OpenRaiser/Intern-Atlas huggingface dataset:
A Robust Laser-Inertial Odometry and Mapping Method for Large-Scale Highway Environments
Venue: arXiv cs.RO 2020
Year: 2020

In this paper, we propose a novel laser-inertial odometry and mapping method to achieve real-time, low-drift and robust pose estimation in large-scale highway environments. The proposed method is mainly composed of four sequential modules, namely scan pre-processing module, dynamic object detection module, laser-inertial odometry module and laser mapping module. Scan pre-processing module uses inertial measurements to compensate the motion distortion of each laser scan. Then, the dynamic object detection module is used to detect and remove dynamic objects from each laser scan by applying CNN segmentation network. After obtaining the undistorted point cloud without moving objects, the laser inertial odometry module uses an Error State Kalman Filter to fuse the data of laser and IMU and output the coarse pose estimation at high frequency. Finally, the laser mapping module performs a fine processing step and the "Frame-to-Model" scan matching strategy is used to create a static global map. We compare the performance of our method with two state-ofthe-art methods, LOAM and SuMa, using KITTI dataset and real highway scene dataset. Experiment results show that our method performs better than the state-of-the-art methods in real highway environments and achieves competitive accuracy on the KITTI dataset.
Design Judgment in Data Visualization Practice
Venue: arXiv cs.HC 2020
Year: 2020

Data visualization is becoming an increasingly popular field of design practice. Although many studies have highlighted the knowledge required for effective data visualization design, their focus has largely been on formal knowledge and logical decision-making processes that can be abstracted and codified. Less attention has been paid to the more situated and personal ways of knowing that are prevalent in all design activity. In this study, we conducted semi-structured interviews with data visualization practitioners during which they were asked to describe the practical and situated aspects of their design processes. Using a philosophical framework of design judgment from Nelson and Stolterman [23], we analyzed the transcripts to describe the volume and complex layering of design judgments that are used by data visualization practitioners as they describe and interrogate their work. We identify aspects of data visualization practice that require further investigation beyond notions of rational, model- or principle-directed decision-making processes.
Once Upon A Time In Visualization: Understanding the Use of Textual Narratives for Causality
Venue: arXiv cs.CL 2020
Year: 2020

Causality visualization can help people understand temporal chains of events, such as messages sent in a distributed system, cause and effect in a historical conflict, or the interplay between political actors over time. However, as the scale and complexity of these event sequences grows, even these visualizations can become overwhelming to use. In this paper, we propose the use of textual narratives as a data-driven storytelling method to augment causality visualization. We first propose a design space for how textual narratives can be used to describe causal data. We then present results from a crowdsourced user study where participants were asked to recover causality information from two causality visualizations--causal graphs and Hasse diagrams--with and without an associated textual narrative. Finally, we describe CAUSEWORKS, a causality visualization system for understanding how specific interventions influence a causal model. The system incorporates an automatic textual narrative mechanism based on our design space. We validate CAUSEWORKS through interviews with experts who used the system for understanding complex events.
A Genetic Feature Selection Based Two-stream Neural Network for Anger Veracity Recognition
Venue: arXiv cs.CV 2020
Year: 2020

People can manipulate emotion expressions when interacting with others. For example, acted anger can be expressed when stimuli is not genuinely angry with an aim to manipulate the observer. In this paper, we aim to examine if the veracity of anger can be recognized with observers' pupillary data with computational approaches. We use Genetic-based Feature Selection (GFS) methods to select time-series pupillary features of of observers who observe acted and genuine anger of the video stimuli. We then use the selected features to train a simple fully connected neural work and a two-stream neural network. Our results show that the two-stream architecture is able to achieve a promising recognition result with an accuracy of 93.58% when the pupillary responses from both eyes are available. It also shows that genetic algorithm based feature selection method can effectively improve the classification accuracy by 3.07%. We hope our work could help daily research such as human machine interaction and psychology studies that require emotion recognition .
Computational Models for Academic Performance Estimation
Venue: arXiv cs.LG 2020
Year: 2020

Evaluation of students' performance for the completion of courses has been a major problem for both students and faculties during the work-from-home period in this COVID pandemic situation. To this end, this paper presents an in-depth analysis of deep learning and machine learning approaches for the formulation of an automated students' performance estimation system that works on partially available students' academic records. Our main contributions are (a) a large dataset with fifteen courses (shared publicly for academic research) (b) statistical analysis and ablations on the estimation problem for this dataset (c) predictive analysis through deep learning approaches and comparison with other arts and machine learning algorithms. Unlike previous approaches that rely on feature engineering or logical function deduction, our approach is fully data-driven and thus highly generic with better performance across different prediction tasks.
End-to-End Mutual Coupling Aware Communication Model for Reconfigurable Intelligent Surfaces: An Electromagnetic-Compliant Approach Based on Mutual Impedances
Venue: arXiv cs.IT 2020
Year: 2020

Reconfigurable intelligent surfaces (RISs) are an emerging technology for application to wireless networks. We introduce a physics and electromagnetic (EM) compliant communication model for analyzing and optimizing RIS-assisted wireless systems. The proposed model has four main notable attributes: (i) it is end-to-end, i.e., it is formulated in terms of an equivalent channel that yields a one-to-one mapping between the voltages fed into the ports of a transmitter and the voltages measured at the ports of a receiver; (ii) it is EM-compliant, i.e., it accounts for the generation and propagation of the EM fields; (iii) it is mutual coupling aware, i.e., it accounts for the mutual coupling among the sub-wavelength unit cells of the RIS; and (iv) it is unit cell aware, i.e., it accounts for the intertwinement between the amplitude and phase response of the unit cells of the RIS.
A Change-Detection Based Thompson Sampling Framework for Non-Stationary Bandits
Venue: arXiv cs.LG 2020
Year: 2020

We consider a non-stationary two-armed bandit framework and propose a change-detection based Thompson sampling (TS) algorithm, named TS with change-detection (TS-CD), to keep track of the dynamic environment. The non-stationarity is modeled using a Poisson arrival process, which changes the mean of the rewards on each arrival. The proposed strategy compares the empirical mean of the recent rewards of an arm with the estimate of the mean of the rewards from its history. It detects a change when the empirical mean deviates from the mean estimate by a value larger than a threshold. Then, we characterize the lower bound on the duration of the time-window for which the bandit framework must remain stationary for TS-CD to successfully detect a change when it occurs. Consequently, our results highlight an upper bound on the parameter for the Poisson arrival process, for which the TS-CD achieves asymptotic regret optimality with high probability. Finally, we validate the efficacy of TS-CD by testing it for edge-control of radio access technique (RAT)-selection in a wireless network. Our results show that TS-CD not only outperforms the classical max-power RAT selection strategy but also other actively adaptive and passively adaptive bandit algorithms that are designed for non-stationary environments.
An SMDP-Based Approach to Thermal-Aware Task Scheduling in NoC-based MPSoC platforms
Venue: arXiv cs.DC 2020
Year: 2020

One efficient approach to control chip-wide thermal distribution in multi-core systems is the optimization of online assignments of tasks to processing cores. Online task assignment, however, faces several uncertainties in real-world Systems and does not show a deterministic nature. In this paper, we consider the operation of a thermal-aware task scheduler, dispatching tasks from an arrival queue as well as setting the voltage and frequency of the processing cores to optimize the mean temperature margin of the entire chip (i.e., cores as well as the NoC routers). We model the decision process of the task scheduler as a semi-Markov decision problem (SMDP). Then, to solve the formulated SMDP, we propose two reinforcement learning algorithms that are capable of computing the optimal task assignment policy without requiring the statistical knowledge of the stochastic dynamics underlying the system states. The proposed algorithms also rely on function approximation techniques to handle the infinite length of the task queue as well as the continuous nature of temperature readings. Compared to related research, the simulation results show a nearly 6 Kelvin reduction in system average peak temperature and 66 milliseconds decrease in mean task service time.
Unsupervised Wasserstein Distance Guided Domain Adaptation for 3D Multi-Domain Liver Segmentation
Venue: arXiv cs.CV 2020
Year: 2020

Deep neural networks have shown exceptional learning capability and generalizability in the source domain when massive labeled data is provided. However, the well-trained models often fail in the target domain due to the domain shift. Unsupervised domain adaptation aims to improve network performance when applying robust models trained on medical images from source domains to a new target domain. In this work, we present an approach based on the Wasserstein distance guided disentangled representation to achieve 3D multi-domain liver segmentation. Concretely, we embed images onto a shared content space capturing shared feature-level information across domains and domain-specific appearance spaces. The existing mutual information-based representation learning approaches often fail to capture complete representations in multi-domain medical imaging tasks. To mitigate these issues, we utilize Wasserstein distance to learn more complete representation, and introduces a content discriminator to further facilitate the representation disentanglement. Experiments demonstrate that our method outperforms the state-of-the-art on the multi-modality liver segmentation task.
Fast and Secure Distributed Nonnegative Matrix Factorization
Venue: arXiv cs.LG 2020
Year: 2020

Nonnegative matrix factorization (NMF) has been successfully applied in several data mining tasks. Recently, there is an increasing interest in the acceleration of NMF, due to its high cost on large matrices. On the other hand, the privacy issue of NMF over federated data is worthy of attention, since NMF is prevalently applied in image and text analysis which may involve leveraging privacy data (e.g, medical image and record) across several parties (e.g., hospitals). In this paper, we study the acceleration and security problems of distributed NMF. Firstly, we propose a distributed sketched alternating nonnegative least squares (DSANLS) framework for NMF, which utilizes a matrix sketching technique to reduce the size of nonnegative least squares subproblems with a convergence guarantee. For the second problem, we show that DSANLS with modification can be adapted to the security setting, but only for one or limited iterations. Consequently, we propose four efficient distributed NMF methods in both synchronous and asynchronous settings with a security guarantee. We conduct extensive experiments on several real datasets to show the superiority of our proposed methods. The implementation of our methods is available at https://github.com/qianyuqiu79/DSANLS.
Digital Envelope Estimation Via Geometric Properties of an Arbitrary Real Signal
Venue: arXiv cs.SD 2020
Year: 2020

Envelope detection techniques have applications in areas like medicine, sound classification and synthesis, seismology and speech recognition. Nevertheless, a general approach to digital envelope detection of signals with rich spectral content doesn't exist, as most methods involve manual intervention, in the form of filter design, smoothing, and other specific design choices, based on prior knowledge of the signals under investigation. To address this problem, we propose an algorithm that uses intrinsic characteristics of a signal to estimate its envelope, eliminating the necessity of parameter tuning. The approach here described draws inspiration from geometric concepts to estimate the temporal envelope of an arbitrary signal; specifically, a new measure of discrete curvature is used to obtain the average radius of curvature of a discrete wave, that will serve as a threshold to identify the waves samples that are part of the envelope. The algorithm compares favourably with classic envelope detection techniques based on smoothing, filtering and the Hilbert Transform, besides being physically plausible. We provide visualizations of the envelope extracted via the algorithm for various real-world signals, with very diverse characteristics, such as voice, spoken and sang, and pitched and non-pitched musical instruments, and discuss some approaches to assess the quality of the obtained envelopes. A Python module implementing the algorithm was made available via the Python Package Index; interactive visualizations of envelopes for a diverse range of digital waves, as well as the source code for the Python implementation, are available online.
CAVA: A Visual Analytics System for Exploratory Columnar Data Augmentation Using Knowledge Graphs
Venue: arXiv cs.IR 2020
Year: 2020

Most visual analytics systems assume that all foraging for data happens before the analytics process; once analysis begins, the set of data attributes considered is fixed. Such separation of data construction from analysis precludes iteration that can enable foraging informed by the needs that arise in-situ during the analysis. The separation of the foraging loop from the data analysis tasks can limit the pace and scope of analysis. In this paper, we present CAVA, a system that integrates data curation and data augmentation with the traditional data exploration and analysis tasks, enabling information foraging in-situ during analysis. Identifying attributes to add to the dataset is difficult because it requires human knowledge to determine which available attributes will be helpful for the ensuing analytical tasks. CAVA crawls knowledge graphs to provide users with a a broad set of attributes drawn from external data to choose from. Users can then specify complex operations on knowledge graphs to construct additional attributes. CAVA shows how visual analytics can help users forage for attributes by letting users visually explore the set of available data, and by serving as an interface for query construction. It also provides visualizations of the knowledge graph itself to help users understand complex joins such as multi-hop aggregations. We assess the ability of our system to enable users to perform complex data combinations without programming in a user study over two datasets. We then demonstrate the generalizability of CAVA through two additional usage scenarios. The results of the evaluation confirm that CAVA is effective in helping the user perform data foraging that leads to improved analysis outcomes, and offer evidence in support of integrating data augmentation as a part of the visual analytics pipeline.
Unsupervised Learning Based Robust Multivariate Intrusion Detection System for Cyber-Physical Systems using Low Rank Matrix
Venue: arXiv cs.CR 2020
Year: 2020

Regular and uninterrupted operation of critical infrastructures such as power, transport, communication etc. are essential for proper functioning of a country. Cyber-attacks causing disruption in critical infrastructure service in the past, are considered as a significant threat. With the advancement in technology and the progress of the critical infrastructures towards IP based communication, cyber-physical systems are lucrative targets of the attackers. In this paper, we propose a robust multivariate intrusion detection system called RAD for detecting attacks in the cyber-physical systems in O(d) space and time complexity, where d is the number parameters in the system state vector. The proposed Intrusion Detection System(IDS) is developed in an unsupervised learning setting without using labelled data denoting attacks. It allows a fraction of the training data to be corrupted by outliers or under attack, by subscribing to robust training procedure. The proposed IDS outperforms existing anomaly detection techniques in several real-world datasets and attack scenarios.
Palettailor: Discriminable Colorization for Categorical Data
Venue: arXiv cs.GR 2020
Year: 2020

We present an integrated approach for creating and assigning color palettes to different visualizations such as multi-class scatterplots, line, and bar charts. While other methods separate the creation of colors from their assignment, our approach takes data characteristics into account to produce color palettes, which are then assigned in a way that fosters better visual discrimination of classes. To do so, we use a customized optimization based on simulated annealing to maximize the combination of three carefully designed color scoring functions: point distinctness, name difference, and color discrimination. We compare our approach to state-ofthe-art palettes with a controlled user study for scatterplots and line charts, furthermore we performed a case study. Our results show that Palettailor, as a fully-automated approach, generates color palettes with a higher discrimination quality than existing approaches. The efficiency of our optimization allows us also to incorporate user modifications into the color selection process.
Improving Maritime Traffic Emission Estimations on Missing Data with CRBMs
Venue: arXiv cs.CY 2020
Year: 2020

Maritime traffic emissions are a major concern to governments as they heavily impact the Air Quality in coastal cities. Ships use the Automatic Identification System (AIS) to continuously report position and speed among other features, and therefore this data is suitable to be used to estimate emissions, if it is combined with engine data. However, important ship features are often inaccurate or missing. State-of-the-art complex systems, like CALIOPE at the Barcelona Supercomputing Center, are used to model Air Quality. These systems can benefit from AIS based emission models as they are very precise in positioning the pollution. Unfortunately, these models are sensitive to missing or corrupted data, and therefore they need data curation techniques to significantly improve the estimation accuracy. In this work, we propose a methodology for treating ship data using Conditional Restricted Boltzmann Machines (CRBMs) plus machine learning methods to improve the quality of data passed to emission models. Results show that we can improve the default methods proposed to cover missing data. In our results, we observed that using our method the models boosted their accuracy to detect otherwise undetectable emissions. In particular, we used a real data-set of AIS data, provided by the Spanish Port Authority, to estimate that thanks to our method, the model was able to detect 45% of additional emissions, of additional emissions, representing 152 tonnes of pollutants per week in Barcelona and propose new features that may enhance emission modeling.
Towards an Interoperable Data Protocol Aimed at Linking the Fashion Industry with AI Companies
Venue: arXiv cs.CY 2020
Year: 2020

The fashion industry is looking forward to use artificial intelligence technologies to enhance their processes, services, and applications. Although the amount of fashion data currently in use is increasing, there is a large gap in data exchange between the fashion industry and the related AI companies, not to mention the different structure used for each fashion dataset. As a result, AI companies are relying on manually annotated fashion data to build different applications. Furthermore, as of this writing, the terminology, vocabulary and methods of data representation used to denote fashion items are still ambiguous and confusing. Hence, it is clear that the fashion industry and AI companies will benefit from a protocol that allows them to exchange and organise fashion information in a unified way. To achieve this goal we aim (1) to define a protocol called DDOIF that will allow interoperability of fashion data; (2) for DDOIF to contain diverse entities including extensive information on clothing and accessories attributes in the form of text and various media formats; and (3)To design and implement an API that includes, among other things, functions for importing and exporting a file built according to the DDOIF protocol that stores all information about a single item of clothing. To this end, we identified over 1000 class and subclass names used to name fashion items and use them to build the DDOIF dictionary. We make DDOIF publicly available to all interested users and developers and look forward to engaging more collaborators to improve and enrich it.
Asynchronous Runtime with Distributed Manager for Task-based Programming Models
Venue: arXiv cs.DC 2020
Year: 2020

Parallel task-based programming models, like OpenMP, allow application developers to easily create a parallel version of their sequential codes. The standard OpenMP 4.0 introduced the possibility of describing a set of data dependences per task that the runtime uses to order the tasks execution. This order is calculated using shared graphs, which are updated by all threads in exclusive access using synchronization mechanisms (locks) to ensure the dependence management correctness. The contention in the access to these structures becomes critical in many-core systems because several threads may be wasting computation resources waiting their turn. This paper proposes an asynchronous management of the runtime structures, like task dependence graphs, suitable for task-based programming model runtimes. In such organization, the threads request actions to the runtime instead of doing them directly. The requests are then handled by a distributed runtime manager (DDAST) which does not require dedicated resources. Instead, the manager uses the idle threads to modify the runtime structures. The paper also presents an implementation, analysis and performance evaluation of such runtime organization. The performance results show that the proposed asynchronous organization outperforms the speedup obtained by the original runtime for different benchmarks and different many-core architectures.