OpenRaiser/Intern-Atlas huggingface dataset:
Data-driven Planning via Imitation Learning
Venue: arXiv cs.RO 2017
Year: 2017

Robot planning is the process of selecting a sequence of actions that optimize for a task specific objective. The optimal solutions to such tasks are heavily influenced by the implicit structure in the environment, i.e. the configuration of objects in the world. State-of-the-art planning approaches, however, do not exploit this structure, thereby expending valuable effort searching the action space instead of focusing on potentially good actions. In this paper, we address the problem of enabling planners to adapt their search strategies by inferring such good actions in an efficient manner using only the information uncovered by the search up until that time. We formulate this as a problem of sequential decision making under uncertainty where at a given iteration a planning policy must map the state of the search to a planning action. Unfortunately, the training process for such partial information based policies is slow to converge and susceptible to poor local minima. Our key insight is that if we could fully observe the underlying world map, we would easily be able to disambiguate between good and bad actions. We hence present a novel data-driven imitation learning framework to efficiently train planning policies by imitating a clairvoyant oracle - an oracle that at train time has full knowledge about the world map and can compute optimal decisions. We leverage the fact that for planning problems, such oracles can be efficiently computed and derive performance guarantees for the learnt policy. We examine two important domains that rely on partial information based policies - informative path planning and search based motion planning. We validate the approach on a spectrum of environments for both problem domains, including experiments on a real UAV, and show that the learnt policy consistently outperforms state-of-the-art algorithms.
Action-Attending Graphic Neural Network
Venue: arXiv cs.CV 2017
Year: 2017

The motion analysis of human skeletons is crucial for human action recognition, which is one of the most active topics in computer vision. In this paper, we propose a fully end-to-end action-attending graphic neural network (A$^2$GNN) for skeleton-based action recognition, in which each irregular skeleton is structured as an undirected attribute graph. To extract high-level semantic representation from skeletons, we perform the local spectral graph filtering on the constructed attribute graphs like the standard image convolution operation. Considering not all joints are informative for action analysis, we design an action-attending layer to detect those salient action units (AUs) by adaptively weighting skeletal joints. Herein the filtering responses are parameterized into a weighting function irrelevant to the order of input nodes. To further encode continuous motion variations, the deep features learnt from skeletal graphs are gathered along consecutive temporal slices and then fed into a recurrent gated network. Finally, the spectral graph filtering, action-attending and recurrent temporal encoding are integrated together to jointly train for the sake of robust action recognition as well as the intelligibility of human actions. To evaluate our A$^2$GNN, we conduct extensive experiments on four benchmark skeleton-based action datasets, including the large-scale challenging NTU RGB+D dataset. The experimental results demonstrate that our network achieves the state-of-the-art performances.
Generic algorithms for scheduling applications on heterogeneous multi-core platforms
Venue: arXiv cs.DC 2017
Year: 2017

We study the problem of executing an application represented by a precedence task graph on a parallel machine composed of standard computing cores and accelerators. Contrary to most existing approaches, we distinguish the allocation and the scheduling phases and we mainly focus on the allocation part of the problem: choose the most appropriate type of computing unit for each task. We address both off-line and on-line settings and design generic scheduling approaches. In the first case, we establish strong lower bounds on the worst-case performance of a known approach based on Linear Programming for solving the allocation problem. Then, we refine the scheduling phase and we replace the greedy List Scheduling policy used in this approach by a better ordering of the tasks. Although this modification leads to the same approximability guarantees, it performs much better in practice. We also extend this algorithm to more types of computing units, achieving an approximation ratio which depends on the number of different types. In the on-line case, we assume that the tasks arrive in any, not known in advance, order which respects the precedence relations and the scheduler has to take irrevocable decisions about their allocation and execution. In this setting, we propose the first on-line scheduling algorithm which takes into account precedences. Our algorithm is based on adequate rules for selecting the type of processor where to allocate the tasks and it achieves a constant factor approximation guarantee if the ratio of the number of CPUs over the number of GPUs is bounded. Finally, all the previous algorithms for hybrid architectures have been experimented on a large number of simulations built on actual libraries. These simulations assess the good practical behavior of the algorithms with respect to the state-of-the-art solutions, whenever these exist, or baseline algorithms.
A Double Joint Bayesian Approach for J-Vector Based Text-dependent Speaker Verification
Venue: arXiv cs.SD 2017
Year: 2017

J-vector has been proved to be very effective in text-dependent speaker verification with short-duration speech. However, the current state-of-the-art back-end classifiers, e.g. joint Bayesian model, cannot make full use of such deep features. In this paper, we generalize the standard joint Bayesian approach to model the multi-faceted information in the j-vector explicitly and jointly. In our generalization, the j-vector was modeled as a result derived by a generative Double Joint Bayesian (DoJoBa) model, which contains several kinds of latent variables. With DoJoBa, we are able to explicitly build a model that can combine multiple heterogeneous information from the j-vectors. In verification step, we calculated the likelihood to describe whether the two j-vectors having consistent labels or not. On the public RSR2015 data corpus, the experimental results showed that our approach can achieve 0.02\% EER and 0.02\% EER for impostor wrong and impostor correct cases respectively.
Grounding Visual Explanations (Extended Abstract)
Venue: arXiv cs.CV 2017
Year: 2017

Existing models which generate textual explanations enforce task relevance through a discriminative term loss function, but such mechanisms only weakly constrain mentioned object parts to actually be present in the image. In this paper, a new model is proposed for generating explanations by utilizing localized grounding of constituent phrases in generated explanations to ensure image relevance. Specifically, we introduce a phrase-critic model to refine (re-score/re-rank) generated candidate explanations and employ a relative-attribute inspired ranking loss using "flipped" phrases as negative examples for training. At test time, our phrase-critic model takes an image and a candidate explanation as input and outputs a score indicating how well the candidate explanation is grounded in the image.
AI Challenger : A Large-scale Dataset for Going Deeper in Image Understanding
Venue: arXiv cs.CV 2017
Year: 2017

Significant progress has been achieved in Computer Vision by leveraging large-scale image datasets. However, large-scale datasets for complex Computer Vision tasks beyond classification are still limited. This paper proposed a large-scale dataset named AIC (AI Challenger) with three sub-datasets, human keypoint detection (HKD), large-scale attribute dataset (LAD) and image Chinese captioning (ICC). In this dataset, we annotate class labels (LAD), keypoint coordinate (HKD), bounding box (HKD and LAD), attribute (LAD) and caption (ICC). These rich annotations bridge the semantic gap between low-level images and high-level concepts. The proposed dataset is an effective benchmark to evaluate and improve different computational methods. In addition, for related tasks, others can also use our dataset as a new resource to pre-train their models.
P4-compatible High-level Synthesis of Low Latency 100 Gb/s Streaming Packet Parsers in FPGAs
Venue: arXiv cs.AR 2017
Year: 2017

Packet parsing is a key step in SDN-aware devices. Packet parsers in SDN networks need to be both reconfigurable and fast, to support the evolving network protocols and the increasing multi-gigabit data rates. The combination of packet processing languages with FPGAs seems to be the perfect match for these requirements. In this work, we develop an open-source FPGA-based configurable architecture for arbitrary packet parsing to be used in SDN networks. We generate low latency and high-speed streaming packet parsers directly from a packet processing program. Our architecture is pipelined and entirely modeled using templated C++ classes. The pipeline layout is derived from a parser graph that corresponds a P4 code after a series of graph transformation rounds. The RTL code is generated from the C++ description using Xilinx Vivado HLS and synthesized with Xilinx Vivado. Our architecture achieves 100 Gb/s data rate in a Xilinx Virtex-7 FPGA while reducing the latency by 45% and the LUT usage by 40% compared to the state-of-the-art.
Multiresolution and Hierarchical Analysis of Astronomical Spectroscopic Cubes using 3D Discrete Wavelet Transform
Venue: arXiv cs.CV 2017
Year: 2017

The intrinsically hierarchical and blended structure of interstellar molecular clouds, plus the always increasing resolution of astronomical instruments, demand advanced and automated pattern recognition techniques for identifying and connecting source components in spectroscopic cubes. We extend the work done in multiresolution analysis using Wavelets for astronomical 2D images to 3D spectroscopic cubes, combining the results with the Dendrograms approach to offer a hierarchical representation of connections between sources at different scale levels. We test our approach in real data from the ALMA observatory, exploring different Wavelet families and assessing the main parameter for source identification (i.e., RMS) at each level. Our approach shows that is feasible to perform multiresolution analysis for the spatial and frequency domains simultaneously rather than analyzing each spectral channel independently.
Deep supervised learning using local errors
Venue: arXiv cs.NE 2017
Year: 2017

Error backpropagation is a highly effective mechanism for learning high-quality hierarchical features in deep networks. Updating the features or weights in one layer, however, requires waiting for the propagation of error signals from higher layers. Learning using delayed and non-local errors makes it hard to reconcile backpropagation with the learning mechanisms observed in biological neural networks as it requires the neurons to maintain a memory of the input long enough until the higher-layer errors arrive. In this paper, we propose an alternative learning mechanism where errors are generated locally in each layer using fixed, random auxiliary classifiers. Lower layers could thus be trained independently of higher layers and training could either proceed layer by layer, or simultaneously in all layers using local error information. We address biological plausibility concerns such as weight symmetry requirements and show that the proposed learning mechanism based on fixed, broad, and random tuning of each neuron to the classification categories outperforms the biologically-motivated feedback alignment learning technique on the MNIST, CIFAR10, and SVHN datasets, approaching the performance of standard backpropagation. Our approach highlights a potential biological mechanism for the supervised, or task-dependent, learning of feature hierarchies. In addition, we show that it is well suited for learning deep networks in custom hardware where it can drastically reduce memory traffic and data communication overheads.
Genetic Algorithm-Based Solver for Very Large Multiple Jigsaw Puzzles of Unknown Dimensions and Piece Orientation
Venue: arXiv cs.CV 2017
Year: 2017

In this paper we propose the first genetic algorithm (GA)-based solver for jigsaw puzzles of unknown puzzle dimensions and unknown piece location and orientation. Our solver uses a novel crossover technique, and sets a new state-of-the-art in terms of the puzzle sizes solved and the accuracy obtained. The results are significantly improved, even when compared to previous solvers assuming known puzzle dimensions. Moreover, the solver successfully contends with a mixed bag of multiple puzzle pieces, assembling simultaneously all puzzles.
Low-dimensional Embeddings for Interpretable Anchor-based Topic Inference
Venue: arXiv cs.CL 2017
Year: 2017

The anchor words algorithm performs provably efficient topic model inference by finding an approximate convex hull in a high-dimensional word co-occurrence space. However, the existing greedy algorithm often selects poor anchor words, reducing topic quality and interpretability. Rather than finding an approximate convex hull in a high-dimensional space, we propose to find an exact convex hull in a visualizable 2- or 3-dimensional space. Such low-dimensional embeddings both improve topics and clearly show users why the algorithm selects certain words.
DLTK: State of the Art Reference Implementations for Deep Learning on Medical Images
Venue: arXiv cs.CV 2017
Year: 2017

We present DLTK, a toolkit providing baseline implementations for efficient experimentation with deep learning methods on biomedical images. It builds on top of TensorFlow and its high modularity and easy-to-use examples allow for a low-threshold access to state-of-the-art implementations for typical medical imaging problems. A comparison of DLTK's reference implementations of popular network architectures for image segmentation demonstrates new top performance on the publicly available challenge data "Multi-Atlas Labeling Beyond the Cranial Vault". The average test Dice similarity coefficient of $81.5$ exceeds the previously best performing CNN ($75.7$) and the accuracy of the challenge winning method ($79.0$).
Gazing into the Abyss: Real-time Gaze Estimation
Venue: arXiv cs.CV 2017
Year: 2017

Gaze and face tracking algorithms have traditionally battled a compromise between computational complexity and accuracy; the most accurate neural net algorithms cannot be implemented in real time, but less complex real-time algorithms suffer from higher error. This project seeks to better bridge that gap by improving on real-time eye and facial recognition algorithms in order to develop accurate, real-time gaze estimation with an emphasis on minimizing training data and computational complexity. Our goal is to use eye and facial recognition techniques to enable users to perform limited tasks based on gaze and facial input using only a standard, low-quality web cam found in most modern laptops and smart phones and the limited computational power and training data typical of those scenarios. We therefore identified seven promising, fundamentally different algorithms based on different user features and developed one outstanding, one workable, and one honorable mention gaze tracking pipelines that match the performance of modern gaze trackers while using no training data.
Intelligent Word Embeddings of Free-Text Radiology Reports
Venue: arXiv cs.IR 2017
Year: 2017

Radiology reports are a rich resource for advancing deep learning applications in medicine by leveraging the large volume of data continuously being updated, integrated, and shared. However, there are significant challenges as well, largely due to the ambiguity and subtlety of natural language. We propose a hybrid strategy that combines semantic-dictionary mapping and word2vec modeling for creating dense vector embeddings of free-text radiology reports. Our method leverages the benefits of both semantic-dictionary mapping as well as unsupervised learning. Using the vector representation, we automatically classify the radiology reports into three classes denoting confidence in the diagnosis of intracranial hemorrhage by the interpreting radiologist. We performed experiments with varying hyperparameter settings of the word embeddings and a range of different classifiers. Best performance achieved was a weighted precision of 88% and weighted recall of 90%. Our work offers the potential to leverage unstructured electronic health record data by allowing direct analysis of narrative clinical notes.
Kill Two Birds with One Stone: Weakly-Supervised Neural Network for Image Annotation and Tag Refinement
Venue: arXiv cs.CV 2017
Year: 2017

The number of social images has exploded by the wide adoption of social networks, and people like to share their comments about them. These comments can be a description of the image, or some objects, attributes, scenes in it, which are normally used as the user-provided tags. However, it is well-known that user-provided tags are incomplete and imprecise to some extent. Directly using them can damage the performance of related applications, such as the image annotation and retrieval. In this paper, we propose to learn an image annotation model and refine the user-provided tags simultaneously in a weakly-supervised manner. The deep neural network is utilized as the image feature learning and backbone annotation model, while visual consistency, semantic dependency, and user-error sparsity are introduced as the constraints at the batch level to alleviate the tag noise. Therefore, our model is highly flexible and stable to handle large-scale image sets. Experimental results on two benchmark datasets indicate that our proposed model achieves the best performance compared to the state-of-the-art methods.
Coopetition of software firms in Open source software ecosystems
Venue: arXiv cs.CY 2017
Year: 2017

Software firms participate in an ecosystem as a part of their innovation strategy to extend value creation beyond the firms boundary. Participation in an open and independent environment also implies the competition among firms with similar business models and targeted markets. Hence, firms need to consider potential opportunities and challenges upfront. This study explores how software firms interact with others in OSS ecosystems from a coopetition perspective. We performed a quantitative and qualitative analysis of three OSS projects. Finding shows that software firms emphasize the co-creation of common value and partly react to the potential competitiveness on OSS ecosystems. Six themes about coopetition were identified, including spanning gatekeepers, securing communication, open-core sourcing and filtering shared code. Our work contributes to software engineering research with a rich description of coopetition in OSS ecosystems. Moreover, we also come up with several implications for software firms in pursing a harmony participation in OSS ecosystems.
The Horcrux Protocol: A Method for Decentralized Biometric-based Self-sovereign Identity
Venue: arXiv cs.CR 2017
Year: 2017

Most user authentication methods and identity proving systems rely on a centralized database. Such information storage presents a single point of compromise from a security perspective. If this system is compromised it poses a direct threat to users' digital identities. This paper proposes a decentralized authentication method, called the Horcrux protocol, in which there is no such single point of compromise. The protocol relies on decentralized identifiers (DIDs) under development by the W3C Verifiable Claims Community Group and the concept of self-sovereign identity. To accomplish this, we propose specification and implementation of a decentralized biometric credential storage option via blockchains using DIDs and DID documents within the IEEE 2410-2017 Biometric Open Protocol Standard (BOPS).
Data-Driven Feedback Generation for Introductory Programming Exercises
Venue: arXiv cs.PL 2017
Year: 2017

This paper introduces the "Search, Align, and Repair" data-driven program repair framework to automate feedback generation for introductory programming exercises. Distinct from existing techniques, our goal is to develop an efficient, fully automated, and problem-agnostic technique for large or MOOC-scale introductory programming courses. We leverage the large amount of available student submissions in such settings and develop new algorithms for identifying similar programs, aligning correct and incorrect programs, and repairing incorrect programs by finding minimal fixes. We have implemented our technique in the SARFGEN system and evaluated it on thousands of real student attempts from the Microsoft-DEV204.1X edX course and the Microsoft CodeHunt platform. Our results show that SARFGEN can, within two seconds on average, generate concise, useful feedback for 89.7% of the incorrect student submissions. It has been integrated with the Microsoft-DEV204.1X edX class and deployed for production use.
Model Extraction Warning in MLaaS Paradigm
Venue: arXiv cs.LG 2017
Year: 2017

Cloud vendors are increasingly offering machine learning services as part of their platform and services portfolios. These services enable the deployment of machine learning models on the cloud that are offered on a pay-per-query basis to application developers and end users. However recent work has shown that the hosted models are susceptible to extraction attacks. Adversaries may launch queries to steal the model and compromise future query payments or privacy of the training data. In this work, we present a cloud-based extraction monitor that can quantify the extraction status of models by observing the query and response streams of both individual and colluding adversarial users. We present a novel technique that uses information gain to measure the model learning rate by users with increasing number of queries. Additionally, we present an alternate technique that maintains intelligent query summaries to measure the learning rate relative to the coverage of the input feature space in the presence of collusion. Both these approaches have low computational overhead and can easily be offered as services to model owners to warn them of possible extraction attacks from adversaries. We present performance results for these approaches for decision tree models deployed on BigML MLaaS platform, using open source datasets and different adversarial attack strategies.
Fast BTG-Forest-Based Hierarchical Sub-sentential Alignment
Venue: arXiv cs.CL 2017
Year: 2017

In this paper, we propose a novel BTG-forest-based alignment method. Based on a fast unsupervised initialization of parameters using variational IBM models, we synchronously parse parallel sentences top-down and align hierarchically under the constraint of BTG. Our two-step method can achieve the same run-time and comparable translation performance as fast_align while it yields smaller phrase tables. Final SMT results show that our method even outperforms in the experiment of distantly related languages, e.g., English-Japanese.