OpenRaiser/Intern-Atlas huggingface dataset:
Learning while Competing -- 3D Modeling & Design
Venue: arXiv cs.RO 2019
Year: 2019

The e-Yantra project at IIT Bombay conducts an online competition, e-Yantra Robotics Competition (eYRC) which uses a Project Based Learning (PBL) methodology to train students to implement a robotics project in a step-by-step manner over a five-month period. Participation is absolutely free. The competition provides all resources - robot, accessories, and a problem statement - to a participating team. If selected for the finals, e-Yantra pays for them to come to the finals at IIT Bombay. This makes the competition accessible to resource-poor student teams. In this paper, we describe the methodology used in the 6th edition of eYRC, eYRC-2017 where we experimented with a Theme (projects abstracted into rulebooks) involving an advanced topic - 3D Designing and interfacing with sensors and actuators. We demonstrate that the learning outcomes are consistent with our previous studies [1]. We infer that even 3D designing to create a working model can be effectively learned in a competition mode through PBL.
Regions In a Linked Dataset For Change Detection
Venue: arXiv cs.DB 2019
Year: 2019

Linked Datasets (LDs) are constantly evolving and the applications using a Linked Dataset (LD) may face several issues such as outdated data or broken interlinks due to evolution of the dataset. To overcome these issues, the detection of changes in LDs during their evolution has proven crucial. As LDs evolve frequently, the change detection during the evolution should also be done at frequent intervals. However, due to limitation of available computational resources such as capacity to fetch data from LD and time to detect changes, the frequent change detection may not be possible with existing change detection techniques. This research proposes to explore the notion of prioritization of regions (subsets) in LDs for change detection with the aim of achieving optimal accuracy and efficient use of available computational resources. This will facilitate the detection of changes in an evolving LD at frequent intervals and will allow the applications to update their data closest to real-time data.
Knowledge Transferring via Model Aggregation for Online Social Care
Venue: arXiv cs.CR 2019
Year: 2019

The Internet and the Web are being increasingly used in proactive social care to provide people, especially the vulnerable, with a better life and services, and their derived social services generate enormous data. However, the strict protection of privacy makes user's data become an isolated island and limits the predictive performance of standalone clients. To enable effective proactive social care and knowledge sharing within intelligent agents, this paper develops a knowledge transferring framework via model aggregation. Under this framework, distributed clients perform on-device training, and a third-party server integrates multiple clients' models and redistributes to clients for knowledge transferring among users. To improve the generalizability of the knowledge sharing, we further propose a novel model aggregation algorithm, namely the average difference descent aggregation (AvgDiffAgg for short). In particular, to evaluate the effectiveness of the learning algorithm, we use a case study on the early detection and prevention of suicidal ideation, and the experiment results on four datasets derived from social communities demonstrate the effectiveness of the proposed learning method.
Predicting Model Failure using Saliency Maps in Autonomous Driving Systems
Venue: arXiv cs.LG 2019
Year: 2019

While machine learning systems show high success rate in many complex tasks, research shows they can also fail in very unexpected situations. Rise of machine learning products in safety-critical industries cause an increase in attention in evaluating model robustness and estimating failure probability in machine learning systems. In this work, we propose a design to train a student model -- a failure predictor -- to predict the main model's error for input instances based on their saliency map. We implement and review the preliminary results of our failure predictor model on an autonomous vehicle steering control system as an example of safety-critical applications.
Inferring Inductive Invariants from Phase Structures
Venue: arXiv cs.PL 2019
Year: 2019

Infinite-state systems such as distributed protocols are challenging to verify using interactive theorem provers or automatic verification tools. Of these techniques, deductive verification is highly expressive but requires the user to annotate the system with inductive invariants. To relieve the user from this labor-intensive and challenging task, invariant inference aims to find inductive invariants automatically. Unfortunately, when applied to infinite-state systems such as distributed protocols, existing inference techniques often diverge, which limits their applicability. This paper proposes user-guided invariant inference based on phase invariants, which capture the different logical phases of the protocol. Users conveys their intuition by specifying a phase structure, an automaton with edges labeled by program transitions; the tool automatically infers assertions that hold in the automaton's states, resulting in a full safety proof.The additional structure from phases guides the inference procedure towards finding an invariant. Our results show that user guidance by phase structures facilitates successful inference beyond the state of the art. We find that phase structures are pleasantly well matched to the intuitive reasoning routinely used by domain experts to understand why distributed protocols are correct, so that providing a phase structure reuses this existing intuition.
Toward Scalable Fully Homomorphic Encryption Through Light Trusted Computing Assistance
Venue: arXiv cs.CR 2019
Year: 2019

It has been a long standing problem to securely outsource computation tasks to an untrusted party with integrity and confidentiality guarantees. While fully homomorphic encryption (FHE) is a promising technique that allows computations performed on the encrypted data, it suffers from a significant slow down to the computation. In this paper we propose a hybrid solution that uses the latest hardware Trusted Execution Environments (TEEs) to assist FHE by moving the bootstrapping step, which is one of the major obstacles in designing practical FHE schemes, to a secured SGX enclave. TEEFHE, the hybrid system we designed, makes it possible for homomorphic computations to be performed on smaller ciphertext and secret key, providing better performance and lower memory consumption. We make an effort to mitigate side channel leakages within SGX by making the memory access patterns totally independent from the secret information. The evaluation shows that TEEFHE effectively improves the software only FHE schemes in terms of both time and space.
Verification of Threshold-Based Distributed Algorithms by Decomposition to Decidable Logics
Venue: arXiv cs.PL 2019
Year: 2019

Verification of fault-tolerant distributed protocols is an immensely difficult task. Often, in these protocols, thresholds on set cardinalities are used both in the process code and in its correctness proof, e.g., a process can perform an action only if it has received an acknowledgment from at least half of its peers. Verification of threshold-based protocols is extremely challenging as it involves two kinds of reasoning: first-order reasoning about the unbounded state of the protocol, together with reasoning about sets and cardinalities. In this work, we develop a new methodology for decomposing the verification task of such protocols into two decidable logics: EPR and BAPA. Our key insight is that such protocols use thresholds in a restricted way as a means to obtain certain properties of "intersection" between sets. We define a language for expressing such properties, and present two translations: to EPR and BAPA. The EPR translation allows verifying the protocol while assuming these properties, and the BAPA translation allows verifying the correctness of the properties. We further develop an algorithm for automatically generating the properties needed for verifying a given protocol, facilitating fully automated deductive verification. Using this technique we have verified several challenging protocols, including Byzantine one-step consensus, hybrid reliable broadcast and fast Byzantine Paxos.
Enabling Computer Vision Driven Assistive Devices for the Visually Impaired via Micro-architecture Design Exploration
Venue: arXiv cs.CV 2019
Year: 2019

Recent improvements in object detection have shown potential to aid in tasks where previous solutions were not able to achieve. A particular area is assistive devices for individuals with visual impairment. While state-of-the-art deep neural networks have been shown to achieve superior object detection performance, their high computational and memory requirements make them cost prohibitive for on-device operation. Alternatively, cloud-based operation leads to privacy concerns, both not attractive to potential users. To address these challenges, this study investigates creating an efficient object detection network specifically for OLIV, an AI-powered assistant for object localization for the visually impaired, via micro-architecture design exploration. In particular, we formulate the problem of finding an optimal network micro-architecture as an numerical optimization problem, where we find the set of hyperparameters controlling the MobileNetV2-SSD network micro-architecture that maximizes a modified NetScore objective function for the MSCOCO-OLIV dataset of indoor objects. Experimental results show that such a micro-architecture design exploration strategy leads to a compact deep neural network with a balanced trade-off between accuracy, size, and speed, making it well-suited for enabling on-device computer vision driven assistive devices for the visually impaired.
Implications of Computer Vision Driven Assistive Technologies Towards Individuals with Visual Impairment
Venue: arXiv cs.CV 2019
Year: 2019

Computer vision based technology is becoming ubiquitous in society. One application area that has seen an increase in computer vision is assistive technologies, specifically for those with visual impairment. Research has shown the ability of computer vision models to achieve tasks such provide scene captions, detect objects and recognize faces. Although assisting individuals with visual impairment with these tasks increases their independence and autonomy, concerns over bias, privacy and potential usefulness arise. This paper addresses the positive and negative implications computer vision based assistive technologies have on individuals with visual impairment, as well as considerations for computer vision researchers and developers in order to mitigate the amount of negative implications.
Target Based Speech Act Classification in Political Campaign Text
Venue: arXiv cs.CL 2019
Year: 2019

We study pragmatics in political campaign text, through analysis of speech acts and the target of each utterance. We propose a new annotation schema incorporating domain-specific speech acts, such as commissive-action, and present a novel annotated corpus of media releases and speech transcripts from the 2016 Australian election cycle. We show how speech acts and target referents can be modeled as sequential classification, and evaluate several techniques, exploiting contextualized word representations, semi-supervised learning, task dependencies and speaker meta-data.
Perceptual Values from Observation
Venue: arXiv cs.LG 2019
Year: 2019

Imitation by observation is an approach for learning from expert demonstrations that lack action information, such as videos. Recent approaches to this problem can be placed into two broad categories: training dynamics models that aim to predict the actions taken between states, and learning rewards or features for computing them for Reinforcement Learning (RL). In this paper, we introduce a novel approach that learns values, rather than rewards, directly from observations. We show that by using values, we can significantly speed up RL by removing the need to bootstrap action-values, as compared to sparse-reward specifications.
Reinforcement Learning without Ground-Truth State
Venue: arXiv cs.RO 2019
Year: 2019

To perform robot manipulation tasks, a low-dimensional state of the environment typically needs to be estimated. However, designing a state estimator can sometimes be difficult, especially in environments with deformable objects. An alternative is to learn an end-to-end policy that maps directly from high-dimensional sensor inputs to actions. However, if this policy is trained with reinforcement learning, then without a state estimator, it is hard to specify a reward function based on high-dimensional observations. To meet this challenge, we propose a simple indicator reward function for goal-conditioned reinforcement learning: we only give a positive reward when the robot's observation exactly matches a target goal observation. We show that by relabeling the original goal with the achieved goal to obtain positive rewards (Andrychowicz et al., 2017), we can learn with the indicator reward function even in continuous state spaces. We propose two methods to further speed up convergence with indicator rewards: reward balancing and reward filtering. We show comparable performance between our method and an oracle which uses the ground-truth state for computing rewards. We show that our method can perform complex tasks in continuous state spaces such as rope manipulation from RGB-D images, without knowledge of the ground-truth state.
Demand forecasting techniques for build-to-order lean manufacturing supply chains
Venue: arXiv cs.LG 2019
Year: 2019

Build-to-order (BTO) supply chains have become common-place in industries such as electronics, automotive and fashion. They enable building products based on individual requirements with a short lead time and minimum inventory and production costs. Due to their nature, they differ significantly from traditional supply chains. However, there have not been studies dedicated to demand forecasting methods for this type of setting. This work makes two contributions. First, it presents a new and unique data set from a manufacturer in the BTO sector. Second, it proposes a novel data transformation technique for demand forecasting of BTO products. Results from thirteen forecasting methods show that the approach compares well to the state-of-the-art while being easy to implement and to explain to decision-makers.
Fast Regularity-Constrained Plane Reconstruction
Venue: arXiv cs.CV 2019
Year: 2019

Man-made environments typically comprise planar structures that exhibit numerous geometric relationships, such as parallelism, coplanarity, and orthogonality. Making full use of these relationships can considerably improve the robustness of algorithmic plane reconstruction of complex scenes. This research leverages a constraint model requiring minimal prior knowledge to implicitly establish relationships among planes. We introduce a method based on energy minimization to reconstruct the planes consistent with our constraint model. The proposed algorithm is efficient, easily to understand, and simple to implement. The experimental results show that our algorithm successfully reconstructs planes under high percentages of noise and outliers. This is superior to other state-of-the-art regularity-constrained plane reconstruction methods in terms of speed and robustness.
A novel Multiplicative Polynomial Kernel for Volterra series identification
Venue: arXiv cs.LG 2019
Year: 2019

Volterra series are especially useful for nonlinear system identification, also thanks to their capability to approximate a broad range of input-output maps. However, their identification from a finite set of data is hard, due to the curse of dimensionality. Recent approaches have shown how regularized kernel-based methods can be useful for this task. In this paper, we propose a new regularization network for Volterra models identification. It relies on a new kernel given by the product of basic building blocks. Each block contains some unknown parameters that can be estimated from data using marginal likelihood optimization. In comparison with other algorithms proposed in the literature, numerical experiments show that our approach allows to better select the monomials that really influence the system output, much increasing the prediction capability of the model.
A Comparative Review of Microservices and Monolithic Architectures
Venue: arXiv cs.SE 2019
Year: 2019

Microservices' architecture is getting attention in the academic community and the industry, and mostly is compared with monolithic architecture. Plenty of the results of these research papers contradict each other regarding the performance of these architectures. Therefore, these two architectures are compared in this paper, and some specific configurations of microservices' applications are evaluated as well in the term of service discovery. Monolithic architecture in concurrency testing showed better performance in throughput by 6% when compared to microservices architecture. The load testing scenario did not present significant difference between the two architectures. Furthermore, a third test comparing microservices applications built with different service discovery technologies such as Consul and Eureka showed that applications with Consul presented better results in terms of throughput.
Deep Reinforcement Learning Based Parameter Control in Differential Evolution
Venue: arXiv cs.NE 2019
Year: 2019

Adaptive Operator Selection (AOS) is an approach that controls discrete parameters of an Evolutionary Algorithm (EA) during the run. In this paper, we propose an AOS method based on Double Deep Q-Learning (DDQN), a Deep Reinforcement Learning method, to control the mutation strategies of Differential Evolution (DE). The application of DDQN to DE requires two phases. First, a neural network is trained offline by collecting data about the DE state and the benefit (reward) of applying each mutation strategy during multiple runs of DE tackling benchmark functions. We define the DE state as the combination of 99 different features and we analyze three alternative reward functions. Second, when DDQN is applied as a parameter controller within DE to a different test set of benchmark functions, DDQN uses the trained neural network to predict which mutation strategy should be applied to each parent at each generation according to the DE state. Benchmark functions for training and testing are taken from the CEC2005 benchmark with dimensions 10 and 30. We compare the results of the proposed DE-DDQN algorithm to several baseline DE algorithms using no online selection, random selection and other AOS methods, and also to the two winners of the CEC2005 competition. The results show that DE-DDQN outperforms the non-adaptive methods for all functions in the test set; while its results are comparable with the last two algorithms.
Less Memory, Faster Speed: Refining Self-Attention Module for Image Reconstruction
Venue: arXiv cs.CV 2019
Year: 2019

Self-attention (SA) mechanisms can capture effectively global dependencies in deep neural networks, and have been applied to natural language processing and image processing successfully. However, SA modules for image reconstruction have high time and space complexity, which restrict their applications to higher-resolution images. In this paper, we refine the SA module in self-attention generative adversarial networks (SAGAN) via adapting a non-local operation, revising the connectivity among the units in SA module and re-implementing its computational pattern, such that its time and space complexity is reduced from $\text{O}(n^2)$ to $\text{O}(n)$, but it is still equivalent to the original SA module. Further, we explore the principles behind the module and discover that our module is a special kind of channel attention mechanisms. Experimental results based on two benchmark datasets of image reconstruction, verify that under the same computational environment, two models can achieve comparable effectiveness for image reconstruction, but the proposed one runs faster and takes up less memory space.
Power of the Few: Analyzing the Impact of Influential Users in Collaborative Recommender Systems
Venue: arXiv cs.SI 2019
Year: 2019

Like other social systems, in collaborative filtering a small number of "influential" users may have a large impact on the recommendations of other users, thus affecting the overall behavior of the system. Identifying influential users and studying their impact on other users is an important problem because it provides insight into how small groups can inadvertently or intentionally affect the behavior of the system as a whole. Modeling these influences can also shed light on patterns and relationships that would otherwise be difficult to discern, hopefully leading to more transparency in how the system generates personalized content. In this work we first formalize the notion of "influence" in collaborative filtering using an Influence Discrimination Model. We then empirically identify and characterize influential users and analyze their impact on the system under different underlying recommendation algorithms and across three different recommendation domains: job, movie and book recommendations. Insights from these experiments can help in designing systems that are not only optimized for accuracy, but are also tuned to mitigate the impact of influential users when it might lead to potential imbalance or unfairness in the system's outcomes.
The Unexpected Unexpected and the Expected Unexpected: How People's Conception of the Unexpected is Not That Unexpected
Venue: arXiv cs.CL 2019
Year: 2019

The answers people give when asked to 'think of the unexpected' for everyday event scenarios appear to be more expected than unexpected. There are expected unexpected outcomes that closely adhere to the given information in a scenario, based on familiar disruptions and common plan-failures. There are also unexpected unexpected outcomes that are more inventive, that depart from given information, adding new concepts/actions. However, people seem to tend to conceive of the unexpected as the former more than the latter. Study 1 tests these proposals by analysing the object-concepts people mention in their reports of the unexpected and the agreement between their answers. Study 2 shows that object-choices are weakly influenced by recency, the order of sentences in the scenario. The implications of these results for ideas in philosophy, psychology and computing is discussed
A Lesson in Scaling 6LoWPAN -- Minimal Fragment Forwarding in Lossy Networks
Venue: arXiv cs.NI 2019
Year: 2019

This paper evaluates two forwarding strategies for fragmented datagrams in the IoT: hop-wise reassembly and a minimal approach to directly forward fragments. Minimal fragment forwarding is challenged by the lack of forwarding information at subsequent fragments in 6LoWPAN and thus requires additional data at nodes. We compared the two approaches in extensive experiments evaluating reliability, end-to-end latency, and memory consumption. In contrast to previous work and due to our alternate setup, we obtained different results and conclusions. Our findings indicate that direct fragment forwarding should be deployed only with care, since higher packet transmission rates on the link-layer can significantly reduce its reliability, which in turn can even further reduce end-to-end latency because of highly increased link-layer retransmissions.