OpenRaiser/Intern-Atlas huggingface dataset:
Towards Large-Scale Scalable MAV Swarms with ROS2 and UWB-based Situated Communication
Venue: arXiv cs.RO 2021
Year: 2021

The design and development of swarms of micro-aerial vehicles (MAVs) has recently gained significant traction. Collaborative aerial swarms have potential applications in areas as diverse as surveillance and monitoring, inventory management, search and rescue, or in the entertainment industry. Swarm intelligence has, by definition, a distributed nature. Yet performing experiments in truly distributed systems is not always possible, as much of the underlying ecosystem employed requires some sort of central control. Indeed, in experimental proofs of concept, most research relies on more traditional connectivity solutions and centralized approaches. External localization solutions, such as motion capture (MOCAP) systems, visual markers, or ultra-wideband (UWB) anchors are often used. Alternatively, intra-swarm solutions are often limited in terms of, e.g., range or field-of-view. Research and development has been supported by platforms such as the e-puck, the kilobot, or the crazyflie quadrotors. We believe there is a need for inexpensive platforms such as the Crazyflie with more advanced onboard processing capabilities and sensors, while offering scalability and robust communication and localization solutions. In the following, we present a platform for research and development in aerial swarms currently under development, where we leverage Wi-Fi mesh connectivity and the distributed ROS2 middleware together with UWB ranging and communication for situated communication. We present a platform for building towards large-scale swarms of autonomous MAVs leveraging the ROS2 middleware, Wi-Fi mesh connectivity, and UWB ranging and communication. The platform is based on the Ryze Tello Drone, a Raspberry Pi Zero W as a companion computer together with a camera module, and a Decawave DWM1001 UWB module for ranging and basic communication.
Ethical Challenges in the Human-Robot Interaction Field
Venue: arXiv cs.RO 2021
Year: 2021

The aim of this extended abstract is to introduce five examples of ethical issues in HRI that could have potential ethical implications, particularly on HRI participants. We consider these examples important to discuss in order to reach a consensus on how to handle them. Due to space limitations, this list is far from exhaustive and we hope that it can lead to a wider discussion that stimulates HRI researchers to think ethically. Previous work has shown a trend of underreporting ethical conduct in the HRI field; in this extended abstract we consider some of the ethical issues that could arise in HRI research.
Minimizing the total weighted pairwise connection time in network construction problems
Venue: arXiv cs.DS 2021
Year: 2021

It is required to find an optimal order of constructing the edges of a network so as to minimize the sum of the weighted connection times of relevant pairs of vertices. Construction can be performed anytime anywhere in the network, with a fixed overall construction speed. The problem is strongly NP-hard even on stars. We present polynomial algorithms for the problem on trees with a fixed number of leaves, and on general networks with a fixed number of relevant pairs.
Algoritmos de minería de datos en la industria sanitaria
Venue: arXiv cs.LG 2021
Year: 2021

In this paper, we review data mining approaches for health applications. Our focus is on hardware-centric approaches. Modern computers consist of multiple processors, each equipped with multiple cores, each with a set of arithmetic/logical units. Thus, a modern computer may be composed of several thousand units capable of doing arithmetic operations like addition and multiplication. Graphic processors, in addition may offer some thousand such units. In both cases, single instruction multiple data and multiple instruction multiple data parallelism must be exploited. We review the principles of algorithms which exploit this parallelism and focus also on the memory issues when multiple processing units access main memory through caches. This is important for many applications of health, such as ECG, EEG, CT, SPECT, fMRI, DTI, ultrasound, microscopy, dermascopy, etc.
Agent-Centric Representations for Multi-Agent Reinforcement Learning
Venue: arXiv cs.LG 2021
Year: 2021

Object-centric representations have recently enabled significant progress in tackling relational reasoning tasks. By building a strong object-centric inductive bias into neural architectures, recent efforts have improved generalization and data efficiency of machine learning algorithms for these problems. One problem class involving relational reasoning that still remains under-explored is multi-agent reinforcement learning (MARL). Here we investigate whether object-centric representations are also beneficial in the fully cooperative MARL setting. Specifically, we study two ways of incorporating an agent-centric inductive bias into our RL algorithm: 1. Introducing an agent-centric attention module with explicit connections across agents 2. Adding an agent-centric unsupervised predictive objective (i.e. not using action labels), to be used as an auxiliary loss for MARL, or as the basis of a pre-training step. We evaluate these approaches on the Google Research Football environment as well as DeepMind Lab 2D. Empirically, agent-centric representation learning leads to the emergence of more complex cooperation strategies between agents as well as enhanced sample efficiency and generalization.
Understanding Chinese Video and Language via Contrastive Multimodal Pre-Training
Venue: arXiv cs.CV 2021
Year: 2021

The pre-trained neural models have recently achieved impressive performances in understanding multimodal content. However, it is still very challenging to pre-train neural models for video and language understanding, especially for Chinese video-language data, due to the following reasons. Firstly, existing video-language pre-training algorithms mainly focus on the co-occurrence of words and video frames, but ignore other valuable semantic and structure information of video-language content, e.g., sequential order and spatiotemporal relationships. Secondly, there exist conflicts between video sentence alignment and other proxy tasks. Thirdly, there is a lack of large-scale and high-quality Chinese video-language datasets (e.g., including 10 million unique videos), which are the fundamental success conditions for pre-training techniques. In this work, we propose a novel video-language understanding framework named VICTOR, which stands for VIdeo-language understanding via Contrastive mulTimOdal pRe-training. Besides general proxy tasks such as masked language modeling, VICTOR constructs several novel proxy tasks under the contrastive learning paradigm, making the model be more robust and able to capture more complex multimodal semantic and structural relationships from different perspectives. VICTOR is trained on a large-scale Chinese video-language dataset, including over 10 million complete videos with corresponding high-quality textual descriptions. We apply the pre-trained VICTOR model to a series of downstream applications and demonstrate its superior performances, comparing against the state-of-the-art pre-training methods such as VideoBERT and UniVL. The codes and trained checkpoints will be publicly available to nourish further developments of the research community.
Deep learning enables reference-free isotropic super-resolution for volumetric fluorescence microscopy
Venue: arXiv cs.CV 2021
Year: 2021

Volumetric imaging by fluorescence microscopy is often limited by anisotropic spatial resolution from inferior axial resolution compared to the lateral resolution. To address this problem, here we present a deep-learning-enabled unsupervised super-resolution technique that enhances anisotropic images in volumetric fluorescence microscopy. In contrast to the existing deep learning approaches that require matched high-resolution target volume images, our method greatly reduces the effort to put into practice as the training of a network requires as little as a single 3D image stack, without a priori knowledge of the image formation process, registration of training data, or separate acquisition of target data. This is achieved based on the optimal transport driven cycle-consistent generative adversarial network that learns from an unpaired matching between high-resolution 2D images in lateral image plane and low-resolution 2D images in the other planes. Using fluorescence confocal microscopy and light-sheet microscopy, we demonstrate that the trained network not only enhances axial resolution, but also restores suppressed visual details between the imaging planes and removes imaging artifacts.
Inharmonious Region Localization
Venue: arXiv cs.CV 2021
Year: 2021

The advance of image editing techniques allows users to create artistic works, but the manipulated regions may be incompatible with the background. Localizing the inharmonious region is an appealing yet challenging task. Realizing that this task requires effective aggregation of multi-scale contextual information and suppression of redundant information, we design novel Bi-directional Feature Integration (BFI) block and Global-context Guided Decoder (GGD) block to fuse multi-scale features in the encoder and decoder respectively. We also employ Mask-guided Dual Attention (MDA) block between the encoder and decoder to suppress the redundant information. Experiments on the image harmonization dataset demonstrate that our method achieves competitive performance for inharmonious region localization. The source code is available at https://github.com/bcmi/DIRL.
Few-Shot Model Adaptation for Customized Facial Landmark Detection, Segmentation, Stylization and Shadow Removal
Venue: arXiv cs.CV 2021
Year: 2021

Despite excellent progress has been made, the performance of deep learning based algorithms still heavily rely on specific datasets, which are difficult to extend due to labor-intensive labeling. Moreover, because of the advancement of new applications, initial definition of data annotations might not always meet the requirements of new functionalities. Thus, there is always a great demand in customized data annotations. To address the above issues, we propose the Few-Shot Model Adaptation (FSMA) framework and demonstrate its potential on several important tasks on Faces. The FSMA first acquires robust facial image embeddings by training an adversarial auto-encoder using large-scale unlabeled data. Then the model is equipped with feature adaptation and fusion layers, and adapts to the target task efficiently using a minimal amount of annotated images. The FSMA framework is prominent in its versatility across a wide range of facial image applications. The FSMA achieves state-of-the-art few-shot landmark detection performance and it offers satisfying solutions for few-shot face segmentation, stylization and facial shadow removal tasks for the first time.
Android OS CASE STUDY
Venue: arXiv cs.OS 2021
Year: 2021

Android is a mobile operating system based on a modified version of the Linux kernel and other open source software, designed primarily for touchscreen mobile devices such as smartphones and tablets. It is an operating system for low powered devices that run on battery and are full of hardware like Global Positioning System (GPS) receivers, cameras, light and orientation sensors, Wi-Fi and LTE (4G telephony) connectivity and a touch screen. Like all operating systems, Android enables applications to make use of the hardware features through abstraction and provide a defined environment for applications. The study includes following topic: Background And History Android Architecture Kernel And StartUp Process Process Management Deadlock CPU Scheduling Memory Management Storage Management I/O Battery Optimization
CodeAPeel: An Integrated and Layered Learning Technology For Computer Architecture Courses
Venue: arXiv cs.AR 2021
Year: 2021

This paper introduces a versatile, multi-layered technology to help support teaching and learning core computer architecture concepts. This technology, called CodeAPeel is already implemented in one particular form to describe instruction processing in compiler, assembly, and machine layers of a generic instruction set architecture by a comprehensive simulation of its fetch-decode-execute cycle as well as animation of the behavior of its CPU registers, RAM, VRAM, STACK memories, various control registers, and graphics screen. Unlike most educational CPU simulators that simulate a real processor such as MIPS or RISC-V, CodeAPeel is designed and implemented as a generic RISC instruction set architecture simulator with both scalar and vector instructions to provide a dual-mode processor simulator as described by Flynn's classification of SISD and SIMD processors. Vectorization of operations is built into the instruction repertoire of CodeAPeel, making it straightforward to simulate such processors with powerful vector instructions.
Local Similarity Search on Geolocated Time Series Using Hybrid Indexing
Venue: arXiv cs.DB 2021
Year: 2021

Geolocated time series, i.e., time series associated with certain locations, abound in many modern applications. In this paper, we consider hybrid queries for retrieving geolocated time series based on filters that combine spatial distance and time series similarity. For the latter, unlike existing work, we allow filtering based on local similarity, which is computed based on subsequences rather than the entire length of each series, thus allowing the discovery of more fine-grained trends and patterns. To efficiently support such queries, we first leverage the state-of-the-art BTSR-tree index, which utilizes bounds over both the locations and the shapes of time series to prune the search space. Moreover, we propose optimizations that check at specific timestamps to identify candidate time series that may exceed the required local similarity threshold. To further increase pruning power, we introduce the SBTSR-tree index, an extension to BTSR-tree, which additionally segments the time series temporally, allowing the construction of tighter bounds. Our experimental results on several real-world datasets demonstrate that SBTSR-tree can provide answers much faster for all examined query types. This paper has been published in the 27th International Conference on Advances in Geographic Information Systems (ACM SIGSPATIAL 2019).
Accelerating key bioinformatics tasks 100-fold by improving memory access
Venue: arXiv cs.DC 2021
Year: 2021

Most experimental sciences now rely on computing, and biological sciences are no exception. As datasets get bigger, so do the computing costs, making proper optimization of the codes used by scientists increasingly important. Many of the codes developed in recent years are based on the Python-based NumPy, due to its ease of use and good performance characteristics. The composable nature of NumPy, however, does not generally play well with the multi-tier nature of modern CPUs, making any non-trivial multi-step algorithm limited by the external memory access speeds, which are hundreds of times slower than the CPU's compute capabilities. In order to fully utilize the CPU compute capabilities, one must keep the working memory footprint small enough to fit in the CPU caches, which requires splitting the problem into smaller portions and fusing together as many steps as possible. In this paper, we present changes based on these principles to two important functions in the scikit-bio library, principal coordinates analysis and the Mantel test, that resulted in over 100x speed improvement in these widely used, general-purpose tools.
Medium Access Strategies for Integrated Access and Backhaul at mmWaves Unlicensed Spectrum
Venue: arXiv cs.NI 2021
Year: 2021

The unlicensed spectrum is recently considered one of the defining solutions to meet the steadily growing traffic demand. This, in turn, has led to the enhancement for LTE in Release-13 to enable Licensed-Assisted Access (LAA) operations. The design of the medium access control (MAC) protocol for the LAA system to harmonically coexist with the incumbent WLAN system operating in an unlicensed band is critical and challenging. In this paper, we consider an Integrated Access and Backhaul (IAB) system coexisting with a Wi-Fi network operating at millimeter-wave (mmWave) unlicensed spectrum, for which a listen-before-talk-based (LBT) based medium access mechanism is carefully designed. Additionally, we have considered an in-band system that supports both access and backhaul in a single node where the small-cell or the IAB nodes compete with the WiGig for medium access. We present comprehensive experimental results and give design insights based on the simulation results.
LaTeX-Numeric: Language-agnostic Text attribute eXtraction for E-commerce Numeric Attributes
Venue: arXiv cs.LG 2021
Year: 2021

In this paper, we present LaTeX-Numeric - a high-precision fully-automated scalable framework for extracting E-commerce numeric attributes from product text like product description. Most of the past work on attribute extraction is not scalable as they rely on manually curated training data, either with or without the use of active learning. We rely on distant supervision for training data generation, removing dependency on manual labels. One issue with distant supervision is that it leads to incomplete training annotation due to missing attribute values while matching. We propose a multi-task learning architecture to deal with missing labels in the training data, leading to F1 improvement of 9.2% for numeric attributes over single-task architecture. While multi-task architecture benefits both numeric and non-numeric attributes, we present automated techniques to further improve the numeric attributes extraction models. Numeric attributes require a list of units (or aliases) for better matching with distant supervision. We propose an automated algorithm for alias creation using product text and attribute values, leading to a 20.2% F1 improvement. Extensive experiments on real world dataset for 20 numeric attributes across 5 product categories and 3 English marketplaces show that LaTeX-Numeric achieves a high F1-score, without any manual intervention, making it suitable for practical applications. Finally, we show that the improvements are language-agnostic and LaTeX-Numeric achieves 13.9% F1 improvement for 3 Romance languages.
ELECTRAMed: a new pre-trained language representation model for biomedical NLP
Venue: arXiv cs.CL 2021
Year: 2021

The overwhelming amount of biomedical scientific texts calls for the development of effective language models able to tackle a wide range of biomedical natural language processing (NLP) tasks. The most recent dominant approaches are domain-specific models, initialized with general-domain textual data and then trained on a variety of scientific corpora. However, it has been observed that for specialized domains in which large corpora exist, training a model from scratch with just in-domain knowledge may yield better results. Moreover, the increasing focus on the compute costs for pre-training recently led to the design of more efficient architectures, such as ELECTRA. In this paper, we propose a pre-trained domain-specific language model, called ELECTRAMed, suited for the biomedical field. The novel approach inherits the learning framework of the general-domain ELECTRA architecture, as well as its computational advantages. Experiments performed on benchmark datasets for several biomedical NLP tasks support the usefulness of ELECTRAMed, which sets the novel state-of-the-art result on the BC5CDR corpus for named entity recognition, and provides the best outcome in 2 over the 5 runs of the 7th BioASQ-factoid Challange for the question answering task.
Towards Guaranteed Safety Assurance of Automated Driving Systems with Scenario Sampling: An Invariant Set Perspective (Extended Version)
Venue: arXiv cs.RO 2021
Year: 2021

How many scenarios are sufficient to validate the safe Operational Design Domain (ODD) of an Automated Driving System (ADS) equipped vehicle? Is a more significant number of sampled scenarios guaranteeing a more accurate safety assessment of the ADS? Despite the various empirical success of ADS safety evaluation with scenario sampling in practice, some of the fundamental properties are largely unknown. This paper seeks to remedy this gap by formulating and tackling the scenario sampling safety assurance problem from a set invariance perspective. First, a novel conceptual equivalence is drawn between the scenario sampling safety assurance problem and the data-driven robustly controlled forward invariant set validation and quantification problem. This paper then provides a series of resolution complete and probabilistic complete solutions with finite-sampling analyses for the safety validation problem that authenticates a given ODD. On the other hand, the quantification problem escalates the validation challenge and starts looking for a safe sub-domain of a particular property. This inspires various algorithms that are provably probabilistic incomplete, probabilistic complete but sub-optimal, and asymptotically optimal. Finally, the proposed asymptotically optimal scenario sampling safety quantification algorithm is also empirically demonstrated through simulation experiments.
Predictor-Corrector(PC) Temporal Difference(TD) Learning (PCTD)
Venue: arXiv cs.LG 2021
Year: 2021

Using insight from numerical approximation of ODEs and the problem formulation and solution methodology of TD learning through a Galerkin relaxation, I propose a new class of TD learning algorithms. After applying the improved numerical methods, the parameter being approximated has a guaranteed order of magnitude reduction in the Taylor Series error of the solution to the ODE for the parameter $θ(t)$ that is used in constructing the linearly parameterized value function. Predictor-Corrector Temporal Difference (PCTD) is what I call the translated discrete time Reinforcement Learning(RL) algorithm from the continuous time ODE using the theory of Stochastic Approximation(SA). Both causal and non-causal implementations of the algorithm are provided, and simulation results are listed for an infinite horizon task to compare the original TD(0) algorithm against both versions of PCTD(0).