OpenRaiser/Intern-Atlas huggingface dataset:
Lessons from Oz: Design Guidelines for Automotive Conversational User Interfaces
Venue: arXiv cs.HC 2019
Year: 2019

This paper draws from literature and our experience of conducting Wizard-of-Oz (WoZ) studies using natural language, conversational user interfaces (CUIs) in the automotive domain. These studies have revealed positive effects of using in-vehicle CUIs on issues such as: cognitive demand/workload, passive task-related fatigue, trust, acceptance and environment engagement. A nascent set of human-centred design guidelines that have emerged is presented. These are based on the analysis of users' behaviour and the positive benefits observed, and aim to make interactions with an in-vehicle agent interlocutor safe, effective, engaging and enjoyable, while confirming with users' expectations. The guidelines can be used to inform the design of future in-vehicle CUIs or applied experimentally using WoZ methodology, and will be evaluated and refined in ongoing work.
Prediction of Highway Lane Changes Based on Prototype Trajectories
Venue: arXiv cs.LG 2019
Year: 2019

The vision of automated driving is to increase both road safety and efficiency, while offering passengers a convenient travel experience. This requires that autonomous systems correctly estimate the current traffic scene and its likely evolution. In highway scenarios early recognition of cut-in maneuvers is essential for risk-aware maneuver planning. In this paper, a statistical approach is proposed, which advantageously utilizes a set of prototypical lane change trajectories to realize both early maneuver detection and uncertainty-aware trajectory prediction for traffic participants. Generation of prototype trajectories from real traffic data is accomplished by Agglomerative Hierarchical Clustering. During clustering, the alignment of the cluster prototypes to each other is optimized and the cohesion of the resulting prototype is limited when two clusters merge. In the prediction stage, the similarity of observed vehicle motion and typical lane change patterns in the data base is evaluated to construct a set of significant features for maneuver classification via Boosted Decision Trees. The future trajectory is predicted combining typical lane change realizations in a mixture model. B-splines based trajectory adaptations guarantee continuity during transition from actually observed to predicted vehicle states. Quantitative evaluation results demonstrate the proposed concept's improved performance for both maneuver and trajectory prediction compared to a previously implemented reference approach.
Interactive Lungs Auscultation with Reinforcement Learning Agent
Venue: arXiv cs.SD 2019
Year: 2019

To perform a precise auscultation for the purposes of examination of respiratory system normally requires the presence of an experienced doctor. With most recent advances in machine learning and artificial intelligence, automatic detection of pathological breath phenomena in sounds recorded with stethoscope becomes a reality. But to perform a full auscultation in home environment by layman is another matter, especially if the patient is a child. In this paper we propose a unique application of Reinforcement Learning for training an agent that interactively guides the end user throughout the auscultation procedure. We show that \textit{intelligent} selection of auscultation points by the agent reduces time of the examination fourfold without significant decrease in diagnosis accuracy compared to exhaustive auscultation.
Reducing malicious use of synthetic media research: Considerations and potential release practices for machine learning
Venue: arXiv cs.CY 2019
Year: 2019

The aim of this paper is to facilitate nuanced discussion around research norms and practices to mitigate the harmful impacts of advances in machine learning (ML). We focus particularly on the use of ML to create "synthetic media" (e.g. to generate or manipulate audio, video, images, and text), and the question of what publication and release processes around such research might look like, though many of the considerations discussed will apply to ML research more broadly. We are not arguing for any specific approach on when or how research should be distributed, but instead try to lay out some useful tools, analogies, and options for thinking about these issues. We begin with some background on the idea that ML research might be misused in harmful ways, and why advances in synthetic media, in particular, are raising concerns. We then outline in more detail some of the different paths to harm from ML research, before reviewing research risk mitigation strategies in other fields and identifying components that seem most worth emulating in the ML and synthetic media research communities. Next, we outline some important dimensions of disagreement on these issues which risk polarizing conversations. Finally, we conclude with recommendations, suggesting that the machine learning community might benefit from: working with subject matter experts to increase understanding of the risk landscape and possible mitigation strategies; building a community and norms around understanding the impacts of ML research, e.g. through regular workshops at major conferences; and establishing institutions and systems to support release practices that would otherwise be onerous and error-prone.
Heat Transfer Prediction for Methane in Regenerative Cooling Channels with Neural Networks
Venue: arXiv cs.LG 2019
Year: 2019

Methane is considered being a good choice as a propellant for future reusable launch systems. However, the heat transfer prediction for supercritical methane flowing in cooling channels of a regeneratively cooled combustion chamber is challenging. Because accurate heat transfer predictions are essential to design reliable and efficient cooling systems, heat transfer modeling is a fundamental issue to address. Advanced computational fluid dynamics (CFD) calculations achieve sufficient accuracy, but the associated computational cost prevents an efficient integration in optimization loops. Surrogate models based on artificial neural networks (ANNs) offer a great speed advantage. It is shown that an ANN, trained on data extracted from samples of CFD simulations, is able to predict the maximum wall temperature along straight rocket engine cooling channels using methane with convincing precision. The combination of the ANN model with simple relations for pressure drop and enthalpy rise results in a complete reduced order model, which can be used for numerically efficient design space exploration and optimization.
Networks of Power: Analyzing World Leaders Interactions on Social Media
Venue: arXiv cs.SI 2019
Year: 2019

World leaders have been increasingly using social media platforms as a tool for political communication. However, despite the growing research on governmental accounts on social media, virtually nothing is known about interactions among world leaders. Using a novel, cross-national dataset of Twitter communication for leaders of 193 countries for the period of 2012-2017, we construct retweet and mention networks to explore the patterns of leaders communication. We use social network analysis to conclude that the leaders interactions on social media closely resemble their interactions in the offline world. Besides, consistent with the democratic peace theory that underscores a special connection between democracies, we identify political regime as the main predictor of clustering between countries on Twitter. Finally, we explore the patterns of the leaders centrality to identify features that determine which leaders occupy more central positions in the network. Our findings yield new insights on how social media is used by government actors, and have important implications for our understanding of the impact of new technologies on the new forms of diplomacy.
On The Fly Diffie Hellman for IoT
Venue: arXiv cs.CR 2019
Year: 2019

The Internet of Things (IoT) is a fast growing field of devices being added to an interconnected environment in an abstract heterogeneous array of servers and other devices, called smart environments, ranging from private local (home) environments to nation-wide infrastructures, often accessible via unsecured wireless communications and information technologies, hence, massively open to attacks. In this paper we address some of issues that arise when connecting smart devices endowed with low computational capabilities to a home gateway via unsecured wireless communication channels, by using a One Time Pad (OTP) protocol based upon an On-the-fly Diffie-Hellman Key Exchange. Our assumptions are that only a user and the gateway have enough processing power to perform - say - secured RSA encrypted communication, hence relaxing the need for a trusted secure server outside the domain and that the protocol should at least be secure for a range of known attacks, as replay or DoS attacks.
Vehicular Multi-object Tracking with Persistent Detector Failures
Venue: arXiv cs.RO 2019
Year: 2019

Autonomous vehicles often perceive the environment by feeding sensor data to a learned detector algorithm, then feeding detections to a multi-object tracker that models object motions over time. Probabilistic models of multi-object trackers typically assume that errors in the detector algorithm occur randomly over time. We instead assume that undetected objects and false detections will persist in certain conditions, and modify the tracking framework to account for them. The modifications are tested on a vehicle tracking dataset using a state-of-the-art lidar-based detector, a novel lightweight detector, and a fusion of camera and lidar detectors. For each detector, the persistence modifications notably improve performance and enable the model to outperform baseline trackers.
Time Masking: Leveraging Temporal Information in Spoken Dialogue Systems
Venue: arXiv cs.CL 2019
Year: 2019

In a spoken dialogue system, dialogue state tracker (DST) components track the state of the conversation by updating a distribution of values associated with each of the slots being tracked for the current user turn, using the interactions until then. Much of the previous work has relied on modeling the natural order of the conversation, using distance based offsets as an approximation of time. In this work, we hypothesize that leveraging the wall-clock temporal difference between turns is crucial for finer-grained control of dialogue scenarios. We develop a novel approach that applies a {\it time mask}, based on the wall-clock time difference, to the associated slot embeddings and empirically demonstrate that our proposed approach outperforms existing approaches that leverage distance offsets, on both an internal benchmark dataset as well as DSTC2.
Explicit and Controllable Assignment Semantics
Venue: arXiv cs.PL 2019
Year: 2019

Despite the plethora of powerful software to spot bugs, identify performance bottlenecks or simply improve the overall quality of code, programming languages remain the first and most important tool of a developer. Therefore, appropriate abstractions, unambiguous syntaxes and intuitive semantics are paramount to convey intent concisely and efficiently. The continuing growth in computing power has allowed modern compilers and runtime system to handle once thought unrealistic features, such as type inference and reflection, making code simpler to write and clearer to read. Unfortunately, relics of the underlying memory model still transpire in most programming languages, leading to confusing assignment semantics. This paper introduces Anzen, a programming language that aims to make assignments easier to understand and manipulate. The language offers three assignment operators, with unequivocal semantics, that can reproduce all common imperative assignment strategies. It is accompanied by a type system based on type capabilities to enforce uniqueness and immutability. We present Anzen's features informally and formalize it by the means of a minimal calculus.
NoduleNet: Decoupled False Positive Reductionfor Pulmonary Nodule Detection and Segmentation
Venue: arXiv cs.CV 2019
Year: 2019

Pulmonary nodule detection, false positive reduction and segmentation represent three of the most common tasks in the computeraided analysis of chest CT images. Methods have been proposed for eachtask with deep learning based methods heavily favored recently. However training deep learning models to solve each task separately may be sub-optimal - resource intensive and without the benefit of feature sharing. Here, we propose a new end-to-end 3D deep convolutional neural net (DCNN), called NoduleNet, to solve nodule detection, false positive reduction and nodule segmentation jointly in a multi-task fashion. To avoid friction between different tasks and encourage feature diversification, we incorporate two major design tricks: 1) decoupled feature maps for nodule detection and false positive reduction, and 2) a segmentation refinement subnet for increasing the precision of nodule segmentation. Extensive experiments on the large-scale LIDC dataset demonstrate that the multi-task training is highly beneficial, improving the nodule detection accuracy by 10.27%, compared to the baseline model trained to only solve the nodule detection task. We also carry out systematic ablation studies to highlight contributions from each of the added components. Code is available at https://github.com/uci-cbcl/NoduleNet.
Lazy Stream Programming in Prolog
Venue: arXiv cs.PL 2019
Year: 2019

In recent years, stream processing has become a prominent approach for incrementally handling large amounts of data, with special support and libraries in many programming languages. Unfortunately, support in Prolog has so far been lacking and most existing approaches are ad-hoc. To remedy this situation, we present lazy stream generators as a unified Prolog interface for stateful computations on both finite and infinite sequences of data that are produced incrementally through I/O and/or algorithmically. We expose stream generators to the application programmer in two ways: 1) through an abstract sequence manipulation API, convenient for defining custom generators, and 2) as idiomatic lazy lists, compatible with many existing list predicates. We define an algebra of stream generator operations that extends Prolog via an embedded language interpreter, provides a compact notation for composing generators and supports moving between the two isomorphic representations. As a special instance, we introduce answer stream generators that encapsulate the work of coroutining first-class logic engines and support interoperation between forward recursive AND-streams and backtracking-generated OR-streams. Keywords: lazy stream generators, lazy lists, first-class logic engines, stream combinators, AND-stream / OR-stream interoperation, Prolog extensions
Product Image Recognition with Guidance Learning and Noisy Supervision
Venue: arXiv cs.CV 2019
Year: 2019

This paper considers recognizing products from daily photos, which is an important problem in real-world applications but also challenging due to background clutters, category diversities, noisy labels, etc. We address this problem by two contributions. First, we introduce a novel large-scale product image dataset, termed as Product-90. Instead of collecting product images by labor-and time-intensive image capturing, we take advantage of the web and download images from the reviews of several e-commerce websites where the images are casually captured by consumers. Labels are assigned automatically by the categories of e-commerce websites. Totally the Product-90 consists of more than 140K images with 90 categories. Due to the fact that consumers may upload unrelated images, it is inevitable that our Product-90 introduces noisy labels. As the second contribution, we develop a simple yet efficient \textit{guidance learning} (GL) method for training convolutional neural networks (CNNs) with noisy supervision. The GL method first trains an initial teacher network with the full noisy dataset, and then trains a target/student network with both large-scale noisy set and small manually-verified clean set in a multi-task manner. Specifically, in the stage of student network training, the large-scale noisy data is supervised by its guidance knowledge which is the combination of its given noisy label and the soften label from the teacher network. We conduct extensive experiments on our Products-90 and public datasets, namely Food101, Food-101N, and Clothing1M. Our guidance learning method achieves performance superior to state-of-the-art methods on these datasets.
Liquid metal solves maze
Venue: arXiv cs.ET 2019
Year: 2019

A room temperature liquid metal features a melting point around room temperature. We use liquid metal gallium due to its non-toxicity. A physical maze is a connected set of Euclidean domains separated by impassable walls. We demonstrate that a maze filled with sodium hydroxide solution is solved by a gallium droplet when direct current is applied between start and destination loci. During the maze solving the droplet stays compact due to its large surface tension, navigates along lines of the highest electrical current density due its high electrical conductivity, and goes around corners of the maze's corridors due to its high conformability. The droplet maze solver has a long life-time due to the negligible vapour tension of liquid gallium and its corrosion resistance and its operation enables computational schemes based on liquid state devices.
Learning to Solve a Rubik's Cube with a Dexterous Hand
Venue: arXiv cs.RO 2019
Year: 2019

We present a learning-based approach to solving a Rubik's cube with a multi-fingered dexterous hand. Despite the promising performance of dexterous in-hand manipulation, solving complex tasks which involve multiple steps and diverse internal object structure has remained an important, yet challenging task. In this paper, we tackle this challenge with a hierarchical deep reinforcement learning method, which separates planning and manipulation. A model-based cube solver finds an optimal move sequence for restoring the cube and a model-free cube operator controls all five fingers to execute each move step by step. To train our models, we build a high-fidelity simulator which manipulates a Rubik's Cube, an object containing high-dimensional state space, with a 24-DoF robot hand. Extensive experiments on 1400 randomly scrambled Rubik's cubes demonstrate the effectiveness of our method, achieving an average success rate of 90.3%.
Improving Generalization via Attribute Selection on Out-of-the-box Data
Venue: arXiv cs.CV 2019
Year: 2019

Zero-shot learning (ZSL) aims to recognize unseen objects (test classes) given some other seen objects (training classes), by sharing information of attributes between different objects. Attributes are artificially annotated for objects and treated equally in recent ZSL tasks. However, some inferior attributes with poor predictability or poor discriminability may have negative impacts on the ZSL system performance. This paper first derives a generalization error bound for ZSL tasks. Our theoretical analysis verifies that selecting the subset of key attributes can improve the generalization performance of the original ZSL model, which utilizes all the attributes. Unfortunately, previous attribute selection methods are conducted based on the seen data, and their selected attributes have poor generalization capability to the unseen data, which is unavailable in the training stage of ZSL tasks. Inspired by learning from pseudo relevance feedback, this paper introduces the out-of-the-box data, which is pseudo data generated by an attribute-guided generative model, to mimic the unseen data. After that, we present an iterative attribute selection (IAS) strategy which iteratively selects key attributes based on the out-of-the-box data. Since the distribution of the generated out-of-the-box data is similar to the test data, the key attributes selected by IAS can be effectively generalized to test data. Extensive experiments demonstrate that IAS can significantly improve existing attribute-based ZSL methods and achieve state-of-the-art performance.
RERS-Fuzz : Combining Greybox Fuzzing with Interval Analysis for error reachability in reactive softwares
Venue: arXiv cs.SE 2019
Year: 2019

Fuzz Testing is a well-studied area in the field of Software Maintenance and Evolution. In recent years, coverage-based Greybox fuzz testing has gained immense attention by discovering critical security level and show-stopper bugs in industrial grade software. Greybox fuzz-testing uses coverage maximization as objective function and achieve the same by employing feedback-driven evolutionary algorithms. In our work, we have utilized the power of Greybox fuzz testing, combined with interval analysis for solving reachability problem in sequential and industrial RERS (Rigorous Examination of Reactive Software) 2019 benchmarks.
Semantic Deep Intermodal Feature Transfer: Transferring Feature Descriptors Between Imaging Modalities
Venue: arXiv cs.CV 2019
Year: 2019

Under difficult environmental conditions, the view of RGB cameras may be restricted by fog, dust or difficult lighting situations. Because thermal cameras visualize thermal radiation, they are not subject to the same limitations as RGB cameras. However, because RGB and thermal imaging differ significantly in appearance, common, state-of-the-art feature descriptors are unsuitable for intermodal feature matching between these imaging modalities. As a consequence, visual maps created with an RGB camera can currently not be used for localization using a thermal camera. In this paper, we introduce the Semantic Deep Intermodal Feature Transfer (Se-DIFT), an approach for transferring image feature descriptors from the visual to the thermal spectrum and vice versa. For this purpose, we predict potential feature appearance in varying imaging modalities using a deep convolutional encoder-decoder architecture in combination with a global feature vector. Since the representation of a thermal image is not only affected by features which can be extracted from an RGB image, we introduce the global feature vector which augments the auto encoder's coding. The global feature vector contains additional information about the thermal history of a scene which is automatically extracted from external data sources. By augmenting the encoder's coding, we decrease the L1 error of the prediction by more than 7% compared to the prediction of a traditional U-Net architecture. To evaluate our approach, we match image feature descriptors detected in RGB and thermal images using Se-DIFT. Subsequently, we make a competitive comparison on the intermodal transferability of SIFT, SURF, and ORB features using our approach.
Universal Pooling -- A New Pooling Method for Convolutional Neural Networks
Venue: arXiv cs.CV 2019
Year: 2019

Pooling is one of the main elements in convolutional neural networks. The pooling reduces the size of the feature map, enabling training and testing with a limited amount of computation. This paper proposes a new pooling method named universal pooling. Unlike the existing pooling methods such as average pooling, max pooling, and stride pooling with fixed pooling function, universal pooling generates any pooling function, depending on a given problem and dataset. Universal pooling was inspired by attention methods and can be considered as a channel-wise form of local spatial attention. Universal pooling is trained jointly with the main network and it is shown that it includes the existing pooling methods. Finally, when applied to two benchmark problems, the proposed method outperformed the existing pooling methods and performed with the expected diversity, adapting to the given problem.