OpenRaiser/Intern-Atlas huggingface dataset:
Multi Projection Fusion for Real-time Semantic Segmentation of 3D LiDAR Point Clouds
Venue: arXiv cs.CV 2020
Year: 2020

Semantic segmentation of 3D point cloud data is essential for enhanced high-level perception in autonomous platforms. Furthermore, given the increasing deployment of LiDAR sensors onboard of cars and drones, a special emphasis is also placed on non-computationally intensive algorithms that operate on mobile GPUs. Previous efficient state-of-the-art methods relied on 2D spherical projection of point clouds as input for 2D fully convolutional neural networks to balance the accuracy-speed trade-off. This paper introduces a novel approach for 3D point cloud semantic segmentation that exploits multiple projections of the point cloud to mitigate the loss of information inherent in single projection methods. Our Multi-Projection Fusion (MPF) framework analyzes spherical and bird's-eye view projections using two separate highly-efficient 2D fully convolutional models then combines the segmentation results of both views. The proposed framework is validated on the SemanticKITTI dataset where it achieved a mIoU of 55.5 which is higher than state-of-the-art projection-based methods RangeNet++ and PolarNet while being 1.6x faster than the former and 3.1x faster than the latter.
Adaptive Test Allocation for Outbreak Detection and Tracking in Social Contact Networks
Venue: arXiv cs.SI 2020
Year: 2020

We present a general framework for adaptive allocation of viral tests in social contact networks. We pose and solve several complementary problems. First, we consider the design of a social sensing system whose objective is the early detection of a novel epidemic outbreak. In particular, we propose an algorithm to select a subset of individuals to be tested in order to detect the onset of an epidemic outbreak as fast as possible. We pose this problem as a hitting time probability maximization problem and use submodularity optimization techniques to derive explicit quality guarantees for the proposed solution. Second, once an epidemic outbreak has been detected, we consider the problem of adaptively distributing viral tests over time in order to maximize the information gained about the current state of the epidemic. We formalize this problem in terms of information entropy and mutual information and propose an adaptive allocation strategy with quality guarantees. For these problems, we derive analytical solutions for any stochastic compartmental epidemic model with Markovian dynamics, as well as efficient Monte-Carlo-based algorithms for non-Markovian dynamics. Finally, we illustrate the performance of the proposed framework in numerical experiments involving a model of Covid-19 applied to a real human contact network.
Autonomous Wall Building with a UGV-UAV Team at MBZIRC 2020
Venue: arXiv cs.RO 2020
Year: 2020

Constructing large structures with robots is a challenging task with many potential applications that requires mobile manipulation capabilities. We present two systems for autonomous wall building that we developed for the Mohamed Bin Zayed International Robotics Challenge 2020. Both systems autonomously perceive their environment, find bricks, and build a predefined wall structure. While the UGV uses a 3D LiDAR-based perception system which measures brick poses with high precision, the UAV employs a real-time camera-based system for visual servoing. We report results and insights from our successful participation at the MBZIRC 2020 Finals, additional lab experiments, and discuss the lessons learned from the competition.
Single Image Human Proxemics Estimation for Visual Social Distancing
Venue: arXiv cs.CV 2020
Year: 2020

In this work, we address the problem of estimating the so-called "Social Distancing" given a single uncalibrated image in unconstrained scenarios. Our approach proposes a semi-automatic solution to approximate the homography matrix between the scene ground and image plane. With the estimated homography, we then leverage an off-the-shelf pose detector to detect body poses on the image and to reason upon their inter-personal distances using the length of their body-parts. Inter-personal distances are further locally inspected to detect possible violations of the social distancing rules. We validate our proposed method quantitatively and qualitatively against baselines on public domain datasets for which we provided groundtruth on inter-personal distances. Besides, we demonstrate the application of our method deployed in a real testing scenario where statistics on the inter-personal distances are currently used to improve the safety in a critical environment.
(Un)fairness in Post-operative Complication Prediction Models
Venue: arXiv cs.LG 2020
Year: 2020

With the current ongoing debate about fairness, explainability and transparency of machine learning models, their application in high-impact clinical decision-making systems must be scrutinized. We consider a real-life example of risk estimation before surgery and investigate the potential for bias or unfairness of a variety of algorithms. Our approach creates transparent documentation of potential bias so that the users can apply the model carefully. We augment a model-card like analysis using propensity scores with a decision-tree based guide for clinicians that would identify predictable shortcomings of the model. In addition to functioning as a guide for users, we propose that it can guide the algorithm development and informatics team to focus on data sources and structures that can address these shortcomings.
Beyond Worst-case Analysis of Multicore Caching Strategies
Venue: arXiv cs.DS 2020
Year: 2020

Every processor with multiple cores sharing a cache needs to implement a cache-replacement algorithm. Previous work demonstrated that the competitive ratio of a large class of online algorithms, including Least-Recently-Used (LRU), grows with the length of the input. Furthermore, even offline algorithms like Furthest-In-Future, the optimal algorithm in single-core caching, cannot compete in the multicore setting. These negative results motivate a more in-depth comparison of multicore caching algorithms via alternative analysis measures. Specifically, the power of the adversary to adapt to online algorithms suggests the need for a direct comparison of online algorithms to each other. In this paper, we introduce cyclic analysis, a generalization of bijective analysis introduced by Angelopoulos and Schweitzer [JACM'13]. Cyclic analysis captures the advantages of bijective analysis while offering flexibility that makes it more useful for comparing algorithms for a variety online problems. In particular, we take the first steps beyond worst-case analysis for analysis of multicore caching algorithms. We use cyclic analysis to establish relationships between multicore caching algorithms, including the advantage of LRU over all other multicore caching algorithms in the presence of locality of reference.
dMVX: Secure and Efficient Multi-Variant Execution in a Distributed Setting
Venue: arXiv cs.CR 2020
Year: 2020

Multi-variant execution (MVX) systems amplify the effectiveness of software diversity techniques. The key idea is to run multiple diversified program variants in lockstep while providing them with the same input and monitoring their run-time behavior for divergences. Thus, adversaries have to compromise all program variants simultaneously to mount an attack successfully. Recent work proposed distributed, heterogeneous MVX systems that leverage different ABIs and ISAs to increase the diversity between program variants further. However, existing distributed MVX system designs suffer from high performance overhead due to time-consuming network transactions for the MVX system's operations. This paper presents dMVX, a novel hybrid distributed MVX design, which incorporates new techniques that significantly reduce the overhead of MVX systems in a distributed setting. Our key insight is that we can intelligently reduce the MVX operations that use expensive network transfers. First, we can limit the monitoring of system calls that are not security-critical. Second, we observe that, in many circumstances, we can also safely cache or avoid replication operations needed for I/O related system calls. Our evaluation shows that dMVX reduces the performance degradation from over 50% to 3.1% for realistic server benchmarks.
DESNet: A Multi-channel Network for Simultaneous Speech Dereverberation, Enhancement and Separation
Venue: arXiv cs.SD 2020
Year: 2020

In this paper, we propose a multi-channel network for simultaneous speech dereverberation, enhancement and separation (DESNet). To enable gradient propagation and joint optimization, we adopt the attentional selection mechanism of the multi-channel features, which is originally proposed in end-to-end unmixing, fixed-beamforming and extraction (E2E-UFE) structure. Furthermore, the novel deep complex convolutional recurrent network (DCCRN) is used as the structure of the speech unmixing and the neural network based weighted prediction error (WPE) is cascaded beforehand for speech dereverberation. We also introduce the staged SNR strategy and symphonic loss for the training of the network to further improve the final performance. Experiments show that in non-dereverberated case, the proposed DESNet outperforms DCCRN and most state-of-the-art structures in speech enhancement and separation, while in dereverberated scenario, DESNet also shows improvements over the cascaded WPE-DCCRN networks.
Conditioned Text Generation with Transfer for Closed-Domain Dialogue Systems
Venue: arXiv cs.CL 2020
Year: 2020

Scarcity of training data for task-oriented dialogue systems is a well known problem that is usually tackled with costly and time-consuming manual data annotation. An alternative solution is to rely on automatic text generation which, although less accurate than human supervision, has the advantage of being cheap and fast. Our contribution is twofold. First we show how to optimally train and control the generation of intent-specific sentences using a conditional variational autoencoder. Then we introduce a new protocol called query transfer that allows to leverage a large unlabelled dataset, possibly containing irrelevant queries, to extract relevant information. Comparison with two different baselines shows that this method, in the appropriate regime, consistently improves the diversity of the generated queries without compromising their quality. We also demonstrate the effectiveness of our generation method as a data augmentation technique for language modelling tasks.
A Multi-Resolution Frontier-Based Planner for Autonomous 3D Exploration
Venue: arXiv cs.RO 2020
Year: 2020

In this paper we propose a planner for 3D exploration that is suitable for applications using state-of-the-art 3D sensors such as lidars, which produce large point clouds with each scan. The planner is based on the detection of a frontier - a boundary between the explored and unknown part of the environment - and consists of the algorithm for detecting frontier points, followed by clustering of frontier points and selecting the best frontier point to be explored. Compared to existing frontier-based approaches, the planner is more scalable, i.e. it requires less time for the same data set size while ensuring similar exploration time. Performance is achieved by not relying on data obtained directly from the 3D sensor, but on data obtained by a mapping algorithm. In order to cluster the frontier points, we use the properties of the Octree environment representation, which allows easy analysis with different resolutions. The planner is tested in the simulation environment and in an outdoor test area with a UAV equipped with a lidar sensor. The results show the advantages of the approach.
Affine invariant triangulations
Venue: arXiv cs.CG 2020
Year: 2020

We study affine invariant 2D triangulation methods. That is, methods that produce the same triangulation for a point set $S$ for any (unknown) affine transformation of $S$. Our work is based on a method by Nielson [A characterization of an affine invariant triangulation. Geom. Mod, 191-210. Springer, 1993] that uses the inverse of the covariance matrix of $S$ to define an affine invariant norm, denoted $A_{S}$, and an affine invariant triangulation, denoted ${DT}_{A_{S}}[S]$. We revisit the $A_{S}$-norm from a geometric perspective, and show that ${DT}_{A_{S}}[S]$ can be seen as a standard Delaunay triangulation of a transformed point set based on $S$. We prove that it retains all of its well-known properties such as being 1-tough, containing a perfect matching, and being a constant spanner of the complete geometric graph of $S$. We show that the $A_{S}$-norm extends to a hierarchy of related geometric structures such as the minimum spanning tree, nearest neighbor graph, Gabriel graph, relative neighborhood graph, and higher order versions of these graphs. In addition, we provide different affine invariant sorting methods of a point set $S$ and of the vertices of a polygon $P$ that can be combined with known algorithms to obtain other affine invariant triangulation methods of $S$ and of $P$.
Video Generative Adversarial Networks: A Review
Venue: arXiv cs.CV 2020
Year: 2020

With the increasing interest in the content creation field in multiple sectors such as media, education, and entertainment, there is an increasing trend in the papers that uses AI algorithms to generate content such as images, videos, audio, and text. Generative Adversarial Networks (GANs) in one of the promising models that synthesizes data samples that are similar to real data samples. While the variations of GANs models, in general, have been covered to some extent in several survey papers, to the best of our knowledge, this is among the first survey papers that reviews the state-of-the-art video GANs models. This paper first categorized GANs review papers into general GANs review papers, image GANs review papers, and special field GANs review papers such as anomaly detection, medical imaging, or cybersecurity. The paper then summarizes the main improvements in GANs frameworks that are not initially developed for the video domain but have been adopted in multiple video GANs variations. Then, a comprehensive review of video GANs models is provided under two main divisions according to the presence or non-presence of a condition. The conditional models then further grouped according to the type of condition into audio, text, video, and image. The paper is concluded by highlighting the main challenges and limitations of the current video GANs models. A comprehensive list of datasets, applied loss functions, and evaluation metrics is provided in the supplementary material.
S3-Net: A Fast and Lightweight Video Scene Understanding Network by Single-shot Segmentation
Venue: arXiv cs.CV 2020
Year: 2020

Real-time understanding in video is crucial in various AI applications such as autonomous driving. This work presents a fast single-shot segmentation strategy for video scene understanding. The proposed net, called S3-Net, quickly locates and segments target sub-scenes, meanwhile extracts structured time-series semantic features as inputs to an LSTM-based spatio-temporal model. Utilizing tensorization and quantization techniques, S3-Net is intended to be lightweight for edge computing. Experiments using CityScapes, UCF11, HMDB51 and MOMENTS datasets demonstrate that the proposed S3-Net achieves an accuracy improvement of 8.1% versus the 3D-CNN based approach on UCF11, a storage reduction of 6.9x and an inference speed of 22.8 FPS on CityScapes with a GTX1080Ti GPU.
Ideal theory in AI ethics
Venue: arXiv cs.CY 2020
Year: 2020

This paper addresses the ways AI ethics research operates on an ideology of ideal theory, in the sense discussed by Mills (2005) and recently applied to AI ethics by Fazelpour \& Lipton (2020). I address the structural and methodological conditions that attract AI ethics researchers to ideal theorizing, and the consequences this approach has for the quality and future of our research community. Finally, I discuss the possibilities for a nonideal future in AI ethics.
Personalized Multimorbidity Management for Patients with Type 2 Diabetes Using Reinforcement Learning of Electronic Health Records
Venue: arXiv cs.CY 2020
Year: 2020

Comorbid chronic conditions are common among people with type 2 diabetes. We developed an Artificial Intelligence algorithm, based on Reinforcement Learning (RL), for personalized diabetes and multi-morbidity management with strong potential to improve health outcomes relative to current clinical practice. In this paper, we modeled glycemia, blood pressure and cardiovascular disease (CVD) risk as health outcomes using a retrospective cohort of 16,665 patients with type 2 diabetes from New York University Langone Health ambulatory care electronic health records in 2009 to 2017. We trained a RL prescription algorithm that recommends a treatment regimen optimizing patients' cumulative health outcomes using their individual characteristics and medical history at each encounter. The RL recommendations were evaluated on an independent subset of patients. The results demonstrate that the proposed personalized reinforcement learning prescriptive framework for type 2 diabetes yielded high concordance with clinicians' prescriptions and substantial improvements in glycemia, blood pressure, cardiovascular disease risk outcomes.
Pixel-wise Dense Detector for Image Inpainting
Venue: arXiv cs.CV 2020
Year: 2020

Recent GAN-based image inpainting approaches adopt an average strategy to discriminate the generated image and output a scalar, which inevitably lose the position information of visual artifacts. Moreover, the adversarial loss and reconstruction loss (e.g., l1 loss) are combined with tradeoff weights, which are also difficult to tune. In this paper, we propose a novel detection-based generative framework for image inpainting, which adopts the min-max strategy in an adversarial process. The generator follows an encoder-decoder architecture to fill the missing regions, and the detector using weakly supervised learning localizes the position of artifacts in a pixel-wise manner. Such position information makes the generator pay attention to artifacts and further enhance them. More importantly, we explicitly insert the output of the detector into the reconstruction loss with a weighting criterion, which balances the weight of the adversarial loss and reconstruction loss automatically rather than manual operation. Experiments on multiple public datasets show the superior performance of the proposed framework. The source code is available at https://github.com/Evergrow/GDN_Inpainting.
Towards Privacy in Geographic Message Dissemination for Connected Vehicles
Venue: arXiv cs.CR 2020
Year: 2020

With geographic message dissemination, connected vehicles can be served with traffic information in their proximity, thereby positively impacting road safety, traffic management, or routing. Since such messages are typically relevant in a small geographic area, servers only distribute messages to affected vehicles for efficiency reasons. One main challenge is to maintain scalability of the server infrastructure when collecting location updates from vehicles and determining the relevant group of vehicles when messages are distributed to a geographic relevance area, while at the same time respecting the individual user's privacy in accordance with legal regulations. In this paper, we present a framework for geographic message dissemination following the privacy-by-design and privacy-by-default principles, without having to accept efficiency drawbacks compared to conventional server-client based approaches.
A Multistage View on 2-Satisfiability
Venue: arXiv cs.CC 2020
Year: 2020

We study $q$-SAT in the multistage model, focusing on the linear-time solvable 2-SAT. Herein, given a sequence of $q$-CNF fomulas and a non-negative integer $d$, the question is whether there is a sequence of satisfying truth assignments such that for every two consecutive truth assignments, the number of variables whose values changed is at most $d$. We prove that Multistage 2-SAT is NP-hard even in quite restricted cases. Moreover, we present parameterized algorithms (including kernelization) for Multistage 2-SAT and prove them to be asymptotically optimal.
Federated Knowledge Distillation
Venue: arXiv cs.LG 2020
Year: 2020

Distributed learning frameworks often rely on exchanging model parameters across workers, instead of revealing their raw data. A prime example is federated learning that exchanges the gradients or weights of each neural network model. Under limited communication resources, however, such a method becomes extremely costly particularly for modern deep neural networks having a huge number of model parameters. In this regard, federated distillation (FD) is a compelling distributed learning solution that only exchanges the model outputs whose dimensions are commonly much smaller than the model sizes (e.g., 10 labels in the MNIST dataset). The goal of this chapter is to provide a deep understanding of FD while demonstrating its communication efficiency and applicability to a variety of tasks. To this end, towards demystifying the operational principle of FD, the first part of this chapter provides a novel asymptotic analysis for two foundational algorithms of FD, namely knowledge distillation (KD) and co-distillation (CD), by exploiting the theory of neural tangent kernel (NTK). Next, the second part elaborates on a baseline implementation of FD for a classification task, and illustrates its performance in terms of accuracy and communication efficiency compared to FL. Lastly, to demonstrate the applicability of FD to various distributed learning tasks and environments, the third part presents two selected applications, namely FD over asymmetric uplink-and-downlink wireless channels and FD for reinforcement learning.
Deep Learning Framework to Detect Face Masks from Video Footage
Venue: arXiv cs.CV 2020
Year: 2020

The use of facial masks in public spaces has become a social obligation since the wake of the COVID-19 global pandemic and the identification of facial masks can be imperative to ensure public safety. Detection of facial masks in video footages is a challenging task primarily due to the fact that the masks themselves behave as occlusions to face detection algorithms due to the absence of facial landmarks in the masked regions. In this work, we propose an approach for detecting facial masks in videos using deep learning. The proposed framework capitalizes on the MTCNN face detection model to identify the faces and their corresponding facial landmarks present in the video frame. These facial images and cues are then processed by a neoteric classifier that utilises the MobileNetV2 architecture as an object detector for identifying masked regions. The proposed framework was tested on a dataset which is a collection of videos capturing the movement of people in public spaces while complying with COVID-19 safety protocols. The proposed methodology demonstrated its effectiveness in detecting facial masks by achieving high precision, recall, and accuracy.