OpenRaiser/Intern-Atlas huggingface dataset:
Pedestrian-Robot Interaction Experiments in an Exit Corridor
Venue: arXiv cs.RO 2018
Year: 2018

The study of human-robot interaction (HRI) has received increasing research attention for robot navigation in pedestrian crowds. In this paper, we present empirical study of pedestrian-robot interaction in an uni-directional exit corridor. We deploy a mobile robot moving in a direction perpendicular to that of the pedestrian flow, and install a pedestrian motion tracking system to record the collective motion. We analyze both individual and collective motion of pedestrians, and measure the effect of the robot motion on the overall pedestrian flow. The experimental results show the effect of passive HRI, where the pedestrians' overall speed is slowed down in the presence of the robot, and the faster the robot moves, the lower the average pedestrian velocity becomes. Experiment results show qualitative consistency of the collective HRI effect with simulation results that was previously reported. The study can be used to guide future design of robot-assisted pedestrian evacuation algorithms.
Image Transformer
Venue: arXiv cs.CV 2018
Year: 2018

Image generation has been successfully cast as an autoregressive sequence generation or transformation problem. Recent work has shown that self-attention is an effective way of modeling textual sequences. In this work, we generalize a recently proposed model architecture based on self-attention, the Transformer, to a sequence modeling formulation of image generation with a tractable likelihood. By restricting the self-attention mechanism to attend to local neighborhoods we significantly increase the size of images the model can process in practice, despite maintaining significantly larger receptive fields per layer than typical convolutional neural networks. While conceptually simple, our generative models significantly outperform the current state of the art in image generation on ImageNet, improving the best published negative log-likelihood on ImageNet from 3.83 to 3.77. We also present results on image super-resolution with a large magnification ratio, applying an encoder-decoder configuration of our architecture. In a human evaluation study, we find that images generated by our super-resolution model fool human observers three times more often than the previous state of the art.
Inferring relevant features: from QFT to PCA
Venue: arXiv cs.LG 2018
Year: 2018

In many-body physics, renormalization techniques are used to extract aspects of a statistical or quantum state that are relevant at large scale, or for low energy experiments. Recent works have proposed that these features can be formally identified as those perturbations of the states whose distinguishability most resist coarse-graining. Here, we examine whether this same strategy can be used to identify important features of an unlabeled dataset. This approach indeed results in a technique very similar to kernel PCA (principal component analysis), but with a kernel function that is automatically adapted to the data, or "learned". We test this approach on handwritten digits, and find that the most relevant features are significantly better for classification than those obtained from a simple gaussian kernel.
Truth Validation with Evidence
Venue: arXiv cs.AI 2018
Year: 2018

In the modern era, abundant information is easily accessible from various sources, however only a few of these sources are reliable as they mostly contain unverified contents. We develop a system to validate the truthfulness of a given statement together with underlying evidence. The proposed system provides supporting evidence when the statement is tagged as false. Our work relies on an inference method on a knowledge graph (KG) to identify the truthfulness of statements. In order to extract the evidence of falseness, the proposed algorithm takes into account combined knowledge from KG and ontologies. The system shows very good results as it provides valid and concise evidence. The quality of KG plays a role in the performance of the inference method which explicitly affects the performance of our evidence-extracting algorithm.
Horovod: fast and easy distributed deep learning in TensorFlow
Venue: arXiv cs.LG 2018
Year: 2018

Training modern deep learning models requires large amounts of computation, often provided by GPUs. Scaling computation from one GPU to many can enable much faster training and research progress but entails two complications. First, the training library must support inter-GPU communication. Depending on the particular methods employed, this communication may entail anywhere from negligible to significant overhead. Second, the user must modify his or her training code to take advantage of inter-GPU communication. Depending on the training library's API, the modification required may be either significant or minimal. Existing methods for enabling multi-GPU training under the TensorFlow library entail non-negligible communication overhead and require users to heavily modify their model-building code, leading many researchers to avoid the whole mess and stick with slower single-GPU training. In this paper we introduce Horovod, an open source library that improves on both obstructions to scaling: it employs efficient inter-GPU communication via ring reduction and requires only a few lines of modification to user code, enabling faster, easier distributed training in TensorFlow. Horovod is available under the Apache 2.0 license at https://github.com/uber/horovod
A Reputation-based Stackelberg Game Model to Enhance Secrecy Rate in Spectrum Leasing to Selfish IoT Devices
Venue: arXiv cs.IT 2018
Year: 2018

The problem of cooperative spectrum leasing to unlicensed Internet of Things (IoT) devices is studied to account for potential selfish behavior of these devices. A distributed game theoretic framework for spectrum leasing is proposed where the licensed users can willingly lease a portion of their spectrum access to unlicensed IoT devices, and in return the IoT devices provide cooperative services, firstly to enhance information secrecy of licensed users via adding intentional jamming to protect them from potential eavesdroppers, and secondly to enhance the quality of communication through cooperative relaying. The cooperative behavior of the potentially selfish IoT devices is monitored using a reputation-based mechanism to enable the primary users to only interact with the reliable IoT devices. The simulation results show that using the proposed reputation-based method enhances the secrecy rate of the primary users by reducing the possibility of attacks from selfish IoT devices. Hence, this model can offer a practical solution for spectrum leasing with mobile IoT devices when assuring the required quality of communication and information secrecy for the spectrum owners.
A Reallocation Algorithm for Online Split Packing of Circles
Venue: arXiv cs.CG 2018
Year: 2018

The Split Packing algorithm \cite{splitpacking_ws, splitpackingsoda, splitpacking} is an offline algorithm that packs a set of circles into triangles and squares up to critical density. In this paper, we develop an online alternative to Split Packing to handle an online sequence of insertions and deletions, where the algorithm is allowed to reallocate circles into new positions at a cost proportional to their areas. The algorithm can be used to pack circles into squares and right angled triangles. If only insertions are considered, our algorithm is also able to pack to critical density, with an amortised reallocation cost of $O(c\log \frac{1}{c})$ for squares, and $O(c(1+s^2)\log_{1+s^2}\frac{1}{c})$ for right angled triangles, where $s$ is the ratio of the lengths of the second shortest side to the shortest side of the triangle, when inserting a circle of area $c$. When insertions and deletions are considered, we achieve a packing density of $(1-ε)$ of the critical density, where $ε>0$ can be made arbitrarily small, with an amortised reallocation cost of $O(c(1+s^2)\log_{1+s^2}\frac{1}{c} + c\frac{1}ε)$.
Detecting truth, just on parts
Venue: arXiv cs.AI 2018
Year: 2018

We introduce and discuss, through a computational algebraic geometry approach, the automatic reasoning handling of propositions that are simultaneously true and false over some relevant collections of instances. A rigorous, algorithmic criterion is presented for detecting such cases, and its performance is exemplified through the implementation of this test on the dynamic geometry program GeoGebra.
3D Regression Neural Network for the Quantification of Enlarged Perivascular Spaces in Brain MRI
Venue: arXiv cs.CV 2018
Year: 2018

Enlarged perivascular spaces (EPVS) in the brain are an emerging imaging marker for cerebral small vessel disease, and have been shown to be related to increased risk of various neurological diseases, including stroke and dementia. Automatic quantification of EPVS would greatly help to advance research into its etiology and its potential as a risk indicator of disease. We propose a convolutional network regression method to quantify the extent of EPVS in the basal ganglia from 3D brain MRI. We first segment the basal ganglia and subsequently apply a 3D convolutional regression network designed for small object detection within this region of interest. The network takes an image as input, and outputs a quantification score of EPVS. The network has significantly more convolution operations than pooling ones and no final activation, allowing it to span the space of real numbers. We validated our approach using a dataset of 2000 brain MRI scans scored visually. Experiments with varying sizes of training and test sets showed that a good performance can be achieved with a training set of only 200 scans. With a training set of 1000 scans, the intraclass correlation coefficient (ICC) between our scoring method and the expert's visual score was 0.74. Our method outperforms by a large margin - more than 0.10 - four more conventional automated approaches based on intensities, scale-invariant feature transform, and random forest. We show that the network learns the structures of interest and investigate the influence of hyper-parameters on the performance. We also evaluate the reproducibility of our network using a set of 60 subjects scanned twice (scan-rescan reproducibility). On this set our network achieves an ICC of 0.93, while the intrarater agreement reaches 0.80. Furthermore, the automatic EPVS scoring correlates similarly to age as visual scoring.
Energy Optimization of Robotic Cells
Venue: arXiv cs.RO 2018
Year: 2018

This study focuses on the energy optimization of industrial robotic cells, which is essential for sustainable production in the long term. A holistic approach that considers a robotic cell as a whole toward minimizing energy consumption is proposed. The mathematical model, which takes into account various robot speeds, positions, power-saving modes, and alternative orders of operations, can be transformed into a mixed-integer linear programming formulation that is, however, suitable only for small instances. To optimize complex robotic cells, a hybrid heuristic accelerated by using multicore processors and the Gurobi simplex method for piecewise linear convex functions is implemented. The experimental results showed that the heuristic solved 93 % of instances with a solution quality close to a proven lower bound. Moreover, compared with the existing works, which typically address problems with three to four robots, this study solved real-size problem instances with up to 12 robots and considered more optimization aspects. The proposed algorithms were also applied on an existing robotic cell in Škoda Auto. The outcomes, based on simulations and measurements, indicate that, compared with the previous state (at maximal robot speeds and without deeper power-saving modes), the energy consumption can be reduced by about 20 % merely by optimizing the robot speeds and applying power-saving modes. All the software and generated datasets used in this research are publicly available.
Monte Carlo Q-learning for General Game Playing
Venue: arXiv cs.AI 2018
Year: 2018

After the recent groundbreaking results of AlphaGo, we have seen a strong interest in reinforcement learning in game playing. General Game Playing (GGP) provides a good testbed for reinforcement learning. In GGP, a specification of games rules is given. GGP problems can be solved by reinforcement learning. Q-learning is one of the canonical reinforcement learning methods, and has been used by (Banerjee & Stone, IJCAI 2007) in GGP. In this paper we implement Q-learning in GGP for three small-board games (Tic-Tac-Toe, Connect Four, Hex), to allow comparison to Banerjee et al. As expected, Q-learning converges, although much slower than MCTS. Borrowing an idea from MCTS, we enhance Q-learning with Monte Carlo Search, to give QM-learning. This enhancement improves the performance of pure Q-learning. We believe that QM-learning can also be used to improve performance of reinforcement learning further for larger games, something which we will test in future work.
A Combinatorial Problem Arising From Ecology: the Maximum Empower Problem
Venue: arXiv cs.DM 2018
Year: 2018

The ecologist H. T. Odum introduced a principle of physics, called Maximum Empower, in order to explain self-organization in a system (e.g. physical, biological, social, economical, mathematical, ...). The concept of empower relies on emergy, which is a second notion introduced by Odum for comparing energy systems on the same basis. The roots of these notions trace back to the 50's (with the work of H. T. Odum and R. C. Pinkerton) and is becoming now an important sustainability indicator in the ecologist community. In 2012, Le Corre and Truffet developed a recursive method, based on max-plus algebra, to compute emergy of a system. Recently, using this max-plus algebra approach, it has been shown that the Maximum Empower Principle can be formalized as a new combinatorial optimization problem (called the Maximum Empower Problem). In this paper we show that the Maximum Empower Problem can be solved by finding a maximum weighted clique in a cograph, which leads to an exponential-time algorithm in the worst-case. We also provide a polynomial-time algorithm when there is no cycle in the graph modeling the system. Finally, we prove that the Maximum Empower Problem is #P-hard in the general case, i.e. it is as hard as computing the permanent of a matrix.
The N-Tuple Bandit Evolutionary Algorithm for Game Agent Optimisation
Venue: arXiv cs.NE 2018
Year: 2018

This paper describes the N-Tuple Bandit Evolutionary Algorithm (NTBEA), an optimisation algorithm developed for noisy and expensive discrete (combinatorial) optimisation problems. The algorithm is applied to two game-based hyper-parameter optimisation problems. The N-Tuple system directly models the statistics, approximating the fitness and number of evaluations of each modelled combination of parameters. The model is simple, efficient and informative. Results show that the NTBEA significantly outperforms grid search and an estimation of distribution algorithm.
WebEye - Automated Collection of Malicious HTTP Traffic
Venue: arXiv cs.CR 2018
Year: 2018

With malware detection techniques increasingly adopting machine learning approaches, the creation of precise training sets becomes more and more important. Large data sets of realistic web traffic, correctly classified as benign or malicious are needed, not only to train classic and deep learning algorithms, but also to serve as evaluation benchmarks for existing malware detection products. Interestingly, despite the vast number and versatility of threats a user may encounter when browsing the web, actual malicious content is often hard to come by, since prerequisites such as browser and operating system type and version must be met in order to receive the payload from a malware distributing server. In combination with privacy constraints on data sets of actual user traffic, it is difficult for researchers and product developers to evaluate anti-malware solutions against large-scale data sets of realistic web traffic. In this paper we present WebEye, a framework that autonomously creates realistic HTTP traffic, enriches recorded traffic with additional information, and classifies records as malicious or benign, using different classifiers. We are using WebEye to collect malicious HTML and JavaScript and show how datasets created with WebEye can be used to train machine learning based malware detection algorithms. We regard WebEye and the data sets it creates as a tool for researchers and product developers to evaluate and improve their AI-based anti-malware solutions against large-scale benchmarks.
Fluency Over Adequacy: A Pilot Study in Measuring User Trust in Imperfect MT
Venue: arXiv cs.CL 2018
Year: 2018

Although measuring intrinsic quality has been a key factor in the advancement of Machine Translation (MT), successfully deploying MT requires considering not just intrinsic quality but also the user experience, including aspects such as trust. This work introduces a method of studying how users modulate their trust in an MT system after seeing errorful (disfluent or inadequate) output amidst good (fluent and adequate) output. We conduct a survey to determine how users respond to good translations compared to translations that are either adequate but not fluent, or fluent but not adequate. In this pilot study, users responded strongly to disfluent translations, but were, surprisingly, much less concerned with adequacy.
Computationally Inferred Genealogical Networks Uncover Long-Term Trends in Assortative Mating
Venue: arXiv cs.SI 2018
Year: 2018

Genealogical networks, also known as family trees or population pedigrees, are commonly studied by genealogists wanting to know about their ancestry, but they also provide a valuable resource for disciplines such as digital demography, genetics, and computational social science. These networks are typically constructed by hand through a very time-consuming process, which requires comparing large numbers of historical records manually. We develop computational methods for automatically inferring large-scale genealogical networks. A comparison with human-constructed networks attests to the accuracy of the proposed methods. To demonstrate the applicability of the inferred large-scale genealogical networks, we present a longitudinal analysis on the mating patterns observed in a network. This analysis shows a consistent tendency of people choosing a spouse with a similar socioeconomic status, a phenomenon known as assortative mating. Interestingly, we do not observe this tendency to consistently decrease (nor increase) over our study period of 150 years.
Flexible Energy Management Protocol for Cooperative EV-to-EV Charging
Venue: arXiv cs.SY 2018
Year: 2018

In this paper, we investigate flexible power transfer among electric vehicles (EVs) from a cooperative perspective in an EV system. First, the concept of cooperative EV-to-EV (V2V) charging is introduced, which enables active cooperation via charging/discharging operations between EVs as energy consumers and EVs as energy providers. Then, based on the cooperative V2V charging concept, a flexible energy management protocol with different V2V matching algorithms is proposed, which can help the EVs achieve more flexible and smarter charging/discharging behaviors. In the proposed energy management protocol, we define the utilities of the EVs based on the cost and profit through cooperative V2V charging and employ the bipartite graph to model the charging/discharging cooperation between EVs as energy consumers and EVs as energy providers. Based on the constructed bipartite graph, a max-weight V2V matching algorithm is proposed in order to optimize the network social welfare. Moreover, taking individual rationality into consideration, we further introduce the stable matching concepts and propose two stable V2V matching algorithms, which can yield the EV-consumer-optimal and EV-provider-optimal stable V2V matchings, respectively. Simulation results verify the efficiency of our proposed cooperative V2V charging based energy management protocol in improving the EV utilities and the network social welfare as well as reducing the energy consumption of the EVs.
Any-k: Anytime Top-k Tree Pattern Retrieval in Labeled Graphs
Venue: arXiv cs.SI 2018
Year: 2018

Many problems in areas as diverse as recommendation systems, social network analysis, semantic search, and distributed root cause analysis can be modeled as pattern search on labeled graphs (also called "heterogeneous information networks" or HINs). Given a large graph and a query pattern with node and edge label constraints, a fundamental challenge is to nd the top-k matches ac- cording to a ranking function over edge and node weights. For users, it is di cult to select value k . We therefore propose the novel notion of an any-k ranking algorithm: for a given time budget, re- turn as many of the top-ranked results as possible. Then, given additional time, produce the next lower-ranked results quickly as well. It can be stopped anytime, but may have to continues until all results are returned. This paper focuses on acyclic patterns over arbitrary labeled graphs. We are interested in practical algorithms that effectively exploit (1) properties of heterogeneous networks, in particular selective constraints on labels, and (2) that the users often explore only a fraction of the top-ranked results. Our solution, KARPET, carefully integrates aggressive pruning that leverages the acyclic nature of the query, and incremental guided search. It enables us to prove strong non-trivial time and space guarantees, which is generally considered very hard for this type of graph search problem. Through experimental studies we show that KARPET achieves running times in the order of milliseconds for tree patterns on large networks with millions of nodes and edges.
A Centrality Measure for Cycles and Subgraphs II
Venue: arXiv cs.DS 2018
Year: 2018

In a recent work we introduced a measure of importance for groups of vertices in a complex network. This centrality for groups is always between 0 and 1 and induces the eigenvector centrality over vertices. Furthermore, its value over any group is the fraction of all network flows intercepted by this group. Here we provide the rigorous mathematical constructions underpinning these results via a semi-commutative extension of a number theoretic sieve. We then established further relations between the eigenvector centrality and the centrality proposed here, showing that the latter is a proper extension of the former to groups of nodes. We finish by comparing the centrality proposed here with the notion of group-centrality introduced by Everett and Borgatti on two real-world networks: the Wolfe's dataset and the protein-protein interaction network of the yeast \textit{Saccharomyces cerevisiae}. In this latter case, we demonstrate that the centrality is able to distinguish protein complexes.
Diversity is All You Need: Learning Skills without a Reward Function
Venue: arXiv cs.AI 2018
Year: 2018

Intelligent creatures can explore their environments and learn useful skills without supervision. In this paper, we propose DIAYN ('Diversity is All You Need'), a method for learning useful skills without a reward function. Our proposed method learns skills by maximizing an information theoretic objective using a maximum entropy policy. On a variety of simulated robotic tasks, we show that this simple objective results in the unsupervised emergence of diverse skills, such as walking and jumping. In a number of reinforcement learning benchmark environments, our method is able to learn a skill that solves the benchmark task despite never receiving the true task reward. We show how pretrained skills can provide a good parameter initialization for downstream tasks, and can be composed hierarchically to solve complex, sparse reward tasks. Our results suggest that unsupervised discovery of skills can serve as an effective pretraining mechanism for overcoming challenges of exploration and data efficiency in reinforcement learning.