OpenRaiser/Intern-Atlas huggingface dataset:
Dynamic Walkng of Legged Machines
Venue: arXiv cs.RO 2018
Year: 2018

Locomotion of legged machines faces the problems of model complexity and computational costs. Algorithms based on complex models and/or reinforcement learning exist to solve the walking control task. In this project, we aim to develop a bipedal walking control system based on a simple model the Linear Inverted Pendulum model. In order to simplify the complex process of controlling legged locomotion, we make use of the technique of splitting the control into three parts as height control, forward velocity control and balance control. The forward velocity of the body has a linear relationship with the foot placement, therefore we use a linear function to realise foot placement. Our control system achieves stable walking gait in a simulated environment, where our bipedal robot walks more than 200 steps with a cyclic pattern in a stable, dynamic and almost natural manner. The experimental data are presented and analysed.
Runtime Optimization of Identification Event in ECG Based Biometric Authentication
Venue: arXiv cs.CR 2018
Year: 2018

Biometric Authentication has become a very popular method for different state-of-the-art security architectures. Albeit the ubiquitous acceptance and constant development of trivial biometric authentication methods such as fingerprint, palm-print, retinal scan etc., the possibility of producing a highly competitive performance from somewhat less-popular methods still remains. Electrocardiogram (ECG) based biometric authentication is such a method, which, despite its limited appearance in earlier research works, are currently being observed as equivalently high-performing as other trivial popular methods. In this paper, we have proposed a model to optimize the runtime of identification event in ECG based biometric authentication and we have achieved a maximum of 79.26% time reduction with 100% accuracy.
Automated Vision-based Bridge Component Extraction Using Multiscale Convolutional Neural Networks
Venue: arXiv cs.CV 2018
Year: 2018

Image data has a great potential of helping post-earthquake visual inspections of civil engineering structures due to the ease of data acquisition and the advantages in capturing visual information. A variety of techniques have been applied to detect damages automatically from a close-up image of a structural component. However, the application of the automatic damage detection methods become increasingly difficult when the image includes multiple components from different structures. To reduce the inaccurate false positive alarms, critical structural components need to be recognized first, and the damage alarms need to be cleaned using the component recognition results. To achieve the goal, this study aims at recognizing and extracting bridge components from images of urban scenes. The bridge component recognition begins with pixel-wise classifications of an image into 10 scene classes. Then, the original image and the scene classification results are combined to classify the image pixels into five component classes. The multi-scale convolutional neural networks (multi-scale CNNs) are used to perform pixel-wise classification, and the classification results are post-processed by averaging within superpixels and smoothing by conditional random fields (CRFs). The performance of the bridge component extraction is tested in terms of accuracy and consistency.
PACT: Parameterized Clipping Activation for Quantized Neural Networks
Venue: arXiv cs.CV 2018
Year: 2018

Deep learning algorithms achieve high classification accuracy at the expense of significant computation cost. To address this cost, a number of quantization schemes have been proposed - but most of these techniques focused on quantizing weights, which are relatively smaller in size compared to activations. This paper proposes a novel quantization scheme for activations during training - that enables neural networks to work well with ultra low precision weights and activations without any significant accuracy degradation. This technique, PArameterized Clipping acTivation (PACT), uses an activation clipping parameter $α$ that is optimized during training to find the right quantization scale. PACT allows quantizing activations to arbitrary bit precisions, while achieving much better accuracy relative to published state-of-the-art quantization schemes. We show, for the first time, that both weights and activations can be quantized to 4-bits of precision while still achieving accuracy comparable to full precision networks across a range of popular models and datasets. We also show that exploiting these reduced-precision computational units in hardware can enable a super-linear improvement in inferencing performance due to a significant reduction in the area of accelerator compute engines coupled with the ability to retain the quantized model and activation data in on-chip memories.
Graph Edge Convolutional Neural Networks for Skeleton Based Action Recognition
Venue: arXiv cs.CV 2018
Year: 2018

This paper investigates body bones from skeleton data for skeleton based action recognition. Body joints, as the direct result of mature pose estimation technologies, are always the key concerns of traditional action recognition methods. However, instead of joints, we humans naturally identify how the human body moves according to shapes, lengths and places of bones, which are more obvious and stable for observation. Hence given graphs generated from skeleton data, we propose to develop convolutions over graph edges that correspond to bones in human skeleton. We describe an edge by integrating its spatial neighboring edges to explore the cooperation between different bones, as well as its temporal neighboring edges to address the consistency of movements in an action. A graph edge convolutional neural network is then designed for skeleton based action recognition. Considering the complementarity between graph node convolution and graph edge convolution, we additionally construct two hybrid neural networks to combine graph node convolutional neural network and graph edge convolutional neural network using shared intermediate layers. Experimental results on Kinetics and NTU-RGB+D datasets demonstrate that our graph edge convolution is effective to capture characteristic of actions and our graph edge convolutional neural network significantly outperforms existing state-of-art skeleton based action recognition methods. Additionally, more performance improvements can be achieved by the hybrid networks.
A Structural Representation Learning for Multi-relational Networks
Venue: arXiv cs.SI 2018
Year: 2018

Most of the existing multi-relational network embedding methods, e.g., TransE, are formulated to preserve pair-wise connectivity structures in the networks. With the observations that significant triangular connectivity structures and parallelogram connectivity structures found in many real multi-relational networks are often ignored and that a hard-constraint commonly adopted by most of the network embedding methods is inaccurate by design, we propose a novel representation learning model for multi-relational networks which can alleviate both fundamental limitations. Scalable learning algorithms are derived using the stochastic gradient descent algorithm and negative sampling. Extensive experiments on real multi-relational network datasets of WordNet and Freebase demonstrate the efficacy of the proposed model when compared with the state-of-the-art embedding methods.
PSD Estimation and Source Separation in a Noisy Reverberant Environment using a Spherical Microphone Array
Venue: arXiv cs.SD 2018
Year: 2018

In this paper, we propose an efficient technique for estimating individual power spectral density (PSD) components, i.e., PSD of each desired sound source as well as of noise and reverberation, in a multi-source reverberant sound scene with coherent background noise. We formulate the problem in the spherical harmonics domain to take the advantage of the inherent orthogonality of the spherical harmonics basis functions and extract the PSD components from the cross-correlation between the different sound field modes. We also investigate an implementation issue that occurs at the nulls of the Bessel functions and offer an engineering solution. The performance evaluation takes place in a practical environment with a commercial microphone array in order to measure the robustness of the proposed algorithm against all the deviations incurred in practice. We also exhibit an application of the proposed PSD estimator through a source septation algorithm and compare the performance with a contemporary method in terms of different objective measures.
Artificial Intelligence Paradigm for Customer Experience Management in Next-Generation Networks: Challenges and Perspectives
Venue: arXiv cs.NI 2018
Year: 2018

With advancements of next-generation programmable networks a traditional rule-based decision-making may not be able to adapt effectively to changing network and customer requirements and provide optimal customer experience. Customer experience management (CEM) components and implementation challenges with respect to operator, network, and business requirements must be understood to meet required demands. This paper gives an overview of CEM components and their design challenges. We elaborate on data analytics and artificial intelligence driven CEM and their functional differences. This overview provides a path toward autonomous CEM framework in next-generation networks and sets the groundwork for future enhancements.
Approximating the Void: Learning Stochastic Channel Models from Observation with Variational Generative Adversarial Networks
Venue: arXiv cs.LG 2018
Year: 2018

Channel modeling is a critical topic when considering designing, learning, or evaluating the performance of any communications system. Most prior work in designing or learning new modulation schemes has focused on using highly simplified analytic channel models such as additive white Gaussian noise (AWGN), Rayleigh fading channels or similar. Recently, we proposed the usage of a generative adversarial networks (GANs) to jointly approximate a wireless channel response model (e.g. from real black box measurements) and optimize for an efficient modulation scheme over it using machine learning. This approach worked to some degree, but was unable to produce accurate probability distribution functions (PDFs) representing the stochastic channel response. In this paper, we focus specifically on the problem of accurately learning a channel PDF using a variational GAN, introducing an architecture and loss function which can accurately capture stochastic behavior. We illustrate where our prior method failed and share results capturing the performance of such as system over a range of realistic channel distributions.
Towards Complex Artificial Life
Venue: arXiv cs.NE 2018
Year: 2018

An object-oriented combinator chemistry was used to construct an artificial organism with a system architecture possessing characteristics necessary for organisms to evolve into more complex forms. This architecture supports modularity by providing a mechanism for the construction of executable modules called $methods$ that can be duplicated and specialized to increase complexity. At the same time, its support for concurrency provides the flexibility in execution order necessary for redundancy, degeneracy and parallelism to mitigate increased replication costs. The organism is a moving, self-replicating, spatially distributed assembly of elemental combinators called a $roving \: pile.$ The pile hosts an asynchronous message passing computation implemented by parallel subprocesses encoded by genes distributed through out the pile like the plasmids of a bacterial cell.
Airtnt: Fair Exchange Payment for Outsourced Secure Enclave Computations
Venue: arXiv cs.CR 2018
Year: 2018

We present Airtnt, a novel scheme that enables users with CPUs that support Trusted Execution Environments (TEEs) and remote attestation to rent out computing time on secure enclaves to untrusted users. Airtnt makes use of the attestation capabilities of TEEs and smart contracts on distributed ledgers to guarantee the fair exchange of the payment and the result of an execution. Airtnt makes use of off-chain payment channels to allow requesters to pay executing nodes for intermediate "snapshots" of the state of an execution. Effectively, this step-by-step "compute-payment" cycle realises untrusted pay-as-you-go micropayments for computation. Neither the requester nor the executing node can walk away and incur monetary loss to the other party. This also allows requesters to continue executions on other executing nodes if the original executing node becomes unavailable or goes offline.
First Experiments with Neural Translation of Informal to Formal Mathematics
Venue: arXiv cs.CL 2018
Year: 2018

We report on our experiments to train deep neural networks that automatically translate informalized LaTeX-written Mizar texts into the formal Mizar language. To the best of our knowledge, this is the first time when neural networks have been adopted in the formalization of mathematics. Using Luong et al.'s neural machine translation model (NMT), we tested our aligned informal-formal corpora against various hyperparameters and evaluated their results. Our experiments show that our best performing model configurations are able to generate correct Mizar statements on 65.73\% of the inference data, with the union of all models covering 79.17\%. These results indicate that formalization through artificial neural network is a promising approach for automated formalization of mathematics. We present several case studies to illustrate our results.
Composite Semantic Relation Classification
Venue: arXiv cs.CL 2018
Year: 2018

Different semantic interpretation tasks such as text entailment and question answering require the classification of semantic relations between terms or entities within text. However, in most cases it is not possible to assign a direct semantic relation between entities/terms. This paper proposes an approach for composite semantic relation classification, extending the traditional semantic relation classification task. Different from existing approaches, which use machine learning models built over lexical and distributional word vector features, the proposed model uses the combination of a large commonsense knowledge base of binary relations, a distributional navigational algorithm and sequence classification to provide a solution for the composite semantic relation classification problem.
Semantic Relatedness for All (Languages): A Comparative Analysis of Multilingual Semantic Relatedness Using Machine Translation
Venue: arXiv cs.CL 2018
Year: 2018

This paper provides a comparative analysis of the performance of four state-of-the-art distributional semantic models (DSMs) over 11 languages, contrasting the native language-specific models with the use of machine translation over English-based DSMs. The experimental results show that there is a significant improvement (average of 16.7% for the Spearman correlation) by using state-of-the-art machine translation approaches. The results also show that the benefit of using the most informative corpus outweighs the possible errors introduced by the machine translation. For all languages, the combination of machine translation over the Word2Vec English distributional model provided the best results consistently (average Spearman correlation of 0.68).
Recurrent Neural Network for Learning DenseDepth and Ego-Motion from Video
Venue: arXiv cs.CV 2018
Year: 2018

Learning-based, single-view depth estimation often generalizes poorly to unseen datasets. While learning-based, two-frame depth estimation solves this problem to some extent by learning to match features across frames, it performs poorly at large depth where the uncertainty is high. There exists few learning-based, multi-view depth estimation methods. In this paper, we present a learning-based, multi-view dense depth map and ego-motion estimation method that uses Recurrent Neural Networks (RNN). Our model is designed for 3D reconstruction from video where the input frames are temporally correlated. It is generalizable to single- or two-view dense depth estimation. Compared to recent single- or two-view CNN-based depth estimation methods, our model leverages more views and achieves more accurate results, especially at large distances. Our method produces superior results to the state-of-the-art learning-based, single- or two-view depth estimation methods on both indoor and outdoor benchmark datasets. We also demonstrate that our method can even work on extremely difficult sequences, such as endoscopic video, where none of the assumptions (static scene, constant lighting, Lambertian reflection, etc.) from traditional 3D reconstruction methods hold.
Accelerating Nonnegative Matrix Factorization Algorithms using Extrapolation
Venue: arXiv cs.NA 2018
Year: 2018

In this paper, we propose a general framework to accelerate significantly the algorithms for nonnegative matrix factorization (NMF). This framework is inspired from the extrapolation scheme used to accelerate gradient methods in convex optimization and from the method of parallel tangents. However, the use of extrapolation in the context of the two-block exact coordinate descent algorithms tackling the non-convex NMF problems is novel. We illustrate the performance of this approach on two state-of-the-art NMF algorithms, namely, accelerated hierarchical alternating least squares (A-HALS) and alternating nonnegative least squares (ANLS), using synthetic, image and document data sets.
Novel Force Estimation-based Bilateral Teleoperation applying Type-2 Fuzzy logic and Moving Horizon Estimation
Venue: arXiv cs.RO 2018
Year: 2018

This paper develops a novel force observer for bilateral teleoperation systems. Type-2 fuzzy logic is used to describe the overall dynamic system, and Moving Horizon Estimation (MHE) is employed to assess clean states as well as the values of dynamic uncertainties, and simultaneously filter out the measurement noises, which guarantee the high degree of accuracy for the observed forces. Compared with the existing methods, the proposed force observer can run without knowing exact mathematical dynamic functions and is robust to different kinds of noises. A force-reflection four-channel teleoperation control laws is also proposed that involving the observed environmental and human force to provide the highly accurate force tracking between the master and the slave in the presence of time delays. Finally, experiments based on two haptic devices demonstrate the superiority of the proposed method through the comparisons with multiple state-to-the-art force observers.
Interference Analysis in Dynamic TDD System Combined or not With Cell Clustering Scheme
Venue: arXiv cs.NI 2018
Year: 2018

Dynamic Time Division Duplex (TDD) has been introduced as a solution to deal with the uplink and downlink traffic asymmetry, mainly observed for dense heterogeneous network deployments. However, the use of this feature requires new interference mitigation schemes capable to handle two additional types of interferences between cells in opposite transmission cycle: downlink to uplink and uplink to downlink interferences. Among them, Cell clustering has been proposed as an efficient solution to minimize inter-cell interferences in opposite transmission directions and somehow responds to the requirements of enhanced Interference Mitigation and Traffic Adaptation (eIMTA) problem. This work is devoted to provide a new analytical approach to model inter-cell interferences and quantify performances of Dynamic TDD system in terms of SINR (Signal to Interferences plus Noise Ratio) distribution. Analytical system performance investigation concerns two scenarios: i) basic Dynamic TDD without any other feature and ii) Dynamic TDD with interference mitigation schemes.
Extrapolation in NLP
Venue: arXiv cs.CL 2018
Year: 2018

We argue that extrapolation to examples outside the training space will often be easier for models that capture global structures, rather than just maximise their local fit to the training data. We show that this is true for two popular models: the Decomposable Attention Model and word2vec.
Survey on Multi-Access Edge Computing for Internet of Things Realization
Venue: arXiv cs.NI 2018
Year: 2018

The Internet of Things (IoT) has recently advanced from an experimental technology to what will become the backbone of future customer value for both product and service sector businesses. This underscores the cardinal role of IoT on the journey towards the fifth generation (5G) of wireless communication systems. IoT technologies augmented with intelligent and big data analytics are expected to rapidly change the landscape of myriads of application domains ranging from health care to smart cities and industrial automations. The emergence of Multi-Access Edge Computing (MEC) technology aims at extending cloud computing capabilities to the edge of the radio access network, hence providing real-time, high-bandwidth, low-latency access to radio network resources. IoT is identified as a key use case of MEC, given MEC's ability to provide cloud platform and gateway services at the network edge. MEC will inspire the development of myriads of applications and services with demand for ultra low latency and high Quality of Service (QoS) due to its dense geographical distribution and wide support for mobility. MEC is therefore an important enabler of IoT applications and services which require real-time operations. In this survey, we provide a holistic overview on the exploitation of MEC technology for the realization of IoT applications and their synergies. We further discuss the technical aspects of enabling MEC in IoT and provide some insight into various other integration technologies therein.
On randomized generation of slowly synchronizing automata
Venue: arXiv cs.FL 2018
Year: 2018

Motivated by the randomized generation of slowly synchronizing automata, we study automata made of permutation letters and a merging letter of rank $ n\!-\!1 $. We present a constructive randomized procedure to generate synchronizing automata of that kind with (potentially) large alphabet size based on recent results on \textit{primitive} sets of matrices. We report numerical results showing that our algorithm finds automata with much larger reset threshold than a mere uniform random generation and we present new families of automata with reset threshold of $ Ω(n^2/4) $. We finally report theoretical results on randomized generation of primitive sets of matrices: a set of permutation matrices with a $ 0 $ entry changed into a $ 1 $ is primitive and has exponent of $ O(n\log n) $ with high probability in case of uniform random distribution and the same holds for a random set of binary matrices where each entry is set, independently, equal to $ 1 $ with probability $ p $ and equal to $ 0 $ with probability $ 1-p $, when $ np-\log n\rightarrow\infty $ as $ n\rightarrow\infty $.
Minimum Margin Loss for Deep Face Recognition
Venue: arXiv cs.CV 2018
Year: 2018

Face recognition has achieved great progress owing to the fast development of the deep neural network in the past a few years. As an important part of deep neural networks, a number of the loss functions have been proposed which significantly improve the state-of-the-art methods. In this paper, we proposed a new loss function called Minimum Margin Loss (MML) which aims at enlarging the margin of those overclose class centre pairs so as to enhance the discriminative ability of the deep features. MML supervises the training process together with the Softmax Loss and the Centre Loss, and also makes up the defect of Softmax + Centre Loss. The experimental results on MegaFace, LFW and YTF datasets show that the proposed method achieves the state-of-the-art performance, which demonstrates the effectiveness of the proposed MML.