OpenRaiser/Intern-Atlas huggingface dataset:
Road is Enough! Extrinsic Calibration of Non-overlapping Stereo Camera and LiDAR using Road Information
Venue: arXiv cs.RO 2019
Year: 2019

This paper presents a framework for the targetless extrinsic calibration of stereo cameras and Light Detection and Ranging (LiDAR) sensors with a non-overlapping Field of View (FOV). In order to solve the extrinsic calibrations problem under such challenging configuration, the proposed solution exploits road markings as static and robust features among the various dynamic objects that are present in urban environment. First, this study utilizes road markings that are commonly captured by the two sensor modalities to select informative images for estimating the extrinsic parameters. In order to accomplish stable optimization, multiple cost functions are defined, including Normalized Information Distance (NID), edge alignment and, plane fitting cost. Therefore a smooth cost curve is formed for global optimization to prevent convergence to the local optimal point. We further evaluate each cost function by examining parameter sensitivity near the optimal point. Another key characteristic of extrinsic calibration, repeatability, is analyzed by conducting the proposed method multiple times with varying randomly perturbed initial points.
Introspection Learning
Venue: arXiv cs.LG 2019
Year: 2019

Traditional reinforcement learning agents learn from experience, past or present, gained through interaction with their environment. Our approach synthesizes experience, without requiring an agent to interact with their environment, by asking the policy directly "Are there situations X, Y, and Z, such that in these situations you would select actions A, B, and C?" In this paper we present Introspection Learning, an algorithm that allows for the asking of these types of questions of neural network policies. Introspection Learning is reinforcement learning algorithm agnostic and the states returned may be used as an indicator of the health of the policy or to shape the policy in a myriad of ways. We demonstrate the usefulness of this algorithm both in the context of speeding up training and improving robustness with respect to safety constraints.
Semi-supervised Learning for Quantification of Pulmonary Edema in Chest X-Ray Images
Venue: arXiv cs.CV 2019
Year: 2019

We propose and demonstrate machine learning algorithms to assess the severity of pulmonary edema in chest x-ray images of congestive heart failure patients. Accurate assessment of pulmonary edema in heart failure is critical when making treatment and disposition decisions. Our work is grounded in a large-scale clinical dataset of over 300,000 x-ray images with associated radiology reports. While edema severity labels can be extracted unambiguously from a small fraction of the radiology reports, accurate annotation is challenging in most cases. To take advantage of the unlabeled images, we develop a Bayesian model that includes a variational auto-encoder for learning a latent representation from the entire image set trained jointly with a regressor that employs this representation for predicting pulmonary edema severity. Our experimental results suggest that modeling the distribution of images jointly with the limited labels improves the accuracy of pulmonary edema scoring compared to a strictly supervised approach. To the best of our knowledge, this is the first attempt to employ machine learning algorithms to automatically and quantitatively assess the severity of pulmonary edema in chest x-ray images.
Automated Detection of Pre-Disaster Building Images from Google Street View
Venue: arXiv cs.CV 2019
Year: 2019

After a disaster, teams of structural engineers collect vast amounts of images from damaged buildings to obtain lessons and gain knowledge from the event. Images of damaged buildings and components provide valuable evidence to understand the consequences on our structures. However, in many cases, images of damaged buildings are often captured without sufficient spatial context. Also, they may be hard to recognize in cases with severe damage. Incorporating past images showing a pre-disaster condition of such buildings is helpful to accurately evaluate possible circumstances related to a building's failure. One of the best resources to observe the pre-disaster condition of the buildings is Google Street View. A sequence of 360 panorama images which are captured along streets enables all-around views at each location on the street. Once a user knows the GPS information near the building, all external views of the building can be made available. In this study, we develop an automated technique to extract past building images from 360 panorama images serviced by Google Street View. Users only need to provide a geo-tagged image, collected near the target building, and the rest of the process is fully automated. High-quality and undistorted building images are extracted from past panoramas. Since the panoramas are collected from various locations near the building along the street, the user can identify its pre-disaster conditions from the full set of external views.
A novel dynamic asset allocation system using Feature Saliency Hidden Markov models for smart beta investing
Venue: arXiv cs.CE 2019
Year: 2019

The financial crisis of 2008 generated interest in more transparent, rules-based strategies for portfolio construction, with Smart beta strategies emerging as a trend among institutional investors. While they perform well in the long run, these strategies often suffer from severe short-term drawdown (peak-to-trough decline) with fluctuating performance across cycles. To address cyclicality and underperformance, we build a dynamic asset allocation system using Hidden Markov Models (HMMs). We test our system across multiple combinations of smart beta strategies and the resulting portfolios show an improvement in risk-adjusted returns, especially on more return oriented portfolios (up to 50$\%$ in excess of market annually). In addition, we propose a novel smart beta allocation system based on the Feature Saliency HMM (FSHMM) algorithm that performs feature selection simultaneously with the training of the HMM, to improve regime identification. We evaluate our systematic trading system with real life assets using MSCI indices; further, the results (up to 60$\%$ in excess of market annually) show model performance improvement with respect to portfolios built using full feature HMMs.
PFLD: A Practical Facial Landmark Detector
Venue: arXiv cs.CV 2019
Year: 2019

Being accurate, efficient, and compact is essential to a facial landmark detector for practical use. To simultaneously consider the three concerns, this paper investigates a neat model with promising detection accuracy under wild environments e.g., unconstrained pose, expression, lighting, and occlusion conditions) and super real-time speed on a mobile device. More concretely, we customize an end-to-end single stage network associated with acceleration techniques. During the training phase, for each sample, rotation information is estimated for geometrically regularizing landmark localization, which is then NOT involved in the testing phase. A novel loss is designed to, besides considering the geometrical regularization, mitigate the issue of data imbalance by adjusting weights of samples to different states, such as large pose, extreme lighting, and occlusion, in the training set. Extensive experiments are conducted to demonstrate the efficacy of our design and reveal its superior performance over state-of-the-art alternatives on widely-adopted challenging benchmarks, i.e., 300W (including iBUG, LFPW, AFW, HELEN, and XM2VTS) and AFLW. Our model can be merely 2.1Mb of size and reach over 140 fps per face on a mobile phone (Qualcomm ARM 845 processor) with high precision, making it attractive for large-scale or real-time applications. We have made our practical system based on PFLD 0.25X model publicly available at \url{http://sites.google.com/view/xjguo/fld} for encouraging comparisons and improvements from the community.
A Convex Optimization-based Dynamic Model Identification Package for the da Vinci Research Kit
Venue: arXiv cs.RO 2019
Year: 2019

The da Vinci Research Kit (dVRK) is a teleoperated surgical robotic system. For dynamic simulations and model-based control, the dynamic model of the dVRK is required. We present an open-source dynamic model identification package for the dVRK, capable of modeling the parallelograms, springs, counterweight, and tendon couplings, which are inherent to the dVRK. A convex optimization-based method is used to identify the dynamic parameters of the dVRK subject to physical consistency. Experimental results show the effectiveness of the modeling and the robustness of the package. Although this software package is originally developed for the dVRK, it is feasible to apply it on other similar robots.
Financial series prediction using Attention LSTM
Venue: arXiv cs.LG 2019
Year: 2019

Financial time series prediction, especially with machine learning techniques, is an extensive field of study. In recent times, deep learning methods (especially time series analysis) have performed outstandingly for various industrial problems, with better prediction than machine learning methods. Moreover, many researchers have used deep learning methods to predict financial time series with various models in recent years. In this paper, we will compare various deep learning models, such as multilayer perceptron (MLP), one-dimensional convolutional neural networks (1D CNN), stacked long short-term memory (stacked LSTM), attention networks, and weighted attention networks for financial time series prediction. In particular, attention LSTM is not only used for prediction, but also for visualizing intermediate outputs to analyze the reason of prediction; therefore, we will show an example for understanding the model prediction intuitively with attention vectors. In addition, we focus on time and factors, which lead to an easy understanding of why certain trends are predicted when accessing a given time series table. We also modify the loss functions of the attention models with weighted categorical cross entropy; our proposed model produces a 0.76 hit ratio, which is superior to those of other methods for predicting the trends of the KOSPI 200.
Markov Decision Policies for Dynamic Video Delivery in Wireless Caching Networks
Venue: arXiv cs.NI 2019
Year: 2019

This paper proposes a video delivery strategy for dynamic streaming services which maximizes time-average streaming quality under a playback delay constraint in wireless caching networks. The network where popular videos encoded by scalable video coding are already stored in randomly distributed caching nodes is considered under adaptive video streaming concepts, and distance-based interference management is investigated in this paper. In this network model, a streaming user makes delay-constrained decisions depending on stochastic network states: 1) caching node for video delivery, 2) video quality, and 3) the quantity of video chunks to receive. Since wireless link activation for video delivery may introduce delays, different timescales for updating caching node association, video quality adaptation, and chunk amounts are considered. After associating with a caching node for video delivery, the streaming user chooses combinations of quality and chunk amounts in the small timescale. The dynamic decision making process for video quality and chunk amounts at each slot is modeled using Markov decision process, and the caching node decision is made based on the framework of Lyapunov optimization. Our intensive simulations verify that the proposed video delivery algorithm works reliably and also can control the tradeoff between video quality and playback latency.
Shared Secret Key Generation via Carrier Frequency Offsets
Venue: arXiv cs.CR 2019
Year: 2019

This work presents a novel method to generate secret keys shared between a legitimate node pair (Alice and Bob) to safeguard the communication between them from an unauthorized node (Eve). To this end, we exploit the {\it reciprocal carrier frequency offset} (CFO) between the legitimate node pair to extract common randomness out of it to generate shared secret keys. The proposed key generation algorithm involves standard steps: the legitimate nodes exchange binary phase-shift keying (BPSK) signals to perform blind CFO estimation on the received signals, and do equi-probable quantization of the noisy CFO estimates followed by information reconciliation--to distil a shared secret key. Furthermore, guided by the Allan deviation curve, we distinguish between the two frequency-stability regimes---when the randomly time-varying CFO process i) has memory, ii) is memoryless; thereafter, we compute the key generation rate for both regimes. Simulation results show that the key disagreement rate decreases exponentially with increase in the signal to noise ratio of the link between Alice and Bob. Additionally, the decipher probability of Eve decreases as soon as either of the two links observed by the Eve becomes more degraded compared to the link between Alice and Bob.
A Hierarchy of Polynomial Kernels
Venue: arXiv cs.CC 2019
Year: 2019

In parameterized algorithmics, the process of kernelization is defined as a polynomial time algorithm that transforms the instance of a given problem to an equivalent instance of a size that is limited by a function of the parameter. As, afterwards, this smaller instance can then be solved to find an answer to the original question, kernelization is often presented as a form of preprocessing. A natural generalization of kernelization is the process that allows for a number of smaller instances to be produced to provide an answer to the original problem, possibly also using negation. This generalization is called Turing kernelization. Immediately, questions of equivalence occur or, when is one form possible and not the other. These have been long standing open problems in parameterized complexity. In the present paper, we answer many of these. In particular, we show that Turing kernelizations differ not only from regular kernelization, but also from intermediate forms as truth-table kernelizations. We achieve absolute results by diagonalizations and also results on natural problems depending on widely accepted complexity theoretic assumptions. In particular, we improve on known lower bounds for the kernel size of compositional problems using these assumptions.
Artist Style Transfer Via Quadratic Potential
Venue: arXiv cs.CV 2019
Year: 2019

In this paper we address the problem of artist style transfer where the painting style of a given artist is applied on a real world photograph. We train our neural networks in adversarial setting via recently introduced quadratic potential divergence for stable learning process. To further improve the quality of generated artist stylized images we also integrate some of the recently introduced deep learning techniques in our method. To our best knowledge this is the first attempt towards artist style transfer via quadratic potential divergence. We provide some stylized image samples in the supplementary material. The source code for experimentation was written in PyTorch and is available online in my GitHub repository.
Target-based Hyperspectral Demixing via Generalized Robust PCA
Venue: arXiv cs.CV 2019
Year: 2019

Localizing targets of interest in a given hyperspectral (HS) image has applications ranging from remote sensing to surveillance. This task of target detection leverages the fact that each material/object possesses its own characteristic spectral response, depending upon its composition. As $\textit{signatures}$ of different materials are often correlated, matched filtering based approaches may not be appropriate in this case. In this work, we present a technique to localize targets of interest based on their spectral signatures. We also present the corresponding recovery guarantees, leveraging our recent theoretical results. To this end, we model a HS image as a superposition of a low-rank component and a dictionary sparse component, wherein the dictionary consists of the $\textit{a priori}$ known characteristic spectral responses of the target we wish to localize. Finally, we analyze the performance of the proposed approach via experimental validation on real HS data for a classification task, and compare it with related techniques.
A Generative Map for Image-based Camera Localization
Venue: arXiv cs.CV 2019
Year: 2019

In image-based camera localization systems, information about the environment is usually stored in some representation, which can be referred to as a map. Conventionally, most maps are built upon hand-crafted features. Recently, neural networks have attracted attention as a data-driven map representation, and have shown promising results in visual localization. However, these neural network maps are generally hard to interpret by human. A readable map is not only accessible to humans, but also provides a way to be verified when the ground truth pose is unavailable. To tackle this problem, we propose Generative Map, a new framework for learning human-readable neural network maps, by combining a generative model with the Kalman filter, which also allows it to incorporate additional sensor information such as stereo visual odometry. For evaluation, we use real world images from the 7-Scenes and Oxford RobotCar datasets. We demonstrate that our Generative Map can be queried with a pose of interest from the test sequence to predict an image, which closely resembles the true scene. For localization, we show that Generative Map achieves comparable performance with current regression models. Moreover, our framework is trained completely from scratch, unlike regression models which rely on large ImageNet pretrained networks.
Equivalent Stability Notions, Lyapunov Inequality, and Its Application in Discrete-Time Linear Systems with Stochastic Dynamics Determined by an i.i.d. Process
Venue: arXiv cs.SY 2019
Year: 2019

This paper is concerned with stability analysis and synthesis for discrete-time linear systems with stochastic dynamics. Equivalence is first proved for three stability notions under some key assumptions on the randomness behind the systems. In particular, we use the assumption that the stochastic process determining the system dynamics is independent and identically distributed (i.i.d.) with respect to the discrete time. Then, a Lyapunov inequality condition is derived for stability in a necessary and sufficient sense. Although our Lyapunov inequality will involve decision variables contained in the expectation operation, an idea is provided to solve it as a standard linear matrix inequality; the idea also plays an important role in state feedback synthesis based on the Lyapunov inequality. Motivating numerical examples are further discussed as an application of our approach.
Two-phase Hair Image Synthesis by Self-Enhancing Generative Model
Venue: arXiv cs.CV 2019
Year: 2019

Generating plausible hair image given limited guidance, such as sparse sketches or low-resolution image, has been made possible with the rise of Generative Adversarial Networks (GANs). Traditional image-to-image translation networks can generate recognizable results, but finer textures are usually lost and blur artifacts commonly exist. In this paper, we propose a two-phase generative model for high-quality hair image synthesis. The two-phase pipeline first generates a coarse image by an existing image translation model, then applies a re-generating network with self-enhancing capability to the coarse image. The self-enhancing capability is achieved by a proposed structure extraction layer, which extracts the texture and orientation map from a hair image. Extensive experiments on two tasks, Sketch2Hair and Hair Super-Resolution, demonstrate that our approach is able to synthesize plausible hair image with finer details, and outperforms the state-of-the-art.
Quantifying High-order Interdependencies via Multivariate Extensions of the Mutual Information
Venue: arXiv cs.IT 2019
Year: 2019

This article introduces a model-agnostic approach to study statistical synergy, a form of emergence in which patterns at large scales are not traceable from lower scales. Our framework leverages various multivariate extensions of Shannon's mutual information, and introduces the O-information as a metric capable of characterising synergy- and redundancy-dominated systems. We develop key analytical properties of the O-information, and study how it relates to other metrics of high-order interactions from the statistical mechanics and neuroscience literature. Finally, as a proof of concept, we use the proposed framework to explore the relevance of statistical synergy in Baroque music scores.
Modeling Mobile Interface Tappability Using Crowdsourcing and Deep Learning
Venue: arXiv cs.HC 2019
Year: 2019

Tapping is an immensely important gesture in mobile touchscreen interfaces, yet people still frequently are required to learn which elements are tappable through trial and error. Predicting human behavior for this everyday gesture can help mobile app designers understand an important aspect of the usability of their apps without having to run a user study. In this paper, we present an approach for modeling tappability of mobile interfaces at scale. We conducted large-scale data collection of interface tappability over a rich set of mobile apps using crowdsourcing and computationally investigated a variety of signifiers that people use to distinguish tappable versus not-tappable elements. Based on the dataset, we developed and trained a deep neural network that predicts how likely a user will perceive an interface element as tappable versus not tappable. Using the trained tappability model, we developed TapShoe, a tool that automatically diagnoses mismatches between the tappability of each element as perceived by a human user---predicted by our model, and the intended or actual tappable state of the element specified by the developer or designer. Our model achieved reasonable accuracy: mean precision 90.2\% and recall 87.0\%, in matching human perception on identifying tappable UI elements. The tappability model and TapShoe were well received by designers via an informal evaluation with 7 professional interaction designers.
Sequentiality of String-to-Context Transducers
Venue: arXiv cs.LO 2019
Year: 2019

Transducers extend finite state automata with outputs, and describe transformations from strings to strings. Sequential transducers, which have a deterministic behaviour regarding their input, are of particular interest. However, unlike finite-state automata, not every transducer can be made sequential. The seminal work of Choffrut allows to characterise, amongst the functional one-way transducers, the ones that admit an equivalent sequential transducer. In this work, we extend the results of Choffrut to the class of transducers that produce their output string by adding simultaneously, at each transition, a string on the left and a string on the right of the string produced so far. We call them the string-to-context transducers. We obtain a multiple characterisation of the functional string-to-context transducers admitting an equivalent sequential one, based on a Lipschitz property of the function realised by the transducer, and on a pattern (a new twinning property). Last, we prove that given a string-to-context transducer, determining whether there exists an equivalent sequential one is in coNP.