OpenRaiser/Intern-Atlas huggingface dataset:
Print Defect Mapping with Semantic Segmentation
Venue: arXiv cs.CV 2020
Year: 2020

Efficient automated print defect mapping is valuable to the printing industry since such defects directly influence customer-perceived printer quality and manually mapping them is cost-ineffective. Conventional methods consist of complicated and hand-crafted feature engineering techniques, usually targeting only one type of defect. In this paper, we propose the first end-to-end framework to map print defects at pixel level, adopting an approach based on semantic segmentation. Our framework uses Convolutional Neural Networks, specifically DeepLab-v3+, and achieves promising results in the identification of defects in printed images. We use synthetic training data by simulating two types of print defects and a print-scan effect with image processing and computer graphic techniques. Compared with conventional methods, our framework is versatile, allowing two inference strategies, one being near real-time and providing coarser results, and the other focusing on offline processing with more fine-grained detection. Our model is evaluated on a dataset of real printed images.
Canadian Adverse Driving Conditions Dataset
Venue: arXiv cs.CV 2020
Year: 2020

The Canadian Adverse Driving Conditions (CADC) dataset was collected with the Autonomoose autonomous vehicle platform, based on a modified Lincoln MKZ. The dataset, collected during winter within the Region of Waterloo, Canada, is the first autonomous vehicle dataset that focuses on adverse driving conditions specifically. It contains 7,000 frames collected through a variety of winter weather conditions of annotated data from 8 cameras (Ximea MQ013CG-E2), Lidar (VLP-32C) and a GNSS+INS system (Novatel OEM638). The sensors are time synchronized and calibrated with the intrinsic and extrinsic calibrations included in the dataset. Lidar frame annotations that represent ground truth for 3D object detection and tracking have been provided by Scale AI.
Joint Activity Detection and Channel Estimation for mmW/THz Wideband Massive Access
Venue: arXiv cs.IT 2020
Year: 2020

Millimeter-wave/Terahertz (mmW/THz) communications have shown great potential for wideband massive access in next-generation cellular internet of things (IoT) networks. To decrease the length of pilot sequences and the computational complexity in wideband massive access, this paper proposes a novel joint activity detection and channel estimation (JADCE) algorithm. Specifically, after formulating JADCE as a problem of recovering a simultaneously sparse-group and low rank matrix according to the characteristics of mmW/THz channel, we prove that jointly imposing $l_1$ norm and low rank on such a matrix can achieve a robust recovery under sufficient conditions, and verify that the number of measurements derived for the mmW/THz wideband massive access system is significantly smaller than currently known measurements bound derived for the conventional simultaneously sparse and low-rank recovery. Furthermore, we propose a multi-rank aware method by exploiting the quotient geometry of product of complex rank-$L$ matrices with the number of scattering clusters $L$. Theoretical analysis and simulation results confirm the superiority of the proposed algorithm in terms of computational complexity, detection error rate, and channel estimation accuracy.
Characterizing and Understanding GCNs on GPU
Venue: arXiv cs.DC 2020
Year: 2020

Graph convolutional neural networks (GCNs) have achieved state-of-the-art performance on graph-structured data analysis. Like traditional neural networks, training and inference of GCNs are accelerated with GPUs. Therefore, characterizing and understanding the execution pattern of GCNs on GPU is important for both software and hardware optimization. Unfortunately, to the best of our knowledge, there is no detailed characterization effort of GCN workloads on GPU. In this paper, we characterize GCN workloads at inference stage and explore GCN models on NVIDIA V100 GPU. Given the characterization and exploration, we propose several useful guidelines for both software optimization and hardware optimization for the efficient execution of GCNs on GPU.
A Deep Neural Framework for Contextual Affect Detection
Venue: arXiv cs.CL 2020
Year: 2020

A short and simple text carrying no emotion can represent some strong emotions when reading along with its context, i.e., the same sentence can express extreme anger as well as happiness depending on its context. In this paper, we propose a Contextual Affect Detection (CAD) framework which learns the inter-dependence of words in a sentence, and at the same time the inter-dependence of sentences in a dialogue. Our proposed CAD framework is based on a Gated Recurrent Unit (GRU), which is further assisted by contextual word embeddings and other diverse hand-crafted feature sets. Evaluation and analysis suggest that our model outperforms the state-of-the-art methods by 5.49% and 9.14% on Friends and EmotionPush dataset, respectively.
Smart City Governance in Developing Countries: A Systematic Literature Review
Venue: arXiv cs.CY 2020
Year: 2020

Smart cities that make broad use of digital technologies have been touted as possible solutions for the population pressures faced by many cities in developing countries and may help meet the rising demand for services and infrastructure. Nevertheless, the high financial cost involved in infrastructure maintenance, the substantial size of the informal economies, and various governance challenges are curtailing government idealism regarding smart cities. This review examines the state of smart city development in developing countries, which includes understanding the conceptualisations, motivations, and unique drivers behind (and barriers to) smarty city development. A total of 56 studies were identified from a systematic literature review from an initial pool of 3928 social sciences literature identified from two academic databases. Data were analysed using thematic synthesis and thematic analysis. The review found that technology-enabled smart cities in developing countries can only be realised when concurrent socioeconomic, human, legal, and regulatory reforms are instituted. Governments need to step up their efforts to fulfil the basic infrastructure needs of citizens, raise more revenue, construct clear regulatory frameworks to mitigate the technological risks involved, develop human capital, ensure digital inclusivity, and promote environmental sustainability. A supportive ecosystem that encourages citizen participation, nurtures start-ups, and promotes public-private partnerships needs to be created to realise their smart city vision.
Multi-modal Sentiment Analysis using Super Characters Method on Low-power CNN Accelerator Device
Venue: arXiv cs.CL 2020
Year: 2020

Recent years NLP research has witnessed the record-breaking accuracy improvement by DNN models. However, power consumption is one of the practical concerns for deploying NLP systems. Most of the current state-of-the-art algorithms are implemented on GPUs, which is not power-efficient and the deployment cost is also very high. On the other hand, CNN Domain Specific Accelerator (CNN-DSA) has been in mass production providing low-power and low cost computation power. In this paper, we will implement the Super Characters method on the CNN-DSA. In addition, we modify the Super Characters method to utilize the multi-modal data, i.e. text plus tabular data in the CL-Aff sharedtask.
Capitalizing Backscatter-Aided Hybrid Relay Communications with Wireless Energy Harvesting
Venue: arXiv cs.IT 2020
Year: 2020

In this work, we employ multiple energy harvesting relays to assist information transmission from a multi-antenna hybrid access point (HAP) to a receiver. All the relays are wirelessly powered by the HAP in the power-splitting (PS) protocol. We introduce the novel concept of hybrid relay communications, which allows each relay to switch between two radio modes, i.e., the active RF communications and the passive backscatter communications, according to its channel and energy conditions. We envision that the complement transmissions in two radio modes can be exploited to improve the overall relay performance. As such, we aim to jointly optimize the HAP's beamforming, individual relays' radio mode, the PS ratio, and the relays' collaborative beamforming to enhance the throughput performance at the receiver. The resulting formulation becomes a combinatorial and non-convex problem. Thus, we firstly propose a convex approximation to the original problem, which serves as a lower bound of the relay performance. Then, we design an iterative algorithm that decomposes the binary relay mode optimization from the other operating parameters. In the inner loop of the algorithm, we exploit the structural properties to optimize the relay performance with the fixed relay mode in the alternating optimization framework. In the outer loop, different performance metrics are derived to guide the search for a set of passive relays to further improve the relay performance. Simulation results verify that the hybrid relaying communications can achieve 20% performance improvement compared to the conventional relay communications with all active relays.
Towards Learning Multi-agent Negotiations via Self-Play
Venue: arXiv cs.RO 2020
Year: 2020

Making sophisticated, robust, and safe sequential decisions is at the heart of intelligent systems. This is especially critical for planning in complex multi-agent environments, where agents need to anticipate other agents' intentions and possible future actions. Traditional methods formulate the problem as a Markov Decision Process, but the solutions often rely on various assumptions and become brittle when presented with corner cases. In contrast, deep reinforcement learning (Deep RL) has been very effective at finding policies by simultaneously exploring, interacting, and learning from environments. Leveraging the powerful Deep RL paradigm, we demonstrate that an iterative procedure of self-play can create progressively more diverse environments, leading to the learning of sophisticated and robust multi-agent policies. We demonstrate this in a challenging multi-agent simulation of merging traffic, where agents must interact and negotiate with others in order to successfully merge on or off the road. While the environment starts off simple, we increase its complexity by iteratively adding an increasingly diverse set of agents to the agent "zoo" as training progresses. Qualitatively, we find that through self-play, our policies automatically learn interesting behaviors such as defensive driving, overtaking, yielding, and the use of signal lights to communicate intentions to other agents. In addition, quantitatively, we show a dramatic improvement of the success rate of merging maneuvers from 63% to over 98%.
BioTouchPass2: Touchscreen Password Biometrics Using Time-Aligned Recurrent Neural Networks
Venue: arXiv cs.CV 2020
Year: 2020

Passwords are still used on a daily basis for all kind of applications. However, they are not secure enough by themselves in many cases. This work enhances password scenarios through two-factor authentication asking the users to draw each character of the password instead of typing them as usual. The main contributions of this study are as follows: i) We present the novel MobileTouchDB public database, acquired in an unsupervised mobile scenario with no restrictions in terms of position, posture, and devices. This database contains more than 64K on-line character samples performed by 217 users, with 94 different smartphone models, and up to 6 acquisition sessions. ii) We perform a complete analysis of the proposed approach considering both traditional authentication systems such as Dynamic Time Warping (DTW) and novel approaches based on Recurrent Neural Networks (RNNs). In addition, we present a novel approach named Time-Aligned Recurrent Neural Networks (TA-RNNs). This approach combines the potential of DTW and RNNs to train more robust systems against attacks. A complete analysis of the proposed approach is carried out using both MobileTouchDB and e-BioDigitDB databases. Our proposed TA-RNN system outperforms the state of the art, achieving a final 2.38% Equal Error Rate, using just a 4-digit password and one training sample per character. These results encourage the deployment of our proposed approach in comparison with traditional typed-based password systems where the attack would have 100% success rate under the same impostor scenario.
Faster Activity and Data Detection in Massive Random Access: A Multi-armed Bandit Approach
Venue: arXiv cs.LG 2020
Year: 2020

This paper investigates the grant-free random access with massive IoT devices. By embedding the data symbols in the signature sequences, joint device activity detection and data decoding can be achieved, which, however, significantly increases the computational complexity. Coordinate descent algorithms that enjoy a low per-iteration complexity have been employed to solve the detection problem, but previous works typically employ a random coordinate selection policy which leads to slow convergence. In this paper, we develop multi-armed bandit approaches for more efficient detection via coordinate descent, which make a delicate trade-off between exploration and exploitation in coordinate selection. Specifically, we first propose a bandit based strategy, i.e., Bernoulli sampling, to speed up the convergence rate of coordinate descent, by learning which coordinates will result in more aggressive descent of the objective function. To further improve the convergence rate, an inner multi-armed bandit problem is established to learn the exploration policy of Bernoulli sampling. Both convergence rate analysis and simulation results are provided to show that the proposed bandit based algorithms enjoy faster convergence rates with a lower time complexity compared with the state-of-the-art algorithm. Furthermore, our proposed algorithms are applicable to different scenarios, e.g., massive random access with low-precision analog-to-digital converters (ADCs).
Causal query in observational data with hidden variables
Venue: arXiv cs.AI 2020
Year: 2020

This paper discusses the problem of causal query in observational data with hidden variables, with the aim of seeking the change of an outcome when "manipulating" a variable while given a set of plausible confounding variables which affect the manipulated variable and the outcome. Such an "experiment on data" to estimate the causal effect of the manipulated variable is useful for validating an experiment design using historical data or for exploring confounders when studying a new relationship. However, existing data-driven methods for causal effect estimation face some major challenges, including poor scalability with high dimensional data, low estimation accuracy due to heuristics used by the global causal structure learning algorithms, and the assumption of causal sufficiency when hidden variables are inevitable in data. In this paper, we develop a theorem for using local search to find a superset of the adjustment (or confounding) variables for causal effect estimation from observational data under a realistic pretreatment assumption. The theorem ensures that the unbiased estimate of causal effect is included in the set of causal effects estimated by the superset of adjustment variables. Based on the developed theorem, we propose a data-driven algorithm for causal query. Experiments show that the proposed algorithm is faster and produces better causal effect estimation than an existing data-driven causal effect estimation method with hidden variables. The causal effects estimated by the proposed algorithm are as accurate as those by the state-of-the-art methods using domain knowledge.
Taking Recoveries to Task: Recovery-Driven Development for Recipe-based Robot Tasks
Venue: arXiv cs.RO 2020
Year: 2020

Robot task execution when situated in real-world environments is fragile. As such, robot architectures must rely on robust error recovery, adding non-trivial complexity to highly-complex robot systems. To handle this complexity in development, we introduce Recovery-Driven Development (RDD), an iterative task scripting process that facilitates rapid task and recovery development by leveraging hierarchical specification, separation of nominal task and recovery development, and situated testing. We validate our approach with our challenge-winning mobile manipulator software architecture developed using RDD for the FetchIt! Challenge at the IEEE 2019 International Conference on Robotics and Automation. We attribute the success of our system to the level of robustness achieved using RDD, and conclude with lessons learned for developing such systems.
CSNNs: Unsupervised, Backpropagation-free Convolutional Neural Networks for Representation Learning
Venue: arXiv cs.CV 2020
Year: 2020

This work combines Convolutional Neural Networks (CNNs), clustering via Self-Organizing Maps (SOMs) and Hebbian Learning to propose the building blocks of Convolutional Self-Organizing Neural Networks (CSNNs), which learn representations in an unsupervised and Backpropagation-free manner. Our approach replaces the learning of traditional convolutional layers from CNNs with the competitive learning procedure of SOMs and simultaneously learns local masks between those layers with separate Hebbian-like learning rules to overcome the problem of disentangling factors of variation when filters are learned through clustering. We investigate the learned representation by designing two simple models with our building blocks, achieving comparable performance to many methods which use Backpropagation, while we reach comparable performance on Cifar10 and give baseline performances on Cifar100, Tiny ImageNet and a small subset of ImageNet for Backpropagation-free methods.
QActor: On-line Active Learning for Noisy Labeled Stream Data
Venue: arXiv cs.LG 2020
Year: 2020

Noisy labeled data is more a norm than a rarity for self-generated content that is continuously published on the web and social media. Due to privacy concerns and governmental regulations, such a data stream can only be stored and used for learning purposes in a limited duration. To overcome the noise in this on-line scenario we propose QActor which novel combines: the selection of supposedly clean samples via quality models and actively querying an oracle for the most informative true labels. While the former can suffer from low data volumes of on-line scenarios, the latter is constrained by the availability and costs of human experts. QActor swiftly combines the merits of quality models for data filtering and oracle queries for cleaning the most informative data. The objective of QActor is to leverage the stringent oracle budget to robustly maximize the learning accuracy. QActor explores various strategies combining different query allocations and uncertainty measures. A central feature of QActor is to dynamically adjust the query limit according to the learning loss for each data batch. We extensively evaluate different image datasets fed into the classifier that can be standard machine learning (ML) models or deep neural networks (DNN) with noise label ratios ranging between 30% and 80%. Our results show that QActor can nearly match the optimal accuracy achieved using only clean data at the cost of at most an additional 6% of ground truth data from the oracle.
The KEEN Universe: An Ecosystem for Knowledge Graph Embeddings with a Focus on Reproducibility and Transferability
Venue: arXiv cs.LG 2020
Year: 2020

There is an emerging trend of embedding knowledge graphs (KGs) in continuous vector spaces in order to use those for machine learning tasks. Recently, many knowledge graph embedding (KGE) models have been proposed that learn low dimensional representations while trying to maintain the structural properties of the KGs such as the similarity of nodes depending on their edges to other nodes. KGEs can be used to address tasks within KGs such as the prediction of novel links and the disambiguation of entities. They can also be used for downstream tasks like question answering and fact-checking. Overall, these tasks are relevant for the semantic web community. Despite their popularity, the reproducibility of KGE experiments and the transferability of proposed KGE models to research fields outside the machine learning community can be a major challenge. Therefore, we present the KEEN Universe, an ecosystem for knowledge graph embeddings that we have developed with a strong focus on reproducibility and transferability. The KEEN Universe currently consists of the Python packages PyKEEN (Python KnowlEdge EmbeddiNgs), BioKEEN (Biological KnowlEdge EmbeddiNgs), and the KEEN Model Zoo for sharing trained KGE models with the community.
Pedestrian Motion Model Using Non-Parametric Trajectory Clustering and Discrete Transition Points
Venue: arXiv cs.RO 2020
Year: 2020

This paper presents a pedestrian motion model that includes both low level trajectory patterns, and high level discrete transitions. The inclusion of both levels creates a more general predictive model, allowing for more meaningful prediction and reasoning about pedestrian trajectories, as compared to the current state of the art. The model uses an iterative clustering algorithm with (1) Dirichlet Process Gaussian Processes to cluster trajectories into continuous motion patterns and (2) hypothesis testing to identify discrete transitions in the data called transition points. The model iteratively splits full trajectories into sub-trajectory clusters based on transition points, where pedestrians make discrete decisions. State transition probabilities are then learned over the transition points and trajectory clusters. The model is for online prediction of motions, and detection of anomalous trajectories. The proposed model is validated on the Duke MTMC dataset to demonstrate identification of low level trajectory clusters and high level transitions, and the ability to predict pedestrian motion and detect anomalies online with high accuracy.
Predicting Personalized Academic and Career Roads: First Steps Toward a Multi-Uses Recommender System
Venue: arXiv cs.CY 2020
Year: 2020

Nobody knows what one's do in the future and everyone will have had a different answer to the question : how do you see yourself in five years after your current job/diploma? In this paper we introduce concepts, large categories of fields of studies or job domains in order to represent the vision of the future of the user's trajectory. Then, we show how they can influence the prediction when proposing him a set of next steps to take.
Assistive Relative Pose Estimation for On-orbit Assembly using Convolutional Neural Networks
Venue: arXiv cs.CV 2020
Year: 2020

Accurate real-time pose estimation of spacecraft or object in space is a key capability necessary for on-orbit spacecraft servicing and assembly tasks. Pose estimation of objects in space is more challenging than for objects on Earth due to space images containing widely varying illumination conditions, high contrast, and poor resolution in addition to power and mass constraints. In this paper, a convolutional neural network is leveraged to uniquely determine the translation and rotation of an object of interest relative to the camera. The main idea of using CNN model is to assist object tracker used in on space assembly tasks where only feature based method is always not sufficient. The simulation framework designed for assembly task is used to generate dataset for training the modified CNN models and, then results of different models are compared with measure of how accurately models are predicting the pose. Unlike many current approaches for spacecraft or object in space pose estimation, the model does not rely on hand-crafted object-specific features which makes this model more robust and easier to apply to other types of spacecraft. It is shown that the model performs comparable to the current feature-selection methods and can therefore be used in conjunction with them to provide more reliable estimates.