OpenRaiser/Intern-Atlas huggingface dataset:
Source localization using particle filtering on FPGA for robotic navigation with imprecise binary measurement
Venue: arXiv cs.RO 2020
Year: 2020

Particle filtering is a recursive Bayesian estimation technique that has gained popularity recently for tracking and localization applications. It uses Monte Carlo simulation and has proven to be a very reliable technique to model non-Gaussian and non-linear elements of physical systems. Particle filters outperform various other traditional filters like Kalman filters in non-Gaussian and non-linear settings due to their non-analytical and non-parametric nature. However, a significant drawback of particle filters is their computational complexity, which inhibits their use in real-time applications with conventional CPU or DSP based implementation schemes. This paper proposes a modification to the existing particle filter algorithm and presents a highspeed and dedicated hardware architecture. The architecture incorporates pipelining and parallelization in the design to reduce execution time considerably. The design is validated for a source localization problem wherein we estimate the position of a source in real-time using the particle filter algorithm implemented on hardware. The validation setup relies on an Unmanned Ground Vehicle (UGV) with a photodiode housing on top to sense and localize a light source. We have prototyped the design using Artix-7 field-programmable gate array (FPGA), and resource utilization for the proposed system is presented. Further, we show the execution time and estimation accuracy of the high-speed architecture and observe a significant reduction in computational time. Our implementation of particle filters on FPGA is scalable and modular, with a low execution time of about 5.62 us for processing 1024 particles and can be deployed for real-time applications.
UniCase -- Rethinking Casing in Language Models
Venue: arXiv cs.CL 2020
Year: 2020

In this paper, we introduce a new approach to dealing with the problem of case-sensitiveness in Language Modelling (LM). We propose simple architecture modification to the RoBERTa language model, accompanied by a new tokenization strategy, which we named Unified Case LM (UniCase). We tested our solution on the GLUE benchmark, which led to increased performance by 0.42 points. Moreover, we prove that the UniCase model works much better when we have to deal with text data, where all tokens are uppercased (+5.88 point).
Locally Decodable/Correctable Codes for Insertions and Deletions
Venue: arXiv cs.IT 2020
Year: 2020

Recent efforts in coding theory have focused on building codes for insertions and deletions, called insdel codes, with optimal trade-offs between their redundancy and their error-correction capabilities, as well as efficient encoding and decoding algorithms. In many applications, polynomial running time may still be prohibitively expensive, which has motivated the study of codes with super-efficient decoding algorithms. These have led to the well-studied notions of Locally Decodable Codes (LDCs) and Locally Correctable Codes (LCCs). Inspired by these notions, Ostrovsky and Paskin-Cherniavsky (Information Theoretic Security, 2015) generalized Hamming LDCs to insertions and deletions. To the best of our knowledge, these are the only known results that study the analogues of Hamming LDCs in channels performing insertions and deletions. Here we continue the study of insdel codes that admit local algorithms. Specifically, we reprove the results of Ostrovsky and Paskin-Cherniavsky for insdel LDCs using a different set of techniques. We also observe that the techniques extend to constructions of LCCs. Specifically, we obtain insdel LDCs and LCCs from their Hamming LDCs and LCCs analogues, respectively. The rate and error-correction capability blow up only by a constant factor, while the query complexity blows up by a poly log factor in the block length. Since insdel locally decodable/correctble codes are scarcely studied in the literature, we believe our results and techniques may lead to further research. In particular, we conjecture that constant-query insdel LDCs/LCCs do not exist.
Investigating Cultural Aspects in the Fundamental Diagram using Convolutional Neural Networks and Simulation
Venue: arXiv cs.OH 2020
Year: 2020

This paper presents a study regarding group behavior in a controlled experiment focused on differences in an important attribute that vary across cultures -- the personal spaces -- in two Countries: Brazil and Germany. In order to coherently compare Germany and Brazil evolutions with same population applying same task, we performed the pedestrian Fundamental Diagram experiment in Brazil, as performed in Germany. We use CNNs to detect and track people in video sequences. With this data, we use Voronoi Diagrams to find out the neighbor relation among people and then compute the walking distances to find out the personal spaces. Based on personal spaces analyses, we found out that people behavior is more similar, in terms of their behaviours, in high dense populations and vary more in low and medium densities. So, we focused our study on cultural differences between the two Countries in low and medium densities. Results indicate that personal space analyses can be a relevant feature in order to understand cultural aspects in video sequences. In addition to the cultural differences, we also investigate the personality model in crowds, using OCEAN. We also proposed a way to simulate the FD experiment from other countries using the OCEAN psychological traits model as input. The simulated countries were consistent with the literature.
Theoretical opportunities for rural innovation and entrepreneurship research
Venue: arXiv cs.CY 2020
Year: 2020

Even though rural entrepreneurship and innovation has been studied for decades, the advent of social media, mobile, analytics, cloud computing and internet of things - also referred as digital technologies - (Nambisan 2013, Yoo et al. 2012) has provided new opportunities and challenges for this vast discipline. As a result, we see new business models, new processes, products and services offered using new digital technologies. Such changes challenge the orthodox view of IT entrepreneurship and innovation, opening new avenues for researches and challenges the existing theoretical understanding. This book chapter is an attempt to understand the existing literature on rural innovation and entrepreneurship in information systems discipline and identify opportunities for rural entrepreneurship and innovation in the digital era.
Supporting Tool for The Transition of Existing Small and Medium Enterprises Towards Industry 4.0
Venue: arXiv cs.CY 2020
Year: 2020

The rapid growth of Industry 4.0 technologies such as big data, cloud computing, smart sensors, machine learning (ML), radio-frequency identification (RFID), robotics, 3D-printing, and Internet of Things (IoT) offers Small and Medium Enterprises (SMEs) the chance to improve productivity and efficiency, reduce cost and provide better customer experience, among other benefits. The main purpose of this work is to propose a methodology to support SMEs managers in better understanding the specific requirements for the implementation of Industry 4.0 solutions and the derived benefits within their firms. A proposed methodology will be helpful for SMEs manager to take a decision regarding when and how to migrate to Industry 4.0.
Zoom on the Keystrokes: Exploiting Video Calls for Keystroke Inference Attacks
Venue: arXiv cs.CR 2020
Year: 2020

Due to recent world events, video calls have become the new norm for both personal and professional remote communication. However, if a participant in a video call is not careful, he/she can reveal his/her private information to others in the call. In this paper, we design and evaluate an attack framework to infer one type of such private information from the video stream of a call -- keystrokes, i.e., text typed during the call. We evaluate our video-based keystroke inference framework using different experimental settings and parameters, including different webcams, video resolutions, keyboards, clothing, and backgrounds. Our relatively high keystroke inference accuracies under commonly occurring and realistic settings highlight the need for awareness and countermeasures against such attacks. Consequently, we also propose and evaluate effective mitigation techniques that can automatically protect users when they type during a video call.
Accelerating Metropolis-Hastings with Lightweight Inference Compilation
Venue: arXiv cs.LG 2020
Year: 2020

In order to construct accurate proposers for Metropolis-Hastings Markov Chain Monte Carlo, we integrate ideas from probabilistic graphical models and neural networks in an open-source framework we call Lightweight Inference Compilation (LIC). LIC implements amortized inference within an open-universe declarative probabilistic programming language (PPL). Graph neural networks are used to parameterize proposal distributions as functions of Markov blankets, which during "compilation" are optimized to approximate single-site Gibbs sampling distributions. Unlike prior work in inference compilation (IC), LIC forgoes importance sampling of linear execution traces in favor of operating directly on Bayesian networks. Through using a declarative PPL, the Markov blankets of nodes (which may be non-static) are queried at inference-time to produce proposers Experimental results show LIC can produce proposers which have less parameters, greater robustness to nuisance random variables, and improved posterior sampling in a Bayesian logistic regression and $n$-schools inference application.
Enriching Under-Represented Named-Entities To Improve Speech Recognition Performance
Venue: arXiv cs.SD 2020
Year: 2020

Automatic speech recognition (ASR) for under-represented named-entity (UR-NE) is challenging due to such named-entities (NE) have insufficient instances and poor contextual coverage in the training data to learn reliable estimates and representations. In this paper, we propose approaches to enriching UR-NEs to improve speech recognition performance. Specifically, our first priority is to ensure those UR-NEs to appear in the word lattice if there is any. To this end, we make exemplar utterances for those UR-NEs according to their categories (e.g. location, person, organization, etc.), ending up with an improved language model (LM) that boosts the UR-NE occurrence in the word lattice. With more UR-NEs appearing in the lattice, we then boost the recognition performance through lattice rescoring methods. We first enrich the representations of UR-NEs in a pre-trained recurrent neural network LM (RNNLM) by borrowing the embedding representations of the rich-represented NEs (RR-NEs), yielding the lattices that statistically favor the UR-NEs. Finally, we directly boost the likelihood scores of the utterances containing UR-NEs and gain further performance improvement.
MmWaves Cellular V2X for Cooperative Diversity Relay Fast Fading Channels
Venue: arXiv cs.IT 2020
Year: 2020

In this work, we present a framework analysis of millimeter waves (mmWaves) vehicular communications systems. Communications between vehicles take place through a cooperative relay which acts as an intermediary base station (BS). The relay is equipped with multiple transmit and receive antennas and it employs decode-and-forward (DF) to process the signal. Also, the relay applies maximal ratio combining (MRC), and maximal ratio transmission (MRT), respectively, to receive and forward the signal. As the vehicles' speeds are relatively high, the channel experiences a fast fading and this time variation is modeled following the Jakes' autocorrelation model. We also assume narrowband fading channel. Closed-form expressions of the reliability metrics such as the outage probability, the probability of error and the channel capacity are derived. Capitalizing on these performances, we derive the low and high power regimes for the capacity, and the high signal-to-interference-plus-noise-ratio (SINR) asymptotes for the outage and error probability to get full insights into the system gains such as the diversity and coding gains.
Canonization for Bounded and Dihedral Color Classes in Choiceless Polynomial Time
Venue: arXiv cs.LO 2020
Year: 2020

In the quest for a logic capturing PTime the next natural classes of structures to consider are those with bounded color class size. We present a canonization procedure for graphs with dihedral color classes of bounded size in the logic of Choiceless Polynomial Time (CPT), which then captures PTime on this class of structures. This is the first result of this form for non-abelian color classes. The first step proposes a normal form which comprises a "rigid assemblage". This roughly means that the local automorphism groups form 2-injective 3-factor subdirect products. Structures with color classes of bounded size can be reduced canonization preservingly to normal form in CPT. In the second step, we show that for graphs in normal form with dihedral color classes of bounded size, the canonization problem can be solved in CPT. We also show the same statement for general ternary structures in normal form if the dihedral groups are defined over odd domains.
On Evaluating Neural Network Backdoor Defenses
Venue: arXiv cs.LG 2020
Year: 2020

Deep neural networks (DNNs) demonstrate superior performance in various fields, including scrutiny and security. However, recent studies have shown that DNNs are vulnerable to backdoor attacks. Several defenses were proposed in the past to defend DNNs against such backdoor attacks. In this work, we conduct a critical analysis and identify common pitfalls in these existing defenses, prepare a comprehensive database of backdoor attacks, conduct a side-by-side evaluation of existing defenses against this database. Finally, we layout some general guidelines to help researchers develop more robust defenses in the future and avoid common mistakes from the past.
A Perspective on Machine Learning Methods in Turbulence Modelling
Venue: arXiv cs.CE 2020
Year: 2020

This work presents a review of the current state of research in data-driven turbulence closure modeling. It offers a perspective on the challenges and open issues, but also on the advantages and promises of machine learning methods applied to parameter estimation, model identification, closure term reconstruction and beyond, mostly from the perspective of Large Eddy Simulation and related techniques. We stress that consistency of the training data, the model, the underlying physics and the discretization is a key issue that needs to be considered for a successful ML-augmented modeling strategy. In order to make the discussion useful for non-experts in either field, we introduce both the modeling problem in turbulence as well as the prominent ML paradigms and methods in a concise and self-consistent manner. Following, we present a survey of the current data-driven model concepts and methods, highlight important developments and put them into the context of the discussed challenges.
Population Gradients improve performance across data-sets and architectures in object classification
Venue: arXiv cs.LG 2020
Year: 2020

The most successful methods such as ReLU transfer functions, batch normalization, Xavier initialization, dropout, learning rate decay, or dynamic optimizers, have become standards in the field due, particularly, to their ability to increase the performance of Neural Networks (NNs) significantly and in almost all situations. Here we present a new method to calculate the gradients while training NNs, and show that it significantly improves final performance across architectures, data-sets, hyper-parameter values, training length, and model sizes, including when it is being combined with other common performance-improving methods (such as the ones mentioned above). Besides being effective in the wide array situations that we have tested, the increase in performance (e.g. F1) it provides is as high or higher than this one of all the other widespread performance-improving methods that we have compared against. We call our method Population Gradients (PG), and it consists on using a population of NNs to calculate a non-local estimation of the gradient, which is closer to the theoretical exact gradient (i.e. this one obtainable only with an infinitely big data-set) of the error function than the empirical gradient (i.e. this one obtained with the real finite data-set).
Show and Speak: Directly Synthesize Spoken Description of Images
Venue: arXiv cs.CV 2020
Year: 2020

This paper proposes a new model, referred to as the show and speak (SAS) model that, for the first time, is able to directly synthesize spoken descriptions of images, bypassing the need for any text or phonemes. The basic structure of SAS is an encoder-decoder architecture that takes an image as input and predicts the spectrogram of speech that describes this image. The final speech audio is obtained from the predicted spectrogram via WaveNet. Extensive experiments on the public benchmark database Flickr8k demonstrate that the proposed SAS is able to synthesize natural spoken descriptions for images, indicating that synthesizing spoken descriptions for images while bypassing text and phonemes is feasible.
Kinodynamic Planning for an Energy-Efficient Autonomous Ornithopter
Venue: arXiv cs.RO 2020
Year: 2020

This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In general, trajectory optimization is quite a relevant problem for practical applications with \emph{Unmanned Aerial Vehicles} (UAVs). Even though the problem has been well studied for fixed and rotatory-wing vehicles, there are far fewer works exploring it for flapping-wing UAVs like ornithopters. These are of interest for many applications where long flight endurance, but also hovering capabilities are required. We propose an efficient approach to plan ornithopter trajectories that minimize energy consumption by combining gliding and flapping maneuvers. Our algorithm builds a tree of dynamically feasible trajectories and applies heuristic search for efficient online planning, using reference curves to guide the search and prune states. We present computational experiments to analyze and tune key parameters, as well as a comparison against a recent alternative probabilistic planning, showing best performance. Finally, we demonstrate how our algorithm can be used for planning perching maneuvers online.
Stochastic analysis of heterogeneous porous material with modified neural architecture search (NAS) based physics-informed neural networks using transfer learning
Venue: arXiv cs.LG 2020
Year: 2020

In this work, a modified neural architecture search method (NAS) based physics-informed deep learning model is presented for stochastic analysis in heterogeneous porous material. Monte Carlo method based on a randomized spectral representation is first employed to construct a stochastic model for simulation of flow through porous media. To solve the governing equations for stochastic groundwater flow problem, we build a modified NAS model based on physics-informed neural networks (PINNs) with transfer learning in this paper that will be able to fit different partial differential equations (PDEs) with less calculation. The performance estimation strategies adopted is constructed from an error estimation model using the method of manufactured solutions. A sensitivity analysis is performed to obtain the prior knowledge of the PINNs model and narrow down the range of parameters for search space and use hyper-parameter optimization algorithms to further determine the values of the parameters. Further the NAS based PINNs model also saves the weights and biases of the most favorable architectures, then used in the fine-tuning process. It is found that the log-conductivity field using Gaussian correlation function will perform much better than exponential correlation case, which is more fitted to the PINNs model and the modified neural architecture search based PINNs model shows a great potential in approximating solutions to PDEs. Moreover, a three dimensional stochastic flow model is built to provide a benchmark to the simulation of groundwater flow in highly heterogeneous aquifers. The NAS model based deep collocation method is verified to be effective and accurate through numerical examples in different dimensions using different manufactured solutions.
SAHDL: Sparse Attention Hypergraph Regularized Dictionary Learning
Venue: arXiv cs.CV 2020
Year: 2020

In recent years, the attention mechanism contributes significantly to hypergraph based neural networks. However, these methods update the attention weights with the network propagating. That is to say, this type of attention mechanism is only suitable for deep learning-based methods while not applicable to the traditional machine learning approaches. In this paper, we propose a hypergraph based sparse attention mechanism to tackle this issue and embed it into dictionary learning. More specifically, we first construct a sparse attention hypergraph, asset attention weights to samples by employing the $\ell_1$-norm sparse regularization to mine the high-order relationship among sample features. Then, we introduce the hypergraph Laplacian operator to preserve the local structure for subspace transformation in dictionary learning. Besides, we incorporate the discriminative information into the hypergraph as the guidance to aggregate samples. Unlike previous works, our method updates attention weights independently, does not rely on the deep network. We demonstrate the efficacy of our approach on four benchmark datasets.
Work-stealing prefix scan: Addressing load imbalance in large-scale image registration
Venue: arXiv cs.DC 2020
Year: 2020

Parallelism patterns (e.g., map or reduce) have proven to be effective tools for parallelizing high-performance applications. In this paper, we study the recursive registration of a series of electron microscopy images - a time consuming and imbalanced computation necessary for nano-scale microscopy analysis. We show that by translating the image registration into a specific instance of the prefix scan, we can convert this seemingly sequential problem into a parallel computation that scales to over thousand of cores. We analyze a variety of scan algorithms that behave similarly for common low-compute operators and propose a novel work-stealing procedure for a hierarchical prefix scan. Our evaluation shows that by identifying a suitable and well-optimized prefix scan algorithm, we reduce time-to-solution on a series of 4,096 images spanning ten seconds of microscopy acquisition from over 10 hours to less than 3 minutes (using 1024 Intel Haswell cores), enabling derivation of material properties at nanoscale for long microscopy image series.
CLOUD: Contrastive Learning of Unsupervised Dynamics
Venue: arXiv cs.RO 2020
Year: 2020

Developing agents that can perform complex control tasks from high dimensional observations such as pixels is challenging due to difficulties in learning dynamics efficiently. In this work, we propose to learn forward and inverse dynamics in a fully unsupervised manner via contrastive estimation. Specifically, we train a forward dynamics model and an inverse dynamics model in the feature space of states and actions with data collected from random exploration. Unlike most existing deterministic models, our energy-based model takes into account the stochastic nature of agent-environment interactions. We demonstrate the efficacy of our approach across a variety of tasks including goal-directed planning and imitation from observations. Project videos and code are at https://jianrenw.github.io/cloud/.