OpenRaiser/Intern-Atlas huggingface dataset:
Decentralized Task Allocation in Multi-Robot Systems via Bipartite Graph Matching Augmented with Fuzzy Clustering
Venue: arXiv cs.MA 2018
Year: 2018

Robotic systems, working together as a team, are becoming valuable players in different real-world applications, from disaster response to warehouse fulfillment services. Centralized solutions for coordinating multi-robot teams often suffer from poor scalability and vulnerability to communication disruptions. This paper develops a decentralized multi-agent task allocation (Dec-MATA) algorithm for multi-robot applications. The task planning problem is posed as a maximum-weighted matching of a bipartite graph, the solution of which using the blossom algorithm allows each robot to autonomously identify the optimal sequence of tasks it should undertake. The graph weights are determined based on a soft clustering process, which also plays a problem decomposition role seeking to reduce the complexity of the individual-agents' task assignment problems. To evaluate the new Dec-MATA algorithm, a series of case studies (of varying complexity) are performed, with tasks being distributed randomly over an observable 2D environment. A centralized approach, based on a state-of-the-art MILP formulation of the multi-Traveling Salesman problem is used for comparative analysis. While getting within 7-28% of the optimal cost obtained by the centralized algorithm, the Dec-MATA algorithm is found to be 1-3 orders of magnitude faster and minimally sensitive to task-to-robot ratios, unlike the centralized algorithm.
An Efficient End-to-End Neural Model for Handwritten Text Recognition
Venue: arXiv cs.CL 2018
Year: 2018

Offline handwritten text recognition from images is an important problem for enterprises attempting to digitize large volumes of handmarked scanned documents/reports. Deep recurrent models such as Multi-dimensional LSTMs have been shown to yield superior performance over traditional Hidden Markov Model based approaches that suffer from the Markov assumption and therefore lack the representational power of RNNs. In this paper we introduce a novel approach that combines a deep convolutional network with a recurrent Encoder-Decoder network to map an image to a sequence of characters corresponding to the text present in the image. The entire model is trained end-to-end using Focal Loss, an improvement over the standard Cross-Entropy loss that addresses the class imbalance problem, inherent to text recognition. To enhance the decoding capacity of the model, Beam Search algorithm is employed which searches for the best sequence out of a set of hypotheses based on a joint distribution of individual characters. Our model takes as input a downsampled version of the original image thereby making it both computationally and memory efficient. The experimental results were benchmarked against two publicly available datasets, IAM and RIMES. We surpass the state-of-the-art word level accuracy on the evaluation set of both datasets by 3.5% & 1.1%, respectively.
Multi-criteria Evolution of Neural Network Topologies: Balancing Experience and Performance in Autonomous Systems
Venue: arXiv cs.NE 2018
Year: 2018

Majority of Artificial Neural Network (ANN) implementations in autonomous systems use a fixed/user-prescribed network topology, leading to sub-optimal performance and low portability. The existing neuro-evolution of augmenting topology or NEAT paradigm offers a powerful alternative by allowing the network topology and the connection weights to be simultaneously optimized through an evolutionary process. However, most NEAT implementations allow the consideration of only a single objective. There also persists the question of how to tractably introduce topological diversification that mitigates overfitting to training scenarios. To address these gaps, this paper develops a multi-objective neuro-evolution algorithm. While adopting the basic elements of NEAT, important modifications are made to the selection, speciation, and mutation processes. With the backdrop of small-robot path-planning applications, an experience-gain criterion is derived to encapsulate the amount of diverse local environment encountered by the system. This criterion facilitates the evolution of genes that support exploration, thereby seeking to generalize from a smaller set of mission scenarios than possible with performance maximization alone. The effectiveness of the single-objective (optimizing performance) and the multi-objective (optimizing performance and experience-gain) neuro-evolution approaches are evaluated on two different small-robot cases, with ANNs obtained by the multi-objective optimization observed to provide superior performance in unseen scenarios.
Abstractive and Extractive Text Summarization using Document Context Vector and Recurrent Neural Networks
Venue: arXiv cs.CL 2018
Year: 2018

Sequence to sequence (Seq2Seq) learning has recently been used for abstractive and extractive summarization. In current study, Seq2Seq models have been used for eBay product description summarization. We propose a novel Document-Context based Seq2Seq models using RNNs for abstractive and extractive summarizations. Intuitively, this is similar to humans reading the title, abstract or any other contextual information before reading the document. This gives humans a high-level idea of what the document is about. We use this idea and propose that Seq2Seq models should be started with contextual information at the first time-step of the input to obtain better summaries. In this manner, the output summaries are more document centric, than being generic, overcoming one of the major hurdles of using generative models. We generate document-context from user-behavior and seller provided information. We train and evaluate our models on human-extracted-golden-summaries. The document-contextual Seq2Seq models outperform standard Seq2Seq models. Moreover, generating human extracted summaries is prohibitively expensive to scale, we therefore propose a semi-supervised technique for extracting approximate summaries and using it for training Seq2Seq models at scale. Semi-supervised models are evaluated against human extracted summaries and are found to be of similar efficacy. We provide side by side comparison for abstractive and extractive summarizers (contextual and non-contextual) on same evaluation dataset. Overall, we provide methodologies to use and evaluate the proposed techniques for large document summarization. Furthermore, we found these techniques to be highly effective, which is not the case with existing techniques.
Affordable Mobile-based Simulator for Robotic Surgery
Venue: arXiv cs.RO 2018
Year: 2018

Robotic surgery and novel surgical instrumentation present great potentials towards safer, more accurate and consistent minimally invasive surgery. However, their adoption is dependent to the access to training facilities and extensive surgical training. Robotic instruments require different dexterity skills compared to open or laparoscopic. Surgeons, therefore, are required to invest significant time by attending extensive training programs. Contrary, hands on experiences represent an additional operational cost for hospitals as the availability of robotic systems for training purposes is limited. All these technological and financial barriers for surgeons and hospitals hinder the adoption of robotic surgery. In this paper, we present a mobile dexterity training kit to develop basic surgical techniques within an affordable setting. The system could be used to train basic surgical gestures and to develop the motor skills needed for manoeuvring robotic instruments. Our work presents the architecture and components needed to create a simulated environment for training sub-tasks as well as a design for portable mobile manipulators that can be used as master controllers of different instruments. A preliminary study results demonstrate usability and skills development with this system.
Simultaneous Adversarial Training - Learn from Others Mistakes
Venue: arXiv cs.CV 2018
Year: 2018

Adversarial examples are maliciously tweaked images that can easily fool machine learning techniques, such as neural networks, but they are normally not visually distinguishable for human beings. One of the main approaches to solve this problem is to retrain the networks using those adversarial examples, namely adversarial training. However, standard adversarial training might not actually change the decision boundaries but cause the problem of gradient masking, resulting in a weaker ability to generate adversarial examples. Therefore, it cannot alleviate the problem of black-box attacks, where adversarial examples generated from other networks can transfer to the targeted one. In order to reduce the problem of black-box attacks, we propose a novel method that allows two networks to learn from each others' adversarial examples and become resilient to black-box attacks. We also combine this method with a simple domain adaptation to further improve the performance.
$S_{12}$ and $P_{12}$-colorings of cubic graphs
Venue: arXiv cs.DM 2018
Year: 2018

If $G$ and $H$ are two cubic graphs, then an $H$-coloring of $G$ is a proper edge-coloring $f$ with edges of $H$, such that for each vertex $x$ of $G$, there is a vertex $y$ of $H$ with $f(\partial_G(x))=\partial_H(y)$. If $G$ admits an $H$-coloring, then we will write $H\prec G$. The Petersen coloring conjecture of Jaeger ($P_{10}$-conjecture) states that for any bridgeless cubic graph $G$, one has: $P_{10}\prec G$. The Sylvester coloring conjecture ($S_{10}$-conjecture) states that for any cubic graph $G$, $S_{10}\prec G$. In this paper, we introduce two new conjectures that are related to these conjectures. The first of them states that any cubic graph with a perfect matching admits an $S_{12}$-coloring. The second one states that any cubic graph $G$ whose edge-set can be covered with four perfect matchings, admits a $P_{12}$-coloring. We call these new conjectures $S_{12}$-conjecture and $P_{12}$-conjecture, respectively. Our first results justify the choice of graphs in $S_{12}$-conjecture and $P_{12}$-conjecture. Next, we characterize the edges of $P_{12}$ that may be fictive in a $P_{12}$-coloring of a cubic graph $G$. Finally, we relate the new conjectures to the already known conjectures by proving that $S_{12}$-conjecture implies $S_{10}$-conjecture, and $P_{12}$-conjecture and $(5,2)$-Cycle cover conjecture together imply $P_{10}$-conjecture. Our main tool for proving the latter statement is a new reformulation of $(5,2)$-Cycle cover conjecture, which states that the edge-set of any claw-free bridgeless cubic graph can be covered with four perfect matchings.
A recursive estimation approach to distributed identification of large-scale multi-input-single-output FIR systems
Venue: arXiv cs.SY 2018
Year: 2018

The problem of identifying single modules in multiple-input-single-output (MISO) systems is considered. A novel approach to distributed identification of MISO finite impulse response systems is presented. The distributed identification is discerned by the local estimation of local parameters, which correspond to a module in the MISO system. The local estimators are derived from the standard recursive least squares estimator and require limited information exchange. By Lyapunov's second method, sufficient conditions are derived for asymptotic convergence of the estimators to the true parameters in the absence of disturbances, which lead to asymptotic unbiasedness in the presence of additive output disturbances.
Distributed Layered Grant-Free Non-Orthogonal Multiple Access for Massive MTC
Venue: arXiv cs.IT 2018
Year: 2018

Grant-free transmission is considered as a promising technology to support sporadic data transmission in massive machine-type communications (mMTC). Due to the distributed manner, high collision probability is an inherent drawback of grant-free access techniques. Non-orthogonal multiple access (NOMA) is expected to be used in uplink grant-free transmission, multiplying connection opportunities by exploiting power domain resources. However, it is usually applied for coordinated transmissions where the base station performs coordination with full channel state information, which is not suitable for grant-free techniques. In this paper, we propose a novel distributed layered grant-free NOMA framework. Under this framework, we divide the cell into different layers based on predetermined inter-layer received power difference. A distributed layered grant-free NOMA based hybrid transmission scheme is proposed to reduce collision probability. Moreover, we derive the closed-form expression of connection throughput. A joint access control and NOMA layer selection (JACNLS) algorithm is proposed to solve the connection throughput optimization problem. The numerical and simulation results reveal that, when the system is overloaded, our proposed scheme outperforms the grant-free-only scheme by three orders of magnitude in terms of expected connection throughput and outperforms coordinated OMA transmission schemes by 31.25\% with only 0.0189\% signaling overhead of the latter.
Recent Advances in Deep Learning: An Overview
Venue: arXiv cs.LG 2018
Year: 2018

Deep Learning is one of the newest trends in Machine Learning and Artificial Intelligence research. It is also one of the most popular scientific research trends now-a-days. Deep learning methods have brought revolutionary advances in computer vision and machine learning. Every now and then, new and new deep learning techniques are being born, outperforming state-of-the-art machine learning and even existing deep learning techniques. In recent years, the world has seen many major breakthroughs in this field. Since deep learning is evolving at a huge speed, its kind of hard to keep track of the regular advances especially for new researchers. In this paper, we are going to briefly discuss about recent advances in Deep Learning for past few years.
Towards Neural Theorem Proving at Scale
Venue: arXiv cs.AI 2018
Year: 2018

Neural models combining representation learning and reasoning in an end-to-end trainable manner are receiving increasing interest. However, their use is severely limited by their computational complexity, which renders them unusable on real world datasets. We focus on the Neural Theorem Prover (NTP) model proposed by Rockt{ä}schel and Riedel (2017), a continuous relaxation of the Prolog backward chaining algorithm where unification between terms is replaced by the similarity between their embedding representations. For answering a given query, this model needs to consider all possible proof paths, and then aggregate results - this quickly becomes infeasible even for small Knowledge Bases (KBs). We observe that we can accurately approximate the inference process in this model by considering only proof paths associated with the highest proof scores. This enables inference and learning on previously impracticable KBs.
Tree-structured multi-stage principal component analysis (TMPCA): theory and applications
Venue: arXiv cs.CL 2018
Year: 2018

A PCA based sequence-to-vector (seq2vec) dimension reduction method for the text classification problem, called the tree-structured multi-stage principal component analysis (TMPCA) is presented in this paper. Theoretical analysis and applicability of TMPCA are demonstrated as an extension to our previous work (Su, Huang & Kuo). Unlike conventional word-to-vector embedding methods, the TMPCA method conducts dimension reduction at the sequence level without labeled training data. Furthermore, it can preserve the sequential structure of input sequences. We show that TMPCA is computationally efficient and able to facilitate sequence-based text classification tasks by preserving strong mutual information between its input and output mathematically. It is also demonstrated by experimental results that a dense (fully connected) network trained on the TMPCA preprocessed data achieves better performance than state-of-the-art fastText and other neural-network-based solutions.
Learning Deep Hidden Nonlinear Dynamics from Aggregate Data
Venue: arXiv cs.LG 2018
Year: 2018

Learning nonlinear dynamics from diffusion data is a challenging problem since the individuals observed may be different at different time points, generally following an aggregate behaviour. Existing work cannot handle the tasks well since they model such dynamics either directly on observations or enforce the availability of complete longitudinal individual-level trajectories. However, in most of the practical applications, these requirements are unrealistic: the evolving dynamics may be too complex to be modeled directly on observations, and individual-level trajectories may not be available due to technical limitations, experimental costs and/or privacy issues. To address these challenges, we formulate a model of diffusion dynamics as the {\em hidden stochastic process} via the introduction of hidden variables for flexibility, and learn the hidden dynamics directly on {\em aggregate observations} without any requirement for individual-level trajectories. We propose a dynamic generative model with Wasserstein distance for LEarninG dEep hidden Nonlinear Dynamics (LEGEND) and prove its theoretical guarantees as well. Experiments on a range of synthetic and real-world datasets illustrate that LEGEND has very strong performance compared to state-of-the-art baselines.
Subset Sum Made Simple
Venue: arXiv cs.DS 2018
Year: 2018

Subset Sum is a classical optimization problem taught to undergraduates as an example of an NP-hard problem, which is amenable to dynamic programming, yielding polynomial running time if the input numbers are relatively small. Formally, given a set $S$ of $n$ positive integers and a target integer $t$, the Subset Sum problem is to decide if there is a subset of $S$ that sums up to $t$. Dynamic programming yields an algorithm with running time $O(nt)$. Recently, the authors [SODA '17] improved the running time to $\tilde{O}\bigl(\sqrt{n}t\bigr)$, and it was further improved to $\tilde{O}\bigl(n+t\bigr)$ by a somewhat involved randomized algorithm by Bringmann [SODA '17], where $\tilde{O}$ hides polylogarithmic factors. Here, we present a new and significantly simpler algorithm with running time $\tilde{O}\bigl(\sqrt{n}t\bigr)$. While not the fastest, we believe the new algorithm and analysis are simple enough to be presented in an algorithms class, as a striking example of a divide-and-conquer algorithm that uses FFT to a problem that seems (at first) unrelated. In particular, the algorithm and its analysis can be described in full detail in two pages (see pages 3-5).
Digital forensic investigation of two-way radio communication equipment and services
Venue: arXiv cs.CR 2018
Year: 2018

Historically, radio-equipment has solely been used as a two-way analogue communication device. Today, the use of radio communication equipment is increasing by numerous organisations and businesses. The functionality of these traditionally short-range devices have expanded to include private call, address book, call-logs, text messages, lone worker, telemetry, data communication, and GPS. Many of these devices also integrate with smartphones, which delivers Push-To-Talk services that make it possible to setup connections between users using a two-way radio and a smartphone. In fact, these devices can be used to connect users only using smartphones. To date, there is little research on the digital traces in modern radio communication equipment. In fact, increasing the knowledge base about these radio communication devices and services can be valuable to law enforcement in a police investigation. In this paper, we investigate what kind of radio communication equipment and services law enforcement digital investigators can encounter at a crime scene or in an investigation. Subsequent to seizure of this radio communication equipment we explore the traces, which may have a forensic interest and how these traces can be acquired. Finally, we test our approach on sample radio communication equipment and services.
On the Geodetic Hull Number of Complementary Prisms
Venue: arXiv cs.DM 2018
Year: 2018

Let $G$ be a finite, simple, and undirected graph and let $S$ be a set of vertices of $G$. In the geodetic convexity, a set of vertices $S$ of a graph $G$ is convex if all vertices belonging to any shortest path between two vertices of $S$ lie in $S$. The convex hull $H(S)$ of $S$ is the smallest convex set containing $S$. If $H(S) = V(G)$, then $S$ is a hull set. The cardinality $h(G)$ of a minimum hull set of $G$ is the hull number of $G$. The complementary prism $G\overline{G}$ of a graph $G$ arises from the disjoint union of the graph $G$ and $\overline{G}$ by adding the edges of a perfect matching between the corresponding vertices of $G$ and $\overline{G}$. Motivated by previous work, we determine and present lower and upper bounds on the hull number of complementary prisms of trees, disconnected graphs and cographs. We also show that the hull number on complementary prisms cannot be limited in the geodetic convexity, unlike the $P_3$-convexity.
Deep Learning Parametrization for B-Spline Curve Approximation
Venue: arXiv cs.CG 2018
Year: 2018

In this paper we present a method using deep learning to compute parametrizations for B-spline curve approximation. Existing methods consider the computation of parametric values and a knot vector as separate problems. We propose to train interdependent deep neural networks to predict parametric values and knots. We show that it is possible to include B-spline curve approximation directly into the neural network architecture. The resulting parametrizations yield tight approximations and are able to outperform state-of-the-art methods.
Transferring Grasp Configurations using Active Learning and Local Replanning
Venue: arXiv cs.RO 2018
Year: 2018

We present a new approach to transfer grasp configurations from prior example objects to novel objects. We assume the novel and example objects have the same topology and similar shapes. We perform 3D segmentation on these objects using geometric and semantic shape characteristics. We compute a grasp space for each part of the example object using active learning. We build bijective contact mapping between these model parts and compute the corresponding grasps for novel objects. Finally, we assemble the individual parts and use local replanning to adjust grasp configurations while maintaining its stability and physical constraints. Our approach is general, can handle all kind of objects represented using mesh or point cloud and a variety of robotic hands.
Modeling Brain Networks with Artificial Neural Networks
Venue: arXiv cs.CV 2018
Year: 2018

In this study, we propose a neural network approach to capture the functional connectivities among anatomic brain regions. The suggested approach estimates a set of brain networks, each of which represents the connectivity patterns of a cognitive process. We employ two different architectures of neural networks to extract directed and undirected brain networks from functional Magnetic Resonance Imaging (fMRI) data. Then, we use the edge weights of the estimated brain networks to train a classifier, namely, Support Vector Machines(SVM) to label the underlying cognitive process. We compare our brain network models with popular models, which generate similar functional brain networks. We observe that both undirected and directed brain networks surpass the performances of the network models used in the fMRI literature. We also observe that directed brain networks offer more discriminative features compared to the undirected ones for recognizing the cognitive processes. The representation power of the suggested brain networks are tested in a task-fMRI dataset of Human Connectome Project and a Complex Problem Solving dataset.