OpenRaiser/Intern-Atlas huggingface dataset:
Traffic Prediction Based Fast Uplink Grant for Massive IoT
Venue: arXiv cs.IT 2020
Year: 2020

This paper presents a novel framework for traffic prediction of IoT devices activated by binary Markovian events. First, we consider a massive set of IoT devices whose activation events are modeled by an On-Off Markov process with known transition probabilities. Next, we exploit the temporal correlation of the traffic events and apply the forward algorithm in the context of hidden Markov models (HMM) in order to predict the activation likelihood of each IoT device. Finally, we apply the fast uplink grant scheme in order to allocate resources to the IoT devices that have the maximal likelihood for transmission. In order to evaluate the performance of the proposed scheme, we define the regret metric as the number of missed resource allocation opportunities. The proposed fast uplink scheme based on traffic prediction outperforms both conventional random access and time division duplex in terms of regret and efficiency of system usage, while it maintains its superiority over random access in terms of average age of information for massive deployments.
Meta Continual Learning via Dynamic Programming
Venue: arXiv cs.LG 2020
Year: 2020

Meta continual learning algorithms seek to train a model when faced with similar tasks observed in a sequential manner. Despite promising methodological advancements, there is a lack of theoretical frameworks that enable analysis of learning challenges such as generalization and catastrophic forgetting. To that end, we develop a new theoretical approach for meta continual learning~(MCL) where we mathematically model the learning dynamics using dynamic programming, and we establish conditions of optimality for the MCL problem. Moreover, using the theoretical framework, we derive a new dynamic-programming-based MCL method that adopts stochastic-gradient-driven alternating optimization to balance generalization and catastrophic forgetting. We show that, on MCL benchmark data sets, our theoretically grounded method achieves accuracy better than or comparable to that of existing state-of-the-art methods.
DaRLing: A Datalog rewriter for OWL 2 RL ontological reasoning under SPARQL queries
Venue: arXiv cs.AI 2020
Year: 2020

The W3C Web Ontology Language (OWL) is a powerful knowledge representation formalism at the basis of many semantic-centric applications. Since its unrestricted usage makes reasoning undecidable already in case of very simple tasks, expressive yet decidable fragments have been identified. Among them, we focus on OWL 2 RL, which offers a rich variety of semantic constructors, apart from supporting all RDFS datatypes. Although popular Web resources - such as DBpedia - fall in OWL 2 RL, only a few systems have been designed and implemented for this fragment. None of them, however, fully satisfy all the following desiderata: (i) being freely available and regularly maintained; (ii) supporting query answering and SPARQL queries; (iii) properly applying the sameAs property without adopting the unique name assumption; (iv) dealing with concrete datatypes. To fill the gap, we present DaRLing, a freely available Datalog rewriter for OWL 2 RL ontological reasoning under SPARQL queries. In particular, we describe its architecture, the rewriting strategies it implements, and the result of an experimental evaluation that demonstrates its practical applicability. This paper is under consideration in Theory and Practice of Logic Programming (TPLP).
Generalized Word Shift Graphs: A Method for Visualizing and Explaining Pairwise Comparisons Between Texts
Venue: arXiv cs.CL 2020
Year: 2020

A common task in computational text analyses is to quantify how two corpora differ according to a measurement like word frequency, sentiment, or information content. However, collapsing the texts' rich stories into a single number is often conceptually perilous, and it is difficult to confidently interpret interesting or unexpected textual patterns without looming concerns about data artifacts or measurement validity. To better capture fine-grained differences between texts, we introduce generalized word shift graphs, visualizations which yield a meaningful and interpretable summary of how individual words contribute to the variation between two texts for any measure that can be formulated as a weighted average. We show that this framework naturally encompasses many of the most commonly used approaches for comparing texts, including relative frequencies, dictionary scores, and entropy-based measures like the Kullback-Leibler and Jensen-Shannon divergences. Through several case studies, we demonstrate how generalized word shift graphs can be flexibly applied across domains for diagnostic investigation, hypothesis generation, and substantive interpretation. By providing a detailed lens into textual shifts between corpora, generalized word shift graphs help computational social scientists, digital humanists, and other text analysis practitioners fashion more robust scientific narratives.
Performance Improvement of Path Planning algorithms with Deep Learning Encoder Model
Venue: arXiv cs.CV 2020
Year: 2020

Currently, path planning algorithms are used in many daily tasks. They are relevant to find the best route in traffic and make autonomous robots able to navigate. The use of path planning presents some issues in large and dynamic environments. Large environments make these algorithms spend much time finding the shortest path. On the other hand, dynamic environments request a new execution of the algorithm each time a change occurs in the environment, and it increases the execution time. The dimensionality reduction appears as a solution to this problem, which in this context means removing useless paths present in those environments. Most of the algorithms that reduce dimensionality are limited to the linear correlation of the input data. Recently, a Convolutional Neural Network (CNN) Encoder was used to overcome this situation since it can use both linear and non-linear information to data reduction. This paper analyzes in-depth the performance to eliminate the useless paths using this CNN Encoder model. To measure the mentioned model efficiency, we combined it with different path planning algorithms. Next, the final algorithms (combined and not combined) are checked in a database that is composed of five scenarios. Each scenario contains fixed and dynamic obstacles. Their proposed model, the CNN Encoder, associated to other existent path planning algorithms in the literature, was able to obtain a time decrease to find the shortest path in comparison to all path planning algorithms analyzed. the average decreased time was 54.43 %.
Axiom-based Grad-CAM: Towards Accurate Visualization and Explanation of CNNs
Venue: arXiv cs.CV 2020
Year: 2020

To have a better understanding and usage of Convolution Neural Networks (CNNs), the visualization and interpretation of CNNs has attracted increasing attention in recent years. In particular, several Class Activation Mapping (CAM) methods have been proposed to discover the connection between CNN's decision and image regions. In spite of the reasonable visualization, lack of clear and sufficient theoretical support is the main limitation of these methods. In this paper, we introduce two axioms -- Conservation and Sensitivity -- to the visualization paradigm of the CAM methods. Meanwhile, a dedicated Axiom-based Grad-CAM (XGrad-CAM) is proposed to satisfy these axioms as much as possible. Experiments demonstrate that XGrad-CAM is an enhanced version of Grad-CAM in terms of conservation and sensitivity. It is able to achieve better visualization performance than Grad-CAM, while also be class-discriminative and easy-to-implement compared with Grad-CAM++ and Ablation-CAM. The code is available at https://github.com/Fu0511/XGrad-CAM.
CrowDEA: Multi-view Idea Prioritization with Crowds
Venue: arXiv cs.HC 2020
Year: 2020

Given a set of ideas collected from crowds with regard to an open-ended question, how can we organize and prioritize them in order to determine the preferred ones based on preference comparisons by crowd evaluators? As there are diverse latent criteria for the value of an idea, multiple ideas can be considered as "the best". In addition, evaluators can have different preference criteria, and their comparison results often disagree. In this paper, we propose an analysis method for obtaining a subset of ideas, which we call frontier ideas, that are the best in terms of at least one latent evaluation criterion. We propose an approach, called CrowDEA, which estimates the embeddings of the ideas in the multiple-criteria preference space, the best viewpoint for each idea, and preference criterion for each evaluator, to obtain a set of frontier ideas. Experimental results using real datasets containing numerous ideas or designs demonstrate that the proposed approach can effectively prioritize ideas from multiple viewpoints, thereby detecting frontier ideas. The embeddings of ideas learned by the proposed approach provide a visualization that facilitates observation of the frontier ideas. In addition, the proposed approach prioritizes ideas from a wider variety of viewpoints, whereas the baselines tend to use to the same viewpoints; it can also handle various viewpoints and prioritize ideas in situations where only a limited number of evaluators or labels are available.
A Neural-Symbolic Framework for Mental Simulation
Venue: arXiv cs.CV 2020
Year: 2020

We present a neural-symbolic framework for observing the environment and continuously learning visual semantics and intuitive physics to reproduce them in an interactive simulation. The framework consists of five parts, a neural-symbolic hybrid network based on capsules for inverse graphics, an episodic memory to store observations, an interaction network for intuitive physics, a meta-learning agent that continuously improves the framework and a querying language that acts as the framework's interface for simulation. By means of lifelong meta-learning, the capsule network is expanded and trained continuously, in order to better adapt to its environment with each iteration. This enables it to learn new semantics using a few-shot approach and with minimal input from an oracle over its lifetime. From what it learned through observation, the part for intuitive physics infers all the required physical properties of the objects in a scene, enabling predictions. Finally, a custom query language ties all parts together, which allows to perform various mental simulation tasks, such as navigation, sorting and simulation of a game environment, with which we illustrate the potential of our novel approach.
Optimization Fabrics
Venue: arXiv cs.RO 2020
Year: 2020

This paper presents a theory of optimization fabrics, second-order differential equations that encode nominal behaviors on a space and can be used to define the behavior of a smooth optimizer. Optimization fabrics can encode commonalities among optimization problems that reflect the structure of the space itself, enabling smooth optimization processes to intelligently navigate each problem even when optimizing simple naive potential functions. Importantly, optimization over a fabric is inherently asymptotically stable. The majority of this paper is dedicated to the development of a tool set for the design and use of a broad class of fabrics called geometric fabrics. Geometric fabrics encode behavior as general nonlinear geometries which are covariant second-order differential equations with a special homogeneity property that ensures their behavior is independent of the system's speed through the medium. A class of Finsler Lagrangian energies can be used to both define how these nonlinear geometries combine with one another and how they react when potential functions force them from their nominal paths. Furthermore, these geometric fabrics are closed under the standard operations of pullback and combination on a transform tree. For behavior representation, this class of geometric fabrics constitutes a broad class of spectral semi-sprays (specs), also known as Riemannian Motion Policies (RMPs) in the context of robotic motion generation, that captures both the intuitive separation between acceleration policy and priority metric critical for modular design and are inherently stable. Therefore, geometric fabrics are safe and easier to use by less experienced behavioral designers. Application of this theory to policy representation and generalization in learning are discussed as well.
StyleFlow: Attribute-conditioned Exploration of StyleGAN-Generated Images using Conditional Continuous Normalizing Flows
Venue: arXiv cs.CV 2020
Year: 2020

High-quality, diverse, and photorealistic images can now be generated by unconditional GANs (e.g., StyleGAN). However, limited options exist to control the generation process using (semantic) attributes, while still preserving the quality of the output. Further, due to the entangled nature of the GAN latent space, performing edits along one attribute can easily result in unwanted changes along other attributes. In this paper, in the context of conditional exploration of entangled latent spaces, we investigate the two sub-problems of attribute-conditioned sampling and attribute-controlled editing. We present StyleFlow as a simple, effective, and robust solution to both the sub-problems by formulating conditional exploration as an instance of conditional continuous normalizing flows in the GAN latent space conditioned by attribute features. We evaluate our method using the face and the car latent space of StyleGAN, and demonstrate fine-grained disentangled edits along various attributes on both real photographs and StyleGAN generated images. For example, for faces, we vary camera pose, illumination variation, expression, facial hair, gender, and age. Finally, via extensive qualitative and quantitative comparisons, we demonstrate the superiority of StyleFlow to other concurrent works.
Contrastive Variational Reinforcement Learning for Complex Observations
Venue: arXiv cs.LG 2020
Year: 2020

Deep reinforcement learning (DRL) has achieved significant success in various robot tasks: manipulation, navigation, etc. However, complex visual observations in natural environments remains a major challenge. This paper presents Contrastive Variational Reinforcement Learning (CVRL), a model-based method that tackles complex visual observations in DRL. CVRL learns a contrastive variational model by maximizing the mutual information between latent states and observations discriminatively, through contrastive learning. It avoids modeling the complex observation space unnecessarily, as the commonly used generative observation model often does, and is significantly more robust. CVRL achieves comparable performance with state-of-the-art model-based DRL methods on standard Mujoco tasks. It significantly outperforms them on Natural Mujoco tasks and a robot box-pushing task with complex observations, e.g., dynamic shadows. The CVRL code is available publicly at https://github.com/Yusufma03/CVRL.
Interpretable Multi-Step Reasoning with Knowledge Extraction on Complex Healthcare Question Answering
Venue: arXiv cs.AI 2020
Year: 2020

Healthcare question answering assistance aims to provide customer healthcare information, which widely appears in both Web and mobile Internet. The questions usually require the assistance to have proficient healthcare background knowledge as well as the reasoning ability on the knowledge. Recently a challenge involving complex healthcare reasoning, HeadQA dataset, has been proposed, which contains multiple-choice questions authorized for the public healthcare specialization exam. Unlike most other QA tasks that focus on linguistic understanding, HeadQA requires deeper reasoning involving not only knowledge extraction, but also complex reasoning with healthcare knowledge. These questions are the most challenging for current QA systems, and the current performance of the state-of-the-art method is slightly better than a random guess. In order to solve this challenging task, we present a Multi-step reasoning with Knowledge extraction framework (MurKe). The proposed framework first extracts the healthcare knowledge as supporting documents from the large corpus. In order to find the reasoning chain and choose the correct answer, MurKe iterates between selecting the supporting documents, reformulating the query representation using the supporting documents and getting entailment score for each choice using the entailment model. The reformulation module leverages selected documents for missing evidence, which maintains interpretability. Moreover, we are striving to make full use of off-the-shelf pre-trained models. With less trainable weight, the pre-trained model can easily adapt to healthcare tasks with limited training samples. From the experimental results and ablation study, our system is able to outperform several strong baselines on the HeadQA dataset.
Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping
Venue: arXiv cs.RO 2020
Year: 2020

In this paper, we propose an efficient approach to generate dynamic and versatile humanoid walking with non-constant center of mass (COM) height. We exploit the benefits of using reduced order models (ROMs) and stepping control to generate dynamic and versatile walking motion. Specifically, we apply the stepping controller based on the Hybrid Linear Inverted Pendulum Model (H-LIP) to perturb a periodic walking motion of a 3D actuated Spring Loaded Inverted Pendulum (3D-aSLIP), which yields versatile walking behaviors of the 3D-aSLIP, including various 3D periodic walking, fixed location tracking, and global trajectory tracking. The 3D-aSLIP walking is then embedded on the fully-actuated humanoid via the task space control on the COM dynamics and ground reaction forces. The proposed approach is realized on the robot model of Atlas in simulation, wherein versatile dynamic motions are generated.
Fine-grained Iterative Attention Network for TemporalLanguage Localization in Videos
Venue: arXiv cs.CV 2020
Year: 2020

Temporal language localization in videos aims to ground one video segment in an untrimmed video based on a given sentence query. To tackle this task, designing an effective model to extract ground-ing information from both visual and textual modalities is crucial. However, most previous attempts in this field only focus on unidirectional interactions from video to query, which emphasizes which words to listen and attends to sentence information via vanilla soft attention, but clues from query-by-video interactions implying where to look are not taken into consideration. In this paper, we propose a Fine-grained Iterative Attention Network (FIAN) that consists of an iterative attention module for bilateral query-video in-formation extraction. Specifically, in the iterative attention module, each word in the query is first enhanced by attending to each frame in the video through fine-grained attention, then video iteratively attends to the integrated query. Finally, both video and query information is utilized to provide robust cross-modal representation for further moment localization. In addition, to better predict the target segment, we propose a content-oriented localization strategy instead of applying recent anchor-based localization. We evaluate the proposed method on three challenging public benchmarks: Ac-tivityNet Captions, TACoS, and Charades-STA. FIAN significantly outperforms the state-of-the-art approaches.
Dual Gaussian-based Variational Subspace Disentanglement for Visible-Infrared Person Re-Identification
Venue: arXiv cs.CV 2020
Year: 2020

Visible-infrared person re-identification (VI-ReID) is a challenging and essential task in night-time intelligent surveillance systems. Except for the intra-modality variance that RGB-RGB person re-identification mainly overcomes, VI-ReID suffers from additional inter-modality variance caused by the inherent heterogeneous gap. To solve the problem, we present a carefully designed dual Gaussian-based variational auto-encoder (DG-VAE), which disentangles an identity-discriminable and an identity-ambiguous cross-modality feature subspace, following a mixture-of-Gaussians (MoG) prior and a standard Gaussian distribution prior, respectively. Disentangling cross-modality identity-discriminable features leads to more robust retrieval for VI-ReID. To achieve efficient optimization like conventional VAE, we theoretically derive two variational inference terms for the MoG prior under the supervised setting, which not only restricts the identity-discriminable subspace so that the model explicitly handles the cross-modality intra-identity variance, but also enables the MoG distribution to avoid posterior collapse. Furthermore, we propose a triplet swap reconstruction (TSR) strategy to promote the above disentangling process. Extensive experiments demonstrate that our method outperforms state-of-the-art methods on two VI-ReID datasets.
Self-supervised Video Representation Learning Using Inter-intra Contrastive Framework
Venue: arXiv cs.CV 2020
Year: 2020

We propose a self-supervised method to learn feature representations from videos. A standard approach in traditional self-supervised methods uses positive-negative data pairs to train with contrastive learning strategy. In such a case, different modalities of the same video are treated as positives and video clips from a different video are treated as negatives. Because the spatio-temporal information is important for video representation, we extend the negative samples by introducing intra-negative samples, which are transformed from the same anchor video by breaking temporal relations in video clips. With the proposed Inter-Intra Contrastive (IIC) framework, we can train spatio-temporal convolutional networks to learn video representations. There are many flexible options in our IIC framework and we conduct experiments by using several different configurations. Evaluations are conducted on video retrieval and video recognition tasks using the learned video representation. Our proposed IIC outperforms current state-of-the-art results by a large margin, such as 16.7% and 9.5% points improvements in top-1 accuracy on UCF101 and HMDB51 datasets for video retrieval, respectively. For video recognition, improvements can also be obtained on these two benchmark datasets. Code is available at https://github.com/BestJuly/Inter-intra-video-contrastive-learning.
Enabling Massive Real-Time Applications in IEEE 802.11be Networks
Venue: arXiv cs.NI 2020
Year: 2020

Next generation Wi-Fi networks are expected to support real-time applications that impose strict requirements on the packet transmission delay and packet loss ratio. Such applications form an essential target for the future Wi-Fi standard, namely IEEE 802.11be, the development process of which started in 2019. A promising way to provide efficient real-time communications in 802.11be networks requires some modification of the uplink OFDMA feature originally introduced in the IEEE 802.11ax amendment to the Wi-Fi standard. This feature allows the access point to reserve channel resources for upcoming urgent transmissions. The paper explains why uplink OFDMA random access of 802.11ax does not perfectly fit the requirements of real-time applications and proposes an easy-to-implement modification of the channel access rules for future 802.11be networks. With extensive simulation, it is shown that this modification together with a new resource allocation algorithm outperforms the existing ways to support real-time applications, especially for a heavy load and a high number of users. In particular, they provide extremely low delays for real-time traffic, while the throughput for non-real-time traffic is reduced insignificantly.