OpenRaiser/Intern-Atlas huggingface dataset:
Understanding of Object Manipulation Actions Using Human Multi-Modal Sensory Data
Venue: arXiv cs.RO 2019
Year: 2019

Object manipulation actions represent an important share of the Activities of Daily Living (ADLs). In this work, we study how to enable service robots to use human multi-modal data to understand object manipulation actions, and how they can recognize such actions when humans perform them during human-robot collaboration tasks. The multi-modal data in this study consists of videos, hand motion data, applied forces as represented by the pressure patterns on the hand, and measurements of the bending of the fingers, collected as human subjects performed manipulation actions. We investigate two different approaches. In the first one, we show that multi-modal signal (motion, finger bending and hand pressure) generated by the action can be decomposed into a set of primitives that can be seen as its building blocks. These primitives are used to define 24 multi-modal primitive features. The primitive features can in turn be used as an abstract representation of the multi-modal signal and employed for action recognition. In the latter approach, the visual features are extracted from the data using a pre-trained image classification deep convolutional neural network. The visual features are subsequently used to train the classifier. We also investigate whether adding data from other modalities produces a statistically significant improvement in the classifier performance. We show that both approaches produce a comparable performance. This implies that image-based methods can successfully recognize human actions during human-robot collaboration. On the other hand, in order to provide training data for the robot so it can learn how to perform object manipulation actions, multi-modal data provides a better alternative.
Using Camouflaged Cyber Simulations as a Model to Ensure Validity in Cybersecurity Experimentation
Venue: arXiv cs.CR 2019
Year: 2019

Experimental research methods describe standards to safeguard scientific integrity and reputability. These methods have been extensively integrated into traditional scientific disciplines and studied in the philosophy of science. The field of cybersecurity is just beginning to develop preliminary research standards and modeling practices. As such, the science of cybersecurity routinely fails to meet empirical research criteria, such as internal validity, external validity, and construct validity. These standards of experimentation enable the development of metrics, create assurance of experimental soundness, and aid in the generalizability of results. To facilitate such empirical experimentation in cybersecurity, we propose the adaptation of camouflaged cyber simulations as an approach for cybersecurity research. This research tool supports this mechanistic method of experimentation and aids in the construction of general cybersecurity research best practices.
Group Re-Identification with Multi-grained Matching and Integration
Venue: arXiv cs.CV 2019
Year: 2019

The task of re-identifying groups of people underdifferent camera views is an important yet less-studied problem.Group re-identification (Re-ID) is a very challenging task sinceit is not only adversely affected by common issues in traditionalsingle object Re-ID problems such as viewpoint and human posevariations, but it also suffers from changes in group layout andgroup membership. In this paper, we propose a novel conceptof group granularity by characterizing a group image by multi-grained objects: individual persons and sub-groups of two andthree people within a group. To achieve robust group Re-ID,we first introduce multi-grained representations which can beextracted via the development of two separate schemes, i.e. onewith hand-crafted descriptors and another with deep neuralnetworks. The proposed representation seeks to characterize bothappearance and spatial relations of multi-grained objects, and isfurther equipped with importance weights which capture varia-tions in intra-group dynamics. Optimal group-wise matching isfacilitated by a multi-order matching process which in turn,dynamically updates the importance weights in iterative fashion.We evaluated on three multi-camera group datasets containingcomplex scenarios and large dynamics, with experimental resultsdemonstrating the effectiveness of our approach. The published dataset can be found in \url{http://min.sjtu.edu.cn/lwydemo/GroupReID.html}
Joint Frequency-and-Phase Modulation for Backscatter-Tag Assisted Vehicular Positioning
Venue: arXiv cs.IT 2019
Year: 2019

Autonomous driving (auto-driving) has been becoming a killer technology for next generation vehicles, whereas some fatal accidents grow concerns about its safety. A fundamental function for safer auto-driving is to recognize the vehicles' locations, termed vehicular positioning. The state-of-the-art vehicular positioning is to rely on anchors that are stationary objects whose locations are known, i.e. satellites for GPS and base stations for cellular positioning. It is important for reliable positioning to install anchors densely, helping find enough anchors nearby. For the deployment to be cost-effective, there are some trials to use backscatter tags as alternative anchors by deploying them on a road surface, but its gain is limited by several reasons such as short contact time and difficulties in maintenance. Instead, we propose a new backscatter-tag assisted vehicular positioning system where tags are deployed along a roadside, which enables the extension of contact duration and facilitates the maintenance. On the other hand, there is a location mismatch between the vehicle and the tag, calling for developing a new backscatter transmission to estimate their relative position. To this end, we design a novel waveform called joint frequency-and-phase modulation (JFPM) for backscatter-tag assisted vehicular positioning where a transmit frequency is modulated for the distance estimation assuming that the relevant signal is clearly differentiable from the others while the phase modulation helps the differentiation. The JFPM waveform leads to exploiting the maximum Degree-of-Freedoms (DoFs) of backscatter channel in which multiple-access and broadcasting channels coexist, leading to more accurate positioning verified by extensive simulations.
Collaborative Interactive Learning -- A clarification of terms and a differentiation from other research fields
Venue: arXiv cs.LG 2019
Year: 2019

The field of collaborative interactive learning (CIL) aims at developing and investigating the technological foundations for a new generation of smart systems that support humans in their everyday life. While the concept of CIL has already been carved out in detail (including the fields of dedicated CIL and opportunistic CIL) and many research objectives have been stated, there is still the need to clarify some terms such as information, knowledge, and experience in the context of CIL and to differentiate CIL from recent and ongoing research in related fields such as active learning, collaborative learning, and others. Both aspects are addressed in this paper.
EmBench: Quantifying Performance Variations of Deep Neural Networks across Modern Commodity Devices
Venue: arXiv cs.LG 2019
Year: 2019

In recent years, advances in deep learning have resulted in unprecedented leaps in diverse tasks spanning from speech and object recognition to context awareness and health monitoring. As a result, an increasing number of AI-enabled applications are being developed targeting ubiquitous and mobile devices. While deep neural networks (DNNs) are getting bigger and more complex, they also impose a heavy computational and energy burden on the host devices, which has led to the integration of various specialized processors in commodity devices. Given the broad range of competing DNN architectures and the heterogeneity of the target hardware, there is an emerging need to understand the compatibility between DNN-platform pairs and the expected performance benefits on each platform. This work attempts to demystify this landscape by systematically evaluating a collection of state-of-the-art DNNs on a wide variety of commodity devices. In this respect, we identify potential bottlenecks in each architecture and provide important guidelines that can assist the community in the co-design of more efficient DNNs and accelerators.
DeepSwarm: Optimising Convolutional Neural Networks using Swarm Intelligence
Venue: arXiv cs.LG 2019
Year: 2019

In this paper we propose DeepSwarm, a novel neural architecture search (NAS) method based on Swarm Intelligence principles. At its core DeepSwarm uses Ant Colony Optimization (ACO) to generate ant population which uses the pheromone information to collectively search for the best neural architecture. Furthermore, by using local and global pheromone update rules our method ensures the balance between exploitation and exploration. On top of this, to make our method more efficient we combine progressive neural architecture search with weight reusability. Furthermore, due to the nature of ACO our method can incorporate heuristic information which can further speed up the search process. After systematic and extensive evaluation, we discover that on three different datasets (MNIST, Fashion-MNIST, and CIFAR-10) when compared to existing systems our proposed method demonstrates competitive performance. Finally, we open source DeepSwarm as a NAS library and hope it can be used by more deep learning researchers and practitioners.
Simple and Effective Relation-Based Approaches To XPath and XSLT Type Checking (Technical Report, Bad Honnef 2015)
Venue: arXiv cs.PL 2019
Year: 2019

XPath is a language for addressing parts of an XML document. We give an abstract interpretation of XPath expressions in terms of relations on document node types. Node-set-related XPath language constructs are mapped straightforwardly onto basic, well-understood and easily computable relational operations. Hence our interpretation gives both extremely concise type-level denotational semantics and a practical analysis tool for the node-set fragment of the XPath 1.0 language. This method is part of the TPath implementation of XPath. XSL-T is a pure functional language for transforming XML documents. For the most common case, the transformation into an XML document, type checking of the transformation code is unfeasible in general, but strongly required in practice. It turned out that the relational approach of TPath can be carried over to check all fragments of the result language, which are contained verbatim in the transformation code. This leads to a technique called "Fragmented Validation" and is part of the txsl implementation of XSL-T.
Abstraction Refinement Algorithms for Timed Automata
Venue: arXiv cs.FL 2019
Year: 2019

We present abstraction-refinement algorithms for model checking safety properties of timed automata. The abstraction domain we consider abstracts away zones by restricting the set of clock constraints that can be used to define them, while the refinement procedure computes the set of constraints that must be taken into consideration in the abstraction so as to exclude a given spurious counterexample. We implement this idea in two ways: an enumerative algorithm where a lazy abstraction approach is adopted, meaning that possibly different abstract domains are assigned to each exploration node; and a symbolic algorithm where the abstract transition system is encoded with Boolean formulas.
Limitations and Biases in Facial Landmark Detection -- An Empirical Study on Older Adults with Dementia
Venue: arXiv cs.CV 2019
Year: 2019

Accurate facial expression analysis is an essential step in various clinical applications that involve physical and mental health assessments of older adults (e.g. diagnosis of pain or depression). Although remarkable progress has been achieved toward developing robust facial landmark detection methods, state-of-the-art methods still face many challenges when encountering uncontrolled environments, different ranges of facial expressions, and different demographics of the population. A recent study has revealed that the health status of individuals can also affect the performance of facial landmark detection methods on front views of faces. In this work, we investigate this matter in a much greater context using seven facial landmark detection methods. We perform our evaluation not only on frontal faces but also on profile faces and in various regions of the face. Our results shed light on limitations of the existing methods and challenges of applying these methods in clinical settings by indicating: 1) a significant difference between the performance of state-of-the-art when tested on the profile or frontal faces of individuals with vs. without dementia; 2) insights on the existing bias for all regions of the face; and 3) the presence of this bias despite re-training/fine-tuning with various configurations of six datasets.
Multi-Armed Bandits for Boolean Connectives in Hybrid System Falsification (Extended Version)
Venue: arXiv cs.SY 2019
Year: 2019

Hybrid system falsification is an actively studied topic, as a scalable quality assurance methodology for real-world cyber-physical systems. In falsification, one employs stochastic hill-climbing optimization to quickly find a counterexample input to a black-box system model. Quantitative robust semantics is the technical key that enables use of such optimization. In this paper, we tackle the so-called scale problem regarding Boolean connectives that is widely recognized in the community: quantities of different scales (such as speed [km/h] vs. RPM, or worse, RPH) can mask each other's contribution to robustness. Our solution consists of integration of the multi-armed bandit algorithms in hill climbing-guided falsification frameworks, with a technical novelty of a new reward notion that we call hill-climbing gain. Our experiments show our approach's robustness under the change of scales, and that it outperforms a state-of-the-art falsification tool.
Power Inversion of the Massive MIMO Channel
Venue: arXiv cs.IT 2019
Year: 2019

Channel hardening characterises the diminishing influence of small scale fading on large scale antenna systems. The effective massive MIMO time domain channel is introduced and applied to a maximum diversity channel with rectangular power delay profile. This model bounds channel hardening and allows a proper interpretation from a radio design perspective. The reduced variability of the effective channel enables power inversion to obtain a downlink channel that only depends on the large scale fading properties.
BERTSel: Answer Selection with Pre-trained Models
Venue: arXiv cs.CL 2019
Year: 2019

Recently, pre-trained models have been the dominant paradigm in natural language processing. They achieved remarkable state-of-the-art performance across a wide range of related tasks, such as textual entailment, natural language inference, question answering, etc. BERT, proposed by Devlin et.al., has achieved a better marked result in GLUE leaderboard with a deep transformer architecture. Despite its soaring popularity, however, BERT has not yet been applied to answer selection. This task is different from others with a few nuances: first, modeling the relevance and correctness of candidates matters compared to semantic relatedness and syntactic structure; second, the length of an answer may be different from other candidates and questions. In this paper. we are the first to explore the performance of fine-tuning BERT for answer selection. We achieved STOA results across five popular datasets, demonstrating the success of pre-trained models in this task.
Semantic flow in language networks
Venue: arXiv cs.CL 2019
Year: 2019

In this study we propose a framework to characterize documents based on their semantic flow. The proposed framework encompasses a network-based model that connected sentences based on their semantic similarity. Semantic fields are detected using standard community detection methods. as the story unfolds, transitions between semantic fields are represent in Markov networks, which in turned are characterized via network motifs (subgraphs). Here we show that the proposed framework can be used to classify books according to their style and publication dates. Remarkably, even without a systematic optimization of parameters, philosophy and investigative books were discriminated with an accuracy rate of 92.5%. Because this model captures semantic features of texts, it could be used as an additional feature in traditional network-based models of texts that capture only syntactical/stylistic information, as it is the case of word adjacency (co-occurrence) networks.
CSAI: Open-Source Cellular Radio Access Network Security Analysis Instrument
Venue: arXiv cs.CR 2019
Year: 2019

This paper presents our methodology and toolbox that allows analyzing the radio access network security of laboratory and commercial 4G and future 5G cellular networks. We leverage a free open-source software suite that implements the LTE UE and eNB enabling real-time signaling using software radio peripherals. We modify the UE software processing stack to act as an LTE packet collection and examination tool. This is possible because of the openness of the 3GPP specifications. Hence, we are able to receive and decode LTE downlink messages for the purpose of analyzing potential security problems of the standard. This paper shows how to rapidly prototype LTE tools and build a software-defined radio access network (RAN) analysis instrument for research and education. Using CSAI, the Cellular RAN Security Analysis Instrument, a researcher can analyze broadcast and paging messages of cellular networks. CSAI is also able to test networks to aid in the identification of vulnerabilities and verify functionality post-remediation. Additionally, we found that it can crash an eNB which motivates equivalent analyses of commercial network equipment and its robustness against denial of service attacks.
SCALAR: Simultaneous Calibration of 2D Laser and Robot Kinematic Parameters Using Planarity and Distance Constraints
Venue: arXiv cs.RO 2019
Year: 2019

In this paper, we propose SCALAR, a calibration method to simultaneously calibrate the kinematic parameters of a 6-DoF robot and the extrinsic parameters of a 2D Laser Range Finder (LRF) attached to the robot's flange. The calibration setup requires only a flat plate with two small holes carved on it at a known distance from each other, and a sharp tool-tip attached to the robot's flange. The calibration is formulated as a nonlinear optimization problem where the laser and the tool-tip are used to provide planar and distance constraints, and the optimization problem is solved using Levenberg-Marquardt algorithm. We demonstrate through experiments that SCALAR can reduce the mean and the maximum tool position error from 0.44 mm to 0.19 mm and from 1.41 mm to 0.50 mm, respectively.
Quantifying Robotic Swarm Coverage
Venue: arXiv cs.SY 2019
Year: 2019

In the field of swarm robotics, the design and implementation of spatial density control laws has received much attention, with less emphasis being placed on performance evaluation. This work fills that gap by introducing an error metric that provides a quantitative measure of coverage for use with any control scheme. The proposed error metric is continuously sensitive to changes in the swarm distribution, unlike commonly used discretization methods. We analyze the theoretical and computational properties of the error metric and propose two benchmarks to which error metric values can be compared. The first uses the realizable extrema of the error metric to compute the relative error of an observed swarm distribution. We also show that the error metric extrema can be used to help choose the swarm size and effective radius of each robot required to achieve a desired level of coverage. The second benchmark compares the observed distribution of error metric values to the probability density function of the error metric when robot positions are randomly sampled from the target distribution. We demonstrate the utility of this benchmark in assessing the performance of stochastic control algorithms. We prove that the error metric obeys a central limit theorem, develop a streamlined method for performing computations, and place the standard statistical tests used here on a firm theoretical footing. We provide rigorous theoretical development, computational methodologies, numerical examples, and MATLAB code for both benchmarks.
What Do Adversarially Robust Models Look At?
Venue: arXiv cs.CV 2019
Year: 2019

In this paper, we address the open question: "What do adversarially robust models look at?" Recently, it has been reported in many works that there exists the trade-off between standard accuracy and adversarial robustness. According to prior works, this trade-off is rooted in the fact that adversarially robust and standard accurate models might depend on very different sets of features. However, it has not been well studied what kind of difference actually exists. In this paper, we analyze this difference through various experiments visually and quantitatively. Experimental results show that adversarially robust models look at things at a larger scale than standard models and pay less attention to fine textures. Furthermore, although it has been claimed that adversarially robust features are not compatible with standard accuracy, there is even a positive effect by using them as pre-trained models particularly in low resolution datasets.
Structured Summarization of Academic Publications
Venue: arXiv cs.CL 2019
Year: 2019

We propose SUSIE, a novel summarization method that can work with state-of-the-art summarization models in order to produce structured scientific summaries for academic articles. We also created PMC-SA, a new dataset of academic publications, suitable for the task of structured summarization with neural networks. We apply SUSIE combined with three different summarization models on the new PMC-SA dataset and we show that the proposed method improves the performance of all models by as much as 4 ROUGE points.
Reinforcement Learning for Learning of Dynamical Systems in Uncertain Environment: a Tutorial
Venue: arXiv cs.LG 2019
Year: 2019

In this paper, a review of model-free reinforcement learning for learning of dynamical systems in uncertain environments has discussed. For this purpose, the Markov Decision Process (MDP) will be reviewed. Furthermore, some learning algorithms such as Temporal Difference (TD) learning, Q-Learning, and Approximate Q-learning as model-free algorithms which constitute the main part of this article have been investigated, and benefits and drawbacks of each algorithm will be discussed. The discussed concepts in each section are explaining with details and examples.
Good Feature Selection for Least Squares Pose Optimization in VO/VSLAM
Venue: arXiv cs.RO 2019
Year: 2019

This paper aims to select features that contribute most to the pose estimation in VO/VSLAM. Unlike existing feature selection works that are focused on efficiency only, our method significantly improves the accuracy of pose tracking, while introducing little overhead. By studying the impact of feature selection towards least squares pose optimization, we demonstrate the applicability of improving accuracy via good feature selection. To that end, we introduce the Max-logDet metric to guide the feature selection, which is connected to the conditioning of least squares pose optimization problem. We then describe an efficient algorithm for approximately solving the NP-hard Max-logDet problem. Integrating Max-logDet feature selection into a state-of-the-art visual SLAM system leads to accuracy improvements with low overhead, as demonstrated via evaluation on a public benchmark.