OpenRaiser/Intern-Atlas huggingface dataset:
Sparse-to-Continuous: Enhancing Monocular Depth Estimation using Occupancy Maps
Venue: arXiv cs.CV 2019
Year: 2019

This paper addresses the problem of single image depth estimation (SIDE), focusing on improving the quality of deep neural network predictions. In a supervised learning scenario, the quality of predictions is intrinsically related to the training labels, which guide the optimization process. For indoor scenes, structured-light-based depth sensors (e.g. Kinect) are able to provide dense, albeit short-range, depth maps. On the other hand, for outdoor scenes, LiDARs are considered the standard sensor, which comparatively provides much sparser measurements, especially in areas further away. Rather than modifying the neural network architecture to deal with sparse depth maps, this article introduces a novel densification method for depth maps, using the Hilbert Maps framework. A continuous occupancy map is produced based on 3D points from LiDAR scans, and the resulting reconstructed surface is projected into a 2D depth map with arbitrary resolution. Experiments conducted with various subsets of the KITTI dataset show a significant improvement produced by the proposed Sparse-to-Continuous technique, without the introduction of extra information into the training stage.
Incorporating Luminance, Depth and Color Information by a Fusion-based Network for Semantic Segmentation
Venue: arXiv cs.CV 2019
Year: 2019

Semantic segmentation has made encouraging progress due to the success of deep convolutional networks in recent years. Meanwhile, depth sensors become prevalent nowadays, so depth maps can be acquired more easily. However, there are few studies that focus on the RGB-D semantic segmentation task. Exploiting the depth information effectiveness to improve performance is a challenge. In this paper, we propose a novel solution named LDFNet, which incorporates Luminance, Depth and Color information by a fusion-based network. It includes a sub-network to process depth maps and employs luminance images to assist the depth information in processes. LDFNet outperforms the other state-of-art systems on the Cityscapes dataset, and its inference speed is faster than most of the existing networks. The experimental results show the effectiveness of the proposed multi-modal fusion network and its potential for practical applications.
Software for Sparse Tensor Decomposition on Emerging Computing Architectures
Venue: arXiv cs.MS 2019
Year: 2019

In this paper, we develop software for decomposing sparse tensors that is portable to and performant on a variety of multicore, manycore, and GPU computing architectures. The result is a single code whose performance matches optimized architecture-specific implementations. The key to a portable approach is to determine multiple levels of parallelism that can be mapped in different ways to different architectures, and we explain how to do this for the matricized tensor times Khatri-Rao product (MTTKRP) which is the key kernel in canonical polyadic tensor decomposition. Our implementation leverages the Kokkos framework, which enables a single code to achieve high performance across multiple architectures that differ in how they approach fine-grained parallelism. We also introduce a new construct for portable thread-local arrays, which we call compile-time polymorphic arrays. Not only are the specifics of our approaches and implementation interesting for tuning tensor computations, but they also provide a roadmap for developing other portable high-performance codes. As a last step in optimizing performance, we modify the MTTKRP algorithm itself to do a permuted traversal of tensor nonzeros to reduce atomic-write contention. We test the performance of our implementation on 16- and 68-core Intel CPUs and the K80 and P100 NVIDIA GPUs, showing that we are competitive with state-of-the-art architecture-specific codes while having the advantage of being able to run on a variety of architectures.
Object Detection from Scratch with Deep Supervision
Venue: arXiv cs.CV 2019
Year: 2019

We propose Deeply Supervised Object Detectors (DSOD), an object detection framework that can be trained from scratch. Recent advances in object detection heavily depend on the off-the-shelf models pre-trained on large-scale classification datasets like ImageNet and OpenImage. However, one problem is that adopting pre-trained models from classification to detection task may incur learning bias due to the different objective function and diverse distributions of object categories. Techniques like fine-tuning on detection task could alleviate this issue to some extent but are still not fundamental. Furthermore, transferring these pre-trained models across discrepant domains will be more difficult (e.g., from RGB to depth images). Thus, a better solution to handle these critical problems is to train object detectors from scratch, which motivates our proposed method. Previous efforts on this direction mainly failed by reasons of the limited training data and naive backbone network structures for object detection. In DSOD, we contribute a set of design principles for learning object detectors from scratch. One of the key principles is the deep supervision, enabled by layer-wise dense connections in both backbone networks and prediction layers, plays a critical role in learning good detectors from scratch. After involving several other principles, we build our DSOD based on the single-shot detection framework (SSD). We evaluate our method on PASCAL VOC 2007, 2012 and COCO datasets. DSOD achieves consistently better results than the state-of-the-art methods with much more compact models. Specifically, DSOD outperforms baseline method SSD on all three benchmarks, while requiring only 1/2 parameters. We also observe that DSOD can achieve comparable/slightly better results than Mask RCNN + FPN (under similar input size) with only 1/3 parameters, using no extra data or pre-trained models.
Subexponential algorithms for variants of homomorphism problem in string graphs
Venue: arXiv cs.CC 2019
Year: 2019

We consider the complexity of finding weighted homomorphisms from intersection graphs of curves (string graphs) with $n$ vertices to a fixed graph $H$. We provide a complete dichotomy for the problem: if $H$ has no two vertices sharing two common neighbors, then the problem can be solved in time $2^{O(n^{2/3} \log n)}$, otherwise there is no algorithm working in time $2^{o(n)}$, even in intersection graphs of segments, unless the ETH fails. This generalizes several known results concerning the complexity of computatational problems in geometric intersection graphs. Then we consider two variants of graph homomorphism problem, called locally injective homomorphism and locally bijective homomorphism, where we require the homomorphism to be injective or bijective on the neighborhood of each vertex. We show that for each target graph $H$, both problems can always be solved in time $2^{O(\sqrt{n} \log n)}$ in string graphs. For the locally surjecive homomorphism, defined in an analogous way, the situation seems more complicated. We show the dichotomy theorem for simple connected graphs $H$ with maximum degree 2. If $H$ is isomorphic to $P_3$ or $C_4$, then the existence of a locally surjective homomorphism from a string graph with $n$ vertices to $H$ can be decided in time $2^{O(n^{2/3} \log^{3/2} n)}$, otherwise the problem cannot be solved in time $2^{o(n)}$, unless the ETH fails. As a byproduct, we obtain several results concerning the complexity of variants of homomorphism problem in $P_t$-free graphs. In particular, we obtain the dichotomy theorem for weighted homomorphism, analogous to the one for string graphs.
Temporal Relational Ranking for Stock Prediction
Venue: arXiv cs.CE 2019
Year: 2019

Stock prediction aims to predict the future trends of a stock in order to help investors to make good investment decisions. Traditional solutions for stock prediction are based on time-series models. With the recent success of deep neural networks in modeling sequential data, deep learning has become a promising choice for stock prediction. However, most existing deep learning solutions are not optimized towards the target of investment, i.e., selecting the best stock with the highest expected revenue. Specifically, they typically formulate stock prediction as a classification (to predict stock trend) or a regression problem (to predict stock price). More importantly, they largely treat the stocks as independent of each other. The valuable signal in the rich relations between stocks (or companies), such as two stocks are in the same sector and two companies have a supplier-customer relation, is not considered. In this work, we contribute a new deep learning solution, named Relational Stock Ranking (RSR), for stock prediction. Our RSR method advances existing solutions in two major aspects: 1) tailoring the deep learning models for stock ranking, and 2) capturing the stock relations in a time-sensitive manner. The key novelty of our work is the proposal of a new component in neural network modeling, named Temporal Graph Convolution, which jointly models the temporal evolution and relation network of stocks. To validate our method, we perform back-testing on the historical data of two stock markets, NYSE and NASDAQ. Extensive experiments demonstrate the superiority of our RSR method. It outperforms state-of-the-art stock prediction solutions achieving an average return ratio of 98% and 71% on NYSE and NASDAQ, respectively.
Towards Assistive Robotic Pick and Place in Open World Environments
Venue: arXiv cs.RO 2019
Year: 2019

Assistive robot manipulators must be able to autonomously pick and place a wide range of novel objects to be truly useful. However, current assistive robots lack this capability. Additionally, assistive systems need to have an interface that is easy to learn, to use, and to understand. This paper takes a step forward in this direction. We present a robot system comprised of a robotic arm and a mobility scooter that provides both pick-and-drop and pick-and-place functionality for open world environments without modeling the objects or environment. The system uses a laser pointer to directly select an object in the world, with feedback to the user via projecting an interface into the world. Our evaluation over several experimental scenarios shows a significant improvement in both runtime and grasp success rate relative to a baseline from the literature [5], and furthermore demonstrates accurate pick and place capabilities for tabletop scenarios.
Deep Transfer Learning of Pick Points on Fabric for Robot Bed-Making
Venue: arXiv cs.RO 2019
Year: 2019

A fundamental challenge in manipulating fabric for clothes folding and textiles manufacturing is computing "pick points" to effectively modify the state of an uncertain manifold. We present a supervised deep transfer learning approach to locate pick points using depth images for invariance to color and texture. We consider the task of bed-making, where a robot sequentially grasps and pulls at pick points to increase blanket coverage. We perform physical experiments with two mobile manipulator robots, the Toyota HSR and the Fetch, and three blankets of different colors and textures. We compare coverage results from (1) human supervision, (2) a baseline of picking at the uppermost blanket point, and (3) learned pick points. On a quarter-scale twin bed, a model trained with combined data from the two robots achieves 92% blanket coverage compared with 83% for the baseline and 95% for human supervisors. The model transfers to two novel blankets and achieves 93% coverage. Average coverage results of 92% for 193 beds suggest that transfer-invariant robot pick points on fabric can be effectively learned.
Dissecting Tendermint
Venue: arXiv cs.DC 2019
Year: 2019

In this paper we analyze Tendermint proposed in [7], one of the most popular blockchains based on PBFT Consensus. The current paper dissects Tendermint under various system communication models and Byzantine adversaries. Our methodology consists in identifying the algorithmic principles of Tendermint necessary for a specific combination of communication model-adversary. This methodology allowed to identify bugs [3] in preliminary versions of the protocol ([19], [7]) and to prove its correctness under the most adversarial conditions: an eventually synchronous communication model and asymmetric Byzantine faults.
Language Modeling Teaches You More Syntax than Translation Does: Lessons Learned Through Auxiliary Task Analysis
Venue: arXiv cs.CL 2019
Year: 2019

Recent work using auxiliary prediction task classifiers to investigate the properties of LSTM representations has begun to shed light on why pretrained representations, like ELMo (Peters et al., 2018) and CoVe (McCann et al., 2017), are so beneficial for neural language understanding models. We still, though, do not yet have a clear understanding of how the choice of pretraining objective affects the type of linguistic information that models learn. With this in mind, we compare four objectives---language modeling, translation, skip-thought, and autoencoding---on their ability to induce syntactic and part-of-speech information. We make a fair comparison between the tasks by holding constant the quantity and genre of the training data, as well as the LSTM architecture. We find that representations from language models consistently perform best on our syntactic auxiliary prediction tasks, even when trained on relatively small amounts of data. These results suggest that language modeling may be the best data-rich pretraining task for transfer learning applications requiring syntactic information. We also find that the representations from randomly-initialized, frozen LSTMs perform strikingly well on our syntactic auxiliary tasks, but this effect disappears when the amount of training data for the auxiliary tasks is reduced.
Repair-Based Degrees of Database Inconsistency: Computation and Complexity
Venue: arXiv cs.DB 2019
Year: 2019

We propose a generic numerical measure of the inconsistency of a database with respect to a set of integrity constraints. It is based on an abstract repair semantics. In particular, an inconsistency measure associated to cardinality-repairs is investigated in detail. More specifically, it is shown that it can be computed via answer-set programs, but sometimes its computation can be intractable in data complexity. However, polynomial-time deterministic and randomized approximations are exhibited. The behavior of this measure under small updates is analyzed, obtaining fixed-parameter tractability results. Furthermore, alternative inconsistency measures are proposed and discussed.
Iterative Document Representation Learning Towards Summarization with Polishing
Venue: arXiv cs.CL 2019
Year: 2019

In this paper, we introduce Iterative Text Summarization (ITS), an iteration-based model for supervised extractive text summarization, inspired by the observation that it is often necessary for a human to read an article multiple times in order to fully understand and summarize its contents. Current summarization approaches read through a document only once to generate a document representation, resulting in a sub-optimal representation. To address this issue we introduce a model which iteratively polishes the document representation on many passes through the document. As part of our model, we also introduce a selective reading mechanism that decides more accurately the extent to which each sentence in the model should be updated. Experimental results on the CNN/DailyMail and DUC2002 datasets demonstrate that our model significantly outperforms state-of-the-art extractive systems when evaluated by machines and by humans.
Being Corrupt Requires Being Clever, But Detecting Corruption Doesn't
Venue: arXiv cs.SI 2019
Year: 2019

We consider a variation of the problem of corruption detection on networks posed by Alon, Mossel, and Pemantle '15. In this model, each vertex of a graph can be either truthful or corrupt. Each vertex reports about the types (truthful or corrupt) of all its neighbors to a central agency, where truthful nodes report the true types they see and corrupt nodes report adversarially. The central agency aggregates these reports and attempts to find a single truthful node. Inspired by real auditing networks, we pose our problem for arbitrary graphs and consider corruption through a computational lens. We identify a key combinatorial parameter of the graph $m(G)$, which is the minimal number of corrupted agents needed to prevent the central agency from identifying a single truthful node. We give an efficient (in fact, linear time) algorithm for the central agency to identify a truthful node that is successful whenever the number of corrupt nodes is less than $m(G)/2$. On the other hand, we prove that for any constant $α> 1$, it is NP-hard to find a subset of nodes $S$ in $G$ such that corrupting $S$ prevents the central agency from finding one truthful node and $|S| \leq αm(G)$, assuming the Small Set Expansion Hypothesis (Raghavendra and Steurer, STOC '10). We conclude that being corrupt requires being clever, while detecting corruption does not. Our main technical insight is a relation between the minimum number of corrupt nodes required to hide all truthful nodes and a certain notion of vertex separability for the underlying graph. Additionally, this insight lets us design an efficient algorithm for a corrupt party to decide which graphs require the fewest corrupted nodes, up to a multiplicative factor of $O(\log n)$.
Queue-based Resampling for Online Class Imbalance Learning
Venue: arXiv cs.LG 2019
Year: 2019

Online class imbalance learning constitutes a new problem and an emerging research topic that focusses on the challenges of online learning under class imbalance and concept drift. Class imbalance deals with data streams that have very skewed distributions while concept drift deals with changes in the class imbalance status. Little work exists that addresses these challenges and in this paper we introduce queue-based resampling, a novel algorithm that successfully addresses the co-existence of class imbalance and concept drift. The central idea of the proposed resampling algorithm is to selectively include in the training set a subset of the examples that appeared in the past. Results on two popular benchmark datasets demonstrate the effectiveness of queue-based resampling over state-of-the-art methods in terms of learning speed and quality.
Modeling and Loop Shaping of Single-Joint Amplification Exoskeleton with Contact Sensing and Series Elastic Actuation
Venue: arXiv cs.SY 2019
Year: 2019

In this paper we consider a class of exoskeletons designed to amplify the strength of humans through feedback of sensed human-robot interactions and actuator forces. We define an amplification error signal based on a reference amplification rate, and design a linear feedback compensator to attenuate this error. Since the human operator is an integral part of the system, we design the compensator to be robust to both a realistic variation in human impedance and a large variation in load impedance. We demonstrate our strategy on a one-degree of freedom amplification exoskeleton connected to a human arm, following a three dimensional matrix of experimentation: slow or fast human motion; light or extreme exoskeleton load; and soft or clenched human arm impedances. We demonstrate that a slightly aggressive controller results in a borderline stable system---but only for soft human musculoeskeletal behavior and a heavy load. This class of exoskeleton systems is interesting because it can both amplify a human's interaction forces --- so long as the human contacts the environment through the exoskeleton --- and attenuate the operator's perception of the exoskeleton's reflected dynamics at frequencies within the bandwidth of the control.
Scalar Arithmetic Multiple Data: Customizable Precision for Deep Neural Networks
Venue: arXiv cs.PF 2019
Year: 2019

Quantization of weights and activations in Deep Neural Networks (DNNs) is a powerful technique for network compression, and has enjoyed significant attention and success. However, much of the inference-time benefit of quantization is accessible only through the use of customized hardware accelerators or by providing an FPGA implementation of quantized arithmetic. Building on prior work, we show how to construct arbitrary bit-precise signed and unsigned integer operations using a software technique which logically \emph{embeds} a vector architecture with custom bit-width lanes in universally available fixed-width scalar arithmetic. We evaluate our approach on a high-end Intel Haswell processor, and an embedded ARM processor. Our approach yields very fast implementations of bit-precise custom DNN operations, which often match or exceed the performance of operations quantized to the sizes supported in native arithmetic. At the strongest level of quantization, our approach yields a maximum speedup of $\thicksim6\times$ on the Intel platform, and $\thicksim10\times$ on the ARM platform versus quantization to native 8-bit integers.
A User-based Visual Analytics Workflow for Exploratory Model Analysis
Venue: arXiv cs.HC 2019
Year: 2019

Many visual analytics systems allow users to interact with machine learning models towards the goals of data exploration and insight generation on a given dataset. However, in some situations, insights may be less important than the production of an accurate predictive model for future use. In that case, users are more interested in generating of diverse and robust predictive models, verifying their performance on holdout data, and selecting the most suitable model for their usage scenario. In this paper, we consider the concept of Exploratory Model Analysis (EMA), which is defined as the process of discovering and selecting relevant models that can be used to make predictions on a data source. We delineate the differences between EMA and the well-known term exploratory data analysis in terms of the desired outcome of the analytic process: insights into the data or a set of deployable models. The contributions of this work are a visual analytics system workflow for EMA, a user study, and two use cases validating the effectiveness of the workflow. We found that our system workflow enabled users to generate complex models, to assess them for various qualities, and to select the most relevant model for their task.
SeqSleepNet: End-to-End Hierarchical Recurrent Neural Network for Sequence-to-Sequence Automatic Sleep Staging
Venue: arXiv cs.LG 2019
Year: 2019

Automatic sleep staging has been often treated as a simple classification problem that aims at determining the label of individual target polysomnography (PSG) epochs one at a time. In this work, we tackle the task as a sequence-to-sequence classification problem that receives a sequence of multiple epochs as input and classifies all of their labels at once. For this purpose, we propose a hierarchical recurrent neural network named SeqSleepNet. At the epoch processing level, the network consists of a filterbank layer tailored to learn frequency-domain filters for preprocessing and an attention-based recurrent layer designed for short-term sequential modelling. At the sequence processing level, a recurrent layer placed on top of the learned epoch-wise features for long-term modelling of sequential epochs. The classification is then carried out on the output vectors at every time step of the top recurrent layer to produce the sequence of output labels. Despite being hierarchical, we present a strategy to train the network in an end-to-end fashion. We show that the proposed network outperforms state-of-the-art approaches, achieving an overall accuracy, macro F1-score, and Cohen's kappa of 87.1%, 83.3%, and 0.815 on a publicly available dataset with 200 subjects.