OpenRaiser/Intern-Atlas huggingface dataset:
A Liquid Perspective on Democratic Choice
Venue: arXiv cs.CY 2020
Year: 2020

The idea of liquid democracy responds to a widely-felt desire to make democracy more "fluid" and continuously participatory. Its central premise is to enable users to employ networked technologies to control and delegate voting power, to approximate the ideal of direct democracy in a scalable fashion that accounts for time and attention limits. There are many potential definitions, meanings, and ways to implement liquid democracy, however, and many distinct purposes to which it might be deployed. This paper develops and explores the "liquid" notion and what it might mean for purposes of enhancing voter choice by spreading voting power, improving proportional representation systems, simplifying or aiding voters in their choice, or scaling direct democracy through specialization. The goal of this paper is to disentangle and further develop some of the many concepts and goals that liquid democracy ideas often embody, to explore their justification with respect to existing democratic traditions such as transferable voting and political parties, and to explore potential risks in liquid democracy systems and ways to address them.
Time Series Data Cleaning: From Anomaly Detection to Anomaly Repairing (Technical Report)
Venue: arXiv cs.DB 2020
Year: 2020

Errors are prevalent in time series data, such as GPS trajectories or sensor readings. Existing methods focus more on anomaly detection but not on repairing the detected anomalies. By simply filtering out the dirty data via anomaly detection, applications could still be unreliable over the incomplete time series. Instead of simply discarding anomalies, we propose to (iteratively) repair them in time series data, by creatively bonding the beauty of temporal nature in anomaly detection with the widely considered minimum change principle in data repairing. Our major contributions include: (1) a novel framework of iterative minimum repairing (IMR) over time series data, (2) explicit analysis on convergence of the proposed iterative minimum repairing, and (3) efficient estimation of parameters in each iteration. Remarkably, with incremental computation, we reduce the complexity of parameter estimation from O(n) to O(1). Experiments on real datasets demonstrate the superiority of our proposal compared to the state-of-the-art approaches. In particular, we show that (the proposed) repairing indeed improves the time series classification application.
ABBA: Adaptive Brownian bridge-based symbolic aggregation of time series
Venue: arXiv cs.LG 2020
Year: 2020

A new symbolic representation of time series, called ABBA, is introduced. It is based on an adaptive polygonal chain approximation of the time series into a sequence of tuples, followed by a mean-based clustering to obtain the symbolic representation. We show that the reconstruction error of this representation can be modelled as a random walk with pinned start and end points, a so-called Brownian bridge. This insight allows us to make ABBA essentially parameter-free, except for the approximation tolerance which must be chosen. Extensive comparisons with the SAX and 1d-SAX representations are included in the form of performance profiles, showing that ABBA is able to better preserve the essential shape information of time series compared to other approaches. Advantages and applications of ABBA are discussed, including its in-built differencing property and use for anomaly detection, and Python implementations provided.
Towards Autonomous Industrial-Scale Bathymetric Surveying
Venue: arXiv cs.RO 2020
Year: 2020

Both higher efficiency and cost reduction can be gained from automating bathymetric surveying for offshore applications such as pipeline, telecommunication or power cables installation and inspection on the seabed. We present a SLAM system that optimizes the geo-referencing of bathymetry surveys by fusing the dead-reckoning sensor data from the surveying vehicle with constraints from the maximization of the geometric consistency of overlapping regions of the survey. The framework has been extensively tested on bathymetric maps from both simulation and several actual industrial surveys and has proved robustness over different types of terrain. We demonstrate that our system is able to maximize the consistency of the final map even when there are large sections of the survey with reduced topographic variation. The framework has been made publicly available together with the simulation environment used to test it and some of the datasets.
An Improved Physics Based Numerical Model of Tunnel FET Using 2D NEGF Formalism
Venue: arXiv cs.CE 2020
Year: 2020

In this work, we have investigated a 2D model of band-to-band tunneling based on 2-band model and implemented it using 2D NEGF formalism. Being 2D in nature, this model better addresses the variation in the directionality of the tunneling process occurring in most practical TFET device structures. It also works as a compromise between semi-classical and multiband quantum simulation of TFETs. In this work, we have presented a sound step by step mathematical development of the numerical model. We have also discussed how this model can be implemented in simulators and pointed out a few optimizations that can be made to reduce complexity and to save time. Finally, we have performed elaborate simulations for a practical TFET design and compared the results with commercially available TCAD simulations, to point out the limitations of the simplistic models that are frequently used, and how our model overcomes these limitations.
Deep CG2Real: Synthetic-to-Real Translation via Image Disentanglement
Venue: arXiv cs.CV 2020
Year: 2020

We present a method to improve the visual realism of low-quality, synthetic images, e.g. OpenGL renderings. Training an unpaired synthetic-to-real translation network in image space is severely under-constrained and produces visible artifacts. Instead, we propose a semi-supervised approach that operates on the disentangled shading and albedo layers of the image. Our two-stage pipeline first learns to predict accurate shading in a supervised fashion using physically-based renderings as targets, and further increases the realism of the textures and shading with an improved CycleGAN network. Extensive evaluations on the SUNCG indoor scene dataset demonstrate that our approach yields more realistic images compared to other state-of-the-art approaches. Furthermore, networks trained on our generated "real" images predict more accurate depth and normals than domain adaptation approaches, suggesting that improving the visual realism of the images can be more effective than imposing task-specific losses.
Sparse Matrix-Based HPC Tomography
Venue: arXiv cs.DC 2020
Year: 2020

Tomographic imaging has benefited from advances in X-ray sources, detectors and optics to enable novel observations in science, engineering and medicine. These advances have come with a dramatic increase of input data in the form of faster frame rates, larger fields of view or higher resolution, so high performance solutions are currently widely used for analysis. Tomographic instruments can vary significantly from one to another, including the hardware employed for reconstruction: from single CPU workstations to large scale hybrid CPU/GPU supercomputers. Flexibility on the software interfaces and reconstruction engines are also highly valued to allow for easy development and prototyping. This paper presents a novel software framework for tomographic analysis that tackles all aforementioned requirements. The proposed solution capitalizes on the increased performance of sparse matrix-vector multiplication and exploits multi-CPU and GPU reconstruction over MPI. The solution is implemented in Python and relies on CuPy for fast GPU operators and CUDA kernel integration, and on SciPy for CPU sparse matrix computation. As opposed to previous tomography solutions that are tailor-made for specific use cases or hardware, the proposed software is designed to provide flexible, portable and high-performance operators that can be used for continuous integration at different production environments, but also for prototyping new experimental settings or for algorithmic development. The experimental results demonstrate how our implementation can even outperform state-of-the-art software packages used at advanced X-ray sources worldwide.
Differentially Private Federated Learning for Resource-Constrained Internet of Things
Venue: arXiv cs.LG 2020
Year: 2020

With the proliferation of smart devices having built-in sensors, Internet connectivity, and programmable computation capability in the era of Internet of things (IoT), tremendous data is being generated at the network edge. Federated learning is capable of analyzing the large amount of data from a distributed set of smart devices without requiring them to upload their data to a central place. However, the commonly-used federated learning algorithm is based on stochastic gradient descent (SGD) and not suitable for resource-constrained IoT environments due to its high communication resource requirement. Moreover, the privacy of sensitive data on smart devices has become a key concern and needs to be protected rigorously. This paper proposes a novel federated learning framework called DP-PASGD for training a machine learning model efficiently from the data stored across resource-constrained smart devices in IoT while guaranteeing differential privacy. The optimal schematic design of DP-PASGD that maximizes the learning performance while satisfying the limits on resource cost and privacy loss is formulated as an optimization problem, and an approximate solution method based on the convergence analysis of DP-PASGD is developed to solve the optimization problem efficiently. Numerical results based on real-world datasets verify the effectiveness of the proposed DP-PASGD scheme.
Trajectory Poisson multi-Bernoulli filters
Venue: arXiv cs.CV 2020
Year: 2020

This paper presents two trajectory Poisson multi-Bernoulli (TPMB) filters for multi-target tracking: one to estimate the set of alive trajectories at each time step and another to estimate the set of all trajectories, which includes alive and dead trajectories, at each time step. The filters are based on propagating a Poisson multi-Bernoulli (PMB) density on the corresponding set of trajectories through the filtering recursion. After the update step, the posterior is a PMB mixture (PMBM) so, in order to obtain a PMB density, a Kullback-Leibler divergence minimisation on an augmented space is performed. The developed filters are computationally lighter alternatives to the trajectory PMBM filters, which provide the closed-form recursion for sets of trajectories with Poisson birth model, and are shown to outperform previous multi-target tracking algorithms.
Controllability of Network Opinion in Erdos-Renyi Graphs using Sparse Control Inputs
Venue: arXiv cs.SI 2020
Year: 2020

This paper considers a social network modeled as an Erdos Renyi random graph. Each individual in the network updates her opinion using the weighted average of the opinions of her neighbors. We explore how an external manipulative agent can drive the opinions of these individuals to a desired state with a limited additive influence on their innate opinions. We show that the manipulative agent can steer the network opinion to any arbitrary value in finite time (i.e., the system is controllable) almost surely when there is no restriction on her influence. However, when the control input is sparsity constrained, the network opinion is controllable with some probability. We lower bound this probability using the concentration properties of random vectors based on the Levy concentration function and small ball probabilities. Further, through numerical simulations, we compare the probability of controllability in Erdos Renyi graphs with that of power-law graphs to illustrate the key differences between the two models in terms of controllability. Our theoretical and numerical results shed light on how controllability of the network opinion depends on the parameters such as the size and the connectivity of the network, and the sparsity constraints faced by the manipulative agent.
Gradient-based Data Augmentation for Semi-Supervised Learning
Venue: arXiv cs.LG 2020
Year: 2020

In semi-supervised learning (SSL), a technique called consistency regularization (CR) achieves high performance. It has been proved that the diversity of data used in CR is extremely important to obtain a model with high discrimination performance by CR. We propose a new data augmentation (Gradient-based Data Augmentation (GDA)) that is deterministically calculated from the image pixel value gradient of the posterior probability distribution that is the model output. We aim to secure effective data diversity for CR by utilizing three types of GDA. On the other hand, it has been demonstrated that the mixup method for labeled data and unlabeled data is also effective in SSL. We propose an SSL method named MixGDA by combining various mixup methods and GDA. The discrimination performance achieved by MixGDA is evaluated against the 13-layer CNN that is used as standard in SSL research. As a result, for CIFAR-10 (4000 labels), MixGDA achieves the same level of performance as the best performance ever achieved. For SVHN (250 labels, 500 labels and 1000 labels) and CIFAR-100 (10000 labels), MixGDA achieves state-of-the-art performance.
CL-ADMM: A Cooperative Learning Based Optimization Framework for Resource Management in MEC
Venue: arXiv cs.NI 2020
Year: 2020

We consider the problem of intelligent and efficient resource management framework in mobile edge computing (MEC), which can reduce delay and energy consumption, featuring distributed optimization and efficient congestion avoidance mechanism. In this paper, we present a Cooperative Learning framework for resource management in MEC from an Alternating Direction Method of Multipliers (ADMM) perspective, called CL-ADMM framework. First, in order to caching task efficiently in a group, a novel task popularity estimating scheme is proposed, which is based on semi-Markov process model, then a greedy task cooperative caching mechanism has been established, which can effectively reduce delay and energy consumption. Secondly, for addressing group congestion, a dynamic task migration scheme based on cooperative improved Q-learning is proposed, which can effectively reduce delay and alleviate congestion. Thirdly, for minimizing delay and energy consumption for resources allocation in a group, we formulate it as an optimization problem with a large number of variables, and then exploit a novel ADMM based scheme to address this problem, which can reduce the complexity of problem with a new set of auxiliary variables, these sub-problems are all convex problems, and can be solved by using a primal-dual approach, guaranteeing its convergences. Then we prove that the convergence by using Lyapunov theory. Numerical results demonstrate the effectiveness of the CL-ADMM and it can effectively reduce delay and energy consumption for MEC.
Distributed Embodied Evolution over Networks
Venue: arXiv cs.NE 2020
Year: 2020

In several network problems the optimum behavior of the agents (i.e., the nodes of the network) is not known before deployment. Furthermore, the agents might be required to adapt, i.e. change their behavior based on the environment conditions. In these scenarios, offline optimization is usually costly and inefficient, while online methods might be more suitable. In this work, we use a distributed Embodied Evolution approach to optimize spatially distributed, locally interacting agents by allowing them to exchange their behavior parameters and learn from each other to adapt to a certain task within a given environment. Our results on several test scenarios show that the local exchange of information, performed by means of crossover of behavior parameters with neighbors, allows the network to conduct the optimization process more efficiently than the cases where local interactions are not allowed, even when there are large differences on the optimal behavior parameters within each agent's neighborhood.
NPENAS: Neural Predictor Guided Evolution for Neural Architecture Search
Venue: arXiv cs.LG 2020
Year: 2020

Neural architecture search (NAS) is a promising method for automatically design neural architectures. NAS adopts a search strategy to explore the predefined search space to find outstanding performance architecture with the minimum searching costs. Bayesian optimization and evolutionary algorithms are two commonly used search strategies, but they suffer from computationally expensive, challenge to implement or inefficient exploration ability. In this paper, we propose a neural predictor guided evolutionary algorithm to enhance the exploration ability of EA for NAS (NPENAS) and design two kinds of neural predictors. The first predictor is defined from Bayesian optimization and we propose a graph-based uncertainty estimation network as a surrogate model that is easy to implement and computationally efficient. The second predictor is a graph-based neural network that directly outputs the performance prediction of the input neural architecture. The NPENAS using the two neural predictors are denoted as NPENAS-BO and NPENAS-NP respectively. In addition, we introduce a new random architecture sampling method to overcome the drawbacks of the existing sampling method. Extensive experiments demonstrate the superiority of NPENAS. Quantitative results on three NAS search spaces indicate that both NPENAS-BO and NPENAS-NP outperform most existing NAS algorithms, with NPENAS-BO achieving state-of-the-art performance on NASBench-201 and NPENAS-NP on NASBench-101 and DARTS, respectively.
Obstacle Avoidance and Navigation Utilizing Reinforcement Learning with Reward Shaping
Venue: arXiv cs.RO 2020
Year: 2020

In this paper, we investigate the obstacle avoidance and navigation problem in the robotic control area. For solving such a problem, we propose revised Deep Deterministic Policy Gradient (DDPG) and Proximal Policy Optimization algorithms with an improved reward shaping technique. We compare the performances between the original DDPG and PPO with the revised version of both on simulations with a real mobile robot and demonstrate that the proposed algorithms achieve better results.
How to reason with inconsistent probabilistic information?
Venue: arXiv cs.LO 2020
Year: 2020

A recent line of research has developed around logics of belief based on evidence. The approach of Bílková et al understands belief as based on information confirmed by a reliable source. We propose a finer analysis of how belief can be based on information, where the confirmation comes from multiple possibly conflicting sources and is of a probabilistic nature. We use Belnap-Dunn logic and its probabilistic extensions to account for potentially contradictory information on which belief is grounded. We combine it with an extension of Lukasiewicz logic, or a bilattice logic, within a two-layer modal logical framework to account for belief.
Optimized Directed Roadmap Graph for Multi-Agent Path Finding Using Stochastic Gradient Descent
Venue: arXiv cs.RO 2020
Year: 2020

We present a novel approach called Optimized Directed Roadmap Graph (ODRM). It is a method to build a directed roadmap graph that allows for collision avoidance in multi-robot navigation. This is a highly relevant problem, for example for industrial autonomous guided vehicles. The core idea of ODRM is, that a directed roadmap can encode inherent properties of the environment which are useful when agents have to avoid each other in that same environment. Like Probabilistic Roadmaps (PRMs), ODRM's first step is generating samples from C-space. In a second step, ODRM optimizes vertex positions and edge directions by Stochastic Gradient Descent (SGD). This leads to emergent properties like edges parallel to walls and patterns similar to two-lane streets or roundabouts. Agents can then navigate on this graph by searching their path independently and solving occurring agent-agent collisions at run-time. Using the graphs generated by ODRM compared to a non-optimized graph significantly fewer agent-agent collisions happen. We evaluate our roadmap with both, centralized and decentralized planners. Our experiments show that with ODRM even a simple centralized planner can solve problems with high numbers of agents that other multi-agent planners can not solve. Additionally, we use simulated robots with decentralized planners and online collision avoidance to show how agents are a lot faster on our roadmap than on standard grid maps.
When Autonomous Systems Meet Accuracy and Transferability through AI: A Survey
Venue: arXiv cs.LG 2020
Year: 2020

With widespread applications of artificial intelligence (AI), the capabilities of the perception, understanding, decision-making and control for autonomous systems have improved significantly in the past years. When autonomous systems consider the performance of accuracy and transferability, several AI methods, like adversarial learning, reinforcement learning (RL) and meta-learning, show their powerful performance. Here, we review the learning-based approaches in autonomous systems from the perspectives of accuracy and transferability. Accuracy means that a well-trained model shows good results during the testing phase, in which the testing set shares a same task or a data distribution with the training set. Transferability means that when a well-trained model is transferred to other testing domains, the accuracy is still good. Firstly, we introduce some basic concepts of transfer learning and then present some preliminaries of adversarial learning, RL and meta-learning. Secondly, we focus on reviewing the accuracy or transferability or both of them to show the advantages of adversarial learning, like generative adversarial networks (GANs), in typical computer vision tasks in autonomous systems, including image style transfer, image superresolution, image deblurring/dehazing/rain removal, semantic segmentation, depth estimation, pedestrian detection and person re-identification (re-ID). Then, we further review the performance of RL and meta-learning from the aspects of accuracy or transferability or both of them in autonomous systems, involving pedestrian tracking, robot navigation and robotic manipulation. Finally, we discuss several challenges and future topics for using adversarial learning, RL and meta-learning in autonomous systems.