OpenRaiser/Intern-Atlas huggingface dataset:
A Pitfall of Learning from User-generated Data: In-depth Analysis of Subjective Class Problem
Venue: arXiv cs.LG 2020
Year: 2020

Research in the supervised learning algorithms field implicitly assumes that training data is labeled by domain experts or at least semi-professional labelers accessible through crowdsourcing services like Amazon Mechanical Turk. With the advent of the Internet, data has become abundant and a large number of machine learning based systems started being trained with user-generated data, using categorical data as true labels. However, little work has been done in the area of supervised learning with user-defined labels where users are not necessarily experts and might be motivated to provide incorrect labels in order to improve their own utility from the system. In this article, we propose two types of classes in user-defined labels: subjective class and objective class - showing that the objective classes are as reliable as if they were provided by domain experts, whereas the subjective classes are subject to bias and manipulation by the user. We define this as a subjective class issue and provide a framework for detecting subjective labels in a dataset without querying oracle. Using this framework, data mining practitioners can detect a subjective class at an early stage of their projects, and avoid wasting their precious time and resources by dealing with subjective class problem with traditional machine learning techniques.
Menu-size Complexity and Revenue Continuity of Buy-many Mechanisms
Venue: arXiv cs.GT 2020
Year: 2020

We study the multi-item mechanism design problem where a monopolist sells $n$ heterogeneous items to a single buyer. We focus on buy-many mechanisms, a natural class of mechanisms frequently used in practice. The buy-many property allows the buyer to interact with the mechanism multiple times instead of once as in the more commonly studied buy-one mechanisms. This imposes additional incentive constraints and thus restricts the space of mechanisms that the seller can use. In this paper, we explore the qualitative differences between buy-one and buy-many mechanisms focusing on two important properties: revenue continuity and menu-size complexity. Our first main result is that when the value function of the buyer is perturbed multiplicatively by a factor of $1\pmε$, the optimal revenue obtained by buy-many mechanisms only changes by a factor of $1 \pm \textrm{poly}(n,ε)$. In contrast, for buy-one mechanisms, the revenue of the resulting optimal mechanism after such a perturbation can change arbitrarily. Our second main result shows that under any distribution of arbitrary valuations, finite menu size suffices to achieve a $(1-ε)$-approximation to the optimal buy-many mechanism. We give tight upper and lower bounds on the number of menu entries as a function of $n$ and $ε$. On the other hand, such a result fails to hold for buy-one mechanisms as even for two items and a buyer with either unit-demand or additive valuations, the menu-size complexity of approximately optimal mechanisms is unbounded.
Human collective visualization transparency
Venue: arXiv cs.HC 2020
Year: 2020

Interest in collective robotic systems has increased rapidly due to the potential benefits that can be offered to operators, such as increased safety and support, who perform challenging tasks in high-risk environments. Human-collective transparency research has focused on how the design of the algorithms, visualizations, and control mechanisms influence human-collective behavior. Traditional collective visualizations have shown all of the individual entities composing a collective, which may become problematic as collectives scale in size and heterogeneity, and tasks become more demanding. Human operators can become overloaded with information, which will negatively affect their understanding of the collective's current state and overall behaviors, which can cause poor teaming performance. An analysis of visualization transparency and the derived visualization design guidance, based on remote supervision of collectives, are the primary contributions of this manuscript. The individual agent and abstract visualizations were analyzed for sequential best-of-n decision-making tasks involving four collectives, composed of 200 entities each. The abstract visualization provided better transparency by enabling operators with different individual differences and capabilities to perform relatively the same and promoted higher human-collective performance.
Towards Neural Machine Translation for Edoid Languages
Venue: arXiv cs.CL 2020
Year: 2020

Many Nigerian languages have relinquished their previous prestige and purpose in modern society to English and Nigerian Pidgin. For the millions of L1 speakers of indigenous languages, there are inequalities that manifest themselves as unequal access to information, communications, health care, security as well as attenuated participation in political and civic life. To minimize exclusion and promote socio-linguistic and economic empowerment, this work explores the feasibility of Neural Machine Translation (NMT) for the Edoid language family of Southern Nigeria. Using the new JW300 public dataset, we trained and evaluated baseline translation models for four widely spoken languages in this group: Èdó, Ésán, Urhobo and Isoko. Trained models, code and datasets have been open-sourced to advance future research efforts on Edoid language technology.
Multifactorial Cellular Genetic Algorithm (MFCGA): Algorithmic Design, Performance Comparison and Genetic Transferability Analysis
Venue: arXiv cs.NE 2020
Year: 2020

Multitasking optimization is an incipient research area which is lately gaining a notable research momentum. Unlike traditional optimization paradigm that focuses on solving a single task at a time, multitasking addresses how multiple optimization problems can be tackled simultaneously by performing a single search process. The main objective to achieve this goal efficiently is to exploit synergies between the problems (tasks) to be optimized, helping each other via knowledge transfer (thereby being referred to as Transfer Optimization). Furthermore, the equally recent concept of Evolutionary Multitasking (EM) refers to multitasking environments adopting concepts from Evolutionary Computation as their inspiration for the simultaneous solving of the problems under consideration. As such, EM approaches such as the Multifactorial Evolutionary Algorithm (MFEA) has shown a remarkable success when dealing with multiple discrete, continuous, single-, and/or multi-objective optimization problems. In this work we propose a novel algorithmic scheme for Multifactorial Optimization scenarios - the Multifactorial Cellular Genetic Algorithm (MFCGA) - that hinges on concepts from Cellular Automata to implement mechanisms for exchanging knowledge among problems. We conduct an extensive performance analysis of the proposed MFCGA and compare it to the canonical MFEA under the same algorithmic conditions and over 15 different multitasking setups (encompassing different reference instances of the discrete Traveling Salesman Problem). A further contribution of this analysis beyond performance benchmarking is a quantitative examination of the genetic transferability among the problem instances, eliciting an empirical demonstration of the synergies emerged between the different optimization tasks along the MFCGA search process.
Recovery command generation towards automatic recovery in ICT systems by Seq2Seq learning
Venue: arXiv cs.NI 2020
Year: 2020

With the increase in scale and complexity of ICT systems, their operation increasingly requires automatic recovery from failures. Although it has become possible to automatically detect anomalies and analyze root causes of failures with current methods, making decisions on what commands should be executed to recover from failures still depends on manual operation, which is quite time-consuming. Toward automatic recovery, we propose a method of estimating recovery commands by using Seq2Seq, a neural network model. This model learns complex relationships between logs obtained from equipment and recovery commands that operators executed in the past. When a new failure occurs, our method estimates plausible commands that recover from the failure on the basis of collected logs. We conducted experiments using a synthetic dataset and realistic OpenStack dataset, demonstrating that our method can estimate recovery commands with high accuracy.
Bulbar ALS Detection Based on Analysis of Voice Perturbation and Vibrato
Venue: arXiv cs.SD 2020
Year: 2020

On average the lack of biological markers causes a one year diagnostic delay to detect amyotrophic lateral sclerosis (ALS). To improve the diagnostic process an automatic voice assessment based on acoustic analysis can be used. The purpose of this work was to verify the sutability of the sustain vowel phonation test for automatic detection of patients with ALS. We proposed enhanced procedure for separation of voice signal into fundamental periods that requires for calculation of perturbation measurements (such as jitter and shimmer). Also we proposed method for quantitative assessment of pathological vibrato manifestations in sustain vowel phonation. The study's experiments show that using the proposed acoustic analysis methods, the classifier based on linear discriminant analysis attains 90.7\% accuracy with 86.7\% sensitivity and 92.2\% specificity.
Optimized Caching and Spectrum Partitioning for D2D enabled Cellular Systems with Clustered Devices
Venue: arXiv cs.IT 2020
Year: 2020

Caching at mobile devices and leveraging device- to-device (D2D) communication are two promising approaches to support massive content delivery over wireless networks. The analysis of cache-enabled wireless networks is usually carried out by assuming that devices are uniformly distributed, however, in social networks, mobile devices are intrinsically grouped into disjoint clusters. In this regards, this paper proposes a spatiotemporal mathematical model that tracks the service requests arrivals and account for the clustered devices geometry. Two kinds of devices are assumed, particularly, content clients and content providers. Content providers are assumed to have a surplus memory which is exploited to proactively cache contents from a known library, following a random probabilistic caching scheme. Content clients can retrieve a requested content from the nearest content provider in their proximity (cluster), or, as a last resort, the base station (BS). The developed spatiotemporal model is leveraged to formulate a joint optimization problem of the content caching and spectrum partitioning in order to minimize the average service delay. Due to the high complexity of the optimization problem, the caching and spectrum partitioning problems are decoupled and solved iteratively using the block coordinate descent (BCD) optimization technique. To this end, an optimal and suboptimal solutions are obtained for the bandwidth partitioning and probabilistic caching subproblems, respectively. Numerical results highlight the superiority of the proposed scheme over conventional caching schemes under equal and optimized bandwidth allocations. Particularly, it is shown that the average service delay is reduced by nearly 100% and 350%, compared to the Zipf and uniform caching schemes under equal bandwidth allocations, respectively.
PointNetKL: Deep Inference for GICP Covariance Estimation in Bathymetric SLAM
Venue: arXiv cs.RO 2020
Year: 2020

Registration methods for point clouds have become a key component of many SLAM systems on autonomous vehicles. However, an accurate estimate of the uncertainty of such registration is a key requirement to a consistent fusion of this kind of measurements in a SLAM filter. This estimate, which is normally given as a covariance in the transformation computed between point cloud reference frames, has been modelled following different approaches, among which the most accurate is considered to be the Monte Carlo method. However, a Monte Carlo approximation is cumbersome to use inside a time-critical application such as online SLAM. Efforts have been made to estimate this covariance via machine learning using carefully designed features to abstract the raw point clouds. However, the performance of this approach is sensitive to the features chosen. We argue that it is possible to learn the features along with the covariance by working with the raw data and thus we propose a new approach based on PointNet. In this work, we train this network using the KL divergence between the learned uncertainty distribution and one computed by the Monte Carlo method as the loss. We test the performance of the general model presented applying it to our target use-case of SLAM with an autonomous underwater vehicle (AUV) restricted to the 2-dimensional registration of 3D bathymetric point clouds.
Learn to Schedule (LEASCH): A Deep reinforcement learning approach for radio resource scheduling in the 5G MAC layer
Venue: arXiv cs.NI 2020
Year: 2020

Network management tools are usually inherited from one generation to another. This was successful since these tools have been kept in check and updated regularly to fit new networking goals and service requirements. Unfortunately, new networking services will render this approach obsolete and handcrafting new tools or upgrading the current ones may lead to complicated systems that will be extremely difficult to maintain and improve. Fortunately, recent advances in AI have provided new promising tools that can help solving many network management problems. Following this interesting trend, the current article presents LEASCH, a deep reinforcement learning model able to solve the radio resource scheduling problem in the MAC layer of 5G networks. LEASCH is developed and trained in a sand-box and then deployed in a 5G network. The experimental results validate the effectiveness of LEASCH compared to conventional baseline methods in many key performance indicators.
A low-overhead soft-hard fault-tolerant architecture, design and management scheme for reliable high-performance many-core 3D-NoC systems
Venue: arXiv cs.AR 2020
Year: 2020

The Network-on-Chip (NoC) paradigm has been proposed as a favorable solution to handle the strict communication requirements between the increasingly large number of cores on a single chip. However, NoC systems are exposed to the aggressive scaling down of transistors, low operating voltages, and high integration and power densities, making them vulnerable to permanent (hard) faults and transient (soft) errors. A hard fault in a NoC can lead to external blocking, causing congestion across the whole network. A soft error is more challenging because of its silent data corruption, which leads to a large area of erroneous data due to error propagation, packet re-transmission, and deadlock. In this paper, we present the architecture and design of a comprehensive soft error and hard fault-tolerant 3D-NoC system, named 3D-Hard-Fault-Soft-Error-Tolerant-OASIS-NoC (3D-FETO). With the aid of efficient mechanisms and algorithms, 3D-FETO is capable of detecting and recovering from soft errors which occur in the routing pipeline stages and leverages reconfigurable components to handle permanent faults in links, input buffers, and crossbars. In-depth evaluation results show that the 3D-FETO system is able to work around different kinds of hard faults and soft errors, ensuring graceful performance degradation, while minimizing additional hardware complexity and remaining power efficient.
Automatic Modelling of Human Musculoskeletal Ligaments -- Framework Overview and Model Quality Evaluation
Venue: arXiv cs.GR 2020
Year: 2020

Accurate segmentation of connective soft tissues is still a challenging task, which hinders the generation of corresponding geometric models for biomechanical computations. Alternatively, one could predict ligament insertion sites and then approximate the shapes, based on anatomical knowledge and morphological studies. Here, we describe a corresponding integrated framework for the automatic modelling of human musculoskeletal ligaments. We combine statistical shape modelling with geometric algorithms to automatically identify insertion sites, based on which geometric surface and volume meshes are created. For demonstrating a clinical use case, the framework has been applied to generate models of the interosseous membrane in the forearm. For the adoption to the forearm anatomy, ligament insertion sites in the statistical model were defined according to anatomical predictions following an approach proposed in prior work. For evaluation we compared the generated sites, as well as the ligament shapes, to data obtained from a cadaveric study, involving five forearms with a total of 15 ligaments. Our framework permitted the creation of 3D models approximating ligaments' shapes with good fidelity. However, we found that the statistical model trained with the state-of-the-art prediction of the insertion sites was not always reliable. Using that model, average mean square errors as well as Hausdorff distances of the meshes increased by more than one order of magnitude, as compared to employing the known insertion locations of the cadaveric study. Using the latter an average mean square error of 0.59 mm and an average Hausdorff distance of less than 7 mm resulted, for the complete set of ligaments. In conclusion, the presented approach for generating ligament shapes from insertion points appears to be feasible but the detection of the insertion sites with a SSM is too inaccurate.
Removing Dynamic Objects for Static Scene Reconstruction using Light Fields
Venue: arXiv cs.RO 2020
Year: 2020

There is a general expectation that robots should operate in environments that consist of static and dynamic entities including people, furniture and automobiles. These dynamic environments pose challenges to visual simultaneous localization and mapping (SLAM) algorithms by introducing errors into the front-end. Light fields provide one possible method for addressing such problems by capturing a more complete visual information of a scene. In contrast to a single ray from a perspective camera, Light Fields capture a bundle of light rays emerging from a single point in space, allowing us to see through dynamic objects by refocusing past them. In this paper we present a method to synthesize a refocused image of the static background in the presence of dynamic objects that uses a light-field acquired with a linear camera array. We simultaneously estimate both the depth and the refocused image of the static scene using semantic segmentation for detecting dynamic objects in a single time step. This eliminates the need for initializing a static map . The algorithm is parallelizable and is implemented on GPU allowing us execute it at close to real time speeds. We demonstrate the effectiveness of our method on real-world data acquired using a small robot with a five camera array.
Learning to Play Soccer by Reinforcement and Applying Sim-to-Real to Compete in the Real World
Venue: arXiv cs.LG 2020
Year: 2020

This work presents an application of Reinforcement Learning (RL) for the complete control of real soccer robots of the IEEE Very Small Size Soccer (VSSS), a traditional league in the Latin American Robotics Competition (LARC). In the VSSS league, two teams of three small robots play against each other. We propose a simulated environment in which continuous or discrete control policies can be trained, and a Sim-to-Real method to allow using the obtained policies to control a robot in the real world. The results show that the learned policies display a broad repertoire of behaviors that are difficult to specify by hand. This approach, called VSSS-RL, was able to beat the human-designed policy for the striker of the team ranked 3rd place in the 2018 LARC, in 1-vs-1 matches.
Adversarial Light Projection Attacks on Face Recognition Systems: A Feasibility Study
Venue: arXiv cs.CV 2020
Year: 2020

Deep learning-based systems have been shown to be vulnerable to adversarial attacks in both digital and physical domains. While feasible, digital attacks have limited applicability in attacking deployed systems, including face recognition systems, where an adversary typically has access to the input and not the transmission channel. In such setting, physical attacks that directly provide a malicious input through the input channel pose a bigger threat. We investigate the feasibility of conducting real-time physical attacks on face recognition systems using adversarial light projections. A setup comprising a commercially available web camera and a projector is used to conduct the attack. The adversary uses a transformation-invariant adversarial pattern generation method to generate a digital adversarial pattern using one or more images of the target available to the adversary. The digital adversarial pattern is then projected onto the adversary's face in the physical domain to either impersonate a target (impersonation) or evade recognition (obfuscation). We conduct preliminary experiments using two open-source and one commercial face recognition system on a pool of 50 subjects. Our experimental results demonstrate the vulnerability of face recognition systems to light projection attacks in both white-box and black-box attack settings.
Multi-Agent Deep Reinforcement Learning Multiple Access for Heterogeneous Wireless Networks with Imperfect Channels
Venue: arXiv cs.NI 2020
Year: 2020

This paper investigates a futuristic spectrum sharing paradigm for heterogeneous wireless networks with imperfect channels. In the heterogeneous networks, multiple wireless networks adopt different medium access control (MAC) protocols to share a common wireless spectrum and each network is unaware of the MACs of others. This paper aims to design a distributed deep reinforcement learning (DRL) based MAC protocol for a particular network, and the objective of this network is to achieve a global $α$-fairness objective. In the conventional DRL framework, feedback/reward given to the agent is always correctly received, so that the agent can optimize its strategy based on the received reward. In our wireless application where the channels are noisy, the feedback/reward (i.e., the ACK packet) may be lost due to channel noise and interference. Without correct feedback, the agent (i.e., the network user) may fail to find a good solution. Moreover, in the distributed protocol, each agent makes decisions on its own. It is a challenge to guarantee that the multiple agents will make coherent decisions and work together to achieve the same objective, particularly in the face of imperfect feedback channels. To tackle the challenge, we put forth (i) a feedback recovery mechanism to recover missing feedback information, and (ii) a two-stage action selection mechanism to aid coherent decision making to reduce transmission collisions among the agents. Extensive simulation results demonstrate the effectiveness of these two mechanisms. Last but not least, we believe that the feedback recovery mechanism and the two-stage action selection mechanism can also be used in general distributed multi-agent reinforcement learning problems in which feedback information on rewards can be corrupted.