OpenRaiser/Intern-Atlas huggingface dataset:
Personal Dynamic Cost-Aware Sensing for Latent Context Detection
Venue: arXiv cs.LG 2019
Year: 2019

In the past decade, the usage of mobile devices has gone far beyond simple activities like calling and texting. Today, smartphones contain multiple embedded sensors and are able to collect useful sensing data about the user and infer the user's context. The more frequent the sensing, the more accurate the context. However, continuous sensing results in huge energy consumption, decreasing the battery's lifetime. We propose a novel approach for cost-aware sensing when performing continuous latent context detection. The suggested method dynamically determines user's sensors sampling policy based on three factors: (1) User's last known context; (2) Predicted information loss using KL-Divergence; and (3) Sensors' sampling costs. The objective function aims at minimizing both sampling cost and information loss. The method is based on various machine learning techniques including autoencoder neural networks for latent context detection, linear regression for information loss prediction, and convex optimization for determining the optimal sampling policy. To evaluate the suggested method, we performed a series of tests on real-world data recorded at a high-frequency rate; the data was collected from six mobile phone sensors of twenty users over the course of a week. Results show that by applying a dynamic sampling policy, our method naturally balances information loss and energy consumption and outperforms the static approach.% We compared the performance of our method with another state of the art dynamic sampling method and demonstrate its consistent superiority in various measures. %Our methods outperformed, and were able to improve we achieved better results in either sampling cost or information loss, and in some cases we improved both.
Exploiting Symmetries to Design EKFs with Consistency Properties for Navigation and SLAM
Venue: arXiv cs.RO 2019
Year: 2019

The Extended Kalman Filter (EKF) is both the historical algorithm for multi-sensor fusion and still state of the art in numerous industrial applications. However, it may prove inconsistent in the presence of unobservability under a group of transformations. In this paper we first build an alternative EKF based on an alternative nonlinear state error. This EKF is intimately related to the theory of the Invariant EKF (IEKF). Then, under a simple compatibility assumption between the error and the transformation group, we prove the linearized model of the alternative EKF automatically captures the unobservable directions, and many desirable properties of the linear case then directly follow. This provides a novel fundamental result in filtering theory. We apply the theory to multi-sensor fusion for navigation, when all the sensors are attached to the vehicle and do not have access to absolute information, as typically occurs in GPS-denied environments. In the context of Simultaneous Localization And Mapping (SLAM), Monte-Carlo runs and comparisons to OC-EKF, robocentric EKF, and optimization-based smoothing algorithms (iSAM) illustrate the results. The proposed EKF is also proved to outperform standard EKF and to achieve comparable performance to iSAM on a publicly available real dataset for multi-robot SLAM.
The Emergence of Software Diversity in Maven Central
Venue: arXiv cs.SE 2019
Year: 2019

Maven artifacts are immutable: an artifact that is uploaded on Maven Central cannot be removed nor modified. The only way for developers to upgrade their library is to release a new version. Consequently, Maven Central accumulates all the versions of all the libraries that are published there, and applications that declare a dependency towards a library can pick any version. In this work, we hypothesize that the immutability of Maven artifacts and the ability to choose any version naturally support the emergence of software diversity within Maven Central. We analyze 1,487,956 artifacts that represent all the versions of 73,653 libraries. We observe that more than 30% of libraries have multiple versions that are actively used by latest artifacts. In the case of popular libraries, more than 50% of their versions are used. We also observe that more than 17% of libraries have several versions that are significantly more used than the other versions. Our results indicate that the immutability of artifacts in Maven Central does support a sustained level of diversity among versions of libraries in the repository.
Resource Abstraction for Reinforcement Learning in Multiagent Congestion Problems
Venue: arXiv cs.MA 2019
Year: 2019

Real-world congestion problems (e.g. traffic congestion) are typically very complex and large-scale. Multiagent reinforcement learning (MARL) is a promising candidate for dealing with this emerging complexity by providing an autonomous and distributed solution to these problems. However, there are three limiting factors that affect the deployability of MARL approaches to congestion problems. These are learning time, scalability and decentralised coordination i.e. no communication between the learning agents. In this paper we introduce Resource Abstraction, an approach that addresses these challenges by allocating the available resources into abstract groups. This abstraction creates new reward functions that provide a more informative signal to the learning agents and aid the coordination amongst them. Experimental work is conducted on two benchmark domains from the literature, an abstract congestion problem and a realistic traffic congestion problem. The current state-of-the-art for solving multiagent congestion problems is a form of reward shaping called difference rewards. We show that the system using Resource Abstraction significantly improves the learning speed and scalability, and achieves the highest possible or near-highest joint performance/social welfare for both congestion problems in large-scale scenarios involving up to 1000 reinforcement learning agents.
Is the Stack Distance Between Test Case and Method Correlated With Test Effectiveness?
Venue: arXiv cs.SE 2019
Year: 2019

Mutation testing is a means to assess the effectiveness of a test suite and its outcome is considered more meaningful than code coverage metrics. However, despite several optimizations, mutation testing requires a significant computational effort and has not been widely adopted in industry. Therefore, we study in this paper whether test effectiveness can be approximated using a more light-weight approach. We hypothesize that a test case is more likely to detect faults in methods that are close to the test case on the call stack than in methods that the test case accesses indirectly through many other methods. Based on this hypothesis, we propose the minimal stack distance between test case and method as a new test measure, which expresses how close any test case comes to a given method, and study its correlation with test effectiveness. We conducted an empirical study with 21 open-source projects, which comprise in total 1.8 million LOC, and show that a correlation exists between stack distance and test effectiveness. The correlation reaches a strength up to 0.58. We further show that a classifier using the minimal stack distance along with additional easily computable measures can predict the mutation testing result of a method with 92.9% precision and 93.4% recall. Hence, such a classifier can be taken into consideration as a light-weight alternative to mutation testing or as a preceding, less costly step to that.
Visual Semantic Information Pursuit: A Survey
Venue: arXiv cs.CV 2019
Year: 2019

Visual semantic information comprises two important parts: the meaning of each visual semantic unit and the coherent visual semantic relation conveyed by these visual semantic units. Essentially, the former one is a visual perception task while the latter one corresponds to visual context reasoning. Remarkable advances in visual perception have been achieved due to the success of deep learning. In contrast, visual semantic information pursuit, a visual scene semantic interpretation task combining visual perception and visual context reasoning, is still in its early stage. It is the core task of many different computer vision applications, such as object detection, visual semantic segmentation, visual relationship detection or scene graph generation. Since it helps to enhance the accuracy and the consistency of the resulting interpretation, visual context reasoning is often incorporated with visual perception in current deep end-to-end visual semantic information pursuit methods. However, a comprehensive review for this exciting area is still lacking. In this survey, we present a unified theoretical paradigm for all these methods, followed by an overview of the major developments and the future trends in each potential direction. The common benchmark datasets, the evaluation metrics and the comparisons of the corresponding methods are also introduced.
CIMAX: Collective Information Maximization in Robotic Swarms Using Local Communication
Venue: arXiv cs.MA 2019
Year: 2019

Robotic swarms and mobile sensor networks are used for environmental monitoring in various domains and areas of operation. Especially in otherwise inaccessible environments decentralized robotic swarms can be advantageous due to their high spatial resolution of measurements and resilience to failure of individuals in the swarm. However, such robotic swarms might need to be able to compensate misplacement during deployment or adapt to dynamical changes in the environment. Reaching a collective decision in a swarm with limited communication abilities without a central entity serving as decision-maker can be a challenging task. Here we present the CIMAX algorithm for collective decision making for maximizing the information gathered by the swarm as a whole. Agents negotiate based on their individual sensor readings and ultimately make a decision for collectively moving in a particular direction so that the swarm as a whole increases the amount of relevant measurements and thus accessible information. We use both simulation and real robotic experiments for presenting, testing and validating our algorithm. CIMAX is designed to be used in underwater swarm robots for troubleshooting an oxygen depletion phenomenon known as "anoxia".
MMKG: Multi-Modal Knowledge Graphs
Venue: arXiv cs.AI 2019
Year: 2019

We present MMKG, a collection of three knowledge graphs that contain both numerical features and (links to) images for all entities as well as entity alignments between pairs of KGs. Therefore, multi-relational link prediction and entity matching communities can benefit from this resource. We believe this data set has the potential to facilitate the development of novel multi-modal learning approaches for knowledge graphs.We validate the utility ofMMKG in the sameAs link prediction task with an extensive set of experiments. These experiments show that the task at hand benefits from learning of multiple feature types.
Effective local compactness and the hyperspace of located sets
Venue: arXiv cs.LO 2019
Year: 2019

We revisit the definition of effective local compactness, and propose an approach that works for arbitrary countably-based spaces extending the previous work on computable metric spaces. We use this to show that effective local compactness suffices to ensure that the hyperspace of closed-and-overt sets (aka located sets, aka closed sets with full information) is computably compact and computably metrizable.
Squares of Matrix-product Codes
Venue: arXiv cs.IT 2019
Year: 2019

The component-wise or Schur product $C*C'$ of two linear error correcting codes $C$ and $C'$ over certain finite field is the linear code spanned by all component-wise products of a codeword in $C$ with a codeword in $C'$. When $C=C'$, we call the product the square of $C$ and denote it $C^{*2}$. Motivated by several applications of squares of linear codes in the area of cryptography, in this paper we study squares of so-called matrix-product codes, a general construction that allows to obtain new longer codes from several "constituent" codes. We show that in many cases we can relate the square of a matrix-product code to the squares and products of their constituent codes, which allow us to give bounds or even determine its minimum distance. We consider the well-known $(u,u+v)$-construction, or Plotkin sum (which is a special case of a matrix-product code) and determine which parameters we can obtain when the constituent codes are certain cyclic codes. In addition, we use the same techniques to study the squares of other matrix-product codes, for example when the defining matrix is Vandermonde (where the minimum distance is in a certain maximal with respect to matrix-product codes).
Overview of the Ugglan Entity Discovery and Linking System
Venue: arXiv cs.CL 2019
Year: 2019

Ugglan is a system designed to discover named entities and link them to unique identifiers in a knowledge base. It is based on a combination of a name and nominal dictionary derived from Wikipedia and Wikidata, a named entity recognition module (NER) using fixed ordinally-forgetting encoding (FOFE) trained on the TAC EDL data from 2014-2016, a candidate generation module from the Wikipedia link graph across multiple editions, a PageRank link and cooccurrence graph disambiguator, and finally a reranker trained on the TAC EDL 2015-2016 data.
Learning Multi-agent Communication under Limited-bandwidth Restriction for Internet Packet Routing
Venue: arXiv cs.MA 2019
Year: 2019

Communication is an important factor for the big multi-agent world to stay organized and productive. Recently, the AI community has applied the Deep Reinforcement Learning (DRL) to learn the communication strategy and the control policy for multiple agents. However, when implementing the communication for real-world multi-agent applications, there is a more practical limited-bandwidth restriction, which has been largely ignored by the existing DRL-based methods. Specifically, agents trained by most previous methods keep sending messages incessantly in every control cycle; due to emitting too many messages, these methods are unsuitable to be applied to the real-world systems that have a limited bandwidth to transmit the messages. To handle this problem, we propose a gating mechanism to adaptively prune unprofitable messages. Results show that the gating mechanism can prune more than 80% messages with little damage to the performance. Moreover, our method outperforms several state-of-the-art DRL-based and rule-based methods by a large margin in both the real-world packet routing tasks and four benchmark tasks.
Benchmarking Natural Language Understanding Services for building Conversational Agents
Venue: arXiv cs.CL 2019
Year: 2019

We have recently seen the emergence of several publicly available Natural Language Understanding (NLU) toolkits, which map user utterances to structured, but more abstract, Dialogue Act (DA) or Intent specifications, while making this process accessible to the lay developer. In this paper, we present the first wide coverage evaluation and comparison of some of the most popular NLU services, on a large, multi-domain (21 domains) dataset of 25K user utterances that we have collected and annotated with Intent and Entity Type specifications and which will be released as part of this submission. The results show that on Intent classification Watson significantly outperforms the other platforms, namely, Dialogflow, LUIS and Rasa; though these also perform well. Interestingly, on Entity Type recognition, Watson performs significantly worse due to its low Precision. Again, Dialogflow, LUIS and Rasa perform well on this task.
GASC: Genre-Aware Semantic Change for Ancient Greek
Venue: arXiv cs.CL 2019
Year: 2019

Word meaning changes over time, depending on linguistic and extra-linguistic factors. Associating a word's correct meaning in its historical context is a central challenge in diachronic research, and is relevant to a range of NLP tasks, including information retrieval and semantic search in historical texts. Bayesian models for semantic change have emerged as a powerful tool to address this challenge, providing explicit and interpretable representations of semantic change phenomena. However, while corpora typically come with rich metadata, existing models are limited by their inability to exploit contextual information (such as text genre) beyond the document time-stamp. This is particularly critical in the case of ancient languages, where lack of data and long diachronic span make it harder to draw a clear distinction between polysemy (the fact that a word has several senses) and semantic change (the process of acquiring, losing, or changing senses), and current systems perform poorly on these languages. We develop GASC, a dynamic semantic change model that leverages categorical metadata about the texts' genre to boost inference and uncover the evolution of meanings in Ancient Greek corpora. In a new evaluation framework, our model achieves improved predictive performance compared to the state of the art.
VRKitchen: an Interactive 3D Virtual Environment for Task-oriented Learning
Venue: arXiv cs.HC 2019
Year: 2019

One of the main challenges of advancing task-oriented learning such as visual task planning and reinforcement learning is the lack of realistic and standardized environments for training and testing AI agents. Previously, researchers often relied on ad-hoc lab environments. There have been recent advances in virtual systems built with 3D physics engines and photo-realistic rendering for indoor and outdoor environments, but the embodied agents in those systems can only conduct simple interactions with the world (e.g., walking around, moving objects, etc.). Most of the existing systems also do not allow human participation in their simulated environments. In this work, we design and implement a virtual reality (VR) system, VRKitchen, with integrated functions which i) enable embodied agents powered by modern AI methods (e.g., planning, reinforcement learning, etc.) to perform complex tasks involving a wide range of fine-grained object manipulations in a realistic environment, and ii) allow human teachers to perform demonstrations to train agents (i.e., learning from demonstration). We also provide standardized evaluation benchmarks and data collection tools to facilitate a broad use in research on task-oriented learning and beyond.
A Novel Re-Targetable Application Development Platform for Healthcare Mobile Applications
Venue: arXiv cs.SE 2019
Year: 2019

The rapid enhancement of central power unit CPU performance enables the development of computationally-intensive healthcare mobile applications for smartphones and wearable devices. However, computationally intensive mobile applications require significant application development time during the application porting procedure when the number of considering target devices operating systems OSs is large. In this paper, we propose a novel retargetable application development platform for healthcare mobile applications, which reduces application development time with maintaining the performance of the algorithm. Although the number of applications target OSs increases, the amount of time required for the code conversion step in the application porting procedure remains constant in the proposed retargetable platform. Experimental results show that our proposed retargetable platform gives reduced application development time compared to the conventional platform with maintaining the performance of the mobile application.
Persistification of Robotic Tasks
Venue: arXiv cs.RO 2019
Year: 2019

In this paper we propose a control framework that enables robots to execute tasks persistently, i.e., over time horizons much longer than robots' battery life. This is achieved by ensuring that the energy stored in the batteries of the robots is never depleted. This is framed as a set invariance constraint in an optimization problem whose objective is that of minimizing the difference between the robots' control inputs and nominal control inputs corresponding to the task that is to be executed. We refer to this process as the persistification of a robotic task. Forward invariance of subsets of the state space of the robots is turned into a control input constraint by using control barrier functions. The solution of the formulated optimization problem with energy constraints ensures that the robotic task is persistent. To illustrate the operation of the proposed framework, we consider two tasks whose persistent execution is particularly relevant: environment exploration and environment surveillance. We show the persistification of these two tasks both in simulation and on a team of wheeled mobile robots on the Robotarium.
A New Approach for Distributed Hypothesis Testing with Extensions to Byzantine-Resilience
Venue: arXiv cs.SY 2019
Year: 2019

We study a setting where a group of agents, each receiving partially informative private observations, seek to collaboratively learn the true state (among a set of hypotheses) that explains their joint observation profiles over time. To solve this problem, we propose a distributed learning rule that differs fundamentally from existing approaches, in the sense, that it does not employ any form of "belief-averaging". Specifically, every agent maintains a local belief (on each hypothesis) that is updated in a Bayesian manner without any network influence, and an actual belief that is updated (up to normalization) as the minimum of its own local belief and the actual beliefs of its neighbors. Under minimal requirements on the signal structures of the agents and the underlying communication graph, we establish consistency of the proposed belief update rule, i.e., we show that the actual beliefs of the agents asymptotically concentrate on the true state almost surely. As one of the key benefits of our approach, we show that our learning rule can be extended to scenarios that capture misbehavior on the part of certain agents in the network, modeled via the Byzantine adversary model. In particular, we prove that each non-adversarial agent can asymptotically learn the true state of the world almost surely, under appropriate conditions on the observation model and the network topology.
Learning Orientation-Estimation Convolutional Neural Network for Building Detection in Optical Remote Sensing Image
Venue: arXiv cs.CV 2019
Year: 2019

Benefiting from the great success of deep learning in computer vision, CNN-based object detection methods have drawn significant attentions. Various frameworks have been proposed which show awesome and robust performance for a large range of datasets. However, for building detection in remote sensing images, buildings always pose a diversity of orientations which makes it a challenge for the application of off-the-shelf methods to building detection. In this work, we aim to integrate orientation regression into the popular axis-aligned bounding-box detection method to tackle this problem. To adapt the axis-aligned bounding boxes to arbitrarily orientated ones, we also develop an algorithm to estimate the Intersection over Union (IoU) overlap between any two arbitrarily oriented boxes which is convenient to implement in Graphics Processing Unit (GPU) for accelerating computation. The proposed method utilizes CNN for both robust feature extraction and rotated bounding box regression. We present our modelin an end-to-end fashion making it easy to train. The model is formulated and trained to predict orientation, location and extent simultaneously obtaining tighter bounding box and hence, higher mean average precision (mAP). Experiments on remote sensing images of different scales shows a promising performance over the conventional one.