OpenRaiser/Intern-Atlas huggingface dataset:
Intrinsic Calibration of Depth Cameras for Mobile Robots using a Radial Laser Scanner
Venue: arXiv cs.RO 2019
Year: 2019

Depth cameras, typically in RGB-D configurations, are common devices in mobile robotic platforms given their appealing features: high frequency and resolution, low price and power requirements, among others. These sensors may come with significant, non-linear errors in the depth measurements that jeopardize robot tasks, like free-space detection, environment reconstruction or visual robot-human interaction. This paper presents a method to calibrate such systematic errors with the help of a second, more precise range sensor, in our case a radial laser scanner. In contrast to what it may seem at first, this does not mean a serious limitation in practice since these two sensors are often mounted jointly in many mobile robotic platforms, as they complement well each other. Moreover, the laser scanner can be used just for the calibration process and get rid of it after that. The main contributions of the paper are: i) the calibration is formulated from a probabilistic perspective through a Maximum Likelihood Estimation problem, and ii) the proposed method can be easily executed automatically by mobile robotic platforms. To validate the proposed approach we evaluated for both, local distortion of 3D planar reconstructions and global shifts in the measurements, obtaining considerably more accurate results. A C++ open-source implementation of the presented method has been released for the benefit of the community.
Distributed Learning in Non-Convex Environments -- Part II: Polynomial Escape from Saddle-Points
Venue: arXiv cs.MA 2019
Year: 2019

The diffusion strategy for distributed learning from streaming data employs local stochastic gradient updates along with exchange of iterates over neighborhoods. In Part I [2] of this work we established that agents cluster around a network centroid and proceeded to study the dynamics of this point. We established expected descent in non-convex environments in the large-gradient regime and introduced a short-term model to examine the dynamics over finite-time horizons. Using this model, we establish in this work that the diffusion strategy is able to escape from strict saddle-points in O(1/$μ$) iterations; it is also able to return approximately second-order stationary points in a polynomial number of iterations. Relative to prior works on the polynomial escape from saddle-points, most of which focus on centralized perturbed or stochastic gradient descent, our approach requires less restrictive conditions on the gradient noise process.
A Bayesian Hierarchical Model for Criminal Investigations
Venue: arXiv cs.LG 2019
Year: 2019

Potential violent criminals will often need to go through a sequence of preparatory steps before they can execute their plans. During this escalation process police have the opportunity to evaluate the threat posed by such people through what they know, observe and learn from intelligence reports about their activities. In this paper we customise a three-level Bayesian hierarchical model to describe this process. This is able to propagate both routine and unexpected evidence in real time. We discuss how to set up such a model so that it calibrates to domain expert judgments. The model illustrations include a hypothetical example based on a potential vehicle based terrorist attack.
Rethinking Continual Learning for Autonomous Agents and Robots
Venue: arXiv cs.LG 2019
Year: 2019

Continual learning refers to the ability of a biological or artificial system to seamlessly learn from continuous streams of information while preventing catastrophic forgetting, i.e., a condition in which new incoming information strongly interferes with previously learned representations. Since it is unrealistic to provide artificial agents with all the necessary prior knowledge to effectively operate in real-world conditions, they must exhibit a rich set of learning capabilities enabling them to interact in complex environments with the aim to process and make sense of continuous streams of (often uncertain) information. While the vast majority of continual learning models are designed to alleviate catastrophic forgetting on simplified classification tasks, here we focus on continual learning for autonomous agents and robots required to operate in much more challenging experimental settings. In particular, we discuss well-established biological learning factors such as developmental and curriculum learning, transfer learning, and intrinsic motivation and their computational counterparts for modeling the progressive acquisition of increasingly complex knowledge and skills in a continual fashion.
Effect of assistive method on the sense of fulfillment with agency: Modeling with flow and attribution theory
Venue: arXiv cs.HC 2019
Year: 2019

Several assistive technologies for users' operations have been recently developed. A user's sense of agency (SoA) decreases with increasing system assistance, possibly resulting in a decrease in the user's sense of fulfillment. This study aims to provide a design guideline for an assistive method to maintain and improve the sense of fulfillment with SoA. We propose a mathematical model describing the mechanisms by which the assistive method affects SoA and SoA induces a sense of fulfillment. The experience in the flow state is assumed to be a sense of fulfillment. The assistance effect on the skill-challenge plane in flow theory is defined as an increase in skill and decrease in challenge. The factor that separates the two effects from attribution theory is the locus of causality, which is matched to the judgement of agency (JoA) from the two-step account of agency. We hypothesized that the assistance increases the perception of skill and sense of fulfillment is greater when the locus of causality is internal, rather than external. To verify this hypothesis, a game task experiment was conducted with assistance that varied with the ease of recognition. We hypothesized that a player's JoA is internal for hard-to-recognize assistance, resulting in a high sense of fulfillment. Experimental results supported this hypothesis.
Triangles and Girth in Disk Graphs and Transmission Graphs
Venue: arXiv cs.CG 2019
Year: 2019

Let $S \subset \mathbb{R}^2$ be a set of $n$ sites, where each $s \in S$ has an associated radius $r_s > 0$. The disk graph $D(S)$ is the undirected graph with vertex set $S$ and an undirected edge between two sites $s, t \in S$ if and only if $|st| \leq r_s + r_t$, i.e., if the disks with centers $s$ and $t$ and respective radii $r_s$ and $r_t$ intersect. Disk graphs are used to model sensor networks. Similarly, the transmission graph $T(S)$ is the directed graph with vertex set $S$ and a directed edge from a site $s$ to a site $t$ if and only if $|st| \leq r_s$, i.e., if $t$ lies in the disk with center $s$ and radius $r_s$. We provide algorithms for detecting (directed) triangles and, more generally, computing the length of a shortest cycle (the girth) in $D(S)$ and in $T(S)$. These problems are notoriously hard in general, but better solutions exist for special graph classes such as planar graphs. We obtain similarly efficient results for disk graphs and for transmission graphs. More precisely, we show that a shortest (Euclidean) triangle in $D(S)$ and in $T(S)$ can be found in $O(n \log n)$ expected time, and that the (weighted) girth of $D(S)$ can be found in $O(n \log n)$ expected time. For this, we develop new tools for batched range searching that may be of independent interest.
Reasoning and Generalization in RL: A Tool Use Perspective
Venue: arXiv cs.NE 2019
Year: 2019

Learning to use tools to solve a variety of tasks is an innate ability of humans and has been observed of animals in the wild. However, the underlying mechanisms that are required to learn to use tools are abstract and widely contested in the literature. In this paper, we study tool use in the context of reinforcement learning and propose a framework for analyzing generalization inspired by a classic study of tool using behavior, the trap-tube task. Recently, it has become common in reinforcement learning to measure generalization performance on a single test set of environments. We instead propose transfers that produce multiple test sets that are used to measure specified types of generalization, inspired by abilities demonstrated by animal and human tool users. The source code to reproduce our experiments is publicly available at https://github.com/fomorians/gym_tool_use.
Slim-CNN: A Light-Weight CNN for Face Attribute Prediction
Venue: arXiv cs.CV 2019
Year: 2019

We introduce a computationally-efficient CNN micro-architecture Slim Module to design a lightweight deep neural network Slim-Net for face attribute prediction. Slim Modules are constructed by assembling depthwise separable convolutions with pointwise convolution to produce a computationally efficient module. The problem of facial attribute prediction is challenging because of the large variations in pose, background, illumination, and dataset imbalance. We stack these Slim Modules to devise a compact CNN which still maintains very high accuracy. Additionally, the neural network has a very low memory footprint which makes it suitable for mobile and embedded applications. Experiments on the CelebA dataset show that Slim-Net achieves an accuracy of 91.24% with at least 25 times fewer parameters than comparably performing methods, which reduces the memory storage requirement of Slim-net by at least 87%.
To Update or Not To Update?: Bandwidth-Efficient Intelligent Replacement Policies for DRAM Caches
Venue: arXiv cs.AR 2019
Year: 2019

This paper investigates intelligent replacement policies for improving the hit-rate of gigascale DRAM caches. Cache replacement policies are commonly used to improve the hit-rate of on-chip caches. The most effective replacement policies often require the cache to track per-line reuse state to inform their decision. A fundamental challenge on DRAM caches, however, is that stateful policies would require significant bandwidth to maintain per-line DRAM cache state. As such, DRAM cache replacement policies have primarily been stateless policies, such as always-install or probabilistic bypass. Unfortunately, we find that stateless policies are often too coarse-grain and become ineffective at the size and associativity of DRAM caches. Ideally, we want a replacement policy that can obtain the hit-rate benefits of stateful replacement policies, but keep the bandwidth-efficiency of stateless policies. In our study, we find that tracking per-line reuse state can enable an effective replacement policy that can mitigate common thrashing patterns seen in gigascale caches. We propose a stateful replacement/bypass policy called RRIP Age-On-Bypass (RRIP-AOB), that tracks reuse state for high-reuse lines, protects such lines by bypassing other lines, and Ages the state On cache Bypass. Unfortunately, such a stateful technique requires significant bandwidth to update state. To this end, we propose Efficient Tracking of Reuse (ETR). ETR makes state tracking efficient by accurately tracking the state of only one line from a region, and using the state of that line to guide the replacement decisions for other lines in that region. ETR reduces the bandwidth for tracking replacement state by 70%, and makes stateful policies practical for DRAM caches. Our evaluations with a 2GB DRAM cache, show that our RRIP-AOB and ETR techniques provide 18% speedup while needing less than 1KB of SRAM.
Online Evaluation of Audiences for Targeted Advertising via Bandit Experiments
Venue: arXiv cs.LG 2019
Year: 2019

Firms implementing digital advertising campaigns face a complex problem in determining the right match between their advertising creatives and target audiences. Typical solutions to the problem have leveraged non-experimental methods, or used "split-testing" strategies that have not explicitly addressed the complexities induced by targeted audiences that can potentially overlap with one another. This paper presents an adaptive algorithm that addresses the problem via online experimentation. The algorithm is set up as a contextual bandit and addresses the overlap issue by partitioning the target audiences into disjoint, non-overlapping sub-populations. It learns an optimal creative display policy in the disjoint space, while assessing in parallel which creative has the best match in the space of possibly overlapping target audiences. Experiments show that the proposed method is more efficient compared to naive "split-testing" or non-adaptive "A/B/n" testing based methods. We also describe a testing product we built that uses the algorithm. The product is currently deployed on the advertising platform of JD.com, an eCommerce company and a publisher of digital ads in China.
Earthquake Prediction With Artificial Neural Network Method: The Application Of West Anatolian Fault In Turkey
Venue: arXiv cs.OH 2019
Year: 2019

A method that exactly knows the earthquakes beforehand and can generalize them cannot still been developed. However, earthquakes are tried to be predicted through numerous methods. One of these methods, artificial neural networks give appropriate outputs to different patterns by learning the relationship between the determined inputs and outputs. In this study, a feedforward back propagation artificial neural network that is connected to Gutenberg-Richter relationship and that bases on b value used in earthquake predictions was developed. The artificial neural network was trained employing earthquake data belonging to four different regions which have intensive seismic activity in the west of Turkey. After the training process, the earthquake data belonging to later dates of the same regions were used for testing and the performance of the network was put forward. When the prediction results of the developed network are examined, the prediction results that the network predicts that an earthquake is not going to occur are quite high in all regions. Furthermore, the earthquake prediction results that the network predicts that an earthquake is going to occur are different to some extent for the studied regions.
Tracking Temporal Evolution of Graphs using Non-Timestamped Data
Venue: arXiv cs.SI 2019
Year: 2019

Datasets to study the temporal evolution of graphs are scarce. To encourage the research of novel dynamic graph learning algorithms we introduce YoutubeGraph-Dyn (available at https://github.com/palash1992/YoutubeGraph-Dyn), an evolving graph dataset generated from YouTube real-world interactions. YoutubeGraph-Dyn provides intra-day time granularity (with 416 snapshots taken every 6 hours for a period of 104 days), multi-modal relationships that capture different aspects of the data, multiple attributes including timestamped, non-timestamped, word embeddings, and integers. Our data collection methodology emphasizes the creation of time evolving graphs from non-timestamped data. In this paper, we provide various graph statistics of YoutubeGraph-Dyn and test state-of-the-art graph clustering algorithms to detect community migration, and time series analysis and recurrent neural network algorithms to forecast non-timestamped data.
RFBTD: RFB Text Detector
Venue: arXiv cs.CV 2019
Year: 2019

Text detection plays a critical role in the whole procedure of textual information extraction and understanding. On a high note, recent years have seen a surge in the high recall text detectors in scene text images, however text boxes for individual words is still a challenging when dense text is present in the scene. In this work, we propose an elegant solution that promotes prediction of words or text lines of arbitrary orientations and directions, providing emphasis on individual words. We also investigate the effects of Receptive Field Blocks(RFB) and its impact in receptive fields for text segments. Experiments were done on the ICDAR2015 and achieves an F-score of 47.09 at 720p
The evolution of argumentation mining: From models to social media and emerging tools
Venue: arXiv cs.IR 2019
Year: 2019

Argumentation mining is a rising subject in the computational linguistics domain focusing on extracting structured arguments from natural text, often from unstructured or noisy text. The initial approaches on modeling arguments was aiming to identify a flawless argument on specific fields (Law, Scientific Papers) serving specific needs (completeness, effectiveness). With the emerge of Web 2.0 and the explosion in the use of social media both the diffusion of the data and the argument structure have changed. In this survey article, we bridge the gap between theoretical approaches of argumentation mining and pragmatic schemes that satisfy the needs of social media generated data, recognizing the need for adapting more flexible and expandable schemes, capable to adjust to the argumentation conditions that exist in social media. We review, compare, and classify existing approaches, techniques and tools, identifying the positive outcome of combining tasks and features, and eventually propose a conceptual architecture framework. The proposed theoretical framework is an argumentation mining scheme able to identify the distinct sub-tasks and capture the needs of social media text, revealing the need for adopting more flexible and extensible frameworks.
From Pixels to Affect: A Study on Games and Player Experience
Venue: arXiv cs.HC 2019
Year: 2019

Is it possible to predict the affect of a user just by observing her behavioral interaction through a video? How can we, for instance, predict a user's arousal in games by merely looking at the screen during play? In this paper we address these questions by employing three dissimilar deep convolutional neural network architectures in our attempt to learn the underlying mapping between video streams of gameplay and the player's arousal. We test the algorithms in an annotated dataset of 50 gameplay videos of a survival shooter game and evaluate the deep learned models' capacity to classify high vs low arousal levels. Our key findings with the demanding leave-one-video-out validation method reveal accuracies of over 78% on average and 98% at best. While this study focuses on games and player experience as a test domain, the findings and methodology are directly relevant to any affective computing area, introducing a general and user-agnostic approach for modeling affect.
k is the Magic Number -- Inferring the Number of Clusters Through Nonparametric Concentration Inequalities
Venue: arXiv cs.LG 2019
Year: 2019

Most convex and nonconvex clustering algorithms come with one crucial parameter: the $k$ in $k$-means. To this day, there is not one generally accepted way to accurately determine this parameter. Popular methods are simple yet theoretically unfounded, such as searching for an elbow in the curve of a given cost measure. In contrast, statistically founded methods often make strict assumptions over the data distribution or come with their own optimization scheme for the clustering objective. This limits either the set of applicable datasets or clustering algorithms. In this paper, we strive to determine the number of clusters by answering a simple question: given two clusters, is it likely that they jointly stem from a single distribution? To this end, we propose a bound on the probability that two clusters originate from the distribution of the unified cluster, specified only by the sample mean and variance. Our method is applicable as a simple wrapper to the result of any clustering method minimizing the objective of $k$-means, which includes Gaussian mixtures and Spectral Clustering. We focus in our experimental evaluation on an application for nonconvex clustering and demonstrate the suitability of our theoretical results. Our \textsc{SpecialK} clustering algorithm automatically determines the appropriate value for $k$, without requiring any data transformation or projection, and without assumptions on the data distribution. Additionally, it is capable to decide that the data consists of only a single cluster, which many existing algorithms cannot.
Fixed-parameter tractability of counting small minimum $(S,T)$-cuts
Venue: arXiv cs.CC 2019
Year: 2019

The parameterized complexity of counting minimum cuts stands as a natural question because Ball and Provan showed its #P-completeness. For any undirected graph $G=(V,E)$ and two disjoint sets of its vertices $S,T$, we design a fixed-parameter tractable algorithm which counts minimum edge $(S,T)$-cuts parameterized by their size $p$. Our algorithm operates on a transformed graph instance. This transformation, called drainage, reveals a collection of at most $n=\left| V \right|$ successive minimum $(S,T)$-cuts $Z_i$. We prove that any minimum $(S,T)$-cut $X$ contains edges of at least one cut $Z_i$. This observation, together with Menger's theorem, allows us to build the algorithm counting all minimum $(S,T)$-cuts with running time $2^{O(p^2)}n^{O(1)}$. Initially dedicated to counting minimum cuts, it can be modified to obtain an FPT sampling of minimum edge $(S,T)$-cuts.
Deep Coupled-Representation Learning for Sparse Linear Inverse Problems with Side Information
Venue: arXiv cs.LG 2019
Year: 2019

In linear inverse problems, the goal is to recover a target signal from undersampled, incomplete or noisy linear measurements. Typically, the recovery relies on complex numerical optimization methods; recent approaches perform an unfolding of a numerical algorithm into a neural network form, resulting in a substantial reduction of the computational complexity. In this paper, we consider the recovery of a target signal with the aid of a correlated signal, the so-called side information (SI), and propose a deep unfolding model that incorporates SI. The proposed model is used to learn coupled representations of correlated signals from different modalities, enabling the recovery of multimodal data at a low computational cost. As such, our work introduces the first deep unfolding method with SI, which actually comes from a different modality. We apply our model to reconstruct near-infrared images from undersampled measurements given RGB images as SI. Experimental results demonstrate the superior performance of the proposed framework against single-modal deep learning methods that do not use SI, multimodal deep learning designs, and optimization algorithms.
Vector Colorings of Random, Ramanujan, and Large-Girth Irregular Graphs
Venue: arXiv cs.CC 2019
Year: 2019

We prove that in sparse Erdős-Rényi graphs of average degree $d$, the vector chromatic number (the relaxation of chromatic number coming from the Lovàsz theta function) is typically $\tfrac{1}{2}\sqrt{d} + o_d(1)$. This fits with a long-standing conjecture that various refutation and hypothesis-testing problems concerning $k$-colorings of sparse Erdős-Rényi graphs become computationally intractable below the `Kesten-Stigum threshold' $d_{KS,k} = (k-1)^2$. Along the way, we use the celebrated Ihara-Bass identity and a carefully constructed non-backtracking random walk to prove two deterministic results of independent interest: a lower bound on the vector chromatic number (and thus the chromatic number) using the spectrum of the non-backtracking walk matrix, and an upper bound dependent only on the girth and universal cover. Our upper bound may be equivalently viewed as a generalization of the Alon-Boppana theorem to irregular graphs