OpenRaiser/Intern-Atlas huggingface dataset:
RodFIter: Attitude Reconstruction from Inertial Measurement by Functional Iteration
Venue: arXiv cs.SY 2018
Year: 2018

Rigid motion computation or estimation is a cornerstone in numerous fields. Attitude computation can be achieved by integrating the angular velocity measured by gyroscopes, the accuracy of which is crucially important for the dead-reckoning inertial navigation. The state-of-the-art attitude algorithms have unexceptionally relied on the simplified differential equation of the rotation vector to obtain the attitude. This paper proposes a Functional Iteration technique with the Rodrigues vector (named the RodFIter method) to analytically reconstruct the attitude from gyroscope measurements. The RodFIter method is provably exact in reconstructing the incremental attitude as long as the angular velocity is exact. Notably, the Rodrigues vector is analytically obtained and can be used to update the attitude over the considered time interval. The proposed method gives birth to an ultimate attitude algorithm scheme that can be naturally extended to the general rigid motion computation. It is extensively evaluated under the attitude coning motion and compares favorably in accuracy with the mainstream attitude algorithms. This work is believed having eliminated the long-standing theoretical barrier in exact motion integration from inertial measurements.
Communicating Timed Processes with Perfect Timed Channels
Venue: arXiv cs.FL 2018
Year: 2018

We introduce the model of communicating timed automata (CTA) that extends the classical models of finite-state processes communicating through FIFO perfect channels and timed automata, in the sense that the finite-state processes are replaced by timed automata, and messages inside the perfect channels are equipped with clocks representing their ages. In addition to the standard operations (resetting clocks, checking guards of clocks) each automaton can either (1) append a message to the tail of a channel with an initial age or (2) receive the message at the head of a channel if its age satisfies a set of given constraints. In this paper, we show that the reachability problem is undecidable even in the case of two timed automata connected by one unidirectional timed channel if one allows global clocks (that the two automata can check and manipulate). We prove that this undecidability still holds even for CTA consisting of three timed automata and two unidirectional timed channels (and without any global clock). However, the reachability problem becomes decidable (in $\mathsf{EXPTIME}$) in the case of two automata linked with one unidirectional timed channel and with no global clock. Finally, we consider the bounded-context case, where in each context, only one timed automaton is allowed to receive messages from one channel while being able to send messages to all the other timed channels. In this case we show that the reachability problem is decidable.
Will SDN be part of 5G?
Venue: arXiv cs.NI 2018
Year: 2018

For many, this is no longer a valid question and the case is considered settled with SDN/NFV (Software Defined Networking/Network Function Virtualization) providing the inevitable innovation enablers solving many outstanding management issues regarding 5G. However, given the monumental task of softwarization of radio access network (RAN) while 5G is just around the corner and some companies have started unveiling their 5G equipment already, the concern is very realistic that we may only see some point solutions involving SDN technology instead of a fully SDN-enabled RAN. This survey paper identifies all important obstacles in the way and looks at the state of the art of the relevant solutions. This survey is different from the previous surveys on SDN-based RAN as it focuses on the salient problems and discusses solutions proposed within and outside SDN literature. Our main focus is on fronthaul, backward compatibility, supposedly disruptive nature of SDN deployment, business cases and monetization of SDN related upgrades, latency of general purpose processors (GPP), and additional security vulnerabilities, softwarization brings along to the RAN. We have also provided a summary of the architectural developments in SDN-based RAN landscape as not all work can be covered under the focused issues. This paper provides a comprehensive survey on the state of the art of SDN-based RAN and clearly points out the gaps in the technology.
An instrumental intelligibility metric based on information theory
Venue: arXiv cs.SD 2018
Year: 2018

We propose a monaural intrusive instrumental intelligibility metric called speech intelligibility in bits (SIIB). SIIB is an estimate of the amount of information shared between a talker and a listener in bits per second. Unlike existing information theoretic intelligibility metrics, SIIB accounts for talker variability and statistical dependencies between time-frequency units. Our evaluation shows that relative to state-of-the-art intelligibility metrics, SIIB is highly correlated with the intelligibility of speech that has been degraded by noise and processed by speech enhancement algorithms.
Enabling Self-aware Smart Buildings by Augmented Reality
Venue: arXiv cs.HC 2018
Year: 2018

Conventional HVAC control systems are usually incognizant of the physical structures and materials of buildings. These systems merely follow pre-set HVAC control logic based on abstract building thermal response models, which are rough approximations to true physical models, ignoring dynamic spatial variations in built environments. To enable more accurate and responsive HVAC control, this paper introduces the notion of "self-aware" smart buildings, such that buildings are able to explicitly construct physical models of themselves (e.g., incorporating building structures and materials, and thermal flow dynamics). The question is how to enable self-aware buildings that automatically acquire dynamic knowledge of themselves. This paper presents a novel approach using "augmented reality". The extensive user-environment interactions in augmented reality not only can provide intuitive user interfaces for building systems, but also can capture the physical structures and possibly materials of buildings accurately to enable real-time building simulation and control. This paper presents a building system prototype incorporating augmented reality, and discusses its applications.
On Answer Substitutions in Logic Programming
Venue: arXiv cs.LO 2018
Year: 2018

Answer substitutions play a central role in logic programming. To support {\it selective} answer substitutions, we refine $\exists x$ in goals into two different versions: the noisy version $\exists^o x$ and the silent version $\exists x$. The main difference is that only the instantiation in $\exists^o x$ will be recorded in the answer substitutions. Similarly for $\forall x$. In addition, we discuss the notion of don't-care constants and don't-know constants.
Teaching UAVs to Race: End-to-End Regression of Agile Controls in Simulation
Venue: arXiv cs.CV 2018
Year: 2018

Automating the navigation of unmanned aerial vehicles (UAVs) in diverse scenarios has gained much attention in recent years. However, teaching UAVs to fly in challenging environments remains an unsolved problem, mainly due to the lack of training data. In this paper, we train a deep neural network to predict UAV controls from raw image data for the task of autonomous UAV racing in a photo-realistic simulation. Training is done through imitation learning with data augmentation to allow for the correction of navigation mistakes. Extensive experiments demonstrate that our trained network (when sufficient data augmentation is used) outperforms state-of-the-art methods and flies more consistently than many human pilots. Additionally, we show that our optimized network architecture can run in real-time on embedded hardware, allowing for efficient on-board processing critical for real-world deployment. From a broader perspective, our results underline the importance of extensive data augmentation techniques to improve robustness in end-to-end learning setups.
nuts-flow/ml: data pre-processing for deep learning
Venue: arXiv cs.LG 2018
Year: 2018

Data preprocessing is a fundamental part of any machine learning application and frequently the most time-consuming aspect when developing a machine learning solution. Preprocessing for deep learning is characterized by pipelines that lazily load data and perform data transformation, augmentation, batching and logging. Many of these functions are common across applications but require different arrangements for training, testing or inference. Here we introduce a novel software framework named nuts-flow/ml that encapsulates common preprocessing operations as components, which can be flexibly arranged to rapidly construct efficient preprocessing pipelines for deep learning.
Expressions for the Entropy of Binomial-Type Distributions
Venue: arXiv cs.IT 2018
Year: 2018

We develop a general method for computing logarithmic and log-gamma expectations of distributions. As a result, we derive series expansions and integral representations of the entropy for several fundamental distributions, including the Poisson, binomial, beta-binomial, negative binomial, and hypergeometric distributions. Our results also establish connections between the entropy functions and to the Riemann zeta function and its generalizations.
Visually Lossless Coding in HEVC: A High Bit Depth and 4:4:4 Capable JND-Based Perceptual Quantisation Technique for HEVC
Venue: arXiv cs.MM 2018
Year: 2018

Due to the increasing prevalence of high bit depth and YCbCr 4:4:4 video data, it is desirable to develop a JND-based visually lossless coding technique which can account for high bit depth 4:4:4 data in addition to standard 8-bit precision chroma subsampled data. In this paper, we propose a Coding Block (CB)-level JND-based luma and chroma perceptual quantisation technique for HEVC named Pixel-PAQ. Pixel-PAQ exploits both luminance masking and chrominance masking to achieve JND-based visually lossless coding; the proposed method is compatible with high bit depth YCbCr 4:4:4 video data of any resolution. When applied to YCbCr 4:4:4 high bit depth video data, Pixel-PAQ can achieve vast bitrate reductions, of up to 75% (68.6% over four QP data points), compared with a state-of-the-art luma-based JND method for HEVC named IDSQ. Moreover, the participants in the subjective evaluations confirm that visually lossless coding is successfully achieved by Pixel-PAQ (at a PSNR value of 28.04 dB in one test).
Software engineering and the SP Theory of Intelligence
Venue: arXiv cs.SE 2018
Year: 2018

This paper describes a novel approach to software engineering derived from the "SP Theory of Intelligence" and its realisation in the "SP Computer Model". Despite superficial appearances, it is shown that many of the key ideas in software engineering have counterparts in the structure and workings of the SP system. Potential benefits of this new approach to software engineering include: the automation or semi-automation of software development, with support for programming of the SP system where necessary; allowing programmers to concentrate on 'world-oriented' parallelism, without worries about parallelism to speed up processing; support for the long-term goal of programming the SP system via written or spoken natural language; reducing or eliminating the distinction between 'design' and 'implementation'; reducing or eliminating operations like compiling or interpretation; reducing or eliminating the need for verification of software; reducing the need for validation of software; no formal distinction between program and database; the potential for substantial reductions in the number of types of data file and the number of computer languages; benefits for version control; and reducing technical debt.
CNN Fixations: An unraveling approach to visualize the discriminative image regions
Venue: arXiv cs.CV 2018
Year: 2018

Deep convolutional neural networks (CNN) have revolutionized various fields of vision research and have seen unprecedented adoption for multiple tasks such as classification, detection, captioning, etc. However, they offer little transparency into their inner workings and are often treated as black boxes that deliver excellent performance. In this work, we aim at alleviating this opaqueness of CNNs by providing visual explanations for the network's predictions. Our approach can analyze variety of CNN based models trained for vision applications such as object recognition and caption generation. Unlike existing methods, we achieve this via unraveling the forward pass operation. Proposed method exploits feature dependencies across the layer hierarchy and uncovers the discriminative image locations that guide the network's predictions. We name these locations CNN-Fixations, loosely analogous to human eye fixations. Our approach is a generic method that requires no architectural changes, additional training or gradient computation and computes the important image locations (CNN Fixations). We demonstrate through a variety of applications that our approach is able to localize the discriminative image locations across different network architectures, diverse vision tasks and data modalities.
Divide-and-Conquer Checkpointing for Arbitrary Programs with No User Annotation
Venue: arXiv cs.PL 2018
Year: 2018

Classical reverse-mode automatic differentiation (AD) imposes only a small constant-factor overhead in operation count over the original computation, but has storage requirements that grow, in the worst case, in proportion to the time consumed by the original computation. This storage blowup can be ameliorated by checkpointing, a process that reorders application of classical reverse-mode AD over an execution interval to tradeoff space \vs\ time. Application of checkpointing in a divide-and-conquer fashion to strategically chosen nested execution intervals can break classical reverse-mode AD into stages which can reduce the worst-case growth in storage from linear to sublinear. Doing this has been fully automated only for computations of particularly simple form, with checkpoints spanning execution intervals resulting from a limited set of program constructs. Here we show how the technique can be automated for arbitrary computations. The essential innovation is to apply the technique at the level of the language implementation itself, thus allowing checkpoints to span any execution interval.
Clique-based Method for Social Network Clustering
Venue: arXiv cs.SI 2018
Year: 2018

In this article, we develop a clique-based method for social network clustering. We introduce a new index to evaluate the quality of clustering results, and propose an efficient algorithm based on recursive bipartition to maximize an objective function of the proposed index. The optimization problem is NP-hard, so we approximate the semi-optimal solution via an implicitly restarted Lanczos method. One of the advantages of our algorithm is that the proposed index of each community in the clustering result is guaranteed to be higher than some predetermined threshold, $p$, which is completely controlled by users. We also account for the situation that $p$ is unknown. A statistical procedure of controlling both under-clustering and over-clustering errors simultaneously is carried out to select localized threshold for each subnetwork, such that the community detection accuracy is optimized. Accordingly, we propose a localized clustering algorithm based on binary tree structure. Finally, we exploit the stochastic blockmodels to conduct simulation studies and demonstrate the accuracy and efficiency of our algorithms, both numerically and graphically.
Aggregation and Resource Scheduling in Machine-type Communication Networks: A Stochastic Geometry Approach
Venue: arXiv cs.IT 2018
Year: 2018

Data aggregation is a promising approach to enable massive machine-type communication (mMTC). This paper focuses on the aggregation phase where a massive number of machine-type devices (MTDs) transmit to aggregators. By using non-orthogonal multiple access (NOMA) principles, we allow several MTDs to share the same orthogonal channel in our proposed hybrid access scheme. We develop an analytical framework based on stochastic geometry to investigate the system performance in terms of average success probability and average number of simultaneously served MTDs, under imperfect successive interference cancellation (SIC) at the aggregators, for two scheduling schemes: random resource scheduling (RRS) and channel-aware resource scheduling (CRS). We identify the power constraints on the MTDs sharing the same channel to attain a fair coexistence with purely orthogonal multiple access (OMA) setups, then power control coefficients are found so that these MTDs perform with similar reliability. We show that under high access demand, the hybrid scheme with CRS outperforms the OMA setup by simultaneously serving more MTDs with reduced power consumption.
Robust Task Clustering for Deep Many-Task Learning
Venue: arXiv cs.LG 2018
Year: 2018

We investigate task clustering for deep-learning based multi-task and few-shot learning in a many-task setting. We propose a new method to measure task similarities with cross-task transfer performance matrix for the deep learning scenario. Although this matrix provides us critical information regarding similarity between tasks, its asymmetric property and unreliable performance scores can affect conventional clustering methods adversely. Additionally, the uncertain task-pairs, i.e., the ones with extremely asymmetric transfer scores, may collectively mislead clustering algorithms to output an inaccurate task-partition. To overcome these limitations, we propose a novel task-clustering algorithm by using the matrix completion technique. The proposed algorithm constructs a partially-observed similarity matrix based on the certainty of cluster membership of the task-pairs. We then use a matrix completion algorithm to complete the similarity matrix. Our theoretical analysis shows that under mild constraints, the proposed algorithm will perfectly recover the underlying "true" similarity matrix with a high probability. Our results show that the new task clustering method can discover task clusters for training flexible and superior neural network models in a multi-task learning setup for sentiment classification and dialog intent classification tasks. Our task clustering approach also extends metric-based few-shot learning methods to adapt multiple metrics, which demonstrates empirical advantages when the tasks are diverse.
Novel Sensor Scheduling Scheme for Intruder Tracking in Energy Efficient Sensor Networks
Venue: arXiv cs.AI 2018
Year: 2018

We consider the problem of tracking an intruder using a network of wireless sensors. For tracking the intruder at each instant, the optimal number and the right configuration of sensors has to be powered. As powering the sensors consumes energy, there is a trade off between accurately tracking the position of the intruder at each instant and the energy consumption of sensors. This problem has been formulated in the framework of Partially Observable Markov Decision Process (POMDP). Even for the state-of-the-art algorithm in the literature, the curse of dimensionality renders the problem intractable. In this paper, we formulate the Intrusion Detection (ID) problem with a suitable state-action space in the framework of POMDP and develop a Reinforcement Learning (RL) algorithm utilizing the Upper Confidence Tree Search (UCT) method to solve the ID problem. Through simulations, we show that our algorithm performs and scales well with the increasing state and action spaces.
Demodulation and Detection Schemes for a Memoryless Optical WDM Channel
Venue: arXiv cs.IT 2018
Year: 2018

It is well known that matched filtering and sampling (MFS) demodulation together with minimum Euclidean distance (MD) detection constitute the optimal receiver for the additive white Gaussian noise channel. However, for a general nonlinear transmission medium, MFS does not provide sufficient statistics, and therefore is suboptimal. Nonetheless, this receiver is widely used in optical systems, where the Kerr nonlinearity is the dominant impairment at high powers. In this paper, we consider a suite of receivers for a two-user channel subject to a type of nonlinear interference that occurs in wavelength-division-multiplexed channels. The asymptotes of the symbol error rate (SER) of the considered receivers at high powers are derived or bounded analytically. Moreover, Monte-Carlo simulations are conducted to evaluate the SER for all the receivers. Our results show that receivers that are based on MFS cannot achieve arbitrary low SERs, whereas the SER goes to zero as the power grows for the optimal receiver. Furthermore, we devise a heuristic demodulator, which together with the MD detector yields a receiver that is simpler than the optimal one and can achieve arbitrary low SERs. The SER performance of the proposed receivers is also evaluated for some single-span fiber-optical channels via split-step Fourier simulations.
Framing U-Net via Deep Convolutional Framelets: Application to Sparse-view CT
Venue: arXiv cs.CV 2018
Year: 2018

X-ray computed tomography (CT) using sparse projection views is a recent approach to reduce the radiation dose. However, due to the insufficient projection views, an analytic reconstruction approach using the filtered back projection (FBP) produces severe streaking artifacts. Recently, deep learning approaches using large receptive field neural networks such as U-Net have demonstrated impressive performance for sparse- view CT reconstruction. However, theoretical justification is still lacking. Inspired by the recent theory of deep convolutional framelets, the main goal of this paper is, therefore, to reveal the limitation of U-Net and propose new multi-resolution deep learning schemes. In particular, we show that the alternative U- Net variants such as dual frame and the tight frame U-Nets satisfy the so-called frame condition which make them better for effective recovery of high frequency edges in sparse view- CT. Using extensive experiments with real patient data set, we demonstrate that the new network architectures provide better reconstruction performance.
Neural Machine Translation Training in a Multi-Domain Scenario
Venue: arXiv cs.CL 2018
Year: 2018

In this paper, we explore alternative ways to train a neural machine translation system in a multi-domain scenario. We investigate data concatenation (with fine tuning), model stacking (multi-level fine tuning), data selection and multi-model ensemble. Our findings show that the best translation quality can be achieved by building an initial system on a concatenation of available out-of-domain data and then fine-tuning it on in-domain data. Model stacking works best when training begins with the furthest out-of-domain data and the model is incrementally fine-tuned with the next furthest domain and so on. Data selection did not give the best results, but can be considered as a decent compromise between training time and translation quality. A weighted ensemble of different individual models performed better than data selection. It is beneficial in a scenario when there is no time for fine-tuning an already trained model.