OpenRaiser/Intern-Atlas huggingface dataset:
AI Safety and Reproducibility: Establishing Robust Foundations for the Neuropsychology of Human Values
Venue: arXiv cs.AI 2018
Year: 2018

We propose the creation of a systematic effort to identify and replicate key findings in neuropsychology and allied fields related to understanding human values. Our aim is to ensure that research underpinning the value alignment problem of artificial intelligence has been sufficiently validated to play a role in the design of AI systems.
Learning From Noisy Singly-labeled Data
Venue: arXiv cs.LG 2018
Year: 2018

Supervised learning depends on annotated examples, which are taken to be the \emph{ground truth}. But these labels often come from noisy crowdsourcing platforms, like Amazon Mechanical Turk. Practitioners typically collect multiple labels per example and aggregate the results to mitigate noise (the classic crowdsourcing problem). Given a fixed annotation budget and unlimited unlabeled data, redundant annotation comes at the expense of fewer labeled examples. This raises two fundamental questions: (1) How can we best learn from noisy workers? (2) How should we allocate our labeling budget to maximize the performance of a classifier? We propose a new algorithm for jointly modeling labels and worker quality from noisy crowd-sourced data. The alternating minimization proceeds in rounds, estimating worker quality from disagreement with the current model and then updating the model by optimizing a loss function that accounts for the current estimate of worker quality. Unlike previous approaches, even with only one annotation per example, our algorithm can estimate worker quality. We establish a generalization error bound for models learned with our algorithm and establish theoretically that it's better to label many examples once (vs less multiply) when worker quality is above a threshold. Experiments conducted on both ImageNet (with simulated noisy workers) and MS-COCO (using the real crowdsourced labels) confirm our algorithm's benefits.
ROAST: Rapid Orthogonal Approximate Slepian Transform
Venue: arXiv cs.IT 2018
Year: 2018

In this paper, we provide a Rapid Orthogonal Approximate Slepian Transform (ROAST) for the discrete vector that one obtains when collecting a finite set of uniform samples from a baseband analog signal. The ROAST offers an orthogonal projection which is an approximation to the orthogonal projection onto the leading discrete prolate spheroidal sequence (DPSS) vectors (also known as Slepian basis vectors). As such, the ROAST is guaranteed to accurately and compactly represent not only oversampled bandlimited signals but also the leading DPSS vectors themselves. Moreover, the subspace angle between the ROAST subspace and the corresponding DPSS subspace can be made arbitrarily small. The complexity of computing the representation of a signal using the ROAST is comparable to the FFT, which is much less than the complexity of using the DPSS basis vectors. We also give non-asymptotic results to guarantee that the proposed basis not only provides a very high degree of approximation accuracy in a mean squared error sense for bandlimited sample vectors, but also that it can provide high-quality approximations of all sampled sinusoids within the band of interest.
automan: a simple, Python-based, automation framework for numerical computing
Venue: arXiv cs.OH 2018
Year: 2018

We present an easy-to-use, Python-based framework that allows a researcher to automate their computational simulations. In particular the framework facilitates assembling several long-running computations and producing various plots from the data produced by these computations. The framework makes it possible to reproduce every figure made for a publication with a single command. It also allows one to distribute the computations across a network of computers. The framework has been used to write research papers in numerical computing. This paper discusses the design of the framework, and the benefits of using it. The ideas presented are general and should help researchers organize their computations for better reproducibility.
Creating New Language and Voice Components for the Updated MaryTTS Text-to-Speech Synthesis Platform
Venue: arXiv cs.CL 2018
Year: 2018

We present a new workflow to create components for the MaryTTS text-to-speech synthesis platform, which is popular with researchers and developers, extending it to support new languages and custom synthetic voices. This workflow replaces the previous toolkit with an efficient, flexible process that leverages modern build automation and cloud-hosted infrastructure. Moreover, it is compatible with the updated MaryTTS architecture, enabling new features and state-of-the-art paradigms such as synthesis based on deep neural networks (DNNs). Like MaryTTS itself, the new tools are free, open source software (FOSS), and promote the use of open data.
Performance Analysis of Approximate Message Passing for Distributed Compressed Sensing
Venue: arXiv cs.IT 2018
Year: 2018

Bayesian approximate message passing (BAMP) is an efficient method in compressed sensing that is nearly optimal in the minimum mean squared error (MMSE) sense. Bayesian approximate message passing (BAMP) performs joint recovery of multiple vectors with identical support and accounts for correlations in the signal of interest and in the noise. In this paper, we show how to reduce the complexity of vector BAMP via a simple joint decorrelation diagonalization) transform of the signal and noise vectors, which also facilitates the subsequent performance analysis. We prove that BAMP and the corresponding state evolution (SE) are equivariant with respect to the joint decorrelation transform and preserve diagonality of the residual noise covariance for the Bernoulli-Gauss (BG) prior. We use these results to analyze the dynamics and the mean squared error (MSE) performance of BAMP via the replica method, and thereby understand the impact of signal correlation and number of jointly sparse signals.
Model Predictive Control for Autonomous Driving Based on Time Scaled Collision Cone
Venue: arXiv cs.RO 2018
Year: 2018

In this paper, we present a Model Predictive Control (MPC) framework based on path velocity decomposition paradigm for autonomous driving. The optimization underlying the MPC has a two layer structure wherein first, an appropriate path is computed for the vehicle followed by the computation of optimal forward velocity along it. The very nature of the proposed path velocity decomposition allows for seamless compatibility between the two layers of the optimization. A key feature of the proposed work is that it offloads most of the responsibility of collision avoidance to velocity optimization layer for which computationally efficient formulations can be derived. In particular, we extend our previously developed concept of time scaled collision cone (TSCC) constraints and formulate the forward velocity optimization layer as a convex quadratic programming problem. We perform validation on autonomous driving scenarios wherein proposed MPC repeatedly solves both the optimization layers in receding horizon manner to compute lane change, overtaking and merging maneuvers among multiple dynamic obstacles.
QPTAS and Subexponential Algorithm for Maximum Clique on Disk Graphs
Venue: arXiv cs.CG 2018
Year: 2018

A (unit) disk graph is the intersection graph of closed (unit) disks in the plane. Almost three decades ago, an elegant polynomial-time algorithm was found for \textsc{Maximum Clique} on unit disk graphs [Clark, Colbourn, Johnson; Discrete Mathematics '90]. Since then, it has been an intriguing open question whether or not tractability can be extended to general disk graphs. We show the rather surprising structural result that a disjoint union of cycles is the complement of a disk graph if and only if at most one of those cycles is of odd length. From that, we derive the first QPTAS and subexponential algorithm running in time $2^{\tilde{O}(n^{2/3})}$ for \textsc{Maximum Clique} on disk graphs. In stark contrast, \textsc{Maximum Clique} on intersection graphs of filled ellipses or filled triangles is unlikely to have such algorithms, even when the ellipses are close to unit disks. Indeed, we show that there is a constant approximation which is not attainable even in time $2^{n^{1-\varepsilon}}$, unless the Exponential Time Hypothesis fails.
Motion Switching with Sensory and Instruction Signals by designing Dynamical Systems using Deep Neural Network
Venue: arXiv cs.RO 2018
Year: 2018

To ensure that a robot is able to accomplish an extensive range of tasks, it is necessary to achieve a flexible combination of multiple behaviors. This is because the design of task motions suited to each situation would become increasingly difficult as the number of situations and the types of tasks performed by them increase. To handle the switching and combination of multiple behaviors, we propose a method to design dynamical systems based on point attractors that accept (i) "instruction signals" for instruction-driven switching. We incorporate the (ii) "instruction phase" to form a point attractor and divide the target task into multiple subtasks. By forming an instruction phase that consists of point attractors, the model embeds a subtask in the form of trajectory dynamics that can be manipulated using sensory and instruction signals. Our model comprises two deep neural networks: a convolutional autoencoder and a multiple time-scale recurrent neural network. In this study, we apply the proposed method to manipulate soft materials. To evaluate our model, we design a cloth-folding task that consists of four subtasks and three patterns of instruction signals, which indicate the direction of motion. The results depict that the robot can perform the required task by combining subtasks based on sensory and instruction signals. And, our model determined the relations among these signals using its internal dynamics.
An SDN hybrid architecture for vehicular networks: Application to Intelligent Transport System
Venue: arXiv cs.NI 2018
Year: 2018

Vehicular networks are one of the cornerstone of an Intelligent Transportation System (ITS). They are expected to provide ubiquitous network connectivity to moving vehicles while supporting various ITS services, some with very stringent requirements in terms of latency and reliability. Two vehicular networking technologies are envisioned to jointly support the full range of ITS services : DSRC (Dedicated Short Range Communication) for direct vehicle to vehicle/Road Side Units (RSU) communications and cellular technologies. To the best of our knowledge, approaches from the literature usually divide ITS services on each of these networks according to their requirements and one single network is in charge of supporting the each service. Those that consider both network technologies to offer multi-path routing, load balancing or path splitting for a better quality of experience of ITS services assume obviously separately controlled networks. Under the umbrella of SDN (Software Defined Networking), we propose in this paper a hybrid network architecture that enables the joint control of the networks providing connectivity to multi-homed vehicles and, also, explore the opportunities brought by such an architecture. We show through some use cases, that in addition to the flexibility and fine-grained programmability brought by SDN, it opens the way towards the development of effective network control algorithms that are the key towards the successful support of ITS services and especially those with stringent QoS. We also show how these algorithms could also benefit from information related to the environment or context in which vehicles evolve (traffic density, planned trajectory, ..), which could be easily collected by data providers and made available via the cloud.
Joint Scheduling of URLLC and eMBB Traffic in 5G Wireless Networks
Venue: arXiv cs.NI 2018
Year: 2018

Emerging 5G systems will need to efficiently support both enhanced mobile broadband traffic (eMBB) and ultra-low-latency communications (URLLC) traffic. In these systems, time is divided into slots which are further sub-divided into minislots. From a scheduling perspective, eMBB resource allocations occur at slot boundaries, whereas to reduce latency URLLC traffic is pre-emptively overlapped at the minislot timescale, resulting in selective superposition/puncturing of eMBB allocations. This approach enables minimal URLLC latency at a potential rate loss to eMBB traffic. We study joint eMBB and URLLC schedulers for such systems, with the dual objectives of maximizing utility for eMBB traffic while immediately satisfying URLLC demands. For a linear rate loss model (loss to eMBB is linear in the amount of URLLC superposition/puncturing), we derive an optimal joint scheduler. Somewhat counter-intuitively, our results show that our dual objectives can be met by an iterative gradient scheduler for eMBB traffic that anticipates the expected loss from URLLC traffic, along with an URLLC demand scheduler that is oblivious to eMBB channel states, utility functions and allocation decisions of the eMBB scheduler. Next we consider a more general class of (convex/threshold) loss models and study optimal online joint eMBB/URLLC schedulers within the broad class of channel state dependent but minislot-homogeneous policies. A key observation is that unlike the linear rate loss model, for the convex and threshold rate loss models, optimal eMBB and URLLC scheduling decisions do not de-couple and joint optimization is necessary to satisfy the dual objectives. We validate the characteristics and benefits of our schedulers via simulation.
Constant Approximation Algorithms for Guarding Simple Polygons using Vertex Guards
Venue: arXiv cs.CG 2018
Year: 2018

The art gallery problem enquires about the least number of guards sufficient to ensure that an art gallery, represented by a simple polygon $P$, is fully guarded. Most standard versions of this problem are known to be NP-hard. In 1987, Ghosh provided a deterministic $\mathcal{O}(\log n)$-approximation algorithm for the case of vertex guards and edge guards in simple polygons. In the same paper, Ghosh also conjectured the existence of constant ratio approximation algorithms for these problems. We present here three polynomial-time algorithms with a constant approximation ratio for guarding an $n$-sided simple polygon $P$ using vertex guards. (i) The first algorithm, that has an approximation ratio of 18, guards all vertices of $P$ in $\mathcal{O}(n^4)$ time. (ii) The second algorithm, that has the same approximation ratio of 18, guards the entire boundary of $P$ in $\mathcal{O}(n^5)$ time. (iii) The third algorithm, that has an approximation ratio of 27, guards all interior and boundary points of $P$ in $\mathcal{O}(n^5)$ time. Further, these algorithms can be modified to obtain similar approximation ratios while using edge guards. The significance of our results lies in the fact that these results settle the conjecture by Ghosh regarding the existence of constant-factor approximation algorithms for this problem, which has been open since 1987 despite several attempts by researchers. Our approximation algorithms exploit several deep visibility structures of simple polygons which are interesting in their own right.
On the Sample Complexity of Multichannel Frequency Estimation via Convex Optimization
Venue: arXiv cs.IT 2018
Year: 2018

The use of multichannel data in line spectral estimation (or frequency estimation) is common for improving the estimation accuracy in array processing, structural health monitoring, wireless communications, and more. Recently proposed atomic norm methods have attracted considerable attention due to their provable superiority in accuracy, flexibility and robustness compared with conventional approaches. In this paper, we analyze atomic norm minimization for multichannel frequency estimation from noiseless compressive data, showing that the sample size per channel that ensures exact estimation decreases with the increase of the number of channels under mild conditions. In particular, given $L$ channels, order $K\left(\log K\right) \left(1+\frac{1}{L}\log N\right)$ samples per channel, selected randomly from $N$ equispaced samples, suffice to ensure with high probability exact estimation of $K$ frequencies that are normalized and mutually separated by at least $\frac{4}{N}$. Numerical results are provided corroborating our analysis.
Computing Optimal Control of Cascading Failure in DC Networks
Venue: arXiv cs.SY 2018
Year: 2018

We consider discrete-time dynamics, for cascading failure in DC networks, whose map is composition of failure rule with control actions. Supply-demand at the nodes is monotonically non-increasing under admissible control. Under the failure rule, a link is removed permanently if its flow exceeds capacity constraints. We consider finite horizon optimal control to steer the network from an arbitrary initial state, defined in terms of active link set and supply-demand at the nodes, to a feasible state, i.e., a state which is invariant under the failure rule. There is no running cost and the reward associated with a feasible terminal state is the associated cumulative supply-demand. We propose two approaches for computing optimal control. The first approach, geared towards tree reducible networks, decomposes the global problem into a system of coupled local problems, which can be solved to optimality in two iterations. When restricted to the class of one-shot control actions, the optimal solutions to the local problems possess a piecewise affine property, which facilitates analytical solution. The second approach computes optimal control by searching over the reachable set, which is shown to admit an equivalent finite representation by aggregation of control actions leading to the same reachable active link set. An algorithmic procedure to construct this representation is provided by leveraging and extending tools for arrangement of hyperplanes and polytopes. Illustrative simulations, including showing the effectiveness of a projection-based approximation algorithm, are also presented.
A Distributed Particle-PHD Filter with Arithmetic-Average PHD Fusion
Venue: arXiv cs.SY 2018
Year: 2018

We propose a particle-based distributed PHD filter for tracking an unknown, time-varying number of targets. To reduce communication, the local PHD filters at neighboring sensors communicate Gaussian mixture (GM) parameters. In contrast to most existing distributed PHD filters, our filter employs an `arithmetic average' fusion. For particles--GM conversion, we use a method that avoids particle clustering and enables a significance-based pruning of the GM components. For GM--particles conversion, we develop an importance sampling based method that enables a parallelization of filtering and dissemination/fusion operations. The proposed distributed particle-PHD filter is able to integrate GM-based local PHD filters. Simulations demonstrate the excellent performance and small communication and computation requirements of our filter.
Optimal Pricing of User-Initiated Data-Plan Sharing in A Roaming Market
Venue: arXiv cs.GT 2018
Year: 2018

A smartphone user's personal hotspot (pH) allows him to share cellular connection to another (e.g., a traveler) in the vicinity, but such sharing consumes the limited data quota in his two-part tariff plan and may lead to overage charge. This paper studies how to motivate such pH-enabled data-plan sharing between local users and travelers in the ever-growing roaming markets, and proposes pricing incentive for a data-plan buyer to reward surrounding pH sellers (if any). The pricing scheme practically takes into account the information uncertainty at the traveler side, including the random mobility and the sharing cost distribution of selfish local users who potentially share pHs. Though the pricing optimization problem is non-convex, we show that there always exists a unique optimal price to tradeoff between the successful sharing opportunity and the sharing price. We further generalize the optimal pricing to the case of heterogeneous selling pHs who have diverse data usage behaviors in the sharing cost distributions, and we show such diversity may or may not benefit the traveler. Lacking selfish pHs' information, the traveler's expected cost is higher than that under the complete information, but the gap diminishes as the pHs' spatial density increases. Finally, we analyze the challenging scenario that multiple travelers overlap for demanding data-plan sharing, by resorting to a near-optimal pricing scheme. We show that a traveler suffers as the travelers' spatial density increases.
An Automorphic Distance Metric and its Application to Node Embedding for Role Mining
Venue: arXiv cs.SI 2018
Year: 2018

Role is a fundamental concept in the analysis of the behavior and function of interacting entities represented by network data. Role discovery is the task of uncovering hidden roles. Node roles are commonly defined in terms of equivalence classes, where two nodes have the same role if they fall within the same equivalence class. Automorphic equivalence, where two nodes are equivalent when they can swap their labels to form an isomorphic graph, captures this common notion of role. The binary concept of equivalence is too restrictive and nodes in real-world networks rarely belong to the same equivalence class. Instead, a relaxed definition in terms of similarity or distance is commonly used to compute the degree to which two nodes are equivalent. In this paper, we propose a novel distance metric called automorphic distance, which measures how far two nodes are of being automorphically equivalent. We also study its application to node embedding, showing how our metric can be used to generate vector representations of nodes preserving their roles for data visualization and machine learning. Our experiments confirm that the proposed metric outperforms the RoleSim automorphic equivalence-based metric in the generation of node embeddings for different networks.
Scale-invariant temporal history (SITH): optimal slicing of the past in an uncertain world
Venue: arXiv cs.AI 2018
Year: 2018

In both the human brain and any general artificial intelligence (AI), a representation of the past is necessary to predict the future. However, perfect storage of all experiences is not feasible. One approach utilized in many applications, including reward prediction in reinforcement learning, is to retain recently active features of experience in a buffer. Despite its prior successes, we show that the fixed length buffer renders Deep Q-learning Networks (DQNs) fragile to changes in the scale over which information can be learned. To enable learning when the relevant temporal scales in the environment are not known *a priori*, recent advances in psychology and neuroscience suggest that the brain maintains a compressed representation of the past. Here we introduce a neurally-plausible, scale-free memory representation we call Scale-Invariant Temporal History (SITH) for use with artificial agents. This representation covers an exponentially large period of time by sacrificing temporal accuracy for events further in the past. We demonstrate the utility of this representation by comparing the performance of agents given SITH, buffer, and exponential decay representations in learning to play video games at different levels of complexity. In these environments, SITH exhibits better learning performance by storing information for longer timescales than a fixed-size buffer, and representing this information more clearly than a set of exponentially decayed features. Finally, we discuss how the application of SITH, along with other human-inspired models of cognition, could improve reinforcement and machine learning algorithms in general.