OpenRaiser/Intern-Atlas huggingface dataset:
Cyclic Prefix Adaptation with Constant Overall Symbol Time for DFT-spread-OFDM and OFDM
Venue: arXiv cs.NI 2019
Year: 2019

For DFT-spread-OFDM or OFDM, if the delay spread varies in a wide range and the symbol duration is relatively short, adapting the cyclic prefix (CP) duration rather than using a fixed one may significantly improve the spectral efficiency while preventing inter-symbol interference (ISI). In practice, it may be beneficial to have a constant overall DFT-spread-OFDM/OFDM symbol time, which is the sum of the duration of a CP and the duration of a data portion. We propose to adapt the CP duration to the delay spread without changing the overall symbol time for DFT-spread-OFDM or OFDM, and address implementation challenges. In particular, we propose changing the clocking rate of ADC and DAC or using a Farrow filter to reduce the computational complexity of arbitrary-size DFT/IDFT resulting from the adaptation.
Multi-Robot Coordinated Planning in Confined Environments under Kinematic Constraints
Venue: arXiv cs.MA 2019
Year: 2019

We investigate the problem of multi-robot coordinated planning in environments where the robots may have to operate in close proximity to each other. We seek computationally efficient planners that ensure safe paths and adherence to kinematic constraints. We extend the central planner dRRT* with our variant, fast-dRRT (fdRRT), with the intention being to use in tight environments that lead to a high degree of coupling between robots. Our algorithm is empirically shown to achieve the trade-off between computational time and solution quality, especially in tight environments.
Generating valid Euclidean distance matrices
Venue: arXiv cs.LG 2019
Year: 2019

Generating point clouds, e.g., molecular structures, in arbitrary rotations, translations, and enumerations remains a challenging task. Meanwhile, neural networks utilizing symmetry invariant layers have been shown to be able to optimize their training objective in a data-efficient way. In this spirit, we present an architecture which allows to produce valid Euclidean distance matrices, which by construction are already invariant under rotation and translation of the described object. Motivated by the goal to generate molecular structures in Cartesian space, we use this architecture to construct a Wasserstein GAN utilizing a permutation invariant critic network. This makes it possible to generate molecular structures in a one-shot fashion by producing Euclidean distance matrices which have a three-dimensional embedding.
DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System
Venue: arXiv cs.CV 2019
Year: 2019

Teleoperation offers the possibility of imparting robotic systems with sophisticated reasoning skills, intuition, and creativity to perform tasks. However, current teleoperation solutions for high degree-of-actuation (DoA), multi-fingered robots are generally cost-prohibitive, while low-cost offerings usually provide reduced degrees of control. Herein, a low-cost, vision based teleoperation system, DexPilot, was developed that allows for complete control over the full 23 DoA robotic system by merely observing the bare human hand. DexPilot enables operators to carry out a variety of complex manipulation tasks that go beyond simple pick-and-place operations. This allows for collection of high dimensional, multi-modality, state-action data that can be leveraged in the future to learn sensorimotor policies for challenging manipulation tasks. The system performance was measured through speed and reliability metrics across two human demonstrators on a variety of tasks. The videos of the experiments can be found at https://sites.google.com/view/dex-pilot.
GetNet: Get Target Area for Image Pairing
Venue: arXiv cs.CV 2019
Year: 2019

Image pairing is an important research task in the field of computer vision. And finding image pairs containing objects of the same category is the basis of many tasks such as tracking and person re-identification, etc., and it is also the focus of our research. Existing traditional methods and deep learning-based methods have some degree of defects in speed or accuracy. In this paper, we made improvements on the Siamese network and proposed GetNet. The proposed method GetNet combines STN and Siamese network to get the target area first and then perform subsequent processing. Experiments show that our method achieves competitive results in speed and accuracy.
xYOLO: A Model For Real-Time Object Detection In Humanoid Soccer On Low-End Hardware
Venue: arXiv cs.CV 2019
Year: 2019

With the emergence of onboard vision processing for areas such as the internet of things (IoT), edge computing and autonomous robots, there is increasing demand for computationally efficient convolutional neural network (CNN) models to perform real-time object detection on resource constraints hardware devices. Tiny-YOLO is generally considered as one of the faster object detectors for low-end devices and is the basis for our work. Our experiments on this network have shown that Tiny-YOLO can achieve 0.14 frames per second(FPS) on the Raspberry Pi 3 B, which is too slow for soccer playing autonomous humanoid robots detecting goal and ball objects. In this paper we propose an adaptation to the YOLO CNN model named xYOLO, that can achieve object detection at a speed of 9.66 FPS on the Raspberry Pi 3 B. This is achieved by trading an acceptable amount of accuracy, making the network approximately 70 times faster than Tiny-YOLO. Greater inference speed-ups were also achieved on a desktop CPU and GPU. Additionally we contribute an annotated Darknet dataset for goal and ball detection.
Do we measure novelty when we analyze unusual combinations of cited references? A validation study of bibliometric novelty indicators based on F1000Prime data
Venue: arXiv cs.DL 2019
Year: 2019

Lee, Walsh, and Wang (2015) - based on Uzzi, Mukherjee, Stringer, and Jones (2013) - and Wang, Veugelers, and Stephan (2017) proposed scores based on cited references (cited journals) data which can be used to measure the novelty of papers (named as novelty scores U and W in this study). Although previous research has used novelty scores in various empirical analyses, no study has been published up to now - to the best of our knowledge - which quantitatively tested the convergent validity of novelty scores: do these scores measure what they propose to measure? Using novelty assessments by faculty members (FMs) at F1000Prime for comparison, we tested the convergent validity of the two novelty scores (U and W). FMs' assessments not only refer to the quality of biomedical papers, but also to their characteristics (by assigning certain tags to the papers): for example, are the presented findings or formulated hypotheses novel (tags "new findings" and "hypothesis")? We used these and other tags to investigate the convergent validity of both novelty scores. Our study reveals different results for the novelty scores: the results for novelty score U are mostly in agreement with previously formulated expectations. We found, for instance, that for a standard deviation (one unit) increase in novelty score U, the expected number of assignments of the "new finding" tag increase by 7.47%. The results for novelty score W, however, do not reflect convergent validity with the FMs' assessments: only the results for some tags are in agreement with the expectations. Thus, we propose - based on our results - the use of novelty score U for measuring novelty quantitatively, but question the use of novelty score W.
Look before you Hop: Conversational Question Answering over Knowledge Graphs Using Judicious Context Expansion
Venue: arXiv cs.IR 2019
Year: 2019

Fact-centric information needs are rarely one-shot; users typically ask follow-up questions to explore a topic. In such a conversational setting, the user's inputs are often incomplete, with entities or predicates left out, and ungrammatical phrases. This poses a huge challenge to question answering (QA) systems that typically rely on cues in full-fledged interrogative sentences. As a solution, we develop CONVEX: an unsupervised method that can answer incomplete questions over a knowledge graph (KG) by maintaining conversation context using entities and predicates seen so far and automatically inferring missing or ambiguous pieces for follow-up questions. The core of our method is a graph exploration algorithm that judiciously expands a frontier to find candidate answers for the current question. To evaluate CONVEX, we release ConvQuestions, a crowdsourced benchmark with 11,200 distinct conversations from five different domains. We show that CONVEX: (i) adds conversational support to any stand-alone QA system, and (ii) outperforms state-of-the-art baselines and question completion strategies.
Understanding Zadimoghaddam's Edge-weighted Online Matching Algorithm: Weighted Case
Venue: arXiv cs.DS 2019
Year: 2019

This article presents a simplification of Zadimoghaddam's algorithm for the edge-weighted online bipartite matching problem, under the online primal dual framework. In doing so, we obtain an improved competitive ratio of $0.514$. We first combine the online correlated selection (OCS), an ingredient distilled from Zadimoghaddam (2017) by Huang and Tao (2019), and an interpretation of the edge-weighted online bipartite matching problem by Devanur et al. (2016) which we will refer to as the complementary cumulative distribution function (CCDF) viewpoint, to derive an online primal dual algorithm that is $0.505$-competitive. Then, we design an improved OCS which gives the $0.514$ ratio.
Integrated Process Planning and Scheduling in Commercial Smart Kitchens
Venue: arXiv cs.DC 2019
Year: 2019

This paper describes the possibility of applying a generic, cloud-based Optimisation as a Service facility to food cooking planning and scheduling in a commercial kitchen. We propose a chromosome encoding and customisation of the classic MOEA/D multi-objective genetic algorithm. The applicability of the proposed approach is evaluated experimentally for two scenarios different with respect to the number of cooking appliances and the amount of the ordered food. The proposed system managed to determine the trade-offs between cooking time, energy dissipation and food quality.
An XML-based Factory Description Language for Smart Manufacturing Plants in Industry 4.0
Venue: arXiv cs.DC 2019
Year: 2019

Industry 4.0 revolution concerns the digital transformation of manufacturing and promises to answer the ever-increasing demand of product customisation and manufacturing flexibility while incurring low costs. To perform the required factory reconfiguration, a computationally demanding optimisation process has to be executed to find favourable solutions in a relatively short time. While previous research focused on planning and scheduling of smart factories based on cloud-based optimisation, little attention has been paid to effective approaches to describe the targeted factory, the required products and the production processes. However, these matters are fundamental for the optimisation engine to be correctly and efficiently performed. This paper presents an XML-based factory modelling language to effectively describe the above data for a given factory and commodity order and to provide a convenient interface for altering the input information. Finally, two real-world manufacturing plants are provided to illustrate the feasibility of the proposed description language.
Improving Map Re-localization with Deep 'Movable' Objects Segmentation on 3D LiDAR Point Clouds
Venue: arXiv cs.CV 2019
Year: 2019

Localization and Mapping is an essential component to enable Autonomous Vehicles navigation, and requires an accuracy exceeding that of commercial GPS-based systems. Current odometry and mapping algorithms are able to provide this accurate information. However, the lack of robustness of these algorithms against dynamic obstacles and environmental changes, even for short time periods, forces the generation of new maps on every session without taking advantage of previously obtained ones. In this paper we propose the use of a deep learning architecture to segment movable objects from 3D LiDAR point clouds in order to obtain longer-lasting 3D maps. This will in turn allow for better, faster and more accurate re-localization and trajectoy estimation on subsequent days. We show the effectiveness of our approach in a very dynamic and cluttered scenario, a supermarket parking lot. For that, we record several sequences on different days and compare localization errors with and without our movable objects segmentation method. Results show that we are able to accurately re-locate over a filtered map, consistently reducing trajectory errors between an average of 35.1% with respect to a non-filtered map version and of 47.9% with respect to a standalone map created on the current session.
Fine-grained Sentiment Classification using BERT
Venue: arXiv cs.CL 2019
Year: 2019

Sentiment classification is an important process in understanding people's perception towards a product, service, or topic. Many natural language processing models have been proposed to solve the sentiment classification problem. However, most of them have focused on binary sentiment classification. In this paper, we use a promising deep learning model called BERT to solve the fine-grained sentiment classification task. Experiments show that our model outperforms other popular models for this task without sophisticated architecture. We also demonstrate the effectiveness of transfer learning in natural language processing in the process.
Fake news detection using Deep Learning
Venue: arXiv cs.CL 2019
Year: 2019

The evolution of the information and communication technologies has dramatically increased the number of people with access to the Internet, which has changed the way the information is consumed. As a consequence of the above, fake news have become one of the major concerns because its potential to destabilize governments, which makes them a potential danger to modern society. An example of this can be found in the US. electoral campaign, where the term "fake news" gained great notoriety due to the influence of the hoaxes in the final result of these. In this work the feasibility of applying deep learning techniques to discriminate fake news on the Internet using only their text is studied. In order to accomplish that, three different neural network architectures are proposed, one of them based on BERT, a modern language model created by Google which achieves state-of-the-art results.
Accurate and Fast Retrieval for Complex Non-metric Data via Neighborhood Graphs
Venue: arXiv cs.IR 2019
Year: 2019

We demonstrate that a graph-based search algorithm-relying on the construction of an approximate neighborhood graph-can directly work with challenging non-metric and/or non-symmetric distances without resorting to metric-space mapping and/or distance symmetrization, which, in turn, lead to substantial performance degradation. Although the straightforward metrization and symmetrization is usually ineffective, we find that constructing an index using a modified, e.g., symmetrized, distance can improve performance. This observation paves a way to a new line of research of designing index-specific graph-construction distance functions.
Timely Distributed Computation with Stragglers
Venue: arXiv cs.IT 2019
Year: 2019

We consider a status update system in which the update packets need to be processed to extract the embedded useful information. The source node sends the acquired information to a computation unit (CU) which consists of a master node and $n$ worker nodes. The master node distributes the received computation task to the worker nodes. Upon computation, the master node aggregates the results and sends them back to the source node to keep it \emph{updated}. We investigate the age performance of uncoded and coded (repetition coded, MDS coded, and multi-message MDS (MM-MDS) coded) schemes in the presence of stragglers under i.i.d.~exponential transmission delays and i.i.d~shifted exponential computation times. We show that asymptotically MM-MDS coded scheme outperforms the other schemes. Furthermore, we characterize the optimal codes such that the average age is minimized.
Stack Sorting with Increasing and Decreasing Stacks
Venue: arXiv cs.DS 2019
Year: 2019

We introduce a sorting machine consisting of $k+1$ stacks in series: the first $k$ stacks can only contain elements in decreasing order from top to bottom, while the last one has the opposite restriction. This device generalizes \cite{SM}, which studies the case $k=1$. Here we show that, for $k=2$, the set of sortable permutations is a class with infinite basis, by explicitly finding an antichain of minimal nonsortable permutations. This construction can easily be adapted to each $k \ge 3$. Next we describe an optimal sorting algorithm, again for the case $k=2$. We then analyze two types of left-greedy sorting procedures, obtaining complete results in one case and only some partial results in the other one. We close the paper by discussing a few open questions.
ExpertMatcher: Automating ML Model Selection for Clients using Hidden Representations
Venue: arXiv cs.CV 2019
Year: 2019

Recently, there has been the development of Split Learning, a framework for distributed computation where model components are split between the client and server (Vepakomma et al., 2018b). As Split Learning scales to include many different model components, there needs to be a method of matching client-side model components with the best server-side model components. A solution to this problem was introduced in the ExpertMatcher (Sharma et al., 2019) framework, which uses autoencoders to match raw data to models. In this work, we propose an extension of ExpertMatcher, where matching can be performed without the need to share the client's raw data representation. The technique is applicable to situations where there are local clients and centralized expert ML models, but the sharing of raw data is constrained.
Multiple-objective Reinforcement Learning for Inverse Design and Identification
Venue: arXiv cs.LG 2019
Year: 2019

The aim of the inverse chemical design is to develop new molecules with given optimized molecular properties or objectives. Recently, generative deep learning (DL) networks are considered as the state-of-the-art in inverse chemical design and have achieved early success in generating molecular structures with desired properties in the pharmaceutical and material chemistry fields. However, satisfying a large number (larger than 10 objectives) of molecular objectives is a limitation of current generative models. To improve the model's ability to handle a large number of molecule design objectives, we developed a Reinforcement Learning (RL) based generative framework to optimize chemical molecule generation. Our use of Curriculum Learning (CL) to fine-tune the pre-trained generative network allowed the model to satisfy up to 21 objectives and increase the generative network's robustness. The experiments show that the proposed multiple-objective RL-based generative model can correctly identify unknown molecules with an 83 to 100 percent success rate, compared to the baseline approach of 0 percent. Additionally, this proposed generative model is not limited to just chemistry research challenges; we anticipate that problems that utilize RL with multiple-objectives will benefit from this framework.
Electric Load and Power Forecasting Using Ensemble Gaussian Process Regression
Venue: arXiv cs.LG 2019
Year: 2019

We propose a new forecasting method for predicting load demand and generation scheduling. Accurate week-long forecasting of load demand and optimal power generation is critical for efficient operation of power grid systems. In this work, we use a synthetic data set describing a power grid with 700 buses and 134 generators over a 365-days period with data synthetically generated at an hourly rate. The proposed approach for week-long forecasting is based on the Gaussian process regression (GPR) method, with prior covariance matrices of the quantities of interest (QoI) computed from ensembles formed by up to twenty preceding weeks of QoI observations. Then, we use these covariances within the GPR framework to forecast the QoIs for the following week. We demonstrate that the the proposed ensemble GPR (EGPR) method is capable of accurately forecasting weekly total load demand and power generation profiles. The EGPR method is shown to outperform traditional forecasting methods including the standard GPR and autoregressive integrated moving average (ARIMA) methods.
Is Multilingual BERT Fluent in Language Generation?
Venue: arXiv cs.CL 2019
Year: 2019

The multilingual BERT model is trained on 104 languages and meant to serve as a universal language model and tool for encoding sentences. We explore how well the model performs on several languages across several tasks: a diagnostic classification probing the embeddings for a particular syntactic property, a cloze task testing the language modelling ability to fill in gaps in a sentence, and a natural language generation task testing for the ability to produce coherent text fitting a given context. We find that the currently available multilingual BERT model is clearly inferior to the monolingual counterparts, and cannot in many cases serve as a substitute for a well-trained monolingual model. We find that the English and German models perform well at generation, whereas the multilingual model is lacking, in particular, for Nordic languages.
Autonomous Multirobot Technologies for Mars Mining Base Construction and Operation
Venue: arXiv cs.RO 2019
Year: 2019

Beyond space exploration, the next critical step towards living and working in space requires developing a space economy. One important challenge with this space-economy is ensuring the low-cost transport of raw materials from one gravity-well to another. The escape delta-v of 11.2 km/s from Earth makes this proposition very expensive. Transporting materials from the Moon takes 2.4 km/s and from Mars 5.0 km/s. Based on these factors, the Moon and Mars can become colonies to export material into this space economy. One critical question is what are the resources required to sustain a space economy? Water has been identified as a critical resource both to sustain human-life but also for use in propulsion, attitude-control, power, thermal storage and radiation protection systems. Water may be obtained off-world through In-Situ Resource Utilization (ISRU) in the course of human or robotic space exploration. Based upon these important findings, we developed an energy model to determine the feasibility of developing a mining base on Mars that mines and exports water (transports water on a Mars escape trajectory). Our designs for a mining base utilize renewable energy sources namely photovoltaics and solar-thermal concentrators to provide power to construct the base, keep it operational and export the water using a mass driver (electrodynamic railgun). Our studies found the key to keeping the mining base simple and effective is to make it robotic. Teams of robots (consisting of 100 infrastructure robots) would be used to construct the entire base using locally available resources and fully operate the base. This would decrease energy needs by 5-folds. Furthermore, the base can be built 5-times faster using robotics and 3D printing. This shows that automation and robotics is the key to making such a base technologically feasible.