OpenRaiser/Intern-Atlas huggingface dataset:
Necessary and Sufficient Polynomial Constraints on Compatible Triplets of Essential Matrices
Venue: arXiv cs.CV 2019
Year: 2019

The essential matrix incorporates relative rotation and translation parameters of two calibrated cameras. The well-known algebraic characterization of essential matrices, i.e. necessary and sufficient conditions under which an arbitrary matrix (of rank two) becomes essential, consists of a unique matrix equation of degree three. Based on this equation, a number of efficient algorithmic solutions to different relative pose estimation problems have been proposed. In three views, a possible way to describe the geometry of three calibrated cameras comes from considering compatible triplets of essential matrices. The compatibility is meant the correspondence of a triplet to a certain configuration of calibrated cameras. The main goal of this paper is to give an algebraic characterization of compatible triplets of essential matrices. Specifically, we propose necessary and sufficient polynomial constraints on a triplet of real rank-two essential matrices that ensure its compatibility. The constraints are given in the form of six cubic matrix equations, one quartic and one sextic scalar equations. An important advantage of the proposed constraints is their sufficiency even in the case of cameras with collinear centers. The applications of the constraints may include relative camera pose estimation in three and more views, averaging of essential matrices for incremental structure from motion, multiview camera auto-calibration, etc.
Deep-learning-based classification and retrieval of components of a process plant from segmented point clouds
Venue: arXiv cs.CV 2019
Year: 2019

Technology to recognize the type of component represented by a point cloud is required in the reconstruction process of an as-built model of a process plant based on laser scanning. The reconstruction process of a process plant through laser scanning is divided into point cloud registration, point cloud segmentation, and component type recognition and placement. Loss of shape data or imbalance of point cloud density problems generally occur in the point cloud data collected from large-scale facilities. In this study, we experimented with the possibility of applying object recognition technology based on 3D deep learning networks, which have been showing high performance recently, and analyzed the results. For training data, we used a segmented point cloud repository about components that we constructed by scanning a process plant. For networks, we selected the multi-view convolutional neural network (MVCNN), which is a view-based method, and PointNet, which is designed to allow the direct input of point cloud data. In the case of the MVCNN, we also performed an experiment on the generation method for two types of multi-view images that can complement the shape occlusion of the segmented point cloud. In this experiment, the MVCNN showed the highest retrieval accuracy of approximately 87%, whereas PointNet showed the highest retrieval mean average precision of approximately 84%. Furthermore, both networks showed high recognition performance for the segmented point cloud of plant components when there was sufficient training data.
Federated Imitation Learning: A Novel Framework for Cloud Robotic Systems with Heterogeneous Sensor Data
Venue: arXiv cs.RO 2019
Year: 2019

Humans are capable of learning a new behavior by observing others to perform the skill. Similarly, robots can also implement this by imitation learning. Furthermore, if with external guidance, humans can master the new behavior more efficiently. So, how can robots achieve this? To address the issue, we present a novel framework named FIL. It provides a heterogeneous knowledge fusion mechanism for cloud robotic systems. Then, a knowledge fusion algorithm in FIL is proposed. It enables the cloud to fuse heterogeneous knowledge from local robots and generate guide models for robots with service requests. After that, we introduce a knowledge transfer scheme to facilitate local robots acquiring knowledge from the cloud. With FIL, a robot is capable of utilizing knowledge from other robots to increase its imitation learning in accuracy and efficiency. Compared with transfer learning and meta-learning, FIL is more suitable to be deployed in cloud robotic systems. Finally, we conduct experiments of a self-driving task for robots (cars). The experimental results demonstrate that the shared model generated by FIL increases imitation learning efficiency of local robots in cloud robotic systems.
Nonlinear Markov Clustering by Minimum Curvilinear Sparse Similarity
Venue: arXiv cs.LG 2019
Year: 2019

The development of algorithms for unsupervised pattern recognition by nonlinear clustering is a notable problem in data science. Markov clustering (MCL) is a renowned algorithm that simulates stochastic flows on a network of sample similarities to detect the structural organization of clusters in the data, but it has never been generalized to deal with data nonlinearity. Minimum Curvilinearity (MC) is a principle that approximates nonlinear sample distances in the high-dimensional feature space by curvilinear distances, which are computed as transversal paths over their minimum spanning tree, and then stored in a kernel. Here we propose MC-MCL, which is the first nonlinear kernel extension of MCL and exploits Minimum Curvilinearity to enhance the performance of MCL in real and synthetic data with underlying nonlinear patterns. MC-MCL is compared with baseline clustering methods, including DBSCAN, K-means and affinity propagation. We find that Minimum Curvilinearity provides a valuable framework to estimate nonlinear distances also when its kernel is applied in combination with MCL. Indeed, MC-MCL overcomes classical MCL and even baseline clustering algorithms in different nonlinear datasets.
Cache Optimization Models and Algorithms
Venue: arXiv cs.NI 2019
Year: 2019

Storage resources and caching techniques permeate almost every area of communication networks today. In the near future, caching is set to play an important role in storage-assisted Internet architectures, information-centric networks, and wireless systems, reducing operating and capital expenditures and improving the services offered to users. In light of the remarkable data traffic growth and the increasing number of rich-media applications, the impact of caching is expected to become even more profound than it is today. Therefore, it is crucial to design these systems in an optimal fashion, ensuring the maximum possible performance and economic benefits from their deployment. To this end, this article presents a collection of detailed models and algorithms, which are synthesized to build a powerful analytical framework for caching optimization.
Towards Deep Federated Defenses Against Malware in Cloud Ecosystems
Venue: arXiv cs.CR 2019
Year: 2019

In cloud computing environments with many virtual machines, containers, and other systems, an epidemic of malware can be highly threatening to business processes. In this vision paper, we introduce a hierarchical approach to performing malware detection and analysis using several recent advances in machine learning on graphs, hypergraphs, and natural language. We analyze individual systems and their logs, inspecting and understanding their behavior with attentional sequence models. Given a feature representation of each system's logs using this procedure, we construct an attributed network of the cloud with systems and other components as vertices and propose an analysis of malware with inductive graph and hypergraph learning models. With this foundation, we consider the multicloud case, in which multiple clouds with differing privacy requirements cooperate against the spread of malware, proposing the use of federated learning to perform inference and training while preserving privacy. Finally, we discuss several open problems that remain in defending cloud computing environments against malware related to designing robust ecosystems, identifying cloud-specific optimization problems for response strategy, action spaces for malware containment and eradication, and developing priors and transfer learning tasks for machine learning models in this area.
Measuring group-separability in geometrical space for evaluation of pattern recognition and embedding algorithms
Venue: arXiv cs.LG 2019
Year: 2019

Evaluating data separation in a geometrical space is fundamental for pattern recognition. A plethora of dimensionality reduction (DR) algorithms have been developed in order to reveal the emergence of geometrical patterns in a low dimensional visible representation space, in which high-dimensional samples similarities are approximated by geometrical distances. However, statistical measures to evaluate directly in the low dimensional geometrical space the sample group separability attaiend by these DR algorithms are missing. Certainly, these separability measures could be used both to compare algorithms performance and to tune algorithms parameters. Here, we propose three statistical measures (named as PSI-ROC, PSI-PR, and PSI-P) that have origin from the Projection Separability (PS) rationale introduced in this study, which is expressly designed to assess group separability of data samples in a geometrical space. Traditional cluster validity indices (CVIs) might be applied in this context but they show limitations because they are not specifically tailored for DR. Our PS measures are compared to six baseline cluster validity indices, using five non-linear datasets and six different DR algorithms. The results provide clear evidence that statistical-based measures based on PS rationale are more accurate than CVIs and can be adopted to control the tuning of parameter-dependent DR algorithms.
The Limits of Efficiency for Open- and Closed-World Query Evaluation Under Guarded TGDs
Venue: arXiv cs.DB 2019
Year: 2019

Ontology-mediated querying and querying in the presence of constraints are two key database problems where tuple-generating dependencies (TGDs) play a central role. In ontology-mediated querying, TGDs can formalize the ontology and thus derive additional facts from the given data, while in querying in the presence of constraints, they restrict the set of admissible databases. In this work, we study the limits of efficient query evaluation in the context of the above two problems, focussing on guarded and frontier-guarded TGDs and on UCQs as the actual queries. We show that a class of ontology-mediated queries (OMQs) based on guarded TGDs can be evaluated in FPT iff the OMQs in the class are equivalent to OMQs in which the actual query has bounded treewidth, up to some reasonable assumptions. For querying in the presence of constraints, we consider classes of constraint-query specifications (CQSs) that bundle a set of constraints with an actual query. We show a dichotomy result for CQSs based on guarded TGDs that parallels the one for OMQs except that, additionally, FPT coincides with PTime combined complexity. The proof is based on a novel connection between OMQ and CQS evaluation. Using a direct proof, we also show a similar dichotomy result, again up to some reasonable assumptions, for CQSs based on frontier-guarded TGDs with a bounded number of atoms in TGD heads. Our results on CQSs can be viewed as extensions of Grohe's well-known characterization of the tractable classes of CQs (without constraints). Like Grohe's characterization, all the above results assume that the arity of relation symbols is bounded by a constant. We also study the associated meta problems, i.e., whether a given OMQ or CQS is equivalent to one in which the actual query has bounded treewidth.
Construction of mutually unbiased maximally entangled bases in $\mathbb{C}^{2^s}\otimes\mathbb{C}^{2^s}$ by using Galois rings
Venue: arXiv cs.IT 2019
Year: 2019

Mutually unbiased bases plays a central role in quantum mechanics and quantum information processing. As an important class of mutually unbiased bases, mutually unbiased maximally entangled bases (MUMEBs) in bipartite systems have attracted much attention in recent years. In the paper, we try to construct MUMEBs in $\mathbb{C}^{2^s} \otimes \mathbb{C}^{2^s}$ by using Galois rings, which is different from the work in \cite{xu2}, where finite fields are used. As applications, we obtain several new types of MUMEBs in $\mathbb{C}^{2^s}\otimes\mathbb{C}^{2^s}$ and prove that $M(2^s,2^s)\geq 3(2^s-1)$, which raises the lower bound of $M(2^s,2^s)$ given in \cite{xu}.
An Open-Source Project for MapReduce Performance Self-Tuning
Venue: arXiv cs.DC 2019
Year: 2019

Many Hadoop configuration parameters have significant influence in the performance of running MapReduce jobs on Hadoop. It is time-consuming and tedious for general users to manually tune the parameters for optimal MapReduce performance. Besides, most of existing self-tuning system have opaque implementation, making it difficult to use in practice. This study presents an open-source project that hosts the developing self-tuning system called Catla to address the issues. Catla integrates multiple direct search and derivative-free optimization-based techniques to facilitate tuning efficiency for users. An overview of the system and its usage are illustrated in this study. We also reported a simple example demonstrating the benefits of this ongoing project. Although this project is still developing and far from comprehensive, it is dedicated to contributing Hadoop ecosystem in terms of improving performance in big data analysis.
SLM Lab: A Comprehensive Benchmark and Modular Software Framework for Reproducible Deep Reinforcement Learning
Venue: arXiv cs.LG 2019
Year: 2019

We introduce SLM Lab, a software framework for reproducible reinforcement learning (RL) research. SLM Lab implements a number of popular RL algorithms, provides synchronous and asynchronous parallel experiment execution, hyperparameter search, and result analysis. RL algorithms in SLM Lab are implemented in a modular way such that differences in algorithm performance can be confidently ascribed to differences between algorithms, not between implementations. In this work we present the design choices behind SLM Lab and use it to produce a comprehensive single-codebase RL algorithm benchmark. In addition, as a consequence of SLM Lab's modular design, we introduce and evaluate a discrete-action variant of the Soft Actor-Critic algorithm (Haarnoja et al., 2018) and a hybrid synchronous/asynchronous training method for RL agents.
Privacy-Preserving Public Release of Datasets for Support Vector Machine Classification
Venue: arXiv cs.CR 2019
Year: 2019

We consider the problem of publicly releasing a dataset for support vector machine classification while not infringing on the privacy of data subjects (i.e., individuals whose private information is stored in the dataset). The dataset is systematically obfuscated using an additive noise for privacy protection. Motivated by the Cramer-Rao bound, inverse of the trace of the Fisher information matrix is used as a measure of the privacy. Conditions are established for ensuring that the classifier extracted from the original dataset and the obfuscated one are close to each other (capturing the utility). The optimal noise distribution is determined by maximizing a weighted sum of the measures of privacy and utility. The optimal privacy-preserving noise is proved to achieve local differential privacy. The results are generalized to a broader class of optimization-based supervised machine learning algorithms. Applicability of the methodology is demonstrated on multiple datasets.
Towards Unified INT8 Training for Convolutional Neural Network
Venue: arXiv cs.LG 2019
Year: 2019

Recently low-bit (e.g., 8-bit) network quantization has been extensively studied to accelerate the inference. Besides inference, low-bit training with quantized gradients can further bring more considerable acceleration, since the backward process is often computation-intensive. Unfortunately, the inappropriate quantization of backward propagation usually makes the training unstable and even crash. There lacks a successful unified low-bit training framework that can support diverse networks on various tasks. In this paper, we give an attempt to build a unified 8-bit (INT8) training framework for common convolutional neural networks from the aspects of both accuracy and speed. First, we empirically find the four distinctive characteristics of gradients, which provide us insightful clues for gradient quantization. Then, we theoretically give an in-depth analysis of the convergence bound and derive two principles for stable INT8 training. Finally, we propose two universal techniques, including Direction Sensitive Gradient Clipping that reduces the direction deviation of gradients and Deviation Counteractive Learning Rate Scaling that avoids illegal gradient update along the wrong direction. The experiments show that our unified solution promises accurate and efficient INT8 training for a variety of networks and tasks, including MobileNetV2, InceptionV3 and object detection that prior studies have never succeeded. Moreover, it enjoys a strong flexibility to run on off-the-shelf hardware, and reduces the training time by 22% on Pascal GPU without too much optimization effort. We believe that this pioneering study will help lead the community towards a fully unified INT8 training for convolutional neural networks.
An assistive HCI system based on block scanning objects using eye blinks
Venue: arXiv cs.HC 2019
Year: 2019

Human-Computer Interaction (HCI) provides a new communication channel between human and the computer. We develop an assistive system based on block scanning techniques using eye blinks that presents a hands-free interface between human and computer for people with motor impairments. The developed system has been tested by 12 users who performed 10 common in computer tasks using eye blinks with scanning time 1.0 second. The performance of the proposed system has been evaluated by selection time, selection accuracy, false alarm rate and average success rate. The success rate has found 98.1%.
SLOAM: Semantic Lidar Odometry and Mapping for Forest Inventory
Venue: arXiv cs.RO 2019
Year: 2019

This paper describes an end-to-end pipeline for tree diameter estimation based on semantic segmentation and lidar odometry and mapping. Accurate mapping of this type of environment is challenging since the ground and the trees are surrounded by leaves, thorns and vines, and the sensor typically experiences extreme motion. We propose a semantic feature based pose optimization that simultaneously refines the tree models while estimating the robot pose. The pipeline utilizes a custom virtual reality tool for labeling 3D scans that is used to train a semantic segmentation network. The masked point cloud is used to compute a trellis graph that identifies individual instances and extracts relevant features that are used by the SLAM module. We show that traditional lidar and image based methods fail in the forest environment on both Unmanned Aerial Vehicle (UAV) and hand-carry systems, while our method is more robust, scalable, and automatically generates tree diameter estimations.
Multiview Representation Learning for a Union of Subspaces
Venue: arXiv cs.LG 2019
Year: 2019

Canonical correlation analysis (CCA) is a popular technique for learning representations that are maximally correlated across multiple views in data. In this paper, we extend the CCA based framework for learning a multiview mixture model. We show that the proposed model and a set of simple heuristics yield improvements over standard CCA, as measured in terms of performance on downstream tasks. Our experimental results show that our correlation-based objective meaningfully generalizes the CCA objective to a mixture of CCA models.
Quantifying the Performance of Federated Transfer Learning
Venue: arXiv cs.DC 2019
Year: 2019

The scarcity of data and isolated data islands encourage different organizations to share data with each other to train machine learning models. However, there are increasing concerns on the problems of data privacy and security, which urges people to seek a solution like Federated Transfer Learning (FTL) to share training data without violating data privacy. FTL leverages transfer learning techniques to utilize data from different sources for training, while achieving data privacy protection without significant accuracy loss. However, the benefits come with a cost of extra computation and communication consumption, resulting in efficiency problems. In order to efficiently deploy and scale up FTL solutions in practice, we need a deep understanding on how the infrastructure affects the efficiency of FTL. Our paper tries to answer this question by quantitatively measuring a real-world FTL implementation FATE on Google Cloud. According to the results of carefully designed experiments, we verified that the following bottlenecks can be further optimized: 1) Inter-process communication is the major bottleneck; 2) Data encryption adds considerable computation overhead; 3) The Internet networking condition affects the performance a lot when the model is large.
Likelihood Ratios and Generative Classifiers for Unsupervised Out-of-Domain Detection In Task Oriented Dialog
Venue: arXiv cs.CL 2019
Year: 2019

The task of identifying out-of-domain (OOD) input examples directly at test-time has seen renewed interest recently due to increased real world deployment of models. In this work, we focus on OOD detection for natural language sentence inputs to task-based dialog systems. Our findings are three-fold: First, we curate and release ROSTD (Real Out-of-Domain Sentences From Task-oriented Dialog) - a dataset of 4K OOD examples for the publicly available dataset from (Schuster et al. 2019). In contrast to existing settings which synthesize OOD examples by holding out a subset of classes, our examples were authored by annotators with apriori instructions to be out-of-domain with respect to the sentences in an existing dataset. Second, we explore likelihood ratio based approaches as an alternative to currently prevalent paradigms. Specifically, we reformulate and apply these approaches to natural language inputs. We find that they match or outperform the latter on all datasets, with larger improvements on non-artificial OOD benchmarks such as our dataset. Our ablations validate that specifically using likelihood ratios rather than plain likelihood is necessary to discriminate well between OOD and in-domain data. Third, we propose learning a generative classifier and computing a marginal likelihood (ratio) for OOD detection. This allows us to use a principled likelihood while at the same time exploiting training-time labels. We find that this approach outperforms both simple likelihood (ratio) based and other prior approaches. We are hitherto the first to investigate the use of generative classifiers for OOD detection at test-time.