OpenRaiser/Intern-Atlas huggingface dataset:
Unmasking Communication Partners: A Low-Cost AI Solution for Digitally Removing Head-Mounted Displays in VR-Based Telepresence
Venue: arXiv cs.GR 2020
Year: 2020

Face-to-face conversation in Virtual Reality (VR) is a challenge when participants wear head-mounted displays (HMD). A significant portion of a participant's face is hidden and facial expressions are difficult to perceive. Past research has shown that high-fidelity face reconstruction with personal avatars in VR is possible under laboratory conditions with high-cost hardware. In this paper, we propose one of the first low-cost systems for this task which uses only open source, free software and affordable hardware. Our approach is to track the user's face underneath the HMD utilizing a Convolutional Neural Network (CNN) and generate corresponding expressions with Generative Adversarial Networks (GAN) for producing RGBD images of the person's face. We use commodity hardware with low-cost extensions such as 3D-printed mounts and miniature cameras. Our approach learns end-to-end without manual intervention, runs in real time, and can be trained and executed on an ordinary gaming computer. We report evaluation results showing that our low-cost system does not achieve the same fidelity of research prototypes using high-end hardware and closed source software, but it is capable of creating individual facial avatars with person-specific characteristics in movements and expressions.
Search-Based Online Trajectory Planning for Car-like Robots in Highly Dynamic Environments
Venue: arXiv cs.RO 2020
Year: 2020

This paper presents a search-based partial motion planner to generate dynamically feasible trajectories for car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by exploring a state graph built on motion primitives, which are generated by discretizing the time dimension and the control space. To enable fast online planning, we first propose an efficient path searching algorithm based on the aggregation and pruning of motion primitives. We then propose a fast collision checking algorithm that takes into account the motions of moving obstacles. The algorithm linearizes relative motions between the robot and obstacles and then checks collisions by comparing a point-line distance. Benefiting from the fast searching and collision checking algorithms, the planner can effectively and safely explore the state-time space to generate near-time-optimal solutions. The results through extensive experiments show that the proposed method can generate feasible trajectories within milliseconds while maintaining a higher success rate than up-to-date methods, which significantly demonstrates its advantages.
Blind Motion Deblurring through SinGAN Architecture
Venue: arXiv cs.CV 2020
Year: 2020

Blind motion deblurring involves reconstructing a sharp image from an observation that is blurry. It is a problem that is ill-posed and lies in the categories of image restoration problems. The training data-based methods for image deblurring mostly involve training models that take a lot of time. These models are data-hungry i.e., they require a lot of training data to generate satisfactory results. Recently, there are various image feature learning methods developed which relieve us of the need for training data and perform image restoration and image synthesis, e.g., DIP, InGAN, and SinGAN. SinGAN is a generative model that is unconditional and could be learned from a single natural image. This model primarily captures the internal distribution of the patches which are present in the image and is capable of generating samples of varied diversity while preserving the visual content of the image. Images generated from the model are very much like real natural images. In this paper, we focus on blind motion deblurring through SinGAN architecture.
A Strong Baseline for Crowd Counting and Unsupervised People Localization
Venue: arXiv cs.CV 2020
Year: 2020

In this paper, we explore a strong baseline for crowd counting and an unsupervised people localization algorithm based on estimated density maps. Firstly, existing methods achieve state-of-the-art performance based on different backbones and kinds of training tricks. We collect different backbones and training tricks and evaluate the impact of changing them and develop an efficient pipeline for crowd counting, which decreases MAE and RMSE significantly on multiple datasets. We also propose a clustering algorithm named isolated KMeans to locate the heads in density maps. This method can divide the density maps into subregions and find the centers under local count constraints without training any parameter and can be integrated with existing methods easily.
NLP-CIC @ DIACR-Ita: POS and Neighbor Based Distributional Models for Lexical Semantic Change in Diachronic Italian Corpora
Venue: arXiv cs.CL 2020
Year: 2020

We present our systems and findings on unsupervised lexical semantic change for the Italian language in the DIACR-Ita shared-task at EVALITA 2020. The task is to determine whether a target word has evolved its meaning with time, only relying on raw-text from two time-specific datasets. We propose two models representing the target words across the periods to predict the changing words using threshold and voting schemes. Our first model solely relies on part-of-speech usage and an ensemble of distance measures. The second model uses word embedding representation to extract the neighbor's relative distances across spaces and propose "the average of absolute differences" to estimate lexical semantic change. Our models achieved competent results, ranking third in the DIACR-Ita competition. Furthermore, we experiment with the k_neighbor parameter of our second model to compare the impact of using "the average of absolute differences" versus the cosine distance used in Hamilton et al. (2016).
NLP-CIC @ PRELEARN: Mastering prerequisites relations, from handcrafted features to embeddings
Venue: arXiv cs.CL 2020
Year: 2020

We present our systems and findings for the prerequisite relation learning task (PRELEARN) at EVALITA 2020. The task aims to classify whether a pair of concepts hold a prerequisite relation or not. We model the problem using handcrafted features and embedding representations for in-domain and cross-domain scenarios. Our submissions ranked first place in both scenarios with average F1 score of 0.887 and 0.690 respectively across domains on the test sets. We made our code is freely available.
Deep Learning Analysis and Age Prediction from Shoeprints
Venue: arXiv cs.CV 2020
Year: 2020

Human walking and gaits involve several complex body parts and are influenced by personality, mood, social and cultural traits, and aging. These factors are reflected in shoeprints, which in turn can be used to predict age, a problem not systematically addressed using any computational approach. We collected 100,000 shoeprints of subjects ranging from 7 to 80 years old and used the data to develop a deep learning end-to-end model ShoeNet to analyze age-related patterns and predict age. The model integrates various convolutional neural network models together using a skip mechanism to extract age-related features, especially in pressure and abrasion regions from pair-wise shoeprints. The results show that 40.23% of the subjects had prediction errors within 5-years of age and the prediction accuracy for gender classification reached 86.07%. Interestingly, the age-related features mostly reside in the asymmetric differences between left and right shoeprints. The analysis also reveals interesting age-related and gender-related patterns in the pressure distributions on shoeprints; in particular, the pressure forces spread from the middle of the toe toward outside regions over age with gender-specific variations on heel regions. Such statistics provide insight into new methods for forensic investigations, medical studies of gait-pattern disorders, biometrics, and sport studies.
Testing the Impact of Semantics and Structure on Recommendation Accuracy and Diversity
Venue: arXiv cs.SI 2020
Year: 2020

The Heterogeneous Information Network (HIN) formalism is very flexible and enables complex recommendations models. We evaluate the effect of different parts of a HIN on the accuracy and the diversity of recommendations, then investigate if these effects are only due to the semantic content encoded in the network. We use recently-proposed diversity measures which are based on the network structure and better suited to the HIN formalism. Finally, we randomly shuffle the edges of some parts of the HIN, to empty the network from its semantic content, while leaving its structure relatively unaffected. We show that the semantic content encoded in the network data has a limited importance for the performance of a recommender system and that structure is crucial.
Fast Low-Space Algorithms for Subset Sum
Venue: arXiv cs.DS 2020
Year: 2020

We consider the canonical Subset Sum problem: given a list of positive integers $a_1,\ldots,a_n$ and a target integer $t$ with $t > a_i$ for all $i$, determine if there is an $S \subseteq [n]$ such that $\sum_{i \in S} a_i = t$. The well-known pseudopolynomial-time dynamic programming algorithm [Bellman, 1957] solves Subset Sum in $O(nt)$ time, while requiring $Ω(t)$ space. In this paper we present algorithms for Subset Sum with $\tilde O(nt)$ running time and much lower space requirements than Bellman's algorithm, as well as that of prior work. We show that Subset Sum can be solved in $\tilde O(nt)$ time and $O(\log(nt))$ space with access to $O(\log n \log \log n+\log t)$ random bits. This significantly improves upon the $\tilde O(n t^{1+\varepsilon})$-time, $\tilde O(n\log t)$-space algorithm of Bringmann (SODA 2017). We also give an $\tilde O(n^{1+\varepsilon}t)$-time, $O(\log(nt))$-space randomized algorithm, improving upon previous $(nt)^{O(1)}$-time $O(\log(nt))$-space algorithms by Elberfeld, Jakoby, and Tantau (FOCS 2010), and Kane (2010). In addition, we also give a $\mathrm{poly} \log(nt)$-space, $\tilde O(n^2 t)$-time deterministic algorithm. We also study time-space trade-offs for Subset Sum. For parameter $1\le k\le \min\{n,t\}$, we present a randomized algorithm running in $\tilde O((n+t)\cdot k)$ time and $O((t/k) \mathrm{polylog} (nt))$ space. As an application of our results, we give an $\tilde{O}(\min\{n^2/\varepsilon, n/\varepsilon^2\})$-time and $\mathrm{polylog}(nt)$-space algorithm for "weak" $\varepsilon$-approximations of Subset Sum.
Autonomous Intruder Detection Using a ROS-Based Multi-Robot System Equipped with 2D-LiDAR Sensors
Venue: arXiv cs.RO 2020
Year: 2020

The application of autonomous mobile robots in robotic security platforms is becoming a promising field of innovation due to their adaptive capability of responding to potential disturbances perceived through a wide range of sensors. Researchers have proposed systems that either focus on utilizing a single mobile robot or a system of cooperative multiple robots. However, very few of the proposed works, particularly in the field of multi-robot systems, are completely dependent on LiDAR sensors for achieving various tasks. This is essential when other sensors on a robot fail to provide peak performance in particular conditions, such as a camera operating in the absence of light. This paper proposes a multi-robot system that is developed using ROS (Robot Operating System) for intruder detection in a single-range-sensor-per-robot scenario with centralized processing of detections from all robots by our central bot MIDNet (Multiple Intruder Detection Network). This work is aimed at providing an autonomous multi-robot security solution for a warehouse in the absence of human personnel.
ZoomTouch: Multi-User Remote Robot Control in Zoom by DNN-based Gesture Recognition
Venue: arXiv cs.RO 2020
Year: 2020

We present ZoomTouch - a breakthrough technology for multi-user control of robot from Zoom in real-time by DNN-based gesture recognition. The users from digital world can have a video conferencing and manipulate the robot to make the dexterous manipulations with tangible objects. As the scenario, we proposed the remote COVID-19 test Laboratory to considerably reduce the time to receive the data and substitute medical assistant working in protective gear in close proximity with infected cells. The proposed technology suggests a new type of reality, where multi-users can jointly interact with remote object, e.g. make a new building design, joint cooking in robotic kitchen, etc, and discuss/modify the results at the same time.
Echo Chambers in Collaborative Filtering Based Recommendation Systems
Venue: arXiv cs.IR 2020
Year: 2020

Recommendation systems underpin the serving of nearly all online content in the modern age. From Youtube and Netflix recommendations, to Facebook feeds and Google searches, these systems are designed to filter content to the predicted preferences of users. Recently, these systems have faced growing criticism with respect to their impact on content diversity, social polarization, and the health of public discourse. In this work we simulate the recommendations given by collaborative filtering algorithms on users in the MovieLens data set. We find that prolonged exposure to system-generated recommendations substantially decreases content diversity, moving individual users into "echo-chambers" characterized by a narrow range of content. Furthermore, our work suggests that once these echo-chambers have been established, it is difficult for an individual user to break out by manipulating solely their own rating vector.
Faster object tracking pipeline for real time tracking
Venue: arXiv cs.CV 2020
Year: 2020

Multi-object tracking (MOT) is a challenging practical problem for vision based applications. Most recent approaches for MOT use precomputed detections from models such as Faster RCNN, performing fine-tuning of bounding boxes and association in subsequent phases. However, this is not suitable for actual industrial applications due to unavailability of detections upfront. In their recent work, Wang et al. proposed a tracking pipeline that uses a Joint detection and embedding model and performs target localization and association in realtime. Upon investigating the tracking by detection paradigm, we find that the tracking pipeline can be made faster by performing localization and association tasks parallely with model prediction. This, and other computational optimizations such as using mixed precision model and performing batchwise detection result in a speed-up of the tracking pipeline by 57.8\% (19 FPS to 30 FPS) on FullHD resolution. Moreover, the speed is independent of the object density in image sequence. The main contribution of this paper is showcasing a generic pipeline which can be used to speed up detection based object tracking methods. We also reviewed different batch sizes for optimal performance, taking into consideration GPU memory usage and speed.
Learning World Transition Model for Socially Aware Robot Navigation
Venue: arXiv cs.RO 2020
Year: 2020

Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy is trained with both real interaction data from multi-agent simulation and virtual data from a deep transition model that predicts the evolution of surrounding dynamics of mobile robots. The model takes laser scan sequence and robot's own state as input and outputs steering control. The laser sequence is further transformed into stacked local obstacle maps disentangled from robot's ego motion to separate the static and dynamic obstacles, simplifying the model training. We observe that our method can be trained with significantly less real interaction data in simulator but achieve similar level of success rate in social navigation task compared with other methods. Experiments were conducted in multiple social scenarios both in simulation and on real robots, the learned policy can guide the robots to the final targets successfully while avoiding pedestrians in a socially compliant manner. Code is available at https://github.com/YuxiangCui/model-based-social-navigation
Simplifying Backscatter Deployment: Full-Duplex LoRa Backscatter
Venue: arXiv cs.NI 2020
Year: 2020

Due to the practical challenges in the deployment of existing half-duplex systems, the promise of ubiquitous backscatter connectivity has eluded us. To address this, we design the first long-range full-duplex LoRa backscatter reader. We leverage existing LoRa chipsets as transceivers and use a microcontroller in combination with inexpensive passive elements including a hybrid coupler, inductors, tunable capacitors, and resistors to achieve 78 dB of self-interference cancellation and build a low-cost, long-range, and small-form-factor Full-Duplex LoRa Backscatter reader. We evaluate our system in various deployments and show that we can successfully communicate with a backscatter tag at distances of up to 300 ft in line of sight, and through obstacles, such as walls and cubicles, in a 4,000 ft$^2$ office area. We reconfigure our reader to conform to the size and power requirements of a smartphone, and demonstrate communication with a contact-lens-form-factor prototype device. Finally, we attach our reader to a drone and demonstrate backscatter sensing for precision agriculture with an instantaneous coverage of 7,850 ft$^2$.
Fast-Tracker: A Robust Aerial System for Tracking Agile Target in Cluttered Environments
Venue: arXiv cs.RO 2020
Year: 2020

This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense environments are unknown to the UAV. Our work is divided into two parts: target motion prediction and tracking trajectory planning. The target motion prediction method utilizes target observations to reliably predict the future motion of the target considering dynamic constraints. The tracking trajectory planner follows the traditional hierarchical workflow.A target informed kinodynamic searching method is adopted as the front-end, which heuristically searches for a safe tracking trajectory. The back-end optimizer then refines it into a spatial-temporal optimal and collision-free trajectory. The proposed solution is integrated into an onboard quadrotor system. We fully test the system in challenging real-world tracking missions.Moreover, benchmark comparisons validate that the proposed method surpasses the cutting-edge methods on time efficiency and tracking effectiveness.
The quantization error in a Self-Organizing Map as a contrast and colour specific indicator of single-pixel change in large random patterns
Venue: arXiv cs.CV 2020
Year: 2020

The quantization error in a fixed-size Self-Organizing Map (SOM) with unsupervised winner-take-all learning has previously been used successfully to detect, in minimal computation time, highly meaningful changes across images in medical time series and in time series of satellite images. Here, the functional properties of the quantization error in SOM are explored further to show that the metric is capable of reliably discriminating between the finest differences in local contrast intensities and contrast signs. While this capability of the QE is akin to functional characteristics of a specific class of retinal ganglion cells (the so-called Y-cells) in the visual systems of the primate and the cat, the sensitivity of the QE surpasses the capacity limits of human visual detection. Here, the quantization error in the SOM is found to reliably signal changes in contrast or colour when contrast information is removed from or added to the image, but not when the amount and relative weight of contrast information is constant and only the local spatial position of contrast elements in the pattern changes. While the RGB Mean reflects coarser changes in colour or contrast well enough, the SOM-QE is shown to outperform the RGB Mean in the detection of single-pixel changes in images with up to five million pixels. This could have important implications in the context of unsupervised image learning and computational building block approaches to large sets of image data (big data), including deep learning blocks, and automatic detection of contrast change at the nanoscale in Transmission or Scanning Electron Micrographs (TEM, SEM), or at the subpixel level in multispectral and hyper-spectral imaging data.
Detecting Emerging Symptoms of COVID-19 using Context-based Twitter Embeddings
Venue: arXiv cs.CL 2020
Year: 2020

In this paper, we present an iterative graph-based approach for the detection of symptoms of COVID-19, the pathology of which seems to be evolving. More generally, the method can be applied to finding context-specific words and texts (e.g. symptom mentions) in large imbalanced corpora (e.g. all tweets mentioning #COVID-19). Given the novelty of COVID-19, we also test if the proposed approach generalizes to the problem of detecting Adverse Drug Reaction (ADR). We find that the approach applied to Twitter data can detect symptom mentions substantially before being reported by the Centers for Disease Control (CDC).
DyERNIE: Dynamic Evolution of Riemannian Manifold Embeddings for Temporal Knowledge Graph Completion
Venue: arXiv cs.LG 2020
Year: 2020

There has recently been increasing interest in learning representations of temporal knowledge graphs (KGs), which record the dynamic relationships between entities over time. Temporal KGs often exhibit multiple simultaneous non-Euclidean structures, such as hierarchical and cyclic structures. However, existing embedding approaches for temporal KGs typically learn entity representations and their dynamic evolution in the Euclidean space, which might not capture such intrinsic structures very well. To this end, we propose Dy- ERNIE, a non-Euclidean embedding approach that learns evolving entity representations in a product of Riemannian manifolds, where the composed spaces are estimated from the sectional curvatures of underlying data. Product manifolds enable our approach to better reflect a wide variety of geometric structures on temporal KGs. Besides, to capture the evolutionary dynamics of temporal KGs, we let the entity representations evolve according to a velocity vector defined in the tangent space at each timestamp. We analyze in detail the contribution of geometric spaces to representation learning of temporal KGs and evaluate our model on temporal knowledge graph completion tasks. Extensive experiments on three real-world datasets demonstrate significantly improved performance, indicating that the dynamics of multi-relational graph data can be more properly modeled by the evolution of embeddings on Riemannian manifolds.
The NederDrone: A hybrid lift, hybrid energy hydrogen UAV
Venue: arXiv cs.RO 2020
Year: 2020

A lot of UAV applications require vertical take-off and landing (VTOL) combined with very long-range or endurance. Transitioning UAVs have been proposed to combine the VTOL capabilities of helicopters with the efficient long-range flight properties of fixed-wing aircraft. But energy is still a bottleneck for many electric long endurance applications. While solar power technology and battery technology have improved a lot, in rougher conditions they still respectively lack the power or total amount of energy required for many real-world situations. In this paper, we introduce the NederDrone, a hybrid lift, hybrid energy hydrogen-powered UAV which can perform vertical take-off and landings using 12 propellers while flying efficiently in forward flight thanks to its fixed wings. The energy is supplied from a mix of hydrogen-driven fuel-cells to store large amounts of energy and battery power for high power situations. The hydrogen is stored in a pressurized cylinder around which the UAV is optimized. This paper analyses the selection of the concept, the implemented safety elements, the electronics and flight control and shows flight data including a 3h38 flight at sea, starting and landing on a small moving ship.