OpenRaiser/Intern-Atlas huggingface dataset:
3D Shape Completion with Multi-view Consistent Inference
Venue: arXiv cs.CV 2019
Year: 2019

3D shape completion is important to enable machines to perceive the complete geometry of objects from partial observations. To address this problem, view-based methods have been presented. These methods represent shapes as multiple depth images, which can be back-projected to yield corresponding 3D point clouds, and they perform shape completion by learning to complete each depth image using neural networks. While view-based methods lead to state-of-the-art results, they currently do not enforce geometric consistency among the completed views during the inference stage. To resolve this issue, we propose a multi-view consistent inference technique for 3D shape completion, which we express as an energy minimization problem including a data term and a regularization term. We formulate the regularization term as a consistency loss that encourages geometric consistency among multiple views, while the data term guarantees that the optimized views do not drift away too much from a learned shape descriptor. Experimental results demonstrate that our method completes shapes more accurately than previous techniques.
LeRoP: A Learning-Based Modular Robot Photography Framework
Venue: arXiv cs.RO 2019
Year: 2019

We introduce a novel framework for automatic capturing of human portraits. The framework allows the robot to follow a person to the desired location using a Person Re-identification model. When composing is activated, the robot attempts to adjust its position to form the view that can best match the given template image, and finally takes a photograph. A template image can be predicted dynamically using an off-the-shelf photo evaluation model by the framework, or selected manually from a pre-defined set by the user. The template matching-based view adjustment is driven by a deep reinforcement learning network. Our framework lies on top of the Robot Operating System (ROS). The framework is designed to be modular so that all the models can be flexibly replaced based on needs. We show our framework on a variety of examples. In particular, we tested it in three indoor scenes and used it to take 20 photos of each scene: ten for the pre-defined template, ten for the dynamically generated ones. The average number of adjustment was $11.20$ for pre-defined templates and $12.76$ for dynamically generated ones; the average time spent was $22.11$ and $24.10$ seconds respectively.
Product Sequencing and Pricing under Cascade Browse Model
Venue: arXiv cs.GT 2019
Year: 2019

In this paper, we study the joint product sequencing and pricing problem faced by many online retailers such as Amazon. We assume that consumers' purchase behavior can be explained by a ``consider-then-choose'' model: they first form a consideration set by screening a subset of products sequentially, and then decide which product to purchase from their consideration set. We propose a \emph{cascade browse model} to capture the consumers' browsing behavior, and use the Multinomial Logit (MNL) model as our choice model. We study two problems in this paper: in the first problem, we assume that each product has a fixed revenue and preference weight, the goal is to identify the best sequencing of products to offer so as to maximize the expected revenue subject to a cardinality constraint. We propose a constant approximate solution to this problem. As a byproduct, we propose the first fully polynomial-time approximation scheme (FPTAS) for the classic assortment optimization problem subject to one capacity constraint and one cardinality constraint. In the second problem, we treat the price of each product as a decision variable and our objective is to jointly decide a sequence of product and their prices to maximize the expected revenue. We propose a constant approximate solution to this problem.
New constructions of cooperative MSR codes: Reducing node size to $\exp(O(n))$
Venue: arXiv cs.IT 2019
Year: 2019

We consider the problem of multiple-node repair in distributed storage systems under the cooperative model, where the repair bandwidth includes the amount of data exchanged between any two different storage nodes. Recently, explicit constructions of MDS codes with optimal cooperative repair bandwidth for all possible parameters were given by Ye and Barg (IEEE Transactions on Information Theory, 2019). The node size (or sub-packetization) in this construction scales as $\exp(Θ(n^h))$, where $h$ is the number of failed nodes and $n$ is the code length. In this paper, we give new explicit constructions of optimal MDS codes for all possible parameters under the cooperative model, and the node size of our new constructions only scales as $\exp(O(n))$ for any number of failed nodes. Furthermore, it is known that any optimal MDS code under the cooperative model (including, in particular, our new code construction) also achieves optimal repair bandwidth under the centralized model, where the amount of data exchanged between failed nodes is not included in the repair bandwidth. We further show that the node size of our new construction is also much smaller than that of the best known MDS code constructions for the centralized model.
Augmented Random Search for Quadcopter Control: An alternative to Reinforcement Learning
Venue: arXiv cs.LG 2019
Year: 2019

Model-based reinforcement learning strategies are believed to exhibit more significant sample complexity than model-free strategies to control dynamical systems,such as quadcopters.This belief that Model-based strategies that involve the use of well-trained neural networks for making such high-level decisions always give better performance can be dispelled by making use of Model-free policy search methods.This paper proposes the use of a model-free random searching strategy,called Augmented Random Search(ARS),which is a better and faster approach of linear policy training for continuous control tasks like controlling a Quadcopters flight.The method achieves state-of-the-art accuracy by eliminating the use of too much data for the training of neural networks that are present in the previous approaches to the task of Quadcopter control.The paper also highlights the performance results of the searching strategy used for this task in a strategically designed task environment with the help of simulations.Reward collection performance over 1000 episodes and agents behavior in flight for augmented random search is compared with that of the behavior for reinforcement learning state-of-the-art algorithm,called Deep Deterministic policy gradient(DDPG).Our simulations and results manifest that a high variability in performance is observed in commonly used strategies for sample efficiency of such tasks but the built policy network of ARS-Quad can react relatively accurately to step response providing a better performing alternative to reinforcement learning strategies.
Deep Model-Based Reinforcement Learning via Estimated Uncertainty and Conservative Policy Optimization
Venue: arXiv cs.LG 2019
Year: 2019

Model-based reinforcement learning algorithms tend to achieve higher sample efficiency than model-free methods. However, due to the inevitable errors of learned models, model-based methods struggle to achieve the same asymptotic performance as model-free methods. In this paper, We propose a Policy Optimization method with Model-Based Uncertainty (POMBU)---a novel model-based approach---that can effectively improve the asymptotic performance using the uncertainty in Q-values. We derive an upper bound of the uncertainty, based on which we can approximate the uncertainty accurately and efficiently for model-based methods. We further propose an uncertainty-aware policy optimization algorithm that optimizes the policy conservatively to encourage performance improvement with high probability. This can significantly alleviate the overfitting of policy to inaccurate models. Experiments show POMBU can outperform existing state-of-the-art policy optimization algorithms in terms of sample efficiency and asymptotic performance. Moreover, the experiments demonstrate the excellent robustness of POMBU compared to previous model-based approaches.
Challenges of Scaled Agile for Safety-Critical Systems
Venue: arXiv cs.SE 2019
Year: 2019

Automotive companies increasingly adopt scaled agile methods to allow them to deal with their organisational and product complexity. Suitable methods are needed to ensure safety when developing automotive systems. On a small scale, R-Scrum and SafeScrum are two concrete suggestions for how to develop safety-critical systems using agile methods. However, for large-scale environments, existing frameworks like SAFe or LeSS do not support the development of safety-critical systems out of the box. We, therefore, aim to understand which challenges exist when developing safety-critical systems within large-scale agile industrial settings, in particular in the automotive domain. Based on an analysis of R-Scrum and SafeScrum, we conducted a focus group with three experts from industry to collect challenges in their daily work. We found challenges in the areas of living traceability, continuous compliance, and organisational flexibility. Among others, organisations struggle with defining a suitable traceability strategy, performing incremental safety analysis, and with integrating safety practices into their scaled way of working. Our results indicate a need to provide practical approaches to integrate safety work into large-scale agile development and point towards possible solutions, e.g., modular safety cases. Keywords: Scaled Agile, Safety-Critical Systems, Software Processes, R-Scrum, SafeScrum
Lidar-Camera Co-Training for Semi-Supervised Road Detection
Venue: arXiv cs.CV 2019
Year: 2019

Recent advances in the field of machine learning and computer vision have enabled the development of fast and accurate road detectors. Commonly such systems are trained within a supervised learning paradigm where both an input sensor's data and the corresponding ground truth label must be provided. The task of generating labels is commonly carried out by human annotators and it is notoriously time consuming and expensive. In this work, it is shown that a semi-supervised approach known as co-training can provide significant F1-score average improvements compared to supervised learning. In co-training, two classifiers acting on different views of the data cooperatively improve each other's performance by leveraging unlabeled examples. Depending on the amount of labeled data used, the improvements ranged from 1.12 to 6.10 percentage points for a camera-based road detector and from 1.04 to 8.14 percentage points for a lidar-based road detector. Lastly, the co-training algorithm is validated on the KITTI road benchmark, achieving high performance using only 36 labeled training examples together with several thousands unlabeled ones.
Cameras Viewing Cameras Geometry
Venue: arXiv cs.CV 2019
Year: 2019

A basic problem in computer vision is to understand the structure of a real-world scene given several images of it. Here we study several theoretical aspects of the intra multi-view geometry of calibrated cameras when all that they can reliably recognize is each other. With the proliferation of wearable cameras, autonomous vehicles and drones, the geometry of these multiple cameras is a timely and relevant problem to study.
Multimodal Machine Translation through Visuals and Speech
Venue: arXiv cs.CL 2019
Year: 2019

Multimodal machine translation involves drawing information from more than one modality, based on the assumption that the additional modalities will contain useful alternative views of the input data. The most prominent tasks in this area are spoken language translation, image-guided translation, and video-guided translation, which exploit audio and visual modalities, respectively. These tasks are distinguished from their monolingual counterparts of speech recognition, image captioning, and video captioning by the requirement of models to generate outputs in a different language. This survey reviews the major data resources for these tasks, the evaluation campaigns concentrated around them, the state of the art in end-to-end and pipeline approaches, and also the challenges in performance evaluation. The paper concludes with a discussion of directions for future research in these areas: the need for more expansive and challenging datasets, for targeted evaluations of model performance, and for multimodality in both the input and output space.
Playing Games in the Dark: An approach for cross-modality transfer in reinforcement learning
Venue: arXiv cs.AI 2019
Year: 2019

In this work we explore the use of latent representations obtained from multiple input sensory modalities (such as images or sounds) in allowing an agent to learn and exploit policies over different subsets of input modalities. We propose a three-stage architecture that allows a reinforcement learning agent trained over a given sensory modality, to execute its task on a different sensory modality-for example, learning a visual policy over image inputs, and then execute such policy when only sound inputs are available. We show that the generalized policies achieve better out-of-the-box performance when compared to different baselines. Moreover, we show this holds in different OpenAI gym and video game environments, even when using different multimodal generative models and reinforcement learning algorithms.
Adaptive Communication Bounds for Distributed Online Learning
Venue: arXiv cs.DC 2019
Year: 2019

We consider distributed online learning protocols that control the exchange of information between local learners in a round-based learning scenario. The learning performance of such a protocol is intuitively optimal if approximately the same loss is incurred as in a hypothetical serial setting. If a protocol accomplishes this, it is inherently impossible to achieve a strong communication bound at the same time. In the worst case, every input is essential for the learning performance, even for the serial setting, and thus needs to be exchanged between the local learners. However, it is reasonable to demand a bound that scales well with the hardness of the serialized prediction problem, as measured by the loss received by a serial online learning algorithm. We provide formal criteria based on this intuition and show that they hold for a simplified version of a previously published protocol.
Boros: Secure Cross-Channel Transfers via Channel Hub
Venue: arXiv cs.CR 2019
Year: 2019

The payment channel, which allows two parties to perform micropayments without involving the blockchain, has become a promising proposal to improve the scalability of decentralized ledgers such as Bitcoin and Ethereum. Payment channels have been extended to the payment network, through which users can utilize existing channels as intermediary links to route coins to others. However, routing payments through multiple channels bears nontrivial overheads. It requires every intermediary channel to lock a portion of its available capacity until the payment is settled. This may lead to deadlock in a concurrent situation. The intermediary nodes in a payment path may also charge fees for routing a payment. The longer the routing path, the more serious the above problems. In this paper, we design and develop a novel off-chain system to shorten the routing path for the payment network. In particular, we propose the channel hub, which is an extension of the payment hub, to allows transferring coins directly from one payment channel to another within the same hub. That is, the channel hub can be viewed as a shortcut device for the underlying payment network. We design a new protocol named Boros to perform secure off-chain cross-channel transfers through the channel hub. We not only present the security definition of the Boros protocol formally but also prove its security using the UC-framework. To demonstrate the feasibility of the Boros protocol, we develop a proof-of-concept prototype running on the Ethereum. Our evaluation shows that our system can effectively shorten the off-chain routing path.
Road Curb Detection Using A Novel Tensor Voting Algorithm
Venue: arXiv cs.RO 2019
Year: 2019

Road curb detection is very important and necessary for autonomous driving because it can improve the safety and robustness of robot navigation in the outdoor environment. In this paper, a novel road curb detection method based on tensor voting is presented. The proposed method processes the dense point cloud acquired using a 3D LiDAR. Firstly, we utilize a sparse tensor voting approach to extract the line and surface features. Then, we use an adaptive height threshold and a surface vector to extract the point clouds of the road curbs. Finally, we utilize the height threshold to segment different obstacles from the occupancy grid map. This also provides an effective way of generating high-definition maps. The experimental results illustrate that our proposed algorithm can detect road curbs with near real-time performance.
Indirect Local Attacks for Context-aware Semantic Segmentation Networks
Venue: arXiv cs.CV 2019
Year: 2019

Recently, deep networks have achieved impressive semantic segmentation performance, in particular thanks to their use of larger contextual information. In this paper, we show that the resulting networks are sensitive not only to global attacks, where perturbations affect the entire input image, but also to indirect local attacks where perturbations are confined to a small image region that does not overlap with the area that we aim to fool. To this end, we introduce several indirect attack strategies, including adaptive local attacks, aiming to find the best image location to perturb, and universal local attacks. Furthermore, we propose attack detection techniques both for the global image level and to obtain a pixel-wise localization of the fooled regions. Our results are unsettling: Because they exploit a larger context, more accurate semantic segmentation networks are more sensitive to indirect local attacks.
RAMESSES, a Rank Metric Encryption Scheme with Short Keys
Venue: arXiv cs.CR 2019
Year: 2019

We present a rank metric code-based encryption scheme with key and ciphertext sizes comparable to that of isogeny-based cryptography for an equivalent security level. The system also benefits from efficient encryption and decryption algorithms, which rely on linear algebra operations over finite fields of moderate sizes. The security only relies on rank metric decoding problems, and does not require to hide the structure of a code. Based on the current knowledge, those problems cannot be efficiently solved by a quantum computer. Finally, the proposed scheme admits a failure probability that can be precisely controlled and made as low as possible.
Induction of Subgoal Automata for Reinforcement Learning
Venue: arXiv cs.LG 2019
Year: 2019

In this work we present ISA, a novel approach for learning and exploiting subgoals in reinforcement learning (RL). Our method relies on inducing an automaton whose transitions are subgoals expressed as propositional formulas over a set of observable events. A state-of-the-art inductive logic programming system is used to learn the automaton from observation traces perceived by the RL agent. The reinforcement learning and automaton learning processes are interleaved: a new refined automaton is learned whenever the RL agent generates a trace not recognized by the current automaton. We evaluate ISA in several gridworld problems and show that it performs similarly to a method for which automata are given in advance. We also show that the learned automata can be exploited to speed up convergence through reward shaping and transfer learning across multiple tasks. Finally, we analyze the running time and the number of traces that ISA needs to learn an automata, and the impact that the number of observable events has on the learner's performance.
Mean Shift Rejection: Training Deep Neural Networks Without Minibatch Statistics or Normalization
Venue: arXiv cs.LG 2019
Year: 2019

Deep convolutional neural networks are known to be unstable during training at high learning rate unless normalization techniques are employed. Normalizing weights or activations allows the use of higher learning rates, resulting in faster convergence and higher test accuracy. Batch normalization requires minibatch statistics that approximate the dataset statistics but this incurs additional compute and memory costs and causes a communication bottleneck for distributed training. Weight normalization and initialization-only schemes do not achieve comparable test accuracy. We introduce a new understanding of the cause of training instability and provide a technique that is independent of normalization and minibatch statistics. Our approach treats training instability as a spatial common mode signal which is suppressed by placing the model on a channel-wise zero-mean isocline that is maintained throughout training. Firstly, we apply channel-wise zero-mean initialization of filter kernels with overall unity kernel magnitude. At each training step we modify the gradients of spatial kernels so that their weighted channel-wise mean is subtracted in order to maintain the common mode rejection condition. This prevents the onset of mean shift. This new technique allows direct training of the test graph so that training and test models are identical. We also demonstrate that injecting random noise throughout the network during training improves generalization. This is based on the idea that, as a side effect, batch normalization performs deep data augmentation by injecting minibatch noise due to the weakness of the dataset approximation. Our technique achieves higher accuracy compared to batch normalization and for the first time shows that minibatches and normalization are unnecessary for state-of-the-art training.
Short Term Prediction of Parking Area states Using Real Time Data and Machine Learning Techniques
Venue: arXiv cs.LG 2019
Year: 2019

Public road authorities and private mobility service providers need information derived from the current and predicted traffic states to act upon the daily urban system and its spatial and temporal dynamics. In this research, a real-time parking area state (occupancy, in- and outflux) prediction model (up to 60 minutes ahead) has been developed using publicly available historic and real time data sources. Based on a case study in a real-life scenario in the city of Arnhem, a Neural Network-based approach outperforms a Random Forest-based one on all assessed performance measures, although the differences are small. Both are outperforming a naive seasonal random walk model. Although the performance degrades with increasing prediction horizon, the model shows a performance gain of over 150% at a prediction horizon of 60 minutes compared with the naive model. Furthermore, it is shown that predicting the in- and outflux is a far more difficult task (i.e. performance gains of 30%) which needs more training data, not based exclusively on occupancy rate. However, the performance of predicting in- and outflux is less sensitive to the prediction horizon. In addition, it is shown that real-time information of current occupancy rate is the independent variable with the highest contribution to the performance, although time, traffic flow and weather variables also deliver a significant contribution. During real-time deployment, the model performs three times better than the naive model on average. As a result, it can provide valuable information for proactive traffic management as well as mobility service providers.