OpenRaiser/Intern-Atlas huggingface dataset:
Acceleration of probabilistic reasoning through custom processor architecture
Venue: arXiv cs.AR 2021
Year: 2021

Probabilistic reasoning is an essential tool for robust decision-making systems because of its ability to explicitly handle real-world uncertainty, constraints and causal relations. Consequently, researchers are developing hybrid models by combining Deep Learning with probabilistic reasoning for safety-critical applications like self-driving vehicles, autonomous drones, etc. However, probabilistic reasoning kernels do not execute efficiently on CPUs or GPUs. This paper, therefore, proposes a custom programmable processor to accelerate sum-product networks, an important probabilistic reasoning execution kernel. The processor has an optimized datapath architecture and memory hierarchy optimized for sum-product networks execution. Experimental results show that the processor, while requiring fewer computational and memory units, achieves a 12x throughput benefit over the Nvidia Jetson TX2 embedded GPU platform.
Fault Localization with Code Coverage Representation Learning
Venue: arXiv cs.SE 2021
Year: 2021

In this paper, we propose DeepRL4FL, a deep learning fault localization (FL) approach that locates the buggy code at the statement and method levels by treating FL as an image pattern recognition problem. DeepRL4FL does so via novel code coverage representation learning (RL) and data dependencies RL for program statements. Those two types of RL on the dynamic information in a code coverage matrix are also combined with the code representation learning on the static information of the usual suspicious source code. This combination is inspired by crime scene investigation in which investigators analyze the crime scene (failed test cases and statements) and related persons (statements with dependencies), and at the same time, examine the usual suspects who have committed a similar crime in the past (similar buggy code in the training data). For the code coverage information, DeepRL4FL first orders the test cases and marks error-exhibiting code statements, expecting that a model can recognize the patterns discriminating between faulty and non-faulty statements/methods. For dependencies among statements, the suspiciousness of a statement is seen taking into account the data dependencies to other statements in execution and data flows, in addition to the statement by itself. Finally, the vector representations for code coverage matrix, data dependencies among statements, and source code are combined and used as the input of a classifier built from a Convolution Neural Network to detect buggy statements/methods. Our empirical evaluation shows that DeepRL4FL improves the top-1 results over the state-of-the-art statement-level FL baselines from 173.1% to 491.7%. It also improves the top-1 results over the existing method-level FL baselines from 15.0% to 206.3%.
A Holistic Motion Planning and Control Solution to Challenge a Professional Racecar Driver
Venue: arXiv cs.RO 2021
Year: 2021

We present a holistically designed three layer control architecture capable of outperforming a professional driver racing the same car. Our approach focuses on the co-design of the motion planning and control layers, extracting the full potential of the connected system. First, a high-level planner computes an optimal trajectory around the track, then in real-time a mid-level nonlinear model predictive controller follows this path using the high-level information as guidance. Finally a high frequency, low-level controller tracks the states predicted by the mid-level controller. Tracking the predicted behavior has two advantages: it reduces the mismatch between the model used in the upper layers and the real car, and allows for a torque vectoring command to be optimized by the higher level motion planners. The tailored design of the low-level controller proved to be crucial for bridging the gap between planning and control, unlocking unseen performance in autonomous racing. The proposed approach was verified on a full size racecar, considerably improving over the state-of-the-art results achieved on the same vehicle. Finally, we also show that the proposed co-design approach outperforms a professional racecar driver.
The Labeled Multiple Canonical Correlation Analysis for Information Fusion
Venue: arXiv cs.CV 2021
Year: 2021

The objective of multimodal information fusion is to mathematically analyze information carried in different sources and create a new representation which will be more effectively utilized in pattern recognition and other multimedia information processing tasks. In this paper, we introduce a new method for multimodal information fusion and representation based on the Labeled Multiple Canonical Correlation Analysis (LMCCA). By incorporating class label information of the training samples,the proposed LMCCA ensures that the fused features carry discriminative characteristics of the multimodal information representations, and are capable of providing superior recognition performance. We implement a prototype of LMCCA to demonstrate its effectiveness on handwritten digit recognition,face recognition and object recognition utilizing multiple features,bimodal human emotion recognition involving information from both audio and visual domains. The generic nature of LMCCA allows it to take as input features extracted by any means,including those by deep learning (DL) methods. Experimental results show that the proposed method enhanced the performance of both statistical machine learning (SML) methods, and methods based on DL.
Millimeter Wave and sub-THz Indoor Radio Propagation Channel Measurements, Models, and Comparisons in an Office Environment
Venue: arXiv cs.IT 2021
Year: 2021

This letter provides a comparison of indoor radio propagation measurements and corresponding channel statistics at 28, 73, and 140 GHz, based on extensive measurements from 2014-2020 in an indoor office environment. Side-by-side comparisons of propagation characteristics (e.g., large-scale path loss and multipath time dispersion) across a wide range of frequencies from the low millimeter wave band of 28 GHz to the sub-THz band of 140 GHz illustrate the key similarities and differences in indoor wireless channels. The measurements and models show remarkably similar path loss exponents over frequencies in both line-of-sight (LOS) and non-LOS (NLOS) scenarios, when using a one meter free space reference distance, while the multipath time dispersion becomes smaller at higher frequencies. The 3GPP indoor channel model overestimates the large-scale path loss and has unrealistic large numbers of clusters and multipath components per cluster compared to the measured channel statistics in this letter.
Medical Image Segmentation with Limited Supervision: A Review of Deep Network Models
Venue: arXiv cs.CV 2021
Year: 2021

Despite the remarkable performance of deep learning methods on various tasks, most cutting-edge models rely heavily on large-scale annotated training examples, which are often unavailable for clinical and health care tasks. The labeling costs for medical images are very high, especially in medical image segmentation, which typically requires intensive pixel/voxel-wise labeling. Therefore, the strong capability of learning and generalizing from limited supervision, including a limited amount of annotations, sparse annotations, and inaccurate annotations, is crucial for the successful application of deep learning models in medical image segmentation. However, due to its intrinsic difficulty, segmentation with limited supervision is challenging and specific model design and/or learning strategies are needed. In this paper, we provide a systematic and up-to-date review of the solutions above, with summaries and comments about the methodologies. We also highlight several problems in this field, discussed future directions observing further investigations.
Learning for Visual Navigation by Imagining the Success
Venue: arXiv cs.CV 2021
Year: 2021

Visual navigation is often cast as a reinforcement learning (RL) problem. Current methods typically result in a suboptimal policy that learns general obstacle avoidance and search behaviours. For example, in the target-object navigation setting, the policies learnt by traditional methods often fail to complete the task, even when the target is clearly within reach from a human perspective. In order to address this issue, we propose to learn to imagine a latent representation of the successful (sub-)goal state. To do so, we have developed a module which we call Foresight Imagination (ForeSIT). ForeSIT is trained to imagine the recurrent latent representation of a future state that leads to success, e.g. either a sub-goal state that is important to reach before the target, or the goal state itself. By conditioning the policy on the generated imagination during training, our agent learns how to use this imagination to achieve its goal robustly. Our agent is able to imagine what the (sub-)goal state may look like (in the latent space) and can learn to navigate towards that state. We develop an efficient learning algorithm to train ForeSIT in an on-policy manner and integrate it into our RL objective. The integration is not trivial due to the constantly evolving state representation shared between both the imagination and the policy. We, empirically, observe that our method outperforms the state-of-the-art methods by a large margin in the commonly accepted benchmark AI2THOR environment. Our method can be readily integrated or added to other model-free RL navigation frameworks.
Dynamic Sample Complexity for Exact Sparse Recovery using Sequential Iterative Hard Thresholding
Venue: arXiv cs.IT 2021
Year: 2021

In this paper we consider the problem of exact recovery of a fixed sparse vector with the measurement matrices sequentially arriving along with corresponding measurements. We propose an extension of the iterative hard thresholding (IHT) algorithm, termed as sequential IHT (SIHT) which breaks the total time horizon into several phases such that IHT is executed in each of these phases using a fixed measurement matrix obtained at the beginning of that phase. We consider a stochastic setting where the measurement matrices obtained at each phase are independent samples of a sub Gaussian random matrix. We prove that if a certain dynamic sample complexity that depends on the sizes of the measurement matrices at each phase, along with their duration and the number of phases, satisfy certain lower bound, the estimation error of SIHT over a fixed time horizon decays rapidly. Interestingly, this bound reveals that the probability of decay of estimation error is hardly affected even if very small number measurements are sporadically used in different phases. This theoretical observation is also corroborated using numerical experiments demonstrating that SIHT enjoys improved probability of recovery compared to offline IHT.
NLP-CUET@LT-EDI-EACL2021: Multilingual Code-Mixed Hope Speech Detection using Cross-lingual Representation Learner
Venue: arXiv cs.CL 2021
Year: 2021

In recent years, several systems have been developed to regulate the spread of negativity and eliminate aggressive, offensive or abusive contents from the online platforms. Nevertheless, a limited number of researches carried out to identify positive, encouraging and supportive contents. In this work, our goal is to identify whether a social media post/comment contains hope speech or not. We propose three distinct models to identify hope speech in English, Tamil and Malayalam language to serve this purpose. To attain this goal, we employed various machine learning (support vector machine, logistic regression, ensemble), deep learning (convolutional neural network + long short term memory) and transformer (m-BERT, Indic-BERT, XLNet, XLM-Roberta) based methods. Results indicate that XLM-Roberta outdoes all other techniques by gaining a weighted $f_1$-score of $0.93$, $0.60$ and $0.85$ respectively for English, Tamil and Malayalam language. Our team has achieved $1^{st}$, $2^{nd}$ and $1^{st}$ rank in these three tasks respectively.
Joint Radar and Communication: A Survey
Venue: arXiv cs.IT 2021
Year: 2021

Joint radar and communication (JRC) technology has become important for civil and military applications for decades. This paper introduces the concepts, characteristics and advantages of JRC technology, presenting the typical applications that have benefited from JRC technology currently and in the future. This paper explores the state-of-the-art of JRC in the levels of coexistence, cooperation, co-design and collaboration. Compared to previous surveys, this paper reviews the entire trends that drive the development of radar sensing and wireless communication using JRC. Specifically, we explore an open research issue on radar and communication operating with mutual benefits based on collaboration, which represents the fourth stage of JRC evolution. This paper provides useful perspectives for future researches of JRC technology.
Exploring the social influence of Kaggle virtual community on the M5 competition
Venue: arXiv cs.SI 2021
Year: 2021

One of the most significant differences of M5 over previous forecasting competitions is that it was held on Kaggle, an online platform of data scientists and machine learning practitioners. Kaggle provides a gathering place, or virtual community, for web users who are interested in the M5 competition. Users can share code, models, features, loss functions, etc. through online notebooks and discussion forums. This paper aims to study the social influence of virtual community on user behaviors in the M5 competition. We first research the content of the M5 virtual community by topic modeling and trend analysis. Further, we perform social media analysis to identify the potential relationship network of the virtual community. We study the roles and characteristics of some key participants that promote the diffusion of information within the M5 virtual community. Overall, this study provides in-depth insights into the mechanism of the virtual community's influence on the participants and has potential implications for future online competitions.
Citizen Participation and Machine Learning for a Better Democracy
Venue: arXiv cs.CL 2021
Year: 2021

The development of democratic systems is a crucial task as confirmed by its selection as one of the Millennium Sustainable Development Goals by the United Nations. In this article, we report on the progress of a project that aims to address barriers, one of which is information overload, to achieving effective direct citizen participation in democratic decision-making processes. The main objectives are to explore if the application of Natural Language Processing (NLP) and machine learning can improve citizens' experience of digital citizen participation platforms. Taking as a case study the "Decide Madrid" Consul platform, which enables citizens to post proposals for policies they would like to see adopted by the city council, we used NLP and machine learning to provide new ways to (a) suggest to citizens proposals they might wish to support; (b) group citizens by interests so that they can more easily interact with each other; (c) summarise comments posted in response to proposals; (d) assist citizens in aggregating and developing proposals. Evaluation of the results confirms that NLP and machine learning have a role to play in addressing some of the barriers users of platforms such as Consul currently experience.
Snowy Night-to-Day Translator and Semantic Segmentation Label Similarity for Snow Hazard Indicator
Venue: arXiv cs.CV 2021
Year: 2021

In 2021, Japan recorded more than three times as much snowfall as usual, so road user maybe come across dangerous situation. The poor visibility caused by snow triggers traffic accidents. For example, 2021 January 19, due to the dry snow and the strong wind speed of 27 m / s, blizzards occurred and the outlook has been ineffective. Because of the whiteout phenomenon, multiple accidents with 17 casualties occurred, and 134 vehicles were stacked up for 10 hours over 1 km. At the night time zone, the temperature drops and the road surface tends to freeze. CCTV images on the road surface have the advantage that we enable to monitor the status of major points at the same time. Road managers are required to make decisions on road closures and snow removal work owing to the road surface conditions even at night. In parallel, they would provide road users to alert for hazardous road surfaces. This paper propose a method to automate a snow hazard indicator that the road surface region is generated from the night snow image using the Conditional GAN, pix2pix. In addition, the road surface and the snow covered ROI are predicted using the semantic segmentation DeepLabv3+ with a backbone MobileNet, and the snow hazard indicator to automatically compute how much the night road surface is covered with snow. We demonstrate several results applied to the cold and snow region in the winter of Japan January 19 to 21 2021, and mention the usefulness of high similarity between snowy night-to-day fake output and real snowy day image for night snow visibility.
An iterative technique to identify browser fingerprinting scripts
Venue: arXiv cs.CR 2021
Year: 2021

Browser fingerprinting is a stateless identification technique based on browser properties. Together, they form an identifier that can be collected without users' notice and has been studied to be unique and stable. As this technique relies on browser properties that serve legitimate purposes, the detection of this technique is challenging. While several studies propose classification techniques, none of these are publicly available, making them difficult to reproduce. This paper proposes a new browser fingerprinting detection technique. Based on an incremental process, it relies on both automatic and manual decisions to be both reliable and fast. The automatic step matches API calls similarities between scripts while the manual step is required to classify a script with different calls. We publicly share our algorithm and implementation to improve the general knowledge on the subject.
TouchRoller: A Rolling Optical Tactile Sensor for Rapid Assessment of Large Surfaces
Venue: arXiv cs.RO 2021
Year: 2021

Tactile sensing is important for robots to perceive the world as it captures the texture and hardness of the object in contact and is robust to illumination and colour variances. However, due to the limited sensing area and the resistance of the fixed surface, current tactile sensors have to tap the tactile sensor on target object many times when assessing a large surface, i.e., pressing, lifting up and shifting to another region. This process is ineffective and time consuming. It is also undesirable to drag such sensors as this often damages the sensitive membrane of the sensor or the object. To address these problems, we propose a cylindrical optical tactile sensor named TouchRoller that can roll around its center axis. It maintains being in contact with the assessed surface throughout the entire motion, which allows for measuring the object continuously and effectively. Extensive experiments show that the TouchRoller sensor can cover a textured surface of 8cm*11cm in a short time of 10s, much more effectively than a flat optical tactile sensor (in 196s). The reconstructed map of the texture from the collected tactile images has a high Structural Similarity Index (SSIM) of 0.31 on average, when compared with the visual texture. In addition, the contacts on the sensor can be localised with a low localisation error, 2.63mm in the center regions and 7.66mm on average. The proposed sensor will enable the fast assessment of large surfaces with high-resolution tactile sensing, and also the effective collection of tactile images.
COVID-19: Detecting Depression Signals during Stay-At-Home Period
Venue: arXiv cs.SI 2021
Year: 2021

The new coronavirus outbreak has been officially declared a global pandemic by the World Health Organization. To grapple with the rapid spread of this ongoing pandemic, most countries have banned indoor and outdoor gatherings and ordered their residents to stay home. Given the developing situation with coronavirus, mental health is an important challenge in our society today. In this paper, we discuss the investigation of social media postings to detect signals relevant to depression. To this end, we utilize topic modeling features and a collection of psycholinguistic and mental-well-being attributes to develop statistical models to characterize and facilitate representation of the more subtle aspects of depression. Furthermore, we predict whether signals relevant to depression are likely to grow significantly as time moves forward. Our best classifier yields F-1 scores as high as 0.8 and surpasses the utilized baseline by a considerable margin, 0.173. In closing, we propose several future research avenues.
Simultaneous Tactile Exploration and Grasp Refinement for Unknown Objects
Venue: arXiv cs.RO 2021
Year: 2021

This paper addresses the problem of simultaneously exploring an unknown object to model its shape, using tactile sensors on robotic fingers, while also improving finger placement to optimise grasp stability. In many situations, a robot will have only a partial camera view of the near side of an observed object, for which the far side remains occluded. We show how an initial grasp attempt, based on an initial guess of the overall object shape, yields tactile glances of the far side of the object which enable the shape estimate and consequently the successive grasps to be improved. We propose a grasp exploration approach using a probabilistic representation of shape, based on Gaussian Process Implicit Surfaces. This representation enables initial partial vision data to be augmented with additional data from successive tactile glances. This is combined with a probabilistic estimate of grasp quality to refine grasp configurations. When choosing the next set of finger placements, a bi-objective optimisation method is used to mutually maximise grasp quality and improve shape representation during successive grasp attempts. Experimental results show that the proposed approach yields stable grasp configurations more efficiently than a baseline method, while also yielding improved shape estimate of the grasped object.
Achieving Competitive Play Through Bottom-Up Approach in Semantic Segmentation
Venue: arXiv cs.CV 2021
Year: 2021

With the renaissance of neural networks, object detection has slowly shifted from a bottom-up recognition problem to a top-down approach. Best in class algorithms enumerate a near-complete list of objects and classify each into object/not object. In this paper, we show that strong performance can still be achieved using a bottom-up approach for vision-based object recognition tasks and achieve competitive video game play. We propose PuckNet, which is used to detect four extreme points (top, left, bottom, and right-most points) and one center point of objects using a fully convolutional neural network. Object detection is then a purely keypoint-based appearance estimation problem, without implicit feature learning or region classification. The method proposed herein performs on-par with the best in class region-based detection methods, with a bounding box AP of 36.4% on COCO test-dev. In addition, the extreme points estimated directly resolve into a rectangular object mask, with a COCO Mask AP of 17.6%, outperforming the Mask AP of vanilla bounding boxes. Guided segmentation of extreme points further improves this to 32.1% Mask AP. We applied the PuckNet vision system to the SuperTuxKart video game to test it's capacity to achieve competitive play in dynamic and co-operative multiplayer environments.