OpenRaiser/Intern-Atlas huggingface dataset:
Automatic Design of Task-specific Robotic Arms
Venue: arXiv cs.RO 2018
Year: 2018

We present an interactive, computational design system for creating custom robotic arms given high-level task descriptions and environmental constraints. Various task requirements can be encoded as desired motion trajectories for the robot arm's end-effector. Given such end-effector trajectories, our system enables on-demand design of custom robot arms using a library of modular and reconfigurable parts such as actuators and connecting links. By searching through the combinatorial set of possible arrangements of these parts, our method generates a functional, as-simple-as-possible robot arm that is capable of tracking the desired trajectories. We demonstrate our system's capabilities by creating robot arm designs in simulation, for various trajectory following scenarios.
Motion planning in high-dimensional spaces
Venue: arXiv cs.RO 2018
Year: 2018

Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing on systems such as planar mobile robots and low degree-of-freedom (DOF) robotic arms. The increased use of high DOF robots that must perform tasks in real time in complex dynamic environments spurs the need for fast motion planning algorithms. In this overview, we discuss several types of strategies for motion planning in high dimensional spaces and dissect some of them, namely grid search based, sampling based and trajectory optimization based approaches. We compare them and outline their advantages and disadvantages, and finally, provide an insight into future research opportunities.
Defining Locality for Surrogates in Post-hoc Interpretablity
Venue: arXiv cs.LG 2018
Year: 2018

Local surrogate models, to approximate the local decision boundary of a black-box classifier, constitute one approach to generate explanations for the rationale behind an individual prediction made by the back-box. This paper highlights the importance of defining the right locality, the neighborhood on which a local surrogate is trained, in order to approximate accurately the local black-box decision boundary. Unfortunately, as shown in this paper, this issue is not only a parameter or sampling distribution challenge and has a major impact on the relevance and quality of the approximation of the local black-box decision boundary and thus on the meaning and accuracy of the generated explanation. To overcome the identified problems, quantified with an adapted measure and procedure, we propose to generate surrogate-based explanations for individual predictions based on a sampling centered on particular place of the decision boundary, relevant for the prediction to be explained, rather than on the prediction itself as it is classically done. We evaluate the novel approach compared to state-of-the-art methods and a straightforward improvement thereof on four UCI datasets.
Binary Ensemble Neural Network: More Bits per Network or More Networks per Bit?
Venue: arXiv cs.LG 2018
Year: 2018

Binary neural networks (BNN) have been studied extensively since they run dramatically faster at lower memory and power consumption than floating-point networks, thanks to the efficiency of bit operations. However, contemporary BNNs whose weights and activations are both single bits suffer from severe accuracy degradation. To understand why, we investigate the representation ability, speed and bias/variance of BNNs through extensive experiments. We conclude that the error of BNNs is predominantly caused by the intrinsic instability (training time) and non-robustness (train & test time). Inspired by this investigation, we propose the Binary Ensemble Neural Network (BENN) which leverages ensemble methods to improve the performance of BNNs with limited efficiency cost. While ensemble techniques have been broadly believed to be only marginally helpful for strong classifiers such as deep neural networks, our analyses and experiments show that they are naturally a perfect fit to boost BNNs. We find that our BENN, which is faster and much more robust than state-of-the-art binary networks, can even surpass the accuracy of the full-precision floating number network with the same architecture.
Injected and Delivered: Fabricating Implicit Control over Actuation Systems by Spoofing Inertial Sensors
Venue: arXiv cs.CR 2018
Year: 2018

Inertial sensors provide crucial feedback for control systems to determine motional status and make timely, automated decisions. Prior efforts tried to control the output of inertial sensors with acoustic signals. However, their approaches did not consider sample rate drifts in analog-to-digital converters as well as many other realistic factors. As a result, few attacks demonstrated effective control over inertial sensors embedded in real systems. This work studies the out-of-band signal injection methods to deliver adversarial control to embedded MEMS inertial sensors and evaluates consequent vulnerabilities exposed in control systems relying on them. Acoustic signals injected into inertial sensors are out-of-band analog signals. Consequently, slight sample rate drifts could be amplified and cause deviations in the frequency of digital signals. Such deviations result in fluctuating sensor output; nevertheless, we characterize two methods to control the output: digital amplitude adjusting and phase pacing. Based on our analysis, we devise non-invasive attacks to manipulate the sensor output as well as the derived inertial information to deceive control systems. We test 25 devices equipped with MEMS inertial sensors and find that 17 of them could be implicitly controlled by our attacks. Furthermore, we investigate the generalizability of our methods and show the possibility to manipulate the digital output through signals with relatively low frequencies in the sensing channel.
Doubly Nested Network for Resource-Efficient Inference
Venue: arXiv cs.LG 2018
Year: 2018

We propose doubly nested network(DNNet) where all neurons represent their own sub-models that solve the same task. Every sub-model is nested both layer-wise and channel-wise. While nesting sub-models layer-wise is straight-forward with deep-supervision as proposed in \cite{xie2015holistically}, channel-wise nesting has not been explored in the literature to our best knowledge. Channel-wise nesting is non-trivial as neurons between consecutive layers are all connected to each other. In this work, we introduce a technique to solve this problem by sorting channels topologically and connecting neurons accordingly. For the purpose, channel-causal convolutions are used. Slicing doubly nested network gives a working sub-network. The most notable application of our proposed network structure with slicing operation is resource-efficient inference. At test time, computing resources such as time and memory available for running the prediction algorithm can significantly vary across devices and applications. Given a budget constraint, we can slice the network accordingly and use a sub-model for inference within budget, requiring no additional computation such as training or fine-tuning after deployment. We demonstrate the effectiveness of our approach in several practical scenarios of utilizing available resource efficiently.
Classifying Object Manipulation Actions based on Grasp-types and Motion-Constraints
Venue: arXiv cs.CV 2018
Year: 2018

In this work, we address a challenging problem of fine-grained and coarse-grained recognition of object manipulation actions. Due to the variations in geometrical and motion constraints, there are different manipulations actions possible to perform different sets of actions with an object. Also, there are subtle movements involved to complete most of object manipulation actions. This makes the task of object manipulation action recognition difficult with only just the motion information. We propose to use grasp and motion-constraints information to recognise and understand action intention with different objects. We also provide an extensive experimental evaluation on the recent Yale Human Grasping dataset consisting of large set of 455 manipulation actions. The evaluation involves a) Different contemporary multi-class classifiers, and binary classifiers with one-vs-one multi- class voting scheme, b) Differential comparisons results based on subsets of attributes involving information of grasp and motion-constraints, c) Fine-grained and Coarse-grained object manipulation action recognition based on fine-grained as well as coarse-grained grasp type information, and d) Comparison between Instance level and Sequence level modeling of object manipulation actions. Our results justifies the efficacy of grasp attributes for the task of fine-grained and coarse-grained object manipulation action recognition.
UniqueID: Decentralized Proof-of-Unique-Human
Venue: arXiv cs.CR 2018
Year: 2018

Bitcoin and Ethereum are novel mechanisms for decentralizing the concept of money and computation. Extending decentralization to the human identity concept, we can think of using blockchain for creating a list of verified human identities with a one-person-one-ID property. UniqueID is a Decentralized Autonomous Organization(DAO) for maintaining human identities such that every physical human entity can have no more that one account. One part of this identity is simply the user's claim on one of his unique, permanent, and measurable characteristics -biometrics. Blockchain has proved its integrity as a platform for storing and performing computations on such claims. The biggest challenge here is to ensure that the user has submitted his own valid biometric data. Human verifiers can check if there is any inconsistency in other users' data, by peer-to-peer checks. For preventing bad behavior and centralization in the verification process, UniqueID benefits from novel governance mechanisms to choose verifiers and punish unjust ones. Also, there are incentives for honest verifiers and users by newly generated tokens. We show how the users' privacy can be preserved by using state-of-the-art cryptographic techniques, and so they can use their identity without any concerns for votings, financial and banking purposes, social media accounts, reputation systems etc.
Categorization of Semantic Roles for Dictionary Definitions
Venue: arXiv cs.CL 2018
Year: 2018

Understanding the semantic relationships between terms is a fundamental task in natural language processing applications. While structured resources that can express those relationships in a formal way, such as ontologies, are still scarce, a large number of linguistic resources gathering dictionary definitions is becoming available, but understanding the semantic structure of natural language definitions is fundamental to make them useful in semantic interpretation tasks. Based on an analysis of a subset of WordNet's glosses, we propose a set of semantic roles that compose the semantic structure of a dictionary definition, and show how they are related to the definition's syntactic configuration, identifying patterns that can be used in the development of information extraction frameworks and semantic models.
Weighted Abstract Dialectical Frameworks: Extended and Revised Report
Venue: arXiv cs.AI 2018
Year: 2018

Abstract Dialectical Frameworks (ADFs) generalize Dung's argumentation frameworks allowing various relationships among arguments to be expressed in a systematic way. We further generalize ADFs so as to accommodate arbitrary acceptance degrees for the arguments. This makes ADFs applicable in domains where both the initial status of arguments and their relationship are only insufficiently specified by Boolean functions. We define all standard ADF semantics for the weighted case, including grounded, preferred and stable semantics. We illustrate our approach using acceptance degrees from the unit interval and show how other valuation structures can be integrated. In each case it is sufficient to specify how the generalized acceptance conditions are represented by formulas, and to specify the information ordering underlying the characteristic ADF operator. We also present complexity results for problems related to weighted ADFs.
The Impact of IR-based Classifier Configuration on the Performance and the Effort of Method-Level Bug Localization
Venue: arXiv cs.SE 2018
Year: 2018

Context: IR-based bug localization is a classifier that assists developers in locating buggy source code entities (e.g., files and methods) based on the content of a bug report. Such IR-based classifiers have various parameters that can be configured differently (e.g., the choice of entity representation). Objective: In this paper, we investigate the impact of the choice of the IR-based classifier configuration on the top-k performance and the required effort to examine source code entities before locating a bug at the method level. Method: We execute a large space of classifier configuration, 3,172 in total, on 5,266 bug reports of two software systems, i.e., Eclipse and Mozilla. Results: We find that (1) the choice of classifier configuration impacts the top-k performance from 0.44% to 36% and the required effort from 4,395 to 50,000 LOC; (2) classifier configurations with similar top-k performance might require different efforts; (3) VSM achieves both the best top-k performance and the least required effort for method-level bug localization; (4) the likelihood of randomly picking a configuration that performs within 20% of the best top-k classifier configuration is on average 5.4% and that of the least effort is on average 1%; (5) configurations related to the entity representation of the analyzed data have the most impact on both the top-k performance and the required effort; and (6) the most efficient classifier configuration obtained at the method-level can also be used at the file-level (and vice versa). Conclusion: Our results lead us to conclude that configuration has a large impact on both the top-k performance and the required effort for method-level bug localization, suggesting that the IR-based configuration settings should be carefully selected and the required effort metric should be included in future bug localization studies.
Learning Emoji Embeddings using Emoji Co-occurrence Network Graph
Venue: arXiv cs.SI 2018
Year: 2018

Usage of emoji in social media platforms has seen a rapid increase over the last few years. Majority of the social media posts are laden with emoji and users often use more than one emoji in a single social media post to express their emotions and to emphasize certain words in a message. Utilizing the emoji co-occurrence can be helpful to understand how emoji are used in social media posts and their meanings in the context of social media posts. In this paper, we investigate whether emoji co-occurrences can be used as a feature to learn emoji embeddings which can be used in many downstream applications such sentiment analysis and emotion identification in social media text. We utilize 147 million tweets which have emojis in them and build an emoji co-occurrence network. Then, we train a network embedding model to embed emojis into a low dimensional vector space. We evaluate our embeddings using sentiment analysis and emoji similarity experiments, and experimental results show that our embeddings outperform the current state-of-the-art results for sentiment analysis tasks.
Correcting an ordered deletion-erasure
Venue: arXiv cs.IT 2018
Year: 2018

In this paper, we show that the single deletion correcting Varshamov-Tenengolts code, with minor modifications, can also correct an ordered deletion-erasure pattern where one deletion and at most one erasure occur and the deletion always occurs before the erasure. For large code lengths, the constructed code has the same logarithmic redundancy as optimal codes.
Sim-to-Real Reinforcement Learning for Deformable Object Manipulation
Venue: arXiv cs.RO 2018
Year: 2018

We have seen much recent progress in rigid object manipulation, but interaction with deformable objects has notably lagged behind. Due to the large configuration space of deformable objects, solutions using traditional modelling approaches require significant engineering work. Perhaps then, bypassing the need for explicit modelling and instead learning the control in an end-to-end manner serves as a better approach? Despite the growing interest in the use of end-to-end robot learning approaches, only a small amount of work has focused on their applicability to deformable object manipulation. Moreover, due to the large amount of data needed to learn these end-to-end solutions, an emerging trend is to learn control policies in simulation and then transfer them over to the real world. To-date, no work has explored whether it is possible to learn and transfer deformable object policies. We believe that if sim-to-real methods are to be employed further, then it should be possible to learn to interact with a wide variety of objects, and not only rigid objects. In this work, we use a combination of state-of-the-art deep reinforcement learning algorithms to solve the problem of manipulating deformable objects (specifically cloth). We evaluate our approach on three tasks --- folding a towel up to a mark, folding a face towel diagonally, and draping a piece of cloth over a hanger. Our agents are fully trained in simulation with domain randomisation, and then successfully deployed in the real world without having seen any real deformable objects.
Learning ReLU Networks via Alternating Minimization
Venue: arXiv cs.LG 2018
Year: 2018

We propose and analyze a new family of algorithms for training neural networks with ReLU activations. Our algorithms are based on the technique of alternating minimization: estimating the activation patterns of each ReLU for all given samples, interleaved with weight updates via a least-squares step. The main focus of our paper are 1-hidden layer networks with $k$ hidden neurons and ReLU activation. We show that under standard distributional assumptions on the $d-$dimensional input data, our algorithm provably recovers the true `ground truth' parameters in a linearly convergent fashion. This holds as long as the weights are sufficiently well initialized; furthermore, our method requires only $n=\widetilde{O}(dk^2)$ samples. We also analyze the special case of 1-hidden layer networks with skipped connections, commonly used in ResNet-type architectures, and propose a novel initialization strategy for the same. For ReLU based ResNet type networks, we provide the first linear convergence guarantee with an end-to-end algorithm. We also extend this framework to deeper networks and empirically demonstrate its convergence to a global minimum.
Big Geo Data Surface Approximation using Radial Basis Functions: A Comparative Study
Venue: arXiv cs.CE 2018
Year: 2018

Approximation of scattered data is often a task in many engineering problems. The Radial Basis Function (RBF) approximation is appropriate for big scattered datasets in $n-$dimensional space. It is a non-separable approximation, as it is based on the distance between two points. This method leads to the solution of an overdetermined linear system of equations. In this paper the RBF approximation methods are briefly described, a new approach to the RBF approximation of big datasets is presented, and a comparison for different Compactly Supported RBFs (CS-RBFs) is made with respect to the accuracy of the computation. The proposed approach uses symmetry of a matrix, partitioning the matrix into blocks and data structures for storage of the sparse matrix. The experiments are performed for synthetic and real datasets.
iMapper: Interaction-guided Joint Scene and Human Motion Mapping from Monocular Videos
Venue: arXiv cs.GR 2018
Year: 2018

A long-standing challenge in scene analysis is the recovery of scene arrangements under moderate to heavy occlusion, directly from monocular video. While the problem remains a subject of active research, concurrent advances have been made in the context of human pose reconstruction from monocular video, including image-space feature point detection and 3D pose recovery. These methods, however, start to fail under moderate to heavy occlusion as the problem becomes severely under-constrained. We approach the problems differently. We observe that people interact similarly in similar scenes. Hence, we exploit the correlation between scene object arrangement and motions performed in that scene in both directions: first, typical motions performed when interacting with objects inform us about possible object arrangements; and second, object arrangements, in turn, constrain the possible motions. We present iMapper, a data-driven method that focuses on identifying human-object interactions, and jointly reasons about objects and human movement over space-time to recover both a plausible scene arrangement and consistent human interactions. We first introduce the notion of characteristic interactions as regions in space-time when an informative human-object interaction happens. This is followed by a novel occlusion-aware matching procedure that searches and aligns such characteristic snapshots from an interaction database to best explain the input monocular video. Through extensive evaluations, both quantitative and qualitative, we demonstrate that iMapper significantly improves performance over both dedicated state-of-the-art scene analysis and 3D human pose recovery approaches, especially under medium to heavy occlusion.
Meta-Learning by the Baldwin Effect
Venue: arXiv cs.NE 2018
Year: 2018

The scope of the Baldwin effect was recently called into question by two papers that closely examined the seminal work of Hinton and Nowlan. To this date there has been no demonstration of its necessity in empirically challenging tasks. Here we show that the Baldwin effect is capable of evolving few-shot supervised and reinforcement learning mechanisms, by shaping the hyperparameters and the initial parameters of deep learning algorithms. Furthermore it can genetically accommodate strong learning biases on the same set of problems as a recent machine learning algorithm called MAML "Model Agnostic Meta-Learning" which uses second-order gradients instead of evolution to learn a set of reference parameters (initial weights) that can allow rapid adaptation to tasks sampled from a distribution. Whilst in simple cases MAML is more data efficient than the Baldwin effect, the Baldwin effect is more general in that it does not require gradients to be backpropagated to the reference parameters or hyperparameters, and permits effectively any number of gradient updates in the inner loop. The Baldwin effect learns strong learning dependent biases, rather than purely genetically accommodating fixed behaviours in a learning independent manner.
Stability of Scattering Decoder For Nonlinear Diffractive Imaging
Venue: arXiv cs.CV 2018
Year: 2018

The problem of image reconstruction under multiple light scattering is usually formulated as a regularized non-convex optimization. A deep learning architecture, Scattering Decoder (ScaDec), was recently proposed to solve this problem in a purely data-driven fashion. The proposed method was shown to substantially outperform optimization-based baselines and achieve state-of-the-art results. In this paper, we thoroughly test the robustness of ScaDec to different permittivity contrasts, number of transmissions, and input signal-to-noise ratios. The results on high-fidelity simulated datasets show that the performance of ScaDec is stable in different settings.