OpenRaiser/Intern-Atlas huggingface dataset:
Design of a Multi-Modal End-Effector and Grasping System: How Integrated Design helped win the Amazon Robotics Challenge
Venue: arXiv cs.RO 2018
Year: 2018

We present the grasping system and design approach behind Cartman, the winning entrant in the 2017 Amazon Robotics Challenge. We investigate the design processes leading up to the final iteration of the system and describe the emergent solution by comparing it with key robotics design aspects. Following our experience, we propose a new design aspect, precision vs. redundancy, that should be considered alongside the previously proposed design aspects of modularity vs. integration, generality vs. assumptions, computation vs. embodiment and planning vs. feedback. We present the grasping system behind Cartman, the winning robot in the 2017 Amazon Robotics Challenge. The system makes strong use of redundancy in design by implementing complimentary tools, a suction gripper and a parallel gripper. This multi-modal end-effector is combined with three grasp synthesis algorithms to accommodate the range of objects provided by Amazon during the challenge. We provide a detailed system description and an evaluation of its performance before discussing the broader nature of the system with respect to the key aspects of robotic design as initially proposed by the winners of the first Amazon Picking Challenge. To address the principal nature of our grasping system and the reason for its success, we propose an additional robotic design aspect `precision vs. redundancy'. The full design of our robotic system, including the end-effector, is open sourced and available at http://juxi.net/projects/AmazonRoboticsChallenge/
Visual Tracking via Dynamic Graph Learning
Venue: arXiv cs.CV 2018
Year: 2018

Existing visual tracking methods usually localize a target object with a bounding box, in which the performance of the foreground object trackers or detectors is often affected by the inclusion of background clutter. To handle this problem, we learn a patch-based graph representation for visual tracking. The tracked object is modeled by with a graph by taking a set of non-overlapping image patches as nodes, in which the weight of each node indicates how likely it belongs to the foreground and edges are weighted for indicating the appearance compatibility of two neighboring nodes. This graph is dynamically learned and applied in object tracking and model updating. During the tracking process, the proposed algorithm performs three main steps in each frame. First, the graph is initialized by assigning binary weights of some image patches to indicate the object and background patches according to the predicted bounding box. Second, the graph is optimized to refine the patch weights by using a novel alternating direction method of multipliers. Third, the object feature representation is updated by imposing the weights of patches on the extracted image features. The object location is predicted by maximizing the classification score in the structured support vector machine. Extensive experiments show that the proposed tracking algorithm performs well against the state-of-the-art methods on large-scale benchmark datasets.
Robust Localization of an Arbitrary Distribution of Radioactive Sources for Aerial Inspection
Venue: arXiv cs.RO 2018
Year: 2018

Radiation source detection has seen various applications in the past decade, ranging from the detection of dirty bombs in public places to scanning critical nuclear facilities for leakage or flaws, and in the autonomous inspection of nuclear sites. Despite the success in detecting single point sources or a small number of spatially separated point sources, most of the existing algorithms fail to localize sources in complex scenarios with a large number of point sources or non-trivial distributions & bulk sources. Even in simpler environments, most existing algorithms are not scalable to larger regions and/or higher dimensional spaces. For effective autonomous inspection, we not only need to estimate the positions of the sources, but also the number, distribution, and intensities of each of them. In this paper, we present a novel algorithm for the robust localization of an arbitrary distribution of radiation sources using multi-layer sequential Monte Carlo methods coupled with suitable clustering algorithms. We achieve near-perfect accuracy, in terms of F1-scores (> 0.95), while allowing the algorithm to scale, both to large regions in space and to higher dimensional spaces (5 tested).
Fast Budgeted Influence Maximization over Multi-Action Event Logs
Venue: arXiv cs.SI 2018
Year: 2018

In a social network, influence maximization is the problem of identifying a set of users that own the maximum {\it influence ability} across the network. In this paper, a novel credit distribution (CD) based model, termed as the multi-action CD (mCD) model, is introduced to quantify the influence ability of each user, which works with practical datasets where one type of action could be recorded for multiple times. Based on this model, influence maximization is formulated as a submodular maximization problem under a general knapsack constraint, which is NP-hard. An efficient streaming algorithm with one-round scan over the user set is developed to find a suboptimal solution. Specifically, we first solve a special case of knapsack constraints, i.e., a cardinality constraint, and show that the developed streaming algorithm can achieve ($\frac{1}{2}-ε$)-approximation of the optimality. Furthermore, for the general knapsack case, we show that the modified streaming algorithm can achieve ($\frac{1}{3}-ε$)-approximation of the optimality. Finally, experiments are conducted over real Twitter dataset and demonstrate that the mCD model enjoys high accuracy compared to the conventional CD model in estimating the total number of people who get influenced in a social network. Moreover, through the comparison to the conventional CD, non-CD models, and the mCD model with the greedy algorithm on the performance of the influence maximization problem, we show the effectiveness and efficiency of the proposed mCD model with the streaming algorithm.
The Quest for Scalability and Accuracy in the Simulation of the Internet of Things: an Approach based on Multi-Level Simulation
Venue: arXiv cs.PF 2018
Year: 2018

This paper presents a methodology for simulating the Internet of Things (IoT) using multi-level simulation models. With respect to conventional simulators, this approach allows us to tune the level of detail of different parts of the model without compromising the scalability of the simulation. As a use case, we have developed a two-level simulator to study the deployment of smart services over rural territories. The higher level is base on a coarse grained, agent-based adaptive parallel and distributed simulator. When needed, this simulator spawns OMNeT++ model instances to evaluate in more detail the issues concerned with wireless communications in restricted areas of the simulated world. The performance evaluation confirms the viability of multi-level simulations for IoT environments.
Low-Rank RNN Adaptation for Context-Aware Language Modeling
Venue: arXiv cs.CL 2018
Year: 2018

A context-aware language model uses location, user and/or domain metadata (context) to adapt its predictions. In neural language models, context information is typically represented as an embedding and it is given to the RNN as an additional input, which has been shown to be useful in many applications. We introduce a more powerful mechanism for using context to adapt an RNN by letting the context vector control a low-rank transformation of the recurrent layer weight matrix. Experiments show that allowing a greater fraction of the model parameters to be adjusted has benefits in terms of perplexity and classification for several different types of context.
The number of rational points of hyperelliptic curves over subsets of finite fields
Venue: arXiv cs.CR 2018
Year: 2018

We prove two related concentration inequalities concerning the number of rational points of hyperelliptic curves over subsets of a finite field. In particular, we investigate the probability of a large discrepancy between the numbers of quadratic residues and non-residues in the image of such subsets over uniformly random hyperelliptic curves of given degrees. We find a constant probability of such a high difference and show the existence of sets with an exceptionally large discrepancy.
Fast Polarization for Processes with Memory
Venue: arXiv cs.IT 2018
Year: 2018

Fast polarization is crucial for the performance guarantees of polar codes. In the memoryless setting, the rate of polarization is known to be exponential in the square root of the block length. A complete characterization of the rate of polarization for models with memory has been missing. Namely, previous works have not addressed fast polarization of the high entropy set under memory. We consider polar codes for processes with memory that are characterized by an underlying ergodic finite-state Markov chain. We show that the rate of polarization for these processes is the same as in the memoryless setting, both for the high and for the low entropy sets.
Occupation measure methods for modelling and analysis of biological hybrid automata
Venue: arXiv cs.SY 2018
Year: 2018

Mechanistic models in biology often involve numerous parameters about which we do not have direct experimental information. The traditional approach is to fit these parameters using extensive numerical simulations (e.g. by the Monte-Carlo method), and eventually revising the model if the predictions do not correspond to the actual measurements. In this work we propose a methodology for hybrid automaton model revision, when new type of functions are needed to capture time varying parameters. To this end, we formulate a hybrid optimal control problem with intermediate points as successive infinite-dimensional linear programs (LP) on occupation measures. Then, these infinite-dimensional LPs are solved using a hierarchy of semidefinite relaxations. The whole procedure is exposed on a recent model for haemoglobin production in erythrocytes.
Balanced power diagrams for redistricting
Venue: arXiv cs.DS 2018
Year: 2018

We propose a method for redistricting, decomposing a geographical area into subareas, called districts, so that the populations of the districts are as close as possible and the districts are compact and contiguous. Each district is the intersection of a polygon with the geographical area. The polygons are convex and the average number of sides per polygon is less than six. The polygons tend to be quite compact. With each polygon is associated a center. The center is the centroid of the locations of the residents associated with the polygon. The algorithm can be viewed as a heuristic for finding centers and a balanced assignment of residents to centers so as to minimize the sum of squared distances of residents to centers; hence the solution can be said to have low dispersion.
Top-k Route Search through Submodularity Modeling of Recurrent POI Features
Venue: arXiv cs.SI 2018
Year: 2018

We consider a practical top-k route search problem: given a collection of points of interest (POIs) with rated features and traveling costs between POIs, a user wants to find k routes from a source to a destination and limited in a cost budget, that maximally match her needs on feature preferences. One challenge is dealing with the personalized diversity requirement where users have various trade-off between quantity (the number of POIs with a specified feature) and variety (the coverage of specified features). Another challenge is the large scale of the POI map and the great many alternative routes to search. We model the personalized diversity requirement by the whole class of submodular functions, and present an optimal solution to the top-k route search problem through indices for retrieving relevant POIs in both feature and route spaces and various strategies for pruning the search space using user preferences and constraints. We also present promising heuristic solutions and evaluate all the solutions on real life data.
Subdomain Deflation Combined with Local AMG: a Case Study Using AMGCL Library
Venue: arXiv cs.DC 2018
Year: 2018

The paper proposes a combination of the subdomain deflation method and local algebraic multigrid as a scalable distributed memory preconditioner that is able to solve large linear systems of equations. The implementation of the algorithm is made available for the community as part of an open source AMGCL library. The solution targets both homogeneous (CPU-only) and heterogeneous (CPU/GPU) systems, employing hybrid MPI/OpenMP approach in the former and a combination of MPI, OpenMP, and CUDA in the latter cases. The use of OpenMP minimizes the number of MPI processes, thus reducing the communication overhead of the deflation method and improving both weak and strong scalability of the preconditioner. The examples of scalar, Poisson-like, systems as well as non-scalar problems, stemming out of the discretization of the Navier-Stokes equations, are considered in order to estimate performance of the implemented algorithm. A comparison with a traditional global AMG preconditioner based on a well-established Trilinos ML package is provided.
Detect to Track and Track to Detect
Venue: arXiv cs.CV 2018
Year: 2018

Recent approaches for high accuracy detection and tracking of object categories in video consist of complex multistage solutions that become more cumbersome each year. In this paper we propose a ConvNet architecture that jointly performs detection and tracking, solving the task in a simple and effective way. Our contributions are threefold: (i) we set up a ConvNet architecture for simultaneous detection and tracking, using a multi-task objective for frame-based object detection and across-frame track regression; (ii) we introduce correlation features that represent object co-occurrences across time to aid the ConvNet during tracking; and (iii) we link the frame level detections based on our across-frame tracklets to produce high accuracy detections at the video level. Our ConvNet architecture for spatiotemporal object detection is evaluated on the large-scale ImageNet VID dataset where it achieves state-of-the-art results. Our approach provides better single model performance than the winning method of the last ImageNet challenge while being conceptually much simpler. Finally, we show that by increasing the temporal stride we can dramatically increase the tracker speed.
An Augmented Nonlinear LMS for Digital Self-Interference Cancellation in Full-Duplex Direct-Conversion Transceivers
Venue: arXiv cs.IT 2018
Year: 2018

In future full-duplex communications, the cancellation of self-interference (SI) arising from hardware non-idealities will play an important role in the design of mobile-scale devices. To this end, we introduce an optimal digital SI cancellation solution for shared-antenna-based direct-conversion transceivers. To establish that the underlying widely linear signal model is not adequate for strong transmit signals, the impact of various circuit imperfections, including power amplifier (PA) distortion, frequency-dependent I/Q imbalance, quantization noise and thermal noise, on the performance of the conventional augmented least mean square (LMS) based SI canceller, is analyzed. In order to achieve a sufficient signal-to-interference-plus-noise ratio (SINR) when the nonlinear SI components are not negligible, we propose an augmented nonlinear LMS based SI canceller for a joint cancellation of both the linear and nonlinear SI components by virtue of a widely nonlinear model fit. A rigorous mean and mean square performance evaluation is conducted to justify the performance advantages of the proposed scheme over the conventional augmented LMS solution. Simulations on orthogonal frequency division multiplexing (OFDM)-based wireless local area network (WLAN) standard compliant waveforms support the analysis.
Clusters of Driving Behavior from Observational Smartphone Data
Venue: arXiv cs.AI 2018
Year: 2018

Understanding driving behaviors is essential for improving safety and mobility of our transportation systems. Data is usually collected via simulator-based studies or naturalistic driving studies. Those techniques allow for understanding relations between demographics, road conditions and safety. On the other hand, they are very costly and time consuming. Thanks to the ubiquity of smartphones, we have an opportunity to substantially complement more traditional data collection techniques with data extracted from phone sensors, such as GPS, accelerometer gyroscope and camera. We developed statistical models that provided insight into driver behavior in the San Francisco metro area based on tens of thousands of driver logs. We used novel data sources to support our work. We used cell phone sensor data drawn from five hundred drivers in San Francisco to understand the speed of traffic across the city as well as the maneuvers of drivers in different areas. Specifically, we clustered drivers based on their driving behavior. We looked at driver norms by street and flagged driving behaviors that deviated from the norm.
Improving optimal control of grid-connected lithium-ion batteries through more accurate battery and degradation modelling
Venue: arXiv cs.SY 2018
Year: 2018

The increased deployment of intermittent renewable energy generators opens up opportunities for grid-connected energy storage. Batteries offer significant flexibility but are relatively expensive at present. Battery lifetime is a key factor in the business case, and it depends on usage, but most techno-economic analyses do not account for this. For the first time, this paper quantifies the annual benefits of grid-connected batteries including realistic physical dynamics and nonlinear electrochemical degradation. Three lithium-ion battery models of increasing realism are formulated, and the predicted degradation of each is compared with a large-scale experimental degradation data set (Mat4Bat). A respective improvement in RMS capacity prediction error from 11\% to 5\% is found by increasing the model accuracy. The three models are then used within an optimal control algorithm to perform price arbitrage over one year, including degradation. Results show that the revenue can be increased substantially while degradation can be reduced by using more realistic models. The estimated best case profit using a sophisticated model is a 175% improvement compared with the simplest model. This illustrates that using a simplistic battery model in a techno-economic assessment of grid-connected batteries might substantially underestimate the business case and lead to erroneous conclusions.
Towards Scalable Spectral Clustering via Spectrum-Preserving Sparsification
Venue: arXiv cs.LG 2018
Year: 2018

The eigendeomposition of nearest-neighbor (NN) graph Laplacian matrices is the main computational bottleneck in spectral clustering. In this work, we introduce a highly-scalable, spectrum-preserving graph sparsification algorithm that enables to build ultra-sparse NN (u-NN) graphs with guaranteed preservation of the original graph spectrums, such as the first few eigenvectors of the original graph Laplacian. Our approach can immediately lead to scalable spectral clustering of large data networks without sacrificing solution quality. The proposed method starts from constructing low-stretch spanning trees (LSSTs) from the original graphs, which is followed by iteratively recovering small portions of "spectrally critical" off-tree edges to the LSSTs by leveraging a spectral off-tree embedding scheme. To determine the suitable amount of off-tree edges to be recovered to the LSSTs, an eigenvalue stability checking scheme is proposed, which enables to robustly preserve the first few Laplacian eigenvectors within the sparsified graph. Additionally, an incremental graph densification scheme is proposed for identifying extra edges that have been missing in the original NN graphs but can still play important roles in spectral clustering tasks. Our experimental results for a variety of well-known data sets show that the proposed method can dramatically reduce the complexity of NN graphs, leading to significant speedups in spectral clustering.
Retinal Vasculature Segmentation Using Local Saliency Maps and Generative Adversarial Networks For Image Super Resolution
Venue: arXiv cs.CV 2018
Year: 2018

We propose an image super resolution(ISR) method using generative adversarial networks (GANs) that takes a low resolution input fundus image and generates a high resolution super resolved (SR) image upto scaling factor of $16$. This facilitates more accurate automated image analysis, especially for small or blurred landmarks and pathologies. Local saliency maps, which define each pixel's importance, are used to define a novel saliency loss in the GAN cost function. Experimental results show the resulting SR images have perceptual quality very close to the original images and perform better than competing methods that do not weigh pixels according to their importance. When used for retinal vasculature segmentation, our SR images result in accuracy levels close to those obtained when using the original images.
The Semantics of Transactions and Weak Memory in x86, Power, ARM, and C++
Venue: arXiv cs.PL 2018
Year: 2018

Weak memory models provide a complex, system-centric semantics for concurrent programs, while transactional memory (TM) provides a simpler, programmer-centric semantics. Both have been studied in detail, but their combined semantics is not well understood. This is problematic because such widely-used architectures and languages as x86, Power, and C++ all support TM, and all have weak memory models. Our work aims to clarify the interplay between weak memory and TM by extending existing axiomatic weak memory models (x86, Power, ARMv8, and C++) with new rules for TM. Our formal models are backed by automated tooling that enables (1) the synthesis of tests for validating our models against existing implementations and (2) the model-checking of TM-related transformations, such as lock elision and compiling C++ transactions to hardware. A key finding is that a proposed TM extension to ARMv8 currently being considered within ARM Research is incompatible with lock elision without sacrificing portability or performance.
Skin Lesion Analysis Toward Melanoma Detection: A Challenge at the 2017 International Symposium on Biomedical Imaging (ISBI), Hosted by the International Skin Imaging Collaboration (ISIC)
Venue: arXiv cs.CV 2018
Year: 2018

This article describes the design, implementation, and results of the latest installment of the dermoscopic image analysis benchmark challenge. The goal is to support research and development of algorithms for automated diagnosis of melanoma, the most lethal skin cancer. The challenge was divided into 3 tasks: lesion segmentation, feature detection, and disease classification. Participation involved 593 registrations, 81 pre-submissions, 46 finalized submissions (including a 4-page manuscript), and approximately 50 attendees, making this the largest standardized and comparative study in this field to date. While the official challenge duration and ranking of participants has concluded, the dataset snapshots remain available for further research and development.