OpenRaiser/Intern-Atlas huggingface dataset:
Towards Orientation Learning and Adaptation in Cartesian Space
Venue: arXiv cs.RO 2020
Year: 2020

As a promising branch of robotics, imitation learning emerges as an important way to transfer human skills to robots, where human demonstrations represented in Cartesian or joint spaces are utilized to estimate task/skill models that can be subsequently generalized to new situations. While learning Cartesian positions suffices for many applications, the end-effector orientation is required in many others. Despite recent advances in learning orientations from demonstrations, several crucial issues have not been adequately addressed yet. For instance, how can demonstrated orientations be adapted to pass through arbitrary desired points that comprise orientations and angular velocities? In this paper, we propose an approach that is capable of learning multiple orientation trajectories and adapting learned orientation skills to new situations (e.g., via-points and end-points), where both orientation and angular velocity are considered. Specifically, we introduce a kernelized treatment to alleviate explicit basis functions when learning orientations, which allows for learning orientation trajectories associated with high-dimensional inputs. In addition, we extend our approach to the learning of quaternions with angular acceleration or jerk constraints, which allows for generating smoother orientation profiles for robots. Several examples including experiments with real 7-DoF robot arms are provided to verify the effectiveness of our method.
Interpretable Segmentation of Medical Free-Text Records Based on Word Embeddings
Venue: arXiv cs.CL 2020
Year: 2020

Is it true that patients with similar conditions get similar diagnoses? In this paper we show NLP methods and a unique corpus of documents to validate this claim. We (1) introduce a method for representation of medical visits based on free-text descriptions recorded by doctors, (2) introduce a new method for clustering of patients' visits and (3) present an~application of the proposed method on a corpus of 100,000 visits. With the proposed method we obtained stable and separated segments of visits which were positively validated against final medical diagnoses. We show how the presented algorithm may be used to aid doctors during their practice.
Analyzing Phonetic and Graphemic Representations in End-to-End Automatic Speech Recognition
Venue: arXiv cs.CL 2020
Year: 2020

End-to-end neural network systems for automatic speech recognition (ASR) are trained from acoustic features to text transcriptions. In contrast to modular ASR systems, which contain separately-trained components for acoustic modeling, pronunciation lexicon, and language modeling, the end-to-end paradigm is both conceptually simpler and has the potential benefit of training the entire system on the end task. However, such neural network models are more opaque: it is not clear how to interpret the role of different parts of the network and what information it learns during training. In this paper, we analyze the learned internal representations in an end-to-end ASR model. We evaluate the representation quality in terms of several classification tasks, comparing phonemes and graphemes, as well as different articulatory features. We study two languages (English and Arabic) and three datasets, finding remarkable consistency in how different properties are represented in different layers of the deep neural network.
solc-verify: A Modular Verifier for Solidity Smart Contracts
Venue: arXiv cs.PL 2020
Year: 2020

We present solc-verify, a source-level verification tool for Ethereum smart contracts. Solc-verify takes smart contracts written in Solidity and discharges verification conditions using modular program analysis and SMT solvers. Built on top of the Solidity compiler, solc-verify reasons at the level of the contract source code, as opposed to the more common approaches that operate at the level of Ethereum bytecode. This enables solc-verify to effectively reason about high-level contract properties while modeling low-level language semantics precisely. The contract properties, such as contract invariants, loop invariants, and function pre- and post-conditions, can be provided as annotations in the code by the developer. This enables automated, yet user-friendly formal verification for smart contracts. We demonstrate solc-verify by examining real-world examples where our tool can effectively find bugs and prove correctness of non-trivial properties with minimal user effort.
Decentralized Dynamic Task Allocation in Swarm Robotic Systems for Disaster Response
Venue: arXiv cs.MA 2020
Year: 2020

Multiple robotic systems, working together, can provide important solutions to different real-world applications (e.g., disaster response), among which task allocation problems feature prominently. Very few existing decentralized multi-robotic task allocation (MRTA) methods simultaneously offer the following capabilities: consideration of task deadlines, consideration of robot range and task completion capacity limitations, and allowing asynchronous decision-making under dynamic task spaces. To provision these capabilities, this paper presents a computationally efficient algorithm that involves novel construction and matching of bipartite graphs. Its performance is tested on a multi-UAV flood response application.
Selling Information Through Consulting
Venue: arXiv cs.GT 2020
Year: 2020

We consider a monopoly information holder selling information to a budget-constrained decision maker, who may benefit from the seller's information. The decision maker has a utility function that depends on his action and an uncertain state of the world. The seller and the buyer each observe a private signal regarding the state of the world, which may be correlated with each other. The seller's goal is to sell her private information to the buyer and extract maximum possible revenue, subject to the buyer's budget constraints. We consider three different settings with increasing generality, i.e., the seller's signal and the buyer's signal can be independent, correlated, or follow a general distribution accessed through a black-box sampling oracle. For each setting, we design information selling mechanisms which are both optimal and simple in the sense that they can be naturally interpreted, have succinct representations, and can be efficiently computed. Notably, though the optimal mechanism exhibits slightly increasing complexity as the setting becomes more general, all our mechanisms share the same format of acting as a consultant who recommends the best action to the buyer but uses different and carefully designed payment rules for different settings. Each of our optimal mechanisms can be easily computed by solving a single polynomial-size linear program. This significantly simplifies exponential-size LPs solved by the Ellipsoid method in the previous work, which computes the optimal mechanisms in the same setting but without budget limit. Such simplification is enabled by our new characterizations of the optimal mechanism in the (more realistic) budget-constrained setting.
One Shot Learning for Deformable Medical Image Registration and Periodic Motion Tracking
Venue: arXiv cs.CV 2020
Year: 2020

Deformable image registration is a very important field of research in medical imaging. Recently multiple deep learning approaches were published in this area showing promising results. However, drawbacks of deep learning methods are the need for a large amount of training datasets and their inability to register unseen images different from the training datasets. One shot learning comes without the need of large training datasets and has already been proven to be applicable to 3D data. In this work we present a one shot registration approach for periodic motion tracking in 3D and 4D datasets. When applied to 3D dataset the algorithm calculates the inverse of a registration vector field simultaneously. For registration we employed a U-Net combined with a coarse to fine approach and a differential spatial transformer module. The algorithm was thoroughly tested with multiple 4D and 3D datasets publicly available. The results show that the presented approach is able to track periodic motion and to yield a competitive registration accuracy. Possible applications are the use as a stand-alone algorithm for 3D and 4D motion tracking or in the beginning of studies until enough datasets for a separate training phase are available.
GraphSAINT: Graph Sampling Based Inductive Learning Method
Venue: arXiv cs.LG 2020
Year: 2020

Graph Convolutional Networks (GCNs) are powerful models for learning representations of attributed graphs. To scale GCNs to large graphs, state-of-the-art methods use various layer sampling techniques to alleviate the "neighbor explosion" problem during minibatch training. We propose GraphSAINT, a graph sampling based inductive learning method that improves training efficiency and accuracy in a fundamentally different way. By changing perspective, GraphSAINT constructs minibatches by sampling the training graph, rather than the nodes or edges across GCN layers. Each iteration, a complete GCN is built from the properly sampled subgraph. Thus, we ensure fixed number of well-connected nodes in all layers. We further propose normalization technique to eliminate bias, and sampling algorithms for variance reduction. Importantly, we can decouple the sampling from the forward and backward propagation, and extend GraphSAINT with many architecture variants (e.g., graph attention, jumping connection). GraphSAINT demonstrates superior performance in both accuracy and training time on five large graphs, and achieves new state-of-the-art F1 scores for PPI (0.995) and Reddit (0.970).
Towards a Better Understanding of Randomized Greedy Matching
Venue: arXiv cs.DS 2020
Year: 2020

There has been a long history for studying randomized greedy matching algorithms since the work by Dyer and Frieze~(RSA 1991). We follow this trend and consider the problem formulated in the oblivious setting, in which the algorithm makes (random) decisions that are essentially oblivious to the input graph. We revisit the \textsf{Modified Randomized Greedy (MRG)} algorithm by Aronson et al.~(RSA 1995) that is proved to be $(0.5+ε)$-approximate. In particular, we study a weaker version of the algorithm named \textsf{Random Decision Order (RDO)} that in each step, randomly picks an unmatched vertex and matches it to an arbitrary neighbor if exists. We prove the \textsf{RDO} algorithm is $0.639$-approximate and $0.531$-approximate for bipartite graphs and general graphs respectively. As a corollary, we substantially improve the approximation ratio of \textsf{MRG}. Furthermore, we generalize the \textsf{RDO} algorithm to the edge-weighted case and prove that it achieves a $0.501$ approximation ratio. This result solves the open question by Chan et al.~(SICOMP 2018) about the existence of an algorithm that beats greedy in this setting. As a corollary, it also solves the open questions by Gamlath et al.~(SODA 2019) in the stochastic setting.
Cross-Domain Complementary Learning Using Pose for Multi-Person Part Segmentation
Venue: arXiv cs.CV 2020
Year: 2020

Supervised deep learning with pixel-wise training labels has great successes on multi-person part segmentation. However, data labeling at pixel-level is very expensive. To solve the problem, people have been exploring to use synthetic data to avoid the data labeling. Although it is easy to generate labels for synthetic data, the results are much worse compared to those using real data and manual labeling. The degradation of the performance is mainly due to the domain gap, i.e., the discrepancy of the pixel value statistics between real and synthetic data. In this paper, we observe that real and synthetic humans both have a skeleton (pose) representation. We found that the skeletons can effectively bridge the synthetic and real domains during the training. Our proposed approach takes advantage of the rich and realistic variations of the real data and the easily obtainable labels of the synthetic data to learn multi-person part segmentation on real images without any human-annotated labels. Through experiments, we show that without any human labeling, our method performs comparably to several state-of-the-art approaches which require human labeling on Pascal-Person-Parts and COCO-DensePose datasets. On the other hand, if part labels are also available in the real-images during training, our method outperforms the supervised state-of-the-art methods by a large margin. We further demonstrate the generalizability of our method on predicting novel keypoints in real images where no real data labels are available for the novel keypoints detection. Code and pre-trained models are available at https://github.com/kevinlin311tw/CDCL-human-part-segmentation
Eigen Artificial Neural Networks
Venue: arXiv cs.LG 2020
Year: 2020

This work has its origin in intuitive physical and statistical considerations. The problem of optimizing an artificial neural network is treated as a physical system, composed of a conservative vector force field. The derived scalar potential is a measure of the potential energy of the network, a function of the distance between predictions and targets. Starting from some analogies with wave mechanics, the description of the system is justified with an eigenvalue equation that is a variant of the Schrõdinger equation, in which the potential is defined by the mutual information between inputs and targets. The weights and parameters of the network, as well as those of the state function, are varied so as to minimize energy, using an equivalent of the variational theorem of wave mechanics. The minimum energy thus obtained implies the principle of minimum mutual information (MinMI). We also propose a definition of the potential work produced by the force field to bring a network from an arbitrary probability distribution to the potential-constrained system, which allows to establish a measure of the complexity of the system. At the end of the discussion we expose a recursive procedure that allows to refine the state function and bypass some initial assumptions, as well as a discussion of some topics in quantum mechanics applied to the formalism, such as the uncertainty principle and the temporal evolution of the system. Results demonstrate how the minimization of energy effectively leads to a decrease in the average error between network predictions and targets.
City-GAN: Learning architectural styles using a custom Conditional GAN architecture
Venue: arXiv cs.CV 2020
Year: 2020

Generative Adversarial Networks (GANs) are a well-known technique that is trained on samples (e.g. pictures of fruits) and which after training is able to generate realistic new samples. Conditional GANs (CGANs) additionally provide label information for subclasses (e.g. apple, orange, pear) which enables the GAN to learn more easily and increase the quality of its output samples. We use GANs to learn architectural features of major cities and to generate images of buildings which do not exist. We show that currently available GAN and CGAN architectures are unsuited for this task and propose a custom architecture and demonstrate that our architecture has superior performance for this task and verify its capabilities with extensive experiments.
Simplification of Polyline Bundles
Venue: arXiv cs.CG 2020
Year: 2020

We propose and study a generalization to the well-known problem of polyline simplification. Instead of a single polyline, we are given a set of $\ell$ polylines possibly sharing some line segments and bend points. Our goal is to minimize the number of bend points in the simplified bundle with respect to some error tolerance $δ$ (measuring Fréchet distance) but under the additional constraint that shared parts have to be simplified consistently. We show that polyline bundle simplification is NP-hard to approximate within a factor $n^{1/3 - \varepsilon}$ for any $\varepsilon > 0$ where $n$ is the number of bend points in the polyline bundle. This inapproximability even applies to instances with only $\ell=2$ polylines. However, we identify the sensitivity of the solution to the choice of $δ$ as a reason for this strong inapproximability. In particular, we prove that if we allow $δ$ to be exceeded by a factor of $2$ in our solution, we can find a simplified polyline bundle with no more than $O(\log (\ell + n)) \cdot OPT$ bend points in polytime, providing us with an efficient bi-criteria approximation. As a further result, we show fixed-parameter tractability in the number of shared bend points.
Evaluation of Retinal Image Quality Assessment Networks in Different Color-spaces
Venue: arXiv cs.CV 2020
Year: 2020

Retinal image quality assessment (RIQA) is essential for controlling the quality of retinal imaging and guaranteeing the reliability of diagnoses by ophthalmologists or automated analysis systems. Existing RIQA methods focus on the RGB color-space and are developed based on small datasets with binary quality labels (i.e., `Accept' and `Reject'). In this paper, we first re-annotate an Eye-Quality (EyeQ) dataset with 28,792 retinal images from the EyePACS dataset, based on a three-level quality grading system (i.e., `Good', `Usable' and `Reject') for evaluating RIQA methods. Our RIQA dataset is characterized by its large-scale size, multi-level grading, and multi-modality. Then, we analyze the influences on RIQA of different color-spaces, and propose a simple yet efficient deep network, named Multiple Color-space Fusion Network (MCF-Net), which integrates the different color-space representations at both a feature-level and prediction-level to predict image quality grades. Experiments on our EyeQ dataset show that our MCF-Net obtains a state-of-the-art performance, outperforming the other deep learning methods. Furthermore, we also evaluate diabetic retinopathy (DR) detection methods on images of different quality, and demonstrate that the performances of automated diagnostic systems are highly dependent on image quality.
Eccentricity function in distance-hereditary graphs
Venue: arXiv cs.DM 2020
Year: 2020

A graph $G=(V,E)$ is distance hereditary if every induced path of $G$ is a shortest path. In this paper, we show that the eccentricity function $e(v)=\max\{d(v,u): u\in V\}$ in any distance-hereditary graph $G$ is almost unimodal, that is, every vertex $v$ with $e(v)> rad(G)+1$ has a neighbor with smaller eccentricity. Here, $rad(G)=\min\{e(v): v\in V\}$ is the radius of graph $G$. Moreover, we use this result to fully characterize the centers of distance-hereditary graphs. Several bounds on the eccentricity of a vertex with respect to its distance to the center of $G$ or to the ends of a diametral path are established. Finally, we propose a new linear time algorithm to compute all eccentricities in a distance-hereditary graph.
Weighted Sum Power Maximization for Intelligent Reflecting Surface Aided SWIPT
Venue: arXiv cs.IT 2020
Year: 2020

The low efficiency of far-field wireless power transfer (WPT) limits the fundamental rate-energy (R-E) performance trade-off of the simultaneous wireless information and power transfer (SWIPT) system. To address this challenge, we propose in this letter a new SWIPT system aided by the emerging intelligent reflecting surface (IRS) technology. By leveraging massive low-cost passive elements that are able to reflect the signals with adjustable phase shifts, IRS achieve a high passive beamforming gain, which is appealing for drastically enhancing the WPT efficiency and thereby the R-E trade-off of SWIPT systems. We consider an IRS being deployed to assist a multi-antenna access point (AP) to serve multiple information decoding receivers (IDRs) and energy harvesting receivers (EHRs). We aim to maximize the weighted sum-power received by EHRs via jointly optimizing the transmit precoders at the AP and reflect phase shifts at the IRS, subject to the individual signal-to-interference-plus-noise ratio (SINR) constraints for IDRs. Since this problem is non-convex, we propose efficient algorithms to obtain suboptimal solutions for it. In particular, we prove that it is sufficient to send information signals only at the AP to serve both IDRs and EHRs regardless of their channel realizations. Moreover, simulation results show significant performance gains achieved by our proposed designs over benchmark schemes.
Learning a Static Bug Finder from Data
Venue: arXiv cs.SE 2020
Year: 2020

We present an alternative approach to creating static bug finders. Instead of relying on human expertise, we utilize deep neural networks to train static analyzers directly from data. In particular, we frame the problem of bug finding as a classification task and train a classifier to differentiate the buggy from non-buggy programs using Graph Neural Network (GNN). Crucially, we propose a novel interval-based propagation mechanism that leads to a significantly more efficient, accurate and scalable generalization of GNN. We have realized our approach into a framework, NeurSA, and extensively evaluated it. In a cross-project prediction task, three neural bug detectors we instantiate from NeurSA are effective in catching null pointer dereference, array index out of bound and class cast bugs in unseen code. We compare NeurSA against several static analyzers (e.g. Facebook Infer and Pinpoint) on a set of null pointer dereference bugs. Results show that NeurSA is more precise in catching the real bugs and suppressing the spurious warnings. We also apply NeurSA to several popular Java projects on GitHub and discover 50 new bugs, among which 9 have been fixed, and 3 have been confirmed.
BeSense: Leveraging WiFi Channel Data and Computational Intelligence for Behavior Analysis
Venue: arXiv cs.HC 2020
Year: 2020

The ever evolving informatics technology has gradually bounded human and computer in a compact way. Understanding user behavior becomes a key enabler in many fields such as sedentary-related healthcare, human-computer interaction (HCI) and affective computing. Traditional sensor-based and vision-based user behavior analysis approaches are obtrusive in general, hindering their usage in realworld. Therefore, in this article, we first introduce WiFi signal as a new source instead of sensor and vision for unobtrusive user behaviors analysis. Then we design BeSense, a contactless behavior analysis system leveraging signal processing and computational intelligence over WiFi channel state information (CSI). We prototype BeSense on commodity low-cost WiFi devices and evaluate its performance in realworld environments. Experimental results have verified its effectiveness in recognizing user behaviors.
Anonymous and confidential file sharing over untrusted clouds
Venue: arXiv cs.CR 2020
Year: 2020

Using public cloud services for storing and sharing confidential data requires end users to cryptographically protect both the data and the access to the data. In some cases, the identity of end users needs to remain confidential against the cloud provider and fellow users accessing the data. As such, the underlying cryptographic access control mechanism needs to ensure the anonymity of both data producers and consumers. We introduce A-SKY, a cryptographic access control extension capable of providing confidentiality and anonymity guarantees, all while efficiently scaling to large organizations. A-SKY leverages trusted execution environments (TEEs) to address the impracticality of anonymous broadcast encryption (ANOBE) schemes, achieving faster execution times and shorter ciphertexts. The innovative design of A-SKY limits the usage of the TEE to the narrow set of data producing operations, and thus optimizes the dominant data consumption actions by not requiring a TEE. Furthermore, we propose a scalable implementation for A-SKY leveraging micro-services that preserves strong security guarantees while being able to efficiently manage realistic large user bases. Results highlight that the A-SKY cryptographic scheme is 3 orders of magnitude better than state of the art ANOBE, and an end-to-end system encapsulating A-SKY can elastically scale to support groups of 10 000 users while maintaining processing costs below 1 second.