OpenRaiser/Intern-Atlas huggingface dataset:
An Uplink Control Channel Design with Complementary Sequences for Unlicensed Bands
Venue: arXiv cs.IT 2020
Year: 2020

In this paper, two modulation schemes based on complementary sequences (CSs) are proposed for uplink control channels in unlicensed bands. These schemes address high peak-to-average-power ratio (PAPR) under non-contiguous resource allocation in the frequency domain and reduce the maximum PAPR to 3 dB. The first scheme allows the users to transmit a small amount of uplink control information (UCI) such as acknowledgment signals and does not introduce a trade-off between PAPR and co-channel interference (CCI). The second scheme, which enables up to 21 UCI bits for a single user or 11 UCI bits for three users in an interlace, is based on a new theorem introduced in this paper. This theorem leads distinct CSs compatible with a wide variety of resource allocations while capturing the inherent relationship between CSs and Reed-Muller (RM) codes, which makes CSs more useful for practical systems. The numerical results show that the proposed schemes maintain the low-PAPR benefits without increasing the error rate for non-contiguous resource allocations in the frequency domain.
Learning Fair Rule Lists
Venue: arXiv cs.LG 2020
Year: 2020

As the use of black-box models becomes ubiquitous in high stake decision-making systems, demands for fair and interpretable models are increasing. While it has been shown that interpretable models can be as accurate as black-box models in several critical domains, existing fair classification techniques that are interpretable by design often display poor accuracy/fairness tradeoffs in comparison with their non-interpretable counterparts. In this paper, we propose FairCORELS, a fair classification technique interpretable by design, whose objective is to learn fair rule lists. Our solution is a multi-objective variant of CORELS, a branch-and-bound algorithm to learn rule lists, that supports several statistical notions of fairness. Examples of such measures include statistical parity, equal opportunity and equalized odds. The empirical evaluation of FairCORELS on real-world datasets demonstrates that it outperforms state-of-the-art fair classification techniques that are interpretable by design while being competitive with non-interpretable ones.
Forecaster: A Graph Transformer for Forecasting Spatial and Time-Dependent Data
Venue: arXiv cs.LG 2020
Year: 2020

Spatial and time-dependent data is of interest in many applications. This task is difficult due to its complex spatial dependency, long-range temporal dependency, data non-stationarity, and data heterogeneity. To address these challenges, we propose Forecaster, a graph Transformer architecture. Specifically, we start by learning the structure of the graph that parsimoniously represents the spatial dependency between the data at different locations. Based on the topology of the graph, we sparsify the Transformer to account for the strength of spatial dependency, long-range temporal dependency, data non-stationarity, and data heterogeneity. We evaluate Forecaster in the problem of forecasting taxi ride-hailing demand and show that our proposed architecture significantly outperforms the state-of-the-art baselines.
Rapid Path Planning for Dubins Vehicles under Environmental Currents
Venue: arXiv cs.RO 2020
Year: 2020

This paper presents a rapid (real time) solution to the minimum-time path planning problem for Dubins vehicles under environmental currents (wind or ocean currents). Real-time solutions are essential in time-critical situations (such as replanning under dynamically changing environments or tracking fast moving targets). Typically, Dubins problem requires to solve for six path types; however, due to the presence of currents, four of these path types require to solve the root-finding problem involving transcendental functions. Thus, the existing methods result in high computation times and their applicability for real-time applications is limited. In this regard, in order to obtain a real-time solution, this paper proposes a novel approach where only a subset of two Dubins path types (LSL and RSR) are used which have direct analytical solutions in the presence of currents. However, these two path types do not provide full reachability. We show that by extending the feasible range of circular arcs in the LSL and RSR path types from $2π$ to $4π$: 1) full reachability of any goal pose is guaranteed, and 2) paths with lower time costs as compared to the corresponding $2π$-arc paths can be produced. Theoretical properties are rigorously established, supported by several examples, and evaluated in comparison to the Dubins solutions by extensive Monte-Carlo simulations.
One-to-one Mapping for Unpaired Image-to-image Translation
Venue: arXiv cs.CV 2020
Year: 2020

Recently image-to-image translation has attracted significant interests in the literature, starting from the successful use of the generative adversarial network (GAN), to the introduction of cyclic constraint, to extensions to multiple domains. However, in existing approaches, there is no guarantee that the mapping between two image domains is unique or one-to-one. Here we propose a self-inverse network learning approach for unpaired image-to-image translation. Building on top of CycleGAN, we learn a self-inverse function by simply augmenting the training samples by swapping inputs and outputs during training and with separated cycle consistency loss for each mapping direction. The outcome of such learning is a proven one-to-one mapping function. Our extensive experiments on a variety of datasets, including cross-modal medical image synthesis, object transfiguration, and semantic labeling, consistently demonstrate clear improvement over the CycleGAN method both qualitatively and quantitatively. Especially our proposed method reaches the state-of-the-art result on the cityscapes benchmark dataset for the label to photo unpaired directional image translation.
Joint Extraction of Entities and Relations Based on a Novel Decomposition Strategy
Venue: arXiv cs.CL 2020
Year: 2020

Joint extraction of entities and relations aims to detect entity pairs along with their relations using a single model. Prior work typically solves this task in the extract-then-classify or unified labeling manner. However, these methods either suffer from the redundant entity pairs, or ignore the important inner structure in the process of extracting entities and relations. To address these limitations, in this paper, we first decompose the joint extraction task into two interrelated subtasks, namely HE extraction and TER extraction. The former subtask is to distinguish all head-entities that may be involved with target relations, and the latter is to identify corresponding tail-entities and relations for each extracted head-entity. Next, these two subtasks are further deconstructed into several sequence labeling problems based on our proposed span-based tagging scheme, which are conveniently solved by a hierarchical boundary tagger and a multi-span decoding algorithm. Owing to the reasonable decomposition strategy, our model can fully capture the semantic interdependency between different steps, as well as reduce noise from irrelevant entity pairs. Experimental results show that our method outperforms previous work by 5.2%, 5.9% and 21.5% (F1 score), achieving a new state-of-the-art on three public datasets
Privacy-Preserving Bandits
Venue: arXiv cs.LG 2020
Year: 2020

Contextual bandit algorithms~(CBAs) often rely on personal data to provide recommendations. Centralized CBA agents utilize potentially sensitive data from recent interactions to provide personalization to end-users. Keeping the sensitive data locally, by running a local agent on the user's device, protects the user's privacy, however, the agent requires longer to produce useful recommendations, as it does not leverage feedback from other users. This paper proposes a technique we call Privacy-Preserving Bandits (P2B); a system that updates local agents by collecting feedback from other local agents in a differentially-private manner. Comparisons of our proposed approach with a non-private, as well as a fully-private (local) system, show competitive performance on both synthetic benchmarks and real-world data. Specifically, we observed only a decrease of 2.6% and 3.6% in multi-label classification accuracy, and a CTR increase of 0.0025 in online advertising for a privacy budget $ε\approx 0.693$. These results suggest P2B is an effective approach to challenges arising in on-device privacy-preserving personalization.
ArduCode: Predictive Framework for Automation Engineering
Venue: arXiv cs.SE 2020
Year: 2020

Automation engineering is the task of integrating, via software, various sensors, actuators, and controls for automating a real-world process. Today, automation engineering is supported by a suite of software tools including integrated development environments (IDE), hardware configurators, compilers, and runtimes. These tools focus on the automation code itself, but leave the automation engineer unassisted in their decision making. This can lead to increased time for software development because of imperfections in decision making leading to multiple iterations between software and hardware. To address this, this paper defines multiple challenges often faced in automation engineering and propose solutions using machine learning to assist engineers tackle such challenges. We show that machine learning can be leveraged to assist the automation engineer in classifying automation, finding similar code snippets, and reasoning about the hardware selection of sensors and actuators. We validate our architecture on two real datasets consisting of 2,927 Arduino projects, and 683 Programmable Logic Controller (PLC) projects. Our results show that paragraph embedding techniques can be utilized to classify automation using code snippets with precision close to human annotation, giving an F1-score of 72%. Further, we show that such embedding techniques can help us find similar code snippets with high accuracy. Finally, we use autoencoder models for hardware recommendation and achieve a p@3 of 0.79 and p@5 of 0.95.
InceptionTime: Finding AlexNet for Time Series Classification
Venue: arXiv cs.LG 2020
Year: 2020

This paper brings deep learning at the forefront of research into Time Series Classification (TSC). TSC is the area of machine learning tasked with the categorization (or labelling) of time series. The last few decades of work in this area have led to significant progress in the accuracy of classifiers, with the state of the art now represented by the HIVE-COTE algorithm. While extremely accurate, HIVE-COTE cannot be applied to many real-world datasets because of its high training time complexity in O(N2 * T4) for a dataset with N time series of length T. For example, it takes HIVE-COTE more than 8 days to learn from a small dataset with N = 1500 time series of short length T = 46. Meanwhile deep learning has received enormous attention because of its high accuracy and scalability. Recent approaches to deep learning for TSC have been scalable, but less accurate than HIVE-COTE. We introduce InceptionTime - an ensemble of deep Convolutional Neural Network (CNN) models, inspired by the Inception-v4 architecture. Our experiments show that InceptionTime is on par with HIVE-COTE in terms of accuracy while being much more scalable: not only can it learn from 1,500 time series in one hour but it can also learn from 8M time series in 13 hours, a quantity of data that is fully out of reach of HIVE-COTE.
Effective training of deep convolutional neural networks for hyperspectral image classification through artificial labeling
Venue: arXiv cs.NE 2020
Year: 2020

Hyperspectral imaging is a rich source of data, allowing for multitude of effective applications. However, such imaging remains challenging because of large data dimension and, typically, small pool of available training examples. While deep learning approaches have been shown to be successful in providing effective classification solutions, especially for high dimensional problems, unfortunately they work best with a lot of labelled examples available. To alleviate the second requirement for a particular dataset the transfer learning approach can be used: first the network is pre-trained on some dataset with large amount of training labels available, then the actual dataset is used to fine-tune the network. This strategy is not straightforward to apply with hyperspectral images, as it is often the case that only one particular image of some type or characteristic is available. In this paper, we propose and investigate a simple and effective strategy of transfer learning that uses unsupervised pre-training step without label information. This approach can be applied to many of the hyperspectral classification problems. Performed experiments show that it is very effective at improving the classification accuracy without being restricted to a particular image type or neural network architecture. The experiments were carried out on several deep neural network architectures and various sizes of labeled training sets. The greatest improvement in overall accuracy on the Indian Pines and Pavia University datasets is over 21 and 13 percentage points, respectively. An additional advantage of the proposed approach is the unsupervised nature of the pre-training step, which can be done immediately after image acquisition, without the need of the potentially costly expert's time.
Learning First-Order Symbolic Representations for Planning from the Structure of the State Space
Venue: arXiv cs.AI 2020
Year: 2020

One of the main obstacles for developing flexible AI systems is the split between data-based learners and model-based solvers. Solvers such as classical planners are very flexible and can deal with a variety of problem instances and goals but require first-order symbolic models. Data-based learners, on the other hand, are robust but do not produce such representations. In this work we address this split by showing how the first-order symbolic representations that are used by planners can be learned from non-symbolic inputs that encode the structure of the state space. The representation learning problem is formulated as the problem of inferring planning instances over a common but unknown first-order domain that account for the structure of the observed state space. This means to infer a complete first-order representation (i.e. general action schemas, relational symbols, and objects) that explains the observed state space structures. The inference problem is cast as a two-level combinatorial search where the outer level searches for values of a small set of hyperparameters and the inner level, solved via SAT, searches for a first-order symbolic model. The framework is shown to produce general and correct first-order representations for standard problems like Gripper, Blocksworld, and Hanoi from input graphs that encode the flat state-space structure of a single instance.
On Topology optimization with elliptical masks and honeycomb tessellation with explicit length scale constraints
Venue: arXiv cs.CE 2020
Year: 2020

Topology optimization using gradient search with negative and positive elliptical masks and honeycomb tessellation is presented. Through a novel skeletonization algorithm for topologies defined using filled and void hexagonal cells/elements, explicit minimum and maximum length scales are imposed on solid states in the solutions. An analytical example is presented which suggests that for a skeletonized topology, optimal solutions may not always exist for any specified volume fraction, minimum and maximum length scales, and that there may exist implicit interdependence between them. A Sequence for Length Scale (SLS) methodology is proposed wherein solutions are sought by specifying only the minimum and maximum length scales with volume fraction getting determined systematically. Through four benchmark problems in small deformation topology optimization, it is demonstrated that solutions by-and-large satisfy the length scale constraints though the latter may get violated at certain local sites. The proposed approach seems promising, noting especially that solutions, if rendered perfectly {\it black and white} with minimum length scale explicitly imposed and boundaries smoothened, are quite close in performance compared to the parent topologies. Attaining {\it volume distributed} topologies, wherein members are more or less of the same thickness, may also be possible with the proposed approach.
A Transition-Aware Method for the Simulation of Compliant Contact with Regularized Friction
Venue: arXiv cs.RO 2020
Year: 2020

Multibody simulation with frictional contact has been a challenging subject of research for the past thirty years. Rigid-body assumptions are commonly used to approximate the physics of contact, and together with Coulomb friction, lead to challenging-to-solve nonlinear complementarity problems (NCP). On the other hand, robot grippers often introduce significant compliance. Compliant contact, combined with regularized friction, can be modeled entirely with ODEs, avoiding NCP solves. Unfortunately, regularized friction introduces high-frequency stiff dynamics and even implicit methods struggle with these systems, especially during slip-stick transitions. To improve the performance of implicit integration for these systems we introduce a Transition-Aware Line Search (TALS), which greatly improves the convergence of the Newton-Raphson iterations performed by implicit integrators. We find that TALS works best with semi-implicit integration, but that the explicit treatment of normal compliance can be problematic. To address this, we develop a Transition-Aware Modified Semi-Implicit (TAMSI) integrator that has similar computational cost to semi-implicit methods but implicitly couples compliant contact forces, leading to a more robust method. We evaluate the robustness, accuracy and performance of TAMSI and demonstrate our approach alongside relevant sim-to-real manipulation tasks.
A New Approach to 3D ICP Covariance Estimation
Venue: arXiv cs.RO 2020
Year: 2020

In mobile robotics, scan matching of point clouds using Iterative Closest Point (ICP) allows estimating sensor displacements. It may prove important to assess the associated uncertainty about the obtained rigid transformation, especially for sensor fusion purposes. In this paper we propose a novel approach to 3D uncertainty of ICP that accounts for all the sources of error as listed in Censi's pioneering work [1], namely wrong convergence, underconstrained situations, and sensor noise. Our approach builds on two facts. First, the uncertainty about the ICP's output fully depends on the initialization accuracy. Thus speaking of the covariance of ICP makes sense only in relation to the initialization uncertainty, which generally stems from odometry errors. We capture this using the unscented transform, which also reflects correlations between initial and final uncertainties. Then, assuming white sensor noise leads to overoptimism as ICP is biased owing to e.g. calibration biases, which we account for. Our solution is tested on publicly available real data ranging from structured to unstructured environments, where our algorithm predicts consistent results with actual uncertainty, and compares favorably to previous methods.
Towards Model-Agnostic Adversarial Defenses using Adversarially Trained Autoencoders
Venue: arXiv cs.CV 2020
Year: 2020

Adversarial machine learning is a well-studied field of research where an adversary causes predictable errors in a machine learning algorithm through precise manipulation of the input. Numerous techniques have been proposed to harden machine learning algorithms and mitigate the effect of adversarial attacks. Of these techniques, adversarial training, which augments the training data with adversarial samples, has proven to be an effective defense with respect to a certain class of attacks. However, adversarial training is computationally expensive and its improvements are limited to a single model. In this work, we take a first step toward creating a model-agnostic adversarial defense. We propose Adversarially-Trained Autoencoder Augmentation (AAA), the first model-agnostic adversarial defense that is robust against certain adaptive adversaries. We show that AAA allows us to achieve a partially model-agnostic defense by training a single autoencoder to protect multiple pre-trained classifiers; achieving adversarial performance on par or better than adversarial training without modifying the classifiers. Furthermore, we demonstrate that AAA can be used to create a fully model-agnostic defense for MNIST and Fashion MNIST datasets by improving the adversarial performance of a never before seen pre-trained classifier by at least 45% with no additional training. Finally, using a natural image corruption dataset, we show that our approach improves robustness to naturally corrupted images,which has been identified as strongly indicative of true adversarial robustness.
Optimized Synthesis of Snapping Fixtures
Venue: arXiv cs.CG 2020
Year: 2020

Fixtures for constraining the movement of parts have been extensively investigated in robotics, since they are essential for using robots in automated manufacturing. This paper deals with the design and optimized synthesis of a special type of fixtures, which we call \emph{snapping fixtures}. Given a polyhedral workpiece $P$ with $n$ vertices and of constant genus, which we need to hold, a snapping fixture is a semi-rigid polyhedron $G$, made of a palm and several fingers, such that when $P$ and $G$ are well separated, we can push $P$ toward $G$, slightly bending the fingers of $G$ on the way (exploiting its mild flexibility), and obtain a configuration, where $G$ is back in its original shape and $P$ and $G$ are inseparable as rigid bodies. We prove the minimal closure conditions under which such fixtures can hold parts, using Helly's theorem. We then introduce an algorithm running in $O(n^3)$ time that produces a snapping fixture, minimizing the number of fingers and optimizing additional objectives, if a snapping fixture exists. We also provide an efficient and robust implementation of a simpler version of the algorithm, which produces the fixture model to be 3D printed and runs in $O(n^4)$ time. We describe two applications with different optimization criteria: Fixtures to hold add-ons for drones, where we aim to make the fixture as lightweight as possible, and small-scale fixtures to hold precious stones in jewelry, where we aim to maximize the exposure of the stones, namely minimize the obscuring of the workpiece by the fixture.
DARTS+: Improved Differentiable Architecture Search with Early Stopping
Venue: arXiv cs.CV 2020
Year: 2020

Recently, there has been a growing interest in automating the process of neural architecture design, and the Differentiable Architecture Search (DARTS) method makes the process available within a few GPU days. However, the performance of DARTS is often observed to collapse when the number of search epochs becomes large. Meanwhile, lots of "{\em skip-connect}s" are found in the selected architectures. In this paper, we claim that the cause of the collapse is that there exists overfitting in the optimization of DARTS. Therefore, we propose a simple and effective algorithm, named "DARTS+", to avoid the collapse and improve the original DARTS, by "early stopping" the search procedure when meeting a certain criterion. We also conduct comprehensive experiments on benchmark datasets and different search spaces and show the effectiveness of our DARTS+ algorithm, and DARTS+ achieves $2.32\%$ test error on CIFAR10, $14.87\%$ on CIFAR100, and $23.7\%$ on ImageNet. We further remark that the idea of "early stopping" is implicitly included in some existing DARTS variants by manually setting a small number of search epochs, while we give an {\em explicit} criterion for "early stopping".