and a set of coefficients that linearly combines them to introduce a controlled redundancy. We introduce a correlation-based regularization loss to achieve such flexibility over redundancy, and control the number of parameters in turn. This is designed as a plug-and-play layer to conveniently replace a conventional convolutional layer, without any additional changes required in the network architecture or the hyperparameter settings. Our experiments verify that LinearConv models achieve a performance on-par with their counterparts, with almost a 50% reduction in parameters on average, and the same computational requirement and speed at inference.
Taming Momentum in a Distributed Asynchronous Environment
Venue: arXiv cs.LG 2020
Year: 2020

Although distributed computing can significantly reduce the training time of deep neural networks, scaling the training process while maintaining high efficiency and final accuracy is challenging. Distributed asynchronous training enjoys near-linear speedup, but asynchrony causes gradient staleness - the main difficulty in scaling stochastic gradient descent to large clusters. Momentum, which is often used to accelerate convergence and escape local minima, exacerbates the gradient staleness, thereby hindering convergence. We propose DANA: a novel technique for asynchronous distributed SGD with momentum that mitigates gradient staleness by computing the gradient on an estimated future position of the model's parameters. Thereby, we show for the first time that momentum can be fully incorporated in asynchronous training with almost no ramifications to final accuracy. Our evaluation on the CIFAR and ImageNet datasets shows that DANA outperforms existing methods, in both final accuracy and convergence speed while scaling up to a total batch size of 16K on 64 asynchronous workers.
Automatically Learning Construction Injury Precursors from Text
Venue: arXiv cs.CL 2020
Year: 2020

In light of the increasing availability of digitally recorded safety reports in the construction industry, it is important to develop methods to exploit these data to improve our understanding of safety incidents and ability to learn from them. In this study, we compare several approaches to automatically learn injury precursors from raw construction accident reports. More precisely, we experiment with two state-of-the-art deep learning architectures for Natural Language Processing (NLP), Convolutional Neural Networks (CNN) and Hierarchical Attention Networks (HAN), and with the established Term Frequency - Inverse Document Frequency representation (TF-IDF) + Support Vector Machine (SVM) approach. For each model, we provide a method to identify (after training) the textual patterns that are, on average, the most predictive of each safety outcome. We show that among those pieces of text, valid injury precursors can be found. The proposed methods can also be used by the user to visualize and understand the models' predictions.
Jerk Control of Floating Base Systems with Contact-Stable Parametrised Force Feedback
Venue: arXiv cs.RO 2020
Year: 2020

Nonlinear controllers for floating base systems in contact with the environment are often framed as quadratic programming (QP) optimization problems. Common drawbacks of such QP based controllers are: the control input often experiences discontinuities; no force feedback from Force/Torque (FT) sensors installed on the robot is taken into account. This paper attempts to address these limitations using jerk based control architectures. The proposed controllers assume the rate-of-change of the joint torques as control input, and exploit the system position, velocity, accelerations, and contact wrenches as measurable quantities. The key ingredient of the presented approach is a one-to-one correspondence between free variables and an inner approximation of the manifold defined by the contact stability constraints. More precisely, the proposed correspondence covers completely the contact stability manifold except for the so-called friction cone, for which there exists a unique correspondence for more than 90% of its elements. The correspondence allows us to transform the underlying constrained optimisation problem into one that is unconstrained. Then, we propose a jerk control framework that exploits the proposed correspondence and uses FT measurements in the control loop. Furthermore, we present Lyapunov stable controllers for the system momentum in the jerk control framework. The approach is validated with simulations and experiments using the iCub humanoid robot.
A Systematic Review of Unsupervised Learning Techniques for Software Defect Prediction
Venue: arXiv cs.SE 2020
Year: 2020

Background: Unsupervised machine learners have been increasingly applied to software defect prediction. It is an approach that may be valuable for software practitioners because it reduces the need for labeled training data. Objective: Investigate the use and performance of unsupervised learning techniques in software defect prediction. Method: We conducted a systematic literature review that identified 49 studies containing 2456 individual experimental results, which satisfied our inclusion criteria published between January 2000 and March 2018. In order to compare prediction performance across these studies in a consistent way, we (re-)computed the confusion matrices and employed the Matthews Correlation Coefficient (MCC) as our main performance measure. Results: Our meta-analysis shows that unsupervised models are comparable with supervised models for both within-project and cross-project prediction. Among the 14 families of unsupervised model, Fuzzy CMeans (FCM) and Fuzzy SOMs (FSOMs) perform best. In addition, where we were able to check, we found that almost 11% (262/2456) of published results (contained in 16 papers) were internally inconsistent and a further 33% (823/2456) provided insufficient details for us to check. Conclusion: Although many factors impact the performance of a classifier, e.g., dataset characteristics, broadly speaking, unsupervised classifiers do not seem to perform worse than the supervised classifiers in our review. However, we note a worrying prevalence of (i) demonstrably erroneous experimental results, (ii) undemanding benchmarks and (iii) incomplete reporting. We therefore encourage researchers to be comprehensive in their reporting.
A Fast Minimum Degree Algorithm and Matching Lower Bound
Venue: arXiv cs.DS 2020
Year: 2020

The minimum degree algorithm is one of the most widely-used heuristics for reducing the cost of solving large sparse systems of linear equations. It has been studied for nearly half a century and has a rich history of bridging techniques from data structures, graph algorithms, and scientific computing. In this paper, we present a simple but novel combinatorial algorithm for computing an exact minimum degree elimination ordering in $O(nm)$ time, which improves on the best known time complexity of $O(n^3)$ and offers practical improvements for sparse systems with small values of $m$. Our approach leverages a careful amortized analysis, which also allows us to derive output-sensitive bounds for the running time of $O(\min\{m\sqrt{m^+}, Δm^+\} \log n)$, where $m^+$ is the number of unique fill edges and original edges that the algorithm encounters and $Δ$ is the maximum degree of the input graph. Furthermore, we show there cannot exist an exact minimum degree algorithm that runs in $O(nm^{1-\varepsilon})$ time, for any $\varepsilon > 0$, assuming the strong exponential time hypothesis. This fine-grained reduction goes through the orthogonal vectors problem and uses a new low-degree graph construction called $U$-fillers, which act as pathological inputs and cause any minimum degree algorithm to exhibit nearly worst-case performance. With these two results, we nearly characterize the time complexity of computing an exact minimum degree ordering.
A Connected Version of the Graph Coloring Game
Venue: arXiv cs.DM 2020
Year: 2020

The graph coloring game is a two-player game in which, given a graph G and a set of k colors, the two players, Alice and Bob, take turns coloring properly an uncolored vertex of G, Alice having the first move. Alice wins the game if and only if all the vertices of G are eventually colored. The game chromatic number of a graph G is then defined as the smallest integer k for which Alice has a winning strategy when playing the graph coloring game on G with k colors. In this paper, we introduce and study a new version of the graph coloring game by requiring that, after each player's turn, the subgraph induced by the set of colored vertices is connected. The connected game chromatic number of a graph G is then the smallest integer k for which Alice has a winning strategy when playing the connected graph coloring game on G with k colors. We prove that the connected game chromatic number of every outerplanar graph is at most 5 and that there exist outerplanar graphs with connected game chromatic number 4. Moreover, we prove that for every integer k $\ge$ 3, there exist bipartite graphs on which Bob wins the connected coloring game with k colors, while Alice wins the connected coloring game with two colors on every bipartite graph.
Salient Slices: Improved Neural Network Training and Performance with Image Entropy
Venue: arXiv cs.CV 2020
Year: 2020

As a training and analysis strategy for convolutional neural networks (CNNs), we slice images into tiled segments and use, for training and prediction, segments that both satisfy a criterion of information diversity and contain sufficient content to support classification. In particular, we utilize image entropy as the diversity criterion. This ensures that each tile carries as much information diversity as the original image, and for many applications serves as an indicator of usefulness in classification. To make predictions, a probability aggregation framework is applied to probabilities assigned by the CNN to the input image tiles. This technique facilitates the use of large, high-resolution images that would be impractical to analyze unmodified; provides data augmentation for training, which is particularly valuable when image availability is limited; and the ensemble nature of the input for prediction enhances its accuracy.